diff options
| -rw-r--r-- | firmware/93c46.c | 18 | ||||
| -rw-r--r-- | firmware/93c46.h | 14 | ||||
| -rw-r--r-- | firmware/Makefile | 914 | ||||
| -rw-r--r-- | firmware/adc.c | 152 | ||||
| -rw-r--r-- | firmware/adc.h | 17 | ||||
| -rw-r--r-- | firmware/can.c | 756 | ||||
| -rw-r--r-- | firmware/can.h | 101 | ||||
| -rw-r--r-- | firmware/common.c | 16 | ||||
| -rw-r--r-- | firmware/common.h | 25 | ||||
| -rw-r--r-- | firmware/debug.c | 38 | ||||
| -rw-r--r-- | firmware/debug.h | 9 | ||||
| -rw-r--r-- | firmware/eeprom.c | 119 | ||||
| -rw-r--r-- | firmware/eeprom.h | 11 | ||||
| -rw-r--r-- | firmware/fifo.c | 20 | ||||
| -rw-r--r-- | firmware/i2c.c | 19 | ||||
| -rw-r--r-- | firmware/io.c | 402 | ||||
| -rw-r--r-- | firmware/io.h | 168 | ||||
| -rw-r--r-- | firmware/main.c | 344 | ||||
| -rw-r--r-- | firmware/main.hex | 2169 | ||||
| -rw-r--r-- | firmware/octopus_can_stable_1_1.hex | 1133 | ||||
| -rw-r--r-- | firmware/octopus_relais.hex | 959 | ||||
| -rw-r--r-- | firmware/octopus_stable_1_1.hex | 971 | ||||
| -rw-r--r-- | firmware/pin.c | 93 | ||||
| -rw-r--r-- | firmware/pin.h | 84 | ||||
| -rw-r--r-- | firmware/protocol.h | 17 | ||||
| -rw-r--r-- | firmware/pwm.c | 6 | ||||
| -rw-r--r-- | firmware/spi.c | 190 | ||||
| -rw-r--r-- | firmware/spi.h | 23 | ||||
| -rw-r--r-- | firmware/uart.c | 22 | ||||
| -rw-r--r-- | firmware/uart_fifo.c | 368 | ||||
| -rw-r--r-- | firmware/usbn2mc.c | 2 | ||||
| -rw-r--r-- | liboctopus/python/demos/adc.py | 2 |
32 files changed, 2121 insertions, 7061 deletions
diff --git a/firmware/93c46.c b/firmware/93c46.c index 9ec4e11..4af0f45 100644 --- a/firmware/93c46.c +++ b/firmware/93c46.c @@ -93,10 +93,10 @@ int flash_93c46_init(void) //SETPIN(DIN0) = D4 = low //SETPIN(DIN1) = D4 = low - octopus.ports[16]=PIN_IN; - octopus.ports[17]=PIN_OUT; - octopus.ports[18]=PIN_OUT; octopus.ports[19]=PIN_OUT; + octopus.ports[18]=PIN_OUT; + octopus.ports[17]=PIN_OUT; + octopus.ports[16]=PIN_IN; return RSP_OK; } @@ -111,10 +111,9 @@ void flash_93c46_deinit_usb(void) int flash_93c46_deinit(void) { - octopus.ports[16]=PIN_NONE; - octopus.ports[17]=PIN_NONE; - octopus.ports[18]=PIN_NONE; - octopus.ports[19]=PIN_NONE; + octopus.ports[5]=PIN_OUT; // this is wrong! + octopus.ports[6]=PIN_OUT; // this is wrong! + octopus.ports[7]=PIN_OUT; // this is wrong! return RSP_OK; } @@ -123,8 +122,7 @@ void flash_93c46_read_usb(unsigned char address, unsigned int length, char * buf { answer[0]=CMD_93C46_READ; answer[1]=(unsigned char)flash_93c46_read(address,length,(char*)&answer[2]); - answer[2+length] = 0; - CommandAnswer(3+length); + CommandAnswer(length+2); } int flash_93c46_read(unsigned char address, unsigned int length, char * buf) @@ -144,7 +142,7 @@ void flash_93c46_write_usb(unsigned char address, unsigned int length, char * bu { answer[0]=CMD_93C46_WRITE; answer[1]=(unsigned char)flash_93c46_write(address,length, buf); - answer[2]=0; + answer[2]=0x00; CommandAnswer(3); } diff --git a/firmware/93c46.h b/firmware/93c46.h index d919036..817eade 100644 --- a/firmware/93c46.h +++ b/firmware/93c46.h @@ -47,6 +47,10 @@ #define DO (B, 3) + + + + #define DIN0 (B, 4) #define DIN1 (B, 5) @@ -96,4 +100,14 @@ void erase_write_disable(void); uint8_t flash_93c46_read_word(uint8_t add); uint8_t flash_93c46_write_word(uint8_t add,uint8_t wd); + + + + + + + + + + #endif /* SPI_H */ diff --git a/firmware/Makefile b/firmware/Makefile index c8ae6de..f3553b5 100644 --- a/firmware/Makefile +++ b/firmware/Makefile @@ -1,458 +1,458 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al. -# Released to the Public Domain -# Please read the make user manual! -# -# Additional material for this makefile was submitted by: -# Tim Henigan -# Peter Fleury -# Reiner Patommel -# Sander Pool -# Frederik Rouleau -# Markus Pfaff -# -# On command line: -# -# make all = Make software. -# -# make clean = Clean out built project files. -# -# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB). -# -# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio -# 4.07 or greater). -# -# make program = Download the hex file to the device, using avrdude. Please -# customize the avrdude settings below first! -# -# make filename.s = Just compile filename.c into the assembler code only -# -# To rebuild project do "make clean" then "make all". -# - -# mth 2004/09 -# Differences from WinAVR 20040720 sample: -# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum) -# - F_OSC Define in CFLAGS and AFLAGS - - -# MCU name -#MCU = atmega128 -MCU = at90can128 - -# Main Oscillator Frequency -# This is only used to define F_OSC in all assembler and c-sources. +# Hey Emacs, this is a -*- makefile -*-
+#
+# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al.
+# Released to the Public Domain
+# Please read the make user manual!
+#
+# Additional material for this makefile was submitted by:
+# Tim Henigan
+# Peter Fleury
+# Reiner Patommel
+# Sander Pool
+# Frederik Rouleau
+# Markus Pfaff
+#
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
+#
+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
+# 4.07 or greater).
+#
+# make program = Download the hex file to the device, using avrdude. Please
+# customize the avrdude settings below first!
+#
+# make filename.s = Just compile filename.c into the assembler code only
+#
+# To rebuild project do "make clean" then "make all".
+#
+
+# mth 2004/09
+# Differences from WinAVR 20040720 sample:
+# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum)
+# - F_OSC Define in CFLAGS and AFLAGS
+
+
+# MCU name
+#MCU = atmega128
+MCU = at90can128
+
+# Main Oscillator Frequency
+# This is only used to define F_OSC in all assembler and c-sources.
F_OSC = 16000000 - -# Output format. (can be srec, ihex, binary) -FORMAT = ihex - -# Target file name (without extension). -TARGET = main - - -# List C source files here. (C dependencies are automatically generated.) -#SRC = $(TARGET).c uart.c usbn2mc/main/usbn960x.c usbn2mc.c usbn2mc/main/usbnapi.c - -SRC = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c can.c eeprom.c pin.c - - -# List Assembler source files here. -# Make them always end in a capital .S. Files ending in a lowercase .s -# will not be considered source files but generated files (assembler -# output from the compiler), and will be deleted upon "make clean"! -# Even though the DOS/Win* filesystem matches both .s and .S the same, -# it will preserve the spelling of the filenames, and gcc itself does -# care about how the name is spelled on its command-line. -ASRC = - - - -# Optimization level, can be [0, 1, 2, 3, s]. -# 0 = turn off optimization. s = optimize for size. -# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) -OPT = s - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs -#DEBUG = dwarf-2 - -# List any extra directories to look for include files here. -# Each directory must be seperated by a space. -EXTRAINCDIRS = - - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 - -# Place -D or -U options here -CDEFS = - -# Place -I options here -CINCS = - - -# Compiler flags. -# -g*: generate debugging information -# -O*: optimization level -# -f...: tuning, see GCC manual and avr-libc documentation -# -Wall...: warning level -# -Wa,...: tell GCC to pass this to the assembler. -# -adhlns...: create assembler listing -CFLAGS = -g$(DEBUG) -CFLAGS += $(CDEFS) $(CINCS) -CFLAGS += -O$(OPT) -CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -CFLAGS += -Wall -Wstrict-prototypes -#CFLAGS += -Wall -CFLAGS += -Wa,-adhlns=$(<:.c=.lst) -CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -CFLAGS += $(CSTANDARD) -CFLAGS += -DF_OSC=$(F_OSC) - - - -# Assembler flags. -# -Wa,...: tell GCC to pass this to the assembler. -# -ahlms: create listing -# -gstabs: have the assembler create line number information; note that -# for use in COFF files, additional information about filenames -# and function names needs to be present in the assembler source -# files -- see avr-libc docs [FIXME: not yet described there] -ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -ASFLAGS += -DF_OSC=$(F_OSC) - - -#Additional libraries. - -# Minimalistic printf version -PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min - -# Floating point printf version (requires MATH_LIB = -lm below) -PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt - -PRINTF_LIB = - -# Minimalistic scanf version -SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min - -# Floating point + %[ scanf version (requires MATH_LIB = -lm below) -SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt - -SCANF_LIB = - -MATH_LIB = -lm - -# External memory options - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# used for variables (.data/.bss) and heap (malloc()). -#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# only used for heap (malloc()). -#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff - -EXTMEMOPTS = - -# Linker flags. -# -Wl,...: tell GCC to pass this to linker. -# -Map: create map file -# --cref: add cross reference to map file -LDFLAGS = -Wl,-Map=$(TARGET).map,--cref -LDFLAGS += $(EXTMEMOPTS) -LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) - - - - -# Programming support using avrdude. Settings and variables. - -# Programming hardware: alf avr910 avrisp bascom bsd -# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 -# -# Type: avrdude -c ? -# to get a full listing. -# -AVRDUDE_PROGRAMMER = stk500 - -# com1 = serial port. Use lpt1 to connect to parallel port. -AVRDUDE_PORT = com1 # programmer connected to serial device - -AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep - - -# Uncomment the following if you want avrdude's erase cycle counter. -# Note that this counter needs to be initialized first using -Yn, -# see avrdude manual. -#AVRDUDE_ERASE_COUNTER = -y - -# Uncomment the following if you do /not/ wish a verification to be -# performed after programming the device. -#AVRDUDE_NO_VERIFY = -V - -# Increase verbosity level. Please use this when submitting bug -# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> -# to submit bug reports. -#AVRDUDE_VERBOSE = -v -v - -AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) -AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) -AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) - - - -# --------------------------------------------------------------------------- - -# Define directories, if needed. -DIRAVR = c:/winavr -DIRAVRBIN = $(DIRAVR)/bin -DIRAVRUTILS = $(DIRAVR)/utils/bin -DIRINC = . -DIRLIB = $(DIRAVR)/avr/lib - - -# Define programs and commands. -SHELL = sh -CC = avr-gcc -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -COPY = cp - - - - -# Define Messages -# English -MSG_ERRORS_NONE = Errors: none -MSG_BEGIN = -------- begin -------- -MSG_END = -------- end -------- -MSG_SIZE_BEFORE = Size before: -MSG_SIZE_AFTER = Size after: -MSG_COFF = Converting to AVR COFF: -MSG_EXTENDED_COFF = Converting to AVR Extended COFF: -MSG_FLASH = Creating load file for Flash: -MSG_EEPROM = Creating load file for EEPROM: -MSG_EXTENDED_LISTING = Creating Extended Listing: -MSG_SYMBOL_TABLE = Creating Symbol Table: -MSG_LINKING = Linking: -MSG_COMPILING = Compiling: -MSG_ASSEMBLING = Assembling: -MSG_CLEANING = Cleaning project: - - - - -# Define all object files. -OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) - - -# Compiler flags to generate dependency files. -### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d -GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - - - - -# Default target. -all: begin gccversion sizebefore build sizeafter finished end - -build: elf hex eep lss sym - -elf: $(TARGET).elf -hex: $(TARGET).hex -eep: $(TARGET).eep -lss: $(TARGET).lss -sym: $(TARGET).sym - - - -# Eye candy. -# AVR Studio 3.x does not check make's exit code but relies on -# the following magic strings to be generated by the compile job. -begin: - @echo - @echo $(MSG_BEGIN) - -finished: - @echo $(MSG_ERRORS_NONE) - -end: - @echo $(MSG_END) - @echo - - -# Display size of file. -HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex -ELFSIZE = $(SIZE) -A $(TARGET).elf -sizebefore: - @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi - -sizeafter: - @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi - - - -# Display compiler version information. -gccversion : - @$(CC) --version - - - -# Program the device. -program: $(TARGET).hex $(TARGET).eep - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) - - - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: $(TARGET).elf - @echo - @echo $(MSG_COFF) $(TARGET).cof - $(COFFCONVERT) -O coff-avr $< $(TARGET).cof - - -extcoff: $(TARGET).elf - @echo - @echo $(MSG_EXTENDED_COFF) $(TARGET).cof - $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof - - - -# Create final output files (.hex, .eep) from ELF output file. -%.hex: %.elf - @echo - @echo $(MSG_FLASH) $@ - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -%.eep: %.elf - @echo - @echo $(MSG_EEPROM) $@ - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -%.lss: %.elf - @echo - @echo $(MSG_EXTENDED_LISTING) $@ - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -%.sym: %.elf - @echo - @echo $(MSG_SYMBOL_TABLE) $@ - $(NM) -n $< > $@ - - - -# Link: create ELF output file from object files. -.SECONDARY : $(TARGET).elf -.PRECIOUS : $(OBJ) -%.elf: $(OBJ) - @echo - @echo $(MSG_LINKING) $@ - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - - -# Compile: create object files from C source files. -%.o : %.c - @echo - @echo $(MSG_COMPILING) $< - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -%.s : %.c - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -%.o : %.S - @echo - @echo $(MSG_ASSEMBLING) $< - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -# Target: clean project. -clean: begin clean_list finished end - -clean_list : - @echo - @echo $(MSG_CLEANING) - $(REMOVE) $(TARGET).hex - $(REMOVE) $(TARGET).eep - $(REMOVE) $(TARGET).obj - $(REMOVE) $(TARGET).cof - $(REMOVE) $(TARGET).elf - $(REMOVE) $(TARGET).map - $(REMOVE) $(TARGET).obj - $(REMOVE) $(TARGET).a90 - $(REMOVE) $(TARGET).sym - $(REMOVE) $(TARGET).lnk - $(REMOVE) $(TARGET).lss - $(REMOVE) $(OBJ) - $(REMOVE) $(LST) - $(REMOVE) $(SRC:.c=.s) - $(REMOVE) $(SRC:.c=.d) - $(REMOVE) .dep/* - - - -# Include the dependency files. --include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) - - -# Listing of phony targets. -.PHONY : all begin finish end sizebefore sizeafter gccversion \ -build elf hex eep lss sym coff extcoff \ -clean clean_list program - -download_old: - avrdude -p m128 -c avrispv2 -P usb -U flash:w:main.hex - -download: - avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex -B 1 - -fuse_old: - avrdude -p m128 -c avrispv2 -P usb -U lfuse:w:0xe0:m - avrdude -p m128 -c avrispv2 -P usb -U efuse:w:0xff:m - avrdude -p m128 -c avrispv2 -P usb -U hfuse:w:0xdd:m - -fuse: - avrdude -p c128 -c avrispv2 -B 10 -P usb -U lfuse:w:0xe0:m - avrdude -p c128 -c avrispv2 -B 10 -P usb -U efuse:w:0xff:m - avrdude -p c128 -c avrispv2 -B 10 -P usb -U hfuse:w:0xdd:m - -usbprog: - avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex +
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+# Target file name (without extension).
