Merge branch 'branch-1.6' into debian

Conflicts:
	ChangeLog
	altoslib/AltosTelemetryReader.java
	configure.ac

5 files changed, 98 insertions, 69 deletions

diff --git a/src/lpc/ao_arch.h b/src/lpc/ao_arch.h
index 5fbb8dfa..42faf06f 100644
--- a/src/lpc/ao_arch.h
+++ b/src/lpc/ao_arch.h
@@ -130,12 +130,15 @@ ao_serial_init(void);
 /* SPI definitions */
 
 #define AO_SPI_SPEED_12MHz		4
+#define AO_SPI_SPEED_8MHz		6
 #define AO_SPI_SPEED_6MHz		8
 #define AO_SPI_SPEED_4MHz		12
 #define AO_SPI_SPEED_2MHz		24
 #define AO_SPI_SPEED_1MHz		48
 #define AO_SPI_SPEED_500kHz		96
 #define AO_SPI_SPEED_250kHz		192
+#define AO_SPI_SPEED_125kHz		384
+#define AO_SPI_SPEED_62500Hz		768
 
 #define AO_SPI_SPEED_FAST	AO_SPI_SPEED_12MHz
 
diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h
index 21a7a8e5..fbe641d8 100644
--- a/src/lpc/ao_arch_funcs.h
+++ b/src/lpc/ao_arch_funcs.h
@@ -30,8 +30,19 @@
 
 #define ao_gpio_get(port, bit, pin) 	(lpc_gpio.byte[lpc_all_bit(port,bit)])
 
+#define PORT0_JTAG_REGS	((1 << 11) | (1 << 12) | (1 << 14))
+
+static inline void lpc_set_gpio(int port, int bit) {
+	if (port == 0 && (1 << bit) & (PORT0_JTAG_REGS)) {
+		vuint32_t *_ioconf = &lpc_ioconf.pio0_0 + ((port)*24+(bit));
+
+		*_ioconf = (*_ioconf & ~LPC_IOCONF_FUNC_MASK) | LPC_IOCONF_FUNC_PIO0_11;
+	}
+}
+
 #define ao_enable_output(port,bit,pin,v) do {			\
 		ao_enable_port(port);				\
+		lpc_set_gpio(port,bit);				\
 		ao_gpio_set(port, bit, pin, v);			\
 		lpc_gpio.dir[port] |= (1 << bit);		\
 	} while (0)
@@ -52,6 +63,7 @@
 
 #define ao_enable_input(port,bit,mode) do {				\
 		ao_enable_port(port);					\
+		lpc_set_gpio(port,bit);					\
 		lpc_gpio.dir[port] &= ~(1 << bit);			\
 		ao_gpio_set_mode(port,bit,mode);			\
 	} while (0)
@@ -201,7 +213,7 @@ void
 ao_spi_put(uint8_t spi_index);
 
 void
-ao_spi_send(void *block, uint16_t len, uint8_t spi_index);
+ao_spi_send(const void *block, uint16_t len, uint8_t spi_index);
 
 void
 ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index);
@@ -210,9 +222,7 @@ void
 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index);
 
 void
-ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index);
-
-extern uint16_t	ao_spi_speed[LPC_NUM_SPI];
+ao_spi_duplex(const void *out, void *in, uint16_t len, uint8_t spi_index);
 
 void
 ao_spi_init(void);
diff --git a/src/lpc/ao_led_lpc.c b/src/lpc/ao_led_lpc.c
index d983437c..a0b293b9 100644
--- a/src/lpc/ao_led_lpc.c
+++ b/src/lpc/ao_led_lpc.c
@@ -59,6 +59,15 @@ void
 ao_led_init(AO_PORT_TYPE enable)
 {
 	ao_led_enable = enable;
-	lpc_scb.sysahbclkctrl |= (1 << LPC_SCB_SYSAHBCLKCTRL_GPIO);
+	ao_enable_port(LED_PORT);
+	if (LED_PORT == 0) {
+		if (enable & (1 << 11))
+			lpc_ioconf.pio0_11 = LPC_IOCONF_FUNC_PIO0_11 | (1 << LPC_IOCONF_ADMODE);
+		if (enable & (1 << 12))
+			lpc_ioconf.pio0_12 = LPC_IOCONF_FUNC_PIO0_12 | (1 << LPC_IOCONF_ADMODE);
+		if (enable & (1 << 14))
+			lpc_ioconf.pio0_14 = LPC_IOCONF_FUNC_PIO0_14 | (1 << LPC_IOCONF_ADMODE);
+	}
 	lpc_gpio.dir[LED_PORT] |= enable;
+	ao_led_off(enable);
 }
diff --git a/src/lpc/ao_spi_lpc.c b/src/lpc/ao_spi_lpc.c
index e72b8286..f091c89c 100644
--- a/src/lpc/ao_spi_lpc.c
+++ b/src/lpc/ao_spi_lpc.c
@@ -21,34 +21,27 @@ static uint8_t		ao_spi_mutex[LPC_NUM_SPI];
 
