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-rw-r--r--src/avr/ao_adc_avr.c129
-rw-r--r--src/avr/ao_arch.h9
-rw-r--r--src/avr/ao_spi_slave.c142
-rw-r--r--src/avr/ao_spi_usart.c112
4 files changed, 392 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..5afced74
--- /dev/null
+++ b/src/avr/ao_adc_avr.c
@@ -0,0 +1,129 @@
+/*
+ * 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_adc ao_adc_ring[AO_ADC_RING];
+volatile __data uint8_t ao_adc_head;
+
+const uint8_t adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = {
+ 0x00,
+ 0x01,
+ 0x04,
+ 0x05,
+ 0x06,
+ 0x07,
+ 0x20,
+ 0x21,
+ 0x22,
+ 0x23,
+ 0x24,
+ 0x25,
+};
+
+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 */ \
+ (2 << 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_adc_ring[ao_adc_head].adc[ao_adc_channel] = value;
+ if (++ao_adc_channel < AO_TELESCIENCE_NUM_ADC)
+ ao_adc_start();
+ else {
+ ADCSRA = ADCSRA_INIT;
+ ao_adc_ring[ao_adc_head].tick = ao_time();
+ ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ ao_wakeup((void *) &ao_adc_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_adc_get(__xdata struct ao_adc *packet)
+{
+ uint8_t i = ao_adc_ring_prev(ao_adc_head);
+ memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc));
+}
+
+static void
+ao_adc_dump(void) __reentrant
+{
+ static __xdata struct ao_adc packet;
+ uint8_t i;
+ ao_adc_get(&packet);
+ printf("tick: %5u", packet.tick);
+ for (i = 0; i < AO_TELESCIENCE_NUM_ADC; i++)
+ printf (" %2d: %5u", i, packet.adc[i]);
+ printf ("\n");
+}
+
+__code struct ao_cmds ao_adc_cmds[] = {
+ { ao_adc_dump, "a\0Display current ADC values" },
+ { 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+ 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
index 0ed97361..c695a725 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -145,5 +145,14 @@ extern uint8_t ao_cpu_sleep_disable;
#define ao_arch_critical(b) do { cli(); b; sei(); } while (0)
+#define AO_TELESCIENCE_NUM_ADC 12
+
+struct ao_adc {
+ uint16_t tick; /* tick when the sample was read */
+ uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */
+};
+
+#define AO_ADC_RING 16
+
#endif /* _AO_ARCH_H_ */
diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
new file mode 100644
index 00000000..4dde09f3
--- /dev/null
+++ b/src/avr/ao_spi_slave.c
@@ -0,0 +1,142 @@
+/*
+ * 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_product.h"
+
+struct ao_companion_command ao_companion_command;
+
+static const struct ao_companion_setup ao_telescience_setup = {
+ .board_id = AO_idProduct_NUMBER,
+ .board_id_inverse = ~AO_idProduct_NUMBER,
+ .update_period = 50,
+ .channels = AO_LOG_TELESCIENCE_NUM_ADC,
+};
+
+static uint8_t
+ao_spi_read(uint8_t *buf, uint8_t len)
+{
+ while (len--) {
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return 0;
+ *buf++ = SPDR;
+ }
+ return 1;
+}
+
+static void
+ao_spi_write(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_recv(void)
+{
+ if (!ao_spi_read((uint8_t *) &ao_companion_command,
+ sizeof (ao_companion_command)))
+ return 0;
+
+ /* Figure out the outbound data */
+ switch (ao_companion_command.command) {
+ case AO_COMPANION_SETUP:
+ ao_spi_write((uint8_t *) &ao_telescience_setup,
+ sizeof (ao_telescience_setup));
+ break;
+ case AO_COMPANION_FETCH:
+ ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
+ AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
+ break;
+ case AO_COMPANION_NOTIFY:
+ break;
+ default:
+ return 0;
+ }
+
+ ao_log_store.tm_tick = ao_companion_command.tick;
+ if (ao_log_store.tm_state != ao_companion_command.flight_state) {
+ ao_log_store.tm_state = ao_companion_command.flight_state;
+ return 1;
+ }
+ return 0;
+}
+
+static uint8_t ao_spi_slave_running;
+
+ISR(PCINT0_vect)
+{
+ if ((PINB & (1 << PINB0)) == 0) {
+ if (!ao_spi_slave_running) {
+ uint8_t changed;
+ ao_spi_slave_running = 1;
+ cli();
+ changed = ao_spi_slave_recv();
+ sei();
+ if (changed && ao_flight_boost <= ao_log_store.tm_state) {
+ if (ao_log_store.tm_state < ao_flight_landed)
+ ao_log_start();
+ else
+ ao_log_stop();
+ }
+ }
+ } else {
+ ao_spi_slave_running = 0;
+ }
+}
+
+void ao_spi_slave_debug(void) {
+ printf ("slave running %d\n", ao_spi_slave_running);
+}
+
+void
+ao_spi_slave_init(void)
+{
+ 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 */
+
+ /* 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
+ */
+ PORTB = ((PORTB & 0xf0) |
+ (1 << 3) | /* MISO, output */
+ (0 << 2) | /* MOSI, no pull-up */
+ (0 << 1) | /* SCK, no pull-up */
+ (0 << 0)); /* SS, no pull-up */
+
+ 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..6ed708ff
--- /dev/null
+++ b/src/avr/ao_spi_usart.c
@@ -0,0 +1,112 @@
+/*
+ * 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(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ ao_mutex_get(&ao_spi_mutex);
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = *d++;
+ while (!(UCSR1A & (1 << RXC1)));
+ (void) UDR1;
+ }
+ ao_mutex_put(&ao_spi_mutex);
+}
+
+/* Receive bytes over SPI.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the SPI transmitter as that is what
+ * clocks the data coming in.
+ */
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant
+{
+ uint8_t *d = block;
+
+ ao_mutex_get(&ao_spi_mutex);
+ while (len--) {
+ while (!(UCSR1A & (1 << UDRE1)));
+ UDR1 = 0;
+ while (!(UCSR1A & (1 << RXC1)));
+ *d++ = UDR1;
+ }
+ ao_mutex_put(&ao_spi_mutex);
+}
+
+/*
+ * 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;
+}
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