Merge branch 'devel'

LICENSE

@@ -0,0 +1,17 @@
+RhinoChip controller for Rhino educational robots
+Copyright (C) 2013-2014  Jonan Cruz-Martin, realized as a master thesis
+                         at the University of Las Palmas de Gran Canaria
+                         <www.ulpgc.es> under supervision of Pedro Medina
+
+This program 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
+(at your option) any later version.
+
+This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.

README.md

@@ -1,5 +1,11 @@
 # RhinoChip OS
 
-RhinoChip OS is the firmware of the RhinoChip Controller for Educational Robotics. The RhinoChip platform provides a controller for the educational robots Rhino XR-4 and Rhino SCARA which is intended to replace the Rhino Mark IV controller. RhinoChip OS is the software that powers the RhinoChip platform.
+RhinoChip OS is the firmware of the RhinoChip Controller for Educational Robotics.
 
-RhinoChip OS consists of two programs: the general purpose core (`gpcore`) and the motor control program (`motorctl`). The `gpcore` is the program that runs on the dsPIC30F4013 General Purpose Microcontroller and communicates with the host PC. `motorctl` is the program that runs on the dsPIC30F4011 Motor Control Microcontroller and drives the motors of the robotic arm.
+The RhinoChip platform provides a controller for the educational robots Rhino XR-4 and Rhino SCARA and is intended to replace the Rhino Mark IV controller. RhinoChip OS is the software that powers the RhinoChip platform.
+
+RhinoChip OS consists of two programs: the *general purpose core* (`gpcore`) and the *motor control program* (`motorctl`).
+
+The `gpcore` is the program that runs on the *General Purpose Microcontroller Unit* (GPMCU) and communicates with the host PC over the RS-232C protocol in order to interpret the commands sent from the host PC and coordinate the actions and movements indicated by those commands, which are excecuted by `motorctl`.
+
+`motorctl` is the program that runs on the *Motor Control Microcontroller* (MCMCU) and drives the motors of the robotic arm, executing the movement commands indicated by the `gpcore`.

clock.h

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+#ifndef CLOCK_H
+#define CLOCK_H
+
+#include <p30fxxxx.h>
+
+/*
+ * Using the on-board crystal oscillator with a PLL multiplier setting of 16x,
+ * an overall instruction cycle frequency of about 29.50 MHz can be achieved.
+ */
+#define FOSC       7372800              /* On-board crystal frequency (7.3728 MHz) */
+#define PLLMODE    16                   /* On-chip PLL setting */
+#define FCY        (FOSC * PLLMODE / 4) /* Instruction cycle frequency */
+
+#endif // CLOCK_H

datastruc/buffer.c

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+#include "buffer.h"
+
+#include <stdlib.h>
+
+void buffer_init(buffer_t *buf)
+{
+	if (buf != NULL)
+	{
+		buf->size = BUFFER_SIZE;
+		buf->used = 0;
+	}
+}

datastruc/buffer.h

@@ -0,0 +1,24 @@
+#ifndef BUFFER_H
+#define BUFFER_H
+
+#include "../types.h"
+
+#define BUFFER_SIZE 64
+
+/**
+ * Type definition for a linear buffer.
+ */
+typedef struct {
+	char    data[BUFFER_SIZE];
+	int     size;
+	int     used;
+} buffer_t;
+
+/**
+ * Initialize the given buffer for being used. Currently, this only consists in
+ * setting the buffer's 'size' and 'used' fields to 'BUFFER_SIZE' and zero,
+ * respectively.
+ */
+void buffer_init(buffer_t *buf);
+
+#endif

datastruc/stack.h

@@ -0,0 +1,11 @@
+#ifndef STACK_H
+#define STACK_H
+
+#define STACK_SIZE 24
+
+typedef struct{
+	char data[STACK_SIZE];
+	int used;
+} stack_t;
+
+#endif

debug.c

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+#include "debug.h"
+
+#ifndef NDEBUG
+
+#include <p30fxxxx.h>
+
+void dbgmsg_uart1(char *c)
+{
+	for (; *c != 0; ++c)
+	{
+		while (U1STAbits.UTXBF);
+		U1TXREG = *c;
+	}
+}
+
+void dbgmsg_uart2(char *c)
+{
+	for (; *c != 0; ++c)
+	{
+		while (U2STAbits.UTXBF);
+		U2TXREG = *c;
+	}
+}
+
+#endif

debug.h

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+#ifndef DEBUG_H
+#define DEBUG_H
+
+#define NDEBUG
+
+#ifndef NDEBUG
+void dbgmsg_uart1(char *c);
+#else
+#define dbgmsg_uart1(x)    /* Define empty macro */
+#endif
+
+#ifndef NDEBUG
+void dbgmsg_uart2(char *c);
+#else
+#define dbgmsg_uart2(x)    /* Define empty macro */
+#endif
+
+#endif

delay.h

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+#ifndef DELAY_H
+#define DELAY_H
+
+#include "../clock.h"
+
+void delay_us(unsigned int duration)
+{
+	#define NINST 2 // Number of instructions
+	unsigned long count, limit = duration / (NINST * FCY);
+	for (count = 0; count < limit; ++count);
+}
+
+void delay_ms(unsigned int duration)
+{
+	delay_us(duration * 1000);
+}
+
+void delay_s(unsigned int duration)
+{
+	delay_us(duration * 1000000);
+}
+
+#endif