From a901ec5fef409a6675c24518aead2925dcd66cc3 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 8 Apr 2020 13:43:22 -0600 Subject: [PATCH] altos: add easytimer-v1 source directory --- src/easytimer-v1/.gitignore | 2 + src/easytimer-v1/Makefile | 99 ++++++++++ src/easytimer-v1/ao_easytimer.c | 78 ++++++++ src/easytimer-v1/ao_pins.h | 242 ++++++++++++++++++++++++ src/easytimer-v1/flash-loader/Makefile | 8 + src/easytimer-v1/flash-loader/ao_pins.h | 35 ++++ 6 files changed, 464 insertions(+) create mode 100644 src/easytimer-v1/.gitignore create mode 100644 src/easytimer-v1/Makefile create mode 100644 src/easytimer-v1/ao_easytimer.c create mode 100644 src/easytimer-v1/ao_pins.h create mode 100644 src/easytimer-v1/flash-loader/Makefile create mode 100644 src/easytimer-v1/flash-loader/ao_pins.h diff --git a/src/easytimer-v1/.gitignore b/src/easytimer-v1/.gitignore new file mode 100644 index 00000000..2e32c6ff --- /dev/null +++ b/src/easytimer-v1/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +easytimer-*.elf diff --git a/src/easytimer-v1/Makefile b/src/easytimer-v1/Makefile new file mode 100644 index 00000000..b0cd15c2 --- /dev/null +++ b/src/easytimer-v1/Makefile @@ -0,0 +1,99 @@ +# +# 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_profile.h \ + ao_task.h \ + ao_whiten.h \ + ao_sample_profile.h \ + ao_mpu.h \ + stm32l.h \ + Makefile + +#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_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_data.c \ + ao_bmx160.c \ + ao_adc_stm.c \ + ao_beep_stm.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_eeprom_stm.c \ + ao_convert_volt.c \ + ao_report.c \ + ao_sample.c \ + ao_kalman.c \ + ao_pyro.c \ + ao_flight.c \ + ao_ignite.c \ + $(PROFILE) \ + $(SAMPLE_PROFILE) \ + $(STACK_GUARD) + +PRODUCT=EasyTimer-v1 +PRODUCT_DEF=-DEASYTIMER_V_1 +IDPRODUCT=0x000d + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) + +PROGNAME=easytimer-v1 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_easytimer.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/easytimer-v1/ao_easytimer.c b/src/easytimer-v1/ao_easytimer.c new file mode 100644 index 00000000..fe1299fa --- /dev/null +++ b/src/easytimer-v1/ao_easytimer.c @@ -0,0 +1,78 @@ +/* + * 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 +#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_timer_init(); + + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + + ao_eeprom_init(); + +// ao_storage_init(); + + ao_bmx160_init(); + + ao_flight_init(); + // ao_log_init(); + ao_report_init(); + + ao_usb_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-v1/ao_pins.h b/src/easytimer-v1/ao_pins.h new file mode 100644 index 00000000..3ceb49f3 --- /dev/null +++ b/src/easytimer-v1/ao_pins.h @@ -0,0 +1,242 @@ +/* + * 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 HAS_TASK_QUEUE 1 + +/* 16MHz High speed external crystal */ +#define AO_HSE 16000000 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 6 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6) + +/* SYSCLK = 32MHz (no need to go faster than CPU) */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHz (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at 16MHz (HCLK/2) */ +#define AO_APB1_PRESCALER 2 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +/* Run APB2 at 16MHz (HCLK/2) */ +#define AO_APB2_PRESCALER 2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +#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 SERIAL_2_PA2_PA3 0 +#define SERIAL_2_PD5_PD6 0 + +#define HAS_SERIAL_3 0 +#define USE_SERIAL_3_STDIN 0 +#define SERIAL_3_PB10_PB11 0 +#define SERIAL_3_PC10_PC11 0 +#define