Merge remote-tracking branch 'origin/naopross' into atlas

4 files changed, 353 insertions, 0 deletions

diff --git a/sw/programmer/avr/main.c b/sw/programmer/avr/main.c
new file mode 100644
index 0000000..9cdc35d
--- /dev/null
+++ b/sw/programmer/avr/main.c
@@ -0,0 +1,119 @@
+#include "usart.h"
+
+#include <stdio.h>
+#include <util/delay.h>
+
+#define EEPROM_TICK_MS  10
+
+#define ADDRCR      PORTB
+#define EEPROMCR    PORTC
+#define EEPROMDR    PORTD
+
+#define ADDR_BIT    0
+#define ADDR_EL     3
+#define ADDR_EH     4
+#define ADDR_DL     5
+#define ADDR_DH     6
+
+#define EEPROM_WR   0
+#define EEPROM_RD   1
+#define EEPROM_CLK  2
+
+struct file_blk
+{
+    uint16_t addr;
+    uint16_t size;
+};
+
+void eeprom_write(uint16_t addr, uint8_t byte);
+void eeprom_tick();
+
+int main(void)
+{
+    uint8_t *buffer, i;
+    size_t read;
+    char str[64];
+
+    struct file_blk *blk = malloc(sizeof(struct file_blk));
+
+    DDRB = 0x7F;
+    DDRC = 0x83;
+    DDRD = 0xFC;
+
+    /* get configuration */
+    usart_init(1200); 
+    usart_print("programmer Ready\n<waiting for binary>\n\r");
+
+    while (usart_read((uint8_t *) blk, sizeof(struct file_blk))) {
+        buffer = malloc(blk->size);
+        read = usart_read(buffer, blk->size);
+
+#ifdef DEBUG
+        sprintf(str, "info : reading block from addr %d of size %d\n\r", 
+                blk->addr, blk->size);
+        usart_print(str);
+
+        if (read != blk->size) {
+            sprintf(str, "error: expected %d but read %d\n\r", 
+                    blk->size, read);
+            usart_print(str);
+        }
+#endif
+
+        for (i = 0; i < read; i++) {
+            eeprom_write(blk->addr +i, buffer[i]);
+        }
+
+        free(buffer);
+    }
+
+    free(blk);
+    return 0;
+}
+
+
+void eeprom_write(uint16_t addr, uint8_t byte)
+{
+    int bit;
+
+    /* set address */
+    for (bit = 0; bit < 8; bit++) {
+        // clear bit
+        ADDRCR &= ~0x07;
+        // select the bit
+        ADDRCR |= bit;
+
+        // write bit for lower byte
+        if (addr & _BV(bit))
+            ADDRCR |= _BV(ADDR_DL);
+        else
+            ADDRCR &= ~_BV(ADDR_DL);
+
+        // write bit for higher byte
+        if ((addr>>8) & _BV(bit))
+            ADDRCR |= _BV(ADDR_DH);
+        else
+            ADDRCR &= ~_BV(ADDR_DH);
+    }
+
+    /* set data */
+    EEPROMDR = byte;
+    EEPROMCR &= ~(_BV(ADDR_EH) | _BV(ADDR_EL));
+
+    /* write eeprom */
+    EEPROMCR &= ~_BV(EEPROM_WR);
+    eeprom_tick();
+
+    EEPROMCR |= _BV(EEPROM_WR);
+    EEPROMCR |= _BV(ADDR_EH) | _BV(ADDR_EL);
+}
+
+/* pulse the clock line for the eeprom */
+void eeprom_tick()
+{
+    EEPROMCR |= _BV(EEPROM_CLK);
+    _delay_ms(EEPROM_TICK_MS);         
+    EEPROMCR &= ~_BV(EEPROM_CLK);
+    _delay_ms(EEPROM_TICK_MS);         
+}
+
diff --git a/sw/programmer/avr/makefile b/sw/programmer/avr/makefile
new file mode 100644
index 0000000..ba2a709
--- /dev/null
+++ b/sw/programmer/avr/makefile
@@ -0,0 +1,31 @@
+###
+# Project settings
+#
+TARGET := programmer
+SOURCES := $(wildcard *.c)
+
+###
+# Compiler settings
+#
+CC   := avr-gcc
+PORT := /dev/ttyUSB0
+MCU  := atmega328p
+
+CFLAGS  := -g -Wall -mcall-prologues -mmcu=$(MCU) -Os -I . \