+TARGET = main
+
+
+# List C source files here. (C dependencies are automatically generated.)
+#SRC = $(TARGET).c uart.c usbn2mc/main/usbn960x.c usbn2mc.c usbn2mc/main/usbnapi.c
+
+SRC = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c +
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+#DEBUG = dwarf-2
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+EXTRAINCDIRS =
+
+
+# Compiler flag to set the C Standard level.
+# c89 - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99 - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options here
+CDEFS =
+
+# Place -I options here
+CINCS =
+
+
+# Compiler flags.
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+#CFLAGS += -Wall
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+CFLAGS += -DF_OSC=$(F_OSC)
+
+
+
+# Assembler flags.
+# -Wa,...: tell GCC to pass this to the assembler.
+# -ahlms: create listing
+# -gstabs: have the assembler create line number information; note that
+# for use in COFF files, additional information about filenames
+# and function names needs to be present in the assembler source
+# files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+ASFLAGS += -DF_OSC=$(F_OSC)
+
+
+#Additional libraries.
+
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+PRINTF_LIB =
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+SCANF_LIB =
+
+MATH_LIB = -lm
+
+# External memory options
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+# Linker flags.
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+
+
+
+
+# Programming support using avrdude. Settings and variables.
+
+# Programming hardware: alf avr910 avrisp bascom bsd
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = stk500
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = com1 # programmer connected to serial device
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level. Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+# ---------------------------------------------------------------------------
+
+# Define directories, if needed.
+DIRAVR = c:/winavr
+DIRAVRBIN = $(DIRAVR)/bin
+DIRAVRUTILS = $(DIRAVR)/utils/bin
+DIRINC = .
+DIRLIB = $(DIRAVR)/avr/lib
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+COPY = cp
+
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = -------- end --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
+
+
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+
+build: elf hex eep lss sym
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+ @echo
+ @echo $(MSG_BEGIN)
+
+finished:
+ @echo $(MSG_ERRORS_NONE)
+
+end:
+ @echo $(MSG_END)
+ @echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+sizebefore:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+ @$(CC) --version
+
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+ $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000
+
+
+coff: $(TARGET).elf
+ @echo
+ @echo $(MSG_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+ @echo
+ @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+%.eep: %.elf
+ @echo
+ @echo $(MSG_EEPROM) $@
+ -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+ @echo
+ @echo $(MSG_EXTENDED_LISTING) $@
+ $(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo
+ @echo $(MSG_SYMBOL_TABLE) $@
+ $(NM) -n $< > $@
+
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+ @echo
+ @echo $(MSG_LINKING) $@
+ $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+%.o : %.c
+ @echo
+ @echo $(MSG_COMPILING) $<
+ $(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+ $(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+%.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+ @echo
+ @echo $(MSG_CLEANING)
+ $(REMOVE) $(TARGET).hex
+ $(REMOVE) $(TARGET).eep
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).cof
+ $(REMOVE) $(TARGET).elf
+ $(REMOVE) $(TARGET).map
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).a90
+ $(REMOVE) $(TARGET).sym
+ $(REMOVE) $(TARGET).lnk
+ $(REMOVE) $(TARGET).lss
+ $(REMOVE) $(OBJ)
+ $(REMOVE) $(LST)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) .dep/*
+
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program
+
+download:
+ avrdude -p m128 -c avrispv2 -P usb -U flash:w:main.hex
+ +download_can:
+ avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex
+ +fuse:
+ avrdude -p m128 -c avrispv2 -P usb -U lfuse:w:0xe0:m
+ avrdude -p m128 -c avrispv2 -P usb -U efuse:w:0xff:m
+ avrdude -p m128 -c avrispv2 -P usb -U hfuse:w:0xdd:m
+
+fuse_can:
+ avrdude -p c128 -c avrispv2 -B 10 -P usb -U lfuse:w:0xe0:m
+ avrdude -p c128 -c avrispv2 -B 10 -P usb -U efuse:w:0xff:m
+ avrdude -p c128 -c avrispv2 -B 10 -P usb -U hfuse:w:0xdd:m
+ +usbprog:
+ avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex
diff --git a/firmware/adc.c b/firmware/adc.c index 915dbce..a9449b7 100644 --- a/firmware/adc.c +++ b/firmware/adc.c @@ -37,27 +37,19 @@ #include "protocol.h" #include "adc.h" -#include <stdio.h> -#include "debug.h" - - void adc_parser(char *buf) { - //debugf("adc parser CMD %02x\n",buf[0]); switch(buf[0]) { case CMD_ADC_INIT_PIN: - adc_init_usb(buf[2]); - break; - case CMD_ADC_DEINIT_PIN: - adc_deinit_usb(buf[2]); - break; + adc_init_usb((int)buf[2]); + break; case CMD_ADC_GET: - adc_get_usb(buf[2]); - break; + adc_get_usb((int)buf[2]); + break; case CMD_ADC_REF: - adc_ref_usb(buf[2]); - break; + adc_ref_usb((int)buf[2]); + break; default: answer[0]=buf[0]; @@ -67,49 +59,42 @@ void adc_parser(char *buf) } } -int adc_init(uint8_t pin) +int adc_init(int pin) { - if (pin >= 10 && pin <= 17) - { - octopus.ports[pin] = PIN_AD; - ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen - return RSP_OK; - } - - return RSP_UNKOWN_PIN; + if (pin >= 33 && pin <= 40) + { + octopus.ports[pin] = PIN_AD; + + switch(pin) + { + case 40: break; + case 39: break; + case 38: break; + case 37: break; + case 36: break; + case 35: break; + case 34: break; + case 33: break; + default: + return RSP_IMPOSSIBLE_PIN_CONFIG; + } + return RSP_OK; + } + return RSP_UNKOWN_PIN; } -void adc_init_usb(uint8_t pin) +void adc_init_usb(int pin) { answer[0]=CMD_ADC_INIT_PIN; - answer[1]=(unsigned char)adc_init(pin); - answer[2]=0; - - CommandAnswer(3); -} - -int adc_deinit(uint8_t pin) -{ - if (octopus.ports[pin] == PIN_AD) - { - octopus.ports[pin] = PIN_NONE; - return RSP_OK; - } - - return RSP_UNKOWN_PIN; -} - -void adc_deinit_usb(uint8_t pin) -{ - answer[0]=CMD_ADC_DEINIT_PIN; - answer[1]= (unsigned char)adc_deinit(pin); + answer[1]= (unsigned char)adc_init(pin); answer[2]=0; CommandAnswer(3); } -void adc_get_usb(uint8_t pin) +void adc_get_usb(int pin) { + uint16_t result; //uint8_t result[2]; @@ -125,59 +110,64 @@ void adc_get_usb(uint8_t pin) } -int adc_get(uint8_t pin, uint16_t *value) +int adc_get(int pin, uint16_t *value) { - *value = 0; - - if (octopus.ports[pin] == PIN_AD) - { - // 40 => 0 - // 39 => 1 - // 38 => 2 - // pin => 40-pin - *value =_adc_read_channel(17 - pin); - debugf("Wert %i\r\n",*value); - return RSP_OK; - } - else - return RSP_WRONG_PIN_CONFIG; + *value = 0; + + if (octopus.ports[pin] == PIN_AD) + { + switch (pin) + { + case 40: *value =_adc_read_channel(0); break; + case 39: *value =_adc_read_channel(1); break; + case 38: *value =_adc_read_channel(2); break; + case 37: *value =_adc_read_channel(3); break; + case 36: *value =_adc_read_channel(4); break; + case 35: *value =_adc_read_channel(5); break; + case 34: *value =_adc_read_channel(6); break; + case 33: *value =_adc_read_channel(7); break; + default: + return RSP_IMPOSSIBLE_PIN_CONFIG; + } + return RSP_OK; + } + else + { + return RSP_WRONG_PIN_CONFIG; + } } -void adc_ref_usb(uint8_t ref) +void adc_ref_usb(int ref) { answer[0]=CMD_ADC_REF; answer[1]=adc_ref(ref); - answer[2]=0; - CommandAnswer(3); + CommandAnswer(2); } -int adc_ref(uint8_t ref) +int adc_ref(int ref) { - ADMUX = 0x00; - - switch(ref) - { - case PARAM_ADC_AREF: break; - case PARAM_ADC_AVCC: ADMUX |= (1<<REFS0); break; - case PARAM_ADC_INTERNAL: ADMUX |= (1<<REFS1) | (1<<REFS0); break; - default: - return RSP_ERROR; - } - - return RSP_OK; + ADMUX = 0x00; + + switch(ref){ + case PARAM_ADC_AREF: break; + case PARAM_ADC_AVCC: ADMUX |= (1<<REFS0); break; + case PARAM_ADC_INTERNAL: ADMUX |= (1<<REFS1) | (1<<REFS0); break; + default: + return RSP_ERROR; + } + return RSP_OK; } -uint16_t _adc_read_channel(uint8_t mux) +uint16_t _adc_read_channel(int mux) { int i; uint16_t result; - - //ADMUX |= mux; // Kanal waehlen ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0); // Frequenzvorteiler // setzen auf 8 (1) und ADC aktivieren (1) - ADMUX = (ADMUX & 0xF0) | mux; // select channel + //ADMUX |= (unsigned char)mux; // Kanal waehlen + ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel //ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen diff --git a/firmware/adc.h b/firmware/adc.h index 1e85ff4..3aa0a6f 100644 --- a/firmware/adc.h +++ b/firmware/adc.h @@ -41,17 +41,16 @@ void adc_parser(char *buf); -int adc_init(uint8_t pin); -void adc_init_usb(uint8_t pin); +int adc_init(int pin); +void adc_init_usb(int pin); -int adc_deinit(uint8_t pin); -void adc_deinit_usb(uint8_t pin); +void adc_ref_usb(int ref); +int adc_ref(int ref); -int adc_ref(uint8_t ref); -void adc_ref_usb(uint8_t ref); -int adc_get(uint8_t pin, uint16_t *value); -void adc_get_usb(uint8_t pin); -uint16_t _adc_read_channel(uint8_t mux); + +int adc_get(int pin, uint16_t *value); +void adc_get_usb(int pin); +uint16_t _adc_read_channel(int mux); #endif /* ADC_H */ diff --git a/firmware/can.c b/firmware/can.c deleted file mode 100644 index 95090bb..0000000 --- a/firmware/can.c +++ /dev/null @@ -1,756 +0,0 @@ -/* - * Copyright (c) 2007 Marco Glietsch (http://www.mikrocontroller.net/topic/98697) - * Original author: Marco Glietsch - * Modified for octopus by Michael Hartmann <ich@speicherleck.de> - * All rights reserved. - * - * Short descripton of file: - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the FH Augsburg nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT - * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, - * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY - * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#ifdef __AVR_AT90CAN128__ - -#include "common.h" -#include "protocol.h" -#include "can.h" - -#include <avr/io.h> -#include <avr/interrupt.h> -#include <util/delay.h> -#include <inttypes.h> -#include <stdbool.h> - -struct { - uint32_t id; - int8_t data[8]; -} message; - -int8_t iemob[15] = { - IEMOB0, IEMOB1, IEMOB2, IEMOB3, IEMOB4, IEMOB5, IEMOB6, IEMOB7, - IEMOB8, IEMOB9, IEMOB10, IEMOB11, IEMOB12, IEMOB13, IEMOB14 }; - -// extended id -int8_t extended_id; - -void can_parser(uint8_t *buf) -{ - switch(buf[0]) - { - case CMD_CAN_INIT: - can_init_usb((uint8_t)buf[2], (uint8_t)buf[3]); - break; - case CMD_CAN_DEINIT: - can_deinit_usb(); - break; - case CMD_CAN_ENABLE_MOB: - asm("nop"); - uint32_t idm = 0; - uint32_t id = 0; - - id = ((uint32_t)buf[4]) + - ((uint32_t)buf[5] << 8) + - ((uint32_t)buf[6] << 16) + - ((uint32_t)buf[7] << 24); - - idm = ((uint32_t)buf[8]) + - ((uint32_t)buf[9] << 8) + - ((uint32_t)buf[10] << 16) + - ((uint32_t)buf[11] << 24); - - // mob, mode, id, idm - can_enable_mob_usb(buf[2], buf[3], id, idm); - break; - case CMD_CAN_DISABLE_MOB: - can_disable_mob_usb((uint8_t)buf[2]); - break; - case CMD_CAN_SEND_DATA: - can_send_data_usb(buf[2], buf[3], &buf[4]); - break; - case CMD_CAN_SEND_REMOTE: - can_send_remote_usb(buf[2]); - break; - case CMD_CAN_RECEIVE_DATA: - can_receive_data_usb(buf[2]); - break; - case CMD_CAN_SET_AUTOREPLY: - can_set_autoreply_usb(buf[2], buf[3], &buf[4]); - break; - default: - answer[0] = buf[0]; - answer[1] = RSP_UNKOWN_CMD; - answer[2] = 0; - CommandAnswer(3); - } -} - -void can_init_usb(uint8_t baudrate, uint8_t eid) -{ - answer[0] = CMD_CAN_INIT; - answer[1] = (uint8_t)can_init(baudrate, CAN_INTERRUPTS_RX, eid); - answer[2] = 0; - - CommandAnswer(3); -} - -// Message Objects zuruecksetzen, CAN-Controller aktivieren -// Parameter: -// uint8_t baud: 0,1,2...5 (fuer 100, 125, 200, 250, 500, 1000) -// uint8_t intmode: Ereignis, bei dem ein Interrupt ausgelöst werden soll -// - NONE - Deaktiviert -// - TX - Daten gesendet -// - RX - Daten empfangen -// - TXRX - Daten gesendet und/oder empfangen -int can_init(uint8_t baudrate, uint8_t intmode, uint8_t eid) -{ - uint8_t i; - - octopus.ports[17] = PIN_CAN; - octopus.ports[18] = PIN_CAN; - - extended_id = eid ? 