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5
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$Id: Changelog.txt,v 1.1 2008/07/09 20:47:11 rschaten Exp $
* Release 080709
- initial release

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The following license applies to all but the firmware/usbdrv directories. For
that directory, please refer to the firmware/usbdrv/License.txt file for
additional license restrictions.
-------------------------------------------------------------------------------
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
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# $Id: Makefile,v 1.1 2008/07/09 20:47:11 rschaten Exp $
#
# Creates documentation and tarball for shipping.
TODAY=`date "+%y%m%d"`
DIR=`basename \`pwd\``
PACKETNAME=$(DIR)_$(TODAY)
all: usage
usage:
@echo "Usage of this makefile:"
@echo "make docs create documentation"
@echo "make tarball packs a tarball for shipping"
@echo
@echo "For further information, consult the documentation in Readme.txt."
# doc generation
docs: readme pdf
@echo "documentation created"
readme: doxygen
echo "This file is auto-generated from the content of firmware/main.c" > Readme.txt
echo "You'll have more fun if you read the HTML-content in htmldoc or the PDF." >> Readme.txt
echo >> Readme.txt
lynx -dump htmldoc/main.html >> Readme.txt
pdf: doxygen
make -C latexdoc
mv latexdoc/refman.pdf .
rm -rf latexdoc
doxygen:
doxygen firmware/project.doxygen
clean:
rm -rf htmldoc latexdoc Readme.txt refman.pdf
rm -f $(PACKETNAME).tar.gz
make -C firmware clean
make -C bootloader clean
fw:
make -C firmware
mv -v firmware/main.hex firmware/main_$(TODAY).hex
tarball: fw clean docs
@echo
@echo
@echo "I assume you updated the Changelog...? Press Enter to continue..."
@read
[ -e "firmware/main_$(TODAY).hex" ] || exit
rm --force $(PACKETNAME).tar.gz; \
tar --directory=.. \
--exclude=$(DIR)/Makefile \
--exclude=CVS \
--exclude=*.ps \
--create \
--gzip \
--verbose \
--file ../$(PACKETNAME).tar.gz $(DIR)

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# Configure the following variables according to your AVR.
# Program the device with
# make fuse # to set the clock generator, boot section size etc.
# make flash # to load the boot loader into flash
# make lock # to protect the boot loader from overwriting
F_CPU = 12000000
DEVICE = atmega32
BOOTLOADER_ADDRESS = 0x7000
FUSEOPT = -U lfuse:w:0xCF:m -U hfuse:w:0xD8:m
LOCKOPT = -U lock:w:0x2f:m
# reminder, if something gets broken: default lock-byte for a mega32 is 0x3f
PROGRAMMER = -c avrispv2 -P usb -B 10
# PROGRAMMER contains AVRDUDE options to address your programmer
###############################################################################
# Tools:
AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE)
CC = avr-gcc
# Options:
DEFINES = #-DDEBUG_LEVEL=2
CFLAGS = -Wall -Os -I. -mmcu=$(DEVICE) -DF_CPU=$(F_CPU) $(DEFINES)
LDFLAGS = -Wl,--section-start=.text=$(BOOTLOADER_ADDRESS)
OBJECTS = usbdrv/usbdrvasm.o usbdrv/oddebug.o main.o
# symbolic targets:
all: main.hex
.c.o:
$(CC) $(CFLAGS) -c $< -o $@
.S.o:
$(CC) $(CFLAGS) -x assembler-with-cpp -c $< -o $@
# "-x assembler-with-cpp" should not be necessary since this is the default
# file type for the .S (with capital S) extension. However, upper case
# characters are not always preserved on Windows. To ensure WinAVR
# compatibility define the file type manually.
.c.s:
$(CC) $(CFLAGS) -S $< -o $@
flash: all
$(AVRDUDE) -U flash:w:main.hex:i
readflash:
$(AVRDUDE) -U flash:r:read.hex:i
fuse:
$(AVRDUDE) $(FUSEOPT)
lock:
$(AVRDUDE) $(LOCKOPT)
read_fuses:
$(UISP) --rd_fuses
clean:
rm -f main.hex main.bin *.o usbdrv/*.o main.s usbdrv/oddebug.s usbdrv/usbdrv.s
# file targets:
main.bin: $(OBJECTS)
$(CC) $(CFLAGS) -o main.bin $(OBJECTS) $(LDFLAGS)
main.hex: main.bin
rm -f main.hex main.eep.hex
avr-objcopy -j .text -j .data -O ihex main.bin main.hex
avr-size main.hex
disasm: main.bin
avr-objdump -d main.bin
cpp:
$(CC) $(CFLAGS) -E main.c

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/**
* \file bootloader/bootloaderconfig.h
* \brief This file (together with some settings in Makefile) configures the
* boot loader according to the hardware.
*
* This file contains (besides the hardware configuration normally found in
* usbconfig.h) two functions or macros: bootLoaderInit() and
* bootLoaderCondition(). Whether you implement them as macros or as static
* inline functions is up to you, decide based on code size and convenience.
*
* bootLoaderInit() is called as one of the first actions after reset. It should
* be a minimum initialization of the hardware so that the boot loader condition
* can be read. This will usually consist of activating a pull-up resistor for an
* external jumper which selects boot loader mode.
*
* bootLoaderCondition() is called immediately after initialization and in each
* main loop iteration. If it returns TRUE, the boot loader will be active. If it
* returns FALSE, the boot loader jumps to address 0 (the loaded application)
* immediately.
*
* For compatibility with Thomas Fischl's avrusbboot, we also support the macro
* names BOOTLOADER_INIT and BOOTLOADER_CONDITION for this functionality. If
* these macros are defined, the boot loader usees them.
*
* \author Ronald Schaten <ronald@schatenseite.de>
* \version $Id: bootloaderconfig.h,v 1.1 2008/07/09 20:47:11 rschaten Exp $
*
* License: GNU GPL v2 (see License.txt)
*/
#ifndef __bootloaderconfig_h_included__
#define __bootloaderconfig_h_included__
/* ---------------------------- Hardware Config ---------------------------- */
/** This is the port where the USB bus is connected. When you configure it to
* "B", the registers PORTB, PINB and DDRB will be used.
