From: adam Date: Tue, 21 Mar 2006 15:56:05 +0000 (+0100) Subject: checkpoint X-Git-Tag: mpar_demo_release~124 X-Git-Url: http://git.megacz.com/?a=commitdiff_plain;h=1257e83c5e3abb0e9bc9750e4d4f46f9630ce2c1;p=slipway.git checkpoint --- diff --git a/src/edu/berkeley/obits/AtmelSerial.java b/src/edu/berkeley/obits/AtmelSerial.java index a7a4dec..3216a3a 100644 --- a/src/edu/berkeley/obits/AtmelSerial.java +++ b/src/edu/berkeley/obits/AtmelSerial.java @@ -1,6 +1,10 @@ package edu.berkeley.obits; +import static edu.berkeley.obits.device.atmel.AtmelDevice.Constants.*; import edu.berkeley.obits.device.atmel.*; +import java.awt.*; +import java.awt.event.*; +import java.awt.color.*; import org.ibex.util.*; import java.io.*; import java.util.*; @@ -36,7 +40,7 @@ public class AtmelSerial { device.flush(); long end = System.currentTimeMillis(); Log.info(AtmelSerial.class, "finished in " + ((end-begin)/1000) + "s"); - Thread.sleep(3000); + Thread.sleep(1000); Log.info(AtmelSerial.class, "issuing command"); //at40k.iob_top(2, true).oe(false); @@ -57,11 +61,308 @@ public class AtmelSerial { //System.out.println("tick"); //at40k.cell(0x01, 0x17).xlut((byte)0x); - at40k.cell(0x04, 0x17).xlut((byte)~0x10); - at40k.cell(0x04, 0x17).ylut((byte)0x10); - at40k.cell(0x04, 0x17).xo(true); + /* + System.out.println(Integer.toString(0xff & at40k.cell(0x01, 0x17).xlut(), 16)); + System.out.println(Integer.toString(0xff & at40k.cell(0x01, 0x17).ylut(), 16)); + at40k.cell(0x01, 0x17).ylut((byte)0xff); + */ + + //at40k.cell(0x01, 0x17).wi(L1); + /* + System.out.println("a: " + at40k.new SectorWire(true, 0, 4, 0x17).driverRight()); + System.out.println("b: " + at40k.new SectorWire(true, 1, 4, 0x17).driverRight()); + At40k.SectorWire h0p0 = at40k.new SectorWire(true, 0, 0, 0x17); + At40k.SectorWire h0p1 = at40k.new SectorWire(true, 1, 0, 0x17); + At40k.SectorWire h0p2 = at40k.new SectorWire(true, 2, 0, 0x17); + At40k.SectorWire h4p0 = at40k.new SectorWire(true, 0, 4, 0x17); + At40k.SectorWire h4p1 = at40k.new SectorWire(true, 1, 4, 0x17); + At40k.SectorWire h4p2 = at40k.new SectorWire(true, 2, 4, 0x17); + + //h4p1.drives(h0p1, false); + //at40k.cell(0x04, 0x17).out(L1, false); + //at40k.cell(0x04, 0x17).h(L0, false); + + for(int plane=0; plane<5; plane++) { + at40k.new SectorWire(true, plane, 4, 0x17).drives(at40k.new SectorWire(true, plane, 0, 0x17), false); + at40k.cell(0x04, 0x17).out(plane, false); + at40k.cell(0x04, 0x17).h(plane, false); + at40k.cell(0x01, 0x17).h(plane, false); + } + try { Thread.sleep(2000); } catch (Exception e) { } + + int plane=0; + at40k.new SectorWire(true, plane, 4, 0x17).drives(at40k.new SectorWire(true, plane, 0, 0x17), true); + at40k.cell(0x04, 0x17).out(plane, true); + at40k.cell(0x04, 0x17).h(plane, true); + at40k.cell(0x01, 0x17).h(plane, true); + at40k.cell(0x01, 0x17).wi(plane); + + */ + + /* + System.out.println("xlut is " + hex(at40k.cell(0x04, 0x17).xlut())); + System.out.println("ylut is " + hex(at40k.cell(0x04, 0x17).ylut())); + At40k.Cell cell = at40k.cell(0x04, 0x17); + //cell.xlut(0xff); + //cell.f(false); + System.out.println(cell.c()); + cell.c(YLUT); + cell.ylut(0x4D); + cell.xlut(0x00); + + cell.b(false); + cell.f(false); + //cell.t(false, false, true); + cell.t(false, true, false); + cell.out(L3, true); + cell.wi(L3); + + cell.yo(false); + cell.h(L0, false); + cell.h(L1, false); + cell.h(L2, false); + cell.h(L3, false); + cell.h(L4, false); + + for(int i=3; i>=1; i--) { + at40k.cell(i, 0x17).yi(EAST); + at40k.cell(i, 0x17).ylut(0x55); + at40k.cell(i, 0x17).yo(false); + } + */ + + //System.out.println("reading port status: " + Integer.toString(device.readBus() & 0xff, 16)); + + + // blank these out + /* + at40k.cell(23, 8).ylut(0xff); + at40k.cell(23, 11).ylut(0xff); + at40k.iob_right(8, true).enableOutput(); + at40k.iob_right(11, true).enableOutput(); + */ + //for(int x=4; x<=22; x++) swap(at40k.cell(x, 22), NW, NORTH); + + + // entry cell: just copy X->X Y->Y + //at40k.cell(4,23).b(false); + //at40k.cell(4,23).yo(false); + //at40k.cell(4,23).ylut(at40k.cell(4,23).xlut()); + //at40k.cell(4,23).xo(false); + /* + at40k.cell(4,23).xlut(0x55); + at40k.cell(4,23).ylut(0x55); + */ + /* + at40k.cell(4,23).xlut(0x71); + at40k.cell(4,23).ylut(0x44); + at40k.cell(4,23).c(YLUT); + at40k.cell(4,23).f(false); + at40k.cell(4,23).t(false, false, true); + */ + + //for(int x=6; x<=23; x++) copy(at40k.cell(x, 23), NW, WEST); // top row copies to the right + /* + copy(at40k.cell(5, 