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-rw-r--r--src/avr/ao_adc_avr.c148
-rw-r--r--src/avr/ao_arch.h154
-rw-r--r--src/avr/ao_arch_funcs.h82
-rw-r--r--src/avr/ao_avr_stdio.c51
-rw-r--r--src/avr/ao_clock.c77
-rw-r--r--src/avr/ao_debug_avr.c78
-rw-r--r--src/avr/ao_eeprom_avr.c133
-rw-r--r--src/avr/ao_i2c_usart.c101
-rw-r--r--src/avr/ao_lcd_port.c74
-rw-r--r--src/avr/ao_led.c67
-rw-r--r--src/avr/ao_pins.h135
-rw-r--r--src/avr/ao_romconfig.c20
-rw-r--r--src/avr/ao_serial_avr.c162
-rw-r--r--src/avr/ao_spi_slave.c115
-rw-r--r--src/avr/ao_spi_usart.c110
-rw-r--r--src/avr/ao_timer.c80
-rw-r--r--src/avr/ao_usb_avr.c672
17 files changed, 2259 insertions, 0 deletions
diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c
new file mode 100644
index 00000000..3a262977
--- /dev/null
+++ b/src/avr/ao_adc_avr.c
@@ -0,0 +1,148 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t ao_data_head;
+
+#ifdef TELESCIENCE
+const uint8_t adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = {
+ 0x00,
+ 0x01,
+ 0x04,
+ 0x05,
+ 0x06,
+ 0x07,
+ 0x20,
+ 0x21,
+ 0x22,
+ 0x23,
+ 0x24,
+ 0x25,
+};
+#endif
+
+#ifdef TELEPYRO
+const uint8_t adc_channels[AO_TELEPYRO_NUM_ADC] = {
+ 0x00, /* ADC0 v_batt */
+ 0x04, /* ADC4 sense_a */
+ 0x05, /* ADC5 sense_b */
+ 0x06, /* ADC6 sense_c */
+ 0x07, /* ADC7 sense_d */
+ 0x23, /* ADC11 sense_e */
+ 0x22, /* ADC10 sense_f */
+ 0x21, /* ADC9 sense_g */
+ 0x20, /* ADC8 sense_h */
+};
+#endif
+
+#define NUM_ADC (sizeof (adc_channels) / sizeof (adc_channels[0]))
+
+static uint8_t ao_adc_channel;
+
+#define ADC_CHANNEL_LOW(c) (((c) & 0x1f) << MUX0)
+#define ADC_CHANNEL_HIGH(c) ((((c) & 0x20) >> 5) << MUX5)
+
+#define ADCSRA_INIT ((1 << ADEN) | /* Enable ADC */ \
+ (0 << ADATE) | /* No auto ADC trigger */ \
+ (1 << ADIF) | /* Clear interrupt */ \
+ (0 << ADIE) | /* Enable interrupt */ \
+ (6 << ADPS0)) /* Prescale clock by 64 */
+
+#define ADCSRB_INIT ((0 << ADHSM) | /* No high-speed mode */ \
+ (0 << ACME) | /* Some comparitor thing */ \
+ (0 << ADTS0)) /* Free running mode (don't care) */
+
+static void
+ao_adc_start(void)
+{
+ uint8_t channel = adc_channels[ao_adc_channel];
+ ADMUX = ((0 << REFS1) | /* AVcc reference */
+ (1 << REFS0) | /* AVcc reference */
+ (1 << ADLAR) | /* Left-shift results */
+ (ADC_CHANNEL_LOW(channel))); /* Select channel */
+
+ ADCSRB = (ADCSRB_INIT |
+ ADC_CHANNEL_HIGH(channel)); /* High channel bit */
+
+ ADCSRA = (ADCSRA_INIT |
+ (1 << ADSC) |
+ (1 << ADIE)); /* Start conversion */
+}
+
+ISR(ADC_vect)
+{
+ uint16_t value;
+
+ /* Must read ADCL first or the value there will be lost */
+ value = ADCL;
+ value |= (ADCH << 8);
+ ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value;
+ if (++ao_adc_channel < NUM_ADC)
+ ao_adc_start();
+ else {
+ ADCSRA = ADCSRA_INIT;
+ ao_data_ring[ao_data_head].tick = ao_time();
+ ao_data_head = ao_data_ring_next(ao_data_head);
+ ao_wakeup((void *) &ao_data_head);
+ ao_cpu_sleep_disable = 0;
+ }
+}
+
+void
+ao_adc_poll(void)
+{
+ ao_cpu_sleep_disable = 1;
+ ao_adc_channel = 0;
+ ao_adc_start();
+}
+
+void
+ao_data_get(__xdata struct ao_data *packet)
+{
+ uint8_t i = ao_data_ring_prev(ao_data_head);
+ memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
+}
+
+static void
+ao_adc_dump(void) __reentrant
+{
+ static __xdata struct ao_data packet;
+ uint8_t i;
+ ao_data_get(&packet);
+ printf("tick: %5u", packet.tick);
+ for (i = 0; i < NUM_ADC; i++)
+ printf (" %2d: %5u", i, packet.adc.adc[i]);
+ printf("\n");
+}
+
+__code struct ao_cmds ao_adc_cmds[] = {
+ { ao_adc_dump, "a\0ADC" },
+ { 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+ PRR0 &= ~(1 << PRADC);
+ DIDR0 = 0xf3;
+ DIDR2 = 0x3f;
+ ADCSRB = ADCSRB_INIT;
+ ADCSRA = ADCSRA_INIT;
+ ao_cmd_register(&ao_adc_cmds[0]);
+}
diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
new file mode 100644
index 00000000..a14d0ade
--- /dev/null
+++ b/src/avr/ao_arch.h
@@ -0,0 +1,154 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_ARCH_H_
+#define _AO_ARCH_H_
+
+#include <stdio.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/sleep.h>
+
+#ifdef AVR_DEMO
+#define TEENSY 1
+#endif
+
+#if TEENSY
+#define F_CPU 16000000UL // 16 MHz
+#else
+#define F_CPU 8000000UL // 8 MHz
+#endif
+
+/*
+ * AVR definitions and code fragments for AltOS
+ */
+
+#define AO_STACK_SIZE 116
+
+/* Various definitions to make GCC look more like SDCC */
+
+#define ao_arch_naked_declare __attribute__((naked))
+#define ao_arch_naked_define
+#define __pdata
+#define __data
+#define __xdata
+#define __code const
+#define __reentrant
+#define __critical
+#define __interrupt(n)
+#define __at(n)
+
+#define ao_arch_reboot() /* XXX */
+
+#define ao_arch_nop() asm("nop")
+
+#define ao_arch_interrupt(n) /* nothing */
+
+#undef putchar
+#undef getchar
+#define putchar(c) ao_putchar(c)
+#define getchar ao_getchar
+
+extern void putchar(char c);
+extern char getchar(void);
+extern void ao_avr_stdio_init(void);
+
+#define AO_ROMCONFIG_VERSION 2
+
+#define AO_ROMCONFIG_SYMBOL(a) const
+
+extern AO_ROMCONFIG_SYMBOL(0) uint16_t ao_serial_number;
+
+#define AVR_PUSH8(stack, val) (*((stack)--) = (val))
+
+extern uint8_t ao_cpu_sleep_disable;
+
+#define ao_arch_task_globals uint8_t ao_cpu_sleep_disable;
+
+#define ao_arch_task_members\
+ uint8_t *sp; /* saved stack pointer */
+
+#define ao_arch_init_stack(task, start) do { \
+ uint8_t *sp = task->stack + AO_STACK_SIZE - 1; \
+ uint16_t a = (uint16_t) start; \
