Created mcu hal

2024-04-28 20:53:28 +03:00
parent 5271553ac6
commit ed469cb213
2 changed files with 536 additions and 0 deletions
--- a/firmware/src/logic-controller/bsp/mcu/mcu_hal.cpp
+++ b/firmware/src/logic-controller/bsp/mcu/mcu_hal.cpp
@@ -0,0 +1,435 @@
+/**** Includes ****/
+#include <avr/io.h>
+#include <avr/eeprom.h>
+#include "mcu_hal.h"
+
+using namespace mcu;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+static uint8_t gpio_read_level(uint8_t pin_reg, uint8_t mask);
+
+/**** Public function definitions ****/
+void mcu::startup(startupCfg_t* hwCfg)
+{
+	// Fail-safe GPIO init
+	PORTB = 0x00;  // Reset PORTB pull-ups
+	DDRB = 0x00;   // Set all as inputs
+	
+	PORTC = 0x40;  // Reset PORTC pull-ups, except reset
+	DDRC = 0x00;   // Set all as inputs
+	
+	PORTD = 0x00;  // Reset PORTD pull-ups
+	DDRD = 0x00;   // Set all as inputs
+	
+	PORTE = 0x00;  // Reset PORTE pull-ups
+	DDRE = 0x00;   // Set all as inputs
+	
+	// Pull-x set all HiZ
+	PORTB &= ~0xFF;  // Reset pull-ups
+	DDRB &= ~0xFF;   // Set all as inputs
+	
+	// Inputs set all as HiZ inputs
+	PORTC &= ~0x3F;  // Reset pull-ups
+	DDRC &= ~0x3F;   // Set all as inputs
+	
+	PORTE &= ~0x0C;  // Reset pull-ups
+	DDRE &= ~0x0C;   // Set all as inputs
+	
+	// Outputs set all low
+	PORTD &= ~0xFF;  // Reset all low
+	DDRD |= 0xFF;   // Set all as outputs
+	
+	// Ignition input
+	PORTE |= 0x01;  // Set pull-up
+	DDRE &= ~0x01;   // Set all as input
+	
+	// 5V switched control
+	PORTE &= ~0x02;  // Set low
+	DDRE |= 0x02;   // Set all as output
+	
+	//ADC configuration
+	PRR0 &= ~0x01; //Enable ADC power
+	DIDR0 &= ~0x00; //Enable digital inputs
+	
+	ADMUX = 0x40;  //Set AVCC reference, Right adjust
+	ADCSRA = 0x00; //ADC Disabled, Single conversion, no IT
+	ADCSRA |= (uint8_t)hwCfg->adc_clk;
+	ADCSRB = 0x00; //no trigger input
+	
+	ADCSRA |= 0x80;  //Enable ADC
+}
+
+// ADC Interface functions 
+uint16_t mcu::adc_read(uint8_t ch)
+{
+	//check if ADC is enabled
+	if(!(ADCSRA&0x80)) return 0xFFFF;
+
+	//Safe guard mux
+	if(ch > 15) return 0xFFFF;
+	// Not available channels
+	if((ch > 8) && (ch<14)) return 0xFFFF;
+	
+	ADMUX &= ~0x0F;
+	ADMUX |= ch;
+	ADCSRA |= 0x40;
+	while(ADCSRA&0x40); //wait to finish
+	return ADC;
+}
+
+// GPIO functions
+uint8_t mcu::gpio_read(uint8_t ch)
+{
+	switch(ch)
+	{
+		case PIN_PB0:
+		return gpio_read_level(PINB,0x01);
+		
+		case PIN_PB1:
+		return gpio_read_level(PINB,0x02);
+		
+		case PIN_PB2:
+		return gpio_read_level(PINB,0x04);
+		
+		case PIN_PB3:
+		return gpio_read_level(PINB,0x08);
+		
+		case PIN_PB4:
+		return gpio_read_level(PINB,0x10);
+		
+		case PIN_PB5:
+		return gpio_read_level(PINB,0x20);
