From e78ba71ac41ec3a2863bc3c729b56d3c10ce3993 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Tue, 5 May 2015 17:20:54 +0200
Subject: [PATCH] Add common avr stuff
---
common/avr/Makefile.common | 88 ++++++++++++++++++
common/avr/README | 83 +++++++++++++++++
common/avr/serialio.h | 181 +++++++++++++++++++++++++++++++++++++
3 files changed, 352 insertions(+)
create mode 100644 common/avr/Makefile.common
create mode 100644 common/avr/README
create mode 100644 common/avr/serialio.h
diff --git a/common/avr/Makefile.common b/common/avr/Makefile.common
new file mode 100644
index 0000000..8cdb9da
--- /dev/null
+++ b/common/avr/Makefile.common
@@ -0,0 +1,88 @@
+#
+# Define the following in your makefile and then include this file
+# TARGETS=<list of targets to be built>
+#
+# <TARGET>.ARCH=<architecture for target (avr)>
+# <TARGET>.CHIP=<chip used for target>
+# <TARGET>.FUSE=<fuse settings for target>
+# <TARGET>.C=<.c files for target>
+# <TARGET>.H=<.h file for target>
+
+# Factory defaults for various chips
+# factory_mega16.FUSE=--wr_fuse_l=0xe1 --wr_fuse_h=0x99 --wr_fuse_e=0xff
+
+ifeq ($(TARGET),)
+
+all: $(TARGETS:%=%.LINK)
+
+
+%.LINK:
+ @mkdir -p compiled/$*
+ make --no-print-directory TARGET=$* $*.LINK
+
+%.VERIFY:
+ @mkdir -p compiled/$*
+ make --no-print-directory TARGET=$* $*.VERIFY
+
+%.LOAD:
+ @mkdir -p compiled/$*
+ make --no-print-directory TARGET=$* $*.LOAD
+
+%.FUSE:
+ make --no-print-directory TARGET=$* $*.FUSE
+
+
+
+else
+
+avr-CC=avr-gcc
+avr-CCFLAGS=-mmcu=$(CHIP) -g -Wall -Werror -O3 -I. -I../lib
+avr-OBJCOPY=avr-objcopy
+
+ARCH=$($(TARGET).ARCH)
+CHIP=$($(TARGET).CHIP)
+
+CC=$($(ARCH)-CC)
+CCFLAGS=$($(ARCH)-CCFLAGS) $($(TARGET).CCFLAGS)
+OBJCOPY=$($(ARCH)-OBJCOPY)
+
+SOURCES=$($(1).C:%=%.c) $($(1).H:%=%.h)
+OBJECTS=$($(1).C:%=compiled/$(1)/%.o)
+
+
+%.LINK: compiled/$(TARGET)/%.exe
+ echo $@
+
+%.LOAD_uisp: compiled/$(TARGET)/%.sr
+ uisp \
+ -dprog=stk200 \
+ --erase \
+ --upload if=compiled/$(TARGET)/$*.sr
+
+%.VERIFY: compiled/$(TARGET)/%.sr
+ avrdude -P usb -c avrisp2 -p $(CHIP) \
+ -U flash:v:compiled/$(TARGET)/$*.sr:s
+
+%.LOAD: compiled/$(TARGET)/%.sr
+ avrdude -P usb -c avrisp2 -p $(CHIP) \
+ -U flash:w:compiled/$(TARGET)/$*.sr:s
+
+%.FUSE:
+ uisp \
+ -dprog=stk200 \
+ $($(TARGET).FUSE)
+
+compiled/$(TARGET)/%.o: $(call SOURCES,$(TARGET))
+ $(CC) $(CCFLAGS) -o $@ -c $*.c
+
+compiled/$(TARGET)/%.exe: $(call OBJECTS,$(TARGET))
+ $(CC) $(CCFLAGS) -o $@ $(call OBJECTS,$*)
+
+compiled/$(TARGET)/%.sr: compiled/$(TARGET)/%.exe
+ $(OBJCOPY) -O srec $< $@
+
+.PRECIOUS: compiled/$(TARGET)/%.o \
+ compiled/$(TARGET)/%.exe \
+ compiled/$(TARGET)/%.sr
+
+endif
\ No newline at end of file
diff --git a/common/avr/README b/common/avr/README
new file mode 100644
index 0000000..e89ca75
--- /dev/null
+++ b/common/avr/README
@@ -0,0 +1,83 @@
+Digital in/out and poll commands are sent as one byte:
+
+ +-+-+-+-+-+-+-+-+
+ |0|0 0| chan | Bit clear
+ +-+-+-+-+-+-+-+-+
+
+ +-+-+-+-+-+-+-+-+
+ |0|0 1| chan | Bit set
+ +-+-+-+-+-+-+-+-+
+
+ +-+-+-+-+-+-+-+-+
+ |0|1 0| chan | Bit get
+ +-+-+-+-+-+-+-+-+
+
+ +-+-+-+-+-+-+-+-+
+ |0|1 1| chan | Channel get
+ +-+-+-+-+-+-+-+-+
+
+
+Channels are sent as 2 to 6 bytes, depending on resolution:
+
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+2 |1| bit8...bit2 | |0|bit| chan |
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+3 |1|bit15...bit9 | |1| bit8...bit2 | |0|bit| chan |
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+
+ ...