22), NW, NORTH); + for(int x=6; x<=22; x++) copy(at40k.cell(x, 22), NW, WEST); // second top row copies to the right + //for(int y=22; y>=10; y--) copy(at40k.cell(23, y), NW, NORTH); // right edge copies down + for(int y=21; y>=9; y--) copy(at40k.cell(22, y), NW, NORTH); // second right edge copies down + copy(at40k.cell(23, 9), NW, WEST); // second output + */ + /* + handshaker(at40k.cell(4,23)); + at40k.cell(4,23).xi(NW); + at40k.cell(4,23).yi(SOUTH); + + //handshaker(at40k.cell(5,23)); + //at40k.cell(5,23).yi(NORTH); + at40k.cell(5,23).yi(NORTH); + at40k.cell(5,23).xlut(0x55); + at40k.cell(5,23).xi(SW); + at40k.cell(5,23).ylut(0x55); + at40k.cell(5,22).yi(NORTH); + at40k.cell(5,22).xlut(0x55); + bounce(at40k.cell(4,22)); + + // cell southeast of entry cell + at40k.cell(3,22).xi(NE); // NW->xin + at40k.cell(3,22).ylut(0x33); // xin->y + at40k.cell(3,22).yo(false); // y->yout + copy(at40k.cell(3, 21), NW, NORTH); // second top row copies to the right + copy(at40k.cell(4, 21), NW, EAST); // second top row copies to the right + copy(at40k.cell(5, 21), NW, EAST); // second top row copies to the right + copy(at40k.cell(6, 21), NW, EAST); // second top row copies to the right + copy(at40k.cell(6, 22), NW, SOUTH); // second top row copies to the right + */ + /* + at40k.cell(05,22).xlut(0xff); + at40k.cell(05,22).ylut(0xff); + at40k.cell(05,22).c(XLUT); + at40k.cell(05,22).f(false); + at40k.cell(05,22).b(false); + at40k.cell(05,22).oe(NONE); + at40k.cell(05,22).v(L3, true); + at40k.cell(05,22).out(L3, true); + */ + at40k.cell(21,15).yi(WEST); + at40k.cell(21,15).ylut(0xAA); + at40k.cell(22,15).yi(WEST); + at40k.cell(22,15).ylut(0xAA); + at40k.cell(23,15).h(3, true); + at40k.cell(23,15).yi(L3); + at40k.cell(23,15).ylut(0xAA); + at40k.iob_right(15, true).enableOutput(WEST); + /* + at40k.cell(22,11).ylut(0xff); + at40k.cell(23,11).yi(L3); + //at40k.cell(23,11).yi(WEST); + //at40k.cell(23,11).xi(L1); + at40k.cell(23,11).ylut(0xAA); + at40k.iob_right(11, true).enableOutput(WEST); + at40k.cell(23,11).v(L3, true); + at40k.cell(23,11).yo(false); + //at40k.flush(); + */ + int vx=04; + int vv=23; + /* + System.out.println("correct: " + at40k.cell(19,15).hwire(L3) + " drives " + at40k.cell(20,15).hwire(L3)); + System.out.println("correct: " + at40k.cell(15,15).hwire(L3) + " drives " + at40k.cell(19,15).hwire(L3)); + System.out.println("correct: " + at40k.cell(11,15).hwire(L3) + " drives " + at40k.cell(15,15).hwire(L3)); + System.out.println("correct: " + at40k.cell(07,15).hwire(L3) + " drives " + at40k.cell(11,15).hwire(L3)); + + at40k.cell(19,15).hwire(L3).drives(at40k.cell(20,15).hwire(L3), true); + at40k.cell(15,15).hwire(L3).drives(at40k.cell(19,15).hwire(L3), true); + at40k.cell(11,15).hwire(L3).drives(at40k.cell(15,15).hwire(L3), true); + at40k.cell(07,15).hwire(L3).drives(at40k.cell(11,15).hwire(L3), true); + */ + //at40k.cell(05,vv).xlut(0xff); + //at40k.cell(05,vv).ylut(0xff); + /* + at40k.cell(vx,vv).c(YLUT); + at40k.cell(vx,vv).f(false); + at40k.cell(vx,vv).b(false); + at40k.cell(vx,vv).oe(NONE); + at40k.cell(vx,vv).v(L3, true); + at40k.cell(vx,vv).out(L3, true); + */ + /* + at40k.cell(vx,15).v(L3, true); + at40k.cell(vx,15).h(L3, true); + at40k.cell(vx,19).vwire(L3).drives(at40k.cell(vx,15).vwire(L3), true); + at40k.cell(vx,23).vwire(L3).drives(at40k.cell(vx,19).vwire(L3), true); + */ + + //at40k.cell(5,23).ylut(0x00); + //at40k.cell(6,22).ylut(0xff); + //at40k.cell(22,11).ylut(0xff); + /* + At40k.Cell cell = at40k.cell(4, 16); + cell.xlut(0xff); + cell.ylut(0xff); + cell.b(false); + cell.f(false); + cell.c(XLUT); + cell.h(L3, true); + cell.v(L3, true); + cell.out(L3, true); + cell.oe(NONE); + */ + //scan(at40k, cell, YLUT, true); + //scan(at40k, cell, YLUT, false); + + device.scanFPGA(); + Visualizer v = new Visualizer(at40k, device); + v.show(); + v.setSize(1380, 1080); + At40k.Cell cell = at40k.cell(4, 23); + Image img = v.createImage(v.getWidth(), v.getHeight()); + /* + int x = 1; + int y = 14; + cell = at40k.cell(x,y); + scan(at40k, cell, YLUT, true); + cell.c(YLUT); + cell.b(false); + cell.f(false); + cell.oe(NONE); + cell.ylut(0xff); + */ + for(int x=0; x<10; x++) + for(int y=20; y<23; y++) { + scan(at40k, cell, YLUT, true); + //v.paint(img.getGraphics()); + //v.getGraphics().drawImage(img, 0, 0, null); + cell.ylut(0xff); + cell.c(YLUT); + cell.b(false); + cell.f(false); + cell.ylut(0xff); + cell.ylut(0xff); + cell.ylut(0xff); + cell.ylut(0xff); + //try { Thread.sleep(1000); } catch (Exception e) { } + int a = device.readBus(); + cell.ylut(0x00); + int b = device.readBus(); + scan(at40k, cell, YLUT, false); + System.out.println("scan " + x+","+y+" => " + a + " " + b); + } + + for(int i=0; i<10000; i++) { + v.refresh(); + try { Thread.sleep(100); } catch (Exception e) { } + } + //cell.ylut(0x09); + + //at40k.cell(0x01, 0x17).h(0, false); + //at40k.cell(0x01, 0x17).xi(NE); + //at40k.cell(0x01, 0x17).ylut((byte)0x55); + + //at40k.cell(0x04, 0x17).xlut((byte)0x10); + //at40k.cell(0x04, 0x17).ylut((byte)0x10); + //at40k.cell(0x04, 0x17).yo(false); + //at40k.cell(0x04, 0x17).xo(); + + /* + at40k.cell(0x01, 0x17).xi(L0); + at40k.cell(0x01, 0x17).h(L0, true); + */ + /* + at40k.cell(0x03, 0x17).xlut((byte)0x55); + at40k.cell(0x03, 0x17).ylut((byte)0x55); + at40k.cell(0x03, 0x17).yi(EAST); + at40k.cell(0x03, 0x17).ylut((byte)0x55); + at40k.cell(0x03, 0x17).yo(true); + + at40k.cell(0x03, 0x17).f(false); + at40k.cell(0x03, 0x17).c(XLUT); + at40k.cell(0x03, 0x17).oe(NONE); + at40k.cell(0x03, 0x17).out(L0, true); + + at40k.cell(0x02, 0x17).yi(EAST); + at40k.cell(0x02, 0x17).ylut((byte)0x55); + at40k.cell(0x02, 0x17).yo(false); + + at40k.cell(0x01, 0x17).yi(EAST); + at40k.cell(0x01, 0x17).ylut((byte)0x55); + at40k.cell(0x01, 0x17).yo(false); + + at40k.cell(0x01, 0x17).h(L0, true); + at40k.cell(0x01, 0x17).v(L0, false); + */ + //at40k.cell(0x01, 0x17).yi(L0); + //at40k.cell(0x01, 0x17).xi(L0); + //at40k.cell(0x01, 0x17).ylut((byte)0x33); + + /* + at40k.cell(0x03, 0x17).h(L0, true); + at40k.cell(0x03, 0x17).out(L0, true); + at40k.cell(0x03, 0x17).c(XLUT); + at40k.cell(0x03, 0x17).f(false); + */ /* at40k.cell(0x01, 0x17).xin(4); at40k.cell(0x01, 0x17).yin(4); @@ -99,4 +400,264 @@ public class AtmelSerial { } catch (Exception e) { e.printStackTrace(); } } + public static void scan(At40k dev, At40k.Cell cell, int source, boolean setup) { + if (setup) { + cell.c(source); + cell.b(false); + cell.f(false); + } + cell.v(L3, setup); + cell.out(L3, setup); + + At40k.SectorWire sw = cell.vwire(L3); + //System.out.println("wire is: " + sw); + while(sw.row > (12 & ~0x3) && sw.south() != null) { + //System.out.println(sw + " -> " + sw.south()); + sw.drives(sw.south(), setup); + sw = sw.south(); + } + while(sw.row < (12 & ~0x3) && sw.north() != null) { + //System.out.println(sw + " -> " + sw.north()); + sw.drives(sw.north(), setup); + sw = sw.north(); + } + //cell = dev.cell(19, 15); + cell = dev.cell(cell.col, 15); + /* + System.out.println("cell is " + cell); + cell.xlut(0xff); + cell.ylut(0xff); + cell.b(false); + cell.f(false); + cell.c(XLUT); + cell.out(L3, true); + cell.oe(NONE); + */ + cell.h(L3, setup); + cell.v(L3, setup); + sw = cell.hwire(L3); + while(sw.east() != null) { + //System.out.println(sw + " -> " + sw.east()); + sw.drives(sw.east(), setup); + sw = sw.east(); + } + } + + public static void copy(At40k.Cell cell, int xdir, int ydir) { + cell.xlut((byte)0x33); + cell.ylut((byte)0x55); + cell.xi(xdir); + cell.yi(ydir); + cell.xo(false); + cell.yo(false); + } + public static String hex(int x) { + return Long.toString(x & 0xffffffffL, 16); + } + + public static void bounce(At40k.Cell cell) { + cell.xlut((byte)0x33); + cell.ylut((byte)0x55); + cell.xi(NE); + cell.yi(NORTH); + cell.xo(false); + cell.yo(false); + } + public static void handshaker(At40k.Cell cell) { + cell.xlut(0x22); + cell.ylut(0x71); + cell.c(XLUT); + cell.f(false); + cell.t(false, false, true); + } + + public static class Visualizer extends Frame implements MouseMotionListener { + public static final int WIDTH = 40; + public static final int HEIGHT = 40; + public static final int LW = 15; + public static final int LH = 15; + public static final Color RED = new Color(0xaa, 0x55, 0x55); + public static final Color BLUE = new Color(0x55, 0x55, 0xaa); + private final At40k dev; + private final AvrDrone drone; + int selx = -1; + int sely = -1; + public Visualizer(At40k dev, AvrDrone drone) { + this.dev = dev; + this.drone = drone; + show(); + addMouseMotionListener(this); + } + public void mouseMoved(MouseEvent e) { + int x = e.getX(); + int y = e.getY(); + if (selx >= 0 && selx < 24 && sely >= 0 && sely < 24) { + int cx = selx; + int cy = sely; + selx = -1; + sely = -1; + drawCell(getGraphics(), cx, cy); + drawSector(getGraphics(), dev.cell(cx, cy).sector()); + } + selx = (x-20)/(WIDTH+2); + sely = (23 - (y-20)/(HEIGHT+2))+1; + if (selx >= 0 && selx < 24 && sely >= 0 && sely < 