Commit from zer0 on branch b_zer0 (2007-06-14 18:29 CEST)
---------------------------------
fix scheduler for 16 bits timer
aversive modules/base/scheduler/scheduler.h 1.8.4.4
aversive modules/base/scheduler/scheduler_private.h 1.1.2.5
aversive modules/base/scheduler/config/scheduler_config.h 1.1.10.6
aversive modules/base/scheduler/test/scheduler_config.h 1.4.10.5
-------------------------------------------
aversive/modules/base/scheduler/scheduler.h (1.8.4.3 -> 1.8.4.4)
-------------------------------------------
***************
*** 15,21 ****
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: scheduler.h,v 1.8.4.3 2007-05-23 17:18:11 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: scheduler.h,v 1.8.4.4 2007-06-14 16:29:51 zer0 Exp $
*
*/
***************
*** 49,62 ****
#include <aversive.h>
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
#include <timer.h>
! #endif
#include <scheduler_config.h>
! #define SCHEDULER_MCU_CLOCK (F_CPU / KHz)
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
! #define TIMER_UNIT ( 256000l / (SCHEDULER_MCU_CLOCK) )
/** SCHEDULER_UNIT is the REAL number of microseconds between each
* interruption. We can use it like this :
--- 49,106 ----
#include <aversive.h>
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
#include <timer.h>
! #endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
#include <scheduler_config.h>
! #ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #if SCHEDULER_TIMER_NUM == 0
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
! #ifdef TCNT0H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 1
! #define SCHEDULER_TIMER_REGISTER()
timer1_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer1_get_prescaler_div()
! #ifdef TCNT1H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 2
! #define SCHEDULER_TIMER_REGISTER()
timer2_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer2_get_prescaler_div()
! #ifdef TCNT2H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 3
! #define SCHEDULER_TIMER_REGISTER()
timer3_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer3_get_prescaler_div()
! #ifdef TCNT3H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #else
! #error "Bad SCHEDULER_TIMER_NUM value in config file"
! #endif
! #endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
! #if SCHEDULER_TIMER_BITS == 8
! #define TIMER_UNIT ( 256000000LL / (CONFIG_QUARTZ) )
! #else
! #define TIMER_UNIT ( 65536000000LL / (CONFIG_QUARTZ) )
! #endif
/** SCHEDULER_UNIT is the REAL number of microseconds between each
* interruption. We can use it like this :
---------------------------------------------------
aversive/modules/base/scheduler/scheduler_private.h (1.1.2.4 -> 1.1.2.5)
---------------------------------------------------
***************
*** 15,34 ****
* 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 1.1.2.4 2007-05-23 17:18:11 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 "_SCHEDULER_CONFIG_VERSION_ is != 2"
#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>
--- 15,43 ----
* 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: scheduler_private.h,v 1.1.2.5 2007-06-14 16:29:51 zer0
Exp $
*
*/
#ifndef _SCHEDULER_PRIVATE_H_
#define _SCHEDULER_PRIVATE_H_
! /* sanity checks */
! #if _SCHEDULER_CONFIG_VERSION_ != 3
#warning "You are using an old version of scheduler_config.h file"
! #warning "_SCHEDULER_CONFIG_VERSION_ is != 3"
#warning "Look in modules/base/scheduler/config directory to import changes"
#warning "You should define SCHEDULER_NB_STACKING_MAX and SCHEDULER_CK"
#endif
+ #ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
+ #if defined SCHEDULER_TIMER_REGISTER || defined SCHEDULER_CLOCK_PRESCALER
+ #warning "SCHEDULER_TIMER_REGISTER or SCHEDULER_CLOCK_PRESCALER is already"
+ #warning "defined in your scheduler config file, and you are using the"
+ #warning "timer module."
+ #endif
+ #endif
+
#include <stdint.h>
#include <aversive/queue.h>
---------------------------------------------------------
aversive/modules/base/scheduler/config/scheduler_config.h (1.1.10.5 ->
1.1.10.6)
---------------------------------------------------------
***************
*** 15,28 ****
* 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 1.1.10.5 2007-05-23 17:18:11 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
--- 15,28 ----
* 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 1.1.10.6 2007-06-14 16:29:51 zer0
Exp $
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
! #define _SCHEDULER_CONFIG_VERSION_ 3
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
***************
*** 32,40 ****
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
!
