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Don't use rtc for timing, use eic from gps timepulse instead

geofence_dev
Richard Meadows 2015-03-15 21:18:33 +00:00
rodzic e6f5d0ba61
commit cf0e3824fd
8 zmienionych plików z 200 dodań i 72 usunięć
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7
firmware/Peripherals.md
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@ -15,8 +15,8 @@
||tc4|osc8m event source
||tc5|telemetry pwm 8-bit
|*RTC*|
||rtc|telemetry timings
|*EXTINT*|
||extint[5]|gps timepulse
|*event channels*|
||0|event source for timer 2 xosc measurement
@ -32,6 +32,7 @@
| Name | Function | Priority H(0-3)L | Notes
| --- | --- | --- | ---
|TC0_IRQn||0
|TC0_IRQn|telemetry tick timer|0
|TC2_IRQn|xosc measurement done|2
|[GPS_SERCOM]_IRQn|gps usart rx|0
|EIC_IRQn|timer|1

17
firmware/inc/hw_config.h
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@ -124,6 +124,11 @@
#define XOSC_FREQUENCY 16369000
#define XOSC_COUNT_RESOLUTION 4
/**
* Timings
*/
#define TELEMETRY_INTERVAL 30
/**
* Watchdog Timer
*/
@ -149,5 +154,17 @@
#define NC3_PIN PIN_PA04
#define NC4_PIN PIN_PA14
/**
* Interrupt Priority
*/
/* Telemetry Tick Timer */
#define TC0_INT_PRIO 0
/* XOSC Measure Timer */
#define TC2_INT_PRIO 2
/* GPS USART Rx */
#define GPS_SERCOM_INT_PRIO 0
/* Timepulse, telemetry */
#define EIC_INT_PRIO 0
#endif /* HW_CONFIG_H */

33
firmware/inc/timer.h 100644
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@ -0,0 +1,33 @@
/*
* Functions for running system timings
* Copyright (C) 2015 Richard Meadows <richardeoin>
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef TIMER_H
#define TIMER_H
typedef void (*timepulse_callback_t)(uint32_t sequence);
void timepulse_extint_init(void);
void timepulse_set_callback(timepulse_callback_t callback);
#endif /* TIMER_H */

2
firmware/src/gps.c
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@ -449,7 +449,7 @@ void gps_init(void)
gps_disable_nmea();
/* Incoming ubx messages are handled in an irq */
usart_register_rx_callback(GPS_SERCOM, gps_rx_callback, 0);
usart_register_rx_callback(GPS_SERCOM, gps_rx_callback, GPS_SERCOM_INT_PRIO);
/* Set the platform model */
gps_set_platform_model();

48
firmware/src/main.c
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@ -41,6 +41,7 @@
#include "system/wdt.h"
#include "xosc.h"
#include "telemetry.h"
#include "timer.h"
#include "contestia.h"
#include "rsid.h"
#include "si_trx.h"
@ -51,6 +52,9 @@
#define CALLSIGN "UBSEDSx"
void xosc_measure_callback(uint32_t result);
void timepulse_callback(uint32_t sequence);
/**
* Initialises the status LED
*/
@ -225,11 +229,6 @@ void output_telemetry_string(enum telemetry_t type)
/* Main telemetry */
telemetry_start(type, len);
/* Sleep Wait */
while (telemetry_active()) {
system_sleep();
}
}
/**
@ -275,11 +274,16 @@ void init(void)
//wdt_init();
//wdt_reset_count();
/* Enables the xosc on gclk1 */
xosc_init();
led_init();
gps_init();
/* Enable timer interrupt and event channel */
timepulse_extint_init();
timepulse_set_callback(timepulse_callback);
/* Initialise Si4060 interface */
si_trx_init();
}
@ -287,7 +291,13 @@ void init(void)
void xosc_measure_callback(uint32_t result)
{
result++;
}
uint8_t telemetry_trigger_flag = 0;
void timepulse_callback(uint32_t sequence)
{
telemetry_trigger_flag = 1;
}
/**
@ -300,35 +310,21 @@ int main(void)
measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
while (1) {
system_sleep();
}
led_on();
while (1) {
/* Sleep wait for next telemetry */
while (telemetry_trigger_flag == 0 || telemetry_active()) {
system_sleep();
}
telemetry_trigger_flag = 0;
/* Watchdog */
//wdt_reset_count();
/* Send the next packet */
output_telemetry_string(TELEMETRY_RTTY);
telemetry_start(TELEMETRY_PIPS, 5);
/* Sleep Wait */
while (telemetry_active()) {
system_sleep();
}
/* Send the next packet */
output_telemetry_string(TELEMETRY_CONTESTIA);
telemetry_start(TELEMETRY_PIPS, 5);
/* Sleep Wait */
while (telemetry_active()) {
system_sleep();
}
//telemetry_start(TELEMETRY_PIPS, 5);
}
}

