update firmware to @319

1 files changed, 128 insertions, 62 deletions

diff --git a/firmware/spi.c b/firmware/spi.c
index 2b8abb1..b3e3a95 100644
--- a/firmware/spi.c
+++ b/firmware/spi.c
@@ -36,26 +36,24 @@
 
 #include "spi.h"
 
+
 void spi_parser(char *buf)
 {
   switch(buf[0]) {
     case CMD_SPI_INIT:
-      spi_init_usb();
-    break;
+      spi_init_usb(buf[2], buf[3], buf[4]);
+      break;
     case CMD_SPI_DEINIT:
       spi_deinit_usb();
-    break;
-    case CMD_SPI_SPEED:
-      spi_set_speed_usb((int)buf[2]);
-    break;
+      break;
     case CMD_SPI_SEND:
-      spi_send_usb(&buf[2], (int)buf[1]);
-    break;
+      spi_send_usb(buf[2], &buf[3]);
+      break;
     case CMD_SPI_RECV:
-      spi_receive_usb((int)buf[1]);
+      spi_receive_usb((int)buf[2]);
     case CMD_SPI_SEND_AND_RECV:
-      spi_send_and_receive_usb(&buf[2], (int)buf[1]);
-    break;
+      spi_send_and_receive_usb(&buf[3], (int)buf[2]);
+      break;
     default:
       answer[0] = buf[0];
       answer[1] = RSP_UNKOWN_CMD;
@@ -64,38 +62,111 @@ void spi_parser(char *buf)
   }
 }
 
-void spi_init_usb(void)
+void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed)
 {
   answer[0] = CMD_SPI_INIT;
-  answer[1] = (unsigned char) spi_init();
-  answer[3] = 0;
+  answer[1] = (unsigned char) spi_init(dord, mode, speed);
+  answer[2] = 0;
   CommandAnswer(3);
 }
 
 
-int spi_init(void)
+int spi_init(uint8_t dord, uint8_t mode, uint8_t speed)
 {
-  PORTB   &=  ~((1 << SCK)|(1<<MISO)|(1<<MOSI));  // SCK have to be low in IDLE
-  DDRB &=~(1 << MISO);
-  DDRB = (1 << MOSI)|(1 << SCK); 
+  uint8_t cpol, cpha, spr1, spr0, spi2x;
+
+  dord = dord ? 1 : 0;
+
+  switch(mode)
+  {
+    case 0:
+      cpol = 0;
+      cpha = 0;
+      break;
+    case 1:
+      cpol = 0;
+      cpha = 1;
+      break;
+    case 2:
+      cpol = 1;
+      cpha = 0;
+      break;
+    case 3:
+      cpol = 1;
+      cpha = 1;
+      break;
+    default:
+      return RSP_ERROR;
+  }
 
-  SPCR = 0;
-  SPSR = 0;
+  switch(speed)
+  {
+    case SPI_SPEED_125kHz:
+      spi2x = 0;
+      spr1  = 1;
+      spr0  = 1;
+      break;
+    case SPI_SPEED_250kHz:
+      spi2x = 0;
+      spr1  = 1;
+      spr0  = 0;
+      break;
+    case SPI_SPEED_500kHz:
+      spi2x = 1;
+      spr1  = 1;
+      spr0  = 0;
+      break;
+    case SPI_SPEED_1MHz:
+      spi2x = 0;
+      spr1  = 0;
+      spr0  = 1;
+      break;
+    case SPI_SPEED_2MHz:
+      spi2x = 1;
+      spr1  = 0;
+      spr0  = 1;
+      break;
+    case SPI_SPEED_4MHz:
+      spi2x = 0;
+      spr1  = 0;
+      spr0  = 0;
+      break;
+    case SPI_SPEED_8MHz:
+      spi2x = 1;
+      spr1  = 0;
+      spr0  = 0;
+      break;
+    default:
+      return RSP_ERROR;
+  }
+
+  // MOSI, SCK: out/low
+  // MISO:      in
+  DDRB  &=  ~(1 << MISO);
+  DDRB  |=   (1 << MOSI | 1 << SCK); 
+  PORTB &=  ~(1 << MOSI | 1 << MISO | 1 << SCK);  // SCK has to be low in IDLE
 