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
--- 32,39 ----
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! /** the num of the timer to use for the scheduler */
! #define SCHEDULER_TIMER_NUM 0
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
-------------------------------------------------------
aversive/modules/base/scheduler/test/scheduler_config.h (1.4.10.4 -> 1.4.10.5)
-------------------------------------------------------
***************
*** 15,28 ****
* 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 1.4.10.4 2007-05-23 17:18:11 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
--- 15,28 ----
* 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 1.4.10.5 2007-06-14 16:29:51 zer0
Exp $
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
! #define _SCHEDULER_CONFIG_VERSION_ 3
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
***************
*** 32,40 ****
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
!
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
--- 32,39 ----
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! /** the num of the timer to use for the scheduler */
! #define SCHEDULER_TIMER_NUM 0
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
Commit from zer0 (2007-06-14 18:34 CEST)
----------------
merge from b_zer0
- fix integer sqrt
- fix scheduler for 16 bits timers
aversive modules/base/math/fixed_point/f16_sqrt.c 1.6
aversive modules/base/math/fixed_point/f32_sqrt.c 1.6
aversive modules/base/math/fixed_point/f64_sqrt.c 1.6
aversive modules/base/math/fixed_point/test/main.c 1.6
aversive modules/base/scheduler/scheduler.h 1.11
aversive modules/base/scheduler/scheduler_private.h 1.4
aversive modules/base/scheduler/config/scheduler_config.h 1.4
aversive modules/base/scheduler/test/scheduler_config.h 1.7
aversive modules/devices/control_system/filters/quadramp/quadramp.c 1.7
-------------------------------------------------
aversive/modules/base/math/fixed_point/f16_sqrt.c (1.5 -> 1.6)
-------------------------------------------------
***************
*** 15,21 ****
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: f16_sqrt.c,v 1.5 2006-11-03 09:05:10 zer0 Exp $
*
*/
--- 15,21 ----
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: f16_sqrt.c,v 1.6 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 24,52 ****
#include <s16_to_f16.h>
! /* could be optimized... */
! static inline uint16_t u16_sqrt(uint16_t x)
! {
! uint16_t root=0x80;
! uint16_t mask=0x80;
! while(mask) {
! if( root*root < x ) {
! mask >>= 1;
! root |= mask;
! }
! else if ( root*root > x ) {
! root &= ~(mask);
! mask >>= 1;
! root |= mask;
! continue;
! }
! else
! break;
! }
! return root;
}
f16 f16_sqrt(f16 f)
{
uint16_t a,b,c,d;
--- 24,46 ----
#include <s16_to_f16.h>
! #define NEXT(n, i) (((n) + (i)/(n)) >> 1)
! static uint16_t u16_sqrt(uint16_t number) {
! uint16_t n = 1;
! uint16_t n1 = NEXT(n, number);
!
! while(ABS(n1 - n) > 1) {
! n = n1;
! n1 = NEXT(n, number);
! }
! while((n1*n1) > number) {
! n1 -= 1;
! }
! return n1;
}
+
f16 f16_sqrt(f16 f)
{
uint16_t a,b,c,d;
-------------------------------------------------
aversive/modules/base/math/fixed_point/f32_sqrt.c (1.5 -> 1.6)
-------------------------------------------------
***************
*** 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: f32_sqrt.c,v 1.5 2006-11-03 09:05:10 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: f32_sqrt.c,v 1.6 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 23,49 ****
#include <f32.h>
#include <s32_to_f32.h>
! /* could be optimized... */
! static inline uint32_t u32_sqrt(uint32_t x)
! {
! uint32_t root=0x8000;
! uint32_t mask=0x8000;
! while(mask) {
! if( root*root < x ) {
! mask >>= 1;
! root |= mask;
! }
! else if ( root*root > x ) {
! root &= ~(mask);
! mask >>= 1;
! root |= mask;
! continue;
! }
! else
! break;
! }
! return root;
}
f32 f32_sqrt(f32 f)
--- 23,42 ----
#include <f32.h>
#include <s32_to_f32.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;
}
f32 f32_sqrt(f32 f)
-------------------------------------------------
aversive/modules/base/math/fixed_point/f64_sqrt.c (1.5 -> 1.6)
-------------------------------------------------
***************
*** 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: f64_sqrt.c,v 1.5 2006-11-03 09:05:10 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: f64_sqrt.c,v 1.6 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 23,49 ****
#include <f64.h>
#include <s64_to_f64.h>
! /* could be optimized... */
! static inline uint64_t u64_sqrt(uint64_t x)
! {
! uint64_t root=0x80000000;
! uint64_t mask=0x80000000;
! while(mask) {
! if( root*root < x ) {
! mask >>= 1;
! root |= mask;
! }
! else if ( root*root > x ) {
! root &= ~(mask);
! mask >>= 1;
! root |= mask;
! continue;
! }
! else
! break;
! }
! return root;
}
f64 f64_sqrt(f64 f)
--- 23,42 ----
#include <f64.h>
#include <s64_to_f64.h>
! #define NEXT(n, i) (((n) + (i)/(n)) >> 1)
! static uint64_t u64_sqrt(uint64_t number) {
! uint64_t n = 1;
! uint64_t n1 = NEXT(n, number);
!
