Revision 0:7fd45d2b5926, committed 2012-04-09

Comitter:

alexwhittemore

Date:

Mon Apr 09 16:39:50 2012 +0000

Commit message:

For some reason, this thing wont run serial interrupts and threads simultaneously without locking up.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FastIO.h	Mon Apr 09 16:39:50 2012 +0000
@@ -0,0 +1,146 @@
+#ifndef __FAST_IO_H
+#define __FAST_IO_H
+
+#include "mbed.h"
+
+// Super-fast DigitalOut-like class for mbed
+//   by Igor Skochinsky
+
+// includes FastOut, FastPortOut and MaskedPortOut classes
+// usage:
+//   FastOut<LED2> led2;
+//   FastPortOut<Port0, LED_MASK> ledport2;
+//   MaskedPortOut<Port0, LED_MASK> ledport3;
+//   led2 = 1;
+//   ledport2 = LED_MASK;
+//   ledport3 = LED_MASK;
+// MaskedPortOut works the same way as FastPortOut, but it pre-sets the pin mask so that write can be done in one operation
+// this makes things faster but you can't control other pins of the port, even with other classes
+
+
+// pin definitions in PinNames.h start from LPC_GPIO0_BASE for P0_0 and there are 32 pins to a port (0 to 31)
+// Thus:
+// pin = LPC_GPIO0_BASE + port * 32 + bit
+// port = (pin - LPC_GPIO0_BASE) / 32
+// bit  = (pin - LPC_GPIO0_BASE) % 32
+
+#define PORTNO(pin) (((pin) - P0_0)/32)
+#define BITNO(pin)  (((pin) - P0_0)%32)
+
+// calculate the GPIO port definition for the pin
+// we rely on the fact that port structs are 0x20 bytes apart
+#define PORTDEF(pin) ((LPC_GPIO_TypeDef*)(LPC_GPIO0_BASE + PORTNO(pin)*0x20))
+
+#define PORTDEFPORT(port) ((LPC_GPIO_TypeDef*)(LPC_GPIO0_BASE + port*0x20))
+
+// calculate the mask for the pin's bit in the port
+#define PINMASK(pin) (1UL << BITNO(pin))
+
+// each port takes two PINSEL registers (8 bytes or 64 bits)
+// so there are 16 pins per PINSEL
+#define PINSELREG(pin)  (*(volatile uint32_t*)(LPC_PINCON_BASE + 4*(((pin) - P0_0)/16)))
+#define PINSELMASK(pin, v) (v << (((pin - P0_0)%16)*2) )
+
+// usage: FastOut<LED2> led2;
+// then use the same assignment operators as with DigitalOut
+template <PinName pin> class FastOut
+{
+public:
+    FastOut()
+    {
+        // set PINSEL bits to 0b00 (GPIO)
+        PINSELREG(pin) &= ~PINSELMASK(pin, 3);
+        // set FIODIR bit to 1 (output)
+        PORTDEF(pin)->FIODIR |= PINMASK(pin);
+    }
+    void write(int value)
+    { 
+        if ( value )
+            PORTDEF(pin)->FIOSET = PINMASK(pin);
+        else
+            PORTDEF(pin)->FIOCLR = PINMASK(pin);
+    } 
+    int read()
+    {
+        return PORTDEF(pin)->FIOPIN & PINMASK(pin) != 0;
+    }
+    FastOut& operator= (int value) { write(value); return *this; };
+    FastOut& operator= (FastOut& rhs) { return write(rhs.read()); };
+    operator int() { return read(); };
+};
+
+#define PINSELREG(pin)  (*(volatile uint32_t*)(LPC_PINCON_BASE + 4*(((pin) - P0_0)/16)))
+#define PINSELMASK(pin, v) (v << (((pin - P0_0)%16)*2) )
+
+// usage: FastPortOut<Port0, mask> led2;
+// then use the same assignment operators as with DigitalOut
+template <enum PortName port, uint32_t mask = 0xFFFFFFFF> class FastPortOut
+{
+public:
+    FastPortOut()
+    {
+        // init pins selected by the mask
+        uint32_t pin = LPC_GPIO0_BASE + port * 32;
+        for ( uint32_t pinmask = mask; pinmask !=0; pinmask >>= 1 )
+        {
+            if ( pinmask & 1 )
+            {
+                // set PINSEL bits to 0b00 (GPIO)
+                PINSELREG(pin) &= ~PINSELMASK(pin, 3);
+                // set FIODIR bit to 1 (output)
+                PORTDEF(pin)->FIODIR |= PINMASK(pin);
+            }
+            pin++;
+        }
+    }
