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-rw-r--r--n/accel/Makefile16
-rw-r--r--n/accel/Makefile.avr100
-rw-r--r--n/accel/accel.c155
-rw-r--r--n/accel/avrconfig.h60
4 files changed, 331 insertions, 0 deletions
diff --git a/n/accel/Makefile b/n/accel/Makefile
new file mode 100644
index 0000000..1c62445
--- /dev/null
+++ b/n/accel/Makefile
@@ -0,0 +1,16 @@
+PROGS =accel
+SOURCES = accel.c
+DOC = howto-avr.html
+EXTRACTDOC =
+MODULES = n/avr/proto n/avr/rs232
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+MCU_TARGET = atmega8
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+include Makefile.avr
diff --git a/n/accel/Makefile.avr b/n/accel/Makefile.avr
new file mode 100644
index 0000000..01c9b7b
--- /dev/null
+++ b/n/accel/Makefile.avr
@@ -0,0 +1,100 @@
+# Flags. {{{1
+
+CC = avr-gcc
+
+CFLAGS = -g -Wall $(OPTIMIZE) -mmcu=$(MCU_TARGET) \
+ $(if $(CONFIGFILE), $(CONFIGFILE:%=-include %))
+CPPFLAGS = $(DEFS) -Imodules
+LDFLAGS =
+
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+
+# Main rules. {{{1
+
+CSOURCES = $(filter %.c, $(SOURCES))
+SSOURCES = $(filter %.s, $(SOURCES))
+OBJECTS = $(CSOURCES:%.c=%.o) $(SSOURCES:%.s=%.o)
+ELFS = $(PROGS:%=%.elf)
+
+all: elf lst hex
+
+.PHONY: all clean elf lst doc text hex srec bin eeprom ehex esrec ebin
+
+# Rules for modules. {{{1
+
+MODULESFILES = $(MODULES:%=modules/%/Makefile.module)
+
+include $(MODULESFILES)
+
+SOURCES += $(MODULESSOURCES)
+
+$(MODULESFILES):
+ mkdir -p modules
+ cd modules && cvs co $(@:modules/%/Makefile.module=%)
+ test -f $@
+
+# General rules. {{{1
+
+elf: $(PROGS:%=%.elf)
+lst: $(PROGS:%=%.lst)
+
+$(PROGS:%=%.elf): $(OBJECTS)
+ $(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
+
+%.lst: %.elf
+ $(OBJDUMP) -h -S $< > $@
+
+clean:
+ rm -f *.o $(OBJECTS) $(PROGS:%=%.elf) *.lst *.map *.bak *~
+ rm -f $(DOC) *.exd $(EXTRA_CLEAN_FILES) $(TEXTS) $(EEPROMS)
+
+# Rules for building the doc. {{{1
+
+doc: $(DOC)
+
+%.html: %.txt %.exd
+ aft $<
+
+%.exd: $(EXTRACTDOC)
+ test -n "$^" && extractdoc $^ > $@ || true
+
+# Rules for building the .text rom images. {{{1
+
+TEXTS = $(PROGS:%=%.hex) $(PROGS:%=%.bin) $(PROGS:%=%.srec)
+
+text: hex bin srec
+
+hex: $(PROGS:%=%.hex)
+bin: $(PROGS:%=%.bin)
+srec: $(PROGS:%=%.srec)
+
+%.hex: %.elf
+ $(OBJCOPY) -j .text -j .data -O ihex $< $@
+
+%.srec: %.elf
+ $(OBJCOPY) -j .text -j .data -O srec $< $@
+
+%.bin: %.elf
+ $(OBJCOPY) -j .text -j .data -O binary $< $@
+
+# Rules for building the .eeprom rom images. {{{1
+
+EEPROMS = $(PROGS:%=%_eeprom.hex) $(PROGS:%=%_eeprom.bin) \
+ $(PROGS:%=%_eeprom.srec)
+
+eeprom: ehex ebin esrec
+
+ehex: $(PROGS:%=%_eeprom.hex)
+ebin: $(PROGS:%=%_eeprom.bin)
+esrec: $(PROGS:%=%_eeprom.srec)
+
+%_eeprom.hex: %.elf
+ $(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
+
+%_eeprom.srec: %.elf
+ $(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O srec $< $@
+
+%_eeprom.bin: %.elf
+ $(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O binary $< $@
+
diff --git a/n/accel/accel.c b/n/accel/accel.c
new file mode 100644
index 0000000..51404c3
--- /dev/null
+++ b/n/accel/accel.c
@@ -0,0 +1,155 @@
+/* accel.c */
+/* accel. {{{
+ *
+ * Copyright (C) 2004 Thomas Burg
+ *
+ * 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.
