From 307cfe164910eccc70c086c083595d637c7fb987 Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sat, 19 Nov 2011 20:02:14 +0100 Subject: Moved driver related files to a subdirectory. --- drivers/bma150.h | 33 ++++++++++++++++++++++++++++++ drivers/gps.cpp | 40 ++++++++++++++++++++++++++++++++++++ drivers/gps.h | 60 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ drivers/itg3200.h | 32 +++++++++++++++++++++++++++++ drivers/ppmsum.cpp | 54 ++++++++++++++++++++++++++++++++++++++++++++++++ drivers/ppmsum.h | 29 ++++++++++++++++++++++++++ drivers/xbee.cpp | 51 ++++++++++++++++++++++++++++++++++++++++++++++ drivers/xbee.h | 8 ++++++++ 8 files changed, 307 insertions(+) create mode 100644 drivers/bma150.h create mode 100644 drivers/gps.cpp create mode 100644 drivers/gps.h create mode 100644 drivers/itg3200.h create mode 100644 drivers/ppmsum.cpp create mode 100644 drivers/ppmsum.h create mode 100644 drivers/xbee.cpp create mode 100644 drivers/xbee.h (limited to 'drivers') diff --git a/drivers/bma150.h b/drivers/bma150.h new file mode 100644 index 0000000..2e043ff --- /dev/null +++ b/drivers/bma150.h @@ -0,0 +1,33 @@ +#ifndef BMA150_H +#define BMA150_H + +#include "i2c.h" + +class BMA150 { + private: + I2C& i2c; + + public: + int16_t x, y, z; + + BMA150(I2C& i2c_bus) : i2c(i2c_bus) { + + } + + void init() { + uint8_t temp; + i2c.read_reg(0x38, 0x14, 1, &temp); + i2c.write_reg(0x38, 0x14, (temp & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth + } + + void update() { + uint8_t buf[6]; + i2c.read_reg(0x38, 0x02, 6, buf); + + x = (buf[1] << 8 | buf[0]) - 0; + y = (buf[3] << 8 | buf[2]) - 0; + z = (buf[5] << 8 | buf[4]) - 0; + } +}; + +#endif diff --git a/drivers/gps.cpp b/drivers/gps.cpp new file mode 100644 index 0000000..1ae3684 --- /dev/null +++ b/drivers/gps.cpp @@ -0,0 +1,40 @@ +#include "gps.h" + +GPS* GPS::self; + +template<> +void interrupt() { + GPS::self->irq(); +} + +void GPS::irq() { + + uint8_t c = USART3.DR; + + if(!incomplete_msg) { + incomplete_msg = msg_pool.create(); + + if(!incomplete_msg) { + return; + } + } + + if(incomplete_msg->n == 0 && c != '$') { + return; + } + + if(incomplete_msg->n >= 128) { + incomplete_msg->n = 0; + return; + } + + incomplete_msg->buf[incomplete_msg->n++] = c; + + if(c == '\n') { + GPIOB.ODR ^= 1 << 1; + + const_cast&>(complete_msg) = incomplete_msg; + incomplete_msg.reset(); + complete = true; + } +} diff --git a/drivers/gps.h b/drivers/gps.h new file mode 100644 index 0000000..c37fc8a --- /dev/null +++ b/drivers/gps.h @@ -0,0 +1,60 @@ +#ifndef GPS_H +#define GPS_H + +#include "stm32.h" +#include "interrupt.h" +#include "thread.h" + +#include "pool.h" + +struct GPSMsg { + unsigned int n; + uint8_t buf[128]; + + GPSMsg() : n(0) {} +}; + +class GPS { + friend void interrupt(); + + private: + static GPS* self; + + void irq(); + + Pool msg_pool; + + P incomplete_msg; + volatile P complete_msg; + + volatile bool complete; + + public: + GPS() { + self = this; + } + + void enable() { + RCC.enable(RCC.USART3); + USART3.BRR = 7500; // 4800 baud + USART3.CR1 = 0x202c; + + Interrupt::enable(Interrupt::USART3); + } + + P read() { + while(!complete) { + Thread::yield(); + } + + complete = false; + + P msg = const_cast&>(complete_msg); + + const_cast&>(complete_msg).reset(); + + return msg; + } +}; + +#endif diff --git a/drivers/itg3200.h b/drivers/itg3200.h