[Avr-list] aversive CVS_LOG 2009-04-26
Commit from zer0 on branch b_zer0 (2009-04-25 11:06 CEST) = Add baudrate and signature check in config for avrdude. Signed-off: Antoine albertelli antoinea...@gmail.com aversive config/generate_aversive_config 1.23.4.16 aversive config/config.in 1.42.4.29 aversive config/Configure.help1.13.4.19 aversive/config/generate_aversive_config (1.23.4.15 - 1.23.4.16) @@ -141,6 +141,16 @@ echo -n AVRDUDE_PORT = $2 echo `grep CONFIG_AVRDUDE_PORT $1 | sed s,CONFIG_AVRDUDE_PORT=,,` $2 +echo -n AVRDUDE_BAUDRATE = $2 +echo `grep CONFIG_AVRDUDE_BAUDRATE $1 | sed s,CONFIG_AVRDUDE_BAUDRATE=,,` $2 + +if grep CONFIG_AVRDUDE_CHECK_SIGNATURE=y $1 /dev/null 2 /dev/null +then +echo AVRDUDE_FLAGS_SIGNATURE_CHECK = $2 +else +echo AVRDUDE_FLAGS_SIGNATURE_CHECK = -F $2 +fi + if grep CONFIG_AVARICE=y $1 /dev/null 2 /dev/null then = aversive/config/config.in (1.42.4.28 - 1.42.4.29) = @@ -519,6 +519,8 @@ string 'Port device' CONFIG_AVRDUDE_PORT '/dev/parport0' +int 'Programmer baudrate' CONFIG_AVRDUDE_BAUDRATE '19200' + endmenu mainmenu_option next_comment @@ -534,6 +536,7 @@ endmenu +bool 'Check device signature' CONFIG_AVRDUDE_CHECK_SIGNATURE endmenu == aversive/config/Configure.help (1.13.4.18 - 1.13.4.19) == @@ -350,6 +350,15 @@ '/dev/ttyS0', depending on the programmer type. Under win32, it can look like 'com1' for instance. +CONFIG_AVRDUDE_BAUDRATE + Choose the baudrate. This can be very useful if you are using a stk500 + bootloader, and you want to speed it up. + +CONFIG_AVRDUDE_CHECK_SIGNATURE + Avrdude normally checks the device signature, but some bootloaders doesn't + implement this, or your device may not communicate with Avrdude. This option + allows you to bypass this check. + CONFIG_AVRDUDE_FUSE If you enable this option, a script will be launched just after this saving the configuration. This script uses avrdude to program the ___ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2009-03-02
Commit from zer0 (2009-03-01 15:43 CET)
Add some commands (sensors, cs).
Set the gains + coefs approximatively
aversive_projects microb2009/mainboard/strat_base.c 1.2
aversive_projects microb2009/mainboard/sensor.h 1.3
aversive_projects microb2009/mainboard/sensor.c 1.3
aversive_projects microb2009/mainboard/main.h1.3
aversive_projects microb2009/mainboard/main.c1.3
aversive_projects microb2009/mainboard/cs.h 1.2
aversive_projects microb2009/mainboard/cs.c 1.2
aversive_projects microb2009/mainboard/commands_mainboard.c 1.3
aversive_projects microb2009/mainboard/commands_gen.c1.3
aversive_projects microb2009/mainboard/commands_cs.c 1.3
aversive_projects microb2009/mainboard/commands.c1.3
===
aversive_projects/microb2009/mainboard/strat_base.c (1.1 - 1.2)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: strat_base.c,v 1.1 2009-02-27 22:23:37 zer0 Exp $
+ * Revision : $Id: strat_base.c,v 1.2 2009-03-01 14:43:16 zer0 Exp $
*
*/
@@ -143,11 +143,11 @@
strat_preinit();
/* if start sw not plugged */
- if (sensor_start_switch()) {
+ if (sensor_get(S_START_SWITCH)) {
printf_P(PSTR(No start switch, press a key or plug it\r\n));
/* while start sw not plugged */
- while (sensor_start_switch()) {
+ while (sensor_get(S_START_SWITCH)) {
if (cmdline_keypressed()) {
for (i=3; i0; i--) {
printf_P(PSTR(%d\r\n), i);
@@ -159,10 +159,10 @@
}
/* if start sw plugged */
- if (!sensor_start_switch()) {
+ if (!sensor_get(S_START_SWITCH)) {
printf_P(PSTR(Ready, unplug start switch to start\r\n));
/* while start sw plugged */
- while (!sensor_start_switch());
+ while (!sensor_get(S_START_SWITCH));
}
strat_init();
===
aversive_projects/microb2009/mainboard/sensor.h (1.2 - 1.3)
===
@@ -16,14 +16,43 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: sensor.h,v 1.2 2009-02-27 22:23:37 zer0 Exp $
+ * Revision : $Id: sensor.h,v 1.3 2009-03-01 14:43:16 zer0 Exp $
*
*/
-#define SENSOR_ADC_COUNT 6
+/* synchronize with sensor.c */
+#define ADC_CSENSE1 0
+#define ADC_CSENSE2 1
+#define ADC_CSENSE3 2
+#define ADC_CSENSE4 3
+#define ADC_BATTERY1 4
+#define ADC_BATTERY2 5
+#define ADC_MAX 6
+
+/* synchronize with sensor.c */
+#define S_START_SWITCH 0
+#define S_CAP2 1
+#define S_CAP3 2
+#define S_CAP4 3
+#define S_CAP5 4
+#define S_CAP6 5
+#define S_CAP7 6
+#define S_CAP8 7
+#define S_RESERVED18
+#define S_RESERVED29
+#define S_RESERVED3 10
+#define S_RESERVED4 11
+#define S_RESERVED5 12
+#define S_RESERVED6 13
+#define S_RESERVED7 14
+#define S_RESERVED8 15
+#define SENSOR_MAX16
void sensor_init(void);
-int16_t sensor_read_adc(uint8_t i);
-/* XXX */
-#define sensor_start_switch() 0
+/* get filtered values for adc */
+int16_t sensor_get_adc(uint8_t i);
+
+/* get filtered values of boolean sensors */
+uint16_t sensor_get_all(void);
+uint8_t sensor_get(uint8_t i);
===
aversive_projects/microb2009/mainboard/sensor.c (1.2 - 1.3)
===
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: sensor.c,v 1.2 2009-02-27 22:23:37 zer0 Exp $
+ * Revision : $Id: sensor.c,v 1.3 2009-03-01 14:43:16 zer0 Exp $
*
*/
@@ -45,6 +45,8 @@
#include main.h
#include sensor.h
+/ ADC */
+
struct adc_infos {
uint16_t config;
int16_t value;
@@ -76,41 +78,31 @@
#define ADC_CONF(x) ( ADC_REF_AVCC | ADC_MODE_INT | MUX_ADC##x )
-/* define which ADC to poll, update SENSOR_ADC_COUNT in sensor.h */
-static struct adc_infos adc_infos[SENSOR_ADC_COUNT] = {
-#define ADC_CSENSE1 0
- { .config = ADC_CONF(0), .filter = rii_medium },
-#define ADC_CSENSE2 1
- { .config = ADC_CONF(1), .filter = rii_medium },
-#define ADC_CSENSE3 2
- { .config = ADC_CONF(2), .filter = rii_medium },
-#define ADC_CSENSE4 3
- { .config = ADC_CONF(3), .filter = rii_medium },
-#define
[Avr-list] aversive CVS_LOG 2009-02-03
Commit from zer0 on branch b_zer0 (2009-02-02 23:21 CET)
=
Fix an ugly bug in u64_sqrt, u32_sqrt, u16_sqrt :
if number is 0, the function will loop forever.
Thanks to serpilliere for that.
aversive modules/devices/control_system/filters/quadramp/quadramp.c 1.4.4.6
aversive modules/base/math/fixed_point/f64_sqrt.c1.5.4.4
aversive modules/base/math/fixed_point/f32_sqrt.c1.5.4.4
aversive modules/base/math/fixed_point/f16_sqrt.c1.5.4.4
===
aversive/modules/devices/control_system/filters/quadramp/quadramp.c (1.4.4.5
- 1.4.4.6)
===
@@ -15,32 +15,19 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: quadramp.c,v 1.4.4.5 2007-12-31 16:25:00 zer0 Exp $
+ * Revision : $Id: quadramp.c,v 1.4.4.6 2009-02-02 22:21:20 zer0 Exp $
*
*/
#include stdio.h
#include string.h
+#include math.h
#include aversive.h
#include quadramp.h
#define NEXT(n, i) (((n) + (i)/(n)) 1)
-static uint32_t u32_sqrt(uint32_t number) {
- uint32_t n = 1;
- uint32_t n1 = NEXT(n, number);
-
- while(ABS(n1 - n) 1) {
- n = n1;
- n1 = NEXT(n, number);
- }
- while((n1*n1) number) {
- n1 -= 1;
- }
- return n1;
-}
-
void quadramp_init(struct quadramp_filter * q)
{
uint8_t flags;
@@ -118,7 +105,7 @@
int32_t ramp_pos;
/* var_2nd_ord_neg 0 */
/* real EQ : sqrt( var_2nd_ord_neg^2/4 - 2.d.var_2nd_ord_neg )
+ var_2nd_ord_neg/2 */
- ramp_pos = u32_sqrt( (var_2nd_ord_neg*var_2nd_ord_neg)/4 -
2*d*var_2nd_ord_neg ) + var_2nd_ord_neg/2;
+ ramp_pos = sqrt( (var_2nd_ord_neg*var_2nd_ord_neg)/4 -
2*d*var_2nd_ord_neg ) + var_2nd_ord_neg/2;
if(ramp_pos var_1st_ord_pos)
var_1st_ord_pos = ramp_pos ;
@@ -129,7 +116,7 @@
/* var_2nd_ord_pos 0 */
/* real EQ : sqrt( var_2nd_ord_pos^2/4 - 2.d.var_2nd_ord_pos )
- var_2nd_ord_pos/2 */
- ramp_neg = -u32_sqrt( (var_2nd_ord_pos*var_2nd_ord_pos)/4 -
2*d*var_2nd_ord_pos ) - var_2nd_ord_pos/2;
+ ramp_neg = -sqrt( (var_2nd_ord_pos*var_2nd_ord_pos)/4 -
2*d*var_2nd_ord_pos ) - var_2nd_ord_pos/2;
/* ramp_neg 0 */
if(ramp_neg var_1st_ord_neg)
=
aversive/modules/base/math/fixed_point/f64_sqrt.c (1.5.4.3 - 1.5.4.4)
=
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: f64_sqrt.c,v 1.5.4.3 2008-05-10 15:06:26 zer0 Exp $
+ * Revision : $Id: f64_sqrt.c,v 1.5.4.4 2009-02-02 22:21:20 zer0 Exp $
*
*/
@@ -29,6 +29,9 @@
uint64_t n = 1;
uint64_t n1 = NEXT(n, number);
+ if (number == 0)
+ return 0;
+
while(ABS(n1 - n) 1) {
n = n1;
n1 = NEXT(n, number);
=
aversive/modules/base/math/fixed_point/f32_sqrt.c (1.5.4.3 - 1.5.4.4)
=
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: f32_sqrt.c,v 1.5.4.3 2008-05-10 15:06:26 zer0 Exp $
+ * Revision : $Id: f32_sqrt.c,v 1.5.4.4 2009-02-02 22:21:20 zer0 Exp $
*
*/
@@ -25,10 +25,14 @@
#define NEXT(n, i) (((n) + (i)/(n)) 1)
-static uint32_t u32_sqrt(uint32_t number) {
+static uint32_t u32_sqrt(uint32_t number)
+{
uint32_t n = 1;
uint32_t n1 = NEXT(n, number);
+ if (number == 0)
+ return 0;
+
while(ABS(n1 - n) 1) {
n = n1;
n1 = NEXT(n, number);
=
aversive/modules/base/math/fixed_point/f16_sqrt.c (1.5.4.3 - 1.5.4.4)
=
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: f16_sqrt.c,v 1.5.4.3 2008-05-10 15:06:26 zer0 Exp $
+ * Revision : $Id: f16_sqrt.c,v 1.5.4.4 2009-02-02 22:21:20 zer0 Exp $
*
*/
@@ -30,6 +30,9 @@
uint16_t n = 1;
uint16_t n1 = NEXT(n, number);
+ if (number == 0)
+ return 0;
+
while(ABS(n1 - n) 1) {
n = n1;
n1 = NEXT(n,
[Avr-list] aversive CVS_LOG 2009-01-29
Commit from zer0 on branch b_zer0 (2009-01-29 00:26 CET) = Allow compilation for more archs. aversive modules/base/scheduler/scheduler.c 1.9.4.5 === aversive/modules/base/scheduler/scheduler.c (1.9.4.4 - 1.9.4.5) === @@ -15,7 +15,7 @@ * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * - * Revision : $Id: scheduler.c,v 1.9.4.4 2007-11-27 23:16:14 zer0 Exp $ + * Revision : $Id: scheduler.c,v 1.9.4.5 2009-01-28 23:26:01 zer0 Exp $ * */ @@ -45,10 +45,10 @@ #ifdef CONFIG_MODULE_SCHEDULER_TIMER0 /* activation of corresponding interrupt */ - sbi(TIMSK, TOIE0); + TOIE0_REG |= (1TOIE0); /* TIMSK */ TCNT0 = 0; - TCCR0 = SCHEDULER_CK; + CS00_REG = SCHEDULER_CK; /* TCCR0 */ #endif } ___ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2009-01-04
Commit from zer0 (2009-01-03 17:19 CET)
add micrb_cmd and bootloader
+ aversive_projects microb2009/microb_cmd/microbcmd.py 1.1
aversive_projects microb2009/tests/arm_test/.config 1.4
aversive_projects microb2009/tests/arm_test/Makefile 1.3
aversive_projects microb2009/tests/arm_test/commands.c1.3
aversive_projects microb2009/tests/arm_test/main.c1.3
aversive_projects microb2009/tests/arm_test/uart_config.h 1.2
+ aversive_projects microb2009/tests/bootloader/Makefile1.1
+ aversive_projects microb2009/tests/bootloader/error_config.h 1.1
+ aversive_projects microb2009/tests/bootloader/main.c 1.1
+ aversive_projects microb2009/tests/bootloader/uart_config.h 1.1
aversive_projects/microb2009/microb_cmd/microbcmd.py (1.1)
@@ -0,0 +1,317 @@
+#! /usr/bin/env python
+
+import os,sys,termios,atexit
+import serial
+from select import select
+import cmd
+#from pylab import *
+import shlex
+import time
+
+import warnings
+warnings.filterwarnings(ignore,tempnam,RuntimeWarning, __name__)
+
+import logging
+log = logging.getLogger(MicrobShell)
+_handler = logging.StreamHandler()
+_handler.setFormatter(logging.Formatter(%(levelname)s: %(message)s))
+log.addHandler(_handler)
+log.setLevel(1)
+
+SPM_PAGE_SIZE = 256
+
+def crc_ccitt_update (crc, data):
+crc argument is the previous value of 16 bits crc (the initial
+value is 0x). 'data' is the 8 bits value added to crc. The
+function returns the new crc value.
