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car_hw: urm37 and rotating servo C driver

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+ new C firmware with two car_sonar module
usage examples also used as manual tests.
This commit is contained in:
Eugene Batalov
2016-08-20 14:48:32 +03:00
parent 1f4982c4e9
commit faa6354448
9 changed files with 444 additions and 1 deletions
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car_cfmw/.gitignore
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tags
bin
car_cfmw/Makefile
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SRC_DIR=src
BIN_DIR=bin
CAR_FMW_OBJ=$(BIN_DIR)/car_fmw.o
CAR_FMW_ELF=$(BIN_DIR)/car_fmw.elf
CAR_FMW_BIN=$(BIN_DIR)/car_fmw.bin
LIB_CARHW_DIR=../car_hw/
LIB_CARHW_OBJ=$(LIB_CARHW_DIR)/bin/car_hw.o
LIB_CARHW_LIB_DIR=$(LIB_CARHW_DIR)/src/lib/
CC=arm-none-eabi-gcc
AS=arm-none-eabi-as
LD=arm-none-eabi-ld
OBJ_COPY=arm-none-eabi-objcopy
INCLUDES=-I$(LIB_CARHW_LIB_DIR)/cmsis \
-I$(LIB_CARHW_LIB_DIR)/stdperiph \
-I$(LIB_CARHW_LIB_DIR)/stm32f4d \
-I$(LIB_CARHW_LIB_DIR)/usb_device \
-I$(LIB_CARHW_LIB_DIR)/usb_otg \
-I$(LIB_CARHW_LIB_DIR)/usb_vcp \
-I$(LIB_CARHW_LIB_DIR)/usart \
-I$(LIB_CARHW_DIR)/src/include \
-I$(SRC_DIR)
DEFINES=-DUSE_STM32_DISCOVERY=1 -DUSE_STDPERIPH_DRIVER=1 -DSTM32F4XX=1 -DHSE_VALUE=8000000
CFLAGS=-g -nostdlib -ffreestanding -O0 \
-mcpu=cortex-m3 -mfloat-abi=soft -mthumb \
$(DEFINES)
ASMFLAGS=-g -mthumb
LD_ALL_DEPS=$(LD) -r $(filter %.o,$^) -o $@
CC_ALL_DEPS=$(CC) $(CFLAGS) -c $(INCLUDES) $(filter %.c,$^) -o $@
AS_ALL_DEPS=$(AS) $(ASMFLAGS) $(filter %.s,$^) -o $@
dirhs=$(wildcard $(1)/*.h)
dircs=$(wildcard $(1)/*.c)
dircs_to_prefxd_objs=\
$(patsubst $(1)/%.c,$(BIN_DIR)/$(2)%.o,$(call dircs,$1))
CARFMW_OBJ_PREFIX=carfmw_
$(CAR_FMW_BIN): $(CAR_FMW_ELF) $(BIN_DIR)
$(OBJ_COPY) -O binary $< $@
$(CAR_FMW_ELF): $(CAR_FMW_OBJ) $(LIB_CARHW_OBJ)
$(CC) $(CFLAGS) $^ -T $(SRC_DIR)/stm32_flash.ld -o $@
$(CAR_FMW_OBJ): \
$(call dircs_to_prefxd_objs,$(SRC_DIR),$(CARFMW_OBJ_PREFIX))
$(LD_ALL_DEPS)
$(BIN_DIR)/$(CARFMW_OBJ_PREFIX)%.o: $(SRC_DIR)/%.c \
$(call dirhs,$(SRC_DIR))
$(CC_ALL_DEPS)
$(LIB_CARHW_OBJ):
make -C $(LIB_CARHW_DIR)
$(BIN_DIR):
mkdir -p $(BIN_DIR)
clean:
rm -rf bin/*
tags:
ctags -R * $(LIB_CARHW_DIR)
.PHONY: clean tags
car_cfmw/README.md
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Car firmware project for low level experimentation
using C.
