This involved adding dma control and a mutex implementation.
Signed-off-by: Keith Packard <keithp@keithp.com>
--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+/* Defines for the 25LC1024 1Mbit SPI Bus Serial EEPROM */
+
+#ifndef _25LC1024_H_
+#define _25LC1024_H_
+
+#define EE_READ 0x03
+#define EE_WRITE 0x02
+#define EE_WREN 0x06
+#define EE_WRDI 0x04
+#define EE_RDSR 0x05
+#define EE_WRSR 0x01
+#define EE_PE 0x42
+#define EE_SE 0xd8
+#define EE_CE 0xc7
+#define EE_RDID 0xab
+#define EE_DPD 0xb9
+
+#define EE_STATUS_WIP (1 << 0)
+#define EE_STATUS_WEL (1 << 1)
+#define EE_STATUS_BP0 (1 << 2)
+#define EE_STATUS_BP1 (1 << 3)
+#define EE_STATUS_WPEN (1 << 7)
+
+#endif /* _25LC1024_H_ */
ao_adc.c \
ao_beep.c \
ao_cmd.c \
+ ao_dma.c \
+ ao_ee.c \
ao_led.c \
+ ao_mutex.c \
ao_panic.c \
ao_task.c \
ao_timer.c \
/* Stack runs from above the allocated __data space to 0xfe, which avoids
* writing to 0xff as that triggers the stack overflow indicator
*/
-#define AO_STACK_START 0x4b
+#define AO_STACK_START 0x75
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
struct ao_task {
__xdata void *wchan; /* current wait channel (NULL if running) */
uint8_t stack_count; /* amount of saved stack */
+ uint8_t task_id; /* index in the task array */
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
};
+extern __xdata struct ao_task *__data ao_cur_task;
+
#define AO_NUM_TASKS 10 /* maximum number of tasks */
+#define AO_NO_TASK 0 /* no task id */
/*
ao_task.c
*/
#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
+#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
+#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
+#define AO_PANIC_EE 4 /* Mis-using eeprom API */
/* Stop the operating system, beeping and blinking the reason */
void
void
ao_cmd_init(void);
+/*
+ * ao_dma.c
+ */
+
+/* Allocate a DMA channel. the 'done' parameter will be set to 1
+ * when the dma is finished and will be used to wakeup any waiters
+ */
+uint8_t
+ao_dma_alloc(__xdata uint8_t * done);
+
+/* Setup a DMA channel */
+void
+ao_dma_set_transfer(uint8_t id,
+ void __xdata *srcaddr,
+ void __xdata *dstaddr,
+ uint16_t count,
+ uint8_t cfg0,
+ uint8_t cfg1);
+
+/* Start a DMA channel */
+void
+ao_dma_start(uint8_t id);
+
+/* Manually trigger a DMA channel */
+void
+ao_dma_trigger(uint8_t id);
+
+/* Abort a running DMA transfer */
+void
+ao_dma_abort(uint8_t id);
+
+/* DMA interrupt routine */
+void
+ao_dma_isr(void) interrupt 8;
+
+/*
+ * ao_mutex.c
+ */
+
+void
+ao_mutex_get(__xdata uint8_t *ao_mutex);
+
+void
+ao_mutex_put(__xdata uint8_t *ao_mutex);
+
+/*
+ * ao_ee.c
+ */
+
+/*
+ * We reserve the last block on the device for
+ * configuration space. Writes and reads in this
+ * area return errors.
