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* num;
+
+ IRQ_LOCK(flags);
+ // recuperation des 4 octets composant la valeur codeur
+ val = (int32_t)( ((*(reg +4))<<24) | ((*(reg +3))<<16) |((*(reg
+1))<<8) | (*(reg +1)) );
+
+ IRQ_UNLOCK(flags);
+
+ return val;
+ }
+
+ /** Initialisation des codeurs, variables, et ports */
+ void encoders_init(u08 config)
+ {
+ MCUCR = MCUCR | (1 << SRE);
+ ENCODERS_CONFIG = config;
+ }
+
+
+ /** Extraction d'une valeur de codeur */
+ encoders encoders_get_value(uint8_t number)
+ {
+ encoders value;
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ value = get_encoder(number);
+ IRQ_UNLOCK(flags);
+
+ return value;
+ }
+
---------------------------------------------------------------------------
aversive/modules/devices/encoders/encoders_eirbot_2k7/encoders_eirbot_2k7.h
(1.1.2.1)
---------------------------------------------------------------------------
***************
*** 0 ****
--- 1,52 ----
+ /*
+ * 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.h,v 1.1.2.1 2007-01-25 13:24:29
enseirb Exp $
+ *
+ */
+
+ /** \file encoders_eirbot.h
+ * \brief universal Interface for incremental coders
+ */
+
+ #ifndef _ENCODERS_EIRBOT_2K7_H_
+ #define _ENCODERS_EIRBOT_2K7_H_
+
+ #include <base/utils/utils.h>
+ #include <encoders_eirbot_2k7_config.h>
+
+
+ /** definition du registre interne au FPGA */
+ #define ENCODERS_CONFIG _SFR_MEM8(BASE_ADRESS_ENCODERS)
+
+
+ typedef int32_t encoders;
+
+ /**
+ * Initialisation of counters, variables
+ * Sets the encoders rotationwise :
+ * each byte of the data configures one encoder.
+ * refer to the encoders_eirbot_2k7_config_file
+ * to find the corresponding byte number of each encoder
+ */
+ void encoders_init(uint8_t config);
+
+
+ /** Extract counter value from the FPGA*/
+ encoders encoders_get_value(uint8_t number);
+
+ #endif
Commit from enseirb (2007-01-25 20:18 CET)
-------------------
Add some unioc related tests
+ aversive_projects eirbot2007/unioc_codeurs/Makefile
1.1
+ aversive_projects eirbot2007/unioc_codeurs/encoders_eirbot_2k7_config.h
1.1
+ aversive_projects eirbot2007/unioc_codeurs/encoders_eirbot_config.h
1.1
+ aversive_projects eirbot2007/unioc_codeurs/main.c
1.1
+ aversive_projects eirbot2007/unioc_codeurs/scheduler_config.h
1.1
+ aversive_projects eirbot2007/unioc_codeurs/uart_config.h
1.1
+ aversive_projects eirbot2007/unioc_external_ram/Makefile
1.1
+ aversive_projects eirbot2007/unioc_external_ram/error_config.h
1.1
+ aversive_projects eirbot2007/unioc_external_ram/main.c
1.1
+ aversive_projects eirbot2007/unioc_external_ram/uart_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/Makefile
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/encoders_eirbot_2k7_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/main.c
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/pwm_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/scheduler_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_asserv/uart_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/Makefile
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/main.c
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/pwm_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/scheduler_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/uart_config.h
1.1
+ aversive_projects eirbot2007/unioc_test_pwm/utils_config.h
1.1
---------------------------------------------------
aversive_projects/eirbot2007/unioc_codeurs/Makefile (1.1)
---------------------------------------------------
***************
*** 0 ****
--- 1,21 ----
+ TARGET = main
+
+ # repertoire des modules
+ AVERSIVE_DIR = ../..
+
+ # 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/eirbot2007/unioc_codeurs/encoders_eirbot_2k7_config.h (1.1)
-----------------------------------------------------------------------
***************
*** 0 ****
--- 1,40 ----
+ // EIRBOT 2005
+ // ToF
+ /** \file codeur_config.h
+ * \brief configuration du module codeur
+ *
+ * \todo il reste a implémanter la version sur irq
+ *
+ * \test a tester en version xil
+ *
+ * on peut configurer ici combien de codeurs seront utilisés
+ * et comment y accéder (interface bus xilinx ou ports en irq)
+ */
+
+ #ifndef _COUNTER_EIRBOT_2K7_CONFIG_
+ #define _COUNTER_EIRBOT_2K7_CONFIG_
+
+ #include <avr/io.h>
+
+ /** adresse la plus basse à partir de laquelle se trouvent toutes les autres
données codeur.
