From 63d755835adff11984a70718010ca5bf8a4bc5ea Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 11 Oct 2018 18:42:12 +0200
Subject: [PATCH] Add pcio processes, enhance avr target handling with multiple
targets for one project
---
.gitignore | 1 +
Makefile | 20 ++-
pcio/avr/Makefile | 19 +++
pcio/avr/pcio.c | 217 +++++++++++++++++++++++++++++
pcio/avr/pcio_w_usb.c | 218 ++++++++++++++++++++++++++++++
pcio/linux/Makefile | 21 +++
pcio/linux/pciotest.c | 285 +++++++++++++++++++++++++++++++++++++++
tools/find_avr_targets | 32 +++++
tools/find_linux_targets | 33 +++++
9 files changed, 841 insertions(+), 5 deletions(-)
create mode 100644 pcio/avr/Makefile
create mode 100644 pcio/avr/pcio.c
create mode 100644 pcio/avr/pcio_w_usb.c
create mode 100644 pcio/linux/Makefile
create mode 100644 pcio/linux/pciotest.c
create mode 100755 tools/find_avr_targets
create mode 100755 tools/find_linux_targets
diff --git a/.gitignore b/.gitignore
index 0ee7f02..9e1f2d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
*/avr/compiled
+*/linux/compiled
*~
\ No newline at end of file
diff --git a/Makefile b/Makefile
index a95c907..9fee9e6 100644
--- a/Makefile
+++ b/Makefile
@@ -1,14 +1,24 @@
all:
+ @echo "###" >&2
+ @echo "### Atmel AVR targets ###" >&2
+ @echo "###" >&2
@echo "Do 'make PROCESS.LOAD' or 'make PROCESS.FUSE'" >&2
@echo "where PROCESS is one of" >&2
- @for m in */*/Makefile ; do \
- echo " $$(dirname $$(dirname $$m))" >&2 \
- ; done
+ @./tools/find_avr_targets
+ @echo "###" >&2
+ @echo "### Linux targets ###" >&2
+ @echo "###" >&2
+ @echo "Do 'make PROGRAM.LINUX'" >&2
+ @echo "where PROGRAM is one of" >&2
+ @./tools/find_linux_targets
@echo >&2
@exit 1
%.LOAD:
- make -C $*/avr $@
+ make -C $$(./tools/find_avr_targets $*) $@
%.FUSE:
- make -C $*/avr $@
+ make -C $$(./tools/find_avr_targets $*) $@
+
+%.LINUX:
+ make -C $$(./tools/find_linux_targets $*) $@
diff --git a/pcio/avr/Makefile b/pcio/avr/Makefile
new file mode 100644
index 0000000..4ead37a
--- /dev/null
+++ b/pcio/avr/Makefile
@@ -0,0 +1,19 @@
+TARGETS=pcio pcio_w_usb
+
+pcio.ARCH=avr
+pcio.CHIP=atmega8
+# 16 MHz crystal, brown out
+pcio.FUSE_L=0x1f
+pcio.FUSE_H=0xd9
+pcio.C=pcio
+pcio.H=../lib/serialio
+
+pcio_w_usb.ARCH=avr
+pcio_w_usb.CHIP=atmega16
+# 16 MHz crystal, brown out
+pcio_w_usb.FUSE_L=0x1f
+pcio_w_usb.FUSE_H=0xd9
+pcio_w_usb.C=pcio_w_usb
+pcio_w_usb.H=../lib/serialio
+
+include ../../lib/avr/Makefile.common
diff --git a/pcio/avr/pcio.c b/pcio/avr/pcio.c
new file mode 100644
index 0000000..a045fba
--- /dev/null
+++ b/pcio/avr/pcio.c
@@ -0,0 +1,217 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+//#include <avr/signal.h>
+#include "serialio.h"
+
+volatile unsigned char error;
+
+
+volatile unsigned char serial_readbits;
+volatile unsigned char serial_readchannels;
+volatile unsigned char serial_readconfig;
+volatile unsigned int ai0;
+volatile unsigned int ai1;
+volatile unsigned int ai2;
+volatile unsigned int ai3;
+
+SIGNAL(ADC_vect)
