main.c

   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 #define noinline __attribute__((noinline))
  10
  11 // use power of 2
  12 #define STREAM_BUF_SIZE 512
  13 #define STREAM_BUF_MASK (512 - 1)
  14
  15 /* ?0SA 00DU, ?1CB RLDU */
  16 #define STREAM_EL_SZ 2
  17
  18 static struct {
  19         uint8_t stream_to[STREAM_BUF_SIZE][STREAM_EL_SZ];
  20         uint8_t stream_from[STREAM_BUF_SIZE][STREAM_EL_SZ];
  21         union {
  22                 uint8_t fixed_state[4];
  23                 uint32_t fixed_state32;
  24         };
  25         uint32_t stream_enable_to:1;
  26         uint32_t stream_enable_from:1;
  27         uint32_t stream_started:1;
  28         uint32_t stream_ended:1;
  29         uint32_t use_readinc:1;
  30         uint32_t frame_cnt;
  31         uint32_t edge_cnt;
  32         uint32_t t_i;
  33         uint32_t t_o;
  34         uint32_t f_i;
  35         uint32_t f_o;
  36 } g;
  37
  38 ssize_t _write(int fd, const void *buf, size_t nbyte)
  39 {
  40         char tbuf[64];
  41         int ret;
  42
  43         if (fd != 1 && fd != 2) {
  44                 snprintf(tbuf, sizeof(tbuf), "write to fd %d\n", fd);
  45                 usb_seremu_write(tbuf, strlen(tbuf));
  46         }
  47
  48         ret = usb_seremu_write(buf, nbyte);
  49         return ret < 0 ? ret : nbyte;
  50 }
  51
  52 void yield(void)
  53 {
  54 }
  55
  56 static void portb_isr_fixed(void)
  57 {
  58         uint32_t isfr, th;
  59
  60         isfr = PORTB_ISFR;
  61         PORTB_ISFR = isfr;
  62         th = (GPIOB_PDIR >> CORE_PIN0_BIT) & 1;
  63
  64         GPIOD_PDOR = g.fixed_state[th];
  65         g.edge_cnt++;
  66 }
  67
  68 static void portb_isr_do_to_inc(void)
  69 {
  70         uint32_t isfr, th;
  71
  72         isfr = PORTB_ISFR;
  73         PORTB_ISFR = isfr;
  74         th = (GPIOB_PDIR >> CORE_PIN0_BIT) & 1;
  75
  76         GPIOD_PDOR = g.stream_to[g.t_o][th];
  77         if (th) {
  78                 g.t_o = (g.t_o + 1) & STREAM_BUF_MASK;
  79                 if (g.t_o == g.t_i)
  80                         // done
  81                         attachInterruptVector(IRQ_PORTB, portb_isr_fixed);
  82                 g.frame_cnt++;
  83         }
  84         g.edge_cnt++;
  85 }
  86
  87 static void portb_isr_do_to(void)
  88 {
  89         uint32_t isfr, th;
  90
  91         isfr = PORTB_ISFR;
  92         PORTB_ISFR = isfr;
  93         th = (GPIOB_PDIR >> CORE_PIN0_BIT) & 1;
  94
  95         GPIOD_PDOR = g.stream_to[g.t_o][th];
  96         g.edge_cnt++;
  97 }
  98
  99 static void portc_isr_nop(void)
 100 {
 101         uint32_t isfr;
 102
 103         isfr = PORTC_ISFR;
 104         PORTC_ISFR = isfr;
 105 }
 106
 107 // /vsync starts at line 235/259 (ntsc/pal), just as vcounter jumps back
 108 // we care when it comes out (/vsync goes high) after 3 lines at 238/262
 109 static void portc_isr_frameinc(void)
 110 {
 111         uint32_t isfr;
 112
 113         isfr = PORTC_ISFR;
 114         PORTC_ISFR = isfr;
 115
 116         g.t_o = (g.t_o + 1) & STREAM_BUF_MASK;
 117         if (g.t_o == g.t_i) {
 118                 attachInterruptVector(IRQ_PORTB, portb_isr_fixed);
 119                 attachInterruptVector(IRQ_PORTC, portc_isr_nop);
 120         }
 121         g.frame_cnt++;
 122 }
 123
 124 /* "recording" data */
 125 static noinline void do_from_step(void)
 126 {
 127         uint32_t s;
 128
 129         // should hopefully give atomic fixed_state read..
