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[Krobot-commits] [SCM] krobot branch, master, updated. 85ee8e9f8f4b8df9a2b2efbd4848a9ee9952ec4e
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From: Nicolas D. <Ba...@us...> - 2011-03-12 10:35:54
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- Log -----------------------------------------------------------------
commit 85ee8e9f8f4b8df9a2b2efbd4848a9ee9952ec4e
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Mar 12 11:29:00 2011 +0100
Import USB-CAN firmware
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/USB_CAN/Firmware/Makefile b/elec/boards/USB_CAN/Firmware/Makefile
new file mode 100644
index 0000000..d77a575
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/Makefile
@@ -0,0 +1,17 @@
+#
+# Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+# All rights reserved.
+#
+# Author: Lorenzo Berni <du...@de...>
+#
+
+# Set to 1 for verbose build output, 0 for terse output
+V := 0
+
+default: all
+
+include bertos/config.mk
+
+include usb_can/usb_can.mk
+
+include bertos/rules.mk
diff --git a/elec/boards/USB_CAN/Firmware/VERSION b/elec/boards/USB_CAN/Firmware/VERSION
new file mode 100644
index 0000000..e520145
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/VERSION
@@ -0,0 +1 @@
+BeRTOS 2.6.99 [local copy]
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/crc.c b/elec/boards/USB_CAN/Firmware/bertos/algo/crc.c
new file mode 100644
index 0000000..d4293f9
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/crc.c
@@ -0,0 +1,102 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003,2004 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief CRC table and support routines
+ *
+ * \author Bernie Innocenti <be...@co...>
+ */
+
+#include "crc.h"
+
+/*
+ * The boot on AVR cpu is placed at the end of flash memory, but the avr
+ * address memory by byte and the pointers are 16bits long, so we are able
+ * to address 64Kbyte memory max. For this reason we can't read the crctab
+ * from flash, because it is placed at the end of memory. This is true every
+ * time we have an AVR cpu with more that 64Kbyte of flash. To fix this problem
+ * we let the compiler copy the table in RAM at startup. Obviously this solution
+ * is not efficent, but for now this is the only way.
+ */
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ #define CRC_TABLE const uint16_t PROGMEM crc16tab[256]
+#else
+ #define CRC_TABLE const uint16_t crc16tab[256]
+#endif
+
+/**
+ * crctab calculated by Mark G. Mendel, Network Systems Corporation
+ */
+CRC_TABLE = {
+ 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+ 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+ 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+ 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+ 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+ 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+ 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+ 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+ 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+ 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+ 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+ 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+ 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+ 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+ 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+ 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+ 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+ 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+ 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+ 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+ 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+ 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+ 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+ 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+ 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+ 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+ 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+ 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+ 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+ 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+ 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+ 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
+};
+
+uint16_t crc16(uint16_t crc, const void *buffer, size_t len)
+{
+ const unsigned char *buf = (const unsigned char *)buffer;
+ while(len--)
+ crc = UPDCRC16(*buf++, crc);
+
+ return crc;
+}
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/crc.h b/elec/boards/USB_CAN/Firmware/bertos/algo/crc.h
new file mode 100644
index 0000000..c5c1eef
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/crc.h
@@ -0,0 +1,115 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief Cyclic Redundancy Check 16 (CRC). This algorithm is the one used by the XMODEM protocol.
+ *
+ * \note This algorithm is incompatible with the CCITT-CRC16.
+ *
+ * This code is based on the article Copyright 1986 Stephen Satchell.
+ *
+ * Programmers may incorporate any or all code into their programs,
+ * giving proper credit within the source. Publication of the
+ * source routines is permitted so long as proper credit is given
+ * to Stephen Satchell, Satchell Evaluations and Chuck Forsberg,
+ * Omen Technology.
+ *
+ * \author Bernie Innocenti <be...@co...>
+ *
+ * $WIZ$ module_name = "crc16"
+ */
+
+#ifndef ALGO_CRC_H
+#define ALGO_CRC_H
+
+#include "cfg/cfg_arch.h"
+
+#include <cfg/compiler.h>
+#include <cpu/pgm.h>
+
+EXTERN_C_BEGIN
+
+/* CRC table */
+extern const uint16_t crc16tab[256];
+
+
+/**
+ * \brief Compute the updated CRC16 value for one octet (macro version)
+ *
+ * \note This version is only intended for old/broken compilers.
+ * Use the inline function in new code.
+ *
+ * \param c New octet (range 0-255)
+ * \param oldcrc Previous CRC16 value (referenced twice, beware of side effects)
+ */
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ #define UPDCRC16(c, oldcrc) (pgm_read_uint16_t(&crc16tab[((oldcrc) >> 8) ^ ((unsigned char)(c))]) ^ ((oldcrc) << 8))
+#else
+ #define UPDCRC16(c, oldcrc) ((crc16tab[((oldcrc) >> 8) ^ ((unsigned char)(c))]) ^ ((oldcrc) << 8))
+#endif
+
+/** CRC-16 init value */
+#define CRC16_INIT_VAL ((uint16_t)0)
+
+#ifdef INLINE
+/**
+ * \brief Compute the updated CRC16 value for one octet (inline version)
+ */
+INLINE uint16_t updcrc16(uint8_t c, uint16_t oldcrc)
+{
+#if CPU_HARVARD && !(defined(ARCH_BOOT) && (ARCH & ARCH_BOOT))
+ return pgm_read_uint16_t(&crc16tab[(oldcrc >> 8) ^ c]) ^ (oldcrc << 8);
+#else
+ return crc16tab[(oldcrc >> 8) ^ c] ^ (oldcrc << 8);
+#endif
+}
+#endif // INLINE
+
+
+/**
+ * This function implements the CRC 16 calculation on a buffer.
+ *
+ * \param crc Current CRC16 value.
+ * \param buf The buffer to perform CRC calculation on.
+ * \param len The length of the Buffer.
+ *
+ * \return The updated CRC16 value.
