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-rw-r--r--firmware/93c46.c18
-rw-r--r--firmware/93c46.h14
-rw-r--r--firmware/Makefile914
-rw-r--r--firmware/adc.c152
-rw-r--r--firmware/adc.h17
-rw-r--r--firmware/can.c756
-rw-r--r--firmware/can.h101
-rw-r--r--firmware/common.c16
-rw-r--r--firmware/common.h25
-rw-r--r--firmware/debug.c38
-rw-r--r--firmware/debug.h9
-rw-r--r--firmware/eeprom.c119
-rw-r--r--firmware/eeprom.h11
-rw-r--r--firmware/fifo.c20
-rw-r--r--firmware/i2c.c113
-rw-r--r--firmware/i2c.h11
-rw-r--r--firmware/io.c402
-rw-r--r--firmware/io.h168
-rw-r--r--firmware/main.c344
-rw-r--r--firmware/main.hex2169
-rw-r--r--firmware/octopus_can_stable_1_1.hex1133
-rw-r--r--firmware/octopus_relais.hex959
-rw-r--r--firmware/octopus_stable_1_1.hex971
-rw-r--r--firmware/pin.c93
-rw-r--r--firmware/pin.h84
-rw-r--r--firmware/protocol.h27
-rw-r--r--firmware/pwm.c6
-rw-r--r--firmware/spi.c190
-rw-r--r--firmware/spi.h23
-rw-r--r--firmware/uart.c68
-rw-r--r--firmware/uart_fifo.c368
-rw-r--r--firmware/usbn2mc.c2
32 files changed, 7113 insertions, 2228 deletions
diff --git a/firmware/93c46.c b/firmware/93c46.c
index 4af0f45..9ec4e11 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[19]=PIN_OUT;
- octopus.ports[18]=PIN_OUT;
- octopus.ports[17]=PIN_OUT;
octopus.ports[16]=PIN_IN;
+ octopus.ports[17]=PIN_OUT;
+ octopus.ports[18]=PIN_OUT;
+ octopus.ports[19]=PIN_OUT;
return RSP_OK;
}
@@ -111,9 +111,10 @@ void flash_93c46_deinit_usb(void)
int flash_93c46_deinit(void)
{
- octopus.ports[5]=PIN_OUT; // this is wrong!
- octopus.ports[6]=PIN_OUT; // this is wrong!
- octopus.ports[7]=PIN_OUT; // this is wrong!
+ octopus.ports[16]=PIN_NONE;
+ octopus.ports[17]=PIN_NONE;
+ octopus.ports[18]=PIN_NONE;
+ octopus.ports[19]=PIN_NONE;
return RSP_OK;
}
@@ -122,7 +123,8 @@ 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]);
- CommandAnswer(length+2);
+ answer[2+length] = 0;
+ CommandAnswer(3+length);
}
int flash_93c46_read(unsigned char address, unsigned int length, char * buf)
@@ -142,7 +144,7 @@ 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]=0x00;
+ answer[2]=0;
CommandAnswer(3);
}
diff --git a/firmware/93c46.h b/firmware/93c46.h
index 817eade..d919036 100644
--- a/firmware/93c46.h
+++ b/firmware/93c46.h
@@ -47,10 +47,6 @@
#define DO (B, 3)
-
-
-
-
#define DIN0 (B, 4)
#define DIN1 (B, 5)
@@ -100,14 +96,4 @@ 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 f3553b5..c8ae6de 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 = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c
-
-
-# List Assembler source files here.
-# Make them always end in a capital .S. Files ending in a lowercase .s
-# will not be considered source files but generated files (assembler
-# output from the compiler), and will be deleted upon "make clean"!
-# Even though the DOS/Win* filesystem matches both .s and .S the same,
-# it will preserve the spelling of the filenames, and gcc itself does
-# care about how the name is spelled on its command-line.
-ASRC =
-
-
-
-# Optimization level, can be [0, 1, 2, 3, s].
-# 0 = turn off optimization. s = optimize for size.
-# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-#DEBUG = dwarf-2
-
-# List any extra directories to look for include files here.
-# Each directory must be seperated by a space.
-EXTRAINCDIRS =
-
-
-# Compiler flag to set the C Standard level.
-# c89 - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99 - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS =
-
-# Place -I options here
-CINCS =
-
-
-# Compiler flags.
-# -g*: generate debugging information
-# -O*: optimization level
-# -f...: tuning, see GCC manual and avr-libc documentation
-# -Wall...: warning level
-# -Wa,...: tell GCC to pass this to the assembler.
