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Commit 59fde70f authored by Sergi Hernandez's avatar Sergi Hernandez
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Changes to use the new momory data structures to handle the devices modules memory. 

Added the registers files for the ADC module, GPIO module.
Added the dynamixel manager library to handle all the devices.
parent 02a2f289
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Makefile
View file @ 59fde70f
......@@ -4,7 +4,15 @@ STM32_HAL_PATH=$(HOME)/humanoids/stm32_hal
STM32_LIBRARIES_PATH=$(HOME)/humanoids/stm32_libraries
PROJECT_NAME=bioloid_firmware
TARGET_FILES=$(wildcard src/*.c)
#TARGET_FILES=$(wildcard src/*.c)
TARGET_FILES=src/eeprom.c
TARGET_FILES+=src/adc_dma.c
TARGET_FILES+=src/system_stm32f4xx.c
TARGET_FILES+=src/bioloid_stm32.c
TARGET_FILES+=src/bioloid_time.c
TARGET_FILES+=src/bioloid_dyn_slave.c
TARGET_FILES+=src/gpio.c
TARGET_FILES+=src/bioloid_dyn_manager.c
TARGET_PROCESSOR=STM32F407VG
HAL_PATH=$(STM32_HAL_PATH)/f4
......@@ -15,17 +23,19 @@ STM32_STARTUP_FILES_PATH = $(HAL_PATH)/startup_code/
STM32_LINKER_SCRIPTS_PATH = ./linker_script
UTILS_PATH=$(STM32_LIBRARIES_PATH)/utils
COMM_PATH=$(STM32_LIBRARIES_PATH)/comm
MEMORY_PATH=$(STM32_LIBRARIES_PATH)/memory
USART_PATH=$(STM32_LIBRARIES_PATH)/f4/usart
DYNAMIXEL_PATH=$(STM32_LIBRARIES_PATH)/dynamixel_base
DYNAMIXEL_MANAGER_PATH=$(STM32_LIBRARIES_PATH)/dynamixel_manager
BUILD_PATH=build
COMPILE_OPTS = -mlittle-endian -mcpu=cortex-m4 -mthumb -mthumb-interwork
COMPILE_OPTS += -Wall -O2 -fno-common -DUSE_HAL_DRIVER
COMPILE_OPTS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
COMPILE_OPTS += -ffreestanding -nostdlib -D$(PROCESSOR_MACRO) -DARM_MATH_CM4 -D__FPU_PRESENT -DHSE_VALUE=8000000
COMPILE_OPTS += -ffreestanding -nostdlib -D$(PROCESSOR_MACRO) -DARM_MATH_CM4 -D__FPU_PRESENT -DHSE_VALUE=8000000 -imacros ./include/bioloid_conf.h
INCLUDE_DIRS = -I$(HAL_PATH)/include -I$(HAL_PATH)/include/core -I$(HAL_PATH)/include/devices
INCLUDE_DIRS += -I$(UTILS_PATH)/include -I$(COMM_PATH)/include -I$(DYNAMIXEL_PATH)/include -I$(USART_PATH)/include -I./include
LIBRARY_DIRS = -L$(STM32_LIB_PATH)/lib -L$(STM32_DSP_LIB_PATH)/lib -L$(DYNAMIXEL_LIB_PATH)/lib -L/usr/arm-none-eabi/lib/fpu/
INCLUDE_DIRS += -I$(UTILS_PATH)/include -I$(COMM_PATH)/include -I$(MEMORY_PATH)/include -I$(DYNAMIXEL_PATH)/include -I$(DYNAMIXEL_MANAGER_PATH)/include -I$(USART_PATH)/include -I./include
LIBRARY_DIRS = -L$(STM32_LIB_PATH)/lib -L$(STM32_DSP_LIB_PATH)/lib -L/usr/arm-none-eabi/lib/fpu/
TCHAIN_PREFIX=arm-none-eabi-
