X-Git-Url: http://git.megacz.com/?a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fslipway%2FFtdiBoardSlave.c;h=b5dd1a334d8e16d6207dbf65e4aba92c9e5b93a7;hb=57f6ad104a6e2bf0433a86f5c8e1f31c1715dab9;hp=52f38171e95271bf348bb6124ed1a5b95aef2966;hpb=f6099b976e2007f794cbec45c5175d4e49aa1c1b;p=slipway.git

diff --git a/src/edu/berkeley/slipway/FtdiBoardSlave.c b/src/edu/berkeley/slipway/FtdiBoardSlave.c
index 52f3817..b5dd1a3 100644
--- a/src/edu/berkeley/slipway/FtdiBoardSlave.c
+++ b/src/edu/berkeley/slipway/FtdiBoardSlave.c
@@ -28,25 +28,13 @@ void initUART0(unsigned int baudRate, unsigned int doubleRate) {
 
 #define BUFSIZE (1024)
 
-inline void portd(int bit, int on) {
-  /*
-  if (on) {
-    PORTD &= ~(1<<bit);
-  } else {
-    PORTD |= (1<<bit);
-  }
-  */
-}
-
 long int numread = 0;
 inline void cts(int c) {
   numread++;
   if (c) {
     PORTE &= ~(1 << 7);
-    portd(0, 0);
   } else {
     PORTE |= (1 << 7);
-    portd(0, 1);
   }
 }
 
@@ -94,6 +82,8 @@ inline char recv() {
   return ret;
 }
 
+// Interrupt Handlers //////////////////////////////////////////////////////////////////////////////
+
 ISR(SIG_UART0_DATA) {
   if (write_empty()) {
     UCSR0B &= ~(1 << UDRIE0);
@@ -116,7 +106,7 @@ void send(char c) {
 
 
 void fpga_interrupts(int on) {
-  if (on/* && interrupt_count<301*/) {
+  if (on) {
     //FISUA = 0x1;
     FISCR = 0x80;
     FISUD = 0x08;
@@ -126,76 +116,24 @@ void fpga_interrupts(int on) {
   }
 }
 
-void init() {
-  read_buf_head = 0;
-  read_buf_tail = 0;
-  write_buf_head = 0;
-  write_buf_tail = 0;
-  //initUART0(1, 0);  //for slow board
-  initUART0(0, 0);  //for slow board
-  //initUART0(0, 1);  //for slow board
-}
-
-void conf(int z, int y, int x, int d) {
+inline void conf(int z, int y, int x, int d) {
   FPGAX = x;
   FPGAY = y;
   FPGAZ = z;
   FPGAD = d;
 }
 
-void doreset() {
-  int i;
-  for(i=0; i<5; i++) {
-    PORTD = ~0x01;
-    _delay_ms(50);
-    PORTD = ~0x02;
-    _delay_ms(50);
-    PORTD = ~0x04;
-    _delay_ms(50);
-    PORTD = ~0x08;
-    _delay_ms(50);
-  }
-  PORTD = ~0x00;
-  wdt_enable(WDTO_250MS);
-  while(1) { }
-}
-
 #define TIMERVAL 100
-int portdc = 0;
 
 ISR(SIG_FPGA_INTERRUPT15) { 
-  PORTD = portdc++;
   interrupt_count++;
-  //PORTD = ~(interrupt_count & 0xff);
-  //if (interrupt_count >= 301) fpga_interrupts(0);
-  //sei();
   fpga_interrupts(1);
-}
-/*
-ISR(SIG_OVERFLOW0) { 
-  fpga_interrupts(0);
-  PORTD = ~FISUA;
-  TCNT0 = TIMERVAL;           // load the nearest-to-one-second value  into the timer0
-  TIMSK |= (1<<TOIE0);        // enable the compare match1 interrupt and the timer/counter0 overflow interrupt
-  if (sending) UDR1 = FISUA;
-  fpga_interrupts(1);
-  sei();
-} 
-void init_timer()  { 
-  TCCR0 |= (1<<CS00);         // set the timer0 prescaler to CK
-  TCNT0 = TIMERVAL;           // load the nearest-to-one-second value  into the timer0
-  TIMSK |= (1<<TOIE0);        //enable the compare match1 interrupt and the timer/counter0 overflow interrupt
-} 
-*/
-ISR(SIG_INTERRUPT0) {   // use interrupt1 since interrupt0 is sent by the watchdog (I think)
-  SREG = 0;
-  //PORTE |=  (1<<0);
   sei();
 }
-void die() { cli(); PORTE|=(1<<5); _delay_ms(2000); while(1) { portd(2,0); portd(2,1); } }
 
