added IHU subsystem (only 405 for now)

git-svn-id: https://svn.spreadspace.org/mur.sat@856 7de4ea59-55d0-425e-a1af-a3118ea81d4c

1 files changed, 73 insertions, 0 deletions

diff --git a/software/mpu/ihu.c b/software/mpu/ihu.c
new file mode 100644
index 0000000..d18961c
--- /dev/null
+++ b/software/mpu/ihu.c
@@ -0,0 +1,73 @@
+/*
+ *
+ *  mur.sat
+ *
+ *  Somewhen in the year 2012, mur.at will have a nano satellite launched
+ *  into a low earth orbit (310 km above the surface of our planet). The
+ *  satellite itself is a TubeSat personal satellite kit, developed and
+ *  launched by interorbital systems. mur.sat is a joint venture of mur.at,
+ *  ESC im Labor and realraum.
+ *
+ *  Please visit the project hompage at sat.mur.at for further information.
+ *
+ *
+ *  Copyright (C) 2013 Christian Pointner <equinox@mur.at>
+ *
+ *  This file is part of mur.sat.
+ *
+ *  mur.sat is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  any later version.
+ *
+ *  mur.sat is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with mur.sat. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+
+#include "ihu.h"
+
+static Thread *tpIhuComm;
+static WORKING_AREA(waIhuComm, 128);
+static msg_t IhuComm(void *arg)
+{
+  BaseSequentialStream *chp = arg;
+  chRegSetThreadName("ihu-comm");
+
+  while (TRUE) {
+    char c;
+    if (chSequentialStreamRead(chp, (uint8_t *)&c, 1) == 0)
+      break;
+
+    chprintf(chp, "got: '%c'\r\n", c);
+  }
+  return 0; /* Never executed.*/
+}
+
+static const SerialConfig sercfg = {
+  57600,
+  0,
+  USART_CR2_STOP1_BITS | USART_CR2_LINEN,
+  0
+};
+
+void ihuInit(void)
+{
+  sdStart(&SD2, &sercfg);
+  tpIhuComm = chThdCreateStatic(waIhuComm, sizeof(waIhuComm), NORMALPRIO, IhuComm, &SD2);
+}
+
+void ihuStop(void)
+{
+  sdStop(&SD2);
+  chThdWait(tpIhuComm);
+}