+ * Ceci implique des adresses consécutives pour les modules codeurs
+ * #define BASE_CODEUR 0x1200
+ */
+
+ #define BASE_ADRESS_ENCODERS 0x1300
+
+ /** nombre de codeurs implantés dans le FPGA et utilisés par le µc
+ */
+ #define ENCODERS_NUMBER 4
+
+ /** Registre ENCODERS_CONFIG :
+ * correspondance numero de bit, codeur
+ */
+ #define L_ENGINE_ENCODER 0
+ #define R_ENGINE_ENCODER 1
+ #define L_SEPARATED_ENCODER 2
+ #define R_SEPARATED_ENCODER 3
+
+ #endif
+
+
-------------------------------------------------------------------
aversive_projects/eirbot2007/unioc_codeurs/encoders_eirbot_config.h (1.1)
-------------------------------------------------------------------
***************
*** 0 ****
--- 1,11 ----
+
+ #define ENCODERS_SEL_START_BIT 0
+ #define ENCODERS_SEL_NB_BIT 3
+ #define ENCODERS_SEL_DDR DDRA
+ #define ENCODERS_SEL_PORT PORTA
+
+ #define ENCODERS_GET_START_BIT 0
+ #define ENCODERS_GET_NB_BIT 8
+ #define ENCODERS_GET_DDR DDRB
+ #define ENCODERS_GET_PIN PINB
+
-------------------------------------------------
aversive_projects/eirbot2007/unioc_codeurs/main.c (1.1)
-------------------------------------------------
***************
*** 0 ****
--- 1,61 ----
+ /*
+ * 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: main.c,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #include <stdlib.h>
+ #include <stdio.h>
+ #include <utils.h>
+ #include <wait.h>
+ #include <uart.h>
+ //#include <scheduler.h>
+ #include <encoders_eirbot_2k7.h>
+
+ int main(void)
+ {
+ uint8_t i=0;
+ int32_t e0, e1, e2, e3;
+
+ uart_init();
+
+ fdevopen((int(*)(char))uart0_send,
+ (int(*)(char))uart0_recv,
+ 0);
+
+ encoders_init((1<<L_ENGINE_ENCODER) | (1 <<R_ENGINE_ENCODER));
+
+ sei();
+
+ /* add microb encoders management */
+ //scheduler_add_periodical_event(encoders_microb_manage, NULL, 1);
+
+ while(1) {
+ e0 = encoders_get_value(L_ENGINE_ENCODER);
+ e1 = encoders_get_value(R_ENGINE_ENCODER);
+ e2 = encoders_get_value(L_SEPARATED_ENCODER);
+ e3 = encoders_get_value(R_SEPARATED_ENCODER);
+
+ printf("%.8ld %.8ld %.8ld %.8ld\r\n", e0, e1, e2, e3);
+
+ wait_ms(100);
+ }
+
+ return 0;
+
+ }
-------------------------------------------------------------
aversive_projects/eirbot2007/unioc_codeurs/scheduler_config.h (1.1)
-------------------------------------------------------------
***************
*** 0 ****
--- 1,29 ----
+ /*
+ * 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: scheduler_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #ifndef _SCHEDULER_CONFIG_H_
+ #define _SCHEDULER_CONFIG_H_
+
+
+ #define SCHEDULER_NB_MAX_EVENT 5
+ #define SCHEDULER_CLOCK_PRESCALER 8
+
+ #endif // _SCHEDULER_CONFIG_H_
--------------------------------------------------------
aversive_projects/eirbot2007/unioc_codeurs/uart_config.h (1.1)
--------------------------------------------------------
***************
*** 0 ****
--- 1,72 ----
+ /*
+ * 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: uart_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+ #ifndef UART_CONFIG_H
+ #define UART_CONFIG_H
+
+ /*
+ * UART0 definitions
+ */
+
+ /* compile uart0 fonctions, undefine it to pass compilation */
+ #define UART0_COMPILE
+
+ /* enable uart0 if == 1, disable if == 0 */
+ #define UART0_ENABLED 1
+
+ /* enable uart0 interrupts if == 1, disable if == 0 */
+ #define UART0_INTERRUPT_ENABLED 1
+
+ #define UART0_BAUDRATE 38400
+
+ /*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+ #define UART0_USE_DOUBLE_SPEED 0
+ //#define UART0_USE_DOUBLE_SPEED 1
+
+ #define UART0_RX_FIFO_SIZE 4
+ #define UART0_TX_FIFO_SIZE 4
+ //#define UART0_NBITS 5
+ //#define UART0_NBITS 6
