After spending most of a year working with AT91lib, I've come to the conclusion that it is not well implemented, or well maintained.
Opening a support issue with Atmel for a problem that involves AT91lib is usually an exercise in frustration, as they will simply tell you that AT91lib is unsupported.
To give examples of the areas where AT91lib is lacking:
1) In the version of AT91lib (version 1.6, I think) that is bundled with 4pi_firmware, there is a bug in the SD card driver that causes bytes to be dropped. This bug is fixed in version 1.8.
2) In version 1.8 of AT91lib, initializing the USB stack hangs the processor. iirc, this bug is fixed in version 1.9.
3) In version 1.9 of AT91lib, the SD card driver is broken again, and won't recognize that the SD card is connected.
It's my belief that 4pi_firmware will never be completely stable while it relies on AT91lib. We would be far better off with ASF (Atmel Software Framework) as its hardware abstraction layer.
After spending most of a year working with AT91lib, I've come to the conclusion that it is not well implemented, or well maintained.
Opening a support issue with Atmel for a problem that involves AT91lib is usually an exercise in frustration, as they will simply tell you that AT91lib is unsupported.
To give examples of the areas where AT91lib is lacking:
1) In the version of AT91lib (version 1.6, I think) that is bundled with 4pi_firmware, there is a bug in the SD card driver that causes bytes to be dropped. This bug is fixed in version 1.8.
2) In version 1.8 of AT91lib, initializing the USB stack hangs the processor. iirc, this bug is fixed in version 1.9.
3) In version 1.9 of AT91lib, the SD card driver is broken again, and won't recognize that the SD card is connected.
It's my belief that 4pi_firmware will never be completely stable while it relies on AT91lib. We would be far better off with ASF (Atmel Software Framework) as its hardware abstraction layer.