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-rw-r--r--.gitmodules3
-rwxr-xr-xIMU.cpp92
-rwxr-xr-xIMU.h26
-rw-r--r--SConstruct14
-rw-r--r--ak8975.h24
-rw-r--r--bma150.h24
-rw-r--r--board.c18
-rw-r--r--board.h96
-rw-r--r--ch.ld114
-rw-r--r--chconf.h508
m---------chibios0
-rw-r--r--foo.h84
-rw-r--r--halconf.h283
-rw-r--r--i2csensor.cpp77
-rw-r--r--i2csensor.h26
-rw-r--r--itg3200.h24
-rw-r--r--main.cpp256
-rw-r--r--mcuconf.h170
-rw-r--r--motormixer.cpp86
-rw-r--r--motormixer.h12
-rw-r--r--ppmsum.cpp39
-rw-r--r--ppmsum.h13
-rw-r--r--thread.h23
-rw-r--r--usbserial.cpp281
-rw-r--r--usbserial.h38
25 files changed, 2 insertions, 2329 deletions
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index de8b785..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "chibios"]
- path = chibios
- url = git://git.jvnv.net/chibios
diff --git a/IMU.cpp b/IMU.cpp
deleted file mode 100755
index bcff537..0000000
--- a/IMU.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=====================================================================================================
-// IMU.c
-// S.O.H. Madgwick
-// 25th September 2010
-//=====================================================================================================
-// Description:
-//
-// Quaternion implementation of the 'DCM filter' [Mayhony et al].
-//
-// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
-//
-// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
-// orientation. See my report for an overview of the use of quaternions in this application.
-//
-// User must call 'IMUupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz')
-// and accelerometer ('ax', 'ay', 'ay') data. Gyroscope units are radians/second, accelerometer
-// units are irrelevant as the vector is normalised.
-//
-//=====================================================================================================
-
-//----------------------------------------------------------------------------------------------------
-// Header files
-
-#include "IMU.h"
-#include <math.h>
-#include <ch.h>
-
-//----------------------------------------------------------------------------------------------------
-// Definitions
-
-#define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer
-#define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases
-#define halfT (0.5f / 100) // half the sample period
-
-//---------------------------------------------------------------------------------------------------
-// Variable definitions
-
-float q0 = 1, q1 = 0, q2 = 0, q3 = 0; // quaternion elements representing the estimated orientation
-float exInt = 0, eyInt = 0, ezInt = 0; // scaled integral error
-
-//====================================================================================================
-// Function
-//====================================================================================================
-
-void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az) {
- float norm;
- float vx, vy, vz;
- float ex, ey, ez;
-
- // normalise the measurements
- norm = sqrt(ax*ax + ay*ay + az*az);
- ax = ax / norm;
- ay = ay / norm;
- az = az / norm;
-
- // estimated direction of gravity
- vx = 2*(q1*q3 - q0*q2);
- vy = 2*(q0*q1 + q2*q3);
- vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
-
- // error is sum of cross product between reference direction of field and direction measured by sensor
- ex = (ay*vz - az*vy);
- ey = (az*vx - ax*vz);
- ez = (ax*vy - ay*vx);
-
- // integral error scaled integral gain
- exInt = exInt + ex*Ki;
- eyInt = eyInt + ey*Ki;
- ezInt = ezInt + ez*Ki;
-
- // adjusted gyroscope measurements
- gx = gx + Kp*ex + exInt;
- gy = gy + Kp*ey + eyInt;
- gz = gz + Kp*ez + ezInt;
-
- // integrate quaternion rate and normalise
- q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
- q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
- q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
- q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;
-
- // normalise quaternion
- norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
- q0 = q0 / norm;
- q1 = q1 / norm;
- q2 = q2 / norm;
- q3 = q3 / norm;
-}
-
-//====================================================================================================
-// END OF CODE
-//====================================================================================================
diff --git a/IMU.h b/IMU.h
deleted file mode 100755
index 003488a..0000000
--- a/IMU.h
+++ /dev/null
@@ -1,26 +0,0 @@
-//=====================================================================================================
-// IMU.h
-// S.O.H. Madgwick
-// 25th September 2010
-//=====================================================================================================
-//
-// See IMU.c file for description.
-//
-//=====================================================================================================
-#ifndef IMU_h
-#define IMU_h
-
-//----------------------------------------------------------------------------------------------------
-// Variable declaration
-
-extern float q0, q1, q2, q3; // quaternion elements representing the estimated orientation
-
-//---------------------------------------------------------------------------------------------------
-// Function declaration
-
-void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az);
-
-#endif
-//=====================================================================================================
-// End of file
-//===================================================================================================== \ No newline at end of file
diff --git a/SConstruct b/SConstruct
index 6d3566a..08229f4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,23 +18,13 @@ env = Environment(
AR = 'arm-none-eabi-ar',
RANLIB = 'arm-none-eabi-ranlib',
- CPPPATH = ['.',
- 'chibios/os/kernel/include', 'chibios/os/ports/GCC/ARMCMx', 'chibios/os/ports/GCC/ARMCMx/STM32',
- 'chibios/os/hal/include', 'chibios/os/hal/platforms/STM32',
- ],
+ #CPPPATH = [],
#LIBPATH = [],
LIBS = ['m'],
)
-sources = \
- Glob('chibios/os/kernel/src/*.c') + \
- ['chibios/os/ports/GCC/ARMCMx/' + i for i in ('STM32/vectors.c', 'chcore.c', 'chcore_v7m.c', 'nvic.c', 'crt0_v7m.s')] + \
- Glob('chibios/os/hal/src/*.c') + \
- Glob('chibios/os/hal/platforms/STM32/*.c')
-
-#firmware = env.Program('suzumebachi.elf', Glob('*.cpp') + Glob('*.c') + sources)
-firmware = env.Program('suzumebachi.elf', ['main.cpp', 'entry.cpp', 'interrupt.cpp', 'rcc.cpp'])
+firmware = env.Program('suzumebachi.elf', Glob('*.cpp'))
env.Depends(firmware, 'suzumebachi.ld')
env.Command('prog', ['suzumebachi.elf'], 'openocd -f openocd.cfg -c flash_chip')
diff --git a/ak8975.h b/ak8975.h
deleted file mode 100644
index beb9940..0000000
--- a/ak8975.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef AK8975_H
-#define AK8975_H
-
-#include "i2csensor.h"
-
-class AK8975 : public I2CSensor {
- public:
- int16_t x, y, z;
-
- void init() {
- i2c_address = 0x0c;
- write(0x0a, 0x01); // Start first measurement.
- }
-
- void update() {
- read(0x03, 6);
- x = (rxdata[0] | rxdata[1] << 8);
- y = (rxdata[2] | rxdata[3] << 8);
- z = (rxdata[4] | rxdata[5] << 8);
- write(0x0a, 0x01); // Start a new measurement.
- }
-};
-
-#endif
diff --git a/bma150.h b/bma150.h
deleted file mode 100644
index 0cd6b27..0000000
--- a/bma150.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef BMA150_H
-#define BMA150_H
-
-#include "i2csensor.h"
-
-class BMA150 : public I2CSensor {
- public:
- int16_t x, y, z;
-
- void init() {
- i2c_address = 0x38;
- read(0x14, 1);
- write(0x14, (rxdata[0] & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth
- }
-
- void update() {
- read(0x02, 6);
- x = ((rxdata[0] & 0xc0) | rxdata[1] << 8);
- y = ((rxdata[2] & 0xc0) | rxdata[3] << 8);
- z = ((rxdata[4] & 0xc0) | rxdata[5] << 8);
- }
-};
-
-#endif
diff --git a/board.c b/board.c
deleted file mode 100644
index f4b836c..0000000
--- a/board.c
+++ /dev/null
@@ -1,18 +0,0 @@
-#include <ch.h>
-#include <hal.h>
-
-const PALConfig pal_default_config = {
- {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
- {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
- {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
- {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
- {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
-};
-
-void __early_init(void) {
- stm32_clock_init();
-}
-
-void boardInit(void) {
-
-}
diff --git a/board.h b/board.h
deleted file mode 100644
index f273db2..0000000
--- a/board.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#ifndef BOARD_H
-#define BOARD_H
-
-#define STM32_HSECLK 8000000
-
-#define STM32F10X_MD
-
-/*
- * I/O ports initial setup, this configuration is established soon after reset
- * in the initialization code.
- *
- * The digits have the following meaning:
- * 0 - Analog input.
- * 1 - Push Pull output 10MHz.
- * 2 - Push Pull output 2MHz.
- * 3 - Push Pull output 50MHz.
