diff --git a/libs/mavlink_skyward_lib b/libs/mavlink_skyward_lib
index 00a22f01347688d08464eafcbb86998a0690a8f8..00b5e98f28a1476587974dc623377af42883e6f0 160000
--- a/libs/mavlink_skyward_lib
+++ b/libs/mavlink_skyward_lib
@@ -1 +1 @@
-Subproject commit 00a22f01347688d08464eafcbb86998a0690a8f8
+Subproject commit 00b5e98f28a1476587974dc623377af42883e6f0
diff --git a/libs/miosix-kernel b/libs/miosix-kernel
index 38bea2878c5470f8dd4cdd5792c969a5bf5ab660..ed0ed118e979bee276efa0e19af295dc53fc62d1 160000
--- a/libs/miosix-kernel
+++ b/libs/miosix-kernel
@@ -1 +1 @@
-Subproject commit 38bea2878c5470f8dd4cdd5792c969a5bf5ab660
+Subproject commit ed0ed118e979bee276efa0e19af295dc53fc62d1
diff --git a/sbs.conf b/sbs.conf
index a1e257e21ca3e424eae9c05fdfc5fe9d890917e6..dda21f77fe9e1ee94b8ff4105cfd4e719d0d8901 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -142,6 +142,11 @@ Files: src/shared/logger/Logger.cpp
libs/tscpp/buffer.cpp
libs/tscpp/stream.cpp
+[sensormanager]
+Type: srcfiles
+Files: src/shared/sensors/SensorManager.cpp
+ src/shared/sensors/SensorSampler.cpp
+
[gamma868]
Type: srcfiles
Files: src/shared/drivers/gamma868/Gamma868.cpp
@@ -162,7 +167,7 @@ Files: src/shared/drivers/servo/servo.cpp
Type: srcfiles
Files: src/shared/utils/testutils/TestHelper.cpp
-[tests]
+[tests-boardcore]
Type: srcfiles
Files: src/tests/catch/test-aero.cpp
src/tests/catch/test-buttonhandler.cpp
@@ -173,7 +178,8 @@ Files: src/tests/catch/test-aero.cpp
src/tests/catch/test-matrix.cpp
src/tests/catch/test-packetqueue.cpp
src/tests/catch/spidriver/test-spidriver
-
+ src/tests/catch/test-sensormanager.cpp
+
#-------------------------------#
# Entrypoints #
@@ -218,7 +224,7 @@ Main: kernel-testsuite
Type: test
BoardId: stm32f429zi_stm32f4discovery
BinName: tests-catch
-Include: %tests %shared %test-utils %spi
+Include: %tests-boardcore %shared %test-utils %spi %sensormanager
Defines:
Main: catch/catch-tests-entry
@@ -278,6 +284,14 @@ Include: %shared
Defines:
Main: test-pinobserver
+[test-sensormanager]
+Type: test
+BoardId: stm32f407vg_skyward_tortellino
+BinName: test-sensormanager
+Include: %shared %sensormanager
+Defines: -DSTANDALONE_CATCH1_TEST -DDEBUG
+Main: catch/test-sensormanager
+
## Drivers
@@ -293,7 +307,7 @@ Main: drivers/test-dsgamma
Type: test
BoardId: stm32f429zi_skyward_death_stack
BinName: test-imu-adis
-Include: %shared
+Include: %shared %sensormanager
Defines:
Main: drivers/test-imu-adis
@@ -301,7 +315,7 @@ Main: drivers/test-imu-adis
Type: test
BoardId: stm32f429zi_skyward_homeone
BinName: test-mpu9250
-Include: %shared
+Include: %shared %sensormanager
Defines:
Main: drivers/test-mpu9250
@@ -309,7 +323,7 @@ Main: drivers/test-mpu9250
Type: test
BoardId: stm32f429zi_skyward_death_stack
BinName: test-lsm
-Include: %shared
+Include: %shared %sensormanager
Defines:
Main: drivers/test-lsm
@@ -398,7 +412,7 @@ Main: drivers/test-ad7994
# Type: test
# BoardId: stm32f429zi_stm32f4discovery
# BinName: test-circularbuffer
-# Include: %shared %test-utils
+# Include: %shared %test-utils
# Defines: -DSTANDALONE_CATCH1_TEST
# Main: catch/test-circularbuffer
@@ -455,7 +469,7 @@ Main: drivers/test-servo
Type: test
BoardId: stm32f429zi_skyward_death_stack
BinName: calibrate-mpu9250
-Include: %shared
+Include: %shared %sensormanager
Defines:
Main: drivers/calibrate-mpu9250
@@ -463,7 +477,7 @@ Main: drivers/calibrate-mpu9250
Type: test
BoardId: stm32f429zi_skyward_death_stack
BinName: test-ms5803
-Include: %shared %spi
+Include: %shared %spi %sensormanager
Defines:
Main: drivers/test-ms5803
@@ -477,7 +491,7 @@ Main: drivers/test-l3gd20
[test-lsm9ds1]
Type: test
-BoardId: stm32f407vg_stm32f4discovery
+BoardId: stm32f407vg_skyward_tortellino
BinName: test-lsm9ds1
Include: %shared %spi
Defines: -DDEBUG
@@ -501,8 +515,16 @@ Main: test-rls
[test-lsm9ds1-fifo]
Type: test
-BoardId: stm32f407vg_stm32f4discovery
+BoardId: stm32f407vg_skyward_tortellino
BinName: test-lsm9ds1-fifo
Include: %shared %spi
Defines: -DDEBUG
Main: drivers/test-lsm9ds1-fifo
+
+[test-lis3dsh]
+Type: test
+BoardId: stm32f407vg_skyward_tortellino
+BinName: test-lis3dsh
+Include: %shared %spi
+Defines:
+Main: drivers/test-lis3dsh
diff --git a/scripts/eventgen/EventFunctions.cpp.template b/scripts/eventgen/EventStrings.cpp.template
similarity index 99%
rename from scripts/eventgen/EventFunctions.cpp.template
rename to scripts/eventgen/EventStrings.cpp.template
index 1611abafb11180cdadeafae5294f45acc4f85f78..ac394d77ae88f40eaf621b4122d3552610f7ac0a 100644
--- a/scripts/eventgen/EventFunctions.cpp.template
+++ b/scripts/eventgen/EventStrings.cpp.template
@@ -33,6 +33,7 @@
#include "Topics.h"
#include <map>
+using std::map;
string getEventString(uint8_t event)
{{
diff --git a/scripts/eventgen/Events.h.template b/scripts/eventgen/Events.h.template
index bd9cc25367ec63690cfc588a877778f110f09791..6ba4c21b2157b67e17b18d7ddfcfdcd818cc7225 100644
--- a/scripts/eventgen/Events.h.template
+++ b/scripts/eventgen/Events.h.template
@@ -32,22 +32,25 @@
#include <cstdint>
#include <string>
+#include <vector>
#include "events/Event.h"
#include "events/EventBroker.h"
-#include "EventClasses.h"
#include "Topics.h"
using std::string;
-using std::map;
/**
- * Definition of all events signals.
+ * Definition of all events in the Homeone Board software
+ * Refer to section 5.1.1 of the Software Design Document.
+ */
enum Events : uint8_t
{{
{enum_data}
}};
+const std::vector<uint8_t> EVENT_LIST {{{event_list}}};
+
/**
* @brief Returns the name of the provided event
*
diff --git a/scripts/eventgen/README.md b/scripts/eventgen/README.md
index 7bfb1c9b0625ffdfc86794475246b92e6251e586..478c8fb83cf7efa97b80a13f033d3fa43760166c 100644
--- a/scripts/eventgen/README.md
+++ b/scripts/eventgen/README.md
@@ -1,10 +1,10 @@
# Events Generator Script
-This script generates Events.h, Topics.h and EventFunctions.cpp from a list of
-SCXML files representing the state machines of a project.
+This script generates the enums for all Events and Topics handled in a project, given a list of `scxml` files that describe all states and transitions. To execute the script:
-To execute the script:
+`eventgen.py <LIST_OF_SCXML_FILES>`
-`./eventgen.py <LIST_OF_SCXML_FILES>`
+The header files will be generated in the `generated/` folder.
+
+Note that the SCXML files should contain transitions with the following form: *< TOPIC >.< EVENT >*.
-The files will be generated in the generated/ folder.
\ No newline at end of file
diff --git a/scripts/eventgen/Topics.h.template b/scripts/eventgen/Topics.h.template
index 2ce2c2c536a6ba099b7c72ab2df987ccf9449fd3..ca3f1288407f927b6cc462f22cf4ec1c7bb443fd 100644
--- a/scripts/eventgen/Topics.h.template
+++ b/scripts/eventgen/Topics.h.template
@@ -32,8 +32,8 @@
#include <stdint.h>
#include <string>
+#include <vector>
-using std::map;
using std::string;
/**
@@ -44,11 +44,12 @@ enum Topics : uint8_t
{enum_data}
}};
+const std::vector<uint8_t> TOPIC_LIST {{{topic_list}}};
+
/**
* @brief Returns the name of the provided event
*
* @param event
* @return string
*/
-string getTopicString(uint8_t topic);
-
+string getTopicString(uint8_t topic);
\ No newline at end of file
diff --git a/scripts/eventgen/eventgen.py b/scripts/eventgen/eventgen.py
index 9c36223a3266a22a65961776074efcfc0bd14656..9061dba58668f3ac101cae87c690985647c2d565 100755
--- a/scripts/eventgen/eventgen.py
+++ b/scripts/eventgen/eventgen.py
@@ -23,7 +23,7 @@
#
import re
import datetime
-from os.path import join
+from os.path import join, dirname
import os
import xml.etree.ElementTree as ET
@@ -32,6 +32,10 @@ from collections import OrderedDict
OUTPUT_FOLDER = "generated"
+EVENTS_TEMPLATE_FILE = os.path.dirname(sys.argv[0]) + '/Events.h.template'
+TOPICS_TEMPLATE_FILE = os.path.dirname(sys.argv[0]) + '/Topics.h.template'
+STRINGS_TEMPLATE_FILE = os.path.dirname(sys.argv[0]) + '/EventStrings.cpp.template'
+
#
# ASCII art banner
#
@@ -94,6 +98,7 @@ def parse_scxml(files):
def generate_events(events, date):
enum_str = ""
event_map_str = ""
+ event_list_str = ""
# generate string
for e in events:
@@ -102,14 +107,14 @@ def generate_events(events, date):
(" = EV_FIRST_SIGNAL" if e == events[0] else "") + endl
event_map_str += " {{ {event}, {string} }}{endl}".format(
event=e, string='"' + e + '"', endl=endl)
+ event_list_str += e + (", " if e != events[-1] else "")
# read template
- with open('Events.h.template', 'r') as template_file:
+ with open( EVENTS_TEMPLATE_FILE, 'r') as template_file:
template = template_file.read()
# write template
- template = template.format(date=date, enum_data=enum_str)
-
+ template = template.format(date=date, enum_data=enum_str, event_list=event_list_str)
with open(join(OUTPUT_FOLDER, 'Events.h'), 'w') as header_file:
header_file.write(template)
@@ -121,17 +126,19 @@ def generate_events(events, date):
def generate_topics(topics, date):
enum_str = ""
topic_map_str = ""
+ topic_list_str = ""
for t in topics:
endl = ",\n" if t != topics[-1] else ""
enum_str += " " + t + endl
topic_map_str += " {{ {topics}, {string} }}{endl}".format(
topics=t, string='"' + t + '"', endl=endl)
+ topic_list_str += t + (", " if t != topics[-1] else "")
- with open('Topics.h.template', 'r') as template_file:
+ with open( TOPICS_TEMPLATE_FILE, 'r') as template_file:
template = template_file.read()
- template = template.format(date=date, enum_data=enum_str)
+ template = template.format(date=date, enum_data=enum_str, topic_list=topic_list_str)
with open(join(OUTPUT_FOLDER, 'Topics.h'), 'w') as header_file:
header_file.write(template)
@@ -142,12 +149,12 @@ def generate_topics(topics, date):
# Generate EventFunctions.cpp
#
def generate_functions(event_map_str, topic_map_str, date):
- with open('EventFunctions.cpp.template', 'r') as cpp_template_file:
+ with open( STRINGS_TEMPLATE_FILE, 'r') as cpp_template_file:
cpp = cpp_template_file.read()
cpp = cpp.format(date=date, event_map_data=event_map_str, topic_map_data=topic_map_str)
- with open(join(OUTPUT_FOLDER, 'EventFunctions.cpp'), 'w') as cpp_file:
+ with open(join(OUTPUT_FOLDER, 'EventStrings.cpp'), 'w') as cpp_file:
cpp_file.write(cpp)
#
diff --git a/scripts/linter.sh b/scripts/linter.sh
index 70dd0adb8d12a393cc67d72cc2051353b27c2b22..ae9e1e73a401e5debf1f3377e8676e5fc95f29a4 100755
--- a/scripts/linter.sh
+++ b/scripts/linter.sh
@@ -1,18 +1,83 @@
#!/bin/bash
+#
+# Usage: grepcheck <FOLDER_TO_CHECK> <STRING_TO_FIND> <EGREP_ARGS>
+#
+function grepcheck {
+
+ FILES=$(grep -rl "$2" $1 | egrep "$3")
+
+ for f in $FILES
+ do
+ # Print name of the file in red
+ echo -ne '\033\x5b\x33\x33\x6d'
+
+ echo $f
+ echo -ne '\033\x5b\x30\x6d'
+
+ if [[ $verbose -eq 1 ]]; then
+ grep --color=always -r "$2" $f -C3
+ echo ''
+ fi
+ done
+
+ echo ''
+
+ # If VERBOSE is defined then also print the context in the file
+}
+
+# Horrifying way of checking if -v or --verbose is enabled
+verbose=0
+
+case "$1" in
+-v|--verbose)
+ verbose=1
+ shift ;;
+esac
+
+case "$2" in
+-v|--verbose)
+ verbose=1
+esac
+
+# Execute checks
+echo '--------------------------- CPPCHECK'
echo '[Linter] Executing cppcheck'
-cppcheck --template=gcc -q --std=c++11 --enable=all \
+echo ''
+cppcheck -U "RCC_APB1ENR_CAN2EN" --template=gcc -q --std=c++11 --enable=all \
--suppress=unusedFunction --suppress=missingInclude --suppress=noExplicitConstructor \
- "$@" 2>&1 | awk '
+ "$1" 2>&1 | awk '
function color(c,s) {
printf("\033[%dm%s\033[0m\n",30+c,s)
}
- /warning/ {color(1,$0);next}
+ /error/ {color(1,$0);next}
+ /warning/ {color(3,$0);next}
/style/ {color(2,$0);next}
- /performance/ {color(3,$0);next}
+ /performance/ {color(6,$0);next}
/information/ {color(4,$0);next}
/portability/ {color(5,$0);next}
{print}
'
+echo ''
+
+echo '--------------------------- USING NAMESPACE'
+echo '[Linter] Checking for using namespace in .h(pp) files'
+
+grepcheck $1 'using namespace' '.h(pp)?$'
+
+echo '--------------------------- GREP PRINTF'
+echo '[Linter] Checking for printf instead of TRACE'
+
+grepcheck $1 "printf" '.*'
+
+echo '--------------------------- GREP ASSERT'
+echo '[Linter] Checking if there are asserts in the code'
+
+grepcheck $1 "assert" '.*'
+
+echo '--------------------------- GREP THROW'
+echo '[Linter] Checking if there are exceptions in the code'
+
+grepcheck $1 "throw" '~*catch.hpp'
#exit 0
diff --git a/scripts/mavlink_client/README.md b/scripts/mavlink_client/README.md
index 4a3c225d75fc187df6b0ac5550cb8bad7f174c9b..e8cd75de7fbd87bf075a2506218e1de6d4be6a3c 100644
--- a/scripts/mavlink_client/README.md
+++ b/scripts/mavlink_client/README.md
@@ -1,14 +1,14 @@
-# Mavlink Clinet
+# Mavlink Client
These scripts can be used to transmit and receive mavlink data from a PC, either
connected via serial port to a transceiver or directly connected to one of the boards.
-`make` compiles the 3 `.c` files:
+Use `make` to compile the 3 `.c` files:
* continuous_tx: sends a message of raw bytes with a given length at a certain
frequency. This was used to test the LoRa modules.
* mavlink_demo_tx: sends a message whenever it receives a char on stdin
-* mavlink_demo_rx: receives and prints packets, eventually sending back ana ACK.
+* mavlink_demo_rx: receives and prints packets, eventually sending back an ACK.
-`plot.py`: reads value on stdin and plots them. Can be used piping in the output
-of mavlink_demo_rx
\ No newline at end of file
+`plot.py`: reads value on stdin and plots them. Can be used piped with the output
+of mavlink_demo_rx.
