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authorNicolas Schodet2015-06-03 13:46:44 +0200
committerNicolas Schodet2019-10-07 00:44:44 +0200
commit574480980dcffbfa7cd6dbe71e88253eb4c9feba (patch)
tree5f1c1261341a7c2a56de01d8c6d0815b164be8ba /ucoo/hal
parentd415a0646e874848cd06482c5d57916cca5cff4a (diff)
Rename ucoolib modules directory from ucoolib to ucoo
Diffstat (limited to 'ucoo/hal')
-rw-r--r--ucoo/hal/adc/Module1
-rw-r--r--ucoo/hal/adc/adc.hh35
-rw-r--r--ucoo/hal/adc/adc.host.cc92
-rw-r--r--ucoo/hal/adc/adc.host.hh52
-rw-r--r--ucoo/hal/adc/adc_hard.stm32f4.cc69
-rw-r--r--ucoo/hal/adc/adc_hard.stm32f4.hh73
-rw-r--r--ucoo/hal/adc/test/Makefile9
-rw-r--r--ucoo/hal/adc/test/test_adc.cc51
-rw-r--r--ucoo/hal/gpio/Module1
-rw-r--r--ucoo/hal/gpio/gpio.hh35
-rw-r--r--ucoo/hal/gpio/gpio.host.cc181
-rw-r--r--ucoo/hal/gpio/gpio.host.hh69
-rw-r--r--ucoo/hal/gpio/gpio.stm32f4.cc105
-rw-r--r--ucoo/hal/gpio/gpio.stm32f4.hh85
-rw-r--r--ucoo/hal/gpio/test/Makefile9
-rw-r--r--ucoo/hal/gpio/test/test_gpio.cc71
-rw-r--r--ucoo/hal/i2c/Config5
-rw-r--r--ucoo/hal/i2c/Module1
-rw-r--r--ucoo/hal/i2c/i2c.hh36
-rw-r--r--ucoo/hal/i2c/i2c.host.cc213
-rw-r--r--ucoo/hal/i2c/i2c.host.hh66
-rw-r--r--ucoo/hal/i2c/i2c_hard.stm32.cc396
-rw-r--r--ucoo/hal/i2c/i2c_hard.stm32.hh91
-rw-r--r--ucoo/hal/i2c/i2c_slave_data_buffer.cc80
-rw-r--r--ucoo/hal/i2c/i2c_slave_data_buffer.hh71
-rw-r--r--ucoo/hal/i2c/test/Makefile9
-rw-r--r--ucoo/hal/i2c/test/hub.py6
-rw-r--r--ucoo/hal/i2c/test/test_i2c.cc226
-rw-r--r--ucoo/hal/spi/Module1
-rw-r--r--ucoo/hal/spi/spi_soft.cc125
-rw-r--r--ucoo/hal/spi/spi_soft.hh64
-rw-r--r--ucoo/hal/spi/test/Makefile9
-rw-r--r--ucoo/hal/spi/test/test_spi.cc112
-rw-r--r--ucoo/hal/uart/Config6
-rw-r--r--ucoo/hal/uart/Module1
-rw-r--r--ucoo/hal/uart/test/Config4
-rw-r--r--ucoo/hal/uart/test/Makefile12
-rw-r--r--ucoo/hal/uart/test/test_uart.cc70
-rw-r--r--ucoo/hal/uart/test/test_uart_disc.cc128
-rw-r--r--ucoo/hal/uart/uart.hh36
-rw-r--r--ucoo/hal/uart/uart.stm32.cc221
-rw-r--r--ucoo/hal/uart/uart.stm32.hh78
-rw-r--r--ucoo/hal/usb/Config12
-rw-r--r--ucoo/hal/usb/Module1
-rw-r--r--ucoo/hal/usb/test/Config2
-rw-r--r--ucoo/hal/usb/test/Makefile9
-rw-r--r--ucoo/hal/usb/test/test_usb.cc73
-rw-r--r--ucoo/hal/usb/usb.hh33
-rw-r--r--ucoo/hal/usb/usb.stm32.cc160
-rw-r--r--ucoo/hal/usb/usb.stm32.hh98
-rw-r--r--ucoo/hal/usb/usb_desc.stm32.c193
-rw-r--r--ucoo/hal/usb/usb_desc.stm32.h33
52 files changed, 3619 insertions, 0 deletions
diff --git a/ucoo/hal/adc/Module b/ucoo/hal/adc/Module
new file mode 100644
index 0000000..f633ffd
--- /dev/null
+++ b/ucoo/hal/adc/Module
@@ -0,0 +1 @@
+hal_adc_SOURCES = adc.host.cc adc_hard.stm32f4.cc
diff --git a/ucoo/hal/adc/adc.hh b/ucoo/hal/adc/adc.hh
new file mode 100644
index 0000000..b7832c3
--- /dev/null
+++ b/ucoo/hal/adc/adc.hh
@@ -0,0 +1,35 @@
+#ifndef ucoo_hal_adc_adc_hh
+#define ucoo_hal_adc_adc_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#if defined (TARGET_host)
+# include "adc.host.hh"
+#elif defined (TARGET_stm32f4)
+# include "adc_hard.stm32f4.hh"
+#else
+# error "not implemented for this target"
+#endif
+
+#endif // ucoo_hal_adc_adc_hh
diff --git a/ucoo/hal/adc/adc.host.cc b/ucoo/hal/adc/adc.host.cc
new file mode 100644
index 0000000..0dfc01d
--- /dev/null
+++ b/ucoo/hal/adc/adc.host.cc
@@ -0,0 +1,92 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "adc.host.hh"
+
+#include <string>
+
+namespace ucoo {
+
+/// Shared context between instances.
+class AdcHostShared
+{
+ public:
+ /// Constructor, connect to mex node.
+ AdcHostShared (Host &host);
+ /// Register a new instance.
+ void register_instance (Host &host, AdcHost &instance, const char *name);
+ private:
+ /// Handle value from Mex.
+ void handle_adc_channel (mex::Msg &msg);
+ private:
+ Host &host_;
+ typedef std::map<std::string, AdcHost *> Instances;
+ Instances instances_;
+};
+
+AdcHostShared::AdcHostShared (Host &host)
+ : host_ (host)
+{
+ std::string instance = host_.get_instance ();
+ mex::Node &node = host_.get_node ();
+ mex::mtype_t mtype = node.reserve (instance + ":adc_channel");
+ node.handler_register (mtype, *this, &AdcHostShared::handle_adc_channel);
+}
+
+void
+AdcHostShared::register_instance (Host &host, AdcHost &instance,
+ const char *name)
+{
+ assert (&host == &host_);
+ std::pair<Instances::iterator, bool> r =
+ instances_.insert (Instances::value_type (name, &instance));
+ assert (r.second);
+}
+
+void
+AdcHostShared::handle_adc_channel (mex::Msg &msg)
+{
+ int ivalue, namelen;
+ msg.pop ("l") >> ivalue;
+ namelen = msg.len ();
+ std::string name (msg.pop (namelen), namelen);
+ Instances::iterator i = instances_.find (name);
+ assert (i != instances_.end ());
+ double fvalue = ivalue / (double) (1u << 31);
+ i->second->value_ = fvalue * i->second->resolution_;
+}
+
+AdcHostShared *AdcHost::shared_;
+
+AdcHost::AdcHost (Host &host, const char *name, int resolution)
+ : resolution_ (resolution), value_ (0)
+{
+ if (!shared_)
+ {
+ static AdcHostShared shared (host);
+ shared_ = &shared;
+ }
+ shared_->register_instance (host, *this, name);
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/adc/adc.host.hh b/ucoo/hal/adc/adc.host.hh
new file mode 100644
index 0000000..02b7cc9
--- /dev/null
+++ b/ucoo/hal/adc/adc.host.hh
@@ -0,0 +1,52 @@
+#ifndef ucoo_hal_adc_adc_host_hh
+#define ucoo_hal_adc_adc_host_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/adc.hh"
+#include "ucoo/arch/host/host.hh"
+
+namespace ucoo {
+
+class AdcHostShared;
+
+/// Host ADC channel.
+class AdcHost : public Adc
+{
+ public:
+ /// Constructor.
+ AdcHost (Host &host, const char *name, int resolution);
+ /// See Adc::read.
+ int read () { return value_; }
+ /// See Adc::get_resolution.
+ int get_resolution () const { return resolution_; }
+ private:
+ int resolution_;
+ int value_;
+ static AdcHostShared *shared_;
+ friend class AdcHostShared;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_adc_adc_host_hh
diff --git a/ucoo/hal/adc/adc_hard.stm32f4.cc b/ucoo/hal/adc/adc_hard.stm32f4.cc
new file mode 100644
index 0000000..38661e3
--- /dev/null
+++ b/ucoo/hal/adc/adc_hard.stm32f4.cc
@@ -0,0 +1,69 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "adc_hard.stm32f4.hh"
+
+#include <libopencm3/stm32/f4/adc.h>
+#include <libopencm3/stm32/f4/rcc.h>
+
+namespace ucoo {
+
+AdcHard::AdcHard (int n)
+ : n_ (n)
+{
+ static const uint32_t bases[] = { ADC1, ADC2, ADC3 };
+ assert (n < (int) lengthof (bases));
+ base_ = bases[n];
+}
+
+AdcHard::~AdcHard ()
+{
+ disable ();
+}
+
+void
+AdcHard::enable ()
+{
+ rcc_peripheral_enable_clock (&RCC_APB2ENR, RCC_APB2ENR_ADC1EN << n_);
+ ADC_CR2 (base_) = ADC_CR2_ADON;
+}
+
+void
+AdcHard::disable ()
+{
+ ADC_CR2 (base_) = 0;
+ rcc_peripheral_disable_clock (&RCC_APB2ENR, RCC_APB2ENR_ADC1EN << n_);
+}
+
+int
+AdcHard::read (int channel)
+{
+ ADC_SQR3 (base_) = channel;
+ ADC_CR2 (base_) |= ADC_CR2_SWSTART;
+ while (!(ADC_SR (base_) & ADC_SR_EOC))
+ yield ();
+ ADC_SR (base_) = ~ADC_SR_EOC;
+ return ADC_DR (base_);
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/adc/adc_hard.stm32f4.hh b/ucoo/hal/adc/adc_hard.stm32f4.hh
new file mode 100644
index 0000000..7ab0d7f
--- /dev/null
+++ b/ucoo/hal/adc/adc_hard.stm32f4.hh
@@ -0,0 +1,73 @@
+#ifndef ucoo_hal_adc_adc_hard_stm32f4_hh
+#define ucoo_hal_adc_adc_hard_stm32f4_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/adc.hh"
+#include "ucoo/common.hh"
+
+namespace ucoo {
+
+/// ADC interface. This control a full ADC, use AdcHardChannel for a single
+/// channel.
+class AdcHard
+{
+ public:
+ static const int resolution = 1 << 12;
+ public:
+ /// Constructor for the Nth ADC.
+ AdcHard (int n);
+ /// Shutdown.
+ ~AdcHard ();
+ /// Enable, power on.
+ void enable ();
+ /// Disable.
+ void disable ();
+ /// Make a single measure.
+ int read (int channel);
+ private:
+ /// ADC index.
+ int n_;
+ /// ADC base address.
+ uint32_t base_;
+};
+
+/// Single ADC channel.
+class AdcHardChannel : public Adc
+{
+ public:
+ /// Constructor.
+ AdcHardChannel (AdcHard &adc, int channel)
+ : adc_ (adc), channel_ (channel) { }
+ /// See Adc::read.
+ int read () { return adc_.read (channel_); }
+ /// See Adc::get_resolution.
+ int get_resolution () const { return AdcHard::resolution; }
+ private:
+ AdcHard &adc_;
+ int channel_;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_adc_adc_hard_stm32f4_hh
diff --git a/ucoo/hal/adc/test/Makefile b/ucoo/hal/adc/test/Makefile
new file mode 100644
index 0000000..fc46e0d
--- /dev/null
+++ b/ucoo/hal/adc/test/Makefile
@@ -0,0 +1,9 @@
+BASE = ../../../..
+
+TARGETS = stm32f4
+stm32f4_PROGS = test_adc
+test_adc_SOURCES = test_adc.cc
+
+MODULES = hal/adc base/test hal/usb utils
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/adc/test/test_adc.cc b/ucoo/hal/adc/test/test_adc.cc
new file mode 100644
index 0000000..eaaf44e
--- /dev/null
+++ b/ucoo/hal/adc/test/test_adc.cc
@@ -0,0 +1,51 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/adc/adc.hh"
+
+#include "ucoo/arch/arch.hh"
+#include "ucoo/base/test/test.hh"
+#include "ucoo/utils/delay.hh"
+
+#include <libopencm3/stm32/f4/adc.h>
+#include "ucoo/hal/gpio/gpio.hh"
+
+#include <cstdio>
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ ucoo::test_stream_setup ();
+ // Have fun with temperature sensor.