-# -adhlns...: create assembler listing
-CFLAGS = -g$(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
+
+# 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
diff --git a/firmware/adc.c b/firmware/adc.c
index a9449b7..915dbce 100644
--- a/firmware/adc.c
+++ b/firmware/adc.c
@@ -37,19 +37,27 @@
#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((int)buf[2]);
- break;
+ adc_init_usb(buf[2]);
+ break;
+ case CMD_ADC_DEINIT_PIN:
+ adc_deinit_usb(buf[2]);
+ break;
case CMD_ADC_GET:
- adc_get_usb((int)buf[2]);
- break;
+ adc_get_usb(buf[2]);
+ break;
case CMD_ADC_REF:
- adc_ref_usb((int)buf[2]);
- break;
+ adc_ref_usb(buf[2]);
+ break;
default:
answer[0]=buf[0];
@@ -59,42 +67,49 @@ void adc_parser(char *buf)
}
}
-int adc_init(int pin)
+int adc_init(uint8_t 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;
+ 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;
}
-void adc_init_usb(int pin)
+void adc_init_usb(uint8_t pin)
{
answer[0]=CMD_ADC_INIT_PIN;
- answer[1]= (unsigned char)adc_init(pin);
+ answer[1]=(unsigned char)adc_init(pin);
answer[2]=0;
CommandAnswer(3);
}
-void adc_get_usb(int pin)
+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[2]=0;
+
+ CommandAnswer(3);
+}
+
+void adc_get_usb(uint8_t pin)
{
-
uint16_t result;
//uint8_t result[2];
@@ -110,64 +125,59 @@ void adc_get_usb(int pin)
}
-int adc_get(int pin, uint16_t *value)
+int adc_get(uint8_t pin, uint16_t *value)
{
- *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;
- }
+ *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;
}
-void adc_ref_usb(int ref)
+void adc_ref_usb(uint8_t ref)
{
answer[0]=CMD_ADC_REF;
answer[1]=adc_ref(ref);
- CommandAnswer(2);
+ answer[2]=0;
+ CommandAnswer(3);
}
-int adc_ref(int ref)
+int adc_ref(uint8_t 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(int mux)
+uint16_t _adc_read_channel(uint8_t 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 |= (unsigned char)mux; // Kanal waehlen
- ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel
+ ADMUX = (ADMUX & 0xF0) | mux; // select channel
//ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen
diff --git a/firmware/adc.h b/firmware/adc.h
index 3aa0a6f..1e85ff4 100644
--- a/firmware/adc.h
+++ b/firmware/adc.h
@@ -41,16 +41,17 @@
void adc_parser(char *buf);
-int adc_init(int pin);
-void adc_init_usb(int pin);
+int adc_init(uint8_t pin);
+void adc_init_usb(uint8_t pin);
-void adc_ref_usb(int ref);
-int adc_ref(int ref);
+int adc_deinit(uint8_t pin);
+void adc_deinit_usb(uint8_t pin);
+int adc_ref(uint8_t ref);
+void adc_ref_usb(uint8_t ref);
-
-int adc_get(int pin, uint16_t *value);
-void adc_get_usb(int pin);
-uint16_t _adc_read_channel(int mux);
+int adc_get(uint8_t pin, uint16_t *value);
+void adc_get_usb(uint8_t pin);
+uint16_t _adc_read_channel(uint8_t mux);
#endif /* ADC_H */
diff --git a/firmware/can.c b/firmware/can.c
new file mode 100644
index 0000000..95090bb
--- /dev/null
+++ b/firmware/can.c
@@ -0,0 +1,756 @@
+/*
+ * 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
new file mode 100644
index 0000000..1bab0ba
--- /dev/null
+++ b/firmware/can.h
@@ -0,0 +1,101 @@
+/*
+ * 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 9947c59..69f3c94 100644
--- a/firmware/common.c
+++ b/firmware/common.c
@@ -80,11 +80,17 @@ void common_parser(char *buf)
void common_init(void)
{
- int i;
+ uint8_t i;
for(i=1;i<=19;i++)
- io_init(i);
- for(i=26;i<=44;i++)
- io_init(i);
+ {
+ io_init(i);
+ io_set_pin(i, 0);
+ }
+ for(i=24;i<=42;i++)
+ {
+ io_init(i);
+ io_set_pin(i, 0);
+ }
}
@@ -100,7 +106,7 @@ void common_hwdesc(void)
answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
#endif
answer[11] = '0'; answer[12] = '1';
- answer[13] = 0x00;
+ answer[13] = 0;
CommandAnswer(14);
}
diff --git a/firmware/common.h b/firmware/common.h
index 3229718..11716fb 100644
--- a/firmware/common.h
+++ b/firmware/common.h
@@ -31,32 +31,46 @@
* (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_UART,PIN_CAN};
+#ifdef __AVR_AT90CAN128__
+ #define OCTOPUS_CAN
+#endif
-#define OCTOPUS_CAN
+//#define OCTOPUS_RELAIS
-//#define DEBUG
+#define DEBUG 1
#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;
- int ports[45];
+ volatile unsigned char status_led;
+ uint8_t ports[43];
volatile char * msg[20];
volatile int datatogl;
volatile unsigned int long_rx_cmd;
@@ -71,7 +85,7 @@ volatile struct octopus_t
void CommandAnswer(unsigned int length);
-void CommandAnswerRest(void);
+void CommandAnswerRest (void);
void USBCommandRX(char *buf);
void USBMessageIn(char *buf);
@@ -91,3 +105,4 @@ void common_init(void);
void common_hwdesc(void);
+#endif //COMMON_H
diff --git a/firmware/debug.c b/firmware/debug.c
index 539a3e2..5e7a950 100644
--- a/firmware/debug.c
+++ b/firmware/debug.c
@@ -1,4 +1,7 @@
#include <inttypes.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
#include <avr/io.h>
#include "uart.h"
@@ -8,21 +11,39 @@
#define UART_PORT 0
-void debug_init(void) {
+void debug_dummy(char *fmt, ...) {}
+
+void debug_init()
+{
+#ifdef DEBUG
+#warning Compiling with debug-support!
