// note 1: extracted to function & hand-optimized because avr-gcc *duh*
// note 2: unroll to get even faster code:
// 256 loop itself takes 3 clocks [2 words], non-256 one takes 4 clocks [3 words],
// inlined spi_recv() takes *at least* (no SPI wait) 5 clocks [5 words],
// ASM_ST_INC is 2 clocks [1 word]; it follows that the loop takes (no SPI wait):
// with 2x unrolling: (the default)
// 256 * [(5+2) * 2 + 3] = 4352 clocks; (5+1)*2+2 = 14 words
// with 4x unrolling: (+6% for ~+25 bytes)
// 128 * [(5+2) * 4 + 4] = 4096 clocks; (5+1)*4+3 = 27 words
// with 8x unrolling: (another +6% for ~+50 bytes)
// 64 * [(5+2) * 8 + 4] = 3840 clocks; (5+1)*8+3 = 51 words
// with 16x unrolling: (+3% for ~+100 bytes)
// 32 * [(5+2) * 16 + 4] = 3712 clocks; (5+1)*16+3 = 99 words
// further unrolling is subject to diminishing results, with maximum speed
// at full unroll being only 3588 clocks, i.e. 3% faster than 16x unroll
//
//__attribute__ ((noinline))
void _spi_recv_block( uint8_t* buf ) {
uint8_t j = 0;
#ifdef SD_DONT_UNROLL_RECV_BLOCK
do {
ASM_ST_INC( buf, spi_recv() ); // *(buf++) = spi_recv();
ASM_ST_INC( buf, spi_recv() );
} while ( ++j ); // 512 spi_recv() executions total
#else
#define SD_UNROLL_REPEAT8(x) x; x; x; x; x; x; x; x
do {
SD_UNROLL_REPEAT8( ASM_ST_INC( buf, spi_recv() ) );
} while ( ++j < 64 ); // 512 spi_recv() executions total
#endif
}
void
proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
{
/* TODO: command to select a slave. */
#define c(cmd, size) (cmd << 8 | size)
switch (c (cmd, size))
{
case c ('z', 0):
utils_reset ();
break;
case c ('s', 1):
spi_send (args[0]);
break;
case c ('r', 0):
proto_send1b ('R', spi_recv ());
break;
case c ('r', 1):
proto_send1b ('R', spi_send_and_recv (args[0]));
break;
default:
proto_send0 ('?');
return;
}
proto_send (cmd, size, args);
#undef c
}
static int atben_buf_read(void *handle, void *buf, int size)
{
struct atben_dsc *dsc = handle;
uint8_t len, i;
spi_begin(dsc);
spi_send(dsc, AT86RF230_BUF_READ);
len = spi_recv(dsc);
len++; /* LQI */
if (len > size)
len = size;
for (i = 0; i != len; i++)
*(uint8_t *) buf++ = spi_recv(dsc);
spi_end(dsc);
return len;
}
static void
tmp121temp_refresh(struct sysmon_envsys *sme, envsys_data_t *edata)
{
struct tmp121temp_softc *sc = sme->sme_cookie;
uint16_t reg;
int16_t sreg;
int val;
if (spi_recv(sc->sc_sh, 2, (uint8_t *)®) != 0) {
edata->state = ENVSYS_SINVALID;
return;
}
sreg = (int16_t)be16toh(reg);
/*
* convert to uK:
*
* TMP121 bits:
* D15 : sign bit
* D14-D3 : data (D14 is MSB)
* D2-D0 : zero
*
* The data is represented in units of 0.0625 deg C.