- * 4 - Digital input.
- * 5 - Open Drain output 10MHz.
- * 6 - Open Drain output 2MHz.
- * 7 - Open Drain output 50MHz.
- * 8 - Digital input with PullUp or PullDown resistor depending on ODR.
- * 9 - Alternate Push Pull output 10MHz.
- * A - Alternate Push Pull output 2MHz.
- * B - Alternate Push Pull output 50MHz.
- * C - Reserved.
- * D - Alternate Open Drain output 10MHz.
- * E - Alternate Open Drain output 2MHz.
- * F - Alternate Open Drain output 50MHz.
- * Please refer to the STM32 Reference Manual for details.
- */
-
-/*
- * Port A setup.
- * Everything input with pull-up except:
- * PA0 - Normal input (BUTTON).
- * PA2 - Alternate output (USART2 TX).
- * PA3 - Normal input (USART2 RX).
- */
-#define VAL_GPIOACRL 0x88384B88 /* PA7...PA0 */
-#define VAL_GPIOACRH 0x888884B8 /* PA15...PA8 */
-#define VAL_GPIOAODR 0xFFFFFFFF
-
-/*
- * Port B setup.
- * Everything input with pull-up except:
- * PB13 - Alternate output (MMC SPI2 SCK).
- * PB14 - Normal input (MMC SPI2 MISO).
- * PB15 - Alternate output (MMC SPI2 MOSI).
- */
-#define VAL_GPIOBCRL 0x84888888 /* PB7...PB0 */
-#define VAL_GPIOBCRH 0xB4B84488 /* PB15...PB8 */
-#define VAL_GPIOBODR 0xFFFFFFFF
-
-/*
- * Port C setup.
- * Everything input with pull-up except:
- * PC4 - Normal input because there is an external resistor.
- * PC6 - Normal input because there is an external resistor.
- * PC7 - Normal input because there is an external resistor.
- * PC10 - Push Pull output (CAN CNTRL).
- * PC11 - Push Pull output (USB DISC).
- * PC12 - Push Pull output (LED).
- */
-#define VAL_GPIOCCRL 0x44008888 /* PC7...PC0 */
-#define VAL_GPIOCCRH 0x88833388 /* PC15...PC8 */
-#define VAL_GPIOCODR 0xFFFFFFFF
-
-/*
- * Port D setup.
- * Everything input with pull-up except:
- * PD0 - Normal input (XTAL).
- * PD1 - Normal input (XTAL).
- */
-#define VAL_GPIODCRL 0x88888844 /* PD7...PD0 */
-#define VAL_GPIODCRH 0x88888888 /* PD15...PD8 */
-#define VAL_GPIODODR 0xFFFFFFFF
-
-/*
- * Port E setup.
- * Everything input with pull-up except:
- */
-#define VAL_GPIOECRL 0x88888888 /* PE7...PE0 */
-#define VAL_GPIOECRH 0x88888888 /* PE15...PE8 */
-#define VAL_GPIOEODR 0xFFFFFFFF
-
-#if !defined(_FROM_ASM_)
-#ifdef __cplusplus
-extern "C" {
-#endif
- void boardInit(void);
-#ifdef __cplusplus
-}
-#endif
-#endif
-
-#endif
diff --git a/ch.ld b/ch.ld
deleted file mode 100644
index ae79ddd..0000000
--- a/ch.ld
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/*
- * ST32F103 memory setup.
- */
-__main_stack_size__ = 0x0400;
-__process_stack_size__ = 0x0400;
-__stacks_total_size__ = __main_stack_size__ + __process_stack_size__;
-
-MEMORY
-{
- flash : org = 0x08000000, len = 128k
- ram : org = 0x20000000, len = 20k
-}
-
-__ram_start__ = ORIGIN(ram);
-__ram_size__ = LENGTH(ram);
-__ram_end__ = __ram_start__ + __ram_size__;
-
-SECTIONS
-{
- . = 0;
-
- .text : ALIGN(16) SUBALIGN(16)
- {
- _text = .;
- KEEP(*(vectors))
- *(.text)
- *(.text.*)
- *(.rodata)
- *(.rodata.*)
- *(.glue_7t)
- *(.glue_7)
- *(.gcc*)
- } > flash
-
- .ctors :
- {
- PROVIDE(_ctors_start_ = .);
- KEEP(*(SORT(.ctors.*)))
- KEEP(*(.ctors))
- PROVIDE(_ctors_end_ = .);
- } > flash
-
- .dtors :
- {
- PROVIDE(_dtors_start_ = .);
- KEEP(*(SORT(.dtors.*)))
- KEEP(*(.dtors))
- PROVIDE(_dtors_end_ = .);
- } > flash
-
- .ARM.extab : {*(.ARM.extab* .gnu.linkonce.armextab.*)}
-
- __exidx_start = .;
- .ARM.exidx : {*(.ARM.exidx* .gnu.linkonce.armexidx.*)} > flash
- __exidx_end = .;
-
- .eh_frame_hdr : {*(.eh_frame_hdr)}
-
- .eh_frame : ONLY_IF_RO {*(.eh_frame)}
-
- . = ALIGN(4);
- _etext = .;
- _textdata = _etext;
-
- .data :
- {
- _data = .;
- *(.data)
- . = ALIGN(4);
- *(.data.*)
- . = ALIGN(4);
- *(.ramtext)
- . = ALIGN(4);
- _edata = .;
- } > ram AT > flash
-
- .bss :
- {
- _bss_start = .;
- *(.bss)
- . = ALIGN(4);
- *(.bss.*)
- . = ALIGN(4);
- *(COMMON)
- . = ALIGN(4);
- _bss_end = .;
- } > ram
-}
-
-PROVIDE(end = .);
-_end = .;
-
-__heap_base__ = _end;
-__heap_end__ = __ram_end__ - __stacks_total_size__;
diff --git a/chconf.h b/chconf.h
deleted file mode 100644
index dcb2493..0000000
--- a/chconf.h
+++ /dev/null
@@ -1,508 +0,0 @@
-/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @file templates/chconf.h
- * @brief Configuration file template.
- * @details A copy of this file must be placed in each project directory, it
- * contains the application specific kernel settings.
- *
- * @addtogroup config
- * @details Kernel related settings and hooks.
- * @{
- */
-
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
-
-/*===========================================================================*/
-/* Kernel parameters. */
-/*===========================================================================*/
-
-/**
- * @brief System tick frequency.
- * @details Frequency of the system timer that drives the system ticks. This
- * setting also defines the system tick time unit.
- */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY 1000
-#endif
-
-/**
- * @brief Round robin interval.
- * @details This constant is the number of system ticks allowed for the
- * threads before preemption occurs. Setting this value to zero
- * disables the preemption for threads with equal priority and the
- * round robin becomes cooperative. Note that higher priority
- * threads can still preempt, the kernel is always preemptive.
- *
- * @note Disabling the round robin preemption makes the kernel more compact
- * and generally faster.
- */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM 20
-#endif
-
-/**
- * @brief Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- * operations is allowed.<br>
- * For performance and code size reasons the recommended setting
- * is to leave this option disabled.<br>
- * You may use this option if you need to merge ChibiOS/RT with
- * external libraries that require nested lock/unlock operations.
- *
- * @note The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS FALSE
-#endif
-
-/**
- * @brief Managed RAM size.
- * @details Size of the RAM area to be managed by the OS. If set to zero
- * then the whole available RAM is used. The core memory is made
- * available to the heap allocator and/or can be used directly through
- * the simplified core memory allocator.
- *
- * @note In order to let the OS manage the whole RAM the linker script must
- * provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note Requires @p CH_USE_COREMEM.
- */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE 0
-#endif
-
-/*===========================================================================*/
-/* Performance options. */
-/*===========================================================================*/
-
-/**
- * @brief OS optimization.
- * @details If enabled then time efficient rather than space efficient code
- * is used when two possible implementations exist.
- *
- * @note This is not related to the compiler optimization options.
- * @note The default is @p TRUE.
- */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED TRUE
-#endif
-
-/**
- * @brief Exotic optimization.
- * @details If defined then a CPU register is used as storage for the global
- * @p currp variable. Caching this variable in a register greatly
- * improves both space and time OS efficiency. A side effect is that
- * one less register has to be saved during the context switch
- * resulting in lower RAM usage and faster context switch.
- *
- * @note This option is only usable with the GCC compiler and is only useful
- * on processors with many registers like ARM cores.
- * @note If this option is enabled then ALL the libraries linked to the
- * ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p
- * -ffixed-@<reg@>.
