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Linux_HAL_Essentials: Add support for HC-SR04 Range Finder

mission-4.1.18
mirkix 10 years ago committed by Andrew Tridgell
parent
547dbb3906
commit
38318c4b51
7 changed files with 398 additions and 0 deletions
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  1. BIN
      Tools/Linux_HAL_Essentials/devicetree/bbbmini/BB-BBBMINI-00A0.dtbo
  2. 6
      Tools/Linux_HAL_Essentials/devicetree/bbbmini/BB-BBBMINI-00A0.dts
  3. 84
      Tools/Linux_HAL_Essentials/pru/rangefinderpru/AM335x_PRU.cmd
  4. 9
      Tools/Linux_HAL_Essentials/pru/rangefinderpru/HexUtil_PRU.cmd
  5. 42
      Tools/Linux_HAL_Essentials/pru/rangefinderpru/Makefile
  6. 120
      Tools/Linux_HAL_Essentials/pru/rangefinderpru/pru_ctrl.h
  7. 137
      Tools/Linux_HAL_Essentials/pru/rangefinderpru/rangefinder.c

BIN
Tools/Linux_HAL_Essentials/devicetree/bbbmini/BB-BBBMINI-00A0.dtbo
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6
Tools/Linux_HAL_Essentials/devicetree/bbbmini/BB-BBBMINI-00A0.dts
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@ -28,6 +28,9 @@ @@ -28,6 +28,9 @@
"P8.46", /* pru1: pr1_pru1_pru_r30_1, CH_11 */
"P8.45", /* pru1: pr1_pru1_pru_r30_0, CH_12 */
"P8.12", /* pru0: pr1_pru0_pru_r30_14, HC-SR04 trigger */
"P8.16", /* pru0: pr1_pru0_pru_r31_14, HC-SR04 echo */
/* SPI0 */
"P9.22", /* spi0: spi0_sclk, SPI0_SCLK */
"P9.21", /* spi0: spi0_d0, SPI0_MISO */
@ -81,6 +84,9 @@ @@ -81,6 +84,9 @@
0x0a8 0x25 /* lcd_data2.pr1_pru1_pru_r30_2, MODE5 | OUTPUT | PRU, CH_10 */
0x0a4 0x25 /* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU, CH_11 */
0x0a0 0x25 /* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU, CH_12 */
0x030 0x6 /* gpmc_ad12.pr1_pru0_pru_r30_14, MODE6 | OUTPUT_PULLDOWN | HC-SR04 trigger */
0x038 0x26 /* gpmc_ad14.pr1_pru0_pru_r31_14, MODE6 | INPUT_PULLDOWN | HC-SR04 echo */
>;
};

84
Tools/Linux_HAL_Essentials/pru/rangefinderpru/AM335x_PRU.cmd
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@ -0,0 +1,84 @@ @@ -0,0 +1,84 @@
/****************************************************************************/
/* AM335x_PRU.cmd */
/* Copyright (c) 2014 Texas Instruments Incorporated */
/* */
/* Description: This file is a linker command file that can be used for */
/* linking PRU programs built with the C compiler and */
/* the resulting .out file on an AM335x device. */
/****************************************************************************/
-cr /* Link using C conventions */
/* Specify the System Memory Map */
MEMORY
{
PAGE 0:
PRU_IMEM : org = 0x00000000 len = 0x00002000 /* 8kB PRU0 Instruction RAM */
PAGE 1:
/* RAM */
PRU_DMEM_0_1 : org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
PRU_DMEM_1_0 : org = 0x00002000 len = 0x00002000 CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
PRU_SHAREDMEM : org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
DDR : org = 0x80000000 len = 0x00000100 CREGISTER=31
L3OCMC : org = 0x40000000 len = 0x00010000 CREGISTER=30
/* Peripherals */
PRU_CFG : org = 0x00026000 len = 0x00000100 CREGISTER=4
PRU_ECAP : org = 0x00030000 len = 0x00000100 CREGISTER=3
PRU_IEP : org = 0x0002E000 len = 0x0000031C CREGISTER=26
PRU_INTC : org = 0x00020000 len = 0x00001504 CREGISTER=0
PRU_UART : org = 0x00028000 len = 0x00000100 CREGISTER=7
DCAN0 : org = 0x481CC000 len = 0x00000100 CREGISTER=14
DCAN1 : org = 0x481D0000 len = 0x00000100 CREGISTER=15
DMTIMER2 : org = 0x48040000 len = 0x00000100 CREGISTER=1
EHRPWM1 : org = 0x48300000 len = 0x00000100 CREGISTER=18
EHRPWM2 : org = 0x48302000 len = 0x00000100 CREGISTER=19
EHRPWM3 : org = 0x48304000 len = 0x00000100 CREGISTER=20
GEMAC : org = 0x4A100000 len = 0x00000100 CREGISTER=9
I2C1 : org = 0x4802A000 len = 0x00000100 CREGISTER=2
I2C2 : org = 0x4819C000 len = 0x00000100 CREGISTER=17
MBX0 : org = 0x480C8000 len = 0x00000100 CREGISTER=22
MCASP0_DMA : org = 0x46000000 len = 0x00000100 CREGISTER=8
MCSPI0 : org = 0x48030000 len = 0x00000100 CREGISTER=6
MCSPI1 : org = 0x481A0000 len = 0x00000100 CREGISTER=16
MDIO : org = 0x00032400 len = 0x00000100 CREGISTER=21
MMCHS0 : org = 0x48060000 len = 0x00000100 CREGISTER=5
SPINLOCK : org = 0x480CA000 len = 0x00000100 CREGISTER=23
TPCC : org = 0x49000000 len = 0x000010A0 CREGISTER=29
UART1 : org = 0x48022000 len = 0x00000100 CREGISTER=11
UART2 : org = 0x48024000 len = 0x00000100 CREGISTER=12
RSVD10 : org = 0x48318000 len = 0x00000100 CREGISTER=10
RSVD13 : org = 0x48310000 len = 0x00000100 CREGISTER=13
RSVD27 : org = 0x00032000 len = 0x00000100 CREGISTER=27
}
/* Specify the sections allocation into memory */
SECTIONS {
/* Forces _c_int00 to the start of PRU IRAM. Not necessary when loading
an ELF file, but useful when loading a binary */
.text:_c_int00* > 0x0, PAGE 0
.text > PRU_IMEM, PAGE 0
.stack > PRU_DMEM_0_1, PAGE 1
.bss > PRU_DMEM_0_1, PAGE 1
.cio > PRU_DMEM_0_1, PAGE 1
.data > PRU_DMEM_0_1, PAGE 1
.switch > PRU_DMEM_0_1, PAGE 1
.sysmem > PRU_DMEM_0_1, PAGE 1
.cinit > PRU_DMEM_0_1, PAGE 1
.rodata > PRU_DMEM_0_1, PAGE 1
.rofardata > PRU_DMEM_0_1, PAGE 1
.farbss > PRU_DMEM_0_1, PAGE 1
.fardata > PRU_DMEM_0_1, PAGE 1
.resource_table > PRU_DMEM_0_1, PAGE 1
}