+ */
+extern uint16_t crc16(uint16_t crc, const void *buf, size_t len);
+
+int crc_testSetup(void);
+int crc_testRun(void);
+int crc_testTearDown(void);
+
+EXTERN_C_END
+
+#endif /* ALGO_CRC_H */
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.c b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.c
new file mode 100644
index 0000000..feaf624
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.c
@@ -0,0 +1,83 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief CRC-CCITT table and support routines
+ *
+ * \author Francesco Sacchi <ba...@de...>
+ */
+
+#include "crc_ccitt.h"
+
+const uint16_t PROGMEM crc_ccitt_tab[256] = {
+ 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+ 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+ 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+ 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+ 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+ 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+ 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+ 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+ 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+ 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+ 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+ 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+ 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+ 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+ 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+ 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+ 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+ 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+ 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+ 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+ 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+ 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+ 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+ 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+ 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+ 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+ 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+ 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+ 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+ 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+ 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+ 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
+};
+
+uint16_t crc_ccitt(uint16_t crc, const void *buffer, size_t len)
+{
+ const unsigned char *buf = (const unsigned char *)buffer;
+ while (len--)
+ crc = updcrc_ccitt(*buf++, crc);
+
+ return crc;
+}
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.h b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.h
new file mode 100644
index 0000000..240e6e1
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_ccitt.h
@@ -0,0 +1,78 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief CCITT Cyclic Redundancy Check (CRC-CCITT).
+ *
+ * \note This algorithm is incompatible with the CRC16.
+ *
+ * \author Francesco Sacchi <ba...@de...>
+ *
+ * $WIZ$ module_name = "crc-ccitt"
+ */
+
+#ifndef ALGO_CRC_CCITT_H
+#define ALGO_CRC_CCITT_H
+
+#include <cfg/compiler.h>
+#include <cpu/pgm.h>
+
+EXTERN_C_BEGIN
+
+/* CRC table */
+extern const uint16_t crc_ccitt_tab[256];
+
+/**
+ * \brief Compute the updated CRC-CCITT value for one octet (inline version)
+ */
+INLINE uint16_t updcrc_ccitt(uint8_t c, uint16_t oldcrc)
+{
+ return (oldcrc >> 8) ^ pgm_read16(&crc_ccitt_tab[(oldcrc ^ c) & 0xff]);
+}
+
+/** CRC-CCITT init value */
+#define CRC_CCITT_INIT_VAL ((uint16_t)0xFFFF)
+
+
+/**
+ * This function implements the CRC-CCITT calculation on a buffer.
+ *
+ * \param crc Current CRC-CCITT value.
+ * \param buf The buffer to perform CRC calculation on.
+ * \param len The length of the Buffer.
+ *
+ * \return The updated CRC-CCITT value.
+ */
+extern uint16_t crc_ccitt(uint16_t crc, const void *buf, size_t len);
+
+EXTERN_C_END
+
+#endif /* ALGO_CRC_CCITT_H */
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/crc_test.c b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_test.c
new file mode 100644
index 0000000..1a93e3b
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/crc_test.c
@@ -0,0 +1,75 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003,2004 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief CRC-CCITT table and support routines
+ *
+ * \author Francesco Sacchi <ba...@de...>
+ */
+
+#include "crc_ccitt.h"
+#include "crc.h"
+
+#include <cfg/debug.h>
+#include <cfg/test.h>
+
+
+int crc_testSetup(void)
+{
+ kdbg_init();
+ return 0;
+}
+
+int crc_testTearDown(void)
+{
+ return 0;
+}
+
+int crc_testRun(void)
+{
+ char vector[9] = "123456789";
+
+ uint16_t crc = CRC_CCITT_INIT_VAL;
+
+ crc = crc_ccitt(crc, vector, sizeof(vector));
+ kprintf("crc_ccitt [%04X]\n", crc);
+ ASSERT(crc == 0x6F91);
+
+ crc = CRC16_INIT_VAL;
+ crc = crc16(crc, vector, sizeof(vector));
+ kprintf("crc16 [%04X]\n", crc);
+ ASSERT(crc == 0x31C3);
+
+ return 0;
+}
+
+TEST_MAIN(crc);
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/md2.c b/elec/boards/USB_CAN/Firmware/bertos/algo/md2.c
new file mode 100644
index 0000000..589d989
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/md2.c
@@ -0,0 +1,336 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief MD2 Message-Digest algorithm.
+ *
+ * The MD2 algorithm work with a constant array of 256 permutationt
+ * defined in RFC1319. If you don't want to use a standard array of
+ * permutatione you can use a md2_perm() function that generate an
+ * array of 256 "casual" permutation. To swich from a standard array
+ * to md2_perm function you must chanche CONFIG_MD2_STD_PERM defined in
+ * appconfig.h.
+ * If you need to store array in program memory you must define
+ * a macro _PROGMEM (for more info see cpu/pgm.h).
+ *
+ *
+ * \author Daniele Basile <as...@de...>
+ */
+
+#include "md2.h"
+
+#include <string.h> //memset(), memcpy();
+#include <cfg/compiler.h>
+#include <cfg/debug.h> //ASSERT()
+#include <cfg/macros.h> //MIN(), countof(), ROTR();
+#include <cpu/pgm.h>
+
+
+#if CONFIG_MD2_STD_PERM
+ /*
+ * Official array of 256 byte pemutation contructed from digits of pi, defined
+ * in the RFC 1319.
+ */
+ static const uint8_t PROGMEM md2_perm[256] =
+ {
+ 41, 46, 67, 201, 162, 216, 124, 1, 61, 54, 84, 161, 236, 240, 6,
+ 19, 98, 167, 5, 243, 192, 199, 115, 140, 152, 147, 43, 217, 188,
+ 76, 130, 202, 30, 155, 87, 60, 253, 212, 224, 22, 103, 66, 111, 24,
+ 138, 23, 229, 18, 190, 78, 196, 214, 218, 158, 222, 73, 160, 251,
+ 245, 142, 187, 47, 238, 122, 169, 104, 121, 145, 21, 178, 7, 63,
+ 148, 194, 16, 137, 11, 34, 95, 33, 128, 127, 93, 154, 90, 144, 50,
+ 39, 53, 62, 204, 231, 191, 247, 151, 3, 255, 25, 48, 179, 72, 165,
+ 181, 209, 215, 94, 146, 42, 172, 86, 170, 198, 79, 184, 56, 210,
+ 150, 164, 125, 182, 118, 252, 107, 226, 156, 116, 4, 241, 69, 157,
+ 112, 89, 100, 113, 135, 32, 134, 91, 207, 101, 230, 45, 168, 2, 27,
+ 96, 37, 173, 174, 176, 185, 246, 28, 70, 97, 105, 52, 64, 126, 15,
+ 85, 71, 163, 35, 221, 81, 175, 58, 195, 92, 249, 206, 186, 197,
+ 234, 38, 44, 83, 13, 110, 133, 40, 132, 9, 211, 223, 205, 244, 65,
+ 129, 77, 82, 106, 220, 55, 200, 108, 193, 171, 250, 36, 225, 123,
+ 8, 12, 189, 177, 74, 120, 136, 149, 139, 227, 99, 232, 109, 233,
+ 203, 213, 254, 59, 0, 29, 57, 242, 239, 183, 14, 102, 88, 208, 228,
+ 166, 119, 114, 248, 235, 117, 75, 10, 49, 68, 80, 180, 143, 237,
+ 31, 26, 219, 153, 141, 51, 159, 17, 131, 20
+ };
+
+ #define MD2_PERM(x) pgm_read8(&md2_perm[x])
+#else
+ /**
+ * Md2_perm() function generate an array of 256 "casual" permutation.
