init
This commit is contained in:
commit
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@ -0,0 +1,124 @@
|
|||
# Creative Commons Legal Code --- CC0 1.0 Universal #
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**CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE
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LEGAL SERVICES. DISTRIBUTION OF THIS DOCUMENT DOES NOT CREATE AN
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ATTORNEY-CLIENT RELATIONSHIP. CREATIVE COMMONS PROVIDES THIS
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INFORMATION ON AN "AS-IS" BASIS. CREATIVE COMMONS MAKES NO WARRANTIES
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REGARDING THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS
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PROVIDED HEREUNDER, AND DISCLAIMS LIABILITY FOR DAMAGES RESULTING FROM
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THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS PROVIDED
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HEREUNDER.**
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## Statement of Purpose ##
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The laws of most jurisdictions throughout the world automatically confer
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exclusive Copyright and Related Rights (defined below) upon the creator
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A Work made available under CC0 may be protected by copyright and related
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|
|
@ -0,0 +1,51 @@
|
|||
#include "dagon.h"
|
||||
|
||||
static struct libscomp_input in;
|
||||
static struct libscomp_cmd cmdarr[] = {
|
||||
{"CON", dagon_con},
|
||||
{"IDN", dagon_idn},
|
||||
{"RMP", dagon_rmp},
|
||||
{"RST", dagon_rst},
|
||||
{"SET", dagon_set},
|
||||
{"VLT", dagon_vlt}
|
||||
};
|
||||
|
||||
static struct libscomp_cmd_store store = {
|
||||
cmdarr, sizeof cmdarr / sizeof cmdarr[0]
|
||||
};
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
while (!Serial);
|
||||
spi_init();
|
||||
libscomp_reset(&in);
|
||||
Serial.setTimeout(10);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
static char buf[4096];
|
||||
|
||||
struct libscomp_line l;
|
||||
char *p = buf;
|
||||
enum libscomp_input_r r;
|
||||
|
||||
size_t vl = Serial.readBytes(buf, sizeof buf - 1);
|
||||
buf[vl] = 0;
|
||||
|
||||
do {
|
||||
r = libscomp_read(&in, &p, &l);
|
||||
switch (r) {
|
||||
case LIBSCOMP_OVERFLOW:
|
||||
serial_printf("ERROR\toverflow\n");
|
||||
break;
|
||||
case LIBSCOMP_ARG_OVERFLOW:
|
||||
serial_printf("ERROR\targument overflow\n");
|
||||
break;
|
||||
case LIBSCOMP_COMPLETE:
|
||||
if (libscomp_exec(&store, &l, nullptr) == LIBSCOMP_NOT_FOUND)
|
||||
print_start(&l, "ERROR\tno known command\n");
|
||||
break;
|
||||
// LIBSCOMP_MORE left out
|
||||
}
|
||||
} while (r != LIBSCOMP_MORE);
|
||||
}
|
||||
|
|
@ -0,0 +1,318 @@
|
|||
/*
|
||||
DueTimer.cpp - Implementation of Timers defined on DueTimer.h
|
||||
For instructions, go to https://github.com/ivanseidel/DueTimer
|
||||
|
||||
Created by Ivan Seidel Gomes, March, 2013.
|
||||
Modified by Philipp Klaus, June 2013.
|
||||
Thanks to stimmer (from Arduino forum), for coding the "timer soul" (Register stuff)
|
||||
Released into the public domain.
