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[Krobot-commits] [SCM] krobot branch, master, updated. 2ee1763a0f7bd92e6e37a25b1e4bf17c0351290d
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From: Nicolas D. <Ba...@us...> - 2011-05-30 21:59:11
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- Log -----------------------------------------------------------------
commit 2ee1763a0f7bd92e6e37a25b1e4bf17c0351290d
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Mon May 30 23:58:19 2011 +0200
[USB_CAN] Move battery monitoring to the Sensor_Actuator board
commit 900dfc8c3c7319040141e12d7f896831d604dfd2
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Mon May 30 23:53:44 2011 +0200
[Sensor_Actuator] Add ADC management
commit d79681660ec191abf8c383634f6e937bf06c4acf
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Mon May 30 23:51:25 2011 +0200
[Sensor_Actuator] Silence SAM3X warnings
commit 722916138bde625e4a56e8c77bf7d11a9b34cadc
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Mon May 30 23:50:38 2011 +0200
[Sensor_Actuator] Enhance switches management
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.c
new file mode 100644
index 0000000..434790f
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.c
@@ -0,0 +1,35 @@
+#include "adc.h"
+
+void sa_adc_init(void) {
+
+ // Initialize the pins in the Analog IN mode
+ // (should be the default, but anyway...)
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOC_BASE,
+ BV(0) | BV(1) | BV(2) | BV(3),
+ GPIO_MODE_AIN,
+ GPIO_SPEED_50MHZ);
+
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE,
+ BV(0) | BV(1) | BV(2) | BV(3),
+ GPIO_MODE_AIN,
+ GPIO_SPEED_50MHZ);
+
+
+ // BeRTOS ADC initialization
+ adc_init();
+
+ // Yep, that's all folks...
+}
+
+void get_adc_values(adc_values *pkt1, adc_values *pkt2) {
+ pkt1->p.val1 = adc_read(10);
+ pkt1->p.val2 = adc_read(11);
+ pkt1->p.val3 = adc_read(12);
+ pkt1->p.val4 = adc_read(13);
+
+ pkt2->p.val1 = adc_read(0);
+ pkt2->p.val2 = adc_read(1);
+ pkt2->p.val3 = adc_read(2);
+ pkt2->p.val4 = adc_read(3);
+
+}
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.h
new file mode 100644
index 0000000..44dba3e
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/adc/adc.h
@@ -0,0 +1,47 @@
+/**
+ * Sensor and Actuator Board : ADC Interfacing
+ *
+ * This file contains the interface for the ADCs
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ *
+ * This program 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 3 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, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef ADC_H__
+#define ADC_H__
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <drv/adc.h>
+#include <drv/clock_stm32.h>
+#include <drv/gpio_stm32.h>
+
+#include "../can/can_messages.h"
+
+/**
+ * Initialize the ADCs
+ */
+void sa_adc_init(void);
+
+/**
+ * Fetch the ADC data in the CAN packets
+ */
+void get_adc_values(adc_values *pkt1, adc_values *pkt2);
+
+
+#endif
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.c
new file mode 100644
index 0000000..031ff29
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.c
@@ -0,0 +1,25 @@
+/*
+ * Wrapper to use the ADS7828 analog to digital converter
+ * Olivier Bichler
+ */
+
+#include "ads7828.h"
+
+unsigned int adc7828_measure(I2c* i2c, unsigned char addr, unsigned char ch) {
+ unsigned char value[2] = {0};
+ unsigned char cmd = ADS7828_CMD_PD0
+ | ADS7828_CMD_PD1
+ | ((ch/2) << 4)
+ | ADS7828_CMD_SD;
+
+ if (ch % 2)
+ cmd|= ADS7828_CMD_C2;
+
+ i2c_start_w(i2c, addr, 1, I2C_STOP);
