Commit fcfce5e52fac019d88f2d1cc2fd312498f346418

Authored by Antonio Carlos Domínguez Brito
0 parents
Exists in master

v1.0 - tc_lib - initial operative version

CMakeLists.txt 0 → 100644
  1 +++ a/CMakeLists.txt
... ... @@ -0,0 +1,148 @@
  1 +cmake_minimum_required(VERSION 2.8)
  2 +
  3 +set(PORT /dev/ttyACM0 CACHE STRING "uploading serial port")
  4 +set(IS_NATIVE_PORT true CACHE STRING "is it the native port? (true), or not? (false)")
  5 +
  6 +set(CMAKE_TOOLCHAIN_FILE arduino_due_toolchain.cmake)
  7 +
  8 +project(tc_lib C CXX)
  9 +
  10 +#####################################################################
  11 +# generating a static library for the standard Arduino library: begin
  12 +#####################################################################
  13 +
  14 +file(
  17 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/cores/arduino/*.c
  18 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/cores/arduino/*.cpp
  19 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/cores/arduino/USB/*.c
  20 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/cores/arduino/USB/*.cpp
  21 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/variants/arduino_due_x/*.c
  22 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/variants/arduino_due_x/*.cpp
  23 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/libraries/SPI/*.c
  24 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/libraries/SPI/*.cpp
  25 +)
  26 +
  28 +
  29 +add_library(arduino_due_std_lib STATIC ${ARDUINO_DUE_STD_LIB_SOURCE_FILES})
  30 +set_property(
  31 + TARGET arduino_due_std_lib PROPERTY
  33 +)
  34 +target_compile_options(
  35 + arduino_due_std_lib PUBLIC
  36 + -c -g -Os -w -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -mcpu=cortex-m3 -std=gnu++11 -mthumb
  37 +)
  38 +
  39 +target_compile_definitions(
  40 + arduino_due_std_lib PUBLIC
  41 + -Dprintf=iprintf -DF_CPU=84000000L -DARDUINO=10605 -DARDUINO_SAM_DUE -DARDUINO_ARCH_SAM -D__SAM3X8E__ -DUSB_VID=0x2341 -DUSB_PID=0x003e -DUSBCON -DUSB_MANUFACTURER="Unknown" -DUSB_PRODUCT="Arduino Due"
  42 +)
  43 +#####################################################################
  44 +# generating a static library for the standard Arduino library: end
  45 +#####################################################################
  46 +
  47 +# checking environment variable ARDUINO_IDE_LIBRARY_PATH
  48 +if(
  50 + OR
  52 +)
  53 +
  54 + message(FATAL_ERROR "[ERROR] Environment variable ARDUINO_IDE_LIBRARY_PATH not set!")
  55 +
  56 +else()
  57 +
  59 +
  60 +endif()
  61 +
  62 +#####################################################################
  63 +# tc_lib examples: begin
  64 +#####################################################################
  65 +
  66 +set(
  68 + capture_test
  69 + action_test
  70 +)
  71 +
  72 +foreach(src_example ${TC_EXAMPLES})
  73 + configure_file(
  74 + ${PROJECT_SOURCE_DIR}/examples/${src_example}/${src_example}.ino
  75 + ${src_example}.cpp
  77 + )
  78 + add_executable(
  79 + ${src_example}.cpp.elf
  80 + ${src_example}.cpp
  81 + $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/cores/arduino/syscalls_sam3.c
  82 + )
  83 + target_compile_options(
  84 + ${src_example}.cpp.elf PUBLIC
  85 + -c -g -Os -w -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -mcpu=cortex-m3 -std=gnu++11 -mthumb
  86 + )
  87 +
  88 + target_compile_definitions(
  89 + ${src_example}.cpp.elf PUBLIC
  90 + -Dprintf=iprintf -DF_CPU=84000000L -DARDUINO=10605 -DARDUINO_SAM_DUE -DARDUINO_ARCH_SAM -D__SAM3X8E__ -DUSB_VID=0x2341 -DUSB_PID=0x003e -DUSBCON -DUSB_MANUFACTURER="Unknown" -DUSB_PRODUCT="Arduino Due"