\ No newline at end of file
diff --git a/scripts/old/anakin.sh b/scripts/old/anakin.sh
deleted file mode 100755
index 52d32b6107f171f011925e0da0f9f215ff9caf98..0000000000000000000000000000000000000000
--- a/scripts/old/anakin.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-if [ $# -ne 1 ]; then
- echo "Usage: $0 <filename.bin>"
- exit -1
-fi;
-
-stm32flash -b 500000 -w $1 -v /dev/ttyUSB0
diff --git a/scripts/old/anakin_client_curses/.gitignore b/scripts/old/anakin_client_curses/.gitignore
deleted file mode 100644
index b051c6c57fa8b6cc588a3ebad860005ec6fcf7cc..0000000000000000000000000000000000000000
--- a/scripts/old/anakin_client_curses/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-client
diff --git a/scripts/old/anakin_client_curses/Makefile b/scripts/old/anakin_client_curses/Makefile
deleted file mode 100644
index f97ef085b53c809ca0363276bbae66fbf22e6ded..0000000000000000000000000000000000000000
--- a/scripts/old/anakin_client_curses/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-all:
- gcc -o client client.c -lcurses
diff --git a/scripts/old/anakin_client_curses/client.c b/scripts/old/anakin_client_curses/client.c
deleted file mode 100644
index 5c45227bddf8b8aa5ced0341a9cb56e0ce624d63..0000000000000000000000000000000000000000
--- a/scripts/old/anakin_client_curses/client.c
+++ /dev/null
@@ -1,319 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <ncurses.h>
-#include <signal.h>
-#include <stdint.h>
-#include <termios.h>
-#include <unistd.h>
-
-volatile int stop = 0;
-uint8_t buf[8192] = {0};
-uint16_t rptr = 0, wptr = 0;
-
-#pragma pack(1)
-struct vec3_t {
- float x;
- float y;
- float z;
-};
-#pragma pack()
-
-enum DataType
-{
- DATA_VEC3 = 0,
- DATA_QUAT = 1,
- DATA_FLOAT = 2,
- DATA_INT = 3,
- DATA_STRING= 4,
- DATA_LIMITED_INT = 5,
- DATA_UINT32 = 6
-};
-
-const char* sensor_names[] =
-{
- "ACCEL_MPU9250",
- "ACCEL_INEMO",
- "ACCEL_MAX21105",
-
- "GYRO_MPU9250",
- "GYRO_INEMO",
- "GYRO_FXAS21002",
- "GYRO_MAX21105",
-
- "COMPASS_MPU9250",
- "COMPASS_INEMO",
-
- "TEMP_MPU9250",
- "TEMP_INEMO",
- "TEMP_LPS331AP",
- "TEMP_MAX21105",
- "TEMP_MS580",
-
- "PRESS_LPS331AP",
- "PRESS_MS580",
-
- "UNUSED_16",
- "DMA_TX_FIFOSZ",
- "DMA_RX_FIFOSZ",
- "DMA_FIFO_ERR",
- "CPU%",
- "LOG_QUEUE_SZ"
-};
-
-uint8_t sensor_type[] =
-{
- DATA_VEC3,
- DATA_VEC3,
- DATA_VEC3,
-
- DATA_VEC3,
- DATA_VEC3,
- DATA_VEC3,
- DATA_VEC3,
-
- DATA_VEC3,
- DATA_VEC3,
-
- DATA_FLOAT,
- DATA_FLOAT,
- DATA_FLOAT,
- DATA_FLOAT,
- DATA_FLOAT,
-
- DATA_FLOAT,
- DATA_FLOAT,
-
- DATA_INT,
- DATA_LIMITED_INT,
- DATA_LIMITED_INT,
- DATA_UINT32,
- DATA_UINT32,
- DATA_LIMITED_INT
-};
-
-#define NUM_SENSORS ((int)((sizeof(sensor_names) / sizeof(sensor_names[0]))))
-
-
-void on_signal(int s)
-{
- if(!stop)
- {
- signal(s, on_signal);
- stop = 1;
- }
-}
-
-int logline = 0;
-void log_string(const char* data, int len)
-{
- if(len <= 0)
- return;
-
- move(NUM_SENSORS + 2 + logline, 10);
- attron(COLOR_PAIR(1));
- printw(data);
- if(len < 30)
- for(int i=len;i<30;i++)
- printw(" ");
- refresh();
- logline = (logline+1)%20;
-}
-
-void draw_sensor(int id, int type, const void* data)
-{
- char tmp[256] = {0};
-
- if(id >= (int)NUM_SENSORS)
- {
- sprintf(tmp, "Got packet for invalid sensor %d\n", id);
- log_string(tmp, strlen(tmp));
- return;
- }
-
- if(type < 0 || type > 6 || type == 4)
- {
- sprintf(tmp, "Got packet for invalid type %d\n", type);
- log_string(tmp, strlen(tmp));
- return;
- }
-
- move(1+id, 10);
- sprintf(tmp, "%20s : ", sensor_names[id]);
-
- uint8_t color = (type != 5) ? (type + 1) : 2;
- attron(COLOR_PAIR(color));
- printw(tmp);
- attroff(COLOR_PAIR(color));
-
- int all_null = 1;
- for(int i=0;i<NUM_SENSORS && all_null == 1;i++)
- if(((const char *)data)[i] != 0)
- all_null = 0;
- if((data == NULL || all_null == 1) && type != 5)
- {
- attron(COLOR_PAIR(5));
- attron(A_BOLD);
- printw("[NULL] ");
- attroff(A_BOLD);
- attroff(COLOR_PAIR(5));
- return;
- }
-
- const uint8_t* i = (const uint8_t*) data;
- const struct vec3_t* v = (const struct vec3_t*) data;
- const float* f = (const float*) data;
- const uint8_t* ui = (const uint8_t*) data;
- const uint32_t* ui32 = (const uint32_t*) data;
-
- switch(type)
- {
- case DATA_FLOAT:
- sprintf(tmp, "%7.4f ", *f);
- printw(tmp);
- break;
- case DATA_INT:
- sprintf(tmp, "%d ", *i);
- printw(tmp);
- break;
- case DATA_UINT32:
- sprintf(tmp, "%d ", *ui32);
- printw(tmp);
- break;
- case DATA_VEC3:
- sprintf(tmp, "(%7.4f, %7.4f, %7.4f)", v->x, v->y, v->z);
- printw(tmp);
- break;
- case DATA_LIMITED_INT:
- {
- uint32_t vv = (*ui * 27) / 256;
- for(uint32_t i=0;i<27;i++)
- {
- if(i < vv)
- printw("#");
- else
- printw(".");
- }
- break;
- }
- default:
- printw("[NOT IMPLEMENTED]");
- break;
- }
-}
-
-int sfd;
-int init_serial(const char *device)
-{
- sfd = open(device, O_RDWR | O_NOCTTY | O_SYNC);
- if(sfd < 0)
- {
- printf("Cannot open ttyUSB0\n");
- return 1;
- }
-
- struct termios tty;
- memset(&tty, 0, sizeof(tty));
- if(tcgetattr(sfd, &tty) != 0)
- {
- printf("Cannot get attributes\n");
- return 1;
- }
- cfmakeraw(&tty);
- cfsetospeed(&tty, B115200);
- cfsetispeed(&tty, B115200);
- tcsetattr(sfd, TCSANOW, &tty);
-
- return 0;
-}
-
-void parse(int len)
-{
- if(len == 0)
- return;
-
- uint8_t type = buf[0];
- if(type == DATA_STRING)
- log_string((const char *)&buf[1], len-1);
- else
- {
- uint8_t id = buf[1];
- draw_sensor(id, type, &buf[2]);
- }
-}
-
-int fromHex(char l)
-{
- if(l >= '0' && l <= '9')
- return l - '0';
- if(l >= 'a' && l <= 'f')
- return 10 + l - 'a';
- if(l >= 'A' && l <= 'F')
- return 10 + l - 'A';
- return 0;
-}
-
-int read_and_draw()
-{
- memset(buf, 0, sizeof(buf));
- int bpos = 0;
- char b;
- char tmp = 0;
- do {
- read(sfd, &b, 1);
- if(b == '\n' || b == '\r')
- break;
- else {
- if(tmp == 0)
- tmp = b;
- else {
- buf[bpos++] = (fromHex(tmp) << 4) | fromHex(b);
- tmp = 0;
- }
- }
- } while(1);
- parse(bpos);
- return 0;
-}
-
-int main(int argc, char *argv[])
-{
- if(argc < 2)
- {
- printf("Usage: %s <PORT>\n", argv[0]);
- return -1;
- }
- if(init_serial(argv[1]))
- return -1;
-
- signal(SIGINT, on_signal);
- signal(SIGTERM, on_signal);
-
- initscr();
- start_color();
- init_pair(1, COLOR_BLUE, COLOR_BLACK);
- init_pair(2, COLOR_GREEN, COLOR_BLACK);
- init_pair(3, COLOR_CYAN, COLOR_BLACK);
- init_pair(4, COLOR_WHITE, COLOR_BLACK);
- init_pair(5, COLOR_RED, COLOR_BLACK);
- init_pair(7, COLOR_MAGENTA, COLOR_BLACK);
- erase();
- refresh();
-
- log_string("Ready...", 8);
- while(!stop)
- {
- if(read_and_draw() == 1)
- stop = 1;
- refresh();
- }
-
- endwin();
-
- signal(SIGINT, 0);
- signal(SIGTERM, 0);
-
- return 0;
-}
diff --git a/scripts/old/excel_eventgen/Events.h.template b/scripts/old/excel_eventgen/Events.h.template
deleted file mode 100644
index 2c4937a1fdd509e3307baf666120b77fdd067fec..0000000000000000000000000000000000000000
--- a/scripts/old/excel_eventgen/Events.h.template
+++ /dev/null
@@ -1,67 +0,0 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: 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.
- */
-
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
-#ifndef SRC_SHARED_BOARDS_HOMEONE_EVENTS_H
-#define SRC_SHARED_BOARDS_HOMEONE_EVENTS_H
-
-#include <cstdint>
-#include <string>
-
-#include "events/Event.h"
-#include "events/EventBroker.h"
-#include "EventClasses.h"
-#include "Topics.h"
-
-using std::string;
-using std::map;
-
-namespace HomeoneBoard
-{{
-/**
- * Definition of all events in the Homeone Board software
- * Refer to section 5.1.1 of the Software Design Document.
- */
-enum Events : uint8_t
-{{
-{enum_data}
-}};
-
-/**
- * @brief Returns the name of the provided event
- *
- * @param event
- * @return string
- */
-string getEventString(uint8_t event);
-
-}}
-
-#endif /* SRC_SHARED_BOARDS_HOMEONE_EVENTS_H */
diff --git a/scripts/old/excel_eventgen/README.md b/scripts/old/excel_eventgen/README.md
deleted file mode 100644
index f87e46c67ebcec406b02c58e10dbe91b00a0c8d3..0000000000000000000000000000000000000000
--- a/scripts/old/excel_eventgen/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# Events Generator Script
-
-This script generates the Events.h and Topics.h heander file from a GoogleSheets document on Google Drive.
-
-To execute the script:
-
-```
-pip install --upgrade google-api-python-client
-pip install oauth2client
-python scripts/homeone/event_header_generator/event_generator.py
-```
-
-The first time a browser window should open asking for your credentials (use the Skyward ones).
-If it doesn't and only gives you an error, try executing it by clicking on the icon.
\ No newline at end of file
diff --git a/scripts/old/excel_eventgen/credentials.json b/scripts/old/excel_eventgen/credentials.json
deleted file mode 100644
index dae318afc5661116b82fe75f80f4316e538e670a..0000000000000000000000000000000000000000
--- a/scripts/old/excel_eventgen/credentials.json
+++ /dev/null
@@ -1 +0,0 @@
-{"installed":{"client_id":"1025168905991-tv31etsgm3lecodc5c798shqciekad40.apps.googleusercontent.com","project_id":"homeone-event-ge-1540834105298","auth_uri":"https://accounts.google.com/o/oauth2/auth","token_uri":"https://www.googleapis.com/oauth2/v3/token","auth_provider_x509_cert_url":"https://www.googleapis.com/oauth2/v1/certs","client_secret":"Yhaf67HuHR4DyXZKNXWu2lre","redirect_uris":["urn:ietf:wg:oauth:2.0:oob","http://localhost"]}}
\ No newline at end of file
diff --git a/scripts/old/excel_eventgen/event_generator.py b/scripts/old/excel_eventgen/event_generator.py
deleted file mode 100755
index e895e6fc1bf6ee8615103c51250e5e85ae4a241a..0000000000000000000000000000000000000000
--- a/scripts/old/excel_eventgen/event_generator.py
+++ /dev/null
@@ -1,197 +0,0 @@
-#!/usr/bin/python3
-
-# Copyright (c) 2018 Skyward Experimental Rocketry
-# Authors: 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.
-#
-
-from googleapiclient.discovery import build
-from httplib2 import Http
-from oauth2client import file, client, tools
-
-import re
-import datetime
-import sys
-from os.path import join
-import os
-
-OUTPUT_FOLDER = "generated"
-SCOPES = 'https://www.googleapis.com/auth/spreadsheets.readonly'
-
-service = None
-
-SPREADSHEET_ID = '12TecOmDd7Uot-MvXkCbhDJRU48-XO6s5ChKDlr4AOvI'
-EVENTS_RANGE_NAME = 'EventList!A2:A'
-TOPICS_RANGE_NAME = 'Topics!B3:B'
-
-
-def auth():
- try:
- store = file.Storage('store.json')
- creds = store.get()
- if not creds or creds.invalid:
- flow = client.flow_from_clientsecrets('credentials.json', SCOPES)
- creds = tools.run_flow(flow, store)
-
- global service
- service = build('sheets', 'v4', http=creds.authorize(Http()))
- return True
- except:
- print("Authentication error:", sys.exc_info()[0])
- return False
-
-
-def load_events():
- result = service.spreadsheets().values().get(spreadsheetId=SPREADSHEET_ID,
- range=EVENTS_RANGE_NAME).execute()
- lines = result.get('values', [])
-
- # Event names start with EV_ and contains only uppercase letters or underscores
- re_event = re.compile(r'(?P<ev>^EV_([A-Z_]+)+)')
-
- # Only return lines with valid events, remove additional data
- events = []
- for l in lines:
- m = re_event.match(l[0])
- if m is not None:
- events.append(m.group('ev'))
- else:
- print("Skipped line containing invalid event: {}".format(l))
-
- return events
-
-
-def load_topics():
- result = service.spreadsheets().values().get(spreadsheetId=SPREADSHEET_ID,
- range=TOPICS_RANGE_NAME).execute()
- lines = result.get('values', [])
- re_topics = re.compile(r'(?P<topic>^TOPIC_([A-Z_]+)+)')
-
- # Only return lines with valid topics, remove additional data
- topics = []
- for l in lines:
- m = re_topics.match(l[0])
- if m is not None:
- topics.append(m.group('topic'))
- else:
- print("Skipped line containing invalid topics: {}".format(l))
-
- return topics
-
-
-def has_duplicates(lst):
- if len(lst) != len(set(lst)):
- return True
- return False
-
-
-
-print("Homeone on-board software event header generator v0.2")
-print("Google sheets API auth in progress...")
-
-if auth():
- print("Auth successfull.")
-else:
- exit()
-
-#directory = os.path.dirname(OUTPUT_FOLDER)
-if not os.path.exists(OUTPUT_FOLDER):
- os.mkdir(OUTPUT_FOLDER)
-
-print("Reading from: https://docs.google.com/spreadsheets/d/12TecOmDd7Uot-MvXkCbhDJRU48-XO6s5ChKDlr4AOvI")
-
-events = load_events()
-topics = load_topics()
-
-# Check duplicates
-if has_duplicates(events):
- print("Duplicate events found! Terminating.")
- exit()
-
-if has_duplicates(topics):
- print("Duplicate topics found! Terminating.")
- exit()
-
-print("{} events loaded.".format(len(events)))
-print("{} topics loaded.".format(len(topics)))
-
-enum_str = ""
-event_map_str = ""
-
-date = datetime.datetime.now()
-link = "https://docs.google.com/spreadsheets/d/{id}".format(id=SPREADSHEET_ID)
-
-
-# Events.h generation
-
-print("Generating Events.h...")
-
-for e in events:
- endl = ",\n" if e != events[-1] else ""
- enum_str += " " + e + \
- (" = EV_FIRST_SIGNAL" if e == events[0] else "") + endl
- event_map_str += " {{ {event}, {string} }}{endl}".format(
- event=e, string='"' + e + '"', endl=endl)
-
-with open('Events.h.template', 'r') as template_file:
- template = template_file.read()
-
-template = template.format(sheet_link=link, date=date,
- enum_data=enum_str)
-
-with open(join(OUTPUT_FOLDER, 'Events.h'), 'w') as header_file:
- header_file.write(template)
-
-print("Events.h successfully generated.")
-# Topics.h generation
-
-print("Generating Topics.h...")
-enum_str = ""
-topic_map_str = ""
-
-for t in topics:
- endl = ",\n" if t != topics[-1] else ""
- enum_str += " " + t + endl
- topic_map_str += " {{ {topics}, {string} }}{endl}".format(
- topics=t, string='"' + t + '"', endl=endl)
-
-with open('Topics.h.template', 'r') as template_file:
- template = template_file.read()
-
-template = template.format(sheet_link=link, date=date,
- enum_data=enum_str)
-
-with open(join(OUTPUT_FOLDER, 'Topics.h'), 'w') as header_file:
- header_file.write(template)
-
-with open('EventFunctions.cpp.template', 'r') as cpp_template_file:
- cpp = cpp_template_file.read()
-
-cpp = cpp.format(sheet_link=link, date=date,
- event_map_data=event_map_str, topic_map_data=topic_map_str)
-
-with open(join(OUTPUT_FOLDER, 'EventFunctions.cpp'), 'w') as cpp_file:
- cpp_file.write(cpp)
-
-print("Topics.h successfully generated.")
-
-print()
-print("All files successfully generated. Please move Events.h, Topics.h, EventFunction.cpp into the Homeone board folder.")
-print(".... Done.")
diff --git a/scripts/old/gen_fault_headers.py b/scripts/old/gen_fault_headers.py
deleted file mode 100755
index 0a5badbdaac96f3de9d501d912fbe39c1f3f4ef2..0000000000000000000000000000000000000000
--- a/scripts/old/gen_fault_headers.py
+++ /dev/null
@@ -1,239 +0,0 @@
-#!/usr/bin/python
-
-# Copyright (c) 2017 Skyward Experimental Rocketry
-# Authors: 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.
-
-
-import csv,string,hashlib,datetime,sys
-
-if len(sys.argv) != 3:
- print("Usage: %s <CSV File> <Output header file>" % (sys.argv[0]))
- exit(-1)
-
-headerLine = None
-
-newLines = []
-
-lineCtr = 0
-curCatId = 0
-categories={}
-enums={}
-
-import hashlib
-
-def fileHash(filename):
- h = hashlib.sha1()
- with open(filename, 'rb', buffering=0) as f:
- for b in iter(lambda : f.read(128*1024), b''):
- h.update(b)
- return h.hexdigest()
-
-def genEnum(name, s, inc):
- a = ('''enum class %s
-{
-''') % (name,);
- cnt = 0
- for i in s:
- if inc:
- a += " " + i + " = " + str(cnt) + ",\n"
- else:
- a += " " + i + " = " + str(s[i]) + ",\n"
- cnt += 1
- a += "};\n"
- a += "const std::size_t %s_SIZE = %d;\n" %(name, cnt)
- return a
-
-def genHeaderFile(fileName,csvFile):
- print("[*] Generating header file (%s)" %(fileName,))
- content = ('''/* Copyright (c) 2017 Skyward Experimental Rocketry
- * Authors: 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.
- */
-
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// CSV File: %s
-// SHA1 of CSV File: %s
-// Autogen date: %s
-
-#include <cstdint>
-
-#ifndef SKYWARD_FAULT_CTRL_LIST_H
-#define SKYWARD_FAULT_CTRL_LIST_H
-
-''') % (csvFile, fileHash(csvFile), datetime.datetime.now())
- content += genEnum("Fault", enums, True)
- content += "\nnamespace FaultCounterData\n{\n\n"
- content += genEnum("FaultCategory", categories, False)
- content += '''
-
-// Usage: categoryID = FaultCounter::FaultToCategory[faultID];
-const uint32_t FaultToCategory[] =
-{
- '''
- colCnt = 0
- for i in enums:
- content += "%d, " % (categories[enums[i]], )
- colCnt += 1
- if colCnt == 20:
- content += "\n "
- colCnt = 0
- content += '''
-}; /* CategoryMapping */
-
-} /* FaultCounterData */
-
-#endif /* SKYWARD_FAULT_CTRL_LIST_H */
-
-'''
- try:
- with open(fileName, "w") as f:
- f.write(content)
- print("[+] Written %d lines in %s" % (len(content.split("\n")), fileName))
- except:
- print("[!] Cannot open %s for writing.", fileName)
- exit(-1)
-
-
-def checkForGoodName(n):
- if len(n) == 0:
- return False
-
- if n[0] not in string.ascii_uppercase:
- return False
-
- for x in n:
- if x not in string.ascii_uppercase + string.digits + '_':
- return False
-
- if n[-1] not in string.ascii_uppercase + string.digits:
- return False
-
- return True
-
-def genEnumName(cat,name):
- ctr = 2
-
- genBName = "F_" + cat + "_" + name
- genName = genBName
-
- while genName in enums:
- genName = genBName + "_" + str(ctr)
- ctr += 1
-
- return genName
-
-# return False: csv file is ok
-# return True: csv file must be updated
-def handleLine(r):
- global lineCtr,categories,newLines,enums,curCatId
-
- if len(r) != 4:
- print("[!] Parsing error at line %d. I'm expecting 4 fields" % (lineCtr,))
- exit(-1)
-
- curCat = r[0].strip().upper()
- curName = r[1].strip().upper()
- curDesc = r[2].strip()
- curEnum = r[3].strip().upper()
-
- if checkForGoodName(curCat) == False:
- print("[!] Invalid category at line %d." % (lineCtr,))
- exit(-1)
-
- if checkForGoodName(curName) == False:
- print("[!] Invalid name at line %d." % (lineCtr,))
- exit(-1)
-
- if len(curEnum) > 0 and (checkForGoodName(curEnum) == False or curEnum in enums):
- print("[!] Invalid generated name at line %d." % (lineCtr,))
- exit(-1)
-
- retVal = False
- if len(curEnum) == 0:
- curEnum = genEnumName(curCat, curName)
- retVal = True
-
- if curCat not in categories:
- print("[+] Added category '%s'" % (curCat,))
- categories[curCat] = curCatId
- curCatId += 1
-
- print("[+] Added %s in category %s" %(curEnum,curCat))
- enums[curEnum] = curCat
-
- newLines.append([curCat, curName, curDesc, curEnum])
- return retVal
-
-mustUpdate = False
-print("[*] Opening %s..." % (sys.argv[1],))
-try:
- with open(sys.argv[1], "r") as csvfile:
- r = csv.reader(csvfile, delimiter=',', quotechar='"')
- for row in r:
- lineCtr += 1
- if headerLine is None:
- headerLine = row
- continue
- if handleLine(row):
- mustUpdate = True
-except Exception as e:
- print("[!] Cannot open %s for reading: %s!" %(sys.argv[1],str(e)))
- exit(-1)
-
-if not mustUpdate:
- print("[+] No need to update the csv file.")
-else:
- print("[*] Updating %s..." % (sys.argv[1],))
-
- try:
- with open(sys.argv[1], "w") as csvfile:
- r = csv.writer(csvfile, delimiter=',', quotechar='"', quoting=csv.QUOTE_ALL)
- r.writerow(headerLine)
- for row in newLines:
- r.writerow(row)
- print("[+] Successfully updated csv file")
- except:
- print("[!] Cannot open %s for writing!" %(sys.argv[1],))
- exit(-1)
-
-genHeaderFile(sys.argv[2], sys.argv[1])
diff --git a/scripts/openocd-flash.sh b/scripts/openocd/openocd-flash.sh
similarity index 100%
rename from scripts/openocd-flash.sh
rename to scripts/openocd/openocd-flash.sh
diff --git a/scripts/start_openocd.sh b/scripts/openocd/start_openocd.sh
similarity index 100%
rename from scripts/start_openocd.sh
rename to scripts/openocd/start_openocd.sh
diff --git a/scripts/scxml2plant/scxml2plant.sh b/scripts/scxml2plant/scxml2plant.sh
new file mode 100755
index 0000000000000000000000000000000000000000..dbd1f04907a38ead88b5e27d8ae037cf95b88bac
--- /dev/null
+++ b/scripts/scxml2plant/scxml2plant.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# Input checks
+if [ "$#" -ne 1 ]; then
+ echo "Usage: scxml2plant <FOLDER_TO_SEARCH>"
+ exit 1
+fi
+
+# Find this folder when calling the script from another folder
+PATH_TO_XALAN=$(dirname $0)
+
+# Select all scxml files
+for file in $(find $1 -name "*.scxml")
+do
+ # generate plantuml
+ INPUT_XML=$file
+ OUTPUT_NAME=$(dirname $file)/$(basename -s ".scxml" $file).plantuml
+ echo "Input file: " $INPUT_XML " Output basename: " $OUTPUT_NAME
+
+ java -cp $PATH_TO_XALAN/xalan/xalan.jar \
+ -Dorg.apache.xerces.xni.parser.XMLParserConfiguration=org.apache.xerces.parsers.XIncludeParserConfiguration org.apache.xalan.xslt.Process \
+ -IN $INPUT_XML -XSL $PATH_TO_XALAN/xslt/scxml2plantuml.xslt -OUT $OUTPUT_NAME
+
+ # generate README
+ README_FILE=$(dirname $file)/README.md
+
+ touch $README_FILE
+ echo "\`\`\`plantuml" > $README_FILE
+ cat $OUTPUT_NAME >> $README_FILE
+ echo "\`\`\`" >> $README_FILE
+ rm $OUTPUT_NAME
+done
diff --git a/scripts/scxml2plant/xalan/LICENSE.txt b/scripts/scxml2plant/xalan/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47ad566a4592992bb8c6cfe6bda017487dda8cf5
--- /dev/null
+++ b/scripts/scxml2plant/xalan/LICENSE.txt
@@ -0,0 +1,684 @@
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
+ and conversions to other media types.