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
}
-void debug_deinit(void) {
- uart_deinit(UART_PORT);
+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_write(char *buf) {
- while(*buf)
- uart_putchar(UART_PORT, *buf++);
+void debug_deinit(void)
+{
+#ifdef DEBUG
+ uart_deinit(UART_PORT);
+#endif
}
unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
@@ -52,6 +73,7 @@ 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;
@@ -69,4 +91,8 @@ 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 8aa15d9..202ef22 100644
--- a/firmware/debug.h
+++ b/firmware/debug.h
@@ -1,5 +1,12 @@
+#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
new file mode 100644
index 0000000..3f0c1a1
--- /dev/null
+++ b/firmware/eeprom.c
@@ -0,0 +1,119 @@
+#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
new file mode 100644
index 0000000..2ac7d4a
--- /dev/null
+++ b/firmware/eeprom.h
@@ -0,0 +1,11 @@
+#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 a1e0f87..17551d7 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 b7d55fe..4baa7bb 100644
--- a/firmware/i2c.c
+++ b/firmware/i2c.c
@@ -36,9 +36,12 @@
#include "common.h"
#include "protocol.h"
#include "i2c.h"
+#define I2C_WAIT_FOR_COMPLETE() while (!(TWCR & (1<<TWINT)));
+
+void i2c_parser(char *buf)
+{
+ answer[0] = buf[0];
-void i2c_parser(char *buf) {
-answer[0] = buf[0];
switch(buf[0]){
case CMD_I2C_INIT:
i2c_init_usb();
@@ -49,45 +52,32 @@ answer[0] = buf[0];
case CMD_I2C_SET_BITRATE:
i2c_set_bitrate_usb((char)buf[2]);
break;
- case CMD_I2C_SEND_BYTE:
- i2c_send_byte_usb((int)buf[2]);
+
+ case CMD_I2C_SEND:
+ i2c_send_usb((int)buf[2], &buf[3]);
break;
- case CMD_I2C_RECV_BYTES:
- i2c_reveice_bytes_usb((int)buf[3],(int)buf[1]-4, (int)buf[2]);
+ case CMD_I2C_RECV:
+ i2c_recv_usb((int)buf[2],(int)buf[3]);
break;
+
case CMD_I2C_SEND_START:
i2c_send_start_usb();
break;
case CMD_I2C_SEND_STOP:
i2c_send_stop_usb();
break;
+
default:
- answer[0]=buf[0];
- answer[1]=RSP_UNKOWN_CMD;
- answer[2]=0;
+ answer[1] = RSP_UNKOWN_CMD;
+ answer[2] = 0;
CommandAnswer(3);
}
}
-unsigned char i2c_get_twsr(void)
-{
- return (TWSR & 0xF8);
-}
-
-
-void i2c_wait_for_complete(void)
-{
- while (!(TWCR & (1<<TWINT))){
- //do nothing just wait
- ;
- }
-}
-
void i2c_init_usb(void)
{
- answer[0]=CMD_I2C_INIT;
answer[1]=(unsigned char)i2c_init();
answer[2]=0;
CommandAnswer(3);
@@ -105,7 +95,6 @@ int i2c_init(void)
void i2c_deinit_usb(void)
{
- answer[0]=CMD_I2C_DEINIT;
answer[1]=(unsigned char)i2c_deinit();
answer[2]=0;
CommandAnswer(3);
@@ -114,17 +103,16 @@ void i2c_deinit_usb(void)
int i2c_deinit(void)
{
TWCR &= ~(1<<TWEN); // deinit
- octopus.ports[12]=PIN_OUT; // this is wrong!
- octopus.ports[13]=PIN_OUT; // this is wrong!
+ octopus.ports[12]=PIN_NONE;
+ octopus.ports[13]=PIN_NONE;
return RSP_OK;
}
void i2c_set_bitrate_usb(char bitrate) {
- answer[0] = CMD_I2C_SET_BITRATE;
answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
- answer[2] = '\0';
+ answer[2] = 0;
CommandAnswer(3);
}
@@ -140,77 +128,82 @@ int i2c_set_bitrate(char bitrate) {
void i2c_send_start_usb(void)
{
- answer[0] = CMD_I2C_SEND_START;
answer[1] = (unsigned char)i2c_send_start();
- answer[2] = '\0';
+ answer[2] = 0;
CommandAnswer(3);
}
+unsigned char i2c_get_twsr(void)
+{
+ return (TWSR & 0xF8);
+}
+
int i2c_send_start(void)
{
i2c_get_twsr();
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
- i2c_wait_for_complete();
+ I2C_WAIT_FOR_COMPLETE();
return RSP_OK;
}
+
+
+
void i2c_send_stop_usb(void)
{
- answer[0]=CMD_I2C_SEND_STOP;
answer[1]=(unsigned char)i2c_send_stop();
answer[2]=0;
CommandAnswer(3);
}
-
int i2c_send_stop(void)
{
TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+ while(TWCR & (1<<TWSTO));
return RSP_OK;
}
-void i2c_send_byte_usb(char data)
+void i2c_send_usb(int length, char *data)
{
- i2c_send_byte(data);
+ i2c_send(data, length);
- answer[0] = CMD_I2C_SEND_BYTE;
answer[1] = RSP_OK;
- answer[2] = '\0';
+ answer[2] = 0;
CommandAnswer(3);
}
-void i2c_send_byte(char data)
+void i2c_send(char *data, int length)
{
- TWDR = data;
- TWCR = (1<<TWINT) | (1<<TWEN);
- i2c_wait_for_complete();
+ int i;
+
+ for(i = 0; i < length; i++) {
+ TWDR = data[i];
+ TWCR = (1<<TWINT) | (1<<TWEN);
+ I2C_WAIT_FOR_COMPLETE();
+ }
}
-void i2c_reveice_bytes_usb(int address,int len, int timeout)
+
+void i2c_recv_usb(int address, int length)
{
- /* receive */
- //i2c_get_twsr();
- //print_hex(s);
-
- //i2c_send_start();
- /* slave address = 0x10; */
