diff options
Diffstat (limited to 'src')
55 files changed, 1044 insertions, 159 deletions
diff --git a/src/attiny/ao_arch.h b/src/attiny/ao_arch.h index 52bed981..8140dd30 100644 --- a/src/attiny/ao_arch.h +++ b/src/attiny/ao_arch.h @@ -55,7 +55,7 @@ #define putchar(c) ao_putchar(c) #define getchar ao_getchar -#define ao_arch_cpu_idle() do { \ +#define ao_arch_wait_interrupt() do { \ sleep_enable(); \ sei(); \ sleep_cpu(); \ diff --git a/src/avr-demo/ao_demo.c b/src/avr-demo/ao_demo.c index 756dd0d4..e35babb3 100644 --- a/src/avr-demo/ao_demo.c +++ b/src/avr-demo/ao_demo.c @@ -34,6 +34,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_serial_init(); ao_led_init(LEDS_AVAILABLE); diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c index 2765853a..f9c0f88c 100644 --- a/src/avr/ao_avr_stdio.c +++ b/src/avr/ao_avr_stdio.c @@ -20,16 +20,7 @@ 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; - } - + putchar(c); return 0; } diff --git a/src/core/ao.h b/src/core/ao.h index 977e10b8..f12ca9a5 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -45,6 +45,8 @@ #if HAS_TASK #include <ao_task.h> +#else +#include <ao_notask.h> #endif /* @@ -145,6 +147,9 @@ extern __pdata char ao_cmd_lex_c; extern __pdata enum ao_cmd_status ao_cmd_status; void +ao_put_string(__code char *s); + +void ao_cmd_lex(void); void diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c index 3d086a57..16cde919 100644 --- a/src/core/ao_cmd.c +++ b/src/core/ao_cmd.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include "ao_task.h" __pdata uint16_t ao_cmd_lex_i; __pdata uint32_t ao_cmd_lex_u32; @@ -28,8 +29,8 @@ static __xdata char cmd_line[CMD_LEN]; static __pdata uint8_t cmd_len; static __pdata uint8_t cmd_i; -static void -put_string(__code char *s) +void +ao_put_string(__code char *s) { char c; while ((c = *s++)) @@ -39,7 +40,7 @@ put_string(__code char *s) static void backspace(void) { - put_string ("\010 \010"); + ao_put_string ("\010 \010"); } static void @@ -47,7 +48,7 @@ readline(void) { char c; if (ao_echo()) - put_string("> "); + ao_put_string("> "); cmd_len = 0; for (;;) { flush(); @@ -262,6 +263,11 @@ ao_reboot(void) ao_panic(AO_PANIC_REBOOT); } +#ifndef HAS_VERSION +#define HAS_VERSION 1 +#endif + +#if HAS_VERSION static void version(void) { @@ -289,6 +295,7 @@ version(void) #endif printf("software-version %s\n", ao_version); } +#endif #ifndef NUM_CMDS #define NUM_CMDS 11 @@ -303,13 +310,21 @@ help(void) __pdata uint8_t cmds; __pdata uint8_t cmd; __code struct ao_cmds * __pdata cs; - const char *h; + __code char *h; + uint8_t e; for (cmds = 0; cmds < ao_ncmds; cmds++) { cs = ao_cmds[cmds]; for (cmd = 0; cs[cmd].func; cmd++) { h = cs[cmd].help; - printf("%-45s %s\n", h, h + 1 + strlen(h)); + ao_put_string(h); + e = strlen(h); + h += e + 1; + e = 45 - e; + while (e--) + putchar(' '); + ao_put_string(h); + putchar('\n'); } } } @@ -370,14 +385,33 @@ ao_cmd(void) } } +#if HAS_BOOT_LOADER + +#include <ao_boot.h> + +static void +ao_loader(void) +{ + flush(); + ao_boot_loader(); +} +#endif + __xdata struct ao_task ao_cmd_task; __code struct ao_cmds ao_base_cmds[] = { { help, "?\0Help" }, +#if HAS_TASK_INFO { ao_task_info, "T\0Tasks" }, +#endif { echo, "E <0 off, 1 on>\0Echo" }, { ao_reboot, "r eboot\0Reboot" }, +#if HAS_VERSION { version, "v\0Version" }, +#endif +#if HAS_BOOT_LOADER + { ao_loader, "X\0Switch to boot loader" }, +#endif { 0, NULL }, }; diff --git a/src/micropeak/ao_notask.c b/src/core/ao_notask.c index 0aef9cf3..a41712d2 100644 --- a/src/micropeak/ao_notask.c +++ b/src/core/ao_notask.c @@ -24,7 +24,7 @@ ao_sleep(__xdata void *wchan) { #if 1 ao_wchan = wchan; - ao_arch_cpu_idle(); + ao_arch_wait_interrupt(); #else uint8_t sreg; diff --git a/src/core/ao_notask.h b/src/core/ao_notask.h new file mode 100644 index 00000000..6b6b5bb8 --- /dev/null +++ b/src/core/ao_notask.h @@ -0,0 +1,27 @@ +/* + * 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. + */ + +#ifndef _AO_NOTASK_H_ +#define _AO_NOTASK_H_ + +uint8_t +ao_sleep(__xdata void *wchan); + +void +ao_wakeup(__xdata void *wchan); + +#endif /* _AO_NOTASK_H_ */ diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 977d74b1..cd144d6b 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -66,8 +66,15 @@ #define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS]; + +#if AO_NUM_STDIOS > 1 __pdata int8_t ao_cur_stdio; __pdata int8_t ao_num_stdios; +#else +__pdata int8_t ao_cur_stdio; +#define ao_cur_stdio 0 +#define ao_num_stdios 0 +#endif void putchar(char c) @@ -107,12 +114,16 @@ getchar(void) __reentrant c = ao_stdios[stdio]._pollchar(); if (c != AO_READ_AGAIN) break; +#if AO_NUM_STDIOS > 1 if (++stdio == ao_num_stdios) stdio = 0; if (stdio == ao_cur_stdio) +#endif ao_sleep(&ao_stdin_ready); } +#if AO_NUM_STDIOS > 1 ao_cur_stdio = stdio; +#endif ao_arch_release_interrupts(); return c; } @@ -128,11 +139,17 @@ ao_add_stdio(int (*_pollchar)(void), void (*putchar)(char), void (*flush)(void)) __reentrant { +#if AO_NUM_STDIOS > 1 if (ao_num_stdios == AO_NUM_STDIOS) ao_panic(AO_PANIC_STDIO); +#endif ao_stdios[ao_num_stdios]._pollchar = _pollchar; ao_stdios[ao_num_stdios].putchar = putchar; ao_stdios[ao_num_stdios].flush = flush; ao_stdios[ao_num_stdios].echo = 1; +#if AO_NUM_STDIOS > 1 return ao_num_stdios++; +#else + return 0; +#endif } diff --git a/src/core/ao_task.c b/src/core/ao_task.c index 9cb074b5..e1d35d67 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -512,6 +512,7 @@ ao_exit(void) /* we'll never get back here */ } +#if HAS_TASK_INFO void ao_task_info(void) { @@ -528,6 +529,7 @@ ao_task_info(void) ao_task_validate(); #endif } +#endif void ao_start_scheduler(void) diff --git a/src/core/ao_task.h b/src/core/ao_task.h index 50bfb220..1a4b5b6b 100644 --- a/src/core/ao_task.h +++ b/src/core/ao_task.h @@ -21,6 +21,10 @@ #include <ao_list.h> #endif +#ifndef HAS_TASK_INFO +#define HAS_TASK_INFO 1 +#endif + /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile index fe392ce1..7f12963f 100644 --- a/src/megadongle-v0.1/Makefile +++ b/src/megadongle-v0.1/Makefile @@ -28,6 +28,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/product/ao_teledongle.c b/src/product/ao_teledongle.c index 25ebe73e..8bfd8b84 100644 --- a/src/product/ao_teledongle.c +++ b/src/product/ao_teledongle.c @@ -26,6 +26,8 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/product/ao_telelaunch.c b/src/product/ao_telelaunch.c index b6e4bfc1..dde66090 100644 --- a/src/product/ao_telelaunch.c +++ b/src/product/ao_telelaunch.c @@ -27,6 +27,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/product/ao_telemetrum.c b/src/product/ao_telemetrum.c index ea77f5af..221498d6 100644 --- a/src/product/ao_telemetrum.c +++ b/src/product/ao_telemetrum.c @@ -42,6 +42,8 @@ main(void) while (P1_3 == 0) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c index 21551ee9..a0d8e18a 100644 --- a/src/product/ao_telemini.c +++ b/src/product/ao_telemini.c @@ -46,6 +46,8 @@ main(void) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_cmd_init(); diff --git a/src/product/ao_telenano.c b/src/product/ao_telenano.c index d91983d0..77750efd 100644 --- a/src/product/ao_telenano.c +++ b/src/product/ao_telenano.c @@ -28,6 +28,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_cmd_init(); diff --git a/src/product/ao_telepyro.c b/src/product/ao_telepyro.c index 79454fb7..6f09be64 100644 --- a/src/product/ao_telepyro.c +++ b/src/product/ao_telepyro.c @@ -25,6 +25,8 @@ main(void) PORTE |= (1 << 6); DDRE |= (1 << 6); + ao_task_init(); + ao_avr_stdio_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c index d448d318..2888c266 100644 --- a/src/product/ao_telescience.c +++ b/src/product/ao_telescience.c @@ -28,6 +28,8 @@ main(void) PORTE |= (1 << 6); DDRE |= (1 << 6); + ao_task_init(); + ao_avr_stdio_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/product/ao_teleterra.c b/src/product/ao_teleterra.c index d696b914..e739ae0b 100644 --- a/src/product/ao_teleterra.c +++ b/src/product/ao_teleterra.c @@ -26,6 +26,8 @@ main(void) /* Turn on the red LED until the system is stable */ ao_led_init(AO_LED_RED|AO_LED_GREEN); ao_led_on(AO_LED_RED); + ao_task_init(); + ao_timer_init(); ao_beep_init(); ao_cmd_init(); diff --git a/src/product/ao_teleterra_0_2.c b/src/product/ao_teleterra_0_2.c index 68f02596..4f7530f7 100644 --- a/src/product/ao_teleterra_0_2.c +++ b/src/product/ao_teleterra_0_2.c @@ -23,6 +23,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_timer_init(); ao_beep_init(); ao_cmd_init(); diff --git a/src/product/ao_test.c b/src/product/ao_test.c index 14c2eb75..273a73b5 100644 --- a/src/product/ao_test.c +++ b/src/product/ao_test.c @@ -102,6 +102,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + // ao_add_task(&blink_0_task, blink_0); // ao_add_task(&blink_1_task, blink_1); // ao_add_task(&wakeup_task, wakeup); diff --git a/src/product/ao_tidongle.c b/src/product/ao_tidongle.c index cba0b122..b1a96bdd 100644 --- a/src/product/ao_tidongle.c +++ b/src/product/ao_tidongle.c @@ -27,6 +27,9 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(AO_LED_RED); ao_led_on(AO_LED_RED); + + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/spiradio-v0.1/ao_spiradio.c b/src/spiradio-v0.1/ao_spiradio.c index d3647cc7..de9ea706 100644 --- a/src/spiradio-v0.1/ao_spiradio.c +++ b/src/spiradio-v0.1/ao_spiradio.c @@ -25,6 +25,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); + ao_task_init(); + ao_serial_init(); ao_timer_init(); ao_cmd_init(); diff --git a/src/stm-bringup/ao.h b/src/stm-bringup/ao.h index 27204fae..2c7d5282 100644 --- a/src/stm-bringup/ao.h +++ b/src/stm-bringup/ao.h @@ -16,3 +16,5 @@ */ #define ao_panic(n) for(;;); + +#define AO_BOOT_LOADER_BASE ((uint32_t *) 0x0) diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index 3b1b671b..d1f825db 