*/
#define USB_CFG_IOPORTNAME D
/** This is the bit number in USB_CFG_IOPORT where the USB D- line is connected.
* This may be any bit in the port.
*/
#define USB_CFG_DMINUS_BIT 0
/** This is the bit number in USB_CFG_IOPORT where the USB D+ line is connected.
* This may be any bit in the port. Please note that D+ must also be connected
* to interrupt pin INT0!
*/
#define USB_CFG_DPLUS_BIT 2
/** Clock rate of the AVR in MHz. Legal values are 12000, 16000 or 16500.
* The 16.5 MHz version of the code requires no crystal, it tolerates +/- 1%
* deviation from the nominal frequency. All other rates require a precision
* of 2000 ppm and thus a crystal!
* Default if not specified: 12 MHz
*/
#define USB_CFG_CLOCK_KHZ (F_CPU/1000)
/* ----------------------- Optional Hardware Config ------------------------ */
/* If you connect the 1.5k pullup resistor from D- to a port pin instead of
* V+, you can connect and disconnect the device from firmware by calling
* the macros usbDeviceConnect() and usbDeviceDisconnect() (see usbdrv.h).
* This constant defines the port on which the pullup resistor is connected.
*/
/* #define USB_CFG_PULLUP_IOPORTNAME D */
/* This constant defines the bit number in USB_CFG_PULLUP_IOPORT (defined
* above) where the 1.5k pullup resistor is connected. See description
* above for details.
*/
/* #define USB_CFG_PULLUP_BIT 4 */
/* ------------------------------------------------------------------------- */
/* ---------------------- feature / code size options ---------------------- */
/* ------------------------------------------------------------------------- */
/** If HAVE_EEPROM_PAGED_ACCESS is defined to 1, page mode access to EEPROM is
* compiled in. Whether page mode or byte mode access is used by AVRDUDE
* depends on the target device. Page mode is only used if the device supports
* it, e.g. for the ATMega88, 168 etc. You can save quite a bit of memory by
* disabling page mode EEPROM access. Costs ~ 138 bytes.
*/
#define HAVE_EEPROM_PAGED_ACCESS 1
/** If HAVE_EEPROM_BYTE_ACCESS is defined to 1, byte mode access to EEPROM is
* compiled in. Byte mode is only used if the device (as identified by its
* signature) does not support page mode for EEPROM. It is required for
* accessing the EEPROM on the ATMega8. Costs ~54 bytes.
*/
#define HAVE_EEPROM_BYTE_ACCESS 1
/** If this macro is defined to 1, the boot loader will exit shortly after the
* programmer closes the connection to the device. Costs ~36 bytes.
*/
#define BOOTLOADER_CAN_EXIT 1
/** This macro defines the signature bytes returned by the emulated USBasp to
* the programmer software. They should match the actual device at least in
* memory size and features. If you don't define this, values for ATMega8,
* ATMega88, ATMega168 and ATMega328 are guessed correctly.
*/
#define SIGNATURE_BYTES 0x1e, 0x95, 0x02, 0 /* ATMega32 */
/* The following block guesses feature options so that the resulting code
* should fit into 2k bytes boot block with the given device and clock rate.
* Activate by passing "-DUSE_AUTOCONFIG=1" to the compiler.
* This requires gcc 3.4.6 for small enough code size!
*/
#if USE_AUTOCONFIG
# undef HAVE_EEPROM_PAGED_ACCESS
# define HAVE_EEPROM_PAGED_ACCESS (USB_CFG_CLOCK_KHZ >= 16000)
# undef HAVE_EEPROM_BYTE_ACCESS
# define HAVE_EEPROM_BYTE_ACCESS 1
# undef BOOTLOADER_CAN_EXIT
# define BOOTLOADER_CAN_EXIT 1
# undef SIGNATURE_BYTES
#endif /* USE_AUTOCONFIG */
/* ------------------------------------------------------------------------- */
#ifndef __ASSEMBLER__ /* assembler cannot parse function definitions */
uint8_t ledcounter = 0; ///< counter used to set the speed of the running light
uint8_t ledstate = 0; ///< state of the running light
/**
* Prepare IO-ports for detection of bootloader-condition, which happens in
* bootLoaderCondition().
*/
static inline void bootLoaderInit(void) {
// switch on leds
DDRD |= (1 << PIND4) | (1 << PIND5) | (1 << PIND6);
PORTD &= ~((1 << PIND4) | (1 << PIND5) | (1 << PIND6));
// choose matrix position for hotkey. we use KEY_KPminus, so we set row 13
// and later look for pin 7
DDRA = 0x00;
PORTA = 0xff;
DDRC = (1 << DDC2);
PORTC = ~(1 << PINC2);
}
/**
* Clean up after boot loader action. In this case: switch off all LEDs.
*/
static inline void bootLoaderExit(void) {
// switch off leds
PORTD |= (1 << PIND4) | (1 << PIND5) | (1 << PIND6);
}
/**
* Check if conditions for boot loader are met. This function is called in an
* endless loop, so we use our spare time to display a nice running light on
* the LEDs.
