From 7772ea4579a45bcf63ebd5e68be66ba1a9c72dfa Mon Sep 17 00:00:00 2001
From: Clyne Sullivan <tullivan99@gmail.com>
Date: Fri, 11 Nov 2016 15:02:17 -0500
Subject: chibios!
---
vex/digital.cpp | 37 +++++++++++
vex/digital.hpp | 37 +++++++++++
vex/lcd.cpp | 93 ++++++++++++++++++++++++++
vex/lcd.hpp | 42 ++++++++++++
vex/vexspi.cpp | 201 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
vex/vexspi.h | 171 +++++++++++++++++++++++++++++++++++++++++++++++
6 files changed, 581 insertions(+)
create mode 100644 vex/digital.cpp
create mode 100644 vex/digital.hpp
create mode 100644 vex/lcd.cpp
create mode 100644 vex/lcd.hpp
create mode 100644 vex/vexspi.cpp
create mode 100644 vex/vexspi.h
(limited to 'vex')
diff --git a/vex/digital.cpp b/vex/digital.cpp
new file mode 100644
index 0000000..f05edc3
--- /dev/null
+++ b/vex/digital.cpp
@@ -0,0 +1,37 @@
+#include "digital.hpp"
+
+#include <ch.h>
+#include <hal.h>
+
+// a lookup table for pads and ports
+static const int portPad[12][2] = {
+ {GPIOE_BASE, 9}, // digital pin 1
+ {GPIOE_BASE, 11}, // 2
+ {GPIOC_BASE, 6}, // ...
+ {GPIOC_BASE, 7},
+ {GPIOE_BASE, 13},
+ {GPIOE_BASE, 14},
+ {GPIOE_BASE, 8},
+ {GPIOE_BASE, 10},
+ {GPIOE_BASE, 12},
+ {GPIOE_BASE, 7},
+ {GPIOD_BASE, 0},
+ {GPIOD_BASE, 1},
+};
+
+namespace digital {
+ void setMode(int pin, int output) {
+ const auto& pp = portPad[pin - 1];
+ palSetPadMode(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1],
+ output ? PAL_MODE_OUTPUT_PUSHPULL : PAL_MODE_INPUT_PULLUP);
+ }
+
+ void set(int pin, int val) {
+ const auto& pp = portPad[pin - 1];
+ if (val)
+ palSetPad(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1]);
+ else
+ palClearPad(reinterpret_cast<GPIO_TypeDef*>(pp[0]), pp[1]);
+ }
+}
+
diff --git a/vex/digital.hpp b/vex/digital.hpp
new file mode 100644
index 0000000..b1dd400
--- /dev/null
+++ b/vex/digital.hpp
@@ -0,0 +1,37 @@
+/**
+ * @file digital.hpp
+ * Provides functionality to control the digital ports.
+ */
+
+#ifndef DIGITAL_HPP_
+#define DIGITAL_HPP_
+
+namespace digital {
+ /**
+ * Sets the pin to either input or output
+ * @param pin pin to set mode of
+ * @param output input if 0, output if not
+ */
+ void setMode(int pin, int output);
+
+ /**
+ * Sets the state of a pin.
+ * DOESN'T CHECK FOR PIN MODE!
+ * @param pin pin to set
+ * @param val value to give it (true/false)
+ */
+ void set(int pin, int val);
+
+ /**
+ * Sets the state of an LED.
+ * Basically set(), but flips the value as LEDs act that way.
