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Merge remote-tracking branch 'paparazzi/master' into stm32f4

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This commit is contained in:
Gautier Hattenberger
2013-04-08 15:29:34 +02:00
parent 0aa9d1ecc4 b6c6ad7975
commit 9d23545a8e
307 changed files with 11071 additions and 14029 deletions
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sw/ground_segment/modem/Makefile → sw/Makefile.ocaml
+16 -19
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@@ -1,6 +1,6 @@
# Hey Emacs, this is a -*- makefile -*-
#
# modem $Id$
# Copyright (C) 2003 Pascal Brisset, Antoine Drouin
# Copyright (C) 2013 Gautier Hattenberger
#
# This file is part of paparazzi.
#
@@ -20,22 +20,19 @@
# Boston, MA 02111-1307, USA.
#
ARCH = atmega8
TARGET = modem_gnd
TARGETDIR = modem_gnd
LOW_FUSE = 3f
HIGH_FUSE = cb
EXT_FUSE= ff
LOCK_FUSE= ff
INCLUDES= -I../../include
# General ocaml compiling tools and pprz lib
$(TARGET).srcs = \
main.c \
uart.c \
soft_uart.c \
adc.c \
OCAML = ocaml
OCAMLC = ocamlfind ocamlc
OCAMLOPT = ocamlfind ocamlopt
OCAMLDEP = ocamlfind ocamldep
OCAMLMKLIB = ocamlmklib
LIBPPRZDIR = $(PAPARAZZI_SRC)/sw/lib/ocaml
LIBPPRZCMA = $(LIBPPRZDIR)/lib-pprz.cma
LIBPPRZCMXA = $(LIBPPRZCMA:.cma=.cmxa)
XLIBPPRZCMA = $(LIBPPRZDIR)/xlib-pprz.cma
XLIBPPRZCMXA = $(XLIBPPRZCMA:.cma=.cmxa)
OCAMLDLL = -dllpath $(LIBPPRZDIR)
OCAMLXDLL = -dllpath $(LIBPPRZDIR)
include ../../../conf/Makefile.local
include ../../../conf/Makefile.avr
clean : avr_clean
export OCAMLPATH=$(LIBPPRZDIR):$OCAMLPATH
sw/airborne/Makefile
+8 -5
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@@ -21,6 +21,9 @@
# Boston, MA 02111-1307, USA.
#
# Quiet compilation
Q=@
OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
@@ -45,12 +48,12 @@ ifneq ($(MAKECMDGOALS),clean)
endif
endif
ifdef PRINT_CONFIG
$(TARGET).CFLAGS += -DPRINT_CONFIG
endif
# sort cflags and sources to throw out duplicates
#
#$(info CFLAGS_orig = $($(TARGET).CFLAGS))
#$(info CFLAGS_sort = $(sort $($(TARGET).CFLAGS)))
#$(info srcs_orig = $($(TARGET).srcs))
#$(info srcs_sort = $(sort $($(TARGET).srcs)))
$(TARGET).CFLAGS := $(sort $($(TARGET).CFLAGS))
$(TARGET).srcs := $(sort $($(TARGET).srcs))
endif
@@ -68,5 +71,5 @@ warn_conf :
@echo
clean :
rm -f *~ a.out *.elf
$(Q)rm -f *~ a.out *.elf
.PHONY: clean
sw/airborne/arch/avr/ahrs_asm.S
-65
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@@ -1,65 +0,0 @@
/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8:
* $Id$
*
* Assembly file to layout the AHRS data.
* We want to be sure that things are aligned and packed as
* closely as possible, as well as alias several things. This
* is the easiest way to do it.
*/
.section .bss
.global X
X:
.global quat
quat:
.global q0
q0:
.space 4
.global q1
q1:
.space 4
.global q2
q2:
.space 4
.global q3
q3:
.space 4
.global bias
bias:
.global bias_p
bias_p:
.space 4
.global bias_q
bias_q:
.space 4
.global bias_r
bias_r:
.space 4
.global C
C:
.global Qdot
Qdot:
.space 16
.global A
A:
.global PCt
PCt:
.space 7 * 4
.global K
K:
.space 7 * 4
.global E
E:
.space 1 * 4
/* And the rest of A */
.space (4*7 - 7 - 7 - 1) * 4
.global end_bss
end_bss:
sw/airborne/arch/avr/ant_h_bridge.c
-51
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@@ -1,51 +0,0 @@
#include "ant_h_bridge.h"
#include <avr/io.h>
#include CONFIG
#define HB_DDR DDRE
#define HB_PORT PORTE
/* OC3A */
#define HB_IN1_PIN 3
/* OC3C */
#define HB_IN2_PIN 5
/* ENABLE */
#define HB_EN_PIN 7
#define HB_REFRESH 500
void ant_h_bridge_init( void ) {
/* set PE1, PE3 and PE5 (OC3A, OC3C and PD0) as output */
SetBit (HB_DDR,HB_IN1_PIN); /* input 1 */
SetBit (HB_DDR,HB_IN2_PIN); /* input 2 */
SetBit (HB_DDR,HB_EN_PIN); /* enable */
/* disable motor */
// ClearBit(HB_PORT, HB_EN_PIN);
SetBit(HB_PORT, HB_EN_PIN);
/* set timer3 in fast PWM mode, with TOP defined by ICR3 , prescaled to 8 */
TCCR3A = _BV(WGM31) | _BV(COM3A1) | _BV(COM3C1);
TCCR3B = _BV(WGM32) | _BV(WGM33) | _BV(CS31);
ICR3 = HB_REFRESH;
ant_h_bridge_set(0);
// ant_h_bridge_set(HB_REFRESH/5);
// SetBit(HB_PORT, HB_IN1_PIN);
// ClearBit(HB_PORT, HB_IN2_PIN);
}
void ant_h_bridge_set ( int16_t value) {
if (value > 0) {
OCR3A = value;
OCR3C = 0;
}
else {
OCR3A = 0;
OCR3C = -value;
}
}
sw/airborne/arch/avr/ant_h_bridge.h
-11
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@@ -1,11 +0,0 @@
#ifndef ANT_H_BRIDGE_H
#define ANT_H_BRIDGE_H
#include "std.h"
void ant_h_bridge_init( void );
void ant_h_bridge_set ( int16_t value);
#endif /* ANT_H_BRIDGE_H */
sw/airborne/arch/avr/ant_servo.c
-28
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@@ -1,28 +0,0 @@
#include "ant_servo.h"
#include <avr/io.h>
#include CONFIG
#define PRESCALER 8
#define TICKS_OF_US(nb_us) (((nb_us) * (float)(CLOCK / PRESCALER)-1))
#define SERVO_REFRESH 25000
void ant_servo_init( void ) {
/* set PB5 and PB6 (OC1A and OC1B ) as output */
SetBit (DDRB, 5);
SetBit (DDRB, 6);
/* set timer1 in fast PWM mode, with TOP defined by ICR3 , prescaled to 8 */
TCCR1A = _BV(WGM11) | _BV(COM1A1) | _BV(COM1B1);
TCCR1B = _BV(WGM12) | _BV(WGM13) | _BV(CS11);
ICR1=TICKS_OF_US(SERVO_REFRESH);
ant_servo_set(NEUTRAL_SERVO, NEUTRAL_SERVO);
}
void ant_servo_set ( uint16_t value1_us, uint16_t value2_us) {
/* code pour regler la valeur en ms a l'etat haut du signal PWM */
Bound(value1_us, MIN_SERVO, MAX_SERVO);
OCR1A = TICKS_OF_US(value1_us);
Bound(value2_us, MIN_SERVO, MAX_SERVO);
OCR1B = TICKS_OF_US(value2_us);
}
sw/airborne/arch/avr/ant_servo.h
-13
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@@ -1,13 +0,0 @@
#ifndef ANT_SERVO_H
#define ANT_SERVO_H
#include "std.h"
#define MAX_SERVO 2000
#define NEUTRAL_SERVO 1500
#define MIN_SERVO 1000
void ant_servo_init( void );
void ant_servo_set ( uint16_t value1_us, uint16_t value2_us);
#endif /* ANT_SERVO_H */
sw/airborne/arch/avr/ant_spi.c
-71
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@@ -1,71 +0,0 @@
#include "ant_spi.h"
#include <avr/io.h>
#include "std.h"
/*********************************Flush SPI*****************************************/
void flush_SPI( void )
{
if (bit_is_set(SPSR, SPIF))
{
uint8_t foo __attribute__ ((unused)) = SPDR;
}
}
/*****************************Initialisation SPI************************************/
#define DDR_SPI DDRB
#define PORT_SPI PORTB
#define PIN_SS 0
#define PIN_SCK 1
#define PIN_MOSI 2
#define PIN_SYNC 4
void SPI_select_slave ( void )
{
ClearBit(PORT_SPI, PIN_SS);
}
/***********************************************************************************/
void SPI_unselect_slave ( void )
{
SetBit(PORT_SPI, PIN_SS);
}
/***********************************************************************************/
void SPI_master_init( void )
{
/* Set SS, MOSI and SCK output, all others input */
DDR_SPI |= _BV(PIN_SS) | _BV(PIN_SCK) | _BV(PIN_MOSI);
/* unselect slave */
SPI_unselect_slave();
/* Enable SPI, Master, MSB first, clock idle low, sample on leading edge, clock rate fck/128 */
SPCR = ( _BV(SPE)| _BV(MSTR) | _BV(SPR1) | _BV(SPR0));
}
/***********************************************************************************/
void SPI_start( void )
{
SPI_select_slave();
if (bit_is_set(SPSR, SPIF)) {
uint8_t foo __attribute__ ((unused)) = SPDR;
}
/* enable interrupt */
SetBit(SPCR,SPIE);
}
/***********************************************************************************/
void SPI_stop(void)
{
SPI_unselect_slave ();
/* disable interrupt */
ClearBit(SPCR,SPIE);
}
sw/airborne/arch/avr/ant_spi.h
-19
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@@ -1,19 +0,0 @@
#ifndef ANT_SPI_H
#define ANT_SPI_H
#include "std.h"
#include <avr/io.h>
#include "std.h"
void flush_SPI( void );
void SPI_select_slave ( void );
void SPI_unselect_slave ( void );
void SPI_master_init( void );
void SPI_start( void );
void SPI_stop( void );
#define SPI_transmit(c) { SPDR = c; }
#define SPI_read() (SPDR)
#endif /* ANT_SPI_H */
sw/airborne/arch/avr/ant_tracker.c
-37
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@@ -1,37 +0,0 @@