- * @note This option must be enabled in the Makefile, it is listed here for
- * documentation only.
- */
-#if defined(__DOXYGEN__)
-#define CH_CURRP_REGISTER_CACHE "reg"
-#endif
-
-/*===========================================================================*/
-/* Subsystem options. */
-/*===========================================================================*/
-
-/**
- * @brief Threads registry APIs.
- * @details If enabled then the registry APIs are included in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY TRUE
-#endif
-
-/**
- * @brief Threads synchronization APIs.
- * @details If enabled then the @p chThdWait() function is included in
- * the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT TRUE
-#endif
-
-/**
- * @brief Semaphores APIs.
- * @details If enabled then the Semaphores APIs are included in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES TRUE
-#endif
-
-/**
- * @brief Semaphores queuing mode.
- * @details If enabled then the threads are enqueued on semaphores by
- * priority rather than in FIFO order.
- *
- * @note The default is @p FALSE. Enable this if you have special requirements.
- * @note Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY FALSE
-#endif
-
-/**
- * @brief Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- * is included in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW TRUE
-#endif
-
-/**
- * @brief Mutexes APIs.
- * @details If enabled then the mutexes APIs are included in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES TRUE
-#endif
-
-/**
- * @brief Conditional Variables APIs.
- * @details If enabled then the conditional variables APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_MUTEXES.
- */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS TRUE
-#endif
-
-/**
- * @brief Conditional Variables APIs with timeout.
- * @details If enabled then the conditional variables APIs with timeout
- * specification are included in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_CONDVARS.
- */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT TRUE
-#endif
-
-/**
- * @brief Events Flags APIs.
- * @details If enabled then the event flags APIs are included in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS TRUE
-#endif
-
-/**
- * @brief Events Flags APIs with timeout.
- * @details If enabled then the events APIs with timeout specification
- * are included in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_EVENTS.
- */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT TRUE
-#endif
-
-/**
- * @brief Synchronous Messages APIs.
- * @details If enabled then the synchronous messages APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES TRUE
-#endif
-
-/**
- * @brief Synchronous Messages queuing mode.
- * @details If enabled then messages are served by priority rather than in
- * FIFO order.
- *
- * @note The default is @p FALSE. Enable this if you have special requirements.
- * @note Requires @p CH_USE_MESSAGES.
- */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY FALSE
-#endif
-
-/**
- * @brief Mailboxes APIs.
- * @details If enabled then the asynchronous messages (mailboxes) APIs are
- * included in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES TRUE
-#endif
-
-/**
- * @brief I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES TRUE
-#endif
-
-/**
- * @brief Core Memory Manager APIs.
- * @details If enabled then the core memory manager APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE TRUE
-#endif
-
-/**
- * @brief Heap Allocator APIs.
- * @details If enabled then the memory heap allocator APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or
- * @p CH_USE_SEMAPHORES.
- * @note Mutexes are recommended.
- */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP TRUE
-#endif
-
-/**
- * @brief C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- * @p malloc() and @p free() functions.
- *
- * @note The default is @p FALSE.
- * @note Requires @p CH_USE_HEAP.
- * @note The C-runtime may or may not require @p CH_USE_COREMEM, see the
- * appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP FALSE
-#endif
-
-/**
- * @brief Memory Pools Allocator APIs.
- * @details If enabled then the memory pools allocator APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS TRUE
-#endif
-
-/**
- * @brief Dynamic Threads APIs.
- * @details If enabled then the dynamic threads creation APIs are included
- * in the kernel.
- *
- * @note The default is @p TRUE.
- * @note Requires @p CH_USE_WAITEXIT.
- * @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
- */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC TRUE
-#endif
-
-/*===========================================================================*/
-/* Debug options. */
-/*===========================================================================*/
-
-/**
- * @brief Debug option, parameters checks.
- * @details If enabled then the checks on the API functions input
- * parameters are activated.
- *
- * @note The default is @p FALSE.
- */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS FALSE
-#endif
-
-/**
- * @brief Debug option, consistency checks.
- * @details If enabled then all the assertions in the kernel code are
- * activated. This includes consistency checks inside the kernel,
- * runtime anomalies and port-defined checks.
- *
- * @note The default is @p FALSE.
- */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS FALSE
-#endif
-
-/**
- * @brief Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- * activated.
- *
- * @note The default is @p FALSE.
- */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE FALSE
-#endif
-
-/**
- * @brief Debug option, stack checks.
- * @details If enabled then a runtime stack check is performed.
- *
- * @note The default is @p FALSE.
- * @note The stack check is performed in a architecture/port dependent way.
- * It may not be implemented or some ports.
- * @note The default failure mode is to halt the system with the global
- * @p panic_msg variable set to @p NULL.
- */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK FALSE
-#endif
-
-/**
- * @brief Debug option, stacks initialization.
- * @details If enabled then the threads working area is filled with a byte
- * value when a thread is created. This can be useful for the
- * runtime measurement of the used stack.
- *
- * @note The default is @p FALSE.
- */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS FALSE
-#endif
-
-/**
- * @brief Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
- * counts the system ticks occurred while executing the thread.
- *
- * @note The default is @p TRUE.
- * @note This debug option is defaulted to TRUE because it is required by
- * some test cases into the test suite.
- */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING TRUE
-#endif
-
-/*===========================================================================*/
-/* Kernel hooks. */
-/*===========================================================================*/
-
-/**
- * @brief Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
- */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS \
- /* Add threads custom fields here.*/
-#endif
-
-/**
- * @brief Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
- *
- * @note It is invoked from within @p chThdInit() and implicitily from all
- * the threads creation APIs.
- */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) { \
- /* Add threads initialization code here.*/ \
-}
-#endif
-
-/**
- * @brief Threads finalization hook.
- * @details User finalization code added to the @p chThdExit() API.
- *
- * @note It is inserted into lock zone.
- * @note It is also invoked when the threads simply return in order to
- * terminate.
- */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) { \
- /* Add threads finalization code here.*/ \
-}
-#endif
-
-/**
- * @brief Idle Loop hook.
- * @details This hook is continuously invoked by the idle thread loop.
- */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() { \
- /* Idle loop code here.*/ \
-}
-#endif
-
-/**
- * @brief System tick event hook.
- * @details This hook is invoked in the system tick handler immediately
- * after processing the virtual timers queue.
- */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() { \
- /* System tick event code here.*/ \
-}
-#endif
-
-/**
- * @brief System halt hook.
- * @details This hook is invoked in case to a system halting error before
- * the system is halted.
- */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() { \
- /* System halt code here.*/ \
-}
-#endif
-
-/*===========================================================================*/
-/* Port-specific settings (override port settings defaulted in chcore.h). */
-/*===========================================================================*/
-
-#endif /* _CHCONF_H_ */
-
-/** @} */
diff --git a/chibios b/chibios
deleted file mode 160000
-Subproject fb2b302ea5e9529bde203aa1a7057369d6f5217
diff --git a/foo.h b/foo.h
deleted file mode 100644
index 312d839..0000000
--- a/foo.h
+++ /dev/null
@@ -1,84 +0,0 @@
-int usbprintf(USBSerial& usbs, const char* format, ...) {
- int32_t* argp = (int32_t*)&format;
- int num = 0;
-
- while(*format) {
- if(*format != '%') {
- usbs.putc(*format++);
- num++;
- continue;
- }
- format++;
-
- bool is_signed = false;
- bool zero_pad = false;
- int radix = 16;
- int min_len = 0;
-
- if(*format == '0') {
- zero_pad = true;
- }
-
- while(*format >= '0' && *format <= '9') {
- min_len = min_len * 10 + *format++ - '0';
- }
-
- switch(*format++) {
- case '%':
- usbs.putc('%');
- num++;
- break;
-
- case 'c':
- usbs.putc((char)*++argp);
- num++;
- break;
-
- case 's': {
- char* str = (char*)*++argp;
- while(*str) {
- usbs.putc(*str++);
- num++;
- }
- } break;
-
- case 'd':
- is_signed = true;
- case 'u':
- radix = 10;
- case 'x':
- ;
- uint32_t x = (uint32_t)*(++argp);
- if(is_signed && (int32_t)x < 0) {
- x = -x;
- usbs.putc('-');
- min_len--;
- }
-
- char buf[11];
- char* bufp = &buf[sizeof(buf)];
- *--bufp = 0;
-
- do {
- int d = x % radix;
- *--bufp = d < 10 ? '0' + d : 'a' - 10 + d;
- x /= radix;
- min_len--;
- } while(x);
-
- while(min_len > 0) {
- usbs.putc(zero_pad ? '0' : ' ');
- num++;
- min_len--;
- }
-
- while(*bufp) {
- usbs.putc(*bufp++);
- num++;
- }
- break;
- }
- }
-
- return num;
-}
diff --git a/halconf.h b/halconf.h
deleted file mode 100644
index f8b44ec..0000000
--- a/halconf.h
+++ /dev/null
@@ -1,283 +0,0 @@
-/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @file templates/halconf.h
- * @brief HAL configuration header.