24) { + drawCell(getGraphics(), selx, sely); + drawSector(getGraphics(), dev.cell(selx, sely).sector()); + } + } + public void mouseDragged(MouseEvent e) { + } + public void paint(Graphics g) { + g.setColor(Color.white); + g.fillRect(0, 0, getWidth(), getHeight()); + for(int x=0; x<24; x++) + for(int y=0; y<24; y++) + drawCell(g,x,y); + for(int x=0; x<=23; x+=4) + for(int y=23; y>=0; y-=4) + drawSector(g, dev.cell(x, y).sector()); + g.setColor(BLUE); + g.drawString("Ready", (5*(WIDTH+2))+20, 40); + g.setColor(RED); + g.drawString("Send", (3*(WIDTH+2))+20, 40); + g.setColor(BLUE); + refresh(); + } + public void refresh() { + Graphics g = getGraphics(); + int data = drone.readBus() & 0xff; + for(int i=0; i<8; i++) { + g.setColor((data & (1<i) return s; return "0"+pad((i-1),s); } + private static String bin8(byte b) { + int n = b & 0xff; + String ret = ""; + for(int i=7; i>=0; i--) + ret += (n & (1<=height ? null : new Sector(col, row+4); } + public Sector south() { return row==0 ? null : new Sector(col, row-4); } + public Sector east() { return col+4>=width ? null : new Sector(col+4, row); } + public Sector west() { return col==0 ? null : new Sector(col-4, row); } + public Cell cell() { return At40k.this.cell(col, row); } + } + + public final class SectorWire { + public final boolean global; + public final boolean horizontal; + public final int plane; + public final int row; + public final int col; + public SectorWire(boolean horizontal, int plane, int col, int row) { + this.horizontal=horizontal; + this.global = false; + this.plane=plane; + this.col= horizontal ? (col & ~0x3) : col; + this.row=!horizontal ? (row & ~0x3) : row; + } + private int z(int z) { return (horizontal ? 0x30 : 0x20) | z; } + public int code(boolean left) { + switch(plane) { + case 0: return z(6)+(left?0:1); + case 1: return z(8)+(left?0:1); + case 2: return z(2*(4-plane))+(left?0:1); + case 3: return z(2*(4-plane))+(left?0:1); + case 4: return z(2*(4-plane))+(left?0:1); + } + throw new Error(); + } + + private final int fine() { return horizontal ? row : col; } + public final int coarse() { return horizontal ? col : row; } + private int _row() { return horizontal ? row : ((row)>>2); } + private int _col() { return horizontal ? ((col)>>2) : col; } + + public SectorWire west() { return !horizontal ? null : col-4<0 ? null : new SectorWire(horizontal, plane, col-4, row); } + public SectorWire east() { return !horizontal ? null : col+4>=width ? null : new SectorWire(horizontal, plane, col+4, row); } + public SectorWire north() { return horizontal ? null : row+4>=height ? null : new SectorWire(horizontal, plane, col, row+4); } + public SectorWire south() { return horizontal ? null : row-4<0 ? null : new SectorWire(horizontal, plane, col, row-4); } + + public String toString() { + return + (horizontal?(col+":"+(col+3)):(""+col))+","+ + (horizontal?(row+"") :(row+":"+(row+3)))+ + "x"+plane; + } + + /** returns the ZYX0 coordinate of the byte controlling the switchbox that bridges this wire to w */ + public int switchbox(SectorWire w) { + if (w.horizontal==horizontal) { + if (w.plane!=plane) throw new Error(); + if (Math.abs(w.coarse()-coarse())!=4) throw new Error(w.coarse() + " -- " + coarse()); + if (w.coarse() < coarse()) return w.switchbox(this); + boolean topleft = w.coarse() < coarse(); + int col = _col() + (( horizontal && !topleft) ? 1 : 0); + int row = _row() + ((!horizontal && !topleft) ? 1 : 0); + return (code(topleft) << 24) | (row<<16) | (col<<8); + } + throw new Error("not implemented"); + } + + public void drives(SectorWire w, boolean enable) { + dev.mode4zyx(switchbox(w), enable?0x02:0x00, 0x07); + } + + public boolean drives(SectorWire w) { + int connect = (dev.mode4zyx(switchbox(w)) >> (global?3:0)) & 0x7; + return (connect & 0x2)!=0; + } + public SectorWire driverRight() { + System.out.println("checking " + Integer.toString(code(true), 16) + " " + Integer.toString(_row(), 16) + " " + Integer.toString(_col(), 16)); + int ret = dev.mode4(z(code(true)), _row(), _col()); + ret = (ret >> (global?3:0)) & 0x7; + switch(ret) { + case 0: return null; + case 1: return null; /* global wire on same side */ + case 2: return new SectorWire(horizontal, plane, horizontal?