From 4d6d90e15db30991bf81060a0876ae8adb843c75 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 16 Oct 2012 21:08:58 -0700
Subject: altos/avr: Use ISR_BLOCK to disable interrupts during slave ISR

This avoids enabling and then immediatly disabling them

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_spi_slave.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
index b742d29a..a400b8a0 100644
--- a/src/avr/ao_spi_slave.c
+++ b/src/avr/ao_spi_slave.c
@@ -44,9 +44,8 @@ ao_spi_slave_send(uint8_t *buf, uint8_t len)
 
 static uint8_t ao_spi_slave_running;
 
-ISR(PCINT0_vect)
+ISR(PCINT0_vect, ISR_BLOCK)
 {
-	cli();
 #if SPI_SLAVE_PIN_0_3
 	if ((PINB & (1 << PORTB0)) == 0)
 #endif
@@ -61,7 +60,6 @@ ISR(PCINT0_vect)
 	} else {
 		ao_spi_slave_running = 0;
 	}
-	sei();
 }
 
 void
-- 
cgit v1.2.3


From 1747ab07dab6f4e977e0c3e83b57510cd668e369 Mon Sep 17 00:00:00 2001
From: Robert Garbee <robert@gag.com>
Date: Thu, 19 Jul 2012 11:40:20 -0600
Subject: telescience: steal last adc channel for icp3 most recent value Make
 the ICP3 rpm counter use in ao_adc_avr.c optional

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_adc_avr.c       | 7 ++++++-
 src/avr/ao_pins.h          | 2 ++
 src/telepyro-v0.1/Makefile | 2 +-
 3 files changed, 9 insertions(+), 2 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c
index 3a262977..739a6d4a 100644
--- a/src/avr/ao_adc_avr.c
+++ b/src/avr/ao_adc_avr.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_pwmin.h"
 
 volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
 volatile __data uint8_t		ao_data_head;
@@ -93,9 +94,13 @@ ISR(ADC_vect)
 	value = ADCL;
 	value |= (ADCH << 8);
 	ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value;
-	if (++ao_adc_channel < NUM_ADC)
+	if (++ao_adc_channel < NUM_ADC - 1)
 		ao_adc_start();
 	else {
+#if HAS_ICP3_COUNT
+		/* steal last adc channel for pwm input */
+		ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = ao_icp3_count;
+#endif
 		ADCSRA = ADCSRA_INIT;
 		ao_data_ring[ao_data_head].tick = ao_time();
 		ao_data_head = ao_data_ring_next(ao_data_head);
diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
index bc423ff7..0f49db0b 100644
--- a/src/avr/ao_pins.h
+++ b/src/avr/ao_pins.h
@@ -47,6 +47,7 @@
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
 	#define AVR_CLOCK		8000000UL
+	#define HAS_ICP3_COUNT		1
 
 	#define SPI_CS_PORT		PORTE
 	#define SPI_CS_DIR		DDRE
@@ -81,6 +82,7 @@
 	#define IS_COMPANION		1
 	#define HAS_ORIENT		0
 	#define ao_storage_pos_t	uint16_t
+	#define HAS_ICP3_COUNT		0
 
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile
index 2ccd565f..6743ba66 100644
--- a/src/telepyro-v0.1/Makefile
+++ b/src/telepyro-v0.1/Makefile
@@ -96,7 +96,7 @@ ao_product.o: ao_product.c ao_product.h
 distclean:	clean
 
 clean:
-	rm -f $(OBJ)
+	rm -f $(OBJ) $(PROG) $(PROG).hex
 	rm -f ao_product.h
 
 install:
-- 
cgit v1.2.3


From 1d7e6f5dcb29535cde9b7dfd6998d7889baf835b Mon Sep 17 00:00:00 2001
From: Robert Garbee <robert@gag.com>
Date: Tue, 17 Jul 2012 13:23:48 -0600
Subject: first work on PWM input to TeleScience, 'p' command displays timer 1

---
 src/avr/ao_pwmin.c            | 54 +++++++++++++++++++++++++++++++++++++++++++
 src/avr/ao_pwmin.h            | 18 +++++++++++++++
 src/product/ao_telescience.c  |  2 ++
 src/telescience-v0.1/Makefile |  1 +
 4 files changed, 75 insertions(+)
 create mode 100644 src/avr/ao_pwmin.c
 create mode 100644 src/avr/ao_pwmin.h

(limited to 'src/avr')

diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
new file mode 100644
index 00000000..4d96404d
--- /dev/null
+++ b/src/avr/ao_pwmin.c
@@ -0,0 +1,54 @@
+/*
+ * Copyright © 2012 Robert D. Garbee <robert@gag.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_pwmin.h"
+
+/* 
+ * This code implements a PWM input using ICP3.  
+ *
+ * The initial use is to measure wind speed in the ULA/Ball summer intern 
+ * project payload developed at Challenger Middle School.  
+ */
+
+static void
+ao_pwmin_display(void) __reentrant
+{
+	uint8_t lo = TCNT1L; 
+	uint8_t hi = TCNT1H;
+	uint16_t value = (hi <<8) | lo;
+
+	/* now display the value we read */
+	printf("timer 1: %5u",  value);
+
+}
+
+__code struct ao_cmds ao_pwmin_cmds[] = {
+	{ ao_pwmin_display,	"p\0PWM input" },
+	{ 0, NULL },
+};
+
+void
+ao_pwmin_init(void)
+{
+	/* do hardware setup here */
+		/* set the spike filter bit in the TCCR3B register */
+
+	ao_cmd_register(&ao_pwmin_cmds[0]);
+}
+
+
diff --git a/src/avr/ao_pwmin.h b/src/avr/ao_pwmin.h
new file mode 100644
index 00000000..bbab4ddc
--- /dev/null
+++ b/src/avr/ao_pwmin.h
@@ -0,0 +1,18 @@
+/*
+ * Copyright © 2012 Robert D. Garbee <robert@gag.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.
+ */
+
+void ao_pwmin_init(void);
diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c
index 45b6d40e..2d594d7f 100644
--- a/src/product/ao_telescience.c
+++ b/src/product/ao_telescience.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_pwmin.h"
 
 int
 main(void)
@@ -34,6 +35,7 @@ main(void)
 	ao_usb_init();
 	ao_adc_init();
 	ao_log_single_init();
+	ao_pwmin_init();
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile
index d24128ef..5542913d 100644
--- a/src/telescience-v0.1/Makefile
+++ b/src/telescience-v0.1/Makefile
@@ -53,6 +53,7 @@ ALTOS_SRC = \
 	ao_adc_avr.c \
 	ao_science_slave.c \
 	ao_spi_slave.c \
+	ao_pwmin.c \
 	$(TELESCIENCE_STORAGE)\
 	$(TELESCIENCE_LOG)
 
-- 
cgit v1.2.3


From ed5aa2329985ffbaba74514e0555f67fc378a8d8 Mon Sep 17 00:00:00 2001
From: Robert Garbee <robert@gag.com>
Date: Wed, 18 Jul 2012 13:41:27 -0600
Subject: Timer 3 working with slower clock and all 16 bits.