+ int i; \
+ \
+ /* Return address */ \
+ AVR_PUSH8(sp, a); \
+ AVR_PUSH8(sp, (a >> 8)); \
+ \
+ /* Clear register values */ \
+ i = 32; \
+ while (i--) \
+ AVR_PUSH8(sp, 0); \
+ \
+ /* SREG with interrupts enabled */ \
+ AVR_PUSH8(sp, 0x80); \
+ task->sp = sp; \
+} while (0);
+
+#define ao_arch_save_regs() do { \
+ asm("push r31" "\n\t" "push r30"); \
+ asm("push r29" "\n\t" "push r28" "\n\t" "push r27" "\n\t" "push r26" "\n\t" "push r25"); \
+ asm("push r24" "\n\t" "push r23" "\n\t" "push r22" "\n\t" "push r21" "\n\t" "push r20"); \
+ asm("push r19" "\n\t" "push r18" "\n\t" "push r17" "\n\t" "push r16" "\n\t" "push r15"); \
+ asm("push r14" "\n\t" "push r13" "\n\t" "push r12" "\n\t" "push r11" "\n\t" "push r10"); \
+ asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5"); \
+ asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0"); \
+ asm("in r0, __SREG__" "\n\t" "push r0"); \
+ sei(); \
+ } while (0)
+
+#define ao_arch_save_stack() do { \
+ uint8_t sp_l, sp_h; \
+ asm("in %0,__SP_L__" : "=&r" (sp_l) ); \
+ asm("in %0,__SP_H__" : "=&r" (sp_h) ); \
+ ao_cur_task->sp = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8)); \
+ } while (0)
+
+#define ao_arch_isr_stack() /* nothing */
+
+#define ao_arch_cpu_idle() do { \
+ if (!ao_cpu_sleep_disable) \
+ sleep_cpu(); \
+ } while (0)
+
+#define ao_arch_restore_stack() do { \
+ uint8_t sp_l, sp_h; \
+ sp_l = (uint16_t) ao_cur_task->sp; \
+ sp_h = ((uint16_t) ao_cur_task->sp) >> 8; \
+ cli(); \
+ asm("out __SP_H__,%0" : : "r" (sp_h) ); \
+ asm("out __SP_L__,%0" : : "r" (sp_l) ); \
+ asm("pop r0" "\n\t" \
+ "out __SREG__, r0"); \
+ asm("pop r0" "\n\t" "pop r1" "\n\t" "pop r2" "\n\t" "pop r3" "\n\t" "pop r4"); \
+ asm("pop r5" "\n\t" "pop r6" "\n\t" "pop r7" "\n\t" "pop r8" "\n\t" "pop r9"); \
+ asm("pop r10" "\n\t" "pop r11" "\n\t" "pop r12" "\n\t" "pop r13" "\n\t" "pop r14"); \
+ asm("pop r15" "\n\t" "pop r16" "\n\t" "pop r17" "\n\t" "pop r18" "\n\t" "pop r19"); \
+ asm("pop r20" "\n\t" "pop r21" "\n\t" "pop r22" "\n\t" "pop r23" "\n\t" "pop r24"); \
+ asm("pop r25" "\n\t" "pop r26" "\n\t" "pop r27" "\n\t" "pop r28" "\n\t" "pop r29"); \
+ asm("pop r30" "\n\t" "pop r31"); \
+ asm("ret"); \
+ } while(0)
+
+#define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0)
+
+#define AO_TELESCIENCE_NUM_ADC 12
+
+#endif /* _AO_ARCH_H_ */
+
diff --git a/src/avr/ao_arch_funcs.h b/src/avr/ao_arch_funcs.h
new file mode 100644
index 00000000..792ff744
--- /dev/null
+++ b/src/avr/ao_arch_funcs.h
@@ -0,0 +1,82 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * ao_spi.c
+ */
+
+extern __xdata uint8_t ao_spi_mutex;
+
+#define ao_spi_get_mask(reg,mask,bus,speed) do { \
+ ao_mutex_get(&ao_spi_mutex); \
+ (reg) &= ~(mask); \
+ } while (0)
+
+#define ao_spi_put_mask(reg,mask,bus) do { \
+ (reg) |= (mask); \
+ ao_mutex_put(&ao_spi_mutex); \
+ } while (0)
+
+#define ao_spi_get_bit(reg,bit,pin,bus,speed) do { \
+ ao_mutex_get(&ao_spi_mutex); \
+ (pin) = 0; \
+ } while (0)
+
+#define ao_spi_put_bit(reg,bit,pin,bus) do { \
+ (pin) = 1; \
+ ao_mutex_put(&ao_spi_mutex); \
+ } while (0)
+
+
+#define ao_gpio_token_paster(x,y) x ## y
+#define ao_gpio_token_evaluator(x,y) ao_gpio_token_paster(x,y)
+
+#define ao_gpio_set(port, bit, pin, v) do { \
+ if (v) \
+ (ao_gpio_token_evaluator(PORT,port)) |= (1 << bit); \
+ else \
+ (ao_gpio_token_evaluator(PORT,port)) &= ~(1 << bit); \
+ } while (0)
+
+/*
+ * The SPI mutex must be held to call either of these
+ * functions -- this mutex covers the entire SPI operation,
+ * from chip select low to chip select high
+ */
+
+#define ao_enable_output(port, bit, pin, v) do { \
+ ao_gpio_set(port, bit, pin, v); \
+ ao_gpio_token_evaluator(DDR,port) |= (1 << bit); \
+ } while (0)
+
+
+void
+ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant;
+
+void
+ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant;
+
+#define ao_spi_send(block, len, bus) ao_spi_send_bus(block, len)
+#define ao_spi_recv(block, len, bus) ao_spi_recv_bus(block, len)
+
+void
+ao_spi_init(void);
+
+#define ao_spi_init_cs(port, mask) do { \
+ SPI_CS_PORT |= (mask); \
+ SPI_CS_DIR |= (mask); \
+ } while (0)
diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c
new file mode 100644
index 00000000..2765853a
--- /dev/null
+++ b/src/avr/ao_avr_stdio.c
@@ -0,0 +1,51 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+int
+stdio_put(char c, FILE *stream)
+{
+ if (ao_cur_task && ao_num_stdios)
+ putchar(c);
+ else
+ {
+ if (c == '\n')
+ stdio_put('\r', stream);
+ loop_until_bit_is_set(UCSR1A, UDRE1);
+ UDR1 = c;
+ }
+
+ return 0;
+}
+
+int
+stdio_get(FILE *stream)
+{
+ return (int) getchar() & 0xff;
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(stdio_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, stdio_get, _FDEV_SETUP_READ);
+
+void
+ao_avr_stdio_init(void)
+{
+ stdout = &mystdout;
+ stdin = &mystdin;
+}
diff --git a/src/avr/ao_clock.c b/src/avr/ao_clock.c
new file mode 100644
index 00000000..0d42b6d5
--- /dev/null
+++ b/src/avr/ao_clock.c
@@ -0,0 +1,77 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+/*
+ * AltOS always cranks the clock to the max frequency
+ */
+
+void
+ao_clock_init(void)
+{
+ /* disable RC clock */
+ CLKSEL0 &= ~(1 << RCE);
+
+ /* Disable PLL */
+ PLLCSR &= ~(1 << PLLE);
+
+ /* Enable external clock */
+ CLKSEL0 |= (1 << EXTE);
+
+ /* wait for external clock to be ready */
+ while ((CLKSTA & (1 << EXTON)) == 0)