......@@ -37,7 +47,6 @@ ASFLAGS = $(COMPILE_OPTS) -c
LD = $(TCHAIN_PREFIX)gcc
LDFLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Wl,-Map=$@.map,-cref $(INCLUDE_DIRS) -T $(STM32_LINKER_SCRIPTS_PATH)/bioloid.ld --specs=nosys.specs
EXT_LIB = $(COMM_PATH)/lib/comm_m4_fpu.a $(UTILS_PATH)/lib/utils_m4_fpu.a $(DYNAMIXEL_PATH)/lib/dynamixel_m4_fpu.a
OBJCP = $(TCHAIN_PREFIX)objcopy
OBJCPFLAGS_HEX = -O ihex
......@@ -70,6 +79,12 @@ TARGET_FILES+=$(USART_PATH)/src/usart3.c
TARGET_FILES+=$(USART_PATH)/src/usart2.c
TARGET_FILES+=$(USART_PATH)/src/usart1.c
TARGET_FILES+=$(wildcard $(UTILS_PATH)/src/*.c)
TARGET_FILES+=$(wildcard $(COMM_PATH)/src/*.c)
TARGET_FILES+=$(wildcard $(MEMORY_PATH)/src/*.c)
TARGET_FILES+=$(wildcard $(DYNAMIXEL_PATH)/src/*.c)
TARGET_FILES+=$(wildcard $(DYNAMIXEL_MANAGER_PATH)/src/*.c)
BIOLOID_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o))
BIOLOID_OBJS = $(patsubst %,$(BUILD_PATH)/%,$(BIOLOID_OBJS_TMP))
......@@ -86,9 +101,19 @@ $(BUILD_PATH)/%.o: $(HAL_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(USART_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(UTILS_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(COMM_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(MEMORY_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(DYNAMIXEL_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(DYNAMIXEL_MANAGER_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(MAIN_OUT_ELF): mkdir_build $(BIOLOID_OBJS) $(BUID_PATH)/$(STARTUP_FILE:.s=.o)
$(LD) $(LDFLAGS) $(BIOLOID_OBJS) $(BUILD_PATH)/$(STARTUP_FILE:.s=.o) $(EXT_LIB) -lm --output $@
$(LD) $(LDFLAGS) $(BIOLOID_OBJS) $(BUILD_PATH)/$(STARTUP_FILE:.s=.o) -lm --output $@
$(MAIN_OUT_HEX): $(MAIN_OUT_ELF)
$(OBJCP) $(OBJCPFLAGS_HEX) $< $@
......
include/adc_dma.h
View file @ 59fde70f
......@@ -6,11 +6,13 @@ extern "C" {
#endif
#include "stm32f4xx.h"
#include "adc_dma_registers.h"
#include "memory.h"
typedef enum {ADC_CH1,ADC_CH2,ADC_CH3,ADC_CH4,ADC_CH6,ADC_CH8} adc_ch_t;
// public functions
void adc_init(void);
uint8_t adc_init(TMemory *memory);
void adc_start(void);
void adc_set_period(uint8_t period_ms);
inline uint8_t adc_get_period(void);
......@@ -18,9 +20,6 @@ unsigned short adc_get_channel(adc_ch_t channel);
unsigned short adc_get_channel_raw(adc_ch_t channel);
unsigned short adc_get_temperature(void);
void adc_stop(void);
// operation functions
uint8_t adc_in_range(unsigned short int address,unsigned short int length);
void adc_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
#ifdef __cplusplus
}
......