|
||||
*/
|
||||
|
||||
#include "DueTimer.h"
|
||||
|
||||
const DueTimer::Timer DueTimer::Timers[NUM_TIMERS] = {
|
||||
{TC0,0,TC0_IRQn},
|
||||
{TC0,1,TC1_IRQn},
|
||||
{TC0,2,TC2_IRQn},
|
||||
{TC1,0,TC3_IRQn},
|
||||
{TC1,1,TC4_IRQn},
|
||||
{TC1,2,TC5_IRQn},
|
||||
#if NUM_TIMERS > 6
|
||||
{TC2,0,TC6_IRQn},
|
||||
{TC2,1,TC7_IRQn},
|
||||
{TC2,2,TC8_IRQn},
|
||||
#endif
|
||||
};
|
||||
|
||||
// Fix for compatibility with Servo library
|
||||
#ifdef USING_SERVO_LIB
|
||||
// Set callbacks as used, allowing DueTimer::getAvailable() to work
|
||||
void (*DueTimer::callbacks[NUM_TIMERS])() = {
|
||||
(void (*)()) 1, // Timer 0 - Occupied
|
||||
(void (*)()) 0, // Timer 1
|
||||
(void (*)()) 1, // Timer 2 - Occupied
|
||||
(void (*)()) 1, // Timer 3 - Occupied
|
||||
(void (*)()) 1, // Timer 4 - Occupied
|
||||
(void (*)()) 1, // Timer 5 - Occupied
|
||||
#if NUM_TIMERS > 6
|
||||
(void (*)()) 0, // Timer 6
|
||||
(void (*)()) 0, // Timer 7
|
||||
(void (*)()) 0 // Timer 8
|
||||
#endif
|
||||
};
|
||||
#else
|
||||
void (*DueTimer::callbacks[NUM_TIMERS])() = {};
|
||||
#endif
|
||||
|
||||
#if NUM_TIMERS > 6
|
||||
double DueTimer::_frequency[NUM_TIMERS] = {-1,-1,-1,-1,-1,-1,-1,-1,-1};
|
||||
#else
|
||||
double DueTimer::_frequency[NUM_TIMERS] = {-1,-1,-1,-1,-1,-1};
|
||||
#endif
|
||||
|
||||
/*
|
||||
Initializing all timers, so you can use them like this: Timer0.start();
|
||||
*/
|
||||
DueTimer Timer(0);
|
||||
|
||||
DueTimer Timer1(1);
|
||||
// Fix for compatibility with Servo library
|
||||
#ifndef USING_SERVO_LIB
|
||||
DueTimer Timer0(0);
|
||||
DueTimer Timer2(2);
|
||||
DueTimer Timer3(3);
|
||||
DueTimer Timer4(4);
|
||||
DueTimer Timer5(5);
|
||||
#endif
|
||||
#if NUM_TIMERS > 6
|
||||
DueTimer Timer6(6);
|
||||
DueTimer Timer7(7);
|
||||
DueTimer Timer8(8);
|
||||
#endif
|
||||
|
||||
DueTimer::DueTimer(unsigned short _timer) : timer(_timer){
|
||||
/*
|
||||
The constructor of the class DueTimer
|
||||
*/
|
||||
}
|
||||
|
||||
DueTimer DueTimer::getAvailable(void){
|
||||
/*
|
||||
Return the first timer with no callback set
|
||||
*/
|
||||
|
||||
for(int i = 0; i < NUM_TIMERS; i++){
|
||||
if(!callbacks[i])
|
||||
return DueTimer(i);
|
||||
}
|
||||
// Default, return Timer0;
|
||||
return DueTimer(0);
|
||||
}
|
||||
|
||||
DueTimer& DueTimer::attachInterrupt(void (*isr)()){
|
||||
/*
|
||||
Links the function passed as argument to the timer of the object
|
||||
*/
|
||||
|
||||
callbacks[timer] = isr;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
DueTimer& DueTimer::detachInterrupt(void){
|
||||
/*
|
||||
Links the function passed as argument to the timer of the object
|
||||
*/
|
||||
|
||||
stop(); // Stop the currently running timer
|
||||
|
||||
callbacks[timer] = NULL;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
DueTimer& DueTimer::start(double microseconds){
|
||||
/*
|
||||
Start the timer
|
||||
If a period is set, then sets the period and start the timer
|
||||
*/
|
||||
|
||||
if(microseconds > 0)
|
||||
setPeriod(microseconds);
|
||||
|
||||
if(_frequency[timer] <= 0)
|
||||
setFrequency(1);
|
||||
|
||||
NVIC_ClearPendingIRQ(Timers[timer].irq);
|
||||
NVIC_EnableIRQ(Timers[timer].irq);
|
||||
|
||||
TC_Start(Timers[timer].tc, Timers[timer].channel);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
DueTimer& DueTimer::stop(void){
|
||||
/*
|
||||
Stop the timer
|
||||
*/
|
||||
|
||||
NVIC_DisableIRQ(Timers[timer].irq);
|
||||
|
||||
TC_Stop(Timers[timer].tc, Timers[timer].channel);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
uint8_t DueTimer::bestClock(double frequency, uint32_t& retRC){
|
||||
/*
|
||||
Pick the best Clock, thanks to Ogle Basil Hall!