#include "ant_tracker.h"
#include "subsystems/navigation/traffic_info.h"
uint8_t ant_track_mode;
float ant_track_azim;
float ant_track_elev;
uint8_t ant_track_id;
int32_t nav_utm_east0;
int32_t nav_utm_north0;
uint8_t nav_utm_zone0;
const float ant_track_gnd_alt = 185.;
void ant_tracker_init( void ) {
// nav_utm_east0 = ;
// nav_utm_north0 = ;
// nav_utm_zone0 = ;
ant_track_id = 5;
ant_track_mode = ANT_TRACK_AUTO;
ant_track_azim = 0.;
ant_track_elev = 0.;
}
void ant_tracker_periodic( void ) {
if (ant_track_mode == ANT_TRACK_AUTO) {
struct ac_info_ * ac = get_ac_info(ant_track_id);
ant_track_azim = atan2(ac->north, ac->east) * 180. / M_PI;
ant_track_azim = 90. - ant_track_azim;
if (ant_track_azim < 0)
ant_track_azim += 360.;
float dist = sqrt(ac->north*ac->north + ac->east*ac->east);
if ( dist < 1.) dist = 1.;
float height = ac->alt - ant_track_elev;
ant_track_elev = atan2( height, dist) * 180. / M_PI;
}
}
sw/airborne/arch/avr/ant_tracker.h
-29
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@@ -1,29 +0,0 @@
#ifndef ANT_TRACKER_H
#define ANT_TRACKER_H
#include "std.h"
#define ANT_TRACK_MANUAL 0
#define ANT_TRACK_AUTO 1
extern uint8_t ant_track_mode;
extern float ant_track_azim;
extern float ant_track_elev;
extern uint8_t ant_track_id;
#include "led.h"
#define ant_tracker_SetId(i) { ant_track_id = i; }
#define ant_tracker_SetMode(i) \
{ \
ant_track_mode = i; \
if(ant_track_mode) \
LED_ON(2); \
else \
LED_OFF(2); \
}
extern void ant_tracker_init( void );
extern void ant_tracker_periodic( void );
#endif /* ANT_TRACKER_H */
sw/airborne/arch/avr/ant_v2x.c
-258
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@@ -1,258 +0,0 @@
#include "ant_v2x.h"
#include <avr/io.h>
#include <avr/interrupt.h>
//#include "stdlib.h"
#include "string.h"
#include "std.h"
//#include "systime.h"
//#include "signalisation.h"
//#include "utils.h"
#include "ant_spi.h"
//#include "subsystems/datalink/downlink.h"
volatile bool_t ant_v2x_data_available;
struct Ant_V2xData ant_v2x_data;
#define MAG_S_RESET 0
#define MAG_S_UNINIT 1
#define MAG_S_READY 2
#define MAG_S_WAIT_MEAS 3
volatile uint8_t ant_v2x_status;
#define MAG_CS_IDLE 0
#define MAG_CS_READING 1
#define MAG_CS_WRITING 2
volatile uint8_t ant_v2x_com_status;
uint8_t ant_v2x_req[64];
uint8_t ant_v2x_req_len;
volatile uint8_t ant_v2x_req_idx;
uint8_t ant_v2x_res[128];
uint8_t ant_v2x_res_len;
volatile uint8_t ant_v2x_res_idx;
volatile uint8_t ant_v2x_periodic_count;
/******************************Ant_V2x define************************************/
#define ANT_V2X_DDR DDRB
#define ANT_V2X_PORT PORTB
#define ANT_V2X_PIN 4
#define SYNC_FLAG 0xAA
#define TERMINATOR 0x00
#define GET_MODE_INFO 0x01
#define MOD_INFO_RESP 0x02
#define SET_DATA_COMPONENTS 0x03
#define GET_DATA 0x04
#define DATA_RESP 0x05
#define SET_CONFIG 0x06
#define GET_CONFIG 0x07
#define CONFIG_RESP 0x08
#define SAVE_CONFIG 0x09
#define START_CAL 0x0A
#define STOP_CAL 0x0B
#define GET_CAL_DATA 0x0C
#define CAL_DATA_RESP 0x0D
#define SET_CAL_DATA 0x0E
#define DATA_XRAW 0x01 // Slnt32 counts 32768 to 32767
#define DATA_YRAW 0x02 // Slnt32 counts 32768 to 32767
#define DATA_XCAL 0x03 // Float32 scaled to 1.0
#define DATA_YCAL 0x04 // Float32 scaled to 1.0
#define DATA_HEADING 0x05 // Float32 degrees 0.0 <B0> to 359.9 <B0>
#define DATA_MAGNITUDE 0x06 // Float32 scalebreak;
#define DATA_TEMPERATURE 0x07 // Float32 <B0> Celsius
#define DATA_DISTORTION 0x08 // Boolean
#define DATA_CAL_STATUS 0x09 // Boolean
extern void ant_v2x_periodic_initialise(void);
extern void ant_v2x_send_req ( const uint8_t* req, uint8_t len);
extern void ant_v2x_send_get_data ( void );
/***************************Initialisation ant_v2x*******************************/
void ant_v2x_init( void )
{
SPI_master_init();
/* set sync as ouptut */
SetBit(ANT_V2X_DDR, ANT_V2X_PIN);
/* pull it down */
SetBit(ANT_V2X_PORT, ANT_V2X_PIN);
ant_v2x_data_available = FALSE;
ant_v2x_com_status = MAG_CS_IDLE;
ant_v2x_data.heading = 0.;
ant_v2x_reset();
}
void ant_v2x_periodic_initialise( void ) {
static uint8_t init_status = 0;
if (ant_v2x_com_status != MAG_CS_IDLE)
return;
switch (init_status) {
case 0 : /* set data response format */
{
const uint8_t req[] = {SET_DATA_COMPONENTS, 0x08, DATA_XRAW, DATA_YRAW, DATA_XCAL, DATA_YCAL, DATA_HEADING, DATA_MAGNITUDE, DATA_DISTORTION, DATA_CAL_STATUS };
ant_v2x_send_req(req, sizeof(req));
}
break;
case 1 : /* set little endian */
{
const uint8_t req[] = {SET_CONFIG, 0x06, 0x00};
ant_v2x_send_req(req, sizeof(req));
}
break;
case 2 :
{ /* set period */
const uint8_t req[] = {SET_CONFIG, 0x05, 0x07};
ant_v2x_send_req(req, sizeof(req));
}
break;
default:
ant_v2x_status = MAG_S_READY;
}
init_status++;
}
void ant_v2x_periodic( void ) { /* Run initialisation and communication request */
switch (ant_v2x_status) {
case MAG_S_RESET:
SetBit(ANT_V2X_PORT, ANT_V2X_PIN);
ant_v2x_status = MAG_S_UNINIT;
break;
case MAG_S_UNINIT:
ant_v2x_periodic_initialise();
break;
case MAG_S_READY: /* Ready to receive request */
/*GREEN_LED_ON();*/
/*YELLOW_LED_OFF();*/
// if (ant_v2x_data_available) return
ant_v2x_send_get_data();
ant_v2x_status = MAG_S_WAIT_MEAS;
ant_v2x_periodic_count = 0;
break;
case MAG_S_WAIT_MEAS: { /* Waiting for measures */
ant_v2x_periodic_count++;
if (ant_v2x_periodic_count > 5) {
ant_v2x_com_status = MAG_CS_READING;
SPI_start();
ant_v2x_res_idx = 0;
ant_v2x_res_len = 43;
SPI_transmit(0x00);
}
}
break;
}
}
/*****************************Ant_V2x reset****************************************/
void ant_v2x_reset (void){
ClearBit(ANT_V2X_PORT, ANT_V2X_PIN);
ant_v2x_status = MAG_S_RESET;
ant_v2x_com_status = MAG_CS_IDLE;
}
/**************************Ant_V2x data communication******************************/
void ant_v2x_send_get_data ( void ) {
const uint8_t req[] = {GET_DATA};
ant_v2x_send_req(req, sizeof(req));
}
/********************************Request procedure***********************************/
void ant_v2x_send_req(const uint8_t* req, uint8_t len) {
memcpy(ant_v2x_req, req, len);
ant_v2x_req_len = len;
ant_v2x_req_idx = 0;
ant_v2x_com_status = MAG_CS_WRITING;
SPI_start();
SPI_transmit(SYNC_FLAG);/* transmit SYNC_FLAG first for every beginning of transmition */
}
void ant_v2x_read_data( void ) {
ant_v2x_data.xraw = *(int32_t*)&ant_v2x_res[4];
ant_v2x_data.yraw = *(int32_t*)&ant_v2x_res[9];
ant_v2x_data.xcal = *(float*)&ant_v2x_res[14];
ant_v2x_data.ycal = *(float*)&ant_v2x_res[19];
ant_v2x_data.heading = *(float*)&ant_v2x_res[24];
ant_v2x_data.magnitude = *(float*)&ant_v2x_res[29];
ant_v2x_data.temp = *(float*)&ant_v2x_res[34];
ant_v2x_data.distor = *(int8_t*)&ant_v2x_res[39];
ant_v2x_data.cal_status = *(int8_t*)&ant_v2x_res[41];
}
#define SPI_SIG_ON_WRITING() { \
uint8_t c __attribute__ ((unused)) = SPI_read(); \
if (ant_v2x_req_idx < ant_v2x_req_len) { \
SPI_transmit(ant_v2x_req[ant_v2x_req_idx]); \
} \
else if (ant_v2x_req_idx == ant_v2x_req_len) { \
SPI_transmit(TERMINATOR); \
} \
else { \
ant_v2x_com_status = MAG_CS_IDLE; \
SPI_stop(); \
} \
ant_v2x_req_idx++; \
}
static uint8_t nb_retry = 0;
#define MAX_RETRY 10
#define SPI_SIG_ON_READING() { \
ant_v2x_res[ant_v2x_res_idx] = SPI_read(); \
if (ant_v2x_res_idx == 0) { \
if (nb_retry > MAX_RETRY) { \
ant_v2x_reset(); \
nb_retry = 0; \
/*YELLOW_LED_ON();*/ \
goto sig_exit; \
} \
if (ant_v2x_res[ant_v2x_res_idx] != SYNC_FLAG) { \
nb_retry++; \
SPI_transmit(0x00); \
goto sig_exit; \
} \
else { \
nb_retry = 0; \
} \
} \
ant_v2x_res_idx++; \
if (ant_v2x_res_idx < ant_v2x_res_len) { \
SPI_transmit(0x00); \
} \
else { \
ant_v2x_com_status = MAG_CS_IDLE; \
SPI_stop(); \
ant_v2x_status = MAG_S_READY; \
ant_v2x_data_available = TRUE; \
/*GREEN_LED_OFF();*/ \
} \
} \
SIGNAL(SIG_SPI) {
switch ( ant_v2x_com_status) {
case MAG_CS_WRITING:
SPI_SIG_ON_WRITING();
break;
case MAG_CS_READING:
SPI_SIG_ON_READING();
}
sig_exit:
/*GREEN_LED_OFF();*/
asm("nop");
}
sw/airborne/arch/avr/ant_v2x.h
-51
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@@ -1,51 +0,0 @@
#ifndef ANT_V2X_H
#define ANT_V2X_H