+{
+ unsigned char channel = ADMUX & 0x0f;
+ unsigned int value = ADCW;
+
+ switch (channel) {
+ case 0: {
+ channel = 1;
+ ai2 = value;
+ } break;
+ case 1: {
+ channel = 2;
+ ai3 = value;
+ } break;
+ case 2: {
+ channel = 3;
+ ai0 = value;
+ } break;
+ case 3: {
+ channel = 0;
+ ai1 = value;
+ } break;
+ default: {
+ channel = 0;
+ } break;
+ }
+ ADMUX = 0xc0 | channel; // Internal Vref, right adjust
+ ADCSR = 0xcf; // Enable ADC interrupts, Clock/128
+
+}
+
+typedef enum { cmd_clear_bit, cmd_set_bit,
+ cmd_read_bit, cmd_read_chan } command;
+
+SIGNAL(USART_RXC_vect)
+{
+ char ch = UDR;
+
+ switch (serialio_RXC(ch)) {
+ case serialio_clearbit: {
+ switch (serialio_channel) {
+ // Digital output buffer (ULN2803A) is inverting
+ case 0: { PORTB = PORTB | 0x01; } break;
+ case 1: { PORTB = PORTB | 0x10; } break;
+ case 2: { PORTB = PORTB | 0x20; } break;
+ case 3: { PORTC = PORTC | 0x10; } break;
+ case 4: { PORTC = PORTC | 0x20; } break;
+ case 5: { PORTB = PORTB | 0x08; } break;
+ }
+ } break;
+ case serialio_setbit: {
+ switch (serialio_channel) {
+ // Digital output buffer (ULN2803A) is inverting
+ case 0: { PORTB = PORTB & ~0x01; } break;
+ case 1: { PORTB = PORTB & ~0x10; } break;
+ case 2: { PORTB = PORTB & ~0x20; } break;
+ case 3: { PORTC = PORTC & ~0x10; } break;
+ case 4: { PORTC = PORTC & ~0x20; } break;
+ case 5: { PORTB = PORTB & ~0x08; } break;
+ }
+ } break;
+ case serialio_pollbit: {
+ if (serialio_channel <= 7) {
+ serial_readbits |= (1<<serialio_channel);
+ }
+ } break;
+ case serialio_pollchannel: {
+ if (serialio_channel <= 7) {
+ serial_readchannels |= (1<<serialio_channel);
+ } else if (serialio_channel == 31) {
+ serial_readconfig = 1;
+ }
+ } break;
+ case serialio_setchannel: {
+ switch (serialio_channel) {
+ case 0: {
+ OCR1A = serialio_value & 0x3ff;
+ } break;
+ case 1: {
+ OCR1B = serialio_value & 0x3ff;
+ } break;
+ } break;
+ } break;
+ case serialio_error: {
+ } break;
+ case serialio_more: {
+ } break;
+ }
+}
+
+/*
+ * PB0 DO5
+ * PB1 AO0 / DO4
+ * PB2 AO1 / DO3
+ * PB3 DO2
+ * PB4 DO1
+ * PB5 DO0
+ *
+ * PC0 AI2
+ * PC1 AI3
+ * PC2 AI0
+ * PC3 AI1
+ *
+ * PD2 DI0
+ * PD3 DI2
+ * PD4 DI4
+ * PD5 DI5
+ * PD6 DI3
+ * PD7 DI1
+ *
+ */
+int main()
+{
+ serialio_init();
+ serial_readbits = 0;
+ serial_readchannels = 0;
+ serial_readconfig = 0;
+ ai0 = 0;
+ ai1 = 0;
+ ai2 = 0;
+ ai3 = 0;
+ PORTD = 0xfc; // PortD, pull up
+ DDRD = 0x00; // PortD, all input
+ PORTB = 0x00; // PortB, no pull up
+ DDRB = 0xff; // PortB, all outputs
+ PORTC = 0x00; // PortC, no pull up
+ DDRC = 0x30; // PortC, bit 4 & 5 outputs
+ TCCR0 = 0x05; // Timer0, Clock / 1024
+ TCCR1A = 0xa3; // OC1A & OC1B 10 bit PWM (PC), clear on upcounting
+ TCCR1B = 0x01; // Clock / 1
+ UCSRA = 0x00; // USART:
+ UCSRB = 0x98; // USART: RxIntEnable|RxEnable|TxEnable
+ UCSRC = 0x86; // USART: 8bit, no parity
+ UBRRH = 0; // USART: 115200 @ 14.7456MHz
+ UBRRL = 7; // USART: 115200 @ 14.7456MHz