- //buf[3] = (0x10 << 1)|1; /* (00010000<<1) | R */
- //i2c_send_byte( (0x10 << 1)|1);
-
-
- answer[0]=CMD_I2C_RECV_BYTES;
+ int i;
+
+ answer[0]=CMD_I2C_RECV;
answer[1]=RSP_OK;
- answer[2]=1;
- answer[3]=i2c_receive_byte();
- CommandAnswer(5);
+
+ for(i = 0; i < length; i++)
+ answer[2+i] = i2c_recv_byte();
+
+ answer[length+2] = 0;
+
+ CommandAnswer(3+length);
}
-unsigned char i2c_receive_byte(void)
+unsigned char i2c_recv_byte(void)
{
TWCR = (1<<TWINT) | (1<<TWEN);
- i2c_wait_for_complete();
+ I2C_WAIT_FOR_COMPLETE();
return TWDR;
}
-
diff --git a/firmware/i2c.h b/firmware/i2c.h
index 89834ea..3d0f02b 100644
--- a/firmware/i2c.h
+++ b/firmware/i2c.h
@@ -47,22 +47,21 @@ int i2c_deinit(void);
int i2c_set_bitrate(char);
int i2c_send_start(void);
int i2c_send_stop(void);
-void i2c_send_byte(char data);
+void i2c_send(char *data, int length);
unsigned char i2c_receive_byte(void);
-unsigned char i2c_get_twsr(void);
-void i2c_wait_for_complete(void);
-
void i2c_init_usb(void);
void i2c_deinit_usb(void);
void i2c_set_bitrate_usb(char);
void i2c_send_start_usb(void);
void i2c_send_stop_usb(void);
-void i2c_send_byte_usb(char data);
+void i2c_send_usb(int length, char *data);
+unsigned char i2c_recv_byte(void);
+int i2c_send_start(void);
-void i2c_reveice_bytes_usb(int address,int len, int timeout);
+void i2c_recv_usb(int address, int len);
#endif /* I2C_H */
diff --git a/firmware/io.c b/firmware/io.c
index 280f892..4227ec9 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@
+ * Author: Benedikt Sauter <sauter@embedded-projects.net>
* All rights reserved.
*
* Short descripton of file:
@@ -36,6 +36,8 @@
#include "common.h"
#include "protocol.h"
#include "io.h"
+#include "pin.h"
+
void io_parser(char *buf)
{
@@ -77,6 +79,9 @@ 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;
@@ -87,12 +92,7 @@ void io_parser(char *buf)
uint8_t io_init(uint8_t pin)
{
- if ((pin >= 1 && pin <= 19) || (pin >= 26 && pin <= 44))
- {
- io_set_pin_direction_out(pin);
- return RSP_OK;
- }
- return RSP_UNKOWN_PIN;
+ return io_set_pin_direction_out(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;
}
@@ -160,6 +160,7 @@ 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;
@@ -171,131 +172,41 @@ void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask)
uint8_t io_set_pin_direction_out(uint8_t pin)
{
- 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;
- }
+ 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;
}
-uint8_t io_set_pin_direction_in(uint8_t pin)
+uint8_t io_set_pin_direction_in(uint8_t pin)
{
- 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;
- }
+ 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;
}
-uint8_t io_set_pin_direction_tri(uint8_t pin)
+
+uint8_t io_set_pin_direction_tri(uint8_t pin)
{
- if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+ if(io_set_pin_direction_out(pin) == RSP_OK &&
+ io_set_pin(pin,1) == 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;
+ octopus.ports[pin] = PIN_TRI;
+ return RSP_OK;
}
+ else
+ return RSP_UNKOWN_PIN;
}
@@ -324,55 +235,58 @@ 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;
- CommandAnswer(3);
+ 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);
}
+// 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);
}
@@ -387,59 +301,20 @@ void io_set_pin_usb(uint8_t pin, uint8_t value)
uint8_t io_set_pin(uint8_t pin, uint8_t value)
{
- 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;
- }
+ 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;
}
@@ -450,63 +325,42 @@ 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;
- CommandAnswer(3);
+ answer[3] = 0;
+ CommandAnswer(4);
}
uint8_t io_get_pin(uint8_t pin, uint8_t *value)
{
- *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;
- }
+ 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;
}
+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 f86314f..5cfb5f4 100644
--- a/firmware/io.h
+++ b/firmware/io.h
@@ -38,169 +38,9 @@
#include <avr/io.h>
#include <avr/pgmspace.h>
-
-#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
-
-
+#ifdef __AVR_AT90CAN128__
+ #define OCTOPUS_CAN
+#endif
void io_parser(char *buf);
@@ -240,6 +80,8 @@ 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 ef802a2..6bd7c32 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -16,19 +16,19 @@
#include "protocol.h"
#include "wait.h"
-#include "io.h"
+#include "93c46.h"
#include "adc.h"
+#include "can.h"
+#include "eeprom.h"
#include "i2c.h"