---
 src/avr/ao_pwmin.c | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
index 4d96404d..edcb1636 100644
--- a/src/avr/ao_pwmin.c
+++ b/src/avr/ao_pwmin.c
@@ -25,6 +25,8 @@
  * project payload developed at Challenger Middle School.  
  */
 
+volatile __data uint16_t ao_tick3_count;
+
 static void
 ao_pwmin_display(void) __reentrant
 {
@@ -32,10 +34,19 @@ ao_pwmin_display(void) __reentrant
 	uint8_t hi = TCNT1H;
 	uint16_t value = (hi <<8) | lo;
 
+	uint8_t lo3 = TCNT3L; 
+	uint8_t hi3 = TCNT3H;
+	uint16_t value3 = (hi3 <<8) | lo3;
+
 	/* now display the value we read */
-	printf("timer 1: %5u",  value);
+	printf("timer 1: %5u %2x %2x\n", value, hi, lo);
+	printf("timer 3: %5u %2x %2x\n", value3, hi3, lo3);
 
 }
+ISR(TIMER3_COMPA_vect)
+{
+        ++ao_tick3_count;
+}
 
 __code struct ao_cmds ao_pwmin_cmds[] = {
 	{ ao_pwmin_display,	"p\0PWM input" },
@@ -46,6 +57,18 @@ void
 ao_pwmin_init(void)
 {
 	/* do hardware setup here */
+	TCCR3A = ((0 << WGM31) |        /* normal mode, OCR3A */
+                  (0 << WGM30));        /* normal mode, OCR3A */
+        TCCR3B = ((0 << ICNC3) |        /* no input capture noise canceler */
+                  (0 << ICES3) |        /* input capture on falling edge (don't care) */
+                  (0 << WGM33) |        /* normal mode, OCR3A */
+                  (0 << WGM32) |        /* normal mode, OCR3A */
+                  (4 << CS30));         /* clk/256 from prescaler */
+
+        OCR3A = 1250;                   /* 8MHz clock */
+
+        TIMSK3 = (1 << OCIE3A);         /* Interrupt on compare match */
+
 		/* set the spike filter bit in the TCCR3B register */
 
 	ao_cmd_register(&ao_pwmin_cmds[0]);
-- 
cgit v1.2.3


From da7ac5e95575f6aa1d2514748869771b7686c0e1 Mon Sep 17 00:00:00 2001
From: Robert Garbee <robert@gag.com>
Date: Wed, 18 Jul 2012 14:24:05 -0600
Subject: ICP3 working

---
 src/avr/ao_pwmin.c | 27 ++++++++++-----------------
 1 file changed, 10 insertions(+), 17 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
index edcb1636..73a153b2 100644
--- a/src/avr/ao_pwmin.c
+++ b/src/avr/ao_pwmin.c
@@ -25,27 +25,20 @@
  * project payload developed at Challenger Middle School.  
  */
 
-volatile __data uint16_t ao_tick3_count;
+volatile __data uint16_t ao_icp3_count;
 
 static void
 ao_pwmin_display(void) __reentrant
 {
-	uint8_t lo = TCNT1L; 
-	uint8_t hi = TCNT1H;
-	uint16_t value = (hi <<8) | lo;
-
-	uint8_t lo3 = TCNT3L; 
-	uint8_t hi3 = TCNT3H;
-	uint16_t value3 = (hi3 <<8) | lo3;
-
-	/* now display the value we read */
-	printf("timer 1: %5u %2x %2x\n", value, hi, lo);
-	printf("timer 3: %5u %2x %2x\n", value3, hi3, lo3);
+	/* display the most recent value */
+	printf("icp 3: %5u\n", ao_icp3_count);
 
 }
-ISR(TIMER3_COMPA_vect)
+ISR(TIMER3_CAPT_vect)
 {
-        ++ao_tick3_count;
+	uint8_t lo = ICR3L; 
+	uint8_t hi = ICR3H;
+	ao_icp3_count = (hi <<8) | lo;
 }
 
 __code struct ao_cmds ao_pwmin_cmds[] = {
@@ -59,15 +52,15 @@ ao_pwmin_init(void)
 	/* do hardware setup here */
 	TCCR3A = ((0 << WGM31) |        /* normal mode, OCR3A */
                   (0 << WGM30));        /* normal mode, OCR3A */
-        TCCR3B = ((0 << ICNC3) |        /* no input capture noise canceler */
+        TCCR3B = ((1 << ICNC3) |        /* input capture noise canceler on */
                   (0 << ICES3) |        /* input capture on falling edge (don't care) */
                   (0 << WGM33) |        /* normal mode, OCR3A */
                   (0 << WGM32) |        /* normal mode, OCR3A */
                   (4 << CS30));         /* clk/256 from prescaler */
 
-        OCR3A = 1250;                   /* 8MHz clock */
+    	
 
-        TIMSK3 = (1 << OCIE3A);         /* Interrupt on compare match */
+        TIMSK3 = (1 << ICIE3);         /* Interrupt on input compare */
 
 		/* set the spike filter bit in the TCCR3B register */
 
-- 
cgit v1.2.3


From ac318c19594569532f1fa53b639eefa28d9b7c34 Mon Sep 17 00:00:00 2001
From: Robert Garbee <robert@gag.com>
Date: Wed, 18 Jul 2012 18:41:00 -0600
Subject: telescience: correctly calculating rate values with higher resolution

---
 src/avr/ao_pwmin.c | 28 ++++++++++++++++++++++++----
 1 file changed, 24 insertions(+), 4 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
index 73a153b2..84397357 100644
--- a/src/avr/ao_pwmin.c
+++ b/src/avr/ao_pwmin.c
@@ -25,20 +25,40 @@
  * project payload developed at Challenger Middle School.  
  */
 
-volatile __data uint16_t ao_icp3_count;
+volatile __data uint16_t ao_icp3_count = 0;
+volatile __data uint16_t ao_icp3_last = 0;
+
+uint16_t ao_icp3(void)
+{
+	uint16_t	v;
+	ao_arch_critical(
+		v = ao_icp3_count;
+		);
+	return v;
+}
 
 static void
 ao_pwmin_display(void) __reentrant
 {
 	/* display the most recent value */
-	printf("icp 3: %5u\n", ao_icp3_count);
+	printf("icp 3: %5u\n", ao_icp3());
 
 }
+
+
 ISR(TIMER3_CAPT_vect)
 {
+	
 	uint8_t lo = ICR3L; 
 	uint8_t hi = ICR3H;
-	ao_icp3_count = (hi <<8) | lo;
+	uint16_t ao_icp3_this = (hi <<8) | lo;
+	
+	/* handling counter rollovers */
+	if (ao_icp3_this >= ao_icp3_last)
+		ao_icp3_count = ao_icp3_this - ao_icp3_last;
+	else 
+		ao_icp3_count = ao_icp3_this + (65536 - ao_icp3_last);
+	ao_icp3_last = ao_icp3_this;
 }
 
 __code struct ao_cmds ao_pwmin_cmds[] = {
@@ -56,7 +76,7 @@ ao_pwmin_init(void)
                   (0 << ICES3) |        /* input capture on falling edge (don't care) */
                   (0 << WGM33) |        /* normal mode, OCR3A */
                   (0 << WGM32) |        /* normal mode, OCR3A */
-                  (4 << CS30));         /* clk/256 from prescaler */
+                  (3 << CS30));         /* clk/64 from prescaler */
 
     	
 
-- 
cgit v1.2.3


From 14698c424f833dc6d2fb38f69f5f661804cf8303 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 16 Oct 2012 22:17:25 -0700
Subject: altos: Only enable PWM on telescience_pwm product

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_pins.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
index 0f49db0b..0aa978e9 100644
--- a/src/avr/ao_pins.h
+++ b/src/avr/ao_pins.h
@@ -32,7 +32,7 @@
 	#define HAS_BEEP		0
 #endif
 
-#ifdef TELESCIENCE
+#if defined(TELESCIENCE) || defined(TELESCIENCE_PWM)
 	#define LEDS_AVAILABLE		0
 	#define HAS_USB			1
 	#define HAS_LOG			1
@@ -47,7 +47,11 @@
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
 	#define AVR_CLOCK		8000000UL
+#ifdef TELESCIENCE_PWM
 	#define HAS_ICP3_COUNT		1
+#else
+	#define HAS_ICP3_COUNT		0
+#endif
 