|
||||
|
||||
Timer Definition
|
||||
TIMER_CLOCK1 MCK / 2
|
||||
TIMER_CLOCK2 MCK / 8
|
||||
TIMER_CLOCK3 MCK / 32
|
||||
TIMER_CLOCK4 MCK /128
|
||||
*/
|
||||
const struct {
|
||||
uint8_t flag;
|
||||
uint8_t divisor;
|
||||
} clockConfig[] = {
|
||||
{ TC_CMR_TCCLKS_TIMER_CLOCK1, 2 },
|
||||
{ TC_CMR_TCCLKS_TIMER_CLOCK2, 8 },
|
||||
{ TC_CMR_TCCLKS_TIMER_CLOCK3, 32 },
|
||||
{ TC_CMR_TCCLKS_TIMER_CLOCK4, 128 }
|
||||
};
|
||||
float ticks;
|
||||
float error;
|
||||
int clkId = 3;
|
||||
int bestClock = 3;
|
||||
float bestError = 9.999e99;
|
||||
do
|
||||
{
|
||||
ticks = (float) SystemCoreClock / frequency / (float) clockConfig[clkId].divisor;
|
||||
// error = abs(ticks - round(ticks));
|
||||
error = clockConfig[clkId].divisor * abs(ticks - round(ticks)); // Error comparison needs scaling
|
||||
if (error < bestError)
|
||||
{
|
||||
bestClock = clkId;
|
||||
bestError = error;
|
||||
}
|
||||
} while (clkId-- > 0);
|
||||
ticks = (float) SystemCoreClock / frequency / (float) clockConfig[bestClock].divisor;
|
||||
retRC = (uint32_t) round(ticks);
|
||||
return clockConfig[bestClock].flag;
|
||||
}
|
||||
|
||||
|
||||
DueTimer& DueTimer::setFrequency(double frequency){
|
||||
/*
|
||||
Set the timer frequency (in Hz)
|
||||
*/
|
||||
|
||||
// Prevent negative frequencies
|
||||
if(frequency <= 0) { frequency = 1; }
|
||||
|
||||
// Remember the frequency — see below how the exact frequency is reported instead
|
||||
//_frequency[timer] = frequency;
|
||||
|
||||
// Get current timer configuration
|
||||
Timer t = Timers[timer];
|
||||
|
||||
uint32_t rc = 0;
|
||||
uint8_t clock;
|
||||
|
||||
// Tell the Power Management Controller to disable
|
||||
// the write protection of the (Timer/Counter) registers:
|
||||
pmc_set_writeprotect(false);
|
||||
|
||||
// Enable clock for the timer
|
||||
pmc_enable_periph_clk((uint32_t)t.irq);
|
||||
|
||||
// Find the best clock for the wanted frequency
|
||||
clock = bestClock(frequency, rc);
|
||||
|
||||
switch (clock) {
|
||||
case TC_CMR_TCCLKS_TIMER_CLOCK1:
|
||||
_frequency[timer] = (double)SystemCoreClock / 2.0 / (double)rc;
|
||||
break;
|
||||
case TC_CMR_TCCLKS_TIMER_CLOCK2:
|
||||
_frequency[timer] = (double)SystemCoreClock / 8.0 / (double)rc;
|
||||
break;
|
||||
case TC_CMR_TCCLKS_TIMER_CLOCK3:
|
||||
_frequency[timer] = (double)SystemCoreClock / 32.0 / (double)rc;
|
||||
break;
|
||||
default: // TC_CMR_TCCLKS_TIMER_CLOCK4
|
||||
_frequency[timer] = (double)SystemCoreClock / 128.0 / (double)rc;
|
||||
break;
|
||||
}
|
||||
|
||||
// Set up the Timer in waveform mode which creates a PWM
|
||||
// in UP mode with automatic trigger on RC Compare
|
||||
// and sets it up with the determined internal clock as clock input.
|
||||
TC_Configure(t.tc, t.channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | clock);
|
||||
// Reset counter and fire interrupt when RC value is matched:
|
||||
TC_SetRC(t.tc, t.channel, rc);
|
||||
// Enable the RC Compare Interrupt...
|
||||
t.tc->TC_CHANNEL[t.channel].TC_IER=TC_IER_CPCS;
|
||||
// ... and disable all others.