+ *
+ * Contact :
+ * Email: <burg@efrei.fr>
+ * }}} */
+
+/*
+ * Brochange :
+ * Xout <--> (ICP1)PB0
+ * Yout <--> (AIN0)PD6
+ *
+ */
+
+
+#include <avr/io.h>
+#include <inttypes.h>
+#include <avr/signal.h>
+#include <avr/interrupt.h>
+#include <string.h>
+#include <n/avr/rs232/rs232.h>
+#include "avrconfig.h"
+#include <n/avr/proto/proto.h>
+
+#define DEBUG
+
+#ifdef DEBUG
+#define debug_putc(x) rs232_putc (x)
+#else
+#define debug_putc(x)
+#endif
+
+/* definition de nouveau type necessaire à l'acquisition
+ * des données
+ * */
+
+enum T_etat {strt_at_Ta, rd_at_Tb, rd_at_Tc, rd_at_Td, calcul };
+int16_t Tb,Tc,Td;
+
+/* Variable Globale
+ */
+
+enum T_etat etat;
+
+/* Interruption input_capture */
+
+SIGNAL(SIG_INPUT_CAPTURE1)
+{
+ rs232_putc('i');
+ //code de l'interruption
+ switch (etat)
+ {
+ case strt_at_Ta :
+ debug_putc('A');
+ TCNT1 = 0; // remise de TCNT1 (counter 16bits)
+ TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
+ TIMSK |= 0x20; //autorise les interruptions Input Capture
+ etat = rd_at_Tb;
+ break;
+ case rd_at_Tb :
+ //debug_putc('B');
+ Tb = ICR1; // sauvegarde du registre Input Capture
+ etat = rd_at_Tc;
+ TIMSK &= ~0x20; //désactive les interruptions Input Capture
+ ACSR |= 0x04; //change d'entrée : analogue comparator
+ TCCR1B |= _BV(ICES1); //trigge sur le front montant
+ TIMSK |= 0x20; // Réactive les interruptions Input Capture
+ break;
+ case rd_at_Tc :
+ //debug_putc('C');
+ Tc = ICR1; // sauvegarde du registre Input Capture
+ TIMSK &= ~0x20; //désactive les interruptions Input Capture
+ TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
+ TIMSK |= 0x20; // Réactive les interruptions Input Capture
+ etat = rd_at_Td;
+ break;
+ case rd_at_Td :
+ debug_putc('D');
+ Td = ICR1; // sauvegarde du registre Input Capture
+ etat = calcul;
+ TIMSK &= ~0x20; //désactive les interruptions Input Capture
+ ACSR &= ~0x04; //change d'entrée : IPC
+ TCCR1B |= _BV(ICES1); //trigge sur le front montant
+ TIMSK |= 0x20; // Réactive les interruptions Input Capture
+ break;
+ default : debug_putc('L');
+ break; // Ce cas ne doit pas arriver
+ }
+}
+
+SIGNAL(SIG_OVERFLOW1)
+{
+ proto_send1('E',1); //erreur 1 Overflow timer/compteur1
+}
+
+void
+test_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
+{
+ proto_send (c, argc, argv);
+}
+
+int
+main (void)
+{
+ int16_t Tx,Ty,T2,T2_old;
+
+ //initialisation
+ rs232_init();
+ proto_init(test_callback,rs232_putc);
+
+ proto_send0('Z');
+
+ //initialisation du timer
+ TCCR1B = _BV(ICES1) | _BV(CS10);
+ TIMSK = _BV(TICIE1); // Input Capture Interrupt enable
+ sei ();
+ //Boucle
+ while(1)
+ {
+ if ( rs232_poll() )
+ {
+ proto_accept(rs232_getc());
+ }
+ // calcul des Tons
+ if (etat == calcul)
+ {
+ Tx = Tb; // Calcul des Ton
+ Ty = Td - Tc;
+ // Todo T2 ne doit pas être calculer tout le temps
+ T2 = (Td - ((Td - Tc)/2)) - Tb/2; //Calcul de T2
+ T2_old =T2;
+ //proto_send4 ('M', Tx >> 8, Tx, Ty >> 8, Ty); // envoie les 2 temps Ton
+ etat = strt_at_Ta; //remise dans l'état de capture
+ proto_send2 ('N', T2_old >>8, T2_old); // envoie la valeur T2
+ }
+
+ }
+ return 0;
+}
diff --git a/n/accel/avrconfig.h b/n/accel/avrconfig.h
new file mode 100644
index 0000000..018f0c1
--- /dev/null
+++ b/n/accel/avrconfig.h
@@ -0,0 +1,60 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - config file for avr projects. */
+/* n.avr.accel - Acceleration. {{{
+ *
+ * Copyright (C) 2004 Thomas Burg
+ *
+ * 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.
+ *
+ * Contact :
+ * Email: <burg@efrei.fr>
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* proto - Protocol module. */
+/** Maximum argument number. */
+#define AC_PROTO_MAX_ARGS 3
+/** Protocol arguments type. */
+#define AC_PROTO_ARG_TYPE uint8_t
+
+/* rs232 - RS232 Module. */
+/** Baudrate : 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_RS232_BAUDRATE 115200
+/** Send mode :
+ * - POLLING : no interrupts;
+ * - RING : interrupts, ring buffer;
+ * - PACKETS : interrupts, by packets delimited by SOP and EOP
+ * (unimplemented). */
+#define AC_RS232_SEND_MODE POLLING
+/** Recv mode, same as send mode. */
+#define AC_RS232_RECV_MODE POLLING
+/** Character size : 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_RS232_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_RS232_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_RS232_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_RS232_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_RS232_RECV_BUFFER_SIZE 32
+
+#endif /* avrconfig_h */