+		
+		case PIN_PB6:
+		return gpio_read_level(PINB,0x40);
+		
+		case PIN_PB7:
+		return gpio_read_level(PINB,0x80);
+		
+		case PIN_PC0:
+		return gpio_read_level(PINC,0x01);
+		
+		case PIN_PC1:
+		return gpio_read_level(PINC,0x02);
+		
+		case PIN_PC2:
+		return gpio_read_level(PINC,0x04);
+		
+		case PIN_PC3:
+		return gpio_read_level(PINC,0x08);
+		
+		case PIN_PC4:
+		return gpio_read_level(PINC,0x10);
+		
+		case PIN_PC5:
+		return gpio_read_level(PINC,0x20);
+		
+		case PIN_PD0:
+		return gpio_read_level(PIND,0x01);
+		
+		case PIN_PD1:
+		return gpio_read_level(PIND,0x02);
+		
+		case PIN_PD2:
+		return gpio_read_level(PIND,0x04);
+		
+		case PIN_PD3:
+		return gpio_read_level(PIND,0x08);
+		
+		case PIN_PD4:
+		return gpio_read_level(PIND,0x10);
+		
+		case PIN_PD5:
+		return gpio_read_level(PIND,0x20);
+		
+		case PIN_PD6:
+		return gpio_read_level(PIND,0x40);
+		
+		case PIN_PD7:
+		return gpio_read_level(PIND,0x80);
+		
+		case PIN_PE0:
+		return gpio_read_level(PINE,0x01);
+		
+		case PIN_PE1:
+		return gpio_read_level(PINE,0x02);
+		
+		case PIN_PE2:
+		return gpio_read_level(PINE,0x04);
+		
+		case PIN_PE3:
+		return gpio_read_level(PINE,0x08);
+		
+		default:
+		return LEVEL_LOW;
+	}
+}
+
+void mcu::gpio_write(uint8_t ch, int8_t lvl)
+{
+	switch(ch)
+	{		
+		case PIN_PB0:
+		if(lvl>0){
+			PORTB |= 0x01;
+			DDRB |= 0x01;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x01;
+			PORTB &= ~0x01;
+		}
+		else{
+			PORTB &= ~0x01;
+			DDRB |= 0x01;
+		}
+		return;
+		
+		case PIN_PB1:
+		if(lvl>0){
+			PORTB |= 0x02;
+			DDRB |= 0x02;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x02;
+			PORTB &= ~0x02;
+		}
+		else{
+			PORTB &= ~0x02;
+			DDRB |= 0x02;
+		}
+		return;
+		
+		case PIN_PB2:
+		if(lvl>0){
+			PORTB |= 0x04;
+			DDRB |= 0x04;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x04;
+			PORTB &= ~0x04;
+		}
+		else{
+			PORTB &= ~0x04;
+			DDRB |= 0x04;
+		}
+		return;
+		
+		case PIN_PB3:
+		if(lvl>0){
+			PORTB |= 0x08;
+			DDRB |= 0x08;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x08;
+			PORTB &= ~0x08;
+		}
+		else{
+			PORTB &= ~0x08;
+			DDRB |= 0x08;
+		}
+		return;
+		
+		case PIN_PB4:
+		if(lvl>0){
+			PORTB |= 0x10;
+			DDRB |= 0x10;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x10;
+			PORTB &= ~0x10;
+		}
+		else{
+			PORTB &= ~0x10;
+			DDRB |= 0x10;
+		}
+		return;
+		
+		case PIN_PB5:
+		if(lvl>0){
+			PORTB |= 0x20;
+			DDRB |= 0x20;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x20;
+			PORTB &= ~0x20;
+		}
+		else{
+			PORTB &= ~0x20;
+			DDRB |= 0x20;
+		}
+		return;
+		
+		case PIN_PB6:
+		if(lvl>0){
+			PORTB |= 0x40;