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -17,6 +17,7 @@ INC = \ # ALTOS_SRC = \ ao_interrupt.c \ + ao_boot_chain.c \ ao_product.c \ ao_romconfig.c \ ao_cmd.c \ @@ -46,17 +47,19 @@ IDPRODUCT=0x000a CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os -PROG=stm-demo +PROG=stm-demo-$(VERSION) +ELF=$(PROG).elf +IHX=$(PROG).ihx SRC=$(ALTOS_SRC) ao_demo.c OBJ=$(SRC:.c=.o) -all: $(PROG) +all: $(ELF) $(IHX) LDFLAGS=-L../stm -Wl,-Taltos.ld -$(PROG): Makefile $(OBJ) - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc +$(ELF): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $@ $(OBJ) $(SAT_CLIB) -lgcc ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c index b82cb735..5677cdf4 100644 --- a/src/stm-demo/ao_demo.c +++ b/src/stm-demo/ao_demo.c @@ -20,6 +20,7 @@ #include <ao_event.h> #include <ao_quadrature.h> #include <ao_button.h> +#include <ao_boot.h> struct ao_task demo_task; @@ -183,6 +184,8 @@ main(void) { ao_clock_init(); + ao_task_init(); + ao_serial_init(); ao_timer_init(); ao_dma_init(); diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h index 07b4a19d..40e48a36 100644 --- a/src/stm-demo/ao_pins.h +++ b/src/stm-demo/ao_pins.h @@ -68,6 +68,8 @@ #define HAS_BEEP 0 #define PACKET_HAS_SLAVE 0 +#define AO_BOOT_CHAIN 1 + #define LOW_LEVEL_DEBUG 1 #define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOBEN diff --git a/src/stm-flash/Makefile b/src/stm-flash/Makefile new file mode 100644 index 00000000..1ea35581 --- /dev/null +++ b/src/stm-flash/Makefile @@ -0,0 +1,59 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h + +# +# Common AltOS sources +# +ALTOS_SRC = \ + ao_interrupt.c \ + ao_boot_chain.c \ + ao_boot_pin.c \ + ao_product.c \ + ao_notask.c \ + ao_timer.c \ + ao_usb_stm.c \ + ao_flash_stm.c + +PRODUCT=AltosFlash-$(VERSION) +PRODUCT_DEF=-DALTOS_FLASH +IDPRODUCT=0x000a + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os + +PROG=altos-flash-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_stm_flash.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +LDFLAGS=-L../stm -Wl,-Taltos-loader.ld + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROG) + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/stm-flash/ao_pins.h b/src/stm-flash/ao_pins.h new file mode 100644 index 00000000..d6c72653 --- /dev/null +++ b/src/stm-flash/ao_pins.h @@ -0,0 +1,79 @@ +/* + * Copyright © 2013 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_ + +#define HAS_TASK_QUEUE 0 + +/* Bridge SB17 on the board and use the MCO from the other chip */ +#define AO_HSE 8000000 +#define AO_HSE_BYPASS 1 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHZ (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at HCLK/1 */ +#define AO_APB1_PRESCALER 1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +/* Run APB2 at HCLK/1 */ +#define AO_APB2_PRESCALER 1 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +#define HAS_USB 1 +#define USE_USB_STDIO 0 +#define HAS_BEEP 0 +#define HAS_TASK 0 +#define HAS_ECHO 0 +#define HAS_TICK 0 + +#define PACKET_HAS_SLAVE 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpiob) +#define LED_PIN_RED 6 +#define LED_PIN_GREEN 7 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) + +#define AO_TICK_TYPE uint32_t +#define AO_TICK_SIGNED int32_t + +#define HAS_TASK_INFO 0 +#define HAS_VERSION 0 + +#define AO_BOOT_CHAIN 1 +#define AO_BOOT_PIN 1 + +#define AO_BOOT_APPLICATION_GPIO stm_gpiod +#define AO_BOOT_APPLICATION_PIN 2 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#endif /* _AO_PINS_H_ */ diff --git a/src/stm-flash/ao_stm_flash.c b/src/stm-flash/ao_stm_flash.c new file mode 100644 index 00000000..e6db565d --- /dev/null +++ b/src/stm-flash/ao_stm_flash.c @@ -0,0 +1,151 @@ +/* + * 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_exti.h> +#include <ao_boot.h> +#include <ao_flash_stm.h> + +void +ao_panic(uint8_t reason) +{ + for (;;); +} + +void +ao_put_string(__code char *s) +{ + char c; + while ((c = *s++)) { + if (c == '\n') + ao_usb_putchar('\r'); + ao_usb_putchar(c); + } +} + +void +ao_application(void) +{ + ao_boot_reboot(AO_BOOT_APPLICATION_BASE); +} + +static uint32_t +ao_get_hex32(void) +{ + int8_t n; + uint32_t v = 0; + + for (;;) { + n = ao_usb_getchar(); + if (n != ' ') + break; + } + for(;;) { + if ('0' <= n && n <= '9') + n = n - '0'; + else if ('a' <= n && n <= 'f') + n = n - ('a' - 10); + else if ('A' <= n && n <= 'F') + n = n - ('A' - 10); + else + break; + v = (v << 4) | n; + n = ao_usb_getchar(); + } + return v; +} + +void +ao_block_erase(void) +{ + uint32_t addr = ao_get_hex32(); + uint32_t *p = (uint32_t *) addr; + + ao_flash_erase_page(p); +} + +void +ao_block_write(void) +{ + uint32_t addr = ao_get_hex32(); + uint32_t *p = (uint32_t *) addr; + union { + uint8_t data8[256]; + uint32_t data32[64]; + } u; + uint16_t i; + + if (addr < (uint32_t) AO_BOOT_APPLICATION_BASE) { + ao_put_string("Invalid