*/
sreg >>= 3;
val = sreg * 62500 + 273150000;
edata->value_cur = val;
edata->state = ENVSYS_SVALID;
}
static inline uint8_t spi_3366_read(const uint8_t addr)
{
spi_send(addr);
delay_us(160); // t_SRAD
uint8_t data = spi_recv();
delay_us(20);
return data;
}
void sd_preinit( void ) {
spi_assert_SS();
for( uint8_t i = SD_INIT_IDLE_CYCLES; i > 0; i-- ) {
sd_debug_verbose_printf( "~" );
spi_recv();
}
sd_debug_verbose_printf( "|\n\r" );
spi_deassert_SS();
}
static uint8_t atben_reg_read(void *handle, uint8_t reg)
{
struct atben_dsc *dsc = handle;
uint8_t res;
spi_begin(dsc);
spi_send(dsc, AT86RF230_REG_READ | reg);
res = spi_recv(dsc);
spi_end(dsc);
return res;
}
static uint8_t atben_sram_read(void *handle, uint8_t addr)
{
struct atben_dsc *dsc = handle;
uint8_t res;
spi_begin(dsc);
spi_send(dsc, AT86RF230_SRAM_READ);
spi_send(dsc, addr);
res = spi_recv(dsc);
spi_end(dsc);
return res;
}
// @return response returned from command, or SPI_EMPTY_BYTE (0xFF) if failed
// note 1: this code assumes a regular 512-byte block since SDHC allows only this
// note 2: this function is slower than sd_readSingleBlockHC
uint8_t sd_readPartialBlockHC( uint8_t addr3, uint8_t addr2, uint8_t addr1, uint8_t addr0, uint8_t* buf, uint16_t offset, uint16_t len ) {
uint8_t ret = sd_command( SD_READ_SINGLE_BLOCK, addr3, addr2, addr1, addr0 );
if ( ret != SD_RET_READY ) {
sd_debug_printf( "RET: not READY; [0x%02hhx] received\n\r", ret );
return SPI_EMPTY_BYTE;
}
spi_assert_SS();
for( uint8_t i = SD_SPI_RESPONSE_WAIT_MAX; i > 0; i-- ) {
*buf = spi_recv();
if ( *buf == SPI_EMPTY_BYTE ) {
continue;
}
if ( *buf != SD_DATA_TOKEN ) {
spi_deassert_SS();
sd_debug_printf( "RET: invalid token received\n\r" );
return SPI_EMPTY_BYTE;
}
uint16_t i = 0, end = offset + len;
for( ; i < offset; i++ ) {
spi_recv();
}
for( ; i < end; i++ ) {
*(buf++) = spi_recv();
}
for( ; i < SD_HC_BLOCK_LENGTH; i++ ) {
spi_recv();
}
// CRC values are ignored outside of debug mode; split to avoid comp. warnings
#ifdef SD_DEBUG_VERBOSE
uint8_t crc1 = spi_recv();
uint8_t crc2 = spi_recv();
sd_debug_verbose_printf( "CRC: 0x%02hhx %02hhx\n\r", crc1, crc2 );
#else
spi_recv();
spi_recv();
#endif
spi_recv(); // required 8 clock cooldown
return ret;
}
spi_deassert_SS();
sd_debug_printf( "RET: busy\n\r" );
return SPI_EMPTY_BYTE;
}
uint8_t
flash_init (void)
{
uint8_t rsp[3];
uint8_t res;
AC_FLASH_PORT |= _BV(AC_FLASH_BIT_SS);
AC_FLASH_DDR |= _BV(AC_FLASH_BIT_SS);
/* send the read-ID instruction. */
spi_init (SPI_MASTER, SPI_CPOL_FALLING | SPI_CPHA_SETUP, SPI_MSB_FIRST,
SPI_FOSC_DIV16);
FLASH_CS_ENABLE;
spi_send (FLASH_SST_CMD_READ_ID);
rsp[0] = spi_recv ();
rsp[1] = spi_recv ();
rsp[2] = spi_recv ();
FLASH_CS_DISABLE;
switch (rsp[0])
{
case FLASH_SST_MANUFACTURER_ID:
flash_sst_init ();
flash_init_sst ();
res = 1;
break;
case FLASH_AT_MANUFACTURER_ID:
flash_at_init ();
flash_init_at ();
res = 1;
break;
default:
res = 0;
}
return res;
}
int main (void) {
init();
led_on();
uart_str("Hello!\r\n");
spi_slave();
led_off();
while (1) {
switch (spi_recv()) {
case 0: break;
case 1:
// CPU wants to read a value. this means we are now the master, to transfer the value back.
spi_master();
spi_send(uart_read());
spi_slave();
break;
case 2:
// CPU wrote a value. Output it to serial.
