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-rw-r--r--doc/quick-tech-report/rotohsm_paper.pdfbin1192127 -> 1190616 bytes
-rw-r--r--doc/quick-tech-report/rotohsm_tech_report.pdfbin112344 -> 111459 bytes
-rw-r--r--prototype/fw/Makefile2
-rw-r--r--prototype/fw/src/main.c184
m---------prototype/fw/upstream/PyCortexMDebug0
-rw-r--r--prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_prl10
-rw-r--r--prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_pro8
7 files changed, 191 insertions, 13 deletions
diff --git a/doc/quick-tech-report/rotohsm_paper.pdf b/doc/quick-tech-report/rotohsm_paper.pdf
index d16befe..f0ad0b6 100644
--- a/doc/quick-tech-report/rotohsm_paper.pdf
+++ b/doc/quick-tech-report/rotohsm_paper.pdf
Binary files differ
diff --git a/doc/quick-tech-report/rotohsm_tech_report.pdf b/doc/quick-tech-report/rotohsm_tech_report.pdf
index 8fdb2b9..d87bc8e 100644
--- a/doc/quick-tech-report/rotohsm_tech_report.pdf
+++ b/doc/quick-tech-report/rotohsm_tech_report.pdf
Binary files differ
diff --git a/prototype/fw/Makefile b/prototype/fw/Makefile
index 32ded36..f61e949 100644
--- a/prototype/fw/Makefile
+++ b/prototype/fw/Makefile
@@ -125,7 +125,7 @@ CXXFLAGS += -I.
LDFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS)
LIBS += -lgcc
-LDFLAGS += -Wl,--gc-sections
+#LDFLAGS += -Wl,--gc-sections
LINKMEM_FLAGS ?= --trim-stubs=startup.o --trace-sections .isr_vector --highlight-subdirs $(BUILDDIR)
diff --git a/prototype/fw/src/main.c b/prototype/fw/src/main.c
index 42c1ea7..cf0c9f4 100644
--- a/prototype/fw/src/main.c
+++ b/prototype/fw/src/main.c
@@ -38,13 +38,174 @@ void packetize(void *pkt, struct ll_pkt_trailer *trailer) {
trailer->crc32 = pkt_crc(pkt, trailer);
}
+enum mems_regs {
+ MEMS_REG_CTRL0, /* 0 */
+ MEMS_REG_CTRL1, /* 1 */
+ MEMS_REG_CONFIG, /* 2 */
+ MEMS_REG_STATUS0, /* 3 */
+ MEMS_REG_STATUS1, /* 4 */
+ MEMS_REG_STATUS2, /* 5 */
+ MEMS_REG_CHIP_REVID, /* 6 */
+ MEMS_REG_ACC_CHX_LOW, /* 7 */
+ MEMS_REG_ACC_CHX_HIGH, /* 8 */
+ MEMS_REG_ACC_CHY_LOW, /* 9 */
+ MEMS_REG_ACC_CHY_HIGH, /* 10 */
+ MEMS_REG_OSC_COUNTER, /* 11 */
+ MEMS_REG_ID_SENSOR_TYPE, /* 12 */
+ MEMS_REG_ID_VEH_MANUF, /* 13 */
+ MEMS_REG_ID_SENSOR_MANUF, /* 14 */
+ MEMS_REG_ID_LOT0, /* 15 */
+ MEMS_REG_ID_LOT1, /* 16 */
+ MEMS_REG_ID_LOT2, /* 17 */
+ MEMS_REG_ID_LOT3, /* 18 */
+ MEMS_REG_ID_WAFER, /* 19 */
+ MEMS_REG_ID_COOR_X, /* 20 */
+ MEMS_REG_ID_COOR_Y, /* 21 */
+ MEMS_REG_RESET, /* 22 */
+ MEMS_REG_OFF_CHX_HIGH, /* 23 */
+ MEMS_REG_OFF_CHX_LOW, /* 24 */
+ MEMS_REG_OFF_CHY_HIGH, /* 25 */
+ MEMS_REG_OFF_CHY_LOW, /* 26 */
+};
+
+uint8_t crc8_calc(uint8_t *data, size_t len) {
+ int acc = 0;
+ for (size_t i=0; i<len; i++) {
+ acc ^= data[i];
+ for (size_t j=0; j<8; j++) {
+ acc <<= 1;
+ if (acc & 0x100) {
+ acc ^= 0x197; /* 0x100 | poly */
+ }
+ }
+ }
+ if (acc & 0x100)
+ asm volatile ("bkpt");
+ return acc;
+}
+
+#define MEMS_OPCODE_Msk 0x3
+#define MEMS_OPCODE_Pos 30
+#define MEMS_ADDR_Msk 0x1f
+#define MEMS_ADDR_Pos 21
+#define MEMS_DATA_Msk 0xff
+#define MEMS_DATA_Pos 13
+#define MEMS_P_Pos 28
+#define MEMS_SEN_Pos 29
+#define MEMS_MEAS_Pos 12
+#define MEMS_MEAS_Msk 0x3fff
+
+bool parity_calc(uint8_t *data, size_t len) {
+ bool acc = 0;
+ for (size_t i=0; i<len; i++) {
+ uint8_t b = data[i];
+ for (size_t j=0; j<8; j++) {
+ if (b&1) {
+ acc = !acc;
+ }
+ b >>= 1;
+ }
+ }
+ return acc;
+}
+
+uint32_t mems_trx_word(uint32_t data) {
+ /* CAUTION: ST's SPI peripherals behave differently depending on DR register access size, yet the CMSIS headers
+ * expose it as an 32-bit uint only. In this case, we actually want a 32-bit access.