+ */
+
+ /**
+ * Costant define for computing an array of 256 "casual" permutation.
+ * \{
+ */
+ #define K1 5
+ #define K2 3
+ #define R 2
+ #define X 172
+ /*\}*/
+
+ static uint8_t md2_perm(uint8_t i)
+ {
+
+ i = i * K1;
+ i = ROTR(i, R);
+ i ^= X;
+ i = i * K2;
+
+ return i;
+ }
+
+ #define MD2_PERM(x) md2_perm(x)
+
+#endif
+
+
+/**
+ * Pad function. Put len_pad unsigned char in
+ * input block.
+ */
+static void md2_pad(void *_block, size_t len_pad)
+{
+ uint8_t *block;
+
+ block = (uint8_t *)_block;
+
+ ASSERT(len_pad <= CONFIG_MD2_BLOCK_LEN);
+
+ /*
+ * Fill input block with len_pad char.
+ */
+ memset(block, len_pad, len_pad);
+
+}
+
+static void md2_compute(void *_state, void *_checksum, void *_block)
+{
+ int i = 0;
+ uint16_t t = 0;
+ uint8_t compute_array[COMPUTE_ARRAY_LEN];
+ uint8_t *state;
+ uint8_t *checksum;
+ uint8_t *block;
+
+ state = (uint8_t *)_state;
+ checksum = (uint8_t *)_checksum;
+ block = (uint8_t *)_block;
+
+ /*
+ * Copy state and checksum context in compute array.
+ */
+ memcpy(compute_array, state, CONFIG_MD2_BLOCK_LEN);
+ memcpy(compute_array + CONFIG_MD2_BLOCK_LEN, block, CONFIG_MD2_BLOCK_LEN);
+
+ /*
+ * Fill compute array with state XOR block
+ */
+ for(i = 0; i < CONFIG_MD2_BLOCK_LEN; i++)
+ compute_array[i + (CONFIG_MD2_BLOCK_LEN * 2)] = state[i] ^ block[i];
+
+ /*
+ * Encryt block.
+ */
+ for(i = 0; i < NUM_COMPUTE_ROUNDS; i++)
+ {
+ for(int j = 0; j < COMPUTE_ARRAY_LEN; j++)
+ {
+ compute_array[j] ^= MD2_PERM(t);
+ t = compute_array[j];
+ }
+
+ t = (t + i) & 0xff; //modulo 256.
+ }
+ /*
+ * Update checksum.
+ */
+ t = checksum[CONFIG_MD2_BLOCK_LEN - 1];
+
+ for(i = 0; i < CONFIG_MD2_BLOCK_LEN; i++)
+ {
+ checksum[i] ^= MD2_PERM(block[i] ^ t);
+ t = checksum[i];
+ }
+
+ /*
+ * Update state and clean compute array.
+ */
+ memcpy(state, compute_array, CONFIG_MD2_BLOCK_LEN);
+ memset(compute_array, 0, sizeof(compute_array));
+}
+
+/**
+ * Algorithm initialization.
+ *
+ * \param context empty context.
+ */
+void md2_init(Md2Context *context)
+{
+
+ memset(context, 0, sizeof(Md2Context));
+
+}
+
+/**
+ * Update block.
+ */
+void md2_update(Md2Context *context, const void *_block_in, size_t block_len)
+{
+
+ const uint8_t *block_in;
+ size_t cpy_len;
+
+
+ block_in = (const uint8_t *)_block_in;
+
+ while(block_len > 0)
+ {
+ /*
+ * Choose a number of block that fill input context buffer.
+ */
+ cpy_len = MIN(block_len, CONFIG_MD2_BLOCK_LEN - context->counter);
+
+
+ /*
+ * Copy in the buffer input block.
+ */
+ memcpy(&context->buffer[context->counter], block_in, cpy_len);
+
+ /*
+ * Update a context counter, input block length and remaning
+ * context buffer block lenght.
+ */
+ context->counter += cpy_len;
+ block_len -= cpy_len;
+ block_in += cpy_len;
+
+ /*
+ * If buffer is full, compute it.
+ */
+ if (context->counter >= CONFIG_MD2_BLOCK_LEN)
+ {
+ md2_compute(context->state, context->checksum, context->buffer);
+ context->counter = 0;
+ }
+ }
+
+
+}
+/**
+ * Ends an MD2 message digest operation.
+ * This fuction take an context and return a pointer
+ * to context state.
+ *
+ * \param context in input.
+ * \return a pointer to context state (message digest).
+ */
+uint8_t *md2_end(Md2Context *context)
+{
+
+ uint8_t buf[CONFIG_MD2_BLOCK_LEN];
+
+ /*
+ * Fill remaning empty context buffer.
+ */
+ md2_pad(buf, CONFIG_MD2_BLOCK_LEN - context->counter);
+
+ /*
+ * Update context buffer and compute it.
+ */
+ md2_update(context, buf, CONFIG_MD2_BLOCK_LEN - context->counter);
+
+ /*
+ * Add context checksum to message input.
+ */
+ md2_update(context, context->checksum, CONFIG_MD2_BLOCK_LEN);
+
+
+ return context->state; //return a pointer to message digest.
+}
+/**
+ * MD2 test fuction.
+ * This function test MD2 algorithm with a standard string specified
+ * in RFC 1319.
+ *
+ * \note This test work with official array of 256 byte pemutation
+ * contructed from digits of pi, defined in the RFC 1319.
