diff options
| -rw-r--r-- | src-avr/ao.h | 10 | ||||
| -rw-r--r-- | src-avr/ao_log_telescience.c | 42 | ||||
| -rw-r--r-- | src-avr/ao_pins.h | 4 | ||||
| -rw-r--r-- | src-avr/ao_spi_slave.c | 118 | ||||
| -rw-r--r-- | src-avr/ao_telescience.c | 1 | ||||
| -rw-r--r-- | src-avr/telescience/Makefile | 4 |
6 files changed, 75 insertions, 104 deletions
diff --git a/src-avr/ao.h b/src-avr/ao.h index c548c618..fb3612d4 100644 --- a/src-avr/ao.h +++ b/src-avr/ao.h @@ -201,7 +201,7 @@ struct ao_adc { * ao_adc.c */ -#define AO_ADC_RING 16 +#define AO_ADC_RING 8 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) @@ -1343,6 +1343,7 @@ struct ao_fifo { (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ } while(0) +#define ao_fifo_reset(f) ((f).insert = (f).remove = 0) #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) #define ao_fifo_empty(f) ((f).insert == (f).remove) @@ -1423,13 +1424,16 @@ ao_debug_init(void); /* ao_spi_slave.c */ -void +int ao_spi_slave_read(uint8_t *data, int len); -void +int ao_spi_slave_write(uint8_t *data, int len); void +ao_spi_slave_debug(void); + +void ao_spi_slave_init(void); /* ao_companion.c */ diff --git a/src-avr/ao_log_telescience.c b/src-avr/ao_log_telescience.c index 6022ad21..62e0493c 100644 --- a/src-avr/ao_log_telescience.c +++ b/src-avr/ao_log_telescience.c @@ -19,7 +19,7 @@ #include "ao_product.h" static struct ao_task ao_log_task; -static struct ao_task ao_spi_task; +//static struct ao_task ao_spi_task; uint8_t ao_log_running; uint8_t ao_log_mutex; @@ -233,47 +233,11 @@ ao_log_delete(void) printf ("Erased\n"); } -void -ao_spi_telescience(void) -{ - static union { - struct ao_companion_command command; - struct ao_companion_setup setup; - struct ao_adc data; - } u; - - for (;;) { - ao_spi_slave_read((uint8_t *) &u.command, sizeof (struct ao_companion_command)); - switch (u.command.command) { - case AO_COMPANION_SETUP: - u.setup.board_id = AO_idProduct_NUMBER; - u.setup.board_id_inverse = ~AO_idProduct_NUMBER; - u.setup.update_period = 10; - u.setup.channels = NUM_ADC; - ao_spi_slave_write((uint8_t *) &u.setup, - sizeof (struct ao_companion_setup)); - break; - case AO_COMPANION_FETCH: - ao_adc_get(&u.data); - ao_spi_slave_write((uint8_t *) &u.data.adc, - NUM_ADC * sizeof (uint16_t)); - if (u.command.flight_state >= ao_flight_boost && - u.command.flight_state < ao_flight_landed) { - if (!ao_log_running) - ao_log_start(); - } else { - if (ao_log_running) - ao_log_stop(); - } - break; - } - } -} - const struct ao_cmds ao_log_cmds[] = { { ao_log_set, "L <0 off, 1 on>\0Set logging mode" }, { ao_log_list, "l\0List stored flight logs" }, { ao_log_delete, "d 1\0Delete all stored flights" }, + { ao_spi_slave_debug, "s\0Dump SPI slave data" }, { 0, NULL }, }; @@ -285,5 +249,5 @@ ao_log_init(void) ao_cmd_register(&ao_log_cmds[0]); ao_add_task(&ao_log_task, ao_log_telescience, "log"); - ao_add_task(&ao_spi_task, ao_spi_telescience, "spi"); +// ao_add_task(&ao_spi_task, ao_spi_telescience, "spi"); } diff --git a/src-avr/ao_pins.h b/src-avr/ao_pins.h index b927bc4b..afe1e941 100644 --- a/src-avr/ao_pins.h +++ b/src-avr/ao_pins.h @@ -28,7 +28,7 @@ #define USE_SERIAL_STDIN 0 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 - #define HAS_DBG 1 + #define HAS_DBG 0 #define DBG_ON_P1 1 #define DBG_ON_P0 0 #define IGNITE_ON_P2 1 @@ -54,7 +54,7 @@ #define HAS_ADC 1 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 - #define HAS_DBG 1 + #define HAS_DBG 0 #define DBG_ON_P1 1 #define DBG_ON_P0 0 #define IGNITE_ON_P2 1 diff --git a/src-avr/ao_spi_slave.c b/src-avr/ao_spi_slave.c index 5f1990d5..8e01f586 100644 --- a/src-avr/ao_spi_slave.c +++ b/src-avr/ao_spi_slave.c @@ -16,83 +16,85 @@ */ #include "ao.h" +#include "ao_product.h" -__xdata struct ao_fifo ao_spi_slave_rx_fifo; -__xdata struct ao_fifo ao_spi_slave_tx_fifo; +static struct ao_companion_command ao_companion_command; +static const struct