+ ADMUX = 0xc0; // Internal Vref, right adjust
+ ADMUX = 0xce; // Internal Vref, right adjust, read 1.22V (Vbg)
+ ADCSR = 0xcf; // Enable ADC interrupts, Clock/128
+ SREG = 0x80; // Global interrupt enable
+ OCR1A = 512 & 0x3ff;
+ OCR1B = 512 & 0x3ff;
+
+ while (1) {
+ unsigned char bits, channels, config;
+ SREG = 0x00; // Global interrupt disable
+ bits = serial_readbits;
+ serial_readbits = 0;
+ channels = serial_readchannels;
+ serial_readchannels = 0;
+ config = serial_readconfig;
+ serial_readconfig = 0;
+ SREG = 0x80; // Global interrupt enable
+ if (bits & 0x01) { serialio_putbit(0, PIND & 0x04); }
+ if (bits & 0x02) { serialio_putbit(1, PIND & 0x08); }
+ if (bits & 0x04) { serialio_putbit(2, PIND & 0x10); }
+ if (bits & 0x08) { serialio_putbit(3, PIND & 0x20); }
+ if (bits & 0x10) { serialio_putbit(4, PIND & 0x40); }
+ if (bits & 0x20) { serialio_putbit(5, PIND & 0x80); }
+ if (channels & 0x01) { serialio_putchannel(0, 1023 - ai0); }
+ if (channels & 0x02) { serialio_putchannel(1, 1023 - ai1); }
+ if (channels & 0x04) { serialio_putchannel(2, 1023 - ai2); }
+ if (channels & 0x08) { serialio_putchannel(3, 1023 - ai3); }
+ if (config) {
+ CONF_DIGITAL_IN(0, CONF_RESOLUTION(1)); // DI0
+ CONF_DIGITAL_IN(1, CONF_RESOLUTION(1)); // DI1
+ CONF_DIGITAL_IN(2, CONF_RESOLUTION(1)); // DI2
+ CONF_DIGITAL_IN(3, CONF_RESOLUTION(1)); // DI3
+ CONF_DIGITAL_IN(4, CONF_RESOLUTION(1)); // DI4
+ CONF_DIGITAL_IN(5, CONF_RESOLUTION(1)); // DI5
+
+ CONF_DIGITAL_OUT(0, CONF_RESOLUTION(1)); // DO0
+ CONF_DIGITAL_OUT(1, CONF_RESOLUTION(1)); // DO1
+ CONF_DIGITAL_OUT(2, CONF_RESOLUTION(1)); // DO2
+ CONF_DIGITAL_OUT(3, CONF_RESOLUTION(1)); // DO3
+ CONF_DIGITAL_OUT(4, CONF_RESOLUTION(1)); // DO4
+ CONF_DIGITAL_OUT(5, CONF_RESOLUTION(1)); // DO5
+
+ CONF_ANALOG_IN(0, CONF_RESOLUTION(10)); // AI0
+ CONF_ANALOG_IN(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(1, CONF_RESOLUTION(10)); // AI1
+ CONF_ANALOG_IN(1, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(1, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(2, CONF_RESOLUTION(10)); // AI2
+ CONF_ANALOG_IN(2, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(2, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(3, CONF_RESOLUTION(10)); // AI3
+ CONF_ANALOG_IN(3, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(3, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+
+ CONF_ANALOG_OUT(0, CONF_RESOLUTION(10)); // AO0
+ CONF_ANALOG_OUT(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(9800)));
+ CONF_ANALOG_OUT(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10170)));
+ CONF_ANALOG_OUT(1, CONF_RESOLUTION(10)); // AO1
+ CONF_ANALOG_OUT(1, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(9800)));
+ CONF_ANALOG_OUT(1, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10106)));
+
+ CONF_END();
+ }
+ }
+}
diff --git a/pcio/avr/pcio_w_usb.c b/pcio/avr/pcio_w_usb.c
new file mode 100644
index 0000000..3d68869
--- /dev/null
+++ b/pcio/avr/pcio_w_usb.c