car_cfmw/src/main.c
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#include <car_leds.h>
#include <car_engine.h>
#include <car_time.h>
#include <car_user_btn.h>
#include <car_conn.h>
#include <car_sonar.h>
#include <usart_test.h>
size_t strlen(const char *str)
{
size_t len = 0;
while (str[len])
++len;
return len;
}
char digit_to_char(uint8_t digit)
{
if (digit <= 9)
return '0' + digit;
else return 'A' + (digit - 10);
}
// Should allow to store up to "65535\0"
char uint16_str[6] = "65535";
char *uint16_to_str(uint16_t val)
{
int dix = 4;
for (; dix >= 0; --dix) {
uint8_t digit = (uint8_t)(val % 10);
uint16_str[dix] = digit_to_char(digit);
val = val / 10;
if (val == 0)
break;
}
if (dix == -1)
dix = 0;
return &uint16_str[dix];
}
void sonar_prog_dist_to_conn(void)
{
while (1) {
uint16_t dist = 0;
car_leds_clear_all();
dist = car_sonar_get_dist(90);
if (dist == CAR_SONAR_DIST_ERR)
car_led_set(CAR_LED_RED, true);
else {
car_led_set(CAR_LED_GREEN, true);
const char *str = uint16_to_str(dist);
car_conn_snd_buf(strlen(str), (int)str);
car_conn_snd_byte('\n');
}
car_time_wait(1000);
}
}
void sonar_prog_rotate(void)
{
uint8_t degree = 0;
while (1) {
uint16_t dist = 0;
car_leds_clear_all();
dist = car_sonar_get_dist(degree);
if (degree == 0 ||
degree == 45 ||
degree == 90 ||
degree == (90 + 45) ||
degree == 180)
car_time_wait(500);
degree += 5;
if (degree > 180)
degree = 0;
if (dist == CAR_SONAR_DIST_ERR)
car_led_set(CAR_LED_RED, true);
else
car_led_set(CAR_LED_GREEN, true);
car_time_wait(300);
}
}
int main(void)
{
car_time_init();
car_leds_init();
car_engine_init();
car_user_btn_init(NULL);
car_conn_init();
car_sonar_init();
sonar_prog_rotate();
//sonar_prog_dist_to_conn();
// Also we can run usart test from here
}
car_cfmw/src/stm32_flash.ld
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/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 192KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/*
* _estack is the highest address of user mode stack
* (sp initial value, stack grows down).
* We have 192K RAM on our MCU and _estack should be 0x20030000.
* But our MCU maps only 128K SRAM at 0x20000000 after boot.
* We need to perform some memory remapping to use more.
* This isn't implemented yet.
*/
_estack = 0x20020000; /* end of 128K SRAM region */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data : AT ( _sidata )
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
car_hw/Makefile
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@@ -9,6 +9,7 @@ LIB_STM32F4D_DIR=$(LIB_DIR)/stm32f4d
LIB_USB_DEV_DIR=$(LIB_DIR)/usb_device
LIB_USB_OTG_DIR=$(LIB_DIR)/usb_otg
LIB_USB_VCP_DIR=$(LIB_DIR)/usb_vcp
LIB_USART_DIR=$(LIB_DIR)/usart
LIB_CMSIS_OBJ=$(BIN_DIR)/libcmsis.o
LIB_STDPERIPH_OBJ=$(BIN_DIR)/libstdperiph.o