- * @details HAL configuration file, this file allows to enable or disable the
- * various device drivers from your application. You may also use
- * this file in order to override the device drivers default settings.
- *
- * @addtogroup HAL_CONF
- * @{
- */
-
-#ifndef _HALCONF_H_
-#define _HALCONF_H_
-
-#include "mcuconf.h"
-
-/**
- * @brief Enables the PAL subsystem.
- */
-#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
-#define HAL_USE_PAL TRUE
-#endif
-
-/**
- * @brief Enables the ADC subsystem.
- */
-#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
-#define HAL_USE_ADC TRUE
-#endif
-
-/**
- * @brief Enables the CAN subsystem.
- */
-#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
-#define HAL_USE_CAN FALSE
-#endif
-
-/**
- * @brief Enables the GPT subsystem.
- */
-#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
-#define HAL_USE_GPT FALSE
-#endif
-
-/**
- * @brief Enables the I2C subsystem.
- */
-#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
-#define HAL_USE_I2C TRUE
-#endif
-
-#define HAL_USE_ICU TRUE
-
-/**
- * @brief Enables the MAC subsystem.
- */
-#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
-#define HAL_USE_MAC FALSE
-#endif
-
-/**
- * @brief Enables the MMC_SPI subsystem.
- */
-#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
-#define HAL_USE_MMC_SPI FALSE
-#endif
-
-/**
- * @brief Enables the PWM subsystem.
- */
-#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
-#define HAL_USE_PWM TRUE
-#endif
-
-/**
- * @brief Enables the SERIAL subsystem.
- */
-#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL TRUE
-#endif
-
-/**
- * @brief Enables the SERIAL over USB subsystem.
- */
-#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL_USB TRUE
-#endif
-
-/**
- * @brief Enables the SPI subsystem.
- */
-#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
-#define HAL_USE_SPI FALSE
-#endif
-
-/**
- * @brief Enables the UART subsystem.
- */
-#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
-#define HAL_USE_UART FALSE
-#endif
-
-/**
- * @brief Enables the USB subsystem.
- */
-#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
-#define HAL_USE_USB TRUE
-#endif
-
-/*===========================================================================*/
-/* ADC driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Enables synchronous APIs.
- * @note Disabling this option saves both code and data space.
- */
-#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
-#define ADC_USE_WAIT TRUE
-#endif
-
-/**
- * @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
- * @note Disabling this option saves both code and data space.
- */
-#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define ADC_USE_MUTUAL_EXCLUSION TRUE
-#endif
-
-/*===========================================================================*/
-/* CAN driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Sleep mode related APIs inclusion switch.
- */
-#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
-#define CAN_USE_SLEEP_MODE TRUE
-#endif
-
-/*===========================================================================*/
-/* I2C driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Enables the mutual exclusion APIs on the I2C bus.
- */
-#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define I2C_USE_MUTUAL_EXCLUSION TRUE
-#endif
-
-/*===========================================================================*/
-/* MAC driver related settings. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* MMC_SPI driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Block size for MMC transfers.
- */
-#if !defined(MMC_SECTOR_SIZE) || defined(__DOXYGEN__)
-#define MMC_SECTOR_SIZE 512
-#endif
-
-/**
- * @brief Delays insertions.
- * @details If enabled this options inserts delays into the MMC waiting
- * routines releasing some extra CPU time for the threads with
- * lower priority, this may slow down the driver a bit however.
- * This option is recommended also if the SPI driver does not
- * use a DMA channel and heavily loads the CPU.
- */
-#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
-#define MMC_NICE_WAITING TRUE
-#endif
-
-/**
- * @brief Number of positive insertion queries before generating the
- * insertion event.
- */
-#if !defined(MMC_POLLING_INTERVAL) || defined(__DOXYGEN__)
-#define MMC_POLLING_INTERVAL 10
-#endif
-
-/**
- * @brief Interval, in milliseconds, between insertion queries.
- */
-#if !defined(MMC_POLLING_DELAY) || defined(__DOXYGEN__)
-#define MMC_POLLING_DELAY 10
-#endif
-
-/**
- * @brief Uses the SPI polled API for small data transfers.
- * @details Polled transfers usually improve performance because it
- * saves two context switches and interrupt servicing. Note
- * that this option has no effect on large transfers which
- * are always performed using DMAs/IRQs.
- */
-#if !defined(MMC_USE_SPI_POLLING) || defined(__DOXYGEN__)
-#define MMC_USE_SPI_POLLING TRUE
-#endif
-
-/*===========================================================================*/
-/* PAL driver related settings. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* PWM driver related settings. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* SERIAL driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Default bit rate.
- * @details Configuration parameter, this is the baud rate selected for the
- * default configuration.
- */
-#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
-#define SERIAL_DEFAULT_BITRATE 38400
-#endif
-
-/**
- * @brief Serial buffers size.
- * @details Configuration parameter, you can change the depth of the queue
- * buffers depending on the requirements of your application.
- * @note The default is 64 bytes for both the transmission and receive
- * buffers.
- */
-#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
-#define SERIAL_BUFFERS_SIZE 16
-#endif
-
-/*===========================================================================*/
-/* SPI driver related settings. */
-/*===========================================================================*/
-
-/**
- * @brief Enables synchronous APIs.
- * @note Disabling this option saves both code and data space.
- */
-#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
-#define SPI_USE_WAIT TRUE
-#endif
-
-/**
- * @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
- * @note Disabling this option saves both code and data space.
- */
-#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define SPI_USE_MUTUAL_EXCLUSION TRUE
-#endif
-
-/*===========================================================================*/
-/* UART driver related settings. */
-/*===========================================================================*/
-
-#endif /* _HALCONF_H_ */
-
-/** @} */
diff --git a/i2csensor.cpp b/i2csensor.cpp
deleted file mode 100644
index f9d8d11..0000000
--- a/i2csensor.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "i2csensor.h"
-
-namespace {
- void callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
- if(i2cp->id_slave_config->restart) {
- i2cp->id_slave_config->restart = FALSE;
- i2cMasterReceive(i2cp, i2cscfg);
- } else {
- i2cMasterStop(i2cp);
- }
- }
-
- void err_callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
-
- }
-
- I2CConfig i2c_conf = {
- opmodeI2C,
- 100000,
- stdDutyCycle,
- 0,
- 0
- };
-};
-
-uint8_t I2CSensor::rxdata[];
-uint8_t I2CSensor::txdata[];
-
-I2CSlaveConfig I2CSensor::i2c_slave_conf = {
- callback, err_callback,
-
- rxdata, sizeof(rxdata), 0, 0,
- txdata, sizeof(txdata), 0, 0,
-
- 0,
- FALSE,
-};
-
-void I2CSensor::enable_bus() {
- palSetPadMode(GPIOB, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
- palSetPadMode(GPIOB, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
-
- i2cStart(&I2CD2, &i2c_conf);
-
- while(I2CD2.id_state != I2C_READY) {
- chThdSleepMilliseconds(1);
- }
-}
-
-#include "usbserial.h"
-extern USBSerial usbs;
-int usbprintf(USBSerial& usbs, const char* format, ...);
-
-void I2CSensor::write(uint8_t reg, uint8_t value) {
- I2CD2.id_state = I2C_READY;
- i2c_slave_conf.address = i2c_address;
- i2c_slave_conf.txbytes = 2;
- i2c_slave_conf.txbuf[0] = reg;
- i2c_slave_conf.txbuf[1] = value;
-
- i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
- chThdSleepMilliseconds(2);
-}
-
-void I2CSensor::read(uint8_t reg, size_t len) {
- I2CD2.id_state = I2C_READY;
- i2c_slave_conf.address = i2c_address;
- i2c_slave_conf.txbufhead = 0;
- i2c_slave_conf.txbuf[0] = reg;
- i2c_slave_conf.txbytes = 1;
- i2c_slave_conf.rxbufhead = 0;
- i2c_slave_conf.rxbytes = len;
- i2c_slave_conf.restart = TRUE;
-
- i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
- chThdSleepMilliseconds(2);
-}
diff --git a/i2csensor.h b/i2csensor.h
deleted file mode 100644
index 1878e16..0000000
--- a/i2csensor.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef I2CSENSOR_H
-#define I2CSENSOR_H
-
-#include <stdint.h>
-
-#include <ch.h>
-#include <hal.h>
-
-class I2CSensor {
- private:
- static I2CSlaveConfig i2c_slave_conf;
-
- public:
- static void enable_bus();
-
- protected:
- uint8_t i2c_address;
-
- void write(uint8_t reg, uint8_t value);
- void read(uint8_t reg, size_t len);
-
- static uint8_t rxdata[8];
- static uint8_t txdata[2];
-};
-
-#endif
diff --git a/itg3200.h b/itg3200.h
deleted file mode 100644
index 90cc4b3..0000000
--- a/itg3200.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef ITG3200_H
-#define ITG3200_H
-
-#include "i2csensor.h"
-
-class ITG3200 : public I2CSensor {
- public:
- int16_t x, y, z;
-
- void init() {
- i2c_address = 0x68;
- write(0x3e, 0x03); // Select clock reference.
