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SOES
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merged in latest

pull/102/head
MechaMagpie 2021-08-31 09:30:56 +02:00
parent a27d490a49
commit ef671df061
3 changed files with 67 additions and 45 deletions
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8
CMakeLists.txt
View File

@ -21,8 +21,12 @@ include_directories(
${SOES_SOURCE_DIR}/soes
)
# Platform flags and sources
include(${CMAKE_SYSTEM_NAME} OPTIONAL)
# Platform flags and sourcse
if(RPI_VARIANT)
include(RPIdemo OPTIONAL)
else()
include(${CMAKE_SYSTEM_NAME} OPTIONAL)
endif()
# Source paths
add_subdirectory (soes)

90
applications/raspberry_lan9252demo/main.c
View File

@ -6,61 +6,65 @@
/* Application variables */
_Objects Obj;
#define LED0 RPI_BPLUS_GPIO_J8_40 // GPIO21
#define LED1 RPI_BPLUS_GPIO_J8_38 // GPIO20
#define LED2 RPI_BPLUS_GPIO_J8_36 // GPIO16
#define LED3 RPI_BPLUS_GPIO_J8_32 // GPIO12
#define LED4 RPI_BPLUS_GPIO_J8_18 // GPIO24
#define LED5 RPI_BPLUS_GPIO_J8_16 // GPIO23
#define B0 RPI_BPLUS_GPIO_J8_37 // GPIO26
#define B1 RPI_BPLUS_GPIO_J8_35 // GPIO19
#define B2 RPI_BPLUS_GPIO_J8_33 // GPIO13
#define B3 RPI_BPLUS_GPIO_J8_31 // GPIO06
#define B4 RPI_BPLUS_GPIO_J8_29 // GPIO05
#define B5 RPI_BPLUS_GPIO_J8_15 // GPIO22
#define GPIO21 RPI_BPLUS_GPIO_J8_40
#define GPIO20 RPI_BPLUS_GPIO_J8_38
#define GPIO16 RPI_BPLUS_GPIO_J8_36
#define GPIO12 RPI_BPLUS_GPIO_J8_32
#define GPIO24 RPI_BPLUS_GPIO_J8_18
#define GPIO23 RPI_BPLUS_GPIO_J8_16
#define GPIO26 RPI_BPLUS_GPIO_J8_37
#define GPIO19 RPI_BPLUS_GPIO_J8_35
#define GPIO13 RPI_BPLUS_GPIO_J8_33
#define GPIO06 RPI_BPLUS_GPIO_J8_31
#define GPIO05 RPI_BPLUS_GPIO_J8_29
#define GPIO22 RPI_BPLUS_GPIO_J8_15
void cb_get_inputs (void)
{
// Assume LEDs connected to 3.3v
bcm2835_gpio_write(LED0, !Obj.LEDs.LED0);
bcm2835_gpio_write(LED1, !Obj.LEDs.LED1);
bcm2835_gpio_write(LED2, !Obj.LEDs.LED2);
bcm2835_gpio_write(LED3, !Obj.LEDs.LED3);
bcm2835_gpio_write(LED4, !Obj.LEDs.LED4);
bcm2835_gpio_write(LED5, !Obj.LEDs.LED5);
bcm2835_gpio_write(GPIO21, (Obj.LEDs.LED0 ? LOW : HIGH));
bcm2835_gpio_write(GPIO20, (Obj.LEDs.LED1 ? LOW : HIGH));
bcm2835_gpio_write(GPIO16, (Obj.LEDs.LED2 ? LOW : HIGH));
bcm2835_gpio_write(GPIO12, (Obj.LEDs.LED3 ? LOW : HIGH));
bcm2835_gpio_write(GPIO24, (Obj.LEDs.LED4 ? LOW : HIGH));
bcm2835_gpio_write(GPIO23, (Obj.LEDs.LED5 ? LOW : HIGH));
}
void cb_set_outputs (void)
{
// Assume Buttons connected to 3.3v
Obj.Buttons.Button0 = bcm2835_gpio_lev(B0);
Obj.Buttons.Button0 = bcm2835_gpio_lev(B1);
Obj.Buttons.Button0 = bcm2835_gpio_lev(B2);
Obj.Buttons.Button0 = bcm2835_gpio_lev(B3);
Obj.Buttons.Button0 = bcm2835_gpio_lev(B4);
Obj.Buttons.Button0 = bcm2835_gpio_lev(B5);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO26);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO19);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO13);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO06);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO05);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO22);
}
void GPIO_init (void)
{
bcm2835_gpio_fsel(LED0, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(LED1, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(LED2, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(LED3, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(LED4, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(LED5, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(B0, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(B1, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(B2, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(B3, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(B4, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(B5, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(B0, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(B1, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(B2, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(B3, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(B4, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(B5, BCM2835_GPIO_PUD_DOWN);
bcm2835_init();
// Assume LEDs connected to 3.3v side of header
bcm2835_gpio_fsel(GPIO21, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO20, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO16, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO12, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO24, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO23, BCM2835_GPIO_FSEL_OUTP);
// Assume buttons connected to 5v side of header
// Do not bridge to 5v, the ports might burn
bcm2835_gpio_fsel(GPIO26, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO19, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO13, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO06, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO05, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO22, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(GPIO26, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO19, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO13, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO06, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO05, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO22, BCM2835_GPIO_PUD_DOWN);
}
int main_run (void * arg)
@ -86,8 +90,8 @@ int main_run (void * arg)
};
printf ("Hello Main\n");
GPIO_init();
ecat_slv_init (&config);
while (1)
{
ecat_slv();

14
cmake/RPIdemo.cmake 100644
View File

@ -0,0 +1,14 @@
set (SOES_DEMO applications/raspberry_lan9252demo)
include_directories(
${SOES_SOURCE_DIR}/soes/include/sys/gcc
${SOES_SOURCE_DIR}/${SOES_DEMO}
)
set(HAL_SOURCES
${SOES_SOURCE_DIR}/soes/hal/raspberrypi-lan9252/esc_hw.c
${SOES_SOURCE_DIR}/soes/hal/raspberrypi-lan9252/esc_hw.h
)
# Common compile flags
add_compile_options(-Wall -Wextra -Wno-unused-parameter -Werror)