New non-working skeleton for apps

firmware/Makefile

@@ -11,10 +11,10 @@ FUSES = lfuse:w:0xe2:m -U hfuse:w:0xdf:m -U efuse:w:0x01:m
 SRC=$(wildcard lib/*.c apps/*.c *.c) 
 OBJECTS= $(SRC:.c=.o) 
 LSTFILES= $(SRC:.c=.lst)
-HEADERS=$(wildcard lib/*.h *.h)
+HEADERS=$(wildcard */*/*.h */*.h *.h)
 
 #  Compiler Options
-GCFLAGS = -ffreestanding -std=gnu99 -mmcu=$(MCU) $(OPTIMIZATION) -Wl,-gc-sections -nostdlib -I. 
+GCFLAGS = -ffreestanding -std=gnu99 -mmcu=$(MCU) $(OPTIMIZATION) -Wl,-gc-sections -nostdlib -I. -Iinclude
 # Warnings
 GCFLAGS += -Wstrict-prototypes -Wundef -Wall -Wextra -Wunreachable-code  
 # Optimizazions

firmware/apps/blinker.c

@@ -0,0 +1,31 @@
+#include <stdlib.h>
+
+#include <avr/io.h>
+#define __DELAY_BACKWARD_COMPATIBLE__
+#include <util/delay.h>
+
+#include <pentabug/app.h>
+#include <pentabug/lifecycle.h>
+
+static void init(void) {
+	PIND |= 1 << 4;
+	DDRD |= 1 << 4;
+
+	_delay_ms(2000);
+}
+
+static void blinker(void) {
+	size_t i;
+
+	for(i = 0; i < 5; ++i) {
+		PORTD |= 1 << 4;
+		_delay_ms(800);
+
+		PORTD &= ~(1 << 4);
+		_delay_ms(200);
+	}
+
+	stop_app();
+}
+
+REGISTER(blinker, init, NULL);

firmware/include/pentabug/app.h

@@ -0,0 +1,24 @@
+#ifndef APP_H
+#define APP_H 
+
+#define MAX_APPS		8
+
+#define REG(run)			REGISTER(run, NULL, NULL);
+#define REGISTER(_run, _init, _cleanup)	static void __init(void) __attribute__ ((naked, used, section (".init8")));	\
+					void __init(void) {								\
+						uint8_t i = 0;								\
+						while(apps[i].run) ++i;							\
+						apps[i].run = _run;							\
+						apps[i].init = _init;							\
+						apps[i].cleanup = _cleanup;						\
+					}
+
+struct app_t {
+	void (*run)(void);
+	void (*init)(void);
+	void (*cleanup)(void);
+};
+
+extern struct app_t apps[MAX_APPS];
+
+#endif /* APP_H */

firmware/include/pentabug/lifecycle.h

@@ -0,0 +1,34 @@
+#ifndef LIFECYCLE_H
+#define LIFECYCLE_H 
+
+#include <setjmp.h>
+#include <stdint.h>
+
+extern jmp_buf app_jmp_buf;
+extern uint8_t should_stop;
+
+// initialize lifecycle, stopped if return != 0
+inline static int enter_app(void) {
+	should_stop = 0;
+	return setjmp(app_jmp_buf);
+}
+
+// stop the running app
+inline static void stop_app(void) {
+	longjmp(app_jmp_buf, 1);
+	for(;;);
+}
+
+// request to stop the app later
+inline static void request_stop_app(void) {
+	should_stop = 1;
+}
+
+// stop app if previously requested
+inline static void test_stop_app(void) {
+	if(should_stop) {
+		stop_app();
+	}
+}
+
+#endif /* LIFECYCLE_H */

firmware/lib/app.c

@@ -0,0 +1,3 @@
+#include <pentabug/app.h>
+
+struct app_t apps[MAX_APPS];

firmware/lib/lifecycle.c

@@ -0,0 +1,4 @@
+#include <pentabug/lifecycle.h>
+
+jmp_buf app_jmp_buf;
+uint8_t should_stop;

firmware/main.c

@@ -1,172 +1,78 @@
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/sleep.h>
-#include <avr/interrupt.h>
-#define __DELAY_BACKWARD_COMPATIBLE__
-#include <util/delay.h>
+#include <setjmp.h>
+#include <stdint.h>
 #include <stdlib.h>
 