-  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+  // SPE:  SPI enable
+  // DORD: Data Order (0: starting with LSB)
+  // MSTR: Master mode
+  // SPR1, SPR2, SPI2X: speed
+  SPCR = (1 << SPE | dord << DORD | 1 << MSTR | cpol << CPOL | cpha << CPHA |
+          spr1 << SPR1 | spr0 << SPR0);
+  SPSR = (spi2x << SPI2X);
 
-  octopus.ports[5]=PIN_SCK;
-  octopus.ports[6]=PIN_MOSI;
-  octopus.ports[7]=PIN_MISO;
+  octopus.ports[5] = PIN_SCK;
+  octopus.ports[6] = PIN_MOSI;
+  octopus.ports[7] = PIN_MISO;
 
   return RSP_OK;
 }
 
 void spi_deinit_usb(void)
 {
-  answer[0]=CMD_SPI_DEINIT;
-  answer[1]=(unsigned char)spi_deinit();
-  answer[2]=0;
+  answer[0] = CMD_SPI_DEINIT;
+  answer[1] = (unsigned char)spi_deinit();
+  answer[2] = 0;
+
   CommandAnswer(3);
 }
 
@@ -104,36 +175,30 @@ int spi_deinit(void)
   SPCR = 0;
   SPSR = 0;
 
-  octopus.ports[5]=PIN_OUT;  // this is wrong!
-  octopus.ports[6]=PIN_OUT;  // this is wrong!
-  octopus.ports[7]=PIN_OUT;  // this is wrong!
+  octopus.ports[5] = PIN_NONE;
+  octopus.ports[6] = PIN_NONE;
+  octopus.ports[7] = PIN_NONE;
 
   return RSP_OK;
 }
 
-void spi_set_speed_usb(int speed){
-
-}
-
-int spi_set_speed(int speed){
-
-  return RSP_OK;
-}
 
-void spi_send_usb(char * buf, int length)
+void spi_send_usb(uint8_t length, char * buf)
 {
-  answer[0]=CMD_SPI_SEND;
-  answer[1]=(unsigned char)spi_send(buf,length);
-  answer[2]=0;
+  answer[0] = CMD_SPI_SEND;
+  answer[1] = (unsigned char)spi_send(length, buf);
+  answer[2] = 0;
+
   CommandAnswer(3);
 }
 
-int spi_send(char * buf, int length)
+int spi_send(int length, char * buf)
 {
-  int i;
-  for(i=0;i<length;i++){
+  uint8_t i;
+  for(i = 0; i < length; i++)
+  {
     SPDR = buf[i];
-    while ( !(SPSR & (1 << SPIF)) ) ;
+    while(!(SPSR & (1 << SPIF)));
   }
   return RSP_OK;
 }
@@ -141,22 +206,29 @@ int spi_send(char * buf, int length)
 
 void spi_receive_usb(int length)
 {
-  answer[0]=CMD_SPI_RECV;
-  answer[1]=(unsigned char)spi_receive((char*)&answer[2],length);
-  answer[2]=0;
-  CommandAnswer(length+2);
+  answer[0]        = CMD_SPI_RECV;
+  answer[1]        = (unsigned char)spi_receive(length, (char*)&answer[2]);
+  answer[2+length] = 0;
+  CommandAnswer(3+length);
 }
 
 
-unsigned char spi_receive( char * buf, int length)
+unsigned char spi_receive(int length, char * buf)
 {
   int i;
   int timeout = 0;
-  for(i=0;i<length;i++){
+
+  for(i = 0; i < length; i++)
+  {
     SPDR = 0;
-    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
-    buf[i]=SPDR;
+    while(!(SPSR & (1 << SPIF))) 
+    {
+      if(timeout++ > 1000) 
+        return RSP_TIMEOUT;
+    }
+    buf[i] = SPDR;
   }
+
   return RSP_OK;
 }
 
@@ -164,8 +236,8 @@ void spi_send_and_receive_usb(char * txbuf, int length)
 {
   answer[0]=CMD_SPI_SEND;
   answer[1]=(unsigned char)spi_send_and_receive(txbuf,(char *)&answer[2],length);
-  answer[2]=0;
-  CommandAnswer(2+length);
+  answer[2+length]=0;
+  CommandAnswer(3+length);
 
 }
 
@@ -180,9 +252,3 @@ int spi_send_and_receive(char * txbuf, char * rxbuf, int length){
   }
   return RSP_OK;
 }
-
-
-
-
-
-