| 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 | } |