+
+data ^= (crc 0xff)
+data ^= (data 4)
+data = 0xff
+
+ret = (data 8) 0x
+ret |= ((crc 8) 0xff)
+ret ^= ((data 4) 0xff)
+ret ^= ((data 3) 0x)
+return ret
+
+def prog_page(ser, addr, buf):
+program a page from buf at addr
+i = 0
+crc = 0x
+
+ser.flushInput()
+ser.write('p')
+s = ser.readline()
+if not s.endswith(addr?\r\n):
+print failed (don't match addr)
+return -1
+ser.write(%x\n%addr)
+s = ser.readline()
+if not s.startswith(addr ok):
+print failed
+return -1
+while i SPM_PAGE_SIZE:
+if i = len(buf):
+c = '\xff'
+else:
+c = buf[i]
+ser.write(c)
+i += 1
+crc = crc_ccitt_update(crc, ord(c))
+sys.stdout.write(.)
+sys.stdout.flush()
+avr_crc = int(ser.readline()[0:4], 16)
+if crc != avr_crc:
+print failed: bad crc
+ser.write('n')
+return -1
+ser.write('y')
+s = ser.readline()
+if not s.startswith(OK):
+print failed
+return -1
+return 0
+
+def check_crc(ser, addr, buf):
+Process the crc of buf, ask for a crc of the flash, and check
+that value is correct
+crc = 0x
+size = len(buf) - addr
+if size = 0:
+return
+ser.flushInput()
+ser.write('c')
+s = ser.readline()
+if not s.startswith(addr?):
+print failed
+return -1
+ser.write(%x\n%addr)
+s = ser.readline()
+if not s.startswith(size?):
+print failed
+return -1
+ser.write(%x\n%size)
+i = addr
+while addr addr + size:
+crc = crc_ccitt_update(crc, buf[i])
+avr_crc = int(ser.readline()[0:4], 16)
+if crc != avr_crc:
+print failed: bad crc
+return -1
+return 0
+
+class SerialLogger:
+def __init__(self, ser, filein, fileout=None):
+self.ser = ser
+self.filein = filein
+self.fin = open(filein, a, 0)
+if fileout:
+self.fileout = fileout
+self.fout = open(fileout, a, 0)
+else:
+self.fileout = filein
+self.fout = self.fin
+def fileno(self):
+return self.ser.fileno()
+def read(self, *args):
+res = self.ser.read(*args)
+self.fin.write(res)
+return res
+def write(self, s):
+self.fout.write(s)
+self.ser.write(s)
+
+
+
+class Interp(cmd.Cmd):
+prompt = Microb
+def __init__(self, tty, baudrate=57600):
+cmd.Cmd.__init__(self)
+self.ser = serial.Serial(tty,baudrate=baudrate)
+self.escape = \x01 # C-a
+self.quitraw = \x02 # C-b
+self.serial_logging = False
+self.default_in_log_file = /tmp/microb.in.log
+self.default_out_log_file = /tmp/microb.out.log
+
+def do_quit(self, args):
+return True
+
+def do_log(self, args):
+Activate serial logs.
+log filename logs input and output to filename
+log filein fileout logs input to filein and output to fileout
+log logs to /tmp/microb.log or the last used
file
+
+if self.serial_logging:
+log.error(Already logging to %s and %s % (self.ser.filein,
+
[Avr-list] aversive CVS_LOG 2008-06-15
Commit from tof on branch b_tof (2008-06-14 10:02 CEST)
===
reset SW macro changed
kbd updated
aversive include/aversive.h
1.3.2.3
aversive modules/devices/ihm/kbd/kbd_matrix_4x4/doc/SCHEMA.DDB
1.1.2.2
aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd_matrix_4x4_4port.c
1.1.2.5
===
aversive/include/aversive.h (1.3.2.2 - 1.3.2.3)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: aversive.h,v 1.3.2.2 2008-02-11 10:40:52 tof Exp $
+ * Revision : $Id: aversive.h,v 1.3.2.3 2008-06-14 08:02:46 tof Exp $
*
*/
@@ -114,17 +114,41 @@
* use only if you need speed optimization !
* use instead for current operations
*/
-#define extr16_08_0(i) (*(char *)(i)) // LSB of a 16bit
-#define extr16_08_1(i) (*((char *)(i)+1)) // MSB of a 16bit
+#define extr16_08_0(i) (*(uint8_t *)(i)) // LSB of a 16bit
+#define extr16_08_1(i) (*((uint8_t *)(i)+1)) // MSB of a 16bit
+
+#define extr32_16_0(i) (*(uint16_t *)(i)) // LSB of a 32 bit
+#define extr32_16_1(i) (* (((uint16_t *)(i)) +1)) // MSB of a 32 bit
+//#define extr32_16_23(i) (*((uint16_t *)((uint8_t *)(i)+1))) // middle of a
32 bit // deprecated
+
+#define extr32_08_0(i) (*(uint8_t *)(i)) // same stuff
+#define extr32_08_1(i) (*((uint8_t *)(i)+1))
+#define extr32_08_2(i) (*((uint8_t *)(i)+2))
+#define extr32_08_3(i) (*((uint8_t *)(i)+3))
+
+
+
+#define extr64_33_0(i) (*(uint32_t *)(i))
+#define extr64_32_1(i) (*((uint32_t *)(i)+1))
+
+#define extr64_16_0(i) (*(uint16_t *)(i))
+#define extr64_16_1(i) (*((uint16_t *)(i)+1))
+#define extr64_16_2(i) (*((uint16_t *)(i)+2))
+#define extr64_16_3(i) (*((uint16_t *)(i)+3))
+
+#define extr64_08_0(i) (*(uint8_t *)(i)) // same stuff
+#define extr64_08_1(i) (*((uint8_t *)(i)+1))
+#define extr64_08_2(i) (*((uint8_t *)(i)+2))
+#define extr64_08_3(i) (*((uint8_t *)(i)+3))
+#define extr64_08_4(i) (*((uint8_t *)(i)+4))
+#define extr64_08_5(i) (*((uint8_t *)(i)+5))
+#define extr64_08_6(i) (*((uint8_t *)(i)+6))
+#define extr64_08_7(i) (*((uint8_t *)(i)+7))
+
+
+
+
-#define extr32_16_0(i) (*(int *)(i)) // LSB of a 32 bit
-#define extr32_16_1(i) (* (((int *)(i)) +1)) // MSB of a 32 bit
-#define extr32_16_23(i) (*((int *)((char *)(i)+1))) // middle of a 32 bit
-
-#define extr32_08_0(i) (*(char *)(i)) // same stuff
-#define extr32_08_1(i) (*((char *)(i)+1))
-#define extr32_08_2(i) (*((char *)(i)+2))
-#define extr32_08_3(i) (*((char *)(i)+3))
/* a few asm utilities */
@@ -141,13 +165,18 @@
#ifndef sei
#define sei() __asm__ __volatile__ (SEI\n) /** enable interrupts */
#endif
-/** simple software reset, but doesn't initialize the registers */
+/** software reset through WDT
+ this procedure is recommended by atmel
+
http://support.atmel.no/bin/customer?custSessionKey=customerLang=ennoCookies=trueaction=viewKbEntryid=21
+ */
#ifndef reset
+#include avr/io.h
+#include avr/wdt.h
#define reset() \
do {\
- __asm__ __volatile__ (ldi r30,0\n); \
- __asm__ __volatile__ (ldi r31,0\n); \
- __asm__ __volatile__ (ijmp\n); \
+ cli(); \
+ wdt_enable(WDTO_30MS); \
+ while(1) {}; \
} while(0)
#endif
==
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/doc/SCHEMA.DDB (1.1.2.1 -
1.1.2.2)
==
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd_matrix_4x4_4port.c
(1.1.2.4 - 1.1.2.5)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: kbd_matrix_4x4_4port.c,v 1.1.2.4 2008-03-16 15:12:49 tof
Exp $
+ * Revision : $Id: kbd_matrix_4x4_4port.c,v 1.1.2.5 2008-06-14 08:03:09 tof
Exp $
*
*/
@@ -224,10 +224,10 @@
// ! a l ordre, car si on mettait d abord le port a 1, on aurait une
impulsion sur le port
// meme chose + haut
-if ((value KBD_BIT2)!=0)
+if ((value (1KBD_BIT2))!=0)
return 0; // no key pressed
- value |= KBD_ROWS; // mise a 1 des bits de ligne, (inverse
ensuite a 0, pour signifier ligne4)
+ value |= KBD_ROWS; // mise a 1 des bits de ligne, (inverse
ensuite a 0, pour signifier ligne1)
}
___
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CVSWEB :
[Avr-list] aversive CVS_LOG 2008-06-02
Commit from zer0 on branch b_zer0 (2008-06-01 22:36 CEST)
=
Only add comments.
Signed-off by serpilliere !
aversive modules/devices/robot/obstacle_avoidance/obstacle_avoidance.h
1.1.2.4
aversive modules/devices/robot/obstacle_avoidance/obstacle_avoidance.c
1.1.2.5
==
aversive/modules/devices/robot/obstacle_avoidance/obstacle_avoidance.h
(1.1.2.3 - 1.1.2.4)
==
@@ -15,10 +15,38 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: obstacle_avoidance.h,v 1.1.2.3 2008-04-27 12:59:46 zer0
Exp $
+ * Revision : $Id: obstacle_avoidance.h,v 1.1.2.4 2008-06-01 20:36:30 zer0
Exp $
*
- * Fabrice DESCLAUX [EMAIL PROTECTED]
- * Olivier MATZ [EMAIL PROTECTED]
+ * Main code and algorithm: Fabrice DESCLAUX [EMAIL PROTECTED]
+ * Integration in Aversive: Olivier MATZ [EMAIL PROTECTED]
+ */
+
+/*
+ * The algorithm is based on the visible point algorithm.
+ * There are 3 inputs:
+ * - the play ground (basically the table, here a rectangle)
+ * - the objects to avoid, represented by polygones
+ * - start/stop points (A, B)
+ *
+ * The algorithm will first find every ray formed by 2 points that can
+ * see each others. Basically, if a polygon is between two points,
+ * they cannot see each others. A side of a polygon is composed by 2
+ * points that can se each others.
+ *
+ * From all these rays, we can create a graph. We affect for each ray
+ * a weight with its own length.
+ *
+ * The algorithm executes Dijkstra to find the shortest path to go
+ * from A to B.
+ */
+
+/*
+ * As we run on 4Ko ram uC, we have static structures arrays to store:
+ * - MAX_POLY = represent the maximum polygons to avoid in the area.
+ * - MAX_PTS = maximize the sum of every polygons vertices.
+ * - MAX_RAYS = maximum number of rays.
+ * - MAX_CHKPOINTS = maximum accepted checkpoints in the resulting path.
+ * - PLAYGROUND XXX = dimensions of the playground.
*/
/* XXX this should be set in obstacle_avoidance_config.h !! */
@@ -42,6 +70,8 @@
/* used for dijkstra */
uint8_t p;
uint8_t pt;
+
+/* Used to determine if the destination point is reachable */
uint8_t valid;
} oa_ext_point_t;
@@ -52,6 +82,12 @@
int16_t y;
} oa_point_t;
+/* A line is represented by the equation:
+ * a*x + b*y + c = 0
+ *
+ * This is better than classic a*x + b = y :
+ * here we can handle vertical (a*x + 0*y + c = 0)
+ * and horizontal lines (0*x + b*y + c = 0) */
typedef struct _line {
int32_t a;
int32_t b;
@@ -64,7 +100,41 @@
} oa_poly_t;
+struct obstacle_avoidance {
+ oa_poly_t polys[MAX_POLY]; /* tab of polygons (obstacles) */
+ oa_ext_point_t points[MAX_PTS]; /* tab of points, referenced by polys */
+
+ uint8_t ray_n;
+ uint8_t cur_poly_idx;
+ uint8_t cur_pt_idx;
+
+ uint16_t weight[MAX_RAYS];
+ union {
+ uint8_t rays[MAX_RAYS*2];
+ oa_point_t res[MAX_CHKPOINTS];
+ } u;
+};
+/* To save memory space here is the moemory representation of
+ * polygons/points:
+ *
+ * We have an array of points (oa_ext_point_t points):
+ * _ _ _ _ _ _ _ _ _
+ * | | | | | | | | | |
+ * | p0 | p1 | p0 | p1 | p2 | p3 | p0 | p1 | p2 |
+ * |_|_|_|_|_|_|_|_|_|
+ *
+ *
+ * ^^ ^
+ * || |
+ * -polygon 0 -polygon 1 -polygon 2
+ * -2 vertices -4 vertices -3 vertices
+ *
+ *
+ * And each polygon is represented by the sub array starting with the
+ * point represented by oa_ext_point_t * pts and composed of uint8_t l;
+ * (in the oa_poly_t structure)
+ */
/** Init the oa structure */
void oa_init(void);
==
aversive/modules/devices/robot/obstacle_avoidance/obstacle_avoidance.c
(1.1.2.4 - 1.1.2.5)
==
@@ -15,10 +15,10 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: obstacle_avoidance.c,v 1.1.2.4 2008-05-09 08:26:47 zer0
Exp $
+ * Revision : $Id: obstacle_avoidance.c,v 1.1.2.5 2008-06-01 20:36:30 zer0
Exp $
*
- * Fabrice DESCLAUX [EMAIL PROTECTED]
- * Olivier MATZ [EMAIL PROTECTED]
+ * Main code and algorithm: Fabrice DESCLAUX [EMAIL PROTECTED]
+ * Integration in Aversive: Olivier MATZ [EMAIL PROTECTED]
*/
#include aversive.h
@@ -33,24 +33,12 @@
#define debug_printf(args...)