+
+ "Work" shall mean the work of authorship, whether in Source or
+ Object form, made available under the License, as indicated by a
+ copyright notice that is included in or attached to the work
+ (an example is provided in the Appendix below).
+
+ "Derivative Works" shall mean any work, whether in Source or Object
+ form, that is based on (or derived from) the Work and for which the
+ editorial revisions, annotations, elaborations, or other modifications
+ represent, as a whole, an original work of authorship. For the purposes
+ of this License, Derivative Works shall not include works that remain
+ separable from, or merely link (or bind by name) to the interfaces of,
+ the Work and Derivative Works thereof.
+
+ "Contribution" shall mean any work of authorship, including
+ the original version of the Work and any modifications or additions
+ to that Work or Derivative Works thereof, that is intentionally
+ submitted to Licensor for inclusion in the Work by the copyright owner
+ or by an individual or Legal Entity authorized to submit on behalf of
+ the copyright owner. For the purposes of this definition, "submitted"
+ means any form of electronic, verbal, or written communication sent
+ to the Licensor or its representatives, including but not limited to
+ communication on electronic mailing lists, source code control systems,
+ and issue tracking systems that are managed by, or on behalf of, the
+ Licensor for the purpose of discussing and improving the Work, but
+ excluding communication that is conspicuously marked or otherwise
+ designated in writing by the copyright owner as "Not a Contribution."
+
+ "Contributor" shall mean Licensor and any individual or Legal Entity
+ on behalf of whom a Contribution has been received by Licensor and
+ subsequently incorporated within the Work.
+
+ 2. Grant of Copyright License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ copyright license to reproduce, prepare Derivative Works of,
+ publicly display, publicly perform, sublicense, and distribute the
+ Work and such Derivative Works in Source or Object form.
+
+ 3. Grant of Patent License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ (except as stated in this section) patent license to make, have made,
+ use, offer to sell, sell, import, and otherwise transfer the Work,
+ where such license applies only to those patent claims licensable
+ by such Contributor that are necessarily infringed by their
+ Contribution(s) alone or by combination of their Contribution(s)
+ with the Work to which such Contribution(s) was submitted. If You
+ institute patent litigation against any entity (including a
+ cross-claim or counterclaim in a lawsuit) alleging that the Work
+ or a Contribution incorporated within the Work constitutes direct
+ or contributory patent infringement, then any patent licenses
+ granted to You under this License for that Work shall terminate
+ as of the date such litigation is filed.
+
+ 4. Redistribution. You may reproduce and distribute copies of the
+ Work or Derivative Works thereof in any medium, with or without
+ modifications, and in Source or Object form, provided that You
+ meet the following conditions:
+
+ (a) You must give any other recipients of the Work or
+ Derivative Works a copy of this License; and
+
+ (b) You must cause any modified files to carry prominent notices
+ stating that You changed the files; and
+
+ (c) You must retain, in the Source form of any Derivative Works
+ that You distribute, all copyright, patent, trademark, and
+ attribution notices from the Source form of the Work,
+ excluding those notices that do not pertain to any part of
+ the Derivative Works; and
+
+ (d) If the Work includes a "NOTICE" text file as part of its
+ distribution, then any Derivative Works that You distribute must
+ include a readable copy of the attribution notices contained
+ within such NOTICE file, excluding those notices that do not
+ pertain to any part of the Derivative Works, in at least one
+ of the following places: within a NOTICE text file distributed
+ as part of the Derivative Works; within the Source form or
+ documentation, if provided along with the Derivative Works; or,
+ within a display generated by the Derivative Works, if and
+ wherever such third-party notices normally appear. The contents
+ of the NOTICE file are for informational purposes only and
+ do not modify the License. You may add Your own attribution
+ notices within Derivative Works that You distribute, alongside
+ or as an addendum to the NOTICE text from the Work, provided
+ that such additional attribution notices cannot be construed
+ as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and
+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+The license above applies to this Apache Xalan release of:
+ Xalan-Java 2 - XSLT Processor
+ Xalan-Java 2 - Serializer
+
+The license above also applies to the jar files
+xalan.jar and xsltc.jar - Xalan-Java 2 - XSLT Processor from
+Source: http://xalan.apache.org/
+
+The license above also applies to the jar file
+serializer.jar - Xalan-Java 2 - Serializer
+Source: http://xalan.apache.org/
+Used by: Xalan-Java 2 and Xerces-Java 2
+
+The license above also applies to the jar file
+xercesImpl.jar - Xerces-Java 2 XML Parser.
+Source: http://xerces.apache.org/
+Used by: Xalan-Java 2
+
+The license above also applies to the jar file
+xml-apis.jar - Xerces-Java 2 XML Parser.
+Source: http://xerces.apache.org/
+Used by: Xalan-Java 2 and release copy of Xerces-Java 2
+
+
+
+
+
+
+
+
+The following license applies to the included files:
+ tools/ant.jar
+ tools/antRun
+ tools/antRun.bat
+Source: http://ant.apache.org/
+Used By: Xalan's build process: java/build.xml and test/build.xml
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+/*
+ * ============================================================================
+ * The Apache Software License, Version 1.1
+ * ============================================================================
+ *
+ * Copyright (C) 1999 The Apache Software Foundation. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The end-user documentation included with the redistribution, if any, must
+ * include the following acknowledgment: "This product includes software
+ * developed by the Apache Software Foundation (http://www.apache.org/)."
+ * Alternately, this acknowledgment may appear in the software itself, if
+ * and wherever such third-party acknowledgments normally appear.
+ *
+ * 4. The names "Ant" and "Apache Software Foundation" must not be used to
+ * endorse or promote products derived from this software without prior
+ * written permission. For written permission, please contact
+ * apache@apache.org.
+ *
+ * 5. Products derived from this software may not be called "Apache", nor may
+ * "Apache" appear in their name, without prior written permission of the
+ * Apache Software Foundation.
+ *
+ * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * APACHE SOFTWARE FOUNDATION OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLU-
+ * DING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * This software consists of voluntary contributions made by many individuals
+ * on behalf of the Apache Software Foundation. For more information on the
+ * Apache Software Foundation, please see <http://www.apache.org/>.
+ *
+ */
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license, Apache Software License, Version 1.1,
+applies to the included BCEL.jar from Apache Jakarta
+(Byte Code Engineering Library).
+Source: http://jakarta.apache.org/bcel
+Used By: XSLTC component of xml-xalan/java
+
+The following license, Apache Software License, Version 1.1,
+also applies to the included regexp.jar,
+jakarta-regexp-1.2.jar from Apache Jakarta.
+Source: http://jakarta.apache.org/regexp
+Used By: BCEL.jar which is used by XSLTC component of xml-xalan/java
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+/*
+ *
+ * Copyright (c) 2001 The Apache Software Foundation. All rights
+ * reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ *
+ * 3. The end-user documentation included with the redistribution,
+ * if any, must include the following acknowledgment:
+ * "This product includes software developed by the
+ * Apache Software Foundation (http://www.apache.org/)."
+ * Alternately, this acknowledgment may appear in the software itself,
+ * if and wherever such third-party acknowledgments normally appear.
+ *
+ * 4. The names "Apache" and "Apache Software Foundation" and
+ * "Apache BCEL" must not be used to endorse or promote products
+ * derived from this software without prior written permission. For
+ * written permission, please contact apache@apache.org.
+ *
+ * 5. Products derived from this software may not be called "Apache",
+ * "Apache BCEL", nor may "Apache" appear in their name, without
+ * prior written permission of the Apache Software Foundation.
+ *
+ * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE APACHE SOFTWARE FOUNDATION OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ * ====================================================================
+ *
+ * This software consists of voluntary contributions made by many
+ * individuals on behalf of the Apache Software Foundation. For more
+ * information on the Apache Software Foundation, please see
+ * <http://www.apache.org/>.
+ */
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the DOM documentation
+for the org.w3c.dom.* packages:
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+W3C® DOCUMENT LICENSE
+http://www.w3.org/Consortium/Legal/2002/copyright-documents-20021231
+Public documents on the W3C site are provided by the copyright holders
+under the following license. By using and/or copying this document,
+or the W3C document from which this statement is linked, you (the licensee)
+agree that you have read, understood, and will comply with the following
+terms and conditions:
+
+Permission to copy, and distribute the contents of this document, or the
+W3C document from which this statement is linked, in any medium for any
+purpose and without fee or royalty is hereby granted, provided that you include
+the following on ALL copies of the document, or portions thereof, that you use:
+
+1. A link or URL to the original W3C document.
+2. The pre-existing copyright notice of the original author, or if it
+ doesn't exist, a notice (hypertext is preferred, but a textual representation
+ is permitted) of the form: "Copyright © [$date-of-document] World Wide Web
+ Consortium, (Massachusetts Institute of Technology, European Research
+ Consortium for Informatics and Mathematics, Keio University). All Rights
+ Reserved. http://www.w3.org/Consortium/Legal/2002/copyright-documents-20021231"
+3. If it exists, the STATUS of the W3C document.
+
+When space permits, inclusion of the full text of this NOTICE should be provided.
+We request that authorship attribution be provided in any software, documents,
+or other items or products that you create pursuant to the implementation of the
+contents of this document, or any portion thereof.
+
+No right to create modifications or derivatives of W3C documents is granted pursuant
+to this license. However, if additional requirements (documented in the Copyright FAQ)
+are satisfied, the right to create modifications or derivatives is sometimes granted
+by the W3C to individuals complying with those requirements.
+
+THIS DOCUMENT IS PROVIDED "AS IS," AND COPYRIGHT HOLDERS MAKE NO REPRESENTATIONS
+OR WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, NON-INFRINGEMENT, OR TITLE;
+THAT THE CONTENTS OF THE DOCUMENT ARE SUITABLE FOR ANY PURPOSE; NOR THAT THE
+IMPLEMENTATION OF SUCH CONTENTS WILL NOT INFRINGE ANY THIRD PARTY PATENTS,
+COPYRIGHTS, TRADEMARKS OR OTHER RIGHTS.
+
+COPYRIGHT HOLDERS WILL NOT BE LIABLE FOR ANY DIRECT, INDIRECT, SPECIAL OR
+CONSEQUENTIAL DAMAGES ARISING OUT OF ANY USE OF THE DOCUMENT OR THE PERFORMANCE
+OR IMPLEMENTATION OF THE CONTENTS THEREOF.
+
+The name and trademarks of copyright holders may NOT be used in advertising
+or publicity pertaining to this document or its contents without specific,
+written prior permission. Title to copyright in this document will at all
+times remain with copyright holders.
+
+
+----------------------------------------------------------------------------
+
+This formulation of W3C's notice and license became active on December 31 2002.
+This version removes the copyright ownership notice such that this license
+can be used with materials other than those owned by the W3C, moves information
+on style sheets, DTDs, and schemas to the Copyright FAQ, reflects that ERCIM
+is now a host of the W3C, includes references to this specific dated version
+of the license, and removes the ambiguous grant of "use". See the older
+formulation for the policy prior to this date. Please see our Copyright FAQ for
+common questions about using materials from our site, such as the translating
+or annotating specifications. Other questions about this notice can be directed
+to site-policy@w3.org.
+
+
+Joseph Reagle <mailto:site-policy@w3.org
+Last revised by Reagle $Date: 2005-07-19 12:33:09 -0400 (Tue, 19 Jul 2005) $
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+
+The following license applies to the DOM software,
+for the org.w3c.dom.* packages in jar file xml-apis.jar:
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+W3C® SOFTWARE NOTICE AND LICENSE
+http://www.w3.org/Consortium/Legal/2002/copyright-software-20021231
+This work (and included software, documentation such as READMEs,
+or other related items) is being provided by the copyright holders
+under the following license. By obtaining, using and/or copying this
+work, you (the licensee) agree that you have read, understood, and will
+comply with the following terms and conditions.
+
+Permission to copy, modify, and distribute this software and its
+documentation, with or without modification, for any purpose and
+without fee or royalty is hereby granted, provided that you include
+the following on ALL copies of the software and documentation or
+portions thereof, including modifications:
+
+1. The full text of this NOTICE in a location viewable to users of the
+ redistributed or derivative work.
+2. Any pre-existing intellectual property disclaimers, notices,
+ or terms and conditions. If none exist, the W3C Software Short Notice
+ should be included (hypertext is preferred, text is permitted) within
+ the body of any redistributed or derivative code.
+3. Notice of any changes or modifications to the files, including the
+ date changes were made. (We recommend you provide URIs to the location
+ from which the code is derived.)
+
+THIS SOFTWARE AND DOCUMENTATION IS PROVIDED "AS IS," AND COPYRIGHT HOLDERS
+MAKE NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT
+NOT LIMITED TO, WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR
+PURPOSE OR THAT THE USE OF THE SOFTWARE OR DOCUMENTATION WILL NOT INFRINGE
+ANY THIRD PARTY PATENTS, COPYRIGHTS, TRADEMARKS OR OTHER RIGHTS.
+
+COPYRIGHT HOLDERS WILL NOT BE LIABLE FOR ANY DIRECT, INDIRECT, SPECIAL OR
+CONSEQUENTIAL DAMAGES ARISING OUT OF ANY USE OF THE SOFTWARE OR DOCUMENTATION.
+
+The name and trademarks of copyright holders may NOT be used in advertising
+or publicity pertaining to the software without specific, written prior
+permission. Title to copyright in this software and any associated documentation
+will at all times remain with copyright holders.
+
+
+____________________________________
+
+This formulation of W3C's notice and license became active on December 31 2002.
+This version removes the copyright ownership notice such that this license can
+be used with materials other than those owned by the W3C, reflects that ERCIM
+is now a host of the W3C, includes references to this specific dated version
+of the license, and removes the ambiguous grant of "use". Otherwise, this
+version is the same as the previous version and is written so as to preserve
+the Free Software Foundation's assessment of GPL compatibility and OSI's
+certification under the Open Source Definition. Please see our Copyright FAQ
+for common questions about using materials from our site, including specific
+terms and conditions for packages like libwww, Amaya, and Jigsaw. Other
+questions about this notice can be directed to site-policy@w3.org.
+
+
+Joseph Reagle <mailto:site-policy@w3.org
+Last revised by Reagle $Date: 2005-07-19 12:33:09 -0400 (Tue, 19 Jul 2005) $
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the SAX software,
+for the org.xml.sax.* packages in jar file xml-apis.jar:
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+This module, both source code and documentation, is in the Public Domain,
+and comes with NO WARRANTY. See http://www.saxproject.org for further information.
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the jar file
+java_cup.jar - LALR Parser Generator for Java(TM).
+Source: http://www.cs.princeton.edu/~appel/modern/java/CUP
+Used By: XSLTC component of xml-xalan/java
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+CUP Parser Generator Copyright Notice, License, and Disclaimer
+
+Copyright 1996-1999 by Scott Hudson, Frank Flannery, C. Scott Ananian
+
+Permission to use, copy, modify, and distribute this software and its
+documentation for any purpose and without fee is hereby granted, provided
+that the above copyright notice appear in all copies and that both
+the copyright notice and this permission notice and warranty disclaimer
+appear in supporting documentation, and that the names of the authors
+or their employers not be used in advertising or publicity pertaining
+to distribution of the software without specific, written prior permission.
+
+The authors and their employers disclaim all warranties with regard to
+this software, including all implied warranties of merchantability
+and fitness. In no event shall the authors or their employers be liable
+for any special, indirect or consequential damages or any damages
+whatsoever resulting from loss of use, data or profits, whether in an action
+of contract, negligence or other tortious action, arising out of or
+in connection with the use or performance of this software.
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the jar file runtime.jar - Component
+of JavaCup: LALR Parser Generator for Java(TM).
+Source: http://www.cs.princeton.edu/~appel/modern/java/CUP
+Used By: XSLTC component of xml-xalan/java
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+CUP Parser Generator Copyright Notice, License, and Disclaimer
+(runtime.jar component)
+
+Copyright 1996-1999 by Scott Hudson, Frank Flannery, C. Scott Ananian
+
+Permission to use, copy, modify, and distribute this software and its
+documentation for any purpose and without fee is hereby granted, provided
+that the above copyright notice appear in all copies and that both
+the copyright notice and this permission notice and warranty disclaimer
+appear in supporting documentation, and that the names of the authors
+or their employers not be used in advertising or publicity pertaining
+to distribution of the software without specific, written prior permission.
+
+The authors and their employers disclaim all warranties with regard to
+this software, including all implied warranties of merchantability
+and fitness. In no event shall the authors or their employers be liable
+for any special, indirect or consequential damages or any damages
+whatsoever resulting from loss of use, data or profits, whether in an action
+of contract, negligence or other tortious action, arising out of or
+in connection with the use or performance of this software.
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the JLEX jar file
+JLex.jar - A Lexical Analyzer Generator for Java(TM).
+Source: http://www.cs.princeton.edu/~appel/modern/java/JLex
+Used By: XSLTC component of xml-xalan/java
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+JLEX COPYRIGHT NOTICE, LICENSE AND DISCLAIMER.
+
+Copyright 1996-2000 by Elliot Joel Berk and C. Scott Ananian
+
+Permission to use, copy, modify, and distribute this software and its
+documentation for any purpose and without fee is hereby granted,
+provided that the above copyright notice appear in all copies and
+that both the copyright notice and this permission notice and
+warranty disclaimer appear in supporting documentation, and that the
+name of the authors or their employers not be used in advertising or
+publicity pertaining to distribution of the software without specific,
+written prior permission.
+
+The authors and their employers disclaim all warranties with regard
+to this software, including all implied warranties of merchantability and
+fitness. In no event shall the authors or their employers be liable for any
+special, indirect or consequential damages or any damages whatsoever resulting
+from loss of use, data or profits, whether in an action of contract,
+negligence or other tortious action, arising out of or in connection
+with the use or performance of this software.
+
+Java is a trademark of Sun Microsystems, Inc. References to the Java
+programming language in relation to JLex are not meant to imply that
+Sun endorses this product.
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+
+
+
+
+
+
+
+The following license applies to the jar file
+stylebook-1.0-b3_xalan-2.jar - Tool for generating Xalan documentation.
+Integrated with Xalan-Java 2 and Xerces 2.
+Source: http://svn.apache.org/viewvc/xml/stylebook/
+Used by: Xalan-Java 2, Xalan-C++
+
+<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+/*
+ * The Apache Software License, Version 1.1
+ *
+ *
+ * Copyright (c) 1999 The Apache Software Foundation. All rights
+ * reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ *
+ * 3. The end-user documentation included with the redistribution,
+ * if any, must include the following acknowledgment:
+ * "This product includes software developed by the
+ * Apache Software Foundation (http://www.apache.org/)."
+ * Alternately, this acknowledgment may appear in the software itself,
+ * if and wherever such third-party acknowledgments normally appear.
+ *
+ * 4. The names "Xalan", "Xerces", and "Apache Software Foundation" must
+ * not be used to endorse or promote products derived from this
+ * software without prior written permission. For written
+ * permission, please contact apache@apache.org.
+ *
+ * 5. Products derived from this software may not be called "Apache",
+ * nor may "Apache" appear in their name, without prior written
+ * permission of the Apache Software Foundation.
+ *
+ * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE APACHE SOFTWARE FOUNDATION OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ * ====================================================================
+ *
+ * This software consists of voluntary contributions made by many
+ * individuals on behalf of the Apache Software Foundation and was
+ * originally based on software copyright (c) 1999, International
+ * Business Machines, Inc., http://www.apache.org. For more
+ * information on the Apache Software Foundation, please see
+ * <http://www.apache.org/>.
+ */
+>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
diff --git a/scripts/scxml2plant/xalan/NOTICE.txt b/scripts/scxml2plant/xalan/NOTICE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..132f8bccd53579fb004f2b5d095588d3ff9e832a
--- /dev/null
+++ b/scripts/scxml2plant/xalan/NOTICE.txt
@@ -0,0 +1,80 @@
+ =========================================================================
+ == NOTICE file corresponding to section 4(d) of the Apache License, ==
+ == Version 2.0, in this case for the Apache Xalan Java distribution. ==
+ =========================================================================
+
+ Apache Xalan (Xalan XSLT processor)
+ Copyright 1999-2014 The Apache Software Foundation
+
+ Apache Xalan (Xalan serializer)
+ Copyright 1999-2012 The Apache Software Foundation
+
+ This product includes software developed at
+ The Apache Software Foundation (http://www.apache.org/).
+
+ =========================================================================
+ Portions of this software was originally based on the following:
+ - software copyright (c) 1999-2002, Lotus Development Corporation.,
+ http://www.lotus.com.
+ - software copyright (c) 2001-2002, Sun Microsystems.,
+ http://www.sun.com.
+ - software copyright (c) 2003, IBM Corporation.,
+ http://www.ibm.com.
+
+ =========================================================================
+ The binary distribution package (ie. jars, samples and documentation) of
+ this product includes software developed by the following:
+
+ - The Apache Software Foundation
+ - Xerces Java - see LICENSE.txt
+ - JAXP 1.3 APIs - see LICENSE.txt
+ - Bytecode Engineering Library - see LICENSE.txt
+ - Regular Expression - see LICENSE.txt
+
+ - Scott Hudson, Frank Flannery, C. Scott Ananian
+ - CUP Parser Generator runtime (javacup\runtime) - see LICENSE.txt
+
+ =========================================================================
+ The source distribution package (ie. all source and tools required to build
+ Xalan Java) of this product includes software developed by the following:
+
+ - The Apache Software Foundation
+ - Xerces Java - see LICENSE.txt
+ - JAXP 1.3 APIs - see LICENSE.txt
+ - Bytecode Engineering Library - see LICENSE.txt
+ - Regular Expression - see LICENSE.txt
+ - Ant - see LICENSE.txt
+ - Stylebook doc tool - see LICENSE.txt
+
+ - Elliot Joel Berk and C. Scott Ananian
+ - Lexical Analyzer Generator (JLex) - see LICENSE.txt
+
+ =========================================================================
+ Apache Xerces Java
+ Copyright 1999-2006 The Apache Software Foundation
+
+ This product includes software developed at
+ The Apache Software Foundation (http://www.apache.org/).