-#include "spi.h"
+#include "io.h"
#include "pwm.h"
+#include "spi.h"
#include "uart.h"
-#include "93c46.h"
+#include <stdio.h>
#include "debug.h"
-//#define DEBUG 1
-
-
SIGNAL (SIG_INTERRUPT4)
{
@@ -48,185 +48,218 @@ SIGNAL (SIG_OVERFLOW0)
}
-void
-USBCommandRX (char *buf)
+void USBCommandRX (char *buf)
{
int i;
-#ifdef DEBUG
- debug_write("get \0");
- debug_SendHex(buf[1]);
- debug_write("\r\n");
-#endif
+ debugf("receiving command: %X (length: %u)\n", buf[1]);
/* a paket can be max 255 bytes */
if (octopus.long_rx_cmd == 1)
- {
-#ifdef DEBUG
- debug_write("get next\r\n");
-#endif
- for (i = 0; i < 64; i++)
- request[octopus.long_rx_index + i] = buf[i];
+ {
+ debugf("get next\n");
+
+ 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
- {
-#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];
- }
- }
+ {
+ 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];
+ }
+ }
}
/* is called when received data from pc */
-void
-USBMessageIn (char *buf)
+void USBMessageIn (char *buf)
{
octopus.long_index = 0;
octopus.long_running = 0;
- STATUS_LED_on;
-#ifdef DEBUG
- debug_write("parser\r\n\0");
-#endif
+ if(octopus.status_led)
+ STATUS_LED_on;
+
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;
- 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);
- }
+ {
+ 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;
+}
- STATUS_LED_off;
+
+unsigned int strlen(volatile unsigned char *str)
+{
+ unsigned int len = 0;
+
+ while (*str++)
+ len++;
+
+ return len;
}
-void
-CommandAnswer (unsigned int length)
+void CommandAnswer(unsigned int length)
{
int i;
- // if first packet of a lang message
+ // if first packet of a long message
if (length > 64 && octopus.long_running == 0)
- {
- octopus.long_index = 0;
- octopus.long_bytes = length;
- octopus.long_running = 1;
- length = 64;
- }
+ {
+ 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;
+ }
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)
- {
- 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;
- }
- }
- }
+ {
+ 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;
+ }
+ }
+ }
}
-int
-main (void)
+int main(void)
{
- DDRB = 0xFF;
- PORTB = 0xFF;
+ cli();
+ USBNInitMC ();
+ USBNStartClock();
+
+ DDRB = 0xFF;
+ PORTB = 0x00;
+
+ /* use status led */
+ octopus.status_led = 1;
int interf;
int conf;
-
STATUS_LED_off;
USBNInit ();
@@ -237,17 +270,19 @@ 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");
- USBNDeviceSerialNumber ("20081108");
+ //USBNDeviceProduct ("Octopus USB v3.3");
+ USBNDeviceSerialNumber ("20090718");
conf = USBNAddConfiguration ();
- USBNConfigurationPower (conf, 100);
+ // we reserve 500mA, because users could drive LEDs and need more power
+ USBNConfigurationPower (conf, 200);
interf = USBNAddInterface (conf, 0);
USBNAlternateSetting (conf, interf, 0);
@@ -255,33 +290,32 @@ main (void)
/* communication */
USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest);
USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX);
-
- USBNInitMC ();
+ //USBNAddOutEndpoint (conf, interf, 1, 0x02, BULK, 64, 0, NULL);
octopus.datatogl = 0;
octopus.long_rx_cmd = 0;
- /* start usb chip */
- USBNStart ();
-
/* UARTInit2(38400,8,'N',1); */
- #ifdef DEBUG
- debug_init();
- #endif
+ debug_init();
/* hello world led pattern */
- DDRC = 0xFF;
- PORTC = 0xAA;
+ DDRC = 0x7F;
+ PORTC = 0x2A;
delay_250ms ();
- PORTC = 0xD5;
+ PORTC = 0x55;
delay_250ms ();
- PORTC = 0x80;
+ PORTC = 0x00;
- // testpin
- //PORTB = 0xFF;
- //PORTB = 0x00;
+ common_init();
- while (1);
+ /* init connection between avr and usbn9604 */
+ USBNInitMC ();
+ /* start usb chip */
+ USBNStart ();
+ sei();
+
+ while (1);
return 0;
}
+
diff --git a/firmware/main.hex b/firmware/main.hex
index 3d38158..d7795f1 100644
--- a/firmware/main.hex
+++ b/firmware/main.hex
@@ -1,844 +1,1327 @@
-:100000000C94FA000C9417010C9417010C9417012E
-:100010000C9417010C9408030C9417010C9417010D
-:100020000C9417010C9417010C9417010C941701F0
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-:100040000C9417010C94E1020C9417010C94170105
-:100050000C9417010C9419010C9417010C941701BE
-:100060000C9417010C9417010C9417010C941701B0
-:100070000C9417010C9417010C9417010C941701A0
-:100080000C9417010C9417010C9417010C94170190
-:100090000C941701AA0DAC0DAE0DB00DB20DB40D40
-:1000A000B60DB80DBA0DBC0DBE0DC00DC20DC40D00
-:1000B000C60DC80DCA0DCC0DCE0DFC0DFC0DFC0DF2
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diff --git a/firmware/octopus_can_stable_1_1.hex b/firmware/octopus_can_stable_1_1.hex