+ ;
+
+ /* select external clock */
+ CLKSEL0 |= (1 << CLKS);
+
+ /* Disable the clock prescaler */
+ cli();
+ CLKPR = (1 << CLKPCE);
+
+ /* Always run the system clock at 8MHz */
+#if AVR_CLOCK > 12000000UL
+ CLKPR = 1;
+#else
+ CLKPR = 0;
+#endif
+ sei();
+
+ /* Set up the PLL to use the crystal */
+
+ /* Use primary system clock as PLL source */
+ PLLFRQ = ((0 << PINMUX) | /* Use primary clock */
+ (0 << PLLUSB) | /* No divide by 2 for USB */
+ (0 << PLLTM0) | /* Disable high speed timer */
+ (0x4 << PDIV0)); /* 48MHz PLL clock */
+
+ /* Set the frequency of the crystal */
+#if AVR_CLOCK > 12000000UL
+ PLLCSR |= (1 << PINDIV); /* For 16MHz crystal on Teensy board */
+#else
+ PLLCSR &= ~(1 << PINDIV); /* For 8MHz crystal on TeleScience board */
+#endif
+
+ /* Enable the PLL */
+ PLLCSR |= (1 << PLLE);
+ while (!(PLLCSR & (1 << PLOCK)))
+ ;
+
+ set_sleep_mode(SLEEP_MODE_IDLE);
+ sleep_enable();
+}
diff --git a/src/avr/ao_debug_avr.c b/src/avr/ao_debug_avr.c
new file mode 100644
index 00000000..2e41e15a
--- /dev/null
+++ b/src/avr/ao_debug_avr.c
@@ -0,0 +1,78 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+void
+uart_send(char c)
+{
+ loop_until_bit_is_set(UCSR1A, UDRE1);
+ UDR1 = c;
+}
+
+int
+uart_put(char c, FILE *stream)
+{
+ if (c == '\n')
+ uart_send('\r');
+ uart_send(c);
+ return 0;
+}
+
+int
+uart_get(FILE *stream)
+{
+ loop_until_bit_is_set(UCSR1A, RXC1);
+ return (int) UDR1 & 0xff;
+}
+
+void
+uart_init(uint16_t baud)
+{
+ PRR1 &= ~(1 << PRUSART1);
+ UBRR1L = baud;
+ UBRR1H = baud >> 8;
+ UCSR1A = 0;
+ UCSR1B = ((1 << RXEN1) | /* Enable receiver */
+ (1 << TXEN1)); /* Enable transmitter */
+ UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */
+ (0 << UPM10) | /* No parity */
+ (0 << USBS1) | /* 1 stop bit */
+ (3 << UCSZ10) | /* 8 bit characters */
+ (0 << UCPOL1)); /* MBZ for async mode */
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(uart_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, uart_get, _FDEV_SETUP_READ);
+
+void ao_debug_init(void)
+{
+ uart_init(F_CPU / (16UL * 9600UL) - 1);
+
+ stdout = &mystdout;
+ stdin = &mystdin;
+
+ if (DDRB & AO_LED_RED) {
+ printf ("oops, starting all over\n");
+ for (;;)
+ ;
+ }
+ DDRB |= (1 << 7);
+ PORTB |= (1 << 7);
+ printf ("debug initialized\n");
+}
diff --git a/src/avr/ao_eeprom_avr.c b/src/avr/ao_eeprom_avr.c
new file mode 100644
index 00000000..2451fa8a
--- /dev/null
+++ b/src/avr/ao_eeprom_avr.c
@@ -0,0 +1,133 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ * Copyright © 2011 Anthony Towns <aj@erisian.com.au>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_storage.h>
+
+/* Total bytes of available storage */
+__pdata ao_pos_t ao_storage_total = 1024;
+
+/* Block size - device is erased in these units. */
+__pdata ao_pos_t ao_storage_block = 1024;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+__pdata ao_pos_t ao_storage_config = 0;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. */
+__pdata uint16_t ao_storage_unit = 1024;
+
+/*
+ * The internal flash chip is arranged in 8 byte sectors; the
+ * chip cannot erase in units smaller than that.
+ *
+ * Writing happens in units of 2 bytes and
+ * can only change bits from 1 to 0. So, you can rewrite
+ * the same contents, or append to an existing page easily enough
+ */
+
+/*
+ * Erase the specified sector
+ */
+uint8_t
+ao_storage_erase(ao_pos_t pos) __reentrant
+{
+ /* Not necessary */
+ return 1;
+}
+
+#define ao_intflash_wait_idle() do { \
+ /* Wait for any outstanding writes to complete */ \
+ while (EECR & (1 << EEPE)) \
+ ; \
+ } while (0) \
+
+static void
+ao_intflash_write(uint16_t pos, uint8_t d)
+{
+ ao_intflash_wait_idle();
+ EEAR = pos;
+ EEDR = d;
+ ao_arch_critical(
+ EECR |= (1 << EEMPE);
+ EECR |= (1 << EEPE);
+ );
+}
+
+static uint8_t
+ao_intflash_read(uint16_t pos)
+{
+ ao_intflash_wait_idle();
+ EEAR = pos;
+
+ EECR |= (1 << EERE);
+ return EEDR;
+}
+/*
+ * Write to flash
+ */
+
+uint8_t
+ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant
+{
+ uint16_t pos = pos32;
+ __xdata uint8_t *d = v;
+
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+
+ while (len--)
+ ao_intflash_write(pos++, *d++);
+
+ return 1;
+}
+
+/*
+ * Read from flash
+ */
+uint8_t
+ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant
+{
+ uint8_t *d = v;
+
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ while (len--)
+ *d++ = ao_intflash_read(pos++);
+ return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+ printf ("Using internal flash\n");
+}
+
+void
+ao_storage_device_init(void)
+{
+}
diff --git a/src/avr/ao_i2c_usart.c b/src/avr/ao_i2c_usart.c
new file mode 100644
index 00000000..60e35f8c
--- /dev/null
+++ b/src/avr/ao_i2c_usart.c
@@ -0,0 +1,101 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+/*
+ * Atmega32u4 TWI master mode (I2C)
+ */
+
+__xdata uint8_t ao_i2c_mutex;
+
+/* Send bytes over I2C.
+ *
+ * This just polls; the I2C is set to go as fast as possible,
+ * so using interrupts would take way too long
+ */
+void
+ao_i2c_send(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ ao_mutex_get(&ao_i2c_mutex);
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = *d++;
+ while (!(UCSR1A & (1 << RXC1)));
+ (void) UDR1;
+ }
+ ao_mutex_put(&ao_i2c_mutex);
+}
+
+/* Receive bytes over I2C.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the I2C transmitter as that is what
+ * clocks the data coming in.