+
+ Portions of Apache Xerces Java in xercesImpl.jar and xml-apis.jar
+ were originally based on the following:
+ - software copyright (c) 1999, IBM Corporation., http://www.ibm.com.
+ - software copyright (c) 1999, Sun Microsystems., http://www.sun.com.
+ - voluntary contributions made by Paul Eng on behalf of the
+ Apache Software Foundation that were originally developed at iClick, Inc.,
+ software copyright (c) 1999.
+
+ =========================================================================
+ Apache xml-commons xml-apis (redistribution of xml-apis.jar)
+
+ Apache XML Commons
+ Copyright 2001-2003,2006 The Apache Software Foundation.
+
+ This product includes software developed at
+ The Apache Software Foundation (http://www.apache.org/).
+
+ Portions of this software were originally based on the following:
+ - software copyright (c) 1999, IBM Corporation., http://www.ibm.com.
+ - software copyright (c) 1999, Sun Microsystems., http://www.sun.com.
+ - software copyright (c) 2000 World Wide Web Consortium, http://www.w3.org
+
diff --git a/scripts/scxml2plant/xalan/readme.html b/scripts/scxml2plant/xalan/readme.html
new file mode 100644
index 0000000000000000000000000000000000000000..538f4286b0308b84b3c4dcfbeb6937ab2d3d56a4
--- /dev/null
+++ b/scripts/scxml2plant/xalan/readme.html
@@ -0,0 +1,39 @@
+<!--
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+-->
+
+<html>
+<head>
+<title>
+</title>
+</head>
+<body>
+<meta content="0; URL=docs/whatsnew.html" http-equiv="Refresh">
+ Redirecting to <a href="docs/whatsnew.html">What's New in Xalan_Java 2</a>
+</body>
+</html>
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/scripts/scxml2plant/xalan/serializer.jar b/scripts/scxml2plant/xalan/serializer.jar
new file mode 100644
index 0000000000000000000000000000000000000000..175126880ff58fab0922f3e0cd25ecff765989ba
Binary files /dev/null and b/scripts/scxml2plant/xalan/serializer.jar differ
diff --git a/scripts/scxml2plant/xalan/xalan.jar b/scripts/scxml2plant/xalan/xalan.jar
new file mode 100644
index 0000000000000000000000000000000000000000..5c6c6f947071ef42c8d984f13ace5884e2bc7f03
Binary files /dev/null and b/scripts/scxml2plant/xalan/xalan.jar differ
diff --git a/scripts/scxml2plant/xalan/xercesImpl.jar b/scripts/scxml2plant/xalan/xercesImpl.jar
new file mode 100644
index 0000000000000000000000000000000000000000..0aaa990f3ecadf60d28b5395dc87bbe49da0cdd7
Binary files /dev/null and b/scripts/scxml2plant/xalan/xercesImpl.jar differ
diff --git a/scripts/scxml2plant/xalan/xml-apis.jar b/scripts/scxml2plant/xalan/xml-apis.jar
new file mode 100644
index 0000000000000000000000000000000000000000..46733464fc746776c331ecc51061f3a05e662fd1
Binary files /dev/null and b/scripts/scxml2plant/xalan/xml-apis.jar differ
diff --git a/scripts/scxml2plant/xalan/xsltc.jar b/scripts/scxml2plant/xalan/xsltc.jar
new file mode 100644
index 0000000000000000000000000000000000000000..e11dbeca0aa04a138ea1a5fb29ed331ed02191f6
Binary files /dev/null and b/scripts/scxml2plant/xalan/xsltc.jar differ
diff --git a/scripts/scxml2plant/xslt/scxml2plantuml.xslt b/scripts/scxml2plant/xslt/scxml2plantuml.xslt
new file mode 100644
index 0000000000000000000000000000000000000000..8468b2c3f684ab52e06678ff41d747407b5751a3
--- /dev/null
+++ b/scripts/scxml2plant/xslt/scxml2plantuml.xslt
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="utf-8"?>
+<xsl:stylesheet version="1.0"
+ xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
+ xmlns:sc="http://www.w3.org/2005/07/scxml">
+
+ <xsl:output method="text" encoding="utf-8"/>
+ <xsl:strip-space elements="*" />
+ <xsl:template match="text()|@*"/>
+ <xsl:template match="text()|@*" mode="target"/>
+ <xsl:template match="text()|@*" mode="id"/>
+
+ <xsl:template match="/sc:scxml">
+ <xsl:text>@startuml
</xsl:text>
+ <xsl:apply-templates select="@initial"/>
+ <xsl:apply-templates select="*"/>
+ <xsl:text>@enduml
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="@initial">
+ <xsl:text>[*] --> </xsl:text>
+ <xsl:call-template name="gettargetname">
+ <xsl:with-param name="id" select="."/>
+ </xsl:call-template>
+ <xsl:text>
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:initial">
+ <xsl:apply-templates select="*"/>
+ </xsl:template>
+
+ <xsl:template match="sc:final[@id]">
+ <xsl:value-of select="concat(@id, ' : <<final>>
')"/>
+ </xsl:template>
+ <xsl:template match="sc:final">
+ <xsl:text>unnamed : <<final>>
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:state">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:apply-templates select="@initial"/>
+ <xsl:apply-templates select="*"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:history">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:apply-templates select="*"/>
+
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:value-of select="concat(' : <<', @type, ' history>>
')"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:parallel">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:for-each select="sc:state | sc:parallel | sc:history">
+ <xsl:apply-templates select="."/>
+ <xsl:if test="position() != last()">
+ <xsl:text>||
</xsl:text>
+ </xsl:if>
+ </xsl:for-each>
+
+ <xsl:apply-templates select="sc:transition"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+
+ <!--get id of the state - special case for initial state-->
+ <xsl:template match="sc:state[@id] | sc:history[@id] | sc:parallel[@id] | sc:final[@id]" mode="id">
+ <xsl:value-of select="@id"/>
+ </xsl:template>
+ <xsl:template match="sc:state | sc:history | sc:parallel" mode="id">
+ <xsl:text>unnamed</xsl:text>
+ </xsl:template>
+ <xsl:template match="sc:initial" mode="id">
+ <xsl:text>[*]</xsl:text>
+ </xsl:template>
+
+ <xsl:template name="gettargetname">
+ <xsl:param name="id"/>
+ <xsl:apply-templates select="//*[@id = $id][1]" mode="id"/>
+ </xsl:template>
+
+ <!--target can be specified explicitely as some other state-->
+ <xsl:template match="sc:transition[@target]" mode="target">
+ <xsl:call-template name="gettargetname">
+ <xsl:with-param name="id" select="@target"/>
+ </xsl:call-template>
+ </xsl:template>
+ <!--or self-transiton when @target not specified-->
+ <xsl:template match="sc:transition" mode="target">
+ <xsl:apply-templates select=".." mode="id"/>
+ </xsl:template>
+
+ <!--if 'cond' attribute exists it shall be sourrounded with brackets-->
+ <xsl:template match="sc:transition/@cond">
+ <xsl:value-of select="concat('[', ., ']')"/>
+ </xsl:template>
+
+ <xsl:template match="sc:transition">
+ <xsl:apply-templates select=".." mode="id"/>
+ <xsl:text> --> </xsl:text>
+ <xsl:apply-templates select="." mode="target"/>
+ <xsl:if test="@event or @cond">
+ <xsl:text> : </xsl:text>
+ </xsl:if>
+ <xsl:value-of select="@event"/>
+ <xsl:apply-templates select="@cond"/>
+ <xsl:text>
</xsl:text>
+ </xsl:template>
+
+</xsl:stylesheet>
diff --git a/scripts/scxml2plant/xslt/scxml2plantuml_finaldot.xslt b/scripts/scxml2plant/xslt/scxml2plantuml_finaldot.xslt
new file mode 100644
index 0000000000000000000000000000000000000000..f9050a05ddb1f253be2cea26a355830028cbe939
--- /dev/null
+++ b/scripts/scxml2plant/xslt/scxml2plantuml_finaldot.xslt
@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<xsl:stylesheet version="1.0"
+ xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
+ xmlns:sc="http://www.w3.org/2005/07/scxml">
+
+ <xsl:output method="text" encoding="utf-8"/>
+ <xsl:strip-space elements="*" />
+ <xsl:template match="text()|@*"/>
+ <xsl:template match="text()|@*" mode="target"/>
+ <xsl:template match="text()|@*" mode="id"/>
+
+ <xsl:template match="/sc:scxml">
+ <xsl:text>@startuml
</xsl:text>
+ <xsl:apply-templates select="@initial"/>
+ <xsl:apply-templates select="*"/>
+ <xsl:text>@enduml
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="@initial">
+ <xsl:text>[*] --> </xsl:text>
+ <xsl:call-template name="gettargetname">
+ <xsl:with-param name="id" select="."/>
+ </xsl:call-template>
+ <xsl:text>
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:initial">
+ <xsl:apply-templates select="*"/>
+ </xsl:template>
+
+ <xsl:template match="sc:state">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:apply-templates select="@initial"/>
+ <xsl:apply-templates select="*"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:history">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:apply-templates select="*"/>
+
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:value-of select="concat(' : <<', @type, ' history>>
')"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+ <xsl:template match="sc:parallel">
+ <xsl:text>state </xsl:text>
+ <xsl:apply-templates select="." mode="id"/>
+ <xsl:text> {
</xsl:text>
+
+ <xsl:for-each select="sc:state | sc:parallel | sc:history">
+ <xsl:apply-templates select="."/>
+ <xsl:if test="position() != last()">
+ <xsl:text>||
</xsl:text>
+ </xsl:if>
+ </xsl:for-each>
+
+ <xsl:apply-templates select="sc:transition"/>
+
+ <xsl:text>}
</xsl:text>
+ </xsl:template>
+
+
+ <!--get id of the state - special case for initial state-->
+ <xsl:template match="sc:state[@id] | sc:history[@id] | sc:parallel[@id]" mode="id">
+ <xsl:value-of select="@id"/>
+ </xsl:template>
+ <xsl:template match="sc:state | sc:history | sc:parallel" mode="id">
+ <xsl:text>unnamed</xsl:text>
+ </xsl:template>
+ <xsl:template match="sc:initial | sc:final" mode="id">
+ <xsl:text>[*]</xsl:text>
+ </xsl:template>
+
+ <xsl:template name="gettargetname">
+ <xsl:param name="id"/>
+ <xsl:apply-templates select="//*[@id = $id][1]" mode="id"/>
+ </xsl:template>
+
+ <!--target can be specified explicitely as some other state-->
+ <xsl:template match="sc:transition[@target]" mode="target">
+ <xsl:call-template name="gettargetname">
+ <xsl:with-param name="id" select="@target"/>
+ </xsl:call-template>
+ </xsl:template>
+ <!--or self-transiton when @target not specified-->
+ <xsl:template match="sc:transition" mode="target">
+ <xsl:apply-templates select=".." mode="id"/>
+ </xsl:template>
+
+ <!--if 'cond' attribute exists it shall be sourrounded with brackets-->
+ <xsl:template match="sc:transition/@cond">
+ <xsl:value-of select="concat('[', ., ']')"/>
+ </xsl:template>
+
+ <xsl:template match="sc:transition">
+ <xsl:apply-templates select=".." mode="id"/>
+ <xsl:text> --> </xsl:text>
+ <xsl:apply-templates select="." mode="target"/>
+ <xsl:if test="@event or @cond">
+ <xsl:text> : </xsl:text>
+ </xsl:if>
+ <xsl:value-of select="@event"/>
+ <xsl:apply-templates select="@cond"/>
+ <xsl:text>
</xsl:text>
+ </xsl:template>
+
+</xsl:stylesheet>
diff --git a/src/shared/drivers/Xbee/Xbee.h b/src/shared/drivers/Xbee/Xbee.h
index ea5625585ead196ab292591194e8f5e2942fcf47..cea5d667c63934b656b2da8f9647a8c34bb1c593 100644
--- a/src/shared/drivers/Xbee/Xbee.h
+++ b/src/shared/drivers/Xbee/Xbee.h
@@ -117,7 +117,7 @@ class Xbee : public Transceiver, public ActiveObject
public:
Xbee(SPIBusInterface& bus, GpioPin cs, GpioPin attn, GpioPin rst,
unsigned int send_timeout = 1000)
- : send_timeout(send_timeout), spi_xbee(bus, cs), attn(attn), rst(rst)
+ : send_timeout(send_timeout), spi_xbee(bus, cs, {}), attn(attn), rst(rst)
{
spi_xbee.config.clock_div = SPIClockDivider::DIV128;
diff --git a/src/shared/drivers/spi/MockSPIBus.h b/src/shared/drivers/spi/MockSPIBus.h
index 5bbcb07737e5ea0b15cd99d06ecf0c4b528a2f40..d3436ffe53216251065910730c580914af6e49f8 100644
--- a/src/shared/drivers/spi/MockSPIBus.h
+++ b/src/shared/drivers/spi/MockSPIBus.h
@@ -26,7 +26,7 @@
#include <cstdint>
#include <vector>
-#include "SPIInterface.h"
+#include "SPIBusInterface.h"
using std::vector;
diff --git a/src/shared/drivers/spi/SPIBus.h b/src/shared/drivers/spi/SPIBus.h
index eb02b313e4aa7fb938287342ecc0d12f2e39085b..e31c4232974fd91442c5181a45023e5bcfea18d0 100644
--- a/src/shared/drivers/spi/SPIBus.h
+++ b/src/shared/drivers/spi/SPIBus.h
@@ -21,7 +21,7 @@
* THE SOFTWARE.
*/
-#include "SPIInterface.h"
+#include "SPIBusInterface.h"
#pragma once
@@ -48,17 +48,11 @@ public:
SPIBus& operator=(SPIBus&&) = delete;
/**
- * @brief Wether to apply slave-specific bus configuration before each
- * transaction (BusTemplate compatibility mode).
- * Only set to false to use SPIDriver alongside BusTemplate.h.
- * Default value is true.
- *
- * @param value True: The slave configuration is applied to the SPI
- * peripheral before each transaction. False: No configuration is ever
- * applied to the SPI peripheral. The SPI peripheral retains the
- * configuration set by BusTemplate.h
+ * @brief Disable bus configuration: calls to configure() will have no
+ * effect after calling this & the SPI peripheral will need to be configured
+ * manually.
*/
- void enableSlaveConfiguration(bool value) { config_enabled = value; }
+ void disableBusConfiguration() { config_enabled = false; }
/**
* @brief See SPIBusInterface::write()
@@ -105,7 +99,7 @@ public:
*/
void configure(SPIBusConfig config) override;
-private:
+protected:
/**
* Writes a single byte on the SPI bus.
*
@@ -130,7 +124,7 @@ private:
SPI_TypeDef* spi;
- SPIBusConfig config;
+ SPIBusConfig config{};
bool config_enabled = true;
bool first_config_applied = false;
};
@@ -141,7 +135,7 @@ inline void SPIBus::write(uint8_t data) { write(&data); }
inline void SPIBus::write(uint8_t* data, size_t size)
{
- for (size_t i = 0; i < size; i++)
+ for (size_t i = 0; i < size; ++i)
{
write(data + i);
}
@@ -157,7 +151,7 @@ inline uint8_t SPIBus::read()
inline void SPIBus::read(uint8_t* data, size_t size)
{
- for (size_t i = 0; i < size; i++)
+ for (size_t i = 0; i < size; ++i)
{
read(data + i);
}
@@ -171,7 +165,7 @@ inline uint8_t SPIBus::transfer(uint8_t data)
inline void SPIBus::transfer(uint8_t* data, size_t size)
{
- for (size_t i = 0; i < size; i++)
+ for (size_t i = 0; i < size; ++i)
{
transfer(data + i);
}
@@ -232,7 +226,7 @@ inline void SPIBus::read(uint8_t* byte)
// Wait until the peripheral is ready to transmit
while ((spi->SR & SPI_SR_TXE) == 0)
;
- // Write the byte in the transmit buffer
+ // Write 0 in the transmit buffer
spi->DR = 0;
// Wait until byte is transmitted
diff --git a/src/shared/drivers/spi/SPIInterface.h b/src/shared/drivers/spi/SPIBusInterface.h
similarity index 98%
rename from src/shared/drivers/spi/SPIInterface.h
rename to src/shared/drivers/spi/SPIBusInterface.h
index 7a3eaa1fd3497e99dc517492833fe82d69badd81..9af7e336a23e77f59faf3d23144f216a65e3d3ea 100644
--- a/src/shared/drivers/spi/SPIInterface.h
+++ b/src/shared/drivers/spi/SPIBusInterface.h
@@ -31,6 +31,8 @@
using miosix::delayUs;
using miosix::GpioPin;
+class SPITransaction;
+
/**
* @brief SPI Clock divider.
* SPI clock frequency will be equal to the SPI peripheral bus clock speed (see
@@ -116,6 +118,7 @@ struct SPIBusConfig
*/
class SPIBusInterface
{
+ friend class SPITransaction;
public:
SPIBusInterface() {}
@@ -198,6 +201,9 @@ public:
* @return
*/
virtual void configure(SPIBusConfig config) = 0;
+
+private:
+ bool locked = false; // For use by SPITransaction
};
/**
@@ -211,8 +217,6 @@ struct SPISlave
///> with the slave.
GpioPin cs; ///> Chip select pin
- SPISlave(SPIBusInterface& bus, GpioPin cs) : bus(bus), cs(cs) {}
-
SPISlave(SPIBusInterface& bus, GpioPin cs, SPIBusConfig config)
: bus(bus), config(config), cs(cs)
{
diff --git a/src/shared/drivers/spi/SPIDriver.h b/src/shared/drivers/spi/SPIDriver.h
index c90ba4743742cfef611f55a0217c44fcd81d46ed..171d35b8263da201a6d00deb1b79a285e24204f6 100644
--- a/src/shared/drivers/spi/SPIDriver.h
+++ b/src/shared/drivers/spi/SPIDriver.h
@@ -23,6 +23,6 @@
#pragma once
-#include "SPIInterface.h"
+#include "SPIBusInterface.h"
#include "SPITransaction.h"
#include "SPIBus.h"
\ No newline at end of file
diff --git a/src/shared/drivers/spi/SPITransaction.cpp b/src/shared/drivers/spi/SPITransaction.cpp
index a6f026c6b821325aa8e4e836cbd8fbdb924aa4b3..de43334f0cb5770f0fdc6537748929f491e8f27f 100644
--- a/src/shared/drivers/spi/SPITransaction.cpp
+++ b/src/shared/drivers/spi/SPITransaction.cpp
@@ -23,37 +23,49 @@
#include "SPITransaction.h"
+#include <cassert>
+
+SPITransaction::SPITransaction(SPISlave slave)
+ : SPITransaction(slave.bus, slave.cs, slave.config)
+{
+}
+
SPITransaction::SPITransaction(SPIBusInterface& bus, GpioPin cs,
SPIBusConfig config)
: bus(bus), cs(cs)
{
+ // Only one SPITransaction may be active at any given time.
+ // Do not store an instance of SPITransaction for a long time! Create one,
+ // use it, and destroy it as soon as you are done operating on the bus!
+ // (just like mutexes)
+#ifdef DEBUG
+ assert(bus.locked == false);
+#endif
+ bus.locked = true;
bus.configure(config);
}
-SPITransaction::SPITransaction(SPISlave slave)
- : SPITransaction(slave.bus, slave.cs, slave.config)
-{
-}
+SPITransaction::~SPITransaction() { bus.locked = false; }
void SPITransaction::write(uint8_t cmd)
{
bus.select(cs);
- bus.write(&cmd, 1);
+ bus.write(cmd);
bus.deselect(cs);
}
void SPITransaction::write(uint8_t reg, uint8_t val)
{
bus.select(cs);
- bus.write(®, 1);
- bus.write(&val, 1);
+ bus.write(reg);
+ bus.write(val);
bus.deselect(cs);
}
void SPITransaction::write(uint8_t reg, uint8_t* data, size_t size)
{
bus.select(cs);
- bus.write(®, 1);
+ bus.write(reg);
bus.write(data, size);
bus.deselect(cs);
}
@@ -75,11 +87,13 @@ void SPITransaction::transfer(uint8_t* data, size_t size)
uint8_t SPITransaction::read(uint8_t reg, bool set_read_bit)
{
if (set_read_bit)
+ {
reg = reg | 0x80;
+ }
bus.select(cs);
- bus.write(®, 1);
- bus.read(®, 1);
+ bus.write(reg);
+ reg = bus.read();
bus.deselect(cs);
return reg;
}
@@ -88,10 +102,12 @@ void SPITransaction::read(uint8_t reg, uint8_t* data, size_t size,
bool set_read_bit)
{
if (set_read_bit)
+ {
reg = reg | 0x80;
+ }
bus.select(cs);
- bus.write(®, 1);
+ bus.write(reg);
bus.read(data, size);
bus.deselect(cs);
}
diff --git a/src/shared/drivers/spi/SPITransaction.h b/src/shared/drivers/spi/SPITransaction.h
index 2aed6c404cdbae94736c72ed2e86c9ff94fed219..b75c20d4ab86f2fdc8e57f8f08e6ba6a7e6ee038 100644
--- a/src/shared/drivers/spi/SPITransaction.h
+++ b/src/shared/drivers/spi/SPITransaction.h
@@ -1,19 +1,19 @@
/**
- *
- *
+ *
+ *
* Copyright (c) 2020 Skyward Experimental Rocketry
* Authors: Luca Erbetta (luca.erbetta@skywarder.eu)
- *
+ *
* 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
@@ -25,7 +25,7 @@
#pragma once
-#include "SPIInterface.h"
+#include "SPIBusInterface.h"
/**
* @brief Provides high-level access to the SPI Bus for a single transaction.
