From 06af5afce275af5b779d4ec12f13dd110180a670 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 13 Dec 2018 15:51:36 -0700 Subject: [PATCH] add easymotor-v1 initial attempt --- src/easymotor-v1/Makefile | 113 +++++++++++++ src/easymotor-v1/ao_easymotor.c | 76 +++++++++ src/easymotor-v1/ao_pins.h | 209 ++++++++++++++++++++++++ src/easymotor-v1/flash-loader/Makefile | 8 + src/easymotor-v1/flash-loader/ao_pins.h | 37 +++++ 5 files changed, 443 insertions(+) create mode 100644 src/easymotor-v1/Makefile create mode 100644 src/easymotor-v1/ao_easymotor.c create mode 100644 src/easymotor-v1/ao_pins.h create mode 100644 src/easymotor-v1/flash-loader/Makefile create mode 100644 src/easymotor-v1/flash-loader/ao_pins.h diff --git a/src/easymotor-v1/Makefile b/src/easymotor-v1/Makefile new file mode 100644 index 00000000..2d11cc96 --- /dev/null +++ b/src/easymotor-v1/Makefile @@ -0,0 +1,113 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_boot.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + altitude-pa.h \ + ao_kalman.h \ + ao_product.h \ + ao_adxl375.h \ + ao_profile.h \ + ao_task.h \ + ao_whiten.h \ + ao_sample_profile.h \ + ao_quaternion.h \ + ao_mpu.h \ + stm32l.h \ + Makefile + +# +# Common AltOS sources +# + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 + +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 + +ALTOS_SRC = \ + ao_boot_chain.c \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led_stm.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_data.c \ + ao_adxl375.c \ + ao_adc_stm.c \ + ao_beep_stm.c \ + ao_eeprom_stm.c \ + ao_storage.c \ + ao_m25.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_report.c \ + ao_convert_volt.c \ + ao_log.c \ + ao_log_mega.c \ + ao_sample.c \ + ao_kalman.c \ + ao_flight.c \ + $(PROFILE) \ + $(SAMPLE_PROFILE) \ + $(STACK_GUARD) + +PRODUCT=EasyMotor-v1 +PRODUCT_DEF=-DEASYMOTOR +IDPRODUCT=0x000a + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g + +PROGNAME=easymotor-v1 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_easymotor.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +../altitude-pa.h: make-altitude-pa + nickle $< > $@ + +$(OBJ): $(INC) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/easymotor-v1/ao_easymotor.c b/src/easymotor-v1/ao_easymotor.c new file mode 100644 index 00000000..231dbfbe --- /dev/null +++ b/src/easymotor-v1/ao_easymotor.c @@ -0,0 +1,76 @@ +/* + * Copyright © 2018 Bdale 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; 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 +#if HAS_SAMPLE_PROFILE +#include +#endif +#if HAS_STACK_GUARD +#include +#endif + +int +main(void) +{ + ao_clock_init(); + +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + + ao_task_init(); + ao_led_init(); + ao_led_on(LEDS_AVAILABLE); + ao_timer_init(); + + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + + ao_adxl375_init(); + + ao_eeprom_init(); + ao_storage_init(); + + ao_flight_init(); + ao_log_init(); + ao_report_init(); + + ao_usb_init(); + + ao_config_init(); +#if AO_PROFILE + ao_profile_init(); +#endif +#if HAS_SAMPLE_PROFILE + ao_sample_profile_init(); +#endif + + ao_led_off(LEDS_AVAILABLE); + ao_start_scheduler(); + return 0; +} diff --git a/src/easymotor-v1/ao_pins.h b/src/easymotor-v1/ao_pins.h new file mode 100644 index 00000000..ce2a5ac1 --- /dev/null +++ b/src/easymotor-v1/ao_pins.h @@ -0,0 +1,209 @@ +/* + * Copyright © 2018 Bdale 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; 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_STACK_SIZE 512 + +#define AO_HSE 32000000 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_3 +#define AO_RCC_CFGR2_PLLDIV STM_RCC_CFGR2_PREDIV_2 +#define AO_PLLMUL 3 +#define AO_PLLDIV 2 + +/* HCLK = 48MHz */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* APB = 48MHz */ +#define AO_APB_PRESCALER 1 +#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1 + +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 0 + +#define IS_FLASH_LOADER 0 +#define HAS_TASK_QUEUE 1 + +/* + * Serial ports + */ +#define HAS_SERIAL_1 0 +#define USE_SERIAL_1_STDIN 0 +#define SERIAL_1_PB6_PB7 0 +#define SERIAL_1_PA9_PA10 0 + +#define HAS_SERIAL_2 0 +#define USE_SERIAL_2_STDIN 0 +#define