+ * @param pin pin to set
+ * @param val value to give it
+ * @see set
+ */
+ inline void setLed(int pin, int val)
+ { set(pin, !(val)); }
+}
+
+
+#endif // DIGITAL_HPP_
diff --git a/vex/lcd.cpp b/vex/lcd.cpp
new file mode 100644
index 0000000..00a1279
--- /dev/null
+++ b/vex/lcd.cpp
@@ -0,0 +1,93 @@
+#include "lcd.hpp"
+
+#include <ch.h>
+#include <hal.h>
+
+#include <library.hpp>
+
+// lcd config for chibios
+static SerialConfig lcdConfig = {
+ 19200,
+ 0,
+ USART_CR2_STOP1_BITS,
+ 0
+};
+
+// buffer used to update lcd
+static char lcdLine[32];
+
+// signature for lcd buffer sent to LCD
+static const char lcdBufBase[5] = {
+ 0xAA, 0x55, 0x1E, 0x12, 0,
+};
+
+// the lcd task, updates the LCD.
+static char lcdUpdateWA[512];
+static void lcdUpdate(void *unused)
+{
+ (void)unused;
+
+ static int line = 2; // 2/3 for backlight
+
+ // update function
+ auto lcdLineUpdate = [&](char *s) {
+ static char lcdBuf[22];
+ // buffer prep
+ strncpy(lcdBuf, lcdBufBase, 5);
+ for (int i = 5; i < 21; i++)
+ lcdBuf[i] = ' ';
+ strncpy(lcdBuf + 5, s, 16);
+ lcdBuf[4] = line;
+
+ // checksum creation
+ int cs = 0x100;
+ for (int i = 4; i < 21; i++)
+ cs -= lcdBuf[i];
+ lcdBuf[21] = cs;
+
+ // write to lcd
+ sdWrite(&SD3, reinterpret_cast<unsigned char *>(lcdBuf), 22);
+ chThdSleepMilliseconds(15);
+
+ // read from lcd (buttons... (TODO))
+ if (sdGetWouldBlock(&SD3))
+ return;
+
+ for (int i = 0; i < 16; i++) {
+ auto c = sdGetTimeout(&SD3, TIME_IMMEDIATE);
+ if (c != Q_TIMEOUT)
+ lcdBuf[i] = c;
+ else
+ break;
+ }
+ };
+
+ // loop on line updates
+ while (1) {
+ lcdLineUpdate(lcdLine);
+ line++;
+ lcdLineUpdate(lcdLine + 16);
+ line--;
+ }
+}
+
+namespace lcd {
+ void init(void) {
+ sdStart(&SD3, &lcdConfig);
+ chThdCreateStatic(lcdUpdateWA, 512, NORMALPRIO - 1, lcdUpdate, nullptr);
+ }
+
+ void prints(int line, int x, const char *s) {
+ strncpy(lcdLine + (16 * line) + x, s, 16 - x);
+ }
+
+ void printn(int line, int x, int val) {
+ strncpy(lcdLine + (16 * line) + x, itoa(val), 16 - x);
+ }
+
+ void flush(void) {
+ for (int i = 0; i < 32; i++)
+ lcdLine[i] = ' ';
+ }
+}
+
diff --git a/vex/lcd.hpp b/vex/lcd.hpp
new file mode 100644
index 0000000..1b58a69
--- /dev/null
+++ b/vex/lcd.hpp
@@ -0,0 +1,42 @@
+/**
+ * @file lcd.hpp
+ * Provides functionality to mess with the LCD (...on UART2).
+ */
+
+#ifndef LCD_HPP_
+#define LCD_HPP_
+
+namespace lcd {
+ /**
+ * Initializes the LCD.
+ */
+ void init(void);
+
+ /**
+ * Prints a string to the given line and column.
+ * NO ERROR CHECKING DONE!
+ * @param line the line to write to
+ * @param x the column to start on
+ * @param s the string to write
+ */
+ void prints(int line, int x, const char *s);
+
+ /**
+ * Prints a decimal number to the given line and column.
+ * NO ERROR CHECKING DONE!
+ * @param line the line to write to
+ * @param x the column to start on
+ * @param val the number to write
+ */
+ void printn(int line, int x, int val);
+
+ /**
+ * Clears the LCD text buffer.
+ * Called at the top of the loop lcd printing is done in.