 	#define SPI_CS_PORT		PORTE
 	#define SPI_CS_DIR		DDRE
-- 
cgit v1.2.3


From f34f0ac7f355149446374a4c82dbf004919bc2dd Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 16 Oct 2012 22:21:04 -0700
Subject: altos: Add telescience-pwm product

Split out special PWM-sampling telescience product

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_adc_avr.c           |   2 +-
 src/avr/ao_pwmin.h             |   2 +
 src/product/ao_telescience.c   |   4 ++
 src/telescience-pwm/.gitignore |   2 +
 src/telescience-pwm/Makefile   | 116 +++++++++++++++++++++++++++++++++++++++++
 src/telescience-v0.1/Makefile  |   1 -
 6 files changed, 125 insertions(+), 2 deletions(-)
 create mode 100644 src/telescience-pwm/.gitignore
 create mode 100644 src/telescience-pwm/Makefile

(limited to 'src/avr')

diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c
index 739a6d4a..231512b2 100644
--- a/src/avr/ao_adc_avr.c
+++ b/src/avr/ao_adc_avr.c
@@ -94,7 +94,7 @@ ISR(ADC_vect)
 	value = ADCL;
 	value |= (ADCH << 8);
 	ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value;
-	if (++ao_adc_channel < NUM_ADC - 1)
+	if (++ao_adc_channel < NUM_ADC - HAS_ICP3_COUNT)
 		ao_adc_start();
 	else {
 #if HAS_ICP3_COUNT
diff --git a/src/avr/ao_pwmin.h b/src/avr/ao_pwmin.h
index bbab4ddc..8097d399 100644
--- a/src/avr/ao_pwmin.h
+++ b/src/avr/ao_pwmin.h
@@ -16,3 +16,5 @@
  */
 
 void ao_pwmin_init(void);
+
+extern volatile __data uint16_t ao_icp3_count;
diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c
index 2d594d7f..d448d318 100644
--- a/src/product/ao_telescience.c
+++ b/src/product/ao_telescience.c
@@ -16,7 +16,9 @@
  */
 
 #include "ao.h"
+#if HAS_ICP3_COUNT
 #include "ao_pwmin.h"
+#endif
 
 int
 main(void)
@@ -35,7 +37,9 @@ main(void)
 	ao_usb_init();
 	ao_adc_init();
 	ao_log_single_init();
+#if HAS_ICP3_COUNT
 	ao_pwmin_init();
+#endif
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/telescience-pwm/.gitignore b/src/telescience-pwm/.gitignore
new file mode 100644
index 00000000..dfccadf8
--- /dev/null
+++ b/src/telescience-pwm/.gitignore
@@ -0,0 +1,2 @@
+telescience-v0.1*
+ao_product.h
diff --git a/src/telescience-pwm/Makefile b/src/telescience-pwm/Makefile
new file mode 100644
index 00000000..43d77e2e
--- /dev/null
+++ b/src/telescience-pwm/Makefile
@@ -0,0 +1,116 @@
+#
+# AltOS build
+#
+#
+vpath % ..:../core:../product:../drivers:../avr
+vpath ao-make-product.5c ../util
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_arch.h \
+	ao_usb.h \
+	ao_pins.h \
+	ao_product.h
+
+#
+# Common AltOS sources
+#
+TELESCIENCE_STORAGE= \
+	ao_m25.c \
+	ao_spi_usart.c \
+	ao_storage.c
+
+TELESCIENCE_LOG= \
+	ao_log_single.c \
+	ao_log_telescience.c
+
+ALTOS_SRC = \
+	ao_clock.c \
+	ao_cmd.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_product.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_timer.c \
+	ao_led.c \
+	ao_avr_stdio.c \
+	ao_romconfig.c \
+	ao_usb_avr.c \
+	ao_adc_avr.c \
+	ao_science_slave.c \
+	ao_spi_slave.c \
+	ao_pwmin.c \
+	$(TELESCIENCE_STORAGE)\
+	$(TELESCIENCE_LOG)
+
+PRODUCT=TeleScience-PWM
+MCU=atmega32u4
+PRODUCT_DEF=-DTELESCIENCE -DTELESCIENCE_PWM
+IDPRODUCT=0x0011
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
+
+NICKLE=nickle
+
+PROG=telescience-pwm
+
+SRC=$(ALTOS_SRC) ao_telescience.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+	$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).hex
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+	$(call quiet,CC) -c $(CFLAGS) $<
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROG) $(PROG).hex
+	rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile
index 5542913d..d24128ef 100644
--- a/src/telescience-v0.1/Makefile
+++ b/src/telescience-v0.1/Makefile
@@ -53,7 +53,6 @@ ALTOS_SRC = \
 	ao_adc_avr.c \
 	ao_science_slave.c \
 	ao_spi_slave.c \
-	ao_pwmin.c \
 	$(TELESCIENCE_STORAGE)\
 	$(TELESCIENCE_LOG)
 
-- 
cgit v1.2.3


From e80d7cd18fa4dac98d941e86b5956403a7170966 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Oct 2012 21:37:25 -0700
Subject: altos: Let AVR products override the stack size. Set telepyro to 104

Otherwise, telepyro doesn't have enough ram...

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_arch.h | 2 ++
 src/avr/ao_pins.h | 1 +
 2 files changed, 3 insertions(+)

(limited to 'src/avr')

diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index a14d0ade..96659aaf 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -37,7 +37,9 @@
  * AVR definitions and code fragments for AltOS
  */
 
+#ifndef AO_STACK_SIZE
 #define AO_STACK_SIZE	116
+#endif
 
 /* Various definitions to make GCC look more like SDCC */
 
diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
index 0aa978e9..a08e87fa 100644
--- a/src/avr/ao_pins.h
+++ b/src/avr/ao_pins.h
@@ -69,6 +69,7 @@
 #endif
 
 #ifdef TELEPYRO
+	#define AO_STACK_SIZE		104
 	#define LEDS_AVAILABLE		0
 	#define HAS_USB			1
 	#define HAS_LOG			0
-- 
cgit v1.2.3


From 7d34811ba035367bbf26a8510265754f3fbb5a95 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 24 Oct 2012 23:21:38 -0700
Subject: altos: Add ao_arch_block/release_interrupts to avr and cc1111

Stop using cli/sei for AVR, add replacement to __critical for cc1111

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_arch.h    | 3 +++
 src/cc1111/ao_arch.h | 5 +++++
 2 files changed, 8 insertions(+)

(limited to 'src/avr')

diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index 96659aaf..c82612a8 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -150,6 +150,9 @@ extern uint8_t	ao_cpu_sleep_disable;
 
 #define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0)
 
+#define ao_arch_block_interrupts()	cli()
+#define ao_arch_release_interrupts()	sei()
+
 #define AO_TELESCIENCE_NUM_ADC	12
 
 #endif /* _AO_ARCH_H_ */
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index 7fdfad80..f2442eb6 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -153,6 +153,11 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
 
 #define ao_arch_cpu_idle()	(PCON = PCON_IDLE)
 
+#define ao_arch_block_interrupts()	__asm clr ea __endasm
+#define ao_arch_release_interrupts()	__asm setb ea __endasm
+#define cli() ao_arch_block_interrupts()
+#define sei() ao_arch_release_interrupts()
+
 #define ao_arch_restore_stack() {					\
 		uint8_t stack_len;					\
 		__data uint8_t *stack_ptr;				\
-- 
cgit v1.2.3


From ccf0faa7d26d56deca7928b521d07be40504466a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 25 Oct 2012 13:40:54 -0700
Subject: altos: Leave interrupts disabled while checking for task to run