+ //#define UART0_NBITS 7
+ #define UART0_NBITS 8
+ //#define UART0_NBITS 9
+
+ #define UART0_PARITY UART_PARTITY_NONE
+ //#define UART0_PARITY UART_PARTITY_ODD
+ //#define UART0_PARITY UART_PARTITY_EVEN
+
+ #define UART0_STOP_BIT UART_STOP_BITS_1
+ //#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+ /* .... same for uart 1, 2, 3 ... */
+
+ #endif
+
--------------------------------------------------------
aversive_projects/eirbot2007/unioc_external_ram/Makefile (1.1)
--------------------------------------------------------
***************
*** 0 ****
--- 1,21 ----
+ 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/eirbot2007/unioc_external_ram/error_config.h (1.1)
--------------------------------------------------------------
***************
*** 0 ****
--- 1,31 ----
+ /*
+ * 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: error_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #ifndef _ERROR_CONFIG_
+ #define _ERROR_CONFIG_
+
+ /** enable the dump of the comment */
+ #define ERROR_DUMP_TEXTLOG
+
+ /** enable the dump of filename and line number */
+ #define ERROR_DUMP_FILE_LINE
+
+ #endif
------------------------------------------------------
aversive_projects/eirbot2007/unioc_external_ram/main.c (1.1)
------------------------------------------------------
***************
*** 0 ****
--- 1,59 ----
+ #include <avr/io.h>
+ #include <wait.h>
+ //#include <uart.h>
+
+ //#include<stdio.h>
+
+ #define REG_FPGA _SFR_MEM8(0x13E0)
+ //(volatile unsigned char*)( 0x1299 )
+
+
+ int main(void)
+ {
+ //u08 *data = 0x1299;
+
+ //data = 0xDD99;
+
+ /*
+ DDRC = 0xFF;
+ DDRE = 0xFF;
+ DDRA = 0xFF;
+ DDRG = 0x07;
+ */
+ MCUCR = 1 << SRE;
+
+ while(1) {
+ /*
+ data++;
+
+ if (data = 0x2000)
+ data = 1299;
+ */
+ // *data = 0xAA;
+ REG_FPGA = 0x01;
+ wait_ms(2000);
+ // *data = 0x55;
+ REG_FPGA = 0x02;
+ wait_ms(2000);
+
+ REG_FPGA = 0x07;
+ wait_ms(2000);
+
+
+
+
+ /* //REG_FPGA = 0xAA;
+ wait_ms(20);
+
+ *data = 0x55;
+ //REG_FPGA = 0x55;
+ wait_ms(20);
+ */
+ }
+
+
+ return 0;
+ }
+
+
+
\ No newline at end of file
-------------------------------------------------------------
aversive_projects/eirbot2007/unioc_external_ram/uart_config.h (1.1)
-------------------------------------------------------------
***************
*** 0 ****
--- 1,72 ----
+ /*
+ * 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: uart_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+ #ifndef UART_CONFIG_H
+ #define UART_CONFIG_H
+
+ /*
+ * UART0 definitions
+ */
+
+ /* compile uart0 fonctions, undefine it to pass compilation */
+ #define UART0_COMPILE
+
+ /* enable uart0 if == 1, disable if == 0 */
+ #define UART0_ENABLED 1
+
+ /* enable uart0 interrupts if == 1, disable if == 0 */
+ #define UART0_INTERRUPT_ENABLED 1
+
+ #define UART0_BAUDRATE 38400
+
+ /*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+ #define UART0_USE_DOUBLE_SPEED 0
+ //#define UART0_USE_DOUBLE_SPEED 1
+
+ #define UART0_RX_FIFO_SIZE 4
+ #define UART0_TX_FIFO_SIZE 4
+ //#define UART0_NBITS 5
+ //#define UART0_NBITS 6
+ //#define UART0_NBITS 7
+ #define UART0_NBITS 8
+ //#define UART0_NBITS 9
+
+ #define UART0_PARITY UART_PARTITY_NONE
+ //#define UART0_PARITY UART_PARTITY_ODD
+ //#define UART0_PARITY UART_PARTITY_EVEN
+
+ #define UART0_STOP_BIT UART_STOP_BITS_1
+ //#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+ /* .... same for uart 1, 2, 3 ... */
+
+ #endif
+
-------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_asserv/Makefile (1.1)
-------------------------------------------------------
***************
*** 0 ****
--- 1,21 ----
+ TARGET = main
+
+ # repertoire des modules
+ AVERSIVE_DIR = ../..
