Rédaction de quelques tests. Tests sur l'arduino mega a venir

pfrison
1 parent 0168f2ba
Showing 2 changed files with 152 additions and 0 deletions Show diff stats
tests/atmega2560/ordonanceur.c
tests/atmega2560/stepperControl.c
@@ -0,0 +1,132 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+
+#define NB_TICK 104 //1563
+#define CPU_FREQ 16000000L
+#define QUANTUM_ms 10
+
+#define SAVE_CONTEXT()  \
+asm volatile ( \
+"push	r0				\n\t" \
+"in		r0, __SREG__		\n\t" \
+"cli					\n\t" \
+"push	r0				\n\t" \
+"push	r1				\n\t" \
+"clr	r1				\n\t" \
+"push	r2				\n\t" \
+"push	r3				\n\t" \
+"push	r4				\n\t" \
+"push	r5				\n\t" \
+"push	r6				\n\t" \
+"push	r7				\n\t" \
+"push	r8				\n\t" \
+"push	r9				\n\t" \
+"push	r10				\n\t" \
+"push	r11				\n\t" \
+"push	r12				\n\t" \
+"push	r13				\n\t" \
+"push	r14				\n\t" \
+"push	r15				\n\t" \
+"push	r16				\n\t" \
+"push	r17				\n\t" \
+"push	r18				\n\t" \
+"push	r19				\n\t" \
+"push	r20				\n\t" \
+"push	r21				\n\t" \
+"push	r22				\n\t" \
+"push	r23				\n\t" \
+"push	r24				\n\t" \
+"push	r25				\n\t" \
+"push	r26				\n\t" \
+"push	r27				\n\t" \
+"push	r28				\n\t" \
+"push	r29				\n\t" \
+"push	r30				\n\t" \
+"push	r31				\n\t" \
+);
+
+#define RESTORE_CONTEXT() \
+asm volatile ( \
+"pop	r31				\n\t" \
+"pop	r30				\n\t" \
+"pop	r29				\n\t" \
+"pop	r28				\n\t" \
+"pop	r27				\n\t" \
+"pop	r26				\n\t" \
+"pop	r25				\n\t" \
+"pop	r24				\n\t" \
+"pop	r23				\n\t" \
+"pop	r22				\n\t" \
+"pop	r21				\n\t" \
+"pop	r20				\n\t" \
+"pop	r19				\n\t" \
+"pop	r18				\n\t" \
+"pop	r17				\n\t" \
+"pop	r16				\n\t" \
+"pop	r15				\n\t" \
+"pop	r14				\n\t" \
+"pop	r13				\n\t" \
+"pop	r12				\n\t" \
+"pop	r11				\n\t" \
+"pop	r10				\n\t" \
+"pop	r9				\n\t" \
+"pop	r8				\n\t" \
+"pop	r7				\n\t" \
+"pop	r6				\n\t" \
+"pop	r5				\n\t" \
+"pop	r4				\n\t" \
+"pop	r3				\n\t" \
+"pop	r2				\n\t" \
+"pop	r1				\n\t" \
+"pop	r0				\n\t" \
+"out 		__SREG__, r0		\n\t" \
+"pop	r0				\n\t" \
+);
+
+struct task{
+	uint16_t sp_vise;
+	uint8_t state;
+};
+
+/** Démarre le timer pour l'ordonnancement */
+void init_timer(){
+	TCCR1B |= _BV(WGM12); // CTC mode with value in OCR1A 
+	TCCR1B |= _BV(CS12); // CS12 = 1; CS11 = 1; CS10 =1 => CLK/1024 prescaler
+	TCCR1B |= _BV(CS10);
+	OCR1A = NB_TICK;
+	TIMSK1 |= _BV(OCIE1A);
+}
+
+/** Configure les ports */
+void init_ports(){
+	//TODO DDRXs
+}
+
+/** Alumme la LED 13 pour témoigné du bon fonctionnement de la carte */
+void temoin_allumage(){
+	DDRA = 0x01;
+	PORTA = 0x01;
+	_delay_ms(500);
+	PORTA = 0x00;
+}
+
+/** Reception de l'interruption généré par le timer (changement de contexte) */
+ISR(TIMER1_COMPA_vect){
+	// TODO
+	sei();
+}
+
+int main(void){
+	temoin_allumage();
+
+	// Initialisation
+	init_timer();
+	init_port();
+	sei();
+
+	while(1){}
+	return 0;
+}
+
+
@@ -0,0 +1,20 @@
+#include <avr/io.h>
+#include <util/delay.h>
+
+int vitesseToDelay(int vitesse){
+	return ;
+}
+
+int main(void){
+	DDRC = 0x01;
+	PORTC |= 0x02; // Direction horraire ?
+	//PORTC &= 0xFD; // Direction anti-horraire ?
+	while(1){
+		// 1 Step
+		PORTC |= 0x01;
+		_delay_ms(10);
+		PORTC &= 0xFE;
+		_delay_ms(10);
+	}
+	return 0;
+}