From e4d244eefa4c779cd9c8a91389bf998c54705b72 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 29 Jul 2012 19:42:53 -0700 Subject: altos: Add software AES implementation This is untested Signed-off-by: Keith Packard --- src/stm/Makefile.defs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/stm') diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index 3edfa41d..04404cdc 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -1,4 +1,4 @@ -vpath % ../stm:../product:../drivers:../core:../util:../kalman:.. +vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:.. vpath make-altitude ../util vpath make-kalman ../util vpath kalman.5c ../kalman -- cgit v1.2.3 From 2e7e304e67bc1e094282c8668fa8cccf09f9c9b4 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 29 Jul 2012 19:48:08 -0700 Subject: altos: Add driver for STM internal flash Signed-off-by: Keith Packard --- src/stm/ao_eeprom_stm.c | 191 ++++++++++++++++++++++++++++++++++++++++++++++++ src/stm/stm32l.h | 24 ++++++ 2 files changed, 215 insertions(+) create mode 100644 src/stm/ao_eeprom_stm.c (limited to 'src/stm') diff --git a/src/stm/ao_eeprom_stm.c b/src/stm/ao_eeprom_stm.c new file mode 100644 index 00000000..1e51b417 --- /dev/null +++ b/src/stm/ao_eeprom_stm.c @@ -0,0 +1,191 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include + +/* Total bytes of available storage */ +ao_pos_t ao_storage_total = 4096; + +/* Block size - device is erased in these units. */ +ao_pos_t ao_storage_block = 1024; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +ao_pos_t ao_storage_config = 0; + +/* Storage unit size - device reads and writes must be within blocks of this size. */ +uint16_t ao_storage_unit = 1024; + +/* Location of eeprom in address space */ +#define stm_eeprom ((uint8_t *) 0x08080000) + +/* + * The internal flash chip is arranged in 8 byte sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 2 bytes and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(ao_pos_t pos) __reentrant +{ + /* Not necessary */ + return 1; +} + +static void +ao_intflash_unlock(void) +{ + /* Unlock Data EEPROM and FLASH_PECR register */ + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1; + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2; + + /* Configure the FTDW bit (FLASH_PECR[8]) to execute + * word write, whatever the previous value of the word + * being written to + */ + stm_flash.pecr = ((0 << STM_FLASH_PECR_OBL_LAUNCH) | + (0 << STM_FLASH_PECR_ERRIE) | + (0 << STM_FLASH_PECR_EOPIE) | + (0 << STM_FLASH_PECR_FPRG) | + (0 << STM_FLASH_PECR_ERASE) | + (0 << STM_FLASH_PECR_FTDW) | + (1 << STM_FLASH_PECR_DATA) | + (0 << STM_FLASH_PECR_PROG) | + (0 << STM_FLASH_PECR_OPTLOCK) | + (0 << STM_FLASH_PECR_PRGLOCK) | + (0 << STM_FLASH_PECR_PELOCK)); +} + +static void +ao_intflash_lock(void) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_PELOCK); +} + +static void +ao_intflash_write32(uint16_t pos, uint32_t w) +{ + uint32_t *addr; + + addr = (uint32_t *) (stm_eeprom + pos); + + /* Write a word to a valid address in the data EEPROM */ + *addr = w; + + /* Wait for the flash unit to go idle */ + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +static void +ao_intflash_write8(uint16_t pos, uint8_t d) +{ + uint32_t w, *addr, mask; + uint8_t shift; + + addr = (uint32_t *) (stm_eeprom + (pos & ~3)); + + /* Compute word to be written */ + shift = (pos & 3) << 3; + mask = 0xff << shift; + w = (*addr & ~mask) | (d << shift); + + ao_intflash_write32(pos & ~3, w); +} + +static uint8_t +ao_intflash_read(uint16_t pos) +{ + return stm_eeprom[pos]; +} + +/* + * Write to flash + */ + +uint8_t +ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant +{ + uint16_t pos = pos32; + __xdata uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + + ao_intflash_unlock(); + while (len) { + if ((pos & 3) == 0 && len >= 4) { + uint32_t w; + + w = d[0] | (d[1] << 8) | (d[2] << 16) | (d[3] << 24); + ao_intflash_write32(pos, w); + pos += 4; + d += 4; + len -= 