@@ -0,0 +1,218 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "serialio.h"
+
+volatile unsigned char error;
+
+
+volatile unsigned char serial_readbits;
+volatile unsigned char serial_readchannels;
+volatile unsigned char serial_readconfig;
+volatile unsigned int ai0;
+volatile unsigned int ai1;
+volatile unsigned int ai2;
+volatile unsigned int ai3;
+
+SIGNAL(ADC_vect)
+{
+ unsigned char channel = ADMUX & 0x0f;
+ unsigned int value = ADCW;
+
+ switch (channel) {
+ case 0: {
+ channel = 1;
+ ai0 = value;
+ } break;
+ case 1: {
+ channel = 2;
+ ai1 = value;
+ } break;
+ case 2: {
+ channel = 3;
+ ai2 = value;
+ } break;
+ case 3: {
+ channel = 0;
+ ai3 = value;
+ } break;
+ default: {
+ channel = 0;
+ } break;
+ }
+ ADMUX = 0xc0 | channel; // Internal Vref, right adjust
+ ADCSRA = 0xcf; // Enable ADC interrupts, Clock/128
+
+}
+
+typedef enum { cmd_clear_bit, cmd_set_bit,
+ cmd_read_bit, cmd_read_chan } command;
+
+SIGNAL(USART_RXC_vect)
+{
+ char ch = UDR;
+
+ switch (serialio_RXC(ch)) {
+ case serialio_clearbit: {
+ switch (serialio_channel) {
+ // Digital output buffer (ULN2803A) is inverting
+ case 0: { PORTC |= 0x04; } break;
+ case 1: { PORTC |= 0x08; } break;
+ case 2: { PORTC |= 0x10; } break;
+ case 3: { PORTC |= 0x20; } break;
+ case 4: { PORTC |= 0x40; } break;
+ case 5: { PORTC |= 0x80; } break;
+ }
+ } break;
+ case serialio_setbit: {
+ switch (serialio_channel) {
+ // Digital output buffer (ULN2803A) is inverting
+ case 0: { PORTC &= ~0x04; } break;
+ case 1: { PORTC &= ~0x08; } break;
+ case 2: { PORTC &= ~0x10; } break;
+ case 3: { PORTC &= ~0x20; } break;
+ case 4: { PORTC &= ~0x40; } break;
+ case 5: { PORTC &= ~0x80; } break;
+ }
+ } break;
+ case serialio_pollbit: {
+ if (serialio_channel <= 7) {
+ serial_readbits |= (1<<serialio_channel);
+ }
+ } break;
+ case serialio_pollchannel: {
+ if (serialio_channel <= 7) {
+ serial_readchannels |= (1<<serialio_channel);
+ } else if (serialio_channel == 31) {
+ serial_readconfig = 1;
+ }
+ } break;
+ case serialio_setchannel: {
+ switch (serialio_channel) {
+ case 0: {
+ OCR1B = serialio_value & 0x3ff;
+ } break;
+ case 1: {
+ OCR1A = serialio_value & 0x3ff;
+ } break;
+ } break;
+ } break;
+ case serialio_error: {
+ } break;
+ case serialio_more: {
+ } break;
+ }
+}
+
+/*
+ * PA0 AI0
+ * PA1 AI1
+ * PA2 AI2
+ * PA3 AI3
+ * PA4 DI0
+ * PA5 DI1
+ * PA6 DI2
+ * PA7 DI3
+ *
+ * PC2 DO0
+ * PC3 DO1
+ * PC4 DO2
+ * PC5 DO3
+ * PC6 DO4
+ * PC7 DO5
+ *
+ * PD3 DI5
+ * PD4 AO0
+ * PD5 AO1
+ * PD7 DI4
+ *
+ */
+int main()
+{
+ serialio_init();
+ serial_readbits = 0;
+ serial_readchannels = 0;
+ serial_readconfig = 0;
+ ai0 = 0;
+ ai1 = 0;
+ ai2 = 0;
+ ai3 = 0;
+ PORTA = 0xf0; // PortA, pull-ups
+ DDRA = 0x00; // PortA, all inputs
+ PORTC = 0x00; // PortC, initial data
+ DDRC = 0xfc; // PortC, 2-7 outputs
+ PORTD = 0x88; // PortD, pull-ups
+ DDRD = 0x30; // PortD, 4-5 outputs
+ TCCR0 = 0x05; // Timer0, Clock / 1024
