[Avr-list] Aversive sur dspic33
Salut la jeunesse, Comme certains d'entre vous le savent déjà, mon équipe (I-Grebot) a effectué un portage d'aversive sur dspic33 pour la coupe cette année. (dspic33fj128mc802) L'idée étant que ça puisse servir à d'autres, nous espérons que ce travail pourrait à terme être intégré dans aversive. Dans cette optique j'ai tenté de réduire au maximum l'écart entre notre code et ce qui m'a semblé être la version la plus récente des sources officielles (snapshot de la branche b_zer0 du 30 juin). Le code fonctionne en l'état mais il manque dans le patch certaines choses, à savoir surtout un système de build (nous avons pour le moment tout mis en dur dans MPLAB...) et de configuration. Bref, assez de blabla, voici le patch. (en fichier attaché). Simon include/aversive.h | 31 +- include/aversive/irq_lock.h | 17 + include/aversive/parts.h |2 include/dspic/inttypes.h | 13 include/dspic/stdint.h |4 modules/base/scheduler/scheduler.c | 30 ++ modules/devices/encoders/encoders_igrebot/config/encoders_igrebot_config.h | 33 ++ modules/devices/encoders/encoders_igrebot/encoders_igrebot.c | 115 modules/devices/encoders/encoders_igrebot/encoders_igrebot.h | 47 +++ modules/devices/robot/position_manager/position_manager.c |2 modules/devices/robot/trajectory_manager/trajectory_manager.c | 10 modules/devices/robot/trajectory_manager/trajectory_manager.h |3 modules/hardware/pwm_igrebot/config/pwm_config.h | 52 +++ modules/hardware/pwm_igrebot/pwm_igrebot.c | 136 ++ modules/hardware/pwm_igrebot/pwm_igrebot.h | 54 +++ 15 files changed, 540 insertions(+), 9 deletions(-) ___ 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 2009-04-26
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
Re: [Avr-list] aversive CVS_LOG 2009-03-18
yop
j'ai deja eu ce pb la. je pense qu'il y a 2 cas:
- evenement cyclique : error
- evenement unique : il faudrait ne pas faire d'erreur mais scheduler un
evenement des la prochaine exec du scheduler.
en fait, pour ca il suffit de passer 1 au lieu de 0 a la fonction. si
la periode est issue d'un calcul (c'est le cas de nos bras-ventouses
cette annee), alors soit tu regardes la valeur de retour, soit tu
t'arranges pour faire un test de ce style:
time = calcul_complexe();
if (time SCHEDULER_UNIT)
time = SCHEDULER_UNIT;
ret = scheduler_add_event(SCHEDULER_SINGLE, func, data,
time/SCHEDULER_UNIT, MY_PRIO);
if (ret) {
/* traitement du code d'erreur */
}
Oliv
___
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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
Re: [Avr-list] aversive CVS_LOG 2009-03-18
root a écrit : Commit from zer0 on branch b_zer0 (2009-03-17 19:50 CET) = if period givent to scheduler is 0, return an error (instead of scheduling a very long event) aversive modules/base/scheduler/scheduler_add.c 1.1.2.3 coucou les gnous j'ai deja eu ce pb la. je pense qu'il y a 2 cas: - evenement cyclique : error - evenement unique : il faudrait ne pas faire d'erreur mais scheduler un evenement des la prochaine exec du scheduler. C'est necessaire, a mon avis dans 2 cas : - calcul de temps = ticks trop petit pour faire une unite : il est logique d'executer l'evenemnt directement - si on veut executer le plus vite un evenement (pour changer de priorite par exemple) tof ___ 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,
+
Re: [Avr-list] aversive CVS_LOG 2008-06-15
yop tof,
Pour les macros extr_xxx, elles ne ressemblent plus à ça dans la
head : ça fait raler gcc-4.2 sinon, du coup je les avais refait d'une
manière plus correcte.
http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive/include/
aversive.h?revision=1.4view=markup
Sinon bien vu pour le reset().