@@ -41,14 +41,15 @@
* {
* // Transaction begin:
* SPITransaction spi(bus, cs, config); // Configures the bus with the
- * // provided parameters
+ * // provided parameters.
*
* spi.write(REG_EX, 0x56); // writes data to REG_EX
* uint8_t reg2 = spi.read(REG_EX_2); // reads from REG_EX_2
*
* // ...As many read/writes as you wish...
*
- * // transaction end. SPITransaction object is destructed
+ * // transaction end. SPITransaction object is destructed and the bus is
+ * // freed for use by someone else
* }
*/
class SPITransaction
@@ -72,6 +73,8 @@ public:
*/
SPITransaction(SPIBusInterface& bus, GpioPin cs, SPIBusConfig config);
+ ~SPITransaction();
+
// Delete copy/move contructors/operators
SPITransaction(const SPITransaction&) = delete;
SPITransaction& operator=(const SPITransaction&) = delete;
diff --git a/src/shared/sensors/LIS3DSH/LIS3DSH.h b/src/shared/sensors/LIS3DSH/LIS3DSH.h
new file mode 100644
index 0000000000000000000000000000000000000000..78d5094e8c6a89de8023e165675dff96114227e1
--- /dev/null
+++ b/src/shared/sensors/LIS3DSH/LIS3DSH.h
@@ -0,0 +1,458 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * 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 "sensors/Sensor.h"
+#include "drivers/spi/SPIDriver.h"
+
+/**
+ * Driver for stm32f407vg discovery on-board 3-axis
+ * accelerometer + temperature sensor.
+ *
+ * The sensor is connected to SPI1 using the
+ * following GPIOs: PA5 : clock
+ * PA6 : miso
+ * PA7 : mosi
+ * PE3 : chip select
+*/
+class LIS3DSH: public AccelSensor, public TemperatureSensor
+{
+ public:
+
+ /**
+ * @brief Constructor.
+ *
+ * @param bus the spi bus.
+ * @param chip_select the chip_select for the sensor.
+ * @param _odr output data rate for the accelerometer.
+ * Default value is 100 Hz.
+ * @param _bdu BDU value, continuous or non-continuous update mode.
+ * Default value is to update after data has been read (BDU=1).
+ * @param _full_scale full scale range (from +/-2g up to +/-16g).
+ * Default value is +/-2g.
+ */
+ LIS3DSH(SPIBusInterface& bus,
+ GpioPin chip_select,
+ uint8_t _odr=ODR_100_HZ,
+ uint8_t _bdu=UPDATE_AFTER_READ_MODE,
+ uint8_t _full_scale=FULL_SCALE_2G):
+ spi_slave(bus, chip_select, {}), odr(_odr), bdu(_bdu), full_scale(_full_scale)
+ {
+ spi_slave.config.clock_div = SPIClockDivider::DIV64; // used to set the spi baud rate (maximum is 10 Mhz)
+ }
+
+ /**
+ * @brief Constructor.
+ *
+ * @param bus the spi bus.
+ * @param chip_select the chip_select for the sensor.
+ * @param config the spi bus configurations.
+ * @param _odr output data rate for the accelerometer.
+ * Default value is 100 Hz.
+ * @param _bdu BDU value, continuous or non-continuous update mode.
+ * Default value is to update after data has been read (BDU=1).
+ * @param _full_scale full scale range (from +/-2g up to +/-16g).
+ * Default value is +/-2g.
+ */
+ LIS3DSH(SPIBusInterface& bus,
+ GpioPin chip_select,
+ SPIBusConfig config,
+ uint8_t _odr=ODR_100_HZ,
+ uint8_t _bdu=UPDATE_AFTER_READ_MODE,
+ uint8_t _full_scale=FULL_SCALE_2G):
+ spi_slave(bus, chip_select, config), odr(_odr), bdu(_bdu), full_scale(_full_scale) {}
+
+ /**
+ * @brief Initialize the sensor.
+ *
+ * @return boolean value indicating whether the operation succeded or not
+ */
+ bool init() override {
+ // check if the sensor is already initialized
+ if (initialized) {
+ TRACE("[LIS3DSH] init() : already initialized \n");
+ return false;
+ }
+
+ // check if the sensor is working properly
+ if (!checkWhoAmI()) { // whoami default value
+ return false; // sensor correctly initialized
+ }
+
+ SPITransaction spi(spi_slave);
+
+ // set the full scale value in CTRL_REG5
+ uint8_t ctrl_reg5_value = (full_scale << 3);
+ spi.write(CTRL_REG5, ctrl_reg5_value);
+
+ // select the correct sensitivity
+ // for the specified full scale range
+ sensitivity = select_sensitivity();
+
+ // set the output data rate and the BDU in CTRL_REG4
+ // the three least significant bits are enable bits for X, Y and Z axis
+ uint8_t ctrl_reg4_value = (odr << 4) | (bdu << 3) | (7 << 0); // 7 = 111 -> enable the 3 axis
+ spi.write(CTRL_REG4, ctrl_reg4_value);
+
+ TRACE("[LIS3DSH] init() : ok \n");
+
+ initialized = true;
+
+ return true;
+ }
+
+ /**
+ * @brief Read new data from the accelerometer.
+ * Acceleretions are returned in mg.
+ *
+ * @return boolean value indicating whether the operation succeded or not
+ */
+ bool onSimpleUpdate() override {
+ // check if the sensor is initialized
+ if (!initialized) {
+ TRACE("[LIS3DSH] onSimpleUpdate() : not initialized, unable to sample data \n");
+ return false;
+ }
+ return readAccelData();
+ }
+
+ /**
+ * @brief Read temperature data.
+ * The temperature returned by the sensor is an 8-bits integer.
+ *
+ * @return boolean value indicating whether the operation succeded or not
+ */
+ bool updateTemperature() {
+ // check if the sensor is initialized
+ if (!initialized) {
+ TRACE("[LIS3DSH] updateTemperature() : not initialized, unable to sample data \n");
+ return false;
+ }
+
+ SPITransaction spi(spi_slave);
+
+ // NOTE: the temperature is given as a 8-bits integer (in 2-complement)
+ // while the TemperatureSensor interface returns a float value
+ // through the method tempDataPtr()
+ mLastTemp = spi.read(OUT_T) + TEMPERATURE_REF; // add the 'zero' of the temperature sensor
+
+ return true;
+ }
+
+ /**
+ * @brief Check if the sensor is working.
+ *
+ * @return boolean indicating whether the sensor is correctly working or not
+ */
+ bool selfTest() override {
+ // check if the sensor is initialized
+ if (!initialized) {
+ TRACE("[LIS3DSH] selfTest() : not initialized, unable to self-test \n");
+ return false;
+ }
+
+ SPITransaction spi(spi_slave);
+
+ const uint8_t num_samples = 5; // number of samples to be used
+ // vectors for storing samples, both
+ // in self-test and no-self-test modes
+ float X_ST[] = {0, 0, 0, 0, 0};
+ float Y_ST[] = {0, 0, 0, 0, 0};
+ float Z_ST[] = {0, 0, 0, 0, 0};
+ float X_NO_ST[] = {0, 0, 0, 0, 0};
+ float Y_NO_ST[] = {0, 0, 0, 0, 0};
+ float Z_NO_ST[] = {0, 0, 0, 0, 0};
+ // vectors containing avg values for each axis
+ float AVG_ST[] = {0, 0, 0}; // one element per axis
+ float AVG_NO_ST[] = {0, 0, 0}; // one element per axis
+
+ // set full scale to default value +/-2g
+ // enable the self-test mode with positive sign
+ uint8_t ctrl_reg5_value = (FULL_SCALE_2G << 3) | (1 << 1);
+ spi.write(CTRL_REG5, ctrl_reg5_value);
+ // read samples in self-test positive sign mode
+ for (int i = 0; i < num_samples; i++) {
+ readAccelData();
+ X_ST[i] = mLastAccel.getX();
+ Y_ST[i] = mLastAccel.getY();
+ Z_ST[i] = mLastAccel.getZ();
+ miosix::Thread::sleep(10);
+ }
+ // reset the self-test bits
+ ctrl_reg5_value &= ~(3 << 1);
+ // normal mode with full scale range +/-2g
+ ctrl_reg5_value |= (FULL_SCALE_2G << 3);
+ spi.write(CTRL_REG5, ctrl_reg5_value);
+ // read samples in normal mode
+ for (int i = 0; i < num_samples; i++) {
+ readAccelData();
+ X_NO_ST[i] = mLastAccel.getX();
+ Y_NO_ST[i] = mLastAccel.getY();
+ Z_NO_ST[i] = mLastAccel.getZ();
+ miosix::Thread::sleep(10);
+ }
+ // compute averages vectors:
+ // they contain one element for each axis
+ // (position 0 for x, 1 for y and 2 for z)
+ // AVG_ST : for self-test samples
+ // AVG_NO_ST : for normal mode samples
+ for (int i = 0; i < num_samples; i++) {
+ AVG_ST[0] += X_ST[i];
+ AVG_ST[1] += Y_ST[i];
+ AVG_ST[2] += Z_ST[i];
+ AVG_NO_ST[0] += X_NO_ST[i];
+ AVG_NO_ST[1] += Y_NO_ST[i];
+ AVG_NO_ST[2] += Z_NO_ST[i];
+ }
+ for (int i = 0; i < 3; i++) {
+ AVG_ST[i] /= num_samples;
+ AVG_NO_ST[i] /= num_samples;
+ }
+
+ // Reset registers values with the ones
+ // specified in the constructor:
+ // set the full scale value in CTRL_REG5
+ ctrl_reg5_value = (full_scale << 3); // normal mode
+ spi.write(CTRL_REG5, ctrl_reg5_value);
+
+ // check that the averages differences
+ // do not exceed maximum tolerance
+ if ((AVG_NO_ST[0] - AVG_ST[0] > SELF_TEST_TOLERANCE_X_Y) ||
+ (AVG_NO_ST[1] - AVG_ST[1] > SELF_TEST_TOLERANCE_X_Y) ||
+ (AVG_NO_ST[2] - AVG_ST[2] > SELF_TEST_TOLERANCE_Z)) {
+ TRACE("[LIS3DSH] selfTest() : failed \n");
+ return false;
+ }
+ TRACE("[LIS3DSH] selfTest() : ok \n");
+ return true;
+ }
+
+ /**
+ * @brief Output data rate allowed values (4 bits).
+ */
+ enum ODR {
+ ODR_POWER_DOWN = 0, // 0000
+ ODR_3_125_HZ = 1, // 0001, 3.125 Hz
+ ODR_6_25_HZ = 2, // 0010, 6.25 Hz
+ ODR_12_5_HZ = 3, // 0011, 12.5 Hz
+ ODR_25_HZ = 4, // 0100
+ ODR_50_HZ = 5, // 0101
+ ODR_100_HZ = 6, // 0110, default value
+ ODR_400_HZ = 7, // 0111
+ ODR_800_HZ = 8, // 1000
+ ODR_1600_HZ = 9 // 1001
+ };
+
+ /**
+ * @brief Full scale range allowed values (3 bits).
+ */
+ enum FULL_SCALE {
+ FULL_SCALE_2G = 0, // 000, +/- 2g
+ FULL_SCALE_4G = 1, // 001, +/- 4g
+ FULL_SCALE_6G = 2, // 010, +/- 6g
+ FULL_SCALE_8G = 3, // 011, +/- 8g
+ FULL_SCALE_16G = 4, // 100 +/- 16g
+ };
+
+ /**
+ * @brief Block data update allowed modes (1 bit).
+ */
+ enum BDU {
+ CONTINUOUS_UPDATE_MODE = 0, // continuous update of accelerometer data
+ UPDATE_AFTER_READ_MODE = 1 // values updated only when MSB and LSB are read (recommended)
+ };
+
+ private:
+
+ /**
+ * @brief Read data from the accelerometer.
+ *
+ * @return whether the operation succeded or not
+ */
+ bool readAccelData() {
+ SPITransaction spi(spi_slave);
+
+ // read the sensor's status register
+ uint8_t status = spi.read(STATUS);
+
+ if (status & 0x08) { // bit 3 of status set to 1 (new data available)
+ if (status & 0x80) { // bit 7 of status set to 1 (some data overwritten)
+
+ // read acceleration on X
+ int8_t acc_L = spi.read(OUT_X_L);
+ int8_t acc_H = spi.read(OUT_X_H);
+ int16_t acceleration = combine(acc_H, acc_L) * sensitivity;
+ mLastAccel.setX(acceleration);
+
+ // read acceleration on Y
+ acc_L = spi.read(OUT_Y_L);
+ acc_H = spi.read(OUT_Y_H);
+ acceleration = combine(acc_H, acc_L) * sensitivity;
+ mLastAccel.setY(acceleration);
+
+ // read acceleration on Z
+ acc_L = spi.read(OUT_Z_L);
+ acc_H = spi.read(OUT_Z_H);
+ acceleration = combine(acc_H, acc_L) * sensitivity;
+ mLastAccel.setZ(acceleration);
+
+ return true;
+ }
+ }
+
+ return false;
+ }
+
+ /**
+ * @brief Check that the WHO_AM_I register
+ * contains the correct value.
+ *
+ * @return boolean value indicating whether the value read
+ * from the WHO_AM_I register is correct or not
+ */
+ bool checkWhoAmI() {
+ SPITransaction spi(spi_slave);
+
+ // check the WHO_AM_I_REG register
+ uint8_t who_am_i_value = spi.read(WHO_AM_I_REG);
+ if (who_am_i_value == WHO_AM_I_DEFAULT_VALUE) { // whoami default value
+ TRACE("[LIS3DSH] WHO_AM_I : ok \n");
+ return true;
+ }
+ else {
+ TRACE("[LIS3DSH] WHO_AM_I : wrong value, %d instead of %d \n",
+ who_am_i_value, WHO_AM_I_DEFAULT_VALUE);
+ last_error = ERR_NOT_ME;
+ }
+
+ return false;
+ }
+
+ /**
+ * @brief Combine low and high bits in a single number.
+ *
+ * @param msb the most significatn bits
+ * @param lsb the least significant bits
+ * @return MSB and LSB combined in one value
+ */
+ int16_t combine(uint8_t msb, uint8_t lsb) {
+ return (msb << 8) | lsb;
+ }
+
+ /**
+ * @brief Given the requested full scale range, select the correct sensitivity value.
+ *
+ * @return the sensitivity value corresponding to the requested full scale range
+ */
+ float select_sensitivity() {
+ float s;
+ switch (full_scale) {
+ case FULL_SCALE_2G:
+ s = sensitivity_values._2G;
+ break;
+ case FULL_SCALE_4G:
+ s = sensitivity_values._4G;
+ break;
+ case FULL_SCALE_6G:
+ s = sensitivity_values._6G;
+ break;
+ case FULL_SCALE_8G:
+ s = sensitivity_values._8G;
+ break;
+ case FULL_SCALE_16G:
+ s = sensitivity_values._16G;
+ break;
+ default:
+ TRACE("[LIS3DSH] Invalid full scale range given, using +/-2g \n");
+ this->full_scale = FULL_SCALE_2G;
+ s = sensitivity_values._2G;
+ break;
+ }
+ return s;
+ }
+
+ /**
+ * @brief Registers' addresses definition.
+ */
+ enum REG {
+
+ // whoami register
+ WHO_AM_I_REG = 0x0F,
+
+ // control registers for the accelerometer
+ CTRL_REG4 = 0x20, // control register to set accelerometer's ODR and BDU
+ CTRL_REG1 = 0x21, // state Machine 1 interrupt configuration register
+ CTRL_REG2 = 0x22, // state Machine 2 interrupt configuration register
+ CTRL_REG3 = 0x23,
+ CTRL_REG5 = 0x24, // control register to set the accelerometer full scale range,
+ // anti-aliansing filter and self-test enable
+ CTRL_REG6 = 0x25,
+
+ // status register
+ STATUS = 0x27,
+
+ // accelerometer output registers
+ // for x, y and z axis
+ // (low and high bits in separate registers)
+ OUT_X_L = 0x28,
+ OUT_X_H = 0x29,
+ OUT_Y_L = 0x2A,
+ OUT_Y_H = 0x2B,
+ OUT_Z_L = 0x2C,
+ OUT_Z_H = 0x2D,
+
+ // temperature output register
+ OUT_T = 0x0C,
+ };
+
+ /**
+ * @brief Definition of each sensitivity value,
+ * corresponding to full scale range allowed values.
+ */
+ struct SENSITIVITY {
+ const float _2G = 0.06; // +/- 2g
+ const float _4G = 0.12; // +/- 4g
+ const float _6G = 0.18; // +/- 6g
+ const float _8G = 0.24; // +/- 8g
+ const float _16G = 0.73; // +/- 16g
+ };
+ SENSITIVITY sensitivity_values;
+
+ SPISlave spi_slave;
+
+ bool initialized = false; // whether the sensor has been initialized or not
+
+ uint8_t odr; // output data rate, default 100 Hz
+ uint8_t bdu; // continuous mode or not, default is 0 (continuous update)
+ uint8_t full_scale; // full scale range value (default +/-2g)
+
+ float sensitivity = sensitivity_values._2G; // default sensitivity value
+
+ uint8_t WHO_AM_I_DEFAULT_VALUE = 63; // 00111111
+
+ uint8_t TEMPERATURE_REF = 25; // temperature sensor 'zero'/reference value
+ // (value 0x00 from the sensor corresponds to 25 degrees celsius)
+
+ uint16_t SELF_TEST_TOLERANCE_X_Y = 140; // 140 mg
+ uint16_t SELF_TEST_TOLERANCE_Z = 590; // 590 mg
+};
diff --git a/scripts/old/excel_eventgen/Topics.h.template b/src/shared/sensors/LIS3DSH/LIS3DSHData.h
similarity index 54%
rename from scripts/old/excel_eventgen/Topics.h.template
rename to src/shared/sensors/LIS3DSH/LIS3DSHData.h
index 43e72f7302673cf61bbb3a6605681feb08cf7236..b9d834d5ea7a8ddb8fe45ad5ff4d313022060901 100644
--- a/scripts/old/excel_eventgen/Topics.h.template
+++ b/src/shared/sensors/LIS3DSH/LIS3DSHData.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,42 +20,25 @@
* THE SOFTWARE.