+ */
+
+#define AO_EE_BLOCK_SIZE ((uint16_t) (256))
+#define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
+#define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
+#define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
+
+void
+ao_ee_flush(void);
+
+/* Write to the eeprom */
+uint8_t
+ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len);
+
+/* Read from the eeprom */
+uint8_t
+ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len);
+
+/* Write the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len);
+
+/* Read the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len);
+
+/* Initialize the EEPROM code */
+void
+ao_ee_init(void);
+
#endif /* _AO_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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"
+
+#define LEX_ERROR 1
+#define SYNTAX_ERROR 2
+#define SUCCESS 0
+
+static __data uint16_t lex_i;
+static __data uint8_t lex_c;
+static __data uint8_t lex_status;
+static __data uint8_t lex_echo;
+
+#define CMD_LEN 32
+
+static __xdata uint8_t cmd_line[CMD_LEN];
+static __data uint8_t cmd_len;
+static __data uint8_t cmd_i;
+
+void
+putchar(char c)
+{
+ if (c == '\n')
+ ao_usb_putchar('\r');
+ ao_usb_putchar((uint8_t) c);
+}
+
+void
+flush(void)
+{
+ ao_usb_flush();
+}
+
+char
+getchar(void)
+{
+ return (char) ao_usb_getchar();
+}
+
+static void
+put_string(char *s)
+{
+ uint8_t c;
+ while (c = *s++)
+ putchar(c);
+}
+
+static void
+readline(void)
+{
+ static uint8_t c;
+ if (lex_echo)
+ put_string("> ");
+ cmd_len = 0;
+ for (;;) {
+ flush();
+ c = getchar();
+ /* backspace/delete */
+ if (c == '\010' || c == '\177') {
+ if (cmd_len != 0) {
+ if (lex_echo)
+ put_string("\010 \010");
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* ^U */
+ if (c == '\025') {
+ while (cmd_len != 0) {
+ if (lex_echo)
+ put_string("\010 \010");
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* map CR to NL */
+ if (c == '\r')
+ c = '\n';
+
+ if (c == '\n') {
+ if (lex_echo)
+ put_string ("\n");
+ break;
+ }
+
+ if (cmd_len >= CMD_LEN - 2) {
+ if (lex_echo)
+ putchar('\007');
+ continue;
+ }
+ cmd_line[cmd_len++] = c;
+ if (lex_echo)
+ putchar(c);
+ }
+ cmd_line[cmd_len++] = '\n';
+ cmd_line[cmd_len++] = '\0';
+ cmd_i = 0;
+}
+
+static void
+lex(void)
+{
+ lex_c = '\n';
+ if (cmd_i < cmd_len)
+ lex_c = cmd_line[cmd_i++];
+}
+
+static void
+putnibble(uint8_t v)
+{
+ if (v < 10)
+ putchar(v + '0');
+ else
+ putchar(v + ('a' - 10));
+}
+
+void
+put16(uint16_t v)
+{
+ int8_t i;
+ for (i = 3; i >= 0; i--)
+ putnibble((v >> (i << 2)) & 0xf);
+}
+
+void
+put8(uint8_t v)
+{
+ putnibble((v >> 4) & 0xf);
+ putnibble(v & 0xf);
+}
+
+#define NUM_LEN 7
+
+void
+puti(int i)
+{
+ static uint8_t __xdata num_buffer[NUM_LEN];
+ uint8_t __xdata *num_ptr = num_buffer + NUM_LEN;
+ uint8_t neg = 0;
+
+ *--num_ptr = '\0';
+ if (i < 0) {
+ i = -i;
+ neg = 1;
+ }
+ do {
+ *--num_ptr = '0' + i % 10;
+ i /= 10;
+ } while (i);
+ if (neg)
+ *--num_ptr = '-';
+ while (num_ptr != num_buffer)
+ *--num_ptr = ' ';
+ put_string(num_buffer);
+}
+
+
+static void
+white(void)
+{
+ while (lex_c == ' ' || lex_c == '\t')
+ lex();
+}
+
+static void
+hex(void)
+{
+ uint8_t r = LEX_ERROR;
+
+ lex_i = 0;
+ white();
+ for(;;) {
+ if ('0' <= lex_c && lex_c <= '9')
