From 5de0bd66edf15aaaf8d404d59e2740b8e8050587 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 16 Mar 2023 10:29:10 -0700 Subject: [PATCH] altos: Initial easytimer-v2 bits Signed-off-by: Keith Packard --- src/easytimer-v2/.gitignore | 2 + src/easytimer-v2/ao_easytimer.c | 72 ++++++++ src/easytimer-v2/ao_pins.h | 232 ++++++++++++++++++++++++ src/easytimer-v2/flash-loader/ao_pins.h | 40 ++++ 4 files changed, 346 insertions(+) create mode 100644 src/easytimer-v2/.gitignore create mode 100644 src/easytimer-v2/ao_easytimer.c create mode 100644 src/easytimer-v2/ao_pins.h create mode 100644 src/easytimer-v2/flash-loader/ao_pins.h diff --git a/src/easytimer-v2/.gitignore b/src/easytimer-v2/.gitignore new file mode 100644 index 00000000..2e32c6ff --- /dev/null +++ b/src/easytimer-v2/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +easytimer-*.elf diff --git a/src/easytimer-v2/ao_easytimer.c b/src/easytimer-v2/ao_easytimer.c new file mode 100644 index 00000000..13dbe814 --- /dev/null +++ b/src/easytimer-v2/ao_easytimer.c @@ -0,0 +1,72 @@ +/* + * Copyright © 2016 Keith Packard + * + * 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 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +int +main(void) +{ + ao_clock_init(); + +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + + ao_task_init(); + ao_timer_init(); + + ao_dma_init(); + ao_spi_init(); + ao_exti_init(); + + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + + ao_storage_init(); + + ao_bmi088_init(); + ao_mmc5983_init(); + + ao_flight_init(); + // ao_log_init(); + ao_report_init(); + + ao_usb_init(); + ao_pyro_init(); + ao_igniter_init(); + + ao_config_init(); +#if AO_PROFILE + ao_profile_init(); +#endif +#if HAS_SAMPLE_PROFILE + ao_sample_profile_init(); +#endif + + ao_start_scheduler(); + return 0; +} diff --git a/src/easytimer-v2/ao_pins.h b/src/easytimer-v2/ao_pins.h new file mode 100644 index 00000000..e00d9093 --- /dev/null +++ b/src/easytimer-v2/ao_pins.h @@ -0,0 +1,232 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#define AO_XOSC 1 +#define AO_XOSC_FREQ 16000000 +#define AO_XOSC_DIV 256 +#define AO_XOSC_MUL 768 + +#define AO_AHB_PRESCALER 1 +#define AO_APBA_PRESCALER 1 + +#define AO_CONFIG_MAX_SIZE 1024 + +#define HAS_EEPROM 0 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 0 +#define USE_STORAGE_CONFIG 1 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_BATTERY_REPORT 1 +#define AO_BEEP_TCC (&samd21_tcc2) +#define AO_BEEP_TCC_APBC_MASK SAMD21_PM_APBCMASK_TCC2 +#define AO_BEEP_PORT (&samd21_port_a) +#define AO_BEEP_PIN 16 +#define AO_BEEP_FUNC SAMD21_PORT_PMUX_FUNC_E +#define HAS_RADIO 0 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_COMPANION 0 + +#define HAS_SPI_0 1 +#define HAS_SPI_3 1 +#define HAS_SPI_5 1 + +#define LEDS_AVAILABLE 0 + +#define HAS_GPS 0 +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_ADC_TEMP 1 +#define HAS_LOG 0 + +/* + * Igniter + */ + +#define HAS_IGNITE 0 +#define HAS_IGNITE_REPORT 1 +#define AO_PYRO_NUM 2 + +#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n]) +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +/* Pyro A */ +#define AO_PYRO_PORT_0 (&samd21_port_a) +#define AO_PYRO_PIN_0 1 + +#define AO_ADC_SENSE_A 0 +#define AO_ADC_SENSE_A_PORT (&samd21_port_a) +#define AO_ADC_SENSE_A_PIN 2 + +/* Pyro B */ +#define AO_PYRO_PORT_1 (&samd21_port_b) +#define AO_PYRO_PIN_1 9 + +#define AO_ADC_SENSE_B 2 +#define AO_ADC_SENSE_B_PORT (&samd21_port_b) +#define AO_ADC_SENSE_B_PIN 8 + + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 2 + +struct ao_adc { + int16_t sense[AO_ADC_NUM_SENSE]; + int16_t v_batt; + int16_t temp; +}; + +#define AO_ADC_DUMP(p) \ + printf("tick: %5lu A: %5d B: %5d batt: %5d\n", \ + (p)->tick, \ + (p)->adc.sense[0], (p)->adc.sense[1], \ + (p)->adc.v_batt); + +#define AO_ADC_V_BATT 10 +#define AO_ADC_V_BATT_PORT (&samd21_port_b) +#define AO_ADC_V_BATT_PIN 2 + +#define AO_ADC_TEMP SAMD21_ADC_INPUTCTRL_MUXPOS_TEMP + +#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 1) + +#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT +#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN +#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT +#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN +#define AO_ADC_PIN2_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN2_PIN AO_ADC_V_BATT_PIN + +#define AO_NUM_ADC (AO_NUM_ADC_PIN + 1) + +#define AO_ADC_SQ0 AO_ADC_SENSE_A +#define AO_ADC_SQ1 AO_ADC_SENSE_B +#define AO_ADC_SQ2 AO_ADC_V_BATT +#define AO_ADC_SQ3 AO_ADC_TEMP + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 100 /* 100k */ +#define AO_BATTERY_DIV_MINUS 27 /* 27k */ + +/* + * Voltage divider on ADC igniter samplers + */ +#define AO_IGNITE_DIV_PLUS 100 /* 100k */ +#define AO_IGNITE_DIV_MINUS 27 /* 27k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&samd21_port_a) +#define AO_M25_SPI_CS_MASK (1 << 27) +#define AO_M25_SPI_BUS AO_SPI_0_PA04_PA05_PA06 + +/* + * On EasyTimer v2, bmi088 pin 1 (NE corner of chip) is placed towards the + * USB and antenna edges of the board. Relative to bmi088 specs, to + * get the above values, we need to flip the Y axis, assigning values + * as follows: + * + * +along +X +roll +X + * +across -Y +pitch -Y + * +through +Z +yaw +Z + */ + +#define HAS_BMI088 1 +#define AO_BMI088_SPI_BUS AO_SPI_5_PB22_PB23_PB03 +#define AO_BMI088_ACC_CS_PORT (&samd21_port_a) +#define AO_BMI088_ACC_CS_PIN 10 +#define AO_BMI088_GYR_CS_PORT (&samd21_port_a) +#define AO_BMI088_GYR_CS_PIN 11 +#define HAS_IMU 1 + +#define ao_bmi088_along(m) ((m)->acc.x) +#define ao_bmi088_across(m) (-(m)->acc.y) +#define ao_bmi088_through(m) ((m)->acc.z) + +#define ao_bmi088_roll(m) ((m)->gyr.x) +#define ao_bmi088_pitch(m) (-(m)->gyr.y) +#define ao_bmi088_yaw(m) ((m)->gyr.z) + +#define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088) +#define ao_data_across(packet) ao_bmi088_across(&(packet)->bmi088) +#define ao_data_through(packet) ao_bmi088_through(&(packet)->bmi088) + +#define ao_data_roll(packet) ao_bmi088_roll(&(packet)->bmi088) +#define ao_data_pitch(packet) ao_bmi088_pitch(&(packet)->bmi088) +#define ao_data_yaw(packet) ao_bmi088_yaw(&(packet)->bmi088) + +/* + * MMC5983 + * + * pin 1 NE corner of chip + * + * +along -Y + * +across +X + * +through -Z + */ + +#define HAS_MMC5983 1 +#define AO_MMC5983_INT_PORT (&samd21_port_a) +#define AO_MMC5983_INT_PIN 9 +#define AO_MMC5983_SPI_CLK_PORT (&samd21_port_a) +#define AO_MMC5983_SPI_CLK_PIN 23 +#define AO_MMC5983_SPI_MISO_PORT (&samd21_port_a) +#define AO_MMC5983_SPI_MISO_PIN 20 +#define AO_MMC5983_SPI_MOSI_PORT (&samd21_port_a) +#define AO_MMC5983_SPI_MOSI_PIN 22 +#define AO_MMC5983_SPI_INDEX (AO_SPI_3_PA22_PA23_PA20 | AO_SPI_MODE_3) +#define AO_MMC5983_SPI_CS_PORT (&samd21_port_a) +#define AO_MMC5983_SPI_CS_PIN 8 + +#define ao_mmc5983_along(m) (-(m)->y) +#define ao_mmc5983_across(m) ((m)->x) +#define ao_mmc5983_through(m) (-(m)->z) + +#define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983) +#define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983) +#define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983) + +/* + * Monitor + */ + +#define HAS_MONITOR 0 +#define LEGACY_MONITOR 0 +#define HAS_MONITOR_PUT 1 +#define AO_MONITOR_LED 0 +#define HAS_RSSI 0 + +#endif /* _AO_PINS_H_ */ diff --git a/src/easytimer-v2/flash-loader/ao_pins.h b/src/easytimer-v2/flash-loader/ao_pins.h new file mode 100644 index 00000000..70a1d6ce --- /dev/null +++ b/src/easytimer-v2/flash-loader/ao_pins.h @@ -0,0 +1,40 @@ +/* + * Copyright © 2020 Keith Packard + * + * 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 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., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#include + +/* Companion port cs_companion0 PB6 */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO (samd21_port_a) +#define AO_BOOT_APPLICATION_PIN 18 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_MODE_PULL_UP + +/* USB */ +#define HAS_USB 1 + +#define AO_XOSC 1 +#define AO_XOSC_FREQ 16000000 +#define AO_XOSC_DIV 256 +#define AO_XOSC_MUL 768 + +#endif /* _AO_PINS_H_ */ -- 2.30.2