+ i2c_write(i2c, &cmd, 1);
+ i2c_start_r(i2c, addr, 2, I2C_STOP);
+ i2c_read(i2c, &value, 2);
+
+ return ((value[0] << 8) | value[1]);
+}
+
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.h
new file mode 100644
index 0000000..5622fa8
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/ads7828.h
@@ -0,0 +1,29 @@
+/*
+ * Wrapper to use the ADS7828 analog to digital converter
+ * Olivier Bichler
+ */
+
+#ifndef HEADER__ADS7828
+#define HEADER__ADS7828
+
+#define ADS7828_VREF 2.5
+#define ADS7828_RES 12
+#define ADS7828_LSB (ADS7828_VREF/((1 << ADS7828_RES) - 1.0))
+
+#define ADS7828_ADDR_BASE 0x90
+#define ADS7828_ADDR_A0 0x02
+#define ADS7828_ADDR_A1 0x04
+
+#define ADS7828_CMD_PD0 0x04
+#define ADS7828_CMD_PD1 0x08
+#define ADS7828_CMD_C0 0x10
+#define ADS7828_CMD_C1 0x20
+#define ADS7828_CMD_C2 0x40
+#define ADS7828_CMD_SD 0x80
+
+#include <drv/i2c.h>
+
+unsigned int adc7828_measure(I2c* i2c, unsigned char addr, unsigned char ch);
+
+#endif
+
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.c
new file mode 100644
index 0000000..31f5175
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.c
@@ -0,0 +1,82 @@
+/**
+ * Battery Monitoring wrapper for the USB CAN Board
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ *
+ * This program 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 3 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, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "battery_monitoring.h"
+
+PROC_DEFINE_STACK(stack_battery_monitoring, KERN_MINSTACKSIZE * 16);
+
+static battery_monitoring_ctx _ctx;
+battery_monitoring_ctx *ctx = &_ctx;
+
+static void NORETURN battery_monitoring_process(void) {
+
+ can_tx_frame txf;
+ can_rx_frame rxf;
+
+ battery_status b;
+
+ uint8_t ch;
+ uint16_t value = 42;
+
+ txf.ide = rxf.ide = 1;
+ txf.rtr = rxf.rtr = 0;
+ txf.dlc = rxf.dlc = sizeof(b.p);
+
+ for (;;) {
+ // Battery 1
+ for (ch = 0; ch < 4; ++ch) {
+ value = adc7828_measure(ctx->i2c, ADS7828_ADDR_BASE, ch);
+ b.p.elem[ch] = (uint16_t)(2.0*value*ADS7828_LSB * 10000.);
+ }
+
+ txf.eid = rxf.eid = 401;
+ txf.data32[0] = rxf.data32[0] = b.d[0];
+ txf.data32[1] = rxf.data32[1] = b.d[1];
+
+ usb_can_emit(ctx->usbcan, &rxf);
+ can_transmit(ctx->usbcan->can, &txf, ms_to_ticks(10));
+
+ // Battery 2
+ for (ch = 0; ch < 4; ++ch) {
+ value = adc7828_measure(ctx->i2c, ADS7828_ADDR_BASE + 2, ch);
+ b.p.elem[ch] = (uint16_t)(2.0*value*ADS7828_LSB * 10000.);
+ }
+
+ txf.eid = rxf.eid = 402;
+ txf.data32[0] = rxf.data32[0] = b.d[0];
+ txf.data32[1] = rxf.data32[1] = b.d[1];
+
+ usb_can_emit(ctx->usbcan, &rxf);
+ can_transmit(ctx->usbcan->can, &txf, ms_to_ticks(10));
+
+ timer_delay(100);
+ }
+}
+
+battery_monitoring_ctx *battery_monitoring_init(usb_can *usbcan, I2c *i2c) {
+ ctx->usbcan = usbcan;
+ ctx->i2c = i2c;
+
+ proc_new(battery_monitoring_process, NULL, sizeof(stack_battery_monitoring), stack_battery_monitoring);
+
+
+ return ctx;
+}
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.h
new file mode 100644
index 0000000..6075c1e
--- /dev/null
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/battery_monitoring/battery_monitoring.h
@@ -0,0 +1,47 @@
+/**
+ * Battery Monitoring wrapper for the USB CAN Board
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ *
+ * This program 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 3 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, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef BATTERY_MONITORING_H
+#define BATTERY_MONITORING_H
+
+#include <drv/can.h>
+#include <drv/i2c.h>
+
+#include "../usb_can/usb_can.h"