 static struct lpc_ssp * const ao_lpc_ssp[LPC_NUM_SPI] = { &lpc_ssp0, &lpc_ssp1 };
 
-#define tx_busy(lpc_ssp) (lpc_ssp->sr & ((1 << LPC_SSP_SR_BSY) | (1 << LPC_SSP_SR_TNF))) != (1 << LPC_SSP_SR_TNF)
-#define rx_busy(lpc_ssp) (lpc_ssp->sr & ((1 << LPC_SSP_SR_BSY) | (1 << LPC_SSP_SR_RNE))) != (1 << LPC_SSP_SR_RNE)
-
 #define spi_loop(len, put, get) do {					\
 		while (len--) {						\
-			/* Wait for space in the fifo */		\
-			while (tx_busy(lpc_ssp))			\
-				;					\
-									\
 			/* send a byte */				\
 			lpc_ssp->dr = put;				\
-									\
-			/* Wait for byte to appear in the fifo */	\
-			while (rx_busy(lpc_ssp))			\
+			/* wait for the received byte to appear */	\
+			while ((lpc_ssp->sr & (1 << LPC_SSP_SR_RNE)) == 0) \
 				;					\
-									\
-			/* recv a byte */				\
+			/* receive a byte */				\
 			get lpc_ssp->dr;				\
 		}							\
+		/* Wait for the SSP to go idle (it already should be) */ \
+		while (lpc_ssp->sr & (1 << LPC_SSP_SR_BSY));		\
 	} while (0)
 
 void
-ao_spi_send(void *block, uint16_t len, uint8_t id)
+ao_spi_send(const void *block, uint16_t len, uint8_t id)
 {
-	uint8_t	*b = block;
 	struct lpc_ssp *lpc_ssp = ao_lpc_ssp[id];
+	const uint8_t	*o = block;
 
-	spi_loop(len, *b++, (void));
+	spi_loop(len, *o++, (void));
 }
 
 void
@@ -62,18 +55,18 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t id)
 void
 ao_spi_recv(void *block, uint16_t len, uint8_t id)
 {
-	uint8_t	*b = block;
 	struct lpc_ssp *lpc_ssp = ao_lpc_ssp[id];
+	uint8_t *i = block;
 
-	spi_loop(len, 0xff, *b++ =);
+	spi_loop(len, 0xff, *i++ =);
 }
 
 void
-ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t id)
+ao_spi_duplex(const void *out, void *in, uint16_t len, uint8_t id)
 {
-	uint8_t	*o = out;
-	uint8_t	*i = in;
 	struct lpc_ssp *lpc_ssp = ao_lpc_ssp[id];
+	const uint8_t *o = out;
+	uint8_t *i = in;
 
 	spi_loop(len, *o++, *i++ =);
 }
@@ -84,7 +77,7 @@ ao_spi_get(uint8_t id, uint32_t speed)
 	struct lpc_ssp	*lpc_ssp = ao_lpc_ssp[id];
 
 	ao_mutex_get(&ao_spi_mutex[id]);
-	
+
 	/* Set the clock prescale */
 	lpc_ssp->cpsr = speed;
 }
@@ -101,6 +94,11 @@ ao_spi_channel_init(uint8_t id)
 	struct lpc_ssp	*lpc_ssp = ao_lpc_ssp[id];
 	uint8_t	d;
 
