Merge branch 'imageproc2.5-testing' into biomimetics-imageproc2.5-integration

Author: apullin

adc_pid.c

@@ -48,6 +48,7 @@
 #include "adc_pid.h"
 #include "p33Fxxxx.h"
 #include "ports.h"
+#include "utils.h"
 
 
 //Functions
@@ -250,6 +251,7 @@ static void initDma0(void) {
 void __attribute__((interrupt, no_auto_psv)) _DMA0Interrupt(void) {
     //This should really be done in an elegant way by selecting a pointer, and
     // not repeating code below.
+    LED_3 = 1;
     if (DmaBuffer == 0) {
         adc_AN0 = BufferA[0][0];  //AN0
         adc_AN8 = BufferA[1][0];  //AN8
@@ -272,6 +274,7 @@ void __attribute__((interrupt, no_auto_psv)) _DMA0Interrupt(void) {
     adc_MotorD = adc_AN11;
 
     DmaBuffer ^= 1; //Toggle between buffers
+    LED_3 = 0;
     IFS0bits.DMA0IF = 0; //Clear the DMA0 Interrupt Flag
 }
 // End DMA section

ams-enc.c

@@ -73,6 +73,9 @@ EncObj encPos[NUM_ENC];
 
 #define AMS_ENC_ANGLE_REG   0xFE
 
+#define AMS_ENC_OFFSET_0 5758
+#define AMS_ENC_OFFSET_1 7706
+
 volatile unsigned char  state = AMS_ENC_IDLE;
 volatile unsigned char  encoder_number = 0;
 volatile unsigned int   encoder_new_pos;
@@ -86,8 +89,10 @@ static inline void encoderSetupPeripheral(void);
  *          Public functions
 -----------------------------------------------------------------------------*/
 
-void amsEncoderSetup(void)
-{   
+void amsEncoderSetup(void) {
+    // Need delay for encoders to be ready
+    delay_ms(100);
+    
     // LSB = R/W* .
     // 1. send slave <a2:a1>, a0=W (write reg address)
     // 2. send slave register address <a7:a0>,
@@ -119,11 +124,13 @@ void amsEncoderResetPos(void) {
     // initialize structure
     int i;
     for(i = 0; i< NUM_ENC; i++) {
-        amsEncoderBlockingRead(i);    // get initial values w/o setting oticks
-        encPos[i].offset = encPos[i].pos; // initialize encoder
+        //amsEncoderBlockingRead(i);    // get initial values w/o setting oticks
+        //encPos[i].offset = encPos[i].pos; // initialize encoder
         encPos[i].calibPos = 0;
         encPos[i].oticks = 0;   // set revolution counter to 0
     }
+    encPos[0].offset = AMS_ENC_OFFSET_0;
+    encPos[1].offset = AMS_ENC_OFFSET_1;
 }
 
 /*****************************************************************************
@@ -139,11 +146,12 @@ static inline void encoderSetupPeripheral(void) { //same setup as ITG3200 for co
             I2C1_SM_DIS & I2C1_GCALL_DIS & I2C1_STR_DIS &
             I2C1_NACK & I2C1_ACK_DIS & I2C1_RCV_DIS &
             I2C1_STOP_DIS & I2C1_RESTART_DIS & I2C1_START_DIS &
-            MI2C1_INT_PRI_5;
+            MI2C1_INT_PRI_6;
 
     // BRG = Fcy(1/Fscl - 1/10000000)-1, Fscl = 909KHz
     I2C1BRGvalue = 40;
     OpenI2C1(I2C1CONvalue, I2C1BRGvalue);
+    SetPriorityIntMI2C1(6);
     _MI2C1IF = 0;
     EnableIntMI2C1;
 }
@@ -185,7 +193,6 @@ unsigned char amsEncoderStartAsyncRead(void) {
 void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
     LED_3 = 1;
 
-    CRITICAL_SECTION_START
     switch(state) {
         case AMS_ENC_WRITE_START:
             I2C1TRN = encAddr[2*encoder_number+1];
@@ -196,11 +203,7 @@ void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
             state = AMS_ENC_WRITE_REG;
             break;
         case AMS_ENC_WRITE_REG:
-            I2C1CONbits.PEN = 1;
-            state = AMS_ENC_WRITE_STOP;
-            break;
-        case AMS_ENC_WRITE_STOP:
-            I2C1CONbits.SEN = 1;
+            I2C1CONbits.RSEN = 1;
             state = AMS_ENC_READ_START;
             break;
         case AMS_ENC_READ_START:
@@ -212,7 +215,7 @@ void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
             state = AMS_ENC_READ_0;
             break;
         case AMS_ENC_READ_0:
-            encoder_new_pos = I2C1RCV & 0x3F;
+            encoder_new_pos = I2C1RCV <<6;
             I2C1CONbits.ACKDT = 0;
             I2C1CONbits.ACKEN = 1;
             state = AMS_ENC_READ_0_ACK;
@@ -222,7 +225,7 @@ void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
             state = AMS_ENC_READ_1;
             break;
         case AMS_ENC_READ_1:
-            encoder_new_pos = I2C1RCV<<6;
+            encoder_new_pos |= (I2C1RCV &  0x3F);
             I2C1CONbits.ACKDT = 1;
             I2C1CONbits.ACKEN = 1;
             state = AMS_ENC_READ_1_NACK;
@@ -247,7 +250,6 @@ void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
     }
     LED_3 = 0;
     _MI2C1IF = 0;
-    CRITICAL_SECTION_END
 }
 