-ISR(SIG_UART0_RECV) {
+void die() { cli(); PORTE|=(1<<5); _delay_ms(2000); while(1) { } }
 
+ISR(SIG_UART0_RECV) {
   if (UCSR0A & (1 << FE0))    err = 201;//{ portd(2,0); portd(3,1); die(); }  // framing error, lock up with LED=01
   if ((UCSR0A & (1 << OR0)))  err = 202;//{ portd(2,1); portd(3,0); die(); }  // overflow; lock up with LED=10
   if (read_full())            err = 203;//{ portd(2,1); portd(3,1); die(); }  // buffer overrun
@@ -214,48 +152,32 @@ inline int hex(char c) {
   return -1;
 }
 
+int readFPGA() {
+  fpga_interrupts(0);
+  int ret = FISUA;
+  fpga_interrupts(1);
+  return ret;
+}
+
 int main() {
-  DDRE = (1<<7) | (1<<5) | (1<<3) | (1<<2);
+  DDRE  = (1<<7) | (1<<5) | (1<<3) | (1<<2);
   PORTE = 0;
 
-  init();
+  read_buf_head = 0;
+  read_buf_tail = 0;
+  write_buf_head = 0;
+  write_buf_tail = 0;
+  initUART0(0, 0);  //for slow board
 
   EIMF = 0xFF;
   SREG = INT0;
   sei();
 
-  PORTE &= ~(1<<7);
-
-  int count = 0;
-  long long bad = 0;
-  int left = 0;
-  char v = 0;
-  long int oldi = 0;
   cts(0);
   cts(1);
-  /*
-  while(1) {
-    long int i = recv() & 0xff;
-    //if (i < 0) err = 200;
-    //if (err < 200) {
-      long int newi = oldi+1;
-      if (newi >= 256) newi -= 256;
-      if (i != newi) err++;
-      //}
-    oldi = i;
-
-    send(err >= 10 ? 255 : i);
-    //send(err);
-  }
-  */
 
   int x=0, y=0, z=0;
-  //while(1) send(/*FISUA*/2);
   for(;;) {
-    /*
-    if (PORTE & (1<<6)) PORTE &= ~(1<<6);
-    else                PORTE |=  (1<<6);
-    */
     int i, d=0;
     int r = recv();
     switch(r) {
@@ -267,22 +189,29 @@ int main() {
         send('S');
         PORTE |=  (1<<3);
         break;
+
       case 1:
         z = recv();
         y = recv();
         x = recv();
         d = recv();
-        //portd(1,1);
         conf(z, y, x, d);
-        //portd(1,0);
         break;
+
       case 2:
-        //fpga_interrupts(0);
-        //portd(1,1);
-        send(FISUA);
-        //portd(1,0);
-        //fpga_interrupts(1);
+        send(readFPGA());
         break;
+
+      case 3: {
+        int32_t local_interrupt_count = interrupt_count;
+        interrupt_count = 0;
+        send((local_interrupt_count >> 24) & 0xff);
+        send((local_interrupt_count >> 16) & 0xff);
+        send((local_interrupt_count >>  8) & 0xff);
+        send((local_interrupt_count >>  0) & 0xff);
+        break;
+      }
+
         /*
       case 3:
         //init_timer();
@@ -293,43 +222,6 @@ int main() {
       case 5:
         sending = 0;
         break;
-      case 6: {
-        int32_t local_interrupt_count = interrupt_count;
-        interrupt_count = 0;
-        send((local_interrupt_count >> 24) & 0xff);
-        send((local_interrupt_count >> 16) & 0xff);
-        send((local_interrupt_count >>  8) & 0xff);
-        send((local_interrupt_count >>  0) & 0xff);
-        fpga_interrupts(1);
-        break;
-      }
-        */
-        /*
-      default: {
-        if ((r & 0x80) == 0x80) {
-          switch (r & 0x44) {
-            case 0x44: z = recv(); break;
-            case 0x40: z++;        break;
-            case 0x04: z--;        break;
-          }
-          switch (r & 0x22) {
-            case 0x22: y = recv(); break;
-            case 0x20: y++;        break;
-            case 0x02: y--;        break;
-          }
-          switch (r & 0x11) {
-            case 0x11: x = recv(); break;
-            case 0x10: x++;        break;
-            case 0x01: x--;        break;
-          }
-          d = recv();
-          portd(1,1);
-          conf(z, y, x, d);
-          portd(1,0);
-          break;
-        }
-        die();
-      }
         */
     }
   }