  91 + )
  92 +
  93 + target_include_directories(
  94 + ${src_example}.cpp.elf PUBLIC
  95 + $ENV{ARDUINO_IDE_LIBRARY_PATH}/libraries/tc_lib
  96 + )
  97 + target_link_libraries(
  98 + ${src_example}.cpp.elf
  99 + -Os -Wl,--gc-sections -mcpu=cortex-m3 -T$ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/variants/arduino_due_x/linker_scripts/gcc/flash.ld -Wl,-Map,${src_example} -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group arduino_due_std_lib $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/1.6.6/variants/arduino_due_x/libsam_sam3x8e_gcc_rel.a -Wl,--end-group -lm
  100 + )
  101 +
  102 + # bin
  103 + add_custom_command(
  104 + OUTPUT
  105 + ${src_example}.cpp.bin
  106 + COMMAND
  107 + ${DUE_OBJCOPY} -O binary ${src_example}.cpp.elf ${src_example}.cpp.bin
  108 + DEPENDS
  109 + ${src_example}.cpp.elf
  110 + )
  111 +
  112 + # size
  113 + add_custom_command(
  114 + OUTPUT
  115 + ${src_example}.cpp.size
  116 + COMMAND
  117 + ${DUE_SIZE_TOOL} -A ${src_example}.cpp.elf > ${src_example}.cpp.size
  118 + DEPENDS
  119 + ${src_example}.cpp.elf
  120 + )
  121 +
  122 + # target for the custom commands
  123 + add_custom_target(
  124 + ${src_example}
  125 + ALL
  126 + DEPENDS
  127 + ${src_example}.cpp.size ${src_example}.cpp.bin
  128 + )
  129 +
  130 + # upload - with avrdude
  131 + get_filename_component(PORT_NAME ${PORT} NAME)
  132 + add_custom_target(
  133 + upload_${src_example}
  134 + COMMAND
  135 + stty -F ${PORT} 1200\; cat ${CMAKE_CURRENT_LIST_DIR}/dummy > ${PORT}\; sleep 3
  136 + COMMAND
  137 + ${DUE_BOSSAC} -i -d --port=${PORT_NAME} -U ${IS_NATIVE_PORT} -e -w -v -b ${src_example}.cpp.bin -R
  138 + DEPENDS ${src_example}.cpp.bin
  139 + COMMENT
  140 + "Uploading ${src_example}.cpp.bin to uC ATSAM3X8E through ${PORT}"
  141 + )
  142 +
  143 +endforeach(src_example)
  144 +
  145 +
  146 +
  147 +
  148 +
... ...
COPYING 0 → 100644
  1 +++ a/COPYING
... ... @@ -0,0 +1,674 @@
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  674 +<>.
... ... 0 → 100644
  1 +++ a/
... ... @@ -0,0 +1,121 @@
  1 +## tc_lib v1.0
  2 +
  3 +This is tc_lib library for the Arduino DUE electronic prototyping platform.
  4 +
  5 +Copyright (C) 2015 Antonio C. Domínguez Brito (<>). División de Robótica y Oceanografía Computacional (<>) and Departamento de Informática y Sistemas (<>). Universidad de Las Palmas de Gran Canaria (ULPGC) (<>).
  6 +
  7 +### 0. License
  8 +
  9 +The tc_lib library is an open source project which is openly available under the GNU General Public License (GPL) license.
  10 +
  11 +### 1. Introduction
  12 +
  13 +This is a C++ library to take advantage of some of the features available on TC (Timer Counter) modules in DUE's Atmel ATSAM3X8E micro-controller.
  14 +
  15 +In tc_lib current version you can use two kind of objects, capture and action objects. Each object is associated to one of the three channels available at each of the three TC available in the micro-controller. In total nine timer/counter channels denoted by TC0, TC1, TC2, TC3, TC4, TC5, TC6, TC7 and TC8, respectively. Take into account that on each TC module and channel you can only use one tc_lib object for correct operation, whether a capture or an action object.
  16 +
  17 +### 2. Capture objects
  18 +
  19 +Capture objects allow to measures period and pulses (the duty) of digital signals, like PWM signals. This is carried out in parallel using the resources on TC's channels.