1 : 0; - - message.id = 0; - for(i = 0; i < 8; i++) - message.data[i] = 0; - - // Status- und Steuerregister aller Message Objects initialisieren - for(i = 0; i < NO_MOBS; i++) - { - can_get_mob(i); - CANSTMOB = 0; - CANCDMOB = 0; - } - - // set baudrate - if(can_set_baudrate(baudrate) == 0) - return RSP_ERROR; - - if(can_set_interrupt(intmode) == 0) - return RSP_ERROR; - - // CAN-Controller in Enabled Mode setzen - setbit(CANGCON, ENASTB); - - // Warten bis der CAN-Controller das Enabled-Bit gesetzt hat und - // einsatzbereit ist - while (!getbit(CANGSTA, ENFG)); - - return RSP_OK; -} - -void can_deinit_usb(void) -{ - answer[0] = CMD_CAN_DEINIT; - answer[1] = (int8_t)can_deinit(); - answer[2] = 0; - - CommandAnswer(3); -} - -int can_deinit(void) -{ - uint8_t i; - - octopus.ports[17] = PIN_NONE; - octopus.ports[18] = PIN_NONE; - - for(i = 0; i < 15; i++) - can_disable_mob(i); - - // CAN-Controller ausschalten - clearbit(CANGCON, ENASTB); - - // warten bis wirklich ausgechaltet - while (getbit(CANGSTA, ENFG)); - - return RSP_OK; -} - -void can_set_autoreply(uint8_t mob, uint8_t length, uint8_t *buf) -{ - can_get_mob(mob); - can_set_mode(CAN_MODE_AUTO_REPLY); - can_set_data(length, buf); -} - -void can_set_autoreply_usb(uint8_t mob, uint8_t length, uint8_t *buf) -{ - can_set_autoreply(mob, length, buf); - - answer[0] = CMD_CAN_SET_AUTOREPLY; - answer[1] = RSP_OK; - answer[2] = 0; - - CommandAnswer(3); -} - -int can_set_baudrate(uint8_t baudrate) -{ - // @16 MHz - switch(baudrate) - { - case CAN_BAUDRATE_100K: - CANBT1 = 0x12; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - case CAN_BAUDRATE_125K: - CANBT1 = 0x0e; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - case CAN_BAUDRATE_200K: - CANBT1 = 0x08; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - case CAN_BAUDRATE_250K: - CANBT1 = 0x06; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - case CAN_BAUDRATE_500K: - CANBT1 = 0x02; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - case CAN_BAUDRATE_1000K: - CANBT1 = 0x00; - CANBT2 = 0x0c; - CANBT3 = 0x37; - break; - - default: - return 0; - } - - return 1; -} - -void can_enable_mob_usb(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm) -{ - answer[0] = CMD_CAN_ENABLE_MOB; - answer[1] = (int8_t)can_enable_mob(mob, mode, id, idm); - answer[2] = 0; - - CommandAnswer(3); -} - - -// Parameter: -// uint8_t mob: Nummer des zu wählenden Objekts (0-14) -// -// uint8_t mode -// - Betriebsart des Message Objekts: -// - DISABLED Deaktiviert -// - TRANSMIT_DATA Daten senden -// - TRANSMIT_REMOTE Anfrage senden -// - RECEIVE_DATA Empfangsmodus -// - AUTO_REPLY automatischer Antwortmodus -// -// Funktion setzt die Betriebsart des vorher gewählten Objekts -int can_enable_mob(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm) -{ - // Objekt wählen - can_get_mob(mob); - - // Interrupt für dieses Objekt aktivieren - can_set_mob_interrupt(mob); - - // ID-Maske setzen - can_set_id_mask(idm); - - // ID setzen - can_set_id(id); - - // Betriebsmodus setzen - if(can_set_mode(mode) == 0) - return RSP_ERROR; - - return RSP_OK; -} - - -void can_send_data_usb(uint8_t mob, uint8_t length, uint8_t *data) -{ - answer[0] = CMD_CAN_SEND_DATA; - answer[1] = (int8_t)can_send_data(mob, length, data); - answer[2] = 0; - - CommandAnswer(3); -} - -int can_send_data(uint8_t mob, uint8_t length, uint8_t * data) -{ - uint8_t mode; - - // Objekt wählen - can_get_mob(mob); - - // Aktuelle Betriebsart sichern - mode = can_get_mode(); - - // Nutzdaten in Register schreiben - can_set_data(length, data); - - // Datenübertragung starten - can_set_mode(CAN_MODE_TRANSMIT_DATA); - - // Warten bis die Datenübertragung beendet ist (TXOK-Flag von CAN-Controller - // gesetzt) - while (!getbit(CANSTMOB, TXOK)); - - // TXOK-Flag von Hand löschen - clearbit(CANSTMOB, TXOK); - - // Alte Betriebsart wiederherstellen - can_set_mode(mode); - - return RSP_OK; -} - - -// Parameter: uint8_t mode: Ereignis, bei dem Interrupt ausgelöst werden soll -// - NONE - Deaktiviert -// - TX - Daten gesendet -// - RX - Daten empfangen -// - TXRX - Daten gesendet und/oder empfangen -int can_set_interrupt(uint8_t mode) -{ - switch(mode) - { - case CAN_INTERRUPTS_NONE: - clearbit(CANGIE, ENIT); - clearbit(CANGIE, ENRX); - clearbit(CANGIE, ENTX); - break; - - case CAN_INTERRUPTS_TX: - setbit(CANGIE, ENIT); - clearbit(CANGIE, ENRX); - setbit(CANGIE, ENTX); - break; - - case CAN_INTERRUPTS_RX: - setbit(CANGIE, ENIT); - setbit(CANGIE, ENRX); - clearbit(CANGIE, ENTX); - break; - - case CAN_INTERRUPTS_TXRX: - setbit(CANGIE, ENIT); - setbit(CANGIE, ENRX); - setbit(CANGIE, ENTX); - break; - - default: - return 0; - } - - return 1; -} - - -// Funktion wählt CANPAGE des betreffenden Objekts aus und stellt Zugang zu -// Registern des Objekts her -void can_get_mob(uint8_t mob) -{ - CANPAGE = (mob << 4); -} - - -// Parameter: uint32_t idm: ID-Maske in Dezimalschreibweise -// Funktion setzt ID-Maske eines Objekts auf einen neuen Wert. In CANIDM4 -// bleiben dabei die Werte der unteren 3 Bit (RTRTAG, Reserved und IDEMSK) -// erhalten. -void can_set_id_mask(uint32_t idm) -{ - //Standart identifier (11 bit) - if(!extended_id) - { - CANIDM2 = (uint8_t)(idm << 5); - CANIDM1 = (uint8_t)(idm >> 3); - } - //extended identifier - else - { - idm <<= 3; - idm |= 7; - - CANIDM4 = (int8_t) (idm); - CANIDM3 = (int8_t) (idm>>8); - CANIDM2 = (int8_t) (idm>>16); - CANIDM1 = (int8_t) (idm>>24); - } -} - -// Funktion holt ID der empfangenen Nachricht -uint32_t can_get_id(void) -{ - uint32_t id = 0; - - //Standart identifier (11 bit) - if(!extended_id) - { - id = (uint8_t) CANIDT2 >> 5; - id |= (uint16_t) CANIDT1 << 3; - } - //extended identifier - else - { - id |= ((uint32_t) CANIDT1 << 24); - id |= ((uint32_t) CANIDT2 << 16); - id |= ((uint32_t) CANIDT3 << 8); - id |= (CANIDT4&0xF8); - id >>= 3; - } - - return id; -} - -// Funktion setzt ID eines Objekts auf einen neuen Wert. In CANIDM4 bleiben -// dabei die Werte der unteren 3 Bit (RTRTAG, RB1TAG und RB0TAG) erhalten. -void can_set_id(uint32_t id) -{ - //Standart identifier (11 bit) - if(!extended_id) - { - CANIDT2 = (uint8_t)(id << 5); - CANIDT1 = (uint8_t)(id >> 3); - } - //extended identifier - else - { - id <<= 3; - id &= 0xfffffff8; - id |= (CANIDT4 & 0x07); - - CANIDT4 = (int8_t) (id); - CANIDT3 = (int8_t) (id>>8); - CANIDT2 = (int8_t) (id>>16); - CANIDT1 = (int8_t) (id>>24); - } -} - - -// Funktion setzt die Betriebsart des vorher gewählten Objekts. -// Parameter: uint8_t mode: -// - Betriebsart des Message Objekts: -// - DISABLED - Deaktiviert -// - TRANSMIT_DATA - Daten senden -// - TRANSMIT_REMOTE - Anfrage senden -// - RECEIVE_DATA - Empfangsmodus -// - AUTO_REPLY - automatischer Antwortmodus -int can_set_mode(uint8_t mode) -{ - if(extended_id) - setbit(CANCDMOB, IDE); - else - clearbit(CANCDMOB, IDE); - - switch(mode) - { - case CAN_MODE_DISABLED: - clearbit(CANCDMOB, CONMOB0); - clearbit(CANCDMOB, CONMOB1); - clearbit(CANCDMOB, RPLV); - clearbit(CANIDT4, RTRTAG); - clearbit(CANIDM4, RTRMSK); - break; - - case CAN_MODE_TRANSMIT_DATA: - CANCDMOB &= ~(1 << CONMOB1 || 1 << CONMOB0 || 1 << RPLV); - CANCDMOB |= (1 << CONMOB0 || 0 << CONMOB1); - clearbit(CANIDT4, RTRTAG); - break; - - case CAN_MODE_TRANSMIT_REMOTE: - clearbit(CANCDMOB, CONMOB1); - setbit(CANCDMOB, CONMOB0); - clearbit(CANCDMOB, RPLV); - setbit(CANIDT4, RTRTAG); - break; - - case CAN_MODE_RECEIVE_DATA: - clearbit(CANCDMOB, CONMOB0); - setbit(CANCDMOB, CONMOB1); - clearbit(CANCDMOB, RPLV); - clearbit(CANIDT4, RTRTAG); - break; - - case CAN_MODE_AUTO_REPLY: - clearbit(CANCDMOB, CONMOB0); - setbit(CANCDMOB, CONMOB1); - setbit(CANCDMOB, RPLV); - setbit(CANIDT4, RTRTAG); - break; - - default: - return 0; - } - - return 1; -} - - -// Funktion holt die Betriebsart des vorher gewaehlten Objekts -uint8_t can_get_mode(void) -{ - uint8_t mode = 0; - - if(!getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0)) - { - mode = CAN_MODE_DISABLED; - } - else if(!getbit(CANCDMOB, CONMOB1) && getbit(CANCDMOB, CONMOB0) && - !getbit(CANIDT4, RTRTAG)) - { - mode = CAN_MODE_TRANSMIT_DATA; - } - else if(!getbit(CANCDMOB, CONMOB1) && getbit(CANCDMOB, CONMOB0) && - getbit(CANIDT4, RTRTAG)) - { - mode = CAN_MODE_TRANSMIT_REMOTE; - } - else if(getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0) && - !getbit(CANIDT4, RTRTAG)) - { - mode = CAN_MODE_RECEIVE_DATA; - } - else if(getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0) && - getbit(CANCDMOB,RPLV) && getbit(CANIDT4, RTRTAG)) - { - mode = CAN_MODE_AUTO_REPLY; - } - - return mode; -} - - -// Funktion schreibt in das Objekt die zu uebermittelnden Daten -void can_set_data(uint8_t length, uint8_t * data) -{ - uint8_t i; - uint8_t cancdmob; - - if(length > 8) - length = 8; - - // Anzahl der Datenbytes in der Nachricht - // scheinbar darf man das CANCDMOB register nicht beliebig oft - // schreiben/lesen, daher speichern wir den wert dazwischen, loeschen die - // entsprechenden bits fuer die laenge und schreiben dann unsere laenge rein - // wie dem auch sei: so funktionierts zumindest, also vorsicht beim aufraeumen ;-) - cancdmob = CANCDMOB; - clearbit(cancdmob, DLC0); - clearbit(cancdmob, DLC1); - clearbit(cancdmob, DLC2); - clearbit(cancdmob, DLC3); - CANCDMOB = (cancdmob | (length << DLC0)); - for(i = 0; i < length; i++) - CANMSG = data[i]; -} - -void can_get_data(int8_t *msg) -{ - uint8_t i; - - for(i = 0; i < 8; i++) - msg[i] = CANMSG; -} - -// Parameter: uint8_t mob: Nummer des Objekts (0-14) -// Funktion setzt den Interrupt für das jeweilige Objekt -void can_set_mob_interrupt(uint8_t mob) -{ - // bugfix von C.H. - // http://www.mikrocontroller.net/topic/98697#1232848 - if (mob < 8) { setbit(CANIE2, iemob[mob]); } - else { setbit(CANIE1, iemob[mob]); } -} - -// Parameter: uint8_t mob: Nummer des Objekts (0-14) -// Funktion löscht den Interrupt für das jeweilige Objekt -void can_clear_mob_interrupt(uint8_t mob) -{ - clearbit(CANIE2, iemob[mob]); -} - -// Rückgabe: uint8_t mob: Nummer des Objekts -// Funktion ermittelt, welches Objekt Interrupt ausgeloest hat -uint8_t can_get_mob_interrupt(void) -{ - uint8_t mob; - uint16_t maske; - maske = CANSIT2 | (CANSIT1 << 8); - - // Wenn alle 32 Bit der Bitmaske 0 sind dann ist ein Fehler aufgetreten - if(maske == 0) - return NOMOB; - - // Die Bitmaske wird so lange nach rechts geschoben, bis Bit0 eine 1 hat. - // Die Anzahl der Schiebeoperatoren gibt somit die Nummer des MOBs zurück - for(mob=0; (maske & 0x01)==0; maske >>= 1, ++mob); - - // Kontrolle: Wenn mob größer als die Anzahl der verfügbaren - // Message Objects ist das Ergebnis falsch - if(mob > 14) - return NOMOB; - - return mob; -} - -void can_disable_mob_usb(uint8_t mob) -{ - answer[0] = CMD_CAN_DISABLE_MOB; - answer[1] = (int8_t)can_disable_mob(mob); - answer[2] = 0; - - CommandAnswer(3); -} - -// Funktion deaktiviert das gewählte Objekt -int can_disable_mob(uint8_t mob) -{ - // Objekt wählen - can_get_mob(mob); - - // Interrupt für dieses Objekt aktivieren - can_clear_mob_interrupt(mob); - - // Betriebsmodus setzen - can_set_mode(CAN_MODE_DISABLED); - - return RSP_OK; -} - - -void can_send_remote_usb(uint8_t mob) -{ - answer[0] = CMD_CAN_SEND_REMOTE; - answer[1] = (int8_t)can_send_remote(mob); - answer[2] = 0; - - CommandAnswer(3); -} - -// Funktion sendet eine Anfrage (Remote Frame) -int can_send_remote(uint8_t mob) -{ - uint8_t mode; - - // Objekt wählen - can_get_mob(mob); - - // Aktuelle Betriebsart sichern - mode = can_get_mode(); - - // Datenübertragung starten - can_set_mode(CAN_MODE_TRANSMIT_REMOTE); - - // Warten bis die Datenübertragung beendet ist (TXOK-Flag von CAN-Controller - // gesetzt) - while (!getbit(CANSTMOB, TXOK)); - - // TXOK-Flag von Hand löschen - clearbit(CANSTMOB, TXOK); - - // Alte Betriebsart wiederherstellen - can_set_mode(mode); - - return RSP_OK; -} - -void can_receive_data_usb(int mob) -{ - uint8_t i; - answer[0] = CMD_CAN_RECEIVE_DATA; - answer[1] = RSP_OK; - - // id - answer[2] = (int8_t) (message.id); - answer[3] = (int8_t) (message.id >> 8); - answer[4] = (int8_t) (message.id >> 16); - answer[5] = (int8_t) (message.id >> 24); - - message.id = 0; - for(i = 0; i < 8; i++) - { - answer[6+i] = message.data[i]; - message.data[i] = 0; - } - answer[14] = 0; - - CommandAnswer(15); -} - -// Interrupt fuer Empfang einer Nachricht -SIGNAL(SIG_CAN_INTERRUPT1) -{ - uint8_t save_canpage; - uint8_t mob; - - // Aktuelle CANPAGE sichern - save_canpage = CANPAGE; - - // Index des MOB ermitteln, der den Interrupt ausgelöst hat - mob = can_get_mob_interrupt(); - - // Falls es kein gültiges MOB war abbrechen - if(mob == NOMOB) - return; - - // Objekt das den Interrupt ausgelöst hat holen - can_get_mob(mob); - - // Id der Nachricht holen - message.id = can_get_id(); - - // Daten des MOBs aus CANMSG auslesen - can_get_data(message.data); - - // Id der Nachricht holen - message.id = can_get_id(); - - // RXOK-Flag löschen - clearbit(CANSTMOB, RXOK); - - // MOB auf Empfang setzen - can_set_mode(CAN_MODE_RECEIVE_DATA); - - // CANPAGE wiederherstellen - CANPAGE = save_canpage; -} - -#endif diff --git a/firmware/can.h b/firmware/can.h deleted file mode 100644 index 1bab0ba..0000000 --- a/firmware/can.h +++ /dev/null @@ -1,101 +0,0 @@ -/* - * Copyright (c) 2007 Marco Glietsch (http://www.mikrocontroller.net/topic/98697) - * Original author: Marco Glietsch - * Modified for octopus by Michael Hartmann <ich@speicherleck.de> - * All rights reserved. - * - * Short descripton of file: - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the