+			DDRB |= 0x40;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x40;
+			PORTB &= ~0x40;
+		}
+		else{
+			PORTB &= ~0x40;
+			DDRB |= 0x40;
+		}
+		return;
+		
+		case PIN_PB7:
+		if(lvl>0){
+			PORTB |= 0x80;
+			DDRB |= 0x80;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x80;
+			PORTB &= ~0x80;
+		}
+		else{
+			PORTB &= ~0x80;
+			DDRB |= 0x80;
+		}
+		return;
+		
+		case PIN_PD0:
+		if(lvl>0){
+			PORTD |= 0x01;
+			DDRD |= 0x01;
+		}
+		else{
+			PORTD &= ~0x01;
+			DDRD |= 0x01;
+		}
+		return;
+		
+		case PIN_PD1:
+		if(lvl>0){
+			PORTD |= 0x02;
+			DDRD |= 0x02;
+		}
+		else{
+			PORTD &= ~0x02;
+			DDRD |= 0x02;
+		}
+		return;
+		
+		case PIN_PD2:
+		if(lvl>0){
+			PORTD |= 0x04;
+			DDRD |= 0x04;
+		}
+		else{
+			PORTD &= ~0x04;
+			DDRD |= 0x04;
+		}
+		return;
+		
+		case PIN_PD3:
+		if(lvl>0){
+			PORTD |= 0x08;
+			DDRD |= 0x08;
+		}
+		else{
+			PORTD &= ~0x08;
+			DDRD |= 0x08;
+		}
+		return;
+		
+		case PIN_PD4:
+		if(lvl>0){
+			PORTD |= 0x10;
+			DDRD |= 0x10;
+		}
+		else{
+			PORTD &= ~0x10;
+			DDRD |= 0x10;
+		}
+		return;
+		
+		case PIN_PD5:
+		if(lvl>0){
+			PORTD |= 0x20;
+			DDRD |= 0x20;
+		}
+		else{
+			PORTD &= ~0x20;
+			DDRD |= 0x20;
+		}
+		return;
+		
+		case PIN_PD6:
+		if(lvl>0){
+			PORTD |= 0x40;
+			DDRD |= 0x40;
+		}
+		else{
+			PORTD &= ~0x40;
+			DDRD |= 0x40;
+		}
+		return;
+		
+		case PIN_PD7:
+		if(lvl>0){
+			PORTD |= 0x80;
+			DDRD |= 0x80;
+		}
+		else{
+			PORTD &= ~0x80;
+			DDRD |= 0x80;
+		}
+		return;
+		
+		case PIN_PE1:
+		if(lvl>0){
+			PORTE |= 0x02;
+			DDRE |= 0x02;
+		}
+		else{
+			PORTE &= ~0x02;
+			DDRE |= 0x02;
+		}
+		return;
+		
+		default:
+		return;
+	}
+}
+
+uint8_t mcu::eeprom_read8b(uint16_t address)
+{
+	return eeprom_read_byte((uint8_t*)address);
+}
+
+uint16_t mcu::eeprom_read16b(uint16_t address)
+{
+	return eeprom_read_word((uint16_t*)address);
+}
+
+uint32_t mcu::eeprom_read32b(uint16_t address)
+{
+	return eeprom_read_dword((uint32_t*)address);
+}
+
+void mcu::eeprom_write8b(uint16_t address, uint8_t value)
+{
+	eeprom_write_byte((uint8_t*)address, value);
+}
+
+void mcu::eeprom_write16b(uint16_t address, uint16_t value)
+{
+	eeprom_write_word((uint16_t*)address, value);
+}
+
+void mcu::eeprom_write32b(uint16_t address, uint32_t value)
+{
+	eeprom_write_dword((uint32_t*)address, value);
+}
+
+/**** Private function definitions ****/
+static uint8_t gpio_read_level(uint8_t pin_reg, uint8_t mask)
+{
+	if(pin_reg&mask) return LEVEL_HIGH;
+	else return LEVEL_LOW;
+}
+
--- a/firmware/src/logic-controller/bsp/mcu/mcu_hal.h
+++ b/firmware/src/logic-controller/bsp/mcu/mcu_hal.h
@@ -0,0 +1,101 @@
+#ifndef MCU_HAL_H_