+ ucoo::AdcHard adc (0);
+ adc.enable ();
+ ADC_CCR = ADC_CCR_TSVREFE;
+ ucoo::AdcHardChannel c (adc, 16);
+ while (1)
+ {
+ int r = c.read ();
+ std::printf ("ADC = %d\n", r);
+ ucoo::delay (0.5);
+ }
+}
diff --git a/ucoo/hal/gpio/Module b/ucoo/hal/gpio/Module
new file mode 100644
index 0000000..8f2ba40
--- /dev/null
+++ b/ucoo/hal/gpio/Module
@@ -0,0 +1 @@
+hal_gpio_SOURCES = gpio.host.cc gpio.stm32f4.cc
diff --git a/ucoo/hal/gpio/gpio.hh b/ucoo/hal/gpio/gpio.hh
new file mode 100644
index 0000000..86a6c91
--- /dev/null
+++ b/ucoo/hal/gpio/gpio.hh
@@ -0,0 +1,35 @@
+#ifndef ucoo_hal_gpio_gpio_hh
+#define ucoo_hal_gpio_gpio_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#if defined (TARGET_host)
+# include "gpio.host.hh"
+#elif defined TARGET_stm32f4
+# include "gpio.stm32f4.hh"
+#else
+# error "not implemented for this target"
+#endif
+
+#endif // ucoo_hal_gpio_gpio_hh
diff --git a/ucoo/hal/gpio/gpio.host.cc b/ucoo/hal/gpio/gpio.host.cc
new file mode 100644
index 0000000..ca9065b
--- /dev/null
+++ b/ucoo/hal/gpio/gpio.host.cc
@@ -0,0 +1,181 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "gpio.host.hh"
+
+#include <cstring>
+
+namespace ucoo {
+
+/// Shared context between instances.
+class GpioShared
+{
+ public:
+ /// Constructor, connect to mex node.
+ GpioShared (Host &host);
+ /// Register a new GPIO.
+ void register_instance (Host &host, Gpio &instance);
+ /// Set output state.
+ void set (Gpio &instance, bool state);
+ /// Set direction.
+ void output (Gpio &instance, bool output);
+ private:
+ /// Send state change message.
+ void send (Gpio &instance);
+ /// Handle input value from Mex.
+ void handle_gpio_input (mex::Msg &msg);
+ private:
+ Host &host_;
+ mex::Node &node_;
+ mex::mtype_t gpio_output_mtype_, gpio_input_mtype_;
+ typedef std::map<std::string, Gpio *> Instances;
+ Instances instances_;
+};
+
+GpioShared::GpioShared (Host &host)
+ : host_ (host), node_ (host.get_node ())
+{
+ std::string instance = host_.get_instance ();
+ gpio_output_mtype_ = node_.reserve (instance + ":gpio_out");
+ gpio_input_mtype_ = node_.reserve (instance + ":gpio_in");
+ node_.handler_register (gpio_input_mtype_, *this,
+ &GpioShared::handle_gpio_input);
+}
+
+void
+GpioShared::register_instance (Host &host, Gpio &instance)
+{
+ assert (&host == &host_);
+ std::pair<Instances::iterator, bool> r =
+ instances_.insert (Instances::value_type (instance.name_, &instance));
+ assert (r.second);
+}
+
+void
+GpioShared::set (Gpio &instance, bool state)
+{
+ if (state != instance.output_)
+ {
+ instance.output_ = state;
+ send (instance);
+ }
+}
+
+void
+GpioShared::output (Gpio &instance, bool output)
+{
+ if (output != instance.direction_output_)
+ {
+ instance.direction_output_ = output;
+ send (instance);
+ }
+}
+
+void
+GpioShared::send (Gpio &instance)
+{
+ mex::Msg msg (gpio_output_mtype_);
+ msg.push ("BB") << instance.direction_output_ << instance.output_;
+ msg.push (instance.name_, std::strlen (instance.name_));
+ node_.send (msg);
+}
+
+void
+GpioShared::handle_gpio_input (mex::Msg &msg)
+{
+ int input, namelen;
+ msg.pop ("B") >> input;
+ namelen = msg.len ();
+ std::string name (msg.pop (namelen), namelen);
+ Instances::iterator i = instances_.find (name);
+ assert (i != instances_.end ());
+ i->second->input_ = input;
+}
+
+GpioShared *Gpio::shared_;
+
+Gpio::Gpio (Host &host, const char *name)
+ : name_ (name), input_ (false), output_ (false), direction_output_ (false)
+{
+ if (!shared_)
+ {
+ static GpioShared shared (host);
+ shared_ = &shared;
+ }
+ shared_->register_instance (host, *this);
+}
+
+Gpio::Gpio ()
+ : name_ (0), input_ (false), output_ (false), direction_output_ (false)
+{
+}
+
+void
+Gpio::set ()
+{
+ if (name_)
+ shared_->set (*this, true);
+}
+
+void
+Gpio::reset ()
+{
+ if (name_)
+ shared_->set (*this, false);
+}
+
+void
+Gpio::set (bool state)
+{
+ if (name_)
+ shared_->set (*this, state);
+}
+
+void
+Gpio::toggle ()
+{
+ if (name_)
+ shared_->set (*this, !output_);
+}
+
+bool
+Gpio::get () const
+{
+ return input_;
+}
+
+void
+Gpio::input ()
+{
+ if (name_)
+ shared_->output (*this, false);
+}
+
+void
+Gpio::output ()
+{
+ if (name_)
+ shared_->output (*this, true);
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/gpio/gpio.host.hh b/ucoo/hal/gpio/gpio.host.hh
new file mode 100644
index 0000000..fcd0cbf
--- /dev/null
+++ b/ucoo/hal/gpio/gpio.host.hh
@@ -0,0 +1,69 @@
+#ifndef ucoo_hal_gpio_gpio_host_hh
+#define ucoo_hal_gpio_gpio_host_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/io.hh"
+#include "ucoo/arch/host/host.hh"
+
+namespace ucoo {
+
+class GpioShared;
+
+/// General purpose input/output on host.
+class Gpio : public Io
+{
+ public:
+ /// Initialise GPIO.
+ Gpio (Host &host, const char *name);
+ /// Initialise GPIO, with no mex support.
+ Gpio ();
+ /// See Io::set.
+ void set ();
+ /// See Io::reset.
+ void reset ();
+ /// See Io::set.
+ void set (bool state);
+ /// See Io::toggle.
+ void toggle ();
+ /// See Io::get.
+ bool get () const;
+ /// See Io::input.
+ void input ();
+ /// See Io::output.
+ void output ();
+ private:
+ /// Name.
+ const char *name_;
+ /// Current input/output states.
+ bool input_, output_;
+ /// Current direction, true for output.
+ bool direction_output_;
+ /// Shared context.
+ static GpioShared *shared_;
+ friend class GpioShared;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_gpio_gpio_host_hh
diff --git a/ucoo/hal/gpio/gpio.stm32f4.cc b/ucoo/hal/gpio/gpio.stm32f4.cc
new file mode 100644
index 0000000..1b46fd5
--- /dev/null
+++ b/ucoo/hal/gpio/gpio.stm32f4.cc
@@ -0,0 +1,105 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "gpio.stm32f4.hh"
+
+namespace ucoo {
+
+void
+Gpio::set ()
+{
+ GPIO_BSRR (port_) = mask_;
+}
+
+void
+Gpio::reset ()
+{
+ GPIO_BSRR (port_) = mask_ << 16;
+}
+
+/// Helper to avoid virtual dance.
+static inline void
+Gpio_set (uint32_t port, uint16_t mask, bool state)
+{
+ if (state)
+ GPIO_BSRR (port) = mask;
+ else
+ GPIO_BSRR (port) = mask << 16;
+}
+
+void
+Gpio::set (bool state)
+{
+ Gpio_set (port_, mask_, state);
+}
+
+void
+Gpio::toggle ()
+{
+ // Avoid read/modify/write ODR, to achieve atomic operation.
+ Gpio_set (port_, mask_, !(GPIO_ODR (port_) & mask_));
+}
+
+bool
+Gpio::get () const
+{
+ return GPIO_IDR (port_) & mask_;
+}
+
+/// Set two bits in a register for the corresponding one-bit mask.
+static uint32_t
+dmask_set (uint32_t mask, uint32_t reg, uint32_t bits)
+{
+ uint32_t dmask = mask * mask;
+ reg &= ~(dmask | dmask << 1);
+ reg |= bits * dmask;
+ return reg;
+}
+
+void
+Gpio::input ()
+{
+ GPIO_MODER (port_) = dmask_set (mask_, GPIO_MODER (port_),
+ GPIO_MODE_INPUT);
+}
+
+void
+Gpio::output ()
+{
+ GPIO_MODER (port_) = dmask_set (mask_, GPIO_MODER (port_),
+ GPIO_MODE_OUTPUT);
+}
+
+void
+Gpio::pull (Pull dir)
+{
+ GPIO_PUPDR (port_) = dmask_set (mask_, GPIO_PUPDR (port_), dir);
+}
+
+void
+Gpio::speed (Speed s)
+{
+ GPIO_OSPEEDR (port_) = dmask_set (mask_, GPIO_OSPEEDR (port_), s);
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/gpio/gpio.stm32f4.hh b/ucoo/hal/gpio/gpio.stm32f4.hh
new file mode 100644
index 0000000..b2dfb16
--- /dev/null
+++ b/ucoo/hal/gpio/gpio.stm32f4.hh
@@ -0,0 +1,85 @@
+#ifndef ucoo_hal_gpio_gpio_stm32f4_hh
+#define ucoo_hal_gpio_gpio_stm32f4_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/io.hh"
+
+#include <libopencm3/stm32/f4/gpio.h>
+
+namespace ucoo {
+
+/// General purpose input/output on STM32F4.
+class Gpio : public Io
+{
+ public:
+ enum Pull
+ {
+ PULL_NONE = GPIO_PUPD_NONE,
+ PULL_UP = GPIO_PUPD_PULLUP,
+ PULL_DOWN = GPIO_PUPD_PULLDOWN,
+ };
+ enum Speed
+ {
+ SPEED_2MHZ = GPIO_OSPEED_2MHZ,
+ SPEED_25MHZ = GPIO_OSPEED_25MHZ,
+ SPEED_50MHZ = GPIO_OSPEED_50MHZ,
+ SPEED_100MHZ = GPIO_OSPEED_100MHZ,
+ };
+ public:
+ /// Constructor, take the PORT base address, and pin BIT number.
+ Gpio (uint32_t port, int bit);
+ /// See Io::set.
+ void set ();
+ /// See Io::reset.
+ void reset ();
+ /// See Io::set.
+ void set (bool state);
+ /// See Io::toggle.
+ void toggle ();
+ /// See Io::get.
+ bool get () const;
+ /// See Io::input.
+ void input ();
+ /// See Io::output.
+ void output ();
+ /// Set pull-up or pull-down.
+ void pull (Pull dir);
+ /// Set output speed.
+ void speed (Speed s);
+ private:
+ /// Port register base address.
+ const uint32_t port_;
+ /// IO bitmask.
+ const uint16_t mask_;
+};
+
+inline
+Gpio::Gpio (uint32_t port, int bit)
+ : port_ (port), mask_ (1u << bit)
+{
+}
+
+} // namespace ucoo
+
+#endif // ucoo_hal_gpio_gpio_stm32f4_hh
diff --git a/ucoo/hal/gpio/test/Makefile b/ucoo/hal/gpio/test/Makefile
new file mode 100644
index 0000000..e2f7692
--- /dev/null
+++ b/ucoo/hal/gpio/test/Makefile
@@ -0,0 +1,9 @@
+BASE = ../../../..
+
+TARGETS = stm32f4
+stm32f4_PROGS = test_gpio
+test_gpio_SOURCES = test_gpio.cc
+
+MODULES = hal/gpio utils
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/gpio/test/test_gpio.cc b/ucoo/hal/gpio/test/test_gpio.cc
new file mode 100644
index 0000000..a953505
--- /dev/null
+++ b/ucoo/hal/gpio/test/test_gpio.cc
@@ -0,0 +1,71 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/arch/arch.hh"
+#include "ucoo/hal/gpio/gpio.hh"
+#include "ucoo/utils/delay.hh"
+
+#include <libopencm3/stm32/f4/rcc.h>
+
+void
+test (ucoo::Io &loop_out, ucoo::Io &loop_in, ucoo::Io &led3, ucoo::Io &led4,
+ ucoo::Io &led5, ucoo::Io &led6)
+{
+ loop_in.input ();
+ loop_out.output ();
+ led3.output ();
+ led4.output ();
+ led5.output ();
+ led6.output ();
+ led3.set ();
+ led6.reset ();
+ bool state = false;
+ while (1)
+ {
+ led3.toggle ();
+ led4.set (state);
+ led5.set (loop_in.get ());
+ led6.toggle ();
+ state = !state;
+ loop_out.set (state);
+ ucoo::delay (1);
+ }
+}
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN
+ | RCC_AHB1ENR_IOPDEN);
+ // For this test, shorten B6 & B7 to have loopback.
+ gpio_mode_setup (GPIOB, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO7);
+ ucoo::Gpio loop_out (GPIOB, 6);
+ ucoo::Gpio loop_in (GPIOB, 7);
+ ucoo::Gpio led3 (GPIOD, 13);
+ ucoo::Gpio led4 (GPIOD, 12);
+ ucoo::Gpio led5 (GPIOD, 14);
+ ucoo::Gpio led6 (GPIOD, 15);
+ test (loop_out, loop_in, led3, led4, led5, led6);
+ return 0;
+}
diff --git a/ucoo/hal/i2c/Config b/ucoo/hal/i2c/Config
new file mode 100644
index 0000000..3871f5c
--- /dev/null
+++ b/ucoo/hal/i2c/Config
@@ -0,0 +1,5 @@
+[hal/i2c]
+# Size of slave buffer, used for both reception and transmission.