FH Augsburg nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT - * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, - * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY - * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -#ifndef CAN_H -#define CAN_H - -#include <inttypes.h> - -#define setbit(ADR,BIT) (ADR |= (1<<BIT)) -#define clearbit(ADR,BIT) (ADR &=~(1<<BIT)) -#define getbit(ADR, BIT) (ADR & (1<<BIT)) - -/* CAN Objekte */ -#define NO_MOBS 15 // Anzahl der Message Objects festlegen -#define NOMOB 0xff // Definition für ungültigen Objektindex - -// baudrate -enum { CAN_BAUDRATE_100K, CAN_BAUDRATE_125K, CAN_BAUDRATE_200K, - CAN_BAUDRATE_250K, CAN_BAUDRATE_500K, CAN_BAUDRATE_1000K }; - -// Betriebsmodi -enum { CAN_MODE_DISABLED, CAN_MODE_TRANSMIT_DATA, CAN_MODE_TRANSMIT_REMOTE, - CAN_MODE_RECEIVE_DATA, CAN_MODE_AUTO_REPLY }; - -// Interrupt-Modi -enum { CAN_INTERRUPTS_NONE, CAN_INTERRUPTS_TX, CAN_INTERRUPTS_RX, - CAN_INTERRUPTS_TXRX }; - -void can_parser(uint8_t *buf); - -int can_init(uint8_t baudrate, uint8_t intmode, uint8_t eid); -void can_init_usb(uint8_t baudrate, uint8_t eid); - -int can_deinit(void); -void can_deinit_usb(void); - -int can_enable_mob(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm); -void can_enable_mob_usb(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm); - -int can_disable_mob(uint8_t mob); -void can_disable_mob_usb(uint8_t mob); - -int can_send_data(uint8_t mob, uint8_t length, uint8_t * data); -void can_send_data_usb(uint8_t mob, uint8_t length, uint8_t *data); - -int can_send_remote(uint8_t mob); -void can_send_remote_usb(uint8_t mob); - -void can_receive_data_usb(int mob); - -void can_set_autoreply(uint8_t mob, uint8_t length, uint8_t *buf); -void can_set_autoreply_usb(uint8_t mob, uint8_t length, uint8_t *buf); - -// sonsitge hilfsfunktionen -int can_set_baudrate(uint8_t baudrate); -int can_set_interrupt(uint8_t mode); -void can_get_mob(uint8_t mob); -uint32_t can_get_id(void); -void can_set_id_mask(uint32_t idm); -void can_set_id(uint32_t id); -int can_set_mode(uint8_t mode); -uint8_t can_get_mode(void); -void can_set_data(uint8_t length, uint8_t * data); -void can_get_data(int8_t *msg); -void can_set_mob_interrupt(uint8_t object); -void can_clear_mob_interrupt(uint8_t mob); -uint8_t can_get_mob_interrupt(void); - -#endif /* CAN_H */ diff --git a/firmware/common.c b/firmware/common.c index 69f3c94..9947c59 100644 --- a/firmware/common.c +++ b/firmware/common.c @@ -80,17 +80,11 @@ void common_parser(char *buf) void common_init(void) { - uint8_t i; + int i; for(i=1;i<=19;i++) - { - io_init(i); - io_set_pin(i, 0); - } - for(i=24;i<=42;i++) - { - io_init(i); - io_set_pin(i, 0); - } + io_init(i); + for(i=26;i<=44;i++) + io_init(i); } @@ -106,7 +100,7 @@ void common_hwdesc(void) answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_'; #endif answer[11] = '0'; answer[12] = '1'; - answer[13] = 0; + answer[13] = 0x00; CommandAnswer(14); } diff --git a/firmware/common.h b/firmware/common.h index 11716fb..3229718 100644 --- a/firmware/common.h +++ b/firmware/common.h @@ -31,46 +31,32 @@ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#ifndef COMMON_H -#define COMMON_H - -#include <inttypes.h> -#include <stdbool.h> enum signals {PIN_NONE,PIN_IN,PIN_OUT,PIN_TRI, PIN_AD,PIN_RX,PIN_TX, PIN_SS,PIN_SCK,PIN_MISO,PIN_MOSI, PIN_SCL,PIN_SDA,PIN_PWM, - PIN_UART,PIN_CAN}; + PIN_UART}; -#ifdef __AVR_AT90CAN128__ - #define OCTOPUS_CAN -#endif -//#define OCTOPUS_RELAIS +#define OCTOPUS_CAN -#define DEBUG 1 +//#define DEBUG #define F_CPU 16000000UL #define STATUS_LED_PIN PB7 #define STATUS_LED_PORT PORTB /* red status led */ -#ifndef OCTOPUS_RELAIS #define STATUS_LED_on (STATUS_LED_PORT |= (1 << STATUS_LED_PIN)) #define STATUS_LED_off (STATUS_LED_PORT &= ~(1 << STATUS_LED_PIN)) -#else -#define STATUS_LED_on (1); -#define STATUS_LED_off (1); -#endif volatile struct octopus_t { volatile unsigned char latency_timer; - volatile unsigned char status_led; - uint8_t ports[43]; + int ports[45]; volatile char * msg[20]; volatile int datatogl; volatile unsigned int long_rx_cmd; @@ -85,7 +71,7 @@ volatile struct octopus_t void CommandAnswer(unsigned int length); -void CommandAnswerRest (void); +void CommandAnswerRest(void); void USBCommandRX(char *buf); void USBMessageIn(char *buf); @@ -105,4 +91,3 @@ void common_init(void); void common_hwdesc(void); -#endif //COMMON_H diff --git a/firmware/debug.c b/firmware/debug.c index 5e7a950..539a3e2 100644 --- a/firmware/debug.c +++ b/firmware/debug.c @@ -1,7 +1,4 @@ #include <inttypes.h> -#include <stdarg.h> -#include <stdio.h> -#include <stdlib.h> #include <avr/io.h> #include "uart.h" @@ -11,39 +8,21 @@ #define UART_PORT 0 -void debug_dummy(char *fmt, ...) {} - -void debug_init() -{ -#ifdef DEBUG -#warning Compiling with debug-support! +void debug_init(void) { uart_init(UART_PORT); uart_baudrate(UART_PORT, 25, 0, 0, 0); uart_stopbits(UART_PORT, 1); uart_databits(UART_PORT, 8); uart_parity(UART_PORT, 'N'); - - static FILE mystdout = FDEV_SETUP_STREAM(debug_putchar, NULL, - _FDEV_SETUP_WRITE); - stdout = &mystdout; -#endif } -int debug_putchar(char c, FILE *stream) -{ -#ifdef DEBUG - if (c == '\n') - uart_putchar(UART_PORT, '\r'); - uart_putchar(UART_PORT, c); -#endif - return 1; +void debug_deinit(void) { + uart_deinit(UART_PORT); } -void debug_deinit(void) -{ -#ifdef DEBUG - uart_deinit(UART_PORT); -#endif +void debug_write(char *buf) { + while(*buf) + uart_putchar(UART_PORT, *buf++); } unsigned char debug_AsciiToHex(unsigned char high, unsigned char low) @@ -73,7 +52,6 @@ unsigned char debug_AsciiToHex(unsigned char high, unsigned char low) void debug_SendHex(unsigned char hex) { -#ifdef DEBUG unsigned char high,low; // get highnibble high = hex & 0xF0; @@ -91,8 +69,4 @@ void debug_SendHex(unsigned char hex) uart_putchar(UART_PORT, low+48); else uart_putchar(UART_PORT, low+87); - - //_debug_write("\r\n"); -#endif } - diff --git a/firmware/debug.h b/firmware/debug.h index 202ef22..8aa15d9 100644 --- a/firmware/debug.h +++ b/firmware/debug.h @@ -1,12 +1,5 @@ -#ifdef DEBUG -#define debugf printf("%s,%d: ", __FILE__, __LINE__); printf -#else -#define debugf debug_dummy -#endif - -void debug_dummy(char *fmt, ...); void debug_init(void); -int debug_putchar(char c, FILE *stream); void debug_deinit(void); +void debug_write(char *buf); unsigned char debug_AsciiToHex(unsigned char high, unsigned char low); void debug_SendHex(unsigned char hex); diff --git a/firmware/eeprom.c b/firmware/eeprom.c deleted file mode 100644 index 3f0c1a1..0000000 --- a/firmware/eeprom.c +++ /dev/null @@ -1,119 +0,0 @@ -#include "common.h" -#include "protocol.h" - -#include <inttypes.h> -#include <stdbool.h> -#include <avr/io.h> -#include <avr/eeprom.h> -#include <stdio.h> - -#include "eeprom.h" -#include "debug.h" - -#define EEPROM_READY() while(EECR & (1 << EEWE)); - -void eeprom_parser(char *buf) -{ - uint16_t addr; - uint16_t length; - - addr = ((uint16_t)buf[2]) + - ((uint16_t)buf[3] << 8); - - length = ((uint16_t)buf[4]) + - ((uint16_t)buf[5] << 8); - - debugf("eeprom_parser: length: %u, addr: %u\n", length, addr); - - switch(buf[0]) - { - case CMD_EEPROM_READ_BYTES: - eeprom_read_bytes_usb(addr, length); - break; - - case CMD_EEPROM_WRITE_BYTES: - eeprom_write_bytes_usb(addr, &buf[6], length); - break; - - default: - answer[0] = buf[0]; - answer[1] = RSP_UNKOWN_CMD; - answer[2] = 0; - CommandAnswer(3); - } -} - - -void eeprom_read_bytes_usb(uint16_t addr, uint16_t length) -{ - answer[0] = CMD_EEPROM_READ_BYTES; - answer[1] = eeprom_read_bytes(addr, (char *)&answer[2], length); - answer[2+length] = 0; - - debugf("read: %s\n", &answer[2]); - - CommandAnswer(3+length); -} - -uint8_t eeprom_read_bytes(uint16_t addr, char * buf, uint16_t length) -{ - uint8_t i; - - if(addr > MAX_ADDR) - return RSP_ERROR; - - // wait for eeprom - EEPROM_READY(); - - for(i = 0; i < length; i++) - { - - buf[i] = eeprom_read_byte((uint8_t*) addr++); - // set addr - //EEAR = addr++; - - //EECR |= (1 << EERE); - - //buf[i] = EEDR; - //debug_SendHex(buf[i]); - } - - return RSP_OK; -} - -void eeprom_write_bytes_usb(uint16_t addr, char * buf, uint16_t length) -{ - answer[0] = CMD_EEPROM_WRITE_BYTES; - answer[1] = eeprom_write_bytes(addr, buf, length); - answer[2] = 0; - - debugf("written: %s\n", buf); - - CommandAnswer(3); -} - -uint8_t eeprom_write_bytes(uint16_t addr, char * buf, uint16_t length) -{ - uint8_t i; - - if(addr > MAX_ADDR) - return RSP_ERROR; - - // wait for eeprom - EEPROM_READY(); - - for(i = 0; i < length; i++) - { - eeprom_write_byte ((uint8_t*) addr++, buf[i]); - - //EEAR = addr++; - //EEDR = buf[i]; - - //EECR |= (1 << EEMWE); - //EECR |= (1 << EEWE); - } - - eeprom_read_bytes(addr, buf, length); - - return RSP_OK; -} diff --git a/firmware/eeprom.h b/firmware/eeprom.h deleted file mode 100644 index 2ac7d4a..0000000 --- a/firmware/eeprom.h +++ /dev/null @@ -1,11 +0,0 @@ -#include <inttypes.h> -#include <stdbool.h> - -#define MAX_ADDR 4095 - -void eeprom_parser(char *buf); - -void eeprom_read_bytes_usb(uint16_t addr, uint16_t length); -uint8_t eeprom_read_bytes(uint16_t addr, char * buf, uint16_t length); -void eeprom_write_bytes_usb(uint16_t addr, char * buf, uint16_t length); -uint8_t eeprom_write_bytes(uint16_t addr, char * buf, uint16_t length); diff --git a/firmware/fifo.c b/firmware/fifo.c index 17551d7..a1e0f87 100644 --- a/firmware/fifo.c +++ b/firmware/fifo.c @@ -2,26 +2,26 @@ void fifo_init (fifo_t *f, uint8_t *buffer, const uint8_t size) { - f->count = 0; - f->pread = f->pwrite = buffer; - f->read2end = f->write2end = f->size = size; + f->count = 0; + f->pread = f->pwrite = buffer; + f->read2end = f->write2end = f->size = size; } uint8_t fifo_put (fifo_t *f, const uint8_t data) { - return _inline_fifo_put (f, data); + return _inline_fifo_put (f, data); } uint8_t fifo_get_wait (fifo_t *f) { - while (!f->count); - - return _inline_fifo_get (f); + while (!f->count); + + return _inline_fifo_get (f); } int fifo_get_nowait (fifo_t *f) { - if (!f->count) return -1; - - return (int) _inline_fifo_get (f); + if (!f->count) return -1; + + return (int) _inline_fifo_get (f); } diff --git a/firmware/i2c.c b/firmware/i2c.c index 4baa7bb..fca24ac 100644 --- a/firmware/i2c.c +++ b/firmware/i2c.c @@ -36,6 +36,7 @@ #include "common.h" #include "protocol.h" #include "i2c.h" +#include "debug.h" #define I2C_WAIT_FOR_COMPLETE() while (!(TWCR & (1<<TWINT))); void i2c_parser(char *buf) @@ -103,8 +104,8 @@ void i2c_deinit_usb(void) int i2c_deinit(void) { TWCR &= ~(1<<TWEN); // deinit - octopus.ports[12]=PIN_NONE; - octopus.ports[13]=PIN_NONE; + octopus.ports[12]=PIN_NONE; // XXX correct? + octopus.ports[13]=PIN_NONE; // XXX correct? return RSP_OK; } @@ -112,7 +113,7 @@ int i2c_deinit(void) void i2c_set_bitrate_usb(char bitrate) { answer[1] = (unsigned char)i2c_set_bitrate(bitrate); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -129,7 +130,7 @@ int i2c_set_bitrate(char bitrate) { void i2c_send_start_usb(void) { answer[1] = (unsigned char)i2c_send_start(); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -169,7 +170,7 @@ void i2c_send_usb(int length, char *data) i2c_send(data, length); answer[1] = RSP_OK; - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -192,12 +193,16 @@ void i2c_recv_usb(int address, int length) answer[0]=CMD_I2C_RECV; answer[1]=RSP_OK; - for(i = 0; i < length; i++) + debug_init(); + for(i = 0; i < length; i++) { + debug_write("recv\r\n\0"); answer[2+i] = i2c_recv_byte(); + debug_write("recved\r\n\0"); + } answer[length+2] = 0; - CommandAnswer(3+length); + CommandAnswer(length+2); } diff --git a/firmware/io.c b/firmware/io.c index 4227ec9..280f892 100644 --- a/firmware/io.c +++ b/firmware/io.c @@ -1,6 +1,6 @@ /* * Copyright (c) 2007 Embedded Projects (http://www.embedded-projects.net) - * Author: Benedikt Sauter <sauter@embedded-projects.net> + * Author: Benedikt Sauter <sauter@ * All rights reserved. * * Short descripton of file: @@ -36,8 +36,6 @@ #include "common.h" #include "protocol.h" #include "io.h" -#include "pin.h" - void io_parser(char *buf) { @@ -79,9 +77,6 @@ void io_parser(char *buf) case CMD_IO_PIN_GET: io_get_pin_usb((uint8_t)buf[2]); break; - case CMD_IO_SET_STATUS_LED: - io_set_status_led_usb((uint8_t)buf[2]); - break; default: answer[0] = buf[0]; answer[1] = RSP_UNKOWN_CMD; @@ -92,7 +87,12 @@ void io_parser(char *buf) uint8_t io_init(uint8_t pin) { - return io_set_pin_direction_out(pin); + if ((pin >= 1 && pin <= 19) || (pin >= 26 && pin <= 44)) + { + io_set_pin_direction_out(pin); + return RSP_OK; + } + return RSP_UNKOWN_PIN; } void io_init_usb(uint8_t pin) @@ -120,16 +120,16 @@ void io_init_port_usb(uint8_t port) uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask) { /* TODO - switch (port) - { - case 1: DDRB = mask; break; + switch (port)
+ {
+ case 1: DDRB = mask; break;
case 2: DDRC = mask; break; // PC7 = /CS (output) - do we need to mask this ?