+    void write(int value)
+    {
+        PORTDEFPORT(port)->FIOSET = value & mask;
+        PORTDEFPORT(port)->FIOCLR = ~value & mask;
+    } 
+    int read()
+    {
+        return PORTDEFPORT(port)->FIOPIN & mask;
+    }
+    FastPortOut& operator= (int value) { write(value); return *this; };
+    FastPortOut& operator= (FastPortOut& rhs) { return write(rhs.read()); };
+    operator int() { return read(); };
+};
+
+// usage: MaskedPortOut<Port0, mask> led2;
+// then use the same assignment operators as with DigitalOut
+template <enum PortName port, uint32_t mask = 0xFFFFFFFF> class MaskedPortOut
+{
+public:
+    MaskedPortOut()
+    {
+        // init pins selected by the mask
+        uint32_t pin = LPC_GPIO0_BASE + port * 32;
+        for ( uint32_t pinmask = mask; pinmask !=0; pinmask >>= 1 )
+        {
+            if ( pinmask & 1 )
+            {
+                // set PINSEL bits to 0b00 (GPIO)
+                PINSELREG(pin) &= ~PINSELMASK(pin, 3);
+                // set FIODIR bit to 1 (output)
+                PORTDEF(pin)->FIODIR |= PINMASK(pin);
+            }
+            pin++;
+        }
+        // set mask
+        PORTDEFPORT(port)->FIOMASK = mask;
+    }
+    void write(int value)
+    {
+        PORTDEFPORT(port)->FIOPIN = value;
+    } 
+    int read()
+    {
+        return PORTDEFPORT(port)->FIOPIN;
+    }
+    MaskedPortOut& operator= (int value) { write(value); return *this; };
+    MaskedPortOut& operator= (MaskedPortOut& rhs) { return write(rhs.read()); };
+    operator int() { return read(); };
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/burtdaq/burtdaq.h	Mon Apr 09 16:39:50 2012 +0000
@@ -0,0 +1,48 @@
+// Pin function definitions for BURT MKII DAQ Main Board r1.0
+#ifndef BURTDAQ_H
+#define BURTDAQ_H
+
+// XBee serial port
+#define XBEETX p28
+#define XBEERX p27
+
+// LCD serial port
+#define LCDTX p9
+#define LCDRX p10
+
+// SPI A
+#define SPIA_MOSI p5
+#define SPIA_MISO p6
+#define SPIA_CLK p7
+
+#define SPIA_P1_CS p8       // P0.6
+#define SPIA_P2_CS p14      // P0.16
+#define SPIA_P3_CS p30      // P0.4
+#define SPIA_P4_CS p29      // P0.5
+
+#define SPIA_CS_PORT_MASK 0x10070
+#define SPIA_P1_CS_PORT_MASK 0x40
+#define SPIA_P2_CS_PORT_MASK 0x10000
+#define SPIA_P3_CS_PORT_MASK 0x10
+#define SPIA_P4_CS_PORT_MASK 0x20
+
+// SPI B
+#define SPIB_MOSI p11
+#define SPIB_MISO p12
+#define SPIB_CLK p13
+
+#define SPIB_P1_CS p15
+#define SPIB_P2_CS p16
+#define SPIB_P3_CS p17
+#define SPIB_P4_CS p19
+
+// H-Bridge Outputs
+#define MOTOR1 p25
+#define MOTOR2 p24
+#define MOTOR3 p22          // NOTE: Motor3 and Motor4 are mixed up in schematic, so the pins are out of order
+#define MOTOR4 p23
+
+// Filter Clock Output
+#define FILTCLK p26
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 09 16:39:50 2012 +0000
@@ -0,0 +1,144 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "burtdaq.h"
+#include <vector>
+#include "FastIO.h"
+#include <stdio.h>      // printf
+#include <string.h>     // strcat
+#include <stdlib.h>     // strtol
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+//Serial pc(USBTX,USBRX);
+Serial xbee(XBEETX,XBEERX);
+
+//Queue<uint8_t, 50> queue;
+
+#define kDisplayWidth 32
+char* pBinFill(long int x,char *so, char fillChar)
+{ // fill in array from right to left
+ char s[kDisplayWidth+1];
+ int  i=kDisplayWidth;
+ s[i--]=0x00;   // terminate string
+ do
+ { // fill in array from right to left
+  s[i--]=(x & 1) ? '1':'0';
+  x>>=1;  // shift right 1 bit
+ } while( x > 0);
+ while(i>=0) s[i--]=fillChar;    // fill with fillChar 
+ sprintf(so,"%s",s);
