--- /dev/null
+package edu.berkeley.slipway;
+
+import java.io.*;
+import java.util.*;
+import com.ftdi.usb.*;
+import com.atmel.fpslic.*;
+import edu.berkeley.abits.*;
+import org.ibex.util.*;
+
+// FEATURE: more state checking (ie must have reset high before uart-mode, etc)
+
+/**
+ * Slipway board (Fpslic via FTDI USB-UART, running <tt>SlipwaySlave.c</tt>)
+ */
+public class SlipwayBoard extends FpslicBoard {
+
+ // Private Variables //////////////////////////////////////////////////////////////////////////////
+
+ private final DataInputStream in;
+ private final DataOutputStream out;
+ private final FpslicDevice device;
+ private final FtdiUart ftdiuart;
+ private boolean initialized = false;
+
+
+ // Accessors //////////////////////////////////////////////////////////////////////////////////////
+
+ public InputStream getInputStream() { return in; }
+ public OutputStream getOutputStream() { return out; }
+
+ /** just a different return type for <tt>getDevice()</tt> */
+ public FpslicDevice getFpslicDevice() { return (FpslicDevice)getDevice(); }
+ public Device getDevice() { return device; }
+
+
+ // Methods //////////////////////////////////////////////////////////////////////////////////////
+
+ /** initialize assuming default USB settings and only one board connected to the system, perform self-test */
+ public SlipwayBoard() throws Exception { this(true); }
+
+ /** initialize assuming default USB settings and only one board connected to the system */
+ public SlipwayBoard(boolean selfTest) throws Exception {
+ this(new FtdiUart(0x6666, 0x3133, 1500 * 1000/2), selfTest);
+ }
+
+ /** initialize with a custom USB interface */
+ public SlipwayBoard(FtdiUart ftdiuart, boolean selfTest) throws Exception {
+ this.ftdiuart = ftdiuart;
+ device = new SlipwayFpslicDevice(24, 24);
+ String bstFile = this.getClass().getName();
+ bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
+ bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
+ if (selfTest) selfTest();
+ boot(new InputStreamReader(this.getClass().getClassLoader().getResourceAsStream(bstFile)));
+ in = new DataInputStream(ftdiuart.getInputStream());
+ out = new DataOutputStream(ftdiuart.getOutputStream());
+ for(int i=0; i<255; i++) out.write(0);
+ out.flush();
+ init(selfTest);
+ }
+
+ private void selfTest() throws IOException {
+ System.err.print("smoke check: ");
+ selfTest(new edu.berkeley.abits.Board.SelfTestResultListener() {
+ public void reportTestResult(int testNumber, int totalNumberOfTests, boolean didPass) {
+ System.err.print(didPass ? " \033[32m[pass]\033[0m " : " \033[31m[FAIL]\033[0m ");
+ }
+ });
+ System.err.println();
+ }
+
+ private void boot(Reader r) throws IOException {
+ int total = 75090/9;
+ OutputStream os = new ProgressOutputStream("bootstrap bitstream:", getConfigStream(), total);
+ BufferedReader br = new BufferedReader(r);
+ int bytes = 0;
+ while(true) {
+ String s = br.readLine();
+ if (s==null) break;
+ bytes++;
+ os.write((byte)Integer.parseInt(s, 2));
+ if ((bytes % 1000)==0) os.flush();
+ }
+ os.close();
+ }
+
+ private void init(boolean verbose) throws IOException {
+ if (initialized) throw new Error("cannot initialize twice");
+ initialized = true;
+ byte[] bytes = new byte[6];
+ int i=0;
+
+ out.write(0);
+ out.flush();
+
+ // read any garbage that might be left in the buffer
+ while(true) {
+ System.arraycopy(bytes, 1, bytes, 0, 5);
+ bytes[5] = in.readByte();
+ i++;
+ if (verbose) System.err.print("\rsignature: read \"" + new String(bytes) + "\" ");
+ if (bytes[0] == (byte)'O' &&
+ bytes[1] == (byte)'B' &&
+ bytes[2] == (byte)'I' &&
+ bytes[3] == (byte)'T' &&
+ bytes[4] == (byte)'S') {
+ if (verbose) System.err.println("\rsignature: got proper signature ");
+ purge();
+ break;
+ }
+ }
+
+ new Thread() {
+ public void run() {
+ while(true) {
+ try {
+ while(callbacks.size() == 0) Thread.sleep(50);
+ byte b = in.readByte();
+ ByteCallback bc = (ByteCallback)callbacks.remove(0);
+ bc.call(b);
+ synchronized(lock) {
+ lock.notifyAll();
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ }.start();
+ }
+
+
+ // Device //////////////////////////////////////////////////////////////////////////////
+
+ public class SlipwayFpslicDevice extends FpslicDevice {
+ private final byte[][][] cache = new byte[24][][];
+
+ // FEATURE: autodetect width/height by querying device id from the chip
+ public SlipwayFpslicDevice(int width, int height) {
+ super(width, height);
+ }
+
+ public synchronized byte mode4(int z, int y, int x) {
+ if (cache[x]==null) return 0;
+ if (cache[x][y]==null) return 0;
+ return cache[x][y][z];
+ }
+ public synchronized void mode4(int z, int y, int x, int d) {