+ *
+ */
+bool md2_test(void)
+{
+
+ Md2Context context;
+
+ const char *test[] =
+ {
+ "",
+ "message digest",
+ "abcdefghijklmnopqrstuvwxyz",
+ "12345678901234567890123456789012345678901234567890123456789012345678901234567890"
+ };
+
+
+ const char *result[] = {
+ "\x83\x50\xe5\xa3\xe2\x4c\x15\x3d\xf2\x27\x5c\x9f\x80\x69\x27\x73",
+ "\xab\x4f\x49\x6b\xfb\x2a\x53\x0b\x21\x9f\xf3\x30\x31\xfe\x06\xb0",
+ "\x4e\x8d\xdf\xf3\x65\x02\x92\xab\x5a\x41\x08\xc3\xaa\x47\x94\x0b",
+ "\xd5\x97\x6f\x79\xd8\x3d\x3a\x0d\xc9\x80\x6c\x3c\x66\xf3\xef\xd8",
+ };
+
+
+ for (size_t i = 0; i < countof(test); i++)
+ {
+ md2_init(&context);
+ md2_update(&context, test[i], strlen(test[i]));
+
+ if(memcmp(result[i], md2_end(&context), MD2_DIGEST_LEN))
+ return false;
+ }
+
+ return true;
+}
+
+#if 0
+
+#include <stdio.h>
+int main(int argc, char * argv[])
+{
+
+ if(md2_test())
+ printf("MD2 algorithm work well!\n");
+ else
+ printf("MD2 algorithm doesn't work well.\n");
+
+}
+
+#endif
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/md2.h b/elec/boards/USB_CAN/Firmware/bertos/algo/md2.h
new file mode 100644
index 0000000..f7642b9
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/md2.h
@@ -0,0 +1,74 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief MD2 Message-Digest algorithm.
+ *
+ * The algorithm takes as input a message of arbitrary length and produces
+ * as output a 128-bit message digest of the input.
+ * It is conjectured that it is computationally infeasible to produce
+ * two messages having the same message digest, or to produce any
+ * message having a given prespecified target message digest.
+ *
+ *
+ * \author Daniele Basile <as...@de...>
+ *
+ * $WIZ$ module_name = "md2"
+ * $WIZ$ module_configuration = "bertos/cfg/cfg_md2.h"
+ */
+
+#ifndef ALGO_MD2_H
+#define ALGO_MD2_H
+
+#include "cfg/cfg_md2.h"
+#include <cfg/compiler.h>
+
+#define NUM_COMPUTE_ROUNDS 18 ///< Number of compute rounds.
+#define COMPUTE_ARRAY_LEN CONFIG_MD2_BLOCK_LEN * 3 ///< Lenght of compute array.
+#define MD2_DIGEST_LEN CONFIG_MD2_BLOCK_LEN
+/**
+ * Context for MD2 computation.
+ */
+typedef struct Md2Context
+{
+ uint8_t buffer[CONFIG_MD2_BLOCK_LEN]; ///< Input buffer.
+ uint8_t state[CONFIG_MD2_BLOCK_LEN]; ///< Current state buffer.
+ uint8_t checksum[CONFIG_MD2_BLOCK_LEN]; ///< Checksum.
+ size_t counter; ///< Counter of remaining bytes.
+
+} Md2Context;
+
+void md2_init(Md2Context *context);
+void md2_update(Md2Context *context, const void *block_in, size_t block_len);
+uint8_t *md2_end(Md2Context *context);
+bool md2_test(void);
+
+#endif /* ALGO_MD2_H */
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/mean.h b/elec/boards/USB_CAN/Firmware/bertos/algo/mean.h
new file mode 100644
index 0000000..893241e
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/mean.h
@@ -0,0 +1,41 @@
+#warning revise me!
+
+
+/**
+ * DECLARE_SMEAN(temperature, uint8_t, uint16_t);
+ * for (i = 0; i < TEMP_MEANS; ++i)
+ * SMEAN_ADD(temperature, adc_get(), TEMP_MEANS);
+ * printf("mean temperature = %d\n", SMEAN_GET(temperature));
+ */
+
+/**
+ * Instantiate a mean instance
+ */
+#define DECLARE_SMEAN(name, Type, SumType) \
+ struct { \
+ SumType sum; \
+ Type result; \
+ int count; \
+ } name = { 0, 0, 0 }
+
+/**
+ * Insert a new sample into the mean.
+ *
+ * \note \a mean and \a max_samples are evaluated multiple times
+ */
+#define SMEAN_ADD(mean, sample, max_samples) \
+ do { \
+ (mean).sum += (sample); \
+ if ((mean).count++ >= (max_samples)) \
+ { \
+ (mean).result = (mean).sum / (max_samples); \
+ (mean).sum = 0; \
+ (mean).count = 0; \
+ } \
+ } while (0)
+
+/**
+ * Return current mean value.
+ */
+#define SMEAN_GET(mean) ((mean).result)
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.c b/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.c
new file mode 100644
index 0000000..73e7ffd
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.c
@@ -0,0 +1,115 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
+ * -->
+ *
+ *
+ * \brief Proportional, integral, derivative controller (PID controller) (implementation)
+ *
+ *
+ * \author Daniele Basile <as...@de...>
+ */
+
+#include "pid_control.h"
+
+#include "cfg/cfg_pid.h"
+
+// Define logging setting (for cfg/log.h module).
+#define LOG_LEVEL PID_LOG_LEVEL
+#define LOG_VERBOSITY PID_LOG_FORMAT
+
+#include <cfg/log.h>
+#include <cfg/debug.h>
+
+/**
+ * Compute next value for reaching \a target point.
+ */
+piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t curr_pos)
+{
+ piddata_t P;
+ piddata_t I;
+ piddata_t D;
+ piddata_t err;
+
+ //Compute current error.
+ err = target - curr_pos;
+
+ /*
+ * Compute Proportional contribute
+ */
+ P = err * pid_ctx->cfg->kp;
+
+ //Update integral state error
+ pid_ctx->i_state += err;
+
+ //Clamp integral state between i_min and i_max
+ pid_ctx->i_state = MINMAX(pid_ctx->cfg->i_min, pid_ctx->i_state, pid_ctx->cfg->i_max);
+
+ /*
+ * Compute Integral contribute
+ *
+ * note: for computing the integral contribute we use a sample period in seconds
+ * and so we divide sample_period in microsenconds for 1000.