address\n"); + return; + } + for (i = 0; i < 256; i++) + u.data8[i] = ao_usb_getchar(); + ao_flash_page(p, u.data32); +} + +void +ao_block_read(void) +{ + uint32_t addr = ao_get_hex32(); + uint8_t *p = (uint8_t *) addr; + uint16_t i; + uint8_t c; + + for (i = 0; i < 256; i++) { + c = *p++; + ao_usb_putchar(c); + } +} + +static void +ao_show_version(void) +{ + ao_put_string("altos-loader"); + ao_put_string("\nmanufacturer "); ao_put_string(ao_manufacturer); + ao_put_string("\nproduct "); ao_put_string(ao_product); + ao_put_string("\nsoftware-version "); ao_put_string(ao_version); + ao_put_string("\n"); +} + +static void +ao_flash_task(void) { + for (;;) { + ao_usb_flush(); + switch (ao_usb_getchar()) { + case 'v': ao_show_version(); break; + case 'a': ao_application(); break; + case 'X': ao_block_erase(); break; + case 'W': ao_block_write(); break; + case 'R': ao_block_read(); break; + } + } +} + +int +main(void) +{ + ao_clock_init(); + +// ao_timer_init(); +// ao_dma_init(); +// ao_exti_init(); + ao_usb_init(); + + ao_flash_task(); + return 0; +} diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index 1480f0b3..c8bb7d70 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -7,6 +7,11 @@ vpath load_csv.5c ../kalman vpath matrix.5c ../kalman vpath ao-make-product.5c ../util +.SUFFIXES: .elf .ihx + +.elf.ihx: + objcopy -O ihex $*.elf $@ + CC=arm-none-eabi-gcc SAT=/opt/cortex SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a diff --git a/src/stm/altos-loader.ld b/src/stm/altos-loader.ld new file mode 100644 index 00000000..5e10e5ba --- /dev/null +++ b/src/stm/altos-loader.ld @@ -0,0 +1,89 @@ +/* + * 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. + */ + +MEMORY { + rom : ORIGIN = 0x08000000, LENGTH = 4K + ram : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + *(.romconfig*) + *(.text) /* Executable code */ + . = ALIGN(4); + *(.rodata*) /* Constants */ + . = ALIGN(4); + } > rom + + .ARM.exidx : { + . = ALIGN(4); + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + . = ALIGN(4); + } > rom + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram + + /* Functions placed in RAM (required for flashing) */ + .textram : { + __data_start__ = .; + __text_ram_start__ = .; + *(.text.ram) + __text_ram_end = .; + } >ram AT>rom + + /* Data -- relocated to RAM, but written to ROM + */ + .data : { + *(.data) /* initialized data */ + __data_end__ = .; + } >ram AT>rom + + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); +} + +ENTRY(start); + + diff --git a/src/stm/altos.ld b/src/stm/altos.ld index f78a45d6..6affc376 100644 --- a/src/stm/altos.ld +++ b/src/stm/altos.ld @@ -16,7 +16,7 @@ */ MEMORY { - rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K + rom (rx) : ORIGIN = 0x08001000, LENGTH = 124K ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K } @@ -35,9 +35,19 @@ SECTIONS { . = ORIGIN(rom) + 0x100; + + /* Ick. What I want is to specify the + * addresses of some global constants so + * that I can find them across versions + * of the application. I can't figure out + * how to make gnu ld do that, so instead + * we just load the two files that include + * these defines in the right order here and + * expect things to 'just work'. Don't change + * the contents of those files, ok? + */ ao_romconfig.o(.romconfig*) ao_product.o(.romconfig*) - *(.text*) /* Executable code */ *(.rodata*) /* Constants */ @@ -45,21 +55,34 @@ SECTIONS { .ARM.exidx : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) - __text_end__ = .; } > rom + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram /* Data -- relocated to RAM, but written to ROM */ - .data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) { + .data : { __data_start__ = .; *(.data) /* initialized data */ + . = ALIGN(4); __data_end__ = .; - __bss_start__ = .; - } >ram + } >ram AT>rom .bss : { + __bss_start__ = .; *(.bss) *(COMMON) + . = ALIGN(4); __bss_end__ = .; } >ram diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index 007f7e2e..50bff5dd 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -128,5 +128,10 @@ extern const uint32_t ao_radio_cal; void ao_adc_init(); +#define AO_BOOT_APPLICATION_BASE ((uint32_t *) 0x08001000) +#define AO_BOOT_LOADER_BASE ((uint32_t *) 0x0) +#define HAS_BOOT_LOADER 1 + #endif /* _AO_ARCH_H_ */ + diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d1779307..e152440a 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -113,6 +113,19 @@ ao_spi_init(void); stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); \ } while (0) +#define ao_disable_port(port) do { \ + if ((port) == &stm_gpioa) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOAEN); \ + else if ((port) == &stm_gpiob) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOBEN); \ + else if ((port) == &stm_gpioc) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOCEN); \ + else if ((port) == &stm_gpiod) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIODEN); \ + else if ((port) == &stm_gpioe) \ + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_GPIOEEN); \ + } while (0) + #define ao_gpio_set(port, bit, pin, v) stm_gpio_set(port, bit, v) @@ -124,9 +137,7 @@ ao_spi_init(void); stm_moder_set(port, bit, STM_MODER_OUTPUT);\ } while (0) -#define ao_enable_input(port,bit,mode) do { \ - ao_enable_port(port); \ - stm_moder_set(port, bit, STM_MODER_INPUT); \ +#define ao_gpio_set_mode(port,bit,mode) do { \ if (mode == AO_EXTI_MODE_PULL_UP) \ stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \ else if (mode == AO_EXTI_MODE_PULL_DOWN) \ @@ -134,6 +145,12 @@ ao_spi_init(void); else \ stm_pupdr_set(port, bit, STM_PUPDR_NONE); \ } while (0) + +#define ao_enable_input(port,bit,mode) do { \ + ao_enable_port(port); \ + stm_moder_set(port, bit, STM_MODER_INPUT); \ + ao_gpio_set_mode(port, bit, mode); \ + } while (0) #define ao_enable_cs(port,bit) do { \ stm_gpio_set((port), bit, 1); \ @@ -250,6 +267,7 @@ ao_arch_memory_barrier() { asm volatile("" ::: "memory"); } +#if HAS_TASK static inline void ao_arch_init_stack(struct ao_task *task, void *start) { @@ -316,6 +334,7 @@ static inline void ao_arch_restore_stack(void) { /* Return to calling function */ asm("bx lr"); } +#endif #define ao_arch_isr_stack() diff --git a/src/stm/ao_boot.h b/src/stm/ao_boot.h new file mode 100644 index 00000000..e0ed4de7 --- /dev/null +++ b/src/stm/ao_boot.h @@ -0,0 +1,39 @@ +/* + * Copyright © 2013 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_BOOT_H_ +#define _AO_BOOT_H_ + +void +ao_boot_chain(uint32_t *base); + +void +ao_boot_check_pin(void); + +/* Return true to switch to application (if present) */ +int +ao_boot_check_chain(void); + +void +ao_boot_reboot(uint32_t *base); + +static inline void +ao_boot_loader(void) { + ao_boot_reboot(AO_BOOT_LOADER_BASE); +} + +#endif /* _AO_BOOT_H_ */ diff --git a/src/stm/ao_boot_chain.c b/src/stm/ao_boot_chain.c new file mode 100644 index 00000000..6a3864a7 --- /dev/null +++ b/src/stm/ao_boot_chain.c @@ -0,0 +1,67 @@ +/* + * Copyright © 2013 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_boot.h> + +void +ao_boot_chain(uint32_t *base) +{ + uint32_t sp; + uint32_t pc; + + sp = base[0]; + pc = base[1]; + if (0x08000100 <= pc && pc <= 0x08200000 && (pc & 1) == 1) { + asm ("mov sp, %0" : : "r" (sp)); + asm ("mov lr, %0" : : "r" (pc)); + asm ("bx lr"); + } +} + +#define AO_BOOT_SIGNAL 0x5a5aa5a5 +#define AO_BOOT_CHECK 0xc3c33c3c + +struct ao_boot { + uint32_t *base; + uint32_t signal; + uint32_t check; +}; + +static struct ao_boot __attribute__ ((section(".boot"))) ao_boot; + +int +ao_boot_check_chain(void) +{ + if (ao_boot.signal == AO_BOOT_SIGNAL && ao_boot.check == AO_BOOT_CHECK) { + ao_boot.signal = 0; + ao_boot.check = 0; + if (ao_boot.base == 0) + return 0; + ao_boot_chain(ao_boot.base); + } + return 1; +} + +void +ao_boot_reboot(uint32_t *base) +{ + ao_boot.base = base; + ao_boot.signal = AO_BOOT_SIGNAL; + ao_boot.check = AO_BOOT_CHECK; + ao_arch_reboot(); +} diff --git a/src/stm/ao_boot_pin.c b/src/stm/ao_boot_pin.c new file mode 100644 index 00000000..03b0214f --- /dev/null +++ b/src/stm/ao_boot_pin.c @@ -0,0 +1,43 @@ +/* + * Copyright © 2013 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_boot.h> +#include <ao_exti.h> + +void +ao_boot_check_pin(void) +{ + uint16_t v; + + /* Enable power interface clock */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN); + + /* Enable the input pin */ + ao_enable_input(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN, + AO_BOOT_APPLICATION_MODE); + + /* Read the value */ + v = stm_gpio_get(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN); + + /* Reset the chip to turn off the port and the power interface clock */ + ao_gpio_set_mode(&AO_BOOT_APPLICATION_GPIO, AO_BOOT_APPLICATION_PIN, 0); + ao_disable_port(&AO_BOOT_APPLICATION_GPIO); + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_PWREN); + if (v == AO_BOOT_APPLICATION_VALUE) + ao_boot_chain(AO_BOOT_APPLICATION_BASE); +} diff --git a/src/stm/ao_flash_stm.c b/src/stm/ao_flash_stm.c new file mode 100644 index 00000000..b4d47024 --- /dev/null +++ b/src/stm/ao_flash_stm.c @@ -0,0 +1,127 @@ +/* + * Copyright © 2013 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_flash_stm.h> + +static uint8_t +ao_flash_pecr_is_locked(void) +{ + return (stm_flash.pecr & (1 << STM_FLASH_PECR_PELOCK)) != 0; +} + +static uint8_t +ao_flash_pgr_is_locked(void) +{ + return (stm_flash.pecr & (1 << STM_FLASH_PECR_PRGLOCK)) != 0; +} + +static void +ao_flash_pecr_unlock(void) +{ + if (!ao_flash_pecr_is_locked()) + return; + + /* Unlock Data EEPROM and FLASH_PECR register */ + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1; + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2; + if (ao_flash_pecr_is_locked()) + ao_panic(AO_PANIC_FLASH); +} + +static void +ao_flash_pgr_unlock(void) +{ + if (!ao_flash_pgr_is_locked()) + return; + + /* Unlock program memory */ + stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY1; + stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY2; + if (ao_flash_pgr_is_locked()) + ao_panic(AO_PANIC_FLASH); +} + +static void +ao_flash_lock(void) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_OPTLOCK) | (1 << STM_FLASH_PECR_PRGLOCK) | (1 << STM_FLASH_PECR_PELOCK); +} + +static void +ao_flash_wait_bsy(void) +{ + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +static void __attribute__ ((section(".text.ram"),noinline)) +_ao_flash_erase_page(uint32_t *page) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE) | (1 << STM_FLASH_PECR_PROG); + + *page = 0x00000000; + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +void +ao_flash_erase_page(uint32_t *page) +{ + ao_flash_pecr_unlock(); + ao_flash_pgr_unlock(); + + _ao_flash_erase_page(page); + + ao_flash_lock(); +} + +static void __attribute__ ((section(".text.ram"), noinline)) +_ao_flash_half_page(uint32_t *dst, uint32_t *src) +{ + uint8_t i; + + stm_flash.pecr |= (1 << STM_FLASH_PECR_FPRG); + stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG); + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; + + for (i = 0; i < 32; i++) { + *dst++ = *src++; + } + + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +void +ao_flash_page(uint32_t *page, uint32_t *src) +{ + uint8_t h; + + ao_flash_erase_page(page); + ao_flash_pecr_unlock(); + ao_flash_pgr_unlock(); + for (h = 0; h < 2; h++) { + _ao_flash_half_page(page, src); + page += 32; + src += 32; + } + ao_flash_lock(); +} diff --git a/src/stm/ao_flash_stm.h b/src/stm/ao_flash_stm.h new file mode 100644 index 00000000..09ca5ac1 --- /dev/null +++ b/src/stm/ao_flash_stm.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2013 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_FLASH_STM_H_ +#define _AO_FLASH_STM_H_ + +void +ao_flash_erase_page(uint32_t *page); + +void +ao_flash_page(uint32_t *page, uint32_t *src); + +#endif /* _AO_FLASH_STM_H_ */ diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c index a423d8b1..969e6a0f 100644 --- a/src/stm/ao_interrupt.c +++ b/src/stm/ao_interrupt.c @@ -18,6 +18,7 @@ #include <ao.h> #include "stm32l.h" #include <string.h> +#include <ao_boot.h> extern void main(void); extern char __stack__; @@ -36,7 +37,19 @@ void stm_ignore_isr(void) { } -void start(void) { +const void *stm_interrupt_vector[]; + +void start(void) +{ +#ifdef AO_BOOT_CHAIN + if (ao_boot_check_chain()) { +#ifdef AO_BOOT_PIN + ao_boot_check_pin(); +#endif + } +#endif + /* Set interrupt vector table offset */ + stm_nvic.vto = (uint32_t) &stm_interrupt_vector; memcpy(&__data_start__, &__text_end__, &__data_end__ - &__data_start__); memset(&__bss_start__, '\0', &__bss_end__ - &__bss_start__); main(); diff --git a/src/stm/ao_romconfig.c b/src/stm/ao_romconfig.c index cbb922ec..5da15072 100644 --- a/src/stm/ao_romconfig.c +++ b/src/stm/ao_romconfig.c @@ -20,6 +20,8 @@ AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_version = AO_ROMCONFIG_VERSION; AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_check = ~AO_ROMCONFIG_VERSION; AO_ROMCONFIG_SYMBOL (0) uint16_t ao_serial_number = 0; -#ifdef AO_RADIO_CAL_DEFAULT -AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT; +#ifndef AO_RADIO_CAL_DEFAULT +#define AO_RADIO_CAL_DEFAULT 0x01020304 #endif +AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT; + diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index 8b7c2327..ff477a03 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -18,6 +18,11 @@ #include "ao.h" #include <ao_task.h> +#ifndef HAS_TICK +#define HAS_TICK 1 +#endif + +#if HAS_TICK volatile AO_TICK_TYPE ao_tick_count; AO_TICK_TYPE @@ -31,10 +36,6 @@ volatile __data uint8_t ao_data_interval = 1; volatile __data uint8_t ao_data_count; #endif -void -ao_debug_out(char c); - - void stm_tim6_isr(void) { if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { @@ -110,6 +111,8 @@ ao_timer_init(void) (1 << STM_TIM67_CR1_CEN)); } +#endif + void ao_clock_init(void) { diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index e29abc87..11dde92e 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -23,6 +23,16 @@ #define USB_DEBUG_DATA 0 #define USB_ECHO 0 +#ifndef USE_USB_STDIO +#define USE_USB_STDIO 1 +#endif + +#if USE_USB_STDIO +#define AO_USB_OUT_SLEEP_ADDR (&ao_stdin_ready) +#else +#define AO_USB_OUT_SLEEP_ADDR (&ao_usb_out_avail) +#endif + #if USB_DEBUG #define debug(format, args...) printf(format, ## args); #else @@ -35,8 +45,6 @@ #define debug_data(format, args...) #endif -struct ao_task ao_usb_task; - struct ao_usb_setup { uint8_t dir_type_recip; uint8_t request; @@ -398,81 +406,6 @@ static uint16_t in_count; static uint16_t out_count; static uint16_t reset_count; -void -stm_usb_lp_isr(void) -{ - uint32_t istr = stm_usb.istr; - - if (istr & (1 << STM_USB_ISTR_CTR)) { - uint8_t ep = istr & STM_USB_ISTR_EP_ID_MASK; - uint32_t epr, epr_write; - - /* Preserve the SW write bits, don't mess with most HW writable bits, - * clear the CTR_RX and CTR_TX bits - */ - epr = stm_usb.epr[ep]; - epr_write = epr; - epr_write &= STM_USB_EPR_PRESERVE_MASK; - epr_write |= STM_USB_EPR_INVARIANT; - epr_write &= ~(1 << STM_USB_EPR_CTR_RX); - epr_write &= ~(1 << STM_USB_EPR_CTR_TX); - stm_usb.epr[ep] = epr_write; - - switch (ep) { - case 0: - ++control_count; - if (ao_usb_epr_ctr_rx(epr)) { - if (ao_usb_epr_setup(epr)) - ao_usb_ep0_receive |= AO_USB_EP0_GOT_SETUP; - else - ao_usb_ep0_receive |= AO_USB_EP0_GOT_RX_DATA; - } - if (ao_usb_epr_ctr_tx(epr)) - ao_usb_ep0_receive |= AO_USB_EP0_GOT_TX_ACK; - ao_wakeup(&ao_usb_ep0_receive); - break; - case AO_USB_OUT_EPR: - ++out_count; - if (ao_usb_epr_ctr_rx(epr)) { - _rx_dbg1("RX ISR", epr); - ao_usb_out_avail = 1; - _rx_dbg0("out avail set"); - ao_wakeup(&ao_stdin_ready); - _rx_dbg0("stdin awoken"); - } - break; - case AO_USB_IN_EPR: - ++in_count; - _tx_dbg1("TX ISR", epr); - if (ao_usb_epr_ctr_tx(epr)) { - ao_usb_in_pending = 0; - ao_wakeup(&ao_usb_in_pending); - } - break; - case AO_USB_INT_EPR: - ++int_count; - if (ao_usb_epr_ctr_tx(epr)) - _ao_usb_set_stat_tx(AO_USB_INT_EPR, STM_USB_EPR_STAT_TX_NAK); - break; - } - return; - } - - if (istr & (1 << STM_USB_ISTR_RESET)) { - ++reset_count; - stm_usb.istr &= ~(1 << STM_USB_ISTR_RESET); - ao_usb_ep0_receive |= AO_USB_EP0_GOT_RESET; - ao_wakeup(&ao_usb_ep0_receive); - } -} - -void -stm_usb_fs_wkup(void) -{ - /* USB wakeup, just clear the bit for now */ - stm_usb.istr &= ~(1 << STM_USB_ISTR_WKUP); -} - /* The USB memory holds 16 bit values on 32 bit boundaries * and must be accessed only in 32 bit units. Sigh. */ @@ -772,55 +705,117 @@ ao_usb_ep0_setup(void) ao_usb_ep0_in_start(ao_usb_setup.length); } -/* End point 0 receives all of the control messages. */ static void -ao_usb_ep0(void) +ao_usb_ep0_handle(uint8_t receive) { - uint8_t intx, udint; - - debug ("usb task started\n"); - ao_usb_ep0_state = AO_USB_EP0_IDLE; - for (;;) { - uint8_t receive; - ao_arch_critical( - while (!(receive = ao_usb_ep0_receive)) - ao_sleep(&ao_usb_ep0_receive); - ao_usb_ep0_receive = 0; - ); - - if (receive & AO_USB_EP0_GOT_RESET) { - debug ("\treset\n"); - ao_usb_set_ep0(); - continue; - } - if (receive & AO_USB_EP0_GOT_SETUP) { - debug ("\tsetup\n"); - ao_usb_ep0_setup(); - } - if (receive & AO_USB_EP0_GOT_RX_DATA) { - debug ("\tgot rx data\n"); - if (ao_usb_ep0_state == AO_USB_EP0_DATA_OUT) { - ao_usb_ep0_fill(); - if (ao_usb_ep0_out_len == 0) { - ao_usb_ep0_state = AO_USB_EP0_DATA_IN; - ao_usb_ep0_in_start(0); - } + ao_usb_ep0_receive = 0; + if (receive & AO_USB_EP0_GOT_RESET) { + debug ("\treset\n"); + ao_usb_set_ep0(); + return; + } + if (receive & AO_USB_EP0_GOT_SETUP) { + debug ("\tsetup\n"); + ao_usb_ep0_setup(); + } + if (receive & AO_USB_EP0_GOT_RX_DATA) { + debug ("\tgot rx data\n"); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_OUT) { + ao_usb_ep0_fill(); + if (ao_usb_ep0_out_len == 0) { + ao_usb_ep0_state = AO_USB_EP0_DATA_IN; + ao_usb_ep0_in_start(0); } } - if (receive & AO_USB_EP0_GOT_TX_ACK) { - debug ("\tgot tx ack\n"); - - /* Wait until the IN packet is received from addr 0 - * before assigning our local address - */ - if (ao_usb_address_pending) - ao_usb_set_address(ao_usb_address); - if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) - ao_usb_ep0_flush(); + } + if (receive & AO_USB_EP0_GOT_TX_ACK) { + debug ("\tgot tx ack\n"); + + /* Wait until the IN packet is received from addr 0 + * before assigning our local address + */ + if (ao_usb_address_pending) + ao_usb_set_address(ao_usb_address); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) + ao_usb_ep0_flush(); + } +} + +void +stm_usb_lp_isr(void) +{ + uint32_t istr = stm_usb.istr; + + if (istr & (1 << STM_USB_ISTR_CTR)) { + uint8_t ep = istr & STM_USB_ISTR_EP_ID_MASK; + uint32_t epr, epr_write; + + /* Preserve the SW write bits, don't mess with most HW writable bits, + * clear the CTR_RX and CTR_TX bits + */ + epr = stm_usb.epr[ep]; + epr_write = epr; + epr_write &= STM_USB_EPR_PRESERVE_MASK; + epr_write |= STM_USB_EPR_INVARIANT; + epr_write &= ~(1 << STM_USB_EPR_CTR_RX); + epr_write &= ~(1 << STM_USB_EPR_CTR_TX); + stm_usb.epr[ep] = epr_write; + + switch (ep) { + case 0: + ++control_count; + if (ao_usb_epr_ctr_rx(epr)) { + if (ao_usb_epr_setup(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_SETUP; + else + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RX_DATA; + } + if (ao_usb_epr_ctr_tx(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_TX_ACK; + ao_usb_ep0_handle(ao_usb_ep0_receive); + break; + case AO_USB_OUT_EPR: + ++out_count; + if (ao_usb_epr_ctr_rx(epr)) { + _rx_dbg1("RX ISR", epr); + ao_usb_out_avail = 1; + _rx_dbg0("out avail