 130         s = g.fixed_state32;
 131         g.stream_from[g.f_i][0] = s;
 132         g.stream_from[g.f_i][1] = s >> 8;
 133         g.f_i = (g.f_i + 1) & STREAM_BUF_MASK;
 134 }
 135
 136 static void portb_isr_fixed_do_from(void)
 137 {
 138         uint32_t isfr, th;
 139
 140         isfr = PORTB_ISFR;
 141         PORTB_ISFR = isfr;
 142         th = (GPIOB_PDIR >> CORE_PIN0_BIT) & 1;
 143
 144         GPIOD_PDOR = g.fixed_state[th];
 145         if (th)
 146                 do_from_step();
 147         g.edge_cnt++;
 148 }
 149
 150 static void portc_isr_frameinc_do_from(void)
 151 {
 152         uint32_t isfr;
 153
 154         isfr = PORTC_ISFR;
 155         PORTC_ISFR = isfr;
 156
 157         do_from_step();
 158         g.frame_cnt++;
 159 }
 160
 161 static void udelay(uint32_t us)
 162 {
 163         uint32_t start = micros();
 164
 165         while ((micros() - start) < us) {
 166                 asm volatile("nop; nop; nop; nop");
 167                 yield();
 168         }
 169 }
 170
 171 static void do_start_seq(void)
 172 {
 173         uint32_t edge_cnt_last;
 174         uint32_t edge_cnt;
 175         uint32_t start, t1, t2;
 176         int tout;
 177
 178         start = micros();
 179         edge_cnt = g.edge_cnt;
 180
 181         /* magic value */
 182         g.fixed_state[0] =
 183         g.fixed_state[1] = 0x25;
 184
 185         for (tout = 10000; tout > 0; tout--) {
 186                 edge_cnt_last = edge_cnt;
 187                 udelay(100);
 188                 edge_cnt = g.edge_cnt;
 189
 190                 if (edge_cnt != edge_cnt_last)
 191                         continue;
 192                 if (!(GPIOB_PDIR & CORE_PIN0_BITMASK))
 193                         break;
 194         }
 195
 196         g.fixed_state[0] = 0x33;
 197         g.fixed_state[1] = 0x3f;
 198         GPIOD_PDOR = 0x33;
 199
 200         t1 = micros();
 201         if (tout == 0) {
 202                 printf("start_seq timeout1, t=%u\n", t1 - start);
 203                 return;
 204         }
 205
 206         for (tout = 100000; tout > 0; tout--) {
 207                 udelay(1);
 208
 209                 if (GPIOB_PDIR & CORE_PIN0_BITMASK)
 210                         break;
 211         }
 212
 213         t2 = micros();
 214         if (tout == 0) {
 215                 printf("start_seq timeout2, t1=%u, t2=%u\n",
 216                         t1 - start, t2 - t1);
 217                 return;
 218         }
 219
 220         //printf(" t1=%u, t2=%u\n", t1 - start, t2 - t1);
 221
 222         if (g.stream_started) {
 223                 printf("got start_seq when already started\n");
 224                 return;
 225         }
 226
 227         if (!g.stream_enable_to && !g.stream_enable_from) {
 228                 printf("got start_seq, without enable from USB\n");
 229                 return;
 230         }
 231
 232         if (g.stream_enable_to && g.t_i == g.t_o) {
 233                 printf("got start_seq while stream_to is empty\n");
 234                 return;
 235         }
 236
 237         if (g.stream_enable_from && g.f_i != g.f_o) {
 238                 printf("got start_seq while stream_from is not empty\n");
 239                 return;
 240         }
 241
 242         __disable_irq();
 243         g.stream_started = 1;
 244         if (g.stream_enable_to) {
 245                 if (g.use_readinc) {
 246                         attachInterruptVector(IRQ_PORTB, portb_isr_do_to_inc);
 247                         attachInterruptVector(IRQ_PORTC, portc_isr_nop);
 248                 }
 249                 else {
 250                         attachInterruptVector(IRQ_PORTB, portb_isr_do_to);