-struct obstacle_avoidance {
-
[Avr-list] aversive CVS_LOG 2008-05-13
Commit from zer0 on branch b_zer0 (2008-05-12 15:10 CEST)
=
Use bash instead of sh, and use SHELL variable.
aversive mk/aversive_project.mk 1.32.4.14
===
aversive/mk/aversive_project.mk (1.32.4.13 - 1.32.4.14)
===
@@ -167,7 +167,7 @@
export HOSTCC = gcc
export REMOVE = rm -f
export COPY = cp
-export SHELL = sh
+export SHELL = bash
DATE=`date`
MD5 = md5sum
export AVRDUDE = avrdude
@@ -369,23 +369,23 @@
# -- config targets
config:
- @sh -n $(AVERSIVE_DIR)/config/config.in
+ @${SHELL} -n $(AVERSIVE_DIR)/config/config.in
@HELP_FILE=$(AVERSIVE_DIR)/config/Configure.help \
AUTOCONF_FILE=autoconf.h \
- sh $(AVERSIVE_DIR)/config/scripts/Configure
$(AVERSIVE_DIR)/config/config.in
+ ${SHELL} $(AVERSIVE_DIR)/config/scripts/Configure
$(AVERSIVE_DIR)/config/config.in
noconfig:
- @sh -n $(AVERSIVE_DIR)/config/config.in
+ @${SHELL} -n $(AVERSIVE_DIR)/config/config.in
@HELP_FILE=$(AVERSIVE_DIR)/config/Configure.help \
AUTOCONF_FILE=autoconf.h \
- sh $(AVERSIVE_DIR)/config/scripts/Configure -d
$(AVERSIVE_DIR)/config/config.in
+ ${SHELL} $(AVERSIVE_DIR)/config/scripts/Configure -d
$(AVERSIVE_DIR)/config/config.in
menuconfig:
- @sh -n $(AVERSIVE_DIR)/config/config.in
+ @${SHELL} -n $(AVERSIVE_DIR)/config/config.in
@make -C $(AVERSIVE_DIR)/config/scripts/lxdialog all
@HELP_FILE=$(AVERSIVE_DIR)/config/Configure.help \
AUTOCONF_FILE=autoconf.h \
- sh $(AVERSIVE_DIR)/config/scripts/Menuconfig
$(AVERSIVE_DIR)/config/config.in
+ ${SHELL} $(AVERSIVE_DIR)/config/scripts/Menuconfig
$(AVERSIVE_DIR)/config/config.in
# -- clean targets
___
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CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive
WIKI : http://wiki.droids-corp.org/index.php/Aversive
DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/
BUGZILLA : http://bugzilla.droids-corp.org
COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2008-05-12
Commit from zer0 on branch b_zer0 (2008-05-11 17:04 CEST)
=
fix compilation with gcc 4.3
aversive include/aversive.h 1.1.2.5
aversive modules/encoding/hamming/hamming.c 1.2.4.4
===
aversive/include/aversive.h (1.1.2.4 - 1.1.2.5)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: aversive.h,v 1.1.2.4 2008-04-27 12:59:45 zer0 Exp $
+ * Revision : $Id: aversive.h,v 1.1.2.5 2008-05-11 15:04:52 zer0 Exp $
*
*/
@@ -110,24 +110,85 @@
#define ABS(val) ( ((val) 0) ? -(val) : (val) )
-/* byte extraction, not recommended for use
- * use only if you need speed optimization !
- * use instead for current operations
- */
-#define extr16_08_0(i) (*(char *)(i)) // LSB of a 16bit
-#define extr16_08_1(i) (*((char *)(i)+1)) // MSB of a 16bit
-
-#define extr32_16_0(i) (*(int *)(i)) // LSB of a 32 bit
-#define extr32_16_1(i) (* (((int *)(i)) +1)) // MSB of a 32 bit
-#define extr32_16_23(i) (*((int *)((char *)(i)+1))) // middle of a 32 bit
-
-#define extr32_08_0(i) (*(char *)(i)) // same stuff
-#define extr32_08_1(i) (*((char *)(i)+1))
-#define extr32_08_2(i) (*((char *)(i)+2))
-#define extr32_08_3(i) (*((char *)(i)+3))
+/*
+ * Extract bytes and u16 from larger integer
+ */
+
+#if __BYTE_ORDER != __LITTLE_ENDIAN __BYTE_ORDER != __BIG_ENDIAN
+# errorEndianness not defined
+#endif
+
+struct extract32 {
+ union {
+ struct {
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ uint8_t u8_0;
+ uint8_t u8_1;
+ uint8_t u8_2;
+ uint8_t u8_3;
+#elif __BYTE_ORDER == __BIG_ENDIAN
+ uint8_t u8_3;
+ uint8_t u8_2;
+ uint8_t u8_1;
+ uint8_t u8_0;
+#endif
+ } __attribute__ ((packed)) u8;
+ struct {
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ uint16_t u16_0;
+ uint16_t u16_1;
+#elif __BYTE_ORDER == __BIG_ENDIAN
+ uint16_t u16_1;
+ uint16_t u16_0;
+#endif
+ } __attribute__ ((packed)) u16;
+ struct {
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ uint8_t u8_0;
+ uint16_t u16_mid;
+ uint8_t u8_3;
+#elif __BYTE_ORDER == __BIG_ENDIAN
+ uint8_t u8_3;
+ uint16_t u16_mid;
+ uint8_t u8_0;
+#endif
+ } __attribute__ ((packed)) u16_b;
+ uint32_t u32;
+ } __attribute__ ((packed)) u;
+} __attribute__ ((packed));
+
+#define extr32_08_0(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_0;
})
+#define extr32_08_1(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_1;
})
+#define extr32_08_2(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_2;
})
+#define extr32_08_3(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_3;
})
+
+#define extr32_16_0(i) ({ struct extract32 __x; __x.u.u32 = i;
__x.u.u16.u16_0; })
+#define extr32_16_1(i) ({ struct extract32 __x; __x.u.u32 = i;
__x.u.u16.u16_1; })
+#define extr32_16_mid(i) ({ struct extract32 __x; __x.u.u32 = i;
__x.u.u16_b.u16_mid; })
+
+
+struct extract16 {
+ union {
+ struct {
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ uint8_t u8_0;
+ uint8_t u8_1;
+#elif __BYTE_ORDER == __BIG_ENDIAN
+ uint8_t u8_1;
+ uint8_t u8_0;
+#endif
+ } __attribute__ ((packed)) u8;
+ uint16_t u16;
+ } __attribute__ ((packed)) u;
+} __attribute__ ((packed));
+
+#define extr16_08_0(i) ({ struct extract16 __x; __x.u.u16 = i; __x.u.u8.u8_0;
})
+#define extr16_08_1(i) ({ struct extract16 __x; __x.u.u16 = i; __x.u.u8.u8_1;
})
+
/* a few asm utilities */
+
#ifndef HOST_VERSION
#ifndef nop
#define nop() __asm__ __volatile__ (NOP\n) /** nop instruction, 1 CPU cycle
consumed */
===
aversive/modules/encoding/hamming/hamming.c (1.2.4.3 - 1.2.4.4)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: hamming.c,v 1.2.4.3 2007-08-19 10:39:31 zer0 Exp $
+ * Revision : $Id: hamming.c,v 1.2.4.4 2008-05-11 15:04:53 zer0 Exp $
*
*/
@@ -28,7 +28,7 @@
/** \file hamming.c
* \brief Implementation for the Hamiing module.
*
- * \todo nothing.
+ * \todo use progmem to store tables !
*
* \test Seems to work
*
@@ -125,16 +125,14 @@
tmp = tab_abcd[(uint8_t)frame0x0F];
-
- tmp |=
[Avr-list] aversive CVS_LOG 2008-05-11
Commit from zer0 on branch b_zer0 (2008-05-10 17:06 CEST)
=
update fixed point lib to work with gcc 4.3
aversive modules/base/math/fixed_point/f16.h 1.6.4.3
aversive modules/base/math/fixed_point/f16_add.c 1.4.4.2
aversive modules/base/math/fixed_point/f16_div.c 1.3.4.2
aversive modules/base/math/fixed_point/f16_double.c 1.5.4.2
aversive modules/base/math/fixed_point/f16_int.c 1.5.4.2
aversive modules/base/math/fixed_point/f16_inv.c 1.5.4.2
aversive modules/base/math/fixed_point/f16_mul.c 1.5.4.2
aversive modules/base/math/fixed_point/f16_neg.c 1.4.4.2
aversive modules/base/math/fixed_point/f16_print.c1.4.4.2
aversive modules/base/math/fixed_point/f16_sqrt.c 1.5.4.3
aversive modules/base/math/fixed_point/f16_sub.c 1.4.4.2
aversive modules/base/math/fixed_point/f16_to_s16.h 1.3.6.2
aversive modules/base/math/fixed_point/f32.h 1.6.4.3
aversive modules/base/math/fixed_point/f32_add.c 1.4.4.2
aversive modules/base/math/fixed_point/f32_div.c 1.3.4.2
aversive modules/base/math/fixed_point/f32_double.c 1.5.4.2
aversive modules/base/math/fixed_point/f32_int.c 1.5.4.2
aversive modules/base/math/fixed_point/f32_inv.c 1.5.4.2
aversive modules/base/math/fixed_point/f32_mul.c 1.5.4.2
aversive modules/base/math/fixed_point/f32_neg.c 1.4.4.2
aversive modules/base/math/fixed_point/f32_print.c1.4.4.2
aversive modules/base/math/fixed_point/f32_sqrt.c 1.5.4.3
aversive modules/base/math/fixed_point/f32_sub.c 1.4.4.2
aversive modules/base/math/fixed_point/f32_to_s32.h 1.3.6.2
aversive modules/base/math/fixed_point/f64.h 1.6.4.3
aversive modules/base/math/fixed_point/f64_add.c 1.4.4.2
aversive modules/base/math/fixed_point/f64_div.c 1.3.4.2
aversive modules/base/math/fixed_point/f64_double.c 1.5.4.2
aversive modules/base/math/fixed_point/f64_int.c 1.5.4.2
aversive modules/base/math/fixed_point/f64_inv.c 1.5.4.2
aversive modules/base/math/fixed_point/f64_msb_mul.c 1.5.4.2
aversive modules/base/math/fixed_point/f64_mul.c 1.5.4.2
aversive modules/base/math/fixed_point/f64_neg.c 1.4.4.2
aversive modules/base/math/fixed_point/f64_print.c1.4.4.2
aversive modules/base/math/fixed_point/f64_sqrt.c 1.5.4.3
aversive modules/base/math/fixed_point/f64_sub.c 1.4.4.2
aversive modules/base/math/fixed_point/f64_to_s64.h 1.3.6.3
aversive modules/base/math/fixed_point/s16_to_f16.h 1.3.6.2
aversive modules/base/math/fixed_point/s32_to_f32.h 1.3.6.2
aversive modules/base/math/fixed_point/s64_to_f64.h 1.3.6.3
aversive/modules/base/math/fixed_point/f16.h (1.6.4.2 - 1.6.4.3)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: f16.h,v 1.6.4.2 2007-05-23 17:18:10 zer0 Exp $
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
*
*/
@@ -41,23 +41,28 @@
#include aversive.h
typedef struct fixed_16 {
-uint8_t decimal;
-int8_t integer;
+ union {
+ struct {
+ uint8_t decimal;
+ int8_t integer;
+ } s;
+ int16_t s16;
+ } u;
} f16;
+#define f16_decimal u.s.decimal
+#define f16_integer u.s.integer
#define F16_ZERO (\
{ \
f16 __f; \
-__f.integer = 0; \
-__f.decimal = 0; \
+__f.u.s16 = 0;\
__f; \
})
#define F16_NAN ( \
{ \
f16 __f; \
-__f.integer = 0xFF;\
-__f.decimal = 0xFF;\
+__f.u.s16 = 0x;\
__f; \
})
@@ -67,8 +72,8 @@
#define F16_IS_LE(x,y) (f16_to_s16(x) = f16_to_s16(y))
#define F16_IS_EQ(x,y) (f16_to_s16(x) == f16_to_s16(y))
#define F16_IS_NE(x,y) (f16_to_s16(x) != f16_to_s16(y))
-#define F16_IS_NEG(x) ((x).integer 0)
-#define F16_IS_ZERO(x) ((x).integer == 0 (x).decimal == 0)
+#define F16_IS_NEG(x) ((x).f16_integer 0)
+#define F16_IS_ZERO(x) ((x).f16_integer == 0 (x).f16_decimal == 0)
/** convert a double to a f16 */
aversive/modules/base/math/fixed_point/f16_add.c (1.4.4.1 - 1.4.4.2)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: f16_add.c,v 1.4.4.1 2006-11-26 21:06:00 zer0 Exp $
+ * Revision : $Id: f16_add.c,v 1.4.4.2 2008-05-10 15:06:26 zer0 Exp $
*
*/
@@ -27,6 +27,6 @@
f16 f16_add(f16 a, f16 b)
{
-
[Avr-list] aversive CVS_LOG 2008-04-07
Commit from zer0 on branch b_zer0 (2008-04-06 19:33 CEST)
=
fix some bugs in trajectory, pwm, position_manager
aversive config/Configure.help
1.13.4.14
aversive config/config.in
1.42.4.19
aversive config/prog_fuses.sh
1.3.4.5
aversive mk/aversive_project.mk
1.32.4.13
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
1.1.2.4
aversive modules/devices/robot/position_manager/position_manager.c
1.6.4.4
aversive modules/devices/robot/robot_system/robot_system.c
1.6.4.6
aversive modules/devices/robot/robot_system/robot_system.h
1.5.4.3
aversive modules/devices/robot/trajectory_manager/trajectory_manager.c
1.4.4.11
aversive modules/hardware/pwm/pwm.c
1.8.4.8
aversive modules/hardware/pwm/pwm.h
1.7.4.7
==
aversive/config/Configure.help (1.13.4.13 - 1.13.4.14)
==
@@ -216,6 +216,10 @@
wheels. It provides a virtual angle/distance PWM and a virtual
angle/distance encoder.
+CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT
+ If the robot has external and motor encoder, you can use both
+ by defining this option.
