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authorNicolas Schodet2013-03-23 23:49:51 +0100
committerNicolas Schodet2013-03-23 23:50:41 +0100
commit9db34c1a101c060c3de7e9f1ab269d0000e709dc (patch)
treecc617a5cc5f612a648c4563cd308f15dfa66aeee /digital/io-hub
parentf25899b41e109ed0de31327386a8c6763a9fbef5 (diff)
digital/io-hub/src/apbirthday: add interface to program zb over usb
Diffstat (limited to 'digital/io-hub')
-rw-r--r--digital/io-hub/src/apbirthday/Config2
-rw-r--r--digital/io-hub/src/apbirthday/Makefile4
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh4
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc6
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc22
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc2
-rw-r--r--digital/io-hub/src/common-cc/zb_avrisp.stm32.cc88
-rw-r--r--digital/io-hub/src/common-cc/zb_avrisp.stm32.hh32
8 files changed, 158 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/Config b/digital/io-hub/src/apbirthday/Config
new file mode 100644
index 00000000..7d5f805a
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/Config
@@ -0,0 +1,2 @@
+[hal/usb]
+stream_nb = 2
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 8e27941c..473acdff 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -3,13 +3,15 @@ BASE = ../../../ucoolib
TARGETS = host stm32f4
PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
+ zb_avrisp.stm32.cc \
i2c_queue.cc asserv.cc chrono.host.cc chrono.stm32.cc \
outputs.cc \
top.cc init.cc move.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
$(AVR_SOURCES)
-MODULES = utils hal/gpio hal/uart hal/usb hal/i2c base/proto
+MODULES = utils hal/gpio hal/uart hal/usb hal/i2c hal/spi \
+ base/proto dev/avrisp
# Hack mode, include old code from AVR modules.
AVR_MODULES = math/geometry math/fixed
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index 3cf5a50f..f3378170 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -53,7 +53,7 @@ struct Hardware
ucoo::Uart dev_uart, zb_uart;
#ifdef TARGET_stm32
ucoo::UsbStreamControl usb_control;
- ucoo::UsbStream usb;
+ ucoo::UsbStream usb, zb_usb_avrisp;
ucoo::I2cHard main_i2c;
#else
ucoo::HostStream usb;
@@ -87,6 +87,8 @@ struct Hardware
Hardware ();
// Wait until next cycle.
void wait ();
+ // Handle zb programmation.
+ void zb_handle ();
};
#endif // hardware_hh
diff --git a/digital/io-hub/src/apbirthday/hardware.host.cc b/digital/io-hub/src/apbirthday/hardware.host.cc
index d2deecad..fcb27030 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -75,3 +75,9 @@ Hardware::wait ()
node.wait (node.date () + 4);
}
+void
+Hardware::zb_handle ()
+{
+ // No zb on host.
+}
+
diff --git a/digital/io-hub/src/apbirthday/hardware.stm32.cc b/digital/io-hub/src/apbirthday/hardware.stm32.cc
index 8eb6f5a5..a3cd4c1d 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -27,9 +27,12 @@
#include <libopencm3/stm32/f4/timer.h>
#include "ucoolib/hal/gpio/gpio.hh"
+#include "zb_avrisp.stm32.hh"
+
Hardware::Hardware ()
: dev_uart (4), zb_uart (2),
usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0),
+ zb_usb_avrisp (usb_control, 1),
main_i2c (2),
raw_jack (GPIOD, 12),
ihm_color (GPIOD, 14),
@@ -72,6 +75,7 @@ Hardware::Hardware ()
zb_uart.block (false);
// usb
usb.block (false);
+ zb_usb_avrisp.block (false);
// main_i2c
gpio_mode_setup (GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
@@ -96,3 +100,21 @@ Hardware::wait ()
TIM3_SR = ~TIM_SR_UIF;
}
+void
+Hardware::zb_handle ()
+{
+ // Switch to AVRISP?
+ if (zb_usb_avrisp.poll ())
+ {
+ // Uart pins are reused.