+			-DF_CPU=1000000UL -DDEBUG
+LDFLAGS := -Wl,-gc-sections -Wl,-relax
+
+.PHONY: all clean program
+all: $(TARGET).hex
+
+clean:
+	rm -f *.o *.hex *.obj *.bin
+
+$(TARGET).hex: $(TARGET).bin
+	avr-objcopy -R .eeprom -O ihex $(TARGET).bin $@
+
+$(TARGET).bin: $(SOURCES)
+	$(CC) $(CFLAGS) $(SOURCES) -o $@ $(LDFLAGS)
+
+program: $(TARGET).hex
+	avrdude -p $(MCU) -c usbasp -P usb -U flash:w:$(TARGET).hex
diff --git a/sw/programmer/avr/usart.c b/sw/programmer/avr/usart.c
new file mode 100644
index 0000000..8c2eb38
--- /dev/null
+++ b/sw/programmer/avr/usart.c
@@ -0,0 +1,107 @@
+#include "usart.h"
+
+static uint16_t usart_baudrate;
+static uint16_t usart_baud_prescale;
+
+void usart_init(uint16_t baudrate)
+{
+    // enable RX and TX
+    UCSR0B |= _BV(RXEN0) | _BV(TXEN0);
+    
+    // set 8 bit size char
+    UCSR0C |= _BV(UCSZ01) | _BV(UCSZ00);
+
+    // set baudrate 
+    usart_baudrate = baudrate;
+    usart_baud_prescale = (F_CPU / (usart_baudrate * 16)) -1;
+    
+    UBRR0L = usart_baud_prescale;
+    UBRR0H = usart_baud_prescale >> 8;
+}
+
+void usart_send_byte(uint8_t data)
+{
+    while (!(UCSR0A & _BV(UDRE0)));
+    UDR0 = data;
+}
+
+void usart_send(uint8_t *data, size_t len)
+{
+    uint8_t *p = data;
+
+    while (len--) {
+        usart_send_byte(*(p++));
+    }
+}
+
+void usart_print(char *str)
+{
+    char *p = str;
+    size_t len = 0;
+
+    while (*p++ != '\0') {
+        len++;
+    }
+
+    usart_send((uint8_t *) str, len);
+}
+
+int usart_read_byte(uint8_t *byte)
+{
+    uint16_t timeout = USART_TIMEOUT;
+
+    do {
+        if (UCSR0A & _BV(RXC0)) {
+            *byte = UDR0;
+            return 0;
+        }
+    } while (timeout--);
+
+    return -1;
+}
+
+uint8_t usart_read_byte_nt(void)
+{
+    while ((UCSR0A & _BV(RXC0)) == 0);
+    return UDR0;
+}
+
+
+size_t usart_read(uint8_t *buffer, size_t len)
+{
+    size_t read = 0;
+    uint8_t *p = buffer;
+
+    while (len--) {
+        if (usart_read_byte(p)  == 0) {
+            p++; 
+            read++;
+        }
+    }
+
+    return read;
+}
+
+int usart_read_line(uint8_t *buffer, size_t len)
+{
+    uint8_t ch;
+    uint8_t *p = buffer;
+    size_t read = 0;
+
+    while (len--) {
+        if (usart_read_byte(&ch) != 0)
+            continue;
+        else
+            read++;
+
+        if (ch == '\n')
+            break;
+        else
+            *(p++) = ch;
+    }
+
+    if (ch != '\n')
+        return -1;
+
+    return 0;
+}
diff --git a/sw/programmer/avr/usart.h b/sw/programmer/avr/usart.h
new file mode 100644
index 0000000..1bb6607
--- /dev/null
+++ b/sw/programmer/avr/usart.h
@@ -0,0 +1,96 @@
+#ifndef __USART_H__
+#define __USART_H__
+/*** 
+ * USART REGISTERS {{{
+ *
+ * UCSR: control and status regisers, composed from 3 registers:
+ *  +------------------------------------------------------------------------+
+ *  | UCSRA :| RXC   | TXC   | UDRE  | FE    | DOR   | PE    | U2X   | MPCM  | 
+ *  +------------------------------------------------------------------------+
+ *   UCSRA is a status register (read only)
+ *   Relevant bits:
+ *       - RXC : set to 1 if data is present on the receive buffer
+ *       - TXC : set to 1 when data is transferred to the transfer register 