include/adc_dma_registers.h 0 → 100644
View file @ 59fde70f
#ifndef _ADC_DMA_REGISTERS_H
#define _ADC_DMA_REGISTERS_H
#ifndef RAM_ADC_DMA_BASE_ADDRESS
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#ifndef EEPROM_ADC_DMA_BASE_ADDRESS
#define EEPROM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#define RAM_ADC_DMA_LENGTH 17
#define EEPROM_ADC_DMA_LENGTH 1
#define ADC_CNTRL RAM_ADC_DMA_BASE_ADDRESS// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | | | | Enable
#define ADC_CH1_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+1)
#define ADC_CH2_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+3)
#define ADC_CH3_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+5)
#define ADC_CH4_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+7)
#define ADC_TEMPERATURE (RAM_ADC_DMA_BASE_ADDRESS+9)
#define ADC_CH6_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+11)
#define ADC_VREF_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+13)
#define ADC_CH8_VOLTAGE (RAM_ADC_DMA_BASE_ADDRESS+15)
#define ADC_ENABLE 0x01
#define ADC_PERIOD EEPROM_ADC_DMA_BASE_ADDRESS
#ifndef DEFAULT_ADC_PERIOD
#define DEFAULT_ADC_PERIOD 0x0A
#endif
#endif
include/bioloid_conf.h 0 → 100644
View file @ 59fde70f
#ifndef _BIOLOID_CONF_H
#define _BIOLOID_CONF_H
#define RAM_SIZE 1024
#define EEPROM_SIZE 256
/* ADC configuration */
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0100)
#define EEPROM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0006)
#define DEFAULT_ADC_PERIOD 0x0A
/* Dynamixel slave configuration */
#define EEPROM_DYN_SLAVE_BASE_ADDRESS1 ((unsigned short int)0x0000)
#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
#define DEFAULT_DEVICE_MODEL 0x7300
#define DEFAULT_FIRMWARE_VERSION 0x0001
#define DEFAULT_DEVICE_ID 0x0001
#define DEFAULT_BAUDRATE 0x0010
#define DEFAULT_RETURN_DELAY 0x0000
#define DEFAULT_RETURN_LEVEL 0x0002
#define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
#define MAX_DYN_SLAVE_RX_BUFFER_LEN 1024
#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
/* Servos Dynamixel master configuration */
#define MAX_SERVOS_DYN_MASTER_TX_BUFFER_LEN 1024
#define MAX_SERVOS_DYN_MASTER_RX_BUFFER_LEN 1024
#define MAX_SENSORS_DYN_MASTER_TX_BUFFER_LEN 1024
#define MAX_SENSORS_DYN_MASTER_RX_BUFFER_LEN 1024
/* Dynamixel manager configuration */
#define RAM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0121)
#define EEPROM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0007)
#define DEFAULT_DYN_MANAGER_PERIOD 0x1E78
#define DYN_MANAGER_MAX_NUM_MASTERS 4
#define DYN_MANAGER_MAX_NUM_MODULES 8
#define DYN_MANAGER_MAX_NUM_DEVICES 32
#define DYN_MANAGER_MAX_NUM_SINGLE_OP 16
#define DYN_MANAGER_MAX_NUM_SYNC_OP 4
#define DYN_MANAGER_MAX_NUM_BULK_OP 4
/* Motion Manager configuration */
#define RAM_MM_BASE_ADDRESS ((unsigned short int)0x0000)
#define EEPROM_MM_BASE_ADDRESS ((unsigned short int)0x0000)
#define DEFAULT_MM_PERIOD DEFAULT_DYN_MODULE_PERIOD
#define MM_MAX_NUM_MODELS 32
#define MM_MAX_NUM_MOTION_MODULES 8
/* GPIO configuration */
#define RAM_GPIO_BASE_ADDRESS ((unsigned short int)0x0111)
#endif
include/bioloid_dyn_manager.h 0 → 100644
View file @ 59fde70f
#ifndef _BIOLOID_DYN_MANAGER_H
#define _BIOLOID_DYN_MANAGER_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f4xx.h"
#include "memory.h"
uint8_t bioloid_dyn_manager_init(TMemory *memory);
#ifdef __cplusplus
}
#endif
#endif
include/bioloid_dyn_master_sensors.h
View file @ 59fde70f
......@@ -6,10 +6,12 @@ extern "C" {
#endif
#include "stm32f4xx.h"
#include "stm32_time.h"
#include "dynamixel_master.h"
#include "comm.h"
#define MAX_DYN_MASTER_TX_BUFFER_LEN MAX_SENSORS_DYN_MASTER_TX_BUFFER_LEN
#define MAX_DYN_MASTER_RX_BUFFER_LEN MAX_SENSORS_DYN_MASTER_RX_BUFFER_LEN
void bioloid_dyn_master_sensors_init(void);
#ifdef __cplusplus
......
