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  • avn/swd/skyward-boardcore
  • emilio.corigliano/skyward-boardcore
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with 2 additions and 70349 deletions
data/fault_list.csv deleted 100644 → 0
View file @ 9c4cd6d0
"Category","Name (letters,numbers,underscores,NO SPACES, all caps!)","Description","Generated Name(autogenerated column!)"
"ANAKIN","TEST_FAULT","This fault is for testing","F_ANAKIN_TEST_FAULT"
data/gdb/stm32f4-stlinv2.cfg deleted 100644 → 0
View file @ 9c4cd6d0
# This is an STM32F4 discovery board with a single STM32F407VGT6 chip.
# http://www.st.com/internet/evalboard/product/252419.jsp
source [find interface/stlink-v2-1.cfg]
source [find target/stm32f4x.cfg]
# use hardware reset, connect under reset
reset_config srst_only srst_nogate
data/gdb/stm32f7-stlinv2.cfg deleted 100644 → 0
View file @ 9c4cd6d0
# This is an STM32F7 discovery board with a single STM32F407VGT6 chip.
# http://www.st.com/internet/evalboard/product/252419.jsp
source [find interface/stlink-v2-1.cfg]
source [find target/stm32f7x.cfg]
# use hardware reset, connect under reset
reset_config srst_only srst_nogate
data/gdb/stm32f750.svd deleted 100644 → 0
View file @ 9c4cd6d0
This diff is collapsed.
mavlink-skyward-lib @ ac64dd52
Compare 7abedf97...ac64dd52
Subproject commit 7abedf9773b3ebce9d14687d13544f40fad5577f
Subproject commit ac64dd5294f23f78a89f0f7c335c7a4f7f5394fd
miosix-kernel @ da07e825
Compare a52d94ac...da07e825
Subproject commit a52d94acbfd617ae567a5efc1626e9b88703a0dd
Subproject commit da07e825bc6c02b86cef8e1ec6e62b4d1978b762
old_examples/entrypoints/anakin/anakin-accel.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Authors: Alain Carlucci, Matteo Piazzolla
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/BusTemplate.h>
#include <sensors/MAX21105.h>
#include <sensors/MPU9250.h>
#include <sensors/iNemo.h>
using namespace miosix;
#define SENSOR(NAME, CSPORT, CSPIN) \
typedef Gpio<GPIO##CSPORT##_BASE, CSPIN> CS_##NAME; \
typedef ProtocolSPI<busSPI1, CS_##NAME> spi##NAME
#define READ(NAME, ID) spi##NAME::read(ID)
#define TEST(NAME, REG, REF) test_and_print(#NAME, REG, READ(NAME, REG), REF)
#define ACCEL_ENDLESS_TEST
// SPI1
typedef Gpio<GPIOA_BASE, 5> GpioSck;
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
typedef BusSPI<1, GpioMosi, GpioMiso, GpioSck> busSPI1;
// clang-format off
// Here's the list of SPI sensors that should be tested
// | NAME | CSPORT | CSPIN |
SENSOR(MPU9250, D, 13);
SENSOR(FXAS21002, G, 10);
SENSOR(MAX21105, E, 2);
SENSOR(MAX31856, B, 11);
SENSOR(LSM9DS0_G, G, 9);
SENSOR(LSM9DS0_A, G, 11);
SENSOR(LPS331AP, E, 4);
SENSOR(MS580301BA07, B, 10);
// clang-format on
static const char mOK[] = "OK";
static const char mKO[] = "FAIL";
int num_ok = 0, num_fail = 0;
typedef MAX21105<spiMAX21105> max_t;
typedef iNEMOLSM9DS0<spiLSM9DS0_G, spiLSM9DS0_A> lsm_t;
typedef MPU9250<spiMPU9250> mpu_t;
typedef struct
{
Vec3 v[3];
} vec_t;
Vec3 calcMid(vec_t data[5], int j)
{
Vec3 ret;
for (int i = 0; i < 5; i++)
ret += Vec3(data[i].v[j]);
ret *= 1.0 / 5.0;
return ret;
}
void calibrate(const vec_t &data[10])
{
for (const auto &i : data)
{
for (int j = 0; j < 3; j++)
{
i->v[j].normalize();
i->v[j] *= EARTH_GRAVITY;
}
}
}
int main()
{
vec_t data[5];
vector<AccelSensor *> accels;
accels.push_back(
new lsm_t(lsm_t::ACC_FS_2G, lsm_t::GYRO_FS_245, lsm_t::COMPASS_FS_2));
accels.push_back(new mpu_t(mpu_t::ACC_FS_2G, mpu_t::GYRO_FS_250));
accels.push_back(new max_t(max_t::ACC_FS_2G, max_t::GYRO_FS_250));
uint16_t cnt = 0;
for (auto jj : accels)
jj->init();
printf("Wait..\n");
Thread::sleep(2000);
printf("Calibrating..\n");
vec_t caa[10];
for (int i = 0; i < 10; i++)
{
for (int j = 0; j < 3; j++)
{
AccelSensor *a = accels[j];
a->updateParams();
caa[i].v[j] = a->getAccel();
}
printf("%02d/10...\r", i + 1);
Thread::sleep(20);
}
calibrate(caa);
while (true)
{
printf("%05d ", cnt);
for (int j = 0; j < 3; j++)
{
AccelSensor *i = accels[j];
i->updateParams();
data[cnt % 5].v[j] = i->getAccel();
Vec3 mid = adjust(data, j);
printf("[%+5.2f,%+5.2f,%+5.2f] ", mid.getX(), mid.getY(),
mid.getZ());
}
printf(" \r");
cnt++;
Thread::sleep(10);
}
}
old_examples/entrypoints/anakin/anakin-demo-board.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Author: Alain Carlucci
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/BusTemplate.h>
#include <drivers/Leds.h>
#include <drivers/ethernet/UdpManager.h>
#include <drivers/stm32f2_f4_i2c.h>
#include <math/Matrix.h>
#include <math/Vec3.h>
#include <sensors/FXAS21002.h>
#include <sensors/LPS331AP.h>
#include <sensors/MAX21105.h>
#include <sensors/MAX31856.h>
#include <sensors/MPL3115.h>
#include <sensors/MPU9250.h>
#include <sensors/MS580301BA07.h>
#include <sensors/Si7021.h>
#include <sensors/iNemo.h>
using namespace miosix;
using std::vector;
//#define ENABLE_ETHERNET
constexpr uint32_t lp_alpha = 250;
constexpr uint32_t hp_beta = 700;
#define SENSOR(NAME, CSPORT, CSPIN) \
typedef Gpio<GPIO##CSPORT##_BASE, CSPIN> CS_##NAME; \
typedef ProtocolSPI<busSPI1, CS_##NAME> spi##NAME