+slave_buffer_size = 64
+# Activate debug trace.
+trace = false
diff --git a/ucoo/hal/i2c/Module b/ucoo/hal/i2c/Module
new file mode 100644
index 0000000..ae93f22
--- /dev/null
+++ b/ucoo/hal/i2c/Module
@@ -0,0 +1 @@
+hal_i2c_SOURCES := i2c.host.cc i2c_slave_data_buffer.cc i2c_hard.stm32.cc
diff --git a/ucoo/hal/i2c/i2c.hh b/ucoo/hal/i2c/i2c.hh
new file mode 100644
index 0000000..2c06085
--- /dev/null
+++ b/ucoo/hal/i2c/i2c.hh
@@ -0,0 +1,36 @@
+#ifndef ucoo_hal_i2c_i2c_hh
+#define ucoo_hal_i2c_i2c_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#if defined (TARGET_host)
+# include "i2c.host.hh"
+#elif defined (TARGET_stm32)
+# include "i2c_hard.stm32.hh"
+#else
+# error "not implemented for this target"
+#endif
+#include "i2c_slave_data_buffer.hh"
+
+#endif // ucoo_hal_i2c_i2c_hh
diff --git a/ucoo/hal/i2c/i2c.host.cc b/ucoo/hal/i2c/i2c.host.cc
new file mode 100644
index 0000000..4a2553b
--- /dev/null
+++ b/ucoo/hal/i2c/i2c.host.cc
@@ -0,0 +1,213 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "i2c.host.hh"
+
+#include "config/hal/i2c.hh"
+
+namespace ucoo {
+
+/// Shared context between instances.
+class I2cHostShared
+{
+ public:
+ /// Constructor, connect to mex node.
+ I2cHostShared (Host &host);
+ /// Register a new driver instance.
+ void register_instance (Host &host, I2cHost &instance);
+ /// Send message, return new master status.
+ int send (uint8_t addr, const char *buf, int count);
+ /// Receive message, return new master status.
+ int recv (uint8_t addr, char *buf, int count);
+ /// Handle read requests from master.
+ void handle_read (mex::Msg &msg);
+ /// Handle write requests from master.
+ void handle_write (mex::Msg &msg);
+ private:
+ Host &host_;
+ mex::Node &node_;
+ mex::mtype_t read_mtype_, write_mtype_;
+ typedef std::list<I2cHost *> Instances;
+ Instances instances_;
+};
+
+I2cHostShared::I2cHostShared (Host &host)
+ : host_ (host), node_ (host.get_node ())
+{
+ std::string instance = host_.get_instance (1);
+ read_mtype_ = node_.reserve (instance + ":read");
+ write_mtype_ = node_.reserve (instance + ":write");
+ node_.handler_register (read_mtype_, *this, &I2cHostShared::handle_read);
+ node_.handler_register (write_mtype_, *this, &I2cHostShared::handle_write);
+}
+
+void
+I2cHostShared::register_instance (Host &host, I2cHost &instance)
+{
+ assert (&host == &host_);
+ instances_.push_back (&instance);
+}
+
+int
+I2cHostShared::send (uint8_t addr, const char *buf, int count)
+{
+ // Test for this slave in the same program.
+ for (Instances::const_iterator i = instances_.begin ();
+ i != instances_.end (); ++i)
+ {
+ if (addr == (*i)->slave_addr_)
+ {
+ assert (count <= UCOO_CONFIG_HAL_I2C_SLAVE_BUFFER_SIZE);
+ (*i)->slave_data_handler_->to_recv (buf, count);
+ return count;
+ }
+ }
+ // Else, send message.
+ mex::Msg msg (write_mtype_);
+ msg.push ("B") << addr;
+ msg.push (buf, count);
+ node_.send (msg);
+ return count;
+}
+
+int
+I2cHostShared::recv (uint8_t addr, char *buf, int count)
+{
+ // Test for this slave in the same program.
+ for (Instances::const_iterator i = instances_.begin ();
+ i != instances_.end (); ++i)
+ {
+ if (addr == (*i)->slave_addr_)
+ {
+ assert (count <= UCOO_CONFIG_HAL_I2C_SLAVE_BUFFER_SIZE);
+ return (*i)->slave_data_handler_->to_send (buf, count);
+ }
+ }
+ // Else, send request and wait for response.
+ mex::Msg msg (read_mtype_);
+ msg.push ("BB") << addr << count;
+ std::auto_ptr<mex::Msg> rsp = node_.request (msg);
+ int rcount = rsp->len ();
+ assert (rcount <= count);
+ const char *rbuf = rsp->pop (rcount);
+ std::copy (rbuf, rbuf + rcount, buf);
+ return rcount;
+}
+
+void
+I2cHostShared::handle_read (mex::Msg &msg)
+{
+ uint8_t addr;
+ int size;
+ msg.pop ("BB") >> addr >> size;
+ for (Instances::const_iterator i = instances_.begin ();
+ i != instances_.end (); ++i)
+ {
+ if (addr == (*i)->slave_addr_)
+ {
+ assert (size <= UCOO_CONFIG_HAL_I2C_SLAVE_BUFFER_SIZE);
+ char buf[size];
+ int n = (*i)->slave_data_handler_->to_send (buf, size);
+ mex::Msg rsp (read_mtype_);
+ rsp.push (buf, n);
+ node_.response (rsp);
+ break;
+ }
+ }
+}
+
+void
+I2cHostShared::handle_write (mex::Msg &msg)
+{
+ uint8_t addr;
+ msg.pop ("B") >> addr;
+ for (Instances::const_iterator i = instances_.begin ();
+ i != instances_.end (); ++i)
+ {
+ if (addr == (*i)->slave_addr_)
+ {
+ int size = msg.len ();
+ assert (size <= UCOO_CONFIG_HAL_I2C_SLAVE_BUFFER_SIZE);
+ (*i)->slave_data_handler_->to_recv (msg.pop (size), size);
+ break;
+ }
+ }
+}
+
+I2cHostShared *I2cHost::shared_;
+
+I2cHost::I2cHost (Host &host, int n)
+ : n_ (n), slave_addr_ (0), slave_data_handler_ (0),
+ master_status_ (STATUS_ERROR)
+{
+ if (!shared_)
+ {
+ static I2cHostShared shared (host);
+ shared_ = &shared;
+ }
+ shared_->register_instance (host, *this);
+ // n is not used, there is no support for several buses in the MEX
+ // messages at the moment.
+}
+
+void
+I2cHost::send (uint8_t addr, const char *buf, int count)
+{
+ // Update status, there is no background task.
+ master_status_ = shared_->send (addr, buf, count);
+ // If needed, call callback.
+ if (finished_handler_)
+ finished_handler_->finished (master_status_);
+}
+
+void
+I2cHost::recv (uint8_t addr, char *buf, int count)
+{
+ // Update status, there is no background task.
+ master_status_ = shared_->recv (addr, buf, count);
+ // If needed, call callback.
+ if (finished_handler_)
+ finished_handler_->finished (master_status_);
+}
+
+int
+I2cHost::status ()
+{
+ return master_status_;
+}
+
+int
+I2cHost::wait ()
+{
+ // Transfers are immediate.
+ return status ();
+}
+
+void
+I2cHost::register_data (uint8_t addr, DataHandler &data_handler)
+{
+ slave_addr_ = addr;
+ slave_data_handler_ = &data_handler;
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/i2c/i2c.host.hh b/ucoo/hal/i2c/i2c.host.hh
new file mode 100644
index 0000000..c0bb7f9
--- /dev/null
+++ b/ucoo/hal/i2c/i2c.host.hh
@@ -0,0 +1,66 @@
+#ifndef ucoo_hal_i2c_i2c_host_hh
+#define ucoo_hal_i2c_i2c_host_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/i2c.hh"
+#include "ucoo/arch/host/host.hh"
+
+namespace ucoo {
+
+class I2cHostShared;
+
+/// I2C interface, host version.
+class I2cHost : public I2c
+{
+ public:
+ /// Initialise the Nth I2C.
+ I2cHost (Host &host, int n);
+ /// See I2cMaster::send.
+ void send (uint8_t addr, const char *buf, int count);
+ /// See I2cMaster::recv.
+ void recv (uint8_t addr, char *buf, int count);
+ /// See I2cMaster::status.
+ int status ();
+ /// See I2cMaster::wait.
+ int wait ();
+ /// See I2cSlave::register_data.
+ void register_data (uint8_t addr, DataHandler &data_handler);
+ private:
+ /// I2C number.
+ int n_;
+ /// Slave address.
+ uint8_t slave_addr_;
+ /// Handler called to source or sink data for slave exchanges.
+ DataHandler *slave_data_handler_;
+ /// Current master transfer status.
+ int master_status_;
+ /// Shared context.
+ static I2cHostShared *shared_;
+ friend class I2cHostShared;
+};
+
+} // namespace ucoo
+
+
+#endif // ucoo_hal_i2c_i2c_host_hh
diff --git a/ucoo/hal/i2c/i2c_hard.stm32.cc b/ucoo/hal/i2c/i2c_hard.stm32.cc
new file mode 100644
index 0000000..8122d15
--- /dev/null
+++ b/ucoo/hal/i2c/i2c_hard.stm32.cc
@@ -0,0 +1,396 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "i2c_hard.stm32.hh"
+
+#include <libopencm3/stm32/i2c.h>
+#include <libopencm3/stm32/f4/rcc.h>
+#include <libopencm3/cm3/nvic.h>
+
+#include "ucoo/utils/trace.hh"
+
+namespace ucoo {
+
+/// Local trace.
+static Trace<UCOO_CONFIG_HAL_I2C_TRACE> i2c_trace;
+
+static const int i2c_nb = 3;
+
+/// Information on I2C hardware structure.
+struct i2c_hardware_t
+{
+ /// I2C base address.
+ uint32_t base;
+ /// RCC enable bit.
+ uint32_t rcc_en;
+ /// Corresponding event IRQ (error IRQ is next one).
+ int ev_irq;
+};
+
+/// Information on I2C hardware array, this is zero indexed, I2C1 is at index
+/// 0.
+static const i2c_hardware_t i2c_hardware[i2c_nb] =
+{
+ { I2C1_BASE, RCC_APB1ENR_I2C1EN, NVIC_I2C1_EV_IRQ },
+ { I2C2_BASE, RCC_APB1ENR_I2C2EN, NVIC_I2C2_EV_IRQ },
+ { I2C3_BASE, RCC_APB1ENR_I2C3EN, NVIC_I2C3_EV_IRQ },
+};
+
+static I2cHard *i2c_instances[i2c_nb];
+
+} // namespace ucoo
+
+extern "C" {
+
+void i2c1_ev_isr () { ucoo::I2cHard::ev_isr (0); }
+
+void i2c1_er_isr () { ucoo::I2cHard::er_isr (0); }
+
+void i2c2_ev_isr () { ucoo::I2cHard::ev_isr (1); }
+
+void i2c2_er_isr () { ucoo::I2cHard::er_isr (1); }
+
+void i2c3_ev_isr () { ucoo::I2cHard::ev_isr (2); }
+
+void i2c3_er_isr () { ucoo::I2cHard::er_isr (2); }
+
+}
+
+namespace ucoo {
+
+I2cHard::I2cHard (int n)
+ : n_ (n), enabled_ (false), slave_addr_ (0), slave_data_handler_ (0),
+ master_ (false), master_status_ (STATUS_ERROR), master_buf_ (0)
+{
+ assert (n < i2c_nb);
+ assert (!i2c_instances[n]);
+ i2c_instances[n] = this;
+}
+
+I2cHard::~I2cHard ()
+{
+ disable ();
+ i2c_instances[n_] = 0;
+}
+
+void
+I2cHard::enable (int speed)
+{
+ enabled_ = true;
+ uint32_t base = i2c_hardware[n_].base;
+ // Turn on.
+ rcc_peripheral_enable_clock (&RCC_APB1ENR, i2c_hardware[n_].rcc_en);
+ // Reset.
+ I2C_CR1 (base) = I2C_CR1_SWRST;
+ // TODO: make sure the bus is free!!! How!
+ I2C_CR1 (base) = 0;
+ // Compute clock parameters.
+ int pclk = rcc_ppre1_frequency;
+ int pclk_mhz = pclk / 1000000;
+ uint16_t ccr, tris;
+ if (speed <= 100000)
+ {
+ ccr = pclk / speed / 2;
+ tris = pclk_mhz + 1;
+ }
+ else
+ {
+ assert (speed <= 400000);
+ ccr = I2C_CCR_FS | I2C_CCR_DUTY | (pclk / speed / 25);
+ tris = pclk_mhz * 3 / 10 + 1;
+ }
+ // Set all parameters.
+ I2C_CCR (base) = ccr;
+ I2C_TRISE (base) = tris;
+ I2C_OAR1 (base) = slave_addr_ | (1 << 14);
+ I2C_OAR2 (base) = 0;
+ I2C_CR2 (base) = I2C_CR2_ITEVTEN | I2C_CR2_ITERREN | pclk_mhz;
+ // Enable.