(col+4):col, horizontal?row:(row+4)); + case 4: return null; /* global wire on other side */ + default: throw new Error("multiple drivers on " + this + "!"); + } + } + } + /* + public final class SwitchBox { + public final boolean h; + public final int col; + public final int row; + public final int plane; + public SwitchBox(boolean h, int col, int row, int plane) { this.h = h; this.col = col; this.row = row; this.plane = plane; } + public SectorWire west(boolean global) { return !h ? null : global ? null : new SectorWire(h, col-4, row, plane); } + public SectorWire east(boolean global) { return !h ? null : global ? null : new SectorWire(h, col+4, row, plane); } + public SectorWire north(boolean global) { return !h ? null : global ? null : new SectorWire(h, col, row-4, plane); } + public SectorWire south(boolean global) { return !h ? null : global ? null : new SectorWire(h, col, row+4, plane); } + } + */ + + public Cell cell(int col, int row) { + if (col<0) return null; + if (row<0) return null; + if (col>=width) return null; + if (row>=height) return null; + return new Cell(col, row); } - public Cell cell(int col, int row) { return new Cell(col, row); } public final class Cell { public final int col; public final int row; - public Sector getSector() { return sector(col - (col % 4), row - (row % 4)); } + + public SectorWire hwire(int plane) { return new SectorWire(true, plane, col, row); } + public SectorWire vwire(int plane) { return new SectorWire(false, plane, col, row); } + + public Sector sector() { return new Sector(this); } public Cell(int col, int row) { this.row = row; this.col = col; } - /* bit positions mean: [MSB] ___ __y _x_ _xy z__ z_y zx_ zxy [LSB] */ - public void ylut(byte table) { dev.mode4(6, row, col, ~table); } + /* bit positions mean: [MSB] zxy z_y zx_ z__ _xy __y _x_ ___ [LSB] */ + public void xlut(int table) { dev.mode4(7, row, col, (byte)(table & 0xff)); } + public byte xlut() { return (byte)(dev.mode4(7, row, col) & 0xff); } + public String printXLut() { return printLut(xlut(), "y", "x", "t"); } + public String printXLutX() { return printLut(xlut(), str(yi(), "y"), str(xi(), "x"), str(ti(), "t")); } + + public String str(int x, String def) { + switch(x) { + case NORTH: return "n"; + case SOUTH: return "s"; + case EAST: return "e"; + case WEST: return "w"; + case NW: return "nw"; + case SE: return "se"; + case NE: return "ne"; + case SW: return "sw"; + case FB: return "fb"; + case L0: return (hx(0)&&vx(0))?"HV0":hx(0)?"H0":vx(0)?"V0":"L0"; + case L1: return (hx(1)&&vx(1))?"HV1":hx(1)?"H1":vx(1)?"V1":"L1"; + case L2: return (hx(2)&&vx(2))?"HV2":hx(2)?"H2":vx(2)?"V2":"L2"; + case L3: return (hx(3)&&vx(3))?"HV3":hx(3)?"H3":vx(3)?"V3":"L3"; + case L4: return (hx(4)&&vx(4))?"HV4":hx(4)?"H4":vx(4)?"V4":"L4"; + default: return def; + } + } - /* bit positions mean: [MSB] ___ __y _x_ _xy z__ z_y zx_ zxy [LSB] */ - public void xlut(byte table) { dev.mode4(7, row, col, ~table); } + /* bit positions mean: [MSB] zxy zx_ z_y z__ _xy _x_ __y ___ [LSB] */ + public void ylut(int table) { dev.mode4(6, row, col, (byte)(table & 0xff)); } + public byte ylut() { return (byte)(dev.mode4(6, row, col) & 0xff); } + public String printYLut() { return printLut(ylut(), "y", "x", "t"); } + public String printYLutX() { return printLut(ylut(), str(yi(), "y"), str(xi(), "x"), str(ti(), "t")); } public void ff_reset_value(boolean value) { //dev.mode4( /* FIXME WRONG!!! */, row, col, 3, !value); return; @@ -53,19 +188,30 @@ public class At40k { public void out(int plane, boolean enable) { switch(plane) { - case 0: dev.mode4(0x00, row, col, 2, enable); return; - case 1: dev.mode4(0x00, row, col, 3, enable); return; - case 2: dev.mode4(0x00, row, col, 5, enable); return; - case 3: dev.mode4(0x00, row, col, 4, enable); return; - case 4: dev.mode4(0x00, row, col, 1, enable); return; + case L0: dev.mode4(0x00, row, col, 3, enable); return; + case L1: dev.mode4(0x00, row, col, 2, enable); return; + case L2: dev.mode4(0x00, row, col, 5, enable); return; + case L3: dev.mode4(0x00, row, col, 4, enable); return; + case L4: dev.mode4(0x00, row, col, 1, enable); return; + default: throw new RuntimeException("invalid argument"); + } + } + + public boolean out(int plane) { + switch(plane) { + case L0: return (dev.mode4(0x00, row, col) & (1<<3)) != 0; + case L1: return (dev.mode4(0x00, row, col) & (1<<2)) != 0; + case L2: return (dev.mode4(0x00, row, col) & (1<<5)) != 0; + case L3: return (dev.mode4(0x00, row, col) & (1<<4)) != 0; + case L4: return (dev.mode4(0x00, row, col) & (1<<1)) != 0; default: throw new RuntimeException("invalid argument"); } } public void h(int plane, boolean enable) { switch(plane) { - case 0: dev.mode4(0x08, row, col, 