Otherwise, we run the risk of an interrupt waking a task after we've
decided to idle the CPU.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_arch.h       | 19 +++++++++++++++----
 src/cc1111/ao_arch.h    | 11 +++++++----
 src/core/ao_task.c      | 28 +++++++++++++---------------
 src/stm/ao_arch_funcs.h |  4 +++-
 4 files changed, 38 insertions(+), 24 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index c82612a8..d626e830 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -112,7 +112,6 @@ extern uint8_t	ao_cpu_sleep_disable;
 		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 {					\
@@ -124,16 +123,28 @@ extern uint8_t	ao_cpu_sleep_disable;
 
 #define ao_arch_isr_stack()	/* nothing */
 
-#define ao_arch_cpu_idle() do {			\
-		if (!ao_cpu_sleep_disable)	\
+/* Idle the CPU (if possible) waiting for an interrupt. Enabling
+ * interrupts and sleeping the CPU must be adjacent to eliminate race
+ * conditions. In all cases, we execute a single nop with interrupts
+ * enabled
+ */
+#define ao_arch_wait_interrupt() do {		\
+		if (!ao_cpu_sleep_disable) {	\
+			sleep_enable();		\
+			sei();			\
 			sleep_cpu();		\
+			sleep_disable();	\
+		} else {			\
+			sei();			\
+		}				\
+		ao_arch_nop();			\
+		cli();				\
 	} 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"					\
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index 39468e06..9097557f 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -112,9 +112,7 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
 	/* Push ACC first, as when restoring the context it must be restored \
 	 * last (it is used to set the IE register). */			\
 	push	ACC							\
-	/* Store the IE register then enable interrupts. */		\
 	push	_IEN0							\
-	setb	_EA							\
 	push	DPL							\
 	push	DPH							\
 	push	b							\
@@ -150,11 +148,16 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal;
 /* Empty the stack; might as well let interrupts have the whole thing */
 #define ao_arch_isr_stack()		(SP = AO_STACK_START - 1)
 
-/* Idle the CPU, waking when an interrupt occurs */
-#define ao_arch_cpu_idle()		(PCON = PCON_IDLE)
 #define ao_arch_block_interrupts()	__asm clr _EA __endasm
 #define ao_arch_release_interrupts()	__asm setb _EA __endasm
 
+/* Idle the CPU, waking when an interrupt occurs */
+#define ao_arch_wait_interrupt() do {		\
+		ao_arch_release_interrupts();	\
+		(PCON = PCON_IDLE);		\
+		ao_arch_block_interrupts();	\
+	} while (0)
+
 #define ao_arch_restore_stack() {					\
 		uint8_t stack_len;					\
 		__data uint8_t *stack_ptr;				\
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index a11979f0..985c37fa 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -331,6 +331,7 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	ao_arch_isr_stack();
+	ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
 	in_yield = 1;
@@ -339,21 +340,19 @@ ao_yield(void) ao_arch_naked_define
 	 * this loop will run forever, which is just fine
 	 */
 #if HAS_TASK_QUEUE
-	if (ao_cur_task->wchan == NULL) {
-		uint32_t flags;
-		flags = ao_arch_irqsave();
+	/* If the current task is running, move it to the
+	 * end of the queue to allow other tasks a chance
+	 */
+	if (ao_cur_task->wchan == NULL)
 		ao_task_to_run_queue(ao_cur_task);
-		ao_arch_irqrestore(flags);
-	}
 	ao_cur_task = NULL;
-
 	for (;;) {
 		ao_arch_memory_barrier();
 		if (!ao_list_is_empty(&run_queue))
 			break;
-		ao_arch_cpu_idle();
+		/* Wait for interrupts when there's nothing ready */
+		ao_arch_wait_interrupt();
 	}
-		
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
 	{
@@ -374,20 +373,19 @@ ao_yield(void) ao_arch_naked_define
 			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
 				break;
 
-			/* Enter lower power mode when there isn't anything to do */
+			/* Wait for interrupts when there's nothing ready */
 			if (ao_cur_task_index == ao_last_task_index)
-				ao_arch_cpu_idle();
+				ao_arch_wait_interrupt();
 		}
-#if HAS_SAMPLE_PROFILE
-		ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
 	}
 #endif
+#if HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 #if HAS_STACK_GUARD
 	ao_mpu_stack_guard(ao_cur_task->stack);
 #endif
 #if AO_CHECK_STACK
-	ao_arch_block_interrupts();
 	in_yield = 0;
 #endif
 	ao_arch_restore_stack();
@@ -519,7 +517,7 @@ ao_task_info(void)
 		       task->name,
 		       (int) task->wchan);
 	}
-#if HAS_TASK_QUEUE
+#if HAS_TASK_QUEUE && DEBUG
 	ao_task_validate();
 #endif
 }
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index ca451a53..d6ab1465 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -299,8 +299,10 @@ static inline void ao_arch_restore_stack(void) {
 
 #define ao_arch_isr_stack()
 
-#define ao_arch_cpu_idle() do {			\
+#define ao_arch_wait_interrupt() do {			\
 		asm(".global ao_idle_loc\n\twfi\nao_idle_loc:");	\
+		ao_arch_release_interrupts();				\
+		ao_arch_block_interrupts();				\
 	} while (0)
 
 #define ao_arch_critical(b) do {				\
-- 
cgit v1.2.3


From 0b65402361f36a0c722977bcb63edb26fda0db28 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 Nov 2012 16:01:07 -0800
Subject: altos: Make stdio 8-bit clean by making pollchar return int

We were stealing one value (0xff) in the return value from pollchar to
indicate 'not ready yet'. Instead of doing that, use the integer value
-1 and have pollchar return an int instead of a char. That
necessitated cleaning a few other bits to make sure that 0xff wouldn't
get promoted to -1 on accident.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_usb_avr.c    | 10 +++++-----
 src/cc1111/ao_serial.c  |  8 ++++----
 src/cc1111/ao_usb.c     | 12 ++++++------
 src/core/ao.h           |  6 +++---
 src/core/ao_packet.h    |  2 +-
 src/core/ao_serial.h    | 28 ++++++++++++++++++++++++++--
 src/core/ao_stdio.c     |  2 +-
 src/core/ao_usb.h       |  2 +-
 src/drivers/ao_packet.c |  6 +++---
 src/stm/ao_arch.h       | 36 ------------------------------------
 src/stm/ao_arch_funcs.h | 20 ++++++++++++++++++++
 src/stm/ao_serial_stm.c | 24 ++++++++++--------------
 src/stm/ao_usb_stm.c    | 10 +++++-----
 13 files changed, 85 insertions(+), 81 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 9ba407af..2ef546c9 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -480,10 +480,10 @@ ao_usb_putchar(char c) __critical __reentrant
 	ao_usb_in_flushed = 0;
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 	uint8_t	intx;
 
 	if (!ao_usb_running)
@@ -517,10 +517,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	cli();
 	c = _ao_usb_pollchar();
 	sei();
@@ -530,7 +530,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
 	cli();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c
index 48383802..2a93bf52 100644
--- a/src/cc1111/ao_serial.c
+++ b/src/cc1111/ao_serial.c
@@ -85,10 +85,10 @@ ao_serial0_getchar(void) __critical
 }
 
 #if USE_SERIAL_0_STDIN
-char
+int
 ao_serial0_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial0_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial0_rx_fifo,c);
@@ -173,10 +173,10 @@ ao_serial1_getchar(void) __critical
 }
 
 #if USE_SERIAL_1_STDIN
-char
+int
 ao_serial1_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial1_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial1_rx_fifo,c);
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index ce26e808..81e9074e 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -382,19 +382,19 @@ ao_usb_putchar(char c) __critical __reentrant
 		ao_usb_in_send();
 }
 