+#include "ads7828.h"
+
+typedef struct {
+ usb_can *usbcan;
+ I2c *i2c;
+} battery_monitoring_ctx;
+
+struct battery_status_pkt {
+ uint16_t elem[4] __attribute__((packed)); // in 1/10000th volts [0; 6.5536[
+};
+
+typedef union {
+ struct battery_status_pkt p;
+ uint32_t d[2];
+} battery_status;
+
+battery_monitoring_ctx *battery_monitoring_init(usb_can *usbcan, I2c *i2c);
+
+#endif
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
index 9dac070..512077e 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_messages.h
@@ -38,6 +38,14 @@
#define CAN_SWITCH_STATUS_1 311 // switch_status
#define CAN_SWITCH_STATUS_2 312 // switch_status
+#define CAN_SWITCH_SET 313 // switch_request
+
+
+// ADC
+
+#define CAN_ADC_VALUES_1 321 // adc_values
+#define CAN_ADC_VALUES_2 322 // adc_values
+
/****************************************************************************/
@@ -90,6 +98,23 @@ struct switch_status_pkt {
uint8_t sw8;
};
+// Switch request
+struct switch_request_pkt {
+ uint8_t num;
+ uint8_t state;
+};
+
+/**
+ * ADC messages
+ */
+// ADC Values
+struct adc_values_pkt {
+ uint16_t val1;
+ uint16_t val2;
+ uint16_t val3;
+ uint16_t val4;
+} __attribute__((packed));
+
/****************************************************************************/
/**
@@ -116,4 +141,14 @@ typedef union {
uint32_t d[2];
} switch_status;
+typedef union {
+ struct switch_request_pkt p;
+ uint32_t d[2];
+} switch_request;
+
+typedef union {
+ struct adc_values_pkt p;
+ uint32_t d[2];
+} adc_values;
+
#endif
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
index c777fe4..80bab34 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.c
@@ -26,6 +26,29 @@
PROC_DEFINE_STACK(stack_send, KERN_MINSTACKSIZE * 4)
PROC_DEFINE_STACK(stack_recv, KERN_MINSTACKSIZE * 4)
+static void NORETURN can_sender_process(void);
+static void NORETURN can_receiver_process(void);
+
+void can_processes_init(void) {
+ can_config cfg;
+
+ cfg.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP;
+ /* 1 Mbit by default (FIXME: O'RLY?) */
+ cfg.btr = CAN_BTR_SJW(0) | CAN_BTR_TS1(8) | CAN_BTR_TS2(1) | CAN_BTR_BRP(6);
+
+ cfg.n_filters = 0;
+ cfg.filters = NULL;
+
+ /* Initialize CAN driver */
+ can_init();
+
+ can_start(CAND1, &cfg);
+
+ proc_new(can_sender_process, NULL, sizeof(stack_send), stack_send);
+ proc_new(can_receiver_process, NULL, sizeof(stack_recv), stack_recv);
+
+}
+
#define SET_PACKET(f, id, pk) do { \
f.eid = id; \
f.dlc = sizeof(pk.p); \
@@ -44,6 +67,8 @@ static void NORETURN can_sender_process(void) {
switch_status st1, st2;
+ adc_values adc1, adc2;
+
/* Initialize can frame */
f.ide = 1;
@@ -67,7 +92,7 @@ static void NORETURN can_sender_process(void) {
/* Switches */
- get_switch_state(&st1, &st2);
+ get_switch_status(&st1, &st2);
SET_PACKET(f, CAN_SWITCH_STATUS_1, st1);
can_transmit(CAND1, &f, ms_to_ticks(10));
@@ -75,35 +100,45 @@ static void NORETURN can_sender_process(void) {
SET_PACKET(f, CAN_SWITCH_STATUS_2, st2);
can_transmit(CAND1, &f, ms_to_ticks(10));
- timer_waitEvent(&timer_send);
- }
+ /* ADC */
-}
+ get_adc_values(&adc1, &adc2);
-static void NORETURN can_receiver_process(void) {
+ SET_PACKET(f, CAN_ADC_VALUES_1, adc1);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
- for (;;) {
- timer_delay(500);
+ SET_PACKET(f, CAN_ADC_VALUES_2, adc2);
+ can_transmit(CAND1, &f, ms_to_ticks(10));
+
+
+ timer_waitEvent(&timer_send);
}
}
-void can_processes_init(void) {
- can_config cfg;
-
- cfg.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP;
- /* 1 Mbit by default (FIXME: O'RLY?) */