// SPI1
typedef Gpio<GPIOA_BASE, 5> GpioSck;
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
typedef BusSPI<1, GpioMosi, GpioMiso, GpioSck> busSPI1;
// clang-format off
// Here's the list of SPI sensors that should be tested
// | NAME | CSPORT | CSPIN |
SENSOR(MPU9250, D, 13);
SENSOR(FXAS21002, G, 10);
SENSOR(MAX21105, E, 2);
SENSOR(MAX31856, B, 11);
SENSOR(LSM9DS0_G, G, 9);
SENSOR(LSM9DS0_A, G, 11);
SENSOR(LPS331AP, E, 4);
SENSOR(MS580301BA07, B, 10);
// clang-format on
#pragma pack(1)
struct pkt_t
{
float accel[3];
float gyro[3];
float compass[3];
float temperature;
float humidity;
float pressure;
float orientation[3];
};
#pragma pack()
// Please don't judge me for these lines
#define PUSH(a, b, x) \
do \
{ \
sensor_t zz = a, b; \
sensors.push_back(zz); \
x.push_back(zz); \
} while (0)
#define PUSH2(a, b, x, y) \
do \
{ \
sensor_t zz = a, b; \
PUSH(a, b, x); \
y.push_back(zz); \
} while (0)
#define PUSH3(a, b, x, y, z) \
do \
{ \
sensor_t zz = a, b; \
PUSH2(a, b, x, y); \
z.push_back(zz); \
} while (0)
#define PP(name, func) \
do \
{ \
printf("[Sensor] " name " started\n"); \
func; \
} while (0)
class DemoBoard : public Singleton<DemoBoard>
{
friend class Singleton<DemoBoard>;
public:
void init() {}
void update()
{
for (const sensor_t& s : sensors)
(s.sensor)->onSimpleUpdate();
}
// Read a float value
#define RFLO(x, y, k, z, w) \
vector<x> y() const \
{ \
vector<x> j; \
for (const sensor_t& i : w) \
{ \
j.push_back(*((dynamic_cast<z*>(i.sensor))->k())); \
} \
return j; \
}
// Read a Vec3 value and multiply it by the sensor transform matrix
#define RVEC(x, y, k, z, w) \
vector<x> y() const \
{ \
vector<x> j; \
for (const sensor_t& i : w) \
{ \
x vec = *(i.transform) * *((dynamic_cast<z*>(i.sensor))->k()); \
j.push_back(vec); \
} \
return j; \
}
// clang-format off
RVEC(Vec3, getAccel, accelDataPtr, AccelSensor, accel)
RVEC(Vec3, getRotation, gyroDataPtr, GyroSensor, gyro)
RVEC(Vec3, getCompass, compassDataPtr, CompassSensor, compass)
RFLO(float, getTemperature, tempDataPtr, TemperatureSensor, temps)
RFLO(float, getHumidity, humidityDataPtr,HumiditySensor, humidity)
RFLO(float, getPressure, pressureDataPtr,PressureSensor, pressure)
// clang-format on
#undef RFLO
#undef RVEC
private:
DemoBoard()
{
static const float v_inemo[16] = {0, 1, 0, 0, -1, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 1};
static const float v_mpu[16] = {-1, 0, 0, 0, 0, -1, 0, 0,
0, 0, 1, 0, 0, 0, 0, 1};
static const Mat4 idMat = Mat4();
static const Mat4 iNemoMat = Mat4(v_inemo);
static const Mat4 mpuMat = Mat4(v_mpu);
// ----- FXAS21102 -----
typedef FXAS21002<spiFXAS21002> fx_t;
fx_t* fx = new fx_t(fx_t::DPS500);
if (fx->init())
PP("FXAS21102", PUSH({fx, &idMat}, gyro));
else
printf("Cannot start FXAS21102\n");
// ----- iNEMO -----
typedef iNEMOLSM9DS0<spiLSM9DS0_G, spiLSM9DS0_A> pd_inemo_t;
pd_inemo_t* nemo =
new pd_inemo_t(pd_inemo_t::ACC_FS_2G, pd_inemo_t::GYRO_FS_245,
pd_inemo_t::COMPASS_FS_2);
if (nemo->init())
PP("iNemo", PUSH3({nemo, &iNemoMat}, accel, gyro, compass));
else
printf("Cannot start iNemo\n");
// ----- LPS331AP -----
typedef LPS331AP<spiLPS331AP> lps_t;
lps_t* lps = new lps_t(lps_t::SS_25HZ);
if (lps->init())
PP("LPS331AP", PUSH2({lps, &idMat}, pressure, temps));
else
printf("Cannot start LPS\n");
// ----- MAX21105 -----
typedef MAX21105<spiMAX21105> max21_t;
max21_t* max21 = new max21_t(max21_t::ACC_FS_2G, max21_t::GYRO_FS_500);
if (max21->init())
PP("MAX21105", PUSH3({max21, &idMat}, accel, gyro, temps));
else
printf("Cannot start MAX21105\n");
// ----- MPL3115 -----
sensors::sda::mode(Mode::ALTERNATE_OD);
sensors::sda::alternateFunction(4);
sensors::scl::mode(Mode::ALTERNATE_OD);
sensors::scl::alternateFunction(4);
typedef MPL3115<ProtocolI2C<miosix::I2C1Driver> > mpl_t;
mpl_t* mpl = new mpl_t();
if (mpl->init())
PP("MPL3115", PUSH2({mpl, &idMat}, pressure, temps));
else
printf("Cannot start MPL3115\n");
// ----- MPU9250 -----
typedef MPU9250<spiMPU9250> mpu_t;
mpu_t* mpu = new mpu_t(mpu_t::ACC_FS_2G, mpu_t::GYRO_FS_250);
if (mpu->init())
PP("MPU9250", PUSH3({mpu, &mpuMat}, accel, compass, temps));
else
printf("Cannot start MPU9250\n");
// ----- MS580301BA07 -----
typedef MS580301BA07<spiMS580301BA07> ms5_t;
ms5_t* ms5 = new ms5_t();
if (ms5->init())
PP("MS580301BA07", PUSH2({ms5, &idMat}, pressure, temps));
else
printf("Cannot start MS580\n");
// ----- Si7021 -----
typedef Si7021<ProtocolI2C<miosix::I2C1Driver> > si_t;
si_t* si = new si_t();
if (si->init())
PP("Si7021", PUSH2({si, &idMat}, humidity, temps));
else
printf("Cannot start Si7021\n");
printf("Loaded %d sensors\n", sensors.size());
printf(" + %d gyro sensors\n", gyro.size());
printf(" + %d accel sensors\n", accel.size());
printf(" + %d compass sensors\n", compass.size());
printf(" + %d temperature sensors\n", temps.size());
printf(" + %d humidity sensors\n", humidity.size());
printf(" + %d pressure sensors\n", pressure.size());
}
typedef struct
{
Sensor* sensor;
const Mat4* transform;
} sensor_t;
vector<sensor_t> sensors;
vector<sensor_t> accel;
vector<sensor_t> gyro;
