--- /dev/null
+/*
+ * Copyright © 2012 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.
+ */
+
+MEMORY {
+ rom (rx) : ORIGIN = 0x08000000, LENGTH = 32K
+ ram (!w) : ORIGIN = 0x20000000, LENGTH = 6k - 128
+ stack (!w) : ORIGIN = 0x20000000 + 6k - 128, LENGTH = 128
+}
+
+INCLUDE registers.ld
+
+EXTERN (stm_interrupt_vector)
+
+SECTIONS {
+ /*
+ * Rom contents
+ */
+
+ .interrupt : {
+ __text_start__ = .;
+ *(.interrupt) /* Interrupt vectors */
+ } > rom
+
+ .text ORIGIN(rom) + 0x100 : {
+
+ /* Ick. What I want is to specify the
+ * addresses of some global constants so
+ * that I can find them across versions
+ * of the application. I can't figure out
+ * how to make gnu ld do that, so instead
+ * we just load the two files that include
+ * these defines in the right order here and
+ * expect things to 'just work'. Don't change
+ * the contents of those files, ok?
+ */
+ ao_romconfig.o(.romconfig*)
+ ao_product.o(.romconfig*)
+
+ *(.text*) /* Executable code */
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ *(.rodata*) /* Constants */
+
+ } > rom
+ __text_end__ = .;
+
+ /* Data -- relocated to RAM, but written to ROM
+ */
+ .data : {
+ __data_start__ = .;
+ *(.data) /* initialized data */
+ . = ALIGN(4);
+ __data_end__ = .;
+ } >ram AT>rom
+
+ .bss : {
+ __bss_start__ = .;
+ *(.bss)
+ *(COMMON)
+ . = ALIGN(4);
+ __bss_end__ = .;
+ } >ram
+
+ PROVIDE(end = .);
+
+ PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack));
+}
+
+ENTRY(start);
+
+
--- /dev/null
+/*
+ * Copyright © 2015 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>
+#include <ao_data.h>
+
+#define AO_ADC_DEBUG 0
+
+static uint8_t ao_adc_ready;
+
+/*
+ * Callback from DMA ISR
+ *
+ * Mark time in ring, shut down DMA engine
+ */
+static void ao_adc_done(int index)
+{
+ (void) index;
+ /* Clear ISR bits */
+ stm_adc.isr = ((1 << STM_ADC_ISR_AWD) |
+ (1 << STM_ADC_ISR_OVR) |
+ (1 << STM_ADC_ISR_EOSEQ) |
+ (1 << STM_ADC_ISR_EOC));
+
+ AO_DATA_PRESENT(AO_DATA_ADC);
+ ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+ if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+ ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+ ao_data_ring[ao_data_head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+ ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+ ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+ ao_data_ring[ao_data_head].tick = ao_tick_count;
+ ao_data_head = ao_data_ring_next(ao_data_head);
+ ao_wakeup((void *) &ao_data_head);
+ }
+ ao_adc_ready = 1;
+}
+
+/*
+ * Start the ADC sequence using the DMA engine
+ */
+void
+ao_adc_poll(void)
+{
+ if (!ao_adc_ready)
+ return;
+ ao_adc_ready = 0;
+ stm_adc.isr = 0;
+ ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1),
+ &stm_adc.dr,
+ (void *) (&ao_data_ring[ao_data_head].adc),
+ AO_NUM_ADC,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) |
+ (1 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
+ (1 << STM_DMA_CCR_TCIE));
+ ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1), ao_adc_done);
+ ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+
+ stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+}
+
+static void
+ao_adc_dump(void)
+{
+ struct ao_data packet;
+
+ ao_data_get(&packet);
+ AO_ADC_DUMP(&packet);
+}
+
+#if AO_ADC_DEBUG
+static void
+ao_adc_one(void)
+{
+ int ch;
+ uint16_t value;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ch = ao_cmd_lex_i;
+ if (ch < 0 || AO_NUM_ADC <= ch) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+
+ ao_timer_set_adc_interval(0);
+ ao_delay(1);
+
+ printf("At top, data %u isr %04x cr %04x\n", stm_adc.dr, stm_adc.isr, stm_adc.cr);
+