new file mode 100644
index 0000000..cf06536
--- /dev/null
+++ b/firmware/octopus_can_stable_1_1.hex
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diff --git a/firmware/octopus_relais.hex b/firmware/octopus_relais.hex
new file mode 100644
index 0000000..68d0cd1
--- /dev/null
+++ b/firmware/octopus_relais.hex
@@ -0,0 +1,959 @@
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diff --git a/firmware/octopus_stable_1_1.hex b/firmware/octopus_stable_1_1.hex
new file mode 100644
index 0000000..5fa412b
--- /dev/null
+++ b/firmware/octopus_stable_1_1.hex
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+:1039600009F44EC0EC0122971B821A82A0917006C6
+:10397000B0917106109711F140E050E001C0DC01F8
+:10398000AC17BD0700F1BB83AA83FE0121913191E1
+:10399000E20FF31FEA17FB0771F48D919C911197C9
+:1039A000280F391F2E5F3F4F39832883FD01828105
+:1039B00093819B838A834115510559F4D0937106F5
+:1039C000C09370061DC0FD0182819381AD010097F7
+:1039D000B1F6FA01D383C28321913191E20FF31F33
+:1039E000EC17FD0769F488819981280F391F2E5F34
+:1039F0003F4FFA01318320838A819B8193838283A5
+:103A0000DF91CF91089597FB092E07260AD077FD05
+:103A100004D00CD006D000201AF4709561957F4F29
+:103A20000895F6F7909581959F4F0895AA1BBB1BAB
+:103A300051E107C0AA1FBB1FA617B70710F0A61BAE
+:103A4000B70B881F991F5A95A9F780959095BC01CF
+:063A5000CD010895FFCF37
+:103A5600456D62656464656450726F6A656374730C
+:103A6600004F63746F70757355534220496E7465C9
+:103A7600726661636520436F6E7665727465722047
+:103A8600616E6420492F4F20457874656E73696FA7
+:103A96006E003230303831313038006669727374F6
+:103AA600207061636B6574206F662061206C6F6E99
+:103AB60067206D65737361676520286C656E677432
+:103AC600683A202564290A006F63746F7075732045
+:103AD6006C6F6E672072756E6E696E67206D6573AA
+:103AE600736167650A006F63746F7075732E6C6F10
+:103AF6006E675F696E646578203C206F63746F70D3
+:103B060075732E6C6F6E675F62797465730A006EEB
+:103B16006F74206C617374207061636B65743A20F6
+:103B260064696666203E2036340A006C6173742030
+:103B36007061636B65740A007061727365722C2024
+:103B4600636865636B3A2025582C20636F6D6D6141
+:103B56006E643A2025580A0063616C6C696E6720B2
+:103B6600696F5F7061727365720A0063616C6C697C
+:103B76006E67206164635F7061727365720A0063C9
+:103B8600616C6C696E67206932635F706172736520
+:103B9600720A0063616C6C696E67207370695F708E
+:103BA60061727365720A0063616C6C696E6720707E
+:103BB600776D5F7061727365720A0063616E277458
+:103BC6002063616C6C2063616E5F706172736572F5
+:103BD600202D206E6F2043414E2D737570706F72CD
+:103BE600740A0063616C6C696E6720656570726F3C
+:103BF6006D5F7061727365720A00756E6B6E6F77BA
+:103C06006E20636D640A00726563656976696E6726
+:103C160020636F6D6D616E643A20255820286C65AF
+:103C26006E6774683A202575290A00676574206EE8
+:103C36006578740A0067657420616E64206578652E
+:103C4600637574650A000904007772697474656E99
+:103C56003A2025730A00726561643A2025730A00CA
+:103C6600656570726F6D5F7061727365723A206C14
+:103C7600656E6774683A2025752C20616464723A13
+:0C3C86002025750A0020007206000000D6
+:00000001FF
diff --git a/firmware/pin.c b/firmware/pin.c
new file mode 100644
index 0000000..97218b7
--- /dev/null
+++ b/firmware/pin.c
@@ -0,0 +1,93 @@
+/*
+ * 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
new file mode 100644
index 0000000..f0deda7
--- /dev/null
+++ b/firmware/pin.h
@@ -0,0 +1,84 @@
+/*
+ * 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 fce8eda..af2c6fb 100644
--- a/firmware/protocol.h
+++ b/firmware/protocol.h
@@ -42,18 +42,20 @@
#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_GET 0x21
-#define CMD_ADC_REF 0x22
-
+#define CMD_ADC_DEINIT_PIN 0x21
+#define CMD_ADC_GET 0x22
+#define CMD_ADC_REF 0x23
+
#define CMD_I2C_INIT 0x30
#define CMD_I2C_DEINIT 0x31
#define CMD_I2C_SET_BITRATE 0x32
-#define CMD_I2C_SEND_BYTE 0x34
-#define CMD_I2C_RECV_BYTES 0x35
-#define CMD_I2C_SEND_START 0x36
-#define CMD_I2C_SEND_STOP 0x37
+#define CMD_I2C_SEND 0x34
+#define CMD_I2C_RECV 0x35
+#define CMD_I2C_SEND_START 0x36
+#define CMD_I2C_SEND_STOP 0x37
#define CMD_SPI_INIT 0x40
#define CMD_SPI_DEINIT 0x41
@@ -78,6 +80,17 @@
#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 9e3666d..b8b6231 100644
--- a/firmware/pwm.c
+++ b/firmware/pwm.c
@@ -84,7 +84,7 @@ int pwm_init(int pin)
{
case 9:
/* set pin as output */
- OX_DDR9 |=(1<<OX_P9);
+ DDRB |=(1<<PB5);
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:
- OX_DDR8 |=(1<<OX_P8);
+ DDRB |=(1<<PB4);
#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_OUT; // this is wrong!