+ lex_i = (lex_i << 4) | (lex_c - '0');
+ else if ('a' <= lex_c && lex_c <= 'f')
+ lex_i = (lex_i << 4) | (lex_c - 'a' + 10);
+ else if ('A' <= lex_c && lex_c <= 'F')
+ lex_i = (lex_i << 4) | (lex_c - 'A' + 10);
+ else
+ break;
+ r = SUCCESS;
+ lex();
+ }
+ if (r != SUCCESS)
+ lex_status = r;
+}
+
+#if 0
+static void
+decimal(void)
+{
+ uint8_t r = LEX_ERROR;
+
+ lex_i = 0;
+ white();
+ for(;;) {
+ if ('0' <= lex_c && lex_c <= '9')
+ lex_i = (lex_i * 10 ) | (lex_c - '0');
+ else
+ break;
+ r = SUCCESS;
+ lex();
+ }
+ if (r != SUCCESS)
+ lex_status = r;
+}
+#endif
+
+static void
+eol(void)
+{
+ while (lex_c != '\n')
+ lex();
+}
+
+static void
+adc_dump(void)
+{
+ __xdata struct ao_adc packet;
+ ao_adc_get(&packet);
+ put_string("tick: ");
+ puti(packet.tick);
+ put_string(" accel: ");
+ puti(packet.accel >> 4);
+ put_string(" pres: ");
+ puti(packet.pres >> 4);
+ put_string(" temp: ");
+ puti(packet.temp >> 4);
+ put_string(" batt: ");
+ puti(packet.v_batt >> 4);
+ put_string(" drogue: ");
+ puti(packet.sense_d >> 4);
+ put_string(" main: ");
+ puti(packet.sense_m >> 4);
+ put_string("\n");
+}
+
+static void
+dump(void)
+{
+ uint16_t c;
+ uint8_t __xdata *start, *end;
+
+ hex();
+ start = (uint8_t __xdata *) lex_i;
+ hex();
+ end = (uint8_t __xdata *) lex_i;
+ if (lex_status != SUCCESS)
+ return;
+ c = 0;
+ while (start <= end) {
+ if ((c & 7) == 0) {
+ if (c)
+ put_string("\n");
+ put16((uint16_t) start);
+ }
+ putchar(' ');
+ put8(*start);
+ ++c;
+ start++;
+ }
+ put_string("\n");
+}
+
+static void
+ee_dump(void)
+{
+ uint8_t b;
+ uint16_t block;
+ uint8_t i;
+
+ hex();
+ block = lex_i;
+ if (lex_status != SUCCESS)
+ return;
+ i = 0;
+ do {
+ if ((i & 7) == 0) {
+ if (i)
+ put_string("\n");
+ put16((uint16_t) i);
+ }
+ putchar(' ');
+ ao_ee_read(((uint32_t) block << 8) | i, &b, 1);
+ put8(b);
+ ++i;
+ } while (i != 0);
+ put_string("\n");
+}
+
+static void
+ee_store(void)
+{
+ uint16_t block;
+ uint8_t i;
+ uint16_t len;
+ uint8_t b;
+ uint32_t addr;
+
+ hex();
+ block = lex_i;
+ hex();
+ i = lex_i;
+ addr = ((uint32_t) block << 8) | i;
+ hex();
+ len = lex_i;
+ if (lex_status != SUCCESS)
+ return;
+ while (len--) {
+ hex();
+ if (lex_status != SUCCESS)
+ return;
+ b = lex_i;
+ ao_ee_write(addr, &b, 1);
+ addr++;
+ }
+ ao_ee_flush();
+}
+
+static void
+echo(void)
+{
+ hex();
+ lex_echo = lex_i != 0;
+}
+
+#if INCLUDE_REMOTE_DEBUG
+static void
+debug_enable(void)
+{
+ dbg_debug_mode();
+}
+
+static void
+debug_reset(void)
+{
+ dbg_reset();
+}
+
+static void
+debug_put(void)
+{
+ for (;;) {
+ white ();
+ if (lex_c == '\n')
+ break;
+ hex();
+ if (lex_status != SUCCESS)
+ break;
+ dbg_send_byte(lex_i);
+ }
+}
+
+static void
+debug_get(void)
+{
+ uint16_t count;
+ uint16_t i;
+ uint8_t byte;
+ hex();
+ if (lex_status != SUCCESS)
+ return;
+ count = lex_i;
+ if (count > 256) {
+ lex_status = SYNTAX_ERROR;
+ return;
+ }
+ for (i = 0; i < count; i++) {
+ if (i && (i & 7) == 0)
+ put_string("\n");
+ byte = dbg_recv_byte();
+ put8(byte);
+ putchar(' ');
+ }
+ put_string("\n");
+}
+
+static uint8_t
+getnibble(void)
+{
+ uint8_t c;
+
+ c = getchar();
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ if ('a' <= c && c <= 'f')
+ return c - ('a' - 10);
+ if ('A' <= c && c <= 'F')