* \return 1 if bootloader should be active, 0 otherwise
*/
static inline uint8_t bootLoaderCondition() {
// look for pin 7
if (!(PINB & (1 << PINB7))) {
// boot loader active, blink leds
_delay_ms(1);
ledcounter++;
if (ledcounter == 127) {
switch (ledstate) {
case 0:
PORTD &= ~(1 << PIND6);
PORTD |= (1 << PIND4) | (1 << PIND5);
ledstate = 1;
break;
case 1:
PORTD &= ~(1 << PIND5);
PORTD |= (1 << PIND4) | (1 << PIND6);
ledstate = 2;
break;
case 2:
PORTD &= ~(1 << PIND4);
PORTD |= (1 << PIND5) | (1 << PIND6);
ledstate = 0;
break;
default:
ledstate = 0;
}
ledcounter = 0;
}
return 1;
} else {
// no boot loader
return 0;
}
}
#endif /* __ASSEMBLER__ */
/* ------------------------------------------------------------------------- */
#endif /* __bootloader_h_included__ */

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/* Name: main.c
* Project: USBaspLoader
* Author: Christian Starkjohann
* Creation Date: 2007-12-08
* Tabsize: 4
* Copyright: (c) 2007 by OBJECTIVE DEVELOPMENT Software GmbH
* License: GNU GPL v2 (see License.txt)
* This Revision: $Id: main.c,v 1.1 2008/07/09 20:47:11 rschaten Exp $
*/
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <avr/boot.h>
#include <avr/eeprom.h>
#include <util/delay.h>
#include <string.h>
static void leaveBootloader() __attribute__((__noreturn__));
#include "bootloaderconfig.h"
#include "usbdrv/usbdrv.c"
/* ------------------------------------------------------------------------ */
/* Request constants used by USBasp */
#define USBASP_FUNC_CONNECT 1
#define USBASP_FUNC_DISCONNECT 2
#define USBASP_FUNC_TRANSMIT 3
#define USBASP_FUNC_READFLASH 4
#define USBASP_FUNC_ENABLEPROG 5
#define USBASP_FUNC_WRITEFLASH 6
#define USBASP_FUNC_READEEPROM 7
#define USBASP_FUNC_WRITEEEPROM 8
#define USBASP_FUNC_SETLONGADDRESS 9
/* ------------------------------------------------------------------------ */
#ifndef ulong
# define ulong unsigned long
#endif
#ifndef uint
# define uint unsigned int
#endif
/* defaults if not in config file: */
#ifndef HAVE_EEPROM_PAGED_ACCESS
# define HAVE_EEPROM_PAGED_ACCESS 0
#endif
#ifndef HAVE_EEPROM_BYTE_ACCESS
# define HAVE_EEPROM_BYTE_ACCESS 0
#endif
#ifndef BOOTLOADER_CAN_EXIT
# define BOOTLOADER_CAN_EXIT 0
#endif
/* allow compatibility with avrusbboot's bootloaderconfig.h: */
#ifdef BOOTLOADER_INIT
# define bootLoaderInit() BOOTLOADER_INIT
# define bootLoaderExit()
#endif
#ifdef BOOTLOADER_CONDITION
# define bootLoaderCondition() BOOTLOADER_CONDITION
#endif
/* device compatibility: */
#ifndef GICR /* ATMega*8 don't have GICR, use MCUCR instead */
# define GICR MCUCR
#endif
/* ------------------------------------------------------------------------ */
typedef union longConverter{
ulong l;
uint w[2];
uchar b[4];
}longConverter_t;
static uchar requestBootLoaderExit;
static longConverter_t currentAddress; /* in bytes */
static uchar bytesRemaining;
static uchar isLastPage;
#if HAVE_EEPROM_PAGED_ACCESS
static uchar currentRequest;
#else
static const uchar currentRequest = 0;
#endif
static const uchar signatureBytes[4] = {
#ifdef SIGNATURE_BYTES
SIGNATURE_BYTES
#elif defined (__AVR_ATmega8__) || defined (__AVR_ATmega8HVA__)
0x1e, 0x93, 0x07, 0
#elif defined (__AVR_ATmega48__) || defined (__AVR_ATmega48P__)
0x1e, 0x92, 0x05, 0
#elif defined (__AVR_ATmega88__) || defined (__AVR_ATmega88P__)
0x1e, 0x93, 0x0a, 0
#elif defined (__AVR_ATmega168__) || defined (__AVR_ATmega168P__)
0x1e, 0x94, 0x06, 0
#elif defined (__AVR_ATmega328P__)
0x1e, 0x95, 0x0f, 0
#elif defined (__AVR_ATmega32__)
0x1e, 0x95, 0x02, 0
#else
# error "Device signature is not known, please edit main.c!"
#endif
};
#if (FLASHEND) > 0xffff /* we need long addressing */
# define CURRENT_ADDRESS currentAddress.l
#else
# define CURRENT_ADDRESS currentAddress.w[0]
#endif
/* ------------------------------------------------------------------------ */
static void (*nullVector)(void) __attribute__((__noreturn__));
static void leaveBootloader()
{
DBG1(0x01, 0, 0);
bootLoaderExit();
cli();
GICR = (1 << IVCE); /* enable change of interrupt vectors */
GICR = (0 << IVSEL); /* move interrupts to application flash section */
/* We must go through a global function pointer variable instead of writing
* ((void (*)(void))0)();
* because the compiler optimizes a constant 0 to "rcall 0" which is not
* handled correctly by the assembler.