- case 3: DDRD = mask; break; + case 3: DDRD = mask; break;
case 4: DDRE = mask; break; // PE4 = INT4 (input) - do we need to mask this ?
- case 5: DDRF = mask; break; - default: return RSP_UNKOWN_PIN; + case 5: DDRF = mask; break;
+ default: return RSP_UNKOWN_PIN;
} - */ + */
return RSP_OK; } @@ -160,7 +160,6 @@ void io_set_port_direction_in_usb(uint8_t port, uint8_t mask) answer[2] = 0; CommandAnswer(3); } - void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask) { answer[0] = CMD_IO_PORT_DIRECTION_TRI; @@ -172,41 +171,131 @@ void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask) uint8_t io_set_pin_direction_out(uint8_t pin) { - pin_conf p; - - if(!pin_get_conf(pin, &p)) - return RSP_UNKOWN_PIN; - - octopus.ports[pin] = PIN_OUT; - *(p.ox_ddr) |= (1 << p.ox_p); - - return RSP_OK; + if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) ) + { + octopus.ports[pin] = PIN_OUT; + + switch(pin) + { + case 1: OX_DDR1 |=(1<<OX_P1); break; + case 2: OX_DDR2 |=(1<<OX_P2); break; + case 3: OX_DDR3 |=(1<<OX_P3); break; + case 4: OX_DDR4 |=(1<<OX_P4); break; + case 5: OX_DDR5 |=(1<<OX_P5); break; + case 6: OX_DDR6 |=(1<<OX_P6); break; + case 7: OX_DDR7 |=(1<<OX_P7); break; + case 8: OX_DDR8 |=(1<<OX_P8); break; + case 9: OX_DDR9 |=(1<<OX_P9); break; + case 10: OX_DDR10 |=(1<<OX_P10); break; + case 11: OX_DDR11 |=(1<<OX_P11); break; + case 12: OX_DDR12 |=(1<<OX_P12); break; + case 13: OX_DDR13 |=(1<<OX_P13); break; + case 14: OX_DDR14 |=(1<<OX_P14); break; + case 15: OX_DDR15 |=(1<<OX_P15); break; + case 16: OX_DDR16 |=(1<<OX_P16); break; + case 17: OX_DDR17 |=(1<<OX_P17); break; + case 18: OX_DDR18 |=(1<<OX_P18); break; + case 19: OX_DDR19 |=(1<<OX_P19); break; + + case 26: OX_DDR26 |=(1<<OX_P26); break; + case 27: OX_DDR27 |=(1<<OX_P27); break; + case 28: OX_DDR28 |=(1<<OX_P28); break; + case 29: OX_DDR29 |=(1<<OX_P29); break; + case 30: OX_DDR30 |=(1<<OX_P30); break; + case 31: OX_DDR31 |=(1<<OX_P31); break; + case 32: OX_DDR32 |=(1<<OX_P32); break; + case 33: OX_DDR33 |=(1<<OX_P33); break; + case 34: OX_DDR34 |=(1<<OX_P34); break; + case 35: OX_DDR35 |=(1<<OX_P35); break; + case 36: OX_DDR36 |=(1<<OX_P36); break; + case 37: OX_DDR37 |=(1<<OX_P37); break; + case 38: OX_DDR38 |=(1<<OX_P38); break; + case 39: OX_DDR39 |=(1<<OX_P39); break; + case 40: OX_DDR40 |=(1<<OX_P40); break; + case 41: OX_DDR41 |=(1<<OX_P41); break; + case 42: OX_DDR42 |=(1<<OX_P42); break; + case 43: OX_DDR43 |=(1<<OX_P43); break; + case 44: OX_DDR44 |=(1<<OX_P44); break; + default: + return RSP_UNKOWN_PIN; + } + return RSP_OK; + } + else { + return RSP_UNKOWN_PIN; + } } -uint8_t io_set_pin_direction_in(uint8_t pin) +uint8_t io_set_pin_direction_in(uint8_t pin) { - pin_conf p; - - if(!pin_get_conf(pin, &p)) - return RSP_UNKOWN_PIN; - - octopus.ports[pin] = PIN_IN; - *(p.ox_ddr) &= ~(1 << p.ox_p); - - return RSP_OK; + if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) ) + { + octopus.ports[pin] = PIN_IN; + switch (pin) + { + case 1: OX_DDR1 &=~(1<<OX_P1); break; + case 2: OX_DDR2 &=~(1<<OX_P2); break; + case 3: OX_DDR3 &=~(1<<OX_P3); break; + case 4: OX_DDR4 &=~(1<<OX_P4); break; + case 5: OX_DDR5 &=~(1<<OX_P5); break; + case 6: OX_DDR6 &=~(1<<OX_P6); break; + case 7: OX_DDR7 &=~(1<<OX_P7); break; + case 8: OX_DDR8 &=~(1<<OX_P8); break; + case 9: OX_DDR9 &=~(1<<OX_P9); break; + case 10: OX_DDR10 &=~(1<<OX_P10); break; + case 11: OX_DDR11 &=~(1<<OX_P11); break; + case 12: OX_DDR12 &=~(1<<OX_P12); break; + case 13: OX_DDR13 &=~(1<<OX_P13); break; + case 14: OX_DDR14 &=~(1<<OX_P14); break; + case 15: OX_DDR15 &=~(1<<OX_P15); break; + case 16: OX_DDR16 &=~(1<<OX_P16); break; + case 17: OX_DDR17 &=~(1<<OX_P17); break; + case 18: OX_DDR18 &=~(1<<OX_P18); break; + case 19: OX_DDR19 &=~(1<<OX_P19); break; + + case 26: OX_DDR26 &=~(1<<OX_P26); break; + case 27: OX_DDR27 &=~(1<<OX_P27); break; + case 28: OX_DDR28 &=~(1<<OX_P28); break; + case 29: OX_DDR29 &=~(1<<OX_P29); break; + case 30: OX_DDR30 &=~(1<<OX_P30); break; + case 31: OX_DDR31 &=~(1<<OX_P31); break; + case 32: OX_DDR32 &=~(1<<OX_P32); break; + case 33: OX_DDR33 &=~(1<<OX_P33); break; + case 34: OX_DDR34 &=~(1<<OX_P34); break; + case 35: OX_DDR35 &=~(1<<OX_P35); break; + case 36: OX_DDR36 &=~(1<<OX_P36); break; + case 37: OX_DDR37 &=~(1<<OX_P37); break; + case 38: OX_DDR38 &=~(1<<OX_P38); break; + case 39: OX_DDR39 &=~(1<<OX_P39); break; + case 40: OX_DDR40 &=~(1<<OX_P40); break; + case 41: OX_DDR41 &=~(1<<OX_P41); break; + case 42: OX_DDR42 &=~(1<<OX_P42); break; + case 43: OX_DDR43 &=~(1<<OX_P43); break; + case 44: OX_DDR44 &=~(1<<OX_P44); break; + default: + return RSP_UNKOWN_PIN; + } + return RSP_OK; + } + else + { + return RSP_UNKOWN_PIN; + } } - -uint8_t io_set_pin_direction_tri(uint8_t pin) +uint8_t io_set_pin_direction_tri(uint8_t pin) { - if(io_set_pin_direction_out(pin) == RSP_OK && - io_set_pin(pin,1) == RSP_OK) + if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) ) { - octopus.ports[pin] = PIN_TRI; - return RSP_OK; - } + octopus.ports[pin] = PIN_TRI; + io_set_pin_direction_out(pin); + io_set_pin(pin,1); + return RSP_OK; + } else - return RSP_UNKOWN_PIN; + { + return RSP_UNKOWN_PIN; + } } @@ -235,58 +324,55 @@ void io_set_pin_direction_tri_usb(uint8_t pin) } -//XXX + uint8_t io_get_port (uint8_t port, uint8_t *pvalue) { - uint8_t value; - - *pvalue = 0; - switch (port) - { - case 1: value = PINB; break; - case 2: value = PINC; break; /* PC7 = /CS */ - case 3: value = PIND; break; - case 4: value = PINE; break; /* PE4 = INTR */ - case 5: value = PINF; break; - default: return RSP_UNKOWN_PORT; - } - - *pvalue = value; - return RSP_OK; + uint8_t value;
+
+ *pvalue = 0;
+ switch (port)
+ {
+ case 1: value = PINB; break;
+ case 2: value = PINC; break; /* PC7 = /CS */
+ case 3: value = PIND; break;
+ case 4: value = PINE; break; /* PE4 = INTR */
+ case 5: value = PINF; break;
+ default: return RSP_UNKOWN_PORT;
+ }
+ *pvalue = value;
+ return RSP_OK; } -void io_get_port_usb (uint8_t port) -{ - uint8_t value; +void io_get_port_usb (uint8_t port)
+{
+ uint8_t value;
- answer[0] = CMD_IO_PORT_GET; - answer[1] = (unsigned char)io_get_port (port, &value); - answer[2] = (unsigned char)value; - answer[3] = 0; - CommandAnswer(4); + answer[0] = CMD_IO_PORT_GET;
+ answer[1] = (unsigned char)io_get_port (port, &value);
+ answer[2] = (unsigned char)value;
+ CommandAnswer(3);
} -// XXX uint8_t io_set_port(uint8_t port, uint8_t value) { - switch (port) - { - case 1: PORTB = value; break; - case 2: PORTC = value; break; // PC7 = /CS - case 3: PORTD = value; break; - case 4: PORTE = value; break; // PE4 = INTR - case 5: PORTF = value; break; - default: return RSP_UNKOWN_PIN; - } + switch (port)
+ {
+ case 1: PORTB = value; break;
+ case 2: PORTC = value; break; // PC7 = /CS
+ case 3: PORTD = value; break;
+ case 4: PORTE = value; break; // PE4 = INTR
+ case 5: PORTF = value; break;
+ default: return RSP_UNKOWN_PIN;
+ }
return RSP_OK; } -void io_set_port_usb (uint8_t port, uint8_t value) -{ - answer[0] = CMD_IO_PORT_SET; - answer[1] = (unsigned char)io_set_port (port, value); - answer[2] = 0; - CommandAnswer(3); +void io_set_port_usb (uint8_t port, uint8_t value)
+{
+ answer[0] = CMD_IO_PORT_SET;
+ answer[1] = (unsigned char)io_set_port (port, value);
+ answer[2] = 0;
+ CommandAnswer(3);
} @@ -301,20 +387,59 @@ void io_set_pin_usb(uint8_t pin, uint8_t value) uint8_t io_set_pin(uint8_t pin, uint8_t value) { - pin_conf p; - - if(!pin_get_conf(pin, &p)) - return RSP_UNKOWN_PIN; - - if(octopus.ports[pin] != PIN_OUT) - return RSP_WRONG_PIN_CONFIG; - - if(value) - *(p.ox_port) |= (1 << p.ox_p); - else - *(p.ox_port) &= ~(1 << p.ox_p); - - return RSP_OK; + if(octopus.ports[pin] == PIN_OUT) + { + switch(pin) + { + case 1: if(value) OX_PORT1 |=(1<<OX_P1); else OX_PORT1 &=~(1<<OX_P1); break; + case 2: if(value) OX_PORT2 |=(1<<OX_P2); else OX_PORT2 &=~(1<<OX_P2); break; + case 3: if(value) OX_PORT3 |=(1<<OX_P3); else OX_PORT3 &=~(1<<OX_P3); break; + case 4: if(value) OX_PORT4 |=(1<<OX_P4); else OX_PORT4 &=~(1<<OX_P4); break; + case 5: if(value) OX_PORT5 |=(1<<OX_P5); else OX_PORT5 &=~(1<<OX_P5); break; + case 6: if(value) OX_PORT6 |=(1<<OX_P6); else OX_PORT6 &=~(1<<OX_P6); break; + case 7: if(value) OX_PORT7 |=(1<<OX_P7); else OX_PORT7 &=~(1<<OX_P7); break; + case 8: if(value) OX_PORT8 |=(1<<OX_P8); else OX_PORT8 &=~(1<<OX_P8); break; + case 9: if(value) OX_PORT9 |=(1<<OX_P9); else OX_PORT9 &=~(1<<OX_P9); break; + case 10: if(value) OX_PORT10 |=(1<<OX_P10); else OX_PORT10 &=~(1<<OX_P10); break; + case 11: if(value) OX_PORT11 |=(1<<OX_P11); else OX_PORT11 &=~(1<<OX_P11); break; + case 12: if(value) OX_PORT12 |=(1<<OX_P12); else OX_PORT12 &=~(1<<OX_P12); break; + case 13: if(value) OX_PORT13 |=(1<<OX_P13); else OX_PORT13 &=~(1<<OX_P13); break; + case 14: if(value) OX_PORT14 |=(1<<OX_P14); else OX_PORT14 &=~(1<<OX_P14); break; + case 15: if(value) OX_PORT15 |=(1<<OX_P15); else OX_PORT15 &=~(1<<OX_P15); break; + case 16: if(value) OX_PORT16 |=(1<<OX_P16); else OX_PORT16 &=~(1<<OX_P16); break; + case 17: if(value) OX_PORT17 |=(1<<OX_P17); else OX_PORT17 &=~(1<<OX_P17); break; + case 18: if(value) OX_PORT18 |=(1<<OX_P18); else OX_PORT18 &=~(1<<OX_P18); break; + case 19: if(value) OX_PORT19 |=(1<<OX_P19); else OX_PORT19 &=~(1<<OX_P19); break; + + case 26: if(value) OX_PORT26 |=(1<<OX_P26); else OX_PORT26 &=~(1<<OX_P26); break; + case 27: if(value) OX_PORT27 |=(1<<OX_P27); else OX_PORT27 &=~(1<<OX_P27); break; + case 28: if(value) OX_PORT28 |=(1<<OX_P28); else OX_PORT28 &=~(1<<OX_P28); break; + case 29: if(value) OX_PORT29 |=(1<<OX_P29); else OX_PORT29 &=~(1<<OX_P29); break; + case 30: if(value) OX_PORT30 |=(1<<OX_P30); else OX_PORT30 &=~(1<<OX_P30); break; + case 31: if(value) OX_PORT31 |=(1<<OX_P31); else OX_PORT31 &=~(1<<OX_P31); break; + case 32: if(value) OX_PORT32 |=(1<<OX_P32); else OX_PORT32 &=~(1<<OX_P32); break; + case 33: if(value) OX_PORT33 |=(1<<OX_P33); else OX_PORT33 &=~(1<<OX_P33); break; + case 34: if(value) OX_PORT34 |=(1<<OX_P34); else OX_PORT34 &=~(1<<OX_P34); break; + case 35: if(value) OX_PORT35 |=(1<<OX_P35); else OX_PORT35 &=~(1<<OX_P35); break; + case 36: if(value) OX_PORT36 |=(1<<OX_P36); else OX_PORT36 &=~(1<<OX_P36); break; + case 37: if(value) OX_PORT37 |=(1<<OX_P37); else OX_PORT37 &=~(1<<OX_P37); break; + case 38: if(value) OX_PORT38 |=(1<<OX_P38); else OX_PORT38 &=~(1<<OX_P38); break; + case 39: if(value) OX_PORT39 |=(1<<OX_P39); else OX_PORT39 &=~(1<<OX_P39); break; + case 40: if(value) OX_PORT40 |=(1<<OX_P40); else OX_PORT40 &=~(1<<OX_P40); break; + case 41: if(value) OX_PORT41 |=(1<<OX_P41); else OX_PORT41 &=~(1<<OX_P41); break; + case 42: if(value) OX_PORT42 |=(1<<OX_P42); else OX_PORT42 &=~(1<<OX_P42); break; + case 43: if(value) OX_PORT43 |=(1<<OX_P43); else OX_PORT43 &=~(1<<OX_P43); break; + case 44: if(value) OX_PORT44 |=(1<<OX_P44); else OX_PORT44 &=~(1<<OX_P44); break; + default: + return RSP_UNKOWN_PIN; + } + + return RSP_OK; + } + else + { + return RSP_WRONG_PIN_CONFIG; + } } @@ -325,42 +450,63 @@ void io_get_pin_usb(uint8_t pin) answer[0] = CMD_IO_PIN_GET; answer[1] = (unsigned char)io_get_pin(pin,&value); answer[2] = (unsigned char)value; - answer[3] = 0; - CommandAnswer(4); + CommandAnswer(3); } uint8_t io_get_pin(uint8_t pin, uint8_t *value) { - pin_conf p; - - if(!pin_get_conf(pin, &p)) - return RSP_UNKOWN_PIN; - - if(octopus.ports[pin] != PIN_IN) - return RSP_WRONG_PIN_CONFIG; - - if(*(p.ox_pin) & (1 << p.ox_p)) - *value = 1; - else - *value = 0; - - return RSP_OK; + *value = 0;
+ if (octopus.ports[pin] == PIN_IN)
+ {
+ switch (pin)
+ {
+ case 1: if (OX_PIN1 & (1<<OX_P1)) *value=1; break;
+ case 2: if (OX_PIN2 & (1<<OX_P2)) *value=1; break;
+ case 3: if (OX_PIN3 & (1<<OX_P3)) *value=1; break;
+ case 4: if (OX_PIN4 & (1<<OX_P4)) *value=1; break;
+ case 5: if (OX_PIN5 & (1<<OX_P5)) *value=1; break;
+ case 6: if (OX_PIN6 & (1<<OX_P6)) *value=1; break;
+ case 7: if (OX_PIN7 & (1<<OX_P7)) *value=1; break;