+ TCCR1A = 0xa3; // OC1A & OC1B 10 bit PWM (PC), clear on upcounting
+ TCCR1B = 0x01; // Clock / 1
+ UCSRA = 0x00; // USART:
+ UCSRB = 0x98; // USART: RxIntEnable|RxEnable|TxEnable
+ UCSRC = 0x86; // USART: 8bit, no parity
+ UBRRH = 0; // USART: 115200 @ 14.7456MHz
+ UBRRL = 7; // USART: 115200 @ 14.7456MHz
+ ADMUX = 0xc0; // Internal Vref, right adjust
+ ADMUX = 0xce; // Internal Vref, right adjust, read 1.22V (Vbg)
+ ADCSRA = 0xcf; // Enable ADC interrupts, Clock/128
+ SREG = 0x80; // Global interrupt enable
+ OCR1A = 512 & 0x3ff;
+ OCR1B = 512 & 0x3ff;
+
+ while (1) {
+ unsigned char bits, channels, config;
+ SREG = 0x00; // Global interrupt disable
+ bits = serial_readbits;
+ serial_readbits = 0;
+ channels = serial_readchannels;
+ serial_readchannels = 0;
+ config = serial_readconfig;
+ serial_readconfig = 0;
+ SREG = 0x80; // Global interrupt enable
+ if (bits & 0x01) { serialio_putbit(0, PINA & 0x10); }
+ if (bits & 0x02) { serialio_putbit(1, PINA & 0x20); }
+ if (bits & 0x04) { serialio_putbit(2, PINA & 0x40); }
+ if (bits & 0x08) { serialio_putbit(3, PINA & 0x80); }
+ if (bits & 0x10) { serialio_putbit(4, PIND & 0x80); }
+ if (bits & 0x20) { serialio_putbit(5, PIND & 0x08); }
+ if (channels & 0x01) { serialio_putchannel(0, 1023 - ai0); }
+ if (channels & 0x02) { serialio_putchannel(1, 1023 - ai1); }
+ if (channels & 0x04) { serialio_putchannel(2, 1023 - ai2); }
+ if (channels & 0x08) { serialio_putchannel(3, 1023 - ai3); }
+ if (config) {
+ CONF_DIGITAL_IN(0, CONF_RESOLUTION(1)); // DI0
+ CONF_DIGITAL_IN(1, CONF_RESOLUTION(1)); // DI1
+ CONF_DIGITAL_IN(2, CONF_RESOLUTION(1)); // DI2
+ CONF_DIGITAL_IN(3, CONF_RESOLUTION(1)); // DI3
+ CONF_DIGITAL_IN(4, CONF_RESOLUTION(1)); // DI4
+ CONF_DIGITAL_IN(5, CONF_RESOLUTION(1)); // DI5
+
+ CONF_DIGITAL_OUT(0, CONF_RESOLUTION(1)); // DO0
+ CONF_DIGITAL_OUT(1, CONF_RESOLUTION(1)); // DO1
+ CONF_DIGITAL_OUT(2, CONF_RESOLUTION(1)); // DO2
+ CONF_DIGITAL_OUT(3, CONF_RESOLUTION(1)); // DO3
+ CONF_DIGITAL_OUT(4, CONF_RESOLUTION(1)); // DO4
+ CONF_DIGITAL_OUT(5, CONF_RESOLUTION(1)); // DO5
+
+ CONF_ANALOG_IN(0, CONF_RESOLUTION(10)); // AI0
+ CONF_ANALOG_IN(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(1, CONF_RESOLUTION(10)); // AI1
+ CONF_ANALOG_IN(1, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(1, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(2, CONF_RESOLUTION(10)); // AI2
+ CONF_ANALOG_IN(2, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(2, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+ CONF_ANALOG_IN(3, CONF_RESOLUTION(10)); // AI3
+ CONF_ANALOG_IN(3, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10400)));
+ CONF_ANALOG_IN(3, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10300)));
+
+ CONF_ANALOG_OUT(0, CONF_RESOLUTION(10)); // AO0
+ CONF_ANALOG_OUT(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(9800)));
+ CONF_ANALOG_OUT(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10170)));
+ CONF_ANALOG_OUT(1, CONF_RESOLUTION(10)); // AO1