#include "std.h"
extern void ant_v2x_init( void );
extern void ant_v2x_periodic(void);
extern bool_t ant_v2x_is_in_calibration(void);
extern void ant_v2x_reset( void );
extern void ant_v2x_read_data( void );
struct Ant_V2xConfig
{
float declination;
uint8_t true_north;
uint8_t cal_sample_freq;
uint8_t sample_freq;
uint8_t period;
uint8_t big_idian;
uint8_t damping_size;
};
struct Ant_V2xData
{
int32_t xraw;
int32_t yraw;
float xcal;
float ycal;
float heading;
float magnitude;
float temp;
uint8_t distor;
uint8_t cal_status;
};
struct Ant_V2xCal
{
int8_t byte_count;
int32_t x_offset;
int32_t y_offset;
int32_t x_gain;
int32_t y_gain;
float phi;
float cal_magnitude;
};
extern volatile bool_t ant_v2x_data_available;
extern struct Ant_V2xData ant_v2x_data;
#endif /* ANT_V2X_H */
sw/airborne/arch/avr/dc_mc_link.c
-103
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@@ -1,103 +0,0 @@
#include "dc_mc_link.h"
#include <avr/interrupt.h>
#include <avr/io.h>
/*
Slave address
front = 0x52
back = 0x54
right = 0x56
left = 0x58
*/
#define DC_MC_LINK_TWI_ADDR 0x52
#define DC_MC_LINK_TIMEOUT 60
volatile uint8_t dc_mc_link_event;
uint16_t dc_mc_link_command;
uint8_t dc_mc_link_timeout;
#define DC_MC_LINK_TWI_RX_BUF_LEN 16
uint8_t dc_mc_link_twi_rx_buf[DC_MC_LINK_TWI_RX_BUF_LEN];
uint8_t dc_mc_link_twi_rx_buf_idx;
void dc_mc_link_init(void) {
dc_mc_link_event = FALSE;
dc_mc_link_command = 0;
dc_mc_link_timeout = DC_MC_LINK_TIMEOUT;
/* setup slave addr */
TWAR = 0x52;
/* clear and enable interrupt - enable peripheral and ack bit */
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
}
void dc_mc_link_periodic(void) {
if (dc_mc_link_timeout >= DC_MC_LINK_TIMEOUT)
dc_mc_link_command = 0;
else
dc_mc_link_timeout++;
}
#define TWI_BUS_ERR_1 0x00
#define TWI_BUS_ERR_2 0xF8
// Status Slave RX Mode
#define SR_SLA_ACK 0x60
#define SR_LOST_ACK 0x68
#define SR_GEN_CALL_ACK 0x70
#define GEN_LOST_ACK 0x78
#define SR_PREV_ACK 0x80
#define SR_PREV_NACK 0x88
#define GEN_PREV_ACK 0x90
#define GEN_PREV_NACK 0x98
#define STOP_CONDITION 0xA0
#define REPEATED_START 0xA0
// Status Slave TX mode
#define SW_SLA_ACK 0xA8
#define SW_LOST_ACK 0xB0
#define SW_DATA_ACK 0xB8
#define SW_DATA_NACK 0xC0
#define SW_LAST_ACK 0xC8
#include "led.h"
ISR (TWI_vect) {
switch (TWSR & 0xF8) {
case SR_SLA_ACK:
// LED_OFF(1);
dc_mc_link_twi_rx_buf_idx = 0;
TWCR |= _BV(TWINT) | _BV(TWEA);
break;
case SR_PREV_ACK:
dc_mc_link_twi_rx_buf[dc_mc_link_twi_rx_buf_idx] = TWDR;
dc_mc_link_twi_rx_buf_idx++;
if (dc_mc_link_twi_rx_buf_idx <= 2)
TWCR |= _BV(TWINT) | _BV(TWEA);
else
TWCR |= _BV(TWINT);
break;
case STOP_CONDITION:
TWCR |= _BV(TWINT);
dc_mc_link_timeout = 0;
// LED_ON(1);
dc_mc_link_event = TRUE;
break;
case SW_SLA_ACK:
case SW_DATA_ACK:
TWCR |= (1<<TWINT);
break;
case TWI_BUS_ERR_2:
case TWI_BUS_ERR_1:
TWCR |=(1<<TWSTO) | (1<<TWINT);
TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset
break;
// default:
// LED_TOGGLE(1);
}
}
sw/airborne/arch/avr/dc_mc_link.h
-14
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@@ -1,14 +0,0 @@
#ifndef DC_MC_LINK_H
#define DC_MC_LINK_H
#include "std.h"
extern volatile uint8_t dc_mc_link_event;
extern uint16_t dc_mc_link_command;
extern uint8_t dc_mc_link_twi_rx_buf[];
extern void dc_mc_link_init(void);
extern void dc_mc_link_periodic(void);
#endif /* DC_MC_LINK_H */
sw/airborne/arch/avr/dc_mc_power.c
-30
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@@ -1,30 +0,0 @@
#include "dc_mc_power.h"
#include <avr/io.h>
// swicthing freq = CLOCK / RESOLUTION
// 13 bits -> 1953 Hz
#define DC_MC_POWER_RESOLUTION 0x1FFF
// 12 bits -> 3906 Hz
//#define DC_MC_POWER_RESOLUTION 0xFFF
// 11 bits -> 7812 Hz
//#define DC_MC_POWER_RESOLUTION 0x7FF
// 10 bits -> 15625 Hz
//#define DC_MC_POWER_RESOLUTION 0x3FF
void dc_mc_power_init(void) {
/* OC1A output */
DDRB |= _BV(1);
/* fast PWM TOP in ICR1 match in OCR1A */
ICR1 = DC_MC_POWER_RESOLUTION;
TCCR1A |= _BV(WGM11) | _BV(COM1A1);
TCCR1B |= _BV(WGM12) | _BV(WGM13);
}
void dc_mc_power_set( uint16_t val) {
OCR1A = val * ((float)DC_MC_POWER_RESOLUTION / 65535.);
}
sw/airborne/arch/avr/dc_mc_power.h
-10
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@@ -1,10 +0,0 @@
#ifndef DC_MC_POWER_H
#define DC_MC_POWER_H
#include "std.h"
extern void dc_mc_power_init(void);
extern void dc_mc_power_set( uint16_t val);
#endif /* DC_MC_POWER_H */
sw/airborne/arch/avr/gpio.h
-6
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@@ -1,6 +0,0 @@
#ifndef GPIO_H
#define GPIO_H
#endif /* GPIO_H */
sw/airborne/arch/avr/interrupt_hw.h
-34
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@@ -1,34 +0,0 @@
/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file interrupt_hw.h
* \brief AVR Low level interrupt handling
*
*/
#ifndef INTERRUPT_HW_H
#define INTERRUPT_HW_H
#include <avr/interrupt.h>
#define int_enable() sei()
#endif /* INTERRUPT_HW_H */
sw/airborne/arch/avr/led_hw.h
-23
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@@ -1,23 +0,0 @@
#ifndef LED_HW_H
#define LED_HW_H
#include CONFIG
#include <avr/io.h>
#define __LED_PORT(p) PORT ## p
#define _LED_PORT(p) __LED_PORT(p)
#define __LED_DDR(p) DDR ## p
#define _LED_DDR(p) __LED_DDR(p)
#define LED_DDR(x) _LED_DDR(LED_ ## x ## _BANK)
#define LED_PORT(x) _LED_PORT(LED_ ## x ## _BANK)
#define LED_PIN(x) LED_ ## x ## _PIN
/* set pin as output */
#define LED_INIT(i) LED_DDR(i) |= _BV(LED_PIN(i))
#define LED_ON(i) LED_PORT(i) &= ~_BV(LED_PIN(i))
#define LED_OFF(i) LED_PORT(i) |= _BV(LED_PIN(i))
#define LED_TOGGLE(i) LED_PORT(i) ^= _BV(LED_PIN(i))
#endif /* LED_HW_H */
sw/airborne/arch/avr/link_mcu_hw.h
-43
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@@ -1,43 +0,0 @@
/* $Id$
*
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \brief handling of avr inter mcu link
*
*/
#ifndef LINK_MCU_HW_H
#define LINK_MCU_HW_H
#if (__GNUC__ == 3)
#include <avr/signal.h>
#include <avr/crc16.h>
#else
#include <util/crc16.h>
#endif
#define CRC_INIT 0xffff
#define CrcUpdate(_crc, _data) _crc_ccitt_update(_crc, _data)
#endif /* LINK_MCU_HW_H */
sw/airborne/arch/avr/mcu_periph/adc_arch.c
-167
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@@ -1,167 +0,0 @@
/*
* Paparazzi AVR adc functions
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
//// ADC3 MVSUP
//// ADC6 MVSERVO
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include <avr/io.h>
#include "mcu_periph/adc.h"
#include "std.h"
static struct adc_buf* buffers[NB_ADC];
void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample) {
buffers[adc_channel] = s;
s->av_nb_sample = av_nb_sample;
}
/************************************************************************/
#if defined (__AVR_ATmega8__)
#define VOLTAGE_TIME 0x07
#define ANALOG_PORT PORTC
#define ANALOG_PORT_DIR DDRC
#ifdef IMU_ANALOG
#define ANALOG_VREF _BV(REFS0)
#else
#define ANALOG_VREF _BV(REFS0) | _BV(REFS1)
#endif
/**
* Called when the voltage conversion is finished
*
* 8.913kHz on mega128 16MHz 1kHz/channel ??
*/
SIGNAL( SIG_ADC )
{
uint8_t adc_input = ADMUX & 0x7;
struct adc_buf* buf = buffers[adc_input];
uint16_t adc_value = ADCW;
if (buf) {
uint8_t new_head = buf->head + 1;
if (new_head >= buf->av_nb_sample) new_head = 0;
buf->sum -= buf->values[new_head];
buf->values[new_head] = adc_value;
buf->sum += adc_value;
buf->head = new_head;
}
/* Find the next input */
adc_input++;
if (adc_input == 4)
adc_input = 6; // ADC 4 and 5 for i2c
if( adc_input >= 8 ) {
adc_input = 0;
#ifdef CTL_BRD_V1_2
adc_input = 1; // WARNING ADC0 is for rservo driver reset on v1.2.0
#endif /* CTL_BRD_V1_2 */
}
/* Select it */
ADMUX = adc_input | ANALOG_VREF;
/* Restart the conversion */
sbi( ADCSR, ADSC );
}
#endif /* (__AVR_ATmega8__) */
/************************************************************************/
#if defined (__AVR_ATmega128__)
#define VOLTAGE_TIME 0x07
#define ANALOG_PORT PORTF
#define ANALOG_PORT_DIR DDRF
#define ANALOG_VREF _BV(REFS0)
/**
* Called when the voltage conversion is finished
*
* 8.913kHz on mega128 16MHz 1kHz/channel ??