vector<sensor_t> compass;
vector<sensor_t> temps;
vector<sensor_t> humidity;
vector<sensor_t> pressure;
#define sDemoBoard DemoBoard::getInstance()
};
Vec3 averageVec(const vector<Vec3>& in)
{
Vec3 out;
for (const Vec3& i : in)
out += i;
if (in.size() > 0)
out *= 1.0f / (float)in.size();
return out;
}
float averageFloat(const vector<float>& in)
{
float out = 0;
for (const float& i : in)
out += i;
if (in.size() > 0)
out *= 1.0f / (float)in.size();
return out;
}
template <uint32_t alpha>
class LowPassPolicy
{
protected:
static float process(uint16_t id, float in)
{
if (id >= storage.size())
storage.resize(id + 1, 0.0);
storage[id] += (alpha / 1000.0f) * (in - storage[id]);
return storage[id];
}
static vector<float> storage;
};
template <uint32_t beta>
class HighPassPolicy
{
protected:
static float process(uint16_t id, float in)
{
if (id >= storage.size())
{
storage.resize(id + 1, 0.0);
unfiltered.resize(id + 1, 0.0);
}
storage[id] = (beta / 1000.0f) * (storage[id] + in - unfiltered[id]);
unfiltered[id] = in;
return storage[id];
}
static vector<float> unfiltered;
static vector<float> storage;
};
template <typename FilterPolicy>
class BandFilter : private FilterPolicy
{
public:
/* For each call, increment id of 3 * data.size() to avoid overlapping */
static void process(uint16_t id, vector<Vec3>& data)
{
for (size_t i = 0; i < data.size(); i++)
process(id + i * 3, data[i]);
}
/* For each call, increment id of data.size() to avoid overlapping */
static void process(uint16_t id, vector<float>& data)
{
for (size_t i = 0; i < data.size(); i++)
FilterPolicy::process(id + i, data[i]);
}
static void printStorage()
{
printf("Lowpass: [");
for (const float& f : FilterPolicy::storage)
printf("%5.2f ", f);
printf("]\n");
}
static void process(uint16_t id, Vec3& data)
{
data.setX(FilterPolicy::process(id + 0, data.getX()));
data.setY(FilterPolicy::process(id + 1, data.getY()));
data.setZ(FilterPolicy::process(id + 2, data.getZ()));
}
};
template <uint32_t alpha>
vector<float> LowPassPolicy<alpha>::storage;
template <uint32_t beta>
vector<float> HighPassPolicy<beta>::storage;
template <uint32_t beta>
vector<float> HighPassPolicy<beta>::unfiltered;
#define VECARRAY_FILTER(id, array) \
do \
{ \
BandFilter<LowPassPolicy<lp_alpha> >::process(id, array); \
id += array.size() * 3; \
} while (0)
#define FLOATARRAY_FILTER(id, array) \
do \
{ \
BandFilter<LowPassPolicy<lp_alpha> >::process(id, array); \
id += array.size(); \
} while (0)
#define COPYVEC(arr, v) \
do \
{ \
arr[0] = v.getX(); \
arr[1] = v.getY(); \
arr[2] = v.getZ(); \
} while (0)
int main()
{
Thread::sleep(100);
sDemoBoard->init();
// Ethernet setup
#ifdef ENABLE_ETHERNET
const uint8_t ipAddr[] = {192, 168, 1, 30}; // Device's IP address
const uint8_t mask[] = {255, 255, 255, 0}; // Subnet mask
const uint8_t destIp[] = {192, 168, 1, 4}; // Destination IP address
const uint16_t destPort = 1234; // Destination port
printf("[Ethernet] Starting...\n");
W5200& eth = W5200::instance();
eth.setIpAddress(ipAddr);
eth.setSubnetMask(mask);
printf("[Ethernet] Got addr\n");
// This socket listens on UDP port 2020
// UdpManager::getInstance().setTxPort(2020);
printf("[Ethernet] Socket ready\n");
#endif
Vec3 orientation;
Vec3 angularvel;
int ignore_ctr = 100;
int led_status = 0x200;
while (1)
{
sDemoBoard->update();
Thread::sleep(20);
vector<Vec3> accels = sDemoBoard->getAccel();
vector<Vec3> rots = sDemoBoard->getRotation();
vector<Vec3> compsv = sDemoBoard->getCompass();
vector<float> temps = sDemoBoard->getTemperature();
vector<float> humid = sDemoBoard->getHumidity();
vector<float> press = sDemoBoard->getPressure();
uint16_t id = 0;
VECARRAY_FILTER(id, accels);
VECARRAY_FILTER(id, rots);
BandFilter<HighPassPolicy<hp_beta> >::process(0, rots);
VECARRAY_FILTER(id, compsv);
FLOATARRAY_FILTER(id, temps);
FLOATARRAY_FILTER(id, humid);
FLOATARRAY_FILTER(id, press);
Vec3 acc = averageVec(accels);
Vec3 rot = averageVec(rots);
Vec3 comps = averageVec(compsv);
float tempm = averageFloat(temps);
float humim = averageFloat(humid);
float presm = averageFloat(press);
pkt_t packet;
COPYVEC(packet.accel, acc);
COPYVEC(packet.gyro, rot);
COPYVEC(packet.compass, comps);
COPYVEC(packet.orientation, orientation);
packet.temperature = tempm;
packet.humidity = humim;
packet.pressure = presm;
Leds::set(led_status);
if (ignore_ctr == 0)
{
led_status <<= 1;
if (led_status == 0x400)
led_status = 0x04;
angularvel += rot * 0.2f;
orientation += angularvel * 0.2f;
BandFilter<HighPassPolicy<999> >::process(4, orientation);
}
else
{
led_status ^= 0x200;
--ignore_ctr;
if (ignore_ctr == 0)
led_status = 0x04;
}
#ifdef ENABLE_ETHERNET
sock.sendPacketTo(destIp, destPort, &packet, sizeof(packet));
#endif
printf(
"[%5.2f %5.2f %5.2f] "
"[%5.2f %5.2f %5.2f] "
"[%d %5.2f %5.2f %5.2f] "
"[%5.2f %5.2f %5.2f] "
"[%5.2f %5.2f %5.2f] \r",
acc.getX(), acc.getY(), acc.getZ(), rot.getX(), rot.getY(),
rot.getZ(), ignore_ctr, orientation.getX(), orientation.getY(),
orientation.getZ(), comps.getX(), comps.getY(), comps.getZ(), tempm,
humim, presm);
fflush(stdout);
}
// Bye.