+ * TODO make something better
+ */
+ void flush(void);
+}
+
+
+#endif // LCD_HPP_
diff --git a/vex/vexspi.cpp b/vex/vexspi.cpp
new file mode 100644
index 0000000..4d05b9e
--- /dev/null
+++ b/vex/vexspi.cpp
@@ -0,0 +1,201 @@
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Copyright (c) James Pearman */
+/* 2013 */
+/* All Rights Reserved */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Module: vexspi.c */
+/* Author: James Pearman */
+/* Created: 7 May 2013 */
+/* */
+/* Revisions: */
+/* V1.00 4 July 2013 - Initial release */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* This file is part of ConVEX. */
+/* */
+/* The author is supplying this software for use with the VEX cortex */
+/* control system. ConVEX 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. */
+/* */
+/* ConVEX 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/>. */
+/* */
+/* A special exception to the GPL can be applied should you wish to */
+/* distribute a combined work that includes ConVEX, without being obliged */
+/* to provide the source code for any proprietary components. */
+/* See the file exception.txt for full details of how and when the */
+/* exception can be applied. */
+/* */
+/* The author can be contacted on the vex forums as jpearman */
+/* or electronic mail using jbpearman_at_mac_dot_com */
+/* Mentor for team 8888 RoboLancers, Pasadena CA. */
+/* */
+/*-----------------------------------------------------------------------------*/
+
+#include "ch.h" // needs for all ChibiOS programs
+#include "hal.h" // hardware abstraction layer header
+
+#include <vex/vexspi.h>
+#include <library.hpp>
+
+SpiData vexSpiData; // externed in main.cpp
+
+constexpr GPTDriver *spiGpt = &GPTD2;
+constexpr const char *spiTeamName = CONVEX_TEAM_NAME;
+
+static thread_t *spiThread = nullptr;
+
+static SPIConfig spicfg = {
+ nullptr,
+ /* HW dependent part.*/
+ VEX_SPI_CS_PORT, VEX_SPI_CS_PIN,
+ SPI_CR1_DFF | SPI_CR1_BR_2 | SPI_CR1_CPHA
+};
+
+static void _vspi_gpt_cb(GPTDriver *);
+static const GPTConfig vexSpiGpt = {
+ 1000000, /* 1MHz timer clock.*/
+ _vspi_gpt_cb, /* Timer callback.*/
+ 0, /* DIER = 0, version 2.6.1.and on */
+ 0
+};
+
+static const unsigned char txInitData[32] = {
+ 0x17, 0xC9, 0x02, 0x00, 0x00, 0x00,
+ 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x01, 0x00
+};
+
+static void _vspi_gpt_cb(GPTDriver *gptp)
+{
+ (void)gptp;
+
+ chSysLockFromISR();
+ if (spiThread != nullptr) {
+ chSchReadyI(spiThread);
+ spiThread = nullptr;
+ }
+ chSysUnlockFromISR();
+}
+
+void vexSpiTickDelay(int ticks)
+{
+ chSysLock();
+ spiThread = chThdGetSelfX();
+ gptStartOneShotI(spiGpt, ticks);
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ chSysUnlock();
+}
+
+
+
+namespace spi {
+ void init(void) {
+ memncpy(&vexSpiData.txdata, txInitData, 32);
+ vexSpiData.online = 0;
+
+ spiStart(&SPID1, &spicfg);
+ gptStart(spiGpt, &vexSpiGpt);
+ }
+
+
+ void update(void) {
+ auto txbuf = reinterpret_cast<uint16_t *>(vexSpiData.txdata.data);
+ auto rxbuf = reinterpret_cast<uint16_t *>(vexSpiData.rxdata_t.data);
+
+ // configure team name
+ if (vexSpiData.txdata.pak.state == 0x03) {
+ // let spi know what we're sending
+ vexSpiData.txdata.pak.type = 0x55;
+ strncpy(reinterpret_cast<char *>(vexSpiData.txdata.data + 6), spiTeamName, 8);
+ }
+
+ // Set handshake to indicate new spi message
+ palSetPad(VEX_SPI_ENABLE_PORT, VEX_SPI_ENABLE_PIN);
+
+ for (int i = 0; i < 16; i++) {
+ // exchange word (int)
