leia: control all RESET_PORT bits

leia/leia.c

@@ -26,6 +26,7 @@ const char revision[] = Id;
 
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
+#include <avr/pgmspace.h>
 
 #define SPI_Rx_SLEEP
 #include "spi_slave.h"
@@ -72,10 +73,13 @@ struct conf {
 	uint8_t       reset;          // 12
 	uint8_t       dir;            // 13
 	uint16_t      n_steps;        // 14
-	uint16_t      dac_ramp;       // 18
+	uint16_t      dac_ramp;       // 16
-	uint16_t      dac_step;       // 20
+	uint16_t      dac_step;       // 18
-	uint8_t       adc_incr;       // 23
+	uint8_t       adc_incr;       // 20
-	uint8_t       adc_period;     // 24
+	uint8_t       adc_period;     // 21
+	uint8_t       awake;          // 22
+	uint8_t       ledoff;         // 23
+	uint8_t       disable;        // 24
 	uint8_t       pad[7];         // 25
 	uint8_t       adc_ch[16];     // 32
 };
@@ -119,6 +123,9 @@ const struct conf runcon = {
 	.lmask = LIMIT1 | LIMIT2 | FAULT1 | FAULT2,
 	.lval =  FAULT1 | FAULT2,
 	.enable = SLEEP | RESET,
+	.disable = ENABLE,
+	.ledoff = LEDON,
+	.awake = SLEEP,
 	.reset = RESET,
 	.adc_ch = {
 		ADC_BG|ADC_SR, ADC_BG|ADC_R, ADC_GND|ADC_R,
@@ -130,6 +137,7 @@ const struct conf runcon = {
 	.adc_incr = 16, // one conversions per channel
 	.adc_period = TICK_NS(1000000),
 	.dac_step = 0x20,
+	.pad = "\xff\xff\xff\xff\xff\xff\xff"
 };
 
 void stepper_init()
@@ -673,6 +681,21 @@ uint8_t eeprom_load(uint16_t a)
 	return 0;
 }
 
+static inline
+uint8_t eeprom_read_byte(uint16_t a, uint8_t *r)
+{
+	cli();
+	if (EECR & 1<<EEWE) {
+		sei();
+		return 1;
+	}
+	EEAR = a;
+	EECR |= 1<<EERE;
+	*r = EEDR;
+	sei();
+	return 0;
+}
+
 static inline
 void reg16(uint16_t *v, unsigned char *r, const unsigned char *c)
 {
@@ -863,15 +886,21 @@ int main()
 				v.conf.n_steps = cmd[2] << ((cmd[1]>>4) & 7);
 			// fall through, return n_steps
 		case 's': reg16(&v.conf.n_steps, resp, cmd); break;
-		case 'r': reg8(&v.conf.reset, resp, cmd);
+		case 'r': resp[2] = cmd[2];
-			resp[2] = cmd[2];
+			switch (cmd[2] & 0x3) {
-			if (cmd[2]) {
+			case 0: reg8(&v.conf.reset,   resp, cmd);
-				v.conf.step = 0;
+			case 1: reg8(&v.conf.disable, resp, cmd);
+			case 2: reg8(&v.conf.awake,   resp, cmd);
+			case 3: reg8(&v.conf.ledoff,  resp, cmd);
+			}
+			if (up && cmd[2] & 0x3)
+				v.conf.enable = v.conf.awake | v.conf.ledoff | v.conf.disable;
+			if (cmd[2] & 0x40)
+				RESET_PORT = v.conf.enable;
 			if (cmd[2] & 0x80)
 				stepper_init();
-				if (cmd[2] & 1)
+			if (cmd[2] & 0x10)
 				stepper_start(v.conf.reset);
-			}
 			break;
 		case 'd': reg16(&v.stat.dac, resp, cmd);
 			dac_ramp(v.stat.dac);
@@ -935,8 +964,13 @@ int main()
 			if (cmd[1] && upcase(cmd[1]))
 				conf_init();
 			break;
-		case 'x': // conf Byte
+		case 'x': // read/write conf Byte, read eeprom byte
 			resp[2] = cmd[1];
+			if (!up && cmd[2] & 0xf) {
+				if (eeprom_read_byte(frame2int(cmd+1) & 0x7ff, resp+1))
+					resp[0] = 'E';
+				break;
+			}
 			if (cmd[1] >= sizeof(struct vars)) {
 				resp[0] = 'E';
 				resp[1] = sizeof(struct vars);
@@ -946,11 +980,17 @@ int main()
 			if (up)
 				((unsigned char *)(&v))[cmd[1]] = cmd[2];
 			break;
-		case 'y': // peek, poke
+		case 'y': // peek, poke IO space, read RAM, flash
 			resp[2] = cmd[1];
+			if (!up)
+				if (cmd[2]&0x80)
+					resp[1] = pgm_read_u8((uint8_t*)(frame2int(cmd+1)& 0x7fff));
+				else
+					resp[1] = *(unsigned char *)(frame2int(cmd+1));
+			else {
 				resp[1] = *(unsigned char *)(cmd[1]+0);
-			if (up)
 				*(unsigned char *)(cmd[1]+0) = cmd[2];
+			}
 			break;
 		}
 		spi_slave_Tx(resp, 3);