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Merge branch 'master' of eng-git.canterbury.ac.nz:mph/ucfk4

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main
Michael Hayes 12 years ago
parent e47a69e837 1fda4b5a0e
commit 220375f91c
10 changed files with 466 additions and 8 deletions
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71
apps/ir_spam1/Makefile
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# File: Makefile
# Author: M. P. Hayes, UCECE
# Date: 12 Sep 2010
# Descr: Makefile for ir_spam1
# Definitions.
CC = avr-gcc
CFLAGS = -mmcu=atmega32u2 -Os -Wall -Wstrict-prototypes -Wextra -g -I../../drivers/avr -I../../utils
OBJCOPY = avr-objcopy
SIZE = avr-size
DEL = rm
# Default target.
all: ir_spam1.out
# Compile: create object files from C source files.
ir_spam1.o: ir_spam1.c ../../drivers/avr/ir_uart.h ../../drivers/avr/system.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
ir_uart.o: ../../drivers/avr/ir_uart.c ../../drivers/avr/ir_uart.h ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/avr/timer0.h ../../drivers/avr/usart1.h
$(CC) -c $(CFLAGS) $< -o $@
pio.o: ../../drivers/avr/pio.c ../../drivers/avr/pio.h ../../drivers/avr/system.h
$(CC) -c $(CFLAGS) $< -o $@
prescale.o: ../../drivers/avr/prescale.c ../../drivers/avr/prescale.h ../../drivers/avr/system.h
$(CC) -c $(CFLAGS) $< -o $@
system.o: ../../drivers/avr/system.c ../../drivers/avr/system.h
$(CC) -c $(CFLAGS) $< -o $@
timer.o: ../../drivers/avr/timer.c ../../drivers/avr/system.h ../../drivers/avr/timer.h
$(CC) -c $(CFLAGS) $< -o $@
timer0.o: ../../drivers/avr/timer0.c ../../drivers/avr/bits.h ../../drivers/avr/prescale.h ../../drivers/avr/system.h ../../drivers/avr/timer0.h
$(CC) -c $(CFLAGS) $< -o $@
usart1.o: ../../drivers/avr/usart1.c ../../drivers/avr/system.h ../../drivers/avr/usart1.h
$(CC) -c $(CFLAGS) $< -o $@
pacer.o: ../../utils/pacer.c ../../drivers/avr/system.h ../../drivers/avr/timer.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
# Link: create output file (executable) from object files.
ir_spam1.out: ir_spam1.o ir_uart.o pio.o prescale.o system.o timer.o timer0.o usart1.o pacer.o
$(CC) $(CFLAGS) $^ -o $@ -lm
$(SIZE) $@
# Create hex file for programming from executable file.
ir_spam1.hex: ir_spam1.out
$(OBJCOPY) -O ihex ir_spam1.out ir_spam1.hex
# Target: clean project.
.PHONY: clean
clean:
-$(DEL) *.o *.out *.hex
# Target: program project.
.PHONY: program
program: ir_spam1.hex
dfu-programmer atmega32u2 erase; dfu-programmer atmega32u2 flash ir_spam1.hex; dfu-programmer atmega32u2 start

52
apps/ir_spam1/Makefile.test
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# File: Makefile
# Author: M. P. Hayes, UCECE
# Date: 11 Sep 2010
# Descr: Makefile for ir_spam1
CC = gcc
CFLAGS = -Wall -Wstrict-prototypes -Wextra -g -I../../drivers/test -I../../utils
DEL = rm
# Default target.
all: ir_spam1
# Compile: create object files from C source files.
ir_spam1-test.o: ir_spam1.c ../../drivers/test/ir_uart.h ../../drivers/test/system.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
ir_uart-test.o: ../../drivers/test/ir_uart.c ../../drivers/test/ir_uart.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
mgetkey-test.o: ../../drivers/test/mgetkey.c ../../drivers/test/mgetkey.h
$(CC) -c $(CFLAGS) $< -o $@
pio-test.o: ../../drivers/test/pio.c ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
system-test.o: ../../drivers/test/system.c ../../drivers/test/avrtest.h ../../drivers/test/mgetkey.h ../../drivers/test/pio.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
timer-test.o: ../../drivers/test/timer.c ../../drivers/test/system.h ../../drivers/test/timer.h
$(CC) -c $(CFLAGS) $< -o $@
pacer-test.o: ../../utils/pacer.c ../../drivers/test/system.h ../../drivers/test/timer.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
# Link: create executable file from object files.
ir_spam1: ir_spam1-test.o ir_uart-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o pacer-test.o
$(CC) $(CFLAGS) $^ -o $@ -lrt
# Clean: delete derived files.
.PHONY: clean
clean:
-$(DEL) ir_spam1 ir_spam1-test.o ir_uart-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o pacer-test.o