+ return c - ('A' - 10);
+ lex_status = LEX_ERROR;
+ return 0;
+}
+
+static void
+debug_input(void)
+{
+ uint16_t count;
+ uint16_t addr;
+ uint8_t b;
+ uint8_t i;
+
+ hex();
+ count = lex_i;
+ hex();
+ addr = lex_i;
+ if (lex_status != SUCCESS)
+ return;
+ dbg_start_transfer(addr);
+ i = 0;
+ while (count--) {
+ if (!(i++ & 7))
+ put_string("\n");
+ b = dbg_read_byte();
+ put8(b);
+ }
+ dbg_end_transfer();
+ put_string("\n");
+}
+
+static void
+debug_output(void)
+{
+ uint16_t count;
+ uint16_t addr;
+ uint8_t b;
+
+ hex();
+ count = lex_i;
+ hex();
+ addr = lex_i;
+ if (lex_status != SUCCESS)
+ return;
+ dbg_start_transfer(addr);
+ while (count--) {
+ b = getnibble() << 4;
+ b |= getnibble();
+ if (lex_status != SUCCESS)
+ return;
+ dbg_write_byte(b);
+ }
+ dbg_end_transfer();
+}
+#endif
+
+static void
+dump_log(void)
+{
+#if 0
+ uint8_t more;
+
+ for (more = log_first(); more; more = log_next()) {
+ putchar(log_dump.type);
+ putchar(' ');
+ put16(log_dump.tick);
+ putchar(' ');
+ put16(log_dump.u.anon.d0);
+ putchar(' ');
+ put16(log_dump.u.anon.d1);
+ putchar('\n');
+ }
+#endif
+}
+
+static const uint8_t help_txt[] =
+ "All numbers are in hex\n"
+ "? Print this message\n"
+ "a Display current ADC values\n"
+ "d <start> <end> Dump memory\n"
+ "e <block> Dump a block of EEPROM data\n"
+ "w <block> <start> <len> <data> ... Write data to EEPROM\n"
+ "l Dump last flight log\n"
+ "E <0 off, 1 on> Set command echo mode\n"
+#if INCLUDE_REMOTE_DEBUG
+ "\n"
+ "Target debug commands:\n"
+ "D Enable debug mode\n"
+ "R Reset target\n"
+ "P <byte> ... Put data to debug port\n"
+ "G <count> Get data from debug port\n"
+ "O <count> <addr> Output <count> bytes to target at <addr>\n"
+ "I <count> <addr> Input <count> bytes to target at <addr>\n"
+#endif
+;
+
+static void
+help(void)
+{
+ put_string(help_txt);
+}
+
+static void
+report(void)
+{
+ switch(lex_status) {
+ case LEX_ERROR:
+ case SYNTAX_ERROR:
+ put_string("Syntax error\n");
+ lex_status = 0;
+ break;
+ }
+}
+
+void
+ao_cmd(void *parameters)
+{
+ uint8_t c;
+ (void) parameters;
+
+ ao_led_on(AO_LED_GREEN);
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(30));
+ lex_echo = 1;
+ for (;;) {
+ readline();
+ lex();
+ white();
+ c = lex_c;
+ lex();
+ switch (c) {
+ case '?':
+ help();
+ break;
+ case 'd':
+ dump();
+ break;
+ case 'a':
+ adc_dump();
+ break;
+ case 'e':
+ ee_dump();
+ break;
+ case 'w':
+ ee_store();
+ break;
+ case 'l':
+ dump_log();
+ break;
+ case 'E':
+ echo();
+ break;
+#if INCLUDE_REMOTE_DEBUG
+ case 'D':
+ debug_enable();
+ break;
+ case 'R':
+ debug_reset();
+ break;
+ case 'P':
+ debug_put();
+ break;
+ case 'G':
+ debug_get();
+ break;
+ case 'I':
+ debug_input();
+ break;
+ case 'O':
+ debug_output();
+ break;
+#endif
+ case '\r':
+ case '\n':
+ break;
+ default:
+ lex_status = SYNTAX_ERROR;
+ break;
+ }
+ report();
+ }
+
+}
+
+struct ao_task __xdata cmd_task;
+
+void
+ao_cmd_init(void)
+{
+ ao_add_task(&cmd_task, ao_cmd);
+}
--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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"
+
+#define NUM_DMA 5
+
+/*
+ * The config address for DMA0 is programmed
+ * separately from that of DMA1-4, but for simplicity,
+ * we make them all contiguous.