-char
+int
 ao_usb_pollchar(void) __critical
 {
-	char c;
+	uint8_t c;
 	if (ao_usb_out_bytes == 0) {
 		USBINDEX = AO_USB_OUT_EP;
 		if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-			return AO_READ_AGAIN;
+			return -1;
 		ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
 		if (ao_usb_out_bytes == 0) {
 			USBINDEX = AO_USB_OUT_EP;
 			USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-			return AO_READ_AGAIN;
+			return -1;
 		}
 	}
 	--ao_usb_out_bytes;
@@ -409,9 +409,9 @@ ao_usb_pollchar(void) __critical
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
-	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+	while ((c = ao_usb_pollchar()) == -1)
 		ao_sleep(&ao_stdin_ready);
 	return c;
 }
diff --git a/src/core/ao.h b/src/core/ao.h
index 1aff3d49..54018b37 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -599,10 +599,10 @@ ao_monitor_init(void) __reentrant;
  * ao_stdio.c
  */
 
-#define AO_READ_AGAIN	((char) -1)
+#define AO_READ_AGAIN	(-1)
 
 struct ao_stdio {
-	char	(*pollchar)(void);
+	int	(*pollchar)(void);
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
 	uint8_t	echo;
@@ -621,7 +621,7 @@ uint8_t
 ao_echo(void);
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char) __reentrant,
 	     void (*flush)(void)) __reentrant;
 
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 0eafd3b2..08b184d6 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -62,7 +62,7 @@ ao_packet_flush(void);
 void
 ao_packet_putchar(char c) __reentrant;
 
-char
+int
 ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index 53aa8a89..a799bf2c 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -22,6 +22,7 @@
 #define AO_SERIAL_SPEED_9600	1
 #define AO_SERIAL_SPEED_19200	2
 #define AO_SERIAL_SPEED_57600	3
+#define AO_SERIAL_SPEED_115200	4
 
 #if HAS_SERIAL_0
 extern volatile __xdata struct ao_fifo	ao_serial0_rx_fifo;
@@ -30,6 +31,9 @@ extern volatile __xdata struct ao_fifo	ao_serial0_tx_fifo;
 char
 ao_serial0_getchar(void);
 
+int
+ao_serial0_pollchar(void);
+
 void
 ao_serial0_putchar(char c);
 
@@ -47,7 +51,7 @@ extern volatile __xdata struct ao_fifo	ao_serial1_tx_fifo;
 char
 ao_serial1_getchar(void);
 
-char
+int
 ao_serial1_pollchar(void);
 
 void
@@ -67,7 +71,7 @@ extern volatile __xdata struct ao_fifo	ao_serial2_tx_fifo;
 char
 ao_serial2_getchar(void);
 
-char
+int
 ao_serial2_pollchar(void);
 
 void
@@ -80,6 +84,26 @@ void
 ao_serial2_set_speed(uint8_t speed);
 #endif
 
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo	ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo	ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
 void
 ao_serial_init(void);
 
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 8cf66a23..4a832487 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -123,7 +123,7 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index e051db93..4476ee6b 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -33,7 +33,7 @@ ao_usb_getchar(void);
 /* Poll for a charcter on the USB input queue.
  * returns AO_READ_AGAIN if none are available
  */
-char
+int
 ao_usb_pollchar(void);
 
 /* Flush the USB output queue */
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 3c1e7a18..91319923 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -21,8 +21,8 @@ __xdata struct ao_packet_recv ao_rx_packet;
 __xdata struct ao_packet ao_tx_packet;
 __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
 
-static __xdata char tx_data[AO_PACKET_MAX];
-static __xdata char rx_data[AO_PACKET_MAX];
+static __xdata uint8_t tx_data[AO_PACKET_MAX];
+static __xdata uint8_t rx_data[AO_PACKET_MAX];
 static __pdata uint8_t rx_seq;
 
 __xdata struct ao_task	ao_packet_task;
@@ -169,7 +169,7 @@ ao_packet_putchar(char c) __reentrant
 		tx_data[ao_packet_tx_used++] = c;
 }
 
-char
+int
 ao_packet_pollchar(void)
 {
 	/* No need to block interrupts, all variables here
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index e270199e..007f7e2e 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -123,42 +123,6 @@ void ao_lcd_font_init(void);
 
 void ao_lcd_font_string(char *s);
 
-char
-ao_serial1_getchar(void);
-
-void
-ao_serial1_putchar(char c);
-
-char
-ao_serial1_pollchar(void);
-
-void
-ao_serial1_set_speed(uint8_t speed);
-
-char
-ao_serial2_getchar(void);
-
-void
-ao_serial2_putchar(char c);
-
-char
-ao_serial2_pollchar(void);
-
-void
-ao_serial2_set_speed(uint8_t speed);
-
-char
-ao_serial3_getchar(void);
-
-void
-ao_serial3_putchar(char c);
-
-char
-ao_serial3_pollchar(void);
-
-void
-ao_serial3_set_speed(uint8_t speed);
-
 extern const uint32_t	ao_radio_cal;
 
 void
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index d6ab1465..87bbe73e 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -210,6 +210,26 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop);
 void
 ao_i2c_init(void);
 
+/* ao_serial_stm.c */
+struct ao_stm_usart {
+	struct ao_fifo		rx_fifo;
+	struct ao_fifo		tx_fifo;
+	struct stm_usart	*reg;
+	uint8_t			tx_started;
+};
+
+#if HAS_SERIAL_1
+extern struct ao_stm_usart	ao_stm_usart1;
+#endif
+
+#if HAS_SERIAL_2
+extern struct ao_stm_usart	ao_stm_usart2;
+#endif
+
+#if HAS_SERIAL_3
+extern struct ao_stm_usart	ao_stm_usart3;
+#endif
+
 #define ARM_PUSH32(stack, val)	(*(--(stack)) = (val))
 
 static inline uint32_t
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index 00409f4a..94138edc 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -17,13 +17,6 @@
 
 #include <ao.h>
 
-struct ao_stm_usart {
-	struct ao_fifo		rx_fifo;
-	struct ao_fifo		tx_fifo;
-	struct stm_usart	*reg;
-	uint8_t			tx_started;
-};
-
 void
 ao_debug_out(char c)
 {
@@ -78,16 +71,19 @@ ao_usart_getchar(struct ao_stm_usart *usart)
 	return c;
 }
 
-char
+int
 ao_usart_pollchar(struct ao_stm_usart *usart)
 {
-	char	c;
+	int	c;
 	
 	ao_arch_block_interrupts();
 	if (ao_fifo_empty(usart->rx_fifo))
 		c = AO_READ_AGAIN;
-	else
-		ao_fifo_remove(usart->rx_fifo,c);
+	else {
+		uint8_t	u;
+		ao_fifo_remove(usart->rx_fifo,u);
+		c = u;
+	}
 	ao_arch_release_interrupts();
 	return c;
 }
@@ -201,7 +197,7 @@ ao_serial1_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart1, c);
 }
 
-char
+int
 ao_serial1_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart1);
@@ -232,7 +228,7 @@ ao_serial2_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart2, c);
 }
 
-char
+int
 ao_serial2_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart2);
@@ -263,7 +259,7 @@ ao_serial3_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart3, c);
 }
 
-char
+int
 ao_serial3_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart3);
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index d93a0c17..9379e5cd 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -873,10 +873,10 @@ _ao_usb_out_recv(void)
 	ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 
 	if (!ao_usb_running)
 		return AO_READ_AGAIN;
@@ -896,10 +896,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	ao_arch_block_interrupts();
 	c = _ao_usb_pollchar();
 	ao_arch_release_interrupts();
@@ -909,7 +909,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void)
 {
-	char	c;
+	int	c;
 
 	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
-- 
cgit v1.2.3


From 3645cb6578ec2a11ab7b0f6d435c6de22ca02a9f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Jan 2013 10:31:59 -0800
Subject: Update avr ao_spi_slave code to match API changes