! while(ABS(n1 - n) > 1) {
! n = n1;
! n1 = NEXT(n, number);
! }
! while((n1*n1) > number) {
! n1 -= 1;
! }
! return n1;
}
f64 f64_sqrt(f64 f)
--------------------------------------------------
aversive/modules/base/math/fixed_point/test/main.c (1.5 -> 1.6)
--------------------------------------------------
***************
*** 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: main.c,v 1.5 2006-10-14 11:35:04 larribe 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: main.c,v 1.6 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 99,104 ****
--- 99,105 ----
printf("*** SQRT\n\n");
printf("Result is ");
f64_print(f64_sqrt(a));
+ f64_sqrt(a);
printf("\nResult should be %f\n\n", sqrt(A));
printf("Result is ");
f64_print(f64_sqrt(b));
-------------------------------------------
aversive/modules/base/scheduler/scheduler.h (1.10 -> 1.11)
-------------------------------------------
***************
*** 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: scheduler.h,v 1.10 2007-05-24 13:08:46 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: scheduler.h,v 1.11 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 49,62 ****
#include <aversive.h>
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
#include <timer.h>
! #endif
#include <scheduler_config.h>
! #define SCHEDULER_MCU_CLOCK (F_CPU / KHz)
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
! #define TIMER_UNIT ( 256000l / (SCHEDULER_MCU_CLOCK) )
/** SCHEDULER_UNIT is the REAL number of microseconds between each
* interruption. We can use it like this :
--- 49,106 ----
#include <aversive.h>
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
#include <timer.h>
! #endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
#include <scheduler_config.h>
! #ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #if SCHEDULER_TIMER_NUM == 0
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
! #ifdef TCNT0H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 1
! #define SCHEDULER_TIMER_REGISTER()
timer1_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer1_get_prescaler_div()
! #ifdef TCNT1H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 2
! #define SCHEDULER_TIMER_REGISTER()
timer2_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer2_get_prescaler_div()
! #ifdef TCNT2H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #elif SCHEDULER_TIMER_NUM == 3
! #define SCHEDULER_TIMER_REGISTER()
timer3_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer3_get_prescaler_div()
! #ifdef TCNT3H
! #define SCHEDULER_TIMER_BITS 16
! #else
! #define SCHEDULER_TIMER_BITS 8
! #endif
!
! #else
! #error "Bad SCHEDULER_TIMER_NUM value in config file"
! #endif
! #endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
! #if SCHEDULER_TIMER_BITS == 8
! #define TIMER_UNIT ( 256000000LL / (CONFIG_QUARTZ) )
! #else
! #define TIMER_UNIT ( 65536000000LL / (CONFIG_QUARTZ) )
! #endif
/** SCHEDULER_UNIT is the REAL number of microseconds between each
* interruption. We can use it like this :
---------------------------------------------------
aversive/modules/base/scheduler/scheduler_private.h (1.3 -> 1.4)
---------------------------------------------------
***************
*** 15,34 ****
* 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 1.3 2007-05-24 13:08:46 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 "_SCHEDULER_CONFIG_VERSION_ is != 2"
#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>
--- 15,43 ----
* 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: scheduler_private.h,v 1.4 2007-06-14 16:34:03 zer0 Exp $
*
*/
#ifndef _SCHEDULER_PRIVATE_H_
#define _SCHEDULER_PRIVATE_H_
! /* sanity checks */
! #if _SCHEDULER_CONFIG_VERSION_ != 3
#warning "You are using an old version of scheduler_config.h file"
! #warning "_SCHEDULER_CONFIG_VERSION_ is != 3"
#warning "Look in modules/base/scheduler/config directory to import changes"
#warning "You should define SCHEDULER_NB_STACKING_MAX and SCHEDULER_CK"
#endif
+ #ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
+ #if defined SCHEDULER_TIMER_REGISTER || defined SCHEDULER_CLOCK_PRESCALER
+ #warning "SCHEDULER_TIMER_REGISTER or SCHEDULER_CLOCK_PRESCALER is already"
+ #warning "defined in your scheduler config file, and you are using the"
+ #warning "timer module."