9
Tools/Linux_HAL_Essentials/pru/rangefinderpru/HexUtil_PRU.cmd
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@ -0,0 +1,9 @@ @@ -0,0 +1,9 @@
-b
--image
ROMS {
PAGE 0:
.text: o = 0x0, l = 0x2000, files={rangefinderprutext.bin}
PAGE 1:
.data: o = 0x0, l = 0x2000, files={rangefinderprudata.bin}
}

42
Tools/Linux_HAL_Essentials/pru/rangefinderpru/Makefile
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@ -0,0 +1,42 @@ @@ -0,0 +1,42 @@
all: rangefinder.stripped rangefinder.lst
CC=clpru
LD=lnkpru
AR=arpru
OBJDUMP=dispru
STRIP=strippru
HEX=hexpru
CFLAGS= --endian=little -v3 -s -al --c99 --gcc -O3 --printf_support=minimal --symdebug:none
LDFLAGS=-cr --diag_warning=225 -lAM335x_PRU.cmd -x
STRIPFLAGS=-p
OBJS1:=rangefinder.obj
%.obj: %.c
$(CC) $(CFLAGS) -c $< -ea=.s
%.obj: %.asm
$(CC) $(CFLAGS) -c $<
rangefinder: $(OBJS1)
$(CC) $(CFLAGS) $^ -q -z $(LDFLAGS) -o $@
rangefinder.stripped: rangefinder
$(STRIP) $(STRIPFLAGS) $< -o $@
size rangefinder.stripped
$(HEX) rangefinder.stripped HexUtil_PRU.cmd
rangefinder.lst: rangefinder
$(OBJDUMP) -1 $< > $@
install:
cp rangefinderprutext.bin /lib/firmware
cp rangefinderprudata.bin /lib/firmware
clean:
rm -f \
rangefinder rangefinder.asm rangefinder.s \
*.bin *.obj *.lst *.out *.stripped \