include/bioloid_dyn_master_servos.h
View file @ 59fde70f
......@@ -9,6 +9,9 @@ extern "C" {
#include "dynamixel_master.h"
#include "comm.h"
#define MAX_DYN_MASTER_TX_BUFFER_LEN MAX_SERVOS_DYN_MASTER_TX_BUFFER_LEN
#define MAX_DYN_MASTER_RX_BUFFER_LEN MAX_SERVOS_DYN_MASTER_RX_BUFFER_LEN
extern TDynamixelMaster bioloid_dyn_master_servos;
void bioloid_dyn_master_servos_init(void);
......
include/bioloid_dyn_slave.h
View file @ 59fde70f
......@@ -7,8 +7,9 @@ extern "C" {
#include "stm32f4xx.h"
#include "dynamixel_slave.h"
#include "memory.h"
void bioloid_dyn_slave_init(void);
uint8_t bioloid_dyn_slave_init(TMemory *memory);
void bioloid_dyn_slave_start(void);
void bioloid_dyn_slave_stop(void);
void bioloid_dyn_slave_set_int(void);
......
include/bioloid_registers.h
View file @ 59fde70f
......@@ -5,17 +5,10 @@
extern "C" {
#endif
#define DEVICE_MODEL_OFFSET ((unsigned short int)0x0000)
#define FIRMWARE_VERSION_OFFSET ((unsigned short int)0x0002)
#define DEVICE_ID_OFFSET ((unsigned short int)0x0003)
#define BAUDRATE_OFFSET ((unsigned short int)0x0004)
#define RETURN_DELAY_OFFSET ((unsigned short int)0x0005)
#define MM_PERIOD_OFFSET ((unsigned short int)0x0006)
#define MM_BAL_KNEE_GAIN_OFFSET ((unsigned short int)0x0008)
#define MM_BAL_ANKLE_ROLL_GAIN_OFFSET ((unsigned short int)0x000A)
#define MM_BAL_ANKLE_PITCH_GAIN_OFFSET ((unsigned short int)0x000C)
#define MM_BAL_HIP_ROLL_GAIN_OFFSET ((unsigned short int)0x000E)
#define RETURN_LEVEL_OFFSET ((unsigned short int)0x0010)
#define MM_SERVO0_OFFSET ((unsigned short int)0x0011)
#define MM_SERVO1_OFFSET ((unsigned short int)0x0012)
#define MM_SERVO2_OFFSET ((unsigned short int)0x0013)
......@@ -71,14 +64,6 @@ extern "C" {
#define LAST_EEPROM_OFFSET ((unsigned short int)0x00FF)
typedef enum {
BIOLOID_MODEL_NUMBER_L = DEVICE_MODEL_OFFSET,
BIOLOID_MODEL_NUMBER_H = DEVICE_MODEL_OFFSET+1,
BIOLOID_VERSION = FIRMWARE_VERSION_OFFSET,
BIOLOID_ID = DEVICE_ID_OFFSET,
BIOLOID_BAUD_RATE = BAUDRATE_OFFSET,
BIOLOID_RETURN_DELAY_TIME = RETURN_DELAY_OFFSET,
BIOLOID_MM_PERIOD_L = MM_PERIOD_OFFSET,
BIOLOID_MM_PERIOD_H = MM_PERIOD_OFFSET+1,
BIOLOID_MM_BAL_KNEE_GAIN_L = MM_BAL_KNEE_GAIN_OFFSET,// fixed point format 0|16
BIOLOID_MM_BAL_KNEE_GAIN_H = MM_BAL_KNEE_GAIN_OFFSET+1,
BIOLOID_MM_BAL_ANKLE_ROLL_GAIN_L = MM_BAL_ANKLE_ROLL_GAIN_OFFSET,// fixed point format 0|16
......@@ -87,7 +72,6 @@ typedef enum {
BIOLOID_MM_BAL_ANKLE_PITCH_GAIN_H = MM_BAL_ANKLE_PITCH_GAIN_OFFSET+1,
BIOLOID_MM_BAL_HIP_ROLL_GAIN_L = MM_BAL_HIP_ROLL_GAIN_OFFSET,// fixed point format 0|16
BIOLOID_MM_BAL_HIP_ROLL_GAIN_H = MM_BAL_HIP_ROLL_GAIN_OFFSET+1,
BIOLOID_RETURN_LEVEL = RETURN_LEVEL_OFFSET,
