Skip to content

GitLab

Commit 63d75583 authored by Anders Blomdell's avatar Anders Blomdell
Browse files

Add pcio processes, enhance avr target handling with multiple targets for one project

parent f37894bd
Hide whitespace changes
Inline Side-by-side
Showing with 841 additions and 5 deletions
.gitignore
View file @ 63d75583
*/avr/compiled
*/linux/compiled
*~
\ No newline at end of file
Makefile
View file @ 63d75583
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 $*) $@
pcio/avr/Makefile 0 → 100644
View file @ 63d75583
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
pcio/avr/pcio.c 0 → 100644
View file @ 63d75583
#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();
}
}
}
pcio/avr/pcio_w_usb.c 0 → 100644
View file @ 63d75583
#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();
}
}
}
pcio/linux/Makefile 0 → 100644
View file @ 63d75583
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
pcio/linux/pciotest.c 0 → 100644
View file @ 63d75583
#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: {