while (1)
{
Thread::sleep(1000);
}
}
old_examples/entrypoints/anakin/anakin-test-dma.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2017 Skyward Experimental Rocketry
* Author: Alain Carlucci
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <boards/AnakinBoard.h>
#include <diagnostic/CpuMeter.h>
#include <diagnostic/Log.h>
#include <drivers/Leds.h>
using namespace miosix;
void fifoQueueSz(void* arg)
{
const SPIDriver& spi = SPIDriver::instance();
int tx_accum = 0, rx_accum = 0, sz_ctr = 0;
int qsize_accum = 0;
sLog->logString("Thread started");
while (1)
{
DMAFIFOStatus tx = spi.getTxFIFOStatus();
DMAFIFOStatus rx = spi.getRxFIFOStatus();
if (tx > -1 && rx > -1)
{
tx_accum += tx;
rx_accum += rx;
qsize_accum += sLog->getLogQueueSize();
if (++sz_ctr == 100)
{
float tx1 = tx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
float rx1 = rx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
float qsz = qsize_accum / 100.0f * 255.0f;
tx_accum = rx_accum = sz_ctr = qsize_accum = 0;
sLog->logLimitedInt(17, 0, 255, tx1);
sLog->logLimitedInt(18, 0, 255, rx1);
sLog->logUInt32(19, spi.getFIFOFaultCtr());
sLog->logUInt32(20, averageCpuUtilization());
sLog->logLimitedInt(21, 0, 255, qsz);
}
}
Thread::sleep(1);
}
}
int main()
{
sLog->start();
printf("\n");
Leds::set(0);
Log::getInstance();
sBoard->init();
const std::vector<SingleSensor>& data = sBoard->debugGetSensors();
int ctr = 0;
Thread::create(fifoQueueSz, 1024);
while (1)
{
for (const auto& s : data)
{
switch (s.data)
{
case DATA_VEC3:
sLog->logSensorVec3(s.sensor, *(Vec3*)s.value);
break;
case DATA_FLOAT:
sLog->logSensorFloat(s.sensor, *(float*)s.value);
break;
default:
break;
}
}
Thread::sleep(100);
}
return 0;
}
old_examples/entrypoints/anakin/anakin-test-suite.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Authors: Alain Carlucci, Matteo Piazzolla
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/BusTemplate.h>
#include <sensors/FXAS21002.h>
#include <sensors/MAX21105.h>
#include <sensors/MPU9250.h>
#include <sensors/MS580301BA07.h>
//#include <sensors/Si7021.h>
using namespace miosix;
#define SENSOR(NAME, CSPORT, CSPIN) \
typedef Gpio<GPIO##CSPORT##_BASE, CSPIN> CS_##NAME; \
typedef ProtocolSPI<busSPI1, CS_##NAME> spi##NAME
#define READ(NAME, ID) spi##NAME::read(ID)
#define TEST(NAME, REG, REF) test_and_print(#NAME, REG, READ(NAME, REG), REF)
#define ACCEL_ENDLESS_TEST
// SPI1
typedef Gpio<GPIOA_BASE, 5> GpioSck;
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
typedef BusSPI<1, GpioMosi, GpioMiso, GpioSck> busSPI1;
// clang-format off
// Here's the list of SPI sensors that should be tested
// | NAME | CSPORT | CSPIN |
SENSOR(MPU9250, D, 13);
SENSOR(FXAS21002, G, 10);
SENSOR(MAX21105, E, 2);
SENSOR(MAX31856, B, 11);
SENSOR(LSM9DS0_G, G, 9);
SENSOR(LSM9DS0_A, G, 11);
SENSOR(LPS331AP, E, 4);
SENSOR(MS580301BA07, B, 10);
// clang-format on
static const char mOK[] = "OK";
static const char mKO[] = "FAIL";
int num_ok = 0, num_fail = 0;
void banner()
{
printf(
"----------------------------------------------------------------------"
"------\n"
"d888888b d88888b .d8888. d888888b .d8888. db db d888888b d888888b "
"d88888b\n"
"`~~88~~' 88' 88' YP `~~88~~' 88' YP 88 88 `88' `~~88~~' "
"88' \n"
" 88 88ooooo `8bo. 88 `8bo. 88 88 88 88 "
"88ooooo\n"
" 88 88~~~~~ `Y8b. 88 `Y8b. 88 88 88 88 "
"88~~~~~\n"
" 88 88. db 8D 88 db 8D 88b d88 .88. 88 "
"88. \n"
" YP Y88888P `8888Y' YP `8888Y' ~Y8888P' Y888888P YP "
"Y88888P\n"
"----------------------------------------------------------------------"
"------\n"
"\n");
}
void test_and_print(const char* name, uint8_t reg, uint8_t test,
uint8_t reference)
{
if (test == reference)
++num_ok;
else
++num_fail;
printf("[%13s] [REG 0x%02x]: 0x%02x -> [%s]\n", name, reg, test,
(test == reference) ? mOK : mKO);
}
void assert_true(const char* name, const char* func, bool value)
{
if (value)
++num_ok;
else
++num_fail;
printf("[%13s] [FUNC %9s] -> [%s]\n", name, func, (value) ? mOK : mKO);
}
void test_max31856()
{
// Check if a bunch of register have the reference value
TEST(MAX31856, 0x00, 0x00); // config 0
TEST(MAX31856, 0x01, 0x03); // config 1
TEST(MAX31856, 0x02, 0xFF); // mask
TEST(MAX31856, 0x03, 0x7F); // hi fault
TEST(MAX31856, 0x04, 0xc0); // lo fault
TEST(MAX31856, 0x05, 0x7f); // lol
TEST(MAX31856, 0x0F, 0x00); // fault status reg
}
void test_altimeter()
{
MS580301BA07<spiMS580301BA07> altiMS580;
// Read and check different const registers
TEST(MS580301BA07, 0xA4, READ(MS580301BA07, 0xA4));
TEST(MS580301BA07, 0xAA, READ(MS580301BA07, 0xAA));
TEST(MS580301BA07, 0xAC, READ(MS580301BA07, 0xAC));
assert_true("MS580301BA07", "init()", altiMS580.init());
}
int main()
{
MAX21105<spiMAX21105> max21(MAX21105<spiMAX21105>::ACC_FS_2G,
MAX21105<spiMAX21105>::GYRO_FS_500);
banner();
// Pausa per lasciare il tempo ai sensori di accendersi
Thread::sleep(100);
printf("Polling sensors...\n");
// clang-format off
// First check: compare sensors WHO_AM_I against the reference value
TEST(MPU9250, 0x75, 0x71);
TEST(FXAS21002, 0x0c, 0xd7);
TEST(MAX21105, 0x20, 0xb4);
TEST(LSM9DS0_G, 0x0f, 0xd4);
TEST(LSM9DS0_A, 0x0f, 0x49);
TEST(LPS331AP, 0x0f, 0xBB);
// clang-format on
test_max31856();
test_altimeter();
assert_true("MAX21105", "init()", max21.init());
printf("---------------------\n");
printf(
"NUM TEST OK: %5d\n"
"NUM TEST FAIL:%5d\n\n",
num_ok, num_fail);
#ifdef ACCEL_ENDLESS_TEST
uint16_t cnt = 0;
const Vec3* a = max21.accelDataPtr();
const Vec3* g = max21.gyroDataPtr();
const float* temp = max21.tempDataPtr();
while (true)
{
max21.onSimpleUpdate();
printf(
"%05u[ACC %+5.2f,%+5.2f,%+5.2f] "
"[GYR %+5.2f,%+5.2f,%+5.2f] "
"[TMP %+5.2fC] \r",
(uint16_t)(++cnt), a->getX(), a->getY(), a->getZ(), g->getX(),
g->getY(), g->getZ(), *temp);
Thread::sleep(10);
}
#endif
// Bye.