*/
SIGNAL( SIG_ADC )
{
uint8_t adc_input = ADMUX & 0x7;
struct adc_buf* buf = buffers[adc_input];
uint16_t adc_value = ADCW;
if (buf) {
uint8_t new_head = buf->head + 1;
if (new_head >= buf->av_nb_sample) new_head = 0;
buf->sum -= buf->values[new_head];
buf->values[new_head] = adc_value;
buf->sum += adc_value;
buf->head = new_head;
}
/* Find the next input */
adc_input++;
if( adc_input >= 8 )
adc_input = 0;
/* Select it */
ADMUX = adc_input | ANALOG_VREF;
/* Restart the conversion */
sbi( ADCSR, ADSC );
}
#endif /* (__AVR_ATmega128__) */
void adc_init( void ) {
uint8_t i;
/* Ensure that our port is for input with no pull-ups */
ANALOG_PORT = 0x00;
ANALOG_PORT_DIR = 0x00;
/* Select our external voltage ref */
ADMUX = ANALOG_VREF;
/* Select out clock, turn on the ADC interrupt and start conversion */
ADCSRA = 0
| VOLTAGE_TIME
| _BV(ADEN )
| _BV(ADIE )
| _BV(ADSC );
/* Init to 0 (usefull ?) */
for(i = 0; i < NB_ADC; i++)
buffers[i] = (struct adc_buf*)0;
}
sw/airborne/arch/avr/mcu_periph/adc_arch.h
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sw/airborne/arch/avr/mcu_periph/i2c_arch.c
-165
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@@ -1,165 +0,0 @@
/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file i2c_ap.c
* \brief Basic library for I2C
*
*/
#include <avr/signal.h>
#include <avr/interrupt.h>
#include "i2c_ap.h"
#include "std.h"
#define TWI_START 0x08
#define TWI_RESTART 0x10
#define MT_SLA_ACK 0x18
#define MT_SLA_NACK 0x20
#define MR_SLA_ACK 0x40
#define MR_SLA_NACK 0x48
#define MT_DATA_ACK 0x28
#define MR_DATA_ACK 0x50
#define MR_DATA_NACK 0x58
uint8_t twi_sla;
uint8_t i2c_buf[TWI_BUF_LEN];
uint8_t twi_index, twi_len;
volatile bool_t i2c_idle;
uint8_t i2c_debug;
static bool_t *twi_end;
#define I2cStart() i2c_idle = FALSE; *twi_end = FALSE; TWCR=_BV(TWINT)|_BV(TWSTA)|_BV(TWEN)|_BV(TWIE);
#define I2cStop() i2c_idle= TRUE; *twi_end = TRUE; TWCR=_BV(TWINT)|_BV(TWSTO)|_BV(TWEN);
#define I2cReceive(_ack) TWCR=_BV(TWINT)|_BV(TWEN)| (_ack ? _BV(TWEA) : 0)|_BV(TWIE);
#define I2cReceiveAck TWCR=_BV(TWINT)|_BV(TWEN)| _BV(TWEA) |_BV(TWIE);
#define I2cReceiveNAck TWCR=_BV(TWINT)|_BV(TWEN)| _BV(TWIE);
#define I2cSendByte(a) { \
TWDR= a; \
TWCR=_BV(TWINT)|_BV(TWEN)|_BV(TWIE); \
}
#define I2cSendSlaW(a) I2cSendSla(a | I2C_WRITE)
#define I2cSendSlaR(a) I2cSendSla(a | I2C_READ)
SIGNAL(SIG_2WIRE_SERIAL) {
// i2c_debug = TWSR;
switch (TWSR & 0xF8) {
case TWI_START:
case TWI_RESTART:
I2cSendByte(twi_sla);
twi_index = 0;
break;
case MR_DATA_ACK:
i2c_buf[twi_index] = TWDR;
twi_index++;
/* Continue */
case MR_SLA_ACK: /* At least one char */
I2cReceive(twi_len>twi_index+1); /* Wait and reply with ACK or NACK */
break;
case MR_SLA_NACK:
case MT_SLA_NACK:
I2cStart();
break;
case MT_SLA_ACK:
case MT_DATA_ACK:
if (twi_index < twi_len) {
I2cSendByte(i2c_buf[twi_index]);
twi_index++;
return;
} /* Else Stop */
case MR_DATA_NACK:
i2c_debug = twi_index;
i2c_buf[twi_index] = TWDR;
/* Then Stop */
default:
I2cStop();
}
}
void i2c_send(uint8_t sla, uint8_t _twi_len, bool_t* finished) {
i2c_debug = 0x32;
twi_len = _twi_len;
twi_sla = I2C_TRANSMIT | sla;
twi_end = finished;
I2cStart();
}
void i2c_get(uint8_t sla, uint8_t _twi_len, bool_t* finished) {
twi_len = _twi_len;
twi_sla = I2C_RECEIVE | sla;
twi_end = finished;
I2cStart();
}
uint8_t i2c_start(void) {
TWCR=_BV(TWINT)|_BV(TWSTA)|_BV(TWEN);
while (! (TWCR & (1<<TWINT)));
return ((TWSR & 0xF8) != TWI_START);
}
uint8_t i2c_sla(uint8_t a) {
TWDR= a;
TWCR=_BV(TWINT)|_BV(TWEN);
while (! (TWCR & (1<<TWINT)));
return ((TWSR & 0xF8) != MT_SLA_ACK);
}
uint8_t i2c_transmit(uint8_t byte) {
TWDR= byte;
TWCR=_BV(TWINT)|_BV(TWEN);
while (! (TWCR & (1<<TWINT)));
/***/return I2C_NO_ERROR;
return ((TWSR & 0xF8) != MT_DATA_ACK);
}
uint8_t i2c_receive(uint8_t ack) {
if (ack == I2C_CONTINUE)
TWCR=_BV(TWINT)|_BV(TWEN)|_BV(TWEA);
else
TWCR=_BV(TWINT)|_BV(TWEN);
while (! (TWCR & (1<<TWINT)));
uint8_t byte = TWDR;
return byte;
}
void i2c_init(void) {
/** 100 KHz */
TWBR = 72;
cbi(TWSR, TWPS1);
cbi(TWSR, TWPS0);
/** 10 KHz
TWBR = 198;
cbi(TWSR, TWPS1);
sbi(TWSR, TWPS0);
*/
}
void i2c_event(void) { }
void i2c2_setbitrate(int bitrate __attribute__ ((unused))) { }
sw/airborne/arch/avr/mcu_periph/i2c_arch.h
-61
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@@ -1,61 +0,0 @@
/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file i2c_ap.h
* \brief Basic library for I2C
*
*/
#ifndef I2C_H
#define I2C_H
#include <avr/io.h>
#include <inttypes.h>
#include "std.h"
#define I2C_NO_ERROR 0
#define I2C_RECEIVE 1
#define I2C_TRANSMIT 0
#define I2C_QUIT 0
#define I2C_CONTINUE 1
#define i2c_stop() TWCR=_BV(TWINT)|_BV(TWSTO)|_BV(TWEN);
#define TWI_BUF_LEN 16
extern volatile bool_t i2c_idle;
extern uint8_t i2c_debug;
extern uint8_t i2c_buf[TWI_BUF_LEN];
extern void i2c_init(void);
extern uint8_t i2c_start(void);
extern uint8_t i2c_sla(uint8_t x);
extern uint8_t i2c_transmit(uint8_t x);
extern uint8_t i2c_receive(uint8_t);
extern void i2c_send(uint8_t address, uint8_t len, bool_t* finished);
extern void i2c_get(uint8_t address, uint8_t len, bool_t* finished);
#define I2C_START(ADDRESS) { i2c_start(); i2c_sla(ADDRESS); }
#define I2C_START_TX(ADDRESS) I2C_START(ADDRESS | I2C_TRANSMIT)
#define I2C_START_RX(ADDRESS) I2C_START(ADDRESS | I2C_RECEIVE)
#endif
sw/airborne/arch/avr/mcu_periph/spi_arch.c
-146
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@@ -1,146 +0,0 @@
/*
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file mcu_periph/spi_arch.c
* \brief handling of hardware dependant SPI on AVR architecture
*/
#include CONFIG
#include "mcu_periph/spi.h"
#include <inttypes.h>
#include <avr/io.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
volatile uint8_t spi_idx_buf;
#define HandleOneSpiByte() { \
spi_idx_buf++; \
if (spi_idx_buf < spi_buffer_length) { \
SPDR = spi_buffer_output[spi_idx_buf]; \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
} else if (spi_idx_buf == spi_buffer_length) { \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
spi_message_received = TRUE; \
SpiStop(); \
} \
}
#ifdef SPI_SLAVE
volatile bool_t spi_was_interrupted = FALSE;
void spi_init(void) {
/* set it pin output */
// IT_DDR |= _BV(IT_PIN);
/* set MISO pin output */
SLAVE_SPI_DDR |= _BV(SLAVE_SPI_MISO_PIN);
/* enable SPI, slave, MSB first, sck idle low */
SPCR = _BV(SPE);
/* enable interrupt */
SPCR |= _BV(SPIE);
}
#define SpiStop() {}
SIGNAL(SIG_SPI) {
HandleOneSpiByte();
}
#endif /** SPI_SLAVE */
/****************************************************************************/
#ifdef SPI_MASTER
#include "autopilot.h"
#define SpiStop() { \
ClearBit(SPCR,SPIE); \
ClearBit(SPCR, SPE); \
SpiUnselectAllSlaves(); \
}
volatile uint8_t spi_cur_slave;
uint8_t spi_nb_ovrn;
void spi_init( void) {
/* Set MOSI and SCK output, all others input */
MASTER_SPI_DDR |= _BV(MASTER_SPI_MOSI_PIN)| _BV(MASTER_SPI_SCK_PIN);
/* enable pull up for miso */
// SPI_PORT |= _BV(MASTER_SPI_MISO_PIN);
/* Set SS0 output */
SetBit( MASTER_SPI_SS0_DDR, MASTER_SPI_SS0_PIN);
/* SS0 idles high (don't select slave yet)*/
#if 0
/* Set SS1 output */
SetBit( MASTER_SPI_SS1_DDR, MASTER_SPI_SS1_PIN);
/* SS1 idles high (don't select slave yet)*/
/* Set SS2 output */
SetBit( MASTER_SPI_SS2_DDR, MASTER_SPI_SS2_PIN);
/* SS2 idles high (don't select slave yet)*/
#endif
SpiUnselectAllSlaves();
spi_cur_slave = SPI_NONE;
}
/** SPI interrupt: starts a delay */
SIGNAL(SIG_SPI) {
/* if (spi_cur_slave == SPI_SLAVE0) { */
/* setup OCR1C to pop in 200 clock cycles */
/* this leaves time for the slave (fbw) */
/* to process the byte we've sent and to */
/* prepare a new one to be sent */
OCR1C = TCNT1 + (200UL*CLOCK)/16;
/* clear interrupt flag */
SetBit(ETIFR, OCF1C);
/* enable OC1C interrupt */
SetBit(ETIMSK, OCIE1C);
/* } else
fatal_error_nb++;
*/
}
/** Send a byte */
SIGNAL(SIG_OUTPUT_COMPARE1C) {
/* disable OC1C interrupt */
ClearBit(ETIMSK, OCIE1C);
HandleOneSpiByte();
}
#endif /* SPI_MASTER */
sw/airborne/arch/avr/mcu_periph/spi_arch.h
-84
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@@ -1,84 +0,0 @@
/*
* Copyright (C) 2005-2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef SPI_ARCH_H
#define SPI_ARCH_H
/** Index in SPI buffers: one is enough for full duplex communication */
extern volatile uint8_t spi_idx_buf;
#define SpiInitBuf() { \
spi_idx_buf = 0; \
SPDR = spi_buffer_output[0]; \
spi_message_received = FALSE; \
}
#ifdef SPI_SLAVE
#define SpiStart() SpiInitBuf()
#endif /* SPI_SLAVE */
#ifdef SPI_MASTER
/* Enable SPI, Master, clock fck/16, interrupt */