- write(0x16, 0x18 | 0x02); // 2000 deg/sec range, 98 Hz bandwidth.
- }
-
- void update() {
- read(0x1d, 6);
- x = (rxdata[0] << 8 | rxdata[1]) - -50;
- y = (rxdata[2] << 8 | rxdata[3]) - 36;
- z = (rxdata[4] << 8 | rxdata[5]) - 2;
- }
-};
-
-#endif
diff --git a/main.cpp b/main.cpp
index 6eb1a27..7af1122 100644
--- a/main.cpp
+++ b/main.cpp
@@ -230,259 +230,3 @@ int main() {
}
}
}
-
-/*
-#include "thread.h"
-#include "usbserial.h"
-#include "itg3200.h"
-#include "bma150.h"
-#include "ak8975.h"
-#include "ppmsum.h"
-#include "motormixer.h"
-
-#include <ch.h>
-#include <hal.h>
-
-#include "IMU.h"
-
-class LEDThread : public BaseThread<LEDThread, 128> {
- public:
- noreturn_t thread_main() {
- systime_t time = chTimeNow(); // T0
- while (TRUE) {
- time += MS2ST(1000); // Next deadline
- palClearPad(GPIOA, 5);
- chThdSleepUntil(time);
- time += MS2ST(1000); // Next deadline
- palSetPad(GPIOA, 5);
- chThdSleepUntil(time);
- }
- }
-};
-
-LEDThread led_thread;
-
-PPMSum ppmsum;
-MotorMixer motors;
-
-class USBThread : public BaseThread<USBThread, 256> {
- private:
- typedef enum {W_S, W_N, W_V} w_s_t;
-
- public:
- USBSerial* usbs;
-
- uint8_t data[9];
-
- noreturn_t thread_main() {
- for(int i = 0; i < 9; i++) {
- data[i] = 0;
- }
-
- w_s_t w_s = W_S;
- uint8_t w_n = 0;
-
- while(1) {
- size_t buffer = usbs->getc();
- if(buffer >= 0 && buffer < 256) {
- if(w_s == W_S && buffer == 'S') {
- w_s = W_N;
- } else if(w_s == W_N && buffer >= '1' && buffer <= '9') {
- w_s = W_V;
- w_n = buffer - '1';
- } else if(w_s == W_V) {
- w_s = W_S;
- data[w_n] = buffer;
- } else {
- w_s = W_S;
- }
- }
- }
- }
-};
-
-USBThread usb_thread;
-USBSerial usbs;
-
-#include "foo.h"
-#include <cmath>
-
-uint8_t syncword[] = {0xff, 0x00, 0xaa, 0x55};
-uint8_t buf[64];
-int16_t* sensordata = (int16_t*)buf;
-
-template<class T>
-inline void saturate(T& var, int absmax) {
- if(var > absmax) {
- var = absmax;
- } else if(var < -absmax) {
- var = -absmax;
- }
-}
-
-class I2CThread : public BaseThread<I2CThread, 256> {
- public:
- ITG3200 gyro;
- BMA150 acc;
- AK8975 magn;
-
- int16_t x, y, z;
-
- noreturn_t thread_main() {
- I2CSensor::enable_bus();
-
- gyro.init();
- acc.init();
- magn.init();
-
- systime_t time = chTimeNow();
-
- int32_t pitch_angle_accum = 0;
- int32_t roll_angle_accum = 0;
-
- while (1) {
- gyro.update();
- acc.update();
- magn.update();
- x = gyro.x;
- y = gyro.y;
- z = gyro.z;
-
- IMUupdate(gyro.x * 0.0012141420883438813, gyro.y * 0.0012141420883438813, gyro.z * 0.0012141420883438813, acc.x, acc.y, acc.z);
-
- //float pitch = asinf(2*(q0*q2 - q3*q1));
- //int16_t pitch = atan2f(2*(q2*q3 + q0*q1), 1 - 2 * (q1*q1 + q2*q2)) / M_PI * 32767;
- //int16_t roll = atan2f(2*(-q1*q3 + q0*q2), 1 - 2 * (q1*q1 + q2*q2)) / M_PI * 32767;
- //int16_t yaw = atan2f(2*(q2*q1 + q0*q3), 1 - 2 * (q3*q3 + q2*q2)) / M_PI * 32767;
-
- float norm_x = 2*(q0*q2 - q1*q3);
- float norm_y = 2*(q0*q1 + q2*q3);
- float norm_z = (1 - 2*(q1*q1 + q2*q2));
-
- float elev = acosf(norm_z);
- float azim = atan2f(norm_y, norm_x);
-
- int16_t pitch = elev * sinf(azim) / M_PI * 32767;
- int16_t roll = elev * cosf(azim) / M_PI * 32767;
- int16_t yaw = 0;
-
- sensordata[0] = gyro.x;
- sensordata[1] = gyro.y;
- sensordata[2] = gyro.z;
- sensordata[3] = acc.x;
- sensordata[4] = acc.y;
- sensordata[5] = acc.z;
- sensordata[6] = magn.x;
- sensordata[7] = magn.y;
- sensordata[8] = magn.z;
- sensordata[9] = pitch;
- sensordata[10] = roll;
- sensordata[11] = yaw;
-
- usbs.write(syncword, sizeof(syncword));
- usbs.write(buf, sizeof(buf));
-
- /*usbprintf(usbs, "%6d, %6d, %6d | %6d, %6d, %6d | %6d, %6d, %6d | %6d, %6d, %6d, %6d | %6d, %6d, %6d\r\n",
- gyro.x, gyro.y, gyro.z,
- acc.x, acc.y, acc.z,
- magn.x, magn.y, magn.z,
- int(q0 * 10000), int(q1 * 10000), int(q2 * 10000), int(q3 * 10000),
- int(pitch * 10000), int(roll * 10000), int(yaw * 10000));*//*
-
- int16_t pitch_angle_target = (ppmsum.data[1] - 500) * 8;
- int16_t roll_angle_target = (ppmsum.data[0] - 500) * 8;
-
- int16_t pitch_angle_error = pitch_angle_target - pitch;
- int16_t roll_angle_error = roll_angle_target - roll;
-
- // 25 deg max error.
- saturate(pitch_angle_error, 4551);
- saturate(roll_angle_error, 4551);
-
- pitch_angle_accum += pitch_angle_error;
- roll_angle_accum += roll_angle_error;
-
- // 20 deg s max error.
