Merge branch 'avr32dd20-devkit' into trunk

Added support for AVR DD MCUs, particularly avr32dd20.  Also did a bunch
of refactoring for how MCU support works, cleaned up the ADC code,
switched to consistent internal formats for voltage and temperature,
fixed the FW3X, and some other little things.

* avr32dd20-devkit: (28 commits)
  eliminated direct CCP register access from arch/attiny1616
  made the avr32dd20 flashing script more universal
  added a build target for FW3X with manually-fixed RGB aux wiring
  prevent future issues like the FW3X had
  fixed FW3X thermal regulation
  fixed incorrect temperature history for a few seconds after waking
  fsm/adc: removed dead code
  FW3X: fixed external temperature sensor
  FW3X: multiple upgrades...
  fw3x: fixed swapped red+blue, fixed battery measurements, added police color strobe
  fixed ADC on sp10-pro
  fixed ADC on attiny85 and related builds
  fixed ADC on attiny1634 and related builds
  more ADC / DAC / MCU progress...
  avr32dd20-devkit: make the defaults a bit more dev friendly (realtime voltage colors, and no simple UI by default)
  ADC voltage: battcheck 3 digits, fixed t1616, switched back to 8-bit internal volt unit
  got ADC voltage+temp working on avrdd... but broke all other builds/MCUs
  1.55V AA battery should not show as "white" voltage color, only purple
  started refactoring fsm/adc.*, but need a checkpoint before continuing
  added dac-scale.py: short script to calculate avrdd DAC+Vref values from level_calc.py ramp data
  ...