45
apps/ir_spam1/doc/Makefile
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# File: Makefile
# Author: M. P. Hayes, UCECE
# Date: 11 Sep 2010
# Descr: Makefile for ir_uart_test1 docs
# The scripts used to make the graphs require the program dot; this
# is part of the graphviz package.
DEL = rm
all: file_dependencies.pdf module_dependencies.pdf makefile_dependencies.pdf build_dependencies.pdf callgraph.pdf
file_dependencies.pdf: files.d
../../../etc/graphdeps.py $< --out $@
module_dependencies.pdf: modules.d
../../../etc/graphdeps.py $< --modules --rotate --out $@
makefile_dependencies.pdf: ../Makefile
../../../etc/graphdeps.py $< --out $@
build_dependencies.pdf: ../Makefile
../../../etc/graphdeps.py $< --out $@ --showops
callgraph.pdf: callgraph.d
../../../etc/graphdeps.py --calls --modules $< --out $@ --showops
files.d: ../Makefile
(cd ..; ../../etc/makemake.py --relpath --files . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system.h > doc/files.d)
modules.d: ../Makefile
(cd ..; ../../etc/makemake.py --relpath --modules . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system > doc/modules.d)
callgraph.d: ../Makefile
(cd ..; ../../etc/makemake.py --cc="avr-gcc" --cflags="-Os -mmcu=atmega32u2" --relpath --calls . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system.h > doc/callgraph.d)
# Clean: delete derived files.
.PHONY: clean
clean:
-$(DEL) *.d *.pdf

16
apps/ir_spam1/doc/README
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Running make in this directory will generate a number of PDF graphs.
In the callgraph, the arrows means "calls". In the dependency graphs,
the arrows means "requires" (or "depends upon").
callgraph.pdf This shows the callgraph, i.e., what functions each
function in the program calls.
module_dependencies.pdf This shows the dependencies between the modules.
file_dependencies.pdf This shows the dependencies between the files.
makefile_dependencies.pdf This shows the dependencies required by make when
building the program.
build_dependencies.pdf This is like makefile_dependencies.pdf but shows
the operations performed to generate the new file.
callgraph.d This shows the callgraph in text format.
files.d This shows the file dependencies in text format.
modules.d This shows the module dependencies in text format.

35
apps/ir_spam1/ir_spam1.c
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/** @file ir_spam1.c
@author M. P. Hayes, UCECE
@date 24 September 2013
@brief Repeatedly send message over IR.
*/
#include "system.h"
#include "pacer.h"
#include "ir_uart.h"
/* Define polling rate in Hz. */
#define LOOP_RATE 20
int main (void)
{
int count = 5;
system_init ();
ir_uart_init ();
pacer_init (LOOP_RATE);
/* Paced loop. */
while (1)
{
/* Wait for next tick. */
pacer_wait ();
ir_uart_putc ('A');
}
return 0;
}

52
apps/pacerdemo1/Makefile.test
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# File: Makefile
# Author: M. P. Hayes, UCECE
# Date: 11 Sep 2010
# Descr: Makefile for pacerdemo1
CC = gcc
CFLAGS = -Wall -Wstrict-prototypes -Wextra -g -I../../drivers/test -I../../drivers -I../../utils
DEL = rm
# Default target.
all: pacerdemo1
# Compile: create object files from C source files.
pacerdemo1-test.o: pacerdemo1.c ../../drivers/led.h ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
led-test.o: ../../drivers/led.c ../../drivers/led.h ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
mgetkey-test.o: ../../drivers/test/mgetkey.c ../../drivers/test/mgetkey.h
$(CC) -c $(CFLAGS) $< -o $@
pio-test.o: ../../drivers/test/pio.c ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
system-test.o: ../../drivers/test/system.c ../../drivers/test/avrtest.h ../../drivers/test/mgetkey.h ../../drivers/test/pio.h ../../drivers/test/system.h
$(CC) -c $(CFLAGS) $< -o $@
timer-test.o: ../../drivers/test/timer.c ../../drivers/test/system.h ../../drivers/test/timer.h
$(CC) -c $(CFLAGS) $< -o $@
pacer-test.o: ../../utils/pacer.c ../../drivers/test/system.h ../../drivers/test/timer.h ../../utils/pacer.h
$(CC) -c $(CFLAGS) $< -o $@
# Link: create executable file from object files.
pacerdemo1: pacerdemo1-test.o led-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o pacer-test.o
$(CC) $(CFLAGS) $^ -o $@ -lrt
# Clean: delete derived files.
.PHONY: clean
clean:
-$(DEL) pacerdemo1 pacerdemo1-test.o led-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o pacer-test.o

