////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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//
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//
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// Filename: exmulti.c
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// Filename: exmulti.c
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//
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//
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// Project: OpenArty, an entirely open SoC based upon the Arty platform
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// Project: OpenArty, an entirely open SoC based upon the Arty platform
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//
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//
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// Purpose: Very similar to exstartup.c, the purpose of this program is to
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// Purpose: Very similar to exstartup.c, the purpose of this program is to
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// demonstrate several working peripherals. To the exstartup
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// demonstrate several working peripherals. To the exstartup
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// peripherals, we'll add the GPS and the GPS PPS tracking.
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// peripherals, we'll add the GPS and the GPS PPS tracking.
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//
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//
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// Creator: Dan Gisselquist, Ph.D.
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// Creator: Dan Gisselquist, Ph.D.
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// Gisselquist Technology, LLC
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// Gisselquist Technology, LLC
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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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// Copyright (C) 2015-2016, Gisselquist Technology, LLC
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// Copyright (C) 2015-2016, Gisselquist Technology, LLC
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//
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//
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// This program is free software (firmware): you can redistribute it and/or
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// This program is free software (firmware): you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as published
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// modify it under the terms of the GNU General Public License as published
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// by the Free Software Foundation, either version 3 of the License, or (at
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// by the Free Software Foundation, either version 3 of the License, or (at
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// your option) any later version.
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// your option) any later version.
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//
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//
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// This program is distributed in the hope that it will be useful, but WITHOUT
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// This program is distributed in the hope that it will be useful, but WITHOUT
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// ANY WARRANTY; without even the implied warranty of MERCHANTIBILITY or
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// ANY WARRANTY; without even the implied warranty of MERCHANTIBILITY or
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// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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// for more details.
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// for more details.
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//
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//
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// You should have received a copy of the GNU General Public License along
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// You should have received a copy of the GNU General Public License along
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// with this program. (It's in the $(ROOT)/doc directory, run make with no
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// with this program. (It's in the $(ROOT)/doc directory, run make with no
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// target there if the PDF file isn't present.) If not, see
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// target there if the PDF file isn't present.) If not, see
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// <http://www.gnu.org/licenses/> for a copy.
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// <http://www.gnu.org/licenses/> for a copy.
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//
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//
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// License: GPL, v3, as defined and found on www.gnu.org,
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// License: GPL, v3, as defined and found on www.gnu.org,
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// http://www.gnu.org/licenses/gpl.html
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// http://www.gnu.org/licenses/gpl.html
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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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//
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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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const unsigned white = 0x070707, black = 0;
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const unsigned white = 0x070707, black = 0;
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while(1) {
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while(1) {
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unsigned btn, subnow, sw;
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unsigned btn, subnow, sw;
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subnow = (sys->io_gps_sub >> 28)&0x0f;
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subnow = (sys->io_gps_sub >> 28)&0x0f;
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|
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// If the button is pressed, toggle the LED
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// If the button is pressed, toggle the LED
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// Otherwise, turn the LED off.
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// Otherwise, turn the LED off.
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//
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//
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|
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// First, get all the pressed buttons
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// First, get all the pressed buttons
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btn = (sys->io_btnsw) & 0x0f0;
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btn = (sys->io_btnsw) & 0x0f0;
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// Now, acknowledge the button presses that we just read
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// Now, acknowledge the button presses that we just read
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sys->io_btnsw = btn;
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sys->io_btnsw = btn;
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btn >>= 4;
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btn >>= 4;
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|
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// Now, use the time as the toggle function.
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// Now, use the time as the toggle function.