while (1)
{
Thread::sleep(1000);
}
}
old_examples/entrypoints/anakin/canbus-test.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Authors: Alain Carlucci, Matteo Piazzolla
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/canbus/CanManager.h>
#include <drivers/canbus/CanSocket.h>
#include <drivers/canbus/CanUtils.h>
#include <sensors/MPU9250.h>
using namespace std;
using namespace miosix;
#define CAN_PACKETID 0x49
int main()
{
CanManager c(CAN1);
canbus_init_t st = {
CAN1, Mode::ALTERNATE, 9, {CAN1_RX0_IRQn, CAN1_RX1_IRQn}};
c.addBus<GPIOA_BASE, 11, 12>(st);
// canbus_init_t st2= {
// CAN2, Mode::ALTERNATE, 9, {CAN2_RX0_IRQn,CAN2_RX1_IRQn}
//};
// c.addBus<GPIOB_BASE, 5, 6>(st2);
CanBus *bus = c.getBus(0);
CanSocket socket(CAN_PACKETID);
char buf[64] = {0};
socket.open(bus);
printf("*** Ready ***\n");
while (1)
{
const char *pkt = "TestMSG";
bus->send(CAN_PACKETID, (const uint8_t *)pkt, strlen(pkt));
socket.receive(buf, 64);
printf("Recv pkt: '%s'\n", buf);
Thread::sleep(250);
}
socket.close();
}
old_examples/entrypoints/anakin/dma-lowlevel-test.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2017 Skyward Experimental Rocketry
* Author: Federico Terraneo
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <drivers/spi/SensorSpi.h>
#include <sensors/FXAS21002.h>
#include <sensors/LPS331AP.h>
#include <sensors/MAX21105.h>
#include <sensors/MPU9250.h>
#include <sensors/MS580301BA07.h>
#include <sensors/SensorSampling.h>
#include <sensors/iNemo.h>
using namespace miosix;
typedef Gpio<GPIOA_BASE, 5> GpioSck;
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
typedef BusSPI<1, GpioMosi, GpioMiso, GpioSck> busSPI1;
typedef ProtocolSPI<busSPI1, Gpio<GPIOD_BASE, 13>> spiMPU9250;
typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE, 11>> spiINEMOA;
typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE, 9>> spiINEMOG;
typedef MPU9250<spiMPU9250> mpu_t;
typedef iNEMOLSM9DS0<spiINEMOG, spiINEMOA> inemo_t;
int main()
{
puts("\n\n---");
spiMPU9250::init();
spiINEMOA::init();
spiINEMOG::init();
auto& spi = SPIDriver::instance();
inemo_t inemo(inemo_t::ACC_FS_16G, inemo_t::GYRO_FS_245,
inemo_t::COMPASS_FS_2);
if (inemo.init() == false)
{
puts("init failed");
}
auto req = inemo.buildDMARequest();
auto sample = [&]()
{
if (spi.transaction(req) == false)
puts("DMA error");
for (auto& r : req)
{
inemo.onDMAUpdate(r);
printf("ID: %d --> ", r.id());
auto& resp = r.readResponseFromPeripheral();
memDump(resp.data(), resp.size());
}
};
for (int i = 0; i < 2; i++)
{
Thread::sleep(20);
sample();
}
for (;;)
{
getchar();
sample();
}
}
old_examples/entrypoints/anakin/test-scheduler.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Authors: Matteo Piazzolla, Federico Terraneo
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/BusTemplate.h>
#include <drivers/stm32f2_f4_i2c.h>
#include <events/Scheduler.h>
using namespace miosix;
template <typename P, unsigned N>
void blinker()
{
if (P::value())
P::low();
else
P::high();
delayMs(2);
}
int main()
{
sEventScheduler->start();
// Thread *ledTh=Thread::create(supercar,STACK_MIN);
sEventScheduler->add(blinker<leds::led9, 100>, 100, "task100");
sEventScheduler->add(blinker<leds::led8, 200>, 200, "task200");
sEventScheduler->add(blinker<leds::led7, 500>, 500, "task500");
sEventScheduler->add(blinker<leds::led6, 1000>, 1000, "task1000");
sEventScheduler->add(blinker<leds::led5, 50>, 50, "task50");
for (;;)
{
Thread::sleep(1000);
auto result = sEventScheduler->getTaskStats();
printf("--- begin ---\n");
printf("%u tasks\n", result.size());
for (auto& it : result)
printf("Name: %s\n", it.name.c_str());
printf("--- end ---\n");
}
}
old_examples/entrypoints/anakin/test_ethernet.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Author: Silvano Seva
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <Common.h>
#include <drivers/ethernet/UdpManager.h>
#include <string>
using namespace miosix;
using namespace std;
int main()
{
uint8_t ipAddr[] = {192, 168, 1, 30}; // Device's IP address
uint8_t mask[] = {255, 255, 255, 0}; // Subnet mask
uint8_t destIp[] = {192, 168, 1, 180}; // Destination IP address
char message[] = "message from the hell...\n";
W5200& eth = W5200::instance();
eth.setIpAddress(ipAddr);
eth.setSubnetMask(mask);
auto udp = Singleton<UdpManager>::getInstance();
udp->setTxPort(1234);
udp->setRxPort(1235);
int counter = 0;
while (1)
{
int ncar = sprintf(message, "Hello gumby n° %d!\n", counter);
udp->sendPacketTo(destIp, 2020, (void*)message, ncar);
counter++;
if (udp->newReceivedPackets())
{
size_t pktSiz = udp->recvPacketSize() + 1;
uint8_t buffer[pktSiz];
memset(buffer, 0x00, pktSiz);
uint8_t sip[4] = {0};
uint16_t sport = 0;
udp->readPacket(sip, sport, buffer);
printf("received %s from %d.%d.%d.%d:%d\n\n", buffer, sip[0],
sip[1], sip[2], sip[3], sport);
}
Thread::sleep(200);
}
return 0;
}
old_examples/shared/Common.h deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
* Author: Alain Carlucci
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#pragma once
#include <drivers/timer/TimestampTimer.h>
#include <interfaces/endianness.h>
#include <kernel/scheduler/scheduler.h>
#include <miosix.h>
#include <pthread.h>
#include <utils/Constants.h>
#include <utils/Debug.h>
#include <array>
#include <cassert>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include <map>
#include <memory>
#include <set>
#include <vector>
#define UNUSED(x) (void)(x)
old_examples/shared/diagnostic/FaultCounter.h deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2015-2017 Skyward Experimental Rocketry
* Author: Alain Carlucci
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#pragma once
#include <Common.h>
#include <Singleton.h>
#include <diagnostic/FaultCounterData.h>
namespace Boardcore
{
class FaultCounterMgr : public Singleton<FaultCounterMgr>
{
friend class Singleton<FaultCounterMgr>;
public:
~FaultCounterMgr() {}
void Increment(const Fault id)
{
using FaultCounterData::FaultToCategory;
miosix::FastInterruptDisableLock dLock;
const uint32_t numId = static_cast<uint32_t>(id);
const uint32_t catId = FaultToCategory[numId];
mCounters[numId]++;
mCategories[catId]++;
mFaultTriggered[numId] = 1;
mCategoryTriggered[catId] = 1;
}
inline std::pair<const uint8_t *, size_t> GetFaultCounters() const
{
return std::make_pair(mCounters, Fault_SIZE);
}
inline std::pair<const uint8_t *, size_t> GetCategoryCounters() const
{
using FaultCounterData::FaultCategory_SIZE;
return std::make_pair(mCategories, FaultCategory_SIZE);
}
private:
uint8_t mCounters[Fault_SIZE];
uint8_t mCategories[FaultCounterData::FaultCategory_SIZE];
std::vector<bool> mFaultTriggered;
std::vector<bool> mCategoryTriggered;
FaultCounterMgr()
{
memset(mCounters, 0, sizeof(mCounters));
memset(mCategories, 0, sizeof(mCategories));
// TODO: static bitmap?
mFaultTriggered.resize(Fault_SIZE);
mCategoryTriggered.resize(FaultCounterData::FaultCategory_SIZE);
}
};
#define sFaultCounterMgr FaultCounterMgr::getInstance()
} // namespace Boardcore
old_examples/shared/drivers/AD7994/AD7994.h deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2018-2019 Skyward Experimental Rocketry
* Author: Luca Erbetta
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#pragma once
#include <miosix.h>
#include <sensors/Sensor.h>
#include <stdint.h>
#include <utils/Debug.h>
#include "AD7994Data.h"
/**
* Driver for the AD7994 Analog Digital Converter
* CLASS INVARIANT: The address pointer register points to the conversion result
* register.