+ if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+ printf("Disabling\n"); flush();
+ stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+ while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+ ;
+ printf("Disabled\n"); flush();
+ }
+
+ /* Turn off everything */
+ stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
+ (1 << STM_ADC_CR_ADSTP) |
+ (1 << STM_ADC_CR_ADSTART) |
+ (1 << STM_ADC_CR_ADEN));
+
+ printf("After disable, ADC status %04x\n", stm_adc.cr);
+
+ /* Configure */
+ stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) | /* analog watchdog channel 0 */
+ (0 << STM_ADC_CFGR1_AWDEN) | /* Disable analog watchdog */
+ (0 << STM_ADC_CFGR1_AWDSGL) | /* analog watchdog on all channels */
+ (0 << STM_ADC_CFGR1_DISCEN) | /* Not discontinuous mode. All channels converted with one trigger */
+ (0 << STM_ADC_CFGR1_AUTOOFF) | /* Leave ADC running */
+ (1 << STM_ADC_CFGR1_WAIT) | /* Wait for data to be read before next conversion */
+ (0 << STM_ADC_CFGR1_CONT) | /* only one set of conversions per trigger */
+ (1 << STM_ADC_CFGR1_OVRMOD) | /* overwrite on overrun */
+ (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) | /* SW trigger */
+ (0 << STM_ADC_CFGR1_ALIGN) | /* Align to LSB */
+ (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) | /* 12 bit resolution */
+ (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) | /* scan 0 .. n */
+ (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
+ (0 << STM_ADC_CFGR1_DMAEN)); /* disable DMA */
+
+ stm_adc.chselr = (1 << ch);
+
+ /* Longest sample time */
+ stm_adc.smpr = STM_ADC_SMPR_SMP_41_5 << STM_ADC_SMPR_SMP;
+
+ printf("Before enable, ADC status %04x\n", stm_adc.cr); flush();
+ /* Enable */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+ while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+ ;
+
+ /* Start */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+
+ /* Wait for conversion complete */
+ while (!(stm_adc.isr & (1 << STM_ADC_ISR_EOC)))
+ ;
+
+ value = stm_adc.dr;
+ printf ("value %u, cr is %04x isr is %04x\n",
+ value, stm_adc.cr, stm_adc.isr);
+
+
+ /* Clear ISR bits */
+ stm_adc.isr = ((1 << STM_ADC_ISR_AWD) |
+ (1 << STM_ADC_ISR_OVR) |
+ (1 << STM_ADC_ISR_EOSEQ) |
+ (1 << STM_ADC_ISR_EOC));
+}
+#endif
+
+__code struct ao_cmds ao_adc_cmds[] = {
+ { ao_adc_dump, "a\0Display current ADC values" },
+#if AO_ADC_DEBUG
+ { ao_adc_one, "A ch\0Display one ADC channel" },
+#endif
+ { 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+ uint32_t chselr;
+
+ /* Reset ADC */
+ stm_rcc.apb2rstr |= (1 << STM_RCC_APB2RSTR_ADCRST);
+ stm_rcc.apb2rstr &= ~(1 << STM_RCC_APB2RSTR_ADCRST);
+
+ /* Turn on ADC pins */
+ stm_rcc.ahbenr |= AO_ADC_RCC_AHBENR;
+
+#ifdef AO_ADC_PIN0_PORT
+ stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN1_PORT
+ stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN2_PORT
+ stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN3_PORT
+ stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN4_PORT
+ stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN5_PORT
+ stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN6_PORT
+ stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN7_PORT
+ stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+ stm_pupdr_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_PUPDR_NONE);
+#endif
+#ifdef AO_ADC_PIN24_PORT
+ #error "Too many ADC ports"
+#endif
+
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
+
+ chselr = 0;
+#if AO_NUM_ADC > 0
+ chselr |= (1 << AO_ADC_PIN0_CH);
+#endif
+#if AO_NUM_ADC > 1
+ chselr |= (1 << AO_ADC_PIN1_CH);
+#endif
+#if AO_NUM_ADC > 2
+ chselr |= (1 << AO_ADC_PIN2_CH);