2
firmware/src/telemetry.c
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@ -332,7 +332,7 @@ float timer0_tick_init(float frequency)
/* Enable Interrupt */
TC0->COUNT32.INTENSET.reg = (1 << 4);
irq_register_handler(TC0_IRQn, 0); /* Highest Priority */
irq_register_handler(TC0_IRQn, TC0_INT_PRIO); /* Highest Priority */
/* Enable Timer */
tc_enable(TC0);

104
firmware/src/timer.c 100644
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@ -0,0 +1,104 @@
/*
* Functions for running system timings
* Copyright (C) 2015 Richard Meadows <richardeoin>
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <string.h>
#include "samd20.h"
#include "hw_config.h"
#include "timer.h"
#include "system/extint.h"
#include "system/events.h"
#include "system/interrupt.h"
uint32_t gps_timepulse_count = 0;
uint32_t telemetry_interval_count = TELEMETRY_INTERVAL;
uint32_t timepulse_sequence = 0;
timepulse_callback_t _timer_callback;
/**
* Enables an interrupt on the GPS_TIMEPULSE and routes it to event channel 0
*/
void timepulse_extint_init(void) {
/* Enable extint events for gps timepulse */
struct extint_events events;
memset(&events, 0, sizeof(struct extint_events));
events.generate_event_on_detect[GPS_TIMEPULSE_EXTINT] = true;
extint_enable_events(&events);
/* Configure extinit channel */
struct extint_chan_conf config;
config.gpio_pin = GPS_TIMEPULSE_PIN;
config.gpio_pin_mux = GPS_TIMEPULSE_PINMUX;
config.gpio_pin_pull = EXTINT_PULL_NONE; // ???
config.wake_if_sleeping = false; // ???
config.filter_input_signal = false;
config.detection_criteria = EXTINT_DETECT_RISING;
extint_chan_set_config(GPS_TIMEPULSE_EXTINT, &config);
/* We route this event to event channel 0 */
events_allocate(0,
EVENTS_EDGE_DETECT_NONE,
EVENTS_PATH_ASYNCHRONOUS,
0xC + GPS_TIMEPULSE_EXTINT, /* External Interrupt Number */
0);
/* Interrupt handler below */
EIC->INTENSET.reg = (1 << GPS_TIMEPULSE_EXTINT);
irq_register_handler(EIC_IRQn, EIC_INT_PRIO);
extint_enable();
}
void timepulse_set_callback(timepulse_callback_t callback) {
_timer_callback = callback;
}
/**
* EIC Handler, triggered by the GPS at GPS_TIMEPULSE_FREQ Hz
*/
void EIC_Handler(void) {
if (EIC->INTFLAG.reg & (1 << GPS_TIMEPULSE_EXTINT)) {
EIC->INTFLAG.reg = (1 << GPS_TIMEPULSE_EXTINT);
gps_timepulse_count++;
/* Runs at 1Hz */
if (gps_timepulse_count >= GPS_TIMEPULSE_FREQ) {
gps_timepulse_count = 0;
telemetry_interval_count++;
/* Runs at the rate of telemetry packets */
if (telemetry_interval_count >= TELEMETRY_INTERVAL) {
telemetry_interval_count = 0;
/* Make the callback if we have one */
if (_timer_callback) {
_timer_callback(timepulse_sequence++);
}
}
}
}
}

