package edu.berkeley.slipway;
+import com.ftdi.usb.*;
import com.atmel.fpslic.*;
import edu.berkeley.obits.*;
-import org.ibex.util.Log;
+import org.ibex.util.*;
import java.io.*;
import java.util.*;
import gnu.io.*;
-public class FtdiBoard extends Board {
+public class FtdiBoard extends Fpslic implements Board {
static {
- System.load(new File("build/"+System.mapLibraryName("Ftdi")).getAbsolutePath());
+ System.load(new File("build/"+System.mapLibraryName("FtdiUartNative")).getAbsolutePath());
}
- private final ChipImpl chip;
- private final InputStream in;
- private final OutputStream out;
+ 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 {
- chip = new ChipImpl();
- boot(new InputStreamReader(new FileInputStream("bitstreams/usbdrone.bst")));
- in = chip.getInputStream();
- out = chip.getOutputStream();
+ 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() {
- chip.doReset();
- }
+ public void reset() throws IOException { chip.reset(); }
public void boot(Reader r) throws Exception {
- boolean pin;
- Chip d = chip;
-
- //d.buffered(false);
-
- d.doReset();
- d.config(0,3);
- d.con();
- d.config(0,7);
- d.flush();
- //d.flush();
- d.config(Integer.parseInt("10110111", 2), 8);
- d.config(0,1);
- d.flush();
- try { Thread.sleep(100); } catch (Exception e) { }
- pin = d.initErr();
- System.out.println("good preamble => " + pin + " " + (pin ? green("good") : red("BAD")));
-
- d.doReset();
- try { Thread.sleep(100); } catch (Exception e) { }
- d.config(0,3);
- d.con();
- d.config(0,6);
- d.flush();
- //d.flush();
- d.config(Integer.parseInt("10110111", 2), 8);
- d.config(0, 2);
- d.flush();
- try { Thread.sleep(100); } catch (Exception e) { }
- pin = d.initErr();
- System.out.println("bad preamble #2 => " + pin + " " + (pin ? red("BAD") : green("good")));
-
- d.doReset();
- try { Thread.sleep(100); } catch (Exception e) { }
- d.config(0,3);
- d.con();
- d.config(0,7);
- d.flush();
- //d.flush();
- d.config(Integer.parseInt("11110111", 2), 8);
- d.config(0, 1);
- d.flush();
- try { Thread.sleep(100); } catch (Exception e) { }
- pin = d.initErr();
- System.out.println("bad preamble #1 => " + pin + " " + (pin ? red("BAD") : green("good")));
-
- d.doReset();
-
- d.config(0,10);
- d.con();
- //d.config(Integer.parseInt("10110111", 2));
- //d.config(0);
+ chip.selfTest();
+ int total = 75090/9;
+ OutputStream os = new ProgressOutputStream("bootstrap bitstream:", chip.getConfigStream(), total);
BufferedReader br = new BufferedReader(r);
- br.readLine();
+
int bytes = 0;
- //System.out.println("cts="+""+" pins=" + pad(Integer.toString(d.readPins()&0xff,2),8));
while(true) {
String s = br.readLine();
if (s==null) break;
- int in = Integer.parseInt(s, 2);
bytes++;
- for(int i=7; i>=0; i--) {
- d.config((((in & 0xff) & (1<<i))!=0)?1:0, 1);
- boolean init = true; // d.initErr()
- if (bytes < 100 || (bytes % 1000)==0) {
- d.flush();
- init = d.initErr();
- System.out.print("wrote " + bytes + " bytes, init="+init+" \r");
- d.rcon();
+ 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();
+ }
}
- if (!init)
- throw new RuntimeException("initialization failed at byte " + bytes + ", bit " + i);
}
+ }.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); } }
- d.flush();
- if (!d.initErr())
- throw new RuntimeException("initialization failed at " + bytes);
- //System.out.println("cts="+""+" pins=" + pad(Integer.toString(d.readPins()&0xff,2),8));
+ // Callbacks //////////////////////////////////////////////////////////////////////////////
+ private Vector callbacks = new Vector();
- for(int i=0; i<100; i++) {
- d.flush();
- if (!d.initErr())
- throw new RuntimeException("initialization failed at " + bytes);
- try { Thread.sleep(20); } catch (Exception e) { }
- d.config(0,1);
+ 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;
+ }
- System.out.println();
- System.out.println("avr reset => false");
- d.avrrst(false);
- try { Thread.sleep(500); } catch (Exception e) { }
- //System.out.println("cts="+""+" pins=" + pad(Integer.toString(d.readPins()&0xff,2),8));
-
- //((ChipImpl)d).avr();
-
- //System.out.println("avr reset => true");
- chip.purge();
- chip.uart(1<<1, 1<<1);
-
- //d.avrrst(true);
- //try { Thread.sleep(500); } catch (Exception e) { }
- //System.out.println("cts="+""+" pins=" + pad(Integer.toString(d.readPins()&0xff,2),8));
+ 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);
}
- public static String red(Object o) { return "\033[31m"+o+"\033[0m"; }
- public static String green(Object o) { return "\033[32m"+o+"\033[0m"; }
+
}
projects / slipway.git / blobdiff