new file mode 100644 index 0000000..2e90f62 --- /dev/null +++ b/drivers/itg3200.h @@ -0,0 +1,32 @@ +#ifndef ITG3200_H +#define ITG3200_H + +#include "i2c.h" + +class ITG3200 { + private: + I2C& i2c; + + public: + int16_t x, y, z; + + ITG3200(I2C& i2c_bus) : i2c(i2c_bus) { + + } + + void init() { + i2c.write_reg(0x68, 0x3e, 0x03); // Select clock reference. + i2c.write_reg(0x68, 0x16, 0x18 | 0x02); // 2000 deg/sec range, 98 Hz bandwidth. + } + + void update() { + uint8_t buf[6]; + i2c.read_reg(0x68, 0x1d, 6, buf); + + x = (buf[0] << 8 | buf[1]) - 0; + y = (buf[2] << 8 | buf[3]) - 0; + z = (buf[4] << 8 | buf[5]) - 0; + } +}; + +#endif diff --git a/drivers/ppmsum.cpp b/drivers/ppmsum.cpp new file mode 100644 index 0000000..2beaccb --- /dev/null +++ b/drivers/ppmsum.cpp @@ -0,0 +1,54 @@ +#include "ppmsum.h" + +PPMSum* PPMSum::self = 0; + +template<> +void interrupt() { + PPMSum::self->irq(); +} + +template<> +void interrupt() { + PPMSum::self->irq(); +} + +void PPMSum::irq() { + int16_t sr = TIM1.SR; + TIM1.SR = 0; + + if(sr & 0x01) { + // Timeout. + + synced = false; + + } else if(sr & 0x02) { + // Period. + + if(TIM1.CCR1 > 5000) { + synced = true; + index = 0; + } else { + index++; + index &= 0xf; + } + + } else if(sr & 0x04) { + // Pulsewidth. + + channels[index] = TIM1.CCR2; + } +} + +void PPMSum::enable() { + RCC.enable(RCC.TIM1); + TIM1.PSC = 72; + TIM1.CCMR1 = 0x0201; + TIM1.SMCR = 0x54; + TIM1.CCER = 0x31; + TIM1.DIER = 0x07; + + Interrupt::enable(Interrupt::TIM1_UP); + Interrupt::enable(Interrupt::TIM1_CC); + + TIM1.CR1 = 0x05; +} diff --git a/drivers/ppmsum.h b/drivers/ppmsum.h new file mode 100644 index 0000000..90bb860 --- /dev/null +++ b/drivers/ppmsum.h @@ -0,0 +1,29 @@ +#ifndef PPMSUM_H +#define PPMSUM_H + +#include +#include "interrupt.h" + +class PPMSum { + friend void interrupt(); + friend void interrupt(); + + private: + static PPMSum* self; + + uint8_t index; + + void irq(); + + public: + PPMSum() { + self = this; + } + + bool synced; + uint16_t channels[16]; + + void enable(); +}; + +#endif diff --git a/drivers/xbee.cpp b/drivers/xbee.cpp new file mode 100644 index 0000000..efee619 --- /dev/null +++ b/drivers/xbee.cpp @@ -0,0 +1,51 @@ +#include "xbee.h" + +#include "usart.h" +#include "mutex.h" + +Mutex xbee_mutex; + +void xbee_send(uint16_t type, int len, const uint8_t* buf) { + xbee_mutex.lock(); + + // Start and length. + usart_send(0x7e); + usart_send(((len + 16) >> 8) & 0xff); + usart_send((len + 16) & 0xff); + + // Frame type and ID. + usart_send(0x10); + usart_send(0x01); + + // Destination address. + usart_send(0x00); + usart_send(0x13); + usart_send(0xa2); + usart_send(0x00); + usart_send(0x40); + usart_send(0x6f); + usart_send(0x19); + usart_send(0xf1); + + usart_send(0xff); + usart_send(0xfe); + usart_send(0x00); + usart_send(0x00); + + uint8_t chsum = 0x83; + + usart_send(type & 0xff); + chsum -= type & 0xff; + usart_send(type >> 8); + chsum -= type >> 8; + + // Payload + for(int i = 0; i < len; i++) { + usart_send(buf[i]); + chsum -= buf[i]; + } + + usart_send(chsum); + + xbee_mutex.unlock(); +} diff --git a/drivers/xbee.h b/drivers/xbee.h new file mode 100644 index 0000000..59cf0cb --- /dev/null +++ b/drivers/xbee.h @@ -0,0 +1,8 @@ +#ifndef XBEE_H +#define XBEE_H + +#include + +void xbee_send(uint16_t type, int len, const uint8_t* buf); + +#endif -- cgit v1.2.3