 251                         attachInterruptVector(IRQ_PORTC, portc_isr_frameinc);
 252                 }
 253         }
 254         else if (g.stream_enable_from) {
 255                 if (g.use_readinc) {
 256                         attachInterruptVector(IRQ_PORTB,
 257                                                 portb_isr_fixed_do_from);
 258                         attachInterruptVector(IRQ_PORTC, portc_isr_nop);
 259                 }
 260                 else {
 261                         attachInterruptVector(IRQ_PORTB, portb_isr_fixed);
 262                         attachInterruptVector(IRQ_PORTC,
 263                                               portc_isr_frameinc_do_from);
 264                 }
 265
 266                 // prep first frame already
 267                 do_from_step();
 268         }
 269         __enable_irq();
 270 }
 271
 272 // callers must disable IRQs
 273 static void clear_state(void)
 274 {
 275         g.stream_enable_to = 0;
 276         g.stream_enable_from = 0;
 277         g.use_readinc = 0;
 278         g.stream_started = 0;
 279         g.stream_ended = 0;
 280         g.t_i = g.t_o = 0;
 281         g.f_i = g.f_o = 0;
 282         g.frame_cnt = 0;
 283         attachInterruptVector(IRQ_PORTB, portb_isr_fixed);
 284         attachInterruptVector(IRQ_PORTC, portc_isr_nop);
 285 }
 286
 287 static int get_space_to(void)
 288 {
 289         return STREAM_BUF_SIZE - ((g.t_i - g.t_o) & STREAM_BUF_MASK);
 290 }
 291
 292 static int get_used_from(void)
 293 {
 294         return (g.f_i - g.f_o) & STREAM_BUF_MASK;
 295 }
 296
 297 static void do_usb(void *buf)
 298 {
 299         struct tas_pkt *pkt = buf;
 300         uint32_t t_i, i;
 301         int space;
 302
 303         switch (pkt->type) {
 304         case PKT_FIXED_STATE:
 305                 memcpy(g.fixed_state, pkt->data, sizeof(g.fixed_state));
 306                 break;
 307         case PKT_STREAM_ENABLE:
 308                 __disable_irq();
 309                 clear_state();
 310                 /* wait for start from MD */
 311                 g.stream_enable_to = pkt->enable.stream_to;
 312                 g.stream_enable_from = pkt->enable.stream_from;
 313                 g.use_readinc = pkt->enable.use_readinc;
 314                 __enable_irq();
 315                 break;
 316         case PKT_STREAM_ABORT:
 317                 __disable_irq();
 318                 clear_state();
 319                 __enable_irq();
 320                 break;
 321         case PKT_STREAM_END:
 322                 g.stream_ended = 1;
 323                 printf("end of stream\n");
 324                 break;
 325         case PKT_STREAM_DATA_TO:
 326                 t_i = g.t_i;
 327                 space = get_space_to();
 328                 if (space <= pkt->size / STREAM_EL_SZ) {
 329                         printf("got data pkt while space=%d\n", space);
 330                         return;
 331                 }
 332                 for (i = 0; i < pkt->size / STREAM_EL_SZ; i++) {
 333                         memcpy(&g.stream_to[t_i++],
 334                                pkt->data + i * STREAM_EL_SZ,
 335                                STREAM_EL_SZ);
 336                         t_i &= STREAM_BUF_MASK;
 337                 }
 338                 g.t_i = t_i;
 339                 break;
 340         default:
 341                 printf("got unknown pkt type: %04x\n", pkt->type);
 342                 break;
 343         }
 344 }
 345
 346 int main(void)
 347 {
 348         uint32_t edge_cnt_last;
 349         uint32_t edge_cnt;
 350         uint8_t buf[64];
 351         int timeout;
 352         int ret;
 353
 354         delay(1000); // wait for usb..