+ */
+void
+ao_i2c_recv(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ ao_mutex_get(&ao_i2c_mutex);
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = 0;
+ while (!(UCSR1A & (1 << RXC1)));
+ *d++ = UDR1;
+ }
+ ao_mutex_put(&ao_i2c_mutex);
+}
+
+#define XCK1_DDR DDRD
+#define XCK1_PORT PORTD
+#define XCK1 PORTD5
+#define XMS1_DDR DDRE
+#define XMS1_PORT PORTE
+#define XMS1 PORTE6
+
+void
+ao_i2c_init(void)
+{
+ /* Ensure the TWI is powered */
+
+ /*
+ * Set pin directions
+ */
+ XCK1_DDR |= (1 << XCK1);
+
+ /* Clear chip select (which is negated) */
+ XMS1_PORT |= (1 < XMS1);
+ XMS1_DDR |= (1 << XMS1);
+
+ /* Set baud register to zero (required before turning transmitter on) */
+ UBRR1 = 0;
+
+ UCSR1C = ((0x3 << UMSEL10) | /* Master I2C mode */
+ (0 << UCSZ10) | /* I2C mode 0 */
+ (0 << UCPOL1)); /* I2C mode 0 */
+
+ /* Enable transmitter and receiver */
+ UCSR1B = ((1 << RXEN1) |
+ (1 << TXEN1));
+
+ /* It says that 0 is a legal value; we'll see... */
+ UBRR1 = 0;
+}
diff --git a/src/avr/ao_lcd_port.c b/src/avr/ao_lcd_port.c
new file mode 100644
index 00000000..b1e8aa17
--- /dev/null
+++ b/src/avr/ao_lcd_port.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+#define LCD_PORT PORTB
+#define LCD_DDR DDRB
+
+#define PIN_RS 4
+#define PIN_E 5
+#define PIN_RW 6
+
+static void
+ao_lcd_port_set_bits(uint8_t bits)
+{
+#if 0
+ printf("\tLCD data %x RS %d R/W %d E %d\n",
+ bits & 0xf,
+ (bits & (1 << PIN_RS)) ? 1 : 0,
+ (bits & (1 << PIN_RW)) ? 1 : 0,
+ (bits & (1 << PIN_E)) ? 1 : 0);
+#endif
+ LCD_PORT = bits;
+#if 0
+ ao_delay(1);
+ if (bits & (1 << PIN_RW))
+ printf("\tLCD input %x\n", PINB);
+#endif
+}
+
+uint8_t
+ao_lcd_port_get_nibble(uint8_t rs)
+{
+ uint8_t data = (rs ? (1 << PIN_RS) : 0) | (1 << PIN_RW);
+ uint8_t n;
+
+ DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+ ao_lcd_port_set_bits(data);
+ ao_lcd_port_set_bits(data | (1 << PIN_E));
+ n = PINB & 0xf;
+ ao_lcd_port_set_bits(data);
+ return n;
+}
+
+void
+ao_lcd_port_put_nibble(uint8_t rs, uint8_t data)
+{
+ data = (data & 0xf) | (rs ? (1 << PIN_RS) : 0);
+ DDRB = (0xf) | (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+ ao_lcd_port_set_bits(data);
+ ao_lcd_port_set_bits(data | (1 << PIN_E));
+ ao_lcd_port_set_bits(data);
+}
+
+void
+ao_lcd_port_init(void)
+{
+ DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW);
+ PORTB = 0;
+}
diff --git a/src/avr/ao_led.c b/src/avr/ao_led.c
new file mode 100644
index 00000000..91dfb85e
--- /dev/null
+++ b/src/avr/ao_led.c
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+__pdata uint8_t ao_led_enable;
+
+#define LED_PORT PORTB
+#define LED_DDR DDRB
+
+void
+ao_led_on(uint8_t colors)
+{
+ LED_PORT |= (colors & ao_led_enable);
+}
+
+void
+ao_led_off(uint8_t colors)
+{
+ LED_PORT &= ~(colors & ao_led_enable);
+}
+
+void
+ao_led_set(uint8_t colors)
+{
+ LED_PORT = (LED_PORT & ~(ao_led_enable)) | (colors & ao_led_enable);
+}
+
+void
+ao_led_toggle(uint8_t colors)
+{
+ LED_PORT ^= (colors & ao_led_enable);
+}
+
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant
+{
+ ao_led_on(colors);
+ ao_delay(ticks);
+ ao_led_off(colors);
+}
+
+void
+ao_led_init(uint8_t enable)
+{
+ ao_led_enable = enable;
+ if ((LED_DDR & enable)) {
+ printf ("oops! restarted\n");
+ ao_panic(AO_PANIC_REBOOT);
+ }
+ LED_PORT &= ~enable;
+ LED_DDR |= enable;
+}
diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
new file mode 100644
index 00000000..bc423ff7
--- /dev/null
+++ b/src/avr/ao_pins.h
@@ -0,0 +1,135 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#ifdef AVR_DEMO
+ #define AO_LED_RED (1<<7)
+ #define LEDS_AVAILABLE (AO_LED_RED)
+ #define USE_SERIAL_1_STDIN 1
+ #define HAS_USB 1
+ #define PACKET_HAS_SLAVE 0
+ #define HAS_SERIAL_1 1
+ #define TEENSY 1
+ #define AVR_VCC_5V 1
+ #define AVR_VCC_3V3 0
+ #define AVR_CLOCK 16000000UL
+ #define HAS_BEEP 0
+#endif
+
+#ifdef TELESCIENCE
+ #define LEDS_AVAILABLE 0
+ #define HAS_USB 1
+ #define HAS_LOG 1
+ #define TEENSY 0
+ #define HAS_SERIAL_1 0
+ #define HAS_ADC 1
+ #define PACKET_HAS_SLAVE 0
+ #define HAS_BEEP 0
+ #define HAS_EEPROM 1
+ #define HAS_STORAGE_DEBUG 0
+
+ #define AVR_VCC_5V 0
+ #define AVR_VCC_3V3 1
+ #define AVR_CLOCK 8000000UL
+
+ #define SPI_CS_PORT PORTE
+ #define SPI_CS_DIR DDRE
+ #define M25_CS_MASK (1 << PORTE6)
+ #define M25_MAX_CHIPS 1
+
+ #define SPI_SLAVE_CS_PORT PORTB
+ #define SPI_SLAVE_CS_PIN PINB
+ #define SPI_SLAVE_CS_PIN_NO PINB0
+
+ #define SPI_SLAVE_PIN_0_3 1
+ #define SPI_SLAVE_PIN_2_5 0
+
+ #define IS_COMPANION 1
+#endif
+
+#ifdef TELEPYRO
+ #define LEDS_AVAILABLE 0
+ #define HAS_USB 1
+ #define HAS_LOG 0
+ #define TEENSY 0
+ #define USE_SERIAL_1_STDIN 1
+ #define HAS_SERIAL_1 1
+ #define HAS_USB 1
+ #define HAS_ADC 1
+ #define PACKET_HAS_SLAVE 0
+ #define HAS_BEEP 0
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 1
+ #define DISABLE_HELP 1
+ #define HAS_STORAGE_DEBUG 0
+ #define IS_COMPANION 1
+ #define HAS_ORIENT 0
+ #define ao_storage_pos_t uint16_t
+
+ #define AVR_VCC_5V 0
+ #define AVR_VCC_3V3 1
+ #define AVR_CLOCK 8000000UL
+
+ #define SPI_SLAVE_CS_PORT PORTB
+ #define SPI_SLAVE_CS_PIN PINB
+ #define SPI_SLAVE_CS_PIN_NO PINB0
+
+ #define SPI_SLAVE_PIN_0_3 1
+ #define SPI_SLAVE_PIN_2_5 0
+
+ #define AO_PYRO_NUM 8
+
+ #define AO_PYRO_PORT_0 B
+ #define AO_PYRO_PIN_0 5
+
+ #define AO_PYRO_PORT_1 B
+ #define AO_PYRO_PIN_1 6
+
+ #define AO_PYRO_PORT_2 B
+ #define AO_PYRO_PIN_2 7
+
+ #define AO_PYRO_PORT_3 C
+ #define AO_PYRO_PIN_3 6
+
+ #define AO_PYRO_PORT_4 C
+ #define AO_PYRO_PIN_4 7
+
+ #define AO_PYRO_PORT_5 D
+ #define AO_PYRO_PIN_5 5
+
+ #define AO_PYRO_PORT_6 D
+ #define AO_PYRO_PIN_6 3
+
+ #define AO_PYRO_PORT_7 D
+ #define AO_PYRO_PIN_7 2
+
+#endif
+
+#define AO_M25_SPI_CS_PORT SPI_CS_PORT
+#define AO_M25_SPI_CS_MASK M25_CS_MASK
+
+#define AO_TELESCIENCE_NUM_ADC 12
+
+struct ao_adc {
+ uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */
+};
+
+#define AO_DATA_RING 16
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/avr/ao_romconfig.c b/src/avr/ao_romconfig.c
new file mode 100644
index 00000000..ecc19c76
--- /dev/null
+++ b/src/avr/ao_romconfig.c
@@ -0,0 +1,20 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+AO_ROMCONFIG_SYMBOL (0) uint16_t ao_serial_number = 0;
diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c
new file mode 100644
index 00000000..dcee246c
--- /dev/null
+++ b/src/avr/ao_serial_avr.c
@@ -0,0 +1,162 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+__xdata struct ao_fifo ao_serial1_rx_fifo;
+__xdata struct ao_fifo ao_serial1_tx_fifo;
+
+void
+ao_debug_out(char c)
+{
+ if (c == '\n')
+ ao_debug_out('\r');
+ loop_until_bit_is_set(UCSR1A, UDRE1);
+ UDR1 = c;
+}
+
+ISR(USART1_RX_vect)
+{
+ if (!ao_fifo_full(ao_serial1_rx_fifo))
+ ao_fifo_insert(ao_serial1_rx_fifo, UDR1);
+ ao_wakeup(&ao_serial1_rx_fifo);
+#if USE_SERIAL_1_STDIN
+ ao_wakeup(&ao_stdin_ready);
+#endif
+}
+
+static __xdata uint8_t ao_serial_tx1_started;
+
+static void
+ao_serial1_tx_start(void)
+{
+ if (!ao_fifo_empty(ao_serial1_tx_fifo) &&
+ !ao_serial_tx1_started)
+ {
+ ao_serial_tx1_started = 1;
+ ao_fifo_remove(ao_serial1_tx_fifo, UDR1);
+ }
+}
+
+ISR(USART1_UDRE_vect)
+{
+ ao_serial1_tx_started = 0;
+ ao_serial1_tx_start();
+ ao_wakeup(&ao_serial1_tx_fifo);
+}
+
+char
+ao_serial1_getchar(void) __critical
+{
+ char c;
+ cli();
+ while (ao_fifo_empty(ao_serial1_rx_fifo))
+ ao_sleep(&ao_serial1_rx_fifo);
+ ao_fifo_remove(ao_serial1_rx_fifo, c);
+ sei();
+ return c;
+}
+
+#if USE_SERIAL_1_STDIN
+char
+ao_serial1_pollchar(void) __critical
+{
+ char c;
+ cli();
+ if (ao_fifo_empty(ao_serial1_rx_fifo)) {
+ sei();
+ return AO_READ_AGAIN;
+ }
+ ao_fifo_remove(ao_serial1_rx_fifo,c);
+ sei();
+ return c;
+}
+#endif
+
+void
+ao_serial1_putchar(char c) __critical
+{
+ cli();
+ while (ao_fifo_full(ao_serial1_tx_fifo))
+ ao_sleep(&ao_serial1_tx_fifo);
+ ao_fifo_insert(ao_serial1_tx_fifo, c);
+ ao_serial_tx1_start();
+ sei();
+}
+
+void
+ao_serial1_drain(void) __critical
+{
+ cli();
+ while (!ao_fifo_empty(ao_serial1_tx_fifo))
+ ao_sleep(&ao_serial1_tx_fifo);
+ sei();
+}
+
+static const struct {
+ uint16_t ubrr;
+} ao_serial_speeds[] = {
+ /* [AO_SERIAL_SPEED_4800] = */ {
+ F_CPU / (16UL * 4800UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_9600] = */ {
+ F_CPU / (16UL * 9600UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_19200] = */ {
+ F_CPU / (16UL * 19200UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_57600] = */ {
+ F_CPU / (16UL * 57600UL) - 1
+ },
+};
+
+void
+ao_serial1_set_speed(uint8_t speed)
+{
+ ao_serial_drain();
+ if (speed > AO_SERIAL_SPEED_57600)
+ return;
+ UBRR1L = ao_serial_speeds[speed].ubrr;
+ UBRR1H = ao_serial_speeds[speed].ubrr >> 8;
+}
+
+void
+ao_serial_init(void)
+{
+ /* Ensure the uart is powered up */
+
+ PRR1 &= ~(1 << PRUSART1);
+
+ /* Pick a 9600 baud rate */
+ ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+
+ UCSR1A = 0;
+ UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */
+ (0 << UPM10) | /* No parity */
+ (0 << USBS1) | /* 1 stop bit */
+ (3 << UCSZ10) | /* 8 bit characters */
+ (0 << UCPOL1)); /* MBZ for async mode */
+ UCSR1B = ((1 << RXEN1) | /* Enable receiver */
+ (1 << TXEN1) | /* Enable transmitter */
+ (1 << RXCIE1) | /* Enable receive interrupts */
+ (1 << UDRIE1)); /* Enable transmit empty interrupts */
+#if USE_SERIAL_1_STDIN
+ ao_add_stdio(ao_serial1_pollchar,
+ ao_serial1_putchar,
+ NULL);
+#endif
+}
diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
new file mode 100644
index 00000000..b742d29a
--- /dev/null
+++ b/src/avr/ao_spi_slave.c
@@ -0,0 +1,115 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+uint8_t
+ao_spi_slave_recv(uint8_t *buf, uint8_t len)
+{
+ while (len--) {
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return 0;
+ *buf++ = SPDR;
+ }
+ return 1;
+}
+
+void
+ao_spi_slave_send(uint8_t *buf, uint8_t len)
+{
+ while (len--) {
+ SPDR = *buf++;
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return;
+ }
+ /* Clear pending SPIF bit by reading */
+ (void) SPDR;
+}
+
+static uint8_t ao_spi_slave_running;
+
+ISR(PCINT0_vect)
+{
+ cli();
+#if SPI_SLAVE_PIN_0_3
+ if ((PINB & (1 << PORTB0)) == 0)
+#endif
+#if SPI_SLAVE_PIN_2_5
+ if ((PINB & (1 << PORTB2)) == 0)
+#endif
+ {
+ if (!ao_spi_slave_running) {
+ ao_spi_slave_running = 1;
+ ao_spi_slave();
+ }
+ } else {
+ ao_spi_slave_running = 0;
+ }
+ sei();
+}
+
+void
+ao_spi_slave_init(void)
+{
+ /* We'd like to have a pull-up on SS so that disconnecting the
+ * TM would cause any SPI transaction to abort. However, when
+ * I tried that, SPI transactions would spontaneously abort,
+ * making me assume that we needed a less aggressive pull-up
+ * than is offered inside the AVR
+ */
+#if SPI_SLAVE_PIN_0_3
+ PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */
+ PCICR |= (1 << PCIE0); /* Enable pin change interrupt */
+
+ DDRB = ((DDRB & 0xf0) |
+ (1 << 3) | /* MISO, output */
+ (0 << 2) | /* MOSI, input */
+ (0 << 1) | /* SCK, input */
+ (0 << 0)); /* SS, input */
+
+ PORTB = ((PORTB & 0xf0) |
+ (1 << 3) | /* MISO, output */
+ (0 << 2) | /* MOSI, no pull-up */
+ (0 << 1) | /* SCK, no pull-up */
+ (1 << 0)); /* SS, pull-up */
+#endif
+#if SPI_SLAVE_PIN_2_5
+ PCMSK0 |= (1 << PCINT2); /* Enable PCINT2 pin change */
+ PCICR |= (1 << PCIE0); /* Enable pin change interrupt */
+
+ DDRB = ((DDRB & 0xf0) |
+ (0 << 5) | /* SCK, input */
+ (1 << 4) | /* MISO, output */
+ (0 << 3) | /* MOSI, input */
+ (0 << 2)); /* SS, input */
+
+ PORTB = ((PORTB & 0xf0) |
+ (0 << 5) | /* SCK, no pull-up */
+ (1 << 4) | /* MISO, output */
+ (0 << 3) | /* MOSI, no pull-up */
+ (1 << 2)); /* SS, pull-up */
+#endif
+
+ SPCR = (0 << SPIE) | /* Disable SPI interrupts */
+ (1 << SPE) | /* Enable SPI */
+ (0 << DORD) | /* MSB first */
+ (0 << MSTR) | /* Slave mode */
+ (0 << CPOL) | /* Clock low when idle */
+ (0 << CPHA); /* Sample at leading clock edge */
+}
diff --git a/src/avr/ao_spi_usart.c b/src/avr/ao_spi_usart.c
new file mode 100644
index 00000000..7c41042a
--- /dev/null
+++ b/src/avr/ao_spi_usart.c
@@ -0,0 +1,110 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+/*
+ * Atmega32u4 USART in MSPIM (master SPI mode)
+ */
+
+__xdata uint8_t ao_spi_mutex;
+
+/* Send bytes over SPI.
+ *
+ * This just polls; the SPI is set to go as fast as possible,
+ * so using interrupts would take way too long
+ */
+void
+ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = *d++;
+ while (!(UCSR1A & (1 << RXC1)));
+ (void) UDR1;
+ }
+}
+
+/* Receive bytes over SPI.