+#endif
+#if AO_NUM_ADC > 3
+ chselr |= (1 << AO_ADC_PIN3_CH);
+#endif
+#if AO_NUM_ADC > 4
+ chselr |= (1 << AO_ADC_PIN4_CH);
+#endif
+#if AO_NUM_ADC > 5
+ chselr |= (1 << AO_ADC_PIN5_CH);
+#endif
+#if AO_NUM_ADC > 6
+ chselr |= (1 << AO_ADC_PIN6_CH);
+#endif
+#if AO_NUM_ADC > 7
+ chselr |= (1 << AO_ADC_PIN7_CH);
+#endif
+#if AO_NUM_ADC > 8
+#error Need more ADC defines
+#endif
+
+ /* Wait for ADC to be idle */
+ while (stm_adc.cr & ((1 << STM_ADC_CR_ADCAL) |
+ (1 << STM_ADC_CR_ADDIS)))
+ ;
+
+ /* Disable */
+ if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+ stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+ while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+ ;
+ }
+
+ /* Turn off everything */
+ stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
+ (1 << STM_ADC_CR_ADSTP) |
+ (1 << STM_ADC_CR_ADSTART) |
+ (1 << STM_ADC_CR_ADEN));
+
+ /* Configure */
+ stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) | /* analog watchdog channel 0 */
+ (0 << STM_ADC_CFGR1_AWDEN) | /* Disable analog watchdog */
+ (0 << STM_ADC_CFGR1_AWDSGL) | /* analog watchdog on all channels */
+ (0 << STM_ADC_CFGR1_DISCEN) | /* Not discontinuous mode. All channels converted with one trigger */
+ (0 << STM_ADC_CFGR1_AUTOOFF) | /* Leave ADC running */
+ (1 << STM_ADC_CFGR1_WAIT) | /* Wait for data to be read before next conversion */
+ (0 << STM_ADC_CFGR1_CONT) | /* only one set of conversions per trigger */
+ (1 << STM_ADC_CFGR1_OVRMOD) | /* overwrite on overrun */
+ (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) | /* SW trigger */
+ (0 << STM_ADC_CFGR1_ALIGN) | /* Align to LSB */
+ (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) | /* 12 bit resolution */
+ (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) | /* scan 0 .. n */
+ (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
+ (1 << STM_ADC_CFGR1_DMAEN)); /* enable DMA */
+
+ /* Set the clock */
+ stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE;
+
+ /* Shortest sample time */
+ stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP;
+
+ stm_adc.chselr = chselr;
+
+ stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
+ (0 << STM_ADC_CCR_TSEN) |
+ (0 << STM_ADC_CCR_VREFEN));
+
+ /* Calibrate */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADCAL);
+ while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0)
+ ;
+
+ /* Enable */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+ while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+ ;
+
+ /* Clear any stale status bits */
+ stm_adc.isr = 0;
+
+ /* Turn on syscfg */
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
+
+ /* Set ADC to use DMA channel 1 (option 1) */
+ stm_syscfg.cfgr1 &= ~(1 << STM_SYSCFG_CFGR1_ADC_DMA_RMP);
+
+ ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC_1));
+
+ ao_cmd_register(&ao_adc_cmds[0]);
+
+ ao_adc_ready = 1;
+}
--- /dev/null
+/*
+ * Copyright © 2012 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"
+
+#ifndef BEEPER_CHANNEL
+#error BEEPER_CHANNEL undefined
+#endif
+
+void
+ao_beep(uint8_t beep)
+{
+ if (beep == 0) {
+ stm_tim1.cr1 = 0;
+ stm_tim1.bdtr = 0;
+ stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_TIM1EN);
+ } else {
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_TIM1EN);
+
+ /* Master output enable */
+ stm_tim1.bdtr = (1 << STM_TIM1_BDTR_MOE);
+
+ stm_tim1.cr2 = ((0 << STM_TIM1_CR2_TI1S) |
+ (STM_TIM1_CR2_MMS_RESET << STM_TIM1_CR2_MMS) |
+ (0 << STM_TIM1_CR2_CCDS));
+
+ /* Set prescaler to match cc1111 clocks
+ */
+ stm_tim1.psc = AO_TIM_CLK / 750000;
+
+ /* 1. Select the counter clock (internal, external, prescaler).