Le 15 juin 08 à 06:52, root a écrit :
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.DDB1.1.2.2
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=2
1
+ */
#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 |=
[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)
}
___
Avr-list mailing list
Avr-list@droids-corp.org
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 {
-
Re: [Avr-list] aversive 1.1
- rendre la configuration sous possible avec ncurses et/ou tk sous linux ET sous windows, de maniere native (on pourra toujours distribuer un binaire pour win). Mais c'est déjà natif sous linux le curse... non ? oui, du moment que tu as la lib. Mais après le script qui fait le menuconfig utilise une version modifiée de dialog qui utilise ncurses. ___ 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
Re: [Avr-list] aversive 1.1
Tiens en parlant de bootloader, je ne connais pas le butterfly mais perso j'aime pas dépendre d'un programme supplémentaire (ie en plus de la toolchain habituelle) pour programmer le bestiau. Quand je bossais avec des PICs (ahem) j'avais modifié un bootloader tiré d'un AN, il prenait directement le .hex (:12345 etc...) sur un port série, ce qui fait que $ cat prog.hex /dev/ttyS0 programmait directement le truc (le bootloader se chargeait de vérifier l'ancien/nouveau byte pour ne pas le réécrire inutilement), y'avait pas de protocole particulier entre le bootloader et le pc host. Je me suis pas encore trop documenté sur le projet, mais je me dis que le bootloader est capable de faire d'autre trucs qu'un simple update de flash : eeprom et fusibles par exemple. Après, meme si c'est vrai que tu peux programmer de n'importe quelle machine qui n'a pas l'outil (avrdude, avarice, ...), tu en as qd meme besoin pour la premiere fois, et tu as toujours besoin d'avoir les outils de compil, donc t'es plus à un package près :p Mais j'avoue que c'est pas completement con :) ___ 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
Re: [Avr-list] aversive 1.1
On Wed, May 14, 2008 at 10:26:56PM +0200, JD wrote: Au passage si tu as besoin d'aide/avis/etc sur le dev ou autre n'hésite pas :) la liste et Eirbot est remplie de bonne volontée (bon pour Eirbot ils sont pas encore tout à fait au courant mais ça va changer ;P). Alors oui évidemment ça me dit d'avoir de l'aide... si par exemple quelqu'un a déjà mis en place un bootloader sur liaison série (LeBomb l'avait fait, avec un dongle bluetooth si je me souviens bien), ça me dit bien d'avoir des infos. Après, comme je le disais dans mon mail précédent, j'ai envie de refondre un peu le framework -- attention tof va raler :p -- ; sachant que l'idée c'est de pouvoir: - Avoir plusieurs 'config.in' (ou équivalent) dans chaque répertoire de module, plutot qu'un global. Ca rend les merge et l'ajout d'un nouveau module plus facile (typiquement ce qui est fait avec les Kconfig depuis linux-2.6) - Du coup ça implique de supprimer la liste des modules dans le script generate_aversive_config - Une fois que ça c'est fait, gros progrès, on peut avoir des modules privés : un utilisateur peut avoir un ou plusieurs répertoires dans lequel chercher ses modules aversive, en plus du aversive/modules classique. Ca veut dire que si quelqu'un a des modules très spécifiques, ils peuvent etre géré en conf ailleurs que dans aversive. - avoir une meilleure gestion des dépendances (pour le moment, qd on touche à un makefile, un make mrproper est souvent nécessaire) - possibilité de faire de la cross-compilation pour une autre plateforme facilement : ça n'a rien d'absolument nécessaire, mais si ça marche, ça montrerait que le framework est bien foutu (et il pourra etre utilisé pour des projets pas à base d'AVR) - rendre la configuration sous possible avec ncurses et/ou tk sous linux ET sous windows, de maniere native (on pourra toujours distribuer un binaire pour win). Si vous avez d'autres requetes... ___ 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
