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-refactored

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git-svn-id: http://moon:8086/svn/projects/HendiControl@22 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-02-20 20:01:23 +00:00
parent a794460fdc
commit 7f5ccbfc73
2 changed files with 91 additions and 273 deletions
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Control/firmware/uart_echo/main.c
+49 -273
View File
@@ -10,6 +10,15 @@
#include <string.h> #include <string.h>
#include <avr/io.h> #include <avr/io.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
#include "fifo.h"
#include "adc.h"
#include "port.h"
#include "timer.h"
#include "uart.h"
#include "i2c.h"
#include "mcp42x6.h"
#define ARDUINO_NANO #define ARDUINO_NANO
#ifdef ARDUINO_NANO #ifdef ARDUINO_NANO
@@ -23,11 +32,13 @@
static uint8_t ledState = 0; static uint8_t ledState = 0;
static int16_t adc_value[16]; static int16_t adc_value[16];
static size_t adc_ch = 0; static size_t adc_ch = 0;
static Fifo messageFifo;
enum MessageCode enum MessageCode
{ {
NOP=0, NOP=0,
Command, Command,
Uart,
Timer, Timer,
AdcComplete, AdcComplete,
Error = 0xFF Error = 0xFF
@@ -39,84 +50,6 @@ typedef struct _sMsg_t
uint8_t data; uint8_t data;
} Msg_t; } Msg_t;
typedef struct _sFifo
{
void **ppData;
size_t capacity;
size_t itemSize;
size_t fill;
size_t wi;
size_t ri;
const char *pName;
} Fifo;
static Fifo messageFifo;
void Fifo_init(Fifo *pObj, size_t capacity, size_t itemSize, const char *pName)
{
pObj->wi = 0;
pObj->ri = 0;
pObj->fill = 0;
pObj->capacity = capacity;
pObj->itemSize = itemSize;
pObj->ppData = (void**)malloc(capacity);
for (int i=0; i < capacity; i++)
{
pObj->ppData[i] = (void*)malloc(itemSize);
}
pObj->pName = pName;
}
void Fifo_free(Fifo *pObj)
{
for (int i=0; i < pObj->capacity; i++)
{
free(pObj->ppData[i]);
}
free (pObj->ppData);
pObj->itemSize = 0;
pObj->capacity = 0;
}
void Fifo_push(Fifo *pObj, void *pItem)
{
if (pObj->fill >= pObj->capacity)
{
printf("%s: Fifo is full\n", pObj->pName);
return;
}
memcpy(pObj->ppData[pObj->wi], pItem, pObj->itemSize);
pObj->wi++;
pObj->fill++;
if (pObj->wi == pObj->capacity)
{
pObj->wi = 0;
}
}
int Fifo_pop(Fifo *pObj, void *pItem)
{
if (!pObj->fill)
{
return 0;
}
memcpy(pItem, pObj->ppData[pObj->ri], pObj->itemSize);
pObj->ri++;
pObj->fill--;
if (pObj->ri == pObj->capacity)
{
pObj->ri = 0;
}
return 1;
}
int Fifo_isEmpty(Fifo *pObj)
{
return pObj->fill == 0;
}
void adc_start_conversion(int ch);
ISR(ADC_vect) ISR(ADC_vect)
{ {
int16_t value_low = (int16_t)ADCL; int16_t value_low = (int16_t)ADCL;
@@ -127,7 +60,7 @@ ISR(ADC_vect)
if (((adc_value[adc_ch] - value) < -1) || ((adc_value[adc_ch] - value) > 1)) if (((adc_value[adc_ch] - value) < -1) || ((adc_value[adc_ch] - value) > 1))
{ {
Msg_t msg = {AdcComplete, adc_ch}; Msg_t msg = {AdcComplete, adc_ch};
Fifo_push(&messageFifo, &msg); fifo_push(&messageFifo, &msg);
} }
adc_value[adc_ch] = value; adc_value[adc_ch] = value;