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btn = (subnow ^ btn)&btn & 0x07;
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btn = (subnow ^ btn)&btn & 0x07;
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|
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sys->io_ledctrl = btn | 0x070;
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sys->io_ledctrl = btn | 0x070;
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sw = sys->io_btnsw & 0x0f;
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sw = sys->io_btnsw & 0x0f;
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for(int i=0; i<4; i++)
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for(int i=0; i<4; i++)
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sys->io_clrled[i] = (sw & (1<<i)) ? white : black;
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sys->io_clrled[i] = (sw & (1<<i)) ? white : black;
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|
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}
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}
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}
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}
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int mpyuhi(int a, int b) {
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int mpyuhi(int a, int b) {
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// err_in_ns = mpyuhi(err_in_ns, err);
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// err_in_ns = mpyuhi(err_in_ns, err);
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// __asm__("MPYUHI %1,%0" :"+r"(a):"r"(b));
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// __asm__("MPYUHI %1,%0" :"+r"(a):"r"(b));
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unsigned alo, blo, ahi, bhi, f, o, i, l, rhi;
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unsigned alo, blo, ahi, bhi, f, o, i, l, rhi;
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|
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alo = (a & 0x0ffff);
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alo = (a & 0x0ffff);
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ahi = (a >> 16)&0x0ffff;
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ahi = (a >> 16)&0x0ffff;
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blo = (b & 0x0ffff);
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blo = (b & 0x0ffff);
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bhi = (b >> 16)&0x0ffff;
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bhi = (b >> 16)&0x0ffff;
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l = alo * blo;
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l = alo * blo;
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o = ahi * blo;
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o = ahi * blo;
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i = alo * bhi;
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i = alo * bhi;
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f = ahi * bhi;
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f = ahi * bhi;
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rhi = o + i + (l >> 16);
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rhi = o + i + (l >> 16);
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return (rhi >> 16) + f;
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return (rhi >> 16) + f;
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// return f;
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// return f;
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// return ahi;
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// return ahi;
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}
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}
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int hexdigit(int v) {
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int hexdigit(int v) {
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if (v < 10)
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if (v < 10)
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return v + '0';
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return v + '0';
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else
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else
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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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sys->io_gps.g_gamma = 0x1f533ae8;
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sys->io_gps.g_gamma = 0x1f533ae8;
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int user_context[16];
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int user_context[16];
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for(i=0; i<15; i++)
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for(i=0; i<15; i++)
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user_context[i] = 0;
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user_context[i] = 0;
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user_context[15] = (unsigned)idle_task;
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user_context[15] = (unsigned)idle_task;
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zip_restore_context(user_context);
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zip_restore_context(user_context);
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for(i=0; i<4; i++)
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for(i=0; i<4; i++)
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sys->io_clrled[i] = red;
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sys->io_clrled[i] = red;
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sys->io_ledctrl = 0x0ff;
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sys->io_ledctrl = 0x0ff;
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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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|
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sys->io_clrled[1] = dimgreen;
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sys->io_clrled[1] = dimgreen;
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sys->io_clrled[2] = green;
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sys->io_clrled[2] = green;
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sys->io_ledctrl = 0x040;
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sys->io_ledctrl = 0x040;
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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|
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sys->io_clrled[2] = dimgreen;
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sys->io_clrled[2] = dimgreen;
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sys->io_clrled[3] = green;
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sys->io_clrled[3] = green;
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sys->io_ledctrl = 0x080;
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sys->io_ledctrl = 0x080;
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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|
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sys->io_clrled[3] = dimgreen;
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sys->io_clrled[3] = dimgreen;
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|
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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|
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for(i=0; i<4; i++)
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for(i=0; i<4; i++)
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sys->io_clrled[i] = black;
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sys->io_clrled[i] = black;
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|
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// Wait one second ...
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// Wait one second ...
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for(i=0; i<4; i++)
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for(i=0; i<4; i++)
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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|
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// Blink all the LEDs
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// Blink all the LEDs
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// First turn them on
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// First turn them on
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sys->io_ledctrl = 0x0ff;
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sys->io_ledctrl = 0x0ff;
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// Then wait a quarter second
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// Then wait a quarter second
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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// Then turn the back off
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// Then turn the back off
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sys->io_ledctrl = 0x0f0;
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sys->io_ledctrl = 0x0f0;
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// and wait another quarter second
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// and wait another quarter second
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wait_on_interrupt(SYSINT_TMA);
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wait_on_interrupt(SYSINT_TMA);
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|
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// Now, read buttons, and flash an LED on any button being held
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// Now, read buttons, and flash an LED on any button being held
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// down ... ? neat?