+ spiSelectI(&SPID1);
+ rxbuf[i] = spi_lld_polled_exchange( &SPID1, txbuf[i] );
+ spiUnselectI(&SPID1);
+
+ if (((i%4) == 3) && (i != 15)) {
+ // long delay between each group of 4 words
+ vexSpiTickDelay(73);
+
+ // After 4 words negate handshake pin
+ palClearPad(VEX_SPI_ENABLE_PORT, VEX_SPI_ENABLE_PIN);
+ } else {
+ vexSpiTickDelay(8);
+ }
+ }
+
+ // increase id for next message
+ vexSpiData.txdata.pak.id++;
+
+ // check integrity of received data
+ if( (vexSpiData.rxdata_t.data[0] == 0x17 ) && (vexSpiData.rxdata_t.data[1] == 0xC9 ))
+ {
+ // copy temporary data
+ for(int i=0;i<32;i++)
+ vexSpiData.rxdata.data[i] = vexSpiData.rxdata_t.data[i];
+
+ // Set online status if valid data status set
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x08 )
+ vexSpiData.online = 1;
+
+ // If in configuration initialize state (0x02 or 0x03)
+ if( (vexSpiData.txdata.pak.state & 0x0E) == 0x02 )
+ {
+ // check for configure request
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x02 )
+ vexSpiData.txdata.pak.state = 0x03;
+ // check for configure and acknowledge
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x03 )
+ {
+ vexSpiData.txdata.pak.state = 0x08;
+ vexSpiData.txdata.pak.type = 0;
+ }
+ // Either good or bad data force to normal transmission
+ // status will either be 0x04 or 0x08
+ if( (vexSpiData.rxdata.pak.status & 0x0C) != 0x00 )
+ {
+ vexSpiData.txdata.pak.state = 0x08;
+ vexSpiData.txdata.pak.type = 0;
+ }
+ }
+ }
+ else
+ vexSpiData.errors++;
+ }
+
+ void setMotors(uint8_t *data) {
+ memncpy(data, vexSpiData.txdata.pak.motor, 8);
+ }
+
+ const jsdata& getJoystick(int num) {
+ return (num == 2) ? vexSpiData.rxdata.pak.js_2 : vexSpiData.rxdata.pak.js_1;
+ }
+
+ int getBatteryMain(void) {
+ return vexSpiData.rxdata.pak.batt1 * 59; // in mV
+ }
+
+ int getBatteryBackup(void) {
+ return vexSpiData.rxdata.pak.batt2 * 59;
+ }
+
+}
diff --git a/vex/vexspi.h b/vex/vexspi.h
new file mode 100644
index 0000000..aa7eeb9
--- /dev/null
+++ b/vex/vexspi.h
@@ -0,0 +1,171 @@
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Copyright (c) James Pearman */
+/* 2013 */
+/* All Rights Reserved */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Module: vexspi.h */
+/* Author: James Pearman */
+/* Created: 7 May 2013 */
+/* */
+/* Revisions: */
+/* V1.00 4 July 2013 - Initial release */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* This file is part of ConVEX. */
+/* */
+/* The author is supplying this software for use with the VEX cortex */
+/* control system. ConVEX 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. */
+/* */
+/* ConVEX 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/>. */
+/* */
+/* A special exception to the GPL can be applied should you wish to */
+/* distribute a combined work that includes ConVEX, without being obliged */
+/* to provide the source code for any proprietary components. */
+/* See the file exception.txt for full details of how and when the */
+/* exception can be applied. */
+/* */
+/* The author can be contacted on the vex forums as jpearman */
+/* or electronic mail using jbpearman_at_mac_dot_com */
+/* Mentor for team 8888 RoboLancers, Pasadena CA. */
+/* */
+/*-----------------------------------------------------------------------------*/
+
+#ifndef __VEXSPI__
+#define __VEXSPI__
+
+/*-----------------------------------------------------------------------------*/
+/** @file vexspi.h