0, enable); return; - case 1: dev.mode4(0x08, row, col, 2, enable); return; + case 0: dev.mode4(0x08, row, col, 2, enable); return; + case 1: dev.mode4(0x08, row, col, 0, enable); return; case 2: dev.mode4(0x08, row, col, 5, enable); return; case 3: dev.mode4(0x08, row, col, 6, enable); return; case 4: dev.mode4(0x00, row, col, 6, enable); return; @@ -73,6 +219,17 @@ public class At40k { } } + public boolean hx(int plane) { + switch(plane) { + case 0: return (dev.mode4(0x08, row, col) & (1<<2)) != 0; + case 1: return (dev.mode4(0x08, row, col) & (1<<0)) != 0; + case 2: return (dev.mode4(0x08, row, col) & (1<<5)) != 0; + case 3: return (dev.mode4(0x08, row, col) & (1<<6)) != 0; + case 4: return (dev.mode4(0x00, row, col) & (1<<6)) != 0; + default: throw new RuntimeException("invalid argument"); + } + } + public void v(int plane, boolean enable) { switch(plane) { case 0: dev.mode4(0x08, row, col, 1, enable); return; @@ -84,9 +241,28 @@ public class At40k { } } + public boolean vx(int plane) { + switch(plane) { + case 0: return (dev.mode4(0x08, row, col) & (1<<1)) != 0; + case 1: return (dev.mode4(0x08, row, col) & (1<<3)) != 0; + case 2: return (dev.mode4(0x08, row, col) & (1<<4)) != 0; + case 3: return (dev.mode4(0x08, row, col) & (1<<7)) != 0; + case 4: return (dev.mode4(0x00, row, col) & (1<<7)) != 0; + default: throw new RuntimeException("invalid argument"); + } + } + + public int ti() { + switch(dev.mode4(1, row, col) & 0x30) { + case 0x20: return zi(); + case 0x10: return FB; + case 0x00: return wi(); + default: throw new Error("ack!"); + } + } public void t(boolean z, boolean w, boolean fb) { // still not totally satisfied... - // how to we distinguish between z&w vs z or w&fb vs fb? + // how to we distinguish between z&w vs z or w&fb vs fb? ==> you can't! this is a false connection in my diagram // what does it mean for both bits (0x30) to be set to 1? if (fb && z) throw new RuntimeException("invalid combination"); int result = 0; @@ -103,12 +279,22 @@ public class At40k { default: throw new RuntimeException("Invalid Argument"); } } - + public int c() { + switch (dev.mode4(1, row, col) >> 6) { + case 0x00: return XLUT; + case 0x01: return YLUT; + case 0x02: return ZMUX; + } + throw new Error(); + } public void b(boolean registered) { dev.mode4(1, row, col, 3, !registered); } public void f(boolean registered) { dev.mode4(1, row, col, 2, !registered); } - public void xo(boolean center) { dev.mode4(1, row, col, 1, center); } public void yo(boolean center) { dev.mode4(1, row, col, 0, center); } + public boolean b() { return (dev.mode4(1, row, col) >> 3)!=1; } + public boolean f() { return (dev.mode4(1, row, col) >> 2)!=1; } + public boolean x() { return (dev.mode4(1, row, col) >> 1)==1; } + public boolean y() { return (dev.mode4(1, row, col) >> 0)==1; } public void oe(int source) { switch(source) { @@ -119,38 +305,70 @@ public class At40k { } } - public void xin(int source) { + public int xi() { + // FIXME: can be multiple + if ((dev.mode4(0x03, row, col) & (1<<4))!=0) return L3; + switch(dev.mode4(0x05, row, col) & 0xff) { + case 0x80: return SW; + case (1<<6): return NE; + case (1<<5): return SE; + case (1<<4): return NW; + case (1<<3): return L3; + case (1<<2): return L2; + case (1<<1): return L1; + case (1<<0): return L0; + case 0: return NONE; + default: throw new Error(); + } + } + + public void xi(int source) { switch(source) { case SW: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<7); break; case NE: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<6); break; case SE: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<5); break; case NW: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<4); break; case L4: dev.mode4(0x03, row, col, 4, true); dev.mode4(0x05, row, col, 0); break; - case L3: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<3); break; - case L2: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<2); break; - case L1: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<1); break; - case L0: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<0); break; + case L3: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<0); break; + case L2: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<1); break; + case L1: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<2); break; + case L0: dev.mode4(0x03, row, col, 4, false); dev.mode4(0x05, row, col, 1<<3); break; default: throw new RuntimeException("invalid argument"); } } - // FIXME: cancel out the others - public void yin(int source) { + public int yi() { + if ((dev.mode4(0x02, row, col) & (1<<6))!