*/
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
-#ifndef SRC_SHARED_BOARDS_HOMEONE_TOPICS_H
-#define SRC_SHARED_BOARDS_HOMEONE_TOPICS_H
-
-#include <stdint.h>
-#include <string>
+#pragma once
-using std::map;
-using std::string;
+#include <ostream>
+#include "math/Vec3.h"
-namespace HomeoneBoard
-{{
-/**
- * Definition of various event topics to use in the EventBroker
- */
-enum Topics : uint8_t
-{{
-{enum_data}
-}};
-
-/**
- * @brief Returns the name of the provided event
- *
- * @param event
- * @return string
- */
-string getTopicString(uint8_t topic);
+struct LIS3DSHData
+{
+ long long timestamp;
+ Vec3 accel;
+ int8_t temperature;
-}} // namespace HomeoneBoard
+ static std::string header()
+ {
+ return "timestamp,acc_x,acc_y,acc_z,temperature\n";
+ }
-#endif /* SRC_SHARED_BOARDS_HOMEONE_TOPICS_H_ */
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << accel.getX() << "," << accel.getY() << ","
+ << accel.getZ() << temperature << "\n";
+ }
+};
diff --git a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
index d0b1d3416f989db4b4d5b8fb905ae9b1ea0031de..6d9f6b947412774a1cef8bfeebb7623421b2e6c1 100644
--- a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
+++ b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
@@ -32,6 +32,14 @@
using miosix::GpioPin;
using std::array;
+// data Structs
+struct lsm9ds1XLGSample
+{
+ uint64_t timestamp;
+ Vec3 axelData;
+ Vec3 gyroData;
+};
+
class LSM9DS1_XLG : public GyroSensor,
public AccelSensor,
public TemperatureSensor
@@ -82,7 +90,7 @@ public:
GyroFSR gyroRange = GyroFSR::FS_245, ODR odr = ODR::ODR_15,
bool fifo_enabled = false, unsigned int fifo_watermark = 24)
: fifo_enabled(fifo_enabled), fifo_watermark(fifo_watermark),
- spislave(bus, cs), axelFSR(axelRange), gyroFSR(gyroRange), odr(odr)
+ spislave(bus, cs, {}), axelFSR(axelRange), gyroFSR(gyroRange), odr(odr)
{
// SPI config
spislave.config.clock_div = SPIClockDivider::DIV64;
@@ -177,35 +185,27 @@ public:
}
// common setup
- spi.write(regMapXLG::CTRL_REG8,
- CTRL_REG8_VAL); // addr auto-increment while reading/writing
+ spi.write(regMapXLG::CTRL_REG8, CTRL_REG8_VAL); // addr auto-increment while reading/writing
// FIFO setup: FIFO enabled in continous mode, decimation OFF,
// temperature on FIFO ON.
if (fifo_enabled)
{
- spi.write(regMapXLG::FIFO_CTRL,
- (FIFO_CTRL_VAL |
- fifo_watermark)); // FIFO continous mode + fifo
- // watermark threshold setup
- spi.write(regMapXLG::INT1_CTRL,
- INT1_CTRL_VAL); // interrupt on FIFO treshold
- spi.write(
- regMapXLG::CTRL_REG9,
- (CTRL_REG9_VAL | 0x02)); // DRDY_mask_bit OFF, I2C OFF, FIFO ON
+
+ spi.write(regMapXLG::FIFO_CTRL,(FIFO_CTRL_VAL | fifo_watermark)); // FIFO continous mode + fifo watermark threshold setup
+ spi.write(regMapXLG::INT1_CTRL,INT1_CTRL_VAL); // interrupt on FIFO treshold
+ spi.write(regMapXLG::CTRL_REG9,(CTRL_REG9_VAL | 0x02)); // DRDY_mask_bit OFF, I2C OFF, FIFO ON
}
else
{
- spi.write(regMapXLG::CTRL_REG9,
- CTRL_REG9_VAL); // DRDY_mask_bit OFF, I2C OFF, FIFO OFF
+ spi.write(regMapXLG::CTRL_REG9,CTRL_REG9_VAL); // DRDY_mask_bit OFF, I2C OFF, FIFO OFF
}
// Axel Setup: ODR, FSR defined by constructor, auto anti-aliasing BW
// (max), LPF2/HPF bypassed and disabled, axel output enabled by default
// @ startup
uint8_t CTRL_REG6_XL_VAL = (int)odr << 5 | (int)axelFSR << 3;
- spi.write(regMapXLG::CTRL_REG6_XL,
- CTRL_REG6_XL_VAL); // ODR, FSR, auto BW (max) function of ODR
+ spi.write(regMapXLG::CTRL_REG6_XL, CTRL_REG6_XL_VAL); // ODR, FSR, auto BW (max) function of ODR
// Gyro Setup : ODR, FSR defined by constructor, LPF2/HPF bypassed and
// disabled, gyro output enabled by default @ startup
@@ -215,43 +215,21 @@ public:
// sign and orientation Setup <--- BOARD DEPENDENT
// Check all the registers have been written correctly
- if (spi.read(regMapXLG::CTRL_REG8) != CTRL_REG8_VAL)
- {
- return false;
- }
+ if (spi.read(regMapXLG::CTRL_REG8) != CTRL_REG8_VAL) { return false; }
if (fifo_enabled)
- {
- if (spi.read(regMapXLG::FIFO_CTRL) !=
- (FIFO_CTRL_VAL | fifo_watermark))
- {
- return false;
- }
- if (spi.read(regMapXLG::INT1_CTRL) != INT1_CTRL_VAL)
- {
- return false;
- }
- if (spi.read(regMapXLG::CTRL_REG9) != (CTRL_REG9_VAL | 0x02))
- {
- return false;
- }
+ {
+ if (spi.read(regMapXLG::FIFO_CTRL) != (FIFO_CTRL_VAL | fifo_watermark)) { return false; }
+ if (spi.read(regMapXLG::INT1_CTRL) != INT1_CTRL_VAL) { return false; }
+ if (spi.read(regMapXLG::CTRL_REG9) != (CTRL_REG9_VAL | 0x02)) { return false; }
}
else
{
- if (spi.read(regMapXLG::CTRL_REG9) != CTRL_REG9_VAL)
- {
- return false;
- }
- }
- if (spi.read(regMapXLG::CTRL_REG6_XL) != CTRL_REG6_XL_VAL)
- {
- return false;
- }
- if (spi.read(regMapXLG::CTRL_REG1_G) != CTRL_REG1_G_VAL)
- {
- return false;
+ if (spi.read(regMapXLG::CTRL_REG9) != CTRL_REG9_VAL) { return false; }
}
-
- discardSamples();
+ if (spi.read(regMapXLG::CTRL_REG6_XL) != CTRL_REG6_XL_VAL) { return false; }
+ if (spi.read(regMapXLG::CTRL_REG1_G) != CTRL_REG1_G_VAL) { return false; }
+
+ discardSamples(spi); //LUCA SCS MERDA (x2) <3
return true;
}
@@ -289,9 +267,9 @@ public:
y_gy * gyroSensitivity / 1000,
z_gy * gyroSensitivity / 1000);
- mLastTemp =
- tempZero + (temp / tempSensistivity); // 25°C + TEMP*S devo
- // castare a float "temp"?
+ mLastTemp = tempZero +
+ (temp / tempSensistivity); // 25°C + TEMP*S devo
+ // castare a float "temp"?
}
else
{ // if FIFO enabled: do not store temperature, it can be read using
@@ -301,10 +279,12 @@ public:
{
SPITransaction spi(spislave);
- spi.read(OUT_X_L_G, buf,
- fifo_watermark * 12); // format:
- // gxl,gxh,gyl,gyh,gzl,gzh,axl,axh,ayl,ayh,azl,azh
- // for each sample
+ spi.read(
+ OUT_X_L_G, buf,
+ fifo_watermark *
+ 12); // format:
+ // gxl,gxh,gyl,gyh,gzl,gzh,axl,axh,ayl,ayh,azl,azh
+ // for each sample
}
// convert & store
for (int i = 0; i < fifo_watermark; i++)
@@ -317,12 +297,12 @@ public:
int16_t y_xl = buf[i * 12 + 8] | buf[i * 12 + 9] << 8;
int16_t z_xl = buf[i * 12 + 10] | buf[i * 12 + 11] << 8;
- gyro_fifo[i] = Vec3(x_gy * gyroSensitivity / 1000,
- y_gy * gyroSensitivity / 1000,
- z_gy * gyroSensitivity / 1000);
- axel_fifo[i] = Vec3(x_xl * axelSensitivity / 1000,
- y_xl * axelSensitivity / 1000,
- z_xl * axelSensitivity / 1000);
+ fifo[i].gyroData = Vec3(x_gy * gyroSensitivity / 1000,
+ y_gy * gyroSensitivity / 1000,
+ z_gy * gyroSensitivity / 1000);
+ fifo[i].axelData = Vec3(x_xl * axelSensitivity / 1000,
+ y_xl * axelSensitivity / 1000,
+ z_xl * axelSensitivity / 1000);
}
}
return true;
@@ -350,16 +330,15 @@ public:
spi.write(FIFO_CTRL, 0); // Bypass Mode
miosix::Thread::sleep(20); // Wait
spi.write(FIFO_CTRL, FIFO_CTRL_VAL | fifo_watermark); // re-enable FIFO
- discardSamples();
+ discardSamples(spi);
}
- const array<Vec3, 32>& getGyroFIFO() const { return gyro_fifo; }
- const array<Vec3, 32>& getAxelFIFO() const { return axel_fifo; }
+ const array<lsm9ds1XLGSample, 32>& getLsm9ds1FIFO() const { return fifo; }
private:
bool fifo_enabled;
uint8_t fifo_watermark;
- array<Vec3, 32> gyro_fifo, axel_fifo;
+ array<lsm9ds1XLGSample, 32> fifo;
SPISlave spislave;
@@ -374,7 +353,7 @@ private:
float tempSensistivity = 16.0f;
static const uint8_t samplesToDiscard = 8; // max possible val
- void discardSamples()
+ void discardSamples(SPITransaction& spi)
{
//@ startup, some samples have to be discarded (datasheet)
@@ -387,7 +366,6 @@ private:
{
// if FIFO is enabled, read first <samplesToDiscard> samples and
// discard them
- SPITransaction spi(spislave);
for (int i = 0; i < samplesToDiscard; i++)
{
spi.read(regMapXLG::OUT_X_L_XL, 6);
diff --git a/src/shared/sensors/LSM9DS1/LSM9DSI_Magneto.h b/src/shared/sensors/LSM9DS1/LSM9DSI_Magneto.h
index 658899900bd8d65693e054661ee0495fd9849f31..be2d6361683e76134c410e6d04c7078ca4cbfb85 100644
--- a/src/shared/sensors/LSM9DS1/LSM9DSI_Magneto.h
+++ b/src/shared/sensors/LSM9DS1/LSM9DSI_Magneto.h
@@ -71,7 +71,7 @@ class LSM9DS1_M : public CompassSensor
GpioPin cs,
MagFSR magRange = MagFSR::FS_8,
ODR odr = ODR::ODR_0_625
- ): spislave(bus, cs), magFSR(magRange), odr(odr){
+ ): spislave(bus, cs, {}), magFSR(magRange), odr(odr){
//SPI config
spislave.config.clock_div=SPIClockDivider::DIV64;
}
diff --git a/src/shared/sensors/SensorManager.cpp b/src/shared/sensors/SensorManager.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..3bfcd024fa71da12c024fd20e2cd4549f731a3f8
--- /dev/null
+++ b/src/shared/sensors/SensorManager.cpp
@@ -0,0 +1,120 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * 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 "SensorManager.h"
+
+SensorManager::SensorManager() {
+
+}
+
+SensorManager::~SensorManager() {
+
+}
+
+bool SensorManager::start() {
+ initScheduler();
+ return scheduler.start();
+}
+
+void SensorManager::stop() {
+ scheduler.stop();
+}
+
+bool SensorManager::addSensor(Sensor* sensor,
+ uint32_t freq,
+ function_t sensor_callback,
+ SamplerType sampler_type) {
+
+ // avoid adding sensors that fail to be initalized
+ if (!initSensor(sensor)) {
+ TRACE("[SM] Failed to initialize sensor \n");
+ return false;
+ }
+
+ TRACE("[SM] Adding sensor with frequency %u Hz \n", freq);
+
+ // check if a sampler with the same frequency and the same type exists
+ for(auto s : samplers) {
+ if (freq == s.sampler->getFrequency() &&
+ sampler_type == s.sampler->getType()) {
+ s.sampler->addSensor(sensor, sensor_callback);
+ return true;
+ }
+ }
+
+ SensorSampler* new_sampler;
+
+ if (sampler_type == SIMPLE_SAMPLER) // assign the correct type and frequency to the sampler
+ new_sampler = new SimpleSensorSampler(freq, current_id);
+ else
+ new_sampler = new DMASensorSampler(freq, current_id);
+
+ current_id++;
+
+ new_sampler->addSensor(sensor, sensor_callback); // add the sensor to the sampler
+
+ /*
+ * std::bind syntax:
+ * std::bind(&MyClass::someFunction, &myclass_instance, [someFunction args])
+ */
+ // function to be periodically called by the scheduler (to sample the sensors)
+ function_t new_sampler_update_function = std::bind(&SensorSampler::sampleAndCallback, new_sampler);
+
+ samplers.push_back({
+ new_sampler,
+ new_sampler_update_function
+ });
+
+ return true;
+}
+
+void SensorManager::addCallback(uint32_t freq, function_t callback, uint8_t id) {
+ scheduler.add(
+ callback,
+ 1000 / freq,
+ id,
+ miosix::getTick() + 10
+ );
+}
+
+bool SensorManager::initSensor(Sensor* sensor) {
+ return sensor->init() && sensor->selfTest();
+}
+
+void SensorManager::initScheduler() {
+ uint64_t start_time = miosix::getTick() + 10;
+ uint32_t period = 0;
+ // add all the samplers to the scheduler
+ for(auto& s : samplers) {
+ period = 1000 / s.sampler->getFrequency(); // in milliseconds
+ // use the frequency as the ID of the task in the scheduler
+ scheduler.add(s.sampler_update_function, period, s.sampler->getId(), start_time);
+ }
+}
+
+vector<SensorManager::Sampler_t>& SensorManager::getSamplers() {
+ return samplers;
+}
+
+TaskScheduler& SensorManager::getScheduler() {
+ return scheduler;
+}
diff --git a/src/shared/sensors/SensorManager.h b/src/shared/sensors/SensorManager.h
new file mode 100755
index 0000000000000000000000000000000000000000..2467cc83ffb37e8a413852a50e1b97b69900210c
--- /dev/null
+++ b/src/shared/sensors/SensorManager.h
@@ -0,0 +1,127 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * 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 <scheduler/TaskScheduler.h>
+#include <sensors/SensorSampler.h>
+
+using std::vector;
+
+/**
+ * The SensorManager class manages all the sensors connected to the Board.
+ *
+ * Sensors are grouped by "type" (Simple or DMA) and "sample frequency" and
+ * grouped in various SensorSampler objects. These objects are then added to the
+ * scheduler that manages the timings for the sampling.
+ * After a SensorSampler has finished sampling its sensors, it will call a
+ * callback, where these samples can be processed and dispatched.
+ */
+class SensorManager
+{
+public:
+
+ typedef std::function<void()> function_t;
+
+ /**
+ * @brief Structure used to keep track of already existing
+ * SimplerSensorSampler, their frequency and the function
+ * to be passed to the scheduler.
+ */
+ struct Sampler_t {
+ SensorSampler* sampler; // the sensor sampler
+ function_t sampler_update_function; // function periodically called by the scheduler
+ };
+
+ SensorManager();
+
+ ~SensorManager();
+
+ /**
+ * @brief Start the sensor manager.
+ */
+ bool start();
+
+ /**
+ * @brief Stop the sensor manager.
+ */
+ void stop();
+
+ /**
+ * @brief Add a sensor to be sampled with a SensorSampler
+ * and the corresponding callback to be called at the given frequency.
+ *
+ * @param sensor the sensor to be added
+ * @param freq the frequency at which the sensor must be sampled
+ * @param callback the function to be called after the sensor has been sampled
+ * @param sampler_type the type of the sampler, SIMPLE_SAMPLER or DMA_SAMPLER
+ * @return boolen value indicating whether the operation complete successfully or not
+ */
+ bool addSensor(Sensor* sensor, uint32_t freq,
+ function_t callback,
+ SamplerType sampler_type=SIMPLE_SAMPLER);
+
+ /**
+ * @brief Add a callback to be called at the given frequency.
+ *
+ * @param freq the frequency at which the function must be called
+ * @param callback the function to be called periodically
+ * @param id the identifier for the task in the scheduler
+ */
+ void addCallback(uint32_t freq, function_t callback, uint8_t id);
+
+ /**
+ * @return refernece to the samplers vector
+ */
+ vector<Sampler_t>& getSamplers();
+
+ /**
+ * @return reference to the sensors sampling task scheduler
+ */
+ TaskScheduler& getScheduler();
+
+ //SensorManagerStatus getStatus() { return status; }
+
+private:
+ /**
+ * @brief Initialize a sensor and run the self-test.
+ *
+ * @param sensor the sensor to be initialized
+ */
+ bool initSensor(Sensor* sensor);
+
+ /**
+ * @brief Add all the SensorSamplers to the scheduler and begins sampling.
+ */
+ void initScheduler();
+
+
+ TaskScheduler scheduler;
+
+ // vectors containing samplers
+ vector<Sampler_t> samplers;
+
+ //SensorManagerStatus status;
+ //SensorStatus sensor_status;
+
+ uint32_t current_id = 0; // incrementally assign IDs to scheduler tasks
+};
diff --git a/src/shared/sensors/SensorSampler.cpp b/src/shared/sensors/SensorSampler.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1f8b853e812e1ddafb06d08467017a8e3a8fa2ca
--- /dev/null
+++ b/src/shared/sensors/SensorSampler.cpp
@@ -0,0 +1,92 @@
+/* Copyright (c) 2017-2020 Skyward Experimental Rocketry
+ * Author: Alain Carlucci, Luca Conterio
+ *
+ * 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 "SensorSampler.h"
+
+using namespace std;
+
+SensorSampler::SensorSampler(SamplerType type, uint32_t freq, uint32_t id) :
+ type(type), freq(freq), id(id) {}
+
+void SensorSampler::sampleAndCallback() {
+ for (auto it = sensors_map.begin(); it != sensors_map.end(); it++) {
+ sampleSensor(it->first);
+ it->second(); // callback
+ }
+}
+
+SamplerType SensorSampler::getType() {
+ return type;
+}
+
+uint32_t SensorSampler::getId() {
+ return id;
+}
+
+uint32_t SensorSampler::getFrequency() {
+ return freq;
+}
+
+uint32_t SensorSampler::getNumSensors() {
+ return sensors_map.size();
+}
+
+// simple sampler
+
+SimpleSensorSampler::SimpleSensorSampler(uint32_t freq, uint32_t id) :
+ SensorSampler(SIMPLE_SAMPLER, freq, id) {}
+
+SimpleSensorSampler::~SimpleSensorSampler() {}
+
+void SimpleSensorSampler::addSensor(Sensor* sensor, function_t sensor_callback) {
+ sensors_map[sensor] = sensor_callback;
+}
+
+void SimpleSensorSampler::sampleSensor(Sensor* s) {
+ s->onSimpleUpdate();
+}
+
+// DMA sampler
+DMASensorSampler::DMASensorSampler(uint32_t freq, uint32_t id) :
+ SensorSampler(DMA_SAMPLER, freq, id) {}
+
+
+DMASensorSampler::~DMASensorSampler() {}
+
+void DMASensorSampler::addSensor(Sensor* sensor, function_t sensor_callback) {
+ vector<SPIRequest> requests = sensor->buildDMARequest();
+
+ sensors_map[sensor] = sensor_callback;
+ requests_map.insert(pair<Sensor*, vector<SPIRequest>>(sensor, requests)); // can't use standard operator=
+}
+
+void DMASensorSampler::sampleSensor(Sensor* s) {
+ auto& driver = SPIDriver::instance();
+
+ vector<SPIRequest> requests = requests_map[s];
+
+ if (driver.transaction(requests)) {
+ for (auto r : requests) {
+ s->onDMAUpdate(r);
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/shared/sensors/SensorSampler.h b/src/shared/sensors/SensorSampler.h
new file mode 100644
index 0000000000000000000000000000000000000000..1e43f276ce98edb6fa80bc8a62d79dbf01ed70a6
--- /dev/null
+++ b/src/shared/sensors/SensorSampler.h
@@ -0,0 +1,140 @@
+/* Copyright (c) 2017-2020 Skyward Experimental Rocketry
+ * Author: Alain Carlucci, Luca Conterio
+ *
+ * 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.
+ */
+#ifndef SENSOR_SAMPLING_H
+#define SENSOR_SAMPLING_H
+
+#include <Common.h>
+#include "Sensor.h"
+
+using namespace std;
+
+/**
+ * Enum to distinguish the sensor sampler type,
+ * if it a simple one or if it uses DMA.
+ */
+enum SamplerType {
+ SIMPLE_SAMPLER = 0,
+ DMA_SAMPLER = 1
+};
+
+
+/**
+ * Virtual sensor sampler class.
+ */
+class SensorSampler
+{
+ public:
+
+ typedef function<void()> function_t;
+
+ /**
+ * @brief Constructor.
+ *
+ * @param type sampler type, SIMPLER_SAMPLER or DMA_SAMPLER
+ * @param freq frequency at which the sampler performs sensors update
+ */
+ SensorSampler(SamplerType type, uint32_t freq, uint32_t id);
+
+ /**
+ * @brief Add a sensor to the sensors vector.
+ *
+ * @param sensor the sensor to be added
+ */
+ virtual void addSensor(Sensor* sensor, function_t callback) = 0;
+
+ /**
+ * @brief For each sensor, sample it and call the corresponding callback.
+ */
+ void sampleAndCallback();
+
+ /**
+ * @return the sampler's type
+ */
+ SamplerType getType();
+
+ /**
+ * @return the sampler's ID
+ */
+ uint32_t getId();
+
+ /**
+ * @return the sampler's activation frequency
+ */
+ uint32_t getFrequency();
+
+ /**
+ * @return the number of sensors assigned to this sampler
+ */
+ uint32_t getNumSensors();
+
+ private:
+ /**
+ * @brief Perform the update of all the sensors in the sampler.
+ */
+ virtual void sampleSensor(Sensor* s) = 0;
+
+ SamplerType type; // the sampler's type
+ uint32_t freq; // frequency at which the sampler performs sensors update
+ uint32_t id; // id used for scheduler task
+
+ protected:
+ map<Sensor*, function_t> sensors_map; // for each sensor a callback
+
+};
+
+
+/**
+ * @brief Sampler for simple sensors, those that are simply
+ * sampled by calling the onSimpleUpdate() method.
+ */
+class SimpleSensorSampler : public SensorSampler
+ {
+ public:
+ SimpleSensorSampler(uint32_t freq, uint32_t id);
+
+ ~SimpleSensorSampler();
+
+ void addSensor(Sensor* sensor, function_t sensor_callback) override;
+
+ void sampleSensor(Sensor* s) override;
+};
+
+
+/**
+ * @brief Sampler for sensors that DMA for updates.
+ */
+class DMASensorSampler : public SensorSampler
+{
+ public:
+ DMASensorSampler(uint32_t freq, uint32_t id);
+
+ ~DMASensorSampler();
+
+ void addSensor(Sensor* sensor, function_t sensor_callback) override;
+
+ void sampleSensor(Sensor* s) override;
+
+ private:
+ map<Sensor*, vector<SPIRequest>> requests_map; // SPI requests needed to perform DMA updates
+};
+
+#endif /* ifndef SENSOR_SAMPLING_H */
\ No newline at end of file
diff --git a/src/shared/sensors/SensorSampling.h b/src/shared/sensors/SensorSampling.h
deleted file mode 100644
index 06bb4b9eae810c7158b9d81da9d4dfbe0eb84398..0000000000000000000000000000000000000000
--- a/src/shared/sensors/SensorSampling.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/* Copyright (c) 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.