*/
nullVector();
}
/* ------------------------------------------------------------------------ */
uchar usbFunctionSetup(uchar data[8])
{
usbRequest_t *rq = (void *)data;
uchar len = 0;
static uchar replyBuffer[4];
usbMsgPtr = replyBuffer;
if(rq->bRequest == USBASP_FUNC_TRANSMIT){ /* emulate parts of ISP protocol */
uchar rval = 0;
usbWord_t address;
address.bytes[1] = rq->wValue.bytes[1];
address.bytes[0] = rq->wIndex.bytes[0];
if(rq->wValue.bytes[0] == 0x30){ /* read signature */
rval = rq->wIndex.bytes[0] & 3;
rval = signatureBytes[rval];
#if HAVE_EEPROM_BYTE_ACCESS
}else if(rq->wValue.bytes[0] == 0xa0){ /* read EEPROM byte */
rval = eeprom_read_byte((void *)address.word);
}else if(rq->wValue.bytes[0] == 0xc0){ /* write EEPROM byte */
eeprom_write_byte((void *)address.word, rq->wIndex.bytes[1]);
#endif
}else{
/* ignore all others, return default value == 0 */
}
replyBuffer[3] = rval;
len = 4;
}else if(rq->bRequest == USBASP_FUNC_ENABLEPROG){
/* replyBuffer[0] = 0; is never touched and thus always 0 which means success */
len = 1;
}else if(rq->bRequest >= USBASP_FUNC_READFLASH && rq->bRequest <= USBASP_FUNC_SETLONGADDRESS){
currentAddress.w[0] = rq->wValue.word;
if(rq->bRequest == USBASP_FUNC_SETLONGADDRESS){
#if (FLASHEND) > 0xffff
currentAddress.w[1] = rq->wIndex.word;
#endif
}else{
bytesRemaining = rq->wLength.bytes[0];
/* if(rq->bRequest == USBASP_FUNC_WRITEFLASH) only evaluated during writeFlash anyway */
isLastPage = rq->wIndex.bytes[1] & 0x02;
#if HAVE_EEPROM_PAGED_ACCESS
currentRequest = rq->bRequest;
#endif
len = 0xff; /* hand over to usbFunctionRead() / usbFunctionWrite() */
}
#if BOOTLOADER_CAN_EXIT
}else if(rq->bRequest == USBASP_FUNC_DISCONNECT){
requestBootLoaderExit = 1; /* allow proper shutdown/close of connection */
#endif
}else{
/* ignore: USBASP_FUNC_CONNECT */
}
return len;
}
uchar usbFunctionWrite(uchar *data, uchar len)
{
uchar isLastWrite;
DBG1(0x31, (void *)&currentAddress.l, 4);
if(len > bytesRemaining)
len = bytesRemaining;
bytesRemaining -= len;
isLastWrite = bytesRemaining == 0;
if(currentRequest >= USBASP_FUNC_READEEPROM){
eeprom_write_block(data, (void *)currentAddress.w[0], len);
currentAddress.w[0] += len;
}else{
char i = len;
while(i > 0){
i -= 2;
if((currentAddress.w[0] & (SPM_PAGESIZE - 1)) == 0){ /* if page start: erase */
DBG1(0x33, 0, 0);
#ifndef NO_FLASH_WRITE
cli();
boot_page_erase(CURRENT_ADDRESS); /* erase page */
sei();
boot_spm_busy_wait(); /* wait until page is erased */
#endif
}
DBG1(0x32, 0, 0);
cli();
boot_page_fill(CURRENT_ADDRESS, *(short *)data);
sei();
CURRENT_ADDRESS += 2;
data += 2;
/* write page when we cross page boundary or we have the last partial page */
if((currentAddress.w[0] & (SPM_PAGESIZE - 1)) == 0 || (i <= 0 && isLastWrite && isLastPage)){
DBG1(0x34, 0, 0);
#ifndef NO_FLASH_WRITE
cli();
boot_page_write(CURRENT_ADDRESS - 2);
sei();
boot_spm_busy_wait();
cli();
boot_rww_enable();
sei();
#endif
}
}
DBG1(0x35, (void *)&currentAddress.l, 4);
}
return isLastWrite;
}
uchar usbFunctionRead(uchar *data, uchar len)
{
if(len > bytesRemaining)
len = bytesRemaining;
bytesRemaining -= len;
if(currentRequest >= USBASP_FUNC_READEEPROM){
eeprom_read_block(data, (void *)currentAddress.w[0], len);
}else{
memcpy_P(data, (PGM_VOID_P)CURRENT_ADDRESS, len);
}
CURRENT_ADDRESS += len;
return len;
}
/* ------------------------------------------------------------------------ */
static void initForUsbConnectivity(void)
{
uchar i = 0;
usbInit();
/* enforce USB re-enumerate: */
usbDeviceDisconnect(); /* do this while interrupts are disabled */
while(--i){ /* fake USB disconnect for > 250 ms */
wdt_reset();
_delay_ms(1);
}
usbDeviceConnect();
sei();
}
int main(void)
{
/* initialize */
bootLoaderInit();
odDebugInit();
DBG1(0x00, 0, 0);
#ifndef NO_FLASH_WRITE
GICR = (1 << IVCE); /* enable change of interrupt vectors */
GICR = (1 << IVSEL); /* move interrupts to boot flash section */
#endif
if(bootLoaderCondition()){
uint i = 0;
initForUsbConnectivity();
do{
usbPoll();
#if BOOTLOADER_CAN_EXIT
if(requestBootLoaderExit){
if(--i == 0)
break;
}
#endif
}while(bootLoaderCondition()); /* main event loop */
}
leaveBootloader();
return 0;
}
/* ------------------------------------------------------------------------ */

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/* Name: usbconfig.h
* Project: AVR USB driver
* Author: Christian Starkjohann
* Creation Date: 2007-12-08
* Tabsize: 4
* Copyright: (c) 2007 by OBJECTIVE DEVELOPMENT Software GmbH
* License: GNU GPL v2 (see License.txt)
* This Revision: $Id: usbconfig.h,v 1.1 2008/07/09 20:47:11 rschaten Exp $
*/
#ifndef __usbconfig_h_included__
#define __usbconfig_h_included__
/*
General Description:
This file contains the configuration options for the USB driver.
Please note that the usbdrv contains a usbconfig-prototype.h file now. We
recommend that you use that file as a template because it will always list
the newest features and options.
*/
/* Fetch the hardware configuration from bootloaderconfig.h so that we have a
* single file where hardware settings are stored.
* Do not edit the functional settings below.
*/
#include "bootloaderconfig.h"
#define USB_PUBLIC static
/* Use the define above if you #include usbdrv.c instead of linking against it.
* This technique saves a couple of bytes in flash memory.
*/
/* --------------------------- Functional Range ---------------------------- */
#define USB_CFG_HAVE_INTRIN_ENDPOINT 0
/* Define this to 1 if you want to compile a version with two endpoints: The
* default control endpoint 0 and an interrupt-in endpoint 1.
*/
#define USB_CFG_HAVE_INTRIN_ENDPOINT3 0
/* Define this to 1 if you want to compile a version with three endpoints: The
* default control endpoint 0, an interrupt-in endpoint 1 and an interrupt-in
* endpoint 3. You must also enable endpoint 1 above.
*/
#define USB_CFG_IMPLEMENT_HALT 0
/* Define this to 1 if you also want to implement the ENDPOINT_HALT feature
* for endpoint 1 (interrupt endpoint). Although you may not need this feature,
* it is required by the standard. We have made it a config option because it
* bloats the code considerably.
*/
#define USB_CFG_INTR_POLL_INTERVAL 200
/* If you compile a version with endpoint 1 (interrupt-in), this is the poll
* interval. The value is in milliseconds and must not be less than 10 ms for
* low speed devices.