Made the interface use void * for pointers and uint16_t for lengths

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_spi_slave.c | 10 ++++++----
 src/core/ao.h          |  4 ++--
 2 files changed, 8 insertions(+), 6 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
index a400b8a0..15e9924d 100644
--- a/src/avr/ao_spi_slave.c
+++ b/src/avr/ao_spi_slave.c
@@ -18,22 +18,24 @@
 #include "ao.h"
 
 uint8_t
-ao_spi_slave_recv(uint8_t *buf, uint8_t len)
+ao_spi_slave_recv(void *buf, uint16_t len)
 {
+	uint8_t *b = buf;
 	while (len--) {
 		while (!(SPSR & (1 << SPIF)))
 			if ((PINB & (1 << PINB0)))
 				return 0;
-		*buf++ = SPDR;
+		*b++ = SPDR;
 	}
 	return 1;
 }
 
 void
-ao_spi_slave_send(uint8_t *buf, uint8_t len)
+ao_spi_slave_send(void *buf, uint16_t len)
 {
+	uint8_t *b = buf;
 	while (len--) {
-		SPDR = *buf++;
+		SPDR = *b++;
 		while (!(SPSR & (1 << SPIF)))
 			if ((PINB & (1 << PINB0)))
 				return;
diff --git a/src/core/ao.h b/src/core/ao.h
index df5bbf48..ce0bf5d1 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -299,10 +299,10 @@ ao_altitude_to_pa(alt_t alt);
  */
 
 uint8_t
-ao_spi_slave_recv(uint8_t *buf, uint8_t len);
+ao_spi_slave_recv(void *buf, uint16_t len);
 
 void
-ao_spi_slave_send(uint8_t *buf, uint8_t len);
+ao_spi_slave_send(void *buf, uint16_t len);
 
 void
 ao_spi_slave_init(void);
-- 
cgit v1.2.3


From 4f1f3e836393304434130d362771a39f6f8f859a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 24 Mar 2013 15:00:20 -0700
Subject: altos: Do not release interrupts from any pollchar function

getchar relies on interrupts being blocked across the pollchar calls
and into the sleep call or it may go to sleep with data pending.

This prefixes all pollchar functions with _ to indicate that they are
to be called with interrupts blocked and eliminates all interrupt
manipulation calls from within the pollchar functions.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_serial_avr.c        | 43 +++++++++++++++++-----------------
 src/avr/ao_usb_avr.c           | 42 ++++++++++++++--------------------
 src/cc1111/ao_serial.c         |  8 +++----
 src/cc1111/ao_usb.c            | 14 +++++++-----
 src/core/ao.h                  |  2 +-
 src/core/ao_packet.h           |  2 +-
 src/core/ao_serial.h           |  8 +++----
 src/core/ao_stdio.c            | 31 +++++++++++++------------
 src/drivers/ao_btm.c           | 52 +++++++++++++++++++++++++++---------------
 src/drivers/ao_packet.c        |  6 ++---
 src/drivers/ao_packet_master.c |  7 +++++-
 src/drivers/ao_packet_slave.c  |  2 +-
 src/stm/ao_serial_stm.c        | 45 +++++++++++++++++-------------------
 src/stm/ao_usb_stm.c           | 23 ++++++++-----------
 14 files changed, 144 insertions(+), 141 deletions(-)

(limited to 'src/avr')

diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c
index dcee246c..e0f813d5 100644
--- a/src/avr/ao_serial_avr.c
+++ b/src/avr/ao_serial_avr.c
@@ -59,52 +59,51 @@ ISR(USART1_UDRE_vect)
 	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
+int
+_ao_serial1_pollchar(void)
 {
 	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
 
+char
+ao_serial1_getchar(void) __critical
+{
+	char	c;
+
+	ao_arch_block_interrupts();
+	while (ao_fifo_empty(ao_serial1_rx_fifo))
+		ao_sleep(&ao_serial1_rx_fifo);
+	ao_fifo_remove(ao_serial1_rx_fifo, c);
+	ao_arch_release_interrupts();
+	return c;
+}
+
 void
-ao_serial1_putchar(char c) __critical
+ao_serial1_putchar(char c)
 {
-	cli();
+	ao_arch_block_interrupts();
 	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();
+	ao_arch_release_interrupts();
 }
 
 void
 ao_serial1_drain(void) __critical
 {
-	cli();
+	ao_arch_block_interrupts();
 	while (!ao_fifo_empty(ao_serial1_tx_fifo))
 		ao_sleep(&ao_serial1_tx_fifo);
-	sei();
+	ao_arch_release_interrupts();
 }
 
 static const struct {
@@ -155,7 +154,7 @@ ao_serial_init(void)
 		  (1 << RXCIE1) |	/* Enable receive interrupts */
 		  (1 << UDRIE1));	/* Enable transmit empty interrupts */
 #if USE_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 2ef546c9..bd75b17d 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -411,7 +411,7 @@ ao_usb_ep0(void)
 
 /* Wait for a free IN buffer */
 static void
-ao_usb_in_wait(void)
+_ao_usb_in_wait(void)
 {
 	for (;;) {
 		/* Check if the current buffer is writable */
@@ -419,7 +419,6 @@ ao_usb_in_wait(void)
 		if (UEINTX & (1 << RWAL))
 			break;
 
-		cli();
 		/* Wait for an IN buffer to be ready */
 		for (;;) {
 			UENUM = AO_USB_IN_EP;
@@ -430,24 +429,24 @@ ao_usb_in_wait(void)
 		}
 		/* Ack the interrupt */
 		UEINTX &= ~(1 << TXINI);
-		sei();
 	}
 }
 
 /* Queue the current IN buffer for transmission */
 static void
-ao_usb_in_send(void)
+_ao_usb_in_send(void)
 {
 	UENUM = AO_USB_IN_EP;
 	UEINTX &= ~(1 << FIFOCON);
 }
 
 void
-ao_usb_flush(void) __critical
+ao_usb_flush(void)
 {
 	if (!ao_usb_running)
 		return;
 
+	ao_arch_block_interrupts();
 	/* Anytime we've sent a character since
 	 * the last time we flushed, we'll need
 	 * to send a packet -- the only other time
@@ -457,18 +456,20 @@ ao_usb_flush(void) __critical
 	 */
 	if (!ao_usb_in_flushed) {
 		ao_usb_in_flushed = 1;
-		ao_usb_in_wait();
-		ao_usb_in_send();
+		_ao_usb_in_wait();
+		_ao_usb_in_send();
 	}
+	ao_arch_release_interrupts();
 }
 
 void
-ao_usb_putchar(char c) __critical __reentrant
+ao_usb_putchar(char c)
 {
 	if (!ao_usb_running)
 		return;
 
-	ao_usb_in_wait();
+	ao_arch_block_interrupts();
+	_ao_usb_in_wait();
 
 	/* Queue a byte */
 	UENUM = AO_USB_IN_EP;
@@ -476,11 +477,12 @@ ao_usb_putchar(char c) __critical __reentrant
 
 	/* Send the packet when full */
 	if ((UEINTX & (1 << RWAL)) == 0)
-		ao_usb_in_send();
+		_ao_usb_in_send();
 	ao_usb_in_flushed = 0;
+	ao_arch_release_interrupts();
 }
 
-static int
+int
 _ao_usb_pollchar(void)
 {
 	uint8_t c;
@@ -517,25 +519,15 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-int
-ao_usb_pollchar(void)
-{
-	int	c;
-	cli();
-	c = _ao_usb_pollchar();
-	sei();
-	return c;
-}
-
 char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
 {
 	int	c;
 
-	cli();
+	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
-	sei();
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -668,5 +660,5 @@ ao_usb_init(void)
 #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);
+	ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }
diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c
index 8913a9b0..81727836 100644
--- a/src/cc1111/ao_serial.c
+++ b/src/cc1111/ao_serial.c
@@ -92,7 +92,7 @@ ao_serial0_getchar(void) __critical
 