 inline void amsEncoderUpdatePos(unsigned char encoder_number, unsigned int new_pos) {

at86rf231_driver.c

@@ -53,11 +53,6 @@
 
 #include <string.h>
 
-#define SPI_CON1bits        (SPI1CON1bits)
-#define SPI_CON2            (SPI1CON2)
-#define SPI_STATbits        (SPI1STATbits)
-#define SLPTR               (_LATB15) // Sleep/Transmit Pin
-
 // Basic commands
 #define TRX_CMD_RW          (0xC0) // Register Write
 #define TRX_CMD_RR          (0x80) // Register Read
@@ -100,15 +95,13 @@ static TrxIrqHandler irqCallback;
 static tal_trx_status_t trx_state;
 static unsigned char frame_buffer[FRAME_BUFFER_SIZE];
 static unsigned char last_rssi;
-static unsigned char spi_cs;
 static unsigned char last_ackd = 0;
 
 
 // =========== Public functions ===============================================
 
 void trxSetup(unsigned char cs)
 {
-    spi_cs = cs;
 
     // SPI setup
     setupSPI();     // Set up SPI com port
@@ -241,7 +234,7 @@ void trxWriteFrameBuffer(MacPacket packet) {
 
     memcpy(frame_buffer + i, payToString(pld), payGetPayloadLength(pld));
 
-    spic1BeginTransaction(spi_cs);
+    spic1BeginTransaction(TRX_CS);
     spic1Transmit(TRX_CMD_FW);
     spic1MassTransmit(phy_len, frame_buffer, phy_len*3); // 3*length microseconds timeout seems to work well
 
@@ -346,7 +339,7 @@ void trxSetStateOff(void) {
  */
 static void trxWriteReg(unsigned char addr, unsigned char val) {
 
-    spic1BeginTransaction(spi_cs);
+    spic1BeginTransaction(TRX_CS);
     spic1Transmit(TRX_CMD_RW | addr);
     spic1Transmit(val);
     spic1EndTransaction();
@@ -362,7 +355,7 @@ static void trxWriteReg(unsigned char addr, unsigned char val) {
 static unsigned char trxReadReg(unsigned char addr) {
 
     unsigned char c;
-    spic1BeginTransaction(spi_cs);
+    spic1BeginTransaction(TRX_CS);
     spic1Transmit(TRX_CMD_RR | addr);
     c = spic1Receive();
     spic1EndTransaction();
@@ -495,7 +488,7 @@ static void trxSpiCallback(unsigned int interrupt_code) {
  */
 static void trxFillBuffer(void) {
 
-    spic1BeginTransaction(spi_cs);
+    spic1BeginTransaction(TRX_CS);
     last_rssi = spic1Transmit(TRX_CMD_FR);  // Begin write (returns RSSI because of SPI_CMD_MODE)
     //current_phy_len = spic1Receive(); // Read physical frame size
     //spic1MassTransmit(current_phy_len, NULL, current_phy_len*3); // DMA rest into buffer
@@ -514,7 +507,7 @@ static void trxReadBuffer(void) {
 
 static void setupSPI(void)
 {
-    spicSetupChannel1(spi_cs,
+    spicSetupChannel1(TRX_CS,
                       ENABLE_SCK_PIN &
                       ENABLE_SDO_PIN &
                       SPI_MODE16_OFF &

battery.c

@@ -124,7 +124,7 @@ void __attribute__((interrupt, no_auto_psv)) _INT0Interrupt(void) {
     _INT0IF = 0;    // Clear the interrupt flag
 
 }
-#elif defined(__IMAGEPROC2)
+#elif defined(__IMAGEPROC24) || defined(__IMAGEPROC25)
 void __attribute__((interrupt, no_auto_psv)) _INT2Interrupt(void) {
 
     batHandleISR();