+
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+6 |1|bit31...bit30| |1|bit29...bit23| ... |0|bit| chan |
+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+
+
+
+Channel 31 is special, as it serves as the configuration channel. When
+reading from it multiple responses are sent with the following layout
+
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ | command specific data |cmd|kind |conf chan|
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+
+ kind: 000 == end of configuration
+ 001 == digital in
+ 010 == digital out
+ 011 == analog in
+ 100 == analog out
+ 101 == counter in
+
+cmd == 0 (Resolution)
+
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ | | # of bits |0 0|kind |conf chan|
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+
+ # of bits (1..32)
+
+cmd == 1 (Minimum value)
+
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ | minimum |S| unit|0 1|kind |conf chan|
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+
+ S (sign): 0 == +
+ 1 == -
+ unit: 000 == V
+ 001 == mV
+ 010 == uV
+
+cmd == 2 (Maximum value)
+
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ | maximum |S| unit|1 0|kind |conf chan|
+ +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+
+ S (sign): 0 == +
+ 1 == -
+ unit: 000 == V
+ 001 == mV
+ 010 == uV
+
diff --git a/common/avr/serialio.h b/common/avr/serialio.h
new file mode 100644
index 0000000..0710dea
--- /dev/null
+++ b/common/avr/serialio.h
@@ -0,0 +1,181 @@
+/*
+ * Digital in/out and poll commands are sent as one byte:
+ *
+ * +-+-+-+-+-+-+-+-+
+ * |0|0 0| chan | Bit clear
+ * +-+-+-+-+-+-+-+-+
+ *
+ * +-+-+-+-+-+-+-+-+
+ * |0|0 1| chan | Bit set
+ * +-+-+-+-+-+-+-+-+
+ *
+ * +-+-+-+-+-+-+-+-+
+ * |0|1 0| chan | Bit get
+ * +-+-+-+-+-+-+-+-+
+ *
+ * +-+-+-+-+-+-+-+-+
+ * |0|1 1| chan | Channel get
+ * +-+-+-+-+-+-+-+-+
+ *
+ *
+ * Channels are sent as 2 to 6 bytes, depending on resolution:
+ *
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ * 2 |1| bit8...bit2 | |0|bit| chan |
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ *
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ * 3 |1|bit15...bit9 | |1| bit8...bit2 | |0|bit| chan |
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ *
+ * ...