+ nvic_enable_irq (i2c_hardware[n_].ev_irq);
+ nvic_enable_irq (i2c_hardware[n_].ev_irq + 1);
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_PE;
+
+}
+
+void
+I2cHard::disable ()
+{
+ if (enabled_)
+ {
+ enabled_ = false;
+ uint32_t base = i2c_hardware[n_].base;
+ // TODO: wait for end of transfer?
+ // Disable.
+ nvic_disable_irq (i2c_hardware[n_].ev_irq);
+ nvic_disable_irq (i2c_hardware[n_].ev_irq + 1);
+ I2C_CR1 (base) = 0;
+ // Turn off.
+ rcc_peripheral_disable_clock (&RCC_APB1ENR,
+ i2c_hardware[n_].rcc_en);
+ }
+}
+
+void
+I2cHard::transfer (uint8_t addr, char *buf, int count)
+{
+ assert (enabled_ && count);
+ // No need to lock, master is not busy.
+ assert (master_status_ != STATUS_BUSY);
+ uint32_t base = i2c_hardware[n_].base;
+ // Wait until STOP condition terminated, polling is the only way.
+ while (I2C_CR1 (base) & I2C_CR1_STOP)
+ barrier ();
+ // Now, program next transfer.
+ master_status_ = STATUS_BUSY;
+ master_slave_addr_ = addr;
+ master_buf_ = buf;
+ master_count_ = count;
+ // TODO: multimaster: about ACK, may have to lock IRQ for multimaster.
+ I2C_CR1 (base) |= I2C_CR1_START;
+}
+
+void
+I2cHard::send (uint8_t addr, const char *buf, int count)
+{
+ transfer (addr, const_cast<char *> (buf), count);
+}
+
+void
+I2cHard::recv (uint8_t addr, char *buf, int count)
+{
+ assert (count >= 2); // TODO: count = 1 not supported, there is no IT!
+ // LSB = 1 for receiver mode.
+ transfer (addr | 1, buf, count);
+}
+
+int
+I2cHard::status ()
+{
+ return master_status_;
+}
+
+int
+I2cHard::wait ()
+{
+ while (master_status_ == STATUS_BUSY)
+ barrier ();
+ return master_status_;
+}
+
+void
+I2cHard::register_data (uint8_t addr, DataHandler &data_handler)
+{
+ assert ((addr & 1) == 0);
+ slave_addr_ = addr;
+ slave_data_handler_ = &data_handler;
+ if (enabled_)
+ {
+ uint32_t base = i2c_hardware[n_].base;
+ // Just in case a transfer is triggered right now.
+ barrier ();
+ // According to datasheet, bit 14 should be 1!
+ I2C_OAR1 (base) = addr | (1 << 14);
+ }
+}
+
+void
+I2cHard::ev_isr (int n)
+{
+ uint32_t base = i2c_hardware[n].base;
+ assert (i2c_instances[n]);
+ I2cHard &i2c = *i2c_instances[n];
+ i2c_trace ("<%d> event isr", n);
+ while (1)
+ {
+ uint16_t sr1 = I2C_SR1 (base);
+ i2c_trace ("<%d> sr1=%04x", n, sr1);
+ // Can not read SR2 because doing so would clear the ADDR bit.
+ if (i2c.master_)
+ {
+ if (sr1 & I2C_SR1_ADDR)
+ {
+ uint16_t sr2;
+ // If only one or two bytes should be received, disable ACK
+ // before reading SR2, and STOP after... Crappy hardware!
+ if ((i2c.master_slave_addr_ & 1) && i2c.buf_count_ == 1)
+ {
+ I2C_CR1 (base) = I2C_CR1_PE;
+ sr2 = I2C_SR2 (base);
+ I2C_CR1 (base) = I2C_CR1_STOP | I2C_CR1_PE;
+ // TODO: what to wait now? Unsupported for now.
+ }
+ else if ((i2c.master_slave_addr_ & 1) && i2c.buf_count_ == 2)
+ {
+ I2C_CR1 (base) = I2C_CR1_POS | I2C_CR1_PE;
+ sr2 = I2C_SR2 (base);
+ // Wait for BTF.
+ }
+ else
+ {
+ sr2 = I2C_SR2 (base);
+ I2C_CR2 (base) |= I2C_CR2_ITBUFEN;
+ }
+ i2c_trace ("<%d> master sr2=%04x", n, sr2);
+ }
+ else if (sr1 & I2C_SR1_TxE
+ && i2c.buf_index_ < i2c.buf_count_)
+ {
+ i2c_trace ("<%d> master tx index=%d", n, i2c.buf_index_);
+ // Send next byte.
+ I2C_DR (base) = i2c.master_buf_[i2c.buf_index_++];
+ // Wait for BTF if last one.
+ if (i2c.buf_index_ == i2c.buf_count_)
+ I2C_CR2 (base) &= ~I2C_CR2_ITBUFEN;
+ }
+ else if (sr1 & I2C_SR1_RxNE
+ && i2c.buf_count_ - i2c.buf_index_ > 3)
+ {
+ i2c_trace ("<%d> master rx index=%d", n, i2c.buf_index_);
+ i2c.master_buf_[i2c.buf_index_++] = I2C_DR (base);
+ if (i2c.buf_count_ - i2c.buf_index_ == 3)
+ // Wait for BTF.
+ I2C_CR2 (base) &= ~I2C_CR2_ITBUFEN;
+ }
+ else if (sr1 & I2C_SR1_BTF)
+ {
+ i2c_trace ("<%d> master btf index=%d", n, i2c.buf_index_);
+ if (!(i2c.master_slave_addr_ & 1))
+ {
+ // End of transmission.
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_STOP | I2C_CR1_PE;
+ i2c.master_ = false;
+ i2c.master_status_ = i2c.buf_index_;
+ if (i2c.finished_handler_)
+ i2c.finished_handler_->finished (i2c.master_status_);
+ }
+ else if (i2c.buf_count_ - i2c.buf_index_ == 3)
+ {
+ // Near end of reception.
+ I2C_CR1 (base) = I2C_CR1_PE;
+ i2c.master_buf_[i2c.buf_index_++] = I2C_DR (base);
+ // Wait for BTF.
+ }
+ else
+ {
+ // End of reception.
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_STOP | I2C_CR1_PE;
+ if (i2c.buf_count_ - i2c.buf_index_ == 2)
+ i2c.master_buf_[i2c.buf_index_++] = I2C_DR (base);
+ i2c.master_buf_[i2c.buf_index_++] = I2C_DR (base);
+ i2c.master_ = false;
+ i2c.master_status_ = i2c.buf_index_;
+ if (i2c.finished_handler_)
+ i2c.finished_handler_->finished (i2c.master_status_);
+ }
+ }
+ else
+ break;
+ }
+ else
+ {
+ if (sr1 & I2C_SR1_ADDR)
+ {
+ uint16_t sr2 = I2C_SR2 (base);
+ i2c_trace ("<%d> slave sr2=%04x", n, sr2);
+ // Initiate new slave transfer.
+ if (sr2 & I2C_SR2_TRA)
+ {
+ i2c.buf_count_ = i2c.slave_data_handler_->to_send
+ (i2c.slave_buf_, sizeof (i2c.slave_buf_));
+ }
+ else
+ i2c.buf_count_ = sizeof (i2c.slave_buf_);
+ i2c.buf_index_ = 0;
+ I2C_CR2 (base) |= I2C_CR2_ITBUFEN;
+ }
+ else if (sr1 & I2C_SR1_TxE)
+ {
+ i2c_trace ("<%d> slave tx index=%d", n, i2c.buf_index_);
+ uint8_t b = 0xff;
+ if (i2c.buf_index_ < i2c.buf_count_)
+ b = i2c.slave_buf_[i2c.buf_index_++];
+ I2C_DR (base) = b;
+ }
+ else if (sr1 & I2C_SR1_RxNE)
+ {
+ i2c_trace ("<%d> slave rx index=%d", n, i2c.buf_index_);
+ uint8_t b = I2C_DR (base);
+ if (i2c.buf_index_ < i2c.buf_count_)
+ i2c.slave_buf_[i2c.buf_index_++] = b;
+ }
+ else if (sr1 & I2C_SR1_STOPF)
+ {
+ i2c_trace ("<%d> slave stop", n);
+ i2c.slave_data_handler_->to_recv (i2c.slave_buf_, i2c.buf_index_);
+ // TODO: multimaster: there is no way to write in this
+ // register if a START was requested to switch to master mode!
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_PE;
+ I2C_CR2 (base) &= ~I2C_CR2_ITBUFEN;
+ }
+ else if (sr1 & I2C_SR1_SB)
+ {
+ i2c_trace ("<%d> master start", n);
+ // Starting master mode.
+ I2C_DR (base) = i2c.master_slave_addr_;
+ i2c.master_ = true;
+ i2c.buf_count_ = i2c.master_count_;
+ i2c.buf_index_ = 0;
+ }
+ else
+ break;
+ }
+
+ }
+}
+
+void
+I2cHard::er_isr (int n)
+{
+ uint32_t base = i2c_hardware[n].base;
+ assert (i2c_instances[n]);
+ I2cHard &i2c = *i2c_instances[n];
+ uint16_t sr1 = I2C_SR1 (base);
+ I2C_SR1 (base) = 0;
+ i2c_trace ("<%d> error isr sr1=%04x", n, sr1);
+ if (i2c.master_)
+ {
+ if (sr1 & I2C_SR1_ARLO)
+ {
+ // Try again.
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_START | I2C_CR1_PE;
+ i2c.master_ = false;
+ }
+ else if (sr1 & I2C_SR1_AF)
+ {
+ I2C_CR1 (base) = I2C_CR1_ACK | I2C_CR1_STOP | I2C_CR1_PE;
+ i2c.master_ = false;
+ i2c.master_status_ = i2c.buf_index_;
+ if (i2c.finished_handler_)
+ i2c.finished_handler_->finished (i2c.master_status_);
+ }
+ }
+ I2C_CR2 (base) &= ~I2C_CR2_ITBUFEN;
+ // TODO: handle misplaced STOP errata.
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/i2c/i2c_hard.stm32.hh b/ucoo/hal/i2c/i2c_hard.stm32.hh
new file mode 100644
index 0000000..94e4259
--- /dev/null
+++ b/ucoo/hal/i2c/i2c_hard.stm32.hh
@@ -0,0 +1,91 @@
+#ifndef ucoo_hal_i2c_i2c_hard_stm32_hh
+#define ucoo_hal_i2c_i2c_hard_stm32_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/i2c.hh"
+
+#include "config/hal/i2c.hh"
+
+namespace ucoo {
+
+/// I2C interface, using dedicated hardware.
+class I2cHard : public I2c
+{
+ public:
+ /// Constructor for the Nth I2C.
+ I2cHard (int n);
+ /// Shutdown.
+ ~I2cHard ();
+ /// Enable and setup
+ void enable (int speed = 100000);
+ /// Disable.
+ void disable ();
+ /// See I2cMaster::send.
+ void send (uint8_t addr, const char *buf, int count);
+ /// See I2cMaster::recv.
+ void recv (uint8_t addr, char *buf, int count);
+ /// See I2cMaster::status.
+ int status ();
+ /// See I2cMaster::wait.
+ int wait ();
+ /// See I2cSlave::register_data.
+ void register_data (uint8_t addr, DataHandler &data_handler);
+ /// Event ISR.
+ static void ev_isr (int n);
+ /// Error ISR.
+ static void er_isr (int n);
+ private:
+ /// Start a master transfer, send or recv, depending on addr LSB.
+ void transfer (uint8_t addr, char *buf, int count);
+ private:
+ /// I2C number.
+ int n_;
+ /// Is it enabled?
+ bool enabled_;
+ /// Slave address.
+ uint8_t slave_addr_;
+ /// Handler called to source or sink data for slave exchanges.
+ DataHandler *slave_data_handler_;
+ /// Slave buffer.
+ char slave_buf_[UCOO_CONFIG_HAL_I2C_SLAVE_BUFFER_SIZE];
+ /// Current buffer count (bytes to send), or buffer size (available room).
+ int buf_count_;
+ /// Current buffer index (position to read byte to send or write received
+ /// byte).
+ int buf_index_;
+ /// Master access granted.
+ bool master_;
+ /// Current master transfer status.
+ int master_status_;
+ /// Current master transfer buffer.
+ char *master_buf_;
+ /// Current master transfer size, copied to buf_count_ when active.
+ int master_count_;
+ /// Current master transfer slave address, LSB is set for receiver mode.
+ uint8_t master_slave_addr_;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_i2c_i2c_hard_stm32_hh
diff --git a/ucoo/hal/i2c/i2c_slave_data_buffer.cc b/ucoo/hal/i2c/i2c_slave_data_buffer.cc
new file mode 100644
index 0000000..1ba3a3a
--- /dev/null
+++ b/ucoo/hal/i2c/i2c_slave_data_buffer.cc
@@ -0,0 +1,80 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "i2c_slave_data_buffer.hh"
+
+#include <algorithm>
+
+namespace ucoo {
+
+I2cSlaveDataBuffer::I2cSlaveDataBuffer (char *send_buf, int send_size,
+ char *recv_buf, int recv_size)
+ : send_buf_ (send_buf), send_size_ (send_size), send_count_ (0),
+ recv_buf_ (recv_buf), recv_size_ (recv_size), recv_count_ (0)
+{
+}
+
+void
+I2cSlaveDataBuffer::update (const char *buf, int count)
+{
+ int r = std::min (count, send_size_);
+ irq_flags_t flags = irq_lock ();
+ std::copy (buf, buf + r, send_buf_);
+ send_count_ = r;
+ irq_restore (flags);
+}
+
+int
+I2cSlaveDataBuffer::poll (char *buf, int count)
+{
+ // Test to avoid superfluous irq lock. This is not a problem if
+ // condition become false before irq is locked.