+ * @brief SPI communication to the master processor, macros and prototypes
+*//*---------------------------------------------------------------------------*/
+
+#define VEX_SPI_ENABLE_PORT GPIOA
+#define VEX_SPI_ENABLE_PIN 11
+#define VEX_SPI_CS_PORT GPIOE
+#define VEX_SPI_CS_PIN 0
+
+/*-----------------------------------------------------------------------------*/
+/** @brief default team name */
+/*-----------------------------------------------------------------------------*/
+
+#define CONVEX_TEAM_NAME "ZEPHYR ";
+
+typedef struct _jsdata {
+ int Ch1 :8;
+ int Ch2 :8;
+ int Ch3 :8;
+ int Ch4 :8;
+
+ struct accel_t {
+ int y :8;
+ int x :8;
+ int z :8;
+ } __attribute__ ((packed)) accel;
+
+ char Btn5D :1;
+ char Btn5U :1;
+ char Btn6D :1;
+ char Btn6U :1;
+
+ char Reserved :4;
+
+ char Btn8D :1;
+ char Btn8L :1;
+ char Btn8U :1;
+ char Btn8R :1;
+ char Btn7D :1;
+ char Btn7L :1;
+ char Btn7U :1;
+ char Btn7R :1;
+
+ char Reserved2[2];
+
+} __attribute__ ((packed)) jsdata;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI transmit data packet */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * Format of a SPI transmit packet - 16 words
+ */
+typedef union _spiTxPacket {
+ struct _spiTxPak {
+ unsigned char h1; ///< Header byte one
+ unsigned char h2; ///< Header byte two
+ unsigned char state; ///< Control state
+ unsigned char reserved[2]; ///< unknown data
+ unsigned char type; ///< data type
+ unsigned char motor[8]; ///< motor pwm data
+ unsigned char pad[15]; ///< not used
+ unsigned char rev_lsb; ///< revision of user code lsb
+ unsigned char rev_msb; ///< revision of user code msb
+ unsigned char id; ///< message id
+ } pak; ///< access spiTxPacket as named variables
+
+ unsigned char data[32]; ///< access spiTxPacket as an array of char
+} spiTxPacket;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI receive data packet */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * Format of a SPI receive packet - 16 words
+ */
+typedef union _spiRxPacket {
+ struct _spiRxPak {
+ unsigned char h1; ///< Header byte one
+ unsigned char h2; ///< Header byte two
+ unsigned char status; ///< status
+ unsigned char ctl; ///< status and control byte
+ unsigned char batt1; ///< main battery level, 59mV per bit
+ unsigned char batt2; ///< backup battery level, 59mV per bit
+ jsdata js_1; ///< data for main joystick
+ unsigned char pad; ///< 1 byte padding
+ jsdata js_2; ///< data for partner joystick
+ unsigned char rev_lsb; ///< revision of master code lsb
+ unsigned char rev_msb; ///< revision of master code msb
+ unsigned char id; ///< message id
+ } pak; ///< access spiRxPacke as named variables
+
+ unsigned char data[32]; ///< access spiRxPacket as an array of char
+} spiRxPacket;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI data */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * All SPI related data collected in this structure
+ */
+struct SpiData {
+ spiTxPacket txdata; ///< tx data packet
+ spiRxPacket rxdata; ///< valid rx data packet
+ spiRxPacket rxdata_t; ///< receive data packet, may have errors
+ uint16_t online; ///< online status
+ uint32_t errors; ///< number of packets received with error
+};
+
+namespace spi {
+ void init(void);
+ void update(void);
+
+ void setMotors(uint8_t *data);
+
+ const jsdata& getJoystick(int num);
+
+ int getBatteryMain(void);
+ int getBatteryBackup(void);
+}
+
+#endif // __VEXSPI__
--
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