- cfg.btr = CAN_BTR_SJW(0) | CAN_BTR_TS1(8) | CAN_BTR_TS2(1) | CAN_BTR_BRP(6);
+#define GET_PACKET(type, name, frame) type name; name.d[0] = frame.data32[0]; name.d[1] = frame.data32[1]
- cfg.n_filters = 0;
- cfg.filters = NULL;
+static void NORETURN can_receiver_process(void) {
- /* Initialize CAN driver */
- can_init();
+ can_rx_frame f;
- can_start(CAND1, &cfg);
+ int ret;
- proc_new(can_sender_process, NULL, sizeof(stack_send), stack_send);
- proc_new(can_receiver_process, NULL, sizeof(stack_recv), stack_recv);
+ for (;;) {
+ ret = can_receive(CAND1, &f, ms_to_ticks(200));
+ if (!ret || f.ide != 1)
+ continue;
+
+ switch (f.eid) {
+ case CAN_SWITCH_SET:
+ do {
+ GET_PACKET(switch_request, req, f);
+ set_switch(&req);
+ } while (0);
+ break;
+ default:
+ break;
+ }
+ }
}
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.h
index 4bab22c..757e3a4 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.h
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/can/can_monitor.h
@@ -31,6 +31,7 @@
#include "can_messages.h"
+#include "../adc/adc.h"
#include "../beacon/beacon.h"
#include "../switch/switch.h"
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/main.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/main.c
index 9e861b8..8ba8ccb 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/main.c
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/main.c
@@ -37,9 +37,10 @@
#include <kern/proc.h>
#include <io/kfile.h>
+#include "adc/adc.h"
#include "beacon/beacon.h"
-#include "switch/switch.h"
#include "can/can_monitor.h"
+#include "switch/switch.h"
PROC_DEFINE_STACK(stack_blinky, KERN_MINSTACKSIZE * 2);
@@ -68,6 +69,9 @@ static void init(void)
// Initialize the switches
switch_init();
+ // Initialize the ADCs
+ sa_adc_init();
+
// Initialize the CAN bus processing
can_processes_init();
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/sensor_actuator_user.mk b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/sensor_actuator_user.mk
index 79cac29..ec821cb 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/sensor_actuator_user.mk
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/sensor_actuator_user.mk
@@ -10,10 +10,11 @@ sensor_actuator_PROGRAMMER_PORT = none
# Files included by the user.
sensor_actuator_USER_CSRC = \
$(sensor_actuator_SRC_PATH)/main.c \
+ $(sensor_actuator_SRC_PATH)/adc/adc.c \
$(sensor_actuator_SRC_PATH)/beacon/stm32lib/stm32f10x_tim.c \
$(sensor_actuator_SRC_PATH)/beacon/beacon.c \
- $(sensor_actuator_SRC_PATH)/switch/switch.c \
$(sensor_actuator_SRC_PATH)/can/can_monitor.c \
+ $(sensor_actuator_SRC_PATH)/switch/switch.c \
# $(sensor_actuator_SRC_PATH)/ax12/serial.c \
# $(sensor_actuator_SRC_PATH)/ax12/ax12.c \
#
@@ -46,4 +47,5 @@ sensor_actuator_USER_CPPAFLAGS = \
sensor_actuator_USER_CPPFLAGS = \
-fno-strict-aliasing \
-fwrapv \
+ -DCPU_CM3_SAM3X=0 \
#
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.c b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.c
index 180efd4..0dabba9 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.c
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.c
@@ -23,38 +23,71 @@
#include "switch.h"
+static uint32_t pins[][2] = {
+ //{GPIOC_BASE, 4},
+ //{GPIOC_BASE, 5},
+ //{GPIOB_BASE, 0},
+ //{GPIOB_BASE, 1},
+ //{GPIOB_BASE, 12},
+ //{GPIOB_BASE, 15},
+ //{GPIOC_BASE, 6},
+ //{GPIOC_BASE, 7},
+ //{GPIOC_BASE, 8},
+ //{GPIOC_BASE, 9},
+ //{GPIOA_BASE, 8},
+ //{GPIOC_BASE, 12},
+ {GPIOA_BASE, 4},
+ {GPIOA_BASE, 5},
+ {GPIOA_BASE, 6},
+ {GPIOA_BASE, 7},
+ {GPIOB_BASE, 5},
+};
+
void switch_init(void) {
// Clock the GPIOs.