BIOLOID_MM_SERVO0_OFFSET = MM_SERVO0_OFFSET, // angle offset in fixed point format 1-3|4
BIOLOID_MM_SERVO1_OFFSET = MM_SERVO1_OFFSET, // angle offset in fixed point format 1-3|4
BIOLOID_MM_SERVO2_OFFSET = MM_SERVO2_OFFSET, // angle offset in fixed point format 1-3|4
......@@ -141,49 +125,6 @@ typedef enum {
BIOLOID_WALK_ARM_SWING_GAIN = WALK_ARM_SWING_GAIN,
BIOLOID_WALK_MAX_VEL = WALK_MAX_VEL,
BIOLOID_WALK_MAX_ROT_VEL = WALK_MAX_ROT_VEL,
BIOLOID_USER1_LED_CNTRL = 0x0100, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
BIOLOID_USER1_LED_PERIOD_L = 0x0101,
BIOLOID_USER1_LED_PERIOD_H = 0x0102,
BIOLOID_USER2_LED_CNTRL = 0x0103, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
BIOLOID_USER2_LED_PERIOD_L = 0x0104,
BIOLOID_USER2_LED_PERIOD_H = 0x0105,
BIOLOID_RXD_LED_CNTRL = 0x0106, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
BIOLOID_RXD_LED_PERIOD_L = 0x0107,
BIOLOID_RXD_LED_PERIOD_H = 0x0108,
BIOLOID_TXD_LED_CNTRL = 0x0109, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
BIOLOID_TXD_LED_PERIOD_L = 0x010A,
BIOLOID_TXD_LED_PERIOD_H = 0x010B,
BIOLOID_USER_PB_CNTRL = 0x010C, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
BIOLOID_RESET_PB_CNTRL = 0x010D, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
BIOLOID_START_PB_CNTRL = 0x010E, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
BIOLOID_MODE_PB_CNTRL = 0x010F, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
BIOLOID_ADC_CNTRL = 0x0110, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | | | | Enable
BIOLOID_ADC_PERIOD = 0x0111,
BIOLOID_ADC_CH1_L = 0x0112,
BIOLOID_ADC_CH1_H = 0x0113,
BIOLOID_ADC_CH2_L = 0x0114,
BIOLOID_ADC_CH2_H = 0x0115,
BIOLOID_ADC_CH3_L = 0x0116,
BIOLOID_ADC_CH3_H = 0x0117,
BIOLOID_ADC_CH4_L = 0x0118,
BIOLOID_ADC_CH4_H = 0x0119,
BIOLOID_ADC_TEMP_L = 0x011A,
BIOLOID_ADC_TEMP_H = 0x011B,
BIOLOID_ADC_CH6_L = 0x011C,
BIOLOID_ADC_CH6_H = 0x011D,
BIOLOID_ADC_VREF_L = 0x011E,
BIOLOID_ADC_VREF_H = 0x011F,
BIOLOID_ADC_CH8_L = 0x0120,
BIOLOID_ADC_CH8_H = 0x0121,
BIOLOID_ZIGBEE_CNTRL = 0x0122, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | | | Enable | Enable power
BIOLOID_ZIGBEE_BAUDRATE = 0x0123,
......@@ -312,19 +253,6 @@ typedef enum {
BIOLOID_WALK_STEP_DIRECTION = 0x0185
} bioloid_registers;
#define GPIO_BASE_ADDRESS 0x0100
#define GPIO_MEM_LENGTH 16
#define GPIO_INT_USED 0x01
#define GPIO_VALUE 0x02
#define GPIO_TOGGLE 0x04
#define GPIO_BLINK 0x08
#define GPIO_INT_EN 0x02
#define GPIO_INT_FLAG 0x04
#define ADC_BASE_ADDRESS 0x0110
#define ADC_MEM_LENGTH 18
#define ADC_ENABLE 0x01
#define ZIGBEE_BASE_ADDRESS 0x0122
#define ZIGBEE_MEM_LENGTH 6
#define ZIGBEE_EN_PWR 0x01
......