=0) return L4; + switch(dev.mode4(0x04, row, col) & 0xff) { + case 0x80: return NORTH; + case (1<<5): return SOUTH; + case (1<<6): return WEST; + case (1<<4): return EAST; + case (1<<3): return L3; + case (1<<2): return L2; + case (1<<1): return L1; + case (1<<0): return L0; + case 0: return NONE; + default: throw new Error(); + } + } + + public void yi(int source) { switch(source) { case NORTH: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<7); break; - case SOUTH: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<6); break; - case WEST: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<5); break; + case SOUTH: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<5); break; + case WEST: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<6); break; case EAST: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<4); break; case L4: dev.mode4(0x02, row, col, 6, true); dev.mode4(0x04, row, col, 0); break; - case L3: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<3); break; - case L2: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<2); break; - case L1: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<1); break; - case L0: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<0); break; + case L3: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<0); break; + case L2: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<1); break; + case L1: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<2); break; + case L0: dev.mode4(0x02, row, col, 6, false); dev.mode4(0x04, row, col, 1<<3); break; default: throw new RuntimeException("invalid argument"); } } - public void win(int source) { + public void wi(int source) { switch(source) { case L4: dev.mode4(0x03, row, col, 1<<5, 0xEC); break; case L3: dev.mode4(0x03, row, col, 1<<6, 0xEC); break; @@ -161,7 +379,19 @@ public class At40k { } } - public void zin(int source) { + public int wi() { + switch(dev.mode4(0x03, row, col) & 0xff) { + case (1<<5): return L4; + case (1<<6): return L3; + case (1<<7): return L2; + case (1<<3): return L1; + case (1<<2): return L0; + case (0): return NONE; + default: throw new RuntimeException("invalid argument"); + } + } + + public void zi(int source) { switch(source) { case L4: dev.mode4(0x02, row, col, 1<<7, 0xDB); break; case L3: dev.mode4(0x02, row, col, 1<<5, 0xDB); break; @@ -172,12 +402,24 @@ public class At40k { } } + public int zi() { + switch(dev.mode4(0x02, row, col) & 0xff) { + case (1<<7): return L4; + case (1<<5): return L3; + case (1<<4): return L2; + case (1<<3): return L1; + case (1<<2): return L0; + case 0: return NONE; + default: throw new RuntimeException("invalid argument"); + } + } + } - public IOB iob_top(int col, boolean primary) { return new IOB(col, 0, primary); } - public IOB iob_bot(int col, boolean primary) { return new IOB(col, 1, primary); } - public IOB iob_left(int row, boolean primary) { return new IOB(1, row, primary); } - public IOB iob_right(int row, boolean primary) { return new IOB(2, row, primary); } + public IOB iob_top(int col, boolean primary) { return new IOB(col, 0, primary, true); } + public IOB iob_bot(int col, boolean primary) { return new IOB(col, 1, primary, true); } + public IOB iob_left(int row, boolean primary) { return new IOB(0, row, primary, false); } + public IOB iob_right(int row, boolean primary) { return new IOB(1, row, primary, false); } /* public IOB fromPin(int pin) { if (pin >= 4 && pin <= 11) return io(pin-3); @@ -230,28 +472,140 @@ public class At40k { public final int col; public final int row; public final boolean primary; - public IOB(int col, int row, boolean primary) { this.col = col; this.row = row; this.primary = primary; } + public final boolean northsouth; + public IOB(int col, int row, boolean primary, boolean northsouth) { + this.col = col; + this.row = row; + this.northsouth = northsouth; + this.primary = primary; + } + /* + public String dump() { + System.out.println("[ "+ + (schmitt()?"schmitt ":"")+ + (slew()==3?"fast ":slew()==2?"med ":slew()==1?"slow ":"slew-unknown ")+ + (cr()?"cr ":"")+ + (reg()?"reg ":"")+ + + } + */ + public void enableOutput(int direction) { + useoem(true); + output(direction); + pullnone(); + useoem(true); + oem(ALWAYS_ON); + oe(true); + // note: east-side IOBs should have slew=med, others slew=fast + slew((!northsouth && col==1) ? MEDIUM : FAST); + } + public void enableInput() { + schmitt(true); + pullnone(); + } + + public void useoem(boolean use) { dev.mode4(z(3), row, col, 6, use); } + public boolean useoem() { return (dev.mode4(z(3), row, col) & (1<<6))!