+ try {
+ if (cache[x & 0xff]==null) cache[x & 0xff] = new byte[24][];
+ if (cache[x & 0xff][y & 0xff]==null) cache[x & 0xff][y & 0xff] = new byte[256];
+ cache[x & 0xff][y & 0xff][z & 0xff] = (byte)(d & 0xff);
+
+ out.writeByte(1);
+ out.writeByte(z);
+ out.writeByte(y);
+ out.writeByte(x);
+ out.writeByte(d);
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+ }
+ public synchronized void flush() {
+ try {
+ SlipwayBoard.this.flush();
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ }
+ }
+
+
+ // Callbacks //////////////////////////////////////////////////////////////////////////////
+
+ private static final int CALLBACK_LIMIT = 40;
+ private Vector callbacks = new Vector();
+ private Object lock = new Object();
+ private int timer = 0;
+
+ private void enqueue(ByteCallback bcb) {
+ synchronized(lock) {
+ try {
+ while (callbacks.size() >= CALLBACK_LIMIT) {
+ lock.wait(100);
+ }
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ }
+ callbacks.add(bcb);
+ }
+
+ public static abstract class ByteCallback {
+ public int result;
+ public abstract void call(byte b) throws Exception;
+ }
+
+ /** synchronously returns the number of interrupts triggered since the last call to <tt>readInterruptCount()</tt> */
+ public synchronized int readInterruptCount() {
+ try {
+ ByteCallback bc = new ByteCallback() {
+ public synchronized void call(byte b) throws Exception {
+ result =
+ ((b & 0xff) << 24) |
+ ((in.read() & 0xff) << 16) |
+ ((in.read() & 0xff) << 8) |
+ ((in.read() & 0xff) << 0);
+ timer =
+ ((in.read() & 0xff) << 24) |
+ ((in.read() & 0xff) << 16) |
+ ((in.read() & 0xff) << 8) |
+ ((in.read() & 0xff) << 0);
+ this.notify();
+ }
+ };
+ synchronized(bc) {
+ enqueue(bc);
+ out.writeByte(3);
+ out.flush();
+ bc.wait();
+ }
+ return bc.result;
+ } catch (Exception e) { throw new RuntimeException(e); }
+ }
+
+ /** returns the number of milliseconds elapsed between the previous call to readInterruptCount() and the one before it */
+ public synchronized int readInterruptCountTime() {
+ return timer;
+ }
+
+ /** reads the values on the 8-bit bus connecting the fpga to the AVR */
+ public synchronized void readFpgaData(ByteCallback bc) throws IOException {
+ enqueue(bc);
+ out.writeByte(2);
+ out.flush();
+ }
+
+
+ // Pin Implementations //////////////////////////////////////////////////////////////////////////////
+
+ private int dbits = 0;
+ private int dmask =
+ (1<<0) |
+ (1<<1) |
+ (1<<2) |
+ //(1<<3) |
+ //(1<<4) |
+ (1<<5) |
+ (1<<6) |
+ (1<<7);
+
+ protected void flush() {
+ try {
+ if (out!=null) out.flush();
+ ftdiuart.getOutputStream().flush();
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ }
+
+ protected void avrrstPin(boolean on) throws IOException { setDBusLine(7, on); }
+ protected void cclkPin(boolean on) throws IOException { setDBusLine(6, on); }
+ protected void configDataPin(boolean on) throws IOException { setDBusLine(5, on); }
+ protected boolean initPin() throws IOException { flush(); return (ftdiuart.readPins() & (1<<4))!=0; }
+
+ // tricky: RESET has a weak pull-up, and is wired to a CBUS line. So,
+ // we can pull it down (assert reset) from uart-mode, or we can
+ // let it float upward from either mode.
+ protected void resetPin(boolean on) throws IOException {
+ ftdiuart.uart_and_cbus_mode(1<<1, on ? (1<<1) : 0);
+ flush();
+ if (on) {
+ ftdiuart.dbus_mode(dmask);
+ flush();
+ }
+ }
+
+ protected void setDBusLine() throws IOException {
+ OutputStream os = ftdiuart.getOutputStream();
+ os.write((byte)dbits);
+ }
+ protected void clearDBusLines() throws IOException {
+ dbits = 0;
+ setDBusLine();
+ }
+ protected void setDBusLine(int bit, boolean val) throws IOException {
+ dbits = val ? (dbits | (1 << bit)) : (dbits & (~(1 << bit)));
+ setDBusLine();
+ }
+ protected void releaseConPin() throws IOException {
+ dmask &= ~(1<<0);
+ ftdiuart.dbus_mode(dmask);
+ flush();
+ }
+ protected void conPin(boolean on) throws IOException {
+ dmask |= (1<<0);
+ ftdiuart.dbus_mode(dmask);
+ setDBusLine(0, on);
+ flush();
+ }
+ public void close() throws IOException {
+ // switching to uart mode will implicitly release AVRRST
+ avrrstPin(false);
+ ftdiuart.purge();
+ ftdiuart.uart_and_cbus_mode(1<<1, 1<<1);
+ ftdiuart.purge();
+ }
+ protected void purge() throws IOException {
+ ftdiuart.purge();
+ }
+
+
+ // Util //////////////////////////////////////////////////////////////////////////////
+
+ private static String pad(int i, String s) {
+ if (s.length()>i) return s;
+ return "0"+pad((i-1),s);
+ }
+ private static String pad(String s, int i) {
+ if (s.length() >= i) return s;
+ return "0"+pad(s, i-1);
+ }
+}
+
projects / slipway.git / blobdiff