RCC->APB2ENR |= RCC_APB2_GPIOA | RCC_APB2_GPIOB | RCC_APB2_GPIOC;
- // Initialize D1_1 PC(4) and D1_2 PC(5)
+ // Initialize D1_1 PC(4) and D1_2 PC(5) as inputs
stm32_gpioPinConfig((struct stm32_gpio *)GPIOC_BASE,
BV(4) | BV(5),
GPIO_MODE_IN_FLOATING,
GPIO_SPEED_50MHZ);
- // Initialize D1_3 PB(0), D1_4 PB(1), D1_5 PB(12), D1_6 PB(15)
+ // Initialize D1_3 PB(0), D1_4 PB(1), D1_5 PB(12), D1_6 PB(15) as inputs
stm32_gpioPinConfig((struct stm32_gpio *)GPIOB_BASE,
BV(0) | BV(1) | BV(12) | BV(15),
GPIO_MODE_IN_FLOATING,
GPIO_SPEED_50MHZ);
- // Initialize D2_1 PC(6), D2_2 PC(7), D2_3 PC(8), D2_4 PC(9), D2_6 PC(12)
+ // Initialize D2_1 PC(6), D2_2 PC(7), D2_3 PC(8), D2_4 PC(9), D2_6 PC(12) as inputs
stm32_gpioPinConfig((struct stm32_gpio *)GPIOC_BASE,
BV(6) | BV(7) | BV(8) | BV(9) | BV(12),
GPIO_MODE_IN_FLOATING,
GPIO_SPEED_50MHZ);
- // Initialize D2_5 PA(8)
+ // Initialize D2_5 PA(8) as input
stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE,
BV(8),
GPIO_MODE_IN_FLOATING,
GPIO_SPEED_50MHZ);
+
+ // Initialize SW1..4 PA(4..7) as outputs open drain
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE,
+ BV(4) | BV(5) | BV(6) | BV(7),
+ GPIO_MODE_OUT_OD,
+ GPIO_SPEED_50MHZ);
+
+ // Initialize BUZ PB(5) as output push-pull
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOB_BASE,
+ BV(5),
+ GPIO_MODE_OUT_PP,
+ GPIO_SPEED_50MHZ);
+
}
#define BOOL(a) ((a)?1:0)
-void get_switch_state(switch_status *pkt1, switch_status *pkt2) {
+void get_switch_status(switch_status *pkt1, switch_status *pkt2) {
pkt1->p.sw1 = BOOL(stm32_gpioPinRead((struct stm32_gpio *)GPIOC_BASE, BV(4)));
pkt1->p.sw2 = BOOL(stm32_gpioPinRead((struct stm32_gpio *)GPIOC_BASE, BV(5)));
@@ -71,3 +104,17 @@ void get_switch_state(switch_status *pkt1, switch_status *pkt2) {
pkt2->p.sw6 = BOOL(stm32_gpioPinRead((struct stm32_gpio *)GPIOC_BASE, BV(12)));
}
+
+void set_switch(switch_request *pkt) {
+
+ struct stm32_gpio *base = NULL;
+ int32_t pin;
+
+ if(pkt->p.num >= sizeof(pins)/sizeof(pins[0]))
+ return;
+
+ base = (struct stm32_gpio *)pins[pkt->p.num][0];
+ pin = BV(pins[pkt->p.num][1]);
+
+ stm32_gpioPinWrite(base, pin, pkt->p.state);
+}
diff --git a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.h b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.h
index b5cb78b..b4eae68 100644
--- a/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.h
+++ b/elec/boards/Sensor_Actuator/Firmware/sensor_actuator/sensor_actuator/switch/switch.h
@@ -36,6 +36,11 @@ void switch_init(void);
/**
* Get the switch CAN packet
*/
-void get_switch_state(switch_status *pkt1, switch_status *pkt2);
+void get_switch_status(switch_status *pkt1, switch_status *pkt2);
+
+/**
+ * Set the switch state from the CAN packet
+ */
+void set_switch(switch_request *pkt);
#endif
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.c b/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.c
deleted file mode 100644
index 031ff29..0000000
--- a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.c
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- * Wrapper to use the ADS7828 analog to digital converter
- * Olivier Bichler
- */
-
-#include "ads7828.h"