- saturate(pitch_angle_accum, 364088);
- saturate(roll_angle_accum, 364088);
-
- int32_t pitch_rate_target = (pitch_angle_error * 2 * 65536 + pitch_angle_accum * 98) >> 16;
- int32_t roll_rate_target = (roll_angle_error * 2 * 65536 + roll_angle_accum * 98) >> 16;
-
- int16_t pitch_rate_comp = ((pitch_rate_target - (gyro.x * 4000 / 360)) * 6 * 36) >> 16;
- int16_t roll_rate_comp = ((roll_rate_target - (gyro.y * 4000 / 360)) * 6 * 36) >> 16;
-
- saturate(pitch_rate_comp, 250);
- saturate(roll_rate_comp, 250);
-
- motors.update(ppmsum.data[2], pitch_rate_comp, roll_rate_comp, 0);
-
- time += MS2ST(10);
- if(time > chTimeNow()) {
- chThdSleepUntil(time);
- }
- }
- }
-};
-
-I2CThread i2c_thread;
-
-static const ADCConversionGroup adcgrpcfg = {
- FALSE,
- 2,
- 0,
- 0,
- 0,
- 0,
- 0,
- ADC_SQR1_NUM_CH(2),
- 0,
- ADC_SQR3_SQ2_N(ADC_CHANNEL_IN14) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN15)
-};
-
-class ADCThread : public BaseThread<ADCThread, 128> {
- private:
- adcsample_t adc_samples[2];
-
- public:
- noreturn_t thread_main() {
- adcStart(&ADCD1, NULL);
-
- systime_t time = chTimeNow();
- while (TRUE) {
- adcStartConversion(&ADCD1, &adcgrpcfg, adc_samples, 1);
- sensordata[12] = adc_samples[0] * 1265 / 1000;
- sensordata[13] = adc_samples[1] * 2201 / 1000;
-
- time += MS2ST(1000);
- chThdSleepUntil(time);
- }
- }
-};
-
-ADCThread adc_thread;
-
-int main(void) {
- halInit();
- chSysInit();
-
- led_thread.start();
-
- ppmsum.start();
-
- usbs.init();
-
- i2c_thread.start();
-
- adc_thread.start();
-
- motors.start();
-
- usb_thread.usbs = &usbs;
- usb_thread.start();
-
- while (1) {
- chThdSleepMilliseconds(1000);
- }
-}
-*/ \ No newline at end of file
diff --git a/mcuconf.h b/mcuconf.h
deleted file mode 100644
index 5ecad24..0000000
--- a/mcuconf.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/*
- * STM32 drivers configuration.
- * The following settings override the default settings present in
- * the various device driver implementation headers.
- * Note that the settings for each driver only have effect if the whole
- * driver is enabled in halconf.h.
- *
- * IRQ priorities:
- * 15...0 Lowest...Highest.
- *
- * DMA priorities:
- * 0...3 Lowest...Highest.
- */
-
-/*
- * HAL driver system settings.
- */
-#define STM32_SW STM32_SW_PLL
-#define STM32_PLLSRC STM32_PLLSRC_HSE
-#define STM32_PLLXTPRE STM32_PLLXTPRE_DIV1
-#define STM32_PLLMUL_VALUE 9
-#define STM32_HPRE STM32_HPRE_DIV1
-#define STM32_PPRE1 STM32_PPRE1_DIV2
-#define STM32_PPRE2 STM32_PPRE2_DIV2
-#define STM32_ADCPRE STM32_ADCPRE_DIV4
-#define STM32_USBPRE STM32_USBPRE_DIV1P5
-#define STM32_MCO STM32_MCO_NOCLOCK
-
-/*
- * ADC driver system settings.
- */
-#define STM32_ADC_USE_ADC1 TRUE
-#define STM32_ADC_ADC1_DMA_PRIORITY 3
-#define STM32_ADC_ADC1_IRQ_PRIORITY 5
-#define STM32_ADC_ADC1_DMA_ERROR_HOOK() chSysHalt()
-
-/*
- * CAN driver system settings.
- */
-#define STM32_CAN_USE_CAN1 TRUE
-#define STM32_CAN_CAN1_IRQ_PRIORITY 11
-
-/*
- * GPT driver system settings.
- */
-#define STM32_GPT_USE_TIM1 FALSE
-#define STM32_GPT_USE_TIM2 FALSE
-#define STM32_GPT_USE_TIM3 FALSE
-#define STM32_GPT_USE_TIM4 FALSE
-#define STM32_GPT_USE_TIM5 FALSE
-#define STM32_GPT_TIM1_IRQ_PRIORITY 7
-#define STM32_GPT_TIM2_IRQ_PRIORITY 7
-#define STM32_GPT_TIM3_IRQ_PRIORITY 7
-#define STM32_GPT_TIM4_IRQ_PRIORITY 7
-#define STM32_GPT_TIM5_IRQ_PRIORITY 7
-
-/*
- * ICU driver system settings.
- */
-#define STM32_ICU_USE_TIM1 FALSE
-#define STM32_ICU_USE_TIM2 FALSE
-#define STM32_ICU_USE_TIM3 FALSE
-#define STM32_ICU_USE_TIM4 TRUE
-#define STM32_ICU_USE_TIM5 FALSE
-#define STM32_ICU_TIM1_IRQ_PRIORITY 7
-#define STM32_ICU_TIM2_IRQ_PRIORITY 7
-#define STM32_ICU_TIM3_IRQ_PRIORITY 7
-#define STM32_ICU_TIM4_IRQ_PRIORITY 7
-#define STM32_ICU_TIM5_IRQ_PRIORITY 7
-
-/*
- * PWM driver system settings.
- */
-#define STM32_PWM_USE_ADVANCED FALSE
-#define STM32_PWM_USE_TIM1 FALSE
-#define STM32_PWM_USE_TIM2 TRUE
-#define STM32_PWM_USE_TIM3 FALSE
-#define STM32_PWM_USE_TIM4 FALSE
-#define STM32_PWM_USE_TIM5 FALSE
-#define STM32_PWM_TIM1_IRQ_PRIORITY 7
-#define STM32_PWM_TIM2_IRQ_PRIORITY 7
-#define STM32_PWM_TIM3_IRQ_PRIORITY 7
-#define STM32_PWM_TIM4_IRQ_PRIORITY 7
-#define STM32_PWM_TIM5_IRQ_PRIORITY 7
-
-/*
- * SERIAL driver system settings.
- */
-#define STM32_SERIAL_USE_USART1 FALSE
-#define STM32_SERIAL_USE_USART2 TRUE
-#define STM32_SERIAL_USE_USART3 FALSE
-#define STM32_SERIAL_USE_UART4 FALSE
-#define STM32_SERIAL_USE_UART5 FALSE
-#define STM32_SERIAL_USART1_PRIORITY 12
-#define STM32_SERIAL_USART2_PRIORITY 12
-#define STM32_SERIAL_USART3_PRIORITY 12
-#define STM32_SERIAL_UART4_PRIORITY 12
-#define STM32_SERIAL_UART5_PRIORITY 12
-
-/*
- * SPI driver system settings.
- */
-#define STM32_SPI_USE_SPI1 TRUE
-#define STM32_SPI_USE_SPI2 TRUE
-#define STM32_SPI_USE_SPI3 FALSE
-#define STM32_SPI_SPI1_DMA_PRIORITY 2
-#define STM32_SPI_SPI2_DMA_PRIORITY 2
-#define STM32_SPI_SPI3_DMA_PRIORITY 2
-#define STM32_SPI_SPI1_IRQ_PRIORITY 10
-#define STM32_SPI_SPI2_IRQ_PRIORITY 10
-#define STM32_SPI_SPI3_IRQ_PRIORITY 10
-#define STM32_SPI_SPI1_DMA_ERROR_HOOK() chSysHalt()
-#define STM32_SPI_SPI2_DMA_ERROR_HOOK() chSysHalt()
-#define STM32_SPI_SPI3_DMA_ERROR_HOOK() chSysHalt()
-
-/*
- * UART driver system settings.
- */
-#define STM32_UART_USE_USART1 FALSE
-#define STM32_UART_USE_USART2 TRUE
-#define STM32_UART_USE_USART3 FALSE
-#define STM32_UART_USART1_IRQ_PRIORITY 12
-#define STM32_UART_USART2_IRQ_PRIORITY 12
-#define STM32_UART_USART3_IRQ_PRIORITY 12
-#define STM32_UART_USART1_DMA_PRIORITY 0
-#define STM32_UART_USART2_DMA_PRIORITY 0
-#define STM32_UART_USART3_DMA_PRIORITY 0
-#define STM32_UART_USART1_DMA_ERROR_HOOK() chSysHalt()
-#define STM32_UART_USART2_DMA_ERROR_HOOK() chSysHalt()
-#define STM32_UART_USART3_DMA_ERROR_HOOK() chSysHalt()
-
-/*
- * USB driver system settings.
- */
-#define STM32_USB_USE_USB1 TRUE
-#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE
-#define STM32_USB_USB1_HP_IRQ_PRIORITY 6
-#define STM32_USB_USB1_LP_IRQ_PRIORITY 14
-
-/*
- * I2C driver system settings.