#define SpiStart() { \
SPCR = _BV(SPE) | _BV(MSTR) | _BV(SPR0); \
uint8_t foo; \
if (bit_is_set(SPSR, SPIF)) \
foo = SPDR; \
SPCR |= _BV(SPIE); \
SpiInitBuf(); \
}
#define SpiUnselectAllSlaves() { \
spi_cur_slave = SPI_NONE; \
SetBit( MASTER_SPI_SS0_PORT, MASTER_SPI_SS0_PIN );\
/* \
SetBit( MASTER_SPI_SS1_PORT, MASTER_SPI_SS1_PIN ); \
SetBit( MASTER_SPI_SS2_PORT, MASTER_SPI_SS2_PIN );\
*/ \
}
#define SpiSelectSlave0() { \
spi_cur_slave = SPI_SLAVE0; \
ClearBit( MASTER_SPI_SS0_PORT, MASTER_SPI_SS0_PIN );\
}
#define SpiSelectSlave1() { \
spi_cur_slave = SPI_SLAVE1; \
ClearBit( MASTER_SPI_SS1_PORT, MASTER_SPI_SS1_PIN );\
}
#define SpiSelectSlave2() { \
spi_cur_slave = SPI_SLAVE2; \
ClearBit( MASTER_SPI_SS2_PORT, MASTER_SPI_SS2_PIN );\
}
#endif /* SPI_MASTER */
#endif /* SPI_ARCH_H */
sw/airborne/arch/avr/mcu_periph/uart_arch.c
-256
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@@ -1,256 +0,0 @@
/*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file uart_hw.c
* \brief avr uart low level functions
*
*/
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#define B2400 2400UL
#define B9600 9600UL
#define B38400 38400UL
#if defined (__AVR_ATmega8__)
#define TX_BUF_SIZE 256
static uint8_t tx_head; /* next free in buf */
static volatile uint8_t tx_tail; /* next char to send */
static uint8_t tx_buf[ TX_BUF_SIZE ];
/*
* UART Baud rate generation settings:
*
* With 16.0 MHz clock,UBRR=25 => 38400 baud
*
*/
void uart0_init_tx( void ) {
UBRRH = 0;
UBRRL = F_CPU/(16*UART0_BAUD)-1;
/* single speed */
UCSRA = 0;
/* Enable transmitter */
UCSRB = _BV(TXEN);
/* Set frame format: 8data, 1stop bit */
UCSRC = _BV(URSEL) | _BV(UCSZ1) | _BV(UCSZ0);
}
void uart0_init_rx( void ) {
/* Enable receiver */
UCSRB |= _BV(RXEN);
/* Enable uart receive interrupt */
sbi( UCSRB, RXCIE );
}
bool_t uart0_check_free_space( uint8_t len) {
int8_t space;
if ((space = (tx_tail - tx_head)) <= 0)
space += TX_BUF_SIZE;
return (uint8_t)(space - 1) >= len;
}
void uart0_transmit( unsigned char data ) {
if (UCSRB & _BV(TXCIE)) {
/* we are waiting for the last char to be sent : buffering */
if (tx_tail == tx_head + 1) { /* BUF_SIZE = 256 */
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
return;
}
tx_buf[tx_head] = data;
tx_head++; /* BUF_SIZE = 256 */
} else { /* Channel is free: just send */
UDR = data;
sbi(UCSRB, TXCIE);
}
}
SIGNAL(SIG_UART_TRANS) {
if (tx_head == tx_tail) {
/* Nothing more to send */
cbi(UCSRB, TXCIE); /* disable interrupt */
} else {
UDR = tx_buf[tx_tail];
tx_tail++; /* warning tx_buf_len is 256 */
}
}
#endif /* (__AVR_ATmega8__) */
#if defined (__AVR_ATmega128__)
#define TX_BUF_SIZE 256
#ifdef USE_UART0
static uint8_t tx_head0; /* next free in buf */
static volatile uint8_t tx_tail0; /* next char to send */
uint8_t tx_buf0[ TX_BUF_SIZE ];
uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
void uart0_init_tx( void ) {
UBRR0H = 0;
UBRR0L = F_CPU/(16*UART0_BAUD)-1;
/* single speed */
UCSR0A = 0;
/* Enable transmitter */
UCSR0B = _BV(TXEN);
/* Set frame format: 8data, 1stop bit */
UCSR0C = _BV(UCSZ1) | _BV(UCSZ0);
tx_head0 = 0;
tx_tail0 = 0;
}
void uart0_init_rx( void ) {
/* Enable receiver */
UCSR0B |= _BV(RXEN);
/* Enable uart receive interrupt */
sbi(UCSR0B, RXCIE );
}
bool_t uart0_check_free_space( uint8_t len) {
int8_t space;
if ((space = (tx_tail0 - tx_head0)) <= 0)
space += TX_BUF_SIZE;
return (uint16_t)(space - 1) >= len;
}
void uart0_transmit( unsigned char data ) {
if (UCSR0B & _BV(TXCIE)) {
/* we are waiting for the last char to be sent : buffering */
if (tx_tail0 == tx_head0 + 1) { /* BUF_SIZE = 256 */
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
return;
}
tx_buf0[tx_head0] = data;
tx_head0++; /* BUF_SIZE = 256 */
} else { /* Channel is free: just send */
UDR0 = data;
sbi(UCSR0B, TXCIE);
}
}
SIGNAL(SIG_UART0_TRANS) {
if (tx_head0 == tx_tail0) {
/* Nothing more to send */
cbi(UCSR0B, TXCIE); /* disable interrupt */
} else {
UDR0 = tx_buf0[tx_tail0];
tx_tail0++; /* warning tx_buf_len is 256 */
}
}
SIGNAL( SIG_UART0_RECV ) {
uart0_rx_buffer[uart0_rx_insert_idx] = UDR0;
uart0_rx_insert_idx = Uart0RxBufferNext(uart0_rx_insert_idx);
}
#endif /** USE_UART0 */
#ifdef USE_UART1
static uint8_t tx_head1; /* next free in buf */
static volatile uint8_t tx_tail1; /* next char to send */
static uint8_t tx_buf1[ TX_BUF_SIZE ];
uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
void uart1_init_tx( void ) {
/* set baud rate */
UBRR1H = 0;
UBRR1L = F_CPU/(16*UART1_BAUD)-1;
/* single speed */
UCSR1A = 0;
/* Enable transmitter */
UCSR1B = _BV(TXEN);
/* Set frame format: 8data, 1stop bit */
UCSR1C = _BV(UCSZ1) | _BV(UCSZ0);
tx_head1 = 0;
tx_tail1 = 0;
}
void uart1_init_rx( void ) {
/* Enable receiver */
UCSR1B |= _BV(RXEN);
/* Enable uart receive interrupt */
sbi(UCSR1B, RXCIE );
}
bool_t uart1_check_free_space( uint8_t len) {
int8_t space;
if ((space = (tx_tail1 - tx_head1)) <= 0)
space += TX_BUF_SIZE;
return (uint16_t)(space - 1) >= len;
}
void uart1_transmit( unsigned char data ) {
if (UCSR1B & _BV(TXCIE)) {
/* we are waiting for the last char to be sent : buffering */
if (tx_tail1 == tx_head1 + 1) { /* BUF_SIZE = 256 */
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
return;
}
tx_buf1[tx_head1] = data;
tx_head1++; /* BUF_SIZE = 256 */
} else { /* Channel is free: just send */
UDR1 = data;
sbi(UCSR1B, TXCIE);
}
}
SIGNAL(SIG_UART1_TRANS) {
if (tx_head1 == tx_tail1) {
/* Nothing more to send */
cbi(UCSR1B, TXCIE); /* disable interrupt */
} else {
UDR1 = tx_buf1[tx_tail1];
tx_tail1++; /* warning tx_buf_len is 256 */
}
}
SIGNAL( SIG_UART1_RECV ) {
uart1_rx_buffer[uart1_rx_insert_idx] = UDR1;
uart1_rx_insert_idx = Uart0RxBufferNext(uart1_rx_insert_idx);
}
#endif /* USE_UART1 */
#endif /* (__AVR_ATmega128__) */
sw/airborne/arch/avr/mcu_periph/uart_arch.h
-106
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@@ -1,106 +0,0 @@
/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file uart_hw.h
* \brief avr uart low level headers
*
*/
#ifndef UART_HW_H
#define UART_HW_H
#include <avr/io.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include "std.h"
/************************************************************************/
#if defined (__AVR_ATmega8__)
#define ReceiveUart(cb) \
SIGNAL( SIG_UART_RECV ) { \
uint8_t c = UDR; \
cb(c); \
}
#endif /* (__AVR_ATmega8__) */
/************************************************************************/
#if defined (__AVR_ATmega128__)
extern uint8_t tx_buf0[256]; /** For debugging purpose */
extern void uart0_init_tx(void);
extern void uart0_init_rx(void);
extern void uart1_init(void);
extern void uart0_transmit(const uint8_t);
extern void uart1_transmit(const uint8_t);
#define UART0_RX_BUFFER_SIZE 32 // UART0 receive buffer size
#define UART1_RX_BUFFER_SIZE 32 // UART1 receive buffer size
#define UART0_RX_BUFFER_SIZE_MASK 0x1f
#define UART1_RX_BUFFER_SIZE_MASK 0x1f
#ifdef UART0_RX_BUFFER_SIZE_MASK
#define Uart0RxBufferNext(_x) ((_x+1)&UART0_RX_BUFFER_SIZE_MASK)
#else
#define Uart0RxBufferNext(_x) ((_x+1)%UART0_RX_BUFFER_SIZE)
#endif
#ifdef UART1_RX_BUFFER_SIZE_MASK
#define Uart1RxBufferNext(_x) ((_x+1)&UART1_RX_BUFFER_SIZE_MASK)
#else
#define Uart1RxBufferNext(_x) ((_x+1)%UART1_RX_BUFFER_SIZE)
#endif
extern uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
extern uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
#define Uart0ChAvailable() (uart0_rx_insert_idx != uart0_rx_extract_idx)
#define Uart0Getch() ({\
uint8_t ret = uart0_rx_buffer[uart0_rx_extract_idx]; \
uart0_rx_extract_idx = Uart0RxBufferNext(uart0_rx_extract_idx); \
ret; \
})
extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
#define Uart1Getch() ({\
uint8_t ret = uart1_rx_buffer[uart1_rx_extract_idx]; \
uart1_rx_extract_idx = Uart1RxBufferNext(uart1_rx_extract_idx); \
ret; \
})
#endif /* (__AVR_ATmega128__) */
#endif /* UART_HW_H */
sw/airborne/arch/avr/ppm_hw.c
-119
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@@ -1,119 +0,0 @@
/* $Id$
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
*
* (c) 2003 Trammell Hudson <hudson@rotomotion.com>
* (c) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include "ppm.h"
#include "mcu_periph/sys_time.h"
/*
* Pulse width is computed as the difference between now and the
* previous pulse. If no pulse has been received between then and
* now, the time of the last pulse will be equal to the last pulse
* we measured. Unfortunately, the Input Capture Flag (ICF1) will
* not be set since the interrupt routine disables it.