Re: [Avr-list] aversive 1.1
2008/5/15 Olivier MATZ [EMAIL PROTECTED]: On Wed, May 14, 2008 at 10:26:56PM +0200, JD wrote: Au passage si tu as besoin d'aide/avis/etc sur le dev ou autre n'hésite pas :) la liste et Eirbot est remplie de bonne volontée (bon pour Eirbot ils sont pas encore tout à fait au courant mais ça va changer ;P). Alors oui évidemment ça me dit d'avoir de l'aide... si par exemple quelqu'un a déjà mis en place un bootloader sur liaison série (LeBomb l'avait fait, avec un dongle bluetooth si je me souviens bien), ça me dit bien d'avoir des infos. Après, comme je le disais dans mon mail précédent, j'ai envie de refondre un peu le framework -- attention tof va raler :p -- ; sachant que l'idée c'est de pouvoir: - Avoir plusieurs 'config.in' (ou équivalent) dans chaque répertoire de module, plutot qu'un global. Ca rend les merge et l'ajout d'un nouveau module plus facile (typiquement ce qui est fait avec les Kconfig depuis linux-2.6) Là j'approuve... - Du coup ça implique de supprimer la liste des modules dans le script generate_aversive_config - Une fois que ça c'est fait, gros progrès, on peut avoir des modules privés : un utilisateur peut avoir un ou plusieurs répertoires dans lequel chercher ses modules aversive, en plus du aversive/modules classique. Ca veut dire que si quelqu'un a des modules très spécifiques, ils peuvent etre géré en conf ailleurs que dans aversive. J'approuve totalement même :) - avoir une meilleure gestion des dépendances (pour le moment, qd on touche à un makefile, un make mrproper est souvent nécessaire) - possibilité de faire de la cross-compilation pour une autre plateforme facilement : ça n'a rien d'absolument nécessaire, mais si ça marche, ça montrerait que le framework est bien foutu (et il pourra etre utilisé pour des projets pas à base d'AVR) - rendre la configuration sous possible avec ncurses et/ou tk sous linux ET sous windows, de maniere native (on pourra toujours distribuer un binaire pour win). Mais c'est déjà natif sous linux le curse... non ? JD. ___ 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 1.1
Pour marquer la fin de la coupe, j'en ai profité pour sortir une nouvelle version stable d'aversive. Je fais pas la liste des nouvelles features, il y en a un peu trop, ça faisait quand même 2 ans depuis la dernière version... J'essaierai d'être plus régulier les prochaines fois. Au menu de la 1.2, j'aimerais bien ajouter un bootloader compatible butterfly, un nouveau framework (j'en dirai plus bientôt), et un intégrer les modules de la branche eirbot (AX12 notamment). Olivier ___ 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
Re: [Avr-list] aversive 1.1
Au passage si tu as besoin d'aide/avis/etc sur le dev ou autre n'hésite pas :) la liste et Eirbot est remplie de bonne volontée (bon pour Eirbot ils sont pas encore tout à fait au courant mais ça va changer ;P). JD, lève son verre à la 1.1. PS: Bon c'est du jus de pomme certes (j'ai pas les moyens moi !) mais le coeur y est ;) 2008/5/14 Olivier MATZ [EMAIL PROTECTED]: Pour marquer la fin de la coupe, j'en ai profité pour sortir une nouvelle version stable d'aversive. Je fais pas la liste des nouvelles features, il y en a un peu trop, ça faisait quand même 2 ans depuis la dernière version... J'essaierai d'être plus régulier les prochaines fois. Au menu de la 1.2, j'aimerais bien ajouter un bootloader compatible butterfly, un nouveau framework (j'en dirai plus bientôt), et un intégrer les modules de la branche eirbot (AX12 notamment). Olivier ___ 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 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
Re: [Avr-list] aversive 1.1