include/eeprom.h
View file @ 59fde70f
......@@ -83,7 +83,7 @@ extern "C" {
#define PAGE_FULL ((uint8_t)0x80)
/* Variables' number */
#define NB_OF_VAR ((uint8_t)0x46)
#define EEPROM_NUM_VAR ((uint8_t)EEPROM_SIZE)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
......
include/eeprom_init.h
View file @ 59fde70f
......@@ -7,19 +7,12 @@ extern "C" {
#include "adc_dma.h"
#define DEFAULT_DEVICE_MODEL 0x7300
#define DEFAULT_FIRMWARE_VERSION 0x0001
#define DEFAULT_DEVICE_ID 0x0002
#define DEFAULT_BAUDRATE 0x0001
#define DEFAULT_RETURN_DELAY 0x0000
#define DEFAULT_MM_PERIOD 0x1E78
#define DEFAULT_BAL_KNEE_GAIN 0x04BE // 1/54 in fixed point format 0|16
#define DEFAULT_BAL_ANKLE_ROLL_GAIN 0x0CCD // 1/20
#define DEFAULT_BAL_ANKLE_PITCH_GAIN 0x0E39 // 1/18
#define DEFAULT_BAL_HIP_ROLL_GAIN 0x0666 // 1/40
#define DEFAULT_GYRO_FB_ADC_CH (uint16_t)ADC_CH1
#define DEFAULT_GYRO_LR_ADC_CH (uint16_t)ADC_CH2
#define DEFAULT_RETURN_LEVEL 0x0002
#define DEFAULT_SERVO0_OFFSET 0x0000 // 0 in fixed point format 4 (1+3) | 4
#define DEFAULT_SERVO1_OFFSET 0x0000 // 0 in fixed point format 4 (1+3) | 4
#define DEFAULT_SERVO2_OFFSET 0x0000 // 0 in fixed point format 4 (1+3) | 4
......
include/gpio.h
View file @ 59fde70f
......@@ -6,12 +6,14 @@ extern "C" {
#endif
#include "stm32f4xx.h"
#include "gpio_registers.h"
#include "memory.h"
typedef enum {USER1_LED,USER2_LED,RXD_LED,TXD_LED} led_t;
typedef enum {USER_PB,RESET_PB,START_PB,MODE_PB} pushbutton_t;
void gpio_init(void);
uint8_t gpio_init(TMemory *memory);
// LED functions
void gpio_set_led(led_t led_id);
void gpio_clear_led(led_t led_id);
......@@ -20,10 +22,6 @@ void gpio_blink_led(led_t led_id, int16_t period_ms);
// Pushbuttons functions
uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id);
void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void));
// operation functions
uint8_t gpio_in_range(unsigned short int address,unsigned short int length);
void gpio_process_read_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
void gpio_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
#ifdef __cplusplus
}
......