+ if (recv_count_)
+ {
+ irq_flags_t flags = irq_lock ();
+ int r = std::min (count, recv_count_);
+ recv_count_ = 0;
+ std::copy (recv_buf_, recv_buf_ + r, buf);
+ irq_restore (flags);
+ return r;
+ }
+ else return 0;
+}
+
+int
+I2cSlaveDataBuffer::to_send (char *buf, int count)
+{
+ int r = std::min (count, send_count_);
+ std::copy (send_buf_, send_buf_ + r, buf);
+ return r;
+}
+
+void
+I2cSlaveDataBuffer::to_recv (const char *buf, int count)
+{
+ int r = std::min (count, recv_size_);
+ std::copy (buf, buf + r, recv_buf_);
+ recv_count_ = r;
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/i2c/i2c_slave_data_buffer.hh b/ucoo/hal/i2c/i2c_slave_data_buffer.hh
new file mode 100644
index 0000000..eae45ae
--- /dev/null
+++ b/ucoo/hal/i2c/i2c_slave_data_buffer.hh
@@ -0,0 +1,71 @@
+#ifndef ucoo_hal_i2c_i2c_slave_data_buffer_hh
+#define ucoo_hal_i2c_i2c_slave_data_buffer_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/i2c.hh"
+
+namespace ucoo {
+
+/// Data sink and source for I2C slave. Store any received data and data to
+/// send in buffers.
+class I2cSlaveDataBuffer : public I2cSlave::DataHandler
+{
+ public:
+ /// Constructor, take buffers.
+ I2cSlaveDataBuffer (char *send_buf, int send_size,
+ char *recv_buf, int recv_size);
+ /// Update slave internal buffer, will be sent to master on request.
+ void update (const char *buf, int count);
+ /// If data has been received, copy it to provided buffer and return its
+ /// size. Else, return 0.
+ int poll (char *buf, int count);
+ /// See I2cSlave::DataHandler::to_send.
+ int to_send (char *buf, int count);
+ /// See I2cSlave::DataHandler::to_recv.
+ void to_recv (const char *buf, int count);
+ private:
+ char *send_buf_;
+ int send_size_, send_count_;
+ char *recv_buf_;
+ int recv_size_, recv_count_;
+};
+
+/// Same as I2cSlaveDataBuffer, but include buffers.
+template<int send_size, int recv_size>
+class I2cSlaveDataBufferSize : public I2cSlaveDataBuffer
+{
+ public:
+ /// Default constructor.
+ I2cSlaveDataBufferSize ()
+ : I2cSlaveDataBuffer (send_array_, sizeof (send_array_),
+ recv_array_, sizeof (recv_array_))
+ { }
+ private:
+ char send_array_[send_size];
+ char recv_array_[recv_size];
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_i2c_i2c_slave_data_buffer_hh
diff --git a/ucoo/hal/i2c/test/Makefile b/ucoo/hal/i2c/test/Makefile
new file mode 100644
index 0000000..5046862
--- /dev/null
+++ b/ucoo/hal/i2c/test/Makefile
@@ -0,0 +1,9 @@
+BASE = ../../../..
+
+TARGETS = host stm32f4
+PROGS = test_i2c
+test_i2c_SOURCES = test_i2c.cc
+
+MODULES = hal/i2c utils base/test hal/usb
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/i2c/test/hub.py b/ucoo/hal/i2c/test/hub.py
new file mode 100644
index 0000000..c6c77f7
--- /dev/null
+++ b/ucoo/hal/i2c/test/hub.py
@@ -0,0 +1,6 @@
+# Hub for test.
+from mex.hub import Hub
+def log (x):
+ print x
+h = Hub (min_clients = 1, log = log)
+h.wait ()
diff --git a/ucoo/hal/i2c/test/test_i2c.cc b/ucoo/hal/i2c/test/test_i2c.cc
new file mode 100644
index 0000000..7fc7772
--- /dev/null
+++ b/ucoo/hal/i2c/test/test_i2c.cc
@@ -0,0 +1,226 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/i2c/i2c.hh"
+
+#include "ucoo/arch/arch.hh"
+#include "ucoo/base/test/test.hh"
+
+#ifdef TARGET_stm32
+# include <libopencm3/stm32/f4/rcc.h>
+# include "ucoo/hal/gpio/gpio.hh"
+#endif
+
+#ifdef TARGET_host
+# define TEST_NOT_THERE 0
+#else
+# define TEST_NOT_THERE 1
+#endif
+
+#include "ucoo/utils/delay.hh"
+
+#include <algorithm>
+#include <cstring>
+
+static const int buffer_size = 16;
+static const int margin = 5;
+static const uint8_t a1 = 0x2c, a2 = 0x2e, a3 = 0x42;
+
+void
+test_basic (ucoo::TestSuite &tsuite, ucoo::I2cMaster &m,
+ ucoo::I2cSlaveDataBuffer &d, uint8_t addr)
+{
+ tsuite.group ("basic");
+ {
+ ucoo::Test test (tsuite, "recv");
+ const char *hello = "Hello world!";
+ char buf[buffer_size + margin];
+ d.update (hello, std::strlen (hello) + 1);
+ char ref[buffer_size + margin];
+ int ref_size = std::strlen (hello) + 1;
+ std::copy (hello, hello + ref_size, ref);
+#ifdef TARGET_stm32
+ // Slave is not able to signal its buffer end. Extra bytes will be
+ // read as 0xff.
+ std::fill (ref + ref_size, ref + sizeof (ref), 0xff);
+ ref_size = sizeof (ref);
+#endif
+ for (int len = 2; len < (int) sizeof (buf); len++)
+ {
+ std::fill (buf, buf + sizeof (buf), 42);
+ m.recv (addr, buf, len);
+ int r = m.wait ();
+ int rexp = std::min (len, ref_size);
+ test_fail_break_unless (test, r == rexp);
+ test_fail_break_unless (test, std::equal (buf, buf + rexp, ref));
+ test_fail_break_unless (test, std::count (buf, buf + sizeof (buf), 42)
+ == (int) sizeof (buf) - rexp);
+ }
+ }
+ {
+ ucoo::Test test (tsuite, "send");
+ // Slave is supposed to signal when it received enough data, but this
+ // is not implemented.
+ char buf[buffer_size + margin];
+ for (int len = 1; len < (int) sizeof (buf); len++)
+ {
+ int r;
+ // Before transfer, no data.
+ r = d.poll (buf, sizeof (buf));
+ test_fail_break_unless (test, r == 0);
+ // Send data.
+ char c = '0' + len % 10;
+ std::fill (buf, buf + len, c);
+ m.send (addr, buf, len);
+ r = m.wait ();
+ test_fail_break_unless (test, r == len);
+ // Let some time for slave to finish reception.
+ ucoo::delay_ms (1);
+ // Check what is received.
+ r = d.poll (buf, sizeof (buf));
+ test_fail_break_unless (test, r == std::min (len, buffer_size));
+ test_fail_break_unless (test, std::count (buf, buf + r, c) == r);
+ }
+ }
+ do {
+ ucoo::Test test (tsuite, "callback");
+ // Callback object will start a reception, then a transmission of what
+ // was received.
+ class TestCallback : public ucoo::I2cMaster::FinishedHandler
+ {
+ ucoo::I2cMaster &m_;
+ uint8_t addr_;
+ int step_;
+ char buf_[buffer_size];
+ public:
+ bool failed;
+ public:
+ TestCallback (ucoo::I2cMaster &m, uint8_t addr)
+ : m_ (m), addr_ (addr), step_ (0), failed (false) { }
+ void finished (int status)
+ {
+ if (status != buffer_size)
+ failed = true;
+ else
+ {
+ switch (step_)
+ {
+ case 0:
+ step_++;
+ m_.recv (addr_, buf_, buffer_size);
+ break;
+ case 1:
+ step_++;
+ m_.send (addr_, buf_, buffer_size);
+ break;
+ case 2:
+ // Nothing, stop.
+ break;
+ }
+ }
+ }
+ };
+ TestCallback callback (m, addr);
+ m.register_finished (callback);
+ // Set slave data.
+ char buf[buffer_size];
+ std::fill (buf, buf + sizeof (buf), 42);
+ d.update (buf, sizeof (buf));
+ // Start transfers.
+ std::fill (buf, buf + sizeof (buf), 21);
+ m.send (addr, buf, sizeof (buf));
+ // Will only return after the last transfer.
+ m.wait ();
+ m.unregister_finished ();
+ test_fail_break_unless (test, !callback.failed);
+ // Let some time for slave to finish reception.
+ ucoo::delay_ms (1);
+ // Check what is received by slave (master should have read 42 from
+ // slave and send it back).
+ int r = d.poll (buf, sizeof (buf));
+ test_fail_break_unless (test, r == buffer_size);
+ test_fail_break_unless (test, std::count (buf, buf + r, 42) == r);
+ } while (0);
+}
+
+void
+test_not_there (ucoo::TestSuite &tsuite, ucoo::I2cMaster &m, uint8_t addr)
+{
+ tsuite.group ("not there");
+ do {
+ ucoo::Test test (tsuite, "recv");
+ char buf[buffer_size];
+ m.recv (addr, buf, buffer_size);
+ int r = m.wait ();
+ test_fail_break_unless (test, r == ucoo::I2cMaster::STATUS_ERROR);
+ } while (0);
+ do {
+ ucoo::Test test (tsuite, "send");
+ char buf[buffer_size];
+ std::fill (buf, buf + buffer_size, 42);
+ m.send (addr, buf, buffer_size);
+ int r = m.wait ();
+ test_fail_break_unless (test, r == ucoo::I2cMaster::STATUS_ERROR);
+ } while (0);
+}
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ ucoo::TestSuite tsuite ("i2c");
+#if defined (TARGET_host)
+ ucoo::Host host ("test_i2c");
+ host.parse_options ();
+ ucoo::I2cHost i2c1 (host, 0);
+ ucoo::I2cHost i2c2 (host, 1);
+#elif defined (TARGET_stm32)
+ // I2C1: B6: SCL, B9: SDA
+ // I2C3: A8: SCL, C9: SDA
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+ gpio_mode_setup (GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO6 | GPIO9);
+ gpio_mode_setup (GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
+ gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
+ gpio_set_output_options (GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO6 | GPIO9);
+ gpio_set_output_options (GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO8);
+ gpio_set_output_options (GPIOC, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO9);
+ gpio_set_af (GPIOB, GPIO_AF4, GPIO6 | GPIO9);
+ gpio_set_af (GPIOA, GPIO_AF4, GPIO8);
+ gpio_set_af (GPIOC, GPIO_AF4, GPIO9);
+ ucoo::I2cHard i2c1 (0);
+ ucoo::I2cHard i2c2 (2);
+ i2c1.enable ();
+ i2c2.enable ();
+#endif
+ ucoo::I2cSlaveDataBufferSize<16, 16> data1, data2;
+ i2c1.register_data (a1, data1);
+ i2c2.register_data (a2, data2);
+ // Run tests.
+ test_basic (tsuite, i2c1, data2, a2);
+ if (TEST_NOT_THERE)
+ test_not_there (tsuite, i2c1, a3);
+ test_basic (tsuite, i2c2, data1, a1);
+ return tsuite.report () ? 0 : 1;
+}
diff --git a/ucoo/hal/spi/Module b/ucoo/hal/spi/Module
new file mode 100644
index 0000000..a6df136
--- /dev/null
+++ b/ucoo/hal/spi/Module
@@ -0,0 +1 @@
+hal_spi_SOURCES := spi_soft.cc
diff --git a/ucoo/hal/spi/spi_soft.cc b/ucoo/hal/spi/spi_soft.cc
new file mode 100644
index 0000000..3bcc0d5
--- /dev/null
+++ b/ucoo/hal/spi/spi_soft.cc
@@ -0,0 +1,125 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "spi_soft.hh"
+
+#include "ucoo/utils/delay.hh"
+#include "ucoo/common.hh"
+
+namespace ucoo {
+
+SpiSoftMaster::SpiSoftMaster (Io &sck, Io &mosi, Io &miso)
+ : sck_ (sck), mosi_ (mosi), miso_ (miso), enabled_ (false)
+{
+}
+
+SpiSoftMaster::~SpiSoftMaster ()
+{
+ disable ();
+}
+
+void
+SpiSoftMaster::enable (int speed, SpiMode mode)
+{
+ enabled_ = true;
+ // Take pins ownership, set SCK according to CPOL.
+ sck_.set (mode >= SPI_MODE_2);
+ sck_.output ();
+ mosi_.reset ();
+ mosi_.output ();
+ miso_.input ();
+ // Set clock period and clock phase.
+ half_period_ns_ = 1000 * 1000 * 1000 / 2 / speed;
+ cpha_ = mode & 1;
+}
+
+void
+SpiSoftMaster::disable ()
+{
+ enabled_ = false;
+ // Release pins.