+ case 8: if (OX_PIN8 & (1<<OX_P8)) *value=1; break;
+ case 9: if (OX_PIN9 & (1<<OX_P9)) *value=1; break;
+ case 10: if (OX_PIN10 & (1<<OX_P10)) *value=1; break;
+ case 11: if (OX_PIN11 & (1<<OX_P11)) *value=1; break;
+ case 12: if (OX_PIN12 & (1<<OX_P12)) *value=1; break;
+ case 13: if (OX_PIN13 & (1<<OX_P13)) *value=1; break;
+ case 14: if (OX_PIN14 & (1<<OX_P14)) *value=1; break;
+ case 15: if (OX_PIN15 & (1<<OX_P15)) *value=1; break;
+ case 16: if (OX_PIN16 & (1<<OX_P16)) *value=1; break;
+ case 17: if (OX_PIN17 & (1<<OX_P17)) *value=1; break;
+ case 18: if (OX_PIN18 & (1<<OX_P18)) *value=1; break;
+ case 19: if (OX_PIN19 & (1<<OX_P19)) *value=1; break;
+
+ case 26: if (OX_PIN26 & (1<<OX_P26)) *value=1; break;
+ case 27: if (OX_PIN27 & (1<<OX_P27)) *value=1; break;
+ case 28: if (OX_PIN28 & (1<<OX_P28)) *value=1; break;
+ case 29: if (OX_PIN29 & (1<<OX_P29)) *value=1; break;
+ case 30: if (OX_PIN30 & (1<<OX_P30)) *value=1; break;
+ case 31: if (OX_PIN31 & (1<<OX_P31)) *value=1; break;
+ case 32: if (OX_PIN32 & (1<<OX_P32)) *value=1; break;
+ case 33: if (OX_PIN33 & (1<<OX_P33)) *value=1; break;
+ case 34: if (OX_PIN34 & (1<<OX_P34)) *value=1; break;
+ case 35: if (OX_PIN35 & (1<<OX_P35)) *value=1; break;
+ case 36: if (OX_PIN36 & (1<<OX_P36)) *value=1; break;
+ case 37: if (OX_PIN37 & (1<<OX_P37)) *value=1; break;
+ case 38: if (OX_PIN38 & (1<<OX_P38)) *value=1; break;
+ case 39: if (OX_PIN39 & (1<<OX_P39)) *value=1; break;
+ case 40: if (OX_PIN40 & (1<<OX_P40)) *value=1; break;
+ case 41: if (OX_PIN41 & (1<<OX_P41)) *value=1; break;
+ case 42: if (OX_PIN42 & (1<<OX_P42)) *value=1; break;
+ case 43: if (OX_PIN43 & (1<<OX_P43)) *value=1; break;
+ case 44: if (OX_PIN44 & (1<<OX_P44)) *value=1; break;
+ default: return RSP_UNKOWN_PIN;
+ }
+ return RSP_OK;
+ }
+ else
+ {
+ return RSP_WRONG_PIN_CONFIG;
+ } } -void io_set_status_led(uint8_t on) -{ - if(on) - octopus.status_led = 1; - else - octopus.status_led = 0; -} -void io_set_status_led_usb(uint8_t on) -{ - io_set_status_led(on); - - answer[0] = CMD_IO_PIN_GET; - answer[1] = on; - answer[2] = 0; - CommandAnswer(3); -} diff --git a/firmware/io.h b/firmware/io.h index 5cfb5f4..f86314f 100644 --- a/firmware/io.h +++ b/firmware/io.h @@ -38,9 +38,169 @@ #include <avr/io.h> #include <avr/pgmspace.h> -#ifdef __AVR_AT90CAN128__ - #define OCTOPUS_CAN -#endif + +#define OX_PIN1 PINE +#define OX_PIN2 PINE +#define OX_PIN3 PINE +#define OX_PIN4 PINB +#define OX_PIN5 PINB +#define OX_PIN6 PINB +#define OX_PIN7 PINB +#define OX_PIN8 PINB +#define OX_PIN9 PINB +#define OX_PIN10 PINB +#define OX_PIN11 PINB +#define OX_PIN12 PIND +#define OX_PIN13 PIND +#define OX_PIN14 PIND +#define OX_PIN15 PIND +#define OX_PIN16 PIND +#define OX_PIN17 PIND +#define OX_PIN18 PIND +#define OX_PIN19 PIND + +#define OX_PIN26 PINC +#define OX_PIN27 PINC +#define OX_PIN28 PINC +#define OX_PIN29 PINC +#define OX_PIN30 PINC +#define OX_PIN31 PINC +#define OX_PIN32 PINC +#define OX_PIN33 PINF +#define OX_PIN34 PINF +#define OX_PIN35 PINF +#define OX_PIN36 PINF +#define OX_PIN37 PINF +#define OX_PIN38 PINF +#define OX_PIN39 PINF +#define OX_PIN40 PINF +#define OX_PIN41 PINE +#define OX_PIN42 PINE +#define OX_PIN43 PINE +#define OX_PIN44 PINE + +#define OX_PORT1 PORTE +#define OX_PORT2 PORTE +#define OX_PORT3 PORTE +#define OX_PORT4 PORTB +#define OX_PORT5 PORTB +#define OX_PORT6 PORTB +#define OX_PORT7 PORTB +#define OX_PORT8 PORTB +#define OX_PORT9 PORTB +#define OX_PORT10 PORTB +#define OX_PORT11 PORTB +#define OX_PORT12 PORTD +#define OX_PORT13 PORTD +#define OX_PORT14 PORTD +#define OX_PORT15 PORTD +#define OX_PORT16 PORTD +#define OX_PORT17 PORTD +#define OX_PORT18 PORTD +#define OX_PORT19 PORTD + +#define OX_PORT26 PORTC +#define OX_PORT27 PORTC +#define OX_PORT28 PORTC +#define OX_PORT29 PORTC +#define OX_PORT30 PORTC +#define OX_PORT31 PORTC +#define OX_PORT32 PORTC +#define OX_PORT33 PORTF +#define OX_PORT34 PORTF +#define OX_PORT35 PORTF +#define OX_PORT36 PORTF +#define OX_PORT37 PORTF +#define OX_PORT38 PORTF +#define OX_PORT39 PORTF +#define OX_PORT40 PORTF +#define OX_PORT41 PORTE +#define OX_PORT42 PORTE +#define OX_PORT43 PORTE +#define OX_PORT44 PORTE + +#define OX_DDR1 DDRE +#define OX_DDR2 DDRE +#define OX_DDR3 DDRE +#define OX_DDR4 DDRB +#define OX_DDR5 DDRB +#define OX_DDR6 DDRB +#define OX_DDR7 DDRB +#define OX_DDR8 DDRB +#define OX_DDR9 DDRB +#define OX_DDR10 DDRB +#define OX_DDR11 DDRB +#define OX_DDR12 DDRD +#define OX_DDR13 DDRD +#define OX_DDR14 DDRD +#define OX_DDR15 DDRD +#define OX_DDR16 DDRD +#define OX_DDR17 DDRD +#define OX_DDR18 DDRD +#define OX_DDR19 DDRD + +#define OX_DDR26 DDRC +#define OX_DDR27 DDRC +#define OX_DDR28 DDRC +#define OX_DDR29 DDRC +#define OX_DDR30 DDRC +#define OX_DDR31 DDRC +#define OX_DDR32 DDRC +#define OX_DDR33 DDRF +#define OX_DDR34 DDRF +#define OX_DDR35 DDRF +#define OX_DDR36 DDRF +#define OX_DDR37 DDRF +#define OX_DDR38 DDRF +#define OX_DDR39 DDRF +#define OX_DDR40 DDRF +#define OX_DDR41 DDRE +#define OX_DDR42 DDRE +#define OX_DDR43 DDRE +#define OX_DDR44 DDRE + + +#define OX_P1 PE5 +#define OX_P2 PE6 +#define OX_P3 PE7 +#define OX_P4 PB0 +#define OX_P5 PB1 +#define OX_P6 PB2 +#define OX_P7 PB3 +#define OX_P8 PB4 +#define OX_P9 PB5 +#define OX_P10 PB6 +#define OX_P11 PB7 +#define OX_P12 PD0 +#define OX_P13 PD1 +#define OX_P14 PD2 +#define OX_P15 PD3 +#define OX_P16 PD4 +#define OX_P17 PD5 +#define OX_P18 PD6 +#define OX_P19 PD7 + +#define OX_P26 PC0 +#define OX_P27 PC1 +#define OX_P28 PC2 +#define OX_P29 PC3 +#define OX_P30 PC4 +#define OX_P31 PC5 +#define OX_P32 PC6 +#define OX_P33 PF7 +#define OX_P34 PF6 +#define OX_P35 PF5 +#define OX_P36 PF4 +#define OX_P37 PF3 +#define OX_P38 PF2 +#define OX_P39 PF1 +#define OX_P40 PF0 +#define OX_P41 PE0 +#define OX_P42 PE1 +#define OX_P43 PE2 +#define OX_P44 PE3 + + void io_parser(char *buf); @@ -80,8 +240,6 @@ void io_set_pin_usb(uint8_t pin, uint8_t value); uint8_t io_get_pin(uint8_t pin, uint8_t *value); void io_get_pin_usb(uint8_t pin); -void io_set_status_led(uint8_t on); -void io_set_status_led_usb(uint8_t on); #define PORT(port,pin) (PORT##port) #define DDR(port,pin) (DDR##port) diff --git a/firmware/main.c b/firmware/main.c index 6bd7c32..ef802a2 100644 --- a/firmware/main.c +++ b/firmware/main.c @@ -16,19 +16,19 @@ #include "protocol.h" #include "wait.h" -#include "93c46.h" +#include "io.h" #include "adc.h" -#include "can.h" -#include "eeprom.h" #include "i2c.h" -#include "io.h" -#include "pwm.h" #include "spi.h" +#include "pwm.h" #include "uart.h" -#include <stdio.h> +#include "93c46.h" #include "debug.h" +//#define DEBUG 1 + + SIGNAL (SIG_INTERRUPT4) { @@ -48,218 +48,185 @@ SIGNAL (SIG_OVERFLOW0) } -void USBCommandRX (char *buf) +void +USBCommandRX (char *buf) { int i; - debugf("receiving command: %X (length: %u)\n", buf[1]); +#ifdef DEBUG + debug_write("get \0"); + debug_SendHex(buf[1]); + debug_write("\r\n"); +#endif /* a paket can be max 255 bytes */ if (octopus.long_rx_cmd == 1) - { - debugf("get next\n"); - - for (i = 0; i < 64; i++) - request[octopus.long_rx_index + i] = buf[i]; + { +#ifdef DEBUG + debug_write("get next\r\n"); +#endif + for (i = 0; i < 64; i++) + request[octopus.long_rx_index + i] = buf[i]; - octopus.long_rx_index = octopus.long_rx_index + i; + octopus.long_rx_index = octopus.long_rx_index + i; - if (octopus.long_rx_index >= octopus.long_rx_bytes) - { - octopus.long_rx_cmd = 0; - USBMessageIn (request); - } - } + if (octopus.long_rx_index >= octopus.long_rx_bytes) + { + octopus.long_rx_cmd = 0; + USBMessageIn (request); + } + } else - { - debugf("get and execute\n"); - - octopus.long_rx_index = 0; - for (i = 0; i < 64; i++) - request[octopus.long_rx_index + i] = buf[i]; - - octopus.long_rx_index = i; - - if ((unsigned int) buf[1] < 64) - { - octopus.long_rx_cmd = 0; - USBMessageIn (request); - } - else - { - octopus.long_rx_cmd = 1; - octopus.long_rx_bytes = (unsigned int) buf[1]; - } - } + { +#ifdef DEBUG + debug_write("get and execute\r\n\0"); +#endif + octopus.long_rx_index = 0; + for (i = 0; i < 64; i++) + request[octopus.long_rx_index + i] = buf[i]; + + octopus.long_rx_index = i; + + if ((unsigned int) buf[1] < 64) + { + octopus.long_rx_cmd = 0; + USBMessageIn (request); + } + else + { + octopus.long_rx_cmd = 1; + octopus.long_rx_bytes = (unsigned int) buf[1]; + } + } } /* is called when received data from pc */ -void USBMessageIn (char *buf) +void +USBMessageIn (char *buf) { octopus.long_index = 0; octopus.long_running = 0; - if(octopus.status_led) - STATUS_LED_on; - + STATUS_LED_on; +#ifdef DEBUG + debug_write("parser\r\n\0"); +#endif int check = ((int) buf[0] >> 4) & 0x0F; - debugf("parser, check: %X, command: %X\n", check, buf[0]); - switch (check) - { - case 0: - if (buf[0] == CMD_EXTERNAL_DEVICE) - { - switch (buf[2]) - { - case CMD_EXTERNAL_93C46: - flash_93c46_parser(buf); - break; - } - } - else - common_parser(buf); - - break; - - case 1: - debugf("calling io_parser\n"); - io_parser (buf); - break; - case 2: - debugf("calling adc_parser\n"); - adc_parser (buf); - break; - case 3: - debugf("calling i2c_parser\n"); - i2c_parser (buf); - break; - case 4: - debugf("calling spi_parser\n"); - spi_parser (buf); - break; - case 5: - debugf("calling pwm_parser\n"); - pwm_parser (buf); - break; - case 6: - debugf("calling adc_parser\n"); - uart_parser (buf); - break; - case 7: -#ifdef OCTOPUS_CAN - debugf("calling can_parser\n"); - can_parser ((uint8_t *)buf); -#else - debugf("can't call can_parser - no CAN-support\n"); -#endif - break; - case 8: - debugf("calling eeprom_parser\n"); - eeprom_parser(buf); - break; - default: - debugf("unknown cmd\n"); - answer[0] = buf[0]; - answer[1] = RSP_UNKOWN_CMD; - answer[2] = 0; - CommandAnswer(3); - } - - if(octopus.status_led) - STATUS_LED_off; -} - + { + case 0: + if (buf[0] == CMD_EXTERNAL_DEVICE) + { + switch (buf[2]) + { + case CMD_EXTERNAL_93C46: + flash_93c46_parser (buf); + break; + default: + ; + } + } + else + common_parser (buf); + break; + case 1: + io_parser (buf); + break; + case 2: + adc_parser (buf); + break; + case 3: + i2c_parser (buf); + break; + case 4: + spi_parser (buf); + break; + case 5: + pwm_parser (buf); + break; + case 6: + uart_parser (buf); + break; + default: + answer[0] = buf[0]; + answer[1] = RSP_UNKOWN_CMD; + answer[2] = 0; + CommandAnswer (3); + } -unsigned int strlen(volatile unsigned char *str) -{ - unsigned int len = 0; - - while (*str++) - len++; - - return len; + STATUS_LED_off; } -void CommandAnswer(unsigned int length) +void +CommandAnswer (unsigned int length) { int i; - // if first packet of a long message + // if first packet of a lang message if (length > 64 && octopus.long_running == 0) - { - debugf("first packet of a long message (length: %d)\n", length); - octopus.long_index = 0; - octopus.long_bytes = length; - octopus.long_running = 1; - length = 64; - } + { + octopus.long_index = 0; + octopus.long_bytes = length; + octopus.long_running = 1; + length = 64; + } USBNWrite (FIFOTXC1, FLUSH); for (i = 0; i < length; i++) - USBNWrite (TXD1, answer[octopus.long_index + i]); + USBNWrite (TXD1, answer[octopus.long_index + i]); /* control togl bit */ if (octopus.datatogl == 1) - { - USBNWrite (FIFOTXC1, TX_LAST + TX_EN + TX_TOGL); - octopus.datatogl = 0; - } + { + USBNWrite (FIFOTXC1, TX_LAST + TX_EN + TX_TOGL); + octopus.datatogl = 0; + } else - { - USBNWrite (FIFOTXC1, TX_LAST + TX_EN); - octopus.datatogl = 1; - } + { + USBNWrite (FIFOTXC1, TX_LAST + TX_EN); + octopus.datatogl = 1; + } } -void CommandAnswerRest (void) +void +CommandAnswerRest (void) { if (octopus.long_running == 1) - { - debugf("octopus long running message\n"); - if (octopus.long_index < octopus.long_bytes) - { - debugf("octopus.long_index < octopus.long_bytes\n"); - int diff = octopus.long_bytes - octopus.long_index; - octopus.long_index = octopus.long_index + 64; - - if (diff > 64) - { - debugf("not last packet: diff > 64\n"); - CommandAnswer (64); - } - else - { - debugf("last packet\n"); - /* last packet */ - CommandAnswer (diff); - octopus.long_running = 0; - } - } - } + { + if (octopus.long_index < octopus.long_bytes) + { + int dif = octopus.long_bytes - octopus.long_index; + octopus.long_index = octopus.long_index + 64; + + if (dif > 64) + CommandAnswer (64); + + else + { + /* last packet */ + CommandAnswer (dif); + octopus.long_running = 0; + } + } + } } -int main(void) +int +main (void) { - cli(); + DDRB = 0xFF; + PORTB = 0xFF; - USBNInitMC (); - USBNStartClock(); - - DDRB = 0xFF; - PORTB = 0x00; - - /* use status led */ - octopus.status_led = 1; int interf; int conf; + STATUS_LED_off; USBNInit (); @@ -270,19 +237,17 @@ int main(void) USBNDeviceBCDDevice (0x0001); // you can use it as version e.g. version 1.02 char lang[] = { 0x09, 0x04, 0x00 }; - _USBNAddStringDescriptor (lang); // language descriptor + _USBNAddStringDescriptor (lang); // language descriptor /* Attention!!! Descriptors must be a factor of 8 (error in the stack) */ USBNDeviceManufacture ("EmbeddedProjects"); USBNDeviceProduct ("OctopusUSB Interface Converter and I/O Extension"); - //USBNDeviceProduct ("Octopus USB v3.3"); - USBNDeviceSerialNumber ("20090718"); + USBNDeviceSerialNumber ("20081108"); conf = USBNAddConfiguration (); - // we reserve 500mA, because users could drive LEDs and need more power - USBNConfigurationPower (conf, 200); + USBNConfigurationPower (conf, 100); interf = USBNAddInterface (conf, 0); USBNAlternateSetting (conf, interf, 0); @@ -290,32 +255,33 @@ int main(void) /* communication */ USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest); USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX); - //USBNAddOutEndpoint (conf, interf, 1, 0x02, BULK, 64, 0, NULL); + + USBNInitMC (); octopus.datatogl = 0; octopus.long_rx_cmd = 0; + /* start usb chip */ + USBNStart (); + /* UARTInit2(38400,8,'N',1); */ - debug_init(); + #ifdef DEBUG + debug_init(); + #endif /* hello world led pattern */ - DDRC = 0x7F; - PORTC = 0x2A; + DDRC = 0xFF; + PORTC = 0xAA; delay_250ms (); - PORTC = 0x55; + PORTC = 0xD5; delay_250ms (); - PORTC = 0x00; - - common_init(); + PORTC = 0x80; - - /* init connection between avr and usbn9604 */ - USBNInitMC (); - /* start usb chip */ - USBNStart (); - sei(); + // testpin + //PORTB = 0xFF; + //PORTB = 0x00; while (1); + return 0; } - diff --git a/firmware/main.hex b/firmware/main.hex index d7795f1..3d38158 100644 --- a/firmware/main.hex +++ b/firmware/main.hex @@ -1,1327 +1,844 @@ -:100000000C9470000C948F000C948F000C948F0053
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diff --git a/firmware/pin.c b/firmware/pin.c deleted file mode 100644 index 97218b7..0000000 --- a/firmware/pin.c +++ /dev/null @@ -1,93 +0,0 @@ -/* - * Copyright (c) 2009 Embedded Projects (http://www.embedded-projects.net) - * Author: Benedikt Sauter <sauter@embedded-projects.net> - * All rights reserved. - * - * Short descripton of file: - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the FH Augsburg nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT - * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, - * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY - * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#include <inttypes.h> -#include <avr/io.h> - -#include "pin.h" - - -char pin_get_conf(uint8_t i, pin_conf *p) -{ - switch(i) - { - case 3: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC0; break; - case 4: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC1; break; - case 5: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC2; break; - case 6: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC3; break; - case 7: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC4; break; - case 8: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC5; break; - case 9: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC6; break; - - case 10: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF7; break; - case 11: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF6; break; - case 12: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF5; break; - case 13: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF4; break; - case 14: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF3; break; - case 15: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF2; break; - case 16: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF1; break; - case 17: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF0; break; - - case 18: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE0; break; - case 19: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE1; break; - case 20: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE2; break; - case 21: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE3; break; - case 22: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE5; break; - case 23: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE6; break; - case 24: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE7; break; - - case 25: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB0; break; - case 26: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB1; break; - case 27: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB2; break; - case 28: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB3; break; - case 29: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB4; break; - case 30: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB5; break; - case 31: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB6; break; - case 32: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB7; break; - - case 33: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD0; break; - case 34: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD1; break; - case 35: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD2; break; - case 36: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD3; break; - case 37: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD4; break; - case 38: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD5; break; - case 39: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD6; break; - case 40: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD7; break; - - default: return 0; - } - - return 1; -} diff --git a/firmware/pin.h b/firmware/pin.h deleted file mode 100644 index f0deda7..0000000 --- a/firmware/pin.h +++ /dev/null @@ -1,84 +0,0 @@ -/* - * Copyright (c) 2009 Embedded Projects (http://www.embedded-projecs.net) - * Author: Michael Hartmann <hartmann@embedded-projects.net> - * All rights reserved. - * - * Short descripton of file: - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the FH Augsburg nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT - * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY - * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef PIN_H -#define PIN_H - -#include <inttypes.h> - -#define OX_AD7 10 -#define OX_AD6 11 -#define OX_AD5 12 -#define OX_AD4 13 -#define OX_AD3 14 -#define OX_AD2 15 -#define OX_AD1 16 -#define OX_AD0 17 - -#define OX_RX0 18 -#define OX_TX0 19 -#define OX_RX1 35 -#define OX_TX1 36 - -#define OX_SS 25 -#define OX_SCK 26 -#define OX_MOSI 27 -#define OX_MISO 28 - -#define OX_PWM1 30 -#define OX_PWM2 29 - -#define OX_SCL 33 -#define OX_SDA 34 - -#define OX_LED1 3 -#define OX_LED2 4 -#define OX_LED3 5 -#define OX_LED4 6 -#define OX_LED5 7 -#define OX_LED6 8 -#define OX_LED7 9 -#define OX_LED_STATUS 32 - -typedef struct pin_conf { - volatile unsigned char *ox_port; - volatile unsigned char *ox_pin; - volatile unsigned char *ox_ddr; - volatile unsigned char ox_p; -} pin_conf; - -char pin_get_conf(uint8_t i, pin_conf *p); - -#endif /* PIN_H */ diff --git a/firmware/protocol.h b/firmware/protocol.h index af2c6fb..6ae1c2a 100644 --- a/firmware/protocol.h +++ b/firmware/protocol.h @@ -42,12 +42,10 @@ #define CMD_IO_PORT_GET 0x19 #define CMD_IO_PIN_SET 0x1A #define CMD_IO_PIN_GET 0x1B -#define CMD_IO_SET_STATUS_LED 0x1C #define CMD_ADC_INIT_PIN 0x20 -#define CMD_ADC_DEINIT_PIN 0x21 -#define CMD_ADC_GET 0x22 -#define CMD_ADC_REF 0x23 +#define CMD_ADC_GET 0x21 +#define CMD_ADC_REF 0x22 #define CMD_I2C_INIT 0x30 #define CMD_I2C_DEINIT 0x31 @@ -80,17 +78,6 @@ #define CMD_UART_RECV 0x67 #define CMD_UART_SEND 0x68 -#define CMD_CAN_INIT 0x70 -#define CMD_CAN_DEINIT 0x71 -#define CMD_CAN_SEND_DATA 0x72 -#define CMD_CAN_ENABLE_MOB 0x73 -#define CMD_CAN_DISABLE_MOB 0x74 -#define CMD_CAN_SEND_REMOTE 0x75 -#define CMD_CAN_RECEIVE_DATA 0x76 -#define CMD_CAN_SET_AUTOREPLY 0x77 - -#define CMD_EEPROM_READ_BYTES 0x80 -#define CMD_EEPROM_WRITE_BYTES 0x81 #define PARAM_ADC_AREF 0x01 #define PARAM_ADC_AVCC 0x02 diff --git a/firmware/pwm.c b/firmware/pwm.c index b8b6231..9e3666d 100644 --- a/firmware/pwm.c +++ b/firmware/pwm.c @@ -84,7 +84,7 @@ int pwm_init(int pin) { case 9: /* set pin as output */ - DDRB |=(1<<PB5); + OX_DDR9 |=(1<<OX_P9); OCR1A=1; // TOP #ifdef OCTOPUS_CAN /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP COM1A1)*/ @@ -97,7 +97,7 @@ int pwm_init(int pin) #endif break; case 8: - DDRB |=(1<<PB4); + OX_DDR8 |=(1<<OX_P8); #ifdef OCTOPUS_CAN OCR2A=1; // TOP /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP COM1A1)*/ @@ -138,7 +138,7 @@ void pwm_deinit_usb(int pin) int pwm_deinit(int pin) { - octopus.ports[pin]=PIN_NONE; + octopus.ports[pin]=PIN_OUT; // this is wrong! #ifdef OCTOPUS_CAN switch(pin) { diff --git a/firmware/spi.c b/firmware/spi.c index b3e3a95..2b8abb1 100644 --- a/firmware/spi.c +++ b/firmware/spi.c @@ -36,24 +36,26 @@ #include "spi.h" - void spi_parser(char *buf) { switch(buf[0]) { case CMD_SPI_INIT: - spi_init_usb(buf[2], buf[3], buf[4]); - break; + spi_init_usb(); + break; case CMD_SPI_DEINIT: spi_deinit_usb(); - break; + break; + case CMD_SPI_SPEED: + spi_set_speed_usb((int)buf[2]); + break; case CMD_SPI_SEND: - spi_send_usb(buf[2], &buf[3]); - break; + spi_send_usb(&buf[2], (int)buf[1]); + break; case CMD_SPI_RECV: - spi_receive_usb((int)buf[2]); + spi_receive_usb((int)buf[1]); case CMD_SPI_SEND_AND_RECV: - spi_send_and_receive_usb(&buf[3], (int)buf[2]); - break; + spi_send_and_receive_usb(&buf[2], (int)buf[1]); + break; default: answer[0] = buf[0]; answer[1] = RSP_UNKOWN_CMD; @@ -62,111 +64,38 @@ void spi_parser(char *buf) } } -void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed) +void spi_init_usb(void) { answer[0] = CMD_SPI_INIT; - answer[1] = (unsigned char) spi_init(dord, mode, speed); - answer[2] = 0; + answer[1] = (unsigned char) spi_init(); + answer[3] = 0; CommandAnswer(3); } -int spi_init(uint8_t dord, uint8_t mode, uint8_t speed) +int spi_init(void) { - 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; - } - - 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; - } + PORTB &= ~((1 << SCK)|(1<<MISO)|(1<<MOSI)); // SCK have to be low in IDLE + DDRB &=~(1 << MISO); + DDRB = (1 << MOSI)|(1 << SCK); - // 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 = 0; + SPSR = 0; - // 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); + SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1); - 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); } @@ -175,30 +104,36 @@ int spi_deinit(void) SPCR = 0; SPSR = 0; - octopus.ports[5] = PIN_NONE; - octopus.ports[6] = PIN_NONE; - octopus.ports[7] = PIN_NONE; + octopus.ports[5]=PIN_OUT; // this is wrong! + octopus.ports[6]=PIN_OUT; // this is wrong! + octopus.ports[7]=PIN_OUT; // this is wrong! return RSP_OK; } +void spi_set_speed_usb(int speed){ -void spi_send_usb(uint8_t length, char * buf) -{ - answer[0] = CMD_SPI_SEND; - answer[1] = (unsigned char)spi_send(length, buf); - answer[2] = 0; +} + +int spi_set_speed(int speed){ + + return RSP_OK; +} +void spi_send_usb(char * buf, int length) +{ + answer[0]=CMD_SPI_SEND; + answer[1]=(unsigned char)spi_send(buf,length); + answer[2]=0; CommandAnswer(3); } -int spi_send(int length, char * buf) +int spi_send(char * buf, int length) { - uint8_t i; - for(i = 0; i < length; i++) - { + int i; + for(i=0;i<length;i++){ SPDR = buf[i]; - while(!