-#include "main.h"
+#include <avr/io.h>
 
-#define ever (;;)		/* awesomnes++ */
+#include <pentabug/app.h>
+#include <pentabug/lifecycle.h>
 
-#include "lib/usart.h"
-#include "lib/bughal.h"
-#include "lib/util.h"
-#include "lib/music.h"
+static inline void reset_hw(void) {
+	DDRB = 0;
+	DDRC = 0;
+	DDRD = 0;
 
-#include "lib/apps.h"
+	PORTB = 0;
+	PORTC = 0;
+	PORTD = 0;
 
-mode_fun mode_funs[MAX_FUNS] = { NULL };
-uint8_t mode_num = 0;
+	PINB = 0;
+	PINC = 0;
+	PIND = 0;
+}
 
-/*specialmodes, not in normal mode loop*/
-#define MODE_PWDN mode_num		//go to sleep
-
-uint8_t OpMode   = 0;
-uint8_t NextMode = 0;
-
-uint8_t mode_uninitialized = true;
-uint8_t mode_last_tick = false;
-
-/*check if mode should be changed (one of the buttons long pressed)*/
-void modeswitch_poll(void)
-{
-	if (btn_state(BTNST_LUP, BTN_LEFT)) {
-		//opmode --
-		NextMode = OpMode <= 0 ? mode_num - 1 : OpMode - 1;
-		button_clear(BTN_LEFT);
-	}
-	if (btn_state(BTNST_LUP, BTN_RIGHT)) {
-		//opmode ++
-		NextMode = (OpMode +1) % mode_num;
-		button_clear(BTN_RIGHT);
-	}
-	if ( btn_state(BTNST_LDN, BTN_RIGHT) &&
-	     btn_state(BTNST_LDN, BTN_LEFT)   ) {
-		NextMode = MODE_PWDN;
+static inline void run_app(struct app_t* app) {
+	if(enter_app()) {
+		// this is the exit
+		if(app->cleanup) {
+			app->cleanup();
 		}
+
 		return;
-}
-
-void do_powerDown(void)
-{
-	static timer_t mytimer;
-	static uint8_t pwdn_state;
-	static bool ledRon;
-	uint8_t oldreg;
-	if (mode_uninitialized) {
-		mode_uninitialized = false;
-		pwdn_state = 0;
-		timer_set(&mytimer, 5);
-		set_motor(MOTOR_OFF);
-		ledRon = true;
-	};
-	if (timer_expired(&mytimer)) {
-		switch (pwdn_state) {
-		case 0:
-			if (ledRon) {
-				led_on(LED_L);
-				led_off(LED_R);
-			} else {
-				led_off(LED_L);
-				led_on(LED_R);
-			};
-			ledRon = !ledRon;
-			timer_set(&mytimer, 6);
-			if ((btn_state(BTNST_SUP, BTN_RIGHT)
-			     || btn_state(BTNST_LUP, BTN_RIGHT))
-			    && (btn_state(BTNST_SUP, BTN_LEFT)
-				|| btn_state(BTNST_LUP, BTN_LEFT))) {
-				//both buttons released
-				led_off(LED_L | LED_R);
-				pwdn_state = 1;
-				timer_set(&mytimer, 10);
-			}
-			break;
-		case 1:
-			music_setNote(NOTE_A, 4);
-			timer_set(&mytimer, 10);
-			pwdn_state++;
-			break;
-		case 2:
-			music_setNote(NOTE_F, 4);
-			timer_set(&mytimer, 5);
-			pwdn_state++;
-			break;
-		case 3:
-			music_setNote(NOTE_D, 3);
-			timer_set(&mytimer, 15);
-			pwdn_state++;
-			break;
-		case 4:
-			music_setNote(NOTE_PAUSE, 4);
-			timer_set(&mytimer, 1);
-			pwdn_state++;
-			break;
-		case 5:	//now we can really power down
-			// lets switch everything off
-			oldreg = PCMSK2;
-			PCIFR  = 0; 
-			PCICR |= (1<<PCIE2); 
-			PCMSK2 |= 3; //PCINT16 PCINT17
-			set_sleep_mode(SLEEP_MODE_PWR_DOWN);
-			sleep_enable();
-			sei();
-			sleep_cpu();
-			PCICR &= ~(1<<PCIE2);
-			sleep_disable();
-			PCMSK2 = oldreg;
-			NextMode = 0;
-			break;
-		default:
-			break;
-
-		}		//end switch
-
-	}			//end timer expired
-}				// end do_powerDown
-
-
-ISR(PCINT2_vect){ ; }
-
-
-void __attribute__ ((noreturn)) main(void)
-{
-	/* hardware initialisation: */
-	init_leds();
-	init_buzzr();
-	init_switch();
-	USART0_Init();
-	init_motor();
-	/* software initialisation */
-	timer_init();
-	music_init();
-
-	/* here the show begins: */
-	sei();
-	for ever {
-		//main polling loop;
-		button_poll();
-
-		if(OpMode < mode_num) {
-			modeswitch_poll();
 	}
 
