Commit 9510fd77 authored by Daniel Gröber's avatar Daniel Gröber
Browse files

First software release

parent 95830592
Subproject commit 6b5150a4dc54c4f5b2f8a98317ec963ea7fbc864
Subproject commit d3fff11c1f68b706591c0d51c82d18a0bc88dc17
......@@ -46,7 +46,7 @@ STFLASH = $(shell which st-flash)
LDSCRIPT ?= $(BINARY).ld
OBJS += $(BINARY).o
OBJS += $(BINARY).o printf.o pid.o
OPENCM3_DIR = ./libopencm3
INCLUDE_DIR = $(OPENCM3_DIR)/include
......@@ -161,8 +161,9 @@ clean:
# IMPORTANT: Dont use "resume", only "reset" will work correctly!
$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
-f board/$(OOCD_BOARD).cfg \
-c "init" -c "reset init" \
-c "flash write_image erase $(*).hex" \
-f robo.cfg \
-c "init" -c "reset halt" -c "stm32f0x mass_erase 0" \
-c "flash write_image $(*).hex" \
-c "reset" \
-c "shutdown" $(NULL)
......
struct pid_parameters {
float kP, kI, kD;
} pid_params;
struct pid_state {
unsigned int psT;
float psE, psI;
} pid_state;
void pid_iteration(float set,
float current,
unsigned int t)
{
unsigned int dt = t - pid_state.psT;
float e = set - current;
float i = pid_state.psI + e * dt;
float d = (e - pid_state.psE) / dt;
float o = pid_params.kP * e + pid_params.kI * i + pid_params.kD * d;
pid_state.psT = t;
pid_state.psE = e;
pid_state.psI = i;
#include <stdfix.h>
#include <stdint.h>
#include <stdlib.h>
#include "pid.h"
#include "printf.h"
fx16q16 satlimit(fx16q16 a, fx16q16 min, fx16q16 max, int *satsign)
{
int dummy;
if(satsign == NULL)
satsign = &dummy;
if(a < min) {
*satsign = -1;
return min;
} else if(a > max) {
*satsign = +1;
return max;
} else {
*satsign = 0;
return a;
}
}
int main()
fx16q16 control_iteration(const struct control_parameters pm,
struct control_state *st,
int16_t set,
int16_t current)
{
pid_iteration(1.123, 10, 100);
fx16q16 e;
fx16q16 x;
if(set == 0 && (current > -2 && current < 2)) {
return 0;
}
e = set - current;
/* u_printf("Er:%2d ", (int)e); */
if((st->satsign < 0 && e < 0) || (st->satsign > 0 && e > 0)) {
/* u_printf("NI "); */
goto no_integrate;
}
st->xi = satlimit(st->xi + pm.Ki*e*pm.dt, pm.min, pm.max, &st->satsign);
no_integrate:
/* u_printf("Xi:%06d ", (int)st->xi); */
x = pm.Kp * e + st->xi;
/* u_printf("p:%06d ", (int)(pm.Kp * e)); */
return satlimit(x, pm.min, pm.max, NULL);
}
#include <stdfix.h>
#include <stdint.h>
typedef signed sat accum fx16q16;
struct control_parameters {
fx16q16 Kp, Ki/* , Kd */;
fx16q16 max, min;
uint16_t dt;
};
struct control_state {
fx16q16 xi;
int satsign;
};
fx16q16 control_iteration(const struct control_parameters pm,
struct control_state *st,
int16_t set,
int16_t current);
/*
* Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "printf.h"
void tfp_put(char c) __attribute__((weak));
void tfp_put(char c)
{
(void) c;
}
#ifdef PRINTF_LONG_SUPPORT
static void uli2a(unsigned long int num, unsigned int base, int uc,char * bf)
{
int n=0;
unsigned int d=1;
while (num/d >= base)
d*=base;
while (d!=0) {
int dgt = num / d;
num%=d;
d/=base;
if (n || dgt>0|| d==0) {
*bf++ = dgt+(dgt<10 ? '0' : (uc ? 'A' : 'a')-10);
++n;
}
}
*bf=0;
}
static void li2a (long num, char * bf)
{
if (num<0) {
num=-num;
*bf++ = '-';
}
uli2a(num,10,0,bf);
}
#endif
static void ui2a(unsigned int num, unsigned int base, int uc,char * bf)
{
int n=0;
unsigned int d=1;
while (num/d >= base)
d*=base;
while (d!=0) {
int dgt = num / d;
num%= d;
d/=base;
if (n || dgt>0 || d==0) {
*bf++ = dgt+(dgt<10 ? '0' : (uc ? 'A' : 'a')-10);
++n;
}
}
*bf=0;
}
static void i2a (int num, char * bf)
{
if (num<0) {
num=-num;
*bf++ = '-';
}
ui2a(num,10,0,bf);
}
static int a2d(char ch)
{
if (ch>='0' && ch<='9')
return ch-'0';
else if (ch>='a' && ch<='f')
return ch-'a'+10;
else if (ch>='A' && ch<='F')
return ch-'A'+10;
else return -1;
}
static char a2i(char ch, char** src,int base,int* nump)
{
char* p= *src;
int num=0;
int digit;
while ((digit=a2d(ch))>=0) {
if (digit>base) break;
num=num*base+digit;
ch=*p++;
}
*src=p;
*nump=num;
return ch;
}
static void putchw(int n, char z, char* bf)
{
char fc=z? '0' : ' ';
char ch;
char* p=bf;
while (*p++ && n > 0)
n--;
while (n-- > 0)
tfp_put(fc);
while ((ch= *bf++))
tfp_put(ch);
}
static void tfp_format(char *fmt, va_list va)
{
char bf[12];
char ch;
while ((ch=*(fmt++))) {
if (ch!='%')
tfp_put(ch);
else {
char lz=0;
#ifdef PRINTF_LONG_SUPPORT
char lng=0;
#endif
int w=0;
ch=*(fmt++);
if (ch=='0') {