+ */
+ I = pid_ctx->i_state * pid_ctx->cfg->ki * ((piddata_t)pid_ctx->cfg->sample_period / 1000);
+
+
+ /*
+ * Compute derivative contribute
+ */
+ D = (err - pid_ctx->prev_err) * pid_ctx->cfg->kd / ((piddata_t)pid_ctx->cfg->sample_period / 1000);
+
+
+ LOG_INFO("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
+
+
+ //Store the last error value
+ pid_ctx->prev_err = err;
+ piddata_t pid = MINMAX(pid_ctx->cfg->out_min, (P + I + D), pid_ctx->cfg->out_max);
+
+ LOG_INFO("pid[%lf]",pid);
+
+ //Clamp out between out_min and out_max
+ return pid;
+}
+
+/**
+ * Init PID control.
+ */
+void pid_control_init(PidContext *pid_ctx, const PidCfg *pid_cfg)
+{
+ /*
+ * Init all values of pid control struct
+ */
+ pid_ctx->cfg = pid_cfg;
+
+ pid_control_reset(pid_ctx);
+
+}
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.h b/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.h
new file mode 100644
index 0000000..c21319a
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/pid_control.h
@@ -0,0 +1,115 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
+ * -->
+ *
+ *
+ * \brief Proportional, integral, derivative controller (PID controller).
+ *
+ *
+ * \author Daniele Basile <as...@de...>
+ *
+ * $WIZ$ module_name = "pid_control"
+ * $WIZ$ module_depends = "timer"
+ */
+
+#ifndef ALGO_PID_CONTROL_H
+#define ALGO_PID_CONTROL_H
+
+#include <drv/timer.h>
+
+/**
+ * Data type for pid coefficient.
+ */
+typedef float pidk_t;
+typedef float piddata_t;
+
+/**
+ * PID context structure.
+ */
+typedef struct PidCfg
+{
+ pidk_t kp; ///< Proportional term of PID control method (Gain).
+ pidk_t ki; ///< Integral term of PID control method (Integral Gain).
+ pidk_t kd; ///< Derivative of PID control method (Derivative Gain).
+
+ piddata_t i_max; ///< Max value of integral term.
+ piddata_t i_min; ///< Min value of integral term.
+
+ piddata_t out_max; ///< Man value of output.
+ piddata_t out_min; ///< Min value of output.
+
+ mtime_t sample_period; ///< Sample period in milliseconds.
+
+} PidCfg;
+
+
+/**
+ * PID context structure.
+ */
+typedef struct PidContext
+{
+ const PidCfg *cfg;
+
+ piddata_t prev_err; ///< Previous error.
+ piddata_t i_state; ///< Integrator state (sum of all the preceding errors).
+
+} PidContext;
+
+/**
+ * Set Kp, Ki, Kd constants of PID control.
+ */
+INLINE void pid_control_setPid(PidCfg *pid_cfg, pidk_t kp, pidk_t ki, pidk_t kd)
+{
+ pid_cfg->kp = kp;
+ pid_cfg->ki = ki;
+ pid_cfg->kd = kd;
+}
+
+/**
+ * Set sample period for PID control.
+ */
+INLINE void pid_control_setPeriod(PidCfg *pid_cfg, mtime_t sample_period)
+{
+ pid_cfg->sample_period = sample_period;
+}
+
+/**
+ * Clear a pid control structure
+ */
+INLINE void pid_control_reset(PidContext *pid_ctx)
+{
+ pid_ctx->i_state = 0;
+ pid_ctx->prev_err = 0;
+}
+
+piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t curr_pos);
+void pid_control_init(PidContext *pid_ctx, const PidCfg *pid_cfg);
+
+#endif /* ALGO_PID_CONTROL_H */
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.c b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.c
new file mode 100644
index 0000000..fff8a6c
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.c
@@ -0,0 +1,200 @@
+/*!
+ * \file
+ * <!--
+ * Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
+ * All Rights Reserved.
+ * -->
+ *
+ * \brief Compute, save and load ramps for stepper motors (implementation)
+ *
+ *
+ * \author Simone Zinanni <s.z...@de...>
+ * \author Bernie Innocenti <be...@co...>
+ * \author Giovanni Bajo <ra...@de...>
+ * \author Daniele Basile <as...@de...>
+ *
+ *
+ * The formula used by the ramp is the following:
+ *
+ * <pre>
+ * a * b
+ * f(t) = -------------
+ * lerp(a,b,t)
+ * </pre>
+ *
+ * Where <code>a</code> and <code>b</code> are the maximum and minimum speed
+ * respectively (minimum and maximum wavelength respectively), and <code>lerp</code>
+ * is a linear interpolation with a factor:
+ *
+ * <pre>
+ * lerp(a,b,t) = a + t * (b - a) = (a * (1 - t)) + (b * t)
+ * </pre>
+ *
+ * <code>t</code> must be in the [0,1] interval. It is easy to see that the
+ * following holds true:
+ *
+ * <pre>
+ * f(0) = b, f(1) = a
+ * </pre>
+ *
+ * And that the function is monotonic. So, the function effectively interpolates
+ * between the maximum and minimum speed through its domain ([0,1] -> [b,a]).
+ *
+ * The curve drawn by this function is similar to 1 / (sqrt(n)), so it is slower
+ * than a linear acceleration (which would be 1/n).
+ *
+ * The floating point version uses a slightly modified function which accepts
+ * the parameter in the domain [0, MT] (where MT is maxTime, the length of the
+ * ramp, which is a setup parameter for the ramp). This is done to reduce the
+ * number of operations per step. The formula looks like this:
+ *
+ * <pre>
+ * a * b * MT
+ * g(t) = ----------------------------
+ * (a * MT) + t * (b - a)
+ * </pre>
+ *
+ * It can be shown that this <code>g(t) = f(t * MT)</code>. The denominator
+ * is a linear interpolation in the range [b*MT, a*MT], as t moves in the
+ * interval [0, MT]. So the interpolation interval of the function is again
+ * [b, a]. The implementation caches the value of the numerator and parts
+ * of the denominator, so that the formula becomes:
+ *
+ * <pre>
+ * alpha = a * b * MT
+ * beta = a * MT
+ * gamma = b - a
+ *
+ * alpha
+ * g(t) = ----------------------
+ * beta + t * gamma
+ * </pre>
+ *
+ * and <code>t</code> is exactly the parameter that ramp_evaluate() gets,
+ * that is the current time (in range [0, MT]). The operations performed
+ * for each step are just an addition, a multiplication and a division.