 #if USE_SERIAL_0_STDIN
 int
-ao_serial0_pollchar(void) __critical
+_ao_serial0_pollchar(void)
 {
 	uint8_t	c;
 	if (ao_fifo_empty(ao_serial0_rx_fifo))
@@ -180,7 +180,7 @@ ao_serial1_getchar(void) __critical
 
 #if USE_SERIAL_1_STDIN
 int
-ao_serial1_pollchar(void) __critical
+_ao_serial1_pollchar(void)
 {
 	uint8_t	c;
 	if (ao_fifo_empty(ao_serial1_rx_fifo))
@@ -271,7 +271,7 @@ ao_serial_init(void)
 	IEN0 |= IEN0_URX0IE;
 	IEN2 |= IEN2_UTX0IE;
 #if USE_SERIAL_0_STDIN && !DELAY_SERIAL_0_STDIN
-	ao_add_stdio(ao_serial0_pollchar,
+	ao_add_stdio(_ao_serial0_pollchar,
 		     ao_serial0_putchar,
 		     NULL);
 #endif
@@ -327,7 +327,7 @@ ao_serial_init(void)
 	IEN2 |= IEN2_UTX1IE;
 
 #if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index f66e807c..8bd2efdf 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -383,18 +383,18 @@ ao_usb_putchar(char c) __critical __reentrant
 }
 
 int
-ao_usb_pollchar(void) __critical
+_ao_usb_pollchar(void)
 {
 	uint8_t c;
 	if (ao_usb_out_bytes == 0) {
 		USBINDEX = AO_USB_OUT_EP;
 		if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-			return -1;
+			return AO_READ_AGAIN;
 		ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
 		if (ao_usb_out_bytes == 0) {
 			USBINDEX = AO_USB_OUT_EP;
 			USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-			return -1;
+			return AO_READ_AGAIN;
 		}
 	}
 	--ao_usb_out_bytes;
@@ -407,12 +407,14 @@ ao_usb_pollchar(void) __critical
 }
 
 char
-ao_usb_getchar(void) __critical
+ao_usb_getchar(void)
 {
 	int	c;
 
-	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+	ao_arch_block_interrupts();
+	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -459,5 +461,5 @@ ao_usb_init(void)
 	ao_usb_enable();
 
 	ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
-	ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+	ao_add_stdio(_ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
 }
diff --git a/src/core/ao.h b/src/core/ao.h
index e3161b4c..6c790f69 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -638,7 +638,7 @@ ao_monitor_init(void) __reentrant;
 #define AO_READ_AGAIN	(-1)
 
 struct ao_stdio {
-	int	(*pollchar)(void);
+	int	(*_pollchar)(void);	/* Called with interrupts blocked */
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
 	uint8_t	echo;
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 08b184d6..6d121bb9 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -63,7 +63,7 @@ void
 ao_packet_putchar(char c) __reentrant;
 
 int
-ao_packet_pollchar(void);
+_ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
 /* ao_packet_master.c */
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index a799bf2c..baf213c0 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -32,7 +32,7 @@ char
 ao_serial0_getchar(void);
 
 int
-ao_serial0_pollchar(void);
+_ao_serial0_pollchar(void);
 
 void
 ao_serial0_putchar(char c);
@@ -52,7 +52,7 @@ char
 ao_serial1_getchar(void);
 
 int
-ao_serial1_pollchar(void);
+_ao_serial1_pollchar(void);
 
 void
 ao_serial1_putchar(char c);
@@ -72,7 +72,7 @@ char
 ao_serial2_getchar(void);
 
 int
-ao_serial2_pollchar(void);
+_ao_serial2_pollchar(void);
 
 void
 ao_serial2_putchar(char c);
@@ -92,7 +92,7 @@ char
 ao_serial3_getchar(void);
 
 int
-ao_serial3_pollchar(void);
+_ao_serial3_pollchar(void);
 
 void
 ao_serial3_putchar(char c);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 1748dfe8..977d74b1 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -99,20 +99,21 @@ char
 getchar(void) __reentrant
 {
 	int c;
-	ao_arch_critical(
-		int8_t stdio = ao_cur_stdio;
+	int8_t stdio;
 
-		for (;;) {
-			c = ao_stdios[stdio].pollchar();
-			if (c != AO_READ_AGAIN)
-				break;
-			if (++stdio == ao_num_stdios)
-				stdio = 0;
-			if (stdio == ao_cur_stdio)
-				ao_sleep(&ao_stdin_ready);
-		}
-		ao_cur_stdio = stdio;
-		);
+	ao_arch_block_interrupts();
+	stdio = ao_cur_stdio;
+	for (;;) {
+		c = ao_stdios[stdio]._pollchar();
+		if (c != AO_READ_AGAIN)
+			break;
+		if (++stdio == ao_num_stdios)
+			stdio = 0;
+		if (stdio == ao_cur_stdio)
+			ao_sleep(&ao_stdin_ready);
+	}
+	ao_cur_stdio = stdio;
+	ao_arch_release_interrupts();
 	return c;
 }
 
@@ -123,13 +124,13 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(int (*pollchar)(void),
+ao_add_stdio(int (*_pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
 	if (ao_num_stdios == AO_NUM_STDIOS)
 		ao_panic(AO_PANIC_STDIO);
-	ao_stdios[ao_num_stdios].pollchar = pollchar;
+	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;
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index c862200a..de1f31a3 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -19,9 +19,10 @@
 
 #ifndef ao_serial_btm_getchar
 #define ao_serial_btm_putchar	ao_serial1_putchar
-#define ao_serial_btm_pollchar	ao_serial1_pollchar
+#define _ao_serial_btm_pollchar	_ao_serial1_pollchar
 #define ao_serial_btm_set_speed ao_serial1_set_speed
 #define ao_serial_btm_drain	ao_serial1_drain
+#define ao_serial_btm_rx_fifo	ao_serial1_rx_fifo
 #endif
 
 int8_t			ao_btm_stdio;
@@ -111,6 +112,30 @@ __code struct ao_cmds ao_btm_cmds[] = {
 #define AO_BTM_MAX_REPLY	16
 __xdata char		ao_btm_reply[AO_BTM_MAX_REPLY];
 
+/*
+ * Read one bluetooth character.
+ * Returns AO_READ_AGAIN if no character arrives within 10ms
+ */
+
+static int
+ao_btm_getchar(void)
+{
+	int	c;
+
+	ao_arch_block_interrupts();
+	while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN) {
+		ao_alarm(AO_MS_TO_TICKS(10));
+		c = ao_sleep(&ao_serial_btm_rx_fifo);
+		ao_clear_alarm();
+		if (c) {
+			c = AO_READ_AGAIN;
+			break;
+		}
+	}
+	ao_arch_release_interrupts();
+	return c;
+}
+
 /*
  * Read a line of data from the serial port, truncating
  * it after a few characters.
@@ -122,24 +147,13 @@ ao_btm_get_line(void)
 	uint8_t ao_btm_reply_len = 0;
 	int c;
 
-	for (;;) {
-
-		while ((c = ao_serial_btm_pollchar()) != AO_READ_AGAIN) {
-			ao_btm_log_in_char(c);
-			if (ao_btm_reply_len < sizeof (ao_btm_reply))
-				ao_btm_reply[ao_btm_reply_len++] = c;
-			if (c == '\r' || c == '\n')
-				goto done;
-		}
-		for (c = 0; c < 10; c++) {
-			ao_delay(AO_MS_TO_TICKS(10));
-			if (!ao_fifo_empty(ao_serial1_rx_fifo))
-				break;
-		}
-		if (c == 10)
-			goto done;
+	while ((c = ao_btm_getchar()) != AO_READ_AGAIN) {
+		ao_btm_log_in_char(c);
+		if (ao_btm_reply_len < sizeof (ao_btm_reply))
+			ao_btm_reply[ao_btm_reply_len++] = c;
+		if (c == '\r' || c == '\n')
+			break;
 	}
-done:
 	for (c = ao_btm_reply_len; c < sizeof (ao_btm_reply);)
 		ao_btm_reply[c++] = '\0';
 	return ao_btm_reply_len;
@@ -279,7 +293,7 @@ ao_btm(void)
 	/* Turn off status reporting */
 	ao_btm_cmd("ATQ1\r");
 