+
CONFIG_MODULE_POSITION_MANAGER
This module processes the position of the robot, depending of the
value returned by the associated robot system, and some physical
=
aversive/config/config.in (1.42.4.18 - 1.42.4.19)
=
@@ -318,6 +318,9 @@
dep_bool 'Robot System' CONFIG_MODULE_ROBOT_SYSTEM \
$CONFIG_MODULE_FIXED_POINT
+dep_bool ' |-- Allow motor and external encoders'
CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT \
+ $CONFIG_MODULE_ROBOT_SYSTEM
+
POSITION_MANAGER
dep_bool 'Position manager' CONFIG_MODULE_POSITION_MANAGER \
$CONFIG_MODULE_ROBOT_SYSTEM
=
aversive/config/prog_fuses.sh (1.3.4.4 - 1.3.4.5)
=
@@ -140,7 +140,7 @@
do
rm -f $f 2 /dev/null
echo 0x00 ${f}_new
- ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,,,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i ${DELAY}
+ ${AVRDUDE} ${DELAY} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,,,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i
if [ ! -f $f ]; then
CANNOT_READ=1
fi
===
aversive/mk/aversive_project.mk (1.32.4.12 - 1.32.4.13)
===
@@ -111,7 +111,7 @@
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).$(FORMAT_EXTENSION)
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
ifneq ($(AVRDUDE_DELAY),)
AVRDUDE_FLAGS += -i $(AVRDUDE_DELAY)
==
aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
(1.1.2.3 - 1.1.2.4)
==
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: blocking_detection_manager.c,v 1.1.2.3 2008-03-30 22:00:56
zer0 Exp $
+ * Revision : $Id: blocking_detection_manager.c,v 1.1.2.4 2008-04-06 17:33:57
zer0 Exp $
*
* Olivier MATZ [EMAIL PROTECTED]
*/
@@ -74,7 +74,7 @@
i = bd-k1 * cmd - bd-k2 * speed;
if (ABS(i) bd-i_thres) {
if (bd-cpt == bd-cpt_thres - 1)
- DEBUG(E_BLOCKING_DETECTION_MANAGER,
+ WARNING(E_BLOCKING_DETECTION_MANAGER,
BLOCKING cmd=%ld, speed=%ld i=%ld,
cmd, speed, i);
if(bd-cpt bd-cpt_thres)
==
aversive/modules/devices/robot/position_manager/position_manager.c (1.6.4.3 -
1.6.4.4)
==
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: position_manager.c,v 1.6.4.3 2008-03-31 16:51:27 zer0 Exp $
+ * Revision : $Id: position_manager.c,v 1.6.4.4 2008-04-06 17:33:57 zer0 Exp $
*
*/
@@ -89,6 +89,7 @@
IRQ_UNLOCK(flags);
}
+#ifdef
[Avr-list] aversive CVS_LOG 2008-04-01
Commit from zer0 on branch b_zer0 (2008-03-31 18:51 CEST)
=
update position_manager and angle_distance
aversive modules/devices/robot/position_manager/position_manager.c 1.6.4.3
aversive modules/devices/robot/robot_system/angle_distance.c1.4.4.3
==
aversive/modules/devices/robot/position_manager/position_manager.c (1.6.4.2 -
1.6.4.3)
==
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: position_manager.c,v 1.6.4.2 2007-08-19 10:39:31 zer0 Exp $
+ * Revision : $Id: position_manager.c,v 1.6.4.3 2008-03-31 16:51:27 zer0 Exp $
*
*/
@@ -109,7 +109,7 @@
*/
void position_manage(struct robot_position * pos)
{
- double x, y, a;
+ double x, y, a, r, arc_angle;
s16 x_s16, y_s16, a_s16;
struct rs_polar encoders;
struct rs_polar delta;
@@ -148,17 +148,28 @@
x = pos-pos_d.x;
y = pos-pos_d.y;
IRQ_UNLOCK(flags);
-
- a += (double) delta.angle / (pos-phys.track_cm *
pos-phys.distance_imp_per_cm/2);
+
+
+ if (delta.angle == 0) {
+ /* we go straight */
+ x = x + cos(a) * ((double) delta.distance /
(pos-phys.distance_imp_per_cm)) ;
+ y = y + sin(a) * ((double) delta.distance /
(pos-phys.distance_imp_per_cm)) ;
+ }
+ else {
+ /* r the radius of the circle arc */
+ r = (double)delta.distance * pos-phys.track_cm / (double)
delta.angle;
+ arc_angle = (double) delta.angle / (pos-phys.track_cm *
pos-phys.distance_imp_per_cm);
+
+ x += r * (-sin(a) + sin(a+arc_angle));
+ y += r * (cos(a) - cos(a+arc_angle));
+ a += arc_angle;
+ }
if(a -M_PI)
a += (M_PI*2);
else if (a (M_PI))
a -= (M_PI*2);
- x += cos(a) * ((double) delta.distance /
(pos-phys.distance_imp_per_cm)) ;
- y += sin(a) * ((double) delta.distance /
(pos-phys.distance_imp_per_cm)) ;
-
/* update int position */
x_s16 = (int16_t)x;
y_s16 = (int16_t)y;
aversive/modules/devices/robot/robot_system/angle_distance.c (1.4.4.2 -
1.4.4.3)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: angle_distance.c,v 1.4.4.2 2007-06-17 21:23:41 zer0 Exp $
+ * Revision : $Id: angle_distance.c,v 1.4.4.3 2008-03-31 16:51:27 zer0 Exp $
*
*/
@@ -27,8 +27,8 @@
*/
void rs_get_polar_from_wheels(struct rs_polar * p_dst, struct rs_wheels *
w_src)
{
- p_dst-distance = w_src-right + w_src-left;
- p_dst-angle= w_src-right - w_src-left;
+ p_dst-distance = (w_src-right + w_src-left) / 2;
+ p_dst-angle= (w_src-right - w_src-left) / 2;
}
/**
@@ -36,7 +36,7 @@
*/
void rs_get_wheels_from_polar(struct rs_wheels * w_dst, struct rs_polar *
p_src)
{
- w_dst-left = (p_src-distance - p_src-angle) / 2;
- w_dst-right = (p_src-distance + p_src-angle) / 2;
+ w_dst-left = p_src-distance - p_src-angle;
+ w_dst-right = p_src-distance + p_src-angle;
}
Commit from zer0 (2008-03-31 18:51 CEST)
update coefs after position_manager modification
aversive_projects microb2008/main/main.h 1.15
aversive_projects/microb2008/main/main.h (1.14 - 1.15)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.14 2008-03-30 22:02:53 zer0 Exp $
+ * Revision : $Id: main.h,v 1.15 2008-03-31 16:51:47 zer0 Exp $
*
*/
@@ -42,11 +42,11 @@
#define EXT_TRACK_CM 29.9
#define VIRTUAL_TRACK_CM EXT_TRACK_CM
-/* it should be a 2000 imps ; huh ?
+/* it is a 2000 imps - 8000 because we see 1/4 period
* and diameter: 40.5mm - perimeter 127.23mm
- * 16000/12.723 - 1257.565 */
+ * 8000/12.723 - 628.78 */
/* increase it to go further */
-#define DIST_IMP_CM 1270.0
+#define DIST_IMP_CM 635.0
#define LEFT_ENCODER_MOT((void *)1)
#define RIGHT_ENCODER_MOT ((void *)0)
Commit from zer0 on branch b_zer0 (2008-04-01 00:16 CEST)
=
fix comment
aversive modules/devices/robot/trajectory_manager/trajectory_manager.c
1.4.4.9
aversive modules/devices/robot/trajectory_manager/trajectory_manager.h
1.4.4.7
==
[Avr-list] aversive CVS_LOG 2008-03-31
Commit from zer0 on branch b_zer0 (2008-03-31 00:00 CEST)
=
remove old style's blocking detection
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
1.1.2.3
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
1.1.2.5
==
aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
(1.1.2.2 - 1.1.2.3)
==
@@ -15,38 +15,25 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: blocking_detection_manager.c,v 1.1.2.2 2008-03-27 19:20:49
zer0 Exp $
+ * Revision : $Id: blocking_detection_manager.c,v 1.1.2.3 2008-03-30 22:00:56
zer0 Exp $
*
* Olivier MATZ [EMAIL PROTECTED]
*/
/* blocking detection manager */
+#include stdio.h
#include string.h
#include aversive/error.h
#include blocking_detection_manager.h
/** init module, give the robot system to use as a parameter */
-void bd_init(struct blocking_detection * bd, struct cs *cs)
+void bd_init(struct blocking_detection * bd)
{
uint8_t flags;
IRQ_LOCK(flags);
memset(bd, 0, sizeof(*bd));
- bd-cs = cs;
- IRQ_UNLOCK(flags);
-}
-
-/* thresholds */
-void bd_set_speed_err_thresholds(struct blocking_detection * bd, uint32_t
speed_thres,
-uint32_t err_thres, uint16_t cpt_thres)
-{
- uint8_t flags;
- IRQ_LOCK(flags);
- bd-speed_thres = speed_thres;
- bd-err_thres = err_thres;
- bd-cpt1_thres = cpt_thres;
- bd-cpt1 = 0;
IRQ_UNLOCK(flags);
}
@@ -60,8 +47,8 @@
bd-k1 = k1;
bd-k2 = k2;
bd-i_thres = i_thres;
- bd-cpt2_thres = cpt_thres;
- bd-cpt2 = 0;
+ bd-cpt_thres = cpt_thres;
+ bd-cpt = 0;
IRQ_UNLOCK(flags);
}
@@ -70,67 +57,55 @@
{
uint8_t flags;
IRQ_LOCK(flags);
- bd-cpt1 = 0;
- bd-cpt2 = 0;
+ bd-cpt = 0;
IRQ_UNLOCK(flags);
}
+
+
/** function to be called periodically */
-void bd_manage(struct blocking_detection * bd)
+void bd_manage_from_speed_cmd(struct blocking_detection * bd,
+ int32_t speed, int32_t cmd)
{
- int32_t err=0;
- int32_t pos;
- int32_t cmd;
int32_t i=0;
- int32_t speed;
-
- static uint8_t a=0;
-
- pos = cs_get_filtered_feedback(bd-cs);
- speed = (pos - bd-prev_pos);
-
- /* if blocking detection enabled */
- if ( bd-cpt1_thres ) {
- err = cs_get_error(bd-cs);
- if ((ABS(err) bd-err_thres
-ABS(speed) bd-speed_thres)) {
- if (bd-cpt1 == bd-cpt1_thres - 1)
- DEBUG(E_BLOCKING_DETECTION_MANAGER,
- A: err=%ld speed=%ld,
- ABS(err), ABS(speed));
-
- if(bd-cpt1 bd-cpt1_thres)
- bd-cpt1++;
- }
- else {
- bd-cpt2=0;
- }
- }
-
/* if current-based blocking_detection enabled */
- if ( bd-cpt2_thres ) {
- cmd = cs_get_out(bd-cs);
- i = bd-k1 * cmd - bd-k2*speed;
+ if ( bd-cpt_thres ) {
+ i = bd-k1 * cmd - bd-k2 * speed;
if (ABS(i) bd-i_thres) {
- if (bd-cpt2 == bd-cpt2_thres - 1)
+ if (bd-cpt == bd-cpt_thres - 1)
DEBUG(E_BLOCKING_DETECTION_MANAGER,
- A: i=%ld, i);
- if(bd-cpt2 bd-cpt2_thres)
- bd-cpt2++;
+ BLOCKING cmd=%ld, speed=%ld i=%ld,
+ cmd, speed, i);
+ if(bd-cpt bd-cpt_thres)
+ bd-cpt++;
}
else {
- bd-cpt2=0;
+ bd-cpt=0;
+ }
+#if BD_DEBUG
+ if (bd-debug_cpt++ == BD_DEBUG) {
+ DEBUG(E_BLOCKING_DETECTION_MANAGER, cmd=%ld, speed=%ld
i=%ld,
+ cmd, speed, i);
+ bd-debug_cpt = 0;
}
}
+#endif
+}
- if (a++ == 0)
- DEBUG(E_BLOCKING_DETECTION_MANAGER,
- test err=%ld speed=%ld i=%ld,
- ABS(err), ABS(speed), i);
-
+/** function to be called periodically */
+void bd_manage_from_pos_cmd(struct blocking_detection * bd,
+ int32_t pos, int32_t cmd)
[Avr-list] aversive CVS_LOG 2008-03-24
Commit from enseirb on branch b_eirbot (2008-03-23 14:33 CET) == unioc_asserv/ + aversive projects/coupe2008/unioc_asserv/Makefile 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/autoconf.h 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/encoders_unioc_config.h 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/main.c 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/pid_config.h 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/pwm_config.h 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/scheduler_config.h 1.1.2.1 + aversive projects/coupe2008/unioc_asserv/uart_config.h1.1.2.1 = aversive/projects/coupe2008/unioc_asserv/Makefile (1.1.2.1) = @@ -0,0 +1,22 @@ +TARGET = main + +# repertoire des modules +AVERSIVE_DIR = ../../.. +# VALUE, absolute or relative path : example ../.. # + +# List C source files here. (C dependencies are automatically generated.) +SRC = $(TARGET).c + +# List Assembler source files here. +# Make them always end in a capital .S. Files ending in a lowercase .s +# will not be considered source files but generated files (assembler +# output from the compiler), and will be deleted upon make clean! +# Even though the DOS/Win* filesystem matches both .s and .S the same, +# it will preserve the spelling of the filenames, and gcc itself does +# care about how the name is spelled on its command-line. +ASRC = + + + +-include .aversive_conf +include $(AVERSIVE_DIR)/mk/aversive_project.mk === aversive/projects/coupe2008/unioc_asserv/autoconf.h (1.1.2.1) === @@ -0,0 +1,240 @@ +/* + * Automatically generated by make menuconfig: don't edit + */ +#define AUTOCONF_INCLUDED + +/* + * Hardware + */ +#undef CONFIG_MCU_AT90S2313 +#undef CONFIG_MCU_AT90S2323 +#undef CONFIG_MCU_AT90S +#undef CONFIG_MCU_AT90S2343 +#undef CONFIG_MCU_ATTINY22 +#undef CONFIG_MCU_ATTINY26 +#undef CONFIG_MCU_AT90S4414 +#undef CONFIG_MCU_AT90S4433 +#undef CONFIG_MCU_AT90S4434 +#undef CONFIG_MCU_AT90S8515 +#undef CONFIG_MCU_AT90S8534 +#undef CONFIG_MCU_AT90S8535 +#undef CONFIG_MCU_AT86RF401 +#undef CONFIG_MCU_ATMEGA103 +#undef CONFIG_MCU_ATMEGA603 +#undef CONFIG_MCU_AT43USB320 +#undef CONFIG_MCU_AT43USB355 +#undef CONFIG_MCU_AT76C711 +#undef CONFIG_MCU_ATMEGA8 +#undef CONFIG_MCU_ATMEGA48 +#undef CONFIG_MCU_ATMEGA88 +#undef CONFIG_MCU_ATMEGA8515 +#undef CONFIG_MCU_ATMEGA8535 +#undef CONFIG_MCU_ATTINY13 +#undef CONFIG_MCU_ATTINY2313 +#undef CONFIG_MCU_ATMEGA16 +#undef CONFIG_MCU_ATMEGA161 +#undef CONFIG_MCU_ATMEGA162 +#undef CONFIG_MCU_ATMEGA163 +#undef CONFIG_MCU_ATMEGA165 +#undef CONFIG_MCU_ATMEGA168 +#undef CONFIG_MCU_ATMEGA169 +#undef CONFIG_MCU_ATMEGA32 +#undef CONFIG_MCU_ATMEGA323 +#undef CONFIG_MCU_ATMEGA325 +#undef CONFIG_MCU_ATMEGA3250 +#undef CONFIG_MCU_ATMEGA64 +#undef CONFIG_MCU_ATMEGA645 +#undef CONFIG_MCU_ATMEGA6450 +#define CONFIG_MCU_ATMEGA128 1 +#undef CONFIG_MCU_AT90CAN128 +#undef CONFIG_MCU_AT94K +#undef CONFIG_MCU_AT90S1200 +#define CONFIG_QUARTZ (800) + +/* + * Generation options + */ +#define CONFIG_OPTM_0 1 +#undef CONFIG_OPTM_1 +#undef CONFIG_OPTM_2 +#undef CONFIG_OPTM_3 +#undef CONFIG_OPTM_S +#define CONFIG_MATH_LIB 1 +#define CONFIG_FDEVOPEN_COMPAT 1 +#undef CONFIG_MINIMAL_PRINTF +#undef CONFIG_STANDARD_PRINTF +#define CONFIG_ADVANCED_PRINTF 1 +#define CONFIG_FORMAT_IHEX 1 +#undef CONFIG_FORMAT_SREC +#undef CONFIG_FORMAT_BINARY + +/* + * Base modules + */ +#define CONFIG_MODULE_CIRBUF 1 +#undef CONFIG_MODULE_CIRBUF_LARGE +#define CONFIG_MODULE_FIXED_POINT 1 +#define CONFIG_MODULE_VECT2 1 +#define CONFIG_MODULE_SCHEDULER 1 +#define CONFIG_MODULE_SCHEDULER_CREATE_CONFIG 1 +#undef CONFIG_MODULE_SCHEDULER_USE_TIMERS +#define CONFIG_MODULE_SCHEDULER_TIMER0 1 +#undef CONFIG_MODULE_SCHEDULER_MANUAL +#undef CONFIG_MODULE_TIME +#undef CONFIG_MODULE_TIME_CREATE_CONFIG + +/* + * Communication modules + */ +#define CONFIG_MODULE_UART 1 +#define CONFIG_MODULE_UART_CREATE_CONFIG 1 +#undef CONFIG_MODULE_I2C +#undef CONFIG_MODULE_I2C_MASTER +#undef CONFIG_MODULE_I2C_MULTIMASTER +#undef CONFIG_MODULE_I2C_CREATE_CONFIG +#undef CONFIG_MODULE_I2C_EIRBOT +#undef CONFIG_MODULE_I2C_EIRBOT_CREATE_CONFIG +#undef CONFIG_MODULE_MF2_CLIENT +#undef CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER +#undef CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG +#undef CONFIG_MODULE_MF2_SERVER +#undef CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG + +/* + * Hardware modules + */ +#undef CONFIG_MODULE_TIMER +#undef CONFIG_MODULE_TIMER_CREATE_CONFIG +#undef CONFIG_MODULE_TIMER_DYNAMIC +#define CONFIG_MODULE_PWM 1 +#define CONFIG_MODULE_PWM_CREATE_CONFIG 1 +#undef CONFIG_MODULE_ADC +#undef
[Avr-list] aversive CVS_LOG 2008-03-11
Commit from enseirb on branch b_eirbot (2008-03-10 08:34 CET) == unioc encoders added to config files aversive config/config.in 1.48.2.4 aversive config/generate_aversive_config 1.26.2.4 = aversive/config/config.in (1.48.2.3 - 1.48.2.4) = @@ -341,12 +341,18 @@ dep_bool ' |-- Create Default encoders_microb config' CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG \ $CONFIG_MODULE_ENCODERS_MICROB - ENCODERS -bool 'Encoders (eirbot)' CONFIG_MODULE_ENCODERS_EIRBOT + ENCODERS EIRBOT 2k5 +bool 'Encoders (eirbot 2k5)' CONFIG_MODULE_ENCODERS_EIRBOT dep_bool ' |-- Create Default encoders_eirbot config' CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG \ $CONFIG_MODULE_ENCODERS_EIRBOT + ENCODERS EIRBOT UNIOC +bool 'Encoders (eirbot unioc)' CONFIG_MODULE_ENCODERS_UNIOC + +dep_bool ' |-- Create Default encoders_unioc config' CONFIG_MODULE_ENCODERS_UNIOC_CREATE_CONFIG \ + $CONFIG_MODULE_ENCODERS_UNIOC + endmenu # (encoders) mainmenu_option next_comment aversive/config/generate_aversive_config (1.26.2.3 - 1.26.2.4) @@ -28,6 +28,7 @@ CONFIG_MODULE_CCAU,devices/ccau/ccau CONFIG_MODULE_ENCODERS_MICROB,devices/encoders/encoders_microb CONFIG_MODULE_ENCODERS_EIRBOT,devices/encoders/encoders_eirbot + CONFIG_MODULE_ENCODERS_UNIOC,devices/encoders/encoders_unioc CONFIG_MODULE_TRAJECTORY_MANAGER,devices/robot/trajectory_manager CONFIG_MODULE_BLOCKING_DETECTION_MANAGER,devices/robot/blocking_detection_manager CONFIG_MODULE_OBSTACLE_AVOIDANCE,devices/robot/obstacle_avoidance ___ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2008-02-21
Commit from tof (2008-02-20 13:18 CET)
===
correction de pas mal de bugs dans le test.
celui ci devrait etre a peu pres fonctionnel
aversive_projects tof2007/taillage_engrenages_final/.config
1.2
aversive_projects tof2007/taillage_engrenages_final/adc_config.h
1.2
aversive_projects tof2007/taillage_engrenages_final/main.c
1.2
aversive_projects tof2007/taillage_engrenages_final/pap_goto_pos.c
1.2
aversive_projects tof2007/taillage_engrenages_final/pap_goto_pos_config.h
1.2
===
aversive_projects/tof2007/taillage_engrenages_final/.config (1.1 - 1.2)
===
@@ -75,14 +75,14 @@
CONFIG_MODULE_WAIT=y
CONFIG_MODULE_LIST=y
CONFIG_MODULE_SCHEDULER=y
-CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
# CONFIG_MODULE_TIME is not set
# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
#
# Communication modules
#
-# CONFIG_MODULE_UART is not set
+CONFIG_MODULE_UART=y
# CONFIG_MODULE_UART_CREATE_CONFIG is not set
#
@@ -91,7 +91,7 @@
# CONFIG_MODULE_PWM is not set
# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
CONFIG_MODULE_ADC=y
-CONFIG_MODULE_ADC_CREATE_CONFIG=y
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
#
# IHM modules
@@ -110,7 +110,7 @@
# CONFIG_MODULE_KBD_MATRIX_4X4 is not set
# CONFIG_MODULE_KBD_MATRIX_4X4_CREATE_CONFIG is not set
CONFIG_MODULE_KBD_MATRIX_4X4_4PORT=y
-CONFIG_MODULE_KBD_MATRIX_4X4_4PORT_CREATE_CONFIG=y
+# CONFIG_MODULE_KBD_MATRIX_4X4_4PORT_CREATE_CONFIG is not set
# CONFIG_MODULE_MULTISERVO is not set
# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
aversive_projects/tof2007/taillage_engrenages_final/adc_config.h (1.1 - 1.2)
@@ -1,7 +1,7 @@
#ifndef _ADC_CONFIG_H_
#define _ADC_CONFIG_H_
-// mappage des entrées ADC (noms utilisateur)
+// mappage des entrees ADC (noms utilisateur)
#define MUX_ADC_X MUX_ADC1
#define MUX_ADC_Y MUX_ADC2
#define MUX_ADC_Z MUX_ADC0
@@ -9,17 +9,12 @@
// constantes venant de l'ADC travaillant sur 10 bits
-#define JOYSTICK_MAX_VALUE 1024
-#define JOYSTICK_NEUTRE 512
-
-#define JOYSTICK_ZONE_MORTE 128 // zone morte de 1/4 de la course
-
-// calcul de la valeur nette maximale
-#define JOYSTICK_H (JOYSTICK_MAX_VALUE - JOYSTICK_NEUTRE -
JOYSTICK_ZONE_MORTE)
-#define JOYSTICK_B ( 0 - JOYSTICK_NEUTRE +
JOYSTICK_ZONE_MORTE)
-#define JOYSTICK_NET_VALEUR_MAX (JOYSTICK_H-JOYSTICK_B ? JOYSTICK_H :
-JOYSTICK_B)
+#define JOYSTICK_EXCURSION480 // valeur brute max en + ou - theoriquement
512, mais les halls ne sont pas vraiment rail2rail
+#define JOYSTICK_NEUTRE 512 // mi-course
+#define JOYSTICK_ZONE_MORTE 64 // zone morte de 1/8
+#define JOYSTICK_NET_VALEUR_MAX (JOYSTICK_EXCURSION - JOYSTICK_ZONE_MORTE)
#endif // _ADC_CONFIG_H_
==
aversive_projects/tof2007/taillage_engrenages_final/main.c (1.1 - 1.2)
==
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.1 2008-02-11 14:32:29 tof Exp $
+ * Revision : $Id: main.c,v 1.2 2008-02-20 12:18:12 tof Exp $
*
*/
@@ -25,7 +25,7 @@
#include adc.h
//#include uart.h
#include stdio.h
-#include aversive_pgmspace.h
+#include avr/pgmspace.h
#include scheduler.h
#include lcd.h
#include kbd.h
@@ -100,7 +100,7 @@
break;
case KBD_RELEASED:
- printf(\f);
+ //printf(\f);
g_affichage_joy_active = 1;
break;
}
@@ -111,7 +111,7 @@
int main(void)
{
- // uart désactivée
+ // uart (debug)
//uart_init();
//fdevopen((void *)uart0_send,NULL,0);
@@ -124,7 +124,7 @@
lcd_init(LCD_DISP_ON);
fdevopen((void*)lcd_dev_putc ,NULL, 0);
- printf_P(PSTR(\fBonjour\ntest des moteurs));
+ printf_P(PSTR(\fBonjour 17/02 2\ntest des moteurs));
wait_ms(1000);
printf_P(PSTR(\f));
@@ -133,8 +133,8 @@
scheduler_add_periodical_event_priority(pap_manage, NULL, 1, 250);
//high prio à 4kHz
int max_speed= PAP_FREQ_MAX; // vitesse max pendant le
deplacement vers un point
- int min_speed= PAP_FREQ_MAX / 100;// vitesse de démarrage
- int acceleration = 20 ; // accélération max. unités =
pas² / 25.6ms
+ int min_speed= 0; // vitesse de démarrage
+ int acceleration = 10 ;
[Avr-list] aversive CVS_LOG 2008-01-11
Commit from zer0 (2008-01-10 20:21 CET)
another merge from b_zer0
aversive config/config.in
1.48
aversive mk/aversive_project.mk
1.38
aversive
modules/devices/control_system/control_system_manager/control_system_manager.h
1.10
aversive modules/devices/control_system/filters/ramp/ramp.h
1.5
aversive modules/devices/encoders/encoders_microb/encoders_microb.c
1.8
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
1.3
=
aversive/config/config.in (1.47 - 1.48)
=
@@ -330,11 +330,10 @@
$CONFIG_MODULE_FIXED_POINT
BLOCKING DETECTION MANAGER
-dep_bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER
\
- $CONFIG_MODULE_ROBOT_SYSTEM
+bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER
OBSTACLE AVOIDANCE
-dep_bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE
+bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE
endmenu # (robot)
===
aversive/mk/aversive_project.mk (1.37 - 1.38)
===
@@ -113,8 +113,8 @@
AVRDUDE_FLAGS = -e -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q
-ifneq ($(DELAY),)
-AVRDUDE_FLAGS += -i $(DELAY)
+ifneq ($(AVRDUDE_DELAY),)
+AVRDUDE_FLAGS += -i $(AVRDUDE_DELAY)
endif
export AVRDUDE_FLAGS
===
aversive/modules/devices/control_system/control_system_manager/control_system_manager.h
(1.9 - 1.10)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: control_system_manager.h,v 1.9 2008-01-08 20:05:03 zer0
Exp $
+ * Revision : $Id: control_system_manager.h,v 1.10 2008-01-10 19:21:48 zer0
Exp $
*
*/
@@ -114,22 +114,22 @@
void cs_manage(void * cs);
/** Return the last process out send to process */
-int32_t cs_get_out( struct cs* cs);
+int32_t cs_get_out(struct cs* cs);
/** Return the last calculated error */
-int32_t cs_get_error( struct cs* cs);
+int32_t cs_get_error(struct cs* cs);
/** Return the current consign */
-int32_t cs_get_consign( struct cs* cs);
+int32_t cs_get_consign(struct cs* cs);
/** Return the current consign, after filter */
-int32_t cs_get_filtered_consign( struct cs* cs);
+int32_t cs_get_filtered_consign(struct cs* cs);
/** Return the last feedback value, after filter */
-int32_t cs_get_filtered_feedback( struct cs* cs);
+int32_t cs_get_filtered_feedback(struct cs* cs);
/** Change the consign without calculating control system */
-void cs_set_consign( struct cs* cs, int32_t v);
+void cs_set_consign(struct cs* cs, int32_t v);
#endif /* #ifndef _CONTROL_SYSTEM_MANAGER_ */
===
aversive/modules/devices/control_system/filters/ramp/ramp.h (1.4 - 1.5)
===
@@ -37,9 +37,9 @@
/** \brief Definition of structur ramp_filter */
struct ramp_filter {
- uint32_t var_neg; /**Authorized negative variation*/
- uint32_t var_pos; /**Authorized positive variation*/
- int32_t prev_out;/**Previous value calculated*/
+ uint32_t var_neg; /**Authorized negative variation*/
+ uint32_t var_pos; /**Authorized positive variation*/
+ int32_t prev_out;/**Previous value calculated*/
};
===
aversive/modules/devices/encoders/encoders_microb/encoders_microb.c (1.7 -
1.8)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: encoders_microb.c,v 1.7 2007-05-24 13:08:47 zer0 Exp $
+ * Revision : $Id: encoders_microb.c,v 1.8 2008-01-10 19:21:48 zer0 Exp $
*
*/
@@ -57,7 +57,6 @@
#include aversive.h
#include aversive/wait.h
-#include f64.h
#include encoders_microb.h
#include encoders_microb_config.h
==
aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
(1.2 - 1.3)
==
@@ -15,16 +15,19 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision :
[Avr-list] aversive CVS_LOG 2007-12-06
Commit from zer0 on branch b_zer0 (2007-12-05 19:08 CET)
=
Add ability to filter the derivate term in the PID
aversive config/Configure.help
1.13.4.11
aversive config/config.in
1.42.4.13
aversive modules/devices/control_system/filters/pid/pid.c
1.5.4.4
aversive modules/devices/control_system/filters/pid/pid.h
1.4.4.5
aversive modules/devices/control_system/filters/pid/config/pid_config.h
1.1.10.2
aversive modules/devices/control_system/filters/pid/test/.config
1.7.4.8
aversive modules/devices/control_system/filters/pid/test/main.c
1.4.6.3
aversive modules/devices/control_system/filters/pid/test/pid_config.h
1.1.10.2
==
aversive/config/Configure.help (1.13.4.10 - 1.13.4.11)
==
@@ -232,6 +232,10 @@
CONFIG_MODULE_PID
This filter provides a PID (proportionnal, integral, derivate).