1
drivers/avr/system.c
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@ -30,6 +30,7 @@ static void system_watchdog_timer_init (void)
}
/** Initialise clock and disable watchdog timer. */
void system_init (void)
{
system_clock_init ();

17
drivers/avr/system.h
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@ -12,7 +12,7 @@
typedef uint8_t bool;
/* Useful macros. */
/** Useful macros. */
#define BIT(X) (1 << (X))
#define ARRAY_SIZE(ARRAY) (sizeof (ARRAY) / sizeof (ARRAY[0]))
@ -20,11 +20,11 @@ typedef uint8_t bool;
#define __unused__ __attribute__ ((unused))
/* Clock frequency Hz. */
/** Clock frequency Hz. */
#define F_CPU 8000000
/* LED matrix columns. (Note these are labelled in reverse order on
/** LED matrix columns. (Note these are labelled in reverse order on
the schematic.) */
#define LEDMAT_COL1_PIO PC6_PIO
#define LEDMAT_COL2_PIO PB7_PIO
@ -34,7 +34,7 @@ typedef uint8_t bool;
#define LEDMAT_COLS_NUM 5
/* LED matrix rows. */
/** LED matrix rows. */
#define LEDMAT_ROW1_PIO PB6_PIO
#define LEDMAT_ROW2_PIO PB5_PIO
#define LEDMAT_ROW3_PIO PB4_PIO
@ -45,12 +45,12 @@ typedef uint8_t bool;
#define LEDMAT_ROWS_NUM 7
/* Button. */
/** Button. */
#define BUTTON1 0
#define BUTTON1_PIO PD7_PIO
/* Navswitch. */
/** Navswitch. */
#define NAVSWITCH_PUSH_PIO LEDMAT_COL3_PIO
#define NAVSWITCH_DOWN_PIO NAVSWITCH_PUSH_PIO
#define NAVSWITCH_EAST_PIO LEDMAT_COL1_PIO
@ -59,18 +59,19 @@ typedef uint8_t bool;
#define NAVSWITCH_SOUTH_PIO LEDMAT_COL5_PIO
/* LED (active high). */
/** LED (active high). */
#define LED1 0
#define LED1_PIO PC2_PIO
/* Infrared transmitter LED and receiver. */
/** Infrared transmitter LED and receiver. */
#define IR_TX_LOW_PIO PD3_PIO
#define IR_TX_HIGH_PIO PD0_PIO
#define IR_RX_PIO PD2_PIO
#define IR_MODULATION_FREQ 36e3
/** Initialise clock and disable watchdog timer. */
void system_init (void);
#endif