=0; } + public void schmitt(boolean use) { dev.mode4(z(0), row, col, 7, use); } + public boolean schmitt() { return (dev.mode4(z(0), row, col) & (1<<7))!=0; } + + public void slew(int slew) { + switch(slew) { + case FAST: dev.mode4(z(0), row, col, 3<<5, 0x60); return; + case MEDIUM: dev.mode4(z(0), row, col, 2<<5, 0x60); return; + case SLOW: dev.mode4(z(0), row, col, 1<<5, 0x60); return; + default: throw new Error(); + } + } - private int z(int code) { return 0x60 | (primary ? 0x08 : 0x10) | code; } - public void pullup() { dev.mode4(z(0), row, col, (dev.mode4(z(0), row, col) & (~0x6)) | 0x00); } - public void pulldown() { dev.mode4(z(0), row, col, (dev.mode4(z(0), row, col) & (~0x6)) | 0x03); } - public void pullnone() { dev.mode4(z(0), row, col, (dev.mode4(z(0), row, col) & (~0x6)) | 0x01); } + public void oem(int source) { + switch(source) { + case ALWAYS_ON: dev.mode4(z(3), row, col, 1<<5, 0x3f); return; + case ALWAYS_OFF: dev.mode4(z(3), row, col, 0, 0x3f); return; + default: throw new Error(); + } + } + + private int z(int code) { return (northsouth ? 0x70 : 0x60) | (primary ? 0x00 : 0x04) | (code & 0x7); } + public void pullup() { dev.mode4(z(0), row, col, 0x00<<1, 0x06); } + public void pulldown() { dev.mode4(z(0), row, col, 0x03<<1, 0x06); } + public void pullnone() { dev.mode4(z(0), row, col, 0x01<<1, 0x06); } public void oe(boolean oe) { int old = dev.mode4(z(1), row, col) & (~(1<<5)); old |= oe ? 0 : (1<<5); dev.mode4(z(1), row, col, old & 0xff); } + public void output(int which) { - if (which < 0 || which > 6) throw new RuntimeException("oem(x) only valid for 0<=x<=5"); - int d = dev.mode4(z(1), row, col) & 0x80; - if (which>0) { d |= 1 << (which==6 ? 6 : which==0 ? 5 : (which-1)); } - Log.warn("z", Integer.toString(z(1),16)); - Log.warn("y", Integer.toString(row,16)); - Log.warn("x", Integer.toString(col,16)); - Log.warn("d", Integer.toString(d,16)); - dev.mode4(z(1), row, col, d); + switch(which) { + case NONE: + dev.mode4(z(1), row, col, 0, 0x1f); return; + case WEST: case EAST: case NORTH: case SOUTH: + dev.mode4(z(1), row, col, 1<<0, 0x1f); return; + case NW: case SW: case NE: case SE: + dev.mode4(z(1), row, col, 1<<1, 0x1f); return; + default: throw new Error(); + } } - + + } + + public static void main(String[] s) throws Exception { + System.out.println(printLut(0x39, "se", "n", "L0")); } + public static synchronized String printLut(int lut, String xn, String yn, String zn) { + try { + File f = File.createTempFile("mvsis", ".mvs"); + f.deleteOnExit(); + FileOutputStream fos = new FileOutputStream(f); + PrintWriter pw = new PrintWriter(new OutputStreamWriter(fos)); + pw.println(".model clb"); + pw.println(".inputs "+xn+" "+yn+" "+zn); + pw.println(".outputs O"); + pw.println(".table "+xn+" "+yn+" "+zn+/*("X_xor_Y X_xor_Z Y_xor_Z")+*/ " -> O"); + for(int i=8; i>=0; i--) { + int x = ((i & 0x01)!=0 ? 1 : 0); + int y = ((i & 0x02)!=0 ? 1 : 0); + int z = ((i & 0x04)!=0 ? 1 : 0); + pw.print(" "+x+" "); + pw.print(" "+y+" "); + pw.print(" "+z+" "); + //pw.print(" "+(x ^ y)+" "); + //pw.print(" "+(y ^ z)+" "); + //pw.print(" "+(z ^ y)+" "); + pw.print((lut & (1<>24, (zyx>>16)&0xff, (zyx>>8)&0xff); } + public void mode4zyx(int zyx, int d, int invmask) { mode4(zyx>>24, (zyx>>16)&0xff, (zyx>>8)&0xff, d, invmask); } public void mode4(int z, int y, int x, int d, int invmask) { int old = mode4(z, y, x); old &= ~invmask; old |= d; mode4(z, y, x, old); } + public void mode4zyx(int zyx, int bit, boolean set) { mode4(zyx>>24, (zyx>>16)&0xff, (zyx>>8)&0xff, bit, set); } public void mode4(int z, int y, int x, int bit, boolean set) { int old = mode4(z, y, x); - old &= 1 << bit; + old &= ~(1 << bit); old |= set ? (1 << bit) : 0; mode4(z, y, x, old); } diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/obits/device/atmel/AvrDrone.c index b50eaab..06253ad 100644 --- a/src/edu/berkeley/obits/device/atmel/AvrDrone.c +++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.c @@ -85,6 +85,8 @@ void init() { sei(); } + + void conf(int z, int y, int x, int d) { FPGAX = x; FPGAY = y; @@ -109,6 +111,19 @@ void doreset() { while(1) { } } +#define TIMERVAL 100 +ISR(SIG_OVERFLOW0) { + PORTD = ~FISUA; + TCNT0 = TIMERVAL; // load the nearest-to-one-second value into the timer0 + TIMSK |= (1<