+++ /dev/null
-package edu.berkeley.slipway;
-
-import com.ftdi.usb.*;
-import com.atmel.fpslic.*;
-import edu.berkeley.obits.*;
-import org.ibex.util.*;
-import java.io.*;
-import java.util.*;
-import gnu.io.*;
-
-public class FtdiBoard extends Fpslic implements Board {
-
- static {
- System.load(new File("build/"+System.mapLibraryName("FtdiUartNative")).getAbsolutePath());
- }
-
- private final FpslicBoot chip;
- private final DataInputStream in;
- private final DataOutputStream out;
-
- public InputStream getInputStream() { return in; }
- public OutputStream getOutputStream() { return out; }
-
- public FtdiBoard() throws Exception {
- super(24, 24);
- chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000/2)));
- String bstFile = this.getClass().getName();
- bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
- bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
- boot(new InputStreamReader(this.getClass().getClassLoader().getResourceAsStream(bstFile)));
- in = new DataInputStream(chip.getInputStream());
- out = new DataOutputStream(chip.getOutputStream());
- for(int i=0; i<255; i++) out.write(0);
- out.flush();
- init();
- }
-
- public void reset() throws IOException { chip.reset(); }
-
- public void boot(Reader r) throws Exception {
- chip.selfTest();
-
- int total = 75090/9;
- OutputStream os = new ProgressOutputStream("bootstrap bitstream:", chip.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();
- }
-
-
- // AvrDrone leftovers //////////////////////////////////////////////////////////////////////////////
-
- private void init() throws IOException {
- byte[] bytes = new byte[6];
- int i=0;
-
- out.write(0);
- out.flush();
-
- // read any crap that might be left in the buffer
- while(true) {
- System.arraycopy(bytes, 1, bytes, 0, 5);
- bytes[5] = in.readByte();
- i++;
- System.out.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') {
- System.out.println("\rsignature: got proper signature ");
- chip.purge();
- break;
- }
- }
-
- // FIXME: what if init() is called twice?
- 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);
- //System.out.println("readback " + b + " in " + (System.currentTimeMillis()-bc.time));
- bc.call(b);
- synchronized(lock) {
- lock.notifyAll();
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
- }.start();
- }
-
-
- // Programming ///////////////////////////////////////////////////////////////////////////////
-
- private byte[][][] cache = new byte[24][][];
- public 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 { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
-
-
- // Callbacks //////////////////////////////////////////////////////////////////////////////
-
- private Vector callbacks = new Vector();
-
- private Object lock = new Object();
- private static final int limit = 40;
-
- private void enqueue(ByteCallback bcb) {
- synchronized(lock) {
- try {
- while (callbacks.size() >= limit) {
- lock.wait(100);
- }
- } catch (Exception e) {
- throw new RuntimeException(e);
- }
- }
- bcb.time = System.currentTimeMillis();
- callbacks.add(bcb);
- }
-
- public static abstract class ByteCallback {
- public int result;
- public long time;
- public abstract void call(byte b) throws Exception;
- }
-
- public synchronized int readCount() {
- 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);
- //System.out.println("timer => " + Integer.toString(timer, 16));
- this.notify();
- }
- };
- synchronized(bc) {
- enqueue(bc);
- out.writeByte(3);
- out.flush();
- bc.wait();
- }
- return bc.result;
- } catch (Exception e) { throw new RuntimeException(e); }
- }
-
- public int timer = 0;
- public synchronized void readBus(ByteCallback bc) throws IOException {
- enqueue(bc);
- out.writeByte(2);
- out.flush();
- }
-
- /*
- public synchronized void readInterrupts(ByteCallback bc) throws IOException {
- enqueue(bc);
- out.writeByte(3);
- out.flush();
- }
- */
-
- // Util //////////////////////////////////////////////////////////////////////////////
-
- private String pad(int i, String s) { if (s.length()>i) return s; return "0"+pad((i-1),s); }
- public static String pad(String s, int i) {
- if (s.length() >= i) return s;
- return "0"+pad(s, i-1);
- }
-
-}
projects / slipway.git / blobdiff