3 files changed, 131 insertions, 2 deletions

diff --git a/bin/dac-scale.py b/bin/dac-scale.py
new file mode 100755
index 0000000..d57f8c9
--- /dev/null
+++ b/bin/dac-scale.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+
+#
+# Calculates DAC values and Vref values from a list of raw intensity values
+# Usage: dac-scale.py 5,11,18,25,...,370474,384985,400000
+# Output: #defines suitable for use in hw/*/anduril.h
+# Assumptions:
+# - DAC data range is 0 to 1023
+# - DAC Vrefs are 1.024V and 2.5V
+# - HDR is available and has 2 steps
+# - HDR channel ratio is "highest_ramp_value / 2500"
+#
+# Output values thus have 4 "engine gears":
+# - HDR low , 1.024V Vref
+# - HDR low , 2.5  V Vref
+# - HDR high, 1.024V Vref
+# - HDR high, 2.5  V Vref
+#
+
+def main(args):
+    max_pwm = 1023
+    raw_pwm = [int(x) for x in args[0].split(',')]
+    ratio = raw_pwm[-1] / 2500.0
+    cooked = [[]]
+
+    def limit(p):
+        return min(max_pwm, int(p))
+
+    phase = 0
+    for raw in raw_pwm:
+        if 0 == phase:
+            if raw <= 1023:
+                cooked[-1].append(limit(raw))
+            else:
+                phase += 1
+                cooked.append([])
+        if 1 == phase:
+            if raw <= int(2500):
+                cooked[-1].append(limit(raw * 1.024 / 2.5))
+            else:
+                phase += 1
+                cooked.append([])
+        if 2 == phase:
+            if raw <= int(1024 * ratio):
+                cooked[-1].append(limit(raw / ratio))
+            else:
+                phase += 1
+                cooked.append([])
+        if 3 == phase:
+            cooked[-1].append(limit(raw * 1.024 / 2.5 / ratio))
+
+    # "gear change" boundaries
+    b1 =      len(cooked[0])
+    b2 = b1 + len(cooked[1])
+    b3 = b2 + len(cooked[2])
+    b4 = b3 + len(cooked[3])
+
+    #print(','.join(['%4i' % n for n in cooked]))
+
+    def fmt_pwms(l):
+        return ','.join(['%4i' % n for n in l])
+
+    def fmt_tops(v, l):
+        return ','.join([' %s' % v for n in l])
+
+    lines = []
+
+    lines.append('// top level for each "gear": %i %i %i %i' % (b1, b2, b3, b4))
+
+    lines.append('#define PWM1_LEVELS \\')
+    lines.append('        ' + fmt_pwms(cooked[0]) + ', \\')
+    lines.append('        ' + fmt_pwms(cooked[1]) + ', \\')
+    lines.append('        ' + fmt_pwms(cooked[2]) + ', \\')
+    lines.append('        ' + fmt_pwms(cooked[3]))
+    lines.append('#define PWM2_LEVELS \\')
+    lines.append('        ' + fmt_tops('V10', cooked[0]) + ', \\')
+    lines.append('        ' + fmt_tops('V25', cooked[1]) + ', \\')
+    lines.append('        ' + fmt_tops('V10', cooked[2]) + ', \\')
+    lines.append('        ' + fmt_tops('V25', cooked[3]))
+
+    lines.append('#define MAX_1x7135           %3i' % b2)
+    lines.append('#define HDR_ENABLE_LEVEL_MIN %3i' % (b2+1))
+
+    print('\n'.join(lines))
+
+if __name__ == "__main__":
+    import sys
+    main(sys.argv[1:])
+
diff --git a/bin/detect-mcu.sh b/bin/detect-mcu.sh
index 57670e2..93b624b 100755
--- a/bin/detect-mcu.sh
+++ b/bin/detect-mcu.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/env sh
+#!/usr/bin/env bash
 # Anduril / FSM MCU type detection script
 # Copyright (C) 2014-2023 Selene ToyKeeper
 # SPDX-License-Identifier: GPL-3.0-or-later
@@ -30,7 +30,7 @@ while [ -n "$TARGET" ]; do
         NUM=$( echo "$MCU" | sed 's/^avr//; s/^attiny//;' )
         echo "export MCUNAME=${MCU}"
         echo "export MCU=0x${NUM}"
-        echo "export ATTINY=${NUM}"
+        [[ "$MCU" =~ "attiny" ]] && echo "export ATTINY=${NUM}"
         echo "export MCUFLAGS=\"-DMCUNAME=${MCU} -DMCU=0x${NUM} -DATTINY=${NUM}\""
         exit
       fi
diff --git a/bin/flash-avr32dd20.sh b/bin/flash-avr32dd20.sh
new file mode 100755
index 0000000..dcd4967
--- /dev/null
+++ b/bin/flash-avr32dd20.sh
@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+# AVR firmware flashing script, a wrapper for other tools
+# Copyright (C) 2023 Selene ToyKeeper
+# SPDX-License-Identifier: GPL-3.0-or-later
+
+# Usage: flash-MCUTYPE.sh hex/foo.hex
+# (where the script name specifies the type of MCU chip,
+#  and the first parameter is the path to a .hex file)
+# Example:
+#   ./bin/flash-avr32dd20.sh hex/anduril.thefreeman-avr32dd20-devkit.hex
+
+set -e
+
+# Get the path to a .hex file
+[[ -z "$1" ]] && echo "No .hex file specified." && exit 1
+HEX="$1"
+
+# assume the highest-numbered USB serial device is the correct one,
+# since it was probably the most recently plugged in
+TTYUSB=$(ls -1 /dev/tty* | grep -i usb | tail -1)
+
+# figure out the MCU type...
+# TODO: find the relevant hw/*/arch file and use that to get MCU type
+# use $2 if it exists, and use the name of this script maybe
+MCUTYPE="unset"
+[[ -n "$2" ]] && MCUTYPE="$2"
+#MCUTYPE=$(echo "$0" | sed 's/.*flash-\(.*\).sh.*/\1/')
+[[ "$0" =~ flash-(.*).sh ]] && MCUTYPE="${BASH_REMATCH[1]}"
+
+# Do the actual flashing
+echo "Flashing $MCUTYPE MCU on port $TTYUSB: $HEX"
+echo pymcuprog write \
+    --erase \
+    --verify \
+    --timing \
+    -t uart \
+    -u "$TTYUSB" \
+    -d "$MCUTYPE" \
+    -f "$HEX"
+