+ */
+
+static __xdata struct cc_dma_channel ao_dma_config[NUM_DMA];
+static __xdata uint8_t * __xdata ao_dma_done[NUM_DMA];
+static __data uint8_t ao_next_dma;
+
+uint8_t
+ao_dma_alloc(__xdata uint8_t *done)
+{
+ uint8_t id;
+
+ if (ao_next_dma == NUM_DMA)
+ ao_panic(AO_PANIC_DMA);
+ id = ao_next_dma++;
+ ao_dma_done[id] = done;
+
+ /* When the first dma object is allocated, set up the DMA
+ * controller
+ */
+ if (id == 0) {
+ DMAIRQ = 0;
+ DMAIF = 0;
+ IEN1 |= IEN1_DMAIE;
+ }
+
+ return id;
+}
+
+void
+ao_dma_set_transfer(uint8_t id,
+ void __xdata *srcaddr,
+ void __xdata *dstaddr,
+ uint16_t count,
+ uint8_t cfg0,
+ uint8_t cfg1)
+{
+ if (DMAARM & (1 << id))
+ ao_panic(AO_PANIC_DMA);
+ ao_dma_config[id].src_high = ((uint16_t) srcaddr) >> 8;
+ ao_dma_config[id].src_low = ((uint16_t) srcaddr);
+ ao_dma_config[id].dst_high = ((uint16_t) dstaddr) >> 8;
+ ao_dma_config[id].dst_low = ((uint16_t) dstaddr);
+ ao_dma_config[id].len_high = count >> 8;
+ ao_dma_config[id].len_low = count;
+ ao_dma_config[id].cfg0 = cfg0;
+ ao_dma_config[id].cfg1 = cfg1 | DMA_CFG1_IRQMASK;
+ if (id == 0) {
+ DMA0CFGH = ((uint16_t) (&ao_dma_config[0])) >> 8;
+ DMA0CFGL = ((uint16_t) (&ao_dma_config[0]));
+ } else {
+ DMA1CFGH = ((uint16_t) (&ao_dma_config[1])) >> 8;
+ DMA1CFGL = ((uint16_t) (&ao_dma_config[1]));
+ }
+}
+
+#define nop() _asm nop _endasm;
+
+void
+ao_dma_start(uint8_t id)
+{
+ uint8_t mask = (1 << id);
+ DMAIRQ &= ~mask;
+ DMAARM = 0x80 | mask;
+ nop(); nop(); nop(); nop();
+ nop(); nop(); nop(); nop();
+ DMAARM = mask;
+ nop(); nop(); nop(); nop();
+ nop(); nop(); nop(); nop();
+ nop();
+ *(ao_dma_done[id]) = 0;
+}
+
+void
+ao_dma_trigger(uint8_t id)
+{
+ DMAREQ |= (1 << id);
+}
+
+void
+ao_dma_abort(uint8_t id)
+{
+ uint8_t mask = (1 << id);
+ DMAARM = 0x80 | mask;
+ DMAIRQ &= ~mask;
+}
+
+void
+ao_dma_isr(void) interrupt 8
+{
+ uint8_t id, mask;
+
+ /* Find the first DMA channel which is done */
+ mask = 1;
+ for (id = 0; id < ao_next_dma; id++) {
+ if (DMAIRQ & mask) {
+ /* Clear CPU interrupt flag */
+ DMAIF = 0;
+ /* Clear the completed ID */
+ DMAIRQ = ~mask;
+ *(ao_dma_done[id]) = 1;
+ ao_wakeup(ao_dma_done[id]);
+ break;
+ }
+ mask <<= 1;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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 "25lc1024.h"
+
+/*
+ * Using SPI on USART 0, with P1_2 as the chip select
+ */
+
+#define EE_CS P1_2
+#define EE_CS_INDEX 2
+
+__xdata uint8_t ao_ee_dma_in_done;
+__xdata uint8_t ao_ee_dma_out_done;
+__xdata uint8_t ao_ee_mutex;
+
+uint8_t ao_ee_dma_out_id;
+uint8_t ao_ee_dma_in_id;
+
+static __xdata uint8_t ao_ee_const = 0xff;
+
+#define ao_ee_delay() do { \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+} while(0)
+
+void ao_ee_cs_low(void)
+{
+ ao_ee_delay();
+ EE_CS = 0;
+ ao_ee_delay();
+}
+
+void ao_ee_cs_high(void)
+{
+ ao_ee_delay();
+ EE_CS = 1;
+ ao_ee_delay();
+}
+
+/* Send bytes over SPI.