+ *
+ * Setting SMCR to zero means use the internal clock
+ */
+
+ stm_tim1.smcr = 0;
+
+ /* 2. Write the desired data in the TIMx_ARR and TIMx_CCRx registers. */
+ stm_tim1.arr = beep;
+ stm_tim1.ccr1 = beep;
+
+ /* 3. Set the CCxIE and/or CCxDE bits if an interrupt and/or a
+ * DMA request is to be generated.
+ */
+ /* don't want this */
+
+ /* 4. Select the output mode. For example, you must write
+ * OCxM=011, OCxPE=0, CCxP=0 and CCxE=1 to toggle OCx output
+ * pin when CNT matches CCRx, CCRx preload is not used, OCx
+ * is enabled and active high.
+ */
+
+#if BEEPER_CHANNEL == 1
+ stm_tim1.ccmr1 = ((0 << STM_TIM1_CCMR1_OC2CE) |
+ (STM_TIM1_CCMR1_OCM_FROZEN << STM_TIM1_CCMR1_OC2M) |
+ (0 << STM_TIM1_CCMR1_OC2PE) |
+ (0 << STM_TIM1_CCMR1_OC2FE) |
+ (STM_TIM1_CCMR1_CCS_OUTPUT << STM_TIM1_CCMR1_CC2S) |
+
+ (0 << STM_TIM1_CCMR1_OC1CE) |
+ (STM_TIM1_CCMR1_OCM_TOGGLE << STM_TIM1_CCMR1_OC1M) |
+ (0 << STM_TIM1_CCMR1_OC1PE) |
+ (0 << STM_TIM1_CCMR1_OC1FE) |
+ (STM_TIM1_CCMR1_CCS_OUTPUT << STM_TIM1_CCMR1_CC1S));
+
+ stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4P) |
+ (0 << STM_TIM1_CCER_CC4E) |
+ (0 << STM_TIM1_CCER_CC3NP) |
+ (0 << STM_TIM1_CCER_CC3NE) |
+ (0 << STM_TIM1_CCER_CC3P) |
+ (0 << STM_TIM1_CCER_CC3E) |
+ (0 << STM_TIM1_CCER_CC2NP) |
+ (0 << STM_TIM1_CCER_CC2NE) |
+ (0 << STM_TIM1_CCER_CC2P) |
+ (0 << STM_TIM1_CCER_CC2E) |
+ (0 << STM_TIM1_CCER_CC1NE) |
+ (0 << STM_TIM1_CCER_CC1P) |
+ (1 << STM_TIM1_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 3
+ stm_tim1.ccmr2 = ((0 << STM_TIM1_CCMR2_OC4CE) |
+ (STM_TIM1_CCMR_OCM_FROZEN << STM_TIM1_CCMR2_OC4M) |
+ (0 << STM_TIM1_CCMR2_OC4PE) |
+ (0 << STM_TIM1_CCMR2_OC4FE) |
+ (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR2_CC4S) |
+
+ (0 << STM_TIM1_CCMR2_OC3CE) |
+ (STM_TIM1_CCMR_OCM_TOGGLE << STM_TIM1_CCMR2_OC3M) |
+ (0 << STM_TIM1_CCMR2_OC3PE) |
+ (0 << STM_TIM1_CCMR2_OC3FE) |
+ (STM_TIM1_CCMR_CCS_OUTPUT << STM_TIM1_CCMR2_CC3S));
+
+ stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4P) |
+ (0 << STM_TIM1_CCER_CC4E) |
+ (0 << STM_TIM1_CCER_CC3NP) |
+ (0 << STM_TIM1_CCER_CC3NE) |
+ (0 << STM_TIM1_CCER_CC3P) |
+ (1 << STM_TIM1_CCER_CC3E) |
+ (0 << STM_TIM1_CCER_CC2NP) |
+ (0 << STM_TIM1_CCER_CC2NE) |
+ (0 << STM_TIM1_CCER_CC2P) |
+ (0 << STM_TIM1_CCER_CC2E) |
+ (0 << STM_TIM1_CCER_CC1NE) |
+ (0 << STM_TIM1_CCER_CC1P) |
+ (0 << STM_TIM1_CCER_CC1E));
+#endif
+#if BEEPER_CHANNEL == 4
+ stm_tim1.ccmr2 = ((0 << STM_TIM1_CCMR2_OC4CE) |
+ (STM_TIM1_CCMR2_OC4M_TOGGLE << STM_TIM1_CCMR2_OC4M) |
+ (0 << STM_TIM1_CCMR2_OC4PE) |
+ (0 << STM_TIM1_CCMR2_OC4FE) |
+ (STM_TIM1_CCMR2_CC4S_OUTPUT << STM_TIM1_CCMR2_CC4S) |
+
+ (0 << STM_TIM1_CCMR2_OC3CE) |
+ (STM_TIM1_CCMR2_OC3M_FROZEN << STM_TIM1_CCMR2_OC3M) |
+ (0 << STM_TIM1_CCMR2_OC3PE) |
+ (0 << STM_TIM1_CCMR2_OC3FE) |
+ (STM_TIM1_CCMR2_CC3S_OUTPUT << STM_TIM1_CCMR2_CC3S));
+
+ stm_tim1.ccer = ((0 << STM_TIM1_CCER_CC4NP) |
+ (0 << STM_TIM1_CCER_CC4P) |
+ (1 << STM_TIM1_CCER_CC4E) |
+ (0 << STM_TIM1_CCER_CC3NP) |