+ *
+ * The fixed point version of the formula instead transforms the original
+ * function as follows:
+ *
+ * <pre>
+ * a * b a
+ * f(t) = ------------------------- = --------------------
+ * a a
+ * b * ( - * (1 - t) + t ) - * (1 - t) + t
+ * b b
+ * </pre>
+ *
+ * <code>t</code> must be computed by dividing the current time (24 bit integer)
+ * by the maximum time (24 bit integer). This is done by precomputing the
+ * reciprocal of the maximum time as a 0.32 fixed point number, and multiplying
+ * it to the current time. Multiplication is performed 8-bits a time by
+ * FIX_MULT32(), so that we end up with a 0.16 fixed point number for
+ * <code>t</code> (and <code>1-t</code> is just its twos-complement negation).
+ * <code>a/b</code> is in the range [0,1] (because a is always less than b,
+ * being the minimum wavelength), so it is precomputed as a 0.16 fixed point.
+ * The final step is then computing the denominator and executing the division
+ * (32 cycles using the 1-step division instruction in the DSP).
+ *
+ * The assembly implementation is needed for efficiency, but a C version of it
+ * can be easily written, in case it is needed in the future.
+ *
+ */
+
+#include "ramp.h"
+#include <cfg/debug.h>
+
+#include <string.h> // memcpy()
+
+void ramp_compute(struct Ramp *ramp, uint32_t clocksRamp, uint16_t clocksMinWL, uint16_t clocksMaxWL)
+{
+ ASSERT(clocksMaxWL >= clocksMinWL);
+
+ // Save values in ramp struct
+ ramp->clocksRamp = clocksRamp;
+ ramp->clocksMinWL = clocksMinWL;
+ ramp->clocksMaxWL = clocksMaxWL;
+
+#if RAMP_USE_FLOATING_POINT
+ ramp->precalc.gamma = ramp->clocksMaxWL - ramp->clocksMinWL;
+ ramp->precalc.beta = (float)ramp->clocksMinWL * (float)ramp->clocksRamp;
+ ramp->precalc.alpha = ramp->precalc.beta * (float)ramp->clocksMaxWL;
+
+#else
+ ramp->precalc.max_div_min = ((uint32_t)clocksMinWL << 16) / (uint32_t)clocksMaxWL;
+
+ /* Calcola 1/total_time in fixed point .32. Assumiamo che la rampa possa al
+ * massimo avere 25 bit (cioé valore in tick fino a 2^25, che con il
+ * prescaler=3 sono circa 7 secondi). Inoltre, togliamo qualche bit di precisione
+ * da destra (secondo quanto specificato in RAMP_CLOCK_SHIFT_PRECISION).
+ */
+ ASSERT(ramp->clocksRamp < (1UL << (24 + RAMP_CLOCK_SHIFT_PRECISION)));
+ ramp->precalc.inv_total_time = 0xFFFFFFFFUL / (ramp->clocksRamp >> RAMP_CLOCK_SHIFT_PRECISION);
+ ASSERT(ramp->precalc.inv_total_time < 0x1000000UL);
+
+#endif
+}
+
+
+void ramp_setup(struct Ramp* ramp, uint32_t length, uint32_t minFreq, uint32_t maxFreq)
+{
+ uint32_t minWL, maxWL;
+
+ minWL = TIME2CLOCKS(FREQ2MICROS(maxFreq));
+ maxWL = TIME2CLOCKS(FREQ2MICROS(minFreq));
+
+ ASSERT2(minWL < 65536UL, "Maximum frequency too high");
+ ASSERT2(maxWL < 65536UL, "Minimum frequency too high");
+ ASSERT(maxFreq > minFreq);
+
+ ramp_compute(
+ ramp,
+ TIME2CLOCKS(length),
+ TIME2CLOCKS(FREQ2MICROS(maxFreq)),
+ TIME2CLOCKS(FREQ2MICROS(minFreq))
+ );
+}
+
+void ramp_default(struct Ramp *ramp)
+{
+ ramp_setup(ramp, RAMP_DEF_TIME, RAMP_DEF_MINFREQ, RAMP_DEF_MAXFREQ);
+}
+
+#if RAMP_USE_FLOATING_POINT
+
+float ramp_evaluate(const struct Ramp* ramp, float curClock)
+{
+ return ramp->precalc.alpha / (curClock * ramp->precalc.gamma + ramp->precalc.beta);
+}
+
+#else
+
+INLINE uint32_t fix_mult32(uint32_t m1, uint32_t m2)
+{
+ uint32_t accum = 0;
+ accum += m1 * ((m2 >> 0) & 0xFF);
+ accum >>= 8;
+ accum += m1 * ((m2 >> 8) & 0xFF);
+ accum >>= 8;
+ accum += m1 * ((m2 >> 16) & 0xFF);
+ return accum;
+}
+
+// a*b >> 16
+INLINE uint16_t fix_mult16(uint16_t a, uint32_t b)
+{
+ return (b*(uint32_t)a) >> 16;
+}
+
+uint16_t FAST_FUNC ramp_evaluate(const struct Ramp* ramp, uint32_t curClock)
+{
+ uint16_t t = FIX_MULT32(curClock >> RAMP_CLOCK_SHIFT_PRECISION, ramp->precalc.inv_total_time);
+ uint16_t denom = fix_mult16((uint16_t)~t + 1, ramp->precalc.max_div_min) + t;
+ uint16_t cur_delta = ((uint32_t)ramp->clocksMinWL << 16) / denom;
+
+ return cur_delta;
+}
+
+#endif
+
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.h b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.h
new file mode 100644
index 0000000..ad3c919
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp.h
@@ -0,0 +1,166 @@
+/**
+ * \file
+ * <!--
+ * Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
+ * All Rights Reserved.
+ * -->
+ *
+ * \brief Compute, save and load ramps for stepper motors.
+ *
+ * The acceleration ramp is used to properly accelerate a stepper motor. The main
+ * entry point is the function ramp_evaluate(), which must be called at every step
+ * of the motor: it gets as input the time elapsed since the stepper started
+ * accelerating, and returns the time to wait before sending the next step. A pseudo
+ * usage pattern is as follows:
+ *
+ * <pre>
+ * float time = 0;
+ * while (1)
+ * {
+ * float delta = ramp_evaluate(&my_ramp, time);
+ * sleep(delta);
+ * do_motor_step();
+ * time += delta;
+ * }
+ * </pre>
+ *
+ * A similar pattern can be used to decelerate (it is sufficient to move the total
+ * time backward, such as "time -= delta").
