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1 | #include <stdint.h> |
2 | #include <stdio.h> |
3 | #include <string.h> |
4 | #include "teensy3/core_pins.h" |
5 | #include "teensy3/usb_seremu.h" |
6 | #include "teensy3/usb_rawhid.h" |
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7 | #include "pkts.h" |
8 | |
9 | // use power of 2 |
10 | #define STREAM_BUF_SIZE 512 |
11 | #define STREAM_BUF_MASK (512 - 1) |
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12 | |
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13 | /* ?0SA 00DU, ?1CB RLDU */ |
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14 | static struct { |
15 | uint8_t stream[STREAM_BUF_SIZE][2]; |
16 | uint8_t fixed_state[4]; |
17 | uint32_t stream_enable:1; |
18 | uint32_t stream_started:1; |
19 | uint32_t stream_received:1; |
20 | uint32_t edge_cnt; |
21 | uint32_t i; |
22 | uint32_t o; |
23 | } g; |
24 | |
25 | #define STREAM_EL_SZ sizeof(g.stream[0]) |
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26 | |
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27 | ssize_t _write(int fd, const void *buf, size_t nbyte) |
28 | { |
29 | char tbuf[64]; |
30 | int ret; |
31 | |
32 | if (fd != 1 && fd != 2) { |
33 | snprintf(tbuf, sizeof(tbuf), "write to fd %d\n", fd); |
34 | usb_seremu_write(tbuf, strlen(tbuf)); |
35 | } |
36 | |
37 | ret = usb_seremu_write(buf, nbyte); |
38 | return ret < 0 ? ret : nbyte; |
39 | } |
40 | |
41 | void yield(void) |
42 | { |
43 | } |
44 | |
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45 | static void my_portb_isr(void) |
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46 | { |
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47 | uint32_t isfr, th; |
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48 | |
49 | //printf("irq, GPIOB_PDIR: %08x\n", GPIOB_PDIR); |
50 | |
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51 | isfr = PORTB_ISFR; |
52 | PORTB_ISFR = isfr; |
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53 | th = (GPIOB_PDIR >> CORE_PIN0_BIT) & 1; |
54 | |
55 | if (g.stream_started) { |
56 | GPIOD_PDOR = g.stream[g.o][th]; |
57 | if (th) { |
58 | g.o = (g.o + 1) & STREAM_BUF_MASK; |
59 | if (g.o == g.i) { |
60 | g.stream_started = 0; |
61 | g.stream_enable = 0; |
62 | } |
63 | } |
64 | } |
65 | else { |
66 | GPIOD_PDOR = g.fixed_state[th]; |
67 | } |
68 | g.edge_cnt++; |
69 | } |
70 | |
71 | static void udelay(uint32_t us) |
72 | { |
73 | uint32_t start = micros(); |
74 | |
75 | while ((micros() - start) < us) { |
76 | asm volatile("nop; nop; nop; nop"); |
77 | yield(); |
78 | } |
79 | } |
80 | |
81 | static void do_start_seq(void) |
82 | { |
83 | uint32_t edge_cnt_last; |
84 | uint32_t edge_cnt; |
85 | uint32_t start, t1, t2; |
86 | int tout; |
87 | |
88 | start = micros(); |
89 | edge_cnt = g.edge_cnt; |
90 | |
91 | /* magic value */ |
92 | g.fixed_state[0] = |
93 | g.fixed_state[1] = 0x25; |
94 | |
95 | for (tout = 10000; tout > 0; tout--) { |
96 | edge_cnt_last = edge_cnt; |
97 | udelay(100); |
98 | edge_cnt = g.edge_cnt; |
99 | |
100 | if (edge_cnt != edge_cnt_last) |
101 | continue; |
102 | if (!(GPIOB_PDIR & CORE_PIN0_BITMASK)) |
103 | break; |
104 | } |
105 | |
106 | g.fixed_state[0] = 0x33; |
107 | g.fixed_state[1] = 0x3f; |
108 | GPIOD_PDOR = 0x33; |
109 | |
110 | t1 = micros(); |
111 | if (tout == 0) { |
112 | printf("start_seq timeout1, t=%u\n", t1 - start); |
113 | return; |
114 | } |
115 | |
116 | for (tout = 100000; tout > 0; tout--) { |
117 | udelay(1); |
118 | |
119 | if (GPIOB_PDIR & CORE_PIN0_BITMASK) |
120 | break; |
121 | } |
122 | |
123 | t2 = micros(); |
124 | if (tout == 0) { |
125 | printf("start_seq timeout2, t1=%u, t2=%u\n", |
126 | t1 - start, t2 - t1); |
127 | return; |
128 | } |
129 | |
130 | //printf(" t1=%u, t2=%u\n", t1 - start, t2 - t1); |
131 | |
132 | if (g.stream_started) { |
133 | printf("got start_seq when already started\n"); |
134 | return; |
135 | } |
136 | |
137 | if (!g.stream_enable) { |
138 | printf("got start_seq, without enable from USB\n"); |
139 | return; |
140 | } |
141 | |
142 | if (g.i == g.o) { |
143 | printf("got start_seq while buffer is empty\n"); |
144 | return; |
145 | } |
146 | |
147 | g.stream_started = 1; |
148 | } |
149 | |
150 | static int get_space(void) |
151 | { |
152 | return STREAM_BUF_SIZE - ((g.i - g.o) & STREAM_BUF_MASK); |
153 | } |
154 | |
155 | static void do_usb(void *buf) |
156 | { |
157 | struct tas_pkt *pkt = buf; |
158 | uint32_t i, g_i; |
159 | int space; |
160 | |
161 | switch (pkt->type) { |
162 | case PKT_FIXED_STATE: |
163 | memcpy(g.fixed_state, pkt->data, sizeof(g.fixed_state)); |
164 | break; |
165 | case PKT_STREAM_ENABLE: |
166 | g.stream_enable = 1; |
167 | g.stream_started = 0; |
168 | g.stream_received = 0; |
169 | g.i = g.o = 0; |
170 | break; |
171 | case PKT_STREAM_END: |