+ *
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ * 6 |1|bit31...bit30| |1|bit29...bit23| ... |0|bit| chan |
+ * +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+
+ *
+ *
+ *
+ * Channel 31 is special, as it serves as the configuration channel. When
+ * reading from it multiple responses are sent with the following layout
+ *
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ * | command specific data |cmd|kind |conf chan|
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ *
+ * kind: 000 == end of configuration
+ * 001 == digital in
+ * 010 == digital out
+ * 011 == analog in
+ * 100 == analog out
+ * 101 == counter in
+ *
+ *cmd == 0 (Resolution)
+ *
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ * | | # of bits |0 0|kind |conf chan|
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ *
+ * # of bits (1..32)
+ *
+ *cmd == 1 (Minimum value)
+ *
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ * | minimum |S| unit|0 1|kind |conf chan|
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ *
+ * S (sign): 0 == +
+ * 1 == -
+ * unit: 000 == V
+ * 001 == mV
+ * 010 == uV
+ * 100 == A
+ *
+ *cmd == 2 (Maximum value)
+ *
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ * | maximum |S| unit|1 0|kind |conf chan|
+ * +-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-|-+-+-+-+-+-+-+-+
+ *
+ * S (sign): 0 == +
+ * 1 == -
+ * unit: 000 == V
+ * 001 == mV
+ * 010 == uV
+ * 100 == A
+ */
+
+static volatile unsigned long serialio_value;
+static volatile unsigned char serialio_channel, serialio_length;
+
+static void serialio_putchar(unsigned char ch)
+{
+
+ while ((in(UCSRA) & 0x20) == 0) {};
+ out(UDR, ch);
+}
+
+static void serialio_putbit(unsigned char channel, unsigned char value)
+{
+ if (value) {
+ serialio_putchar(0x20 | (channel & 0x1f));
+ } else {
+ serialio_putchar(0x00 | (channel & 0x1f));
+ }
+}
+
+static void serialio_putchannel(unsigned char channel, unsigned long value)
+{
+ if (value >= (1L<<30)) { serialio_putchar(0x80 | ((value >> 30) & 0x03)); }
+ if (value >= (1L<<23)) { serialio_putchar(0x80 | ((value >> 23) & 0x7f)); }
+ if (value >= (1L<<16)) { serialio_putchar(0x80 | ((value >> 16) & 0x7f)); }
+ if (value >= (1L<< 9)) { serialio_putchar(0x80 | ((value >> 9) & 0x7f)); }
+ serialio_putchar(0x80 | ((value >> 2) & 0x7f));
+ serialio_putchar(((value << 5) & 0x60) | (channel & 0x1f));
+}
+
+
+#define CONF_DIG_IN(channel) (0x20 | (channel)&0x1f)
+#define CONF_DIG_OUT(channel) (0x40 | (channel)&0x1f)
+
+#define CONF_END() serialio_putchannel(31, 0)
+#define CONF_DIGITAL_IN(chan, config) \
+ serialio_putchannel(31, (0x20|(chan&0x1f)|(config&0xffffff00)))
+#define CONF_DIGITAL_OUT(chan, config) \
+ serialio_putchannel(31, (0x40|(chan&0x1f)|(config&0xffffff00)))
+#define CONF_ANALOG_IN(chan, config) \
+ serialio_putchannel(31, (0x60|(chan&0x1f)|(config&0xffffff00)))
+#define CONF_ANALOG_OUT(chan, config) \
+ serialio_putchannel(31, (0x80|(chan&0x1f)|(config&0xffffff00)))
+#define CONF_ENCODER_IN(chan, config) \
+ serialio_putchannel(31, (0xa0|(chan&0x1f)|(config&0xffffff00)))
+#define CONF_RESOLUTION(bits) (((bits)<<10)|0x000)
+#define CONF_MIN(value) ((value)|0x100)
+#define CONF_MAX(value) ((value)|0x200)
+#define CONF_NEGATIVE_VOLT(volt) (((long)(volt)<<14)|0x2000)
+#define CONF_POSITIVE_VOLT(volt) ((long)(volt)<<14)
+#define CONF_NEGATIVE_MILLIVOLT(millivolt) (((long)(millivolt)<<14)|0x2400)
+#define CONF_POSITIVE_MILLIVOLT(millivolt) ((long)(millivolt)<<14|0x400)
+#define CONF_POSITIVE_AMPERE(ampere) (((long)(ampere)<<14)|0x1000)
+
+static void serialio_init()
+{
+ serialio_value = 0;
+ serialio_channel = 255;
+ serialio_length = 0;
+}
+
+typedef enum {
+ serialio_error, serialio_more, serialio_clearbit, serialio_setbit,
+ serialio_setchannel, serialio_pollbit, serialio_pollchannel
+} serialio_rxc_status;
+
+
+static serialio_rxc_status serialio_RXC(unsigned char ch) {
+ unsigned char result = serialio_error;
+
+ if (serialio_length == 0) { serialio_value = 0; }
+ serialio_length++;
+ if ((ch & 0x80) == 0x80) {
+ // Collect yet another byte for later processing
+ serialio_value = (serialio_value << 7) | (ch & 0x7f);
+ result = serialio_more;
+ } else {
+ serialio_value = (serialio_value << 2) | ((ch & 0x60) >> 5);
+ serialio_channel = ch & 0x1f;
+ if (serialio_length == 1) {
+ switch (serialio_value & 0x03) {
+ // Digital output buffer (ULN2803A) is inverting
+ case 0: { result = serialio_clearbit; } break;
+ case 1: { result = serialio_setbit; } break;
+ case 2: { result = serialio_pollbit; } break;
+ case 3: { result = serialio_pollchannel; } break;
+ }
+ } else {
+ result = serialio_setchannel;
+ }
+ serialio_length = 0;
+ }
+ return result;
+}
+
--
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