From 7197f66d8d0a423e994cf12912284881f46725a6 Mon Sep 17 00:00:00 2001 From: Michael Hayes Date: Wed, 9 Oct 2013 14:20:20 +1300 Subject: [PATCH 1/3] Add ir_uart_test6 to show difference between ir_uart_putc and ir_uart_putc_nocheck --- apps/ir_spam1/ir_spam1.c | 2 +- apps/ir_uart_test6/Makefile | 86 ++++++++++++++++++++++++++++++ apps/ir_uart_test6/Makefile.test | 67 +++++++++++++++++++++++ apps/ir_uart_test6/doc/Makefile | 45 ++++++++++++++++ apps/ir_uart_test6/doc/README | 16 ++++++ apps/ir_uart_test6/ir_uart_test6.c | 73 +++++++++++++++++++++++++ 6 files changed, 288 insertions(+), 1 deletion(-) create mode 100644 apps/ir_uart_test6/Makefile create mode 100644 apps/ir_uart_test6/Makefile.test create mode 100644 apps/ir_uart_test6/doc/Makefile create mode 100644 apps/ir_uart_test6/doc/README create mode 100644 apps/ir_uart_test6/ir_uart_test6.c diff --git a/apps/ir_spam1/ir_spam1.c b/apps/ir_spam1/ir_spam1.c index 2b36ac2..1f8fe4e 100644 --- a/apps/ir_spam1/ir_spam1.c +++ b/apps/ir_spam1/ir_spam1.c @@ -40,7 +40,7 @@ int main (void) ticks = 0; ir_uart_putc ('2'); } -x + tinygl_update (); } diff --git a/apps/ir_uart_test6/Makefile b/apps/ir_uart_test6/Makefile new file mode 100644 index 0000000..255a13d --- /dev/null +++ b/apps/ir_uart_test6/Makefile @@ -0,0 +1,86 @@ +# File: Makefile +# Author: M. P. Hayes, UCECE +# Date: 12 Sep 2010 +# Descr: Makefile for ir_uart_test6 + +# Definitions. +CC = avr-gcc +CFLAGS = -mmcu=atmega32u2 -Os -Wall -Wstrict-prototypes -Wextra -g -I../../drivers/avr -I../../fonts -I../../drivers -I../../utils +OBJCOPY = avr-objcopy +SIZE = avr-size +DEL = rm + + +# Default target. +all: ir_uart_test6.out + + +# Compile: create object files from C source files. +ir_uart_test6.o: ir_uart_test6.c ../../drivers/avr/ir_uart.h ../../drivers/avr/system.h ../../drivers/display.h ../../drivers/navswitch.h ../../fonts/font5x7_1.h ../../utils/font.h ../../utils/pacer.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + +ir_uart.o: ../../drivers/avr/ir_uart.c ../../drivers/avr/delay.h ../../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 $@ + +display.o: ../../drivers/display.c ../../drivers/avr/system.h ../../drivers/display.h ../../drivers/ledmat.h + $(CC) -c $(CFLAGS) $< -o $@ + +ledmat.o: ../../drivers/ledmat.c ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/ledmat.h + $(CC) -c $(CFLAGS) $< -o $@ + +navswitch.o: ../../drivers/navswitch.c ../../drivers/avr/delay.h ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/navswitch.h + $(CC) -c $(CFLAGS) $< -o $@ + +font.o: ../../utils/font.c ../../drivers/avr/system.h ../../utils/font.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 $@ + +tinygl.o: ../../utils/tinygl.c ../../drivers/avr/system.h ../../drivers/display.h ../../utils/font.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + + + + +# Link: create output file (executable) from object files. +ir_uart_test6.out: ir_uart_test6.o ir_uart.o pio.o prescale.o system.o timer.o timer0.o usart1.o display.o ledmat.o navswitch.o font.o pacer.o tinygl.o + $(CC) $(CFLAGS) $^ -o $@ -lm + $(SIZE) $@ + + +# Create hex file for programming from executable file. +ir_uart_test6.hex: ir_uart_test6.out + $(OBJCOPY) -O ihex ir_uart_test6.out ir_uart_test6.hex + + +# Target: clean project. +.PHONY: clean +clean: + -$(DEL) *.o *.out *.hex + + +# Target: program project. +.PHONY: program +program: ir_uart_test6.hex + dfu-programmer atmega32u2 erase; dfu-programmer atmega32u2 flash ir_uart_test6.hex; dfu-programmer atmega32u2 start + + diff --git a/apps/ir_uart_test6/Makefile.test b/apps/ir_uart_test6/Makefile.test new file mode 100644 index 0000000..194394e --- /dev/null +++ b/apps/ir_uart_test6/Makefile.test @@ -0,0 +1,67 @@ +# File: Makefile +# Author: M. P. Hayes, UCECE +# Date: 11 Sep 2010 +# Descr: Makefile for ir_uart_test6 + +CC = gcc +CFLAGS = -Wall -Wstrict-prototypes -Wextra -g -I../../drivers/test -I../../drivers -I../../fonts -I../../utils + +DEL = rm + + +# Default target. +all: ir_uart_test6 + + +# Compile: create object files from C source files. +ir_uart_test6-test.o: ir_uart_test6.c ../../drivers/display.h ../../drivers/navswitch.h ../../drivers/test/ir_uart.h ../../drivers/test/system.h ../../fonts/font5x7_1.h ../../utils/font.h ../../utils/pacer.