-
-unsigned int adc7828_measure(I2c* i2c, unsigned char addr, unsigned char ch) {
- unsigned char value[2] = {0};
- unsigned char cmd = ADS7828_CMD_PD0
- | ADS7828_CMD_PD1
- | ((ch/2) << 4)
- | ADS7828_CMD_SD;
-
- if (ch % 2)
- cmd|= ADS7828_CMD_C2;
-
- i2c_start_w(i2c, addr, 1, I2C_STOP);
- i2c_write(i2c, &cmd, 1);
- i2c_start_r(i2c, addr, 2, I2C_STOP);
- i2c_read(i2c, &value, 2);
-
- return ((value[0] << 8) | value[1]);
-}
-
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.h b/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.h
deleted file mode 100644
index 5622fa8..0000000
--- a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/ads7828.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * Wrapper to use the ADS7828 analog to digital converter
- * Olivier Bichler
- */
-
-#ifndef HEADER__ADS7828
-#define HEADER__ADS7828
-
-#define ADS7828_VREF 2.5
-#define ADS7828_RES 12
-#define ADS7828_LSB (ADS7828_VREF/((1 << ADS7828_RES) - 1.0))
-
-#define ADS7828_ADDR_BASE 0x90
-#define ADS7828_ADDR_A0 0x02
-#define ADS7828_ADDR_A1 0x04
-
-#define ADS7828_CMD_PD0 0x04
-#define ADS7828_CMD_PD1 0x08
-#define ADS7828_CMD_C0 0x10
-#define ADS7828_CMD_C1 0x20
-#define ADS7828_CMD_C2 0x40
-#define ADS7828_CMD_SD 0x80
-
-#include <drv/i2c.h>
-
-unsigned int adc7828_measure(I2c* i2c, unsigned char addr, unsigned char ch);
-
-#endif
-
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.c b/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.c
deleted file mode 100644
index 31f5175..0000000
--- a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.c
+++ /dev/null
@@ -1,82 +0,0 @@
-/**
- * Battery Monitoring wrapper for the USB CAN Board
- *
- * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
- * Authors: Nicolas Dandrimont <ol...@cr...>
- *
- * This program 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 3 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, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#include "battery_monitoring.h"
-
-PROC_DEFINE_STACK(stack_battery_monitoring, KERN_MINSTACKSIZE * 16);
-
-static battery_monitoring_ctx _ctx;
-battery_monitoring_ctx *ctx = &_ctx;
-
-static void NORETURN battery_monitoring_process(void) {
-
- can_tx_frame txf;
- can_rx_frame rxf;
-
- battery_status b;
-
- uint8_t ch;
- uint16_t value = 42;
-
- txf.ide = rxf.ide = 1;
- txf.rtr = rxf.rtr = 0;
- txf.dlc = rxf.dlc = sizeof(b.p);
-
- for (;;) {
- // Battery 1
- for (ch = 0; ch < 4; ++ch) {
- value = adc7828_measure(ctx->i2c, ADS7828_ADDR_BASE, ch);
- b.p.elem[ch] = (uint16_t)(2.0*value*ADS7828_LSB * 10000.);
- }
-
- txf.eid = rxf.eid = 401;
- txf.data32[0] = rxf.data32[0] = b.d[0];
- txf.data32[1] = rxf.data32[1] = b.d[1];
-
- usb_can_emit(ctx->usbcan, &rxf);
- can_transmit(ctx->usbcan->can, &txf, ms_to_ticks(10));
-
- // Battery 2
- for (ch = 0; ch < 4; ++ch) {
- value = adc7828_measure(ctx->i2c, ADS7828_ADDR_BASE + 2, ch);
- b.p.elem[ch] = (uint16_t)(2.0*value*ADS7828_LSB * 10000.);
- }
-
- txf.eid = rxf.eid = 402;
- txf.data32[0] = rxf.data32[0] = b.d[0];
- txf.data32[1] = rxf.data32[1] = b.d[1];
-
- usb_can_emit(ctx->usbcan, &rxf);