*
* Sync pulses are timed with Timer2, which runs at Clk/1024. This
* is slow enough at both 4 and 8 Mhz to measure the lengthy (10ms
* or longer) pulse.
*
* Otherwise, compute the pulse width with the 16-bit timer1,
* push the pulse width onto the stack and increment the
* pulse counter until we have received eight pulses.
*/
uint16_t ppm_pulses[ PPM_NB_PULSES ];
volatile bool_t ppm_valid;
/* MC3030, Trame PPM7: 25ms, 10.4 au neutre,
sync pulse = 16.2ms with low value on every channels */
#if CLOCK == 8
#define RestartPpmCycle() { state = 0; sync_start = TCNT2 + (tmr2_ov_cnt << 8); return; }
#else
#define RestartPpmCycle() { state = 0; sync_start = TCNT2; return; }
#endif
#ifdef TIMER1_TOP
static volatile uint16_t tmr1_ov_cnt = 0;
SIGNAL(SIG_OVERFLOW1) {
tmr1_ov_cnt += TIMER1_TOP;
return;
}
#endif
SIGNAL( SIG_INPUT_CAPTURE1 )
{
static uint16_t last;
uint16_t this;
uint16_t width;
static uint8_t state = 0;
static uint16_t sync_start;
this = ICR1;
#ifdef TIMER1_TOP
this += tmr1_ov_cnt;
#endif
width = this - last;
last = this;
if( state == 0 ) {
uint16_t end = TCNT2;
#if CLOCK == 8
end += tmr2_ov_cnt << 8;
uint16_t diff = (end - sync_start);
#else
uint8_t diff = (end - sync_start);
#endif
sync_start = end;
/* The frame period of the mc3030 seems to be 25ms.
* One pulse lasts from 1.05ms to 2.150ms.
* Sync pulse is at least 7ms : (7000*CLOCK)/1024 = 109
*/
if( diff > LONG_CPU_TICKS_OF_USEC(PPM_SYNC_MIN_LEN) &&
diff < LONG_CPU_TICKS_OF_USEC(PPM_SYNC_MAX_LEN) ) {
state = 1;
}
}
else {
/* Read a data pulses */
if( width > CPU_TICKS_OF_USEC(PPM_DATA_MAX_LEN) ||
width < CPU_TICKS_OF_USEC(PPM_DATA_MIN_LEN))
RestartPpmCycle();
ppm_pulses[state - 1] = width;
if (state >= PPM_NB_PULSES) {
ppm_valid = TRUE;
RestartPpmCycle();
} else
state++;
}
return;
}
sw/airborne/arch/avr/ppm_hw.h
-86
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@@ -1,86 +0,0 @@
/* $Id$
*
* Decoder for the trainer ports or hacked receivers for both
* Futaba and JR formats. The ppm_valid flag is set whenever
* a valid frame is received.
*
* Pulse widths are stored as unscaled 16-bit values in ppm_pulses[].
* If you require actual microsecond values, divide by CLOCK.
* For an 8 Mhz clock and typical servo values, these will range
* from 0x1F00 to 0x4000.
*
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
*
* (c) 2002 Trammell Hudson <hudson@rotomotion.com>
* (c) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef PPM_HW_H
#define PPM_HW_H
#ifdef FBW
#include <inttypes.h>
#include <avr/io.h>
#include CONFIG
/*
* PPM pulses are falling edge clocked on the ICP, which records
* the state of the global clock. We do not use any noise
* canceling features.
*
* JR might be rising edge clocked; set that as an option
*/
static inline void
ppm_init( void )
{
#if defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_FUTABA
cbi( TCCR1B, ICES1 );
#elif defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_JR
sbi( TCCR1B, ICES1 );
#else
#error "ppm_hw.h: Unknown RADIO_CONTROL_TYPE"
#endif
/* No noise cancelation */
sbi( TCCR1B, ICNC1 );
/* Set ICP to input, no internal pull up */
cbi( PPM_DDR, PPM_PIN);
/* Enable interrupt on input capture */
sbi( TIMSK, TICIE1 );
#ifdef TIMER1_TOP
/* Enable timer1 overflow it. */
/* needed to increase timer1 count to 16 bits in fast pwm mode (TIMER1_TOP rollover) */
sbi( TIMSK, TOIE1 );
#endif
ppm_valid = FALSE;
}
#endif /* FBW */
extern volatile uint16_t ppm_diff;
#endif /* PPM_HW_H */
sw/airborne/arch/avr/servos_4017.c
-138
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@@ -1,138 +0,0 @@
/* $Id$
*
* (c) 2003-2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** Implementation of actuators.h */
#include <avr/io.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include "servos_4017.h"
#include "actuators.h"
#include "mcu_periph/sys_time.h"
#include CONFIG
/* holds the servo pulses width in clock ticks */
uint16_t servo_widths[_4017_NB_CHANNELS];
/*
* We use the output compare registers to generate our servo pulses.
* These should be connected to a decade counter that routes the
* pulses to the appropriate servo.
*
* Initialization involves:
*
* - Reseting the decade counters
* - Writing the first pulse width to the counters
* - Setting output compare to set the clock line by calling servo_enable()
* - Bringing down the reset lines
*
* Ideally, you can use two decade counters to drive 20 servos.
*/
void actuators_init( void ) {
uint8_t i;
/* Configure the reset and clock lines as output */
_4017_RESET_DDR |= _BV(_4017_RESET_PIN);
_4017_CLOCK_DDR |= _BV(_4017_CLOCK_PIN);
/* Reset the decade counter */
sbi( _4017_RESET_PORT, _4017_RESET_PIN );
/* Lower the clock line */
cbi( _4017_CLOCK_PORT, _4017_CLOCK_PIN );
/* Set all servos at their midpoints */
for( i=0 ; i < _4017_NB_CHANNELS ; i++ )
servo_widths[i] = CPU_TICKS_OF_USEC(1500);
/* Set servos to go off some long time from now */
SERVO_OCR = 32768ul;
/* Set output compare to toggle the output bits */
TCCR1A |= _BV(SERVO_COM0 );
#ifdef SERVOS_FALLING_EDGE
/* Starts CLOCK high for the falling edge case */
TCCR1A |= _BV(SERVO_FORCE);
#endif
/* Clear the interrupt flags in case they are set */
TIFR = _BV(SERVO_FLAG);
/* Unassert the decade counter reset to start it running */
cbi( _4017_RESET_PORT, _4017_RESET_PIN );
/* Enable our output compare interrupts */
TIMSK |= _BV(SERVO_ENABLE );
}
/*
* Interrupt routine
*
* write the next pulse width to OCR register and
* assert the servo signal. It will be cleared by
* the following compare match.
*/
SIGNAL( SIG_OUTPUT_COMPARE1A )
{
static uint8_t servo = 0;
uint16_t width;
#ifdef SERVOS_FALLING_EDGE
#define RESET_WIDTH CPU_TICKS_OF_USEC(1000)
#define FIRST_PULSE_WIDTH CPU_TICKS_OF_USEC(100)
/** The clock pin has been initialized high and is toggled down by
the timer.
Unfortunately it seems that reset does not work on 4017 in this case if it
occurs after the first falling edge. We add two more states at the end of
the sequence:
- keeping clock low, reset high during 1ms
- clock high (toggled by the timer), reset down, during 100us (looks like
the first pulse of a standard RC */
if (servo == _4017_NB_CHANNELS) {
sbi( _4017_RESET_PORT, _4017_RESET_PIN );
/** Start a long 1ms reset, keep clock low */
SERVO_OCR += RESET_WIDTH;
servo++;
return;
}
if (servo > _4017_NB_CHANNELS) {
/** Clear the reset, the clock has been toggled high */
cbi( _4017_RESET_PORT, _4017_RESET_PIN );
/** Starts a short pulse-like period */
SERVO_OCR += FIRST_PULSE_WIDTH;
servo=0; /** Starts a new sequence next time */
return;
}
#else
if (servo >= _4017_NB_CHANNELS) {
sbi( _4017_RESET_PORT, _4017_RESET_PIN );
servo = 0;
// FIXME: 500 ns required by 4017 reset ???? why does it work without!