-		if (OpMode != NextMode){
-			mode_last_tick = true;
+	if(app->init) {
+		app->init();
 	}
 
-		if(OpMode < mode_num) {
-			mode_funs[OpMode]();
-		} else {
-			do_powerDown();
-		}
-
-		if (OpMode != NextMode){
-			mode_last_tick = false;
-			mode_uninitialized = true;
-			OpMode = NextMode;
-		}
+	for(;;) {
+		app->run();
+		test_stop_app();
 	}
 }
+
+int main(void) {
+	uint8_t app_index = 0;
+	int8_t direction = 1;
+
+	// we need to get real fast (8MHz) to handle 38kHz IR frequency ...
+
+	CLKPR = 0b10000000;
+	CLKPR = 0b00000000;
+
+	// cycle through apps
+
+	for(;;) {
+		reset_hw();
+
+		run_app(&apps[app_index]);
+
+		for(;;);
+
+		if(direction > 0) {
+			app_index++;
+
+			if(apps[app_index].run == NULL) {
+				app_index = 0;
+			}
+		} else {
+			if(app_index == 0) {
+				app_index = MAX_APPS - 1;
+				while(apps[app_index].run == NULL) --app_index;
+			} else {
+				app_index--;
+			}
+		}
+	}
+
+}

old_firmware/Makefile

@@ -0,0 +1,79 @@
+PROJECT=pentabug
+
+OPTIMIZATION = -Os
+MCU = atmega88pa
+F_CPU = 8000000
+QUARZ = 8MHZ
+FUSES = lfuse:w:0xe2:m -U hfuse:w:0xdf:m -U efuse:w:0x01:m
+
+#########################################################################
+
+SRC=$(wildcard lib/*.c apps/*.c *.c) 
+OBJECTS= $(SRC:.c=.o) 
+LSTFILES= $(SRC:.c=.lst)
+HEADERS=$(wildcard lib/*.h *.h)
+
+#  Compiler Options
+GCFLAGS = -ffreestanding -std=gnu99 -mmcu=$(MCU) $(OPTIMIZATION) -Wl,-gc-sections -nostdlib -I. 
+# Warnings
+GCFLAGS += -Wstrict-prototypes -Wundef -Wall -Wextra -Wunreachable-code  
+# Optimizazions
+GCFLAGS += -fsingle-precision-constant -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -fno-builtin -ffunction-sections -fno-common -fdata-sections 
+# Debug stuff
+GCFLAGS += -Wa,-adhlns=$(<:.c=.lst),-gstabs -g 
+
+GCFLAGS += -DF_CPU=$(F_CPU) -DQUARZ=$(QUARZ)
+
+LDFLAGS = -mmcu=$(MCU) $(OPTIMIZATION) -gc-sections
+
+
+#  Paths
+GCC = avr-gcc
+OBJCOPY = avr-objcopy
+REMOVE = rm -f
+SIZE = avr-size
+AVRDUDE = avrdude