*/
#define USB_CFG_IS_SELF_POWERED 0
/* Define this to 1 if the device has its own power supply. Set it to 0 if the
* device is powered from the USB bus.
*/
#define USB_CFG_MAX_BUS_POWER 100
/* Set this variable to the maximum USB bus power consumption of your device.
* The value is in milliamperes. [It will be divided by two since USB
* communicates power requirements in units of 2 mA.]
*/
#define USB_CFG_IMPLEMENT_FN_WRITE 1
/* Set this to 1 if you want usbFunctionWrite() to be called for control-out
* transfers. Set it to 0 if you don't need it and want to save a couple of
* bytes.
*/
#define USB_CFG_IMPLEMENT_FN_READ 1
/* Set this to 1 if you need to send control replies which are generated
* "on the fly" when usbFunctionRead() is called. If you only want to send
* data from a static buffer, set it to 0 and return the data from
* usbFunctionSetup(). This saves a couple of bytes.
*/
#define USB_CFG_IMPLEMENT_FN_WRITEOUT 0
/* Define this to 1 if you want to use interrupt-out (or bulk out) endpoint 1.
* You must implement the function usbFunctionWriteOut() which receives all
* interrupt/bulk data sent to endpoint 1.
*/
#define USB_CFG_HAVE_FLOWCONTROL 0
/* Define this to 1 if you want flowcontrol over USB data. See the definition
* of the macros usbDisableAllRequests() and usbEnableAllRequests() in
* usbdrv.h.
*/
/* -------------------------- Device Description --------------------------- */
#define USB_CFG_VENDOR_ID 0xc0, 0x16 /* 5824 in dec, stands for VOTI */
/* USB vendor ID for the device, low byte first. If you have registered your
* own Vendor ID, define it here. Otherwise you use obdev's free shared
* VID/PID pair. Be sure to read USBID-License.txt for rules!
*/
#define USB_CFG_DEVICE_ID 0xdc, 0x05 /* 1500 in dec, obdev's free PID */
/* This is the ID of the product, low byte first. It is interpreted in the
* scope of the vendor ID. If you have registered your own VID with usb.org
* or if you have licensed a PID from somebody else, define it here. Otherwise
* you use obdev's free shared VID/PID pair. Be sure to read the rules in
* USBID-License.txt!
*/
#define USB_CFG_DEVICE_VERSION 0x02, 0x01
/* Version number of the device: Minor number first, then major number.
*/
#define USB_CFG_VENDOR_NAME 'w', 'w', 'w', '.', 'f', 'i', 's', 'c', 'h', 'l', '.', 'd', 'e'
#define USB_CFG_VENDOR_NAME_LEN 13
/* These two values define the vendor name returned by the USB device. The name
* must be given as a list of characters under single quotes. The characters
* are interpreted as Unicode (UTF-16) entities.
* If you don't want a vendor name string, undefine these macros.
* ALWAYS define a vendor name containing your Internet domain name if you use
* obdev's free shared VID/PID pair. See the file USBID-License.txt for
* details.
*/
#define USB_CFG_DEVICE_NAME 'U', 'S', 'B', 'a', 's', 'p'
#define USB_CFG_DEVICE_NAME_LEN 6
/* Same as above for the device name. If you don't want a device name, undefine
* the macros. See the file USBID-License.txt before you assign a name.
*/
/*#define USB_CFG_SERIAL_NUMBER 'N', 'o', 'n', 'e' */
/*#define USB_CFG_SERIAL_NUMBER_LEN 0 */
/* Same as above for the serial number. If you don't want a serial number,
* undefine the macros.
* It may be useful to provide the serial number through other means than at
* compile time. See the section about descriptor properties below for how
* to fine tune control over USB descriptors such as the string descriptor
* for the serial number.
*/
#define USB_CFG_DEVICE_CLASS 0xff
#define USB_CFG_DEVICE_SUBCLASS 0
/* See USB specification if you want to conform to an existing device class.
*/
#define USB_CFG_INTERFACE_CLASS 0
#define USB_CFG_INTERFACE_SUBCLASS 0
#define USB_CFG_INTERFACE_PROTOCOL 0
/* See USB specification if you want to conform to an existing device class or
* protocol.
*/
#define USB_CFG_HID_REPORT_DESCRIPTOR_LENGTH 0 /* total length of report descriptor */
/* Define this to the length of the HID report descriptor, if you implement
* an HID device. Otherwise don't define it or define it to 0.
*/
/* ------------------- Fine Control over USB Descriptors ------------------- */
/* If you don't want to use the driver's default USB descriptors, you can
* provide our own. These can be provided as (1) fixed length static data in
* flash memory, (2) fixed length static data in RAM or (3) dynamically at
* runtime in the function usbFunctionDescriptor(). See usbdrv.h for more
* information about this function.
* Descriptor handling is configured through the descriptor's properties. If
* no properties are defined or if they are 0, the default descriptor is used.
* Possible properties are:
* + USB_PROP_IS_DYNAMIC: The data for the descriptor should be fetched
* at runtime via usbFunctionDescriptor().
* + USB_PROP_IS_RAM: The data returned by usbFunctionDescriptor() or found
* in static memory is in RAM, not in flash memory.
* + USB_PROP_LENGTH(len): If the data is in static memory (RAM or flash),
* the driver must know the descriptor's length. The descriptor itself is
* found at the address of a well known identifier (see below).
* List of static descriptor names (must be declared PROGMEM if in flash):
* char usbDescriptorDevice[];
* char usbDescriptorConfiguration[];
* char usbDescriptorHidReport[];
* char usbDescriptorString0[];
* int usbDescriptorStringVendor[];
* int usbDescriptorStringDevice[];
* int usbDescriptorStringSerialNumber[];
* Other descriptors can't be provided statically, they must be provided
* dynamically at runtime.