-	ao_btm_stdio = ao_add_stdio(ao_serial_btm_pollchar,
+	ao_btm_stdio = ao_add_stdio(_ao_serial_btm_pollchar,
 				    ao_serial_btm_putchar,
 				    NULL);
 	ao_btm_echo(0);
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 91319923..5a507478 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -169,12 +169,10 @@ ao_packet_putchar(char c) __reentrant
 		tx_data[ao_packet_tx_used++] = c;
 }
 
+/* May be called with interrupts blocked */
 int
-ao_packet_pollchar(void)
+_ao_packet_pollchar(void)
 {
-	/* No need to block interrupts, all variables here
-	 * are only manipulated in task context
-	 */
 	if (!ao_packet_enable)
 		return AO_READ_AGAIN;
 
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 023c788b..4c0dc573 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -21,7 +21,12 @@ static char
 ao_packet_getchar(void)
 {
 	int c;
-	while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
+
+	/* No need to block interrupts in this function as
+	 * all packet variables are only modified from task
+	 * context, not an interrupt handler
+	 */
+	while ((c = _ao_packet_pollchar()) == AO_READ_AGAIN) {
 		if (!ao_packet_enable)
 			break;
 		if (ao_packet_master_sleeping)
diff --git a/src/drivers/ao_packet_slave.c b/src/drivers/ao_packet_slave.c
index e45775cb..e75df0d6 100644
--- a/src/drivers/ao_packet_slave.c
+++ b/src/drivers/ao_packet_slave.c
@@ -59,7 +59,7 @@ ao_packet_slave_stop(void)
 void
 ao_packet_slave_init(uint8_t enable)
 {
-	ao_add_stdio(ao_packet_pollchar,
+	ao_add_stdio(_ao_packet_pollchar,
 		     ao_packet_putchar,
 		     NULL);
 	if (enable)
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index ce33f97e..2133c584 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -59,24 +59,11 @@ ao_usart_isr(struct ao_stm_usart *usart, int stdin)
 	}
 }
 
-char
-ao_usart_getchar(struct ao_stm_usart *usart)
-{
-	char c;
-	ao_arch_block_interrupts();
-	while (ao_fifo_empty(usart->rx_fifo))
-		ao_sleep(&usart->rx_fifo);
-	ao_fifo_remove(usart->rx_fifo, c);
-	ao_arch_release_interrupts();
-	return c;
-}
-
 int
-ao_usart_pollchar(struct ao_stm_usart *usart)
+_ao_usart_pollchar(struct ao_stm_usart *usart)
 {
 	int	c;
 	
-	ao_arch_block_interrupts();
 	if (ao_fifo_empty(usart->rx_fifo))
 		c = AO_READ_AGAIN;
 	else {
@@ -84,10 +71,20 @@ ao_usart_pollchar(struct ao_stm_usart *usart)
 		ao_fifo_remove(usart->rx_fifo,u);
 		c = u;
 	}
-	ao_arch_release_interrupts();
 	return c;
 }
 
+char
+ao_usart_getchar(struct ao_stm_usart *usart)
+{
+	int c;
+	ao_arch_block_interrupts();
+	while ((c = _ao_usart_pollchar(usart)) == AO_READ_AGAIN)
+		ao_sleep(&usart->rx_fifo);
+	ao_arch_release_interrupts();
+	return (char) c;
+}
+
 void
 ao_usart_putchar(struct ao_stm_usart *usart, char c)
 {
@@ -201,9 +198,9 @@ ao_serial1_putchar(char c)
 }
 
 int
-ao_serial1_pollchar(void)
+_ao_serial1_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart1);
+	return _ao_usart_pollchar(&ao_stm_usart1);
 }
 
 void
@@ -232,9 +229,9 @@ ao_serial2_putchar(char c)
 }
 
 int
-ao_serial2_pollchar(void)
+_ao_serial2_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart2);
+	return _ao_usart_pollchar(&ao_stm_usart2);
 }
 
 void
@@ -263,9 +260,9 @@ ao_serial3_putchar(char c)
 }
 
 int
-ao_serial3_pollchar(void)
+_ao_serial3_pollchar(void)
 {
-	return ao_usart_pollchar(&ao_stm_usart3);
+	return _ao_usart_pollchar(&ao_stm_usart3);
 }
 
 void
@@ -309,7 +306,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART1_POS);
 	stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
 #if USE_SERIAL_1_STDIN
-	ao_add_stdio(ao_serial1_pollchar,
+	ao_add_stdio(_ao_serial1_pollchar,
 		     ao_serial1_putchar,
 		     NULL);
 #endif
@@ -346,7 +343,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART2_POS);
 	stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
 #if USE_SERIAL_2_STDIN
-	ao_add_stdio(ao_serial2_pollchar,
+	ao_add_stdio(_ao_serial2_pollchar,
 		     ao_serial2_putchar,
 		     NULL);
 #endif
@@ -390,7 +387,7 @@ ao_serial_init(void)
 	stm_nvic_set_enable(STM_ISR_USART3_POS);
 	stm_nvic_set_priority(STM_ISR_USART3_POS, 4);
 #if USE_SERIAL_3_STDIN
-	ao_add_stdio(ao_serial3_pollchar,
+	ao_add_stdio(_ao_serial3_pollchar,
 		     ao_serial3_putchar,
 		     NULL);
 #endif
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index 9379e5cd..dfa58c42 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -229,10 +229,9 @@ ao_usb_set_stat_tx(int ep, uint32_t stat_tx)
 }
 
 static void
-ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
+_ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 	uint32_t	epr_write, epr_old;
 
-	ao_arch_block_interrupts();
 	epr_write = epr_old = stm_usb.epr[ep];
 	epr_write &= STM_USB_EPR_PRESERVE_MASK;
 	epr_write |= STM_USB_EPR_INVARIANT;
@@ -240,6 +239,12 @@ ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
 			      STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX,
 			      stat_rx << STM_USB_EPR_STAT_RX);
 	stm_usb.epr[ep] = epr_write;
+}
+
+static void
+ao_usb_set_stat_rx(int ep, uint32_t stat_rx) {
+	ao_arch_block_interrupts();
+	_ao_usb_set_stat_rx(ep, stat_rx);
 	ao_arch_release_interrupts();
 }
 
@@ -870,10 +875,10 @@ _ao_usb_out_recv(void)
 	ao_usb_rx_pos = 0;
 
 	/* ACK the packet */
-	ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
+	_ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static int
+int
 _ao_usb_pollchar(void)
 {
 	uint8_t c;
@@ -896,16 +901,6 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-int
-ao_usb_pollchar(void)
-{
-	int	c;
-	ao_arch_block_interrupts();
-	c = _ao_usb_pollchar();
-	ao_arch_release_interrupts();
-	return c;
-}
-
 char
 ao_usb_getchar(void)
 {
-- 
cgit v1.2.3


From 8d0f4bc23eae4f1e085bfb853c995f1fb6b8b594 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Apr 2013 20:27:52 -0500
Subject: altos: Eliminate stdio looping when system has a single stdio source

No need to loop if there's only one

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/avr/ao_avr_stdio.c | 11 +----------
 src/core/ao_stdio.c    | 17 +++++++++++++++++
 2 files changed, 18 insertions(+), 10 deletions(-)

(limited to 'src/avr')

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_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
 }
-- 
cgit v1.2.3