+ return so;
+}
+
+
+void bridgeReader(void const *argument) {
+    SPI spia(NC, SPIA_MISO, SPIA_CLK);
+    spia.format(16);
+    spia.frequency(1000000);
+    //DigitalOut spia_mosi(SPIA_MOSI);
+    FastOut<SPIA_MOSI> spia_mosi;
+    
+    FastPortOut<Port0, SPIA_CS_PORT_MASK> spiaCSPort;
+    //PortOut spiaCSPort(Port0, SPIA_CS_PORT_MASK);
+    unsigned int bridgeCSPinMasks[5] = {SPIA_P1_CS_PORT_MASK, SPIA_P2_CS_PORT_MASK, SPIA_P3_CS_PORT_MASK, SPIA_P4_CS_PORT_MASK};
+    int deviceCount = 4;
+    
+    spiaCSPort = SPIA_CS_PORT_MASK;
+    
+    uint16_t outputs[4] = {0x0f0f, 0xf0f0, 0x0000, 0x0000};
+    //bridgeCSPins = 3;
+    printf("ENTERING READ LOOP\n");
+    while(true) {
+        __disable_irq();
+        led2 = 1;
+        // READ BRIDGES
+        spia_mosi = 1;
+        int i = 0;      // This constitutes ROUGHLY a 500ns delay
+        while(i<10)
+        i++;
+        for(i=0; i<deviceCount; i++){
+            spiaCSPort = ~bridgeCSPinMasks[i];
+            outputs[i] = spia.write(0x0);
+        }
+        spiaCSPort = SPIA_CS_PORT_MASK;
+        //spiaCSPort = 1;
+        spia_mosi = 0;
+        // END READING
+        
+        printf("%u, %u, %u, %u\n",outputs[0],outputs[1],outputs[2],outputs[3]);
+        led2 = 0;
+        __enable_irq();
+        Thread::wait(5000);
+    }
+}
+void tcReader(void const *argument) {
+    SPI spib(SPIB_MOSI, SPIB_MISO, SPIB_CLK);
+    spib.format(16);
+    spib.frequency(1000000);
+    
+    DigitalOut spibCSPins[] = {SPIB_P1_CS, SPIB_P2_CS, SPIB_P3_CS};
+    spibCSPins[0]=1;
+    spibCSPins[1]=1;
+    spibCSPins[2]=1;
+    
+    int numTCs = 3;
+    uint32_t rawTcData[3] = {0,0,0};
+    uint32_t tcData[3] = {0,0,0};
+    uint32_t ambientData[3] = {0,0,0};
+    
+    float humanTcData[3] = {0,0,0};
+    float humanAmbientData[3] = {0,0,0};
+    
+    uint32_t buffer = 0;
+    char so[kDisplayWidth+1];
+    while (true) {
+        __disable_irq();
+        led3 = 1;
+        for(int i=0; i<numTCs; i++){
+            rawTcData[i] = 0;
+            spibCSPins[i] = 0;
+            buffer = spib.write(0);
+            //printf("%s\n",binary_fmt(buffer,tmp));
+            rawTcData[i] = (buffer << 16);
+            buffer = spib.write(0);
+            rawTcData[i] |= (buffer);
+            spibCSPins[i] = 1;
+        }
+        //printf("%s %s %s\n", byte_to_binary(tcData[0]), byte_to_binary(tcData[1]), byte_to_binary(tcData[2]));
+        //printf("Data is: %s %s %s\n",pBinFill(tcData[0], so, '0'), pBinFill(tcData[1], so, '0'), pBinFill(tcData[2], so, '0'));
+        
+        for(int i=0; i<numTCs; i++){
+            tcData[i] = ((rawTcData[i] & 0xFFFC0000) >> 18);
+            ambientData[i] = ((rawTcData[i] & 0xFFF0) >> 4);
+            humanTcData[i] = (float) tcData[i] * .25;
+            humanAmbientData[i] = (float) ambientData[i]*.0625;
+            printf("Thermocouple %d ambient: %f, tc:%f\n",i,humanAmbientData[i],humanTcData[i]);
+        }
+        led3=0;
+        __enable_irq();
+        Thread::wait(2000);
+    }
+}
+
+void xbeeISR() {
+    led4 = !led4;
+}
+
+int main() {
+    printf("Starting reader\n");
+    Thread bridgeReader1(bridgeReader);
+    Thread tcReader1(tcReader);
+    //Thread actuatorController1(actuatorController);
+    
+    xbee.baud(115200);
+    xbee.attach(&xbeeISR);
+    int i = 0;
+    while(1){
+        //xbee.printf("In Range: %d",i);
+        i++;
+        led1 = !led1;
+        Thread::wait(1000);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 09 16:39:50 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479