- */
-#ifndef SENSOR_SAMPLING_H
-#define SENSOR_SAMPLING_H
-
-#include <Common.h>
-#include <diagnostic/Log.h>
-#include <drivers/spi/SensorSpi.h>
-
-#include "Sensor.h"
-
-class DMASensorSampler
-{
-public:
- DMASensorSampler() {}
- ~DMASensorSampler() {}
-
- void AddSensor(Sensor* sensor)
- {
- std::vector<SPIRequest> requests = sensor->buildDMARequest();
- for (size_t i = 0; i < requests.size(); i++)
- {
- mRequests.push_back(requests[i]);
- mSensors.push_back(sensor);
- }
- }
-
- void Update()
- {
- TRACE("Update\n");
- auto& driver = SPIDriver::instance();
- bool ret = driver.transaction(mRequests);
-
- if (ret)
- for (size_t i = 0; i < mSensors.size(); i++)
- mSensors[i]->onDMAUpdate(mRequests[i]);
-
- TRACE("Update end\n");
-
- }
-
- void UpdateAndCallback(std::function<void()> onSampleUpdateCallback)
- {
- Update();
- TRACE("Update callback\n");
-
- onSampleUpdateCallback();
- }
-
-private:
- std::vector<Sensor*> mSensors;
- std::vector<SPIRequest> mRequests;
-};
-
-class SimpleSensorSampler
-{
-public:
- SimpleSensorSampler() {}
- ~SimpleSensorSampler() {}
-
- void AddSensor(Sensor* sensor) { mSensors.push_back(sensor); }
-
- void Update()
- {
- for (Sensor* s : mSensors)
- s->onSimpleUpdate();
- }
-
- void UpdateAndCallback(std::function<void()> onSampleUpdateCallback)
- {
- Update();
-
- onSampleUpdateCallback();
- }
-
-private:
- std::vector<Sensor*> mSensors;
-};
-
-#endif /* ifndef SENSOR_SAMPLING_H */
diff --git a/scripts/old/excel_eventgen/EventFunctions.cpp.template b/src/shared/utils/testutils/TestSensor.h
old mode 100644
new mode 100755
similarity index 54%
rename from scripts/old/excel_eventgen/EventFunctions.cpp.template
rename to src/shared/utils/testutils/TestSensor.h
index 18f7690704c127e2bd5eb516097a08868e505565..f424accf60e3f60abde217736ce1598a686f89de
--- a/scripts/old/excel_eventgen/EventFunctions.cpp.template
+++ b/src/shared/utils/testutils/TestSensor.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
+/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
* Authors: Luca Erbetta
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -19,41 +19,44 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
-
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
-
-#include "Events.h"
-#include "Topics.h"
-
-#include <map>
-
-namespace HomeoneBoard
-{{
-
-string getEventString(uint8_t event)
-{{
- static const map<uint8_t, string> event_string_map {{
-{event_map_data}
- }};
- auto it = event_string_map.find(event);
- return it == event_string_map.end() ? "EV_UNKNOWN" : it->second;
-}}
-
-string getTopicString(uint8_t topic)
-{{
- static const map<uint8_t, string> topic_string_map{{
-{topic_map_data}
- }};
- auto it = topic_string_map.find(topic);
- return it == topic_string_map.end() ? "TOPIC_UNKNOWN" : it->second;
-}}
-
-}}
\ No newline at end of file
+#ifndef SRC_SHARED_BOARDS_HOMEONE_SENSORMANAGER_TESTSENSOR_H
+#define SRC_SHARED_BOARDS_HOMEONE_SENSORMANAGER_TESTSENSOR_H
+
+#include <cmath>
+#include "Common.h"
+#include "sensors/Sensor.h"
+
+using miosix::getTick;
+using miosix::TICK_FREQ;
+
+class TestSensor : public virtual Sensor
+{
+public:
+ TestSensor() : mLastSample(0) {}
+ ~TestSensor() {}
+
+ bool init() override
+ {
+ return true;
+ }
+
+ bool onSimpleUpdate() override
+ {
+ // printf("onSimpleUpdate\n");
+ mLastSample = 10 * sin(PI * static_cast<float>(getTick()) /
+ static_cast<float>(TICK_FREQ));
+ return true;
+ }
+
+ bool selfTest() override
+ {
+ return true;
+ }
+
+ float* testDataPtr() { return &mLastSample; }
+
+private:
+ float mLastSample;
+};
+
+#endif /* SRC_SHARED_BOARDS_HOMEONE_SENSORMANAGER_TESTSENSOR_H */
diff --git a/src/tests/catch/spidriver/FakeSPIBus.h b/src/tests/catch/spidriver/FakeSPIBus.h
index 94087b088fa4957db9d30b9520a4f3edc7374dde..d1213bfd6e6f9441e453cb84eb68e631572ca863 100644
--- a/src/tests/catch/spidriver/FakeSPIBus.h
+++ b/src/tests/catch/spidriver/FakeSPIBus.h
@@ -22,7 +22,7 @@
*/
#include "FakeSpiTypedef.h"
-#include "drivers/spi/SPIInterface.h"
+#include "drivers/spi/SPIBusInterface.h"
#pragma once
@@ -49,18 +49,7 @@ public:
FakeSPIBus(FakeSPIBus&&) = delete;
FakeSPIBus& operator=(FakeSPIBus&&) = delete;
- /**
- * @brief Wether to apply slave-specific bus configuration before each
- * transaction (BusTemplate compatibility mode).
- * Only set to false to use SPIDriver alongside BusTemplate.h.
- * Default value is true.
- *
- * @param value True: The slave configuration is applied to the SPI
- * peripheral before each transaction. False: No configuration is ever
- * applied to the SPI peripheral. The SPI peripheral retains the
- * configuration set by BusTemplate.h
- */
- void enableSlaveConfiguration(bool value) { config_enabled = value; }
+ void disableBusConfiguration() { config_enabled = false; }
/**
* @brief See SPIBusInterface::write()
diff --git a/src/tests/catch/spidriver/test-spidriver.cpp b/src/tests/catch/spidriver/test-spidriver.cpp
index 8b2f47f7edea4fedcaeab4c58f4cd9874d97a343..e0facfd1b7da9cce148af88ea0ebe7075d605c3f 100644
--- a/src/tests/catch/spidriver/test-spidriver.cpp
+++ b/src/tests/catch/spidriver/test-spidriver.cpp
@@ -60,84 +60,82 @@ TEST_CASE("SPIBus - Bus Configuration")
SECTION("Mode")
{
- config.mode = SPIMode::MODE0;
- uint32_t expected_CR1 = 0x0344;
+ config.mode = SPIMode::MODE0;
+ uint32_t expected_CR1 = 0x0344;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
- config.mode = SPIMode::MODE1;
- expected_CR1 = 0x0345;
+ config.mode = SPIMode::MODE1;
+ expected_CR1 = 0x0345;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
- config.mode = SPIMode::MODE2;
- expected_CR1 = 0x0346;
+ config.mode = SPIMode::MODE2;
+ expected_CR1 = 0x0346;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
- config.mode = SPIMode::MODE3;
- expected_CR1 = 0x0347;
+ config.mode = SPIMode::MODE3;
+ expected_CR1 = 0x0347;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
-
}
SECTION("Clock Divider")
{
- config.clock_div = SPIClockDivider::DIV2;
- uint32_t expected_CR1 = 0x0344;
+ config.clock_div = SPIClockDivider::DIV2;
+ uint32_t expected_CR1 = 0x0344;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV4;
- expected_CR1 = 0x034C;
+ expected_CR1 = 0x034C;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV8;
- expected_CR1 = 0x0354;
+ expected_CR1 = 0x0354;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV16;
- expected_CR1 = 0x035C;
+ expected_CR1 = 0x035C;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV32;
- expected_CR1 = 0x0364;
+ expected_CR1 = 0x0364;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
-
+
config.clock_div = SPIClockDivider::DIV64;
- expected_CR1 = 0x036C;
+ expected_CR1 = 0x036C;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV128;
- expected_CR1 = 0x0374;
+ expected_CR1 = 0x0374;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.clock_div = SPIClockDivider::DIV256;
- expected_CR1 = 0x037C;
+ expected_CR1 = 0x037C;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
}
SECTION("Bit order")
{
- config.bit_order = SPIBitOrder::MSB_FIRST;
- uint32_t expected_CR1 = 0x0344;
+ config.bit_order = SPIBitOrder::MSB_FIRST;
+ uint32_t expected_CR1 = 0x0344;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
config.bit_order = SPIBitOrder::LSB_FIRST;
- expected_CR1 = 0x03C4;
+ expected_CR1 = 0x03C4;
bus.configure(config);
REQUIRE(spi.CR1 == expected_CR1);
}
-
}
SECTION("Disable configuration")
@@ -148,7 +146,7 @@ TEST_CASE("SPIBus - Bus Configuration")
config.mode = SPIMode::MODE3;
config.bit_order = SPIBitOrder::LSB_FIRST;
- bus.enableSlaveConfiguration(false);
+ bus.disableBusConfiguration();
bus.configure(config);
REQUIRE(spi.CR1 == 0);
}
@@ -224,7 +222,7 @@ TEST_CASE("SPIBus - Multi byte operations")
{
FakeSpiTypedef spi;
- spi.DR.in_buf = {1, 2, 3, 4, 5, 6, 7, 8, 9};
+ spi.DR.in_buf = {100, 101, 102, 103, 104, 105, 106, 107, 108};
spi.CR1_expected = 0x03DF;
FakeSPIBus bus{&spi};
@@ -239,28 +237,38 @@ TEST_CASE("SPIBus - Multi byte operations")
bus.select(spi.cs);
// 2 identical buffers
- uint8_t buf[] = {4, 3, 2, 1};
- uint8_t bufc[] = {4, 3, 2, 1};
+ uint8_t buf[] = {5, 4, 3, 2, 1};
+ uint8_t bufc[] = {5, 4, 3, 2, 1};
SECTION("Write")
{
bus.write(buf, 0);
REQUIRE(spi.DR.out_buf.size() == 0);
+ bus.write(buf, 1);
+ REQUIRE(spi.DR.out_buf.size() == 1);
+ REQUIRE(spi.DR.out_buf.back() == bufc[0]);
+
bus.write(buf, 4);
- REQUIRE(spi.DR.out_buf.size() == 4);
- REQUIRE(bufcmp(bufc, spi.DR.out_buf.data(), 4));
+ REQUIRE(spi.DR.out_buf.size() == 5);
+ REQUIRE(bufcmp(bufc, spi.DR.out_buf.data() + 1, 4));
}
SECTION("Read")
{
bus.read(buf, 0);
// Nothing read
- REQUIRE(bufcmp(bufc, buf, 4));
+ REQUIRE(bufcmp(bufc, buf, 5));
- bus.read(buf, 4);
+ bus.read(buf, 1);
+ REQUIRE(bufcmp(buf, spi.DR.in_buf.data(), 1));
+ // No overflows
+ REQUIRE(bufcmp(bufc + 1, buf + 1, 4));
- REQUIRE(bufcmp(buf, spi.DR.in_buf.data(), 4));
+ bus.read(buf, 4);
+ REQUIRE(bufcmp(buf, spi.DR.in_buf.data() + 1, 4));
+ // No overflows
+ REQUIRE(bufcmp(bufc + 4, buf + 4, 1));
}
SECTION("Transfer")
@@ -271,11 +279,19 @@ TEST_CASE("SPIBus - Multi byte operations")
// Nothing written
REQUIRE(spi.DR.out_buf.size() == 0);
- bus.transfer(buf, 4);
- REQUIRE(spi.DR.out_buf.size() == 4);
+ bus.transfer(buf, 1);
+ REQUIRE(spi.DR.out_buf.size() == 1);
+ REQUIRE(bufcmp(bufc, spi.DR.out_buf.data(), 1));
+ REQUIRE(bufcmp(buf, spi.DR.in_buf.data(), 1));
+ // No overflows
+ REQUIRE(bufcmp(bufc + 1, buf + 1, 4));
- REQUIRE(bufcmp(bufc, spi.DR.out_buf.data(), 4));
- REQUIRE(bufcmp(buf, spi.DR.in_buf.data(), 4));
+ bus.transfer(buf + 1, 3);
+ REQUIRE(spi.DR.out_buf.size() == 4);
+ REQUIRE(bufcmp(bufc + 1, spi.DR.out_buf.data() + 1, 3));
+ REQUIRE(bufcmp(buf + 1, spi.DR.in_buf.data() + 1, 3));
+ // No overflows
+ REQUIRE(bufcmp(bufc + 4, buf + 4, 1));
}
}
@@ -284,8 +300,8 @@ TEST_CASE("SPITransaction - writes")
MockSPIBus bus{};
SPIBusConfig config1{};
- config1.mode = SPIMode::MODE1;
- config1.clock_div = SPIClockDivider::DIV32;
+ config1.mode = SPIMode::MODE1;
+ config1.clock_div = SPIClockDivider::DIV32;
bus.expected_config = config1;
@@ -376,12 +392,12 @@ TEST_CASE("SPITransaction - reads")
{
MockSPIBus bus;
- bus.in_buf = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
+ bus.in_buf = {100, 101, 102, 103, 104, 105, 106, 107, 108, 109};
SPIBusConfig config1;
- config1.mode = SPIMode::MODE1;
- config1.clock_div = SPIClockDivider::DIV32;
+ config1.mode = SPIMode::MODE1;
+ config1.clock_div = SPIClockDivider::DIV32;
bus.expected_config = config1;
@@ -395,19 +411,19 @@ TEST_CASE("SPITransaction - reads")
SECTION("1 byte reg read")
{
- REQUIRE(spi.read(0x05) == 1);
+ REQUIRE(spi.read(0x05) == bus.in_buf[0]);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 1);
REQUIRE(bus.out_buf.back() == 0x85);
- REQUIRE(spi.read(0x05, true) == 2);
+ REQUIRE(spi.read(0x05, true) == bus.in_buf[1]);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 2);
REQUIRE(bus.out_buf.back() == 0x85);
- REQUIRE(spi.read(0x05, false) == 3);
+ REQUIRE(spi.read(0x05, false) == bus.in_buf[2]);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 3);
@@ -416,48 +432,54 @@ TEST_CASE("SPITransaction - reads")
SECTION("multi byte reg read")
{
- uint8_t read[4] = {0, 0, 0, 0};
- uint8_t zero[4] = {0, 0, 0, 0};
+ const int buf_size = 7;
+ uint8_t buf[] = {1, 2, 3, 4, 5, 6, 7};
+ uint8_t cmp[] = {1, 2, 3, 4, 5, 6, 7};
- spi.read(0x05, read, 0);
+ spi.read(0x05, buf, 0);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 1);
REQUIRE(bus.out_buf.back() == 0x85);
- REQUIRE(bufcmp(read, zero, 4));
+ REQUIRE(bufcmp(buf, cmp, buf_size));
- spi.read(0x05, read, 3);
+ spi.read(0x05, buf, 3);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 2);
REQUIRE(bus.out_buf.back() == 0x85);
- REQUIRE(bufcmp(read, bus.in_buf.data(), 3));
+ REQUIRE(bufcmp(buf, bus.in_buf.data(), 3));
+ REQUIRE(bufcmp(buf + 3, cmp + 3, buf_size - 3));
- spi.read(0x05, read, 3, true);
+ spi.read(0x05, buf, 3, true);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 3);
REQUIRE(bus.out_buf.back() == 0x85);
- REQUIRE(bufcmp(read, bus.in_buf.data() + 3, 3));
+ REQUIRE(bufcmp(buf, bus.in_buf.data() + 3, 3));
+ REQUIRE(bufcmp(buf + 3, cmp + 3, buf_size - 3));
- spi.read(0x05, read, 4, false);
+ spi.read(0x05, buf, 4, false);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 4);
REQUIRE(bus.out_buf.back() == 0x05);
- REQUIRE(bufcmp(read, bus.in_buf.data() + 6, 4));
+ REQUIRE(bufcmp(buf, bus.in_buf.data() + 6, 4));
+ REQUIRE(bufcmp(buf + 4, cmp + 4, buf_size - 4));
}
SECTION("multi byte raw read")
{
- uint8_t read[4] = {0, 0, 0, 0};
- uint8_t zero[4] = {0, 0, 0, 0};
+ const int buf_size = 7;
+ uint8_t buf[] = {1, 2, 3, 4, 5, 6, 7};
+ uint8_t cmp[] = {1, 2, 3, 4, 5, 6, 7};
- spi.read(read, 0);
+ spi.read(buf, 0);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 0);
- REQUIRE(bufcmp(read, zero, 4));
+ REQUIRE(bufcmp(buf, cmp, buf_size));
- spi.read(read, 3);
+ spi.read(buf, 3);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 0);
- REQUIRE(bufcmp(read, bus.in_buf.data(), 3));
+ REQUIRE(bufcmp(buf, bus.in_buf.data(), 3));
+ REQUIRE(bufcmp(buf + 3, cmp + 3, buf_size - 3));
}
}
}
@@ -470,8 +492,8 @@ TEST_CASE("SPITransaction - transfer")
SPIBusConfig config1;
- config1.mode = SPIMode::MODE1;
- config1.clock_div = SPIClockDivider::DIV32;
+ config1.mode = SPIMode::MODE1;
+ config1.clock_div = SPIClockDivider::DIV32;
bus.expected_config = config1;
@@ -480,18 +502,20 @@ TEST_CASE("SPITransaction - transfer")
SPISlave slave(bus, GpioPin(GPIOA_BASE, 1), config1);
SPITransaction spi(slave);
- uint8_t buf[4] = {4, 3, 2, 1};
- uint8_t cmp[4] = {4, 3, 2, 1};
+ const int buf_size = 7;
+ uint8_t buf[] = {1, 2, 3, 4, 5, 6, 7};
+ uint8_t cmp[] = {1, 2, 3, 4, 5, 6, 7};
spi.transfer(buf, 0);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 0);
- REQUIRE(bufcmp(buf, cmp, 4));
+ REQUIRE(bufcmp(buf, cmp, buf_size));
spi.transfer(buf, 4);
REQUIRE_FALSE(bus.isSelected());
REQUIRE(bus.out_buf.size() == 4);
REQUIRE(bufcmp(buf, bus.in_buf.data(), 4));
REQUIRE(bufcmp(cmp, bus.out_buf.data(), 4));
+ REQUIRE(bufcmp(buf + 4, cmp + 4, buf_size - 4));
}
}
\ No newline at end of file
diff --git a/src/tests/catch/test-sensormanager.cpp b/src/tests/catch/test-sensormanager.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..fb4466f907a546cc20ed13f176234c81b1dfd4e1
--- /dev/null
+++ b/src/tests/catch/test-sensormanager.cpp
@@ -0,0 +1,60 @@
+/* Copyright (c) 2018-2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * 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.