+ sck_.input ();
+ sck_.reset ();
+ mosi_.input ();
+}
+
+void
+SpiSoftMaster::send_and_recv (const char *tx_buf, char *rx_buf, int count)
+{
+ while (count--)
+ *rx_buf++ = send_and_recv (*tx_buf++);
+}
+
+char
+SpiSoftMaster::send_and_recv (char tx)
+{
+ assert (enabled_);
+ uint8_t i, rx = 0;
+ // Depending on clock phase, sample is done on first transition or second
+ // transition.
+ for (i = 0x80; i; i >>= 1)
+ {
+ // Setup stage.
+ if (cpha_)
+ sck_.toggle ();
+ mosi_.set (tx & i);
+ delay_ns (half_period_ns_);
+ // Sample stage.
+ sck_.toggle ();
+ if (miso_.get ())
+ rx |= i;
+ delay_ns (half_period_ns_);
+ // SCK toggle for next setup stage.
+ if (!cpha_)
+ sck_.toggle ();
+ }
+ return rx;
+}
+
+void
+SpiSoftMaster::send (const char *tx_buf, int count)
+{
+ while (count--)
+ send (*tx_buf++);
+}
+
+void
+SpiSoftMaster::send (char tx)
+{
+ send_and_recv (tx);
+}
+
+void
+SpiSoftMaster::recv (char *rx_buf, int count)
+{
+ while (count--)
+ *rx_buf++ = recv ();
+}
+
+char
+SpiSoftMaster::recv ()
+{
+ return send_and_recv (0);
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/spi/spi_soft.hh b/ucoo/hal/spi/spi_soft.hh
new file mode 100644
index 0000000..2dc1a64
--- /dev/null
+++ b/ucoo/hal/spi/spi_soft.hh
@@ -0,0 +1,64 @@
+#ifndef ucoo_hal_spi_spi_soft_hh
+#define ucoo_hal_spi_spi_soft_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/spi_master.hh"
+#include "ucoo/intf/io.hh"
+
+namespace ucoo {
+
+/// Software implementation of a SPI master.
+class SpiSoftMaster : public SpiMaster
+{
+ public:
+ /// Constructor, need all SPI pins.
+ SpiSoftMaster (Io &sck, Io &mosi, Io &miso);
+ /// Destructor, disable.
+ ~SpiSoftMaster ();
+ /// Enable and setup.
+ void enable (int speed_hz, SpiMode mode = SPI_MODE_0);
+ /// Disable.
+ void disable ();
+ /// See SpiMaster::send_and_recv.
+ void send_and_recv (const char *tx_buf, char *rx_buf, int count);
+ /// Send and receive one byte.
+ char send_and_recv (char tx);
+ /// See SpiMaster::send.
+ void send (const char *tx_buf, int count);
+ /// Send one byte.
+ void send (char tx);
+ /// See SpiMaster::recv.
+ void recv (char *rx_buf, int count);
+ /// Receive one byte.
+ char recv ();
+ private:
+ Io &sck_, &mosi_, &miso_;
+ int half_period_ns_;
+ bool cpha_;
+ bool enabled_;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_spi_spi_soft_hh
diff --git a/ucoo/hal/spi/test/Makefile b/ucoo/hal/spi/test/Makefile
new file mode 100644
index 0000000..76b8230
--- /dev/null
+++ b/ucoo/hal/spi/test/Makefile
@@ -0,0 +1,9 @@
+BASE = ../../../..
+
+TARGETS = stm32f4
+PROGS = test_spi
+test_spi_SOURCES = test_spi.cc
+
+MODULES = hal/spi hal/gpio utils base/test hal/usb
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/spi/test/test_spi.cc b/ucoo/hal/spi/test/test_spi.cc
new file mode 100644
index 0000000..fa26abc
--- /dev/null
+++ b/ucoo/hal/spi/test/test_spi.cc
@@ -0,0 +1,112 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/spi/spi_soft.hh"
+#include "ucoo/hal/gpio/gpio.hh"
+#include "ucoo/utils/delay.hh"
+
+#include "ucoo/arch/arch.hh"
+#include "ucoo/base/test/test.hh"
+
+#include <libopencm3/stm32/f4/rcc.h>
+
+#include <algorithm>
+#include <cstdio>
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ ucoo::Stream &ts = ucoo::test_stream ();
+ // Use connection to LIS302DL device on discovery board.
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN
+ | RCC_AHB1ENR_IOPEEN);
+ ucoo::Gpio ss (GPIOE, 3);
+ ss.set ();
+ ss.output ();
+ ucoo::Gpio sck (GPIOA, 5), mosi (GPIOA, 7), miso (GPIOA, 6);
+ ucoo::SpiSoftMaster spi (sck, mosi, miso);
+ spi.enable (1000000, ucoo::SPI_MODE_3);
+ // Loop with simple IU.
+ char buf[64];
+ unsigned int r;
+ int8_t x, y, z;
+ while (1)
+ {
+ ucoo::delay_ms (200);
+ // Read X, Y, Z.
+ ss.reset ();
+ spi.send (0xe9);
+ x = spi.recv ();
+ spi.recv ();
+ y = spi.recv ();
+ spi.recv ();
+ z = spi.recv ();
+ ss.set ();
+ ucoo::delay_ns (100);
+ r = snprintf (buf, sizeof (buf), "x: %4d, y: %4d, z: %4d\r", x, y, z);
+ r = std::min (sizeof (buf) - 1, r);
+ ts.write (buf, r);
+ // Simple UI.
+ while (ts.poll ())
+ {
+ char c = ts.getc ();
+ switch (c)
+ {
+ case '?':
+ static const char help[] =
+ "\n? - help\n"
+ "w - who am I\n"
+ "o - turn on\n"
+ "f - turn off\n";
+ ts.write (help, sizeof (help));
+ break;
+ case 'w':
+ {
+ // Read Who am I register.
+ ss.reset ();
+ spi.send (0x8f);
+ char rsp = spi.recv ();
+ ss.set ();
+ ucoo::delay_ns (100);
+ // Report result.
+ r = snprintf (buf, sizeof (buf), "\nI am 0x%02x\n",
+ static_cast<unsigned char> (rsp));
+ r = std::min (sizeof (buf) - 1, r);
+ ts.write (buf, r);
+ }
+ break;
+ case 'o':
+ case 'f':
+ {
+ char cmd[] = { 0x20, (char) (c == 'o' ? 0x47 : 0x07) };
+ ss.reset ();
+ spi.send (cmd, sizeof (cmd));
+ ss.set ();
+ ucoo::delay_ns (100);
+ }
+ break;
+ }
+ }
+ }
+}
diff --git a/ucoo/hal/uart/Config b/ucoo/hal/uart/Config
new file mode 100644
index 0000000..0a67d63
--- /dev/null
+++ b/ucoo/hal/uart/Config
@@ -0,0 +1,6 @@
+[hal/uart]
+# Size of reception buffer.
+rx_buffer = 32
+# Size of transmission buffer.
+tx_buffer = 32
+
diff --git a/ucoo/hal/uart/Module b/ucoo/hal/uart/Module
new file mode 100644
index 0000000..a9d185e
--- /dev/null
+++ b/ucoo/hal/uart/Module
@@ -0,0 +1 @@
+hal_uart_SOURCES = uart.stm32.cc
diff --git a/ucoo/hal/uart/test/Config b/ucoo/hal/uart/test/Config
new file mode 100644
index 0000000..4fd7571
--- /dev/null
+++ b/ucoo/hal/uart/test/Config
@@ -0,0 +1,4 @@
+[hal/uart]
+rx_buffer = 32
+tx_buffer = 8
+
diff --git a/ucoo/hal/uart/test/Makefile b/ucoo/hal/uart/test/Makefile
new file mode 100644
index 0000000..6989dd2
--- /dev/null
+++ b/ucoo/hal/uart/test/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../../..
+
+TARGETS = host stm32f4
+PROGS = test_uart
+stm32f4_PROGS = test_uart_disc
+test_uart_SOURCES = test_uart.cc
+test_uart_disc_SOURCES = test_uart_disc.cc
+
+MODULES = hal/uart
+test_uart_disc_MODULES = $(MODULES) base/test hal/usb
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/uart/test/test_uart.cc b/ucoo/hal/uart/test/test_uart.cc
new file mode 100644
index 0000000..c1b111c
--- /dev/null
+++ b/ucoo/hal/uart/test/test_uart.cc
@@ -0,0 +1,70 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/uart/uart.hh"
+
+#include "ucoo/arch/arch.hh"
+
+#if defined (TARGET_stm32)
+# include <libopencm3/stm32/f4/rcc.h>
+# include "ucoo/hal/gpio/gpio.hh"
+#endif
+
+#include "ucoo/common.hh"
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+#if defined (TARGET_host)
+ ucoo::Uart u0, u1 ("uart1");
+#elif defined (TARGET_stm32)
+ // D8, D9: UART3
+ // C12, D2: UART5
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
+ gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12);
+ gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2 | GPIO8 | GPIO9);
+ gpio_set_af (GPIOC, GPIO_AF8, GPIO12);
+ gpio_set_af (GPIOD, GPIO_AF8, GPIO2);
+ gpio_set_af (GPIOD, GPIO_AF7, GPIO8 | GPIO9);
+ ucoo::Uart u0 (2), u1 (4);
+ u0.enable (38400, ucoo::Uart::EVEN, 1);
+ u1.enable (38400, ucoo::Uart::EVEN, 1);
+#endif
+ ucoo::Uart *u[] = { &u0, &u1 };
+ char buf[64];
+ while (1)
+ {
+ for (int i = 0; i < (int) lengthof (u); i++)
+ {
+ if (u[i]->poll ())
+ {
+ int len = u[i]->read (buf, sizeof (buf));
+ u[i]->write (buf, len);
+ }
+ }
+ ucoo::yield ();
+ }
+}
+
diff --git a/ucoo/hal/uart/test/test_uart_disc.cc b/ucoo/hal/uart/test/test_uart_disc.cc
new file mode 100644
index 0000000..e2d307a
--- /dev/null
+++ b/ucoo/hal/uart/test/test_uart_disc.cc
@@ -0,0 +1,128 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/uart/uart.hh"
+
+#include "ucoo/arch/arch.hh"
+#include "ucoo/hal/gpio/gpio.hh"
+#include "ucoo/base/test/test.hh"
+
+#include <libopencm3/stm32/f4/rcc.h>
+
+static void
+check_act (ucoo::Stream &ts, ucoo::Stream &u, char n)
+{
+ char buf[3 + 16 + 1];
+ if (!u.poll ())
+ return;
+ int r = u.read (buf + 3, 16);
+ if (r <= 0)
+ {
+ buf[3] = '#';
+ r = 1;
+ }
+ buf[0] = '<';
+ buf[1] = n;
+ buf[2] = ':';
+ buf[3 + r] = '>';
+ ts.write (buf, 3 + r + 1);
+}
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ ucoo::Stream &ts = ucoo::test_stream ();
+ ucoo::Uart u1 (0);
+ ucoo::Uart u3 (2);
+ ucoo::Uart u4 (3);
+ u1.enable (38400, ucoo::Uart::EVEN, 1);
+ u3.enable (38400, ucoo::Uart::EVEN, 1);
+ u4.enable (38400, ucoo::Uart::EVEN, 1);
+ // For this test, shorten B6 & B7 to have a loopback on UART1, shorten C10
+ // & C11 to connect UART3 to UART4.
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN
+ | RCC_AHB1ENR_IOPCEN);
+ gpio_mode_setup (GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE,
+ GPIO6 | GPIO7);
+ gpio_set_af (GPIOB, GPIO_AF7, GPIO6 | GPIO7);
+ gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE,
+ GPIO10 | GPIO11);
+ gpio_set_af (GPIOC, GPIO_AF7, GPIO10);
+ gpio_set_af (GPIOC, GPIO_AF8, GPIO11);
+ // Loop to report any activity on ports and provide a simple UI.