+ *
+ * This sets up two DMA engines, one writing the data and another reading
+ * bytes coming back. We use the bytes coming back to tell when the transfer
+ * is complete, as the transmit register is double buffered and hence signals
+ * completion one byte before the transfer is actually complete
+ */
+static void
+ao_ee_send(void __xdata *block, uint16_t len)
+{
+ ao_dma_set_transfer(ao_ee_dma_in_id,
+ &U0DBUFXADDR,
+ &ao_ee_const,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_URX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_set_transfer(ao_ee_dma_out_id,
+ block,
+ &U0DBUFXADDR,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_UTX0,
+ DMA_CFG1_SRCINC_1 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_start(ao_ee_dma_in_id);
+ ao_dma_start(ao_ee_dma_out_id);
+ ao_dma_trigger(ao_ee_dma_out_id);
+ __critical while (!ao_ee_dma_in_done)
+ ao_sleep(&ao_ee_dma_in_done);
+}
+
+/* Receive bytes over SPI.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the SPI transmitter as that is what
+ * clocks the data coming in.
+ */
+static void
+ao_ee_recv(void __xdata *block, uint16_t len)
+{
+ ao_dma_set_transfer(ao_ee_dma_in_id,
+ &U0DBUFXADDR,
+ block,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_URX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_1 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_set_transfer(ao_ee_dma_out_id,
+ &ao_ee_const,
+ &U0DBUFXADDR,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_UTX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_start(ao_ee_dma_in_id);
+ ao_dma_start(ao_ee_dma_out_id);
+ ao_dma_trigger(ao_ee_dma_out_id);
+ __critical while (!ao_ee_dma_in_done)
+ ao_sleep(&ao_ee_dma_in_done);
+}
+
+#define EE_BLOCK 256
+
+struct ao_ee_instruction {
+ uint8_t instruction;
+ uint8_t address[3];
+} __xdata ao_ee_instruction;
+
+static void
+ao_ee_write_enable(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WREN;
+ ao_ee_send(&ao_ee_instruction, 1);
+ ao_ee_cs_high();
+}
+
+static uint8_t
+ao_ee_rdsr(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_RDSR;
+ ao_ee_send(&ao_ee_instruction, 1);
+ ao_ee_recv(&ao_ee_instruction, 1);
+ ao_ee_cs_high();
+ return ao_ee_instruction.instruction;
+}
+
+static void
+ao_ee_wrsr(uint8_t status)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WRSR;
+ ao_ee_instruction.address[0] = status;
+ ao_ee_send(&ao_ee_instruction, 2);
+ ao_ee_cs_high();
+}
+
+#define EE_BLOCK_NONE 0xffff
+
+__xdata uint8_t ao_ee_data[EE_BLOCK];
+__data uint16_t ao_ee_block = EE_BLOCK_NONE;
+__data uint8_t ao_ee_block_dirty;
+
+/* Write the current block to the EEPROM */
+static void
+ao_ee_write_block(void)
+{
+ uint8_t status;
+
+ status = ao_ee_rdsr();
+ if (status & (EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN)) {
+ status &= ~(EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN);
+ ao_ee_wrsr(status);
+ }
+ ao_ee_write_enable();
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WRITE;
+ ao_ee_instruction.address[0] = ao_ee_block >> 8;
+ ao_ee_instruction.address[1] = ao_ee_block;
+ ao_ee_instruction.address[2] = 0;
+ ao_ee_send(&ao_ee_instruction, 4);
+ ao_ee_send(ao_ee_data, EE_BLOCK);
+ ao_ee_cs_high();
+ for (;;) {
+ uint8_t status = ao_ee_rdsr();
+ if ((status & EE_STATUS_WIP) == 0)
+ break;
+ }
+}
+
+/* Read the current block from the EEPROM */
+static void
+ao_ee_read_block(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_READ;