// asm( "nop; nop; nop; nop;nop; nop; nop; nop;nop; nop; nop; nop;nop; nop; nop; nop;" );
cbi( _4017_RESET_PORT, _4017_RESET_PIN );
}
#endif
width = servo_widths[servo];
SERVO_OCR += width;
TCCR1A |= _BV(SERVO_FORCE);
servo++;
}
sw/airborne/arch/avr/servos_4017.h
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@@ -1,38 +0,0 @@
/* $Id$
*
* (c) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or extern uint16_t servo_widths[_4017_NB_CHANNELS];(at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef SERVO_4017_H
#define SERVO_4017_H
#define SERVOS_TICS_OF_USEC(_us) CPU_TICKS_OF_USEC(_us)
#define ChopServo(x,a,b) Chop(x, a, b)
#define _4017_NB_CHANNELS 10
extern uint16_t servo_widths[_4017_NB_CHANNELS];
#define Actuator(i) servo_widths[i]
#define ActuatorsCommit() {}
#endif /* SERVO_4017_H */
sw/airborne/arch/avr/servos_direct_hw.c
-25
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@@ -1,25 +0,0 @@
/* Implementation of command.h */
/*
3 servos on OC3A OC3B OC3C using Timer3 prescaled at 8
*/
#include "servos_direct_hw.h"
#include "std.h"
#include "actuators.h"
#include "generated/airframe.h"
void actuators_init ( void ) {
/* OC3A, OC3B, OC3C outputs */
DDRE |= _BV(3) | _BV(4) | _BV(5);
/* set timer3 in fast PWM mode, with TOP defined by ICR3 , prescaled to 8 */
TCCR3A = _BV(WGM31) | _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1);
TCCR3B = _BV(WGM32) | _BV(WGM33) | _BV(CS31);
/* set timer3 rollover */
ICR3 = TIMER3_TOP;
/* Set all servos at their midpoints */
Actuator(0) = SERVOS_TICS_OF_USEC(1500);
Actuator(1) = SERVOS_TICS_OF_USEC(1500);
Actuator(2) = SERVOS_TICS_OF_USEC(1500);
}
sw/airborne/arch/avr/servos_direct_hw.h
-23
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@@ -1,23 +0,0 @@
#ifndef SERVOS_DIRECT_HW_H
#define SERVOS_DIRECT_HW_H
#include <avr/io.h>
#include CONFIG
/* servo refresh rate in HZ */
#define SERVO_REFRESH_RATE 50
/* timer3 prescaler */
#define TIMER3_PRESCALER 8
#define TIMER3_TOP (CLOCK*1e6/SERVO_REFRESH_RATE/TIMER3_PRESCALER)
#define SERVOS_TICS_OF_USEC(s) ((s)*CLOCK/TIMER3_PRESCALER)
#define ChopServo(x, min, max) Chop(x, min, max)
#define SERVO_REG_0 OCR3A
#define SERVO_REG_1 OCR3B
#define SERVO_REG_2 OCR3C
#define COMMAND_(i) SERVO_REG_ ## i
#define Actuator(i) COMMAND_(i)
#define ActuatorsCommit() {}
#endif /* SERVOS_DIRECT_HW_H */
sw/airborne/arch/avr/servos_esc_hw.c
-51
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@@ -1,51 +0,0 @@
/* $Id$
*
* (c) 2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** Implementation of actuators.h */
/*
4 DC motor controller with mosfets on OCR1A OCR3A OCR3B OCR3C
*/
#include <avr/io.h>
#include "servos_esc_hw.h"
#include CONFIG
void actuators_init ( void ) {
/* OC1A output */
DDRB |= _BV(5);
/* fast PWM, 10 bits */
TCCR1A |= _BV(WGM10) | _BV(WGM11) | _BV(COM1A1);
TCCR1B |= _BV(WGM12);
/* OC3A, OC3B, OC3C outputs */
DDRE |= _BV(3) | _BV(4) | _BV(5);
/* fast PWM : 10 bits */
TCCR3A |= _BV(WGM30) | _BV(WGM31) | _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1);
TCCR3B |= _BV(WGM32);
}
sw/airborne/arch/avr/servos_esc_hw.h
-50
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@@ -1,50 +0,0 @@
/* $Id$
*
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
* (c) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef SERVOS_ESC_HW_H
#define SERVOS_ESC_HW_H
/** Implementation of actuators.h */
/*
4 DC motor controller with mosfets on OCR1A OCR3A OCR3B OCR3C
*/
#include <avr/io.h>
#define MAX_TICK 0x3FF
#define MOT_CTL_0 OCR3C
#define MOT_CTL_1 OCR1A
#define MOT_CTL_2 OCR3B
#define MOT_CTL_3 OCR3A
#define COMMAND_(i) MOT_CTL_ ## i
#define Actuator(i) COMMAND_(i)
#define ChopServo(x,_a,b) (x > b ? b : x)
#define SERVOS_TICS_OF_USEC(s) (s)
#define ActuatorsCommit() {}
#endif /* SERVOS_ESC_HW_H */
sw/airborne/arch/avr/subsystems/datalink/audio_telemetry_hw.c
-74
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@@ -1,74 +0,0 @@
/*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file audio_telemetry_hw.c
* \brief Handling of a CMX 469 on avr mega128 architecture
*/
#include <inttypes.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include "audio_telemetry.h"
uint8_t audio_telemetry_nb_ovrn;
uint8_t tx_head;
volatile uint8_t tx_tail;
uint8_t tx_buf[ TX_BUF_SIZE ];
uint8_t tx_byte;
uint8_t tx_byte_idx;
SIGNAL( AUDIO_TELEMETRY_CLK_INT_SIG ) {
/* start bit */
if (tx_byte_idx == 0)
cbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_DATA);
/* 8 data bits */
else if (tx_byte_idx < 9) {
if (tx_byte & 0x01)
sbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_DATA);
else
cbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_DATA);
tx_byte >>= 1;
}
/* stop_bit */
else {
sbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_DATA);
}
tx_byte_idx++;
/* next byte */
if (tx_byte_idx >= 10) {
/* if we have nothing left to transmit */
if( tx_head == tx_tail ) {
/* disable clock interrupt */
cbi( EIMSK, AUDIO_TELEMETRY_CLK_INT );
} else {
/* else load next byte */
AUDIO_TELEMETRY_LOAD_NEXT_BYTE();
}
}
}
sw/airborne/arch/avr/subsystems/datalink/audio_telemetry_hw.h
-94
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@@ -1,94 +0,0 @@
/*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file audio_telemetry_hw.h
* \brief AVR CMX469 low level functions
*
*/
#ifndef AUDIO_TELEMETRY_HW_H
#define AUDIO_TELEMETRY_HW_H
#include <avr/io.h>
#include "std.h"
#define AUDIO_TELEMETRY_CHECK_RUNNING() { \
if (!(EIMSK & _BV(AUDIO_TELEMETRY_CLK_INT))) { \
AUDIO_TELEMETRY_LOAD_NEXT_BYTE() \
sbi(EIFR, INTF0); \
sbi(EIMSK, AUDIO_TELEMETRY_CLK_INT); \
} \
}
#define AUDIO_TELEMETRY_TX_PORT PORTD
#define AUDIO_TELEMETRY_TX_DDR DDRD
#define AUDIO_TELEMETRY_TX_EN 7
#define AUDIO_TELEMETRY_TX_DATA 6
#ifdef CTL_BRD_V1_2
#define AUDIO_TELEMETRY_CLK_DDR DDRD
#define AUDIO_TELEMETRY_CLK_PORT PORTD
#define AUDIO_TELEMETRY_CLK 0
#define AUDIO_TELEMETRY_CLK_INT INT0
#define AUDIO_TELEMETRY_CLK_INT_REG EICRA
#define AUDIO_TELEMETRY_CLK_INT_CFG _BV(ISC01)
#define AUDIO_TELEMETRY_CLK_INT_SIG SIG_INTERRUPT0
#define AUDIO_TELEMETRY_OSC_DDR DDRB
#define AUDIO_TELEMETRY_OSC_PORT PORTB
#define AUDIO_TELEMETRY_OSC 4
#endif /* CTL_BRD_V1_2 */
#ifdef CTL_BRD_V1_2_1
#define AUDIO_TELEMETRY_CLK_DDR DDRE
#define AUDIO_TELEMETRY_CLK_PORT PORTE
#define AUDIO_TELEMETRY_CLK 4
#define AUDIO_TELEMETRY_CLK_INT INT4
#define AUDIO_TELEMETRY_CLK_INT_REG EICRB
#define AUDIO_TELEMETRY_CLK_INT_CFG _BV(ISC41)
#define AUDIO_TELEMETRY_CLK_INT_SIG SIG_INTERRUPT4
#define AUDIO_TELEMETRY_OSC_DDR DDRB
#define AUDIO_TELEMETRY_OSC_PORT PORTB
#define AUDIO_TELEMETRY_OSC 4
#endif /* CTL_BRD_V1_2_1 */
static inline void audio_telemetry_init ( void ) {
/* setup TIMER0 to generate a 4MHz clock */
AUDIO_TELEMETRY_OSC_DDR |= _BV(AUDIO_TELEMETRY_OSC);
OCR0 = 1; /* 4MhZ */
TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
/* setup TX_EN and TX_DATA pin as output */
AUDIO_TELEMETRY_TX_DDR |= _BV(AUDIO_TELEMETRY_TX_EN) | _BV(AUDIO_TELEMETRY_TX_DATA);
/* data idles hight */
sbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_DATA);
/* enable transmitter */
cbi(AUDIO_TELEMETRY_TX_PORT, AUDIO_TELEMETRY_TX_EN);
/* set interrupt on failing edge of clock */
AUDIO_TELEMETRY_CLK_INT_REG |= AUDIO_TELEMETRY_CLK_INT_CFG;
}
#endif
sw/airborne/arch/avr/sys_time_hw.c
-22
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@@ -1,22 +0,0 @@
#include <inttypes.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include CONFIG
#include "std.h"
uint16_t cpu_time_ticks;
#if CLOCK == 8
volatile uint8_t tmr2_ov_cnt;
volatile bool_t tmr2_overflow;
SIGNAL(SIG_OVERFLOW2) {
tmr2_ov_cnt++;
tmr2_overflow = TRUE;
return;
}
#endif
sw/airborne/arch/avr/sys_time_hw.h
-127
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@@ -1,127 +0,0 @@
/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/*
*\brief AVR timer functions
*
*/
#ifndef SYS_TIME_HW_H
#define SYS_TIME_HW_H
#include "std.h"
#include <avr/io.h>
extern uint16_t cpu_time_ticks;
#define F_CPU (CLOCK*1000000UL)
/*
* Enable Timer1 (16-bit) running at Clk/1 for the global system
* clock.
*
* Low frequency periodic tasks will be signaled by timer 2
* running at Clk/1024. For 16 Mhz clock, this will be every
* 16384 microseconds, or 61.03515625 Hz.