+ *
+ * The ramp can be configured with ramp_setup(), providing it with the minimum and
+ * maximum operating frequency of the motor, and the total acceleration time in
+ * milliseconds (that is, the time that will be needed to accelerate from the
+ * minimum frequency to the maximum frequency).
+ *
+ * Both a very precise floating point and a very fast fixed point implementation
+ * of the ramp evaluation are provided. The fixed point is hand-optimized assembly
+ * for DSP56000 (but a portable C version of it can be easily written, see the
+ * comments in the code).
+ *
+ *
+ * \author Simone Zinanni <s.z...@de...>
+ * \author Giovanni Bajo <ra...@de...>
+ * \author Daniele Basile <as...@de...>
+ *
+ * $WIZ$ module_name = "ramp"
+ * $WIZ$ module_configuration = "bertos/cfg/cfg_ramp.h"
+ */
+
+#ifndef ALGO_RAMP_H
+#define ALGO_RAMP_H
+
+#include "hw/hw_stepper.h"
+
+#include "cfg/cfg_ramp.h"
+
+#include <cfg/compiler.h>
+
+
+/**
+ * Convert microseconds to timer clock ticks
+ */
+#define TIME2CLOCKS(micros) ((uint32_t)(micros) * (STEPPER_CLOCK / 1000000))
+
+/**
+ * Convert timer clock ticks back to microseconds
+ */
+#define CLOCKS2TIME(clocks) ((uint32_t)(clocks) / (STEPPER_CLOCK / 1000000))
+
+/**
+ * Convert microseconds to Hz
+ */
+#define MICROS2FREQ(micros) (1000000UL / ((uint32_t)(micros)))
+
+/**
+ * Convert frequency (in Hz) to time (in microseconds)
+ */
+#define FREQ2MICROS(hz) (1000000UL / ((uint32_t)(hz)))
+
+/**
+ * Multiply \p a and \p b two integer at 32 bit and extract the high 16 bit word.
+ */
+#define FIX_MULT32(a,b) (((uint64_t)(a)*(uint32_t)(b)) >> 16)
+
+/**
+ * Structure holding pre-calculated data for speeding up real-time evaluation
+ * of the ramp. This structure is totally different between the fixed and the
+ * floating point version of the code.
+ *
+ * Consult the file-level documentation of ramp.c for more information about
+ * the values of this structure.
+ */
+struct RampPrecalc
+{
+#if RAMP_USE_FLOATING_POINT
+ float beta;
+ float alpha;
+ float gamma;
+#else
+ uint16_t max_div_min;
+ uint32_t inv_total_time;
+#endif
+};
+
+
+/**
+ * Ramp structure
+ */
+struct Ramp
+{
+ uint32_t clocksRamp;
+ uint16_t clocksMinWL;
+ uint16_t clocksMaxWL;
+
+ struct RampPrecalc precalc; ///< pre-calculated values for speed
+};
+
+
+/*
+ * Function prototypes
+ */
+void ramp_compute(
+ struct Ramp * ramp,
+ uint32_t clocksInRamp,
+ uint16_t clocksInMinWavelength,
+ uint16_t clocksInMaxWavelength);
+
+
+/** Setup an acceleration ramp for a stepper motor
+ *
+ * \param ramp Ramp to fill
+ * \param length Length of the ramp (milliseconds)
+ * \param minFreq Minimum operating frequency of the motor (hertz)
+ * \param maxFreq Maximum operating frequency of the motor (hertz)
+ *
+ */
+void ramp_setup(struct Ramp* ramp, uint32_t length, uint32_t minFreq, uint32_t maxFreq);
+
+
+/**
+ * Initialize a new ramp with default values
+ */
+void ramp_default(struct Ramp *ramp);
+
+
+/**
+ * Evaluate the ramp at the given point. Given a \a ramp, and the current \a clock since
+ * the start of the acceleration, compute the next step, that is the interval at which
+ * send the signal to the motor.
+ *
+ * \note The fixed point version does not work when curClock is zero. Anyway,
+ * the first step is always clocksMaxWL, as stored within the ramp structure.
+ */
+#if RAMP_USE_FLOATING_POINT
+ float ramp_evaluate(const struct Ramp* ramp, float curClock);
+#else
+ uint16_t ramp_evaluate(const struct Ramp* ramp, uint32_t curClock);
+#endif
+
+
+/** Self test */
+int ramp_testSetup(void);
+int ramp_testRun(void);
+int ramp_testTearDown(void);
+
+#endif /* ALGO_RAMP_H */
+
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/ramp_test.c b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp_test.c
new file mode 100644
index 0000000..0e7d58c
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/ramp_test.c
@@ -0,0 +1,186 @@
+/*!
+ * \file
+ * <!--
+ * Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
+ * All Rights Reserved.
+ * -->
+ *
+ * \brief Test for compute, save and load ramps for stepper motors (implementation)
+ *
+ *
+ * \author Simone Zinanni <s.z...@de...>
+ * \author Bernie Innocenti <be...@co...>
+ * \author Giovanni Bajo <ra...@de...>
+ * \author Daniele Basile <as...@de...>
+ *
+ *
+ * The formula used by the ramp is the following:
+ *
+ * <pre>
+ * a * b
+ * f(t) = -------------
+ * lerp(a,b,t)
+ * </pre>
+ *
+ * Where <code>a</code> and <code>b</code> are the maximum and minimum speed
+ * respectively (minimum and maximum wavelength respectively), and <code>lerp</code>
+ * is a linear interpolation with a factor:
+ *
+ * <pre>
+ * lerp(a,b,t) = a + t * (b - a) = (a * (1 - t)) + (b * t)
+ * </pre>
+ *
+ * <code>t</code> must be in the [0,1] interval. It is easy to see that the
+ * following holds true:
+ *
+ * <pre>
+ * f(0) = b, f(1) = a
+ * </pre>
+ *
+ * And that the function is monotonic. So, the function effectively interpolates
+ * between the maximum and minimum speed through its domain ([0,1] -> [b,a]).
+ *
+ * The curve drawn by this function is similar to 1 / (sqrt(n)), so it is slower
+ * than a linear acceleration (which would be 1/n).