+ char buf[64];
+ int buf_i = 0;
+ ucoo::Uart *u = &u1;
+ while (1)
+ {
+ check_act (ts, u1, '1');
+ check_act (ts, u3, '3');
+ check_act (ts, u4, '4');
+ while (ts.poll ())
+ {
+ char c = ts.getc ();
+ switch (c)
+ {
+ case '?':
+ static const char help[] =
+ "? - help\n"
+ "1, 3, 4 - set output uart\n"
+ ": - reset output buffer index\n"
+ "! - send output buffer\n"
+ "O, E, N - change parity to Odd, Even or None\n"
+ "any - fill output buffer\n";
+ ts.write (help, sizeof (help));
+ break;
+ case '1':
+ u = &u1;
+ break;
+ case '3':
+ u = &u3;
+ break;
+ case '4':
+ u = &u4;
+ break;
+ case ':':
+ buf_i = 0;
+ break;
+ case '!':
+ u->write (buf, buf_i);
+ break;
+ case 'O':
+ u->enable (38400, ucoo::Uart::ODD, 1);
+ break;
+ case 'E':
+ u->enable (38400, ucoo::Uart::EVEN, 1);
+ break;
+ case 'N':
+ u->enable (38400, ucoo::Uart::NONE, 1);
+ break;
+ default:
+ if (buf_i < static_cast<int> (sizeof (buf)))
+ buf[buf_i++] = c;
+ break;
+ }
+ }
+ }
+}
diff --git a/ucoo/hal/uart/uart.hh b/ucoo/hal/uart/uart.hh
new file mode 100644
index 0000000..f4efd5b
--- /dev/null
+++ b/ucoo/hal/uart/uart.hh
@@ -0,0 +1,36 @@
+#ifndef ucoo_hal_uart_uart_hh
+#define ucoo_hal_uart_uart_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#if defined (TARGET_host)
+# include "ucoo/arch/host/host_stream.hh"
+namespace ucoo { typedef HostStream Uart; }
+#elif defined (TARGET_stm32)
+# include "uart.stm32.hh"
+#else
+# error "not implemented for this target"
+#endif
+
+#endif // ucoo_hal_uart_uart_hh
diff --git a/ucoo/hal/uart/uart.stm32.cc b/ucoo/hal/uart/uart.stm32.cc
new file mode 100644
index 0000000..14dc849
--- /dev/null
+++ b/ucoo/hal/uart/uart.stm32.cc
@@ -0,0 +1,221 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "uart.stm32.hh"
+
+#include <libopencm3/stm32/f4/usart.h>
+#include <libopencm3/stm32/f4/rcc.h>
+#include <libopencm3/cm3/nvic.h>
+
+#ifndef TARGET_stm32f4
+// Need RCC adaptations and USART6 different handling for F1.
+# error "it's a trap, only implemented for F4 for the moment"
+#endif
+
+namespace ucoo {
+
+static const int uart_nb = 6;
+
+/// Information on UART hardware structure.
+struct uart_hardware_t
+{
+ /// UART base address.
+ uint32_t base;
+ /// APB number.
+ int apb;
+ /// RCC enable bit.
+ uint32_t rcc_en;
+ /// Corresponding IRQ.
+ int irq;
+};
+
+/// Information on UART hardware array, this is zero indexed, USART1 is at
+/// index 0.
+static const uart_hardware_t uart_hardware[uart_nb] =
+{
+ { USART1, 2, RCC_APB2ENR_USART1EN, NVIC_USART1_IRQ },
+ { USART2, 1, RCC_APB1ENR_USART2EN, NVIC_USART2_IRQ },
+ { USART3, 1, RCC_APB1ENR_USART3EN, NVIC_USART3_IRQ },
+ { UART4, 1, RCC_APB1ENR_UART4EN, NVIC_UART4_IRQ },
+ { UART5, 1, RCC_APB1ENR_UART5EN, NVIC_UART5_IRQ },
+ { USART6, 2, RCC_APB2ENR_USART6EN, NVIC_USART6_IRQ },
+};
+
+static Uart *uart_instances[uart_nb];
+
+} // namespace ucoo
+
+extern "C" {
+
+void usart1_isr () { ucoo::Uart::isr (0); }
+
+void usart2_isr () { ucoo::Uart::isr (1); }
+
+void usart3_isr () { ucoo::Uart::isr (2); }
+
+void uart4_isr () { ucoo::Uart::isr (3); }
+
+void uart5_isr () { ucoo::Uart::isr (4); }
+
+void usart6_isr () { ucoo::Uart::isr (5); }
+
+}
+
+namespace ucoo {
+
+Uart::Uart (int n)
+ : n_ (n), error_char_ (default_error_char), enabled_ (false)
+{
+ assert (n < uart_nb);
+ assert (!uart_instances[n]);
+ uart_instances[n] = this;
+}
+
+Uart::~Uart ()
+{
+ disable ();
+ uart_instances[n_] = 0;
+}
+
+void
+Uart::enable (int speed, Parity parity, int stop_bits)
+{
+ enabled_ = true;
+ uint32_t base = uart_hardware[n_].base;
+ // Turn on.
+ rcc_peripheral_enable_clock
+ (uart_hardware[n_].apb == 1 ? &RCC_APB1ENR : &RCC_APB2ENR,
+ uart_hardware[n_].rcc_en);
+ // Set speed, rounded to nearest.
+ int apb_freq = uart_hardware[n_].apb == 1 ? rcc_ppre1_frequency
+ : rcc_ppre2_frequency;
+ USART_BRR (base) = (2 * apb_freq + speed) / (2 * speed);
+ // Set parameters and enable.
+ if (stop_bits == 1)
+ USART_CR2 (base) = USART_CR2_STOPBITS_1;
+ else if (stop_bits == 2)
+ USART_CR2 (base) = USART_CR2_STOPBITS_2;
+ else
+ assert_unreachable ();
+ USART_CR3 (base) = 0;
+ uint32_t cr1 = USART_CR1_UE | USART_CR1_RXNEIE | USART_CR1_TE | USART_CR1_RE;
+ if (parity != NONE)
+ cr1 |= USART_CR1_M | USART_CR1_PCE;
+ if (parity == ODD)
+ cr1 |= USART_CR1_PS;
+ USART_CR1 (base) = cr1;
+ // Reset status.
+ (void) USART_SR (base);
+ (void) USART_DR (base);
+ // Enable interrupts.
+ nvic_enable_irq (uart_hardware[n_].irq);
+}
+
+void
+Uart::disable ()
+{
+ if (enabled_)
+ {
+ enabled_ = false;
+ uint32_t base = uart_hardware[n_].base;
+ // Stop UART.
+ nvic_disable_irq (uart_hardware[n_].irq);
+ USART_CR1 (base) = 0;
+ // Turn off.
+ rcc_peripheral_disable_clock
+ (uart_hardware[n_].apb == 1 ? &RCC_APB1ENR : &RCC_APB2ENR,
+ uart_hardware[n_].rcc_en);
+ }
+}
+
+void
+Uart::set_error_char (char c)
+{
+ error_char_ = c;
+}
+
+int
+Uart::read (char *buf, int count)
+{
+ assert (enabled_);
+ if (block_)
+ while (rx_fifo_.empty ())
+ barrier ();
+ return rx_fifo_.read (buf, count);
+}
+
+int
+Uart::write (const char *buf, int count)
+{
+ assert (enabled_);
+ int left = count;
+ while (left)
+ {
+ int r = tx_fifo_.write (buf, left);
+ if (r)
+ {
+ USART_CR1 (uart_hardware[n_].base) |= USART_CR1_TXEIE;
+ buf += r;
+ left -= r;
+ }
+ if (!block_)
+ break;
+ }
+ return count - left;
+}
+
+int
+Uart::poll ()
+{
+ return rx_fifo_.empty () ? 0 : 1;
+}
+
+void
+Uart::isr (int n)
+{
+ uint32_t base = uart_hardware[n].base;
+ uint32_t sr = USART_SR (base);
+ uint32_t dr = USART_DR (base);
+ assert (uart_instances[n]);
+ Uart &uart = *uart_instances[n];
+ if (sr & (USART_SR_ORE | USART_SR_NE | USART_SR_FE | USART_SR_PE))
+ {
+ dr = uart.error_char_;
+ // Datasheet is not really clear about this when error bits are set.
+ sr |= USART_SR_RXNE;
+ }
+ if (sr & USART_SR_RXNE)
+ {
+ if (!uart.rx_fifo_.full ())
+ uart.rx_fifo_.push (dr);
+ }
+ if (sr & USART_SR_TXE)
+ {
+ if (!uart.tx_fifo_.empty ())
+ USART_DR (base) = static_cast<uint8_t> (uart.tx_fifo_.pop ());
+ if (uart.tx_fifo_.empty ())
+ USART_CR1 (base) &= ~USART_CR1_TXEIE;
+ }
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/uart/uart.stm32.hh b/ucoo/hal/uart/uart.stm32.hh
new file mode 100644
index 0000000..25d6f6e
--- /dev/null
+++ b/ucoo/hal/uart/uart.stm32.hh
@@ -0,0 +1,78 @@
+#ifndef ucoo_hal_uart_uart_stm32_hh
+#define ucoo_hal_uart_uart_stm32_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/stream.hh"
+#include "ucoo/utils/fifo.hh"
+
+#include "config/hal/uart.hh"
+
+namespace ucoo {
+
+/// Universal asynchronous receiver transmitter (UART).
+///
+/// When an error is detected on RX, error character is inserted in receive
+/// FIFO.
+class Uart : public Stream
+{
+ public:
+ /// Parity setting.
+ enum Parity { ODD, EVEN, NONE };
+ /// Default error character.
+ static const char default_error_char = '~';
+ public:
+ /// Constructor for the Nth UART.
+ Uart (int n);
+ /// Shutdown UART.
+ ~Uart ();
+ /// Enable and setup UART.
+ void enable (int speed, Parity parity = NONE, int stop_bits = 1);
+ /// Disable.
+ void disable ();
+ /// Change the error character.
+ void set_error_char (char c);
+ /// See Stream::read.
+ int read (char *buf, int count);
+ /// See Stream::write.
+ int write (const char *buf, int count);
+ /// See Stream::poll.
+ int poll ();
+ /// Handle interrupts.
+ static void isr (int n);
+ private:
+ /// UART number.
+ int n_;
+ /// RX FIFO, filled by interrupt handler.
+ Fifo<char, UCOO_CONFIG_HAL_UART_RX_BUFFER> rx_fifo_;
+ /// TX FIFO, emptied by interrupt handler.
+ Fifo<char, UCOO_CONFIG_HAL_UART_TX_BUFFER> tx_fifo_;
+ /// Error character, inserted in case of error.
+ char error_char_;
+ /// Is it enabled?
+ bool enabled_;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_uart_uart_stm32_hh
diff --git a/ucoo/hal/usb/Config b/ucoo/hal/usb/Config
new file mode 100644
index 0000000..9adaece
--- /dev/null
+++ b/ucoo/hal/usb/Config
@@ -0,0 +1,12 @@
+[hal/usb]
+# Theses are APBTeam IDs, given by Openmoko!
+vendor_id = 0x1d50
+product_id = 0x6052
+# Number of streams, interfaces, or pair of endpoints.
+stream_nb = 1
+# Set to 0 if powered from USB cable, 1 if device has its own power supply.
+self_powered = 0
+# Maximum power consumed from USB cable (mA).
+max_power = 100
+# End point size, you should use 64.
+ep_size = 64
diff --git a/ucoo/hal/usb/Module b/ucoo/hal/usb/Module
new file mode 100644
index 0000000..433c8b2
--- /dev/null
+++ b/ucoo/hal/usb/Module
@@ -0,0 +1 @@
+hal_usb_SOURCES = usb.stm32.cc usb_desc.stm32.c
diff --git a/ucoo/hal/usb/test/Config b/ucoo/hal/usb/test/Config
new file mode 100644
index 0000000..49b2f0b
--- /dev/null
+++ b/ucoo/hal/usb/test/Config
@@ -0,0 +1,2 @@
+[hal/usb]
+stream_nb = 1
diff --git a/ucoo/hal/usb/test/Makefile b/ucoo/hal/usb/test/Makefile
new file mode 100644
index 0000000..cec9ded
--- /dev/null
+++ b/ucoo/hal/usb/test/Makefile
@@ -0,0 +1,9 @@
+BASE = ../../../..