+ CONF_ANALOG_OUT(1, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(9800)));
+ CONF_ANALOG_OUT(1, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10106)));
+
+ CONF_END();
+ }
+ }
+}
diff --git a/pcio/linux/Makefile b/pcio/linux/Makefile
new file mode 100644
index 0000000..7a3863d
--- /dev/null
+++ b/pcio/linux/Makefile
@@ -0,0 +1,21 @@
+CC=gcc
+CFLAGS.pciotest=-Wall -lpthread
+
+.SUFFIXES: .c
+
+all: pciotest.LINUX
+
+.PHONY: %.LINUX
+%.LINUX: compiled/% | compiled
+ @/bin/true
+
+.PRECIOUS: compiled/%
+compiled/%: %.c | compiled
+ echo $*
+ $(CC) $(CFLAGS.$*) -o $@ $<
+
+compiled:
+ mkdir -p $@
+
+clean:
+ rm -rf compiled
diff --git a/pcio/linux/pciotest.c b/pcio/linux/pciotest.c
new file mode 100644
index 0000000..093dde7
--- /dev/null
+++ b/pcio/linux/pciotest.c
@@ -0,0 +1,285 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <string.h>
+#include <poll.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <unistd.h>
+#include <signal.h>
+
+static volatile int OK = 1;
+
+static pthread_t reader, writer;
+static int digital_in = 0;
+static int digital_out = 0;
+static int analog_in = 0;
+static int analog_out = 0;
+static int encoder_in = 0;
+static int maxdata_in[32];
+static int maxdata_out[32];
+
+static int millivolts(int value) {
+ int val = value >> 4;
+ int unit = value & 0x7;
+ int sign = value & 0x8;
+ if (sign != 0) { val = -val; }
+ switch (unit) {
+ case 0: { val = val * 1000; } break;
+ case 1: {} break;
+ case 2: {} break;
+ }
+ return val;
+}
+
+void *Reader(void *argument) {
+ int *fd, length, value;
+
+ fd = argument;
+ length = 0;
+ value = 0;
+ for (;;) {
+ unsigned char ch;
+
+ if (read(*fd, &ch, 1) <= 0) {
+ fprintf(stderr, "Read failed\n");
+ OK = 0;
+ break;
+ }
+ length++;
+ if ((ch & 0x80) == 0x80) {
+ value = (value << 7) | (ch & 0x7f);
+ } else {
+ unsigned int channel = ch & 0x1f;
+ value = (value << 2) | ((ch & 0x60) >> 5);
+ if (length == 1) {
+ unsigned char cmd = (ch & 0x60) >> 5;
+ switch (cmd) {
+ case 0: { // Clear bit
+ printf("#%d:0 ", channel);
+ } break;
+ case 1: { // Set bit
+ printf("#%d:1 ", channel);
+ } break;
+ case 2: { // Read bit
+ // Currently unused
+ } break;
+ case 3: { // Read channel
+ // Currently unused
+ } break;
+ }
+ } else {
+ switch (channel) {
+ case 0:{ printf("I0=%3d ", value); } break;
+ case 1:{ printf("I1=%3d ", value); } break;
+ case 2:{ printf("I2=%3d ", value); } break;
+ case 3:{ printf("I3=%3d ", value); } break;
+ case 4:{ printf("I4=%3d ", value); } break;
+ case 5:{ printf("I5=%3d ", value); } break;
+ case 6:{ printf("I6=%3d ", value); } break;
+ case 31:{
+ int kind = (value>>5)& 0x7;
+ int cmd = (value>>8)& 0x3;
+ int conf_channel = value & 0x1f;
+ int *maxdata = 0;
+ switch(kind) {
+ case 1: {
+ printf("digital in ");
+ digital_in |= 1 << conf_channel;
+ } break;
+ case 2: {
+ printf("digital out ");
+ digital_out |= 1 << conf_channel;
+ } break;
+ case 3: {
+ printf("analog in ");