@@ -145,19 +78,21 @@ ISR(USART_RX_vect)
if (rx_data == ' ') if (rx_data == ' ')
{ {
Msg_t msg = {Error, rx_data}; Msg_t msg = {Error, rx_data};
Fifo_push(&messageFifo, &msg); fifo_push(&messageFifo, &msg);
} }
else if (rx_data >= '0' && rx_data <= '9') else if (rx_data >= '0' && rx_data <= '9')
{ {
Msg_t msg = {Command, rx_data}; Msg_t msg = {Command, rx_data};
Fifo_push(&messageFifo, &msg); fifo_push(&messageFifo, &msg);
} }
Msg_t msg = {Uart, rx_data};
fifo_push(&messageFifo, &msg);
} }
ISR (TIMER1_OVF_vect) // Timer1 ISR ISR (TIMER1_OVF_vect) // Timer1 ISR
{ {
Msg_t msg = {Timer, ledState}; Msg_t msg = {Timer, ledState};
Fifo_push(&messageFifo, &msg); fifo_push(&messageFifo, &msg);
TCNT1 = TIMER_RELOAD; TCNT1 = TIMER_RELOAD;
ledState++; ledState++;
@@ -167,201 +102,15 @@ ISR (TIMER1_OVF_vect) // Timer1 ISR
} }
} }
void uart_init()
{
// Set baud rate
UBRR0L = (uint8_t)BAUD_PRESCALE;
UBRR0H = (uint8_t)(BAUD_PRESCALE >> 8);
// Enable receiver and transmitter
UCSR0B = (1<<TXEN0)|(1<<RXEN0);
// Enable RX interrupt
UCSR0B |= (1<<RXCIE0);
}
void timer_init()
{
TCNT1 = TIMER_RELOAD;
TCCR1A = 0x00;
TCCR1B = (1<<CS10) | (1<<CS12); // Timer mode with 1024 prescaler
TIMSK1 = (1 << TOIE1) ; // Enable timer1 overflow interrupt(TOIE1)
}
enum I2C
{
I2C_START = 0x08,
I2C_REPEATED_START = 0x10,
I2C_SLA_ACK = 0x18,
I2C_SLA_NACK = 0x20,
I2C_DATA_ACK = 0x28,
I2C_DATA_NACK = 0x30,
I2C_LOST = 0x38,
I2C_READ = 0x01,
I2C_WRITE = 0x00
};
void i2c_init()
{
TWBR = 0xFF;
TWSR = 0x00;
}
void i2c_send(uint8_t addr, uint8_t rw, uint8_t *data, size_t size)
{
TWCR = (1<<TWINT)|(1<<TWSTA)|(1<<TWEN);
// Send START condition
do
{
while (!(TWCR &(1<<TWINT))); // Wait for TWINT Flag set. This indicates
// that the START condition has been
// transmitted.
if((TWSR & 0xF8) != I2C_START)
{
printf("Error I2C_START\n");
break;
}
TWDR = addr<<1 | rw; // Load SLA_W into TWDR Register. Clear
// TWINT bit in TWCR to start transmission of
// address.
TWCR = (1<<TWINT) | (1<<TWEN);
while (!(TWCR &(1<<TWINT))); // Wait for TWINT Flag set. This indicates
// that the SLA+W has been transmitted, and
// ACK/NACK has been received.
if ((TWSR & 0xF8) != I2C_SLA_ACK)
{
printf("Error I2C_SLA_ACK\n");
break;
}
// Check value of TWI Status Register. Mask
// prescaler bits. If status different from
// MT_SLA_ACK go to ERROR
for (size_t i=0; i < size; i++)
{
TWDR = *(data++);
TWCR = (1<<TWINT) | (1<<TWEN);
// Load DATA into TWDR Register. Clear
// TWINT bit in TWCR to start transmission of
// data.
while (!(TWCR & (1<<TWINT)));
// Wait for TWINT Flag set. This indicates
// that the DATA has been transmitted, and
// ACK/NACK has been received}
if ((TWSR & 0xF8) != I2C_DATA_ACK)
{
printf("Error I2C_DATA_ACK\n");
break;
}
// Check value of TWI Status Register. Mask
// prescaler bits. If status different from
// MT_DATA_ACK go to ERROR.
}
} while (0);
TWCR = (1<<TWINT)| (1<<TWEN)|(1<<TWSTO); // Transmit STOP condition.
