From abf17522c206b465375b73a004a6d67bfa714ba3 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 21 Sep 2011 11:36:11 -0700 Subject: [PATCH] altos: SPI slave code is now per-product We can't write general purpose SPI slave code as we must eliminate any latency because the SPI ports have no buffering. Signed-off-by: Keith Packard --- src/avr/ao_pins.h | 7 +++ src/avr/ao_spi_slave.c | 99 +++++++++++++--------------------- src/core/ao.h | 13 ++++- src/drivers/ao_science_slave.c | 62 +++++++++++++++++++++ src/telescience-v0.1/Makefile | 1 + 5 files changed, 118 insertions(+), 64 deletions(-) create mode 100644 src/drivers/ao_science_slave.c diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h index 56435f18..88f03829 100644 --- a/src/avr/ao_pins.h +++ b/src/avr/ao_pins.h @@ -52,6 +52,13 @@ #define SPI_CS_DIR DDRE #define M25_CS_MASK (1 << PORTE6) #define M25_MAX_CHIPS 1 + + #define SPI_SLAVE_CS_PORT PORTB + #define SPI_SLAVE_CS_PIN PINB + #define SPI_SLAVE_CS_PIN_NO PINB0 + + #define SPI_SLAVE_PIN_0_3 1 + #define SPI_SLAVE_PIN_2_5 0 #endif #endif /* _AO_PINS_H_ */ diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c index e4d866a8..76f574c6 100644 --- a/src/avr/ao_spi_slave.c +++ b/src/avr/ao_spi_slave.c @@ -16,18 +16,8 @@ */ #include "ao.h" -#include "ao_product.h" -struct ao_companion_command ao_companion_command; - -static const struct ao_companion_setup ao_telescience_setup = { - .board_id = AO_idProduct_NUMBER, - .board_id_inverse = ~AO_idProduct_NUMBER, - .update_period = 50, - .channels = AO_LOG_TELESCIENCE_NUM_ADC, -}; - -static uint8_t +uint8_t ao_spi_read(uint8_t *buf, uint8_t len) { while (len--) { @@ -39,7 +29,7 @@ ao_spi_read(uint8_t *buf, uint8_t len) return 1; } -static void +void ao_spi_write(uint8_t *buf, uint8_t len) { while (len--) { @@ -52,66 +42,38 @@ ao_spi_write(uint8_t *buf, uint8_t len) (void) SPDR; } -static uint8_t ao_spi_slave_recv(void) -{ - if (!ao_spi_read((uint8_t *) &ao_companion_command, - sizeof (ao_companion_command))) - return 0; - - /* Figure out the outbound data */ - switch (ao_companion_command.command) { - case AO_COMPANION_SETUP: - ao_spi_write((uint8_t *) &ao_telescience_setup, - sizeof (ao_telescience_setup)); - break; - case AO_COMPANION_FETCH: - ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc, - AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); - break; - case AO_COMPANION_NOTIFY: - break; - default: - return 0; - } - - ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick; - if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) { - ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state; - return 1; - } - return 0; -} - static uint8_t ao_spi_slave_running; ISR(PCINT0_vect) { - if ((PINB & (1 << PINB0)) == 0) { + cli(); +#if SPI_SLAVE_PIN_0_3 + if ((PINB & (1 << PORTB0)) == 0) +#endif +#if SPI_SLAVE_PIN_2_5 + if ((PINB & (1 << PORTB2)) == 0) +#endif + { if (!ao_spi_slave_running) { - uint8_t changed; ao_spi_slave_running = 1; - cli(); - changed = ao_spi_slave_recv(); - sei(); - if (changed && ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) { - if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed) - ao_log_single_start(); - else - ao_log_single_stop(); - } + ao_spi_slave(); } } else { ao_spi_slave_running = 0; } -} - -void ao_spi_slave_debug(void) { - printf ("slave running %d\n", ao_spi_slave_running); + sei(); } void ao_spi_slave_init(void) { + /* We'd like to have a pull-up on SS so that disconnecting the + * TM would cause any SPI transaction to abort. However, when + * I tried that, SPI transactions would spontaneously abort, + * making me assume that we needed a