151
drivers/ir_rx5_rx.c
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/** @file ir_rc5_rx.c
@author M. P. Hayes, UCECE
@date 21 May 2013
@brief Infrared serial receiver driver for Phillips RC5 protocol.
*/
/* The Phillips RC-5 protocol uses the following format of 14 bits:
1 start bit
1 field bit (this used to be a second start bit)
1 toggle bit
5 address bits
6 command bits
Manchester encoding is used for the bits. The start bit is a `1' bits.
`1' bits have the IR modulation on for the second half of the cycle.
`0' bits have the IR modulation on for the first half of the cycle.
Each bit period is 1778 microseconds (64 cycles of 36 kHz modulation)
thus a frame is 24.9 ms.
While a button is pressed, a frame is repeatedly sent. If the button
is repressed, the toggle bit is changed.
This is a simple polled implementation that will block for the entire frame
if it detects a start bit.
*/
#include "ir_rc5_rx.h"
#include "pio.h"
#include "delay.h"
#define IR_RC5_BIT_PERIOD_US 1778
#ifndef IR_RC5_RX_ACTIVE_STATE
/* Most IR demodulators have an active low output. */
#define IR_RC5_RX_ACTIVE_STATE 0
#endif
/** Return output state of IR receiver.
@return IR receiver state (1 = IR modulation detected). */
static inline uint8_t ir_rc5_rx_get (void)
{
return pio_input_get (IR_RC5_RX_PIO) == IR_RC5_RX_ACTIVE_STATE;
}
uint8_t ir_rc5_rx_ready_p (void)
{
return ir_rc5_rx_get ();
}
static uint16_t ir_rc5_rx_wait_state (uint8_t state)
{
uint16_t us;
for (us = 0; us < IR_RC5_BIT_PERIOD_US; us++)
{
if (ir_rc5_rx_get () == state)
return us;
/* TODO: figure out how to determine the fudge term. Ideally,
we should poll a counter incremented by the CPU clock. */
DELAY_US (1 - 0.4);
}
return us;
}
static uint16_t ir_rc5_rx_wait_transition (void)
{
uint8_t initial;
initial = ir_rc5_rx_get ();
return ir_rc5_rx_wait_state (!initial);
}
/** Receive RC5 data packet over IR serial link.
@return 14-bits of data or error status code
@note No error checking is performed. If there is no activity on the
IR serial link, this function returns immediately. Otherwise, this
function blocks until the entire frame is received. This must be called
frequently to ensure that a start bit is seen. */
int16_t ir_rc5_rx_read (void)
{
int16_t data;
int i;
uint16_t us;
/* Look to see if there is some IR modulation marking the second
half of the first start bit. It is possible that we may have
missed the start bit. In this case we are likely to
time out. */
if (!ir_rc5_rx_ready_p ())
return IR_RC5_RX_NONE;
/* The old RC-5 format had two start bits; this made a bit-bashed
software implementation easier. The problem is that we have
been called just before the falling edge of the start bit.
So we have to special case these two bits. */
/* Search for the next falling transition. */
us = ir_rc5_rx_wait_state (0);
if (us >= IR_RC5_BIT_PERIOD_US)
return IR_RC5_RX_TIMEOUT;
if (us > (IR_RC5_BIT_PERIOD_US >> 1))
{
/* The field bit is 0. */
data = 2;
}
else
{
/* The field bit is 1; so delay until middle of bit period. */
data = 3;
us = ir_rc5_rx_wait_state (1);
if (us >= IR_RC5_BIT_PERIOD_US)
return IR_RC5_RX_TIMEOUT;
}
for (i = 2; i < 14; i++)
{
data <<= 1;
DELAY_US (0.5 * IR_RC5_BIT_PERIOD_US + 100);
us = ir_rc5_rx_wait_transition ();
if (us >= IR_RC5_BIT_PERIOD_US)
return IR_RC5_RX_TIMEOUT;
if (ir_rc5_rx_get ())
data |= 1;
}
return data;
}
/** Initialise IR serial receiver driver. */
void ir_rc5_rx_init (void)
{
/* Ensure PIO clock activated for reading. */
pio_init (IR_RX_PIO);
/* Configure IR receiver PIO as input. */
pio_config_set (IR_RX_PIO, PIO_INPUT);
}

34
drivers/ir_rx5_rx.h
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/** @file ir_rc5_rx.h
@author M. P. Hayes, UCECE
@date 21 May 2013
@brief Infrared serial receiver driver for Phillips RC5 protocol.
*/
#ifndef IR_RC5_RX_H
#define IR_RC5_RX_H
#include "config.h"
/** Status return codes. */
typedef enum ir_rc5_rx_ret
{
/** No data to read. */
IR_RC5_RX_NONE = 0,
/** Timeout waiting for transition. */
IR_RC5_RX_TIMEOUT = -1
} ir_rc5_rx_ret_t;
/** Receive RC5 data packet over IR serial link.
@return 14-bits of data or error status code
@note No error checking is performed. If there is no activity on the
IR serial link, this function returns immediately. Otherwise, this
function blocks until the entire frame is received. This must be called
frequently to ensure that a start bit is seen. */
int16_t ir_rc5_rx_read (void);
/** Initialise IR serial receiver driver. */
void ir_rc5_rx_init (void);
#endif
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