*/
static inline void sys_time_init( void ) {
/* Timer0: Modem clock is started in modem.h in ctc mode*/
/* Timer1 @ Clk/1: System clock */
TCCR1A = 0x00;
TCCR1B = _BV(CS10);
/* Timer2 @ Clk/1024: Periodic clock */
#if defined (__AVR_ATmega8__)
TCCR2 = _BV(CS20) | _BV(CS21) | _BV(CS22);
#elif defined (__AVR_ATmega128__)
#if CLOCK == 16
TCCR2 = _BV(CS20) | _BV(CS22);
#elif CLOCK == 8
TCCR2 = _BV(CS22);
sbi( TIMSK, TOIE2 );
#else
#error "Unknwon CLOCK"
#endif
#else
#warning "Unknown arch"
#endif
#ifdef TIMER3
/* Timer3 @ Clk/1: motor controller */
TCCR3A = 0x00;
TCCR3B = _BV(CS10);
#endif
cpu_time_sec = 0;
cpu_time_ticks = 0;
}
#define CPU_TICKS_OF_USEC(us) (uint16_t)((us)*CLOCK)
#define SIGNED_CPU_TICKS_OF_USEC(us) (int16_t)((us)*CLOCK)
#if CLOCK == 8
#define LONG_CPU_TICKS_OF_USEC(us) (uint16_t)(((uint32_t)(us)*CLOCK)/256ul)
#else
#define LONG_CPU_TICKS_OF_USEC(us) (uint8_t)(((uint32_t)(us)*CLOCK)/1024ul)
#endif
/*
* Periodic tasks occur when Timer2 overflows. Check and unset
* the overflow bit. Occurs at 61.03515625 Hz with CLOCK = 16
* Occurs at 122Hz with CLOCK = 8
*
*/
#if CLOCK == 8
extern volatile uint8_t tmr2_ov_cnt;
extern volatile bool_t tmr2_overflow;
#endif
#define TICKS_PER_SEC (CLOCK * 1e6 / 1024)
#if CLOCK == 8
static inline bool_t sys_time_periodic( void ) {
if( !tmr2_overflow )
return FALSE;
tmr2_overflow = FALSE;
return (tmr2_ov_cnt & 0x1);
}
#else
//#define TMR2_PER_SEC 7812
static inline bool_t sys_time_periodic( void ) {
if( !bit_is_set( TIFR, TOV2 ) )
return FALSE;
TIFR = _BV(TOV2);
cpu_time_ticks += 256;
if (cpu_time_ticks > TICKS_PER_SEC) {
cpu_time_ticks -= TICKS_PER_SEC;
cpu_time_sec++;
}
return TRUE;
}
#endif
#endif /* SYS_TIME_HW_H */
sw/airborne/arch/avr/uart_tunnel.c
-61
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@@ -1,61 +0,0 @@
#include <inttypes.h>
#include <avr/io.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#define UART_PC_PORT PORTE
#define UART_PC_DDR DDRE
#define UART_PC_PIN PINE
#define UART_PC_TX 1
#define UART_PC_RX 0
#define UART_PERPH_PORT PORTD
#define UART_PERPH_DDR DDRD
#define UART_PERPH_PIN PIND
#define UART_PERPH_TX 3
#define UART_PERPH_RX 2
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
int main( void ) {
/* setup PC_TX as output */
UART_PC_DDR |= _BV(UART_PC_TX);
/* setup PC_RX as input, no pullup */
UART_PC_DDR &= ~_BV(UART_PC_RX);
UART_PC_PORT &= ~_BV(UART_PC_RX);
/* setup PERPH_TX as output */
UART_PERPH_DDR |= _BV(UART_PERPH_TX);
/* setup PERPH_RX as input, no pullup */
UART_PERPH_DDR &= ~_BV(UART_PERPH_RX);
UART_PERPH_PORT &= ~_BV(UART_PERPH_RX);
while(1)
{
if (bit_is_set(UART_PERPH_PIN, UART_PERPH_RX)) {
sbi(UART_PC_PORT, UART_PC_TX);
} else {
cbi(UART_PC_PORT, UART_PC_TX);
}
if (bit_is_set(UART_PC_PIN, UART_PC_RX)) {
sbi(UART_PERPH_PORT, UART_PERPH_TX);
} else {
cbi(UART_PERPH_PORT, UART_PERPH_TX);
}
}
return 0;
}
sw/airborne/arch/lpc21/lpcusb/examples/Makefile
+4 -1
View File
@@ -1,3 +1,6 @@
# Quiet compilation
Q=@
LIBNAME = ../libusbstack
APPNAME = main
@@ -41,7 +44,7 @@ crt.o: crt.s
$(CC) -c $(AFLAGS) -Wa,-ahlms=crt.lst crt.s -o crt.o
clean:
rm -f *.hex *.elf *.o *.lst *.dmp *.map .depend
$(Q)rm -f *.hex *.elf *.o *.lst *.dmp *.map .depend
# recompile if the Makefile changes
$(OBJS): Makefile
sw/airborne/arch/lpc21/test/bootloader/Makefile
+6 -3
View File
@@ -1,3 +1,6 @@
# Quiet compilation
Q=@
#PROC_AP PROC_FBW PROC_TINY PROC_TINYJ
#PROC = TINYJ
ALLFLAGS = -DPROC_$(PROC)
@@ -37,9 +40,9 @@ LIBOBJS = usbhw_lpc.o usbcontrol.o usbstdreq.o usbinit.o usbdescrip.o
all: lib app app_ram
clean:
$(RM) -f $(LIBNAME).a $(LIBOBJS)
$(RM) -f $(APPNAME).hex $(APPNAME).elf $(OBJS) *.lst $(APPNAME).dmp $(APPNAME).map
$(RM) -f $(APPNAME_RAM).hex $(APPNAME_RAM).elf $(APPNAME_RAM).dmp $(APPNAME_RAM).map
$(Q)$(RM) -f $(LIBNAME).a $(LIBOBJS)
$(Q)$(RM) -f $(APPNAME).hex $(APPNAME).elf $(OBJS) *.lst $(APPNAME).dmp $(APPNAME).map
$(Q)$(RM) -f $(APPNAME_RAM).hex $(APPNAME_RAM).elf $(APPNAME_RAM).dmp $(APPNAME_RAM).map
# build lib
lib: $(LIBOBJS)
sw/airborne/arch/sim/ivy_transport.h
+1 -1
View File
@@ -10,7 +10,7 @@ extern char* ivy_p;
#define IvyTransportHeader(_dev,len) ivy_p=ivy_buf;
#define IvyTransportTrailer(_dev) { *ivy_p = '\0'; IvySendMsg("%s",ivy_buf); }
#define IvyTransportTrailer(_dev) { *(--ivy_p) = '\0'; IvySendMsg("%s",ivy_buf); }
#define IvyTransportPutUint8(_dev,x) { ivy_p += sprintf(ivy_p, "%u ", x); }
#define IvyTransportPutNamedUint8(_dev,_name, _x) { ivy_p += sprintf(ivy_p, "%s ", _name); }
sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
+2 -2
View File
@@ -27,7 +27,7 @@
#if USE_NPS
#include "nps_radio_control.h"
#else
#elif !USE_JSBSIM
#include <caml/mlvalues.h>
#endif
@@ -74,7 +74,7 @@ void radio_control_feed(void) {
void radio_control_feed(void) {}
#endif //RADIO_CONTROL
#else //!USE_NPS
#elif !USE_JSBSIM // not NPS and not JSBSIM -> simple ocaml sim
#ifdef RADIO_CONTROL
value update_rc_channel(value c, value v) {
ppm_pulses[Int_val(c)] = Double_val(v);
sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+4
View File
@@ -861,6 +861,10 @@ I2C_SoftwareResetCmd(periph->reg_addr, DISABLE);
*/
#ifdef USE_I2C0
#error "The STM32 doesn't have I2C0, use I2C1 or I2C2"
#endif
#ifdef USE_I2C1
/** default I2C1 clock speed */
sw/airborne/arch/stm32/peripherals/ms2100_arch.h
+10 -2
View File
@@ -31,12 +31,20 @@
#include <libopencm3/stm32/f1/gpio.h>
#include "mcu_periph/spi.h"
/**
* Here Reset indicates the Ms2100 is in normal state, i.e.
* the reset line is driven low (i.e. the GPIO is "reset")
*/
static inline void Ms2100Reset(void) {
GPIOC_BSRR = GPIO13;
GPIOC_BRR = GPIO13;
}
/**
* Here Set indicates the Ms2100 is in reset state, i.e.
* the reset line is driven high (i.e. the GPIO is "set")
*/
static inline void Ms2100Set(void) {
GPIOC_BRR = GPIO13;
GPIOC_BSRR = GPIO13;
}
#define Ms2100HasEOC() (gpio_get(GPIOB, GPIO5) != 0)
sw/airborne/boards/navgo/imu_navgo.c
+21 -2
View File
@@ -49,8 +49,19 @@
#endif
PRINT_CONFIG_VAR(NAVGO_ACCEL_RATE)
/* default gyro internal lowpass frequency and sample rate divider */
#if !defined NAVGO_GYRO_LOWPASS && !defined NAVGO_GYRO_SMPLRT_DIV
#define NAVGO_GYRO_LOWPASS ITG3200_DLPF_10HZ
#define NAVGO_GYRO_SMPLRT_DIV 1
PRINT_CONFIG_MSG("Gyro output rate is 500Hz")
#endif
PRINT_CONFIG_VAR(NAVGO_GYRO_LOWPASS)
PRINT_CONFIG_VAR(NAVGO_GYRO_SMPLRT_DIV)
#if NAVGO_USE_MEDIAN_FILTER
#include "filters/median_filter.h"
struct MedianFilter3Int median_gyro, median_accel, median_mag;
#endif
struct ImuNavgo imu_navgo;
@@ -60,8 +71,8 @@ void imu_impl_init(void)
// ITG3200
itg3200_init(&imu_navgo.itg, &(IMU_NAVGO_I2C_DEV), ITG3200_ADDR_ALT);
// change the default configuration
imu_navgo.itg.config.smplrt_div = 1; // 500Hz sample rate since internal is 1kHz
imu_navgo.itg.config.dlpf_cfg = ITG3200_DLPF_10HZ;
imu_navgo.itg.config.smplrt_div = NAVGO_GYRO_SMPLRT_DIV; // 500Hz sample rate since internal is 1kHz
imu_navgo.itg.config.dlpf_cfg = NAVGO_GYRO_LOWPASS;
/////////////////////////////////////////////////////////////////////
// ADXL345
@@ -73,10 +84,12 @@ void imu_impl_init(void)
// HMC58XX
hmc58xx_init(&imu_navgo.hmc, &(IMU_NAVGO_I2C_DEV), HMC58XX_ADDR);
#if NAVGO_USE_MEDIAN_FILTER
// Init median filters
InitMedianFilterRatesInt(median_gyro);
InitMedianFilterVect3Int(median_accel);
InitMedianFilterVect3Int(median_mag);
#endif
imu_navgo.gyr_valid = FALSE;
imu_navgo.acc_valid = FALSE;
@@ -115,7 +128,9 @@ void imu_navgo_event( void )
itg3200_event(&imu_navgo.itg);
if (imu_navgo.itg.data_available) {
RATES_ASSIGN(imu.gyro_unscaled, -imu_navgo.itg.data.rates.q, imu_navgo.itg.data.rates.p, imu_navgo.itg.data.rates.r);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
imu_navgo.itg.data_available = FALSE;
imu_navgo.gyr_valid = TRUE;
}
@@ -124,7 +139,9 @@ void imu_navgo_event( void )
adxl345_i2c_event(&imu_navgo.adxl);
if (imu_navgo.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_navgo.adxl.data.vect.y, -imu_navgo.adxl.data.vect.x, imu_navgo.adxl.data.vect.z);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
imu_navgo.adxl.data_available = FALSE;
imu_navgo.acc_valid = TRUE;
}
@@ -133,7 +150,9 @@ void imu_navgo_event( void )
hmc58xx_event(&imu_navgo.hmc);
if (imu_navgo.hmc.data_available) {
VECT3_COPY(imu.mag_unscaled, imu_navgo.hmc.data.vect);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
#endif
imu_navgo.hmc.data_available = FALSE;
imu_navgo.mag_valid = TRUE;
}
sw/airborne/booz/test/Makefile
+4 -1
View File
@@ -21,6 +21,9 @@
# Boston, MA 02111-1307, USA.
##
# Quiet compilation
Q=@
CC = gcc
CFLAGS = -std=gnu99 -Wall -I.. -I../.. -I../../test/ -I../../../include -I../../booz_priv
LDFLAGS = -lm
@@ -51,4 +54,4 @@ test_att_ref: test_att_ref.c ../stabilization/booz_stabilization_attitude_ref_qu
clean:
rm -f *~ test_att_ref
$(Q)rm -f *~ test_att_ref

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