}
void adc_init()
{
PRR &= ~(1 << PRADC);
ADCSRA |= (1 << ADEN) | 7;
}
void adc_start_conversion(int ch)
{
ADMUX = (ADMUX & 0xF0) | (ch & 0x0F) | (1 << REFS0);
ADCSRA |= (1 << ADSC) | (1 << ADIE);
}
int adc_is_fininshed()
{
return (int)(0 == (ADCSRA & (1 << ADSC)));
}
void uart_putc(char c)
{
while((UCSR0A & (1<<UDRE0)) == 0)
{
}
UDR0 = c;
}
int uart_putchar(char c, FILE *stream)
{
uart_putc(c);
if (c == 0x0A)
{
uart_putc(0x0D);
}
return 0;
}
void uart_puts(char const *str)
{
while(*str)
{
char c = *(str++);
uart_putc(c);
if (c == 0x0A)
{
uart_putc(0x0D);
}
}
}
void port_init()
{
PORTB = PORTB | 0x03;
DDRB = DDB1 | DDB2;
}
FILE uart_file = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE); FILE uart_file = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
enum MCP47x6_flags
{
C0 = 0x20,
C1 = 0x40,
C2 = 0x80,
PDN0 = 0x10,
PDN1 = 0x20,
mask = 0xF0
};
size_t MCP47x6_write_volatile_dac(uint16_t dac_value, uint8_t *buffer, size_t size)
{
*(buffer++) = ~mask & (uint8_t)(dac_value >> 8);
*(buffer++) = (uint8_t)(dac_value >> 0);
return 2;
}
size_t MCP47x6_write_volatile_mem(uint16_t dac_value, uint8_t *buffer, size_t size)
{
*(buffer++) = mask & 0x40;
dac_value <<= 4;
*(buffer++) = (uint8_t)(dac_value >> 8);
*(buffer++) = (uint8_t)(dac_value >> 0);
return 3;
}
int main(void) int main(void)
{ {
Fifo_init(&messageFifo, 64, sizeof(Msg_t), "Fifo"); fifo_init(&messageFifo, 64, sizeof(Msg_t), "Fifo");
/* Replace with your application code */ /* Replace with your application code */
uart_init(); uart_init(BAUD_PRESCALE);
timer_init(); timer_init(TIMER_RELOAD);
adc_init(); adc_init();
i2c_init(); i2c_init();
@@ -374,17 +123,44 @@ int main(void)
sei(); sei();
adc_start_conversion(adc_ch); adc_start_conversion(adc_ch);
char cmdStr[16];
size_t cmdStrSize = 0;
while (1) while (1)
{ {
Msg_t msg; Msg_t msg;
if (!Fifo_isEmpty(&messageFifo)) if (!fifo_isEmpty(&messageFifo))
{ {
cli(); cli();
Fifo_pop(&messageFifo, &msg); fifo_pop(&messageFifo, &msg);
sei(); sei();
switch(msg.code) switch(msg.code)
{ {
case Uart:
{
cmdStr[cmdStrSize] = 0;
if (cmdStrSize < sizeof(cmdStr))
{
char c = msg.data;
if (c == 0x0A || c == 0x0D)
{
printf("Command : %s\n", cmdStr);
cmdStrSize = 0;
}
else
{
cmdStr[cmdStrSize++] = c;
}
}
else
{
printf("Invalid command : %s\n", cmdStr);
cmdStrSize = 0;
}
}
break;
case Command: case Command:
{ {
printf("Command : %c\n", msg.data); printf("Command : %c\n", msg.data);
Control/firmware/uart_echo/uart_echo.cproj
+42
View File
@@ -160,9 +160,51 @@
</ToolchainSettings> </ToolchainSettings>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Compile Include="adc.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="adc.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="fifo.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="fifo.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="i2c.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="i2c.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="main.c"> <Compile Include="main.c">
<SubType>compile</SubType> <SubType>compile</SubType>
</Compile> </Compile>
<Compile Include="mcp42x6.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="mcp42x6.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="port.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="port.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="timer.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="timer.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="uart.c">
<SubType>compile</SubType>
</Compile>
<Compile Include="uart.h">
<SubType>compile</SubType>
</Compile>
</ItemGroup> </ItemGroup>
<Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" /> <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
</Project> </Project>