+ octopus.ports[pin]=PIN_NONE;
#ifdef OCTOPUS_CAN
switch(pin)
{
diff --git a/firmware/spi.c b/firmware/spi.c
index 2b8abb1..b3e3a95 100644
--- a/firmware/spi.c
+++ b/firmware/spi.c
@@ -36,26 +36,24 @@
#include "spi.h"
+
void spi_parser(char *buf)
{
switch(buf[0]) {
case CMD_SPI_INIT:
- spi_init_usb();
- break;
+ spi_init_usb(buf[2], buf[3], buf[4]);
+ break;
case CMD_SPI_DEINIT:
spi_deinit_usb();
- break;
- case CMD_SPI_SPEED:
- spi_set_speed_usb((int)buf[2]);
- break;
+ break;
case CMD_SPI_SEND:
- spi_send_usb(&buf[2], (int)buf[1]);
- break;
+ spi_send_usb(buf[2], &buf[3]);
+ break;
case CMD_SPI_RECV:
- spi_receive_usb((int)buf[1]);
+ spi_receive_usb((int)buf[2]);
case CMD_SPI_SEND_AND_RECV:
- spi_send_and_receive_usb(&buf[2], (int)buf[1]);
- break;
+ spi_send_and_receive_usb(&buf[3], (int)buf[2]);
+ break;
default:
answer[0] = buf[0];
answer[1] = RSP_UNKOWN_CMD;
@@ -64,38 +62,111 @@ void spi_parser(char *buf)
}
}
-void spi_init_usb(void)
+void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed)
{
answer[0] = CMD_SPI_INIT;
- answer[1] = (unsigned char) spi_init();
- answer[3] = 0;
+ answer[1] = (unsigned char) spi_init(dord, mode, speed);
+ answer[2] = 0;
CommandAnswer(3);
}
-int spi_init(void)
+int spi_init(uint8_t dord, uint8_t mode, uint8_t speed)
{
- PORTB &= ~((1 << SCK)|(1<<MISO)|(1<<MOSI)); // SCK have to be low in IDLE
- DDRB &=~(1 << MISO);
- DDRB = (1 << MOSI)|(1 << SCK);
+ uint8_t cpol, cpha, spr1, spr0, spi2x;
+
+ dord = dord ? 1 : 0;
+
+ switch(mode)
+ {
+ case 0:
+ cpol = 0;
+ cpha = 0;
+ break;
+ case 1:
+ cpol = 0;
+ cpha = 1;
+ break;
+ case 2:
+ cpol = 1;
+ cpha = 0;
+ break;
+ case 3:
+ cpol = 1;
+ cpha = 1;
+ break;
+ default:
+ return RSP_ERROR;
+ }
- SPCR = 0;
- SPSR = 0;
+ switch(speed)
+ {
+ case SPI_SPEED_125kHz:
+ spi2x = 0;
+ spr1 = 1;
+ spr0 = 1;
+ break;
+ case SPI_SPEED_250kHz:
+ spi2x = 0;
+ spr1 = 1;
+ spr0 = 0;
+ break;
+ case SPI_SPEED_500kHz:
+ spi2x = 1;
+ spr1 = 1;
+ spr0 = 0;
+ break;
+ case SPI_SPEED_1MHz:
+ spi2x = 0;
+ spr1 = 0;
+ spr0 = 1;
+ break;
+ case SPI_SPEED_2MHz:
+ spi2x = 1;
+ spr1 = 0;
+ spr0 = 1;
+ break;
+ case SPI_SPEED_4MHz:
+ spi2x = 0;
+ spr1 = 0;
+ spr0 = 0;
+ break;
+ case SPI_SPEED_8MHz:
+ spi2x = 1;
+ spr1 = 0;
+ spr0 = 0;
+ break;
+ default:
+ return RSP_ERROR;
+ }
+
+ // MOSI, SCK: out/low
+ // MISO: in
+ DDRB &= ~(1 << MISO);
+ DDRB |= (1 << MOSI | 1 << SCK);
+ PORTB &= ~(1 << MOSI | 1 << MISO | 1 << SCK); // SCK has to be low in IDLE
- SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+ // SPE: SPI enable
+ // DORD: Data Order (0: starting with LSB)
+ // MSTR: Master mode
+ // SPR1, SPR2, SPI2X: speed
+ SPCR = (1 << SPE | dord << DORD | 1 << MSTR | cpol << CPOL | cpha << CPHA |
+ spr1 << SPR1 | spr0 << SPR0);
+ SPSR = (spi2x << SPI2X);
- octopus.ports[5]=PIN_SCK;
- octopus.ports[6]=PIN_MOSI;
- octopus.ports[7]=PIN_MISO;
+ octopus.ports[5] = PIN_SCK;
+ octopus.ports[6] = PIN_MOSI;
+ octopus.ports[7] = PIN_MISO;
return RSP_OK;
}
void spi_deinit_usb(void)
{
- answer[0]=CMD_SPI_DEINIT;
- answer[1]=(unsigned char)spi_deinit();
- answer[2]=0;
+ answer[0] = CMD_SPI_DEINIT;
+ answer[1] = (unsigned char)spi_deinit();
+ answer[2] = 0;
+
CommandAnswer(3);
}
@@ -104,36 +175,30 @@ int spi_deinit(void)
SPCR = 0;
SPSR = 0;
- octopus.ports[5]=PIN_OUT; // this is wrong!
- octopus.ports[6]=PIN_OUT; // this is wrong!
- octopus.ports[7]=PIN_OUT; // this is wrong!