59
firmware/src/xosc.c
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@ -44,7 +44,8 @@ enum xosc_measurement_t _measurement_t;
measurement_result_t _callback;
/**
* Configures external oscillator, waits for it to stabilise
* Configures external oscillator, waits for it to stabilise, and
* connects it to GLCK1.
*/
void xosc_init(void) {
system_clock_source_xosc_set_config(SYSTEM_CLOCK_EXTERNAL_CLOCK,
@ -56,6 +57,18 @@ void xosc_init(void) {
system_clock_source_enable(SYSTEM_CLOCK_SOURCE_XOSC);
while (!system_clock_source_is_ready(SYSTEM_CLOCK_SOURCE_XOSC));
/* Configure GCLK1 to XOSC */
system_gclk_gen_set_config(GCLK_GENERATOR_1,
GCLK_SOURCE_XOSC, /* Source */
false, /* High When Disabled */
XOSC_COUNT_RESOLUTION,/* Division Factor */
false, /* Run in standby */
false); /* Output Pin Enable */
/* Enable GCLK1 */
system_gclk_gen_enable(GCLK_GENERATOR_1);
}
struct osc8m_calibration_t osc8m_get_calibration(void) {
@ -136,34 +149,10 @@ void osc8m_event_source_disable(void) {
* Configure the timepulse extint to generate events
*/
void timepulse_extint_event_source(void) {
/* Enable extint events for gps timepulse */
struct extint_events events;
memset(&events, 0, sizeof(struct extint_events));
events.generate_event_on_detect[GPS_TIMEPULSE_EXTINT] = true;
extint_enable_events(&events);
/* Configure extinit channel */
struct extint_chan_conf config;
config.gpio_pin = GPS_TIMEPULSE_PIN;
config.gpio_pin_mux = GPS_TIMEPULSE_PINMUX;
config.gpio_pin_pull = EXTINT_PULL_NONE; // ???
config.wake_if_sleeping = false; // ???
config.filter_input_signal = false;
config.detection_criteria = EXTINT_DETECT_RISING;
extint_chan_set_config(GPS_TIMEPULSE_EXTINT, &config);
/* We route this event to event channel 0 */
events_allocate(0,
EVENTS_EDGE_DETECT_NONE,
EVENTS_PATH_ASYNCHRONOUS,
0x11, /* External Interrupt 5 */
0);
extint_enable();
/* Nothing to do: event should be already in place */
}
void timepulse_extint_event_source_disable(void) {
// Oh I don't know
/* Nothing to do here */
}
/**
@ -178,19 +167,7 @@ void measure_xosc(enum xosc_measurement_t measurement_t,
_measurement_t = measurement_t;
_callback = callback;
/* Configure GCLK1 to XOSC */
system_gclk_gen_set_config(GCLK_GENERATOR_1,
GCLK_SOURCE_XOSC, /* Source */
false, /* High When Disabled */
XOSC_COUNT_RESOLUTION,/* Division Factor */
false, /* Run in standby */
false); /* Output Pin Enable */
/* Enable GCLK1 */
system_gclk_gen_enable(GCLK_GENERATOR_1);
/* Timer 2 runs on GLCK1 */
/* Timer 2 runs on GLCK1: XOSC */
bool t2_capture_channel_enables[] = {true, true};
uint32_t t2_compare_channel_values[] = {0x0000, 0x0000};
@ -221,7 +198,7 @@ void measure_xosc(enum xosc_measurement_t measurement_t,
/* Enable Interrupt */
TC2->COUNT32.INTENSET.reg = (1 << 4); // MC0
irq_register_handler(TC2_IRQn, 2); /* Lowish Priority */
irq_register_handler(TC2_IRQn, TC2_INT_PRIO); /* Lowish Priority */
/* Timer 2 is event user on channel 0 */
events_attach_user(0, 2);