+
+ # 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/eirbot2007/unioc_test_asserv/encoders_eirbot_2k7_config.h
(1.1)
---------------------------------------------------------------------------
***************
*** 0 ****
--- 1,40 ----
+ // EIRBOT 2005
+ // ToF
+ /** \file codeur_config.h
+ * \brief configuration du module codeur
+ *
+ * \todo il reste a implémanter la version sur irq
+ *
+ * \test a tester en version xil
+ *
+ * on peut configurer ici combien de codeurs seront utilisés
+ * et comment y accéder (interface bus xilinx ou ports en irq)
+ */
+
+ #ifndef _COUNTER_EIRBOT_2K7_CONFIG_
+ #define _COUNTER_EIRBOT_2K7_CONFIG_
+
+ #include <avr/io.h>
+
+ /** adresse la plus basse à partir de laquelle se trouvent toutes les autres
données codeur.
+ * Ceci implique des adresses consécutives pour les modules codeurs
+ * #define BASE_CODEUR 0x1200
+ */
+
+ #define BASE_ADRESS_ENCODERS 0x1300
+
+ /** nombre de codeurs implantés dans le FPGA et utilisés par le µc
+ */
+ #define ENCODERS_NUMBER 4
+
+ /** Registre ENCODERS_CONFIG :
+ * correspondance numero de bit, codeur
+ */
+ #define L_ENGINE_ENCODER 0
+ #define R_ENGINE_ENCODER 1
+ #define L_SEPARATED_ENCODER 2
+ #define R_SEPARATED_ENCODER 3
+
+ #endif
+
+
-----------------------------------------------------
aversive_projects/eirbot2007/unioc_test_asserv/main.c (1.1)
-----------------------------------------------------
***************
*** 0 ****
--- 1,76 ----
+ /*
+ * 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: main.c,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #include <stdlib.h>
+ #include <stdio.h>
+ #include <utils.h>
+ #include <wait.h>
+ #include <uart.h>
+ #include <pwm.h>
+ //#include <scheduler.h>
+ #include <encoders_eirbot_2k7.h>
+
+ int main(void)
+ {
+ uint8_t i=0;
+ int32_t e0, e1, e2, e3;
+
+ sbi(DDRB,7);
+ cbi(PORTB,7);
+ /*
+ uart_init();
+
+ fdevopen((int(*)(char))uart0_send,
+ (int(*)(char))uart0_recv,
+ 0);
+ */
+ encoders_init((1<<L_ENGINE_ENCODER) | (1 <<R_ENGINE_ENCODER));
+
+ sei();
+
+ /* add microb encoders management */
+ //scheduler_add_periodical_event(encoders_microb_manage, NULL, 1);
+
+ pwm_set_3A(4095);
+ pwm_set_3C(-4095);
+
+ wait_ms(1000);
+
+ int32_t le0 = encoders_get_value(L_ENGINE_ENCODER);
+ int32_t le1 = encoders_get_value(R_ENGINE_ENCODER);
+
+ while(1)
+ {
+ e0 = encoders_get_value(L_ENGINE_ENCODER);
+ e1 = encoders_get_value(R_ENGINE_ENCODER);
+ //e2 = encoders_get_value(L_SEPARATED_ENCODER);
+ //e3 = encoders_get_value(R_SEPARATED_ENCODER);
+
+ pwm_set_3A( (e0 - le0)/1 );
+ pwm_set_3C( (e1 - le1)/1 );
+
+ wait_ms(1);
+ //printf("%.8ld %.8ld %.8ld %.8ld\r\n", e0, e1, e2, e3);
+ }
+
+ return 0;
+
+ }
-----------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_asserv/pwm_config.h (1.1)
-----------------------------------------------------------
***************
*** 0 ****
--- 1,119 ----
+ /*
+ * 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: pwm_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp, Eirbot, Microb Technology 2005 - Zer0
+ * Config for PWM
+ */
+ /** \file pwm_config.h
+ \brief Module to operate all PWM outputs
+
+ \test not tested
+
+ */
+
+
+ #ifndef _PWM_CONFIG_
+ #define _PWM_CONFIG_
+
+ /* Which PWM are enabled ? */
+ //#define PWM0_ENABLED
+ //#define PWM1A_ENABLED
+ //#define PWM1B_ENABLED
+ //#define PWM1C_ENABLED
+ //#define PWM2_ENABLED
+ #define PWM3A_ENABLED
+ //#define PWM3B_ENABLED
+ #define PWM3C_ENABLED
+
+