+ *       - UDRE: set to 1 when trasmit buffer is empty (data sent)
+ *  +------------------------------------------------------------------------+
+ *  | UCSRB :| RXCIE | TXCIE | UDRIE | RXEN  | TXEN  | UCSZ2 | RXB8  | TXB8  | 
+ *  +------------------------------------------------------------------------+
+ *   UCSRB is used to setup hardware configuration
+ *   Relevant bits:
+ *       - RXCIE: RX complete interrupt enabled when set to 1
+ *       - TXCIE: TX complete interrupt enabled when set to 1
+ *       - UDRIE: data register empty interrupt enabled when set to 1
+ *       - RXEN : uart receiver enabled  when set to 1
+ *       - TXEN : uart transmitter enabled when set to 1
+ *  +------------------------------------------------------------------------+
+ *  | UCSRC :| URSEL | UMSEL | UPM1  | UPM0  | USBS  | UCSZ1 | UCSZ0 | UCPOL | 
+ *  +------------------------------------------------------------------------+
+ *   UCSRB is used to setup protocol configuration
+ *   Relevant bits:
+ *       - URSEL: register select (location is shared with UBRRH and UCSRC)
+ *       - UMSEL: mode select
+ *              1 -> synchronous
+ *              0 -> asynchronous
+ *       - UMP1 + UPM0: set parity
+ *              00 -> no parity
+ *              01 -> reserved
+ *              10 -> even
+ *              11 -> odd
+ *       - UCSZ2 + UCSZ1 + UCSZ0: set data frame (char size)
+ *              000 -> 5 bit
+ *              001 -> 6 bit
+ *              010 -> 7 bit
+ *              011 -> 8 bit
+ *              100 to 110 -> reserved
+ *              111 -> 9 bit
+ *
+ * UBRR: baudrate register
+ *  +------------------------------------------------------------------------+
+ *  | UBRRH :| URSEL |       |       |       | UBRR11| UBRR10| UBRR9 | UBRR8 | 
+ *  +------------------------------------------------------------------------+
+ *  | UBRRL :| UBRR7 | UBRR6 | UBRR5 | UBRR4 | UBRR3 | UBRR2 | UBRR1 | UBRR0 | 
+ *  +------------------------------------------------------------------------+
+ *    UBRR is composed of 2 8 bit registers to store a 12 bit baudrate value.
+ *    The value to be stored in this register is calculated with the following
+ *    formula (approximate to integer):
+ *       UBRR = ( XTAL_frequency ) / ( 16 * BAUDRATE ) -1
+ *
+ *    in C code corresponds to:
+ *       #define USART_BAUDRATE 9600
+ *       #define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE * 16UL))) - 1)
+ *
+ *    Relevant bits:
+ *       - URSEL: register select (location is share with UCSRC)
+ *
+ * UDR : data register
+ *   This register is shared between RX and TX
+ *
+ * }}}
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <avr/io.h>
+
+#define USART_TIMEOUT   5000
+
+// struct usart_conf
+// {
+//     uint16_t baudrate;
+// };
+
+void usart_init(uint16_t baudrate);
+// void usart_init_conf(struct usart_conf *conf);
+
+void usart_send_byte(uint8_t data);
+void usart_send(uint8_t *data, size_t len);
+
+void usart_print(char *str);
+
+int usart_read_byte(uint8_t *byte);
+uint8_t usart_read_byte_nt(void);
+size_t usart_read(uint8_t *buffer, size_t len);
+int uart_read_line(uint8_t *buffer, size_t len);
+
+#endif