SERIAL_3_PD8_PD9 0 + +#define AO_CONFIG_MAX_SIZE 1024 + +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 1 +#define USE_STORAGE_CONFIG 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_BATTERY_REPORT 1 +#define BEEPER_CHANNEL 1 +#define BEEPER_TIMER 4 +#define BEEPER_PORT (&stm_gpiob) +#define BEEPER_PIN 6 +#define HAS_RADIO 0 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_COMPANION 0 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 0 +#define SPI_1_PB3_PB4_PB5 1 /* IMU */ +#define SPI_1_PE13_PE14_PE15 0 +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz + +#define HAS_SPI_2 0 +#define SPI_2_PB13_PB14_PB15 0 /* Flash, Companion, Radio */ +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz + +#define SPI_2_PORT (&stm_gpiob) +#define SPI_2_SCK_PIN 13 +#define SPI_2_MISO_PIN 14 +#define SPI_2_MOSI_PIN 15 + +#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 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 (&stm_gpiob) +#define AO_PYRO_PIN_0 0 + +#define AO_ADC_SENSE_A 1 +#define AO_ADC_SENSE_A_PORT (&stm_gpioa) +#define AO_ADC_SENSE_A_PIN 1 + +/* Pyro B */ +#define AO_PYRO_PORT_1 (&stm_gpiob) +#define AO_PYRO_PIN_1 11 + +#define AO_ADC_SENSE_B 0 +#define AO_ADC_SENSE_B_PORT (&stm_gpioa) +#define AO_ADC_SENSE_B_PIN 0 + + +/* + * 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: %5u 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 2 +#define AO_ADC_V_BATT_PORT (&stm_gpioa) +#define AO_ADC_V_BATT_PIN 2 + +#define AO_ADC_TEMP 16 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \ + (1 << STM_RCC_AHBENR_GPIOEEN) | \ + (1 << STM_RCC_AHBENR_GPIOBEN)) + +#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_SQ1 AO_ADC_SENSE_A +#define AO_ADC_SQ2 AO_ADC_SENSE_B +#define AO_ADC_SQ3 AO_ADC_V_BATT +#define AO_ADC_SQ4 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 + +/* + * bmx160 + */ + +#define HAS_BMX160 1 +#define AO_BMX160_INT_PORT (&stm_gpioc) +#define AO_BMX160_INT_PIN 13 +#define AO_BMX160_SPI_BUS (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_0) +#define AO_BMX160_SPI_CS_PORT (&stm_gpioa) +#define AO_BMX160_SPI_CS_PIN 15 +#define HAS_IMU 1 + +#define ao_data_along(packet) ((packet)->bmx160.acc_x) +#define ao_data_across(packet) (-(packet)->bmx160.acc_y) +#define ao_data_through(packet) ((packet)->bmx160.acc_z) + +#define ao_data_roll(packet) ((packet)->bmx160.gyr_x) +#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y) +#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z) + +#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x) +#define ao_data_mag_across(packet) (-(packet)->bmx160.mag_y) +#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z) + +#define ao_data_accel_cook(packet) (-ao_data_along(packet)) + +/* + * 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-v1/flash-loader/Makefile b/src/easytimer-v1/flash-loader/Makefile new file mode 100644 index 00000000..a1613645 --- /dev/null +++ b/src/easytimer-v1/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=easytimer-v1 +include $(TOPDIR)/stm/Makefile-flash.defs diff --git a/src/easytimer-v1/flash-loader/ao_pins.h b/src/easytimer-v1/flash-loader/ao_pins.h new file mode 100644 index 00000000..16aeec29 --- /dev/null +++ b/src/easytimer-v1/flash-loader/ao_pins.h @@ -0,0 +1,35 @@ +/* + * 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_ + +/* External crystal at 16MHz */ +#define AO_HSE 16000000 + +#include + +/* Companion port cs_companion0 PB6 */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpioc +#define AO_BOOT_APPLICATION_PIN 15 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#endif /* _AO_PINS_H_ */ -- 2.30.2