+	/* Clear interrupt registers */
+	lpc_ssp->imsc = 0;
+	lpc_ssp->ris = 0;
+	lpc_ssp->mis = 0;
+
 	lpc_ssp->cr0 = ((LPC_SSP_CR0_DSS_8 << LPC_SSP_CR0_DSS) |
 			(LPC_SSP_CR0_FRF_SPI << LPC_SSP_CR0_FRF) |
 			(0 << LPC_SSP_CR0_CPOL) |
@@ -151,7 +149,7 @@ ao_spi_init(void)
 	lpc_scb.presetctrl &= ~(1 << LPC_SCB_PRESETCTRL_SSP0_RST_N);
 	lpc_scb.presetctrl |= (1 << LPC_SCB_PRESETCTRL_SSP0_RST_N);
 	ao_spi_channel_init(0);
-#endif			   
+#endif
 
 #if HAS_SPI_1
 
@@ -190,7 +188,7 @@ ao_spi_init(void)
 #ifndef HAS_MOSI1
 #error "No pin specified for MOSI1"
 #endif
-		
+
 	/* Enable the device */
 	lpc_scb.sysahbclkctrl |= (1 << LPC_SCB_SYSAHBCLKCTRL_SSP1);
 
diff --git a/src/lpc/ao_usb_lpc.c b/src/lpc/ao_usb_lpc.c
index 12f5d8e6..0dfaece4 100644
--- a/src/lpc/ao_usb_lpc.c
+++ b/src/lpc/ao_usb_lpc.c
@@ -80,14 +80,12 @@ static uint8_t	*ao_usb_ep0_setup_buffer;
 static uint8_t	*ao_usb_ep0_rx_buffer;
 
 /* Pointer to bulk data tx/rx buffers in USB memory */
-static uint8_t	*ao_usb_in_tx_buffer;
-static uint8_t	*ao_usb_out_rx_buffer;
-
-/* Our data buffers */
-static uint8_t	ao_usb_tx_buffer[AO_USB_IN_SIZE];
+static uint8_t	*ao_usb_in_tx_buffer[2];
+static uint8_t	ao_usb_in_tx_cur;
 static uint8_t	ao_usb_tx_count;
 
-static uint8_t	ao_usb_rx_buffer[AO_USB_OUT_SIZE];
+static uint8_t	*ao_usb_out_rx_buffer[2];
+static uint8_t	ao_usb_out_rx_cur;
 static uint8_t	ao_usb_rx_count, ao_usb_rx_pos;
 
 extern struct lpc_usb_endpoint lpc_usb_endpoint;
@@ -234,15 +232,15 @@ ao_usb_ep0_in(void)
 }
 
 static inline vuint32_t *
-ao_usb_epn_out(uint8_t n)
+ao_usb_epn_out(uint8_t n, uint8_t i)
 {
-	return &lpc_usb_endpoint.epn[n-1].out[0];
+	return &lpc_usb_endpoint.epn[n-1].out[i];
 }
 
 static inline vuint32_t *
-ao_usb_epn_in(uint8_t n)
+ao_usb_epn_in(uint8_t n, uint8_t i)
 {
-	return &lpc_usb_endpoint.epn[n-1].in[0];
+	return &lpc_usb_endpoint.epn[n-1].in[i];
 }
 
 #if UNUSED
@@ -256,26 +254,26 @@ ao_usb_set_epn_in(uint8_t n, uint8_t *addr, uint16_t nbytes)
 static void
 ao_usb_set_epn_out(uint8_t n, uint8_t *addr, uint16_t nbytes)
 {
-	ao_usb_set_ep(ao_usb_epn_out(n), addr, nbytes);
+	ao_usb_set_ep(ao_usb_epn_out(n, 0), addr, nbytes);
 }
 
 static inline uint16_t
 ao_usb_epn_out_count(uint8_t n)
 {
-	return ao_usb_ep_count(ao_usb_epn_out(n));
+	return ao_usb_ep_count(ao_usb_epn_out(n, 0));
 }
 
 static inline uint16_t
 ao_usb_epn_in_count(uint8_t n)
 {
-	return ao_usb_ep_count(ao_usb_epn_in(n));
+	return ao_usb_ep_count(ao_usb_epn_in(n, 0));
 }
 