uart_write(spi_recv());
break;
default:
break;
}
}
}
/*****************************************************************************
* 函 数 名 : spiDevDetect
*
* 功能描述 : 动态探测SPI总线上接入的设备类型，验证SPI总线驱动
*
* 输入参数 :
* 输出参数 :
*
* 返 回 值 :
*
* 其它说明 :
*
*****************************************************************************/
s32 spi_dev_detect( eSpiDevType *devType )
{
u16 ucCmdRDID = SPI_DEV_CMD_RDID;
u32 ulRecv = 0;
/*cprintf("\r\nspiDevDetect begin!" );*/
if(NULL == devType)
{
cprintf("\r\nPARA *devType is NULL!");
return ERROR;
}
/* EEPROM对该命令不支持，会收不到数据超时退出 */
if(OK != spi_recv(SPI_NO_DEV, SPI_CS_DEV, (u16*)&ulRecv, 3, &ucCmdRDID, 1))
{
cprintf("\r\nread ID err");
*devType = E_SPI_DEV_TYPE_EEPROM;
return OK;
}
cprintf("\r\nID: %x", ulRecv);
/* EEPROM不支持该命令，会返回全0或全1 */
if(0 != ulRecv && 0xFFFFFF != ulRecv)
{
*devType = E_SPI_DEV_TYPE_SFLASH;
}
else
{
*devType = E_SPI_DEV_TYPE_EEPROM;
}
cprintf("\r\ndevType is : @ %x", *devType);
return OK;
}
// @return response returned from command, or SPI_EMPTY_BYTE (0xFF) if failed
// note: this code assumes a regular 512-byte block since SDHC allows only this
// pass len == 0 to read all 512 bytes into buf
uint8_t sd_readSingleBlockHC( uint8_t addr3, uint8_t addr2, uint8_t addr1, uint8_t addr0, uint8_t* buf ) {
uint8_t ret = sd_command( SD_READ_SINGLE_BLOCK, addr3, addr2, addr1, addr0 );
if ( ret != SD_RET_READY ) {
sd_debug_printf( "RET: not READY; [0x%02hhx] received\n\r", ret );
return SPI_EMPTY_BYTE;
}
spi_assert_SS();
for( uint8_t i = SD_SPI_RESPONSE_WAIT_MAX; i > 0; i-- ) {
*buf = spi_recv();
if ( *buf == SPI_EMPTY_BYTE ) {
continue;
}
if ( *buf != SD_DATA_TOKEN ) {
spi_deassert_SS();
sd_debug_printf( "RET: invalid token received\n\r" );
return SPI_EMPTY_BYTE;
}
_spi_recv_block( buf );
// CRC values are ignored outside of debug mode; split to avoid comp. warnings
#ifdef SD_DEBUG_VERBOSE
uint8_t crc1 = spi_recv();
uint8_t crc2 = spi_recv();
sd_debug_verbose_printf( "CRC: 0x%02hhx %02hhx\n\r", crc1, crc2 );
#else
spi_recv();
spi_recv();
#endif
sd_debug_verbose_printf( "CRC: 0x%02hhx %02hhx\n\r", crc1, crc2 );
// do a CRC check if you're masochistic (or have a GHz-ish CPU)
spi_recv(); // required 8 clock cooldown
return ret;
}
spi_deassert_SS();
sd_debug_printf( "RET: busy\n\r" );
return SPI_EMPTY_BYTE;
}
int main(void)
{
// set clock prescaler for 8MHz
CLKPR = 0x80;
CLKPR = 0x01;
cli();
power_all_disable();
power_spi_enable();
power_timer1_enable();
set_sleep_mode(SLEEP_MODE_IDLE);
pins_init();
delay_ms(345); // arbitrary
uint8_t dpi = 0x0f; // default to 800
if (!(PIND & (1<<0))) // if left is pressed at boot
dpi = 0xff; // set to 12800
pmw3366_init(dpi);
nrf24_init();
// button stuff
// previous debounced state
uint8_t btn_prev = ~(PIND);
// time (in 125us) button has been unpressed.
// consider button to be released if this time exceeds DEBOUNCE_TIME.
uint8_t btn_time[3] = {0, 0, 0};
// absolute positions. relies on integer overflow
union motion_data x = {0}, y = {0};
// wheel stuff
uint8_t whl_prev_same = 0; // what A was the last time A == B
uint8_t whl_prev_diff = 0; // what A was the last time A != B
// absolute scroll position. relies on integer overflow
int8_t whl = 0;
// begin burst mode for 3366
spi_set3366mode();
SS_3366_LOW;
spi_3366_write(0x50, 0x00);
SS_3366_HIGH;
// set up timer1 to set OCF0A in TIFR0 every 1ms
TCCR1A = 0x00;
TCCR1B = 0x09; // CTC, 8MHz
OCR1A = 7999; // main loop nominal period (7999 + 1) / 8MHz = 1ms
OCR1B = 320; // timing of when to read burst mode data from sensor
OCR1C = 800; // timing of when to load nrf24l01+ with data
// let receiver know if it's the first time sending data, so that it
// can reset the reference for absolute position and that there's no
// jump when rebooting the mouse
// uint8_t first = 0x80; // transmitted as MSB with button data below.