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// down ... ? neat?
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|
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// Now, let's synchronize ourselves to the PPS
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// Now, let's synchronize ourselves to the PPS
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user_context[13] = (int)&user_stack[256];
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user_context[13] = (int)&user_stack[256];
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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) {
|
while(1) {
|
int *s = errstring;
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int *s = errstring;
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|
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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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|
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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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int err = *(int *)(&sys->io_gpstb.tb_err);
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int err = *(int *)(&sys->io_gpstb.tb_err);
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int err_in_ns;
|
int err_in_ns;
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/*
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/*
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long err_in_ns_long = err;
|
long err_in_ns_long = err;
|
err_in_ns_long *= 1000000000l;
|
err_in_ns_long *= 1000000000l;
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err_in_ns_long >>= 32;
|
err_in_ns_long >>= 32;
|
int err_in_ns = (int)(err_in_ns_long);
|
int err_in_ns = (int)(err_in_ns_long);
|
*/
|
*/
|
int err_sgn = (err < 0)?1:0;
|
int err_sgn = (err < 0)?1:0;
|
err_in_ns = (err<0)?-err:err;
|
err_in_ns = (err<0)?-err:err;
|
err_in_ns = mpyuhi(err_in_ns, 1000000000);
|
err_in_ns = mpyuhi(err_in_ns, 1000000000);
|
int digit;
|
int digit;
|
|
|
|
|
*s++ = '\r';
|
*s++ = '\r';
|
*s++ = '\n';
|
*s++ = '\n';
|
*s++ = 'G';
|
*s++ = 'G';
|
*s++ = 'P';
|
*s++ = 'P';
|
*s++ = 'S';
|
*s++ = 'S';
|
*s++ = ' ';
|
*s++ = ' ';
|
*s++ = 'P';
|
*s++ = 'P';
|
*s++ = 'P';
|
*s++ = 'P';
|
*s++ = 'S';
|
*s++ = 'S';
|
*s++ = ' ';
|
*s++ = ' ';
|
*s++ = 'E';
|
*s++ = 'E';
|
*s++ = 'r';
|
*s++ = 'r';
|
*s++ = 'r';
|
*s++ = 'r';
|
*s++ = ':';
|
*s++ = ':';
|
*s++ = ' ';
|
*s++ = ' ';
|
|
|
|
|
*s++ = '0';
|
*s++ = '0';
|
*s++ = 'x';
|
*s++ = 'x';
|
*s++ = hexdigit((err>>28)&0x0f);
|
*s++ = hexdigit((err>>28)&0x0f);
|
*s++ = hexdigit((err>>24)&0x0f);
|
*s++ = hexdigit((err>>24)&0x0f);
|
*s++ = hexdigit((err>>20)&0x0f);