+ octopus.ports[5] = PIN_NONE;
+ octopus.ports[6] = PIN_NONE;
+ octopus.ports[7] = PIN_NONE;
return RSP_OK;
}
-void spi_set_speed_usb(int speed){
-
-}
-
-int spi_set_speed(int speed){
-
- return RSP_OK;
-}
-void spi_send_usb(char * buf, int length)
+void spi_send_usb(uint8_t length, char * buf)
{
- answer[0]=CMD_SPI_SEND;
- answer[1]=(unsigned char)spi_send(buf,length);
- answer[2]=0;
+ answer[0] = CMD_SPI_SEND;
+ answer[1] = (unsigned char)spi_send(length, buf);
+ answer[2] = 0;
+
CommandAnswer(3);
}
-int spi_send(char * buf, int length)
+int spi_send(int length, char * buf)
{
- int i;
- for(i=0;i<length;i++){
+ uint8_t i;
+ for(i = 0; i < length; i++)
+ {
SPDR = buf[i];
- while ( !(SPSR & (1 << SPIF)) ) ;
+ while(!(SPSR & (1 << SPIF)));
}
return RSP_OK;
}
@@ -141,22 +206,29 @@ int spi_send(char * buf, int length)
void spi_receive_usb(int length)
{
- answer[0]=CMD_SPI_RECV;
- answer[1]=(unsigned char)spi_receive((char*)&answer[2],length);
- answer[2]=0;
- CommandAnswer(length+2);
+ answer[0] = CMD_SPI_RECV;
+ answer[1] = (unsigned char)spi_receive(length, (char*)&answer[2]);
+ answer[2+length] = 0;
+ CommandAnswer(3+length);
}
-unsigned char spi_receive( char * buf, int length)
+unsigned char spi_receive(int length, char * buf)
{
int i;
int timeout = 0;
- for(i=0;i<length;i++){
+
+ for(i = 0; i < length; i++)
+ {
SPDR = 0;
- while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
- buf[i]=SPDR;
+ while(!(SPSR & (1 << SPIF)))
+ {
+ if(timeout++ > 1000)
+ return RSP_TIMEOUT;
+ }
+ buf[i] = SPDR;
}
+
return RSP_OK;
}
@@ -164,8 +236,8 @@ void spi_send_and_receive_usb(char * txbuf, int length)
{
answer[0]=CMD_SPI_SEND;
answer[1]=(unsigned char)spi_send_and_receive(txbuf,(char *)&answer[2],length);
- answer[2]=0;
- CommandAnswer(2+length);
+ answer[2+length]=0;
+ CommandAnswer(3+length);
}
@@ -180,9 +252,3 @@ int spi_send_and_receive(char * txbuf, char * rxbuf, int length){
}
return RSP_OK;
}
-
-
-
-
-
-
diff --git a/firmware/spi.h b/firmware/spi.h
index d7cfbf1..8a8a1fe 100644
--- a/firmware/spi.h
+++ b/firmware/spi.h
@@ -41,24 +41,25 @@
#define MISO PB3
#define SCK PB1
-void spi_parser(char *buf);
-
-int spi_init(void);
-int spi_deinit(void);
+enum { SPI_SPEED_125kHz, SPI_SPEED_250kHz, SPI_SPEED_500kHz, SPI_SPEED_1MHz,
+ SPI_SPEED_2MHz, SPI_SPEED_4MHz, SPI_SPEED_8MHz };
-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_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_init_usb(void);
void spi_deinit_usb(void);
+int spi_deinit(void);
+
+void spi_send_usb(uint8_t length, char * buf);
+int spi_send(int length, char * buf);
-void spi_set_speed_usb(int speed);
-void spi_send_usb(char * buf, int length);
void spi_receive_usb(int length);
+unsigned char spi_receive(int length, char * buf);
+
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 02b4a87..9ae00c9 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);
}
@@ -255,9 +255,7 @@ char uart_send(char uartport, unsigned int length, char *buf)
return RSP_UNKOWN_PIN;
while(length--)
- {
uart_putchar(uartport, *buf++);
- }
return RSP_OK;
}
@@ -295,6 +293,8 @@ 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);
}
@@ -330,52 +330,4 @@ char uart_getchar(char uartport)
return c;
}
-/*
-unsigned char AsciiToHex(unsigned char high,unsigned char low)
-{
- unsigned char new;
-
- // check if lower equal 9 ( ascii 57 )
- if(high <= 57) // high is a number
- high = high -48;
- else // high is a letter
- high = high -87;
-
- high = high << 4;
- high = high & 0xF0;
-
- // check if lower equal 9 ( ascii 57 )
- if(low <= 57) // high is a number
- low = low -48;
- else // high is a letter
- low = low -87;
- low = low & 0x0F;
-
- new = high | low;
-
- return new;
-}
-void SendHex(unsigned char hex)
-{
- unsigned char high,low;
- // get highnibble
- high = hex & 0xF0;
- high = high >> 4;
-
- // get lownibble
- low = hex & 0x0F;
-
- if(high<=9)
- UARTPutChar(high+48);
- else
- UARTPutChar(high+87);
-
-
- if(low<=9)
- UARTPutChar(low+48);
- else
- UARTPutChar(low+87);
-
-}
-*/
diff --git a/firmware/uart_fifo.c b/firmware/uart_fifo.c
new file mode 100644
index 0000000..d4da869
--- /dev/null
+++ b/firmware/uart_fifo.c
@@ -0,0 +1,368 @@
+#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 d9b0fdd..413009c 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 ();
}