4; + } else { + ao_intflash_write8(pos, *d); + pos += 1; + d += 1; + len -= 1; + } + } + ao_intflash_lock(); + + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant +{ + uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len--) + *d++ = ao_intflash_read(pos++); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ +} + +void +ao_storage_device_info(void) __reentrant +{ + printf ("Using internal flash\n"); +} + +void +ao_storage_device_init(void) +{ +} diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index ff8dddff..4d665e8b 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -281,6 +281,30 @@ extern struct stm_flash stm_flash; #define STM_FLASH_ACR_PRFEN (1) #define STM_FLASH_ACR_LATENCY (0) +#define STM_FLASH_PECR_OBL_LAUNCH 18 +#define STM_FLASH_PECR_ERRIE 17 +#define STM_FLASH_PECR_EOPIE 16 +#define STM_FLASH_PECR_FPRG 10 +#define STM_FLASH_PECR_ERASE 9 +#define STM_FLASH_PECR_FTDW 8 +#define STM_FLASH_PECR_DATA 4 +#define STM_FLASH_PECR_PROG 3 +#define STM_FLASH_PECR_OPTLOCK 2 +#define STM_FLASH_PECR_PRGLOCK 1 +#define STM_FLASH_PECR_PELOCK 0 + +#define STM_FLASH_SR_OPTVERR 11 +#define STM_FLASH_SR_SIZERR 10 +#define STM_FLASH_SR_PGAERR 9 +#define STM_FLASH_SR_WRPERR 8 +#define STM_FLASH_SR_READY 3 +#define STM_FLASH_SR_ENDHV 2 +#define STM_FLASH_SR_EOP 1 +#define STM_FLASH_SR_BSY 0 + +#define STM_FLASH_PEKEYR_PEKEY1 0x89ABCDEF +#define STM_FLASH_PEKEYR_PEKEY2 0x02030405 + struct stm_rcc { vuint32_t cr; vuint32_t icscr; -- cgit v1.2.3 From 6171892fa32e8a662a494ec6ba28a82fddc68589 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 6 Aug 2012 19:33:44 -0700 Subject: altos: Add ao_gpio_get and ao_exti_set_mode Needed to support general GPIO interrupts Signed-off-by: Keith Packard --- src/stm/ao_arch_funcs.h | 13 +++++++++++++ src/stm/ao_exti.h | 3 +++ src/stm/ao_exti_stm.c | 14 ++++++++++++++ src/stm/stm32l.h | 2 +- 4 files changed, 31 insertions(+), 1 deletion(-) (limited to 'src/stm') diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d2c973f5..3d8ca1f2 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -78,12 +78,25 @@ ao_spi_init(void); #define ao_gpio_set(port, bit, pin, v) stm_gpio_set(port, bit, v) +#define ao_gpio_get(port, bit, pin) stm_gpio_get(port, bit) + #define ao_enable_output(port,bit,pin,v) do { \ ao_enable_port(port); \ ao_gpio_set(port, bit, pin, v); \ 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); \ + if (mode == AO_EXTI_MODE_PULL_UP) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \ + else if (mode == AO_EXTI_MODE_PULL_DOWN) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_DOWN); \ + else \ + stm_pupdr_set(port, bit, STM_PUPDR_NONE); \ + } while (0) + #define ao_enable_cs(port,bit) do { \ stm_gpio_set((port), bit, 1); \ stm_moder_set((port), bit, STM_MODER_OUTPUT); \ diff --git a/src/stm/ao_exti.h b/src/stm/ao_exti.h index b579ad9f..35b56b57 100644 --- a/src/stm/ao_exti.h +++ b/src/stm/ao_exti.h @@ -29,6 +29,9 @@ void ao_exti_setup(struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback)()); +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode); + void ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()); diff --git a/src/stm/ao_exti_stm.c b/src/stm/ao_exti_stm.c index d54e6ee6..11099b02 100644 --- a/src/stm/ao_exti_stm.c +++ b/src/stm/ao_exti_stm.c @@ -115,6 +115,20 @@ ao_exti_setup (struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback stm_nvic_set_enable(irq); } +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode) { + uint32_t mask = 1 << pin; + + if (mode & AO_EXTI_MODE_RISING) + stm_exti.rtsr |= mask; + else + stm_exti.rtsr &= ~mask; + if (mode & AO_EXTI_MODE_FALLING) + stm_exti.ftsr |= mask; + else + stm_exti.ftsr &= ~mask; +} + void ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()) { ao_exti_callback[pin] = callback; diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index 4d665e8b..3a498a0a 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -167,7 +167,7 @@ stm_gpio_set(struct