+
+TARGETS = stm32f4
+stm32f4_PROGS = test_usb
+test_usb_SOURCES = test_usb.cc
+
+MODULES = hal/usb
+
+include $(BASE)/build/top.mk
diff --git a/ucoo/hal/usb/test/test_usb.cc b/ucoo/hal/usb/test/test_usb.cc
new file mode 100644
index 0000000..a1fe362
--- /dev/null
+++ b/ucoo/hal/usb/test/test_usb.cc
@@ -0,0 +1,73 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/hal/usb/usb.hh"
+#include "ucoo/arch/arch.hh"
+
+int
+main (int argc, const char **argv)
+{
+ ucoo::arch_init (argc, argv);
+ ucoo::UsbStreamControl usc ("APBTeam", "USB test");
+ ucoo::UsbStream us[] = {
+ ucoo::UsbStream (usc, 0),
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 2
+ ucoo::UsbStream (usc, 1),
+#endif
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 3
+ ucoo::UsbStream (usc, 2),
+#endif
+ };
+ if (UCOO_CONFIG_HAL_USB_STREAM_NB > 1)
+ {
+ for (int i = 0; i < UCOO_CONFIG_HAL_USB_STREAM_NB; i++)
+ us[i].block (false);
+ }
+ char buf[6];
+ while (1)
+ {
+ for (int i = 0; i < UCOO_CONFIG_HAL_USB_STREAM_NB; i++)
+ {
+ int len = us[i].read (buf + 2, sizeof (buf) - 2);
+ if (len)
+ {
+ buf[0] = i + '0';
+ buf[1] = '>';
+ len += 2;
+ if (UCOO_CONFIG_HAL_USB_STREAM_NB == 1)
+ us[i].write (buf, len);
+ else
+ {
+ const char *p = buf;
+ while (len)
+ {
+ int r = us[i].write (p, len);
+ p += r;
+ len -= r;
+ }
+ }
+ }
+ }
+ }
+}
+
diff --git a/ucoo/hal/usb/usb.hh b/ucoo/hal/usb/usb.hh
new file mode 100644
index 0000000..5324058
--- /dev/null
+++ b/ucoo/hal/usb/usb.hh
@@ -0,0 +1,33 @@
+#ifndef ucoo_hal_usb_usb_hh
+#define ucoo_hal_usb_usb_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+
+#ifdef TARGET_stm32
+# include "usb.stm32.hh"
+#else
+# error "not implemented for this target"
+#endif
+
+#endif // ucoo_hal_usb_usb_hh
diff --git a/ucoo/hal/usb/usb.stm32.cc b/ucoo/hal/usb/usb.stm32.cc
new file mode 100644
index 0000000..0410df5
--- /dev/null
+++ b/ucoo/hal/usb/usb.stm32.cc
@@ -0,0 +1,160 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "usb.stm32.hh"
+#include <algorithm>
+
+#include <libopencm3/stm32/f4/rcc.h>
+#include <libopencm3/stm32/f4/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+
+#include "usb_desc.stm32.h"
+
+static usbd_device *usbdev;
+
+extern "C" {
+
+void
+otg_fs_isr ()
+{
+ usbd_poll (usbdev);
+}
+
+}
+
+namespace ucoo {
+
+UsbStreamControl *UsbStreamControl::instance_;
+
+const char *strings[] = {
+ NULL,
+ NULL
+};
+
+UsbStreamControl::RxBuffer::RxBuffer (void)
+ : size (0), offset (0)
+{
+}
+
+UsbStreamControl::UsbStreamControl (const char *vendor, const char *product)
+ : configured_ (false)
+{
+ assert (!instance_);
+ instance_ = this;
+ strings[0] = vendor;
+ strings[1] = product;
+ rcc_peripheral_enable_clock (&RCC_AHB2ENR, RCC_AHB2ENR_OTGFSEN);
+ rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+ gpio_mode_setup (GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE,
+ GPIO9 | GPIO11 | GPIO12);
+ gpio_set_af (GPIOA, GPIO_AF10, GPIO9 | GPIO11 | GPIO12);
+ usbdev = usbd_init (&otgfs_usb_driver, &usb_desc_dev, &usb_desc_config,
+ strings, lengthof (strings));
+ usbd_register_set_config_callback (usbdev, set_config);
+ nvic_enable_irq (NVIC_OTG_FS_IRQ);
+}
+
+void
+UsbStreamControl::set_config (usbd_device *usbdev, uint16_t configured)
+{
+ instance_->configured_ = configured;
+ if (configured)
+ {
+ for (int i = 0; i < stream_nb_; i++)
+ {
+ usbd_ep_setup (usbdev, 0x01 + i, USB_ENDPOINT_ATTR_BULK, ep_size_,
+ rx_callback);
+ usbd_ep_setup (usbdev, 0x81 + i, USB_ENDPOINT_ATTR_BULK, ep_size_,
+ NULL);
+ }
+ }
+}
+
+void
+UsbStreamControl::rx_callback (usbd_device *usbdev, uint8_t ep)
+{
+ assert (ep > 0 && ep <= stream_nb_);
+ int num = ep - 1;
+ RxBuffer &rb = instance_->rx_buffer_[num];
+ assert (rb.size == 0 && rb.offset == 0);
+ usbd_ep_nak_set (usbdev, ep, 1);
+ rb.size = usbd_ep_read_packet (usbdev, ep, rb.buf, ep_size_);
+}
+
+UsbStream::UsbStream (UsbStreamControl &control, int num)
+ : control_ (control), num_ (num)
+{
+ assert (num < UsbStreamControl::stream_nb_);
+}
+
+int
+UsbStream::read (char *buf, int count)
+{
+ UsbStreamControl::RxBuffer &rb = control_.rx_buffer_[num_];
+ /* Wait for reception. */
+ if (!rb.size && !block_)
+ return 0;
+ while (!rb.size)
+ barrier ();
+ /* Copy to provided buffer. */
+ int len = std::min (count, rb.size - rb.offset);
+ buf = std::copy (rb.buf + rb.offset, rb.buf + rb.offset + len, buf);
+ rb.offset += len;
+ /* Reload buffer? */
+ if (rb.offset == rb.size)
+ {
+ rb.offset = rb.size = 0;
+ barrier ();
+ usbd_ep_nak_set (usbdev, num_ + 1, 0);
+ }
+ /* Done. */
+ return len;
+}
+
+int
+UsbStream::write (const char *buf, int count)
+{
+ int left = count;
+ while (left)
+ {
+ if (control_.configured_)
+ {
+ int len = std::min (left, UsbStreamControl::ep_size_);
+ len = usbd_ep_write_packet (usbdev, num_ + 0x81, buf, len);
+ buf += len;
+ left -= len;
+ }
+ if (!block_)
+ break;
+ }
+ return count - left;
+}
+
+int
+UsbStream::poll ()
+{
+ UsbStreamControl::RxBuffer &rb = control_.rx_buffer_[num_];
+ return rb.size - rb.offset;
+}
+
+} // namespace ucoo
diff --git a/ucoo/hal/usb/usb.stm32.hh b/ucoo/hal/usb/usb.stm32.hh
new file mode 100644
index 0000000..118e883
--- /dev/null
+++ b/ucoo/hal/usb/usb.stm32.hh
@@ -0,0 +1,98 @@
+#ifndef ucoo_hal_usb_usb_stm32_hh
+#define ucoo_hal_usb_usb_stm32_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2012 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/intf/stream.hh"
+#include "ucoo/common.hh"
+
+#include "config/hal/usb.hh"
+
+#include <libopencm3/usb/usbd.h>
+
+namespace ucoo {
+
+class UsbStream;
+
+/// Top control class for an USB device. This is a limited implementation
+/// which fulfill most of our needs: one or more interfaces, each of them is
+/// handled as a character stream. This should be instantiated only once.
+class UsbStreamControl
+{
+ public:
+ /// Construct a new USB control object, with given VENDOR and PRODUCT
+ /// strings.
+ UsbStreamControl (const char *vendor, const char *product);
+ /// Return true if the device is configured. This means that the
+ /// connection is done with the host and data can be exchanged.
+ bool is_configured () const { return configured_; }
+ private:
+ /// Called by USB stack when device is configured. This is expected to
+ /// setup endpoints.
+ static void set_config (usbd_device *usbdev, uint16_t wValue);
+ /// Called by USB stack when a frame is received on a OUT endpoint.
+ static void rx_callback (usbd_device *usbdev, uint8_t ep);
+ private:
+ /// Size of endpoints.
+ static const int ep_size_ = UCOO_CONFIG_HAL_USB_EP_SIZE;
+ /// Number of streams (also interfaces or pair of endpoints).
+ static const int stream_nb_ = UCOO_CONFIG_HAL_USB_STREAM_NB;
+ /// Pointer to the one and only instance.
+ static UsbStreamControl *instance_;
+ /// Whether device is currently configured.
+ bool configured_;
+ /// Internal RX buffer type.
+ struct RxBuffer
+ {
+ char buf[ep_size_];
+ int size, offset;
+ RxBuffer (void);
+ };
+ /// Internal RX buffer, one per stream.
+ RxBuffer rx_buffer_[stream_nb_];
+ friend class UsbStream;
+};
+
+/// One USB stream, instantiated for each stream, interface, or pair of
+/// endpoints.
+class UsbStream : public Stream
+{
+ public:
+ /// Construct from control object and stream index.
+ UsbStream (UsbStreamControl &control, int num);
+ /// See Stream::read.
+ int read (char *buf, int count);
+ /// See Stream::write.
+ int write (const char *buf, int count);
+ /// See Stream::poll.
+ int poll ();
+ private:
+ /// Reference to control object.
+ UsbStreamControl &control_;
+ /// Stream index.
+ int num_;
+};
+
+} // namespace ucoo
+
+#endif // ucoo_hal_usb_usb_stm32_hh
diff --git a/ucoo/hal/usb/usb_desc.stm32.c b/ucoo/hal/usb/usb_desc.stm32.c
new file mode 100644
index 0000000..8d6fc87
--- /dev/null
+++ b/ucoo/hal/usb/usb_desc.stm32.c
@@ -0,0 +1,193 @@
+/* ucoolib - Microcontroller object oriented library. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * }}} */
+#include "usb_desc.stm32.h"
+
+#include "config/hal/usb.hh"
+
+const struct usb_device_descriptor usb_desc_dev = {
+ .bLength = USB_DT_DEVICE_SIZE,
+ .bDescriptorType = USB_DT_DEVICE,
+ .bcdUSB = 0x0200,
+ .bDeviceClass = 0xff,
+ .bDeviceSubClass = 0,
+ .bDeviceProtocol = 0,
+ .bMaxPacketSize0 = 64,
+ .idVendor = UCOO_CONFIG_HAL_USB_VENDOR_ID,
+ .idProduct = UCOO_CONFIG_HAL_USB_PRODUCT_ID,
+ .bcdDevice = 0x0000,
+ .iManufacturer = 1,
+ .iProduct = 2,
+ .iSerialNumber = 0,
+ .bNumConfigurations = 1,
+};
+
+static const struct usb_endpoint_descriptor usb_desc_endp_1[] = {
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x01,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x81,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+};
+
+static const struct usb_interface_descriptor usb_desc_iface_1[] = {
+ {
+ .bLength = USB_DT_INTERFACE_SIZE,
+ .bDescriptorType = USB_DT_INTERFACE,
+ .bInterfaceNumber = 0,
+ .bAlternateSetting = 0,
+ .bNumEndpoints = 2,
+ .bInterfaceClass = 0xff,
+ .bInterfaceSubClass = 0,
+ .bInterfaceProtocol = 0,
+ .iInterface = 0,
+
+ .endpoint = usb_desc_endp_1,
+ },
+};
+
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 2
+
+static const struct usb_endpoint_descriptor usb_desc_endp_2[] = {
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x02,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x82,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+};
+
+static const struct usb_interface_descriptor usb_desc_iface_2[] = {
+ {
+ .bLength = USB_DT_INTERFACE_SIZE,
+ .bDescriptorType = USB_DT_INTERFACE,
+ .bInterfaceNumber = 1,
+ .bAlternateSetting = 0,
+ .bNumEndpoints = 2,
+ .bInterfaceClass = 0xff,
+ .bInterfaceSubClass = 0,
+ .bInterfaceProtocol = 0,
+ .iInterface = 0,
+
+ .endpoint = usb_desc_endp_2,
+ },
+};
+
+#endif /* UCOO_CONFIG_HAL_USB_STREAM_NB >= 2 */
+
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 3
+
+static const struct usb_endpoint_descriptor usb_desc_endp_3[] = {
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x03,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+ {
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x83,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = UCOO_CONFIG_HAL_USB_EP_SIZE,
+ .bInterval = 0,
+ },
+};
+
+static const struct usb_interface_descriptor usb_desc_iface_3[] = {
+ {
+ .bLength = USB_DT_INTERFACE_SIZE,
+ .bDescriptorType = USB_DT_INTERFACE,
+ .bInterfaceNumber = 2,
+ .bAlternateSetting = 0,
+ .bNumEndpoints = 2,
+ .bInterfaceClass = 0xff,
+ .bInterfaceSubClass = 0,
+ .bInterfaceProtocol = 0,
+ .iInterface = 0,
+
+ .endpoint = usb_desc_endp_3,
+ },
+};
+
+#endif /* UCOO_CONFIG_HAL_USB_STREAM_NB >= 3 */
+
+#if UCOO_CONFIG_HAL_USB_STREAM_NB > 3
+# error "too many streams requested"
+#endif
+
+static const struct usb_interface usb_desc_ifaces[] = {
+ {
+ .num_altsetting = 1,
+ .altsetting = usb_desc_iface_1,
+ },
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 2
+ {
+ .num_altsetting = 1,
+ .altsetting = usb_desc_iface_2,
+ },
+#endif
+#if UCOO_CONFIG_HAL_USB_STREAM_NB >= 3
+ {
+ .num_altsetting = 1,
+ .altsetting = usb_desc_iface_3,
+ },
+#endif
+};
+
+const struct usb_config_descriptor usb_desc_config = {
+ .bLength = USB_DT_CONFIGURATION_SIZE,
+ .bDescriptorType = USB_DT_CONFIGURATION,
+ .wTotalLength = 0,
+ .bNumInterfaces = UCOO_CONFIG_HAL_USB_STREAM_NB,
+ .bConfigurationValue = 1,
+ .iConfiguration = 0,
+ .bmAttributes = 0x80 | (UCOO_CONFIG_HAL_USB_SELF_POWERED ? 0x40 : 0),
+ .bMaxPower = UCOO_CONFIG_HAL_USB_MAX_POWER / 2,
+
+ .interface = usb_desc_ifaces,
+};
+
diff --git a/ucoo/hal/usb/usb_desc.stm32.h b/ucoo/hal/usb/usb_desc.stm32.h
new file mode 100644
index 0000000..dca84b7
--- /dev/null
+++ b/ucoo/hal/usb/usb_desc.stm32.h
@@ -0,0 +1,33 @@
+#ifndef ucoo_hal_usb_usb_desc_stm32_h
+#define ucoo_hal_usb_usb_desc_stm32_h
+/* ucoolib - Microcontroller object oriented library. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * }}} */
+#include <libopencm3/usb/usbstd.h>
+
+/** USB device descriptor. */
+extern const struct usb_device_descriptor usb_desc_dev;
+/** USB configuration descriptor. */
+extern const struct usb_config_descriptor usb_desc_config;
+
+#endif /* ucoo_hal_usb_usb_desc_stm32_h */