 355
 356         /* ?0SA 00DU, ?1CB RLDU */
 357         g.fixed_state[0] = 0x33;
 358         g.fixed_state[1] = 0x3f;
 359
 360         printf("starting, rawhid: %d\n", usb_rawhid_available());
 361
 362         // md pin   th tr tl  r  l  d  u vsync
 363         // md bit*   6  5  4  3  2  1  0
 364         // t bit   b16 d5 d4 d3 d2 d1 d0    c6
 365         // t pin     0 20  6  8  7 14  2    11
 366         // * - note: tl/tr mixed in most docs
 367         pinMode(0, INPUT);
 368         attachInterrupt(0, portb_isr_fixed, CHANGE);
 369         attachInterruptVector(IRQ_PORTB, portb_isr_fixed);
 370         pinMode(11, INPUT);
 371         attachInterrupt(11, portc_isr_nop, RISING);
 372         attachInterruptVector(IRQ_PORTC, portc_isr_nop);
 373
 374         NVIC_SET_PRIORITY(IRQ_PORTB, 0);
 375         NVIC_SET_PRIORITY(IRQ_PORTC, 16);
 376
 377         pinMode( 2, OUTPUT);
 378         pinMode(14, OUTPUT);
 379         pinMode( 7, OUTPUT);
 380         pinMode( 8, OUTPUT);
 381         pinMode( 6, OUTPUT);
 382         pinMode(20, OUTPUT);
 383
 384         // led
 385         pinMode(13, OUTPUT);
 386
 387         // CORE_PIN0_PORTSET CORE_PIN0_BITMASK PORTB_PCR16
 388         printf("GPIOB PDDR, PDIR: %08x %08x\n", GPIOB_PDIR, GPIOB_PDDR);
 389         printf("GPIOC PDDR, PDIR: %08x %08x\n", GPIOC_PDIR, GPIOC_PDDR);
 390         printf("GPIOD PDDR, PDIR: %08x %08x\n", GPIOD_PDIR, GPIOD_PDDR);
 391         printf("PORTB_PCR16: %08x\n", PORTB_PCR16);
 392         printf("PORTC_PCR6:  %08x\n", PORTC_PCR6);
 393
 394         asm("mrs %0, BASEPRI" : "=r"(ret));
 395         printf("BASEPRI: %d\n", ret);
 396
 397         timeout = 1000;
 398         edge_cnt_last = g.edge_cnt;
 399
 400         while (1) {
 401                 struct tas_pkt pkt;
 402
 403                 while (g.stream_enable_to && !g.stream_ended
 404                   && get_space_to() > sizeof(pkt.data) / STREAM_EL_SZ)
 405                 {
 406                         pkt.type = PKT_STREAM_REQ;
 407                         pkt.req.frame = g.frame_cnt;
 408
 409                         ret = usb_rawhid_send(&pkt, 1000);
 410                         if (ret != sizeof(pkt)) {
 411                                 printf("send STREAM_REQ: %d\n", ret);
 412                                 break;
 413                         }
 414
 415                         ret = usb_rawhid_recv(buf, 1000);
 416                         if (ret != 64)
 417                                 printf("usb_rawhid_recv/s: %d\n", ret);
 418                         else
 419                                 do_usb(buf);
 420                 }
 421
 422                 while (g.stream_enable_from && !g.stream_ended
 423                   && get_used_from() >= sizeof(pkt.data) / STREAM_EL_SZ)
 424                 {
 425                         uint32_t f_o;
 426                         int i;
 427
 428                         f_o = g.f_o;
 429                         for (i = 0; i < sizeof(pkt.data); i += STREAM_EL_SZ) {
 430                                 memcpy(pkt.data + i, &g.stream_from[f_o++],
 431                                         STREAM_EL_SZ);
 432                                 f_o &= STREAM_BUF_MASK;
 433                         }
 434                         g.f_o = f_o;
 435
 436                         pkt.type = PKT_STREAM_DATA_FROM;
 437                         pkt.size = i;
 438
 439                         ret = usb_rawhid_send(&pkt, 1000);
 440                         if (ret != sizeof(pkt)) {
 441                                 printf("send DATA_FROM: %d\n", ret);
 442                                 break;
 443                         }
 444                 }
 445
 446                 if (timeout == 1000) {
 447                         edge_cnt = g.edge_cnt;
 448                         //printf("e: %d th: %d\n", edge_cnt - edge_cnt_last,
 449                         //      (GPIOB_PDIR >> CORE_PIN0_BIT) & 1);
 450                         if (edge_cnt - edge_cnt_last > 10000) {
 451                                 do_start_seq();
 452                                 edge_cnt = g.edge_cnt;
 453                         }
 454                         edge_cnt_last = edge_cnt;
 455                 }
 456
 457                 ret = usb_rawhid_recv(buf, timeout);
 458                 if (ret == 64) {
 459                         CORE_PIN13_PORTSET = CORE_PIN13_BITMASK;
 460
 461                         do_usb(buf);
 462                         timeout = 20;
 463                 }
 464                 else if (ret == 0) {
 465                         CORE_PIN13_PORTCLEAR = CORE_PIN13_BITMASK;
 466                         timeout = 1000;
 467                 }
 468                 else {
 469                         printf("usb_rawhid_recv: %d\n", ret);
 470                         timeout = 1000;
 471                 }
 472         }
 473
 474         return 0;
 475 }