* This is done for performance reasons: we don't want to write to the
* address pointer register each time we perform a conversion (eg multiple times
* per second)
*/
template <typename BusI2C, typename BusyPin, typename CONVST>
class AD7994 : public Sensor
{
public:
enum class Channel : uint8_t
{
CH1 = 1,
CH2,
CH3,
CH4
};
/**
* @brief AD7994 constructor. Invariant is respected as the sensor powers up
* pointing at the conversion result register.
*
* @param i2c_address I2C address of the AD7994
*/
AD7994(uint8_t i2c_address)
: i2c_address(i2c_address), enabled_channels{0, 0, 0, 0}
{
}
~AD7994() {}
/**
* @brief Initialize the sensor writing the configuration register
* This driver is designed to work in Mode 1
* The configuration register is set to enable the BUSY pin, I2C filtering
* and no enabled channels.
* @return true If the sensor was configured successfully
*/
bool init() override
{
uint8_t config_reg_value = 0x0A; // 0b00001010
// Write the configuration register
BusI2C::write(i2c_address, REG_CONFIG, &config_reg_value, 1);
uint8_t read_config_reg_value;
// Read back the value
BusI2C::directRead(i2c_address, &read_config_reg_value, 1);
// BusI2C::read(i2c_address, REG_CONFIG, &read_config_reg_value, 1);
pointToConversionResult();
return read_config_reg_value == config_reg_value;
}
void enableChannel(Channel channel)
{
uint8_t ch = static_cast<uint8_t>(channel);
enabled_channels[ch - 1] = true;
uint8_t config_reg_value;
BusI2C::read(i2c_address, REG_CONFIG, &config_reg_value, 1);
// Update the config register value
uint8_t channel_reg = 0;
for (int i = 0; i < 4; i++)
{
if (enabled_channels[i])
channel_reg |= 1 << i;
}
config_reg_value = (config_reg_value & 0x0F) | channel_reg << 4;
BusI2C::write(i2c_address, REG_CONFIG, &config_reg_value, 1);
pointToConversionResult();
}
void disableChannel(Channel channel)
{
uint8_t ch = static_cast<uint8_t>(channel);
enabled_channels[ch - 1] = false;
uint8_t channel_reg = 0;
for (int i = 0; i < 4; i++)
{
if (enabled_channels[i])
channel_reg |= 1 << i;
}
uint8_t config_reg_value;
BusI2C::read(i2c_address, REG_CONFIG, &config_reg_value, 1);
// Update the config register value
config_reg_value = (config_reg_value & 0x0F) | channel_reg << 4;
BusI2C::write(i2c_address, REG_CONFIG, &config_reg_value, 1);
pointToConversionResult();
}
/**
* @brief Triggers a new ADC conversion on the enabled channels and reads
* the value of the conversion register.
* TODO: Check how to sample multiple channels.
* @return true If the conversion was successful on all enabled channels
*/
bool onSimpleUpdate() override
{
uint8_t data[2];
for (int i = 0; i < 4; i++)
{
if (enabled_channels[i])
{
// Trigger a conversion
CONVST::high();
miosix::delayUs(3);
CONVST::low();
// Wait for the conversion to complete
miosix::delayUs(2);
BusI2C::directRead(i2c_address, data, 2);
samples[i] = decodeConversion(data);
samples[i].timestamp = miosix::getTick();
}
}
return true;
}
bool selfTest() { return true; }
AD7994Sample getLastSample(Channel channel)
{
uint8_t ch = static_cast<uint8_t>(channel);
return samples[ch - 1];
}
private:
// Address of the AD7994 on the I2C bus
const uint8_t i2c_address;
// The 4 LSBs indicate where the corresponding channel is enabled or not.
bool enabled_channels[4];
/**
* @brief Writes the conversion register address to the address pointer
* register in order to restore the class invariant.
*/
void pointToConversionResult()
{
uint8_t reg_addr = REG_CONVERSION_RESULT;
BusI2C::directWrite(i2c_address, &reg_addr, 1);
}
/**
* @brief Decodes the 2 bytes of the conversion register into an
* AD7994Sample structure
*
* @param data_ptr Pointer to the first of the 2 bytes of the conversione
* register
* @return AD7994Sample
*/
AD7994Sample decodeConversion(uint8_t* data_ptr)
{
uint16_t conv_reg =
static_cast<uint16_t>((data_ptr[0]) << 8) + data_ptr[1];
AD7994Sample out;
out.value = conv_reg & 0x0FFF;
out.channel_id = (static_cast<uint8_t>(conv_reg >> 12) & 0x03) + 1;
out.alert_flag = static_cast<bool>(conv_reg >> 15);
return out;
}
enum Registers : uint8_t
{
REG_CONVERSION_RESULT = 0x00,
REG_ALERT_STATUS = 0x01,
REG_CONFIG = 0x02,
};
AD7994Sample samples[4];
};
old_examples/shared/drivers/ISB_protocol/IsbProtocol_serial2.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2018 Skyward Experimental Rocketry
* Author: Silvano Seva
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "IsbProtocol_serial2.h"
using namespace std;
using namespace miosix;
typedef Gpio<GPIOA_BASE, 2> u2tx;
typedef Gpio<GPIOA_BASE, 3> u2rx;
typedef Gpio<GPIOA_BASE, 1> u2rts;
void __attribute__((weak)) USART2_IRQHandler()
{
saveContext();
asm volatile("bl _Z11Serial2_Irqv");
restoreContext();
}
void __attribute__((used)) Serial2_Irq()
{
auto inst = IsbProtocol_serial2::instance();
inst.IRQHandler();
}
IsbProtocol_serial2::IsbProtocol_serial2()
{
{
FastInterruptDisableLock dLock;
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
RCC_SYNC();
u2tx::mode(Mode::ALTERNATE);
u2tx::alternateFunction(7);
#ifdef _ARCH_CORTEXM3_STM32F1
u2rx::mode(Mode::INPUT);
#else
u2rx::mode(Mode::ALTERNATE);
u2rx::alternateFunction(7);
#endif
u2rts::mode(Mode::OUTPUT);
u2rts::low();
}
/*** USART 2 configuration ***/
// Enable parity, 9 bit frame length, no parity,
// generate interrupt in case a new byte is received
USART2->CR1 |= USART_CR1_M | USART_CR1_RXNEIE | USART_CR1_TE // enable tx
| USART_CR1_RE; // enable rx
// CR2 and CR3 registers are left untouched since their default values are
// OK
NVIC_SetPriority(USART2_IRQn, 15); // Lowest priority for serial
NVIC_ClearPendingIRQ(USART2_IRQn);
NVIC_EnableIRQ(USART2_IRQn);
}
IsbProtocol_serial2::~IsbProtocol_serial2()
{
FastInterruptDisableLock dLock;
RCC->APB1ENR &= ~RCC_APB1ENR_USART2EN;
RCC_SYNC();
}
void IsbProtocol_serial2::IRQHandler()
{
if (USART2->SR & USART_SR_RXNE)
{
/* This protocol uses 9 bit long usart frames.