+ /** max value for PWM entry, default 12 bits > 4095 */
+ #define PWM_SIGNIFICANT_BITS 12
+
+ // timer configs (not all possibilities can be used at this time)
+ #define TIMER0_MODE TIMER_8_MODE_PWM
+ #define TIMER0_PRESCALE TIMER_8_PRESCALE_1
+
+ #define TIMER1_MODE TIMER_16_MODE_PWM_10
+ #define TIMER1_PRESCALE TIMER_16_PRESCALE_1
+
+ #define TIMER2_MODE TIMER_8_MODE_PWM
+ #define TIMER2_PRESCALE TIMER_8_PRESCALE_1
+
+ #define TIMER3_MODE TIMER_16_MODE_PWM_10
+ #define TIMER3_PRESCALE TIMER_16_PRESCALE_1
+
+
+
+
+ /** config for pwm and signs
+
+ The pwm mode is defined as follows :
+ you can add flags like the ones who follow :
+
+ PWM_NORMAL : normal pwm, just to put a value if nothing else is
needed
+ PWM_REVERSE : invert pwm output, not sign
+
+ PWM_SIGNED : activate the sign output on a port (see config)
+ PWM_SIGN_INVERTED : invert sign output
+ PWM_SPECIAL_SIGN_MODE : if defined, the pwm is always near 0 for low values,
+ else negative low values are near 100%
+
+ if you need for example a PWM1A with special sign mode you configure like
this :
+
+ #define PWM1A_MODE (PWM_SIGNED | PWM_SPECIAL_SIGN_MODE)
+ #define PWM1A_SIGN_PORT PORTB
+ #define PWM1A_SIGN_BIT 2
+
+ */
+
+
+
+ // example for signed pwm1A
+ #define PWM3A_MODE (PWM_SIGNED)
+ #define PWM3A_SIGN_PORT PORTE
+ #define PWM3A_SIGN_BIT 7
+
+
+ #define PWM3C_MODE (PWM_SIGNED)
+ #define PWM3C_SIGN_PORT PORTE
+ #define PWM3C_SIGN_BIT 1
+
+ /** this tries to make the PWMs to synchronize.
+ experimental feature, could lead to problems.
+ to synch PWMs you need to enshure that the timers have same prescales,
+ and the same PWM mode */
+
+ //#define PWM_SYNCH
+
+ /* choose one of these */
+ //#define PWM_SYNCH_NO_PRESCALE
+ //#define PWM_SYNCH_PRESCALE_8
+ #define PWM_SYNCH_PRESCALE_MORE
+
+ #define TIMER_0_SYNCH
+ #define TIMER_1_SYNCH
+ #define TIMER_2_SYNCH
+ #define TIMER_3_SYNCH
+
+
+
+ #endif
+
-----------------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_asserv/scheduler_config.h (1.1)
-----------------------------------------------------------------
***************
*** 0 ****
--- 1,29 ----
+ /*
+ * 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: scheduler_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #ifndef _SCHEDULER_CONFIG_H_
+ #define _SCHEDULER_CONFIG_H_
+
+
+ #define SCHEDULER_NB_MAX_EVENT 5
+ #define SCHEDULER_CLOCK_PRESCALER 8
+
+ #endif // _SCHEDULER_CONFIG_H_
------------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_asserv/uart_config.h (1.1)
------------------------------------------------------------
***************
*** 0 ****
--- 1,72 ----
+ /*
+ * 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: uart_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+ #ifndef UART_CONFIG_H
+ #define UART_CONFIG_H
+
+ /*
+ * UART0 definitions
+ */
+
+ /* compile uart0 fonctions, undefine it to pass compilation */
+ #define UART0_COMPILE
+
+ /* enable uart0 if == 1, disable if == 0 */
+ #define UART0_ENABLED 1
+
+ /* enable uart0 interrupts if == 1, disable if == 0 */
+ #define UART0_INTERRUPT_ENABLED 1
+
+ #define UART0_BAUDRATE 38400
+
+ /*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+ #define UART0_USE_DOUBLE_SPEED 0
+ //#define UART0_USE_DOUBLE_SPEED 1
+
+ #define UART0_RX_FIFO_SIZE 4
+ #define UART0_TX_FIFO_SIZE 4
+ //#define UART0_NBITS 5
+ //#define UART0_NBITS 6
+ //#define UART0_NBITS 7
+ #define UART0_NBITS 8
+ //#define UART0_NBITS 9
+
+ #define UART0_PARITY UART_PARTITY_NONE