+ */
+
+#ifdef STANDALONE_CATCH1_TEST
+#include "catch-tests-entry.cpp"
+#endif
+
+#include "utils/testutils/catch.hpp"
+
+#include "utils/testutils/TestSensor.h"
+#include "sensors/SensorManager.h"
+
+TestSensor* sensor1 = new TestSensor();
+TestSensor* sensor2 = new TestSensor();
+TestSensor* sensor3 = new TestSensor();
+
+
+TEST_CASE("check that sensors are correctly added to the samplers") {
+
+ SensorManager sensor_manager;
+
+ sensor_manager.addSensor(sensor1, 1, std::bind([&]() {})); // 1 Hz
+ sensor_manager.addSensor(sensor2, 1, std::bind([&]() {})); // 1 Hz
+ sensor_manager.addSensor(sensor3, 2, std::bind([&]() {})); // 2 Hz
+
+ // check that 2 samplers exist (1 hz and 2 hz)
+ REQUIRE(sensor_manager.getSamplers().size() == 2);
+
+ // check that sampler at 1 Hz has 2 sensors, sampler at 2 Hz has 1 sensor
+ for(auto s : sensor_manager.getSamplers()) {
+ if (s.sampler->getFrequency() == 1) {
+ REQUIRE(s.sampler->getNumSensors() == 2);
+ }
+ else if (s.sampler->getFrequency() == 2) {
+ REQUIRE(s.sampler->getNumSensors() == 1);
+ }
+ else {
+ FAIL("Can't exist a sampler with frequency different from 1 or 2 Hz"); // no sampler with a different frequency exist
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/tests/drivers/calibrate-mpu9250.cpp b/src/tests/drivers/calibrate-mpu9250.cpp
index 54467bace1bc84ba09b93fb321a99e2be543eaea..69076a5c921e2fe28064fd008076ff5f14e52ce4 100644
--- a/src/tests/drivers/calibrate-mpu9250.cpp
+++ b/src/tests/drivers/calibrate-mpu9250.cpp
@@ -26,29 +26,28 @@
#include <sensors/MPU9250/MPU9250.h>
#include <drivers/spi/SensorSpi.h>
-#include <sensors/SensorSampling.h>
+#include <sensors/SensorSampler.h>
using namespace miosix;
using namespace miosix::interfaces;
typedef BusSPI<1,spi1::mosi,spi1::miso,spi1::sck> busSPI1;
typedef ProtocolSPI<busSPI1,sensors::mpu9250::cs> spiMPU9250_a;
-typedef MPU9250<spiMPU9250_a> mpu_t;
int main()
{
float bias[3];
- SimpleSensorSampler sampler;
+ SimpleSensorSampler sampler(250, 1);
spiMPU9250_a::init();
- mpu_t* mpu = new mpu_t(1, 1);
+ MPU9250<spiMPU9250_a>* mpu = new MPU9250<spiMPU9250_a>(1, 1);
Thread::sleep(100);
if(mpu->init()){
printf("MPU9250 Init succeeded\n" );
- sampler.AddSensor(mpu);
+ sampler.addSensor(mpu, std::bind([&]() {}));
}
else {
printf("MPU9250 Init failed\n");
@@ -81,7 +80,7 @@ int main()
while(true)
{
- sampler.Update();
+ sampler.sampleAndCallback();
const Vec3* last_data = mpu->accelDataPtr();
printf("%f %f %f\n", last_data->getX(), last_data->getY(),
diff --git a/src/tests/drivers/test-imu-adis.cpp b/src/tests/drivers/test-imu-adis.cpp
index 52889cacb147e4563210b5c3d70aaa5ca3ea970b..8d570150e8ea25609a8c5d0bb22e59b7e6b91317 100644
--- a/src/tests/drivers/test-imu-adis.cpp
+++ b/src/tests/drivers/test-imu-adis.cpp
@@ -24,7 +24,7 @@
#include <drivers/BusTemplate.h>
#include <interfaces-impl/hwmapping.h>
#include <sensors/ADIS16405/ADIS16405.h>
-#include <sensors/SensorSampling.h>
+#include <sensors/SensorSampler.h>
#include <math/Stats.h>
#include <diagnostic/CpuMeter.h>
#include <drivers/spi/SensorSpi.h>
@@ -38,31 +38,27 @@ typedef Gpio<GPIOD_BASE, 5> rstPin; // PD5 for the HomeoneBoard
// SPI1 binding to the sensor
typedef BusSPI<1,spi1::mosi,spi1::miso,spi1::sck> busSPI1; //Create SPI1
typedef ProtocolSPI<busSPI1,miosix::sensors::adis16405::cs> spiADIS16405; //La lego al Chip Select 1 per la IMU 1
-typedef ADIS16405<spiADIS16405,rstPin> adis_t; //Passo il bus creato al sensore
int main()
{
spiADIS16405::init();
Thread::sleep(1000);
- adis_t adis(adis_t::GYRO_FS_300);
+ ADIS16405<spiADIS16405,rstPin>* adis = new ADIS16405<spiADIS16405,rstPin>(adis->GYRO_FS_300);
- if(adis.init())
+ if(adis->init())
printf("[ADIS16405] Init succeeded\n" );
else
printf("[ADIS16405] Init failed\n");
- if(adis.selfTest())
+ if(adis->selfTest())
printf("[ADIS16405] Self test succeeded\n" );
else
printf("[ADIS16405] Self test failed\n");
- SimpleSensorSampler sampler;
- sampler.AddSensor(&adis);
-
- // DMASensorSampler sampler;
- // sampler.AddSensor(&adis);
+ SimpleSensorSampler sampler(250, 1);
+ sampler.addSensor(adis, std::bind([&]() {}));
StatsResult statResult;
Stats stats;
@@ -70,7 +66,7 @@ int main()
int counter = 0;
while(true) {
- sampler.Update();
+ sampler.sampleAndCallback();
stats.add(averageCpuUtilization());
@@ -79,7 +75,7 @@ int main()
printf("CPU usage: %f\n", statResult.mean);
counter = 0;
- const Vec3* last_data = adis.accelDataPtr();
+ const Vec3* last_data = adis->accelDataPtr();
printf("%f %f %f\n", last_data->getX(), last_data->getY(),
last_data->getZ());
}
diff --git a/src/tests/drivers/test-lis3dsh.cpp b/src/tests/drivers/test-lis3dsh.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..79fc511fa17bd7a64f22be5a9b48def0fce47180
--- /dev/null
+++ b/src/tests/drivers/test-lis3dsh.cpp
@@ -0,0 +1,111 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * 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 <miosix.h>
+#include <drivers/spi/SPIDriver.h>
+#include "sensors/LIS3DSH/LIS3DSH.h"
+#include "sensors/LIS3DSH/LIS3DSHData.h"
+
+using namespace std;
+using namespace miosix;
+
+SPIBus bus(SPI1);
+GpioPin cs(GPIOE_BASE, 3);
+
+int main() {
+
+ {
+ FastInterruptDisableLock dLock;
+
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; // SPI1 ENABLE
+
+ cs.mode(Mode::OUTPUT);
+ }
+ cs.high();
+
+ LIS3DSH sensor(
+ bus,
+ cs,
+ sensor.ODR_100_HZ,
+ sensor.UPDATE_AFTER_READ_MODE,
+ sensor.FULL_SCALE_4G
+ );
+
+ Vec3 acc;
+ int8_t temp;
+
+ // sensor not initialized, should return false
+ if (sensor.onSimpleUpdate() || sensor.updateTemperature()) {
+ printf("\nTest failed: sensor not initialized \n");
+ return -1;
+ }
+
+ bool initialized = false;
+ // initialize imu
+ if (!sensor.init()) {
+ if (sensor.getLastError() == sensor.ERR_NOT_ME) {
+ printf("Test failed: invalid WHO_AM_I value, init failed \n");
+ }
+ else {
+ printf("Test failed: init failed \n");
+ }
+ return -1;
+ }
+ initialized = true;
+
+ // check if the sensor is properly working
+ if (!sensor.selfTest()) {
+ printf("\nTest failed: self-test failed \n");
+ return -1;
+ }
+
+ // if sensor already inizialized, init() should return false
+ if (initialized) {
+ if (sensor.init()) {
+ printf("\nTest failed: sensor is already initialized \n");
+ return -1;
+ }
+ }
+
+ Thread::sleep(500);
+
+ // sample some data from the sensor
+ for(int i = 0; i < 5; i++) {
+ sensor.updateTemperature();
+ // sensor intitialized, should return true (false if no new data exist)
+ if (!sensor.onSimpleUpdate()) {
+ printf("\nWarning: no new data to be read \n");
+ }
+
+ acc = *(sensor.accelDataPtr());
+ temp = (int8_t) *(sensor.tempDataPtr());
+
+ printf("\nAccel: x: %.2f | y: %.2f | z: %.2f \n", acc.getX(), acc.getY(), acc.getZ());
+ printf("Temp: %d C \n", temp);
+
+ Thread::sleep(200);
+ }
+
+ printf("\nTest ok \n");
+
+ return 0;
+}
\ No newline at end of file
diff --git a/src/tests/drivers/test-lsm.cpp b/src/tests/drivers/test-lsm.cpp
index 641d490a1510c60bd3ae1fa42ac2a88aeaf4476a..83c3d8e66757d0e3fb817c309d2004e301c78abe 100644
--- a/src/tests/drivers/test-lsm.cpp
+++ b/src/tests/drivers/test-lsm.cpp
@@ -26,7 +26,7 @@
#include <sensors/LSM6DS3H/LSM6DS3H.h>
#include <drivers/spi/SensorSpi.h>
-#include <sensors/SensorSampling.h>
+#include <sensors/SensorSampler.h>
#include <math/Stats.h>
#include <diagnostic/CpuMeter.h>
@@ -36,19 +36,18 @@ using namespace miosix::interfaces;
/* SPI1 binding to the sensor */
typedef BusSPI<1,spi1::mosi,spi1::miso,spi1::sck> busSPI1;
typedef ProtocolSPI<busSPI1,sensors::lsm6ds3h::cs> spiLSM6DS3H0_a;
-typedef LSM6DS3H<spiLSM6DS3H0_a> lsm6ds3h_t;
int main()
{
- SimpleSensorSampler sampler;
+ SimpleSensorSampler sampler(250, 1);
spiLSM6DS3H0_a::init();
- lsm6ds3h_t* lsm6ds3h = new lsm6ds3h_t(3,3);
+ LSM6DS3H<spiLSM6DS3H0_a>* lsm6ds3h = new LSM6DS3H<spiLSM6DS3H0_a>(3,3);
if(lsm6ds3h->init())
{
printf("[LSM6DS3H] Init succeeded\n" );
- sampler.AddSensor(lsm6ds3h);
+ sampler.addSensor(lsm6ds3h, std::bind([&]() {}));
}
else
{
@@ -64,7 +63,7 @@ int main()
while(true)
{
- sampler.Update();
+ sampler.sampleAndCallback();
// const Vec3* last_data = lsm6ds3h->gyroDataPtr();
// printf("%f %f %f\n", last_data->getX(), last_data->getY(),
diff --git a/src/tests/drivers/test-lsm9ds1-fifo.cpp b/src/tests/drivers/test-lsm9ds1-fifo.cpp
index 174a78af6d9454a132a3c8c544633aba8245d377..48c1e4e71d78ed63663912a6e0642db3c635e985 100644
--- a/src/tests/drivers/test-lsm9ds1-fifo.cpp
+++ b/src/tests/drivers/test-lsm9ds1-fifo.cpp
@@ -23,24 +23,19 @@
*/
#include <array>
-#include <iostream>
#include "drivers/HardwareTimer.h"
#include "drivers/spi/SPIDriver.h"
#include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
+#include "logger/Logger.h"
using namespace miosix;
using namespace std;
-typedef Gpio<GPIOA_BASE, 5> GpioSck; // questi sono i pin SPI per
- // f407_discovery
+typedef Gpio<GPIOA_BASE, 5> GpioSck; //SPI1 f407
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
-typedef Gpio<GPIOA_BASE, 1> GpioINT1;
-
-static const bool FIFO_ENABLED = true;
-static const uint8_t FIFO_WATERMARK = 20;
-static const uint8_t FIFO_SAMPLES = 5;
+typedef Gpio<GPIOC_BASE, 13> GpioINT1; //INT1 A/G
// SPI
SPIBus bus(SPI1);
@@ -48,10 +43,16 @@ GpioPin cs_XLG(GPIOE_BASE, 7);
// LED just for init
GpioPin LED1(GPIOD_BASE, 15);
+GpioPin LED2(GPIOD_BASE, 13);
// SPI read flag
volatile bool flagSPIReadRequest = false;
+//IMU obj data
+static const bool FIFO_ENABLED = true;
+static const uint8_t FIFO_WATERMARK = 20;
+static const uint8_t FIFO_SAMPLES = 5;
+
// High Resolution hardware timer using TIM5
HardwareTimer<uint32_t> hrclock(
TIM5, TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1));
@@ -60,21 +61,18 @@ HardwareTimer<uint32_t> hrclock(
volatile uint32_t last_tick;
volatile uint32_t delta;
-// Arrays for samples
-array<Vec3, 32> axelData[FIFO_SAMPLES], gyroData[FIFO_SAMPLES];
-
// LSM9DS1 obj
LSM9DS1_XLG* lsm9ds1 = nullptr;
// Interrupt handlers
-void __attribute__((naked)) EXTI1_IRQHandler()
+void __attribute__((naked)) EXTI13_IRQHandler()
{
saveContext();
- asm volatile("bl _Z20EXTI1_IRQHandlerImplv");
+ asm volatile("bl _Z20EXTI13_IRQHandlerImplv");
restoreContext();
}
-void __attribute__((used)) EXTI1_IRQHandlerImpl()
+void __attribute__((used)) EXTI13_IRQHandlerImpl()
{
// Computing delta beetween interrupts
uint32_t tick = hrclock.tick();
@@ -94,39 +92,47 @@ void __attribute__((used)) EXTI1_IRQHandlerImpl()
void gpioConfig();
void timer5Config();
void EXTI1Config();
+void fakeLogger(lsm9ds1XLGSample sample);
+void printLogger();
int main()
{
uint8_t fifo_counter = 0;
- uint32_t dt[FIFO_SAMPLES];
+ uint32_t dt;
+ uint64_t timestamp = 0;
gpioConfig();
-
- Thread::sleep(1000);
- LED1.low();
-
+ Thread::sleep(5000);
+ return 0;
timer5Config();
EXTI1Config();
lsm9ds1 = new LSM9DS1_XLG(
bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8, LSM9DS1_XLG::GyroFSR::FS_245,
- LSM9DS1_XLG::ODR::ODR_952, FIFO_ENABLED, FIFO_WATERMARK);
-
- while (!lsm9ds1->init())
- ;
+ LSM9DS1_XLG::ODR::ODR_238, FIFO_ENABLED, FIFO_WATERMARK);
- lsm9ds1->clearFIFO();
+ while (!lsm9ds1->init());
+ LED2.high(); //init OK
+
+ lsm9ds1->clearFIFO(); //just to be sure to intercept the first interrupt
+ //start sampling
for (;;)
{
+ //printf("%d\n", GpioINT1::value());
if (flagSPIReadRequest && fifo_counter < FIFO_SAMPLES)
{
flagSPIReadRequest = false;
- dt[fifo_counter] = hrclock.toMicroSeconds(delta);
+ dt = hrclock.toMicroSeconds(delta)/FIFO_WATERMARK; //delta of each sample
lsm9ds1->onSimpleUpdate();
- axelData[fifo_counter] = lsm9ds1->getAxelFIFO();
- gyroData[fifo_counter] = lsm9ds1->getGyroFIFO();
+ for(int i=0 ; i < FIFO_WATERMARK; i++)
+ {
+ lsm9ds1XLGSample sample = lsm9ds1->getLsm9ds1FIFO()[i];
+ timestamp += dt;
+ sample.timestamp = timestamp;
+ fakeLogger(sample);
+ }
LED1.low();
fifo_counter++;
}
@@ -137,22 +143,11 @@ int main()
}
}
- // print data
- uint32_t timestamp = 0;
-
- for (uint8_t i = 0; i < FIFO_SAMPLES; i++)
- {
- std::cout << "FIFO " << (int)i + 1 << std::endl;
- for (uint8_t j = 0; j < FIFO_WATERMARK; j++)
- {
- timestamp += dt[i] / FIFO_WATERMARK;
- printf("%d>>%ld>>%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\n", j,timestamp,
- axelData[i][j].getX(), axelData[i][j].getY(),
- axelData[i][j].getZ(), gyroData[i][j].getX(),
- gyroData[i][j].getY(), gyroData[i][j].getZ());
- }
- }
+ printLogger();
+ LED1.low();
+ LED2.low();
+ while(1);
return 0;
}
@@ -185,6 +180,8 @@ void gpioConfig()
// Select LED built in GPIO mode
LED1.mode(Mode::OUTPUT);
+ LED2.mode(Mode::OUTPUT);
+
}
cs_XLG.high();
@@ -210,18 +207,51 @@ void EXTI1Config() // PC13
}
// Configure mask bit of 1st interrupt line
- EXTI->IMR |= EXTI_IMR_MR1;
+ EXTI->IMR |= EXTI_IMR_MR13;
// Configure trigger selection bit (rising edge)
- EXTI->RTSR |= EXTI_RTSR_TR1;
+ EXTI->RTSR |= EXTI_RTSR_TR13;
// Clear pending interrupt register before enable
- EXTI->PR |= EXTI_PR_PR1;
+ EXTI->PR |= EXTI_PR_PR13;
- // Select PB1 as interrupt source in line 1
- SYSCFG->EXTICR[0] &= 0xFFFFFF0F;
+ // Select PC13 as interrupt source in line 13 (EXTICR4)
+ SYSCFG->EXTICR[3] &= 0xFFFFFF0F;
+ SYSCFG->EXTICR[3] |= 0xFFFFFF2F;
// Enable the interrupt in the interrupt controller
- NVIC_EnableIRQ(EXTI1_IRQn);
- NVIC_SetPriority(EXTI1_IRQn, 14);
+ NVIC_EnableIRQ(IRQn_Type::EXTI15_10_IRQn);
+ NVIC_SetPriority(IRQn_Type::EXTI15_10_IRQn, 47);
+}
+
+uint16_t counter = 0;
+float ax[FIFO_WATERMARK*FIFO_SAMPLES],
+ ay[FIFO_WATERMARK*FIFO_SAMPLES],
+ az[FIFO_WATERMARK*FIFO_SAMPLES],
+ gx[FIFO_WATERMARK*FIFO_SAMPLES],
+ gy[FIFO_WATERMARK*FIFO_SAMPLES],
+ gz[FIFO_WATERMARK*FIFO_SAMPLES];
+
+uint64_t t[FIFO_WATERMARK*FIFO_SAMPLES];
+
+void fakeLogger(lsm9ds1XLGSample sample)
+{
+ ax[counter] = sample.axelData.getX();
+ ay[counter] = sample.axelData.getY();
+ az[counter] = sample.axelData.getZ();
+ gx[counter] = sample.gyroData.getX();
+ gy[counter] = sample.gyroData.getY();
+ gz[counter] = sample.gyroData.getZ();
+ t[counter] = sample.timestamp;
+ counter++;
+}
+
+void printLogger()
+{
+ for(int i = 0; i < counter; i++)
+ {
+ printf("%lld>>%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\n", t[i],ax[i],ay[i],az[i],
+ gx[i],gy[i],gz[i]);
+
+ }
}
\ No newline at end of file
diff --git a/src/tests/drivers/test-lsm9ds1.cpp b/src/tests/drivers/test-lsm9ds1.cpp
index f595cd209d6d03566c12c9ed30932a02b701d485..1299f8d4ef531496dbd7f8844ad26e52ff5a4b79 100644
--- a/src/tests/drivers/test-lsm9ds1.cpp
+++ b/src/tests/drivers/test-lsm9ds1.cpp
@@ -37,9 +37,9 @@ static const bool FIFO_ENABLED = false;
//SPI
SPIBus bus(SPI1);
-SPIBusConfig cfg;
+//SPIBusConfig cfg;
GpioPin cs_XLG(GPIOE_BASE, 7);
-GpioPin cs_M(GPIOE_BASE, 8);
+GpioPin cs_M(GPIOE_BASE, 9);
//LEDs
GpioPin LED1(GPIOD_BASE, 15);
@@ -52,9 +52,6 @@ int main(){
Vec3 adata, gdata, mdata;
float tdata;
-
- cfg.clock_div=SPIClockDivider::DIV64;
-
{
FastInterruptDisableLock dLock;
@@ -97,7 +94,7 @@ int main(){
LSM9DS1_XLG lsm9ds1X(
bus,
cs_XLG,
- cfg,
+ //cfg,
LSM9DS1_XLG::AxelFSR::FS_8,
LSM9DS1_XLG::GyroFSR::FS_245,
LSM9DS1_XLG::ODR::ODR_952
diff --git a/src/tests/drivers/test-mpu9250.cpp b/src/tests/drivers/test-mpu9250.cpp
index f53889a6de00d03789cb215c2f6487b0878cf9c2..268b59522315e8e3ed0649252bab468ae42759b6 100644
--- a/src/tests/drivers/test-mpu9250.cpp
+++ b/src/tests/drivers/test-mpu9250.cpp
@@ -26,27 +26,26 @@
#include <sensors/MPU9250/MPU9250.h>
#include <drivers/spi/SensorSpi.h>
-#include <sensors/SensorSampling.h>
+#include <sensors/SensorSampler.h>
using namespace miosix;
using namespace miosix::interfaces;
typedef BusSPI<1,spi1::mosi,spi1::miso,spi1::sck> busSPI1;
typedef ProtocolSPI<busSPI1,sensors::mpu9250::cs> spiMPU9250_a;
-typedef MPU9250<spiMPU9250_a> mpu_t;
int main()
{
- SimpleSensorSampler sampler;
+ SimpleSensorSampler sampler(250, 1);
spiMPU9250_a::init();
- mpu_t* mpu = new mpu_t(1, 1);
+ MPU9250<spiMPU9250_a>* mpu = new MPU9250<spiMPU9250_a>(1, 1);
Thread::sleep(100);
if(mpu->init()){
printf("MPU9250 Init succeeded\n" );
- sampler.AddSensor(mpu);
+ sampler.addSensor(mpu, std::bind([&]() {}));
}
else {
printf("MPU9250 Init failed\n");
@@ -61,7 +60,7 @@ int main()
while(true)
{
- sampler.Update();
+ sampler.sampleAndCallback();
mpu->updateMagneto();
const Vec3* last_data = mpu->compassDataPtr();
diff --git a/src/tests/drivers/test-ms5803.cpp b/src/tests/drivers/test-ms5803.cpp
index 1a339433d914d7b5005246c6bf62f038f9b8a18e..bb25d974f5325d3adf83fec5d6fdb1b280700e16 100644
--- a/src/tests/drivers/test-ms5803.cpp
+++ b/src/tests/drivers/test-ms5803.cpp
@@ -24,7 +24,7 @@
#include <drivers/spi/SPIDriver.h>
#include <drivers/spi/SensorSpi.h>
#include <interfaces-impl/hwmapping.h>
-#include <sensors/SensorSampling.h>
+#include <sensors/SensorSampler.h>
#include "sensors/MS580301BA07/MS580301BA07.h"
@@ -44,7 +44,7 @@ int main()
// SCK, MISO, MOSI already initialized in the bsp
}
- SimpleSensorSampler sampler;
+ SimpleSensorSampler sampler(50, 1);
MS580301BA07* ms58 = new MS580301BA07(bus, chip_select);
@@ -53,7 +53,7 @@ int main()
if (ms58->init())
{
printf("MS58 Init succeeded\n");
- sampler.AddSensor(ms58);
+ sampler.addSensor(ms58, std::bind([&]() {}));
}
else
{
@@ -70,7 +70,7 @@ int main()
printf("raw_p,p,raw_t,t\n");
while (true)
{
- sampler.Update();
+ sampler.sampleAndCallback();
const float* last_pressure = ms58->pressureDataPtr();
const float* last_temp = ms58->tempDataPtr();