- */
-#define STM32_I2C_USE_I2C1 TRUE
-#define STM32_I2C_USE_I2C2 TRUE
-#define STM32_I2C_I2C1_IRQ_PRIORITY 11
-#define STM32_I2C_I2C2_IRQ_PRIORITY 11
-#define STM32_I2C_I2C1_DMA_PRIORITY 4
-#define STM32_I2C_I2C2_DMA_PRIORITY 4
-#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt()
-#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()
diff --git a/motormixer.cpp b/motormixer.cpp
deleted file mode 100644
index 5718526..0000000
--- a/motormixer.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "motormixer.h"
-
-#include <ch.h>
-#include <hal.h>
-
-template<class T>
-inline T abs(T val) {
- if(val > 0) {
- return val;
- } else {
- return -val;
- }
-}
-
-namespace {
- uint16_t motors[4];
-
- void foo(PWMDriver*) {
- pwmEnableChannel(&PWMD2, 0, 1000 + motors[0]);
- pwmEnableChannel(&PWMD2, 1, 1000 + motors[1]);
- pwmEnableChannel(&PWMD2, 2, 1000 + motors[2]);
- pwmEnableChannel(&PWMD2, 3, 1000 + motors[3]);
- }
-
- static PWMConfig pwmcfg = {
- 1000000,
- 1000000 / 50,
- foo,
- {
- {PWM_OUTPUT_ACTIVE_HIGH, NULL},
- {PWM_OUTPUT_ACTIVE_HIGH, NULL},
- {PWM_OUTPUT_ACTIVE_HIGH, NULL},
- {PWM_OUTPUT_ACTIVE_HIGH, NULL}
- },
- 0
- };
-};
-
-void MotorMixer::start() {
- pwmStart(&PWMD2, &pwmcfg);
- palSetPadMode(GPIOA, 0, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
- palSetPadMode(GPIOA, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
- palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
- palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
-
- pwmEnableChannel(&PWMD2, 0, 1000);
- pwmEnableChannel(&PWMD2, 1, 1000);
- pwmEnableChannel(&PWMD2, 2, 1000);
- pwmEnableChannel(&PWMD2, 3, 1000);
-}
-
-void MotorMixer::update(int16_t thrust, int16_t pitch, int16_t roll, int16_t yaw) {
- //thrust = ppmsum.data[2];
- if(thrust < 0) {
- thrust = 0;
- }
- if(thrust > 1000) {
- thrust = 1000;
- }
-
- // Check that total thrust will not be exceeded.
- if(abs(pitch) + abs(roll) > thrust) {
- // If saturated by pitch/roll, drop yaw component.
- yaw = 0;
-
- // Scale pitch and roll.
- int32_t df = ((abs(pitch) + abs(roll)) << 16) / thrust;
-
- pitch = (pitch << 16) / df;
- roll = (roll << 16) / df;
-
- } else if(abs(pitch) + abs(roll) + abs(yaw) > thrust) {
- // Scale yaw value.
- yaw = (yaw > 0 ? 1 : -1) * (thrust - abs(pitch) - abs(roll));
- }
-
- motors[0] = thrust + pitch + roll - yaw;
- motors[1] = thrust + pitch - roll + yaw;
- motors[2] = thrust - pitch + roll + yaw;
- motors[3] = thrust - pitch - roll - yaw;
-
- //sensordata[20] = motor_1;
- //sensordata[21] = motor_2;
- //sensordata[22] = motor_3;
- //sensordata[23] = motor_4;
-}
diff --git a/motormixer.h b/motormixer.h
deleted file mode 100644
index 5ec1869..0000000
--- a/motormixer.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#ifndef MOTORMIXER_H
-#define MOTORMIXER_H
-
-#include <stdint.h>
-
-class MotorMixer {
- public:
- void start();
- void update(int16_t thrust, int16_t pitch, int16_t roll, int16_t yaw);
-};
-
-#endif
diff --git a/ppmsum.cpp b/ppmsum.cpp
deleted file mode 100644
index ce601e5..0000000
--- a/ppmsum.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "ppmsum.h"
-
-#include <ch.h>
-#include <hal.h>
-
-namespace {
- icucnt_t last_width, last_period;
-
- PPMSum* ppmsum;
- int ppm_n = 0;
-
- static void icuwidthcb(ICUDriver *icup) {
- last_width = icuGetWidthI(icup);
- ppmsum->data[ppm_n] = last_width - 1050;
- }
-
- static void icuperiodcb(ICUDriver *icup) {
- last_period = icuGetPeriodI(icup);
- if(last_period > 5000) {
- ppm_n = 0;
- } else {
- ppm_n = (ppm_n + 1) % 4;
- }
- }
-
- static ICUConfig icucfg = {
- ICU_INPUT_ACTIVE_HIGH,
- 1000000,
- icuwidthcb,
- icuperiodcb
- };
-};
-
-void PPMSum::start() {
- ppmsum = this;
-
- icuStart(&ICUD4, &icucfg);
- icuEnable(&ICUD4);
-}
diff --git a/ppmsum.h b/ppmsum.h
deleted file mode 100644
index 82b62df..0000000
--- a/ppmsum.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef PPMSUM_H
-#define PPMSUM_H
-
-#include <stdint.h>
-
-class PPMSum {
- public:
- int16_t data[4];
-
- void start();
-};
-
-#endif
diff --git a/thread.h b/thread.h
deleted file mode 100644
index b69801a..0000000
--- a/thread.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef THREAD_H
-#define THREAD_H
-
-#include <ch.h>
-
-#define noreturn_t __attribute__((noreturn)) void
-
-template<class Child, size_t stack_size>
-class BaseThread {
- private:
- WORKING_AREA(stack_space, stack_size);
-
- static inline noreturn_t thread_main_wrap(void* arg) {
- ((Child*)arg)->thread_main();
- }
-
- public:
- void start(tprio_t priority = NORMALPRIO) {
- chThdCreateStatic(stack_space, sizeof(stack_space), priority, (tfunc_t)thread_main_wrap, this);
- }
-};
-
-#endif
diff --git a/usbserial.cpp b/usbserial.cpp
deleted file mode 100644
index 421f938..0000000
--- a/usbserial.cpp
+++ /dev/null
@@ -1,281 +0,0 @@
-#include "usbserial.h"
-
-/*
- * USB Device Descriptor.
- */
-static const uint8_t vcom_device_descriptor_data[18] = {
- USB_DESC_DEVICE (0x0110, /* bcdUSB (1.1). */
- 0x02, /* bDeviceClass (CDC). */
- 0x00, /* bDeviceSubClass. */
- 0x00, /* bDeviceProtocol. */
- 0x40, /* bMaxPacketSize. */
- 0x0483, /* idVendor (ST). */
- 0x5740, /* idProduct. */
- 0x0200, /* bcdDevice. */
- 1, /* iManufacturer. */
- 2, /* iProduct. */
- 3, /* iSerialNumber. */
- 1) /* bNumConfigurations. */
-};
-
-/*
- * Device Descriptor wrapper.
- */
-static const USBDescriptor vcom_device_descriptor = {
- sizeof vcom_device_descriptor_data,
- vcom_device_descriptor_data
-};
-
-/* Configuration Descriptor tree for a CDC.*/
-static const uint8_t vcom_configuration_descriptor_data[67] = {
- /* Configuration Descriptor.*/
- USB_DESC_CONFIGURATION(67, /* wTotalLength. */
- 0x02, /* bNumInterfaces. */
- 0x01, /* bConfigurationValue. */
- 0, /* iConfiguration. */
- 0xC0, /* bmAttributes (self powered). */
- 50), /* bMaxPower (100mA). */
- /* Interface Descriptor.*/
- USB_DESC_INTERFACE (0x00, /* bInterfaceNumber. */
- 0x00, /* bAlternateSetting. */
- 0x01, /* bNumEndpoints. */
- 0x02, /* bInterfaceClass (Communications
- Interface Class, CDC section
- 4.2). */
- 0x02, /* bInterfaceSubClass (Abstract
- Control Model, CDC section 4.3). */
- 0x01, /* bInterfaceProtocol (AT commands,
- CDC section 4.4). */
- 0), /* iInterface. */
- /* Header Functional Descriptor (CDC section 5.2.3).*/
- USB_DESC_BYTE (5), /* bLength. */
- USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
- USB_DESC_BYTE (0x00), /* bDescriptorSubtype (Header
- Functional Descriptor. */
- USB_DESC_BCD (0x0110), /* bcdCDC. */
- /* Call Management Functional Descriptor. */
- USB_DESC_BYTE (5), /* bFunctionLength. */
- USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
- USB_DESC_BYTE (0x01), /* bDescriptorSubtype (Call Management
- Functional Descriptor). */
- USB_DESC_BYTE (0x00), /* bmCapabilities (D0+D1). */
- USB_DESC_BYTE (0x01), /* bDataInterface. */
- /* ACM Functional Descriptor.*/
- USB_DESC_BYTE (4), /* bFunctionLength. */
- USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
- USB_DESC_BYTE (0x02), /* bDescriptorSubtype (Abstract
- Control Management Descriptor). */
- USB_DESC_BYTE (0x02), /* bmCapabilities. */
- /* Union Functional Descriptor.*/
- USB_DESC_BYTE (5), /* bFunctionLength. */
- USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
- USB_DESC_BYTE (0x06), /* bDescriptorSubtype (Union
- Functional Descriptor). */
- USB_DESC_BYTE (0x00), /* bMasterInterface (Communication
- Class Interface). */
- USB_DESC_BYTE (0x01), /* bSlaveInterface0 (Data Class
- Interface). */
- /* Endpoint 2 Descriptor.*/
- USB_DESC_ENDPOINT (INTERRUPT_REQUEST_EP|0x80, /* bEndpointAddress. */
- 0x03, /* bmAttributes (Interrupt). */
- 0x0008, /* wMaxPacketSize. */
- 0xFF), /* bInterval. */
- /* Interface Descriptor.*/
- USB_DESC_INTERFACE (0x01, /* bInterfaceNumber. */
- 0x00, /* bAlternateSetting. */
- 0x02, /* bNumEndpoints. */
- 0x0A, /* bInterfaceClass (Data Class
- Interface, CDC section 4.5). */
- 0x00, /* bInterfaceSubClass (CDC section
- 4.6). */
- 0x00, /* bInterfaceProtocol (CDC section
- 4.7). */
- 0x00), /* iInterface. */
- /* Endpoint 3 Descriptor.*/
- USB_DESC_ENDPOINT (DATA_AVAILABLE_EP, /* bEndpointAddress. */
- 0x02, /* bmAttributes (Bulk). */
- 0x0040, /* wMaxPacketSize. */
- 0x00), /* bInterval. */
- /* Endpoint 1 Descriptor.*/
- USB_DESC_ENDPOINT (DATA_REQUEST_EP|0x80, /* bEndpointAddress. */
- 0x02, /* bmAttributes (Bulk). */
- 0x0040, /* wMaxPacketSize. */
- 0x00) /* bInterval. */
-};
-
-/*
- * Configuration Descriptor wrapper.