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + +display-test.o: ../../drivers/display.c ../../drivers/display.h ../../drivers/ledmat.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +ledmat-test.o: ../../drivers/ledmat.c ../../drivers/ledmat.h ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +navswitch-test.o: ../../drivers/navswitch.c ../../drivers/navswitch.h ../../drivers/test/avrtest.h ../../drivers/test/delay.h ../../drivers/test/pio.h ../../drivers/test/system.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 $@ + +font-test.o: ../../utils/font.c ../../drivers/test/system.h ../../utils/font.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 $@ + +tinygl-test.o: ../../utils/tinygl.c ../../drivers/display.h ../../drivers/test/system.h ../../utils/font.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + + + + +# Link: create executable file from object files. +ir_uart_test6: ir_uart_test6-test.o display-test.o ledmat-test.o navswitch-test.o ir_uart-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o font-test.o pacer-test.o tinygl-test.o + $(CC) $(CFLAGS) $^ -o $@ -lrt + + +# Clean: delete derived files. +.PHONY: clean +clean: + -$(DEL) ir_uart_test6 ir_uart_test6-test.o display-test.o ledmat-test.o navswitch-test.o ir_uart-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o font-test.o pacer-test.o tinygl-test.o + + + diff --git a/apps/ir_uart_test6/doc/Makefile b/apps/ir_uart_test6/doc/Makefile new file mode 100644 index 0000000..00afecd --- /dev/null +++ b/apps/ir_uart_test6/doc/Makefile @@ -0,0 +1,45 @@ +# 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 + diff --git a/apps/ir_uart_test6/doc/README b/apps/ir_uart_test6/doc/README new file mode 100644 index 0000000..39a9712 --- /dev/null +++ b/apps/ir_uart_test6/doc/README @@ -0,0 +1,16 @@ +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. diff --git a/apps/ir_uart_test6/ir_uart_test6.c b/apps/ir_uart_test6/ir_uart_test6.c new file mode 100644 index 0000000..b73e7db --- /dev/null +++ b/apps/ir_uart_test6/ir_uart_test6.c @@ -0,0 +1,73 @@ +/** @file ir_uart_test6.c + @author M. P. Hayes, UCECE + @date 24 August 2009 + @brief Test program for IR serial communications. + This demonstrates the diffference between ir_uart_putc and + ir_uart_putc_nocheck. + + @defgroup ir_uart_test6 Test program for IR serial communications. +*/ + +#include "system.h" +#include "navswitch.h" +#include "tinygl.h" +#include "pacer.h" +#include "ir_uart.h" +#include "../fonts/font5x7_1.h" + + +/* Define polling rate in Hz. */ +#define LOOP_RATE 300 + +/* Define text update rate (characters per 10 s). */ +#define MESSAGE_RATE 10 + + +int main (void) +{ + system_init (); + tinygl_init (LOOP_RATE); + tinygl_font_set (&font5x7_1); + tinygl_text_speed_set (MESSAGE_RATE); + tinygl_text_mode_set (TINYGL_TEXT_MODE_STEP); + + navswitch_init (); + ir_uart_init (); + + pacer_init (LOOP_RATE); + + tinygl_draw_char ('*', tinygl_point (0, 0)); + + /* Paced loop. */ + while (1) + { + /* Wait for next tick. */ + pacer_wait (); + + tinygl_update (); + + navswitch_update (); + + if (navswitch_push_event_p (NAVSWITCH_WEST)) + ir_uart_putc ('W'); + + if (navswitch_push_event_p (NAVSWITCH_EAST)) + ir_uart_putc ('E'); + + if (navswitch_push_event_p (NAVSWITCH_NORTH)) + ir_uart_putc_nocheck ('N'); + + if (navswitch_push_event_p (NAVSWITCH_SOUTH)) + ir_uart_putc_nocheck ('S'); + + if (ir_uart_read_ready_p ()) + { + uint8_t data; + + data = ir_uart_getc (); + tinygl_draw_char (data, tinygl_point (0, 0)); + } + } + + return 0; +} From