less aggressive pull-up + * than is offered inside the AVR + */ +#if SPI_SLAVE_PIN_0_3 PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */ PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ @@ -121,17 +83,28 @@ ao_spi_slave_init(void) (0 << 1) | /* SCK, input */ (0 << 0)); /* SS, input */ - /* We'd like to have a pull-up on SS so that disconnecting the - * TM would cause any SPI transaction to abort. However, when - * I tried that, SPI transactions would spontaneously abort, - * making me assume that we needed a less aggressive pull-up - * than is offered inside the AVR - */ PORTB = ((PORTB & 0xf0) | (1 << 3) | /* MISO, output */ (0 << 2) | /* MOSI, no pull-up */ (0 << 1) | /* SCK, no pull-up */ (0 << 0)); /* SS, no pull-up */ +#endif +#if SPI_SLAVE_PIN_2_5 + PCMSK0 |= (1 << PCINT2); /* Enable PCINT2 pin change */ + PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ + + DDRB = ((DDRB & 0xf0) | + (0 << 5) | /* SCK, input */ + (1 << 4) | /* MISO, output */ + (0 << 3) | /* MOSI, input */ + (0 << 2)); /* SS, input */ + + PORTB = ((PORTB & 0xf0) | + (0 << 5) | /* SCK, no pull-up */ + (1 << 4) | /* MISO, output */ + (0 << 3) | /* MOSI, no pull-up */ + (0 << 2)); /* SS, no pull-up */ +#endif SPCR = (0 << SPIE) | /* Disable SPI interrupts */ (1 << SPE) | /* Enable SPI */ diff --git a/src/core/ao.h b/src/core/ao.h index a541d8ac..1d5769cb 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -974,12 +974,23 @@ ao_spi_init(void); * ao_spi_slave.c */ +uint8_t +ao_spi_read(uint8_t *buf, uint8_t len); + void -ao_spi_slave_debug(void); +ao_spi_write(uint8_t *buf, uint8_t len); void ao_spi_slave_init(void); +/* This must be defined by the product; it will get called when chip + * select goes low, at which point it should use ao_spi_read and + * ao_spi_write to deal with the request + */ + +void +ao_spi_slave(void); + /* * ao_telemetry.c */ diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c new file mode 100644 index 00000000..e902318f --- /dev/null +++ b/src/drivers/ao_science_slave.c @@ -0,0 +1,62 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_product.h" + +struct ao_companion_command ao_companion_command; + +static const struct ao_companion_setup ao_telescience_setup = { + .board_id = AO_idProduct_NUMBER, + .board_id_inverse = ~AO_idProduct_NUMBER, + .update_period = 50, + .channels = AO_LOG_TELESCIENCE_NUM_ADC, +}; + +void ao_spi_slave(void) +{ + if (!ao_spi_read((uint8_t *) &ao_companion_command, + sizeof (ao_companion_command))) + return; + + /* Figure out the outbound data */ + switch (ao_companion_command.command) { + case AO_COMPANION_SETUP: + ao_spi_write((uint8_t *) &ao_telescience_setup, + sizeof (ao_telescience_setup)); + break; + case AO_COMPANION_FETCH: + ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc, + AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); + break; + case AO_COMPANION_NOTIFY: + break; + default: + return; + } + + ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick; + if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) { + ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state; + if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) { + if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed) + ao_log_single_start(); + else + ao_log_single_stop(); + } + } +} diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile index 28620242..a6797cbe 100644 --- a/src/telescience-v0.1/Makefile +++ b/src/telescience-v0.1/Makefile @@ -46,6 +46,7 @@ ALTOS_SRC = \ ao_romconfig.c \ ao_usb_avr.c \ ao_adc_avr.c \ + ao_science_slave.c \ ao_spi_slave.c \ ao_log_single.c \ ao_log_telescience.c \ -- 2.30.2