*
* Descriptor properties are or-ed or added together, e.g.:
* #define USB_CFG_DESCR_PROPS_DEVICE (USB_PROP_IS_RAM | USB_PROP_LENGTH(18))
*
* The following descriptors are defined:
* USB_CFG_DESCR_PROPS_DEVICE
* USB_CFG_DESCR_PROPS_CONFIGURATION
* USB_CFG_DESCR_PROPS_STRINGS
* USB_CFG_DESCR_PROPS_STRING_0
* USB_CFG_DESCR_PROPS_STRING_VENDOR
* USB_CFG_DESCR_PROPS_STRING_PRODUCT
* USB_CFG_DESCR_PROPS_STRING_SERIAL_NUMBER
* USB_CFG_DESCR_PROPS_HID
* USB_CFG_DESCR_PROPS_HID_REPORT
* USB_CFG_DESCR_PROPS_UNKNOWN (for all descriptors not handled by the driver)
*
*/
#define USB_CFG_DESCR_PROPS_DEVICE 0
#define USB_CFG_DESCR_PROPS_CONFIGURATION 0
#define USB_CFG_DESCR_PROPS_STRINGS 0
#define USB_CFG_DESCR_PROPS_STRING_0 0
#define USB_CFG_DESCR_PROPS_STRING_VENDOR 0
#define USB_CFG_DESCR_PROPS_STRING_PRODUCT 0
#define USB_CFG_DESCR_PROPS_STRING_SERIAL_NUMBER 0
#define USB_CFG_DESCR_PROPS_HID 0
#define USB_CFG_DESCR_PROPS_HID_REPORT 0
#define USB_CFG_DESCR_PROPS_UNKNOWN 0
/* ----------------------- Optional MCU Description ------------------------ */
/* The following configurations have working defaults in usbdrv.h. You
* usually don't need to set them explicitly. Only if you want to run
* the driver on a device which is not yet supported or with a compiler
* which is not fully supported (such as IAR C) or if you use a differnt
* interrupt than INT0, you may have to define some of these.
*/
/* #define USB_INTR_CFG MCUCR */
/* #define USB_INTR_CFG_SET ((1 << ISC00) | (1 << ISC01)) */
/* #define USB_INTR_CFG_CLR 0 */
/* #define USB_INTR_ENABLE GIMSK */
/* #define USB_INTR_ENABLE_BIT INT0 */
/* #define USB_INTR_PENDING GIFR */
/* #define USB_INTR_PENDING_BIT INTF0 */
#endif /* __usbconfig_h_included__ */

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This file documents changes in the firmware-only USB driver for atmel's AVR
microcontrollers. New entries are always appended to the end of the file.
Scroll down to the bottom to see the most recent changes.
2005-04-01:
- Implemented endpoint 1 as interrupt-in endpoint.
- Moved all configuration options to usbconfig.h which is not part of the
driver.
- Changed interface for usbVendorSetup().
- Fixed compatibility with ATMega8 device.
- Various minor optimizations.
2005-04-11:
- Changed interface to application: Use usbFunctionSetup(), usbFunctionRead()
and usbFunctionWrite() now. Added configuration options to choose which
of these functions to compile in.
- Assembler module delivers receive data non-inverted now.
- Made register and bit names compatible with more AVR devices.
2005-05-03:
- Allow address of usbRxBuf on any memory page as long as the buffer does
not cross 256 byte page boundaries.
- Better device compatibility: works with Mega88 now.
- Code optimization in debugging module.
- Documentation updates.
2006-01-02:
- Added (free) default Vendor- and Product-IDs bought from voti.nl.
- Added USBID-License.txt file which defines the rules for using the free
shared VID/PID pair.
- Added Readme.txt to the usbdrv directory which clarifies administrative
issues.
2006-01-25:
- Added "configured state" to become more standards compliant.
- Added "HALT" state for interrupt endpoint.
- Driver passes the "USB Command Verifier" test from usb.org now.
- Made "serial number" a configuration option.
- Minor optimizations, we now recommend compiler option "-Os" for best
results.
- Added a version number to usbdrv.h
2006-02-03:
- New configuration variable USB_BUFFER_SECTION for the memory section where
the USB rx buffer will go. This defaults to ".bss" if not defined. Since
this buffer MUST NOT cross 256 byte pages (not even touch a page at the
end), the user may want to pass a linker option similar to
"-Wl,--section-start=.mybuffer=0x800060".
- Provide structure for usbRequest_t.
- New defines for USB constants.
- Prepared for HID implementations.
- Increased data size limit for interrupt transfers to 8 bytes.
- New macro usbInterruptIsReady() to query interrupt buffer state.
2006-02-18:
- Ensure that the data token which is sent as an ack to an OUT transfer is
always zero sized. This fixes a bug where the host reports an error after
sending an out transfer to the device, although all data arrived at the
device.
- Updated docs in usbdrv.h to reflect changed API in usbFunctionWrite().
* Release 2006-02-20
- Give a compiler warning when compiling with debugging turned on.
- Added Oleg Semyonov's changes for IAR-cc compatibility.
- Added new (optional) functions usbDeviceConnect() and usbDeviceDisconnect()
(also thanks to Oleg!).
- Rearranged tests in usbPoll() to save a couple of instructions in the most
likely case that no actions are pending.
- We need a delay between the SET ADDRESS request until the new address
becomes active. This delay was handled in usbPoll() until now. Since the
spec says that the delay must not exceed 2ms, previous versions required
aggressive polling during the enumeration phase. We have now moved the
handling of the delay into the interrupt routine.
- We must not reply with NAK to a SETUP transaction. We can only achieve this
by making sure that the rx buffer is empty when SETUP tokens are expected.
We therefore don't pass zero sized data packets from the status phase of
a transfer to usbPoll(). This change MAY cause troubles if you rely on
receiving a less than 8 bytes long packet in usbFunctionWrite() to
identify the end of a transfer. usbFunctionWrite() will NEVER be called
with a zero length.
* Release 2006-03-14
- Improved IAR C support: tiny memory model, more devices
- Added template usbconfig.h file under the name usbconfig-prototype.h
* Release 2006-03-26
- Added provision for one more interrupt-in endpoint (endpoint 3).
- Added provision for one interrupt-out endpoint (endpoint 1).
- Added flowcontrol macros for USB.
- Added provision for custom configuration descriptor.
- Allow ANY two port bits for D+ and D-.
- Merged (optional) receive endpoint number into global usbRxToken variable.
- Use USB_CFG_IOPORTNAME instead of USB_CFG_IOPORT. We now construct the
variable name from the single port letter instead of computing the address
of related ports from the output-port address.
