Added feedback board firmware
This commit is contained in:
Gregor Riepl
parent
e2b28730dd
commit
42726c06c2
3 changed files with 273 additions and 0 deletions
115
feedback/firmware/Makefile
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115
feedback/firmware/Makefile
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PRG = feedback
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AVRCANLIB_PATH = ../../avr-can-lib
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OBJ = main.o \
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$(AVRCANLIB_PATH)/src/at90can_buffer.o \
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$(AVRCANLIB_PATH)/src/at90can.o \
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$(AVRCANLIB_PATH)/src/at90can_disable_dyn_filter.o \
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$(AVRCANLIB_PATH)/src/at90can_error_register.o \
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$(AVRCANLIB_PATH)/src/at90can_get_buf_message.o \
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$(AVRCANLIB_PATH)/src/at90can_get_dyn_filter.o \
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$(AVRCANLIB_PATH)/src/at90can_get_message.o \
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$(AVRCANLIB_PATH)/src/at90can_send_buf_message.o \
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$(AVRCANLIB_PATH)/src/at90can_send_message.o \
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$(AVRCANLIB_PATH)/src/at90can_set_dyn_filter.o \
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$(AVRCANLIB_PATH)/src/at90can_set_mode.o \
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$(AVRCANLIB_PATH)/src/can_buffer.o
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# These were defined for the avr-can-lib, but they really, really
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# shouldn't be used there because they affect the whole program.
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OPTIMIZE = -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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PROGRAMMER = usbtiny
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MCU_TARGET = atmega32m1
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DEFS = -DF_CPU=16000000UL -DHAS_CAN_CONFIG_H
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INCLUDES = -I. -I$(AVRCANLIB_PATH)
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LIBS =
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LFUSE = 0xdf
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HFUSE = 0xd9
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EFUSE = 0xfe
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EXTRA_CLEAN_FILES =
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# You should not have to change anything below here.
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CC = avr-gcc
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DUDE = avrdude
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HOST_CC = gcc
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HOST_CFLAGS = -O0 -g
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HOST_LDFLAGS =
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# Override is only needed by avr-lib build system.
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override CFLAGS = -g -Wall $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) $(INCLUDES)
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override LDFLAGS = -Wl,-Map,$(PRG).map
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DUDEFLAGS = -c $(PROGRAMMER) -p $(MCU_TARGET)
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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all: $(PRG).elf lst text eeprom
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$(PRG).elf: $(OBJ) $(LIBS)
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$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
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clean:
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rm -f $(OBJ) $(PRG).elf $(PRG).lst $(PRG).map $(PRG).bin $(PRG).hex $(PRG).srec $(PRG)_eeprom.bin $(PRG)_eeprom.hex $(PRG)_eeprom.srec $(EXTRA_CLEAN_FILES)
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lst: $(PRG).lst
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%.lst: %.elf
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$(OBJDUMP) -h -S $< > $@
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# Rules for flashing, EEPROM writing and fuse bit setting
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flash: $(PRG).hex $(PRG)_eeprom.hex
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$(DUDE) $(DUDEFLAGS) -U eeprom:w:$(PRG)_eeprom.hex:i -U flash:w:$(PRG).hex:i
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flashprg: $(PRG).hex
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$(DUDE) $(DUDEFLAGS) -U flash:w:$(PRG).hex:i
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flasheep: $(PRG)_eeprom.hex
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$(DUDE) $(DUDEFLAGS) -U eeprom:w:$(PRG)_eeprom.hex:i
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fuse:
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$(DUDE) $(DUDEFLAGS) -U hfuse:w:$(HFUSE):m -U lfuse:w:$(LFUSE):m -U efuse:w:$(EFUSE):m
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# Rules for building the .text rom images
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text: hex bin srec
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hex: $(PRG).hex
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bin: $(PRG).bin
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srec: $(PRG).srec
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%.hex: %.elf
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$(OBJCOPY) -j .text -j .data -O ihex $< $@
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%.srec: %.elf
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$(OBJCOPY) -j .text -j .data -O srec $< $@
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%.bin: %.elf
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$(OBJCOPY) -j .text -j .data -O binary $< $@
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# Rules for building the .eeprom rom images
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eeprom: ehex ebin esrec
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ehex: $(PRG)_eeprom.hex
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ebin: $(PRG)_eeprom.bin
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esrec: $(PRG)_eeprom.srec
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%_eeprom.hex: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@ \
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|| { echo empty $@ not generated; exit 0; }
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%_eeprom.srec: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O srec $< $@ \
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|| { echo empty $@ not generated; exit 0; }
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%_eeprom.bin: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O binary $< $@ \
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|| { echo empty $@ not generated; exit 0; }
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79
feedback/firmware/can_config.h
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79
feedback/firmware/can_config.h
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#ifndef CONFIG_H
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#define CONFIG_H
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#define CAN_CONFIG_LOADED
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// -----------------------------------------------------------------------------
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/* Global settings for building the can-lib and application program.