include/gpio_registers.h 0 → 100644
View file @ 59fde70f
#ifndef _GPIO_REGISTERS_H
#define _GPIO_REGISTERS_H
#ifndef RAM_GPIO_BASE_ADDRESS
#define RAM_GPIO_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#define RAM_GPIO_LENGTH 16
#define USER1_LED_CNTRL RAM_GPIO_BASE_ADDRESS// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
#define USER1_LED_PERIOD (RAM_GPIO_BASE_ADDRESS+1)
#define USER2_LED_CNTRL (RAM_GPIO_BASE_ADDRESS+3)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
#define USER2_LED_PERIOD (RAM_GPIO_BASE_ADDRESS+4)
#define RXD_LED_CNTRL (RAM_GPIO_BASE_ADDRESS+6)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
#define RXD_LED_PERIOD (RAM_GPIO_BASE_ADDRESS+7)
#define TXD_LED_CNTRL (RAM_GPIO_BASE_ADDRESS+9)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
#define TXD_LED_PERIOD (RAM_GPIO_BASE_ADDRESS+10)
#define USER_PB_CNTRL (RAM_GPIO_BASE_ADDRESS+12)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
#define RESET_PB_CNTRL (RAM_GPIO_BASE_ADDRESS+13)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
#define START_PB_CNTRL (RAM_GPIO_BASE_ADDRESS+14)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
#define MODE_PB_CNTRL (RAM_GPIO_BASE_ADDRESS+15)// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
#define GPIO_INT_USED 0x01
#define GPIO_VALUE 0x02
#define GPIO_TOGGLE 0x04
#define GPIO_BLINK 0x08
#define GPIO_INT_EN 0x02
#define GPIO_INT_FLAG 0x04
#endif
include/ram.h deleted 100644 → 0
View file @ 02a2f289
#ifndef _RAM_H
#define _RAM_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f4xx.h"
#include "bioloid_registers.h"
#define RAM_SUCCESS 0
#define RAM_BAD_ADDRESS -1
#define RAM_WRITE_ERROR -2
#define RAM_BAD_BIT -3
#define RAM_BAD_ACCESS -4
#define RAM_SIZE 512
extern uint8_t ram_data[RAM_SIZE];
void ram_init(void);
inline void ram_read_byte(uint16_t address, uint8_t *data);
inline void ram_read_word(uint16_t address, uint16_t *data);
uint8_t ram_read_table(uint16_t address, uint16_t length,uint8_t *data);
uint8_t ram_set_bit(uint16_t address, uint8_t bit);
uint8_t ram_clear_bit(uint16_t address, uint8_t bit);
uint8_t ram_write_byte(uint16_t address, uint8_t data);
uint8_t ram_write_word(uint16_t address, uint16_t data);
uint8_t ram_write_table(uint16_t address, uint16_t length,uint8_t *data);
inline uint8_t ram_in_range(uint16_t reg,uint16_t address,uint16_t length);
uint8_t ram_in_window(uint16_t start_reg,uint16_t reg_length,uint16_t start_address,uint16_t address_length);
#ifdef __cplusplus
}
#endif
#endif
src/adc_dma.c
View file @ 59fde70f
......@@ -52,12 +52,17 @@
#define VOLTAGE_DELTA 0.000805664
#define VOLTAGE_GAIN 1.529411765
uint16_t adc_eeprom_data[] __attribute__ ((section (".eeprom")))={DEFAULT_ADC_PERIOD,ADC_PERIOD};
// private variables
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
DMA_HandleTypeDef hdma_adc1;
TIM_HandleTypeDef ADC_TIM_Handle;
/* memory module */
TMemModule adc_mem_module;
uint32_t adc_data[4];// temporal buffer to store ADC data before conversion
uint16_t adc_period_ms;
......@@ -89,6 +94,24 @@ uint16_t adc_convert_voltage(uint16_t value)
return conv_value*(1<<12);
}