+ ao_ee_instruction.address[0] = ao_ee_block >> 8;
+ ao_ee_instruction.address[1] = ao_ee_block;
+ ao_ee_instruction.address[2] = 0;
+ ao_ee_send(&ao_ee_instruction, 4);
+ ao_ee_recv(ao_ee_data, EE_BLOCK);
+ ao_ee_cs_high();
+}
+
+void
+ao_ee_flush(void)
+{
+ if (ao_ee_block_dirty) {
+ ao_ee_write_block();
+ ao_ee_block_dirty = 0;
+ }
+}
+
+static void
+ao_ee_fill(uint16_t block)
+{
+ if (block != ao_ee_block) {
+ ao_ee_flush();
+ ao_ee_block = block;
+ ao_ee_read_block();
+ }
+}
+
+uint8_t
+ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len)
+{
+ uint16_t block;
+ uint16_t this_len;
+ uint8_t this_off;
+
+ if (pos >= AO_EE_DATA_SIZE || pos + len > AO_EE_DATA_SIZE)
+ return 0;
+ while (len) {
+
+ /* Compute portion of transfer within
+ * a single block
+ */
+ this_off = pos;
+ this_len = 256 - (uint16_t) this_off;
+ block = (uint16_t) (pos >> 8);
+ if (this_len > len)
+ this_len = len;
+ if (this_len & 0xff00)
+ ao_panic(AO_PANIC_EE);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_ee_mutex); {
+ if (this_len != 256)
+ ao_ee_fill(block);
+ else {
+ ao_ee_flush();
+ ao_ee_block = block;
+ }
+ memcpy(ao_ee_data + this_off, buf, this_len);
+ ao_ee_block_dirty = 1;
+ } ao_mutex_put(&ao_ee_mutex);
+
+ /* See how much is left */
+ buf += this_len;
+ len -= this_len;
+ }
+ return 1;
+}
+
+uint8_t
+ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len)
+{
+ uint16_t block;
+ uint16_t this_len;
+ uint8_t this_off;
+
+ if (pos >= AO_EE_DATA_SIZE || pos + len > AO_EE_DATA_SIZE)
+ return 0;
+ while (len) {
+
+ /* Compute portion of transfer within
+ * a single block
+ */
+ this_off = pos;
+ this_len = 256 - (uint16_t) this_off;
+ block = (uint16_t) (pos >> 8);
+ if (this_len > len)
+ this_len = len;
+ if (this_len & 0xff00)
+ ao_panic(AO_PANIC_EE);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_fill(block);
+ memcpy(buf, ao_ee_data + this_off, this_len);
+ } ao_mutex_put(&ao_ee_mutex);
+
+ /* See how much is left */
+ buf += this_len;
+ len -= this_len;
+ }
+ return 1;
+}
+
+/*
+ * Read/write the config block, which is in
+ * the last block of the ao_eeprom
+ */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len)
+{
+ if (len > AO_EE_BLOCK_SIZE)
+ return 0;
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_fill(AO_EE_CONFIG_BLOCK);
+ memcpy(ao_ee_data, buf, len);
+ ao_ee_block_dirty = 1;
+ } ao_mutex_put(&ao_ee_mutex);
+ return 1;
+}
+
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len)
+{
+ if (len > AO_EE_BLOCK_SIZE)
+ return 0;
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_fill(AO_EE_CONFIG_BLOCK);
+ memcpy(buf, ao_ee_data, len);
+ } ao_mutex_put(&ao_ee_mutex);
+ return 1;
+}
+
+/*
+ * To initialize the chip, set up the CS line and
+ * the SPI interface
+ */
+void
+ao_ee_init(void)
+{
+ /* set up CS */
+ EE_CS = 1;
+ P1DIR |= (1 << EE_CS_INDEX);
+ P1SEL &= ~(1 << EE_CS_INDEX);
+
+ /* Set up the USART pin assignment */
+ PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2;
+
+ /* Ensure that USART0 takes precidence over USART1 for pins that
+ * they share
+ */
+ P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | P2SEL_PRI3P1_USART0;
+
+ /* Make the SPI pins be controlled by the USART peripheral */
+ P1SEL |= ((1 << 5) | (1 << 4) | (1 << 3));
+
+ /* Set up OUT DMA */
+ ao_ee_dma_out_id = ao_dma_alloc(&ao_ee_dma_out_done);
+
+ /* Set up IN DMA */
+ ao_ee_dma_in_id = ao_dma_alloc(&ao_ee_dma_in_done);
+
+ /* Set up the USART.