* Release 2006-06-26
- Updated documentation in usbdrv.h and usbconfig-prototype.h to reflect the
new features.
- Removed "#warning" directives because IAR does not understand them. Use
unused static variables instead to generate a warning.
- Do not include <avr/io.h> when compiling with IAR.
- Introduced USB_CFG_DESCR_PROPS_* in usbconfig.h to configure how each
USB descriptor should be handled. It is now possible to provide descriptor
data in Flash, RAM or dynamically at runtime.
- STALL is now a status in usbTxLen* instead of a message. We can now conform
to the spec and leave the stall status pending until it is cleared.
- Made usbTxPacketCnt1 and usbTxPacketCnt3 public. This allows the
application code to reset data toggling on interrupt pipes.
* Release 2006-07-18
- Added an #if !defined __ASSEMBLER__ to the warning in usbdrv.h. This fixes
an assembler error.
- usbDeviceDisconnect() takes pull-up resistor to high impedance now.
* Release 2007-02-01
- Merged in some code size improvements from usbtiny (thanks to Dick
Streefland for these optimizations!)
- Special alignment requirement for usbRxBuf not required any more. Thanks
again to Dick Streefland for this hint!
- Reverted to "#warning" instead of unused static variables -- new versions
of IAR CC should handle this directive.
- Changed Open Source license to GNU GPL v2 in order to make linking against
other free libraries easier. We no longer require publication of the
circuit diagrams, but we STRONGLY encourage it. If you improve the driver
itself, PLEASE grant us a royalty free license to your changes for our
commercial license.
* Release 2007-03-29
- New configuration option "USB_PUBLIC" in usbconfig.h.
- Set USB version number to 1.10 instead of 1.01.
- Code used USB_CFG_DESCR_PROPS_STRING_DEVICE and
USB_CFG_DESCR_PROPS_STRING_PRODUCT inconsistently. Changed all occurrences
to USB_CFG_DESCR_PROPS_STRING_PRODUCT.
- New assembler module for 16.5 MHz RC oscillator clock with PLL in receiver
code.
- New assembler module for 16 MHz crystal.
- usbdrvasm.S contains common code only, clock-specific parts have been moved
to usbdrvasm12.S, usbdrvasm16.S and usbdrvasm165.S respectively.
* Release 2007-06-25
- 16 MHz module: Do SE0 check in stuffed bits as well.
* Release 2007-07-07
- Define hi8(x) for IAR compiler to limit result to 8 bits. This is necessary
for negative values.
- Added 15 MHz module contributed by V. Bosch.
- Interrupt vector name can now be configured. This is useful if somebody
wants to use a different hardware interrupt than INT0.
* Release 2007-08-07
- Moved handleIn3 routine in usbdrvasm16.S so that relative jump range is
not exceeded.
- More config options: USB_RX_USER_HOOK(), USB_INITIAL_DATATOKEN,
USB_COUNT_SOF
- USB_INTR_PENDING can now be a memory address, not just I/O
* Release 2007-09-19
- Split out common parts of assembler modules into separate include file
- Made endpoint numbers configurable so that given interface definitions
can be matched. See USB_CFG_EP3_NUMBER in usbconfig-prototype.h.
- Store endpoint number for interrupt/bulk-out so that usbFunctionWriteOut()
can handle any number of endpoints.
- Define usbDeviceConnect() and usbDeviceDisconnect() even if no
USB_CFG_PULLUP_IOPORTNAME is defined. Directly set D+ and D- to 0 in this
case.
* Release 2007-12-01
- Optimize usbDeviceConnect() and usbDeviceDisconnect() for less code size
when USB_CFG_PULLUP_IOPORTNAME is not defined.
* Release 2007-12-13
- Renamed all include-only assembler modules from *.S to *.inc so that
people don't add them to their project sources.
- Distribute leap bits in tx loop more evenly for 16 MHz module.
- Use "macro" and "endm" instead of ".macro" and ".endm" for IAR
- Avoid compiler warnings for constant expr range by casting some values in
USB descriptors.
* Release 2008-01-21
- Fixed bug in 15 and 16 MHz module where the new address set with
SET_ADDRESS was already accepted at the next NAK or ACK we send, not at
the next data packet we send. This caused problems when the host polled
too fast.
* Release 2008-02-05

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AVR-USB Driver Software License Agreement
Version 2006-07-24
THIS LICENSE AGREEMENT GRANTS YOU CERTAIN RIGHTS IN A SOFTWARE. YOU CAN
ENTER INTO THIS AGREEMENT AND ACQUIRE THE RIGHTS OUTLINED BELOW BY PAYING
THE AMOUNT ACCORDING TO SECTION 4 ("PAYMENT") TO OBJECTIVE DEVELOPMENT.
1 DEFINITIONS
1.1 "OBJECTIVE DEVELOPMENT" shall mean OBJECTIVE DEVELOPMENT Software GmbH,
Grosse Schiffgasse 1A/7, 1020 Wien, AUSTRIA.
1.2 "You" shall mean the Licensee.
1.3 "AVR-USB" shall mean the firmware-only USB device implementation for
Atmel AVR microcontrollers distributed by OBJECTIVE DEVELOPMENT and
consisting of the files usbdrv.c, usbdrv.h, usbdrvasm.S, oddebug.c,
oddebug.h, usbdrvasm.asm, iarcompat.h and usbconfig-prototype.h.
2 LICENSE GRANTS
2.1 Source Code. OBJECTIVE DEVELOPMENT shall furnish you with the source
code of AVR-USB.
2.2 Distribution and Use. OBJECTIVE DEVELOPMENT grants you the
non-exclusive right to use and distribute AVR-USB with your hardware
product(s), restricted by the limitations in section 3 below.
2.3 Modifications. OBJECTIVE DEVELOPMENT grants you the right to modify
your copy of AVR-USB according to your needs.
2.4 USB IDs. OBJECTIVE DEVELOPMENT grants you the exclusive rights to use
USB Product ID(s) sent to you in e-mail after receiving your payment in
conjunction with USB Vendor ID 5824. OBJECTIVE DEVELOPMENT has acquired an
exclusive license for this pair of USB identifiers from Wouter van Ooijen
(www.voti.nl), who has licensed the VID from the USB Implementers Forum,
Inc. (www.usb.org).