+ #endif
+ #endif
+
#include <stdint.h>
#include <aversive/queue.h>
---------------------------------------------------------
aversive/modules/base/scheduler/config/scheduler_config.h (1.3 -> 1.4)
---------------------------------------------------------
***************
*** 15,28 ****
* 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 1.3 2007-05-24 13:08:46 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
--- 15,28 ----
* 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 1.4 2007-06-14 16:34:03 zer0 Exp $
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
! #define _SCHEDULER_CONFIG_VERSION_ 3
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
***************
*** 32,40 ****
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
!
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
--- 32,39 ----
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! /** the num of the timer to use for the scheduler */
! #define SCHEDULER_TIMER_NUM 0
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
-------------------------------------------------------
aversive/modules/base/scheduler/test/scheduler_config.h (1.6 -> 1.7)
-------------------------------------------------------
***************
*** 15,28 ****
* 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 1.6 2007-05-24 13:08:46 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
--- 15,28 ----
* 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 1.7 2007-06-14 16:34:03 zer0 Exp $
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
! #define _SCHEDULER_CONFIG_VERSION_ 3
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
***************
*** 32,40 ****
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! #define SCHEDULER_TIMER_REGISTER()
timer0_register_OV_intr(scheduler_interrupt)
! #define SCHEDULER_CLOCK_PRESCALER timer0_get_prescaler_div()
!
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
--- 32,39 ----
this case, precaler is defined in timers_config.h in your project
directory. */
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
! /** the num of the timer to use for the scheduler */
! #define SCHEDULER_TIMER_NUM 0
/* or set the prescaler manually (in this case, you use must TIMER0,
and the prescaler must be a correct value regarding the AVR device
-------------------------------------------------------------------
aversive/modules/devices/control_system/filters/quadramp/quadramp.c (1.6 ->
1.7)
-------------------------------------------------------------------
***************
*** 15,21 ****
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: quadramp.c,v 1.6 2007-05-24 13:08:47 zer0 Exp $
*
*/
--- 15,21 ----
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
! * Revision : $Id: quadramp.c,v 1.7 2007-06-14 16:34:03 zer0 Exp $
*
*/
***************
*** 24,53 ****
#include <aversive.h>
#include <quadramp.h>
! /* could be optimized... */
! static inline uint32_t u32_sqrt(uint32_t x)
! {
! uint32_t root=0x8000;
! uint32_t mask=0x8000;
! while(mask) {
! if( root*root < x ) {
! mask >>= 1;
! root |= mask;
! }
! else if ( root*root > x ) {
! root &= ~(mask);
! mask >>= 1;
! root |= mask;
! continue;
! }
! else
! break;
! }
! return root;
}
! inline void quadramp_init(struct quadramp_filter * q)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 24,46 ----
#include <aversive.h>
#include <quadramp.h>
! #define NEXT(n, i) (((n) + (i)/(n)) >> 1)
! static uint32_t u32_sqrt(uint32_t number) {
! uint32_t n = 1;
! uint32_t n1 = NEXT(n, number);
!
! while(ABS(n1 - n) > 1) {
! n = n1;
! n1 = NEXT(n, number);
! }
! while((n1*n1) > number) {
! n1 -= 1;
! }
! return n1;
}
! void quadramp_init(struct quadramp_filter * q)
{
uint8_t flags;
IRQ_LOCK(flags);
***************
*** 62,68 ****
IRQ_UNLOCK(flags);
}
! inline void quadramp_set_2nd_order_vars(struct quadramp_filter * q, uint32_t
var_2nd_ord_pos, uint32_t var_2nd_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 55,61 ----
IRQ_UNLOCK(flags);
}
! void quadramp_set_2nd_order_vars(struct quadramp_filter * q, uint32_t
var_2nd_ord_pos, uint32_t var_2nd_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
***************
*** 71,77 ****
IRQ_UNLOCK(flags);
}
! inline void quadramp_set_1st_order_vars(struct quadramp_filter * q, uint32_t
var_1st_ord_pos, uint32_t var_1st_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
--- 64,70 ----
IRQ_UNLOCK(flags);
}
! void quadramp_set_1st_order_vars(struct quadramp_filter * q, uint32_t
var_1st_ord_pos, uint32_t var_1st_ord_neg)
{
uint8_t flags;
IRQ_LOCK(flags);
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