|
*s++ = hexdigit((err>>20)&0x0f);
|
*s++ = hexdigit((err>>16)&0x0f);
|
*s++ = hexdigit((err>>16)&0x0f);
|
*s++ = hexdigit((err>>12)&0x0f);
|
*s++ = hexdigit((err>>12)&0x0f);
|
*s++ = hexdigit((err>> 8)&0x0f);
|
*s++ = hexdigit((err>> 8)&0x0f);
|
*s++ = hexdigit((err>> 4)&0x0f);
|
*s++ = hexdigit((err>> 4)&0x0f);
|
*s++ = hexdigit((err )&0x0f);
|
*s++ = hexdigit((err )&0x0f);
|
|
|
*s++ = ' ';
|
*s++ = ' ';
|
*s++ = '=';
|
*s++ = '=';
|
*s++ = '>';
|
*s++ = '>';
|
*s++ = ' ';
|
*s++ = ' ';
|
|
|
*s++ = '0';
|
*s++ = '0';
|
*s++ = 'x';
|
*s++ = 'x';
|
*s++ = hexdigit((err_in_ns>>28)&0x0f);
|
*s++ = hexdigit((err_in_ns>>28)&0x0f);
|
*s++ = hexdigit((err_in_ns>>24)&0x0f);
|
*s++ = hexdigit((err_in_ns>>24)&0x0f);
|
*s++ = hexdigit((err_in_ns>>20)&0x0f);
|
*s++ = hexdigit((err_in_ns>>20)&0x0f);
|
*s++ = hexdigit((err_in_ns>>16)&0x0f);
|
*s++ = hexdigit((err_in_ns>>16)&0x0f);
|
*s++ = hexdigit((err_in_ns>>12)&0x0f);
|
*s++ = hexdigit((err_in_ns>>12)&0x0f);
|
*s++ = hexdigit((err_in_ns>> 8)&0x0f);
|
*s++ = hexdigit((err_in_ns>> 8)&0x0f);
|
*s++ = hexdigit((err_in_ns>> 4)&0x0f);
|
*s++ = hexdigit((err_in_ns>> 4)&0x0f);
|
*s++ = hexdigit((err_in_ns )&0x0f);
|
*s++ = hexdigit((err_in_ns )&0x0f);
|
|
|
*s++ = ' ';
|
*s++ = ' ';
|
*s++ = '=';
|
*s++ = '=';
|
*s++ = '>';
|
*s++ = '>';
|
*s++ = ' ';
|
*s++ = ' ';
|
|
|
*s++ = (err_sgn)?'-':' ';
|
*s++ = (err_sgn)?'-':' ';
|
// Milliseconds
|
// Milliseconds
|
digit = err_in_ns / 100000000;
|
digit = err_in_ns / 100000000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 100000000;
|
err_in_ns -= digit * 100000000;
|
//
|
//
|
digit = err_in_ns / 10000000;
|
digit = err_in_ns / 10000000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 10000000;
|
err_in_ns -= digit * 10000000;
|
//
|
//
|
digit = err_in_ns / 1000000;
|
digit = err_in_ns / 1000000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 1000000;
|
err_in_ns -= digit * 1000000;
|
// Micro seconds
|
// Micro seconds
|
digit = err_in_ns / 100000;
|
digit = err_in_ns / 100000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 100000;
|
err_in_ns -= digit * 100000;
|
//
|
//
|
digit = err_in_ns / 10000;
|
digit = err_in_ns / 10000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 10000;
|
err_in_ns -= digit * 10000;
|
//
|
//
|
digit = err_in_ns / 1000;
|
digit = err_in_ns / 1000;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 1000;
|
err_in_ns -= digit * 1000;
|
// Nano seconds
|
// Nano seconds
|
*s++ = '.';
|
*s++ = '.';
|
digit = err_in_ns / 100;
|
digit = err_in_ns / 100;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 100;
|
err_in_ns -= digit * 100;
|
//
|
//
|
digit = err_in_ns / 10;
|
digit = err_in_ns / 10;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