  20 +
  21 +Concretely, it is possible to use up to nine capture objects each one corresponding to the nine channels available, namely, TC0, TC1, TC2 (on TC module 0), TC3, TC4, TC5 (on TC module 1), and TC6, TC7 and TC8 (on TC module 2). For using any of them you have to previously declare them in advance using a specific declaration syntax provided by the libraryusing macros *capture_tc0_declaration*, *capture_tc1_declaration*, etc. A snippet of code extracted from the example *capture_test.ino* declaring a capture object corresponding to TC0 is shown next:
  22 +
  23 +```
  24 +// capture_tc0 declaration
  25 +// IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is
  26 +// PB25, which is pin 2 for Arduino DUE, so the capture pin in this example
  27 +// is pin 2. For the correspondence between all TIOA inputs for the different
  28 +// TC modules, you should consult uC Atmel ATSAM3X8E datasheet in section "36.
  29 +// Timer Counter (TC)"), and the Arduino pin mapping for the DUE.
  30 +
  31 +capture_tc0_declaration();
  32 +```
  33 +
  34 +Example *capture_test.ino* illustrates how to use a capture object. Once declared you have to config the capture object specifying its capture window in microseconds. The capture window specifies how long will be the capture object waiting for the completion of a pulse. For example, if you are trying to capture a PWM signal with a specific period, the capture window should be established to be the double of the expected period for correct behavior. Here a fragment of code extracted from the same example:
  35 +
  36 +```
  37 +// capture_tc0 initialization
  38 +capture_tc0.config(CAPTURE_TIME_WINDOW);
  39 +```
  40 +
  41 +As soon as the object is configured the corresponding TC channel starts capturing the digital signal present on the capture input pins associated with that specific channel. Those pins are hardwired to the TC channels, to know which ones are corresponding to each TC channel you have to consult the *Timer Counter (TC)* section of Atmel ATSAM3X8E datasheet (<>), and the mapping of micro-controller pins on the DUE (<>). For example *capture_test.ino*, the pin associated with TC0 channel is TIOA0 which is PB25 micro-controller pin, that in turn is pin 2 on the DUE platform.
  42 +
  43 +Capture objects take advantage of TC module channels in *capture* mode to measure digital pulses. Concretely, using tc_lib capture objects we can obtain the last pulse duration (duty) and the last period of the measured signal. Example *capture_test.ino* use a PWM signal generated on analog pin 7 as the signal to measure. When nothing is measured the duty and the period measured by the capture object are zero. Take into account that the measured duty and period get stored inside the capture objects at the interrupt handlers associated with the TC channels involved.
  44 +
  45 +### 3. Action objects
  46 +
  47 +The action objects available in tc_lib allow us to have a callback called periodically in our program.
  48 +
  49 +Action objects are associated with a specific TC channel, whether TC0, TC1, TC2, TC3, TC4, TC5, TC6, TC7 and TC8, and with each channel it is only possible to use only one action object (or only one capture object). Equally to capture objects, before its use you must declare it using a specific macro, namely, *action_tc0_declaration*, *action_tc1_declaration*, ect. Here we include a snippet from example *action_test.ino* declaring *action_tc0* object:
  50 +
  51 +```
  52 +// action_tc0 declaration
  53 +action_tc0_declaration();
  54 +```
  55 +
  56 +To start using an action object we have to call action object's *start()* member function to establish the callback and the period (in microseconds) to call the callback. Here a fragment of code illustrating its use in example *action_test.ino*:
  57 +
  58 +```
  59 +action_tc0.start(CALLBACK_PERIOD,set_led_action,&action_ctx);
  60 +```
  61 +
  62 +We can stop the action object calling the callback at any moment calling member function stop:
  63 +
  64 +```
  65 +action_tc0.stop(); // stopping
  66 +```
  67 +
  68 +### 4. Download & installation
  69 +
  70 +The library is available through an open git repository available at:
  71 +
  72 +* <>
  73 +
  74 +and also at our own mirror at:
  75 +
  76 +* <>
  77 +
  78 +For using it you just have to copy the library on the libraries folder used by your Arduino IDE, the folder should be named "tc_lib".
  79 +
  80 +In addition you must add the flag -std=gnu++11 for compiling. For doing that add -std=gnu++11 to the platform.txt file, concretely to compiler.cpp.flags. In Arduino IDE 1.6.6 and greater versions this flag is already set.
  81 +
  82 +### 5. Examples
  83 +
  84 +On the examples directory you have available a basic example for using a capture object, *capture_test.ino*, and an example for using an action object, *action_test.ino*. We hope both examples are self-explaining.