- can_transmit(ctx->usbcan->can, &txf, ms_to_ticks(10));
-
- timer_delay(100);
- }
-}
-
-battery_monitoring_ctx *battery_monitoring_init(usb_can *usbcan, I2c *i2c) {
- ctx->usbcan = usbcan;
- ctx->i2c = i2c;
-
- proc_new(battery_monitoring_process, NULL, sizeof(stack_battery_monitoring), stack_battery_monitoring);
-
-
- return ctx;
-}
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.h b/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.h
deleted file mode 100644
index 6075c1e..0000000
--- a/elec/boards/USB_CAN/Firmware/usb_can/battery_monitoring/battery_monitoring.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/**
- * Battery Monitoring wrapper for the USB CAN Board
- *
- * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
- * Authors: Nicolas Dandrimont <ol...@cr...>
- *
- * This program 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 3 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, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifndef BATTERY_MONITORING_H
-#define BATTERY_MONITORING_H
-
-#include <drv/can.h>
-#include <drv/i2c.h>
-
-#include "../usb_can/usb_can.h"
-#include "ads7828.h"
-
-typedef struct {
- usb_can *usbcan;
- I2c *i2c;
-} battery_monitoring_ctx;
-
-struct battery_status_pkt {
- uint16_t elem[4] __attribute__((packed)); // in 1/10000th volts [0; 6.5536[
-};
-
-typedef union {
- struct battery_status_pkt p;
- uint32_t d[2];
-} battery_status;
-
-battery_monitoring_ctx *battery_monitoring_init(usb_can *usbcan, I2c *i2c);
-
-#endif
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/main.c b/elec/boards/USB_CAN/Firmware/usb_can/main.c
index 4f984b8..a5a2aa7 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/main.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/main.c
@@ -32,7 +32,6 @@
#include <drv/gpio_stm32.h>
#include <drv/can.h>
-#include <drv/i2c.h>
#include <drv/timer.h>
#include <kern/monitor.h>
@@ -47,8 +46,6 @@
PROC_DEFINE_STACK(stack_blinky, KERN_MINSTACKSIZE * 2);
-static I2c i2c;
-
static void init(void)
{
can_config cfg;
@@ -88,9 +85,6 @@ static void init(void)
/* Initialize Serial driver */
serial_init(SERIAL_BAUDRATE);
- /* Initialize I2c interface */
- i2c_init(&i2c, 0, CONFIG_I2C_FREQ);
-
/*
* Kernel initialization: processes (allow to create and dispatch
* processes using proc_new()).
@@ -99,9 +93,6 @@ static void init(void)
/* Initialize USB-CAN logic */
usbcan = usb_can_init(CAND1);
-
- /* Initialize battery monitoring */
- battery_monitoring_init(usbcan, &i2c);
}
static void NORETURN blinky_process(void) {
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can_user.mk b/elec/boards/USB_CAN/Firmware/usb_can/usb_can_user.mk
index d6bff03..6831017 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can_user.mk
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can_user.mk
@@ -9,8 +9,6 @@ usb_can_PROGRAMMER_PORT = none
# Files included by the user.
usb_can_USER_CSRC = \
- $(usb_can_SRC_PATH)/battery_monitoring/ads7828.c \
- $(usb_can_SRC_PATH)/battery_monitoring/battery_monitoring.c \
$(usb_can_SRC_PATH)/usb_can/serial.c \
$(usb_can_SRC_PATH)/usb_can/usb_can.c \
$(usb_can_SRC_PATH)/main.c \
hooks/post-receive
--
krobot
|
