Subversion Repositories openarty

////////////////////////////////////////////////////////////////////////////////

//

// Filename:    exmulti.c

//

// Project:     OpenArty, an entirely open SoC based upon the Arty platform

//

// Purpose:     Very similar to exstartup.c, the purpose of this program is to

//              demonstrate several working peripherals.  To the exstartup

//      peripherals, we'll add the GPS and the GPS PPS tracking.

//

// Creator:     Dan Gisselquist, Ph.D.

//              Gisselquist Technology, LLC

//

////////////////////////////////////////////////////////////////////////////////

//

// Copyright (C) 2015-2016, Gisselquist Technology, LLC

//

// This program is free software (firmware): you can redistribute it and/or

// modify it under the terms of  the GNU General Public License as published

// by the Free Software Foundation, either version 3 of the License, or (at

// your option) any later version.

//

// This program is distributed in the hope that it will be useful, but WITHOUT

// ANY WARRANTY; without even the implied warranty of MERCHANTIBILITY or

// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License

// for more details.

//

// You should have received a copy of the GNU General Public License along

// with this program.  (It's in the $(ROOT)/doc directory, run make with no

// target there if the PDF file isn't present.)  If not, see

// <http://www.gnu.org/licenses/> for a copy.

//

// License:     GPL, v3, as defined and found on www.gnu.org,

//              http://www.gnu.org/licenses/gpl.html

//

//

////////////////////////////////////////////////////////////////////////////////

//

//

#include "artyboard.h"

#include "zipsys.h"

void    idle_task(void) {

        while(1)

                zip_idle();

}

void    wait_on_interrupt(int mask) {

        zip->pic = DALLPIC|mask;

        zip->pic = EINT(mask);

        zip_rtu();

}

int     user_stack[256];

void    user_task(void) {

        const unsigned white = 0x070707, black = 0;

        while(1) {

                unsigned        btn, subnow, sw;

                subnow = (sys->io_gps_sub >> 28)&0x0f;

                // If the button is pressed, toggle the LED

                // Otherwise, turn the LED off.

                //

                // First, get all the pressed buttons

                btn = (sys->io_btnsw) & 0x0f0;

                // Now, acknowledge the button presses that we just read

                sys->io_btnsw = btn;

                btn >>= 4;

                // Now, use the time as the toggle function.

                btn = (subnow ^ btn)&btn & 0x07;

                sys->io_ledctrl = btn | 0x070;

                sw = sys->io_btnsw & 0x0f;

                for(int i=0; i<4; i++)

                        sys->io_clrled[i] = (sw & (1<<i)) ? white : black;

        }

}

int     mpyuhi(int a, int b) {

        // err_in_ns = mpyuhi(err_in_ns, err);

        // __asm__("MPYUHI %1,%0" :"+r"(a):"r"(b));

        unsigned alo, blo, ahi, bhi, f, o, i, l, rhi;

        alo = (a & 0x0ffff);

        ahi = (a >> 16)&0x0ffff;

        blo = (b & 0x0ffff);

        bhi = (b >> 16)&0x0ffff;

        l = alo * blo;

        o = ahi * blo;

        i = alo * bhi;

        f = ahi * bhi;

        rhi = o + i + (l >> 16);

        return (rhi >> 16) + f;

        // return f;

        // return ahi;

}

int     hexdigit(int v) {

        if (v < 10)

                return v + '0';

        else

                return v + 'A' - 10;

}

int     errstring[128];

void    entry(void) {

        const unsigned red = 0x0ff0000, green = 0x0ff00, blue = 0x0ff,

                white = 0x070707, black = 0, dimgreen = 0x1f00,

                second = 81250000;

        int     i, sw;

        // Start the GPS converging ...

        sys->io_gps.g_alpha = 2;

        sys->io_gps.g_beta  = 0x14bda12f;

        sys->io_gps.g_gamma = 0x1f533ae8;

        int     user_context[16];

        for(i=0; i<15; i++)

                user_context[i] = 0;

        user_context[15] = (unsigned)idle_task;

        zip_restore_context(user_context);

        for(i=0; i<4; i++)

                sys->io_clrled[i] = red;

        sys->io_ledctrl = 0x0ff;