+ *
+ * Poll, sending zeros and reading data back
+ */
+void
+ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ /* Clear any pending data */
+ while (UCSR1A & (1 << RXC1))
+ (void) UDR1;
+
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = 0;
+ while (!(UCSR1A & (1 << RXC1)));
+ *d++ = UDR1;
+ }
+}
+
+/*
+ * Initialize USART0 for SPI using config alt 2
+ *
+ * MO P1_5
+ * MI P1_4
+ * CLK P1_3
+ *
+ * Chip select is the responsibility of the caller
+ */
+
+#define XCK1_DDR DDRD
+#define XCK1_PORT PORTD
+#define XCK1 PORTD5
+#define XMS1_DDR DDRE
+#define XMS1_PORT PORTE
+#define XMS1 PORTE6
+
+void
+ao_spi_init(void)
+{
+ /* Ensure the USART is powered */
+ PRR1 &= ~(1 << PRUSART1);
+
+ /*
+ * Set pin directions
+ */
+ XCK1_DDR |= (1 << XCK1);
+
+ /* Clear chip select (which is negated) */
+ XMS1_PORT |= (1 < XMS1);
+ XMS1_DDR |= (1 << XMS1);
+
+ /* Set baud register to zero (required before turning transmitter on) */
+ UBRR1 = 0;
+
+ UCSR1C = ((0x3 << UMSEL10) | /* Master SPI mode */
+ (0 << UCSZ10) | /* SPI mode 0 */
+ (0 << UCPOL1)); /* SPI mode 0 */
+
+ /* Enable transmitter and receiver */
+ UCSR1B = ((1 << RXEN1) |
+ (1 << TXEN1));
+
+ /* It says that 0 is a legal value; we'll see... */
+ UBRR1 = 0;
+}
diff --git a/src/avr/ao_timer.c b/src/avr/ao_timer.c
new file mode 100644
index 00000000..d2ea2be7
--- /dev/null
+++ b/src/avr/ao_timer.c
@@ -0,0 +1,80 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+volatile __data uint16_t ao_tick_count;
+
+uint16_t ao_time(void)
+{
+ uint16_t v;
+ ao_arch_critical(
+ v = ao_tick_count;
+ );
+ return v;
+}
+
+#define T1_CLOCK_DIVISOR 8 /* 24e6/8 = 3e6 */
+#define T1_SAMPLE_TIME 30000 /* 3e6/30000 = 100 */
+
+#if HAS_ADC
+volatile __data uint8_t ao_adc_interval = 1;
+volatile __data uint8_t ao_adc_count;
+#endif
+
+void
+ao_debug_out(char c);
+
+ISR(TIMER1_COMPA_vect)
+{
+ ++ao_tick_count;
+#if HAS_ADC
+ if (++ao_adc_count == ao_adc_interval) {
+ ao_adc_count = 0;
+ ao_adc_poll();
+ }
+#endif
+}
+
+#if HAS_ADC
+void
+ao_timer_set_adc_interval(uint8_t interval) __critical
+{
+ ao_adc_interval = interval;
+ ao_adc_count = 0;
+}
+#endif
+
+void
+ao_timer_init(void)
+{
+ TCCR1A = ((0 << WGM11) | /* CTC mode, OCR1A */
+ (0 << WGM10)); /* CTC mode, OCR1A */
+ TCCR1B = ((0 << ICNC1) | /* no input capture noise canceler */
+ (0 << ICES1) | /* input capture on falling edge (don't care) */
+ (0 << WGM13) | /* CTC mode, OCR1A */
+ (1 << WGM12) | /* CTC mode, OCR1A */
+ (3 << CS10)); /* clk/64 from prescaler */
+
+#if TEENSY
+ OCR1A = 2500; /* 16MHz clock */
+#else
+ OCR1A = 1250; /* 8MHz clock */
+#endif
+
+ TIMSK1 = (1 << OCIE1A); /* Interrupt on compare match */
+}
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
new file mode 100644
index 00000000..9ba407af
--- /dev/null
+++ b/src/avr/ao_usb_avr.c
@@ -0,0 +1,672 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_usb.h"
+
+#define USB_DEBUG 0
+
+#if USB_DEBUG
+#define debug(format, args...) printf(format, ## args)
+#else
+#define debug(format, args...)
+#endif
+
+struct ao_task __xdata ao_usb_task;
+
+struct ao_usb_setup {
+ uint8_t dir_type_recip;
+ uint8_t request;
+ uint16_t value;
+ uint16_t index;
+ uint16_t length;
+} __xdata ao_usb_setup;
+
+static __xdata uint8_t ao_usb_ep0_state;
+static const uint8_t * __xdata ao_usb_ep0_in_data;
+static __xdata uint8_t ao_usb_ep0_in_len;
+static __xdata uint8_t ao_usb_ep0_in_pending;
+static __xdata uint8_t ao_usb_addr_pending;
+static __xdata uint8_t ao_usb_ep0_in_buf[2];
+static __xdata uint8_t ao_usb_ep0_out_len;
+static __xdata uint8_t *__xdata ao_usb_ep0_out_data;
+
+static __xdata uint8_t ao_usb_in_flushed;
+static __xdata uint8_t ao_usb_running;
+static __xdata uint8_t ao_usb_configuration;
+static __xdata uint8_t ueienx_0;
+
+void
+ao_usb_set_address(uint8_t address)
+{
+ UDADDR = (0 << ADDEN) | address;
+ ao_usb_addr_pending = 1;
+}
+
+#define EP_SIZE(s) ((s) == 64 ? 0x30 : \
+ ((s) == 32 ? 0x20 : \
+ ((s) == 16 ? 0x10 : \
+ 0x00)))
+
+static void
+ao_usb_dump_ep(uint8_t ep)
+{
+ UENUM = ep;
+ debug ("EP %d: UECONX %02x UECFG0X %02x UECFG1X %02x UEIENX %02x UESTA0X %02x UESTA1X %02X\n",
+ ep, UECONX, UECFG0X, UECFG1X, UEIENX, UESTA0X, UESTA1X);
+}
+
+static void
+ao_usb_set_ep0(void)
+{
+ debug ("set_ep0\n");
+ /* Set the CONTROL max packet size, single buffered */
+ UENUM = 0;
+ UECONX = (1 << EPEN); /* Enable */
+
+ UECFG0X = ((0 << EPTYPE0) | /* Control */
+ (0 << EPDIR)); /* Out (ish) */
+
+ UECFG1X = (EP_SIZE(AO_USB_CONTROL_SIZE) | /* Size */
+ (0 << EPBK0) | /* Single bank */
+ (1 << ALLOC));
+
+ ueienx_0 = ((1 << RXSTPE) | /* Enable SETUP interrupt */
+ (1 << RXOUTE)); /* Enable OUT interrupt */
+
+// ao_usb_dump_ep(0);
+ ao_usb_addr_pending = 0;
+}
+
+static void
+ao_usb_set_configuration(void)
+{
+ /* Set the IN max packet size, double buffered */
+ UENUM = AO_USB_IN_EP;
+ UECONX = (1 << EPEN); /* Enable */
+
+ UECFG0X = ((2 << EPTYPE0) | /* Bulk */
+ (1 << EPDIR)); /* In */
+
+ UECFG1X = (EP_SIZE(AO_USB_IN_SIZE) | /* Size */
+ (1 << EPBK0) | /* Double bank */
+ (1 << ALLOC)); /* Allocate */
+
+#if 0
+ UEIENX = ((1 << TXINE)); /* Enable IN complete interrupt */
+#endif
+
+ ao_usb_dump_ep(AO_USB_IN_EP);
+
+ /* Set the OUT max packet size, double buffered */
+ UENUM = AO_USB_OUT_EP;
+ UECONX |= (1 << EPEN); /* Enable */
+
+ UECFG0X = ((2 << EPTYPE0) | /* Bulk */
+ (0 << EPDIR)); /* Out */
+
+ UECFG1X = (EP_SIZE(AO_USB_OUT_SIZE) | /* Size */
+ (1 << EPBK0) | /* Double bank */
+ (1 << ALLOC)); /* Allocate */
+
+ UEIENX = ((1 << RXOUTE)); /* Enable OUT complete interrupt */
+
+ ao_usb_dump_ep(AO_USB_OUT_EP);
+ ao_usb_running = 1;
+}
+
+ISR(USB_GEN_vect)
+{
+ ao_wakeup(&ao_usb_task);
+}
+
+
+__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+
+/* Walk through the list of descriptors and find a match