+ (0 << STM_TIM1_CCER_CC3P) |
+ (0 << STM_TIM1_CCER_CC3E) |
+ (0 << STM_TIM1_CCER_CC2NP) |
+ (0 << STM_TIM1_CCER_CC2P) |
+ (0 << STM_TIM1_CCER_CC2E) |
+ (0 << STM_TIM1_CCER_CC1NP) |
+ (0 << STM_TIM1_CCER_CC1P) |
+ (0 << STM_TIM1_CCER_CC1E));
+#endif
+ /* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */
+
+ stm_tim1.cr1 = ((STM_TIM1_CR1_CKD_1 << STM_TIM1_CR1_CKD) |
+ (0 << STM_TIM1_CR1_ARPE) |
+ (STM_TIM1_CR1_CMS_EDGE << STM_TIM1_CR1_CMS) |
+ (0 << STM_TIM1_CR1_DIR) |
+ (0 << STM_TIM1_CR1_OPM) |
+ (0 << STM_TIM1_CR1_URS) |
+ (0 << STM_TIM1_CR1_UDIS) |
+ (1 << STM_TIM1_CR1_CEN));
+
+ /* Update the values */
+ stm_tim1.egr = (1 << STM_TIM1_EGR_UG);
+ }
+}
+
+void
+ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant
+{
+ ao_beep(beep);
+ ao_delay(ticks);
+ ao_beep(0);
+}
+
+void
+ao_beep_init(void)
+{
+#if BEEPER_CHANNEL == 3
+ /* Our beeper is on PA10, which is hooked to TIM1_CH3.
+ */
+ ao_enable_port(&stm_gpioa);
+ stm_afr_set(&stm_gpioa, 10, STM_AFR_AF2);
+#else
+#error unknown beeper channel
+#endif
+ /* Leave the timer off until requested */
+
+ stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_TIM1EN);
+}
--- /dev/null
+/*
+ * Copyright © 2012 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>
+
+struct ao_spi_stm_slave_info {
+ uint8_t miso_dma_index;
+ uint8_t mosi_dma_index;
+ struct stm_spi *stm_spi;
+};
+
+static uint8_t ao_spi_slave_mutex[STM_NUM_SPI];
+static uint8_t ao_spi_slave_index[STM_NUM_SPI];
+
+static const struct ao_spi_stm_slave_info ao_spi_stm_slave_info[STM_NUM_SPI] = {
+ {
+ .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_RX),
+ .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX),
+ &stm_spi1
+ },
+ {
+ .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_RX),
+ .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_TX),
+ &stm_spi2
+ }
+};
+
+static uint8_t spi_dev_null;
+
+void
+ao_spi_slave_send(void *block, uint16_t len)
+{
+ struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+ /* Set up the transmit DMA to deliver data */
+ ao_dma_set_transfer(mosi_dma_index,
+ &stm_spi->dr,
+ block,
+ len,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+ (1 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+ /* Clear RXNE */
+ (void) stm_spi->dr;
+
+ /* Set up the receive DMA -- when this is done, we know the SPI unit
+ * is idle. Without this, we'd have to poll waiting for the BSY bit to
+ * be cleared
+ */
+ ao_dma_set_transfer(miso_dma_index,
+ &stm_spi->dr,
+ &spi_dev_null,
+ len,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+ (0 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+ stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+ (0 << STM_SPI_CR2_RXNEIE) |
+ (0 << STM_SPI_CR2_ERRIE) |
+ (0 << STM_SPI_CR2_SSOE) |
+ (1 << STM_SPI_CR2_TXDMAEN) |
+ (1 << STM_SPI_CR2_RXDMAEN));
+ ao_dma_start(miso_dma_index);
+ ao_dma_start(mosi_dma_index);
+ ao_arch_critical(
+ while (!ao_dma_done[miso_dma_index])
+ ao_sleep(&ao_dma_done[miso_dma_index]);
+ );