+ analog_in |= 1 << conf_channel;
+ maxdata = &maxdata_in[conf_channel];
+ } break;
+ case 4: {
+ printf("analog out ");
+ analog_out |= 1 << conf_channel;
+ maxdata = &maxdata_out[conf_channel];
+ } break;
+ case 5: {
+ printf("encoder in ");
+ encoder_in |= 1 << conf_channel;
+ maxdata = &maxdata_in[conf_channel];
+ } break;
+ }
+ printf("#%d ", conf_channel);
+ switch (cmd) {
+ case 0: {
+ printf("maxdata %d\n", (1<<(value>>10))-1);
+ if (maxdata) { *maxdata = (1<<(value>>10))-1; }
+ } break;
+ case 1: { printf("min %d\n", millivolts(value>>10)); } break;
+ case 2: { printf("max %d\n", millivolts(value>>10)); } break;
+ default: { printf("cmd %d %d\n", cmd, (value>>10)); } break;
+ }
+ } break;
+ default: {
+ printf("%d=%x (%d)\n", channel, value, length);
+ } break;
+ }
+ }
+ value = 0;
+ length = 0;
+ }
+ }
+ return NULL;
+}
+
+void poll_io(int fd)
+{
+ char ch;
+ int i;
+
+ // Poll digital in
+ for (i = 0 ; i < 32 ; i++) {
+ if (digital_in & (1 << i)) {
+ ch = 0x40 | i;
+ write(fd, &ch, 1);
+ }
+ }
+ // Poll analog in
+ for (i = 0 ; i < 31 ; i++) {
+ if (analog_in & (1 << i)) {
+ ch = 0x60 | i;
+ write(fd, &ch, 1);
+ }
+ }
+ // Poll encoder in
+ for (i = 0 ; i < 31 ; i++) {
+ if (encoder_in & (1 << i)) {
+ ch = 0x60 | i;
+ write(fd, &ch, 1);
+ }
+ }
+}
+
+static void put_char(int fd, unsigned char value) {
+ write(fd, &value, 1);
+}
+
+static void put_channel(int fd, int channel, int value) {
+ if (value >= (1L<<30)) { put_char(fd, 0x80 | ((value >> 30) & 0x03)); }
+ if (value >= (1L<<23)) { put_char(fd, 0x80 | ((value >> 23) & 0x7f)); }
+ if (value >= (1L<<16)) { put_char(fd, 0x80 | ((value >> 16) & 0x7f)); }
+ if (value >= (1L<< 9)) { put_char(fd, 0x80 | ((value >> 9) & 0x7f)); }
+ put_char(fd, 0x80 | ((value >> 2) & 0x7f));
+ put_char(fd, ((value << 5) & 0x60) | channel);
+}
+
+void *Writer(void *argument) {
+ int *fd = argument;
+
+ // Read configuration
+ char ch = 0x60 | 31;
+ write(*fd, &ch, 1);
+ usleep(1000000);
+
+ while (OK) {
+ int i, j;
+ for (i = 0 ; i < 32 ; i++) {
+ for (j = 0 ; j < 32 ; j++) {
+ if (digital_out & (1 << j)) {
+ if (i == j) {
+ printf("1");
+ ch = 0x20 | j;
+ } else {
+ printf("0");
+ ch = 0x00 | j;
+ }
+ write(*fd, &ch, 1);
+ }
+ }
+ printf(" ");
+ for (j = 0 ; j < 31 ; j++) {
+ if (analog_out & (1 << j)) {
+ int value = (((i + j) % 32) * maxdata_out[j]) / 32;
+// printf("%d = %d\n", j, value);
+ put_channel(*fd, j, value);
+ }
+ }
+ // Let analog values settle
+ usleep(10000);
+ poll_io(*fd);
+ usleep(100000);
+ printf("\n");
+ }
+ }
+ return NULL;
+}
+
+
+int main(int argc, char *argv[]) {
+ int avr;
+ struct termios old_settings, new_settings;
+
+ if (argc <= 1) {
+ avr = open("/dev/ttyS0", O_RDWR);
+ } else {
+ avr = open(argv[1], O_RDWR);
+ }
+ if (avr < 0) {
+ printf("Couldn't open terminal line\n");
+ exit(1);
+ }
+
+ if (lockf(avr, F_TLOCK, 0)) {
+ printf("Couldn't lock terminal line\n");
+ exit(1);
+ }
+
+ tcgetattr(avr, &old_settings);
+ new_settings = old_settings;