+ zb_uart.disable ();
+ gpio_mode_setup (GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO8 | GPIO9);
+ // Go to special AVRISP mode.
+ zb_avrisp (zb_usb_avrisp);
+ // Restore.
+ gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8 | GPIO9);
+ gpio_set_af (GPIOD, GPIO_AF7, GPIO8 | GPIO9);
+ zb_uart.enable (38400, ucoo::Uart::EVEN, 1);
+ }
+}
+
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 87b08b18..25ea7059 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -98,6 +98,8 @@ Robot::main_loop ()
dev_proto.accept ();
zb_proto.accept ();
usb_proto.accept ();
+ // Handle zb programmation.
+ hardware.zb_handle ();
// Send stats.
proto_stats ();
}
diff --git a/digital/io-hub/src/common-cc/zb_avrisp.stm32.cc b/digital/io-hub/src/common-cc/zb_avrisp.stm32.cc
new file mode 100644
index 00000000..3360c4d9
--- /dev/null
+++ b/digital/io-hub/src/common-cc/zb_avrisp.stm32.cc
@@ -0,0 +1,88 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "zb_avrisp.stm32.hh"
+
+#include "ucoolib/dev/avrisp/avrisp_frame.hh"
+#include "ucoolib/hal/gpio/gpio.hh"
+#include "ucoolib/hal/spi/spi_soft.hh"
+#include "ucoolib/utils/delay.hh"
+
+class ZbAvrIspIntf : public ucoo::AvrIspIntf
+{
+ public:
+ ZbAvrIspIntf (ucoo::Io &reset, ucoo::Io &sck, ucoo::Io &mosi,
+ ucoo::Io &miso)
+ : reset_ (reset), sck_ (sck), spi_ (sck, mosi, miso), active_ (true)
+ {
+ }
+ uint8_t send_and_recv (uint8_t tx)
+ {
+ return spi_.send_and_recv (tx);
+ }
+ void enable (uint8_t sck_duration_us)
+ {
+ reset_.output ();
+ reset_.reset ();
+ sck_.output ();
+ sck_.reset ();
+ ucoo::delay_us (1000);
+ reset_.set ();
+ ucoo::delay_us (100);
+ reset_.reset ();
+ int freq = 1000000 / sck_duration_us;
+ spi_.enable (freq, ucoo::SPI_MODE_0);
+ }
+ void disable ()
+ {
+ spi_.disable ();
+ reset_.input ();
+ active_ = false;
+ }
+ void sck_pulse ()
+ {
+ sck_.toggle ();
+ ucoo::delay_us (100);
+ sck_.toggle ();
+ }
+ bool active () const { return active_; }
+ private:
+ ucoo::Io &reset_;
+ ucoo::Io &sck_;
+ ucoo::SpiSoftMaster spi_;
+ bool active_;
+};
+
+void
+zb_avrisp (ucoo::Stream &s)
+{
+ ucoo::Gpio reset (GPIOD, 10), sck (GPIOE, 7), mosi (GPIOD, 8),
+ miso (GPIOD, 9);
+ ZbAvrIspIntf intf (reset, sck, mosi, miso);
+ ucoo::AvrIsp isp (intf);
+ ucoo::AvrIspProto proto (isp);
+ ucoo::AvrIspFrame frame (proto);
+ while (intf.active ())
+ frame.read_and_write (s);
+}
+
diff --git a/digital/io-hub/src/common-cc/zb_avrisp.stm32.hh b/digital/io-hub/src/common-cc/zb_avrisp.stm32.hh
new file mode 100644
index 00000000..eda82f7d
--- /dev/null
+++ b/digital/io-hub/src/common-cc/zb_avrisp.stm32.hh
@@ -0,0 +1,32 @@
+#ifndef zb_avrisp_stm32_hh
+#define zb_avrisp_stm32_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "ucoolib/intf/stream.hh"
+
+/// Start AVRISP on given stream.
+void
+zb_avrisp (ucoo::Stream &s);
+
+#endif // zb_avrisp_stm32_hh