  85 +
  86 +### 6. Incompatibilities
  87 +
  88 +Any library using the interrupts associated with any of the timer/counter module channels TC0, TC1, TC2, TC3, TC4, TC5, TC6, TC7 and TC8, has a potential compatibility problem with tc_lib, if it happens to use the same TC module and the same channel. An example of this potential incompatibility is library Servo which uses by default TC0, TC2, TC3, TC4 y TC5 interrupt handlers. In this case, you will be limited to use the capture and/or action objects associated with TC channels TC1, TC6, TC7 and TC8, to preserve the compatibility.
  89 +
  90 +### 7. Compiling with CMake
  91 +
  92 +For compiling on command line using CMake, just proceed in the following manner:
  93 +
  94 +1. Set the following environment variables (a good place to put them is on .bashrc):
  95 + * Set `ARDUINO_DUE_ROOT_PATH` to `~/.arduino15/packages/arduino/`.
  96 + * Set `ARDUINO_UNO_ROOT_PATH` to the path where you have installed the Arduino IDE, for example, `~/installations/arduino-1.6.5`.
  97 + * Set `ARDUINO_IDE_LIBRARY_PATH` to the path for the Arduino IDE projects you have in preferences. For example, `~/arduino_projects`.
  98 +
  99 +2. Go to `tc_lib` directory (the one you have cloned with the project).
  100 +3. Create directory `build` (if not already created).
  101 +4. Execute `cmake ..`.
  102 +5. Set the following flags and variables (if not done before), you should execute `ccmake ..`:
  103 + * Set `PORT` to the serial port you will use for uploading.
  104 + * Set `IS_NATIVE_PORT` to `true` (if using DUE's native port) or `false` (if using DUE's programming port).
  105 +6. Be sure the changes were applied, usually running `cmake ..`.
  106 +7. Compile executing `make`.
  107 +8. The previous step has generated the examples available with the library. You can upload the code executing:
  108 + * `make upload_capture_test`,
  109 + * `make upload_action_test`,
  110 +
  111 +### 8. Library users
  112 +
  113 +In this section we would like to enumerate users using the library in their own projects and developments. So please, if your are using the library, drop us an email indicating in what project or development you are using it.
  114 +
  115 +The list of users/projects goes now:
  116 +
  117 +1. **Project:** Autonomous sailboat A-Tirma (<>). **User**: División de Robótica y Oceanografía Computacional (<>). **Description**: The library was a specific development for this project. The sailboat onboard system is based on an Arduino DUE.
  118 +
  119 +### 9. Feedback & Suggestions
  120 +
  121 +Please be free to send me any comment, doubt of use, or suggestion in relation to tc_lib.
... ...
arduino_due_toolchain.cmake 0 → 100644
  1 +++ a/arduino_due_toolchain.cmake
... ... @@ -0,0 +1,81 @@
  1 +# arduino_due_toolchain.cmake: toolchain file for arduino due
  2 +
  3 +include (CMakeForceCompiler)
  4 +
  5 +set(CMAKE_SYSTEM_NAME Generic)
  7 +
  8 +# checking environment variable ARDUINO_DUE_SOURCE_PATH
  9 +if(
  11 + OR
  13 +)
  14 +
  15 + message(FATAL_ERROR "[ERROR] Environment variable ARDUINO_DUE_ROOT_PATH not set!")
  16 +
  17 +else()
  18 +
  19 + message(STATUS "Environment variable ARDUINO_DUE_ROOT_PATH: $ENV{ARDUINO_DUE_ROOT_PATH}")
  20 +
  21 +endif()
  22 +
  23 +function(find_due_program DUE_PROGRAM_PATH DUE_PROGRAM WHERE)
  24 +
  25 + find_program(
  27 + ${DUE_PROGRAM}
  28 + PATH ${WHERE}
  30 + )
  31 + if(NOT ${DUE_PROGRAM_PATH})
  32 + message(FATAL_ERROR "[ERROR] \"${DUE_PROGRAM}\" not found!")
  33 + else()
  34 + message(STATUS "\"${DUE_PROGRAM}\" found: ${${DUE_PROGRAM_PATH}}")
  35 + endif()
  36 +
  37 +endfunction(find_due_program)
  38 +
  39 +find_due_program(
  40 + DUE_CC
  41 + arm-none-eabi-gcc
  42 + $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin
  43 +)
  44 +find_due_program(
  45 + DUE_CXX
  46 + arm-none-eabi-g++
  47 + $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin
  48 +)
  49 +find_due_program(
  51 + arm-none-eabi-objcopy