From: Keith Packard Date: Thu, 18 Oct 2012 23:49:28 +0000 (-0700) Subject: Merge branch 'master' into pwmin-new X-Git-Tag: 1.1.9.1^0 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=7f664da148ae15d46d179d8ecede6fc0bc710ffb;hp=23b0c2fe95dbfaa4a8ce603b56b75d12d2c17d8c Merge branch 'master' into pwmin-new --- diff --git a/src/Makefile b/src/Makefile index b8828d46..1949e554 100644 --- a/src/Makefile +++ b/src/Makefile @@ -27,7 +27,7 @@ ifneq ($(shell which sdcc),) endif ifneq ($(shell which avr-gcc),) - SUBDIRS += telescience-v0.1 telepyro-v0.1 + SUBDIRS += telescience-v0.1 telescience-pwm telepyro-v0.1 endif ifneq ($(shell which arm-none-eabi-gcc),) diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c index 3a262977..231512b2 100644 --- a/src/avr/ao_adc_avr.c +++ b/src/avr/ao_adc_avr.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include "ao_pwmin.h" volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; volatile __data uint8_t ao_data_head; @@ -93,9 +94,13 @@ ISR(ADC_vect) value = ADCL; value |= (ADCH << 8); ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value; - if (++ao_adc_channel < NUM_ADC) + if (++ao_adc_channel < NUM_ADC - HAS_ICP3_COUNT) ao_adc_start(); else { +#if HAS_ICP3_COUNT + /* steal last adc channel for pwm input */ + ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = ao_icp3_count; +#endif ADCSRA = ADCSRA_INIT; ao_data_ring[ao_data_head].tick = ao_time(); ao_data_head = ao_data_ring_next(ao_data_head); diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h index bc423ff7..0aa978e9 100644 --- a/src/avr/ao_pins.h +++ b/src/avr/ao_pins.h @@ -32,7 +32,7 @@ #define HAS_BEEP 0 #endif -#ifdef TELESCIENCE +#if defined(TELESCIENCE) || defined(TELESCIENCE_PWM) #define LEDS_AVAILABLE 0 #define HAS_USB 1 #define HAS_LOG 1 @@ -47,6 +47,11 @@ #define AVR_VCC_5V 0 #define AVR_VCC_3V3 1 #define AVR_CLOCK 8000000UL +#ifdef TELESCIENCE_PWM + #define HAS_ICP3_COUNT 1 +#else + #define HAS_ICP3_COUNT 0 +#endif #define SPI_CS_PORT PORTE #define SPI_CS_DIR DDRE @@ -81,6 +86,7 @@ #define IS_COMPANION 1 #define HAS_ORIENT 0 #define ao_storage_pos_t uint16_t + #define HAS_ICP3_COUNT 0 #define AVR_VCC_5V 0 #define AVR_VCC_3V3 1 diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c new file mode 100644 index 00000000..84397357 --- /dev/null +++ b/src/avr/ao_pwmin.c @@ -0,0 +1,90 @@ +/* + * Copyright © 2012 Robert D. Garbee + * + * 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; version 2 of the License. + * + * 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_pwmin.h" + +/* + * This code implements a PWM input using ICP3. + * + * The initial use is to measure wind speed in the ULA/Ball summer intern + * project payload developed at Challenger Middle School. + */ + +volatile __data uint16_t ao_icp3_count = 0; +volatile __data uint16_t ao_icp3_last = 0; + +uint16_t ao_icp3(void) +{ + uint16_t v; + ao_arch_critical( + v = ao_icp3_count; + ); + return v; +} + +static void +ao_pwmin_display(void) __reentrant +{ + /* display the most recent value */ + printf("icp 3: %5u\n", ao_icp3()); + +} + + +ISR(TIMER3_CAPT_vect) +{ + + uint8_t lo = ICR3L; + uint8_t hi = ICR3H; + uint16_t ao_icp3_this = (hi <<8) | lo; + + /* handling counter rollovers */ + if (ao_icp3_this >= ao_icp3_last) + ao_icp3_count = ao_icp3_this - ao_icp3_last; + else + ao_icp3_count = ao_icp3_this + (65536 - ao_icp3_last); + ao_icp3_last = ao_icp3_this; +} + +__code struct ao_cmds ao_pwmin_cmds[] = { + { ao_pwmin_display, "p\0PWM input" }, + { 0, NULL }, +}; + +void +ao_pwmin_init(void) +{ + /* do hardware setup here */ + TCCR3A = ((0 << WGM31) | /* normal mode, OCR3A */ + (0 << WGM30)); /* normal mode, OCR3A */ + TCCR3B = ((1 << ICNC3) | /* input capture noise