+
+#########################################################################
+
+all: $(PROJECT).hex Makefile 
+	@$(SIZE) --mcu=$(MCU) --format=avr $(PROJECT).elf
+
+$(PROJECT).hex: $(PROJECT).elf Makefile
+	@echo "  \033[1;34mOBJCOPY\033[0m $(PROJECT).elf -> $(PROJECT).hex"
+	@$(OBJCOPY) -O ihex -R .eeprom $(PROJECT).elf $(PROJECT).hex
+
+$(PROJECT).elf: $(OBJECTS) Makefile
+	@echo "  \033[1;34mLink   \033[0m (\033[1;33m $(OBJECTS)\033[0m) -> $(PROJECT).elf"
+	@$(GCC) $(OBJECTS) $(LDFLAGS)  -o $(PROJECT).elf
+
+clean:
+	$(REMOVE) $(OBJECTS)
+	$(REMOVE) $(LSTFILES)
+	$(REMOVE) $(PROJECT).hex
+	$(REMOVE) $(PROJECT).elf
+
+#########################################################################
+
+%.o: %.c Makefile $(HEADERS)
+	@echo "  \033[1;34mCompile\033[0m $<"
+	@$(GCC) $(GCFLAGS) -o $@ -c $<
+
+
+#########################################################################
+
+fuse: 
+	$(AVRDUDE) -p m88 -F -c usbtiny  -v -v  -U $(FUSES)
+
+flash: $(PROJECT).hex Makefile
+	$(AVRDUDE) -p m88 -F -c usbtiny  -B 1  -U flash:w:$(PROJECT).hex
+
+fljohn: $(PROJECT).hex Makefile
+	$(AVRDUDE) -p m88 -F  -P /dev/serial/by-id/usb-FTDI_USB__-__Serial-if00-port0   -c stk500v2 -v -v  -U flash:w:$(PROJECT).hex
+
+flsmart: $(PROJECT).hex Makefile
+	$(AVRDUDE) -p m88 -F  -P /dev/ttyUSB0 -c stk500v2 -v -v  -U flash:w:$(PROJECT).hex
+
+
+.PHONY : clean all fuse flash fljohn 
+

old_firmware/README.md

@@ -0,0 +1,24 @@
+## Firmware 
+
+This firmware is to be flashed to the atmega88 of the pentabug.
+The Makefile supports 2 different ways of flashing the firmware image:
+
+### the serial bootloader way
+
+With the
+
+	make serflash
+
+target of the Makefile You can flash the microcontroler via the serial bootloader that is part of the initial firmware.
+
+
+### the isp way 
+
+With the
+
+	make flash
+
+target of the Makefile you can flash the microcontroler via an isp programmer.
+Adjust the avrdude settings to Your programmers needs beforehand.
+
+