        // Clear the PIC

        //

        //      Acknowledge all interrupts, turn off all interrupts

        //

        zip->pic = 0x7fff7fff;

        while(sys->io_pwrcount < (second >> 4))

                ;

        // Repeating timer, every 250ms

        zip->tma = (second/4) | 0x80000000;

        wait_on_interrupt(SYSINT_TMA);

        sys->io_clrled[0] = green;

        sys->io_ledctrl = 0x010;

        wait_on_interrupt(SYSINT_TMA);

        sys->io_clrled[0] = dimgreen;

        sys->io_clrled[1] = green;

        sys->io_scope[0].s_ctrl = 32 | 0x80000000; // SCOPE_TRIGGER;

        sys->io_ledctrl = 0x020;

        wait_on_interrupt(SYSINT_TMA);

        sys->io_clrled[1] = dimgreen;

        sys->io_clrled[2] = green;

        sys->io_ledctrl = 0x040;

        wait_on_interrupt(SYSINT_TMA);

        sys->io_clrled[2] = dimgreen;

        sys->io_clrled[3] = green;

        sys->io_ledctrl = 0x080;

        wait_on_interrupt(SYSINT_TMA);

        sys->io_clrled[3] = dimgreen;

        wait_on_interrupt(SYSINT_TMA);

        for(i=0; i<4; i++)

                sys->io_clrled[i] = black;

        // Wait one second ...

        for(i=0; i<4; i++)

                wait_on_interrupt(SYSINT_TMA);

        // Blink all the LEDs

        //      First turn them on

        sys->io_ledctrl = 0x0ff;

        // Then wait a quarter second

        wait_on_interrupt(SYSINT_TMA);

        // Then turn the back off

        sys->io_ledctrl = 0x0f0;

        // and wait another quarter second

        wait_on_interrupt(SYSINT_TMA);

        // Now, read buttons, and flash an LED on any button being held

        // down ... ? neat?

        // Now, let's synchronize ourselves to the PPS

        user_context[13] = (int)&user_stack[256];

        user_context[15] = (int)&user_task;

        zip_restore_context(user_context);

        do {

                wait_on_interrupt(SYSINT_PPS|SYSINT_TMA);

        } while((zip->pic & SYSINT_PPS)==0);

        while(1) {

                int     *s = errstring;

                zip->wdt = CLOCKFREQ_HZ*4;

                sys->io_ledctrl = 0x088;

                // 1. Read and report the GPS tracking err

                // Get the upper 32-bits of the error;

                int     err = *(int *)(&sys->io_gpstb.tb_err);

                int     err_in_ns;

                /*

                long    err_in_ns_long = err;

                err_in_ns_long *= 1000000000l;

                err_in_ns_long >>= 32;

                int     err_in_ns = (int)(err_in_ns_long);

                */

                int     err_sgn = (err < 0)?1:0;

                err_in_ns = (err<0)?-err:err;

                err_in_ns = mpyuhi(err_in_ns, 1000000000);

                int     digit;

                *s++ = '\r';

                *s++ = '\n';

                *s++ = 'G';

                *s++ = 'P';

                *s++ = 'S';

                *s++ = ' ';

                *s++ = 'P';

                *s++ = 'P';

                *s++ = 'S';

                *s++ = ' ';

                *s++ = 'E';

                *s++ = 'r';

                *s++ = 'r';

                *s++ = ':';

                *s++ = ' ';

                *s++ = '0';

                *s++ = 'x';

                *s++ = hexdigit((err>>28)&0x0f);

                *s++ = hexdigit((err>>24)&0x0f);

                *s++ = hexdigit((err>>20)&0x0f);

                *s++ = hexdigit((err>>16)&0x0f);

                *s++ = hexdigit((err>>12)&0x0f);

                *s++ = hexdigit((err>> 8)&0x0f);