* The STM32's data register is 9 bit long, so the
* lower 8 bits are used to transport the data byte and
* the MSB - the 9th bit - is used to select between
* data or address byte
*/
uint16_t byte = USART->DR;
uint16_t checkMask = 0x100 | nodeAddress;
if (byte == checkMask)
{
rxStatus.rxIndex = 0;
rxStatus.rxInProgress = true;
rxStatus.dataLenPending = true;
rxBuf[rxStatus.rxIndex] = byte & 0xFF; // strip away the 9th byte
rxStatus.rxIndex++;
}
else if (rxStatus.rxInProgress)
{
if (rxStatus.dataLenPending)
{
// Second byte in the packet is the data len field. To this
// value we have to add 4 bytes: address, data len and two bytes
// of CRC
rxStatus.packetSize = (byte & 0xFF) + 4;
rxStatus.dataLenPending = false;
}
rxBuf[rxStatus.rxIndex] = byte & 0xFF;
rxStatus.rxIndex++;
if (rxStatus.rxIndex >= rxStatus.packetSize)
{
rxStatus.rxInProgress = false;
}
}
}
}
size_t IsbProtocol_serial2::newDataAvailable()
{
if ((rxStatus.rxInProgress == true) || (rxStatus.packetSize = 0))
{
return 0;
}
// we pass packetSize - 2 in order to avoid including in the CRC calculation
// the CRC value inserted from the sender
uint16_t crc = CRC16(rxBuf, rxStatus.packetSize - 2);
uint16_t pktCrc =
(rxBuf[rxStatus.packetSize - 2] << 8) | rxBuf[rxStatus.packetSize - 1];
// Packet length check: the value contained in the second byte must be
// equal to the number of bytes received minus 4
bool checkLen = (rxBuf[1] == (rxStatus.packetSize - 4)) ? true : false;
if ((crc != pktCrc) || (!checkLen))
{
rxStatus.packetSize = 0; // packet is corrupt, discard it
return 0;
}
// Return length of the data field
return rxBuf[1];
}
void IsbProtocol_serial2::getData(uint8_t* buffer)
{
std::memcpy(buffer, rxBuf[2], rxBuf[1]);
}
void IsbProtocol_serial2::sendData(uint8_t dstAddr, uint8_t* data, size_t len)
{
// packet too long
if (len > 0xFF)
{
return;
}
txBuf[0] = dstAddr;
txBuf[1] = len;
std::memcpy(txBuf[2], data, len);
// Include in CRC also address and data len field
uint16_t crc = CRC16(txBuf, len + 2);
size_t crcBegin = len + 2;
txBuf[crcBegin] = crc >> 8;
txBuf[crcBegin + 1] = crc & 0xFF;
u2rts::high();
for (size_t i = 0; i < len + 4; i++)
{
// the first byte is the address, so it has to be sent with the 9th bit
// set to 1
if (i == 0)
{
USART2->DR = txBuf[i] | 0x100;
}
else
{
USART2->DR = txBuf[i];
}
// Wait until tx buffer is empty again
while ((USART2->SR & USART_SR_TXE) == 0)
;
}
u2rts::low();
}
void IsbProtocol_serial2::setBaud(uint32_t baud)
{
uint32_t busFreq = SystemCoreClock;
#ifdef _ARCH_CORTEXM3_STM32F1
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
{
busFreq /= 1 << (((RCC->CFGR >> 8) & 0x3) + 1);
}
#else
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
{
busFreq /= 1 << (((RCC->CFGR >> 10) & 0x3) + 1);
}
#endif
uint32_t quot = 2 * busFreq / baud; // 2*freq for round to nearest
USART2->BRR = quot / 2 + (quot & 1);
}
void IsbProtocol_serial2::setNodeAddress(uint8_t address)
{
nodeAddress = address;
}
uint16_t IsbProtocol_serial2::CRC16(uint8_t* data, size_t len)
{
uint16_t crc = 0xFFFF;
for (size_t i = 0; i < len; i++)
{
uint16_t x = ((crc >> 8) ^ data[i]) & 0xff;
x ^= x >> 4;
crc = (crc << 8) ^ (x << 12) ^ (x << 5) ^ x;
}
return crc;
}
IsbProtocol_serial2& IsbProtocol_serial2::instance()
{
static IsbProtocol_serial2 inst;
return inst;
}
old_examples/shared/drivers/ISB_protocol/IsbProtocol_serial2.h deleted 100644 → 0
View file @ 9c4cd6d0
/* Copyright (c) 2017 Skyward Experimental Rocketry
* Author: Silvano Seva
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#pragma once
#include <stddef.h>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include "miosix.h"
/* This class is a kind of driver to be used to excange data between the
* stormtrooper master and the other stormtrooper slave boards through the
* RS485 lines. The communication model is this: all the boards are connected
* on the same bus and each board has a unique node address. To avoid conflicts,
* the master is the only device on the bus that can initiate a communication;
* thus, to communicate with a specific slave, the master sends a packet
* containing the targeted slave address and the data and then waits for the
* response (if expected). Owing to this model, if two stormtrooper slaves need
* to exchange data they have to rely on the stormtrooper master acting as a
* router between them.
*
* The packet structure is this:
*
* +------+-----+------+-----+
* | addr | len | data | CRC |
* +------+-----+------+-----+
*
* -> addr: target node address, 8 bit
* -> len: lenght of the data field, 8 bit
* -> data: data bytes, up to 255
* -> CRC: 16 bit field calculated on addr, len and data using the ccitt CRC16
* formula
*
* On the bus data is sent using 9 bit long frames with one stop bit. If the 9th
* bit is set to 1 means that the byte received is an address byte and so a
* packet is incoming
*
*
* Here is a sample code about this class' usage:
*
* auto comm = IsbProtocol_serial2::instance();
*
* comm.setBaud(9600); //set baud to 9600 bps
* comm.setNodeAddress(0xAB); //set node ID
*
* // this to check if new data arrived and to copy the bytes into a local
* buffer
*
* uint8_t rx_buf[256];
*
* if(comm.newDataAvailable() > 0)
* {
* comm.getData(rx_buf);
* }
*
* // this to send data
*
* uint8_t tx_buf[] = "Some data for you! :)";
*
* comm.sendData(0xE0, tx_buf, sizeof(tx_buf));
*
*/
class IsbProtocol_serial2
{
public:
/**
* @return singleton intance of the class
*/
static IsbProtocol_serial2& instance();
~IsbProtocol_serial2();
/**
* Set the USART baud rate.
* @param baud baud rate to be set
*/
void setBaud(uint32_t baud);
/**
* Set the node's address in the network
*/
void setNodeAddress(uint8_t address);
/**
* @return number of payload data bytes received or 0 if none received
*/
size_t newDataAvailable();
/**
* Get the latest payload data received.
* @param buffer pointer to buffer in which copy the new data, it must have
* dimension greater than or equal to the value returned by
* newDataAvailable()
*/
void getData(uint8_t* buffer);
/**
* Send a packet, this function blocks until all data is sent
*
* @param dstAddr destination node address
* @param data pointer to a buffer containing the payload data
* @param len payload size in bytes
*/
void sendData(uint8_t dstAddr, uint8_t* data, size_t len);
/**
* Interrupt handler. DON'T CALL IT ANYWHERE!!