bonne santé à tous! heureux pour les vainqueurs et les autres Amitiés, A bientot philippe dansaert Le 14/05/08, Julien LE GUEN[EMAIL PROTECTED] a écrit : 2008/5/14 JD [EMAIL PROTECTED]: Au passage si tu as besoin d'aide/avis/etc sur le dev ou autre n'hésite pas :) la liste et Eirbot est remplie de bonne volontée (bon pour Eirbot ils sont pas encore tout à fait au courant mais ça va changer ;P). JD, lève son verre à la 1.1. PS: Bon c'est du jus de pomme certes (j'ai pas les moyens moi !) mais le coeur y est ;) Grmbl moi je suis a l'eau au boulot :'( (ouais y'en a qui bossent encore bande de feignants) C'est cool pour la 1.1 ! Bon par contre ne compte pas sur Esial pour bosser dessus ils savent meme plus que ca existe (ni ce qu'est un asserv qui fonctionne, en passant... :) 2008/5/14 Olivier MATZ [EMAIL PROTECTED]: Pour marquer la fin de la coupe, j'en ai profité pour sortir une nouvelle version stable d'aversive. Je fais pas la liste des nouvelles features, il y en a un peu trop, ça faisait quand même 2 ans depuis la dernière version... J'essaierai d'être plus régulier les prochaines fois. Au menu de la 1.2, j'aimerais bien ajouter un bootloader compatible butterfly, un nouveau framework (j'en dirai plus bientôt), et un intégrer les modules de la branche eirbot (AX12 notamment). Olivier ___ 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 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 -- Julien Le Guen -- [EMAIL PROTECTED] [EMAIL PROTECTED] Le Pertre 35 370 Bretagne France 33 0 272 250 489 ___ 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
Re: [Avr-list] aversive 1.1
je me lève pour saluer apple amities attention je debute sur le netet j'ai 63 ans à plus philippe dansaert Le 14/05/08, NC[EMAIL PROTECTED] a écrit : +1 pour la pomme ;) JL, an apple a day ... JD wrote: Au passage si tu as besoin d'aide/avis/etc sur le dev ou autre n'hésite pas :) la liste et Eirbot est remplie de bonne volontée (bon pour Eirbot ils sont pas encore tout à fait au courant mais ça va changer ;P). JD, lève son verre à la 1.1. PS: Bon c'est du jus de pomme certes (j'ai pas les moyens moi !) mais le coeur y est ;) 2008/5/14 Olivier MATZ [EMAIL PROTECTED]: Pour marquer la fin de la coupe, j'en ai profité pour sortir une nouvelle version stable d'aversive. Je fais pas la liste des nouvelles features, il y en a un peu trop, ça faisait quand même 2 ans depuis la dernière version... J'essaierai d'être plus régulier les prochaines fois. Au menu de la 1.2, j'aimerais bien ajouter un bootloader compatible butterfly, un nouveau framework (j'en dirai plus bientôt), et un intégrer les modules de la branche eirbot (AX12 notamment). Olivier ___ 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 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 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 -- [EMAIL PROTECTED] [EMAIL PROTECTED] Le Pertre 35 370 Bretagne France 33 0 272 250 489 ___ 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
Re: [Avr-list] aversive 1.1
Le mercredi 14 mai 2008 à 22:01 +0200, Olivier MATZ a écrit : Pour marquer la fin de la coupe, j'en ai profité pour sortir une nouvelle version stable d'aversive. Je fais pas la liste des nouvelles features, il y en a un peu trop, ça faisait quand même 2 ans depuis la dernière version... J'essaierai d'être plus régulier les prochaines fois. Au menu de la 1.2, j'aimerais bien ajouter un bootloader compatible butterfly, Tiens en parlant de bootloader, je ne connais pas le butterfly mais perso j'aime pas dépendre d'un programme supplémentaire (ie en plus de la toolchain habituelle) pour programmer le bestiau. Quand je bossais avec des PICs (ahem) j'avais modifié un bootloader tiré d'un AN, il prenait directement le .hex (:12345 etc...) sur un port série, ce qui fait que $ cat prog.hex /dev/ttyS0 programmait directement le truc (le bootloader se chargeait de vérifier l'ancien/nouveau byte pour ne pas le réécrire inutilement), y'avait pas de protocole particulier entre le bootloader et le pc host. Z'en pensez quoi les gens ? (bon et si j'ai dit une connerie n'hésitez pas à éclairer ma lanterne :) Jlg un nouveau framework (j'en dirai plus bientôt), et un intégrer les modules de la branche eirbot (AX12 notamment). Olivier ___ 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 -- - Jlg - [EMAIL PROTECTED] ___ 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 2008-05-13