DELAY_SERIAL_2_STDIN 0 +#define USE_SERIAL_2_FLOW 0 +#define USE_SERIAL_2_SW_FLOW 0 +#define SERIAL_2_PA2_PA3 0 +#define SERIAL_2_PD5_PD6 0 +#define SERIAL_2_PORT_RTS (&stm_gpioa) +#define SERIAL_2_PIN_RTS 0 +#define SERIAL_2_PORT_CTS (&stm_gpioa) +#define SERIAL_2_PIN_CTS 0 + +#define AO_CONFIG_MAX_SIZE 1024 + +#define HAS_EEPROM 0 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 0 +#define USE_STORAGE_CONFIG 0 +#define HAS_BEEP 1 +#define HAS_BATTERY_REPORT 1 +#define HAS_RADIO 0 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_ACCEL 1 +#define HAS_AES 0 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 /* sensors */ +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 0 +#define SPI_1_OSPEEDR STM_OSPEEDR_HIGH + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_HIGH + +#define HAS_I2C_1 0 +#define I2C_1_PB8_PB9 0 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define PACKET_HAS_SLAVE 0 +#define PACKET_HAS_MASTER 0 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_0_ENABLE STM_RCC_AHBENR_IOPCEN +#define LED_PORT_0 (&stm_gpioc) +#define LED_PORT_0_SHIFT 13 +#define LED_PIN_GREEN (0 + LED_PORT_0_SHIFT) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) +#define LED_PORT_0_MASK (AO_LED_GREEN) + +#define LEDS_AVAILABLE (AO_LED_GREEN) + +#define HAS_GPS 0 +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_ADC_TEMP 0 +#define HAS_LOG 0 + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 2 + +struct ao_adc { + int16_t v_batt; +}; + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u batt %5d\n", \ + (p)->tick, \ + (p)->adc.v_batt); + +#define AO_ADC_V_BATT 0 +#define AO_ADC_V_BATT_PORT (&stm_gpiob) +#define AO_ADC_V_BATT_PIN 0 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_IOPAEN)) + +#define AO_NUM_ADC_PIN 1 + +#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN +#define AO_ADC_PIN0_CH AO_ADC_V_BATT_PIN + +#define AO_NUM_ADC (AO_NUM_ADC_PIN) + +#define AO_ADC_SQ1 AO_ADC_V_BATT + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 100 /* 100k */ +#define AO_BATTERY_DIV_MINUS 27 /* 27k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + + + +#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024) +#define LOG_ERASE_MARK 0x55 +#define LOG_MAX_ERASE 128 +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMOTOR_1 + +#define BEEPER_TIMER 2 +#define BEEPER_CHANNEL 3 +#define BEEPER_PORT (&stm_gpioa) +#define BEEPER_PIN 2 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpioa) +#define AO_M25_SPI_CS_PIN 0 +#define AO_M25_SPI_CS_MASK (1 << AO_M25_SPI_CS_PIN) +#define AO_M25_SPI_BUS AO_SPI_1_PA5_PA6_PA7 + +/* ADXL375 */ + +#define HAS_ADXL375 1 +#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PA5_PA6_PA7 | AO_SPI_MODE_3) +#define AO_ADXL375_CS_PORT (&stm_gpiob) +#define AO_ADXL375_CS_PIN 10 +#define AO_ADXL375_SPI_SPEED AO_SPI_SPEED_4MHz + +#define AO_ADXL375_INT1_PORT (&stm_gpiob) +#define AO_ADXL375_INT1_PIN 2 + +#define AO_ADXL375_INT2_PORT (&stm_gpiob) +#define AO_ADXL375_INT2_PIN 1 + +#define AO_ADXL375_AXIS x +#define AO_ADXL375_INVERT 1 + +#define NUM_CMDS 16 + +/* + * Monitor + */ + +#define HAS_MONITOR 0 +#define LEGACY_MONITOR 0 +#define HAS_MONITOR_PUT 0 +#define AO_MONITOR_LED 0 +#define HAS_RSSI 0 + +#endif /* _AO_PINS_H_ */ diff --git a/src/easymotor-v1/flash-loader/Makefile b/src/easymotor-v1/flash-loader/Makefile new file mode 100644 index 00000000..21223542 --- /dev/null +++ b/src/easymotor-v1/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=easymotor-v1 +include $(TOPDIR)/stmf0/Makefile-flash.defs diff --git a/src/easymotor-v1/flash-loader/ao_pins.h b/src/easymotor-v1/flash-loader/ao_pins.h new file mode 100644 index 00000000..c0e445b9 --- /dev/null +++ b/src/easymotor-v1/flash-loader/ao_pins.h @@ -0,0 +1,37 @@ +/* + * Copyright © 2018 Bdale 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; 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 + +/* ground companion pin 6 (pin 1 is ground) to force bootload */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpiob +#define AO_BOOT_APPLICATION_PIN 12 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +/* USB */ +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 0 + +#endif /* _AO_PINS_H_ */ -- 2.30.2