| 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" |
| 7 | #include "pkts.h" |
| 8 | |
| 9 | // use power of 2 |
| 10 | #define STREAM_BUF_SIZE 512 |
| 11 | #define STREAM_BUF_MASK (512 - 1) |
| 12 | |
| 13 | /* ?0SA 00DU, ?1CB RLDU */ |
| 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]) |
| 26 | |
| 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 | |
| 45 | static void my_portb_isr(void) |
| 46 | { |
| 47 | uint32_t isfr, th; |
| 48 | |
| 49 | //printf("irq, GPIOB_PDIR: %08x\n", GPIOB_PDIR); |
| 50 | |
| 51 | isfr = PORTB_ISFR; |
| 52 | PORTB_ISFR = isfr; |
| 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 | } |
| 194 | } |
| 195 | |
| 196 | int main(void) |
| 197 | { |
| 198 | uint32_t edge_cnt_last; |
| 199 | uint32_t edge_cnt; |
| 200 | uint8_t buf[64]; |
| 201 | int timeout; |
| 202 | int ret; |
| 203 | |
| 204 | delay(1000); // wait for usb.. |
| 205 | |
| 206 | /* ?0SA 00DU, ?1CB RLDU */ |
| 207 | g.fixed_state[0] = 0x33; |
| 208 | g.fixed_state[1] = 0x3f; |
| 209 | |
| 210 | printf("starting, rawhid: %d\n", usb_rawhid_available()); |
| 211 | |
| 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); |
| 218 | attachInterrupt(0, my_portb_isr, CHANGE); |
| 219 | attachInterruptVector(IRQ_PORTB, my_portb_isr); |
| 220 | |
| 221 | // NVIC_SET_PRIORITY(104, 0); // portb |
| 222 | NVIC_SET_PRIORITY(IRQ_PORTB, 0); // portb |
| 223 | |
| 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); |
| 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 | |
| 239 | asm("mrs %0, BASEPRI" : "=r"(ret)); |
| 240 | printf("BASEPRI: %d\n", ret); |
| 241 | |
| 242 | timeout = 1000; |
| 243 | edge_cnt_last = g.edge_cnt; |
| 244 | |
| 245 | while (1) { |
| 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 | |
| 275 | ret = usb_rawhid_recv(buf, timeout); |
| 276 | if (ret == 64) { |
| 277 | CORE_PIN13_PORTSET = CORE_PIN13_BITMASK; |
| 278 | |
| 279 | do_usb(buf); |
| 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 | } |
| 290 | } |
| 291 | |
| 292 | return 0; |
| 293 | } |