- */
-static const USBDescriptor vcom_configuration_descriptor = {
- sizeof vcom_configuration_descriptor_data,
- vcom_configuration_descriptor_data
-};
-
-/*
- * U.S. English language identifier.
- */
-static const uint8_t vcom_string0[] = {
- USB_DESC_BYTE(4), /* bLength. */
- USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
- USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
-};
-
-/*
- * Vendor string.
- */
-static const uint8_t vcom_string1[] = {
- USB_DESC_BYTE(38), /* bLength. */
- USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
- 'S', 0, 'T', 0, 'M', 0, 'i', 0, 'c', 0, 'r', 0, 'o', 0, 'e', 0,
- 'l', 0, 'e', 0, 'c', 0, 't', 0, 'r', 0, 'o', 0, 'n', 0, 'i', 0,
- 'c', 0, 's', 0
-};
-
-/*
- * Device Description string.
- */
-static const uint8_t vcom_string2[] = {
- USB_DESC_BYTE(56), /* bLength. */
- USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
- 'C', 0, 'h', 0, 'i', 0, 'b', 0, 'i', 0, 'O', 0, 'S', 0, '/', 0,
- 'R', 0, 'T', 0, ' ', 0, 'V', 0, 'i', 0, 'r', 0, 't', 0, 'u', 0,
- 'a', 0, 'l', 0, ' ', 0, 'C', 0, 'O', 0, 'M', 0, ' ', 0, 'P', 0,
- 'o', 0, 'r', 0, 't', 0
-};
-
-/*
- * Serial Number string.
- */
-static const uint8_t vcom_string3[] = {
- USB_DESC_BYTE(8), /* bLength. */
- USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
- '0' + CH_KERNEL_MAJOR, 0,
- '0' + CH_KERNEL_MINOR, 0,
- '0' + CH_KERNEL_PATCH, 0
-};
-
-/*
- * Strings wrappers array.
- */
-static const USBDescriptor vcom_strings[] = {
- {sizeof vcom_string0, vcom_string0},
- {sizeof vcom_string1, vcom_string1},
- {sizeof vcom_string2, vcom_string2},
- {sizeof vcom_string3, vcom_string3}
-};
-
-/*
- * Handles the GET_DESCRIPTOR callback. All required descriptors must be
- * handled here.
- */
-static const USBDescriptor *get_descriptor(USBDriver *usbp,
- uint8_t dtype,
- uint8_t dindex,
- uint16_t lang) {
-
- (void)usbp;
- (void)lang;
- switch (dtype) {
- case USB_DESCRIPTOR_DEVICE:
- return &vcom_device_descriptor;
- case USB_DESCRIPTOR_CONFIGURATION:
- return &vcom_configuration_descriptor;
- case USB_DESCRIPTOR_STRING:
- if (dindex < 4)
- return &vcom_strings[dindex];
- }
- return NULL;
-}
-
-/**
- * @brief EP1 initialization structure (IN only).
- */
-static const USBEndpointConfig ep1config = {
- USB_EP_MODE_TYPE_BULK | USB_EP_MODE_PACKET,
- NULL,
- sduDataTransmitted,
- NULL,
- 0x0040,
- 0x0000,
- NULL,
- NULL
-};
-
-/**
- * @brief EP2 initialization structure (IN only).
- */
-static const USBEndpointConfig ep2config = {
- USB_EP_MODE_TYPE_INTR | USB_EP_MODE_PACKET,
- NULL,
- sduInterruptTransmitted,
- NULL,
- 0x0010,
- 0x0000,
- NULL,
- NULL
-};
-
-/**
- * @brief EP3 initialization structure (OUT only).
- */
-static const USBEndpointConfig ep3config = {
- USB_EP_MODE_TYPE_BULK | USB_EP_MODE_PACKET,
- NULL,
- NULL,
- sduDataReceived,
- 0x0000,
- 0x0040,
- NULL,
- NULL
-};
-
-/*
- * Handles the USB driver global events.
- */
-static void usb_event(USBDriver *usbp, usbevent_t event) {
-
- switch (event) {
- case USB_EVENT_RESET:
- return;
- case USB_EVENT_ADDRESS:
- return;
- case USB_EVENT_CONFIGURED:
- /* Enables the endpoints specified into the configuration.
- Note, this callback is invoked from an ISR so I-Class functions
- must be used.*/
- chSysLockFromIsr();
- usbInitEndpointI(usbp, DATA_REQUEST_EP, &ep1config);
- usbInitEndpointI(usbp, INTERRUPT_REQUEST_EP, &ep2config);
- usbInitEndpointI(usbp, DATA_AVAILABLE_EP, &ep3config);
- chSysUnlockFromIsr();
- return;
- case USB_EVENT_SUSPEND:
- return;
- case USB_EVENT_WAKEUP:
- return;
- case USB_EVENT_STALLED:
- return;
- }
- return;
-}
-
-
-
-/*
- * Serial over USB driver configuration.
- */
-static const SerialUSBConfig serusbcfg = {
- &USBD1,
- {
- usb_event,
- get_descriptor,
- sduRequestsHook,
- NULL
- }
-};
-
-void USBSerial::init() {
- sduObjectInit(&susbdriver);
- sduStart(&susbdriver, &serusbcfg);
- palClearPad(GPIOC, 12);
-}
diff --git a/usbserial.h b/usbserial.h
deleted file mode 100644
index c312821..0000000
--- a/usbserial.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef USBSERIAL_H
-#define USBSERIAL_H
-
-#include <ch.h>
-#include <hal.h>
-#include <usb_cdc.h>
-
-class USBSerial {
- public:
- SerialUSBDriver susbdriver;
-
- public:
- void init();
-
- inline msg_t getc(systime_t timeout = TIME_INFINITE) {
- return chIQGetTimeout(&susbdriver.iqueue, timeout);
- }
-
- inline size_t read(uint8_t* buf, size_t len, systime_t timeout = TIME_INFINITE) {
- return chIQReadTimeout(&susbdriver.iqueue, buf, len, timeout);
- }
-
- inline msg_t putc(uint8_t data, systime_t timeout = TIME_INFINITE) {
- if(USBD1.state != USB_ACTIVE) {
- return 0;
- }
- return chOQPutTimeout(&susbdriver.oqueue, data, timeout);
- }
-
- inline size_t write(uint8_t* buf, size_t len, systime_t timeout = TIME_INFINITE) {
- if(USBD1.state != USB_ACTIVE) {
- return 0;
- }
- return chOQWriteTimeout(&susbdriver.oqueue, buf, len, timeout);
- }
-};
-
-#endif
generated by cgit v1.2.3 (git 2.25.1) at 2026-08-25 12:00:19 +0200