+ */
+ uint16_t *dr = (uint16_t *)&SPI1->DR;
+ *dr = data>>16;
+ while (SPI1->SR & SPI_SR_BSY)
+ ;
+ uint32_t out = (*dr) << 16;
+ *dr = data&0xffff;
+ while (SPI1->SR & SPI_SR_BSY)
+ ;
+ out |= *dr;
+ return out;
+}
+
+uint32_t mems_trx_cmd(uint32_t cmd) {
+ GPIOA->BRR = 1<<15; /* De-assert !CS */
+
+ uint8_t bytes[3] = {(cmd>>16)&0xff, (cmd>>8)&0xff, cmd&0xff};
+ uint8_t crc = crc8_calc(bytes, 3);
+ int parity = !!parity_calc(bytes, 3);
+
+ uint32_t out = mems_trx_word(cmd | (parity<<MEMS_P_Pos) | crc);
+ GPIOA->BSRR = 1<<15; /* Assert !CS */
+
+ return out;
+}
+
+void mems_write_reg(int addr, int val) {
+ addr &= MEMS_ADDR_Msk;
+ val &= MEMS_DATA_Msk;
+ (void)mems_trx_cmd((1<<MEMS_OPCODE_Pos) | (addr<<MEMS_ADDR_Pos) | (val<<MEMS_DATA_Pos));
+}
+
+uint32_t mems_read_reg(int addr) {
+ addr &= MEMS_ADDR_Msk;
+ mems_trx_cmd((3<<MEMS_OPCODE_Pos) | (addr<<MEMS_ADDR_Pos));
+ for (int i=0; i<2000; i++)
+ asm volatile ("nop");
+ uint32_t rv = mems_trx_cmd(3<<MEMS_OPCODE_Pos);
+ return (rv >> MEMS_DATA_Pos) & MEMS_DATA_Msk;
+}
+
+int16_t mems_read_meas(int ch) {
+ ch &= 3;
+ mems_trx_cmd((ch<<MEMS_OPCODE_Pos) | (1<<MEMS_SEN_Pos));
+ for (int i=0; i<2000; i++)
+ asm volatile ("nop");
+ uint32_t rv = mems_trx_cmd(3<<MEMS_OPCODE_Pos);
+ /* shift 14-bit data left to align the MSB with the int16_t's sign bit */
+ int16_t data = (rv >> MEMS_MEAS_Pos) << 2;
+ /* Now do an arithmetic division to sign extend */
+ return data / 4;
+}
+
+void mems_spi_init(void) {
+ SPI1->CR1 = (6<<SPI_CR1_BR_Pos) | SPI_CR1_MSTR | SPI_CR1_SSM | SPI_CR1_SSI;
+ SPI1->CR2 = (15<<SPI_CR2_DS_Pos);
+ SPI1->CR1 |= SPI_CR1_SPE;
+}
+
+void mems_init(void) {
+ mems_spi_init();
+
+ for (size_t i=0; i<10000; i++) {
+ asm volatile("nop");
+ }
+
+ /* Take accelerometer out of initialization phase */
+ mems_write_reg(MEMS_REG_CTRL0, 0x01);
+}
+
int main(void) {
RCC->AHBENR |= RCC_AHBENR_GPIOAEN;
- RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+ RCC->APB2ENR |= RCC_APB2ENR_USART1EN | RCC_APB2ENR_SPI1EN;
- GPIOA->MODER |= (2 << GPIO_MODER_MODER9_Pos) | (2 << GPIO_MODER_MODER10_Pos);
- GPIOA->AFR[1] = (7 << (9-8)*4) | (7 << (10-8)*4);
+#define AFRL(pin, val) ((val) << ((pin)*4))
+#define AFRH(pin, val) ((val) << (((pin)-8)*4))
+#define AF(pin) (2<<(2*(pin)))
+#define OUT(pin) (1<<(2*(pin)))
+#define IN(pin) (0)
+#define ANALOG(pin) (3<<(2*(pin)))
+#define CLEAR(pin) (3<<(2*(pin)))
+
+ /* GPIO pin config:
+ * A9: USART 1 TX -> LED
+ * A10: USART 1 RX -> debug
+ * A15: Accelerometer CS
+ * A5/6/7: SPI SCK/MISO/MOSI for Accelerometer
+ */
+ GPIOA->MODER &= ~(CLEAR(15)); /* Clear JTAG TDI pin mode */
+ GPIOA->MODER |= AF(9) | AF(10) | OUT(15) | AF(5) | AF(6) | AF(7);
+ GPIOA->AFR[0] = AFRL(5, 5) | AFRL(6, 5) | AFRL(7, 5);
+ GPIOA->AFR[1] = AFRH(9, 7) | AFRH(10, 7);
+ GPIOA->BSRR = 1<<15; /* De-assert accelerometer !CS */
SystemCoreClockUpdate();
int apb2_clock = SystemCoreClock / APB2_PRESC;
@@ -56,6 +217,21 @@ int main(void) {
USART1->CR2 |= USART_CR2_RXINV; //| USART_CR2_TXINV;
USART1->CR1 |= USART_CR1_UE;
+ /* FIXME DEUBG */
+ while (1) {
+ mems_init();
+ for (int i=0; i<100000; i++)
+ asm volatile("nop");
+ for (int i=0; i<300; i++) {