+CONFIG_MODULE_PID_CREATE_CONFIG
+ Create a pid_config.h file if it does not exist, with a default
+ configuration.
+
CONFIG_MODULE_RAMP
This module limits the variation of the input of the filter. It can
be used in a speed control system as a consign filter to set a
=
aversive/config/config.in (1.42.4.12 - 1.42.4.13)
=
@@ -328,6 +328,9 @@
bool 'PID' CONFIG_MODULE_PID
+dep_bool ' |-- Create Default PID config' CONFIG_MODULE_PID_CREATE_CONFIG \
+ $CONFIG_MODULE_PID
+
bool 'ramp' CONFIG_MODULE_RAMP
bool 'Quadramp' CONFIG_MODULE_QUADRAMP
=
aversive/modules/devices/control_system/filters/pid/pid.c (1.5.4.3 - 1.5.4.4)
=
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: pid.c,v 1.5.4.3 2007-12-04 09:29:25 zer0 Exp $
+ * Revision : $Id: pid.c,v 1.5.4.4 2007-12-05 18:08:39 zer0 Exp $
*
*/
@@ -30,6 +30,7 @@
IRQ_LOCK(flags);
memset(p, 0, sizeof(*p));
p-gain_P = 1 ;
+ p-derivate_nb_samples = 1;
IRQ_UNLOCK(flags);
}
@@ -61,6 +62,22 @@
IRQ_UNLOCK(flags);
}
+int8_t pid_set_derivate_filter(struct pid_filter *p, uint8_t nb_samples)
+{
+ uint8_t flags;
+ int8_t ret;
+ IRQ_LOCK(flags);
+ if (nb_samples PID_DERIVATE_FILTER_MAX_SIZE) {
+ ret = -1;
+ }
+ else {
+ p-derivate_nb_samples = nb_samples;
+ ret = 0;
+ }
+ IRQ_UNLOCK(flags);
+ return ret;
+}
+
int16_t pid_get_gain_P(struct pid_filter *p)
{
return (p-gain_P);
@@ -98,6 +115,11 @@
return (p-out_shift);
}
+uint8_t pid_get_derivate_filter(struct pid_filter *p)
+{
+ return (p-derivate_nb_samples);
+}
+
int32_t pid_get_value_I(struct pid_filter *p)
{
uint8_t flags;
@@ -113,7 +135,7 @@
uint8_t flags;
int32_t ret;
IRQ_LOCK(flags);
- ret = (p-prev_in);
+ ret = p-prev_samples[p-index];
IRQ_UNLOCK(flags);
return ret;
}
@@ -123,7 +145,7 @@
uint8_t flags;
int32_t ret;
IRQ_LOCK(flags);
- ret = (p-prev_D);
+ ret = p-prev_D;
IRQ_UNLOCK(flags);
return ret;
}
@@ -144,6 +166,7 @@
int32_t derivate ;
int32_t command ;
struct pid_filter * p = data;
+ uint8_t prev_index;
/*
* Integral value : the integral become bigger with time .. (think
@@ -151,12 +174,19 @@
* integral = previous integral + current value
*/
- /* derivate value*/
- /* f(t+h) - f(t)with f(t+h) = current value */
- /* derivate = - f(t) = previous value */
- /*h */
- /* so derivate = current error - previous error */
- derivate = in - p-prev_in ;
+ /* derivate value
+ * f(t+h) - f(t)with f(t+h) = current value
+ * derivate = - f(t) = previous value
+ *h
+ * so derivate = current error - previous error
+ *
+ * We can apply a filter to reduce noise on the derivate term,
+ * by using a bigger period.
+ */
+
+ prev_index = p-index + 1;
+ prev_index %= p-derivate_nb_samples;
+ derivate = in - p-prev_samples[prev_index];
/* saturate input... it influences integral */
if (p-max_in)
@@ -182,9 +212,11 @@
/* backup of current error value (for the next calcul of derivate
value) */
-
[Avr-list] aversive CVS_LOG 2007-11-28
Commit from zer0 on branch b_zer0 (2007-11-28 00:16 CET)
=
Allow scheduler to be scheduled manually
aversive config/Configure.help 1.13.4.10
aversive config/config.in 1.42.4.12
aversive modules/base/scheduler/scheduler.c1.9.4.4
aversive modules/base/scheduler/scheduler.h1.8.4.8
aversive modules/base/scheduler/scheduler_private.h1.1.2.7
aversive modules/base/scheduler/config/scheduler_config.h 1.1.10.8
aversive modules/base/scheduler/test/scheduler_config.h1.4.10.7
aversive modules/base/time/time.c 1.4.4.2
==
aversive/config/Configure.help (1.13.4.9 - 1.13.4.10)
==
@@ -62,10 +62,14 @@
Create a scheduler_config.h file if it does not exist, with a default
configuration.
-CONFIG_MODULE_SCHEDULER_USE_TIMERS
- Use the hardware/timer module to call the scheduler. Thanks to it,
- it can support many archs and timers. If you don't enable it, you
- must use TIMER0 overflow interrupt, and only some AVR are supported.
+CONFIG_MODULE_SCHEDULER_TIMER0
+ Use either the hardware/timer module, the timer0 or a manual call
+ for the to call the scheduler. The generic timer module support
+ many archs and timers. If you don't enable it, you must use TIMER0
+ overflow interrupt, and only some AVR are supported, or you should
+ can call the scheduler manually. In this case, the SCHEDULER_UNIT
+ macro has to be defined in configuration file.
+
CONFIG_TIME
This module can be used to get a human readable time. It uses the
=
aversive/config/config.in (1.42.4.11 - 1.42.4.12)
=
@@ -129,9 +129,9 @@
dep_bool ' |-- Create Default scheduler config'
CONFIG_MODULE_SCHEDULER_CREATE_CONFIG \
$CONFIG_MODULE_SCHEDULER
-dep_bool ' |-- Use timer module (recommended)'
CONFIG_MODULE_SCHEDULER_USE_TIMERS \
- $CONFIG_MODULE_TIMER \
- $CONFIG_MODULE_SCHEDULER
+choice 'Scheduler config' use_timer_module CONFIG_MODULE_SCHEDULER_USE_TIMERS\
+ use_timer0 CONFIG_MODULE_SCHEDULER_TIMER0\
+ manual CONFIG_MODULE_SCHEDULER_MANUAL use_timer_module
TIME
dep_bool 'Time' CONFIG_MODULE_TIME \
===
aversive/modules/base/scheduler/scheduler.c (1.9.4.3 - 1.9.4.4)
===
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler.c,v 1.9.4.3 2007-05-23 17:18:11 zer0 Exp $
+ * Revision : $Id: scheduler.c,v 1.9.4.4 2007-11-27 23:16:14 zer0 Exp $
*
*/
@@ -41,7 +41,9 @@
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
SCHEDULER_TIMER_REGISTER();
-#else
+#endif
+
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
/* activation of corresponding interrupt */
sbi(TIMSK, TOIE0);
@@ -51,7 +53,7 @@
}
-#ifndef CONFIG_MODULE_SCHEDULER_USE_TIMERS
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
SIGNAL(SIG_OVERFLOW0)
{
scheduler_interrupt();
===
aversive/modules/base/scheduler/scheduler.h (1.8.4.7 - 1.8.4.8)
===
@@ -1,5 +1,5 @@
/*
- * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * Copyright Droids Corporation (2007)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -15,20 +15,15 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler.h,v 1.8.4.7 2007-10-28 22:26:39 zer0 Exp $
+ * Revision : $Id: scheduler.h,v 1.8.4.8 2007-11-27 23:16:15 zer0 Exp $
*
*/
-/* Eirbot Microb Technology 2005 - Zer0
+/* Olivier MATZ [EMAIL PROTECTED]
* Interface of the SCHEDULER Module
*/
/** \file scheduler.h
- * \brief Interface of the SCHEDULER Module
- *
- * \todo multi arch ?
- *
- * \test nothing done
*
* This module provides a function scheduler. You can call
* scheduler_add_event for adding a function to the scheduler, and
@@ -94,16 +89,21 @@
#else
#error Bad SCHEDULER_TIMER_NUM value in config file
#endif
-#else /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
-#define SCHEDULER_TIMER_BITS 8
+
#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
+#define SCHEDULER_TIMER_BITS 8
+#endif /* CONFIG_MODULE_SCHEDULER_TIMER0 */
+
+#ifndef CONFIG_MODULE_SCHEDULER_MANUAL
+
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
#if SCHEDULER_TIMER_BITS == 8
-#define TIMER_UNIT ( 25600LL / (CONFIG_QUARTZ) )
+#define TIMER_UNIT_FLOAT ( 25600.0 / (double)(CONFIG_QUARTZ)
[Avr-list] aversive CVS_LOG 2007-10-29
Commit from zer0 on branch b_zer0 (2007-10-28 23:26 CET)
=
Add some macros
aversive include/aversive/pgmspace.h 1.1.2.2
aversive/include/aversive/pgmspace.h (1.1.2.1 - 1.1.2.2)
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: pgmspace.h,v 1.1.2.1 2007-05-23 17:18:09 zer0 Exp $
+ * Revision : $Id: pgmspace.h,v 1.1.2.2 2007-10-28 22:26:19 zer0 Exp $
*
*/
@@ -33,11 +33,29 @@
#else
+#include stdint.h
+
#define printf_P printf
+#define memcmp_P memcmp
+#define strlen_P strlen
#define vfprintf_P vfprintf
#define vsprintf_P vsprintf
#define PGM_P const char *
#define PSTR(x) x
+#define PROGMEM
+#define pgm_read_word(x) (*(x))
+#define pgm_read_byte(x) (*(x))
+
+typedef void prog_void;
+typedef char prog_char;
+typedef unsigned char prog_uchar;
+typedef int8_t prog_int8_t;
+typedef uint8_t prog_uint8_t;
+typedef int16_t prog_int16_t;
+typedef uint16_t prog_uint16_t;
+typedef int32_t prog_int32_t;
+typedef uint32_t prog_uint32_t;
+typedef int64_t prog_int64_t;
#endif /* HOST_VERSION */
#endif /* _AVERSIVE_PGMSPACE_H_ */
Commit from zer0 on branch b_zer0 (2007-10-28 23:26 CET)
=
Better accuracy of scheduler.
aversive modules/base/scheduler/scheduler_interrupt.c 1.1.2.3
aversive modules/base/scheduler/scheduler.h1.8.4.7
=
aversive/modules/base/scheduler/scheduler_interrupt.c (1.1.2.2 - 1.1.2.3)
=
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_interrupt.c,v 1.1.2.2 2007-05-23 17:18:11 zer0
Exp $
+ * Revision : $Id: scheduler_interrupt.c,v 1.1.2.3 2007-10-28 22:26:39 zer0
Exp $
*
*/
@@ -32,15 +32,16 @@
static volatile uint8_t nb_stacking=0;
-/** this function is called from a timer interruption. If an event has
+/**
+ * this function is called from a timer interruption. If an event has
* to be scheduled, it will execute the fonction (IRQ are allowed
- * during the execution of the function. This interruption can be
- * interrupted by itself too, in this case it cannot executed events
- * with a lower priority.
+ * during the execution of the function). This interruption can be
+ * interrupted by itself too, in this case only events with a higher
+ * priority can be scheduled.
*
* We assume that this function is called from a SIGNAL(), with
* global interrupt flag disabled -- that's why we can use cli() and
- * sei() instead of IRQ_LOCK(f).
+ * sei() instead of IRQ_LOCK(flags).