+ ao_dma_done_transfer(mosi_dma_index);
+ ao_dma_done_transfer(miso_dma_index);
+}
+
+uint8_t
+ao_spi_slave_recv(void *block, uint16_t len)
+{
+ struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+ /* Set up transmit DMA to make the SPI hardware actually run */
+ ao_dma_set_transfer(mosi_dma_index,
+ &stm_spi->dr,
+ &spi_dev_null,
+ len,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+ (0 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+ /* Clear RXNE */
+ (void) stm_spi->dr;
+
+ /* Set up the receive DMA to capture data */
+ ao_dma_set_transfer(miso_dma_index,
+ &stm_spi->dr,
+ block,
+ len,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+ (1 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+
+ stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+ (0 << STM_SPI_CR2_RXNEIE) |
+ (0 << STM_SPI_CR2_ERRIE) |
+ (0 << STM_SPI_CR2_SSOE) |
+ (1 << STM_SPI_CR2_TXDMAEN) |
+ (1 << STM_SPI_CR2_RXDMAEN));
+ ao_dma_start(miso_dma_index);
+ ao_dma_start(mosi_dma_index);
+
+ /* Wait until the SPI unit is done */
+ ao_arch_critical(
+ while (!ao_dma_done[miso_dma_index])
+ ao_sleep(&ao_dma_done[miso_dma_index]);
+ );
+
+ ao_dma_done_transfer(mosi_dma_index);
+ ao_dma_done_transfer(miso_dma_index);
+ return 1;
+}
+
+static void
+ao_spi_slave_disable_index(uint8_t spi_index)
+{
+ /* Disable current config
+ */
+ switch (AO_SPI_INDEX(spi_index)) {
+ case STM_SPI_INDEX(1):
+ switch (spi_index) {
+ case AO_SPI_1_PA5_PA6_PA7:
+ stm_gpio_set(&stm_gpioa, 5, 1);
+ stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
+ break;
+ case AO_SPI_1_PB3_PB4_PB5:
+ stm_gpio_set(&stm_gpiob, 3, 1);
+ stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
+ break;
+ case AO_SPI_1_PE13_PE14_PE15:
+ stm_gpio_set(&stm_gpioe, 13, 1);
+ stm_moder_set(&stm_gpioe, 13, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpioe, 14, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpioe, 15, STM_MODER_OUTPUT);
+ break;
+ }
+ break;
+ case STM_SPI_INDEX(2):
+ switch (spi_index) {
+ case AO_SPI_2_PB13_PB14_PB15:
+ stm_gpio_set(&stm_gpiob, 13, 1);
+ stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
+ break;
+ case AO_SPI_2_PD1_PD3_PD4:
+ stm_gpio_set(&stm_gpiod, 1, 1);
+ stm_moder_set(&stm_gpiod, 1, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpiod, 3, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpiod, 4, STM_MODER_OUTPUT);
+ break;
+ }
+ break;
+ }
+}
+
+static void
+ao_spi_slave_enable_index(uint8_t spi_index)
+{
+ switch (AO_SPI_INDEX(spi_index)) {
+ case STM_SPI_INDEX(1):
+ switch (spi_index) {
+ case AO_SPI_1_PA5_PA6_PA7:
+ stm_afr_set(&stm_gpioa, 5, STM_AFR_AF5);
+ stm_afr_set(&stm_gpioa, 6, STM_AFR_AF5);
+ stm_afr_set(&stm_gpioa, 7, STM_AFR_AF5);
+ break;
+ case AO_SPI_1_PB3_PB4_PB5:
+ stm_afr_set(&stm_gpiob, 3, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiob, 4, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiob, 5, STM_AFR_AF5);
+ break;
+ case AO_SPI_1_PE13_PE14_PE15:
+ stm_afr_set(&stm_gpioe, 13, STM_AFR_AF5);