old_firmware/main.c

@@ -0,0 +1,172 @@
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/sleep.h>
+#include <avr/interrupt.h>
+#define __DELAY_BACKWARD_COMPATIBLE__
+#include <util/delay.h>
+#include <stdlib.h>
+
+#include "main.h"
+
+#define ever (;;)		/* awesomnes++ */
+
+#include "lib/usart.h"
+#include "lib/bughal.h"
+#include "lib/util.h"
+#include "lib/music.h"
+
+#include "lib/apps.h"
+
+mode_fun mode_funs[MAX_FUNS] = { NULL };
+uint8_t mode_num = 0;
+
+/*specialmodes, not in normal mode loop*/
+#define MODE_PWDN mode_num		//go to sleep
+
+uint8_t OpMode   = 0;
+uint8_t NextMode = 0;
+
+uint8_t mode_uninitialized = true;
+uint8_t mode_last_tick = false;
+
+/*check if mode should be changed (one of the buttons long pressed)*/
+void modeswitch_poll(void)
+{
+	if (btn_state(BTNST_LUP, BTN_LEFT)) {
+		//opmode --
+		NextMode = OpMode <= 0 ? mode_num - 1 : OpMode - 1;
+		button_clear(BTN_LEFT);
+	}
+	if (btn_state(BTNST_LUP, BTN_RIGHT)) {
+		//opmode ++
+		NextMode = (OpMode +1) % mode_num;
+		button_clear(BTN_RIGHT);
+	}
+	if ( btn_state(BTNST_LDN, BTN_RIGHT) &&
+	     btn_state(BTNST_LDN, BTN_LEFT)   ) {
+		NextMode = MODE_PWDN;
+	}
+	return;
+}
+
+void do_powerDown(void)
+{
+	static timer_t mytimer;
+	static uint8_t pwdn_state;
+	static bool ledRon;
+	uint8_t oldreg;
+	if (mode_uninitialized) {
+		mode_uninitialized = false;
+		pwdn_state = 0;
+		timer_set(&mytimer, 5);
+		set_motor(MOTOR_OFF);
+		ledRon = true;
+	};
+	if (timer_expired(&mytimer)) {
+		switch (pwdn_state) {
+		case 0:
+			if (ledRon) {
+				led_on(LED_L);
+				led_off(LED_R);
+			} else {
+				led_off(LED_L);
+				led_on(LED_R);
+			};
+			ledRon = !ledRon;
+			timer_set(&mytimer, 6);
+			if ((btn_state(BTNST_SUP, BTN_RIGHT)
+			     || btn_state(BTNST_LUP, BTN_RIGHT))
+			    && (btn_state(BTNST_SUP, BTN_LEFT)
+				|| btn_state(BTNST_LUP, BTN_LEFT))) {
+				//both buttons released
+				led_off(LED_L | LED_R);
+				pwdn_state = 1;
+				timer_set(&mytimer, 10);
+			}
+			break;
+		case 1:
+			music_setNote(NOTE_A, 4);
+			timer_set(&mytimer, 10);
+			pwdn_state++;
+			break;
+		case 2:
+			music_setNote(NOTE_F, 4);
+			timer_set(&mytimer, 5);
+			pwdn_state++;
+			break;
+		case 3:
+			music_setNote(NOTE_D, 3);
+			timer_set(&mytimer, 15);
+			pwdn_state++;
+			break;
+		case 4:
+			music_setNote(NOTE_PAUSE, 4);
+			timer_set(&mytimer, 1);
+			pwdn_state++;
+			break;
+		case 5:	//now we can really power down
+			// lets switch everything off
+			oldreg = PCMSK2;
+			PCIFR  = 0; 
+			PCICR |= (1<<PCIE2); 
+			PCMSK2 |= 3; //PCINT16 PCINT17
+			set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+			sleep_enable();
+			sei();
+			sleep_cpu();
+			PCICR &= ~(1<<PCIE2);
+			sleep_disable();
+			PCMSK2 = oldreg;
+			NextMode = 0;
+			break;
+		default:
+			break;
+
+		}		//end switch
+
+	}			//end timer expired
+}				// end do_powerDown
+
+
+ISR(PCINT2_vect){ ; }
+
+
+void __attribute__ ((noreturn)) main(void)
+{
+	/* hardware initialisation: */
+	init_leds();
+	init_buzzr();
+	init_switch();
+	USART0_Init();
+	init_motor();
+	/* software initialisation */
+	timer_init();
+	music_init();
+
+	/* here the show begins: */
+	sei();
+	for ever {
+		//main polling loop;
+		button_poll();
+
+		if(OpMode < mode_num) {
+			modeswitch_poll();
+		}
+
+		if (OpMode != NextMode){
+			mode_last_tick = true;
+		}
+
+		if(OpMode < mode_num) {
+			mode_funs[OpMode]();
+		} else {
+			do_powerDown();
+		}
+
+		if (OpMode != NextMode){
+			mode_last_tick = false;
+			mode_uninitialized = true;
+			OpMode = NextMode;
+		}
+	}
+}