172 | g.stream_received = 1; |
173 | printf("end of data\n"); |
174 | break; |
175 | case PKT_STREAM_DATA: |
176 | g_i = g.i; |
177 | space = get_space(); |
178 | if (space <= sizeof(pkt->data) / STREAM_EL_SZ) { |
179 | printf("got data pkt while space=%d\n", space); |
180 | return; |
181 | } |
182 | for (i = 0; i < sizeof(pkt->data) / STREAM_EL_SZ; i++) { |
183 | memcpy(&g.stream[g_i++], |
184 | pkt->data + i * STREAM_EL_SZ, |
185 | STREAM_EL_SZ); |
186 | g_i &= STREAM_BUF_MASK; |
187 | } |
188 | g.i = g_i; |
189 | break; |
190 | default: |
191 | printf("got unknown pkt type: %04x\n", pkt->type); |
192 | break; |
193 | } |
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194 | } |
195 | |
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196 | int main(void) |
197 | { |
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198 | uint32_t edge_cnt_last; |
199 | uint32_t edge_cnt; |
200 | uint8_t buf[64]; |
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201 | int timeout; |
202 | int ret; |
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203 | |
204 | delay(1000); // wait for usb.. |
205 | |
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206 | /* ?0SA 00DU, ?1CB RLDU */ |
207 | g.fixed_state[0] = 0x33; |
208 | g.fixed_state[1] = 0x3f; |
209 | |
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210 | printf("starting, rawhid: %d\n", usb_rawhid_available()); |
211 | |
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212 | // md pin th tr tl r l d u |
213 | // md bit* 6 5 4 3 2 1 0 |
214 | // t bit b16 d5 d4 d3 d2 d1 d0 |
215 | // t pin 0 20 6 8 7 14 2 |
216 | // * - note: tl/tr mixed in most docs |
217 | pinMode(0, INPUT); |
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218 | attachInterrupt(0, my_portb_isr, CHANGE); |
219 | attachInterruptVector(IRQ_PORTB, my_portb_isr); |
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220 | |
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221 | // NVIC_SET_PRIORITY(104, 0); // portb |
222 | NVIC_SET_PRIORITY(IRQ_PORTB, 0); // portb |
223 | |
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224 | pinMode( 2, OUTPUT); |
225 | pinMode(14, OUTPUT); |
226 | pinMode( 7, OUTPUT); |
227 | pinMode( 8, OUTPUT); |
228 | pinMode( 6, OUTPUT); |
229 | pinMode(20, OUTPUT); |
230 | |
231 | // led |
232 | pinMode(13, OUTPUT); |
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233 | |
234 | // CORE_PIN0_PORTSET CORE_PIN0_BITMASK PORTB_PCR16 |
235 | printf("GPIOC PDDR, PDIR: %08x %08x\n", GPIOC_PDIR, GPIOC_PDDR); |
236 | printf("GPIOD PDDR, PDIR: %08x %08x\n", GPIOD_PDIR, GPIOD_PDDR); |
237 | printf("PORTB_PCR16: %08x\n", PORTB_PCR16); |
238 | |
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239 | asm("mrs %0, BASEPRI" : "=r"(ret)); |
240 | printf("BASEPRI: %d\n", ret); |
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241 | |
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242 | timeout = 1000; |
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243 | edge_cnt_last = g.edge_cnt; |
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244 | |
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245 | while (1) { |
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246 | struct tas_pkt pkt; |
247 | while (g.stream_enable && !g.stream_received |
248 | && get_space() > sizeof(pkt.data) / STREAM_EL_SZ) |
249 | { |
250 | pkt.type = PKT_STREAM_REQ; |
251 | ret = usb_rawhid_send(&pkt, 1000); |
252 | if (ret != sizeof(pkt)) { |
253 | printf("send STREAM_REQ: %d\n", ret); |
254 | break; |
255 | } |
256 | |
257 | ret = usb_rawhid_recv(buf, 1000); |
258 | if (ret != 64) |
259 | printf("usb_rawhid_recv/s: %d\n", ret); |
260 | else |
261 | do_usb(buf); |
262 | } |
263 | |
264 | if (timeout == 1000) { |
265 | edge_cnt = g.edge_cnt; |
266 | //printf("e: %d th: %d\n", edge_cnt - edge_cnt_last, |
267 | // (GPIOB_PDIR >> CORE_PIN0_BIT) & 1); |
268 | if (edge_cnt - edge_cnt_last > 10000) { |
269 | do_start_seq(); |
270 | edge_cnt = g.edge_cnt; |
271 | } |
272 | edge_cnt_last = edge_cnt; |
273 | } |
274 | |
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275 | ret = usb_rawhid_recv(buf, timeout); |
276 | if (ret == 64) { |
277 | CORE_PIN13_PORTSET = CORE_PIN13_BITMASK; |
278 | |
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279 | do_usb(buf); |
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280 | timeout = 20; |
281 | } |
282 | else if (ret == 0) { |
283 | CORE_PIN13_PORTCLEAR = CORE_PIN13_BITMASK; |
284 | timeout = 1000; |
285 | } |
286 | else { |
287 | printf("usb_rawhid_recv: %d\n", ret); |
288 | timeout = 1000; |
289 | } |
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290 | } |
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291 | |
292 | return 0; |
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293 | } |