*/
void IRQHandler();
private:
uint8_t rxBuf[300];
struct R
{
uint16_t packetSize;
uint16_t rxIndex;
bool rxInProgress;
bool dataLenPending;
} rxStatus;
uint8_t txBuf[300];
uint8_t nodeAddress;
uint16_t CRC16(uint8_t* data, size_t len);
IsbProtocol_serial2();
IsbProtocol_serial2(const IsbProtocol_serial2& other);
IsbProtocol_serial2& operator=(const IsbProtocol_serial2& other);
bool operator==(const IsbProtocol_serial2& other);
};
old_examples/shared/drivers/ISB_protocol/IsbProtocol_serial3.cpp deleted 100644 → 0
View file @ 9c4cd6d0
/*
* Inter Stormtrooper Boards communication protocol through STM32's
* USART3 interface
*
* Copyright (c) 2017 Skyward Experimental Rocketry
* Author: Silvano Seva
*
* 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/>.
*
*/
/* Copyright (c) 2017 Skyward Experimental Rocketry
* Author: Silvano Seva
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "IsbProtocol_serial3.h"
using namespace std;
using namespace miosix;
typedef Gpio<GPIOB_BASE, 10> u3tx;
typedef Gpio<GPIOB_BASE, 11> u3rx;
typedef Gpio<GPIOB_BASE, 14> u3rts;
void __attribute__((weak)) USART3_IRQHandler()
{
saveContext();
asm volatile("bl _Z11Serial3_Irqv");
restoreContext();
}
void __attribute__((used)) Serial3_Irq()
{
auto inst = IsbProtocol_serial3::instance();
inst.IRQHandler();
}
IsbProtocol_serial3::IsbProtocol_serial3()
{
{
FastInterruptDisableLock dLock;
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
RCC_SYNC();
u3tx::mode(Mode::ALTERNATE);
u3tx::alternateFunction(7);
#ifdef _ARCH_CORTEXM3_STM32F1
u3rx::mode(Mode::INPUT);
#else
u3rx::mode(Mode::ALTERNATE);
u3rx::alternateFunction(7);
#endif
u3rts::mode(Mode::OUTPUT);
u3rts::low();
}
/*** USART 3 configuration ***/
// Enable parity, 9 bit frame length, no parity,
// generate interrupt in case a new byte is received
USART3->CR1 |= USART_CR1_M | USART_CR1_RXNEIE | USART_CR1_TE // enable tx
| USART_CR1_RE; // enable rx
// CR2 and CR3 registers are left untouched since their default values are
// OK
NVIC_SetPriority(USART3_IRQn, 15); // Lowest priority for serial
NVIC_ClearPendingIRQ(USART3_IRQn);
NVIC_EnableIRQ(USART3_IRQn);
}
IsbProtocol_serial3::~IsbProtocol_serial3()
{
FastInterruptDisableLock dLock;
RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
RCC_SYNC();
}
void IsbProtocol_serial3::IRQHandler()
{
if (USART3->SR & USART_SR_RXNE)
{
/* This protocol uses 9 bit long usart frames.
* The STM32's data register is 9 bit long, so the
* lower 8 bits are used to transport the data byte and
* the MSB - the 9th bit - is used to select between
* data or address byte
*/
uint16_t byte = USART->DR;
uint16_t checkMask = 0x100 | nodeAddress;
if (byte == checkMask)
{
rxStatus.rxIndex = 0;
rxStatus.rxInProgress = true;
rxStatus.dataLenPending = true;
rxBuf[rxStatus.rxIndex] = byte & 0xFF; // strip away the 9th byte
rxStatus.rxIndex++;
}
else if (rxStatus.rxInProgress)
{
if (rxStatus.dataLenPending)
{
// Second byte in the packet is the data len field. To this
// value we have to add 4 bytes: address, data len and two bytes
// of CRC
rxStatus.packetSize = (byte & 0xFF) + 4;
rxStatus.dataLenPending = false;
}
rxBuf[rxStatus.rxIndex] = byte & 0xFF;
rxStatus.rxIndex++;
if (rxStatus.rxIndex >= rxStatus.packetSize)
{
rxStatus.rxInProgress = false;
}
}
}
}
size_t IsbProtocol_serial3::newDataAvailable()
{
if ((rxStatus.rxInProgress == true) || (rxStatus.packetSize = 0))
{
return 0;
}
// we pass packetSize - 2 in order to avoid including in the CRC calculation
// the CRC value inserted from the sender
uint16_t crc = CRC16(rxBuf, rxStatus.packetSize - 2);
uint16_t pktCrc =
(rxBuf[rxStatus.packetSize - 2] << 8) | rxBuf[rxStatus.packetSize - 1];
// Packet length check: the value contained in the second byte must be
// equal to the number of bytes received minus 4
bool checkLen = (rxBuf[1] == (rxStatus.packetSize - 4)) ? true : false;
if ((crc != pktCrc) || (!checkLen))
{
rxStatus.packetSize = 0; // packet is corrupt, discard it
return 0;
}
// Return length of the data field
return rxBuf[1];
}
void IsbProtocol_serial3::getData(uint8_t* buffer)
{
std::memcpy(buffer, rxBuf[2], rxBuf[1]);
}
void IsbProtocol_serial3::sendData(uint8_t dstAddr, uint8_t* data, size_t len)
{
// packet too long
if (len > 0xFF)
{
return;
}
txBuf[0] = dstAddr;
txBuf[1] = len;
std::memcpy(txBuf[2], data, len);
// Include in CRC also address and data len field
uint16_t crc = CRC16(txBuf, len + 2);
size_t crcBegin = len + 2;
txBuf[crcBegin] = crc >> 8;
txBuf[crcBegin + 1] = crc & 0xFF;
u3rts::high();
for (size_t i = 0; i < len + 4; i++)
{
// the first byte is the address, so it has to be sent with the 9th bit
// set to 1
if (i == 0)
{
USART3->DR = txBuf[i] | 0x100;
}
else
{
USART3->DR = txBuf[i];
}
// Wait until tx buffer is empty again
while ((USART3->SR & USART_SR_TXE) == 0)
;
}
u3rts::low();
}
void IsbProtocol_serial3::setBaud(uint32_t baud)
{
uint32_t busFreq = SystemCoreClock;
#ifdef _ARCH_CORTEXM3_STM32F1
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
{
busFreq /= 1 << (((RCC->CFGR >> 8) & 0x3) + 1);
}
#else
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
{
busFreq /= 1 << (((RCC->CFGR >> 10) & 0x3) + 1);
}
#endif
uint32_t quot = 2 * busFreq / baud; // 2*freq for round to nearest
USART3->BRR = quot / 2 + (quot & 1);
}
void IsbProtocol_serial3::setNodeAddress(uint8_t address)
{
nodeAddress = address;
}
uint16_t IsbProtocol_serial3::CRC16(uint8_t* data, size_t len)
{
uint16_t crc = 0xFFFF;
for (size_t i = 0; i < len; i++)
{
uint16_t x = ((crc >> 8) ^ data[i]) & 0xff;
x ^= x >> 4;
crc = (crc << 8) ^ (x << 12) ^ (x << 5) ^ x;
}
return crc;
}
IsbProtocol_serial3& IsbProtocol_serial3::instance()
{
static IsbProtocol_serial3 inst;
return inst;
}