120
Tools/Linux_HAL_Essentials/pru/rangefinderpru/pru_ctrl.h
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/* PRU_CTRL register set */
typedef struct{
/* PRU_CTRL_CONTROL register bit field */
union {
volatile uint32_t CTRL;
volatile struct{
unsigned SOFT_RST_N : 1;
unsigned EN : 1;
unsigned SLEEPING : 1;
unsigned CTR_EN : 1;
unsigned rsvd4 : 4;
unsigned SINGLE_STEP : 1;
unsigned rsvd9 : 6;
unsigned RUNSTATE : 1;
unsigned PCTR_RST_VAL : 16;
} CONTROL_bit;
} ; // 0x0
/* PRU_CTRL_STATUS register bit field */
union {
volatile uint32_t STS;
volatile struct{
unsigned PCTR : 16;
unsigned rsvd16 : 16;
} STATUS_bit;
} ; // 0x4
/* PRU_CTRL_WAKEUP_EN register bit field */
union {
volatile uint32_t WAKEUP_EN;
volatile struct{
unsigned BITWISE_ENS : 32;
} WAKEUP_EN_bit;
} ; // 0x8
/* PRU_CTRL_CYCLE register bit field */
union {
volatile uint32_t CYCLE;
volatile struct{
unsigned CYCLECOUNT : 32;
} CYCLE_bit;
} ; // 0xC
/* PRU_CTRL_STALL register bit field */
union {
volatile uint32_t STALL;
volatile struct{
unsigned STALLCOUNT : 32;
} STALL_bit;
} ; // 0x10
uint32_t rsvd14[3]; // 0x14 - 0x1C
/* PRU_CTRL_CTBIR0 register bit field */
union {
volatile uint32_t CTBIR0;
volatile struct{
unsigned C24_BLK_IDX : 8;
unsigned rsvd8 : 8;
unsigned C25_BLK_IDX : 8;
unsigned rsvd24 : 8;
} CTBIR0_bit;
} ; // 0x20
/* PRU_CTRL_CTBIR1 register bit field */
union {
volatile uint32_t CTBIR1;
volatile struct{
unsigned C26_BLK_IDX : 8;
unsigned rsvd8 : 8;
unsigned C27_BLK_IDX : 8;
unsigned rsvd24 : 8;
} CTBIR1_bit;
} ; // 0x24
/* PRU_CTRL_CTPPR0 register bit field */
union {
volatile uint32_t CTPPR0;
volatile struct{
unsigned C28_BLK_POINTER : 16;
unsigned C29_BLK_POINTER : 16;
} CTPPR0_bit;
} ; // 0x28
/* PRU_CTRL_CTPPR1 register bit field */
union {
volatile uint32_t CTPPR1;
volatile struct{
unsigned C30_BLK_POINTER : 16;
unsigned C31_BLK_POINTER : 16;
} CTPPR1_bit;
} ; // 0x2C
} pruCtrl;
/* Definition of control register structures. */
#define PRU0_CTRL (*((volatile pruCtrl*)0x22000))
#define PRU1_CTRL (*((volatile pruCtrl*)0x24000))

137
Tools/Linux_HAL_Essentials/pru/rangefinderpru/rangefinder.c
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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
HC-SR04 Ultrasonic Distance Sensor by Mirko Denecke <mirkix@gmail.com>
*/
#include <stdint.h>
#include "pru_ctrl.h"
volatile register uint32_t __R30;
volatile register uint32_t __R31;
// Trigger pin
#define TRIGGER 1<<14
// Echo pin
#define ECHO 1<<14
#define TICKS_PER_US 200
#define TICKS_PER_MS (1000 * TICKS_PER_US)
#define TICKS_PER_CM 11600
#define COUNTER_MIN_DISTANCE (2 * TICKS_PER_CM)
#define COUNTER_MAX_DISTANCE (400 * TICKS_PER_CM)
enum RangeFinder_Status {
RangeFinder_NotConnected = 0,
RangeFinder_NoData,
RangeFinder_OutOfRangeLow,
RangeFinder_OutOfRangeHigh,
RangeFinder_Good
};
struct range {
uint32_t distance;
uint32_t status;
};
#pragma LOCATION(ranger, 0x0)
volatile struct range ranger;
main()
{
// Init data
ranger.distance = 0;
ranger.status = RangeFinder_NoData;
// Reset trigger
__R30 &= ~(TRIGGER);
// Wait 100ms
__delay_cycles(250 * TICKS_PER_MS);
// Disable counter
PRU0_CTRL.CONTROL_bit.CTR_EN = 0;
// Clear counter
PRU0_CTRL.CYCLE_bit.CYCLECOUNT = 0xFFFFFFFF;
while(1)
{
// Enable trigger
__R30 |= TRIGGER;
// Wait 15us
__delay_cycles(3000);
// Reset trigger
__R30 &= ~(TRIGGER);
// Wait for echo
while((__R31 & ECHO) == 0)
{
if(PRU0_CTRL.CYCLE_bit.CYCLECOUNT > (600 * TICKS_PER_CM))
{
ranger.status = RangeFinder_NoData;
}
}
// Start counter
PRU0_CTRL.CONTROL_bit.CTR_EN = 1;
// Count echo length
while(__R31 & ECHO)
{
;
}
// Stop counter
PRU0_CTRL.CONTROL_bit.CTR_EN = 0;
// Check status
if(PRU0_CTRL.CYCLE_bit.CYCLECOUNT < COUNTER_MIN_DISTANCE)
{
ranger.distance = 0;
// Set status out of range low
ranger.status = RangeFinder_OutOfRangeLow;
}
else if(PRU0_CTRL.CYCLE_bit.CYCLECOUNT > COUNTER_MAX_DISTANCE)
{
ranger.distance = 0;
// Set stauts
ranger.status = RangeFinder_OutOfRangeHigh;
}
else
{
// Calculate distance in cm
ranger.distance = PRU0_CTRL.CYCLE_bit.CYCLECOUNT / TICKS_PER_CM;
// Set status out of range high
ranger.status = RangeFinder_Good;
}
// Clear counter
PRU0_CTRL.CYCLE_bit.CYCLECOUNT = 0xFFFFFFFF;
// Wait 20ms
__delay_cycles(20 * TICKS_PER_MS);
}
}
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