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
___
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 2008-05-12
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
Hello, depuis que je suis inscrit sur le liste droids, je vois passer tout plein de message a propos d'aversive. J'ai jamais regardé de près !!! Pourrais tu m'en dire plus si je veux utiliser ou participer a développement ? Merci. ___ 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
Re: [Avr-list] Aversive
Euh oui, il y des entrées dans bugzilla qui me servent de reminder notamment: http://bugzilla.droids-corp.org/cgi-bin/bugzilla/buglist.cgi? quicksearch=aversive Après si tu as des idées de trucs qui pourraient te servir, ça peut être intégré... la liste sert justement à discuter de ce genre de chose Le 14 févr. 08 à 17:40, [EMAIL PROTECTED] a écrit : Hello, depuis que je suis inscrit sur le liste droids, je vois passer tout plein de message a propos d'aversive. J'ai jamais regardé de près !!! Pourrais tu m'en dire plus si je veux utiliser ou participer a développement ? Merci. ___ 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 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 2008-01-11
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
Commit from zer0 (2007-06-12 11:56 CEST) add config file for example2 + aversive projects/example2/.config 1.1 -- aversive/projects/example2/.config (1.1) -- *** *** 0 --- 1,212 + # + # Automatically generated by make menuconfig: don't edit + # + + # + # Hardware + # + # CONFIG_MCU_AT90S2313 is not set + # CONFIG_MCU_AT90S2323 is not set + # CONFIG_MCU_AT90S is not set + # CONFIG_MCU_AT90S2343 is not set + # CONFIG_MCU_ATTINY22 is not set + # CONFIG_MCU_ATTINY26 is not set + # CONFIG_MCU_AT90S4414 is not set + # CONFIG_MCU_AT90S4433 is not set + # CONFIG_MCU_AT90S4434 is not set + # CONFIG_MCU_AT90S8515 is not set + # CONFIG_MCU_AT90S8534 is not set + # CONFIG_MCU_AT90S8535 is not set + # CONFIG_MCU_AT86RF401 is not set + # CONFIG_MCU_ATMEGA103 is not set + # CONFIG_MCU_ATMEGA603 is not set + # CONFIG_MCU_AT43USB320 is not set + # CONFIG_MCU_AT43USB355 is not set + # CONFIG_MCU_AT76C711 is not set + # CONFIG_MCU_ATMEGA8 is not set + # CONFIG_MCU_ATMEGA48 is not set + # CONFIG_MCU_ATMEGA88 is not set + # CONFIG_MCU_ATMEGA8515 is not set + # CONFIG_MCU_ATMEGA8535 is not set + # CONFIG_MCU_ATTINY13 is not set + # CONFIG_MCU_ATTINY2313 is not set + # CONFIG_MCU_ATMEGA16 is not set + # CONFIG_MCU_ATMEGA161 is not set + # CONFIG_MCU_ATMEGA162 is not set + # CONFIG_MCU_ATMEGA163 is not set + # CONFIG_MCU_ATMEGA165 is not set + # CONFIG_MCU_ATMEGA168 is not set + # CONFIG_MCU_ATMEGA169 is not set + # CONFIG_MCU_ATMEGA32 is not set + # CONFIG_MCU_ATMEGA323 is not set + # CONFIG_MCU_ATMEGA325 is not set + # CONFIG_MCU_ATMEGA3250 is not set + # CONFIG_MCU_ATMEGA64 is not set + # CONFIG_MCU_ATMEGA645 is not set + # CONFIG_MCU_ATMEGA6450 is not set + CONFIG_MCU_ATMEGA128=y + # CONFIG_MCU_AT90CAN128 is not set + # CONFIG_MCU_AT94K is not set + # CONFIG_MCU_AT90S1200 is not set + CONFIG_QUARTZ=1200 + + # + # Generation options + # + # CONFIG_OPTM_0 is not set + # CONFIG_OPTM_1 is not set + # CONFIG_OPTM_2 is not set + # 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 + CONFIG_FORMAT_IHEX=y + # CONFIG_FORMAT_SREC is not set + # CONFIG_FORMAT_BINARY is not set + + # + # Base modules + # + # CONFIG_MODULE_FIXED_POINT is not set + # CONFIG_MODULE_VECT2 is not set + # CONFIG_MODULE_SCHEDULER is not set + # CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set + # CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set + # CONFIG_MODULE_TIME is not set + # CONFIG_MODULE_TIME_CREATE_CONFIG is not set + + # + # Communication modules + # + CONFIG_MODULE_UART=y + CONFIG_MODULE_UART_CREATE_CONFIG=y + # CONFIG_MODULE_I2C is not set + # CONFIG_MODULE_I2C_MASTER is not set + # CONFIG_MODULE_I2C_MULTIMASTER is not set + # CONFIG_MODULE_I2C_CREATE_CONFIG is not set + # CONFIG_MODULE_MF2_CLIENT is not set + # CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set + # CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set + # CONFIG_MODULE_MF2_SERVER is not set + # CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set + + # + # Hardware modules + # + # CONFIG_MODULE_TIMER is not set + # CONFIG_MODULE_TIMER_CREATE_CONFIG is not set + # CONFIG_MODULE_TIMER_DYNAMIC is not set + # CONFIG_MODULE_PWM is not set + # CONFIG_MODULE_PWM_CREATE_CONFIG is not set + # CONFIG_MODULE_ADC is not set + # CONFIG_MODULE_ADC_CREATE_CONFIG is not set + + # + # IHM modules + # + # CONFIG_MODULE_MENU is not set + + # + # External devices modules + # + # CONFIG_MODULE_LCD is not set + # CONFIG_MODULE_LCD_CREATE_CONFIG is not set + # CONFIG_MODULE_MULTISERVO is not set + # CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set + + # + # Brushless motor drivers (you should enable pwm modules to see all) + # + # 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 + # + # CONFIG_MODULE_ENCODERS_MICROB is not set + # CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set + # CONFIG_MODULE_ENCODERS_EIRBOT is not set + # CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set + + # + # Robot specific modules + # + # CONFIG_MODULE_ROBOT_SYSTEM is not set + # CONFIG_MODULE_POSITION_MANAGER is not set + # CONFIG_MODULE_TRAJECTORY_MANAGER is not set + + # + # Control system modules + # + # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set + # 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 + # 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
[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 1.1
Hello, Les features planifiées (si tant est qu'il y ait un planning) pour la version 1.1 sont intégrées dans la HEAD d'Aversive depuis aujourd'hui. Si vous avez l'occastion de tester vos projets avec les snapshots courants, ça m'intéresse. Le dernier commit supprime les modules utils, wait et list pour être dispatchés dans le repertoire include/ aversive. Normallement, la compilation d'un projet utilisant des includes comme utils/utils.h devraient afficher un warning mais compiler. S'il n'y a pas de retour négatif, je ferai un tag cvs AVERSIVE_1_1. Mes prochains travaux seront clairement l'i2c (encore jamais testé, c'est mal), les modules mf2_client et mf2_server, très expérimentaux pour le moment, et probablement une optimisation du filtre quadramp, et de robot_system. On attaquera ensuite avec Fabrice le codage d'un module trajectory décent. Vala, j'ai fait un simili-planning. Olivier ___ 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
Voilà, je voulais juste te dire que, début avril, je part à Caen pour bosser (contrat de 4 mois - je verrais ensuite). C'est moi qui ai demandé, parceque Paris j'en peux plus ! En plus, c'est dans l'aviation, donc l'idée c'est de ensutie partir dans le sud, vers toulouse. l'embettant c'est que Estelle, elle, est pour le moment bloqué a Paris :-(, donc on se verra que le we. (c'est aussi pour ca les 4 mois: Si elle peux pas bouger ou si on supporte pas, je reviendrais) Par contre, l'idée c'est que du coup le soir j'aurais du temps pour geeker un peu, je vais donc m'y remettre ! donc voila, je voulais juste te dire que même si je fout rien, j'en pense souvent ! :-) Ah et puis un de ces 4, faudra qu'on refasse une ptite party comme la derniere fois :-) A + Julien ___ 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'