*/
void
scheduler_interrupt(void)
@@ -52,62 +53,75 @@
/* maximize the number of imbrications */
if (nb_stacking = SCHEDULER_NB_STACKING_MAX) {
- sei();
return;
}
nb_stacking ++;
sei();
-
SLIST_INIT(event_list);
/* browse events table to determine which events should be
* scheduled */
for (i=0 ; iSCHEDULER_NB_MAX_EVENT ; i++) {
cli();
- /* decrement timer for event if it is active */
- if (g_tab_event[i].state == SCHEDULER_EVENT_ACTIVE
- g_tab_event[i].current_time 0) {
- g_tab_event[i].current_time --;
-
- /* don't need to schedule now */
- if ( g_tab_event[i].current_time != 0 ) {
- sei();
- continue;
- }
-
- /* time to schedule, but priority is too low,
- delay it */
- if (g_tab_event[i].priority priority_running) {
- g_tab_event[i].current_time = 1;
- sei();
- continue;
- }
-
- /* schedule it, because timer reached 0 and
- priority is greater than the one of the
- running task */
- g_tab_event[i].state = SCHEDULER_EVENT_SCHEDULED;
+
+ /* the event is already present in a schedule list,
+* only update its current time until it reaches 1 */
+ if (g_tab_event[i].state == SCHEDULER_EVENT_SCHEDULED
+ g_tab_event[i].current_time 1) {
+ // g_tab_event[i].current_time --;
sei();
-
- /* insert it in
[Avr-list] aversive CVS_LOG 2007-08-21
Commit from zer0 on branch b_zer0 (2007-08-20 21:08 CEST)
-
Replace macros by static inline.
aversive
modules/devices/control_system/control_system_manager/control_system_manager.c
1.7.4.2
aversive modules/devices/robot/robot_system/robot_system.c
1.6.4.4
---
aversive/modules/devices/control_system/control_system_manager/control_system_manager.c
(1.7.4.1 - 1.7.4.2)
---
***
*** 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: control_system_manager.c,v 1.7.4.1 2006-11-26 21:06:03
zer0 Exp $
*
*/
#include stdio.h
--- 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: control_system_manager.c,v 1.7.4.2 2007-08-20 19:08:31
zer0 Exp $
*
*/
#include stdio.h
***
*** 36,55
* - if pointer is null, return the IN value
* - else apply filter
*/
! #define SAFE_FILTER( f, param, value ) ({ \
! int32_t (*__f)(void *, int32_t); \
! int32_t __tmp = value;\
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags);\
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __tmp = __f(__param, value); \
! } \
! __tmp; \
! })
/** Call a processout() pointer :
* - lock the interrupts
--- 36,56
* - if pointer is null, return the IN value
* - else apply filter
*/
! static inline uint32_t
! safe_filter(int32_t (*f)(void *, int32_t), void * param, int32_t value)
! {
! int32_t (*f_tmp)(void *, int32_t);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! return f_tmp(param_tmp, value);
! }
! return value;
! }
/** Call a processout() pointer :
* - lock the interrupts
***
*** 58,77
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! #define SAFE_GETPROCESSOUT( f, param ) ({ \
! int32_t (*__f)(void *); \
! int32_t __tmp = 0;\
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags);\
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __tmp = __f(__param); \
! } \
! __tmp; \
! })
/** Call a processin() pointer :
* - lock the interrupts
--- 59,79
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! static inline uint32_t
! safe_getprocessout(int32_t (*f)(void *), void * param)
! {
! int32_t (*f_tmp)(void *);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! return f_tmp(param_tmp);
! }
! return 0;
! }
/** Call a processin() pointer :
* - lock the interrupts
***
*** 80,97
* - if pointer is null, don't do anything
* - else call the processin with the parameters
*/
! #define SAFE_SETPROCESSIN( f, param, value ) do { \
! void (*__f)(void *, int32_t); \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __f(__param, value); \
! } \
! } while(0)
/**/
--- 82,101
* - if pointer is null, don't do anything
* - else call the processin with the parameters
*/
! static inline void
! safe_setprocessin(void (*f)(void *, int32_t), void * param, int32_t value)
! {
! void
[Avr-list] aversive CVS_LOG 2007-06-13
is not set
# CONFIG_MODULE_AES_CTR is not set
# CONFIG_MODULE_MD5 is not set
***
*** 164,175
--- 180,199
#
# Encodings modules
#
+
+ #
+ # Encoding modules depend on utils module
+ #
# CONFIG_MODULE_BASE64 is not set
# CONFIG_MODULE_HAMMING is not set
#
# Debug modules
#
+
+ #
+ # Debug modules depend on utils module
+ #
# CONFIG_MODULE_DIAGNOSTIC is not set
# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
CONFIG_MODULE_ERROR=y
Commit from zer0 on branch b_zer0 (2007-06-12 18:18 CEST)
-
optimize integer sqrt() function
aversive modules/devices/control_system/filters/quadramp/quadramp.c 1.4.4.4
aversive modules/base/math/fixed_point/f16_sqrt.c1.5.4.2
aversive modules/base/math/fixed_point/f32_sqrt.c1.5.4.2
aversive modules/base/math/fixed_point/f64_sqrt.c1.5.4.2
aversive modules/base/math/fixed_point/test/main.c 1.5.4.2
---
aversive/modules/devices/control_system/filters/quadramp/quadramp.c (1.4.4.3
- 1.4.4.4)
---
***
*** 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: quadramp.c,v 1.4.4.3 2007-05-23 17:18:13 zer0 Exp $
*
*/
--- 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: quadramp.c,v 1.4.4.4 2007-06-12 16:18:43 zer0 Exp $
*
*/
***
*** 24,53
#include aversive.h
#include quadramp.h
! /* could be optimized... */
! static inline uint32_t u32_sqrt(uint32_t x)
! {
! uint32_t root=0x8000;
! uint32_t mask=0x8000;
! while(mask) {
! if( root*root x ) {
! mask = 1;
! root |= mask;
! }
! else if ( root*root x ) {
! root = ~(mask);
! mask = 1;
! root |= mask;
! continue;
! }
! else
! break;
! }
! return root;
}
! inline void quadramp_init(struct quadramp_filter * q)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 24,46
#include aversive.h
#include quadramp.h
! #define NEXT(n, i) (((n) + (i)/(n)) 1)
! static uint32_t u32_sqrt(uint32_t number) {
! uint32_t n = 1;
! uint32_t n1 = NEXT(n, number);
!
! while(ABS(n1 - n) 1) {
! n = n1;
! n1 = NEXT(n, number);
! }
! while((n1*n1) number) {
! n1 -= 1;
! }
! return n1;
}
! void quadramp_init(struct quadramp_filter * q)
{
uint8_t flags;
IRQ_LOCK(flags);
***
*** 62,68
IRQ_UNLOCK(flags);
}
! inline void quadramp_set_2nd_order_vars(struct quadramp_filter * q, uint32_t
var_2nd_ord_pos, uint32_t var_2nd_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 55,61
IRQ_UNLOCK(flags);
}
! void quadramp_set_2nd_order_vars(struct quadramp_filter * q, uint32_t
var_2nd_ord_pos, uint32_t var_2nd_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
***
*** 71,77
IRQ_UNLOCK(flags);
}
! inline void quadramp_set_1st_order_vars(struct quadramp_filter * q, uint32_t
var_1st_ord_pos, uint32_t var_1st_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 64,70
IRQ_UNLOCK(flags);
}
! void quadramp_set_1st_order_vars(struct quadramp_filter * q, uint32_t
var_1st_ord_pos, uint32_t var_1st_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
-
aversive/modules/base/math/fixed_point/f16_sqrt.c (1.5.4.1 - 1.5.4.2)
-
***
*** 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: f16_sqrt.c,v 1.5.4.1 2006-11-26 21:06:01 zer0 Exp $
*
*/
--- 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: f16_sqrt.c,v 1.5.4.2 2007-06-12 16:18:43 zer0 Exp $
*
*/
***
*** 24,52
#include s16_to_f16.h
! /* could be optimized... */
! static inline uint16_t u16_sqrt(uint16_t x)
! {
! uint16_t root=0x80;
! uint16_t mask=0x80;
! while(mask) {
! if( root*root x ) {
! mask = 1;
! root |= mask;
! }
! else if ( root*root x ) {
! root = ~(mask);
! mask = 1;
! root |= mask
[Avr-list] aversive CVS_LOG 2007-05-29
Commit from zer0 on branch b_zer0 (2007-05-28 14:43 CEST) - fix typo : aversive/conf to aversive_conf aversive Makefile 1.35.4.5 - aversive/Makefile (1.35.4.4 - 1.35.4.5) - *** *** 99,105 ### mrproper: ! find . -name autoconf.h -o -name .aversive/conf -o -name *.hex -o -name *~ -o -name *.eep -o -name *.obj -o -name *.elf -o -name *.map -o -name *.obj -o -name *.a90 -o -name *.sym -o -name *.lnk -o -name *.lss -o -name *.a -o -name *.d -o -name *.o -o -name *.d -o -name *.lst | xargs rm -f .PHONY : all clean avrall avrclean hostall hostclean \ --- 99,105 ### mrproper: ! find . -name autoconf.h -o -name .aversive_conf -o -name *.hex -o -name *~ -o -name *.eep -o -name *.obj -o -name *.elf -o -name *.map -o -name *.obj -o -name *.a90 -o -name *.sym -o -name *.lnk -o -name *.lss -o -name *.a -o -name *.d -o -name *.o -o -name *.d -o -name *.lst | xargs rm -f .PHONY : all clean avrall avrclean hostall hostclean \ Commit from zer0 on branch b_zer0 (2007-05-28 14:55 CEST) - fix deprecated include files aversive projects/example2/main.c 1.4.6.3 - aversive/projects/example2/main.c (1.4.6.2 - 1.4.6.3) - *** *** 15,26 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: main.c,v 1.4.6.2 2007-05-23 17:18:15 zer0 Exp $ * */ ! #include utils.h ! #include list.h #include uart.h --- 15,26 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: main.c,v 1.4.6.3 2007-05-28 12:55:48 zer0 Exp $ * */ ! #include aversive.h ! #include aversive/list.h #include uart.h ___ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2007-03-21
Commit from zer0 on branch b_zer0 (2007-03-20 15:23 CET) - Update scheduler config aversive modules/base/scheduler/scheduler_private.h1.1.2.2 aversive modules/base/scheduler/config/scheduler_config.h 1.1.10.3 --- aversive/modules/base/scheduler/scheduler_private.h (1.1.2.1 - 1.1.2.2) --- *** *** 15,27 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: scheduler_private.h,v 1.1.2.1 2007-03-05 14:41:07 zer0 Exp $ * */ #ifndef _SCHEDULER_PRIVATE_H_ #define _SCHEDULER_PRIVATE_H_ #include stdint.h #include aversive_queue.h --- 15,33 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: scheduler_private.h,v 1.1.2.2 2007-03-20 14:23:17 zer0 Exp $ * */ #ifndef _SCHEDULER_PRIVATE_H_ #define _SCHEDULER_PRIVATE_H_ + #if _SCHEDULER_CONFIG_VERSION_ != 2 + #warning You are using an old version of scheduler_config.h file + #warning Look in modules/base/scheduler/config directory to import changes + #warning You should define SCHEDULER_NB_STACKING_MAX and SCHEDULER_CK + #endif + #include stdint.h #include aversive_queue.h - aversive/modules/base/scheduler/config/scheduler_config.h (1.1.10.2 - 1.1.10.3) - *** *** 15,27 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: scheduler_config.h,v 1.1.10.2 2007-03-05 14:41:07 zer0 Exp $ * */ #ifndef _SCHEDULER_CONFIG_H_ #define _SCHEDULER_CONFIG_H_ /** maximum number of allocated events */ #define SCHEDULER_NB_MAX_EVENT 5 --- 15,30 * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * ! * Revision : $Id: scheduler_config.h,v 1.1.10.3 2007-03-20 14:23:17 zer0 Exp $ * */ #ifndef _SCHEDULER_CONFIG_H_ #define _SCHEDULER_CONFIG_H_ + #define _SCHEDULER_CONFIG_VERSION_ 2 + + /** maximum number of allocated events */ #define SCHEDULER_NB_MAX_EVENT 5 Commit from zer0 (2007-03-20 16:22 CET) fix adc config aversive modules/hardware/adc/test/.config 1.5 -- aversive/modules/hardware/adc/test/.config (1.4 - 1.5) -- *** *** 59,64 --- 59,65 # CONFIG_OPTM_3 is not set CONFIG_OPTM_S=y CONFIG_MATH_LIB=y + # CONFIG_FDEVOPEN_COMPAT is not set # CONFIG_MINIMAL_PRINTF is not set CONFIG_STANDARD_PRINTF=y # CONFIG_ADVANCED_PRINTF is not set *** *** 70,76 # Base modules # CONFIG_MODULE_UTILS=y - CONFIG_MODULE_UTILS_CREATE_CONFIG=y # CONFIG_MODULE_FIXED_POINT is not set # CONFIG_MODULE_VECT2 is not set CONFIG_MODULE_WAIT=y --- 71,76 *** *** 91,96 --- 91,98 # # CONFIG_MODULE_PWM is not set # CONFIG_MODULE_PWM_CREATE_CONFIG is not set + CONFIG_MODULE_ADC=y + CONFIG_MODULE_ADC_CREATE_CONFIG=y # # IHM modules *** *** 110,115 --- 112,119 # # CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set # CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set + # CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set + # CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set # # Encoders (you should enable utils and fixed_point modules to see all available encoders) *** *** 124,129 --- 128,134 # # CONFIG_MODULE_ROBOT_SYSTEM is not set # CONFIG_MODULE_POSITION_MANAGER is not set + # CONFIG_MODULE_TRAJECTORY_MANAGER is not set # # Control system modules *** *** 132,137 --- 137,159 # CONFIG_MODULE_PID is not set # CONFIG_MODULE_RAMP is not set # CONFIG_MODULE_QUADRAMP is not set + # CONFIG_MODULE_QUADRAMP_DERIVATE is not set + # CONFIG_MODULE_BIQUAD is not set + + # + # Crypto modules + # + # CONFIG_MODULE_AES is not set + # CONFIG_MODULE_AES_CTR is not set + # CONFIG_MODULE_MD5 is not set + # CONFIG_MODULE_MD5_HMAC is not set + # CONFIG_MODULE_RC4 is not set + + # + # Encodings modules + # + # CONFIG_MODULE_BASE64 is not set + # CONFIG_MODULE_HAMMING is not set # # Debug modules *** *** 142,147 --- 164,175 CONFIG_MODULE_ERROR_CREATE_CONFIG=y # + # Programmer options + # + CONFIG_AVRDUDE=y + # CONFIG_AVARICE is not set + + # # Avrdude # # CONFIG_AVRDUDE_PROG_FUTURELEC is not
[Avr-list] aversive CVS_LOG 2007-03-20