|
||||
t.tc->TC_CHANNEL[t.channel].TC_IDR=~TC_IER_CPCS;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
DueTimer& DueTimer::setPeriod(double microseconds){
|
||||
/*
|
||||
Set the period of the timer (in microseconds)
|
||||
*/
|
||||
|
||||
// Convert period in microseconds to frequency in Hz
|
||||
double frequency = 1000000.0 / microseconds;
|
||||
setFrequency(frequency);
|
||||
return *this;
|
||||
}
|
||||
|
||||
double DueTimer::getFrequency(void) const {
|
||||
/*
|
||||
Get current time frequency
|
||||
*/
|
||||
|
||||
return _frequency[timer];
|
||||
}
|
||||
|
||||
double DueTimer::getPeriod(void) const {
|
||||
/*
|
||||
Get current time period
|
||||
*/
|
||||
|
||||
return 1.0/getFrequency()*1000000;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
Implementation of the timer callbacks defined in
|
||||
arduino-1.5.2/hardware/arduino/sam/system/CMSIS/Device/ATMEL/sam3xa/include/sam3x8e.h
|
||||
*/
|
||||
// Fix for compatibility with Servo library
|
||||
#ifndef USING_SERVO_LIB
|
||||
void TC0_Handler(void){
|
||||
TC_GetStatus(TC0, 0);
|
||||
DueTimer::callbacks[0]();
|
||||
}
|
||||
#endif
|
||||
void TC1_Handler(void){
|
||||
TC_GetStatus(TC0, 1);
|
||||
DueTimer::callbacks[1]();
|
||||
}
|
||||
// Fix for compatibility with Servo library
|
||||
#ifndef USING_SERVO_LIB
|
||||
void TC2_Handler(void){
|
||||
TC_GetStatus(TC0, 2);
|
||||
DueTimer::callbacks[2]();
|
||||
}
|
||||
void TC3_Handler(void){
|
||||
TC_GetStatus(TC1, 0);
|
||||
DueTimer::callbacks[3]();
|
||||
}
|
||||
void TC4_Handler(void){
|
||||
TC_GetStatus(TC1, 1);
|
||||
DueTimer::callbacks[4]();
|
||||
}
|
||||
void TC5_Handler(void){
|
||||
TC_GetStatus(TC1, 2);
|
||||
DueTimer::callbacks[5]();
|
||||
}
|
||||
#endif
|
||||
#if NUM_TIMERS > 6
|
||||
void TC6_Handler(void){
|
||||
TC_GetStatus(TC2, 0);
|
||||
DueTimer::callbacks[6]();
|
||||
}
|
||||
void TC7_Handler(void){
|
||||
TC_GetStatus(TC2, 1);
|
||||
DueTimer::callbacks[7]();
|
||||
}
|
||||
void TC8_Handler(void){
|
||||
TC_GetStatus(TC2, 2);
|
||||
DueTimer::callbacks[8]();
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
/*
|
||||
DueTimer.h - DueTimer header file, definition of methods and attributes...
|
||||
For instructions, go to https://github.com/ivanseidel/DueTimer
|
||||
|
||||
Created by Ivan Seidel Gomes, March, 2013.
|
||||
Modified by Philipp Klaus, June 2013.
|
||||
Released into the public domain.
|
||||
*/
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
#if defined(_SAM3XA_)
|
||||
|
||||
#ifndef DueTimer_h
|
||||
#define DueTimer_h
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
/*
|
||||
This fixes compatibility for Arduono Servo Library.
|
||||
Uncomment to make it compatible.
|
||||
|
||||
Note that:
|
||||
+ Timers: 0,2,3,4,5 WILL NOT WORK, and will
|
||||
neither be accessible by Timer0,...
|
||||
*/
|
||||
// #define USING_SERVO_LIB true
|
||||
|
||||
#ifdef USING_SERVO_LIB
|
||||
#warning "HEY! You have set flag USING_SERVO_LIB. Timer0, 2,3,4 and 5 are not available"
|
||||
#endif
|
||||
|
||||
|
||||
#if defined TC2
|
||||
#define NUM_TIMERS 9
|
||||
#else
|
||||
#define NUM_TIMERS 6
|
||||
#endif
|
||||
|
||||
class DueTimer
|
||||
{
|
||||
protected:
|
||||
|
||||
// Represents the timer id (index for the array of Timer structs)
|
||||
const unsigned short timer;
|
||||
|
||||
// Stores the object timer frequency
|
||||
// (allows to access current timer period and frequency):
|
||||
static double _frequency[NUM_TIMERS];
