Now seems to be working on mbed

include/arm/spi.h

@@ -5,30 +5,39 @@
 #ifndef _ARM_SPI_H
 #define _ARM_SPI_H
 
-// TODO obviously
+#include <stdint.h>
 
-#define SCK_on
-#define SCK_off
-#define SCK_dir
+#define DIR_OUTPUT 0
+#define DIR_INPUT 1
 
-#define MO_on
-#define MO_off
-#define MO_dir
+void gpioInit(void);
+void gpioDir(uint8_t num, uint8_t dir);
+void gpioSet(uint8_t num, uint8_t val);
+uint8_t gpioGet(uint8_t num);
 
-#define CS_on
-#define CS_off
-#define CS_dir
+#define SCK_on gpioSet(22, 1)
+#define SCK_off gpioSet(22, 0)
+#define SCK_dir gpioDir(22, DIR_OUTPUT)
 
-#define MI_1 1
-#define MI_0 0
-#define MI_dir
+#define MO_on gpioSet(21, 1)
+#define MO_off gpioSet(21, 0)
+#define MO_dir gpioDir(21, DIR_OUTPUT)
 
-#define GDO_1 1
-#define GDO_0 0
-#define GDO_dir
+#define CS_on gpioSet(24, 1)
+#define CS_off gpioSet(24, 0)
+#define CS_dir gpioDir(24, DIR_OUTPUT)
 
-// TODO delay 62.5ns!!
-#define NOP()
+#define MI_1 gpioGet(23)
+#define MI_0 gpioGet(23)
+#define MI_dir gpioDir(23, DIR_INPUT)
+
+#define GDO_1 gpioGet(25)
+#define GDO_0 gpioGet(25)
+#define GDO_dir gpioDir(25, DIR_INPUT)
+
+#include "timer.h"
+
+#define NOP() delay_us(1) // could be 62.5ns
 
 #endif
 

include/timer.h

@@ -9,6 +9,8 @@
 
 #ifdef __AVR__
 
+typedef uint64_t time_t;
+
 #include <util/delay.h>
 
 #define delay_us(x) _delay_us(x)
@@ -16,13 +18,12 @@
 
 #else
 
-// TODO!!!
-#define delay_us(x)
-#define delay_ms(x)
+typedef long int time_t;
 
-#endif
+void delay_us(int x);
+void delay_ms(int x);
 
-typedef uint64_t time_t;
+#endif
 
 void timerInit(void);
 time_t timerGet(void);

makefile

@@ -46,6 +46,7 @@ endif
 else
 	CPPSRC += src/arm/cppm.cpp
 	CPPSRC += src/arm/serial.cpp
+	CPPSRC += src/arm/spi.cpp
 	CPPSRC += src/arm/timer.cpp
 endif
 
@@ -76,7 +77,7 @@ else
 	CARGS += -Ilib
 	CARGS += -Os
 	CARGS += -std=$(CSTANDARD)
-	CARGS += -Wall -Wextra -pedantic #-Werror
+	CARGS += -Wall -Wextra -pedantic -Werror
 	CARGS += -Wno-main
 	CARGS += -mcpu=$(MCU)
 	CARGS += -mthumb
@@ -85,7 +86,7 @@ else
 	CARGS += -fomit-frame-pointer
 	CARGS += $(PRE_DEFS)
 	CPPARGS = -I$(EXTRAINCDIR)
-	CPPARGS += -Ilib
+	CPPARGS += -Ilib/mbed
 	CPPARGS += -Ilib/mbed/TARGET_LPC1768
 	CPPARGS += -Ilib/mbed/TARGET_LPC1768/TARGET_NXP
 	CPPARGS += -Ilib/mbed/TARGET_LPC1768/TARGET_NXP/TARGET_LPC176X
@@ -93,7 +94,7 @@ else
 	CPPARGS += -Ilib/mbed/TARGET_LPC1768/TOOLCHAIN_GCC_ARM
 	CPPARGS += -Os
 	CPPARGS += -std=$(CPPSTANDARD)
-	CPPARGS += -Wall -Wextra -pedantic #-Werror
+	CPPARGS += -Wall -Wextra -pedantic -Werror
 	CPPARGS += -Wno-main
 	CPPARGS += -mcpu=$(MCU)
 	CPPARGS += -mthumb
@@ -196,13 +197,7 @@ $(BUILDDIR)/$(TARGET).elf: $(OBJ)
 $(BUILDDIR)/$(TARGET).hex: $(BUILDDIR)/$(TARGET).elf
 	$(OBJCOPY) -O ihex $< $@
 	$(OBJDUMP) -h -S $< > $(@:.hex=.lss)
-	@echo "*****"
-	@echo "***** You must modify vector checksum value in *.bin and *.hex files."
-	@echo "*****"
 
 $(BUILDDIR)/$(TARGET).bin: $(BUILDDIR)/$(TARGET).elf
 	$(OBJCOPY) -O binary $< $@
-	@echo "*****"
-	@echo "***** You must modify vector checksum value in *.bin and *.hex files."
-	@echo "*****"
 

src/arm/cppm.cpp

@@ -15,6 +15,9 @@ void cppmInit(void) {
 }
 
 void cppmCopy(uint16_t *data) {
+    for (int i = 0; i < CHANNELS; i++) {
+        cppmData[i] = data[i];
+    }
 }
 