ao_companion_setup ao_companion_setup = { + .board_id = AO_idProduct_NUMBER, + .board_id_inverse = ~AO_idProduct_NUMBER, + .update_period = 50, + .channels = NUM_ADC +}; -static volatile uint8_t ao_spi_slave_tx_started; - -static void -ao_spi_slave_tx_start(void) +static void ao_spi_slave_recv(void) { - if (!ao_spi_slave_tx_started && !ao_fifo_empty(ao_spi_slave_tx_fifo)) { - ao_spi_slave_tx_started = 1; - ao_fifo_remove(ao_spi_slave_tx_fifo, SPDR); - } -} + uint8_t *buf; + uint8_t len; -ISR(SPI_STC_vect) -{ - uint8_t spsr; + len = sizeof (ao_companion_command); + buf = (uint8_t *) &ao_companion_command; + while (len--) { + while (!(SPSR & (1 << SPIF))) + ; + *buf++ = SPDR; + } - spsr = SPSR; - if (SPIF & (1 << SPIF)) { - uint8_t byte = SPDR; - if (!ao_fifo_full(ao_spi_slave_rx_fifo)) - ao_fifo_insert(ao_spi_slave_rx_fifo, byte); - ao_spi_slave_tx_started = 0; - ao_spi_slave_tx_start(); - ao_wakeup(&ao_spi_slave_rx_fifo); - ao_wakeup(&ao_spi_slave_tx_fifo); + /* Figure out the outbound data */ + switch (ao_companion_command.command) { + case AO_COMPANION_SETUP: + buf = (uint8_t *) &ao_companion_setup; + len = sizeof (ao_companion_setup); + break; + case AO_COMPANION_FETCH: + buf = (uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc; + len = NUM_ADC * sizeof (uint16_t); + break; + default: + return; } -} -static void -ao_spi_slave_put(uint8_t b) __critical -{ - cli(); - while (ao_fifo_full(ao_spi_slave_tx_fifo)) - ao_sleep(&ao_spi_slave_tx_fifo); - ao_fifo_insert(ao_spi_slave_tx_fifo, b); - ao_spi_slave_tx_start(); - sei(); + /* Send the outbound data */ + while (len--) { + SPDR = *buf++; + while (!(SPSR & (1 << SPIF))) + ; + } + (void) SPDR; } -static uint8_t -ao_spi_slave_get(void) __critical -{ - uint8_t b; - - cli(); - while (ao_fifo_empty(ao_spi_slave_rx_fifo)) - ao_sleep(&ao_spi_slave_rx_fifo); - ao_fifo_remove(ao_spi_slave_rx_fifo, b); - sei(); - return b; -} +static uint8_t ao_spi_slave_running; -void -ao_spi_slave_read(uint8_t *data, int len) +ISR(PCINT0_vect) { - while (len--) { - ao_spi_slave_put(0); - *data++ = ao_spi_slave_get(); + if ((PINB & (1 << PINB0)) == 0) { + if (!(PCMSK0 & (1 << PCINT1))) + PCMSK0 |= (1 << PCINT1); + else { + PCMSK0 &= ~(1 << PCINT1); + cli(); + if (!ao_spi_slave_running) { + ao_spi_slave_running = 1; + ao_spi_slave_recv(); + } + sei(); + } + } else { + ao_spi_slave_running = 0; } } -void -ao_spi_slave_write(uint8_t *data, int len) -{ - while (len--) { - ao_spi_slave_put(*data++); - (void) ao_spi_slave_get(); - } +void ao_spi_slave_debug(void) { + printf ("slave running %d\n", ao_spi_slave_running); } void ao_spi_slave_init(void) { - SPCR = (1 << SPIE) | /* Enable SPI interrupts */ + PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */ + PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ + + DDRB = (DDRB & 0xf0) | (1 << 3); + SPCR = (0 << SPIE) | /* Disable SPI interrupts */ (1 << SPE) | /* Enable SPI */ (0 << DORD) | /* MSB first */ (0 << MSTR) | /* Slave mode */ diff --git a/src-avr/ao_telescience.c b/src-avr/ao_telescience.c index f0f88c51..e8d4e0c2 100644 --- a/src-avr/ao_telescience.c +++ b/src-avr/ao_telescience.c @@ -29,6 +29,7 @@ main(void) ao_timer_init(); ao_cmd_init(); ao_spi_init(); + ao_spi_slave_init(); ao_storage_init(); ao_usb_init(); ao_adc_init(); diff --git a/src-avr/telescience/Makefile b/src-avr/telescience/Makefile index b50559a9..9b04fa6e 100644 --- a/src-avr/telescience/Makefile +++ b/src-avr/telescience/Makefile @@ -18,7 +18,7 @@ DUDECPUTYPE=m32u4 PROGRAMMER=usbtiny LOADCMD=avrdude LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -v +CC=avr-gcc OBJCOPY=avr-objcopy ifndef VERSION @@ -59,7 +59,7 @@ PRODUCT=TeleScience-v0.1 MCU=atmega32u4 PRODUCT_DEF=-DTELESCIENCE IDPRODUCT=0x000a -CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues $(PRODUCT_DEF) -I. -DAVR +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues $(PRODUCT_DEF) -I. -DAVR NICKLE=nickle |