f8fd547dfb127bcf481161273a63965ddd968174 Mon Sep 17 00:00:00 2001 From: Michael Hayes Date: Wed, 9 Oct 2013 14:21:21 +1300 Subject: [PATCH 2/3] Ensure TXC1 is clear --- drivers/avr/usart1.c | 6 +++++- drivers/avr/usart1.h | 2 +- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/drivers/avr/usart1.c b/drivers/avr/usart1.c index e28fae7..4f481b7 100644 --- a/drivers/avr/usart1.c +++ b/drivers/avr/usart1.c @@ -64,13 +64,17 @@ usart1_write_finished_p (void) /** Write character to USART1. This blocks until the character can be - written into transmit register. */ + written into the transmit register. */ void usart1_putc (char ch) { while (!usart1_write_ready_p ()) continue; + /* Write a 1 to the TXC1 bit to clear it! It will be set when the + data is shifted out of the transmit shift register. */ + UCSR1A |= BIT (TXC1); + UDR1 = ch; } diff --git a/drivers/avr/usart1.h b/drivers/avr/usart1.h index af9b069..ad8bb97 100644 --- a/drivers/avr/usart1.h +++ b/drivers/avr/usart1.h @@ -44,7 +44,7 @@ usart1_write_finished_p (void); /** Write character to USART1. This blocks until the character can be - written into transmit register. */ + written into the transmit register. */ void usart1_putc (char ch); From c07b6e13b49bc4cae7ca8c1a5cdc5a96fc1e39ad Mon Sep 17 00:00:00 2001 From: Michael Hayes Date: Wed, 9 Oct 2013 14:21:50 +1300 Subject: [PATCH 3/3] Add ir_uart_putc_nocheck and make ir_uart_putc more robust at gobbling echoed data --- drivers/avr/ir_uart.c | 30 +++++++++++++++++++++++------- drivers/avr/ir_uart.h | 15 ++++++++++++--- 2 files changed, 35 insertions(+), 10 deletions(-) diff --git a/drivers/avr/ir_uart.c b/drivers/avr/ir_uart.c index c2699c8..fa323a6 100644 --- a/drivers/avr/ir_uart.c +++ b/drivers/avr/ir_uart.c @@ -43,11 +43,26 @@ ir_uart_write_finished_p (void) } -/* Write character to IR_UART. This returns zero if - the character could not be written. */ -int8_t +/** Write character to IR_UART. This blocks until the character can + be written into the transmit buffer. It does not check to see + if there is any echoed character (see ir_uart_putc). */ +void +ir_uart_putc_nocheck (char ch) +{ + usart1_putc (ch); +} + + +/** Write character to IR_UART. This blocks until the character is + written. It then checks if data has been received and if so, reads + the data and throws it away on the assumption that it is electrical + or optical echoing. */ +void ir_uart_putc (char ch) { + /* At 2400 baud with one start bit, 8 data bits, and no parity, + this will take 3.75 ms to transmit. Note, the maximum bit rate + for the IR receiver is 4000 bps. */ usart1_putc (ch); /* Gobble echoed character. The echoing is due to an electrical @@ -66,13 +81,14 @@ ir_uart_putc (char ch) while (! ir_uart_write_finished_p ()) continue; - /* Play safe and wait for receive complete flag to be set. */ - DELAY_US (1); + /* The IR receiver has a delay of about 150 microseconds. So need + to wait for UART to have received the data and set its receive + complete bit. */ + DELAY_US (150); + /* Check is something was inadvertently read. */ if (ir_uart_read_ready_p ()) ir_uart_getc (); - - return 1; } diff --git a/drivers/avr/ir_uart.h b/drivers/avr/ir_uart.h index 800bbe3..109e16f 100644 --- a/drivers/avr/ir_uart.h +++ b/drivers/avr/ir_uart.h @@ -77,9 +77,18 @@ bool ir_uart_write_finished_p (void); -/* Write character to IR_UART. This returns zero if - the character could not be written. */ -int8_t +/** Write character to IR_UART. This blocks until the character can + be written into the transmit buffer. It does not check to see + if there is any echoed character (see ir_uart_putc). */ +void +ir_uart_putc_nocheck (char ch); + + +/* Write character to IR_UART. This blocks until the character is + written. It then checks if data has been received and if so, reads + the data and throws it away on the assumption that it is electrical + or optical echoing. */ +void ir_uart_putc (char ch);