@@ -16,6 +17,7 @@ LIB_STM32F4D_OBJ=$(BIN_DIR)/libstm32f4d.o
LIB_USB_DEV_OBJ=$(BIN_DIR)/libusbdevice.o
LIB_USB_OTG_OBJ=$(BIN_DIR)/libusbotg.o
LIB_USB_VCP_OBJ=$(BIN_DIR)/libusbvcp.o
LIB_USART_OBJ=$(BIN_DIR)/libusart.o
CARHW_OBJ=$(BIN_DIR)/car_hw.o
@@ -32,6 +34,7 @@ INCLUDES=-I$(LIB_CMSIS_DIR) \
-I$(LIB_USB_DEV_DIR) \
-I$(LIB_USB_OTG_DIR) \
-I$(LIB_USB_VCP_DIR) \
-I$(LIB_USART_DIR) \
-I$(USB_CONF_DIR) \
-I$(SRC_DIR) \
-I$(SRC_DIR)/include
@@ -57,7 +60,7 @@ CAR_OBJ_PREFIX=car_
$(CARHW_OBJ): $(CAR_OBJ) $(LIB_STM32F4D_OBJ) \
$(LIB_CMSIS_OBJ) $(LIB_STDPERIPH_OBJ) \
$(LIB_USB_DEV_OBJ) $(LIB_USB_OTG_OBJ) \
$(LIB_USB_VCP_OBJ)
$(LIB_USB_VCP_OBJ) $(LIB_USART_OBJ)
$(LD) -r $^ -o $@
$(CAR_OBJ): \
car_hw/src/car_sonar.c
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#include <car_sonar.h>
#include <car_time.h>
#include <usart.h>
/*
* Sonar reference:
* http://www.dfrobot.com/wiki/index.php?title=URM37_V4.0_Ultrasonic_Sensor_(SKU:SEN0001)
*/
static uint8_t sonar_degree(uint8_t degree)
{
// urm37 accepts values [0;46]
// so we have 47 steps.
// But we don't use the last 46 value.
// It gives us angle > 180.
if (degree > 180)
degree = 180;
return degree / 4;
}
#define SONAR_CMD_GET_DIST 0x22
static uint8_t sonar_cmd[4];
static void sonar_snd_dist_req(uint8_t rot_degree)
{
size_t i = 0;
sonar_cmd[0] = SONAR_CMD_GET_DIST;
sonar_cmd[1] = sonar_degree(rot_degree);
sonar_cmd[2] = sonar_cmd[3] = 0;
for (; i < 3; ++i)
sonar_cmd[3] += sonar_cmd[i];
usart_send_data(USART3_ID, sonar_cmd, 4);
}
static uint8_t sonar_resp[4];
static uint16_t sonar_wait_dist_resp(void)
{
size_t i = 0;
uint8_t sum = 0;
usart_rcv_data(USART3_ID, sonar_resp, 4);
sum = sonar_resp[0] + sonar_resp[1] + sonar_resp[2];
if ((sonar_resp[0] != SONAR_CMD_GET_DIST)
|| (sum != sonar_resp[3]))
return CAR_SONAR_DIST_ERR;
return ((uint16_t)sonar_resp[1] << 8) + sonar_resp[2];
}
uint16_t car_sonar_get_dist(uint8_t rot_degree)
{
sonar_snd_dist_req(rot_degree);
return sonar_wait_dist_resp();
}
void car_sonar_init(void)
{
usart_init(USART3_ID);
// Sonar boots in ~2.2 secs
car_time_wait(3000);
// Some really needed magical tweak
sonar_snd_dist_req(0);
}
car_hw/src/include/car_sonar.h
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#pragma once
#include <stdint.h>
/*
* Pins commutation:
* MCU | URM37 | Servo |
* ----------------------------
* PC11 | TXD | - |
* PC10 | RXD | - |
* GND | GND | - |
* NRST | NRST | - |
* 5V | +5V | - |
* - | MOTO | Orange |
* GND | - | Brown |
* 5V | - | Red |
*/
#define CAR_SONAR_DIST_ERR 0xffff
void car_sonar_init(void);
// returns CAR_SONAR_DIST_ERR on error
// else distance in centimeters
uint16_t car_sonar_get_dist(uint8_t rot_degree);
car_hw/src/include/stm32f4xx_it.h → car_hw/src/stm32f4xx_it.h
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