+ stm_afr_set(&stm_gpioe, 14, STM_AFR_AF5);
+ stm_afr_set(&stm_gpioe, 15, STM_AFR_AF5);
+ break;
+ }
+ break;
+ case STM_SPI_INDEX(2):
+ switch (spi_index) {
+ case AO_SPI_2_PB13_PB14_PB15:
+ stm_afr_set(&stm_gpiob, 13, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiob, 14, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiob, 15, STM_AFR_AF5);
+ break;
+ case AO_SPI_2_PD1_PD3_PD4:
+ stm_afr_set(&stm_gpiod, 1, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiod, 3, STM_AFR_AF5);
+ stm_afr_set(&stm_gpiod, 4, STM_AFR_AF5);
+ break;
+ }
+ break;
+ }
+}
+
+void
+ao_spi_slave_get(uint8_t spi_index, uint32_t speed)
+{
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+ ao_mutex_get(&ao_spi_slave_mutex[id]);
+ stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) | /* Three wire mode */
+ (0 << STM_SPI_CR1_BIDIOE) |
+ (0 << STM_SPI_CR1_CRCEN) | /* CRC disabled */
+ (0 << STM_SPI_CR1_CRCNEXT) |
+ (0 << STM_SPI_CR1_DFF) |
+ (0 << STM_SPI_CR1_RXONLY) |
+ (1 << STM_SPI_CR1_SSM) | /* Software SS handling */
+ (1 << STM_SPI_CR1_SSI) | /* ... */
+ (0 << STM_SPI_CR1_LSBFIRST) | /* Big endian */
+ (1 << STM_SPI_CR1_SPE) | /* Enable SPI unit */
+ (speed << STM_SPI_CR1_BR) | /* baud rate to pclk/4 */
+ (1 << STM_SPI_CR1_MSTR) |
+ (0 << STM_SPI_CR1_CPOL) | /* Format 0 */
+ (0 << STM_SPI_CR1_CPHA));
+ if (spi_index != ao_spi_slave_index[id]) {
+
+ /* Disable old config
+ */
+ ao_spi_slave_disable_index(ao_spi_slave_index[id]);
+
+ /* Enable new config
+ */
+ ao_spi_slave_enable_index(spi_index);
+
+ /* Remember current config
+ */
+ ao_spi_slave_index[id] = spi_index;
+ }
+}
+
+void
+ao_spi_slave_put(uint8_t spi_index)
+{
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+ stm_spi->cr1 = 0;
+ ao_mutex_put(&ao_spi_slave_mutex[id]);
+}
+
+static void
+ao_spi_channel_init(uint8_t spi_index)
+{
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+ ao_spi_slave_disable_index(spi_index);
+
+ stm_spi->cr1 = 0;
+ (void) stm_spi->sr;
+ stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+ (0 << STM_SPI_CR2_RXNEIE) |
+ (0 << STM_SPI_CR2_ERRIE) |
+ (0 << STM_SPI_CR2_SSOE) |
+ (0 << STM_SPI_CR2_TXDMAEN) |
+ (0 << STM_SPI_CR2_RXDMAEN));
+}
+
+void
+ao_spi_slave_init(void)
+{
+#if HAS_SPI_SLAVE_1
+# if SPI_1_PA5_PA6_PA7
+ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+# endif
+# if SPI_1_PB3_PB4_PB5
+ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_1_PE13_PE14_PE15
+ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN);
+# endif
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN);
+ ao_spi_slave_index[0] = AO_SPI_CONFIG_NONE;
+ ao_spi_channel_init(0);
+#endif
+
+#if HAS_SPI_SLAVE_2
+# if SPI_2_PB13_PB14_PB15
+ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_2_PD1_PD3_PD4
+ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN);
+# endif
+ stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN);
+ ao_spi_slave_index[1] = AO_SPI_CONFIG_NONE;
+ ao_spi_channel_init(1);
+#endif
+}
projects / fw / altos / commitdiff