bsp-ip25.h

@@ -0,0 +1,45 @@
+/* 
+ * File:   bsp-ip25.h
+ * Author: apullin
+ *
+ * Created on January 15, 2014, 5:05 PM
+ */
+
+#ifndef BSP_IP25_H
+#define	BSP_IP25_H
+
+//SPI setup registers; possible should be in a chip support include
+// SPIx Registers
+#define SPI_BUF         SPI2BUF
+#define SPI_CON1        SPI2CON1
+#define SPI_CON2        SPI2CON2
+#define SPI_STAT        SPI2STAT
+#define SPI_STATbits    SPI2STATbits
+#define SPI_CON1bits    SPI2CON1bits
+#define SLPTR               (_LATB15) // Radio Sleep/Transmit Pin
+
+//TRX defines
+#define TRX_CS      0 //On SPI channel 1
+//DFMEM defines
+#define DFMEM_CS    0 //On SPI channel 2
+//MPU defines
+#define MPU_CS      1 //On SPI channel 2
+
+//These should probably be in a chip support package include, rather than BSP
+#define SPI1_CS             (_LATB2)    // Radio Chip Select
+#define SPI2_CS1            (_LATG9)    // Flash Chip Select
+#define SPI2_CS2            (_LATC15)   // MPU6000 Chip Select
+
+//LED colors
+//TODO (): Should this be here? Since any color LED could end up installed
+//  on the board, which could be very misleading
+#define LED_1   _LATB12
+#define LED_2   _LATB13
+#define LED_3   _LATB14
+
+#define LED_RED				LED_1
+#define LED_GREEN			LED_2
+#define LED_YELLOW			LED_3
+
+#endif	/* BSP_IP25_H */
+

dfmem.c

@@ -63,23 +63,6 @@
 #include "spi_controller.h"        // For DMA
 #include "utils.h"
 
-// TODO (humhu) : Consolidate into some BSP header
-#if (defined(__IMAGEPROC1) || defined(__IMAGEPROC2) || defined(__MIKRO) || defined(__EXP16DEV))
-// MIKRO & EXP16DEV has no FLASHMEM, but needs this for compile
-
-    // SPIx pins
-    #define SPI_CS          _LATG9
-
-    // SPIx Registers
-    #define SPI_BUF         SPI2BUF
-    #define SPI_CON1        SPI2CON1
-    #define SPI_CON2        SPI2CON2
-    #define SPI_STAT        SPI2STAT
-    #define SPI_STATbits    SPI2STATbits
-    #define SPI_CON1bits    SPI2CON1bits
-
-#endif
-
 // Flash geometry
 // 8 Mbit
 #define FLASH_8MBIT_MAX_SECTOR              16
@@ -152,9 +135,6 @@ static unsigned int currentBuffer = 0;
 static unsigned int currentBufferOffset = 0;
 static unsigned int nextPage = 0;
 
-// Chip select
-static unsigned char spi_cs;
-
 enum FlashSizeType {
     DFMEM_8MBIT    = 0b00101,
     DFMEM_16MBIT   = 0b00110,
@@ -188,11 +168,10 @@ static void spiCallback(unsigned int irq_source);
  *          Public functions
 -----------------------------------------------------------------------------*/
 
-void dfmemSetup(unsigned char cs)
+void dfmemSetup(void)
 {
-    spi_cs = cs;
     dfmemSetupPeripheral();
-    spic2SetCallback(cs, &spiCallback);
+    spic2SetCallback(DFMEM_CS, &spiCallback);
     while(!dfmemIsReady());
 
     dfmemGeometrySetup();
@@ -571,7 +550,7 @@ static inline unsigned char dfmemReadByte (void)
 }
 
 // Selects the memory chip.
-static inline void dfmemSelectChip(void) { spic2BeginTransaction(spi_cs); }
+static inline void dfmemSelectChip(void) { spic2BeginTransaction(DFMEM_CS); }
 
 // De-selects the memory chip.
 static inline void dfmemDeselectChip(void) { spic2EndTransaction(); }
@@ -581,7 +560,7 @@ static inline void dfmemDeselectChip(void) { spic2EndTransaction(); }
 // The MCU is the SPI master and the clock isn't continuous.
 static void dfmemSetupPeripheral(void)
 {
-    spicSetupChannel2(spi_cs,
+    spicSetupChannel2(DFMEM_CS,
                       ENABLE_SCK_PIN &
                       ENABLE_SDO_PIN &
                       SPI_MODE16_OFF &
@@ -669,4 +648,4 @@ static void dfmemReadSecurityRegister(void){
     }
     dfmemDeselectChip();
 
-}
+}

dfmem.h

@@ -71,8 +71,8 @@ typedef struct {
 typedef DfmemGeometryStruct* DfmemGeometry;
 
 // Handles initialization of communication peripherals and makes sure the
-// memory is initially deselected. Must pass in chip select pin index.
-void dfmemSetup (unsigned char cs);
+// memory is initially deselected. Chip select defined in BSP header.
+void dfmemSetup (void);
 
 // Writes the contents of a data array to memory.
 //

init_default.c

@@ -150,7 +150,7 @@ void SetupPorts(void)
     TRISE = 0b00000000;
 
 
-#elif defined(__IMAGEPROC2)
+#elif defined(__IMAGEPROC24) || defined(__IMAGEPROC25)
 
     // LEDs: RB12-14 are outputs
     // SPI1 Slave Select is an output (RB2)