+ //#define UART0_PARITY UART_PARTITY_ODD
+ //#define UART0_PARITY UART_PARTITY_EVEN
+
+ #define UART0_STOP_BIT UART_STOP_BITS_1
+ //#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+ /* .... same for uart 1, 2, 3 ... */
+
+ #endif
+
----------------------------------------------------
aversive_projects/eirbot2007/unioc_test_pwm/Makefile (1.1)
----------------------------------------------------
***************
*** 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/eirbot2007/unioc_test_pwm/main.c (1.1)
--------------------------------------------------
***************
*** 0 ****
--- 1,62 ----
+ /*
+ * 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: main.c,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #include <utils.h>
+ #include <pwm.h>
+
+
+ #define PIN_BRAKE 7
+
+
+ int main(void)
+ {
+
+
+ /*****************************************/
+ pwm_init();
+
+ // Enleve le frein
+ sbi(DDRB,7);
+ DDRE = 0xff;
+
+ // enleve le frein => brake à 0;
+ cbi(PORTB,7);
+
+
+ pwm_set_3A(2046);
+ pwm_set_3C(546);
+
+ while(1)
+ {
+ pwm_set_3A(2000);
+ pwm_set_3C(3000);
+
+ wait_ms(2000);
+
+ pwm_set_3C(500);
+ pwm_set_3A(1000);
+ wait_ms(2000);
+
+ nop();
+ }
+
+ return 0;
+ }
--------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_pwm/pwm_config.h (1.1)
--------------------------------------------------------
***************
*** 0 ****
--- 1,119 ----
+ /*
+ * 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: pwm_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp, Eirbot, Microb Technology 2005 - Zer0
+ * Config for PWM
+ */
+ /** \file pwm_config.h
+ \brief Module to operate all PWM outputs
+
+ \test not tested
+
+ */
+
+
+ #ifndef _PWM_CONFIG_
+ #define _PWM_CONFIG_
+
+ /* Which PWM are enabled ? */
+ //#define PWM0_ENABLED
+ //#define PWM1A_ENABLED
+ //#define PWM1B_ENABLED
+ //#define PWM1C_ENABLED
+ //#define PWM2_ENABLED
+ #define PWM3A_ENABLED
+ //#define PWM3B_ENABLED
+ #define PWM3C_ENABLED
+
+
+ /** max value for PWM entry, default 12 bits > 4095 */
+ #define PWM_SIGNIFICANT_BITS 12
+
+ // timer configs (not all possibilities can be used at this time)
+ #define TIMER0_MODE TIMER_8_MODE_PWM
+ #define TIMER0_PRESCALE TIMER_8_PRESCALE_1
+
+ #define TIMER1_MODE TIMER_16_MODE_PWM_10
+ #define TIMER1_PRESCALE TIMER_16_PRESCALE_1
+
+ #define TIMER2_MODE TIMER_8_MODE_PWM
+ #define TIMER2_PRESCALE TIMER_8_PRESCALE_1
+
+ #define TIMER3_MODE TIMER_16_MODE_PWM_10
+ #define TIMER3_PRESCALE TIMER_16_PRESCALE_1
+
+
+
+
+ /** config for pwm and signs
+
+ The pwm mode is defined as follows :
+ you can add flags like the ones who follow :
+
+ PWM_NORMAL : normal pwm, just to put a value if nothing else is
needed
+ PWM_REVERSE : invert pwm output, not sign
+
+ PWM_SIGNED : activate the sign output on a port (see config)
+ PWM_SIGN_INVERTED : invert sign output
+ PWM_SPECIAL_SIGN_MODE : if defined, the pwm is always near 0 for low values,
+ else negative low values are near 100%
+
+ if you need for example a PWM1A with special sign mode you configure like
this :
+
+ #define PWM1A_MODE (PWM_SIGNED | PWM_SPECIAL_SIGN_MODE)
+ #define PWM1A_SIGN_PORT PORTB
+ #define PWM1A_SIGN_BIT 2
+
+ */
+
+
+
+ // example for signed pwm1A
+ #define PWM3A_MODE (PWM_SIGNED)
+ #define PWM3A_SIGN_PORT PORTE
+ #define PWM3A_SIGN_BIT 7
+
+
+ #define PWM3C_MODE (PWM_SIGNED)
+ #define PWM3C_SIGN_PORT PORTE
+ #define PWM3C_SIGN_BIT 1
+
+ /** this tries to make the PWMs to synchronize.