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*
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* The following two #defines must be set identically for the can-lib and
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* your application program. They control the underlying CAN struct. If the
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* settings disagree, the underlying CAN struct will be broken, with
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* unpredictable results.
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* If can.h detects that any of the #defines is not defined, it will set them
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* to the default values shown here, so it is in your own interest to have a
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* consistent setting. Ommiting the #defines in both can-lib and application
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* program will apply the defaults in a consistent way too.
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*
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* Select if you want to use 29 bit identifiers.
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*/
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#define SUPPORT_EXTENDED_CANID 1
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/* Select if you want to use timestamps.
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* Timestamps are sourced from a register internal to the AT90CAN.
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* Selecting them on any other controller will have no effect, they will
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* be 0 all the time.
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*/
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#define SUPPORT_TIMESTAMPS 0
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// -----------------------------------------------------------------------------
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/* Global settings for building the can-lib.
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*
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* Select ONE CAN controller for which you are building the can-lib.
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*/
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#define SUPPORT_MCP2515 0
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#define SUPPORT_AT90CAN 1
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#define SUPPORT_SJA1000 0
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// -----------------------------------------------------------------------------
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/* Setting for MCP2515
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*
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* Declare which pins you are using for communication.
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* Remember NOT to use them in your application!
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* It is a good idea to use bits from the port that carries MOSI, MISO, SCK.
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*/
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#define MCP2515_CS B,4
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#define MCP2515_INT B,2
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// -----------------------------------------------------------------------------
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// Setting for SJA1000
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#define SJA1000_INT E,0
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#define SJA1000_MEMORY_MAPPED 1
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// memory-mapped interface
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#define SJA1000_BASE_ADDR 0x8000 // for ATMega162
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/*
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// port-interface
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#define SJA1000_WR D,6
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#define SJA1000_RD D,7
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#define SJA1000_ALE E,1
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#define SJA1000_CS C,0
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#define SJA1000_DATA A
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*/
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// -----------------------------------------------------------------------------
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// Setting for AT90CAN
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// Number of CAN messages which are buffered in RAM additinally to the MObs
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#define CAN_RX_BUFFER_SIZE 16
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#define CAN_TX_BUFFER_SIZE 8
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// only available if CAN_TX_BUFFER_SIZE > 0
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#define CAN_FORCE_TX_ORDER 1
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#endif // CONFIG_H
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79
feedback/firmware/main.c
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79
feedback/firmware/main.c
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <can.h>
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static void init() {
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// Set PB as input, pull-up off
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DDRB = 0;
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// Set PC0/4/6 as input, pull-up off
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DDRC &= ~(_BV(DDC0) | _BV(DDC4) | _BV(DDC6));
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// Initialize CAN interface
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can_init(BITRATE_125_KBPS);
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// Regular receive/transmit mode
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can_set_mode(NORMAL_MODE);
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// Filter for status requests
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can_filter_t filter = {
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.id = 0x10,
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.mask = 0x7ff,
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.flags = {
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.rtr = 1,
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.extended = 0,
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},
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};
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can_set_filter(0, &filter);
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// Enable interrupts to start reception
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sei();
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}
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static void send_status() {
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// Get GPIO state
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// PB -> invert -> Dend..Hend, Dempty..Fempty
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uint8_t statusl = ~PINB;
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// PC0,6,4 -> invert -> Gempty, Hempty, Reset
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uint8_t pinc = ~PINC;
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uint8_t gempty = (pinc & _BV(0)) ? _BV(0) : 0;
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uint8_t hempty = (pinc & _BV(6)) ? _BV(1) : 0;
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uint8_t swres = (pinc & _BV(4)) ? _BV(2) : 0;
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uint8_t statush = gempty | hempty | swres;
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if (can_check_free_buffer()) {
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can_t msg = {
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.id = 0x10,
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.flags = {
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.rtr = 0,
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},
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.length = 2,
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.data = { statush, statusl, },
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};
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can_send_message(&msg);
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}
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}
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static void loop() {
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// Check for new messages
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if (can_check_message()) {
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can_t msg = { 0 };
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uint8_t status = can_get_message(&msg);
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if (status != 0) {
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switch (msg.id) {
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case 0x10:
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if (msg.flags.rtr) {
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send_status();
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}
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}
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}
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}
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}
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int main() {
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init();
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while (1) {
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loop();
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}
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}
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