| Line 35... |
Line 35... |
//
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//
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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//
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//
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//
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//
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#include "artyboard.h"
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#include "zipcpu.h"
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#include "zipsys.h"
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#include "zipsys.h"
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#include "artyboard.h"
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void idle_task(void) {
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void idle_task(void) {
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while(1)
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while(1)
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zip_idle();
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zip_idle();
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}
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}
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void wait_on_interrupt(int mask) {
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void wait_on_interrupt(int mask) {
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zip->pic = DALLPIC|mask;
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zip->z_pic = DALLPIC|mask;
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zip->pic = EINT(mask);
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zip->z_pic = EINT(mask);
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zip_rtu();
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zip_rtu();
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}
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}
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int user_stack[256];
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int user_stack[256];
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void user_task(void) {
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void user_task(void) {
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| Line 109... |
Line 110... |
return v + 'A' - 10;
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return v + 'A' - 10;
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}
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}
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int errstring[128];
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int errstring[128];
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void entry(void) {
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void main(int argc, char **argv) {
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const unsigned red = 0x0ff0000, green = 0x0ff00, blue = 0x0ff,
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const unsigned red = 0x0ff0000, green = 0x0ff00, blue = 0x0ff,
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white = 0x070707, black = 0, dimgreen = 0x1f00,
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white = 0x070707, black = 0, dimgreen = 0x1f00,
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second = 81250000;
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second = CLOCKFREQHZ;
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int i, sw;
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int i, sw;
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// Start the GPS converging ...
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// Start the GPS converging ...
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sys->io_gps.g_alpha = 2;
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sys->io_gps.g_alpha = 2;
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sys->io_gps.g_beta = 0x14bda12f;
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sys->io_gps.g_beta = 0x14bda12f;
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| Line 134... |
Line 135... |
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// Clear the PIC
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// Clear the PIC
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//
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//
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// Acknowledge all interrupts, turn off all interrupts
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// Acknowledge all interrupts, turn off all interrupts
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//
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//
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zip->pic = 0x7fff7fff;
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zip->z_pic = CLEARPIC;
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while(sys->io_pwrcount < (second >> 4))
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while(sys->io_pwrcount < (second >> 4))
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;
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;
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// Repeating timer, every 250ms
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// Repeating timer, every 250ms
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zip->tma = (second/4) | 0x80000000;
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zip->z_tma = TMR_INTERVAL | (second/4);
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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sys->io_clrled[0] = green;
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sys->io_clrled[0] = green;
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sys->io_ledctrl = 0x010;
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sys->io_ledctrl = 0x010;
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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sys->io_clrled[0] = dimgreen;
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sys->io_clrled[0] = dimgreen;
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sys->io_clrled[1] = green;
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sys->io_clrled[1] = green;
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sys->io_scope[0].s_ctrl = 32 | 0x80000000; // SCOPE_TRIGGER;
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sys->io_scope[0].s_ctrl = SCOPE_NO_RESET | 32;
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sys->io_ledctrl = 0x020;
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sys->io_ledctrl = 0x020;
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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sys->io_clrled[1] = dimgreen;
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sys->io_clrled[1] = dimgreen;
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| Line 197... |
Line 198... |
user_context[15] = (int)&user_task;
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user_context[15] = (int)&user_task;
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zip_restore_context(user_context);
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zip_restore_context(user_context);
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do {
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do {
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wait_on_interrupt(SYSINT_PPS|SYSINT_TMA);
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wait_on_interrupt(SYSINT_PPS|SYSINT_TMA);
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} while((zip->pic & SYSINT_PPS)==0);
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} while((zip->z_pic & SYSINT_PPS)==0);
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while(1) {
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while(1) {
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int *s = errstring;
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int *s = errstring;
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zip->wdt = CLOCKFREQ_HZ*4;
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zip->z_wdt = CLOCKFREQ_HZ*4;
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sys->io_ledctrl = 0x088;
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sys->io_ledctrl = 0x088;
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// 1. Read and report the GPS tracking err
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// 1. Read and report the GPS tracking err
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// Get the upper 32-bits of the error;
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// Get the upper 32-bits of the error;
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| Line 319... |
Line 320... |
*s++ = '\r';
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*s++ = '\r';
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*s++ = '\n';
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*s++ = '\n';
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*s++ = '\0';
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*s++ = '\0';
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/*
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/*
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zip->dma.ctrl = DMACLEAR;
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zip->z_dma.d_ctrl = DMACLEAR;
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zip->dma.rd = errstring;
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zip->z_dma.d_rd = errstring;
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zip->dma.wr = &sys->io_uart_tx;
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zip->z_dma.d_wr = &sys->io_uart_tx;
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zip->dma.len = s - errstring-1;
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zip->z_dma.d_len = s - errstring-1;
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zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_GPSRX);
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zip->z_dma.d_ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_GPSRX);
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wait_on_interrupt(SYSINT_DMAC);
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wait_on_interrupt(SYSINT_DMAC);
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*/
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*/
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for(int i=0; errstring[i]; i++) {
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for(int i=0; errstring[i]; i++) {
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wait_on_interrupt(SYSINT_UARTTX);
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wait_on_interrupt(SYSINT_UARTTX);
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sys->io_uart_tx = errstring[i];
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sys->io_uart_tx = errstring[i];
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zip->pic = SYSINT_UARTTX;
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zip->z_pic = SYSINT_UARTTX;
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}
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}
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sys->io_ledctrl = 0x080;
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sys->io_ledctrl = 0x080;
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/*
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/*
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zip->dma.rd = &sys->io_gps_rx;
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zip->z_dma.d_rd = &sys->io_gps_rx;
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zip->dma.wr = &sys->io_uart_tx;
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zip->z_dma.d_wr = &sys->io_uart_tx;
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zip->dma.len = 0x01000000;
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zip->z_dma.d_len = 0x01000000;
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zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_CONSTSRC|DMA_GPSRX);
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zip->z_dma.d_ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_CONSTSRC|DMA_ONGPSRX);
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wait_on_interrupt(SYSINT_PPS);
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wait_on_interrupt(SYSINT_PPS);
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*/
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*/
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/*
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/*
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if (zip_ucc() & CC_FAULT) {
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if (zip_ucc() & CC_FAULT) {
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| Line 352... |
Line 353... |
user_context[15] = (int)&idle_task;
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user_context[15] = (int)&idle_task;
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zip_restore_context(user_context);
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zip_restore_context(user_context);
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}
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}
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*/
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*/
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zip->pic = SYSINT_GPSRX | SYSINT_PPS;
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zip->z_pic = SYSINT_GPSRX | SYSINT_PPS;
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do {
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do {
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wait_on_interrupt(SYSINT_PPS|SYSINT_GPSRX);
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wait_on_interrupt(SYSINT_PPS|SYSINT_GPSRX);
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if (zip->pic & SYSINT_GPSRX) {
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if (zip->z_pic & SYSINT_GPSRX) {
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sys->io_uart_tx = sys->io_gps_rx;
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sys->io_uart_tx = sys->io_gps_rx;
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zip->pic = SYSINT_GPSRX;
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zip->z_pic = SYSINT_GPSRX;
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}
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}
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} while((zip->pic & SYSINT_PPS)==0);
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} while((zip->z_pic & SYSINT_PPS)==0);
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// wait_on_interrupt(SYSINT_PPS);
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// wait_on_interrupt(SYSINT_PPS);
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// zip->dma.ctrl= DMACLEAR;
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// zip->z_dma.d_ctrl= DMACLEAR;
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}
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}
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zip_halt();
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zip_halt();
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}
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}
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