+ mems_read_meas(0);
+ //mems_read_reg(MEMS_REG_ID_SENSOR_TYPE);
+ for (int i=0; i<10000; i++)
+ asm volatile("nop");
+ }
+ for (int i=0; i<100000; i++)
+ asm volatile("nop");
+ }
+
int req_seq = 0;
int res_seq = 0;
struct req_pkt req_buf = { 0 };
@@ -118,7 +294,7 @@ int main(void) {
} else {
if (rc == sizeof(req_buf)) {
crc32_t check_crc = pkt_crc(&req_buf, &req_buf.trailer);
- if (check_crc != req_buf.trailer.crc32 || check_crc == 0 || check_crc == -1) {
+ if (check_crc != req_buf.trailer.crc32 || check_crc == 0 || (int)check_crc == -1) {
rx_crc_error += 1;
} else {
req_seq = req_buf.req_seq;
diff --git a/prototype/fw/upstream/PyCortexMDebug b/prototype/fw/upstream/PyCortexMDebug
-Subproject 89c567b2847e1d3349b3bec64c3efa76f1ccf98
+Subproject b5ef1c8ed36af2e46452e4c3f81506c65b5c0ed
diff --git a/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_prl b/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_prl
index 5daffb0..aae3ce2 100644
--- a/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_prl
+++ b/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_prl
@@ -2,6 +2,7 @@
"board": {
"active_layer": 36,
"active_layer_preset": "All Layers",
+ "auto_track_width": true,
"hidden_nets": [],
"high_contrast_mode": 0,
"net_color_mode": 1,
@@ -50,17 +51,18 @@
22,
23,
24,
- 26,
27,
28,
29,
30,
31,
32,
- 36,
- 37
+ 33,
+ 37,
+ 38
],
- "visible_layers": "fffffff_ffffffff"
+ "visible_layers": "fffffff_ffffffff",
+ "zone_display_mode": 0
},
"meta": {
"filename": "rotor_base_pcb.kicad_prl",
diff --git a/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_pro b/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_pro
index 8275083..c8394df 100644
--- a/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_pro
+++ b/prototype/mech_pcbs/rotor_base_pcb/rotor_base_pcb.kicad_pro
@@ -66,7 +66,7 @@
"courtyards_overlap": "error",
"diff_pair_gap_out_of_range": "error",
"diff_pair_uncoupled_length_too_long": "error",
- "drill_too_small": "error",
+ "drill_out_of_range": "error",
"duplicate_footprints": "warning",
"extra_footprint": "warning",
"hole_clearance": "error",
@@ -74,10 +74,9 @@
"invalid_outline": "error",
"item_on_disabled_layer": "error",
"items_not_allowed": "error",
- "keepout": "error",
"length_out_of_range": "error",
"malformed_courtyard": "error",
- "microvia_drill_too_small": "error",
+ "microvia_drill_out_of_range": "error",
"missing_courtyard": "ignore",
"missing_footprint": "warning",
"net_conflict": "warning",
@@ -95,7 +94,6 @@
"unconnected_items": "error",
"unresolved_variable": "error",
"via_dangling": "warning",
- "via_hole_larger_than_pad": "error",
"zone_has_empty_net": "error",
"zones_intersect": "error"
},
@@ -105,9 +103,11 @@
"max_error": 0.005,
"min_clearance": 0.0,
"min_copper_edge_clearance": 0.01,
+ "min_hole_clearance": 0.0,
"min_hole_to_hole": 0.25,
"min_microvia_diameter": 0.19999999999999998,
"min_microvia_drill": 0.09999999999999999,
+ "min_silk_clearance": 0.0,
"min_through_hole_diameter": 0.3,
"min_track_width": 0.09999999999999999,
"min_via_annular_width": 0.049999999999999996,
generated by cgit (git 2.34.1) at 2024-11-21 17:29:08 +0000