+ experimental feature, could lead to problems.
+ to synch PWMs you need to enshure that the timers have same prescales,
+ and the same PWM mode */
+
+ //#define PWM_SYNCH
+
+ /* choose one of these */
+ //#define PWM_SYNCH_NO_PRESCALE
+ //#define PWM_SYNCH_PRESCALE_8
+ #define PWM_SYNCH_PRESCALE_MORE
+
+ #define TIMER_0_SYNCH
+ #define TIMER_1_SYNCH
+ #define TIMER_2_SYNCH
+ #define TIMER_3_SYNCH
+
+
+
+ #endif
+
--------------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_pwm/scheduler_config.h (1.1)
--------------------------------------------------------------
***************
*** 0 ****
--- 1,29 ----
+ /*
+ * 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: scheduler_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #ifndef _SCHEDULER_CONFIG_H_
+ #define _SCHEDULER_CONFIG_H_
+
+
+ #define SCHEDULER_NB_MAX_EVENT 5
+ #define SCHEDULER_CLOCK_PRESCALER 8
+
+ #endif // _SCHEDULER_CONFIG_H_
---------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_pwm/uart_config.h (1.1)
---------------------------------------------------------
***************
*** 0 ****
--- 1,72 ----
+ /*
+ * 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: uart_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ /* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+ #ifndef UART_CONFIG_H
+ #define UART_CONFIG_H
+
+ /*
+ * UART0 definitions
+ */
+
+ /* compile uart0 fonctions, undefine it to pass compilation */
+ #define UART0_COMPILE
+
+ /* enable uart0 if == 1, disable if == 0 */
+ #define UART0_ENABLED 1
+
+ /* enable uart0 interrupts if == 1, disable if == 0 */
+ #define UART0_INTERRUPT_ENABLED 1
+
+ #define UART0_BAUDRATE 9600
+
+ /*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+ #define UART0_USE_DOUBLE_SPEED 0
+ //#define UART0_USE_DOUBLE_SPEED 1
+
+ #define UART0_RX_FIFO_SIZE 4
+ #define UART0_TX_FIFO_SIZE 4
+ //#define UART0_NBITS 5
+ //#define UART0_NBITS 6
+ //#define UART0_NBITS 7
+ #define UART0_NBITS 8
+ //#define UART0_NBITS 9
+
+ #define UART0_PARITY UART_PARTITY_NONE
+ //#define UART0_PARITY UART_PARTITY_ODD
+ //#define UART0_PARITY UART_PARTITY_EVEN
+
+ #define UART0_STOP_BIT UART_STOP_BITS_1
+ //#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+ /* .... same for uart 1, 2, 3 ... */
+
+ #endif
+
----------------------------------------------------------
aversive_projects/eirbot2007/unioc_test_pwm/utils_config.h (1.1)
----------------------------------------------------------
***************
*** 0 ****
--- 1,32 ----
+ /*
+ * 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: utils_config.h,v 1.1 2007-01-25 19:18:49 enseirb Exp $
+ *
+ */
+
+ #ifndef _UTILS_CONFIG_
+ #define _UTILS_CONFIG_ 1.0 // version
+
+ uint8_t irqlockflags; /** there are two variants of the
IRQ_LOCK(irqlockflags) macros
+ the "microb" one is stack space optimized
+ the normal one is code space and speed optimized (and reliable ;)
+ this is not very important for most applications, so don't care */
+ #define USE_MICROB_IRQ
+
+
+ #endif //_UTILS_CONFIG_
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