|
||||
|
||||
// Picks the best clock to lower the error
|
||||
static uint8_t bestClock(double frequency, uint32_t& retRC);
|
||||
|
||||
// Make Interrupt handlers friends, so they can use callbacks
|
||||
friend void TC0_Handler(void);
|
||||
friend void TC1_Handler(void);
|
||||
friend void TC2_Handler(void);
|
||||
friend void TC3_Handler(void);
|
||||
friend void TC4_Handler(void);
|
||||
friend void TC5_Handler(void);
|
||||
#if NUM_TIMERS > 6
|
||||
friend void TC6_Handler(void);
|
||||
friend void TC7_Handler(void);
|
||||
friend void TC8_Handler(void);
|
||||
#endif
|
||||
|
||||
static void (*callbacks[NUM_TIMERS])();
|
||||
|
||||
struct Timer
|
||||
{
|
||||
Tc *tc;
|
||||
uint32_t channel;
|
||||
IRQn_Type irq;
|
||||
};
|
||||
|
||||
// Store timer configuration (static, as it's fixed for every object)
|
||||
static const Timer Timers[NUM_TIMERS];
|
||||
|
||||
public:
|
||||
|
||||
static DueTimer getAvailable(void);
|
||||
|
||||
DueTimer(unsigned short _timer);
|
||||
DueTimer& attachInterrupt(void (*isr)());
|
||||
DueTimer& detachInterrupt(void);
|
||||
DueTimer& start(double microseconds = -1);
|
||||
DueTimer& stop(void);
|
||||
DueTimer& setFrequency(double frequency);
|
||||
DueTimer& setPeriod(double microseconds);
|
||||
|
||||
double getFrequency(void) const;
|
||||
double getPeriod(void) const;
|
||||
|
||||
inline __attribute__((always_inline)) bool operator== (const DueTimer& rhs) const
|
||||
{return timer == rhs.timer; };
|
||||
inline __attribute__((always_inline)) bool operator!= (const DueTimer& rhs) const
|
||||
{return timer != rhs.timer; };
|
||||
};
|
||||
|
||||
// Just to call Timer.getAvailable instead of Timer::getAvailable() :
|
||||
extern DueTimer Timer;
|
||||
|
||||
extern DueTimer Timer1;
|
||||
// Fix for compatibility with Servo library
|
||||
#ifndef USING_SERVO_LIB
|
||||
extern DueTimer Timer0;
|
||||
extern DueTimer Timer2;
|
||||
extern DueTimer Timer3;
|
||||
extern DueTimer Timer4;
|
||||
extern DueTimer Timer5;
|
||||
#endif
|
||||
#if NUM_TIMERS > 6
|
||||
extern DueTimer Timer6;
|
||||
extern DueTimer Timer7;
|
||||
extern DueTimer Timer8;
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#else
|
||||
#error Oops! Trying to include DueTimer on another device?
|
||||
#endif
|
||||
|
|
@ -0,0 +1 @@
|
|||
Dagon is Arduino Due firmware for controlling a four-channel DAC.
|
||||
|
|
@ -0,0 +1,164 @@
|
|||
#include <limits.h>
|
||||
#include <assert.h>
|
||||
#include <stdio.h>
|
||||
#include "DueTimer.h"
|
||||
#include "dagon.h"
|
||||
|
||||
bool serial_vprintf(const char *fmt, va_list va) {
|
||||
char buf[4096];
|
||||
|
||||
if (vsnprintf(buf, sizeof buf, fmt, va) >= sizeof buf)
|
||||
return false;
|
||||
Serial.print(buf);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool serial_printf(const char *fmt, ...) {
|
||||
va_list va;
|
||||
|
||||
va_start(va, fmt);
|
||||
bool r = serial_vprintf(fmt, va);
|
||||
va_end(va);
|
||||
return r;
|
||||
}
|
||||
|
||||
bool print_start(struct libscomp_line *l, const char *fmt, ...) {
|
||||
va_list va;
|
||||
va_start(va, fmt);
|
||||
|
||||
if (l->name) {
|
||||
Serial.print(":");
|
||||
Serial.print(l->buf[0]);
|
||||
Serial.print("\t");
|
||||
}
|
||||
|
||||
bool b = serial_vprintf(fmt, va);
|
||||
va_end(va);
|
||||
return b;
|
||||
}
|
||||
|
||||
static long pstr(const char *s, long max) {
|
||||
long v;
|
||||
char *p;
|
||||
|
||||
v = strtol(s, &p, 0);
|
||||
if (*p || v < 0 || v >= max)
|
||||