void adc_write_cmd(void *module,unsigned short int address,unsigned short int length,unsigned char *data)
{
if(ram_in_window(ADC_CNTRL,1,address,length))
{
if(data[ADC_CNTRL-address]&ADC_ENABLE)
adc_start();
else
adc_stop();
}
if(ram_in_range(ADC_PERIOD,address,length))
adc_set_period(data[ADC_PERIOD-address]);
}
void adc_read_cmd(void *module,unsigned short int address,unsigned short int length,unsigned char *data)
{
ram_read_table(address,length,data);
}
// interrupt handlers
void ADC_TIMER_IRQHandler(void)
{
......@@ -147,34 +170,34 @@ void ADC_DMA_IRQHandler(void)
{
__HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_adc1));
value=adc_convert_voltage(adc_data[0]&0x0000FFFF);
ram_data[BIOLOID_ADC_CH1_L]=value%256;
ram_data[BIOLOID_ADC_CH1_H]=value/256;
ram_data[ADC_CH1_VOLTAGE]=value%256;
ram_data[ADC_CH1_VOLTAGE+1]=value/256;
value=adc_convert_voltage((adc_data[0]&0xFFFF0000)>>16);
ram_data[BIOLOID_ADC_CH2_L]=value%256;
ram_data[BIOLOID_ADC_CH2_H]=value/256;
ram_data[ADC_CH2_VOLTAGE]=value%256;
ram_data[ADC_CH2_VOLTAGE+1]=value/256;
value=adc_convert_voltage(adc_data[1]&0x0000FFFF);
ram_data[BIOLOID_ADC_CH3_L]=value%256;
ram_data[BIOLOID_ADC_CH3_H]=value/256;
ram_data[ADC_CH3_VOLTAGE]=value%256;
ram_data[ADC_CH3_VOLTAGE+1]=value/256;
value=adc_convert_voltage((adc_data[1]&0xFFFF0000)>>16);
ram_data[BIOLOID_ADC_CH4_L]=value%256;
ram_data[BIOLOID_ADC_CH4_H]=value/256;
ram_data[ADC_CH4_VOLTAGE]=value%256;
ram_data[ADC_CH4_VOLTAGE+1]=value/256;
value=adc_convert_temperature(adc_data[2]&0x0000FFFF);
ram_data[BIOLOID_ADC_TEMP_L]=value%256;
ram_data[BIOLOID_ADC_TEMP_H]=value/256;
ram_data[ADC_TEMPERATURE]=value%256;
ram_data[ADC_TEMPERATURE+1]=value/256;
value=adc_convert_voltage((adc_data[2]&0xFFFF0000)>>16);
ram_data[BIOLOID_ADC_CH6_L]=value%256;
ram_data[BIOLOID_ADC_CH6_H]=value/256;
ram_data[ADC_CH6_VOLTAGE]=value%256;
ram_data[ADC_CH6_VOLTAGE+1]=value/256;
value=adc_convert_vrefint(adc_data[3]&0x0000FFFF);
ram_data[BIOLOID_ADC_VREF_L]=value%256;
ram_data[BIOLOID_ADC_VREF_H]=value/256;
ram_data[ADC_VREF_VOLTAGE]=value%256;
ram_data[ADC_VREF_VOLTAGE+1]=value/256;
value=adc_convert_voltage((adc_data[3]&0xFFFF0000)>>16);
ram_data[BIOLOID_ADC_CH8_L]=value%256;
ram_data[BIOLOID_ADC_CH8_H]=value/256;
ram_data[ADC_CH8_VOLTAGE]=value%256;
ram_data[ADC_CH8_VOLTAGE+1]=value/256;
}
}
// public functions
void adc_init(void)
uint8_t adc_init(TMemory *memory)
{
GPIO_InitTypeDef GPIO_InitStruct;
ADC_MultiModeTypeDef multimode;
......@@ -185,8 +208,7 @@ void adc_init(void)
uint32_t capture;
/* initialize the internal variables */
adc_period_ms=840;// equivalent to 10 ms
ram_data[BIOLOID_ADC_PERIOD]=10;
adc_set_period(DEFAULT_ADC_PERIOD);
/* enable clocks */
ADC1_CH1_ENABLE_PORT_CLK;
......@@ -349,23 +371,36 @@ void adc_init(void)
HAL_ADC_Start(&hadc2);
HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,4);
adc_start();
/* initialize memory module */
mem_module_init(&adc_mem_module);
adc_mem_module.write_cmd=adc_write_cmd;
adc_mem_module.read_cmd=adc_read_cmd;
if(!mem_module_add_ram_segment(&adc_mem_module,RAM_ADC_DMA_BASE_ADDRESS,RAM_ADC_DMA_LENGTH))
return 0x00;
if