spi support

diff --git a/commands.c b/commands.c
index a14d098..6eb034c 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -29,6 +29,7 @@
 #include <aversive/queue.h>
 #include <aversive/endian.h>
 #include <aversive/error.h>
+#include <aversive/wait.h>
 #include <parse.h>
 #include <rdline.h>
 #include <parse_string.h>
@@ -46,6 +47,7 @@
 #include "parse_neighbor.h"
 #include "parse_monitor.h"
 
+#include "spi_servo.h"
 #include "rc_proto.h"
 #include "main.h"
 #include "cmdline.h"
@@ -1258,6 +1260,47 @@ parse_pgm_inst_t cmd_baudrate = {
 };
 #endif
 
+/* this structure is filled when cmd_test_spi is parsed successfully */
+struct cmd_test_spi_result {
+       fixed_string_t arg0;
+};
+
+static void cmd_test_spi_parsed(void * parsed_result,
+                               __attribute__((unused)) void *data)
+{
+       int i;
+
+
+       while (1) {
+               for (i = 0; i < 50; i++) {
+                       spi_servo_set(0, 0);
+                       wait_ms(100);
+                       spi_servo_set(0, 500);
+                       wait_ms(100);
+               }
+
+               spi_servo_bypass(1);
+               wait_ms(10000);
+               spi_servo_bypass(0);
+               wait_ms(1);
+       }
+}
+
+prog_char str_test_spi_arg0[] = "test_spi";
+parse_pgm_token_string_t cmd_test_spi_arg0 =
+       TOKEN_STRING_INITIALIZER(struct cmd_test_spi_result, arg0,
+                                str_test_spi_arg0);
+
+prog_char help_test_spi[] = "Test the spi";
+parse_pgm_inst_t cmd_test_spi = {
+       .f = cmd_test_spi_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_test_spi,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_test_spi_arg0,
+               NULL,
+       },
+};
 
 /* in progmem */
 parse_pgm_ctx_t main_ctx[] = {
@@ -1297,5 +1340,6 @@ parse_pgm_ctx_t main_ctx[] = {
 #ifndef USE_USB
        (parse_pgm_inst_t *)&cmd_baudrate,
 #endif
+       (parse_pgm_inst_t *)&cmd_test_spi,
        NULL,
 };

diff --git a/main.c b/main.c
index 5f7a638..d12ed7a 100644 (file)
--- a/main.c
+++ b/main.c
@@ -57,6 +57,7 @@
 #include "cmdline.h"
 #include "callout.h"
 #include "rc_proto.h"
+#include "spi_servo.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -618,6 +619,7 @@ int main(void)
        int8_t err;
        struct xbee_dev dev;
 
+       spi_servo_init();
 #ifdef USE_USB
        SetupHardware();
 

diff --git a/makefile b/makefile
index 51feddd..fa48586 100644 (file)
--- a/makefile
+++ b/makefile
@@ -145,6 +145,7 @@ endif
 \r
 # List C source files here. (C dependencies are automatically generated.)\r
 SRC += \\r
+       spi_servo.c \\r
        cirbuf_add_buf_head.c \\r
        cirbuf_add_buf_tail.c \\r
        cirbuf_add_head.c \\r

diff --git a/spi_servo.c b/spi_servo.c
new file mode 100644 (file)
index 0000000..1bb96e7
--- /dev/null
+++ b/spi_servo.c
@@ -0,0 +1,87 @@
+#include <aversive.h>
+#include <aversive/wait.h>
+#include <stdint.h>
+
+#include "spi_servo.h"
+
+#define BYPASS_ENABLE 14
+#define BYPASS_DISABLE 15
+
+/*
+ * SPI protocol:
+ *
+ * A command is stored on 2 bytes. The first one has its msb to 0, and the
+ * second one to 1. The first received byte contains the command number, and the
+ * msb of the servo value. The second byte contains the lsb of the servo value.
+ *
+ * Commands 0 to NB_SERVO are to set the value of servo.
+ * Command 14 is to enable bypass mode.
+ * Command 15 is to disable bypass mode.
+ */
+static volatile union {
+       uint8_t u8;
+       struct {
+               /* inverted: little endian */
+               uint8_t val_msb:3;
+               uint8_t cmd_num:4;
+               uint8_t zero:1;
+       };
+} byte0;
+
+static volatile union {
+       uint8_t u8;
+       struct {
+               /* inverted: little endian */
+               uint8_t val_lsb:7;
+               uint8_t one:1;
+       };
+} byte1;
+
+void spi_servo_init(void)
+{
+       /* real SS ! */
+       DDRK = 0x2;
+       /* SCK, SS & MOSI */
+       DDRB = 0x7;
+
+       /* remove power reduction on spi */
+       PRR0 &= ~(1 << PRSPI);
+
+       /* Enable SPI, Master, set clock rate fck/64 */
+       SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1);
+
+       PORTK |= (1<<1);
+
+       spi_servo_set(BYPASS_DISABLE, 0);
+}
+
+void spi_servo_set(uint8_t num, uint16_t val)
+{
+       byte0.val_msb = val >> 7;
+       byte0.cmd_num = num;
+       byte0.zero = 0;
+       byte1.one = 1;
+       byte1.val_lsb = val;
+
+       PORTK &= ~(1<<1);
+       SPDR = byte0.u8;
+       /* Wait for transmission complete */
+       while(!(SPSR & (1<<SPIF)));
+       PORTK |= (1<<1);
+
+       _delay_loop_1(5);
+       PORTK &= ~(1<<1);
+
+       SPDR = byte1.u8;
+       /* Wait for transmission complete */
+       while(!(SPSR & (1<<SPIF)));
+       PORTK |= (1<<1);
+}
+
+void spi_servo_bypass(uint8_t enable)
+{
+       if (enable)
+               spi_servo_set(BYPASS_ENABLE, 0);
+       else
+               spi_servo_set(BYPASS_DISABLE, 0);
+}

diff --git a/spi_servo.h b/spi_servo.h
new file mode 100644 (file)
index 0000000..188f8cd
--- /dev/null
+++ b/spi_servo.h
@@ -0,0 +1,3 @@
+void spi_servo_init(void);
+void spi_servo_set(uint8_t num, uint16_t val);
+void spi_servo_bypass(uint8_t enable);