added IHU subsystem (only 405 for now)

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

8 files changed, 128 insertions, 14 deletions

diff --git a/software/mpu/Makefile b/software/mpu/Makefile
index 0b6e58f..92acc6b 100644
--- a/software/mpu/Makefile
+++ b/software/mpu/Makefile
@@ -108,6 +108,7 @@ CSRC = $(PORTSRC) \
        $(CHIBIOS)/os/various/chprintf.c \
        heartbeat.c \
        usb-cdc-shell.c \
+       ihu.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
diff --git a/software/mpu/board-F405/board.h b/software/mpu/board-F405/board.h
index 60b6f3b..f1e2251 100644
--- a/software/mpu/board-F405/board.h
+++ b/software/mpu/board-F405/board.h
@@ -232,9 +232,9 @@
  * GPIOA setup:
  *
  * PA0  - PIN0                      (input pullup).
- * PA0  - PIN1                      (input pullup).
- * PA0  - PIN2                      (input pullup).
- * PA0  - PIN3                      (input pullup).
+ * PA1  - PIN1                      (input pullup).
+ * PA2  - UART2_TX                  (alternate 7).
+ * PA3  - UART2_RX                  (alternate 7).
  * PA4  - PIN4                      (input pullup).
  * PA5  - PIN5                      (input pullup).
  * PA6  - PIN6                      (input pullup).
@@ -250,8 +250,8 @@
  */
 #define VAL_GPIOA_MODER             (PIN_MODE_INPUT(GPIOA_PIN0) |             \
                                      PIN_MODE_INPUT(GPIOA_PIN1) |             \
-                                     PIN_MODE_INPUT(GPIOA_PIN2) |             \
-                                     PIN_MODE_INPUT(GPIOA_PIN3) |             \
+                                     PIN_MODE_ALTERNATE(GPIOA_PIN2) |         \
+                                     PIN_MODE_ALTERNATE(GPIOA_PIN3) |         \
                                      PIN_MODE_INPUT(GPIOA_PIN4) |             \
                                      PIN_MODE_INPUT(GPIOA_PIN5) |             \
                                      PIN_MODE_INPUT(GPIOA_PIN6) |             \
@@ -329,8 +329,8 @@
                                      PIN_ODR_HIGH(GPIOA_PIN15))
 #define VAL_GPIOA_AFRL              (PIN_AFIO_AF(GPIOA_PIN0, 0) |             \
                                      PIN_AFIO_AF(GPIOA_PIN1, 0) |             \
-                                     PIN_AFIO_AF(GPIOA_PIN2, 0) |             \
-                                     PIN_AFIO_AF(GPIOA_PIN3, 0) |             \
+                                     PIN_AFIO_AF(GPIOA_PIN2, 7) |             \
+                                     PIN_AFIO_AF(GPIOA_PIN3, 7) |             \
                                      PIN_AFIO_AF(GPIOA_PIN4, 0) |             \
                                      PIN_AFIO_AF(GPIOA_PIN5, 0) |             \
                                      PIN_AFIO_AF(GPIOA_PIN6, 0) |             \
diff --git a/software/mpu/halconf.h b/software/mpu/halconf.h
index 7b46cd2..3740179 100644
--- a/software/mpu/halconf.h
+++ b/software/mpu/halconf.h
@@ -125,7 +125,7 @@
  * @brief   Enables the SERIAL subsystem.
  */
 #if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL              FALSE
+#define HAL_USE_SERIAL              TRUE
 #endif
 
 /**
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);
+}
diff --git a/software/mpu/ihu.h b/software/mpu/ihu.h
new file mode 100644
index 0000000..b672cf0
--- /dev/null
+++ b/software/mpu/ihu.h
@@ -0,0 +1,39 @@
+/*
+ *
+ *  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/>.
+ *
+ */
+
+#ifndef MURSAT_ihu_h_INCLUDED
+#define MURSAT_ihu_h_INCLUDED
+
+void ihuInit(void);
+void ihuStop(void);
+
+#endif
diff --git a/software/mpu/main.c b/software/mpu/main.c
index 90c5ef9..d2bfdd9 100644
--- a/software/mpu/main.c
+++ b/software/mpu/main.c
@@ -36,6 +36,8 @@
 #include "heartbeat.h"
 #include "usb-cdc-shell.h"
 
+#include "ihu.h"
+
 static void sysInit(void)
 {
   /*
@@ -53,14 +55,14 @@ static void subsystemsInit(void)
 {
   /* call init functions of all subsystems which should spawn threads for their task */
   heartbeatInit();
+  ihuInit();
 }
 
 static void subsystemsStop(void)
 {
   /*  Safely stop critical threads, aka call shutdown functions of all subsystems */
   /*   -> invoke the xxxStop() method on all the active device drivers */
-
-     /* nothing here ... for now anyway */
+  ihuStop();
 }
 
 static void sysShutdown(void)
diff --git a/software/mpu/mcuconf-F405.h b/software/mpu/mcuconf-F405.h
index b60c7d9..596a3cb 100644
--- a/software/mpu/mcuconf-F405.h
+++ b/software/mpu/mcuconf-F405.h
@@ -207,7 +207,7 @@
  * SERIAL driver system settings.
  */
 #define STM32_SERIAL_USE_USART1             FALSE
-#define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART2             TRUE
 #define STM32_SERIAL_USE_USART3             FALSE
 #define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USE_UART5              FALSE
diff --git a/software/mpu/usb-cdc-shell.c b/software/mpu/usb-cdc-shell.c
index 7d9171a..245cc3a 100644
--- a/software/mpu/usb-cdc-shell.c
+++ b/software/mpu/usb-cdc-shell.c
@@ -61,7 +61,6 @@
 #include "usb-cdc-shell.h"
 #include "usb-cdc-descriptor.h"
 
-
 static SerialUSBDriver SDU1;
 
 /*
@@ -243,10 +242,10 @@ static void cmd_flash(BaseSequentialStream *chp, int argc, char *argv[])
         // TODO: prepare IHU
     chprintf(chp, "done\r\n");
   } else if(!strcmp("ctr",argv[0])) {
-        // TODO: prepare IHU
+        // TODO: prepare CTR
     chprintf(chp, "done\r\n");
   } else if(!strcmp("bat", argv[0])) {
-        // TODO: prepare IHU
+        // TODO: prepare BAT
     chprintf(chp, "done\r\n");
   } else {
     chprintf(chp, "error: target unknown\r\n");