+#define MCU_HAL_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace mcu {
+
+/**** Public definitions ****/
+/*
+*/
+
+const uint8_t PIN_PB0 = 1;	// Pull-x 2
+const uint8_t PIN_PB1 = 2;	// Pull-x 7
+const uint8_t PIN_PB2 = 3;	// Pull-x 3
+const uint8_t PIN_PB3 = 4;	// Pull-x 8
+const uint8_t PIN_PB4 = 5;	// Pull-x 4
+const uint8_t PIN_PB5 = 6;	// Pull-x 5
+const uint8_t PIN_PB6 = 7;	// Pull-x 1
+const uint8_t PIN_PB7 = 8;	// Pull-x 6
+
+const uint8_t PIN_PC0 = 9;	// Input 2
+const uint8_t PIN_PC1 = 10;	// Input 7
+const uint8_t PIN_PC2 = 11;	// Input 3
+const uint8_t PIN_PC3 = 12;	// Input 8
+const uint8_t PIN_PC4 = 13;	// Input 4
+const uint8_t PIN_PC5 = 14;	// Input 5
+
+const uint8_t PIN_PD0 = 15;	// Output 5
+const uint8_t PIN_PD1 = 16;	// Output 4
+const uint8_t PIN_PD2 = 17;	// Output 6
+const uint8_t PIN_PD3 = 18;	// Output 1
+const uint8_t PIN_PD4 = 19;	// Output 7
+const uint8_t PIN_PD5 = 20;	// Output 2
+const uint8_t PIN_PD6 = 21;	// Output 8
+const uint8_t PIN_PD7 = 22;	// Output 3
+
+const uint8_t PIN_PE0 = 23;	// Ignition input
+const uint8_t PIN_PE1 = 24;	// 5V control
+const uint8_t PIN_PE2 = 25;	// Input 1
+const uint8_t PIN_PE3 = 26;	// Input 6
+
+const uint8_t LEVEL_LOW  = 0;
+const uint8_t LEVEL_HIGH = 1;
+const int8_t LEVEL_HIZ   = -1;
+
+const uint8_t ADC0 = 0;		// Input 1
+const uint8_t ADC1 = 1;		// Input 2
+const uint8_t ADC2 = 2;		// Input 3
+const uint8_t ADC3 = 3;		// Input 4
+const uint8_t ADC4 = 4;		// Input 5
+const uint8_t ADC5 = 5;		// Input 6
+const uint8_t ADC6 = 6;		// Input 7
+const uint8_t ADC7 = 7;		// Input 8
+const uint8_t ADC8 = 8;		// MCU temperature
+const uint8_t ADC14 = 14;	// MCU internal reference
+const uint8_t ADC15 = 15;	// MCU ground
+
+//ADC definitions
+typedef enum {
+	ADC_DIV2 = 0x01,
+	ADC_DIV4 = 0x02,
+	ADC_DIV8 = 0x03,
+	ADC_DIV16 = 0x04,
+	ADC_DIV32 = 0x05,
+	ADC_DIV64 = 0x06,
+	ADC_DIV128 = 0x07
+} adcClkDiv_t;
+
+//Timer definitions
+typedef enum {
+	TIM_DIV1 = 0x01,
+	TIM_DIV8 = 0x02,
+	TIM_DIV64 = 0x03,
+	TIM_DIV256 = 0x04,
+	TIM_DIV1024 = 0x05
+} timerClkDiv_t;
+
+typedef struct {
+	adcClkDiv_t adc_clk;
+} startupCfg_t;
+
+/**** Public function declarations ****/
+void startup(startupCfg_t* hwCfg);
+
+uint8_t gpio_read(uint8_t ch);
+void gpio_write(uint8_t ch, int8_t lvl);
+
+uint16_t adc_read(uint8_t ch);
+
+uint8_t eeprom_read8b(uint16_t address);
+uint16_t eeprom_read16b(uint16_t address);
+uint32_t eeprom_read32b(uint16_t address);
+
+void eeprom_write8b(uint16_t address, uint8_t value);
+void eeprom_write16b(uint16_t address, uint16_t value);
+void eeprom_write32b(uint16_t address, uint32_t value);
+
+} //namespace
+
+#endif /* MCU_HAL_H_ */