(SPSR & (1 << SPIF))); + while ( !(SPSR & (1 << SPIF)) ) ; } return RSP_OK; } @@ -206,29 +141,22 @@ int spi_send(int length, char * buf) void spi_receive_usb(int length) { - answer[0] = CMD_SPI_RECV; - answer[1] = (unsigned char)spi_receive(length, (char*)&answer[2]); - answer[2+length] = 0; - CommandAnswer(3+length); + answer[0]=CMD_SPI_RECV; + answer[1]=(unsigned char)spi_receive((char*)&answer[2],length); + answer[2]=0; + CommandAnswer(length+2); } -unsigned char spi_receive(int length, char * buf) +unsigned char spi_receive( char * buf, int length) { int i; int timeout = 0; - - for(i = 0; i < length; i++) - { + for(i=0;i<length;i++){ SPDR = 0; - while(!(SPSR & (1 << SPIF))) - { - if(timeout++ > 1000) - return RSP_TIMEOUT; - } - buf[i] = SPDR; + while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; } + buf[i]=SPDR; } - return RSP_OK; } @@ -236,8 +164,8 @@ 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+length]=0; - CommandAnswer(3+length); + answer[2]=0; + CommandAnswer(2+length); } @@ -252,3 +180,9 @@ int spi_send_and_receive(char * txbuf, char * rxbuf, int length){ } return RSP_OK; } + + + + + + diff --git a/firmware/spi.h b/firmware/spi.h index 8a8a1fe..d7cfbf1 100644 --- a/firmware/spi.h +++ b/firmware/spi.h @@ -41,25 +41,24 @@ #define MISO PB3 #define SCK PB1 -enum { SPI_SPEED_125kHz, SPI_SPEED_250kHz, SPI_SPEED_500kHz, SPI_SPEED_1MHz, - SPI_SPEED_2MHz, SPI_SPEED_4MHz, SPI_SPEED_8MHz }; - void spi_parser(char *buf); -void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed); -int spi_init(uint8_t dord, uint8_t mode, uint8_t speed); - -void spi_deinit_usb(void); +int spi_init(void); int spi_deinit(void); -void spi_send_usb(uint8_t length, char * buf); -int spi_send(int length, char * buf); +int spi_set_speed(int speed); +int spi_send(char * buf, int length); +unsigned char spi_receive( char * buf, int length); +int spi_send_and_receive(char * txbuf, char * rxbuf, int length); -void spi_receive_usb(int length); -unsigned char spi_receive(int length, char * buf); +void spi_init_usb(void); +void spi_deinit_usb(void); + +void spi_set_speed_usb(int speed); +void spi_send_usb(char * buf, int length); +void spi_receive_usb(int length); void spi_send_and_receive_usb(char * txbuf, int length); -int spi_send_and_receive(char * txbuf, char * rxbuf, int length); #endif /* SPI_H */ diff --git a/firmware/uart.c b/firmware/uart.c index 9ae00c9..ac856b2 100644 --- a/firmware/uart.c +++ b/firmware/uart.c @@ -39,7 +39,7 @@ void uart_parser(char *buf) break; default: answer[1] = RSP_UNKOWN_CMD; - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } } @@ -47,7 +47,7 @@ void uart_parser(char *buf) void uart_init_usb(char uartport) { answer[1] = (unsigned char)uart_init(uartport); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -78,7 +78,7 @@ char uart_init(char uartport) void uart_deinit_usb(char uartport) { answer[1] = (unsigned char)uart_deinit(uartport); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -113,7 +113,7 @@ char uart_deinit(char uartport) void uart_baudrate_usb(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh) { answer[1] = (unsigned char)uart_baudrate(uartport, ubrrll, ubrrlh, ubrrhl, ubrrhh); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -140,7 +140,7 @@ char uart_baudrate(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ub void uart_stopbits_usb(char uartport, char stopbits) { answer[1] = (unsigned char)uart_stopbits(uartport, stopbits); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -174,7 +174,7 @@ char uart_stopbits(char uartport, char stopbits) void uart_databits_usb(char uartport, char databits) { answer[1] = (unsigned char)uart_databits(uartport, databits); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -209,7 +209,7 @@ char uart_databits(char uartport, char databits) void uart_parity_usb(char uartport, char parity) { answer[1] = (unsigned char)uart_databits(uartport, parity); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -243,7 +243,7 @@ char uart_parity(char uartport, char parity) void uart_send_usb(char uartport, char length, char *buf) { answer[1] = (unsigned char)uart_send(uartport, length, buf); - answer[2] = 0; + answer[2] = '\0'; CommandAnswer(3); } @@ -255,7 +255,9 @@ char uart_send(char uartport, unsigned int length, char *buf) return RSP_UNKOWN_PIN; while(length--) + { uart_putchar(uartport, *buf++); + } return RSP_OK; } @@ -293,8 +295,6 @@ void uart_recv_usb(char uartport, int length) for(i = 0; i < length; i++) answer[2+i] = data[i]; - answer[2+length] = 0; - CommandAnswer(3+length); } @@ -329,5 +329,3 @@ char uart_getchar(char uartport) return c; } - - diff --git a/firmware/uart_fifo.c b/firmware/uart_fifo.c deleted file mode 100644 index d4da869..0000000 --- a/firmware/uart_fifo.c +++ /dev/null @@ -1,368 +0,0 @@ -#include <inttypes.h> -#include <avr/io.h> - -#include "uart.h" -#include "common.h" -#include "protocol.h" -#include "fifo.h" - -#define BUFSIZE_IN 5 -#define BUFSIZE_OUT 5 - -uint8_t inbuf0[BUFSIZE_IN]; -uint8_t inbuf1[BUFSIZE_IN]; -fifo_t infifo0; -fifo_t infifo1; - -uint8_t outbuf1[BUFSIZE_OUT]; -uint8_t outbuf0[BUFSIZE_OUT]; -fifo_t outfifo0; -fifo_t outfifo1; - - -void uart_parser(char *buf) -{ - answer[0] = buf[0]; - - switch(buf[0]) - { - case CMD_UART_INIT: - uart_init_usb((char)buf[2]); - break; - case CMD_UART_DEINIT: - uart_deinit_usb((char)buf[2]); - break; - - case CMD_UART_BAUDRATE: - uart_baudrate_usb((char)buf[2], (char)buf[3], (char)buf[4], (char)buf[5], (char)buf[6]); - break; - case CMD_UART_STOPBITS: - uart_stopbits_usb((char)buf[2], (char)buf[3]); - break; - case CMD_UART_DATABITS: - uart_stopbits_usb((char)buf[2], (char)buf[3]); - break; - case CMD_UART_PARITY: - uart_parity_usb((char)buf[2], (char)buf[3]); - break; - - case CMD_UART_SEND: - uart_send_usb((char)buf[2], (char)buf[3], &buf[4]); - break; - case CMD_UART_RECV: - uart_recv_usb((char)buf[2], (char)buf[3]); - break; - default: - answer[1] = RSP_UNKOWN_CMD; - answer[2] = 0; - CommandAnswer(3); - } -} - -void uart_init_usb(char uartport) -{ - answer[1] = (unsigned char)uart_init(uartport); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_init(char uartport) -{ - switch(uartport) - { - case 0: - octopus.ports[41] = PIN_UART; - octopus.ports[42] = PIN_UART; - /* enable transmitter receiver */ - UCSR0B = (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0); - break; - case 1: - octopus.ports[14] = PIN_UART; - octopus.ports[15] = PIN_UART; - /* enable transmitter receiver */ - UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_deinit_usb(char uartport) -{ - answer[1] = (unsigned char)uart_deinit(uartport); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_deinit(char uartport) -{ - switch(uartport) - { - case 0: - octopus.ports[41] = PIN_NONE; - octopus.ports[42] = PIN_NONE; - UBRR0H = 0; - UBRR0L = 0; - UCSR0B = 0; - UCSR0C = 0; - break; - case 1: - octopus.ports[14] = PIN_NONE; - octopus.ports[15] = PIN_NONE; - UBRR1H = 0; - UBRR1L = 0; - UCSR1B = 0; - UCSR1C = 0; - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_baudrate_usb(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh) -{ - answer[1] = (unsigned char)uart_baudrate(uartport, ubrrll, ubrrlh, ubrrhl, ubrrhh); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_baudrate(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh) -{ - switch(uartport) - { - case 0: - UBRR0H = (ubrrhh << 8) | ubrrhl; - UBRR0L = (ubrrhl << 8) | ubrrll; - break; - case 1: - UBRR1H = (ubrrhh << 8) | ubrrhl; - UBRR1L = (ubrrhl << 8) | ubrrll; - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_stopbits_usb(char uartport, char stopbits) -{ - answer[1] = (unsigned char)uart_stopbits(uartport, stopbits); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_stopbits(char uartport, char stopbits) -{ - char usbs; - - switch(stopbits) - { - case 1: usbs = 0; break; - case 2: usbs = 2; break; - default: usbs = 0; break; - } - - switch(uartport) - { - case 0: - UCSR0C |= (usbs << USBS0); - break; - case 1: - UCSR1C |= (usbs << USBS1); - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_databits_usb(char uartport, char databits) -{ - answer[1] = (unsigned char)uart_databits(uartport, databits); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_databits(char uartport, char databits) -{ - char ucsz1,ucsz0; - - switch(databits) { - case 5: ucsz1 = 0; ucsz0 = 0; break; - case 6: ucsz1 = 0; ucsz0 = 1; break; - case 7: ucsz1 = 1; ucsz0 = 0; break; - case 8: ucsz1 = 1; ucsz0 = 1; break; - default: ucsz1 = 1; ucsz0 = 1; break; - } - - switch(uartport) - { - case 0: - UCSR0C |= (ucsz1 << UCSZ01) | (ucsz0 << UCSZ00); - break; - case 1: - UCSR1C |= (ucsz1 << UCSZ11) | (ucsz0 << UCSZ10); - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_parity_usb(char uartport, char parity) -{ - answer[1] = (unsigned char)uart_databits(uartport, parity); - answer[2] = 0; - - CommandAnswer(3); -} - -char uart_parity(char uartport, char parity) -{ - char upm1, upm0; - switch(parity) - { - case 'N': upm1 = 0; upm0 = 0; break; - case 'E': upm1 = 1; upm0 = 0; break; - case 'O': upm1 = 1; upm0 = 1; break; - default: upm1 = 0; upm0 = 0; break; - } - - switch(uartport) - { - case 0: - UCSR0C |= (upm1 << UPM01) | (upm0 << UPM00); - break; - case 1: - UCSR1C |= (upm1 << UPM11) | (upm0 << UPM10); - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - -void uart_send_usb(char uartport, char length, char *buf) -{ - answer[1] = (unsigned char)uart_send(uartport, length, buf); - answer[2] = 0; - - CommandAnswer(3); -} - - -char uart_send(char uartport, unsigned int length, char *buf) -{ - if(uartport != 0 && uartport != 1) - return RSP_UNKOWN_PIN; - - while(length--) - uart_putchar(uartport, *buf++); - - return RSP_OK; -} - -char uart_putchar(char uartport, char data) -{ - switch(uartport) - { - case 0: - fifo_put (&outfifo0, data); - UCSR0B |= (1 << UDRIE0); - break; - case 1: - fifo_put (&outfifo1, data); - UCSR1B |= (1 << UDRIE1); - break; - default: - return RSP_UNKOWN_PIN; - } - - return RSP_OK; -} - - -void uart_recv_usb(char uartport, int length) -{ - char data[length]; - int i; - - answer[1] = (char)uart_recv(uartport, data, length); - - for(i = 0; i < length; i++) - answer[2+i] = data[i]; - - answer[2+length] = 0; - - CommandAnswer(3+length); -} - -char uart_recv(char uartport, char * buf, int length) -{ - if(uartport != 0 && uartport != 1) - return RSP_UNKOWN_PIN; - - while(length-- > 0) - *buf++ = uart_getchar(uartport); - - return RSP_OK; -} - -char uart_getchar(char uartport) -{ - char c; - - switch(uartport) - { - case 0: - while (!(UCSR0A & (1 << RXC0))); - c = UDR0; - break; - case 1: - while (!(UCSR1A & (1 << RXC1))); - c = UDR1; - break; - default: - return RSP_UNKOWN_PIN; - } - - return c; -} - -// Empfangene Zeichen werden in die Eingabgs-FIFO gespeichert und warten dort -//SIGNAL (SIG_UART0_RECV) -//{ -// _inline_fifo_put (&infifo0, UDR0); -//} - -// Ein Zeichen aus der Ausgabe-FIFO lesen und ausgeben -// Ist das Zeichen fertig ausgegeben, wird ein neuer SIG_UART_DATA-IRQ getriggert -// Ist die FIFO leer, deaktiviert die ISR ihren eigenen IRQ. -SIGNAL (SIG_UART0_DATA) -{ - PORTC ^= 5; - if (outfifo0.count > 0) - { - PORTC ^= 2; - UDR0 = _inline_fifo_get (&outfifo0); - } - else - { - PORTC ^= 3; - UCSR0B &= ~(1 << UDRIE0); - } -} - diff --git a/firmware/usbn2mc.c b/firmware/usbn2mc.c index 413009c..d9b0fdd 100644 --- a/firmware/usbn2mc.c +++ b/firmware/usbn2mc.c @@ -81,7 +81,7 @@ USBNInitMC (void) USB_CS_DDR |= (1 << PF_CS); USB_CS_PORT |= (1 << PF_CS); - //sei (); + sei (); } diff --git a/liboctopus/python/demos/adc.py b/liboctopus/python/demos/adc.py index 338eea9..9ff7725 100644 --- a/liboctopus/python/demos/adc.py +++ b/liboctopus/python/demos/adc.py @@ -1,5 +1,3 @@ - - from octopus import * import time |