+ */
+static void
+ao_usb_get_descriptor(uint16_t value)
+{
+ const uint8_t *__xdata descriptor;
+ __xdata uint8_t type = value >> 8;
+ __xdata uint8_t index = value;
+
+ descriptor = ao_usb_descriptors;
+ while (descriptor[0] != 0) {
+ if (descriptor[1] == type && index-- == 0) {
+ if (type == AO_USB_DESC_CONFIGURATION)
+ ao_usb_ep0_in_len = descriptor[2];
+ else
+ ao_usb_ep0_in_len = descriptor[0];
+ ao_usb_ep0_in_data = descriptor;
+ break;
+ }
+ descriptor += descriptor[0];
+ }
+}
+
+static void
+ao_usb_ep0_set_in_pending(uint8_t in_pending)
+{
+ ao_usb_ep0_in_pending = in_pending;
+
+ if (in_pending)
+ ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE) | (1 << TXINE)); /* Enable IN interrupt */
+}
+
+/* Send an IN data packet */
+static void
+ao_usb_ep0_flush(void)
+{
+ __xdata uint8_t this_len;
+
+ cli();
+ UENUM = 0;
+ if (!(UEINTX & (1 << TXINI))) {
+ debug("EP0 not accepting IN data\n");
+ ao_usb_ep0_set_in_pending(1);
+ } else {
+ this_len = ao_usb_ep0_in_len;
+ if (this_len > AO_USB_CONTROL_SIZE)
+ this_len = AO_USB_CONTROL_SIZE;
+
+ ao_usb_ep0_in_len -= this_len;
+
+ /* Set IN interrupt enable */
+ if (ao_usb_ep0_in_len == 0 && this_len != AO_USB_CONTROL_SIZE)
+ ao_usb_ep0_set_in_pending(0);
+ else
+ ao_usb_ep0_set_in_pending(1);
+
+ debug ("Flush EP0 len %d:", this_len);
+ while (this_len--) {
+ uint8_t c = *ao_usb_ep0_in_data++;
+ debug(" %02x", c);
+ UEDATX = c;
+ }
+ debug ("\n");
+
+ /* Clear the TXINI bit to send the packet */
+ UEINTX &= ~(1 << TXINI);
+ }
+ sei();
+}
+
+/* Read data from the ep0 OUT fifo */
+static void
+ao_usb_ep0_fill(uint8_t len, uint8_t ack)
+{
+ if (len > ao_usb_ep0_out_len)
+ len = ao_usb_ep0_out_len;
+ ao_usb_ep0_out_len -= len;
+
+// debug ("EP0 UEINTX %02x UEBCLX %d UEBCHX %d\n",
+// UEINTX, UEBCLX, UEBCHX);
+ /* Pull all of the data out of the packet */
+ debug ("Fill EP0 len %d:", len);
+ UENUM = 0;
+ while (len--) {
+ uint8_t c = UEDATX;
+ *ao_usb_ep0_out_data++ = c;
+ debug (" %02x", c);
+ }
+ debug ("\n");
+
+ /* ACK the packet */
+ UEINTX &= ~ack;
+}
+
+void
+ao_usb_ep0_queue_byte(uint8_t a)
+{
+ ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a;
+}
+
+static void
+ao_usb_ep0_setup(void)
+{
+ /* Pull the setup packet out of the fifo */
+ ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_setup;
+ ao_usb_ep0_out_len = 8;
+ ao_usb_ep0_fill(8, (1 << RXSTPI) | (1 << RXOUTI) | (1 << TXINI));
+ if (ao_usb_ep0_out_len != 0) {
+ debug ("invalid setup packet length\n");
+ return;
+ }
+
+ /* Figure out how to ACK the setup packet */
+ if (ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) {
+ if (ao_usb_setup.length)
+ ao_usb_ep0_state = AO_USB_EP0_DATA_IN;
+ else
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ } else {
+ if (ao_usb_setup.length)
+ ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
+ else
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ }
+/*
+ UENUM = 0;
+ if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
+ else
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY;
+*/
+
+ ao_usb_ep0_in_data = ao_usb_ep0_in_buf;
+ ao_usb_ep0_in_len = 0;
+ switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) {
+ case AO_USB_TYPE_STANDARD:
+ debug ("Standard setup packet\n");
+ switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) {
+ case AO_USB_RECIP_DEVICE:
+ debug ("Device setup packet\n");
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ debug ("get status\n");
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_SET_ADDRESS:
+ debug ("set address %d\n", ao_usb_setup.value);
+ ao_usb_set_address(ao_usb_setup.value);
+ break;
+ case AO_USB_REQ_GET_DESCRIPTOR:
+ debug ("get descriptor %d\n", ao_usb_setup.value);
+ ao_usb_get_descriptor(ao_usb_setup.value);
+ break;
+ case AO_USB_REQ_GET_CONFIGURATION:
+ debug ("get configuration %d\n", ao_usb_configuration);
+ ao_usb_ep0_queue_byte(ao_usb_configuration);
+ break;
+ case AO_USB_REQ_SET_CONFIGURATION:
+ ao_usb_configuration = ao_usb_setup.value;
+ debug ("set configuration %d\n", ao_usb_configuration);
+ ao_usb_set_configuration();
+ break;
+ }
+ break;
+ case AO_USB_RECIP_INTERFACE:
+ debug ("Interface setup packet\n");
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_GET_INTERFACE:
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_SET_INTERFACE:
+ break;
+ }
+ break;
+ case AO_USB_RECIP_ENDPOINT:
+ debug ("Endpoint setup packet\n");
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ }
+ break;
+ }
+ break;
+ case AO_USB_TYPE_CLASS:
+ debug ("Class setup packet\n");
+ switch (ao_usb_setup.request) {
+ case AO_USB_SET_LINE_CODING:
+ debug ("set line coding\n");
+ ao_usb_ep0_out_len = 7;
+ ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding;
+ break;
+ case AO_USB_GET_LINE_CODING:
+ debug ("get line coding\n");
+ ao_usb_ep0_in_len = 7;
+ ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding;
+ break;
+ case AO_USB_SET_CONTROL_LINE_STATE:
+ break;
+ }
+ break;
+ }
+ if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) {
+ if (ao_usb_setup.length < ao_usb_ep0_in_len)
+ ao_usb_ep0_in_len = ao_usb_setup.length;
+ debug ("Start ep0 in delivery %d\n", ao_usb_ep0_in_len);
+ ao_usb_ep0_set_in_pending(1);
+ }
+}
+
+/* End point 0 receives all of the control messages. */
+static void
+ao_usb_ep0(void)
+{
+ uint8_t intx, udint;
+
+ debug ("usb task started\n");
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ for (;;) {
+ cli();
+ for (;;) {
+ udint = UDINT;
+ UDINT = 0;
+// debug ("UDINT %02x\n", udint);
+ if (udint & (1 << EORSTI)) {
+ ao_usb_configuration = 0;
+ ao_usb_set_ep0();
+ }
+ UENUM = 0;
+ intx = UEINTX;
+// debug ("UEINTX %02x\n", intx);
+ if (intx & ((1 << RXSTPI) | (1 << RXOUTI)))
+ break;
+ if ((intx & (1 << TXINI))) {
+ if (ao_usb_ep0_in_pending)