return -1;
|
||||
return v;
|
||||
}
|
||||
#define inl __attribute__((always_inline))
|
||||
\
|
||||
#define mkhandler(nam, cond) static int nam(struct libscomp_line *) inl; \
|
||||
int dagon_##nam(struct libscomp_line *l, void *p unused) { \
|
||||
if (!([](size_t len) { return (cond); })(l->len - l->name - 1)) \
|
||||
return 1; \
|
||||
return nam(l); \
|
||||
} static int nam(struct libscomp_line *l)
|
||||
|
||||
volatile struct dagon dg;
|
||||
|
||||
mkhandler(idn, len == 0) {
|
||||
print_start(l, "IDN\tDagon\t0\n");
|
||||
return LIBSCOMP_CMD_OK;
|
||||
}
|
||||
|
||||
#define V "%" PRIu32
|
||||
mkhandler(vlt, len == 0) {
|
||||
print_start(l, "VLT\t" V "\t" V "\t" V "\t" V "\t",
|
||||
dg.ch[0].volt, dg.ch[1].volt, dg.ch[2].volt,
|
||||
dg.ch[3].volt);
|
||||
return LIBSCOMP_CMD_OK;
|
||||
}
|
||||
#undef V
|
||||
|
||||
// GNU extension (statement expression)
|
||||
#define PARSE_INT(v, m, typ) ({ \
|
||||
long parse__v = pstr(v, m); \
|
||||
if (parse__v < 0) { \
|
||||
print_start(l, "ERROR\t%s invalid %s\n", v, typ); \
|
||||
return 1; \
|
||||
} \
|
||||
parse__v; \
|
||||
})
|
||||
|
||||
/* [:??] SET CH V */
|
||||
mkhandler(set, len == 2) {
|
||||
long ch, v;
|
||||
char *s;
|
||||
const size_t arg1 = l->name + 1;
|
||||
|
||||
ch = PARSE_INT(l->buf[arg1], DACS, "Channel");
|
||||
v = PARSE_INT(l->buf[arg1 + 1], V_MAX + 1, "Voltage");
|
||||
|
||||
dg.ch[ch].volt = v;
|
||||
print_start(l, "SET\n");
|
||||
spi_set(v, ch);
|
||||
return LIBSCOMP_CMD_OK;
|
||||
}
|
||||
|
||||
static DueTimer timers[DACS] = {Timer0,Timer1,Timer2,Timer3};
|
||||
|
||||
template<size_t CH>
|
||||
static void irq() {
|
||||
uint32_t n = dg.ch[CH].volt + dg.ch[CH].step;
|
||||
|
||||
if (n <= dg.ch[CH].volt || n >= dg.ch[CH].end) {
|
||||
n = dg.ch[CH].end;
|
||||
timers[CH].stop().detachInterrupt();
|
||||
}
|
||||
dg.ch[CH].volt = n;
|
||||
spi_set(n, CH);
|
||||
}
|
||||
|
||||
static void (*const irqs[DACS])() = {
|
||||
irq<0>, irq<1>, irq<2>, irq<3>
|
||||
};
|
||||
|
||||
/* [:??] RMP CH END START INTERVAL STEP [...] */
|
||||
|
||||
mkhandler(rmp, len % 5 == 0 && len >= 5) {
|
||||
long ch, start, end, inter, step;
|
||||
size_t arg = l->name + 1;
|
||||
|
||||
while (arg < l->len) {
|
||||
ch = PARSE_INT(l->buf[arg], DACS, "Channel");
|
||||
if (dg.ch[ch].used) {
|
||||
print_start(l, "ERROR\tChannel %ld used\n", ch);
|
||||
return 1;
|
||||
}
|
||||
end = PARSE_INT(l->buf[arg + 1], V_MAX + 1, "End voltage");
|
||||
start = PARSE_INT(l->buf[arg + 2], end, "Start voltage");
|
||||
inter = PARSE_INT(l->buf[arg + 3], LONG_MAX, "Time");
|
||||
if (inter == 0) {
|
||||
print_start(l, "ERROR\tZero interval\n");
|
||||
return 1;
|
||||
}
|
||||
step = PARSE_INT(l->buf[arg + 4], V_MAX + 1, "Step voltage");
|
||||
if (step == 0) {
|
||||
print_start(l, "ERROR\tZero step\n");
|
||||
return 1;
|
||||
}
|
||||
arg += 5;
|
||||
dg.ch[ch].used = true;
|
||||
dg.ch[ch].end = end;
|
||||
dg.ch[ch].step = step;
|
||||
|
||||
spi_write(start, ch);
|
||||
timers[ch].attachInterrupt(irqs[ch]).start(inter);
|
||||
}
|
||||
return LIBSCOMP_CMD_OK;
|
||||
}
|
||||
|
||||
|
||||
#define b2s(b) ((b) ? "true" : "false")
|
||||
mkhandler(con, len == 0) {
|
||||
print_start(l, "CON\t%s\t%s\t%s\t%s\n",
|
||||
b2s(dg.conn[0]), b2s(dg.conn[1]),
|
||||
b2s(dg.conn[2]), b2s(dg.conn[3])
|
||||
);
|
||||
return LIBSCOMP_CMD_OK;
|
||||
}
|
||||
|
||||
mkhandler(rst, len == 0) {
|
||||
spi_reset();
|
||||
}
|
||||
|
|
@ -0,0 +1,43 @@
|
|||