 }

src/arm/serial.cpp

@@ -2,37 +2,77 @@
  * serial.c
  */
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-pedantic"
+#include "mbed.h"
+#pragma GCC diagnostic pop
+
+#define UART_COUNT 1
+
+static Serial serial(USBTX, USBRX);
+
 extern "C" {
 
 #include "serial.h"
 
 uint8_t serialAvailable(void) {
-    return 1;
+    return UART_COUNT;
 }
 
 void serialInit(uint8_t uart, uint16_t baud) {
+    if (uart >= UART_COUNT)
+        return;
+
+    serial.baud(baud);
 }
 
 void serialClose(uint8_t uart) {
+    if (uart >= UART_COUNT)
+        return;
+
+    // Nothing to do
 }
 
 uint8_t serialHasChar(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 0;
+
+    return serial.readable();
 }
 
 uint8_t serialGetBlocking(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 0;
+
+    if (!serial.readable()) {
+        return 0;
+    }
+
+    return serial.getc();
 }
 
 uint8_t serialGet(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 0;
+
+    while (!serial.readable());
+
+    return serial.getc();
 }
 
 uint8_t serialRxBufferFull(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 0;
+
+    return serial.readable();
 }
 
 void serialWrite(uint8_t uart, uint8_t data) {
+    if (uart >= UART_COUNT)
+        return;
+
+    serial.putc(data);
 }
 
 void serialWriteString(uint8_t uart, const char *data) {
@@ -54,14 +94,14 @@ void serialWriteHex(uint8_t uart, uint8_t value) {
     }
     buff[1] = value;
 
-    if ((buff[0] >= 0) && (buff[0] <= 9)) {
+    if (buff[0] <= 9) {
         buff[0] += '0';
     } else {
         buff[0] -= 10;
         buff[0] += 'A';
     }
 
-    if ((buff[1] >= 0) && (buff[1] <= 9)) {
+    if (buff[1] <= 9) {
         buff[1] += '0';
     } else {
         buff[1] -= 10;
@@ -141,11 +181,17 @@ void serialWriteUnsigned64(uint8_t uart, uint64_t value) {
 }
 
 uint8_t serialTxBufferFull(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 1;
+
+    return !serial.writeable();
 }
 
 uint8_t serialTxBufferEmpty(uint8_t uart) {
-    return 0;
+    if (uart >= UART_COUNT)
+        return 0;
+
+    return serial.writeable();
 }
 
 }

src/arm/spi.cpp

@@ -0,0 +1,84 @@
+/*
+ * mbed GPIO
+ */
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-pedantic"
+#include "mbed.h"
+#pragma GCC diagnostic pop
+
+extern "C" {
+#include "spi.h"
+}
+
+static PinName numToPin(uint8_t num) {
+    switch (num) {
+      case 20:
+        return p20;
+      case 21:
+        return p21;
+      case 22:
+        return p22;
+      case 23:
+        return p23;
+      case 24:
+        return p24;
+      case 25:
+        return p25;
+      case 26:
+        return p26;
+    }
+
+    return p5;
+}
+
+#define GPIO_MAX_COUNT 42
+DigitalInOut *gpios[GPIO_MAX_COUNT];
+
+extern "C" {
+
+void gpioInit(void) {
+    for (int i = 0; i < GPIO_MAX_COUNT; i++) {
+        gpios[i] = NULL;
+    }
+}
+
+void gpioDir(uint8_t num, uint8_t dir) {
+    PinName n = numToPin(num);
+
+    if (gpios[num] == NULL) {
+        gpios[num] = new DigitalInOut(n);
+    }
+
+    if (dir == DIR_OUTPUT) {
+        gpios[num]->output();
+    } else {
+        gpios[num]->input();
+    }
+}
+
+void gpioSet(uint8_t num, uint8_t val) {
+    PinName n = numToPin(num);
+
+    if (gpios[num] == NULL) {
+        gpios[num] = new DigitalInOut(n);
+        gpios[num]->output();
+    }
+
+    gpios[num]->write(val);
+}
+
+uint8_t gpioGet(uint8_t num) {
+    PinName n = numToPin(num);
+
+    if (gpios[num] == NULL) {
+        gpios[num] = new DigitalInOut(n);
+        gpios[num]->input();
+    }
+
+    return gpios[num]->read();
+}
+
+}
+

src/arm/timer.cpp

@@ -2,15 +2,37 @@
  * Time-Keeping helper
  */
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-pedantic"
+#include "mbed.h"
+#pragma GCC diagnostic pop
+
+static Ticker t;
+static time_t systemTime = 0;
+
+static void timerISR(void) {
+    systemTime++;
+}
+
 extern "C" {
 
 #include "timer.h"
 
+void delay_us(int x) {
+    wait_us(x);
+}
+
+void delay_ms(int x) {
+    wait_ms(x);
+}
+
 void timerInit(void) {
+    t.attach_us(&timerISR, 100);
 }
 
 time_t timerGet(void) {
-    return 0;
+    return systemTime;
 }
 
 }

src/spi.c

@@ -7,6 +7,10 @@
 #include "spi.h"
 
 void spiInit(void) {
+#if !defined(__AVR__)
+    gpioInit();
+#endif
+
     MI_dir;
     MO_dir;
     SCK_dir;