// when sync reaches 0, always send a packet with bit 6 in btn set, to
// tell the receiver to calculate the timing offset.
// when sync reaches 1, always send a packet requesting ACK to load the
// timing offset
// i.e. when it overflows, so 256ms periodicity.
// when sync reaches 0, afk increments.
// afk is cleared by any motion or button press.
// when afk reaches AFK_TIMEOUT, go into powerdown mode.
for (uint8_t first = 0x80, sync = 0, afk = 0; ; first = 0, sync++) {
// sync to 1ms intervals using timer1
// if (TIFR1 & (1<<OCF1A)) PORTD |= (1<<6);
TIMSK1 |= (1<<OCIE1A);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1A);
TIFR1 |= (1<<OCF1A); TIFR1 |= (1<<OCF1B); TIFR1 |= (1<<OCF1C);
// begin burst mode read
spi_set3366mode();
SS_3366_LOW;
spi_send(0x50);
// do stuff here instead of busy waiting for 35us
// read wheel
int8_t dwhl = 0;
const uint8_t whl_a = WHL_A_IS_HIGH;
const uint8_t whl_b = WHL_B_IS_HIGH;
// if (whl_a == whl_b) {
// if (whl_a != whl_prev_same) {
// dwhl = 2 * (whl_a ^ whl_prev_diff) - 1;
// whl += dwhl;
// whl_prev_same = whl_a;
// }
// } else
// whl_prev_diff = whl_a;
if (whl_a != whl_b)
whl_prev_diff = whl_a;
else if (whl_a != whl_prev_same) {
dwhl = 2 * (whl_a ^ whl_prev_diff) - 1;
whl += dwhl;
whl_prev_same = whl_a;
}
// read buttons
/*
PIND 0 EIFR 0: low, no edges -> is low
PIND 0 EIFR 1: low, edge -> is low
PIND 1 EIFR 0: high, no edges -> always high during last 1ms
PIND 1 EIFR 1: high, edge -> low at some point in the last 1ms
*/
const uint8_t btn_unpressed = PIND & ~(EIFR);
EIFR = 0b00000111; // clear EIFR
// manual loop debouncing for every button
uint8_t btn_dbncd = 0x00;
#define DEBOUNCE(index) \
if ((btn_prev & (1<<index)) && (btn_unpressed & (1<<index))) { \
btn_time[index]++; \
if (btn_time[index] < DEBOUNCE_TIME) \
btn_dbncd |= (1<<index); \
} else { \
btn_time[index] = 0; \
btn_dbncd |= (~btn_unpressed) & (1<<index); \
}
DEBOUNCE(0);
DEBOUNCE(1);
DEBOUNCE(2);
#undef DEBOUNCE
// wait until 35us have elapsed since spi_send(0x50)
// if (TIFR1 & (1<<OCF1B)) PORTD |= (1<<6);
TIMSK1 |= (1<<OCIE1B);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1B);
union motion_data dx, dy;
spi_send(0x00); // motion, not used
spi_send(0x00); // observation, not used
dx.lo = spi_recv();
dx.hi = spi_recv();
dy.lo = spi_recv();
dy.hi = spi_recv();
SS_3366_HIGH;
x.all += dx.all;
y.all += dy.all;
if (sync == 0) afk++;
const uint8_t changed = (btn_dbncd != btn_prev) || dx.all || dy.all || dwhl;
if (changed) afk = 0;
if (changed || (sync <= 1)) {
btn_prev = btn_dbncd;
// W_TX_PAYLOAD if sync == 1, W_TX_PAYLOAD_NOACK otherwise
const uint8_t mode = (sync == 1) ? 0b10100000 : 0b10110000;
// send miscellaneous info using top bits of btn byte
uint8_t btn_send = btn_dbncd | first; // first is either 0x80 or 0
if (sync == 0) btn_send |= 0x40;
// try to transmit at the same time every frame
// if (TIFR1 & (1<<OCF1C)) {PORTD |= (1<<6);}
TIMSK1 |= (1<<OCIE1C);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1C);
spi_setnrf24mode();
SS_NRF24_LOW;
spi_send(0x20 | 0x07); // STATUS
spi_send(0b01110000); // clear IRQ
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(0b11100001); // flush tx
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(0b11100010); // flush rx
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(mode);
spi_send(btn_send);
spi_send(x.lo);
spi_send(x.hi);
spi_send(y.lo);
spi_send(y.hi);
spi_send(whl);
SS_NRF24_HIGH;
// pulse CE to transmit
CE_HIGH;
delay_us(12);
CE_LOW;
if (sync == 1) { // get ack payload of timing offset
delay_us(400);
if (IRQ_IS_LOW) {
// recycle motion_data union for timing
union motion_data offset;
SS_NRF24_LOW;
spi_send(0b01100001);
offset.lo = spi_recv();
offset.hi = spi_recv();
SS_NRF24_HIGH;
// shift TCNT1 by the offset, plus a
// little more because of the time it
// takes to add stuff to TCNT1.