err_in_ns -= digit * 10;
|
err_in_ns -= digit * 10;
|
//
|
//
|
digit = err_in_ns;
|
digit = err_in_ns;
|
*s++ = digit+'0';
|
*s++ = digit+'0';
|
//
|
//
|
*s++ = ' ';
|
*s++ = ' ';
|
*s++ = 'u';
|
*s++ = 'u';
|
*s++ = 'S';
|
*s++ = 'S';
|
*s++ = '\r';
|
*s++ = '\r';
|
*s++ = '\n';
|
*s++ = '\n';
|
*s++ = '\r';
|
*s++ = '\r';
|
*s++ = '\n';
|
*s++ = '\n';
|
*s++ = '\0';
|
*s++ = '\0';
|
|
|
/*
|
/*
|
zip->dma.ctrl = DMACLEAR;
|
zip->z_dma.d_ctrl = DMACLEAR;
|
zip->dma.rd = errstring;
|
zip->z_dma.d_rd = errstring;
|
zip->dma.wr = &sys->io_uart_tx;
|
zip->z_dma.d_wr = &sys->io_uart_tx;
|
zip->dma.len = s - errstring-1;
|
zip->z_dma.d_len = s - errstring-1;
|
zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_GPSRX);
|
zip->z_dma.d_ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_GPSRX);
|
wait_on_interrupt(SYSINT_DMAC);
|
wait_on_interrupt(SYSINT_DMAC);
|
*/
|
*/
|
|
|
for(int i=0; errstring[i]; i++) {
|
for(int i=0; errstring[i]; i++) {
|
wait_on_interrupt(SYSINT_UARTTX);
|
wait_on_interrupt(SYSINT_UARTTX);
|
sys->io_uart_tx = errstring[i];
|
sys->io_uart_tx = errstring[i];
|
zip->pic = SYSINT_UARTTX;
|
zip->z_pic = SYSINT_UARTTX;
|
}
|
}
|
|
|
sys->io_ledctrl = 0x080;
|
sys->io_ledctrl = 0x080;
|
|
|
/*
|
/*
|
zip->dma.rd = &sys->io_gps_rx;
|
zip->z_dma.d_rd = &sys->io_gps_rx;
|
zip->dma.wr = &sys->io_uart_tx;
|
zip->z_dma.d_wr = &sys->io_uart_tx;
|
zip->dma.len = 0x01000000;
|
zip->z_dma.d_len = 0x01000000;
|
zip->dma.ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_CONSTSRC|DMA_GPSRX);
|
zip->z_dma.d_ctrl = (DMAONEATATIME|DMA_CONSTDST|DMA_CONSTSRC|DMA_ONGPSRX);
|
wait_on_interrupt(SYSINT_PPS);
|
wait_on_interrupt(SYSINT_PPS);
|
*/
|
*/
|
|
|
/*
|
/*
|
if (zip_ucc() & CC_FAULT) {
|
if (zip_ucc() & CC_FAULT) {
|
zip_save_context(user_context);
|
zip_save_context(user_context);
|
user_context[14] = CC_GIE;
|
user_context[14] = CC_GIE;
|
user_context[15] = (int)&idle_task;
|
user_context[15] = (int)&idle_task;
|
zip_restore_context(user_context);
|
zip_restore_context(user_context);
|
}
|
}
|
*/
|
*/
|
|
|
zip->pic = SYSINT_GPSRX | SYSINT_PPS;
|
zip->z_pic = SYSINT_GPSRX | SYSINT_PPS;
|
do {
|
do {
|
wait_on_interrupt(SYSINT_PPS|SYSINT_GPSRX);
|
wait_on_interrupt(SYSINT_PPS|SYSINT_GPSRX);
|
if (zip->pic & SYSINT_GPSRX) {
|
if (zip->z_pic & SYSINT_GPSRX) {
|
sys->io_uart_tx = sys->io_gps_rx;
|
sys->io_uart_tx = sys->io_gps_rx;
|
zip->pic = SYSINT_GPSRX;
|
zip->z_pic = SYSINT_GPSRX;
|
}
|
}
|
} while((zip->pic & SYSINT_PPS)==0);
|
} while((zip->z_pic & SYSINT_PPS)==0);
|
|
|
// wait_on_interrupt(SYSINT_PPS);
|
// wait_on_interrupt(SYSINT_PPS);
|
// zip->dma.ctrl= DMACLEAR;
|
// zip->z_dma.d_ctrl= DMACLEAR;
|
}
|
}
|
|
|
zip_halt();
|
zip_halt();
|
}
|
}
|
|
|
|
|