 static uint8_t *
 ao_usb_enable_ep(vuint32_t *ep, uint16_t nbytes, uint16_t set_nbytes)
 {
 	uint8_t	*addr = ao_usb_alloc_sram(nbytes);
-	
+
 	ao_usb_set_ep(ep, addr, set_nbytes);
 	return addr;
 }
@@ -294,28 +292,34 @@ ao_usb_disable_ep(vuint32_t *ep)
 }
 
 static void
-ao_usb_enable_epn(uint8_t n, uint16_t out_bytes, uint8_t **out_addr, uint16_t in_bytes, uint8_t **in_addr)
+ao_usb_enable_epn(uint8_t n,
+		  uint16_t out_bytes, uint8_t *out_addrs[2],
+		  uint16_t in_bytes, uint8_t *in_addrs[2])
 {
 	uint8_t	*addr;
 
-	addr = ao_usb_enable_ep(ao_usb_epn_out(n), out_bytes, out_bytes);
-	if (out_addr)
-		*out_addr = addr;
-	ao_usb_disable_ep(&lpc_usb_endpoint.epn[n-1].out[1]);
+	addr = ao_usb_enable_ep(ao_usb_epn_out(n, 0), out_bytes * 2, out_bytes);
+	if (out_addrs) {
+		out_addrs[0] = addr;
+		out_addrs[1] = addr + out_bytes;
+	}
+	ao_usb_disable_ep(ao_usb_epn_out(n, 1));
 
-	addr = ao_usb_enable_ep(ao_usb_epn_in(n), in_bytes, 0);
-	if (in_addr)
-		*in_addr = addr;
-	ao_usb_disable_ep(&lpc_usb_endpoint.epn[n-1].in[1]);
+	addr = ao_usb_enable_ep(ao_usb_epn_in(n, 0), in_bytes * 2, 0);
+	if (in_addrs) {
+		in_addrs[0] = addr;
+		in_addrs[1] = addr + in_bytes;
+	}
+	ao_usb_disable_ep(ao_usb_epn_in(n, 1));
 }
 
 static void
 ao_usb_disable_epn(uint8_t n)
 {
-	ao_usb_disable_ep(ao_usb_epn_out(n));
-	ao_usb_disable_ep(&lpc_usb_endpoint.epn[n-1].out[1]);
-	ao_usb_disable_ep(ao_usb_epn_in(n));
-	ao_usb_disable_ep(&lpc_usb_endpoint.epn[n-1].in[1]);
+	ao_usb_disable_ep(ao_usb_epn_out(n, 0));
+	ao_usb_disable_ep(ao_usb_epn_out(n, 1));
+	ao_usb_disable_ep(ao_usb_epn_in(n, 0));
+	ao_usb_disable_ep(ao_usb_epn_in(n, 1));
 }
 
 static void
@@ -362,12 +366,18 @@ ao_usb_set_configuration(void)
 
 	/* Set up the INT end point */
 	ao_usb_enable_epn(AO_USB_INT_EP, 0, NULL, 0, NULL);
-	
+
 	/* Set up the OUT end point */
-	ao_usb_enable_epn(AO_USB_OUT_EP, AO_USB_OUT_SIZE, &ao_usb_out_rx_buffer, 0, NULL);
+	ao_usb_enable_epn(AO_USB_OUT_EP, AO_USB_OUT_SIZE, ao_usb_out_rx_buffer, 0, NULL);
+
+	/* Set the current RX pointer to the *other* buffer so that when buffer 0 gets
+	 * data, we'll switch to it and pull bytes from there
+	 */
+	ao_usb_out_rx_cur = 1;
 
 	/* Set up the IN end point */
-	ao_usb_enable_epn(AO_USB_IN_EP, 0, NULL, AO_USB_IN_SIZE, &ao_usb_in_tx_buffer);
+	ao_usb_enable_epn(AO_USB_IN_EP, 0, NULL, AO_USB_IN_SIZE, ao_usb_in_tx_buffer);
+	ao_usb_in_tx_cur = 0;
 
