02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 102 insertions, 0 deletions

diff --git a/src/pru/pru_pwm.c b/src/pru/pru_pwm.c
new file mode 100644
index 0000000..796040b
--- /dev/null
+++ b/src/pru/pru_pwm.c
@@ -0,0 +1,102 @@
+#include <stdint.h>
+#include <pru_cfg.h>
+#include <pru_intc.h>
+#include <pru_iep.h>
+#include "intc_map.h"
+#include "resource_table_empty.h"
+
+#define CYCLES_PER_SECOND 200000000
+#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
+#define DEFAULT_DUTY_CYCLE 0
+#define P8_12 (1 << 14)
+#define P8_12_n ~(1 << 14)
+#define PRU0_DRAM 0x00000                 // Offset to DRAM
+#define PRU_TIMER_PASSCODE 0x31138423
+#define BURN_TIME 2 // seconds for motor burn
+
+volatile uint32_t *pru0_dram = (uint32_t *) (PRU0_DRAM + 0x200);
+
+
+volatile register uint32_t __R30;
+volatile register uint32_t __R31;
+
+
+void main(void) {
+    uint32_t duty_cycle = DEFAULT_DUTY_CYCLE;
+    uint32_t off_cycles = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
+    uint32_t on_cycles = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
+    uint32_t off_count = off_cycles;
+    uint32_t on_count = on_cycles;
+    *pru0_dram = duty_cycle;
+
+    /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
+    CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+
+    while (1) {
+        if (pru0_dram[1] == PRU_TIMER_PASSCODE) {
+            /* Disable counter */
+            CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0;
+
+            /* Reset Count register */
+            CT_IEP.TMR_CNT = 0x0;
+
+            /* Clear overflow status register */
+            CT_IEP.TMR_GLB_STS_bit.CNT_OVF = 0x1;
+
+            /* Set compare value */
+            CT_IEP.TMR_CMP0 = (BURN_TIME * CYCLES_PER_SECOND); // 10 seconds @ 200MHz
+
+            /* Clear compare status */
+            CT_IEP.TMR_CMP_STS_bit.CMP_HIT = 0xFF;
+
+            /* Disable compensation */
+            CT_IEP.TMR_COMPEN_bit.COMPEN_CNT = 0x0;
+
+            /* Enable CMP0 and reset on event */
+            CT_IEP.TMR_CMP_CFG_bit.CMP0_RST_CNT_EN = 0x1;
+            CT_IEP.TMR_CMP_CFG_bit.CMP_EN = 0x1;
+
+            /* Clear the status of all interrupts */
+            CT_INTC.SECR0 = 0xFFFFFFFF;
+            CT_INTC.SECR1 = 0xFFFFFFFF;
+
+            /* Enable counter */
+            CT_IEP.TMR_GLB_CFG = 0x11;
+            break;
+        }
+    }
+
+	/* Poll until R31.31 is set */
+	do {
+		while ((__R31 & 0x80000000) == 0) {
+		}
+		/* Verify that the IEP is the source of the interrupt */
+	} while ((CT_INTC.SECR0 & (1 << 7)) == 0);
+
+	/* Disable counter */
+	CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0x0;
+
+	/* Disable Compare0 */
+	CT_IEP.TMR_CMP_CFG = 0x0;
+
+	/* Clear Compare status */
+	CT_IEP.TMR_CMP_STS = 0xFF;
+
+	/* Clear the status of the interrupt */
+	CT_INTC.SECR0 = (1 << 7);
+
+    while (1) {
+        if (on_count) {
+            __R30 |= P8_12;		// Set the GPIO pin to 1
+            on_count--;
+            __delay_cycles(3);
+        } else if (off_count) {
+            __R30 &= P8_12_n;		// Clear the GPIO pin
+            off_count--;
+        } else {
+            duty_cycle = *pru0_dram;
+            off_count = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
+            on_count = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
+        }
+    }
+}