+ *
+ * The floating point version uses a slightly modified function which accepts
+ * the parameter in the domain [0, MT] (where MT is maxTime, the length of the
+ * ramp, which is a setup parameter for the ramp). This is done to reduce the
+ * number of operations per step. The formula looks like this:
+ *
+ * <pre>
+ * a * b * MT
+ * g(t) = ----------------------------
+ * (a * MT) + t * (b - a)
+ * </pre>
+ *
+ * It can be shown that this <code>g(t) = f(t * MT)</code>. The denominator
+ * is a linear interpolation in the range [b*MT, a*MT], as t moves in the
+ * interval [0, MT]. So the interpolation interval of the function is again
+ * [b, a]. The implementation caches the value of the numerator and parts
+ * of the denominator, so that the formula becomes:
+ *
+ * <pre>
+ * alpha = a * b * MT
+ * beta = a * MT
+ * gamma = b - a
+ *
+ * alpha
+ * g(t) = ----------------------
+ * beta + t * gamma
+ * </pre>
+ *
+ * and <code>t</code> is exactly the parameter that ramp_evaluate() gets,
+ * that is the current time (in range [0, MT]). The operations performed
+ * for each step are just an addition, a multiplication and a division.
+ *
+ * The fixed point version of the formula instead transforms the original
+ * function as follows:
+ *
+ * <pre>
+ * a * b a
+ * f(t) = ------------------------- = --------------------
+ * a a
+ * b * ( - * (1 - t) + t ) - * (1 - t) + t
+ * b b
+ * </pre>
+ *
+ * <code>t</code> must be computed by dividing the current time (24 bit integer)
+ * by the maximum time (24 bit integer). This is done by precomputing the
+ * reciprocal of the maximum time as a 0.32 fixed point number, and multiplying
+ * it to the current time. Multiplication is performed 8-bits a time by
+ * FIX_MULT32(), so that we end up with a 0.16 fixed point number for
+ * <code>t</code> (and <code>1-t</code> is just its twos-complement negation).
+ * <code>a/b</code> is in the range [0,1] (because a is always less than b,
+ * being the minimum wavelength), so it is precomputed as a 0.16 fixed point.
+ * The final step is then computing the denominator and executing the division
+ * (32 cycles using the 1-step division instruction in the DSP).
+ *
+ * The assembly implementation is needed for efficiency, but a C version of it
+ * can be easily written, in case it is needed in the future.
+ *
+ */
+
+#include "ramp.h"
+#include <cfg/debug.h>
+#include <cfg/test.h>
+
+
+static bool ramp_test_single(uint32_t minFreq, uint32_t maxFreq, uint32_t length)
+{
+ struct Ramp r;
+ uint16_t cur, old;
+ uint32_t clock;
+ uint32_t oldclock;
+
+ ramp_setup(&r, length, minFreq, maxFreq);
+
+ cur = old = r.clocksMaxWL;
+ clock = 0;
+ oldclock = 0;
+
+ kprintf("testing ramp: (length=%lu, min=%lu, max=%lu)\n", (unsigned long)length, (unsigned long)minFreq, (unsigned long)maxFreq);
+ kprintf(" [length=%lu, max=%04x, min=%04x]\n", (unsigned long)r.clocksRamp, r.clocksMaxWL, r.clocksMinWL);
+
+ int i = 0;
+ int nonbyte = 0;
+
+ while (clock + cur < r.clocksRamp)
+ {
+ oldclock = clock;
+ old = cur;
+
+ clock += cur;
+ cur = ramp_evaluate(&r, clock);
+
+ if (old < cur)
+ {
+ uint16_t t1 = FIX_MULT32(oldclock >> RAMP_CLOCK_SHIFT_PRECISION, r.precalc.inv_total_time);
+ uint16_t t2 = FIX_MULT32(clock >> RAMP_CLOCK_SHIFT_PRECISION, r.precalc.inv_total_time);
+ uint16_t denom1 = FIX_MULT32((uint16_t)((~t1) + 1), r.precalc.max_div_min) + t1;
+ uint16_t denom2 = FIX_MULT32((uint16_t)((~t2) + 1), r.precalc.max_div_min) + t2;
+
+ kprintf(" Failed: %04x @ %lu --> %04x @ %lu\n", old, (unsigned long)oldclock, cur, (unsigned long)clock);
+ kprintf(" T: %04x -> %04x\n", t1, t2);
+ kprintf(" DENOM: %04x -> %04x\n", denom1, denom2);
+
+ cur = ramp_evaluate(&r, clock);
+ return false;
+ }
+ i++;
+ if ((old-cur) >= 256)
+ nonbyte++;
+ }
+
+
+
+ kprintf("Test finished: %04x @ %lu [min=%04x, totlen=%lu, numsteps:%d, nonbyte:%d]\n", cur, (unsigned long)clock, r.clocksMinWL, (unsigned long)r.clocksRamp, i, nonbyte);
+
+ return true;
+}
+
+int ramp_testSetup(void)
+{
+ kdbg_init();
+ return 0;
+}
+
+int ramp_testTearDown(void)
+{
+ return 0;
+}
+
+int ramp_testRun(void)
+{
+ #define TEST_RAMP(min, max, len) do { \
+ if (!ramp_test_single(min, max, len)) \
+ return -1; \
+ } while(0)
+
+ TEST_RAMP(200, 5000, 3000000);
+ TEST_RAMP(1000, 2000, 1000000);
+
+ return 0;
+}
+
+TEST_MAIN(ramp);
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/rand.c b/elec/boards/USB_CAN/Firmware/bertos/algo/rand.c
new file mode 100644
index 0000000..901e23f
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/rand.c
@@ -0,0 +1,52 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2006 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 1999 Bernie Innocenti <be...@co...>
+ *
+ * -->
+ *
+ * \brief Very simple rand() algorithm.
+ *
+ * \author Bernie Innocenti <be...@co...>
+ */
+
+#include "rand.h"
+
+/**
+ * This would really belong to libc
+ */
+int rand(void)
+{
+ static unsigned long seed;
+
+ /* Randomize seed */
+ seed = (seed ^ 0x4BAD5A39UL) + 6513973UL;
+
+ return (int)(seed>>16);
+}
diff --git a/elec/boards/USB_CAN/Firmware/bertos/algo/rand.h b/elec/boards/USB_CAN/Firmware/bertos/algo/rand.h
new file mode 100644
index 0000000..773429f
--- /dev/null
+++ b/elec/boards/USB_CAN/Firmware/bertos/algo/rand.h
@@ -0,0 +1,44 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+...
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