ch=*(fmt++);
lz=1;
}
if (ch>='0' && ch<='9') {
ch=a2i(ch,&fmt,10,&w);
}
#ifdef PRINTF_LONG_SUPPORT
if (ch=='l') {
ch=*(fmt++);
lng=1;
}
#endif
switch (ch) {
case 0:
goto abort;
case 'u' : {
#ifdef PRINTF_LONG_SUPPORT
if (lng)
uli2a(va_arg(va, unsigned long int),10,0,bf);
else
#endif
ui2a(va_arg(va, unsigned int),10,0,bf);
putchw(w,lz,bf);
break;
}
case 'd' : {
#ifdef PRINTF_LONG_SUPPORT
if (lng)
li2a(va_arg(va, unsigned long int),bf);
else
#endif
i2a(va_arg(va, int),bf);
putchw(w,lz,bf);
break;
}
case 'x': case 'X' :
#ifdef PRINTF_LONG_SUPPORT
if (lng)
uli2a(va_arg(va, unsigned long int),16,(ch=='X'),bf);
else
#endif
ui2a(va_arg(va, unsigned int),16,(ch=='X'),bf);
putchw(w,lz,bf);
break;
case 'c' :
tfp_put((char)(va_arg(va, int)));
break;
case 's' :
putchw(w,0,va_arg(va, char*));
break;
case '%' :
tfp_put(ch);
default:
break;
}
}
}
abort:;
}
void u_printf(char *fmt, ...)
{
va_list va;
va_start(va,fmt);
tfp_format(fmt,va);
va_end(va);
}
/*
File: printf.h
Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or other
materials provided with the distribution.
Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its
contributors may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
OF SUCH DAMAGE.
----------------------------------------------------------------------
This library is realy just two files: 'printf.h' and 'printf.c'.
They provide a simple and small (+200 loc) printf functionality to
be used in embedded systems.
I've found them so usefull in debugging that I do not bother with a
debugger at all.
They are distributed in source form, so to use them, just compile them
into your project.
Two printf variants are provided: printf and sprintf.
The formats supported by this implementation are: 'd' 'u' 'c' 's' 'x' 'X'.
Zero padding and field width are also supported.
If the library is compiled with 'PRINTF_SUPPORT_LONG' defined then the
long specifier is also
supported. Note that this will pull in some long math routines (pun intended!)
and thus make your executable noticably longer.
The memory foot print of course depends on the target cpu, compiler and
compiler options, but a rough guestimate (based on a H8S target) is about
1.4 kB for code and some twenty 'int's and 'char's, say 60 bytes of stack space.
Not too bad. Your milage may vary. By hacking the source code you can
get rid of some hunred bytes, I'm sure, but personally I feel the balance of
functionality and flexibility versus code size is close to optimal for
many embedded systems.
To use the printf you need to supply your own character output function,
something like :
void putc ( void* p, char c)
{
while (!SERIAL_PORT_EMPTY) ;
SERIAL_PORT_TX_REGISTER = c;
}
Before you can call printf you need to initialize it to use your
character output function with something like:
init_printf(NULL,putc);
Notice the 'NULL' in 'init_printf' and the parameter 'void* p' in 'putc',
the NULL (or any pointer) you pass into the 'init_printf' will eventually be
passed to your 'putc' routine. This allows you to pass some storage space (or
anything realy) to the character output function, if necessary.
This is not often needed but it was implemented like that because it made
implementing the sprintf function so neat (look at the source code).
The code is re-entrant, except for the 'init_printf' function, so it
is safe to call it from interupts too, although this may result in mixed output.
If you rely on re-entrancy, take care that your 'putc' function is re-entrant!
The printf and sprintf functions are actually macros that translate to
'tfp_printf' and 'tfp_sprintf'. This makes it possible
to use them along with 'stdio.h' printf's in a single source file.
You just need to undef the names before you include the 'stdio.h'.
Note that these are not function like macros, so if you have variables
or struct members with these names, things will explode in your face.
Without variadic macros this is the best we can do to wrap these
fucnction. If it is a problem just give up the macros and use the
functions directly or rename them.
For further details see source code.
regs Kusti, 23.10.2004
*/
#ifndef __TFP_PRINTF__
#define __TFP_PRINTF__
#include <stdarg.h>
#include <stdio.h>
void u_printf(char *fmt, ...);
#endif
This diff is collapsed.
reset_config connect_assert_srst
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