+ new_settings.c_iflag = 0;
+ new_settings.c_oflag = 0;
+ new_settings.c_lflag = 0;
+ new_settings.c_cflag = CLOCAL | CS8 | CREAD;
+ new_settings.c_cc[VMIN] = 1;
+ new_settings.c_cc[VTIME] = 0;
+ if (argc <= 2) {
+ cfsetispeed(&new_settings, B115200);
+ cfsetospeed(&new_settings, B115200);
+ } else {
+ if (strcmp(argv[2], "2400") == 0) {
+ cfsetispeed(&new_settings, B2400);
+ cfsetospeed(&new_settings, B2400);
+ } else if (strcmp(argv[2], "9600") == 0) {
+ cfsetispeed(&new_settings, B9600);
+ cfsetospeed(&new_settings, B9600);
+ } else if (strcmp(argv[2], "38400") == 0) {
+ cfsetispeed(&new_settings, B38400);
+ cfsetospeed(&new_settings, B38400);
+ } else if (strcmp(argv[2], "57600") == 0) {
+ cfsetispeed(&new_settings, B57600);
+ cfsetospeed(&new_settings, B57600);
+ } else if (strcmp(argv[2], "115200") == 0) {
+ cfsetispeed(&new_settings, B115200);
+ cfsetospeed(&new_settings, B115200);
+ } else {
+ printf("Unknown speed %s\n", argv[2]);
+ exit(1);
+ }
+ }
+
+ tcsetattr(avr, TCSADRAIN, &new_settings);
+
+ pthread_create(&reader, NULL, Reader, &avr);
+ pthread_create(&writer, NULL, Writer, &avr);
+ while (OK) {
+ sleep(1);
+ }
+
+ lockf(avr, F_ULOCK, 0);
+ tcsetattr(avr, TCSADRAIN, &old_settings);
+ close(avr);
+
+}
diff --git a/tools/find_avr_targets b/tools/find_avr_targets
new file mode 100755
index 0000000..2fbe8f8
--- /dev/null
+++ b/tools/find_avr_targets
@@ -0,0 +1,32 @@
+#!/bin/sh
+
+set -e
+
+ROOTDIR=$(dirname $(dirname $0))
+
+err_report() {
+ echo "No AVR target(s) found [line $1]"
+}
+
+trap 'err_report $LINENO' ERR
+
+all_avr_programs() {
+ egrep '^\S+.CHIP=' ${ROOTDIR}/*/avr/Makefile \
+ | sed -re 's|^.*/(\S+)/avr/Makefile:(\S+).CHIP=(\S+)\s*$|\2,\1,\3|'
+}
+
+target_dir() {
+ dirname $(egrep -l "$1.CHIP=" ${ROOTDIR}/*/avr/Makefile)
+}
+
+if [ $# -eq 0 ] ; then
+ # Report all possible AVR target programs
+ for l in $(all_avr_programs | sort) ; do
+ printf " %-25s %-25s %s\n" \
+ $(echo ${l} | sed -re 's|(.*),(.*),(.*)|\1 (\2) [\3]|')
+ done
+elif [ $# -eq 1 ] ; then
+ target_dir $1
+else
+ exit 1
+fi
diff --git a/tools/find_linux_targets b/tools/find_linux_targets
new file mode 100755
index 0000000..f268553
--- /dev/null
+++ b/tools/find_linux_targets
@@ -0,0 +1,33 @@
+#! /bin/bash
+
+set -e
+
+err_report() {
+ echo "No Linux programs found [line $1]"
+}
+
+trap 'err_report $LINENO' ERR
+
+ROOTDIR=$(dirname $(dirname $0))
+
+all_linux_programs() {
+ egrep -H '^CFLAGS.\S+=' ${ROOTDIR}/*/linux/Makefile \
+ | sed -re 's|^.*/(\S+)/linux/Makefile:CFLAGS.(\S+)=.*$|\2,\1|'
+ exit 1
+}
+
+target_dir() {
+ dirname $(egrep -l "^CFLAGS.$1=" ${ROOTDIR}/*/linux/Makefile)
+}
+
+if [ $# -eq 0 ] ; then
+ # Report all possible AVR target programs
+ for l in $(all_linux_programs | sort) ; do
+ printf " %-25s %-25s %s\n" \
+ $(echo ${l} | sed -re 's|(.*),(.*)|\1 (\2)|')
+ done
+elif [ $# -eq 1 ] ; then
+ target_dir $1
+else
+ exit 1
+fi
--
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