#pragma once
|
||||
#include <stdarg.h>
|
||||
#include "libscomp_amalg.h"
|
||||
#define DACS 4
|
||||
#define V_MAX 0x3FFFF
|
||||
#define V0 0x1FFFF
|
||||
|
||||
struct dagon_ch {
|
||||
bool used;
|
||||
uint32_t volt;
|
||||
uint32_t end, step;
|
||||
};
|
||||
|
||||
struct dagon {
|
||||
bool conn[DACS];
|
||||
struct dagon_ch ch[DACS];
|
||||
};
|
||||
|
||||
extern volatile struct dagon dg;
|
||||
|
||||
bool serial_vprintf(const char *fmt, va_list va);
|
||||
bool serial_printf(const char *fmt, ...);
|
||||
bool print_start(struct libscomp_line *l, const char *fmt, ...);
|
||||
|
||||
#define unused __attribute__((unused))
|
||||
#define declhandler(nm) \
|
||||
int dagon_##nm(struct libscomp_line *, void *p unused)
|
||||
|
||||
declhandler(con);
|
||||
declhandler(idn);
|
||||
declhandler(rmp);
|
||||
declhandler(rst);
|
||||
declhandler(set);
|
||||
declhandler(vlt);
|
||||
|
||||
uint32_t spi_write(uint32_t v, size_t dac);
|
||||
uint32_t spi_transfer(uint32_t v, size_t dac);
|
||||
void spi_init();
|
||||
void spi_reset();
|
||||
|
||||
#define spi_register(v) ((v) << 20)
|
||||
#define spi_set(v,d) spi_write(((v) & 0x3FFFF) << 2 | spi_register(1), d)
|
||||
#define spi_get(d) spi_transfer(spi_register(0b1001) << 20, d)
|
||||
|
|
@ -0,0 +1,110 @@
|
|||
#include "libscomp_amalg.h"
|
||||
|
||||
|
||||
#ifdef LIBSCOMP_FREESTANDING
|
||||
int strcmp(const char *s1, const char *s2) {
|
||||
while (*s1 == *s2) {
|
||||
if (!*s1)
|
||||
break;
|
||||
s1++;
|
||||
s2++;
|
||||
}
|
||||
|
||||
return *s1 - *s2;
|
||||
}
|
||||
#else
|
||||
# include <string.h>
|
||||
#endif
|
||||
|
||||
struct libscomp_cmd *hg_bsearch(const char *name,
|
||||
const struct libscomp_cmd_store *cmds) {
|
||||
size_t lower = 0, upper = cmds->len-1;
|
||||
size_t i;
|
||||
int rel;
|
||||
|
||||
while (upper >= lower) {
|
||||
i = (upper - lower)/2 + lower;
|
||||
rel = strcmp(name, cmds->arr[i].name);
|
||||
/* x > cmds[i] */
|
||||
if (rel > 0)
|
||||
lower = i + 1;
|
||||
/* x < cmds[i] */
|
||||
else if (rel < 0)
|
||||
upper = i - 1;
|
||||
else
|
||||
return &cmds->arr[i];
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
int libscomp_exec(const struct libscomp_cmd_store *cmds,
|
||||
struct libscomp_line *ln, void *ptr) {
|
||||
struct libscomp_cmd *cmd;
|
||||
|
||||
cmd = hg_bsearch(ln->buf[ln->name], cmds);
|
||||
if (!cmd)
|
||||
return LIBSCOMP_NOT_FOUND;
|
||||
return cmd->exec(ln,ptr);
|
||||
}
|
||||
|
||||
|
||||
enum { LIBSCOMP_READ, LIBSCOMP_DISCARD };
|
||||
|
||||
void libscomp_reset(struct libscomp_input *in) {
|
||||
in->state = LIBSCOMP_READ;
|
||||
in->len = 0;
|
||||
}
|
||||
|
||||
static enum libscomp_input_r libscomp_parse(
|
||||
struct libscomp_input *in, struct libscomp_line *line) {
|
||||
char *s = in->intbuf;
|
||||
enum libscomp_input_r r = LIBSCOMP_ARG_OVERFLOW;
|
||||
|
||||
line->name = (*s == ':');
|
||||
line->len = 0;
|
||||
|
||||
while (line->len < LIBSCOMP_MAXARG) {
|
||||
line->buf[line->len++] = s;
|
||||
for (; *s && *s != '\t'; s++);
|
||||
|
||||
if (!*s) {
|
||||
r = LIBSCOMP_COMPLETE;
|
||||
break;
|
||||
} else {
|
||||
*s = 0;
|
||||
s++;
|
||||
}
|
||||
}
|
||||
|
||||
libscomp_reset(in);
|
||||
return r;
|
||||
}
|
||||
|
||||
enum libscomp_input_r libscomp_read(struct libscomp_input *in,
|
||||
char **s,
|
||||
struct libscomp_line *line) {
|
||||
char c;
|
||||
|
||||
while ((c = **s)) {
|
||||
(*s)++;
|
||||
|
||||
if (in->state == LIBSCOMP_DISCARD) {
|
||||
if (c == '\n') {