3 LICENSE RESTRICTIONS
3.1 Number of Units. Only one of the following three definitions is
applicable. Which one is determined by the amount you pay to OBJECTIVE
DEVELOPMENT, see section 4 ("Payment") below.
Hobby License: You may use AVR-USB according to section 2 above in no more
than 5 hardware units. These units must not be sold for profit.
Entry Level License: You may use AVR-USB according to section 2 above in no
more than 150 hardware units.
Professional License: You may use AVR-USB according to section 2 above in
any number of hardware units, except for large scale production ("unlimited
fair use"). Quantities below 10,000 units are not considered large scale
production. If your reach quantities which are obviously large scale
production, you must pay a license fee of 0.10 EUR per unit for all units
above 10,000.
3.2 Rental. You may not rent, lease, or lend AVR-USB or otherwise encumber
any copy of AVR-USB, or any of the rights granted herein.
3.3 Transfer. You may not transfer your rights under this Agreement to
another party without OBJECTIVE DEVELOPMENT's prior written consent. If
such consent is obtained, you may permanently transfer this License to
another party. The recipient of such transfer must agree to all terms and
conditions of this Agreement.
3.4 Reservation of Rights. OBJECTIVE DEVELOPMENT retains all rights not
expressly granted.
3.5 Non-Exclusive Rights. Your license rights under this Agreement are
non-exclusive.
3.6 Third Party Rights. This Agreement cannot grant you rights controlled
by third parties. In particular, you are not allowed to use the USB logo or
other trademarks owned by the USB Implementers Forum, Inc. without their
consent. Since such consent depends on USB certification, it should be
noted that AVR-USB will not pass certification because it does not
implement checksum verification and the microcontroller ports do not meet
the electrical specifications.
4 PAYMENT
The payment amount depends on the variation of this agreement (according to
section 3.1) into which you want to enter. Concrete prices are listed on
OBJECTIVE DEVELOPMENT's web site, usually at
http://www.obdev.at/avrusb/license.html. You agree to pay the amount listed
there to OBJECTIVE DEVELOPMENT or OBJECTIVE DEVELOPMENT's payment processor
or reseller.
5 COPYRIGHT AND OWNERSHIP
AVR-USB is protected by copyright laws and international copyright
treaties, as well as other intellectual property laws and treaties. AVR-USB
is licensed, not sold.
6 TERM AND TERMINATION
6.1 Term. This Agreement shall continue indefinitely. However, OBJECTIVE
DEVELOPMENT may terminate this Agreement and revoke the granted license and
USB-IDs if you fail to comply with any of its terms and conditions.
6.2 Survival of Terms. All provisions regarding secrecy, confidentiality
and limitation of liability shall survive termination of this agreement.
7 DISCLAIMER OF WARRANTY AND LIABILITY
LIMITED WARRANTY. AVR-USB IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY
KIND. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, OBJECTIVE
DEVELOPMENT AND ITS SUPPLIERS HEREBY DISCLAIM ALL WARRANTIES, EITHER
EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND
NON-INFRINGEMENT, WITH REGARD TO AVR-USB, AND THE PROVISION OF OR FAILURE
TO PROVIDE SUPPORT SERVICES. THIS LIMITED WARRANTY GIVES YOU SPECIFIC LEGAL
RIGHTS. YOU MAY HAVE OTHERS, WHICH VARY FROM STATE/JURISDICTION TO
STATE/JURISDICTION.
LIMITATION OF LIABILITY. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW,
IN NO EVENT SHALL OBJECTIVE DEVELOPMENT OR ITS SUPPLIERS BE LIABLE FOR ANY
SPECIAL, INCIDENTAL, INDIRECT, OR CONSEQUENTIAL DAMAGES WHATSOEVER
(INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS,
BUSINESS INTERRUPTION, LOSS OF BUSINESS INFORMATION, OR ANY OTHER PECUNIARY
LOSS) ARISING OUT OF THE USE OF OR INABILITY TO USE AVR-USB OR THE
PROVISION OF OR FAILURE TO PROVIDE SUPPORT SERVICES, EVEN IF OBJECTIVE
DEVELOPMENT HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. IN ANY
CASE, OBJECTIVE DEVELOPMENT'S ENTIRE LIABILITY UNDER ANY PROVISION OF THIS
AGREEMENT SHALL BE LIMITED TO THE AMOUNT ACTUALLY PAID BY YOU FOR AVR-USB.
8 MISCELLANEOUS TERMS
8.1 Marketing. OBJECTIVE DEVELOPMENT has the right to mention for marketing
purposes that you entered into this agreement.
8.2 Entire Agreement. This document represents the entire agreement between
OBJECTIVE DEVELOPMENT and you. It may only be modified in writing signed by
an authorized representative of both, OBJECTIVE DEVELOPMENT and you.
8.3 Severability. In case a provision of these terms and conditions should
be or become partly or entirely invalid, ineffective, or not executable,
the validity of all other provisions shall not be affected.
8.4 Applicable Law. This agreement is governed by the laws of the Republic
of Austria.
8.5 Responsible Courts. The responsible courts in Vienna/Austria will have
exclusive jurisdiction regarding all disputes in connection with this
agreement.

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OBJECTIVE DEVELOPMENT GmbH's AVR-USB driver software is distributed under the
terms and conditions of the GNU GPL version 2, see the text below. In addition
to the requirements in the GPL, we STRONGLY ENCOURAGE you to do the following:
(1) Publish your entire project on a web site and drop us a note with the URL.
Use the form at http://www.obdev.at/avrusb/feedback.html for your submission.
(2) Adhere to minimum publication standards. Please include AT LEAST:
- a circuit diagram in PDF, PNG or GIF format
- full source code for the host software
- a Readme.txt file in ASCII format which describes the purpose of the
project and what can be found in which directories and which files
- a reference to http://www.obdev.at/avrusb/
(3) If you improve the driver firmware itself, please give us a free license
to your modifications for our commercial license offerings.
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether