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Commit f3e6b6aa authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated some firmware source files.

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include/darwin_conf.h
+ 41
− 16
View file @ f3e6b6aa
#ifndef _DARWIN_CONF_H
#define _DARWIN_CONF_H
#define RAM_SIZE 1024
#define EEPROM_SIZE 256
#define RAM_SIZE 4096
#define EEPROM_SIZE 128
/* Dynamixel slave configuration */
/* Dynamixel slave memory map */
/* dynamixel slave */
#define EEPROM_DYN_SLAVE_BASE_ADDRESS1 ((unsigned short int)0x0000)
#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
#define DARWIN_DEVICE_MODEL 0x001D
#define DARWIN_FIRMWARE_VERSION 0x0001
#define DARWIN_DEVICE_ID 0x0003
#define DEFAULT_BAUDRATE 0x0022
#define DEFAULT_RETURN_DELAY 0x0000
#define DEFAULT_RETURN_LEVEL 0x0002
/* dynamixel manager */
#define EEPROM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0006)
#define RAM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0080)
/* motion manager */
#define EEPROM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0011)
#define RAM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0088)
/* action motion module */
#define RAM_ACTION_MM_BASE_ADDRESS ((unsigned short int)0x009E)
/* IMU */
#define RAM_IMU_MM_BASE_ADDRESS ((unsigned short int)0x00A0)
#define NUM_MOTION_PAGES 46
/* balance */
#define EEPROM_BALANCE_BASE_ADDRESS ((unsigned short int)0x0007)
#define RAM_BALANCE_BASE_ADDRESS ((unsigned short int)0x00AF)
#define NUM_MOTION_PAGES 256
#define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
#define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
#define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
......@@ -32,13 +44,26 @@
#define MODULE_MAX_NUM_MODELS 32
#define MM_MAX_NUM_MOTION_MODULES 8
/* GPIO configuration */
#define RAM_GPIO_BASE_ADDRESS ((unsigned short int)0x0100)
/* EEPROM default values */
/* Dynamixel slave */
#define DARWIN_DEVICE_MODEL 0x7300
#define DARWIN_FIRMWARE_VERSION 0x0001
#define DARWIN_DEVICE_ID 0x0001
#define DEFAULT_BAUDRATE 0x0010
#define DEFAULT_RETURN_DELAY 0x0000
#define DEFAULT_RETURN_LEVEL 0x0002
/* dynamixel manager */
#define DYN_MANAGER_PERIOD 0x0007
/* ADC configuration */
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0115)
/* motion manager */
#define MMANAGER_PERIOD 0x0001
/* ADC configuration */
#define RAM_IMU_BASE_ADDRESS ((unsigned short int)0x012F)
/* balance */
#define DEFAULT_BALANCE_KNEE_GAIN 0x4CCD // 0.3 in fixed point format 0|16
#define DEFAULT_BALANCE_ANKLE_ROLL_GAIN 0xFFFF // 0.99999
#define DEFAULT_BALANCE_ANKLE_PITCH_GAIN 0xE666 // 0.9
#define DEFAULT_BALANCE_HIP_ROLL_GAIN 0x8000 // 0.5
#endif
include/imu.h → include/darwin_imu.h
+ 59
− 0
View file @ f3e6b6aa
#ifndef _IMU_H
#define _IMU_H
#ifndef _DARWIN_IMU_H
#define _DARWIN_IMU_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f1xx.h"
#include "imu_registers.h"
#include "darwin_imu_registers.h"
#include "memory.h"
#include "stm32_time.h"
#include "darwin_time.h"
typedef enum {IMU_DONE=0,IMU_BUSY,IMU_TIMEOUT} imu_op_t;
typedef enum {IMU_GET_ACCEL,IMU_GET_GYRO} imu_state_t;
typedef struct
{
// internal buffers
uint8_t spi_rd_data[32];
uint8_t spi_num_rd_data;
uint8_t spi_wr_data[32];
uint8_t spi_num_wr_data;
// control attributes
volatile uint8_t stopped;
uint8_t stop_flag;
volatile imu_op_t op_state;
uint8_t current_device_id;
// gyroscope attributes
uint8_t gyro_calibration;
uint16_t gyro_calibration_num_samples;
uint8_t gyro_conf_data[6];
int16_t gyro_center[3];
int16_t gyro_data[3];
// accelerometer attributes
uint8_t accel_conf_data[5];
int16_t accel_data[3];
// memory attributes
TMemModule mem_module;
TMemory *memory;
unsigned int ram_base_address;
TTime time;
}TIMU;
//public functions
uint8_t imu_init(TMemory *memory);
uint8_t imu_init(TMemory *memory,unsigned int ram_base_address);
void imu_start(void);
void imu_stop(void);
void imu_set_calibration_samples(uint16_t num_samples);
......
include/darwin_imu_registers.h 0 → 100644
+ 24
− 0
View file @ f3e6b6aa
#ifndef _DARWIN_IMU_REGISTERS_H
#define _DARWIN_IMU_REGISTERS_H
#define RAM_IMU_LENGTH 15
#define IMU_CONTROL_OFFSET 0// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
#define IMU_START 0x01
#define IMU_STOP 0x02
#define IMU_START_CAL 0x04
#define IMU_RUNNING 0x10
#define IMU_CALIBRATING 0x20
#define IMU_ACCEL_DET 0x40
#define IMU_GYRO_DET 0x80
#define IMU_CAL_SAMPLES_OFFSET 1
#define IMU_GYRO_X_OFFSET 3
#define IMU_GYRO_Y_OFFSET 5
#define IMU_GYRO_Z_OFFSET 7
#define IMU_ACCEL_X_OFFSET 9
#define IMU_ACCEL_Y_OFFSET 11
#define IMU_ACCEL_Z_OFFSET 13
#endif
include/imu_registers.h deleted 100644 → 0
+ 0
− 28
View file @ ac6ea819
#ifndef _IMU_REGISTERS_H
#define _IMU_REGISTERS_H
#ifndef RAM_IMU_BASE_ADDRESS
#define RAM_IMU_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#define RAM_IMU_LENGTH 15
#define IMU_CNTRL RAM_IMU_BASE_ADDRESS// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
#define IMU_CAL_SAMPLES (RAM_IMU_BASE_ADDRESS+1)
#define IMU_GYRO_X (RAM_IMU_BASE_ADDRESS+3)
#define IMU_GYRO_Y (RAM_IMU_BASE_ADDRESS+5)
#define IMU_GYRO_Z (RAM_IMU_BASE_ADDRESS+7)
#define IMU_ACCEL_X (RAM_IMU_BASE_ADDRESS+9)
#define IMU_ACCEL_Y (RAM_IMU_BASE_ADDRESS+11)
#define IMU_ACCEL_Z (RAM_IMU_BASE_ADDRESS+13)
#define IMU_START 0x01
#define IMU_STOP 0x02
#define IMU_START_CAL 0x04
#define IMU_RUNNING 0x10
#define IMU_CALIBRATING 0x20
#define IMU_ACCEL_DET 0x40
#define IMU_GYRO_DET 0x80
#endif
src/CMakeLists.txt
+ 2
− 2
View file @ f3e6b6aa
......@@ -4,7 +4,7 @@ SET(sources ${CMAKE_CURRENT_SOURCE_DIR}/cm730_fw.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_sch.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_time.c
#${CMAKE_CURRENT_SOURCE_DIR}/adc_dma.c
#${CMAKE_CURRENT_SOURCE_DIR}/imu.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_imu.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_slave.c
#${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_master.c
#${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_master_v2.c
......@@ -23,7 +23,7 @@ SET(sources ${CMAKE_CURRENT_SOURCE_DIR}/cm730_fw.c
${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/src/usart3.c
${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/src/usart1.c PARENT_SCOPE)
set(header_include_dir ${CMAKE_CURRENT_SOURCE_DIR}/../include ${CMAKE_CURRENT_SOURCE_DIR}/../stm32_libraries/f1/usart/include PARENT_SCOPE)
set(header_include_dir ${CMAKE_CURRENT_SOURCE_DIR}/../include ${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/include PARENT_SCOPE)
set(configuration_file ${CMAKE_CURRENT_SOURCE_DIR}/../include/darwin_conf.h PARENT_SCOPE)
set(processor STM32F103xE PARENT_SCOPE)
......
src/cm730_fw.c
+ 2
− 8
View file @ f3e6b6aa
......@@ -33,17 +33,11 @@ int main(void)
// gpio_init(&darwin_memory);
// initialize adc
// adc_init(&darwin_memory);
// initialize imu
// imu_init(&darwin_memory);
/* initialize the dynamixel slave interface */
darwin_dyn_slave_init(&darwin_memory,scheduler);
// initialize imu
imu_init(darwin_memory,RAM_IMU_MM_BASE_ADDRESS);
/* initialize motion manager module */
// EE_ReadVariable(MM_PERIOD_OFFSET,&eeprom_data);
// period=eeprom_data&0x00FF;
// EE_ReadVariable(MM_PERIOD_OFFSET+1,&eeprom_data);
// period+=((eeprom_data&0x00FF)<<8);
// manager_init(period);
// gpio_set_led(LED_4);
/* initialize the ram module */
ram_init(darwin_memory);
......
src/imu.c → src/darwin_imu.c
+ 199
− 182
View file @ f3e6b6aa
This diff is collapsed.
src/darwin_sch.c
+ 4
− 0
View file @ f3e6b6aa
......@@ -13,6 +13,7 @@ void TIM1_CC_IRQHandler(void)
if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC1) !=RESET)
{
__HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC1);
__HAL_TIM_CLEAR_FLAG(&darwin_sch_timer_handle,TIM_FLAG_CC1);
scheduler_interrupt(&darwin_scheduler,SCHED_CH1);
}
}
......@@ -22,6 +23,7 @@ void TIM1_CC_IRQHandler(void)
if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC2) !=RESET)
{
__HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC2);
__HAL_TIM_CLEAR_FLAG(&darwin_sch_timer_handle,TIM_FLAG_CC2);
scheduler_interrupt(&darwin_scheduler,SCHED_CH2);
}
}
......@@ -31,6 +33,7 @@ void TIM1_CC_IRQHandler(void)
if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC3) !=RESET)
{
__HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC3);
__HAL_TIM_CLEAR_FLAG(&darwin_sch_timer_handle,TIM_FLAG_CC3);
scheduler_interrupt(&darwin_scheduler,SCHED_CH3);
}
}
......@@ -40,6 +43,7 @@ void TIM1_CC_IRQHandler(void)
if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC4) !=RESET)
{
__HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC4);
__HAL_TIM_CLEAR_FLAG(&darwin_sch_timer_handle,TIM_FLAG_CC4);
scheduler_interrupt(&darwin_scheduler,SCHED_CH4);
}
}
......
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