+ *
+ * SPI master mode
+ */
+ U0CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_MASTER);
+
+ /* Set the baud rate and signal parameters
+ *
+ * The cc1111 is limited to a 24/8 MHz SPI clock,
+ * while the 25LC1024 is limited to 20MHz. So,
+ * use the 3MHz clock (BAUD_E 17, BAUD_M 0)
+ */
+ U0BAUD = 0;
+ U0GCR = (UxGCR_CPOL_NEGATIVE |
+ UxGCR_CPHA_FIRST_EDGE |
+ UxGCR_ORDER_MSB |
+ (17 << UxGCR_BAUD_E_SHIFT));
+}
ao_beep_init();
ao_led_init();
ao_usb_init();
+ ao_ee_init();
ao_cmd_init();
ao_start_scheduler();
}
--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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"
+
+void
+ao_mutex_get(__xdata uint8_t *mutex)
+{
+ if (*mutex == ao_cur_task->task_id)
+ ao_panic(AO_PANIC_MUTEX);
+ __critical {
+ while (*mutex)
+ ao_sleep(mutex);
+ *mutex = ao_cur_task->task_id;
+ }
+}
+
+void
+ao_mutex_put(__xdata uint8_t *mutex)
+{
+ if (*mutex != ao_cur_task->task_id)
+ ao_panic(AO_PANIC_MUTEX);
+ __critical {
+ *mutex = 0;
+ ao_wakeup(mutex);
+ }
+}
#include "ao.h"
-#define AO_NO_TASK 0xff
+#define AO_NO_TASK_INDEX 0xff
__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
__data uint8_t ao_num_tasks;
-__data uint8_t ao_cur_task_id;
+__data uint8_t ao_cur_task_index;
__xdata struct ao_task *__data ao_cur_task;
void
if (ao_num_tasks == AO_NUM_TASKS)
ao_panic(AO_PANIC_NO_TASK);
ao_tasks[ao_num_tasks++] = task;
+ task->task_id = ao_num_tasks;
/*
* Construct a stack frame so that it will 'return'
* to the start of the task
push _bp
_endasm;
- if (ao_cur_task_id != AO_NO_TASK)
+ if (ao_cur_task_index != AO_NO_TASK_INDEX)
{
/* Save the current stack */
stack_len = SP - (AO_STACK_START - 1);
* this loop will run forever, which is just fine
*/
for (;;) {
- ++ao_cur_task_id;
- if (ao_cur_task_id == ao_num_tasks)
- ao_cur_task_id = 0;
- ao_cur_task = ao_tasks[ao_cur_task_id];
+ ++ao_cur_task_index;
+ if (ao_cur_task_index == ao_num_tasks)
+ ao_cur_task_index = 0;
+ ao_cur_task = ao_tasks[ao_cur_task_index];
if (ao_cur_task->wchan == NULL)
break;
}
ao_start_scheduler(void)
{
- ao_cur_task_id = AO_NO_TASK;
+ ao_cur_task_index = AO_NO_TASK_INDEX;
ao_cur_task = NULL;
ao_yield();
}
projects / fw / altos / commitdiff