From 71947d6beafe118259ca2805dbb21fac5ab3b165 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 8 Jun 2016 19:32:06 -0400 Subject: [PATCH] gpiocmds: Add Kconfig option to allow boards to disable ADC commands Some boards may not support the ADC hardware. Update the build so that those commands do not need to be compiled if they are not available. Signed-off-by: Kevin O'Connor --- Makefile | 5 ++- src/Kconfig | 6 +++ src/Makefile | 4 ++ src/adccmds.c | 117 ++++++++++++++++++++++++++++++++++++++++++++++++ src/avr/Kconfig | 5 +++ src/gpiocmds.c | 111 --------------------------------------------- 6 files changed, 135 insertions(+), 113 deletions(-) create mode 100644 src/Makefile create mode 100644 src/adccmds.c diff --git a/Makefile b/Makefile index 1ca95481..170ce9fb 100644 --- a/Makefile +++ b/Makefile @@ -25,8 +25,8 @@ CPP=cpp PYTHON=python # Source files -src-y=sched.c command.c stepper.c basecmd.c gpiocmds.c spicmds.c endstop.c -dirs-y=src +src-y = +dirs-y = src # Default compiler flags cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \ @@ -58,6 +58,7 @@ MAKEFLAGS += --no-print-directory endif # Include board specific makefile +include src/Makefile -include src/$(patsubst "%",%,$(CONFIG_BOARD_DIRECTORY))/Makefile ################ Common build rules diff --git a/src/Kconfig b/src/Kconfig index e7460cce..ac9322ee 100644 --- a/src/Kconfig +++ b/src/Kconfig @@ -13,6 +13,12 @@ endchoice source "src/avr/Kconfig" source "src/simulator/Kconfig" +# The HAVE_GPIO_x options allow boards to disable support for some +# commands if the hardware does not support the feature. +config HAVE_GPIO_ADC + bool + default n + config INLINE_STEPPER_HACK # Enables gcc to inline stepper_event() into the main timer irq handler bool diff --git a/src/Makefile b/src/Makefile new file mode 100644 index 00000000..5a640863 --- /dev/null +++ b/src/Makefile @@ -0,0 +1,4 @@ +# Main code build rules + +src-y += sched.c command.c stepper.c basecmd.c gpiocmds.c spicmds.c endstop.c +src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c diff --git a/src/adccmds.c b/src/adccmds.c new file mode 100644 index 00000000..2ae7f43c --- /dev/null +++ b/src/adccmds.c @@ -0,0 +1,117 @@ +// Commands for controlling GPIO analog-to-digital input pins +// +// Copyright (C) 2016 Kevin O'Connor +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include "basecmd.h" // alloc_oid +#include "board/gpio.h" // struct gpio_adc +#include "board/irq.h" // irq_save +#include "command.h" // DECL_COMMAND +#include "sched.h" // DECL_TASK + +struct analog_in { + struct timer timer; + uint32_t rest_time, sample_time, next_begin_time; + uint16_t value, min_value, max_value; + struct gpio_adc pin; + uint8_t state, sample_count; +}; + +static uint8_t +analog_in_event(struct timer *timer) +{ + struct analog_in *a = container_of(timer, struct analog_in, timer); + if (gpio_adc_sample(a->pin)) { + a->timer.waketime += gpio_adc_sample_time(); + return SF_RESCHEDULE; + } + uint16_t value = gpio_adc_read(a->pin); + uint8_t state = a->state; + if (state >= a->sample_count) { + state = 0; + } else { + value += a->value; + } + a->value = value; + a->state = state+1; + if (a->state < a->sample_count) { + a->timer.waketime += a->sample_time; + return SF_RESCHEDULE; + } + if (a->value < a->min_value || a->value > a->max_value) + shutdown("adc out of range"); + a->next_begin_time += a->rest_time; + a->timer.waketime = a->next_begin_time; + return SF_RESCHEDULE; +} + +void +command_config_analog_in(uint32_t *args) +{ + struct analog_in *a = alloc_oid( + args[0], command_config_analog_in, sizeof(*a)); + a->timer.func = analog_in_event; + a->pin = gpio_adc_setup(args[1]); + a->state = 1; +} +DECL_COMMAND(command_config_analog_in, "config_analog_in oid=%c pin=%u"); + +void +command_query_analog_in(uint32_t *args) +{ + struct analog_in *a = lookup_oid(args[0], command_config_analog_in); + sched_del_timer(&a->timer); + gpio_adc_clear_sample(a->pin); + a->next_begin_time = args[1]; + a->timer.waketime = a->next_begin_time; + a->sample_time = args[2]; + a->sample_count = args[3]; + a->state = a->sample_count + 1; + a->rest_time = args[4]; + a->min_value = args[5]; + a->max_value = args[6]; + if (! a->sample_count) + return; + sched_timer(&a->timer); +} +DECL_COMMAND(command_query_analog_in, + "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" + " rest_ticks=%u min_value=%hu max_value=%hu"); + +static void +analog_in_task(void) +{ + static uint16_t next; + if (!sched_check_periodic(3, &next)) + return; + uint8_t oid; + struct analog_in *a; + foreach_oid(oid, a, command_config_analog_in) { + if (a->state != a->sample_count) + continue; + uint8_t flag = irq_save(); + if (a->state != a->sample_count) { + irq_restore(flag); + continue; + } + uint16_t value = a->value; + uint32_t next_begin_time = a->next_begin_time; + a->state++; + irq_restore(flag); + sendf("analog_in_state oid=%c next_clock=%u value=%hu" + , oid, next_begin_time, value); + } +} +DECL_TASK(analog_in_task); + +static void +analog_in_shutdown(void) +{ + uint8_t i; + struct analog_in *a; + foreach_oid(i, a, command_config_analog_in) { + gpio_adc_clear_sample(a->pin); + } +} +DECL_SHUTDOWN(analog_in_shutdown); diff --git a/src/avr/Kconfig b/src/avr/Kconfig index 24e33812..9cfbec07 100644 --- a/src/avr/Kconfig +++ b/src/avr/Kconfig @@ -2,6 +2,11 @@ if MACH_AVR +config AVR_SELECT + bool + default y + select HAVE_GPIO_ADC + config BOARD_DIRECTORY string default "avr" diff --git a/src/gpiocmds.c b/src/gpiocmds.c index ff03dfd1..283d3d2e 100644 --- a/src/gpiocmds.c +++ b/src/gpiocmds.c @@ -288,114 +288,3 @@ soft_pwm_shutdown(void) } } DECL_SHUTDOWN(soft_pwm_shutdown); - - -/**************************************************************** - * Analog input pins - ****************************************************************/ - -struct analog_in { - struct timer timer; - uint32_t rest_time, sample_time, next_begin_time; - uint16_t value, min_value, max_value; - struct gpio_adc pin; - uint8_t state, sample_count; -}; - -static uint8_t -analog_in_event(struct timer *timer) -{ - struct analog_in *a = container_of(timer, struct analog_in, timer); - if (gpio_adc_sample(a->pin)) { - a->timer.waketime += gpio_adc_sample_time(); - return SF_RESCHEDULE; - } - uint16_t value = gpio_adc_read(a->pin); - uint8_t state = a->state; - if (state >= a->sample_count) { - state = 0; - } else { - value += a->value; - } - a->value = value; - a->state = state+1; - if (a->state < a->sample_count) { - a->timer.waketime += a->sample_time; - return SF_RESCHEDULE; - } - if (a->value < a->min_value || a->value > a->max_value) - shutdown("adc out of range"); - a->next_begin_time += a->rest_time; - a->timer.waketime = a->next_begin_time; - return SF_RESCHEDULE; -} - -void -command_config_analog_in(uint32_t *args) -{ - struct analog_in *a = alloc_oid( - args[0], command_config_analog_in, sizeof(*a)); - a->timer.func = analog_in_event; - a->pin = gpio_adc_setup(args[1]); - a->state = 1; -} -DECL_COMMAND(command_config_analog_in, "config_analog_in oid=%c pin=%u"); - -void -command_query_analog_in(uint32_t *args) -{ - struct analog_in *a = lookup_oid(args[0], command_config_analog_in); - sched_del_timer(&a->timer); - gpio_adc_clear_sample(a->pin); - a->next_begin_time = args[1]; - a->timer.waketime = a->next_begin_time; - a->sample_time = args[2]; - a->sample_count = args[3]; - a->state = a->sample_count + 1; - a->rest_time = args[4]; - a->min_value = args[5]; - a->max_value = args[6]; - if (! a->sample_count) - return; - sched_timer(&a->timer); -} -DECL_COMMAND(command_query_analog_in, - "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" - " rest_ticks=%u min_value=%hu max_value=%hu"); - -static void -analog_in_task(void) -{ - static uint16_t next; - if (!sched_check_periodic(3, &next)) - return; - uint8_t oid; - struct analog_in *a; - foreach_oid(oid, a, command_config_analog_in) { - if (a->state != a->sample_count) - continue; - uint8_t flag = irq_save(); - if (a->state != a->sample_count) { - irq_restore(flag); - continue; - } - uint16_t value = a->value; - uint32_t next_begin_time = a->next_begin_time; - a->state++; - irq_restore(flag); - sendf("analog_in_state oid=%c next_clock=%u value=%hu" - , oid, next_begin_time, value); - } -} -DECL_TASK(analog_in_task); - -static void -analog_in_shutdown(void) -{ - uint8_t i; - struct analog_in *a; - foreach_oid(i, a, command_config_analog_in) { - gpio_adc_clear_sample(a->pin); - } -} -DECL_SHUTDOWN(analog_in_shutdown);