stm_gpio *gpio, int pin, uint8_t value) { } static inline uint8_t -stm_gpio_isset(struct stm_gpio *gpio, int pin) { +stm_gpio_get(struct stm_gpio *gpio, int pin) { return (gpio->idr >> pin) & 1; } -- cgit v1.2.3 From 46f87373bc8c28442273ee4f8da3a352223150f5 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 6 Aug 2012 22:53:52 -0700 Subject: altos: Add button driver and event queue With this, a single task can wait for any button or quadrature input device. Signed-off-by: Keith Packard --- src/core/ao.h | 7 ++++++- src/drivers/ao_quadrature.c | 7 +++++++ src/stm-demo/Makefile | 4 +++- src/stm-demo/ao_demo.c | 20 ++++++++++++++++++++ src/stm-demo/ao_pins.h | 14 ++++++++++++++ src/stm/ao_timer.c | 2 +- 6 files changed, 51 insertions(+), 3 deletions(-) (limited to 'src/stm') diff --git a/src/core/ao.h b/src/core/ao.h index 1032dd33..5e1fbb9d 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -125,7 +125,12 @@ ao_panic(uint8_t reason); * ao_timer.c */ -extern volatile __data uint16_t ao_tick_count; +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; /* Our timer runs at 100Hz */ #define AO_HERTZ 100 diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c index aed4999e..6a2c1bba 100644 --- a/src/drivers/ao_quadrature.c +++ b/src/drivers/ao_quadrature.c @@ -18,6 +18,12 @@ #include #include #include +#if AO_EVENT +#include +#define ao_quadrature_queue(q) ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q]) +#else +#define ao_quadrature_queue(q) +#endif __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT]; @@ -59,6 +65,7 @@ ao_quadrature_isr(void) default: continue; } + ao_quadrature_queue(q); ao_wakeup(&ao_quadrature_count[q]); } } diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index 52bb7b51..340967fc 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -35,7 +35,9 @@ ALTOS_SRC = \ ao_i2c_stm.c \ ao_usb_stm.c \ ao_exti_stm.c \ - ao_quadrature.c + ao_event.c \ + ao_quadrature.c \ + ao_button.c PRODUCT=StmDemo-v0.0 PRODUCT_DEF=-DSTM_DEMO diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c index 1b9813fe..fe7c69f2 100644 --- a/src/stm-demo/ao_demo.c +++ b/src/stm-demo/ao_demo.c @@ -17,7 +17,9 @@ #include "ao.h" #include +#include #include +#include struct ao_task demo_task; @@ -150,12 +152,29 @@ ao_temp (void) printf ("temp: %d\n", temp); } +static void +ao_event(void) +{ + struct ao_event event; + + for (;;) { + flush(); + ao_event_get(&event); + printf ("type %1d unit %1d tick %5u value %ld\n", + event.type, event.unit, event.tick, event.value); + if (event.value == 100) + break; + } + +} + __code struct ao_cmds ao_demo_cmds[] = { { ao_dma_test, "D\0DMA test" }, { ao_spi_write, "W\0SPI write" }, { ao_spi_read, "R\0SPI read" }, { ao_i2c_write, "i\0I2C write" }, { ao_temp, "t\0Show temp" }, + { ao_event, "e\0Monitor event queue" }, { 0, NULL } }; @@ -174,6 +193,7 @@ main(void) ao_i2c_init(); ao_exti_init(); ao_quadrature_init(); + ao_button_init(); ao_timer_set_adc_interval(100); diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h index 0c1ed8fc..77e42a28 100644 --- a/src/stm-demo/ao_pins.h +++ b/src/stm-demo/ao_pins.h @@ -170,6 +170,8 @@ struct ao_adc { #define HAS_I2C_2 0 #define I2C_2_PB10_PB11 0 +#define AO_EVENT 1 + #define AO_QUADRATURE_COUNT 2 #define AO_QUADRATURE_MODE AO_EXTI_MODE_PULL_UP @@ -181,4 +183,16 @@ struct ao_adc { #define AO_QUADRATURE_1_A 3 #define AO_QUADRATURE_1_B 2 +#define AO_BUTTON_COUNT 2 +#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP + +#define AO_BUTTON_0_PORT &stm_gpioc +#define AO_BUTTON_0 6 + +#define AO_BUTTON_1_PORT &stm_gpioc +#define AO_BUTTON_1 7 + +#define AO_TICK_TYPE uint32_t +#define AO_TICK_SIGNED int32_t + #endif /* _AO_PINS_H_ */ diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index ebe75366..adec7aad 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -17,7 +17,7 @@ #include "ao.h" -volatile __data uint16_t ao_tick_count; +volatile __data AO_TICK_TYPE ao_tick_count; uint16_t ao_time(void) { -- cgit v1.2.3