 	ao_usb_running = 1;
 }
@@ -716,8 +726,8 @@ _ao_usb_in_send(void)
 	ao_usb_in_pending = 1;
 	if (ao_usb_tx_count != AO_USB_IN_SIZE)
 		ao_usb_in_flushed = 1;
-	memcpy(ao_usb_in_tx_buffer, ao_usb_tx_buffer, ao_usb_tx_count);
-	ao_usb_set_ep(ao_usb_epn_in(AO_USB_IN_EP), ao_usb_in_tx_buffer, ao_usb_tx_count);
+	ao_usb_set_ep(ao_usb_epn_in(AO_USB_IN_EP, 0), ao_usb_in_tx_buffer[ao_usb_in_tx_cur], ao_usb_tx_count);
+	ao_usb_in_tx_cur = 1 - ao_usb_in_tx_cur;
 	ao_usb_tx_count = 0;
 	_tx_dbg0("in_send end");
 }
@@ -771,7 +781,7 @@ ao_usb_putchar(char c)
 	_ao_usb_in_wait();
 
 	ao_usb_in_flushed = 0;
-	ao_usb_tx_buffer[ao_usb_tx_count++] = (uint8_t) c;
+	ao_usb_in_tx_buffer[ao_usb_in_tx_cur][ao_usb_tx_count++] = (uint8_t) c;
 
 	/* Send the packet when full */
 	if (ao_usb_tx_count == AO_USB_IN_SIZE) {
@@ -792,13 +802,12 @@ _ao_usb_out_recv(void)
 
 	_rx_dbg1("out_recv count", ao_usb_rx_count);
 	debug ("recv %d\n", ao_usb_rx_count);
-	debug_data("Fill OUT len %d:", ao_usb_rx_count);
-	memcpy(ao_usb_rx_buffer, ao_usb_out_rx_buffer, ao_usb_rx_count);
-	debug_data("\n");
+	debug_data("Fill OUT len %d\n", ao_usb_rx_count);
 	ao_usb_rx_pos = 0;
+	ao_usb_out_rx_cur = 1 - ao_usb_out_rx_cur;
 
 	/* ACK the packet */
-	ao_usb_set_epn_out(AO_USB_OUT_EP, ao_usb_out_rx_buffer, AO_USB_OUT_SIZE);
+	ao_usb_set_epn_out(AO_USB_OUT_EP, ao_usb_out_rx_buffer[1-ao_usb_out_rx_cur], AO_USB_OUT_SIZE);
 }
 
 int
@@ -823,7 +832,7 @@ _ao_usb_pollchar(void)
 	}
 
 	/* Pull a character out of the fifo */
-	c = ao_usb_rx_buffer[ao_usb_rx_pos++];
+	c = ao_usb_out_rx_buffer[ao_usb_out_rx_cur][ao_usb_rx_pos++];
 	return c;
 }
 
@@ -897,7 +906,7 @@ ao_usb_enable(void)
 
 	/* Enable USB PHY */
 	lpc_scb.pdruncfg &= ~(1 << LPC_SCB_PDRUNCFG_USBPAD_PD);
-	
+
 	/* Turn on USB PLL */
 	lpc_scb.pdruncfg &= ~(1 << LPC_SCB_PDRUNCFG_USBPLL_PD);
 
@@ -1044,7 +1053,7 @@ static void _dbg(int line, char *msg, uint32_t value)
 	dbg[dbg_i].primask = primask;
 #if TX_DBG
 	dbg[dbg_i].in_count = in_count;
-	dbg[dbg_i].in_ep = *ao_usb_epn_in(AO_USB_IN_EP);
+	dbg[dbg_i].in_ep = *ao_usb_epn_in(AO_USB_IN_EP, 0);
 	dbg[dbg_i].in_pending = ao_usb_in_pending;
 	dbg[dbg_i].tx_count = ao_usb_tx_count;
 	dbg[dbg_i].in_flushed = ao_usb_in_flushed;
@@ -1053,7 +1062,7 @@ static void _dbg(int line, char *msg, uint32_t value)
 	dbg[dbg_i].rx_count = ao_usb_rx_count;
 	dbg[dbg_i].rx_pos = ao_usb_rx_pos;
 	dbg[dbg_i].out_avail = ao_usb_out_avail;
-	dbg[dbg_i].out_ep = *ao_usb_epn_out(AO_USB_OUT_EP);
+	dbg[dbg_i].out_ep = *ao_usb_epn_out(AO_USB_OUT_EP, 0);
 #endif
 	if (++dbg_i == NUM_USB_DBG)
 		dbg_i = 0;