Add wasm tacle-bench targets

2026-06-12 20:06:22 +02:00
parent 30daa8a00c
commit 08c2e9c13d
1122 changed files with 520422 additions and 0 deletions
--- a/targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/adc.c
+++ b/targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/adc.c
@ -0,0 +1,130 @@
+/*
+   Paparazzi mcu0 adc functions
+
+   Copied from autopilot (autopilot.sf.net) thanx alot Trammell
+
+   Copyright (C) 2002 Trammell Hudson <hudson@rotomotion.com>
+   Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+
+   This file is part of paparazzi.
+
+   paparazzi 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 2, or (at your option)
+   any later version.
+
+   paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+   the Free Software Foundation, 59 Temple Place - Suite 330,
+   Boston, MA 02111-1307, USA.
+
+*/
+
+
+#include <arch/signal.h>
+#include <arch/interrupt.h>
+#include <arch/io.h>
+#include "airframe.h"
+#include "std.h"
+#include "adc.h"
+
+
+/*************************************************************************
+
+    Analog to digital conversion code.
+
+   We allow interrupts during the 2048 usec windows.  If we run the
+   ADC clock faster than Clk/64 we have too much overhead servicing
+   the interrupts from it and end up with servo jitter.
+
+   For now we've slowed the clock to Clk/128 because it lets us
+   be lazy in the interrupt routine.
+*/
+#define VOLTAGE_TIME  0x07
+#define ANALOG_PORT PORTF
+#define ANALOG_PORT_DIR DDRF
+
+
+#ifdef CTL_BRD_V1_1
+#define ANALOG_VREF 0
+#endif
+
+#if defined CTL_BRD_V1_2 || defined CTL_BRD_V1_2_1
+#define ANALOG_VREF _BV(REFS0)
+#endif
+
+uint16_t    adc_samples[ NB_ADC ];
+
+static struct adc_buf *buffers[ NB_ADC ];
+
+void adc_buf_channel( uint8_t adc_channel, struct adc_buf *s )
+{
+  buffers[ adc_channel ] = s;
+}
+
+void
+adc_init( void )
+{
+  uint8_t i;
+  /* Ensure that our port is for input with no pull-ups */
+  ANALOG_PORT   = 0x00;
+  ANALOG_PORT_DIR = 0x00;
+
+  /* Select our external voltage ref, which is tied to Vcc */
+  ADMUX   = ANALOG_VREF;
+
+  /* Turn off the analog comparator */
+  sbi( ACSR, ACD );
+
+  /* Select out clock, turn on the ADC interrupt and start conversion */
+  ADCSR   = 0
+            | VOLTAGE_TIME
+            | ( 1 << ADEN )
+            | ( 1 << ADIE )
+            | ( 1 << ADSC );
+
+  /* Init to 0 (usefull ?) */
+  _Pragma( "loopbound min 8 max 8" )
+  for ( i = 0; i < NB_ADC; i++ )
+    buffers[ i ] = ( struct adc_buf * )0;
+}
+
+/**
+   Called when the voltage conversion is finished
+
+    8.913kHz on mega128@16MHz 1kHz/channel ??
+*/
+
+
+SIGNAL( SIG_ADC )
+{
+  uint8_t adc_input = ADMUX & 0x7;
+  struct adc_buf *buf = buffers[ adc_input ];
+  uint16_t adc_value = ADCW;
+  /* Store result */
+  adc_samples[ adc_input ] = adc_value;
+
+  if ( buf ) {
+    uint8_t new_head = buf->head + 1;
+    if ( new_head >= AV_NB_SAMPLE ) new_head = 0;
+    buf->sum -= buf->values[ new_head ];
+    buf->values[ new_head ] = adc_value;
+    buf->sum += adc_value;
+    buf->head = new_head;
+  }
+
+  /* Find the next input */
+  adc_input++;
+  if ( adc_input >= 8 )
+    adc_input = 0;
+  /* Select it */
+  ADMUX = adc_input | ANALOG_VREF;
+  /* Restart the conversion */
+  sbi( ADCSR, ADSC );
+
+}