set"); + ao_wakeup(AO_USB_OUT_SLEEP_ADDR); + _rx_dbg0("stdin awoken"); + } + break; + case AO_USB_IN_EPR: + ++in_count; + _tx_dbg1("TX ISR", epr); + if (ao_usb_epr_ctr_tx(epr)) { + ao_usb_in_pending = 0; + ao_wakeup(&ao_usb_in_pending); + } + break; + case AO_USB_INT_EPR: + ++int_count; + if (ao_usb_epr_ctr_tx(epr)) + _ao_usb_set_stat_tx(AO_USB_INT_EPR, STM_USB_EPR_STAT_TX_NAK); + break; } + return; + } + + if (istr & (1 << STM_USB_ISTR_RESET)) { + ++reset_count; + stm_usb.istr &= ~(1 << STM_USB_ISTR_RESET); + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RESET; + ao_usb_ep0_handle(ao_usb_ep0_receive); } } +void +stm_usb_fs_wkup(void) +{ + /* USB wakeup, just clear the bit for now */ + stm_usb.istr &= ~(1 << STM_USB_ISTR_WKUP); +} + /* Queue the current IN buffer for transmission */ static void _ao_usb_in_send(void) @@ -951,7 +946,7 @@ ao_usb_getchar(void) ao_arch_block_interrupts(); while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN) - ao_sleep(&ao_stdin_ready); + ao_sleep(AO_USB_OUT_SLEEP_ADDR); ao_arch_release_interrupts(); return c; } @@ -1071,7 +1066,7 @@ ao_usb_init(void) ao_usb_enable(); debug ("ao_usb_init\n"); - ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); + ao_usb_ep0_state = AO_USB_EP0_IDLE; #if USB_ECHO ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo"); #endif @@ -1079,8 +1074,10 @@ ao_usb_init(void) ao_cmd_register(&ao_usb_cmds[0]); #endif #if !USB_ECHO +#if USE_USB_STDIO ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush); #endif +#endif } #if TX_DBG || RX_DBG diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index 1d636037..47b443a0 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -435,6 +435,9 @@ extern struct stm_flash stm_flash; #define STM_FLASH_PEKEYR_PEKEY1 0x89ABCDEF #define STM_FLASH_PEKEYR_PEKEY2 0x02030405 +#define STM_FLASH_PRGKEYR_PRGKEY1 0x8C9DAEBF +#define STM_FLASH_PRGKEYR_PRGKEY2 0x13141516 + struct stm_rcc { vuint32_t cr; vuint32_t icscr; diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c index c8bf7760..867e98ab 100644 --- a/src/teleballoon-v1.1/ao_teleballoon.c +++ b/src/teleballoon-v1.1/ao_teleballoon.c @@ -52,6 +52,8 @@ main(void) while (P1_3 == 0) ; } + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/telebt-v1.0/ao_telebt.c b/src/telebt-v1.0/ao_telebt.c index 4a50a9d4..935cde7d 100644 --- a/src/telebt-v1.0/ao_telebt.c +++ b/src/telebt-v1.0/ao_telebt.c @@ -25,6 +25,9 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + + ao_task_init(); + ao_timer_init(); ao_cmd_init(); ao_usb_init(); diff --git a/src/telefire-v0.1/ao_telefire.c b/src/telefire-v0.1/ao_telefire.c index cc0f668f..afa09e20 100644 --- a/src/telefire-v0.1/ao_telefire.c +++ b/src/telefire-v0.1/ao_telefire.c @@ -27,6 +27,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); + ao_task_init(); + ao_timer_init(); ao_adc_init(); ao_beep_init(); diff --git a/src/telegps-v0.1/Makefile b/src/telegps-v0.1/Makefile index aae37660..2c41235b 100644 --- a/src/telegps-v0.1/Makefile +++ b/src/telegps-v0.1/Makefile @@ -33,6 +33,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile index a4a83d02..24083308 100644 --- a/src/telelco-v0.1/Makefile +++ b/src/telelco-v0.1/Makefile @@ -30,6 +30,7 @@ INC = \ #PROFILE_DEF=-DAO_PROFILE=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telelco-v0.1/ao_telelco.c b/src/telelco-v0.1/ao_telelco.c index 080a140b..70665ec6 100644 --- a/src/telelco-v0.1/ao_telelco.c +++ b/src/telelco-v0.1/ao_telelco.c @@ -36,6 +36,8 @@ main(void) ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_GREEN); + ao_task_init(); + ao_timer_init(); ao_spi_init(); diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile index 16393ea0..a72d08f2 100644 --- a/src/telemega-v0.1/Makefile +++ b/src/telemega-v0.1/Makefile @@ -45,6 +45,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telescience-v0.2/Makefile b/src/telescience-v0.2/Makefile index fbeeb75c..f16ef268 100644 --- a/src/telescience-v0.2/Makefile +++ b/src/telescience-v0.2/Makefile @@ -28,6 +28,7 @@ INC = \ #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ + ao_boot_chain.c \ ao_interrupt.c \ ao_product.c \ ao_romconfig.c \ diff --git a/src/telescience-v0.2/ao_telescience.c b/src/telescience-v0.2/ao_telescience.c index 2fb3186a..74eef8f4 100644 --- a/src/telescience-v0.2/ao_telescience.c +++ b/src/telescience-v0.2/ao_telescience.c @@ -29,9 +29,11 @@ main(void) ao_mpu_init(); #endif - ao_task_init(); ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_GREEN); + + ao_task_init(); + ao_timer_init(); ao_spi_init(); diff --git a/src/teleshield-v0.1/ao_teleshield.c b/src/teleshield-v0.1/ao_teleshield.c index 4c32817a..d602f646 100644 --- a/src/teleshield-v0.1/ao_teleshield.c +++ b/src/teleshield-v0.1/ao_teleshield.c @@ -29,6 +29,7 @@ main(void) /* Turn on the LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); + ao_task_init(); ao_timer_init(); ao_cmd_init(); ao_spi_init(); |