                *s++ = hexdigit((err>> 4)&0x0f);

                *s++ = hexdigit((err    )&0x0f);

                *s++ = ' ';

                *s++ = '=';

                *s++ = '>';

                *s++ = ' ';

                *s++ = '0';

                *s++ = 'x';

                *s++ = hexdigit((err_in_ns>>28)&0x0f);

                *s++ = hexdigit((err_in_ns>>24)&0x0f);

                *s++ = hexdigit((err_in_ns>>20)&0x0f);

                *s++ = hexdigit((err_in_ns>>16)&0x0f);

                *s++ = hexdigit((err_in_ns>>12)&0x0f);

                *s++ = hexdigit((err_in_ns>> 8)&0x0f);

                *s++ = hexdigit((err_in_ns>> 4)&0x0f);

                *s++ = hexdigit((err_in_ns    )&0x0f);

                *s++ = ' ';

                *s++ = '=';

                *s++ = '>';

                *s++ = ' ';

                *s++ = (err_sgn)?'-':' ';

                // Milliseconds

                digit = err_in_ns / 100000000;

                *s++ = digit+'0';

                err_in_ns -= digit * 100000000;

                //

                digit = err_in_ns / 10000000;

                *s++ = digit+'0';

                err_in_ns -= digit * 10000000;

                //

                digit = err_in_ns / 1000000;

                *s++ = digit+'0';

                err_in_ns -= digit * 1000000;

                // Micro seconds

                digit = err_in_ns / 100000;

                *s++ = digit+'0';

                err_in_ns -= digit * 100000;

                //

                digit = err_in_ns / 10000;

                *s++ = digit+'0';

                err_in_ns -= digit * 10000;

                //

                digit = err_in_ns / 1000;

                *s++ = digit+'0';

                err_in_ns -= digit * 1000;

                // Nano seconds

                *s++ = '.';

                digit = err_in_ns / 100;

                *s++ = digit+'0';

                err_in_ns -= digit * 100;

                //

                digit = err_in_ns / 10;

                *s++ = digit+'0';

                err_in_ns -= digit * 10;

                //

                digit = err_in_ns;

                *s++ = digit+'0';

                //

                *s++ = ' ';

                *s++ = 'u';

                *s++ = 'S';

                *s++ = '\r';

                *s++ = '\n';

                *s++ = '\r';

                *s++ = '\n';

                *s++ = '\0';

                /*

                zip->dma.ctrl = DMACLEAR;

                zip->dma.rd = errstring;

                zip->dma.wr = &sys->io_uart_tx;

                zip->dma.len = s - errstring-1;

                zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_GPSRX);

                wait_on_interrupt(SYSINT_DMAC);

                */

                for(int i=0; errstring[i]; i++) {

                        wait_on_interrupt(SYSINT_UARTTX);

                        sys->io_uart_tx = errstring[i];

                        zip->pic = SYSINT_UARTTX;

                }

                sys->io_ledctrl = 0x080;

                /*

                zip->dma.rd = &sys->io_gps_rx;

                zip->dma.wr = &sys->io_uart_tx;

                zip->dma.len = 0x01000000;

                zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_CONSTSRC|DMA_GPSRX);

                wait_on_interrupt(SYSINT_PPS);

                */

                /*

                if (zip_ucc() & CC_FAULT) {

                        zip_save_context(user_context);

                        user_context[14] = CC_GIE;

                        user_context[15] = (int)&idle_task;

                        zip_restore_context(user_context);

                }

                */

                zip->pic = SYSINT_GPSRX | SYSINT_PPS;

                do {

                        wait_on_interrupt(SYSINT_PPS|SYSINT_GPSRX);

                        if (zip->pic & SYSINT_GPSRX) {

                                sys->io_uart_tx = sys->io_gps_rx;

                                zip->pic = SYSINT_GPSRX;

                        }

                } while((zip->pic & SYSINT_PPS)==0);

                // wait_on_interrupt(SYSINT_PPS);

                // zip->dma.ctrl= DMACLEAR;

        }

        zip_halt();

}