Commit from zer0 on branch b_zer0 (2007-03-20 01:06 CET) - update readme with some infos aversive README 1.3.10.4 --- aversive/README (1.3.10.3 - 1.3.10.4) --- *** *** 1,13 ! Aversive README ! --- ! This project is under GPL licence, and copyright Droids ! Corporation. See COPYING file at the root of the project for details. ! This is a development framework for AVR. You need avr-gcc suite, and ! maybe some other tools (avrdude, avarice, ...) to use it. The goal of ! this project is to provide libraries to make development on Atmel AVR ! microcontrolers easier. Once you have untared the archive (or checkouted it from the CVS), you can run 'make' to compile all tests programs. --- 1,71 ! == AVERSIVE == ! Authors (see AUTHORS file for details) : ! - Christophe RIEHL ! - Olivier MATZ ! ! (Droids-Corporation, Microb Technology, Eirbot) ! ! === Introduction ! ! This is a development framework for AVR. You need avr-gcc to run ! it. The goal of this project is to provide modules to make development ! on avr easier. ! ! Untar the archive (or checkout it from the CVS), run ./configure, it ! will generate several Makefiles (if you skip this step, the main ! Makefile will automatiquely do it for you). You can edit these files ! to customize some settings. You can now type make to compile all tests ! programs of the framework. If you want to create a new project, there ! are some examples. ! This is a development version, there are certainly a lot of ! bugs. Don't hesitate to tell us if you find one. ! - avr-list@droids-corp.org ! ! You can also have a look to our bugzilla : ! - http://bugzilla.droids-corp.org ! ! There's a page about this project : ! -http://wiki.droids-corp.org/mediawiki/index.php/Aversive ! ! === The aversive source tree ! ! config - files related to aversive configuration ! config/fuses_defs - fuse names and help ! config/gen_headers- dirty scripts for generating some .h ! config/scripts- project configuration scripts (imported ! from linux-2.4 kernel) ! ! include - generic Aversive include files, that are ! not related to a module ! ! mk - Aversive Makefiles (project, module, and ! templates) ! ! modules - modules directory. A module is a small ! library that provide a specific ! functionnality ! modules/base - common modules, frequently used ! modules/comm - communication modules (uart, spi, i2c, ...) ! modules/crypto- modules for cryptographic operations ! modules/debug - helper modules for debugging ! modules/devices - modules related to a device that is not ! part of an Atmel AVR (lcd, motors, ...) ! modules/encoding - buffer conversion (base64, hamming) ! modules/hardware - generic interfaces module for specific AVR ! hardware (timers, ADC, ...) ! modules/ihm - Human-machine interface modules (menu, and ! probably a future CLI) ! ! projects- Project examples (to be enhanced) ! projects/example1 ! projects/example2 ! ! ! === Using Aversive ! ! You need avr-gcc/avr-libc to use Aversive. Once you have untared the archive (or checkouted it from the CVS), you can run 'make' to compile all tests programs. *** *** 20,34 make menuconfig make - --- - - This is a development version, there are certainly a lot of - bugs. Don't hesitate to tell us if you find one. - - avr-list@droids-corp.org - - You can also have a look to our bugzilla : - - http://bugzilla.droids-corp.org - - There's a page about this project : - -http://wiki.droids-corp.org/mediawiki/index.php/Aversive --- 78,81 ___ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
[Avr-list] aversive CVS_LOG 2007-03-13
Commit from zer0 on branch b_zer0 (2007-03-12 23:34 CET)
-
gh one day it will work :( :( :(
aversive modules/comm/mf2_server/mf2_server.c 1.1.2.3
aversive modules/comm/mf2_server/mf2_server.h 1.1.2.2
-
aversive/modules/comm/mf2_server/mf2_server.c (1.1.2.2 - 1.1.2.3)
-
***
*** 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: mf2_server.c,v 1.1.2.2 2007-03-10 22:05:44 zer0 Exp $
*
*/
--- 15,21
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: mf2_server.c,v 1.1.2.3 2007-03-12 22:34:31 zer0 Exp $
*
*/
***
*** 34,42
#define data_0() do { sbi(DDR(MF2_SERVER_DATA_PORT), MF2_SERVER_DATA_BIT); }
while(0)
#define read_data() (bit_is_set(PIN(MF2_SERVER_DATA_PORT),
MF2_SERVER_DATA_BIT))
! #define clk_Z() do { cbi(DDR(MF2_SERVER_CLK_PORT), 2); } while(0)
! #define clk_0() do { sbi(DDR(MF2_SERVER_CLK_PORT), 2); } while(0)
! #define read_clk() (bit_is_set(PIN(MF2_SERVER_CLK_PORT), 2))
#define MF2_SERVER_STATE_READY 0
#define MF2_SERVER_STATE_SEND 1
--- 34,42
#define data_0() do { sbi(DDR(MF2_SERVER_DATA_PORT), MF2_SERVER_DATA_BIT); }
while(0)
#define read_data() (bit_is_set(PIN(MF2_SERVER_DATA_PORT),
MF2_SERVER_DATA_BIT))
! #define clk_Z() do { cbi(DDR(MF2_SERVER_CLK_PORT), MF2_SERVER_CLK_BIT); }
while(0)
! #define clk_0() do { sbi(DDR(MF2_SERVER_CLK_PORT), MF2_SERVER_CLK_BIT); }
while(0)
! #define read_clk() (bit_is_set(PIN(MF2_SERVER_CLK_PORT), MF2_SERVER_CLK_BIT))
#define MF2_SERVER_STATE_READY 0
#define MF2_SERVER_STATE_SEND 1
***
*** 49,58
static event * rx_event = NULL;
static volatile uint8_t mf2_step=0;
static volatile uint8_t mf2_parity_cpt=0;
! static volatile char mf2_data=0;
! #define WAIT_KBD_CYCLE 800
#define WAIT_KBD_CYCLE4 WAIT_KBD_CYCLE/4
--- 49,59
static event * rx_event = NULL;
static volatile uint8_t mf2_step=0;
static volatile uint8_t mf2_parity_cpt=0;
! static volatile char mf2_data_send=0;
! static volatile char mf2_data_recv=0;
! #define WAIT_KBD_CYCLE 600
#define WAIT_KBD_CYCLE4 WAIT_KBD_CYCLE/4
***
*** 114,137
return (mf2_state==MF2_SERVER_STATE_READY mf2_server_bus_free());
}
void mf2_server_timer_cb(void)
{
/*static uint16_t i=0; */
/* if it is just polling */
if (mf2_state == MF2_SERVER_STATE_READY) {
/* nothing to do if bus is free */
! if (mf2_server_bus_free()) {
/* reload timer */
timer1A_register_OC_intr_at_tics(mf2_server_timer_cb,
timer1_get()+MF2_SERVER_READ_POLL_PERIOD);
return;
}
else {
mf2_state = MF2_SERVER_STATE_RECV;
mf2_step = 1;
- clk_Z();
- data_Z();
timer1A_register_OC_intr_at_tics(mf2_server_timer_cb,
timer1_get()+MF2_SERVER_CLK_HALF_PERIOD);
return;
}
}
--- 115,154
return (mf2_state==MF2_SERVER_STATE_READY mf2_server_bus_free());
}
+ /* a virer XXX */
+ void disp(char c);
+
+ static inline void dump(void)
+ {
+ char c=0;
+ if(read_data())
+ c=1;
+ if(read_clk())
+ c|=0x10;
+ disp((char)(c));
+ }
+
void mf2_server_timer_cb(void)
{
/*static uint16_t i=0; */
/* if it is just polling */
if (mf2_state == MF2_SERVER_STATE_READY) {
+ clk_Z();
+ data_Z();
+
/* nothing to do if bus is free */
! if (!read_clk() || read_data()) {
/* reload timer */
timer1A_register_OC_intr_at_tics(mf2_server_timer_cb,
timer1_get()+MF2_SERVER_READ_POLL_PERIOD);
return;
}
+ /* the central server has something to say */
else {
mf2_state = MF2_SERVER_STATE_RECV;
mf2_step = 1;
timer1A_register_OC_intr_at_tics(mf2_server_timer_cb,
timer1_get()+MF2_SERVER_CLK_HALF_PERIOD);
+ dump();
return;
}
}
***
*** 141,155
/* reload timer */
timer1A_register_OC_intr_at_tics(mf2_server_timer_cb,
timer1_get()+MF2_SERVER_CLK_HALF_PERIOD);
if (mf2_state == MF2_SERVER_STATE_RECV) {
- /* XXX not correct */
switch(mf2_step)
[Avr-list] aversive CVS_LOG 2007-01-26
Commit from enseirb on branch eirbot (2007-01-25 14:21 CET)
Add unioc encoders to config
aversive config/config.in 1.27.4.5
aversive config/generate_aversive_config 1.17.4.5
-
aversive/config/config.in (1.27.4.4 - 1.27.4.5)
-
***
*** 261,267
dep_bool ' Create Default encoders_eirbot config'
CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG \
$CONFIG_MODULE_ENCODERS_EIRBOT
! endmenu # (encoders)
mainmenu_option next_comment
comment 'Robot specific modules'
--- 261,275
dep_bool ' Create Default encoders_eirbot config'
CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG \
$CONFIG_MODULE_ENCODERS_EIRBOT
! ENCODERS
! dep_bool 'Encoders (eirbot 2K7 UNIOC)' CONFIG_MODULE_ENCODERS_EIRBOT_2K7 \
! $CONFIG_MODULE_UTILS \
! $CONFIG_MODULE_WAIT \
!
! dep_bool ' Create Default encoders_eirbot_2K7 config'
CONFIG_MODULE_ENCODERS_EIRBOT_2K7_CREATE_CONFIG \
! $CONFIG_MODULE_ENCODERS_EIRBOT_2K7
!
! endmenu # (encoders )
mainmenu_option next_comment
comment 'Robot specific modules'
aversive/config/generate_aversive_config (1.17.4.4 - 1.17.4.5)
***
*** 17,22
--- 17,23
CONFIG_MODULE_MULTISERVO,devices/servo/multiservo
CONFIG_MODULE_ENCODERS_MICROB,devices/encoders/encoders_microb
CONFIG_MODULE_ENCODERS_EIRBOT,devices/encoders/encoders_eirbot
+
CONFIG_MODULE_ENCODERS_EIRBOT_2K7,devices/encoders/encoders_eirbot_2k7
CONFIG_MODULE_TRAJECTORY_MANAGER,devices/robot/trajectory_manager
CONFIG_MODULE_CHECKPOINT,devices/robot/checkpoint
CONFIG_MODULE_ROBOT_SYSTEM,devices/robot/robot_system
Commit from enseirb on branch eirbot (2007-01-25 14:24 CET)
Add unioc encoders
+ aversive modules/devices/encoders/encoders_eirbot_2k7/Makefile
1.1.2.1
+ aversive modules/devices/encoders/encoders_eirbot_2k7/encoders_eirbot_2k7.c
1.1.2.1
+ aversive modules/devices/encoders/encoders_eirbot_2k7/encoders_eirbot_2k7.h
1.1.2.1
--
aversive/modules/devices/encoders/encoders_eirbot_2k7/Makefile (1.1.2.1)
--
***
*** 0
--- 1,6
+ TARGET = encoders_eirbot_2k7
+
+ # List C source files here. (C dependencies are automatically generated.)
+ SRC = encoders_eirbot_2k7.c
+
+ include $(AVERSIVE_DIR)/mk/aversive_module.mk
---
aversive/modules/devices/encoders/encoders_eirbot_2k7/encoders_eirbot_2k7.c
(1.1.2.1)
---
***
*** 0
--- 1,88
+ /*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: encoders_eirbot_2k7.c,v 1.1.2.1 2007-01-25 13:24:29
enseirb Exp $
+ *
+ */
+
+ /** \file encoders_eirbot_2k7b.c
+ * \brief achieves acess to incremental encoders managed by a FPGA and
accessed via external ram interface
+ *
+ * \todo nothing !
+ *
+ * \test
+ *
+ * this modules reads 8 bit encoders values on an external interface.
+ * there are two necessary busses with the interface logic: 8 bit data bus
and a n bits selection bus.
+ * ( see the VDHL for the xilinx program)
+ * with n bits on the selection bus, you can acess to 2^n encoderss.
+ *
+ * modifié par lamygale le 10 octobre 2005. d'apres le code 2004 du codeur
+ *
+ */
+
+
+
+ #include utils.h
+
+
+ #include encoders_eirbot_2k7.h
+
+ #include encoders_eirbot_2k7_config.h
+
+ /**
+ * fonction utilisée 2 fois seulement, acquiert un codeur
+ */
+ inline int32_t get_encoder(uint8_t num)
+ {
+ int32_t val;
+ uint8_t *reg;
+ uint8_t flags;
+
+ // calcul de l'adresse de base des 4 registres conservant la valeur
codeur
+ reg = (uint16_t)BASE_ADRESS_ENCODERS + 4*
[Avr-list] aversive CVS_LOG 2007-01-10
Commit from tof on branch b_tof (2007-01-09 20:36 CET) --- adding quadramp derivate aversive config/Configure.help 1.13.2.4 aversive config/config.in 1.42.2.4 aversive config/generate_aversive_config 1.23.2.4 + aversive modules/devices/control_system/filters/quadramp_derivate/Makefile 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/quadramp_derivate.c 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/quadramp_derivate.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/Makefile 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/brushless_3phase_digital_hall_double_config.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/error_config.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/main.c 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/pwm_config.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/time_config.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/uart_config.h 1.1.2.1 + aversive modules/devices/control_system/filters/quadramp_derivate/test/utils_config.h 1.1.2.1 -- aversive/config/Configure.help (1.13.2.3 - 1.13.2.4) -- *** *** 187,192 --- 187,199 system as a consign filter to specify a maximum acceleration and a maximum speed. + CONFIG_MODULE_QUADRAMP_DERIVATE + This module generates the same kind of ramp than the quadramp. + however here we generate the derivate of this ramp, which is a speed + consign which can be fed to a speed PID. + The advantages are less computation (no square root), and a better + robustness against blocking. + CONFIG_MODULE_BIQUAD This module is a general digital filter. It is very useful for all filtering purposes, not only for control loops. You can implement *** *** 238,245 saving the configuration. This script uses avrdude to program the fuse value of your target device. NOT IMPLEMENTED YET. CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL This module drives a 3-phase synchronous motor (called brushless) This is done with 3 hall sensors who give the position of the rotor. The controller polls these sensors, and updates 3 PWM outputs to drive ! the 3 phases. \ No newline at end of file --- 245,260 saving the configuration. This script uses avrdude to program the fuse value of your target device. NOT IMPLEMENTED YET. + CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL This module drives a 3-phase synchronous motor (called brushless) This is done with 3 hall sensors who give the position of the rotor. The controller polls these sensors, and updates 3 PWM outputs to drive ! the 3 phases. ! ! CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE ! This is a double implementation of the MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL ! This module drives two 3-phase synchronous motor (called brushless) ! This is done with 3 hall sensors who give the position of the rotor. ! The controller polls these sensors, and updates 3 PWM outputs to drive ! the 3 phases of each motor \ No newline at end of file - aversive/config/config.in (1.42.2.3 - 1.42.2.4) - *** *** 183,193 ADC (not yet) ! # dep_bool 'ADC' CONFIG_MODULE_ADC \ ! # $CONFIG_MODULE_UTILS ! # dep_bool ' Create Default adc config' CONFIG_MODULE_ADC_CREATE_CONFIG \ ! # $CONFIG_MODULE_ADC endmenu --- 183,193 ADC (not yet) ! dep_bool 'ADC' CONFIG_MODULE_ADC \ ! $CONFIG_MODULE_UTILS ! dep_bool ' Create Default adc config' CONFIG_MODULE_ADC_CREATE_CONFIG \ ! $CONFIG_MODULE_ADC endmenu *** *** 232,237 --- 232,245 dep_bool ' Create Default brushless_3phase_digital_hall config' CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG \ $CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL + CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE + dep_bool 'two 3 phase motor with digital hall sensors