+ break;
+ else
+ {
+ if (ao_usb_addr_pending) {
+ UDADDR |= (1 << ADDEN);
+ ao_usb_addr_pending = 0;
+ }
+ ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE)); /* Disable IN interrupt */
+ }
+ }
+// debug ("usb task sleeping...\n");
+ UENUM = 0;
+ UEIENX = ueienx_0;
+ ao_sleep(&ao_usb_task);
+ }
+ sei();
+// debug ("UEINTX for ep0 is %02x\n", intx);
+ if (intx & (1 << RXSTPI)) {
+ ao_usb_ep0_setup();
+ }
+ if (intx & (1 << RXOUTI)) {
+ ao_usb_ep0_fill(UEBCLX, (1 << RXOUTI));
+ ao_usb_ep0_set_in_pending(1);
+ }
+ if (intx & (1 << TXINI) && ao_usb_ep0_in_pending) {
+ debug ("continue sending ep0 IN data\n");
+ ao_usb_ep0_flush();
+ }
+ }
+}
+
+/* Wait for a free IN buffer */
+static void
+ao_usb_in_wait(void)
+{
+ for (;;) {
+ /* Check if the current buffer is writable */
+ UENUM = AO_USB_IN_EP;
+ if (UEINTX & (1 << RWAL))
+ break;
+
+ cli();
+ /* Wait for an IN buffer to be ready */
+ for (;;) {
+ UENUM = AO_USB_IN_EP;
+ if ((UEINTX & (1 << TXINI)))
+ break;
+ UEIENX = (1 << TXINE);
+ ao_sleep(&ao_usb_in_flushed);
+ }
+ /* Ack the interrupt */
+ UEINTX &= ~(1 << TXINI);
+ sei();
+ }
+}
+
+/* Queue the current IN buffer for transmission */
+static void
+ao_usb_in_send(void)
+{
+ UENUM = AO_USB_IN_EP;
+ UEINTX &= ~(1 << FIFOCON);
+}
+
+void
+ao_usb_flush(void) __critical
+{
+ if (!ao_usb_running)
+ return;
+
+ /* Anytime we've sent a character since
+ * the last time we flushed, we'll need
+ * to send a packet -- the only other time
+ * we would send a packet is when that
+ * packet was full, in which case we now
+ * want to send an empty packet
+ */
+ if (!ao_usb_in_flushed) {
+ ao_usb_in_flushed = 1;
+ ao_usb_in_wait();
+ ao_usb_in_send();
+ }
+}
+
+void
+ao_usb_putchar(char c) __critical __reentrant
+{
+ if (!ao_usb_running)
+ return;
+
+ ao_usb_in_wait();
+
+ /* Queue a byte */
+ UENUM = AO_USB_IN_EP;
+ UEDATX = c;
+
+ /* Send the packet when full */
+ if ((UEINTX & (1 << RWAL)) == 0)
+ ao_usb_in_send();
+ ao_usb_in_flushed = 0;
+}
+
+static char
+_ao_usb_pollchar(void)
+{
+ char c;
+ uint8_t intx;
+
+ if (!ao_usb_running)
+ return AO_READ_AGAIN;
+
+ for (;;) {
+ UENUM = AO_USB_OUT_EP;
+ intx = UEINTX;
+ debug("usb_pollchar UEINTX %02d\n", intx);
+ if (intx & (1 << RWAL))
+ break;
+
+ if (intx & (1 << FIFOCON)) {
+ /* Ack the last packet */
+ UEINTX = (uint8_t) ~(1 << FIFOCON);
+ }
+
+ /* Check to see if a packet has arrived */
+ if ((intx & (1 << RXOUTI)) == 0) {
+ UENUM = AO_USB_OUT_EP;
+ UEIENX = (1 << RXOUTE);
+ return AO_READ_AGAIN;
+ }
+
+ /* Ack the interrupt */
+ UEINTX = ~(1 << RXOUTI);
+ }
+
+ /* Pull a character out of the fifo */
+ c = UEDATX;
+ return c;
+}
+
+char
+ao_usb_pollchar(void)
+{
+ char c;
+ cli();
+ c = _ao_usb_pollchar();
+ sei();
+ return c;
+}
+
+char
+ao_usb_getchar(void) __critical
+{
+ char c;
+
+ cli();
+ while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
+ ao_sleep(&ao_stdin_ready);
+ sei();
+ return c;
+}
+
+uint16_t control_count;
+uint16_t in_count;
+uint16_t out_count;
+
+/* Endpoint interrupt */
+ISR(USB_COM_vect)
+{
+ uint8_t old_num = UENUM;
+ uint8_t i = UEINT;
+
+#ifdef AO_LED_RED
+ ao_led_toggle(AO_LED_RED);
+#endif
+ UEINT = 0;
+ if (i & (1 << 0)) {
+ UENUM = 0;
+ UEIENX = 0;
+ ao_wakeup(&ao_usb_task);
+ ++control_count;
+ }
+ if (i & (1 << AO_USB_IN_EP)) {
+ UENUM = AO_USB_IN_EP;
+ UEIENX = 0;
+ ao_wakeup(&ao_usb_in_flushed);
+ in_count++;
+ }
+ if (i & (1 << AO_USB_OUT_EP)) {
+ UENUM = AO_USB_OUT_EP;
+ UEIENX = 0;
+ ao_wakeup(&ao_stdin_ready);
+ ++out_count;
+ }
+ UENUM = old_num;
+}
+
+#if AVR_VCC_5V
+#define AO_PAD_REGULATOR_INIT (1 << UVREGE) /* Turn on pad regulator */
+#endif
+#if AVR_VCC_3V3
+/* TeleScience V0.1 has a hardware bug -- UVcc is hooked up, but UCap is not
+ * Make this work by running power through UVcc to the USB system
+ */
+#define AO_PAD_REGULATOR_INIT (1 << UVREGE) /* Turn off pad regulator */
+#endif
+
+#if AVR_CLOCK == 16000000UL
+#define AO_USB_PLL_INPUT_PRESCALER (1 << PINDIV) /* Divide 16MHz clock by 2 */
+#endif
+#if AVR_CLOCK == 8000000UL
+#define AO_USB_PLL_INPUT_PRESCALER 0 /* Don't divide clock */
+#endif
+
+void
+ao_usb_disable(void)
+{
+ /* Unplug from the bus */
+ UDCON = (1 << DETACH);
+
+ /* Disable the interface */
+ USBCON = 0;
+
+ /* Disable the PLL */
+ PLLCSR = 0;
+
+ /* Turn off the pad regulator */
+ UHWCON = 0;
+}
+
+#define AO_USB_CON ((1 << USBE) | /* USB enable */ \
+ (0 << RSTCPU) | /* do not reset CPU */ \
+ (0 << LSM) | /* Full speed mode */ \
+ (0 << RMWKUP)) /* no remote wake-up */ \
+
+void
+ao_usb_enable(void)
+{
+ /* Configure pad regulator */
+ UHWCON = AO_PAD_REGULATOR_INIT;
+
+ /* Enable USB device, but freeze the clocks until initialized */
+ USBCON = AO_USB_CON | (1 <<FRZCLK);
+
+ /* Enable PLL with appropriate divider */
+ PLLCSR = AO_USB_PLL_INPUT_PRESCALER | (1 << PLLE);
+
+ /* Wait for PLL to lock */
+ loop_until_bit_is_set(PLLCSR, (1 << PLOCK));
+
+ /* Enable USB, enable the VBUS pad */
+ USBCON = AO_USB_CON | (1 << OTGPADE);
+
+ /* Enable global interrupts */
+ UDIEN = (1 << EORSTE); /* End of reset interrupt */
+
+ ao_usb_configuration = 0;
+
+ debug ("ao_usb_enable\n");
+
+ debug ("UHWCON %02x USBCON %02x PLLCSR %02x UDIEN %02x\n",
+ UHWCON, USBCON, PLLCSR, UDIEN);
+ UDCON = (0 << DETACH); /* Clear the DETACH bit to plug into the bus */
+}
+
+#if USB_DEBUG
+struct ao_task __xdata ao_usb_echo_task;
+
+static void
+ao_usb_echo(void)
+{
+ char c;
+
+ for (;;) {
+ c = ao_usb_getchar();
+ ao_usb_putchar(c);
+ ao_usb_flush();
+ }
+}
+#endif
+
+void
+ao_usb_init(void)
+{
+ ao_usb_enable();
+
+ debug ("ao_usb_init\n");
+ ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
+#if USB_DEBUG
+ ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo");
+#endif
+ ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-21 13:11:28 +0000