TCNT1 += offset.all + 11;
}
}
}
// power down if afk
if (afk > AFK_TIMEOUT) {
// enable external interrupts on INT0/1/2/3, PCINT0
EIMSK = 0b00000111;
PCICR = 0x01;
// go power down mode; wake up on interrupt
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sei(); sleep_mode(); cli();
// disable external interrupts
PCICR = 0;
EIMSK = 0;
// restore state
set_sleep_mode(SLEEP_MODE_IDLE);
sync = 0;
afk = 0;
}
}
}
// @return first byte of returned response, or SPI_EMPTY_BYTE (0xFF) if failed
uint8_t sd_commandEx( uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2, uint8_t arg3, uint8_t crc, uint8_t* retBuf ) {
sd_debug_verbose_printf( "CMD: %hhu ARG: 0x%02hhx %02hhx %02hhx %02hhx CRC: 0x%02hhx\n\r",
cmd, arg0, arg1, arg2, arg3, crc );
spi_assert_SS();
spi_send( cmd | 0x40 );
spi_send( arg0 );
spi_send( arg1 );
spi_send( arg2 );
spi_send( arg3 );
spi_send( crc );
uint8_t r;
bool allowBusyByte = false;
switch( cmd ) {
case SD_SEND_IF_COND: // CMD8 // R7
case SD_READ_OCR: // CMD58 // R3
r = 5;
break;
case SD_SEND_STATUS: // CMD13
//case SD_STATUS: // ACMD13 // handled by case above
r = 2; // R2
break;
case SD_STOP_TRANSMISSION: // CMD12
case SD_SET_WRITE_PROT: // CMD28
case SD_CLR_WRITE_PROT: // CMD29
case SD_ERASE: // CMD38
allowBusyByte = true; // R1b
default: // R1
r = 1;
break;
}
for( uint8_t i = SD_SPI_RESPONSE_WAIT_MAX; i > 0; i-- ) {
retBuf[0] = spi_recv();
if ( retBuf[0] == SPI_EMPTY_BYTE ) {
continue;
}
if ( allowBusyByte ) { // implies r == 1
retBuf[1] = spi_recv();
if ( !retBuf[1] ) { // busy; don't wait, just return; caller should wait himself
spi_deassert_SS();
sd_debug_printf( "RET: busy\n\r" );
return SD_COMMAND_ERROR; // == SPI_EMPTY_BYTE
} // else !busy - we already did the wait
} else {
for( uint8_t j = 1; j < r; j++ ) {
retBuf[j] = spi_recv();
}
}
spi_recv(); // req. 8 cycles wait = 1 SPI output byte
spi_deassert_SS();
sd_debug_verbose_printf( "RET: 0x%02hhx 0x%02hhx 0x%02hhx 0x%02hhx 0x%02hhx\n\r",
retBuf[0],
r > 1 ? retBuf[1] : 0xFF,
r > 2 ? retBuf[2] : 0xFF,
r > 3 ? retBuf[3] : 0xFF,
r > 4 ? retBuf[4] : 0xFF );
return retBuf[0];
}
spi_deassert_SS();
sd_debug_printf( "RET: error: response timeout\n\r" );
return SD_COMMAND_ERROR; // == SPI_EMPTY_BYTE
}