|
||||
libscomp_reset(in);
|
||||
return LIBSCOMP_OVERFLOW;
|
||||
}
|
||||
} else {
|
||||
switch (c) {
|
||||
case '\n':
|
||||
in->intbuf[in->len] = 0;
|
||||
return libscomp_parse(in, line);
|
||||
default:
|
||||
in->intbuf[in->len++] = c;
|
||||
if (in->len == LIBSCOMP_MAXBUF)
|
||||
in->state = LIBSCOMP_DISCARD;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return LIBSCOMP_MORE;
|
||||
}
|
||||
|
|
@ -0,0 +1,65 @@
|
|||
#pragma once
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
#define LIBSCOMP_VERSION "0.1.0"
|
||||
|
||||
#include <stddef.h>
|
||||
|
||||
#define LIBSCOMP_MAXARG 32
|
||||
#define LIBSCOMP_MAXBUF 1024
|
||||
|
||||
struct libscomp_line {
|
||||
size_t name;
|
||||
char *buf[LIBSCOMP_MAXARG];
|
||||
size_t len;
|
||||
};
|
||||
|
||||
struct libscomp_input {
|
||||
int state;
|
||||
|
||||
char intbuf[LIBSCOMP_MAXBUF];
|
||||
size_t len;
|
||||
};
|
||||
|
||||
enum libscomp_input_r {
|
||||
LIBSCOMP_MORE,
|
||||
LIBSCOMP_OVERFLOW,
|
||||
LIBSCOMP_ARG_OVERFLOW,
|
||||
LIBSCOMP_COMPLETE
|
||||
};
|
||||
|
||||
void libscomp_reset(struct libscomp_input *);
|
||||
enum libscomp_input_r libscomp_read(struct libscomp_input *,
|
||||
char **,
|
||||
struct libscomp_line *);
|
||||
|
||||
|
||||
|
||||
enum libscomp_cmd_r {
|
||||
LIBSCOMP_NOT_FOUND = -1,
|
||||
LIBSCOMP_CMD_OK = 0
|
||||
};
|
||||
|
||||
struct libscomp_cmd {
|
||||
const char *name;
|
||||
int (*exec)(struct libscomp_line *, void *);
|
||||
};
|
||||
|
||||
struct libscomp_cmd_store {
|
||||
struct libscomp_cmd *arr;
|
||||
size_t len;
|
||||
};
|
||||
|
||||
#if defined(__STDC_VERSION__)
|
||||
#define libscomp_mkcmds(...) {(struct libscomp_cmd []){__VA_ARGS__}, \
|
||||
sizeof((struct libscomp_cmd []){__VA_ARGS__}) / \
|
||||
sizeof((struct libscomp_cmd []){__VA_ARGS__}[0])}
|
||||
#endif
|
||||
int libscomp_exec(const struct libscomp_cmd_store *cmds,
|
||||
struct libscomp_line *ln,
|
||||
void *ptr
|
||||
);
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
#include <SPI.h>
|
||||
#include "dagon.h"
|
||||
|
||||
static const uint32_t ctrlmsg = 0b10010 | (0b0010 << 20);
|
||||
static const uint32_t readbit = 1 << 23;
|
||||
static const int DACSS[DACS] = {4, 10, 12, 52};
|
||||
|
||||
uint32_t spi_write(uint32_t v, size_t dac) {
|
||||
uint32_t r;
|
||||
|
||||
digitalWrite(DACSS[dac], LOW);
|
||||
r = SPI.transfer(v >> 16 & 0xFF) << 16;
|
||||
r |= SPI.transfer(v >> 8 & 0xFF) << 8;
|
||||
r |= SPI.transfer(v & 0xFF);
|
||||
digitalWrite(DACSS[dac], HIGH);
|
||||
return v;
|
||||
}
|
||||
|
||||
uint32_t spi_transfer(uint32_t v, size_t dac) {
|
||||
spi_write(v, dac);
|
||||
delayMicroseconds(1);
|
||||
return spi_write(0, dac);
|
||||
}
|
||||
|
||||
void spi_init() {
|
||||
SPI.begin();
|
||||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE1));
|
||||
|
||||
for (size_t i = 0; i < DACS; i++) {
|
||||
dg.conn[i] = false;
|
||||
dg.ch[i].used = false;
|
||||
dg.ch[i].volt = V0;
|
||||
for (size_t attempts = 0; attempts < 5; attempts++) {
|
||||
uint32_t c;
|
||||
|
||||
pinMode(DACSS[i], OUTPUT);
|
||||
digitalWrite(DACSS[i], HIGH);
|
||||
spi_write(ctrlmsg, i);
|
||||
c = spi_transfer(ctrlmsg | readbit, i);
|
||||
if (ctrlmsg & 0xFF == c & 0xFF) {
|
||||
dg.conn[i] = true;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void spi_reset() {
|
||||
for (size_t i = 0; i < DACS; i++)
|
||||
spi_write(i, 0b0100 | spi_register(0b0100));
|
||||
spi_init();
|
||||
}
|
||||
Loading…
Reference in New Issue