canceler on */ + (0 << ICES3) | /* input capture on falling edge (don't care) */ + (0 << WGM33) | /* normal mode, OCR3A */ + (0 << WGM32) | /* normal mode, OCR3A */ + (3 << CS30)); /* clk/64 from prescaler */ + + + + TIMSK3 = (1 << ICIE3); /* Interrupt on input compare */ + + /* set the spike filter bit in the TCCR3B register */ + + ao_cmd_register(&ao_pwmin_cmds[0]); +} + + diff --git a/src/avr/ao_pwmin.h b/src/avr/ao_pwmin.h new file mode 100644 index 00000000..8097d399 --- /dev/null +++ b/src/avr/ao_pwmin.h @@ -0,0 +1,20 @@ +/* + * Copyright © 2012 Robert D. Garbee + * + * 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; version 2 of the License. + * + * 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +void ao_pwmin_init(void); + +extern volatile __data uint16_t ao_icp3_count; diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c index 45b6d40e..d448d318 100644 --- a/src/product/ao_telescience.c +++ b/src/product/ao_telescience.c @@ -16,6 +16,9 @@ */ #include "ao.h" +#if HAS_ICP3_COUNT +#include "ao_pwmin.h" +#endif int main(void) @@ -34,6 +37,9 @@ main(void) ao_usb_init(); ao_adc_init(); ao_log_single_init(); +#if HAS_ICP3_COUNT + ao_pwmin_init(); +#endif ao_start_scheduler(); return 0; } diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile index 2ccd565f..6743ba66 100644 --- a/src/telepyro-v0.1/Makefile +++ b/src/telepyro-v0.1/Makefile @@ -96,7 +96,7 @@ ao_product.o: ao_product.c ao_product.h distclean: clean clean: - rm -f $(OBJ) + rm -f $(OBJ) $(PROG) $(PROG).hex rm -f ao_product.h install: diff --git a/src/telescience-pwm/.gitignore b/src/telescience-pwm/.gitignore new file mode 100644 index 00000000..dfccadf8 --- /dev/null +++ b/src/telescience-pwm/.gitignore @@ -0,0 +1,2 @@ +telescience-v0.1* +ao_product.h diff --git a/src/telescience-pwm/Makefile b/src/telescience-pwm/Makefile new file mode 100644 index 00000000..43d77e2e --- /dev/null +++ b/src/telescience-pwm/Makefile @@ -0,0 +1,116 @@ +# +# AltOS build +# +# +vpath % ..:../core:../product:../drivers:../avr +vpath ao-make-product.5c ../util + +MCU=atmega32u4 +DUDECPUTYPE=m32u4 +#PROGRAMMER=stk500v2 -P usb +PROGRAMMER=usbtiny +LOADCMD=avrdude +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: +CC=avr-gcc +OBJCOPY=avr-objcopy + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_arch.h \ + ao_usb.h \ + ao_pins.h \ + ao_product.h + +# +# Common AltOS sources +# +TELESCIENCE_STORAGE= \ + ao_m25.c \ + ao_spi_usart.c \ + ao_storage.c + +TELESCIENCE_LOG= \ + ao_log_single.c \ + ao_log_telescience.c + +ALTOS_SRC = \ + ao_clock.c \ + ao_cmd.c \ + ao_mutex.c \ + ao_panic.c \ + ao_product.c \ + ao_stdio.c \ + ao_task.c \ + ao_timer.c \ + ao_led.c \ + ao_avr_stdio.c \ + ao_romconfig.c \ + ao_usb_avr.c \ + ao_adc_avr.c \ + ao_science_slave.c \ + ao_spi_slave.c \ + ao_pwmin.c \ + $(TELESCIENCE_STORAGE)\ + $(TELESCIENCE_LOG) + +PRODUCT=TeleScience-PWM +MCU=atmega32u4 +PRODUCT_DEF=-DTELESCIENCE -DTELESCIENCE_PWM +IDPRODUCT=0x0011 +CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I.. +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR + +NICKLE=nickle + +PROG=telescience-pwm + +SRC=$(ALTOS_SRC) ao_telescience.c +OBJ=$(SRC:.c=.o) + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: $(PROG) + +CHECK=sh ../util/check-avr-mem + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) + +$(PROG).hex: $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(PROG).hex + $(LOADCMD) $(LOADARG)$(PROG).hex + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +ao_product.o: ao_product.c ao_product.h + +%.o : %.c $(INC) + $(call quiet,CC) -c $(CFLAGS) $< + +distclean: clean + +clean: + rm -f *.o $(PROG) $(PROG).hex + rm -f ao_product.h + +install: + +uninstall: + +$(OBJ): ao_product.h $(INC)