diff options
Diffstat (limited to 'mig_test/software')
28 files changed, 3490 insertions, 0 deletions
diff --git a/mig_test/software/Makefile b/mig_test/software/Makefile new file mode 100644 index 0000000..1246803 --- /dev/null +++ b/mig_test/software/Makefile @@ -0,0 +1,89 @@ +# +# $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/Makefile $ +# $Date$ +# $Author$ +# $Revision$ +# + +COMPILER_OPTIONS=-ffunction-sections -fdata-sections -Iinclude +OBJCOPY_OPTIONS=--strip-debug --discard-locals + +ZPU_SUPPORT_DIR=../../zpu/support +ZPU_ROM_GEN=$(ZPU_SUPPORT_DIR)/zpuromgen +AHB_ROM_GEN=../../gaisler/support/ahbrom + + +SVNPATH = .. +SVNREV = $(shell svnversion -n $(SVNPATH)) + +all: software + +help: + @echo "software - build main software" + @echo + @echo "clean - clean up" + + +startup = lib/crt0.S +objs = lib/crt0.o +lib_src = lib/premain.c lib/divmod.c lib/udivmodsi4.c +#ldflags = -nostartfiles -nostdlib -nodefaultlibs $(objs) -Wl,--relax -Wl,--gc-sections -Wl,-lhal -Wl,-Llibhal +ldflags = -nostartfiles $(objs) -Wl,--relax,--gc-sections,-lhal,-Llibhal + + +zpu_rom_vhdl = ../rtl/dualport_ram.vhd +ahb_rom_vhdl = ../rtl/ahbrom.vhd +c_files += main.c +c_files += timestamp.c +c_files += monitor.c +c_files += schedule.c +c_files += ambainfo.c +c_files += monitor_functions.c +c_files += $(lib_src) +h_files = *.h include/peripherie.h + + +software: $(zpu_rom_vhdl) $(ahb_rom_vhdl) + + +main.bin: $(c_files) $(h_files) $(objs) + make --directory libhal + @# normal compile command (emulate instructions) + zpu-elf-gcc $(COMPILER_OPTIONS) -O3 -phi $(c_files) $(ldflags) -o main.elf + + zpu-elf-size main.elf + print_mem_zpu.sh main.elf + zpu-elf-objdump -D -S main.elf > main.lst + zpu-elf-objcopy $(OBJCOPY_OPTIONS) -O binary main.elf main.bin + +$(zpu_rom_vhdl): main.bin $(ZPU_ROM_GEN) + # concat parts + cat > $(zpu_rom_vhdl) $(ZPU_SUPPORT_DIR)/dualport_ram.vhd_header + $(ZPU_ROM_GEN) main.bin >> $(zpu_rom_vhdl) + cat >> $(zpu_rom_vhdl) $(ZPU_SUPPORT_DIR)/dualport_ram.vhd_footer + +$(ahb_rom_vhdl): main.bin $(AHB_ROM_GEN) + $(AHB_ROM_GEN) main.bin $(ahb_rom_vhdl) + + +$(startup:.S=.o): $(startup) + zpu-elf-gcc -c $< -o $@ + +clean: + rm -f *.bin + rm -f *.elf + rm -f *.lst + rm -f *.o + rm -f lib/*.o + + +timestamp: timestamp.c +timestamp.c: + @echo "updating $@ ($(SVNREV))" + @rm -f $@ + @echo "const char* sw_svn_revision = \"$(SVNREV)\"; " >> $@ + + +# disable implicit rule for c files +.SUFFIXES: +%.c: %.w %.ch diff --git a/mig_test/software/ambainfo.c b/mig_test/software/ambainfo.c new file mode 100644 index 0000000..83813b0 --- /dev/null +++ b/mig_test/software/ambainfo.c @@ -0,0 +1,216 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/ambainfo.c $ + * $Date$ + * $Author$ + * $Revision$ + */ + +#include <types.h> + +
+/*
+ print some spaces to make output alignment columnwise
+*/
+void fill(uint8_t length, uint8_t fillupto)
+{
+ while (length < fillupto)
+ {
+ putchar(' ');
+ length++;
+ }
+} + + + +//////////////////////////////////////////////////////////// +// print vendor +void print_vendor_device( uint8_t vendor, uint8_t device) +{ + switch( vendor) + { + case 0x01: putstr("gaisler "); + switch( device) + { + case 0x06: putstr("AHB/APB Bridge"); break; + case 0x0c: putstr("Generic UART"); break; + case 0x0f: putstr("Dual-port AHB SRAM module"); break; + case 0x11: putstr("Modular Timer Unit"); break; + case 0x1a: putstr("General Purpose I/O port"); break; + case 0x1d: putstr("GR 10/100 Mbit Ethernet MAC"); break; + case 0x28: putstr("AMBA Wrapper for OC I2C-master");break; + case 0x45: putstr("SPI Memory Controller"); break; + case 0x61: putstr("VGA controller"); break; + case 0x87: putstr("General Purpose Register"); break; + default : putstr("unknown device"); break; + } + break; + case 0x04: putstr("ESA "); + switch( device) + { + case 0x0f: putstr("Leon2 Memory Controller"); break; + default : putstr("unknown device"); break; + } + break; + case 0x55: putstr("HZDR "); + switch( device) + { + case 0x01: putstr("ZPU AHB Wrapper"); break; + case 0x02: putstr("ZPU Memory wrapper"); break; + case 0x03: putstr("DCM phase shift control"); break; + case 0x04: putstr("debug console"); break; + case 0x05: putstr("trigger generator"); break; + case 0x06: putstr("beam position monitor"); break; + case 0x07: putstr("debug buffer control"); break; + case 0x08: putstr("EA-DOGS display driver"); break; + case 0x09: putstr("debug tracer memory"); break; + case 0x0a: putstr("differential current monitor"); break; + default : putstr("unknown device"); break; + } + break; + default : putstr("vendor? "); break; + } +} + +//////////////////////////////////////////////////////////// +// apb info +void apb_info( uint32_t* addr, uint8_t verbose) +{ + // identification register + uint16_t vendor; + uint16_t device; + uint16_t version; + uint16_t irq; + uint32_t dev_addr; + + uint32_t* config; + uint32_t* idreg_addr; + uint32_t idreg_word; + uint32_t* bar_addr; + uint32_t bar_word; + + uint32_t apb_addr; + uint32_t apb_unit; + + config = addr; + apb_addr = (*config & 0xfff00000); // get apb address + + // we can have up to 512 slaves, but we scan only 16 + // to avoid double scans at the moment + for (apb_unit = 0; apb_unit < 16; apb_unit++) + { + idreg_addr = (uint32_t*) (apb_addr | 0x000ff000 | (apb_unit << 3)); + idreg_word = *idreg_addr; + bar_addr = idreg_addr + 1; + bar_word = *bar_addr; + + dev_addr = apb_addr | ((bar_word & 0xfff00000) >> 12); + vendor = (idreg_word >> 24) & 0xff; + device = (idreg_word >> 12) & 0xfff; + version = (idreg_word >> 5) & 0xf; + irq = (idreg_word >> 0) & 0x1f; + + if (vendor > 0) + { + putstr(" apbslv"); + fill( putint( apb_unit), 4); + + // print idreg word + putstr("vend 0x"); fill( puthex( 8, vendor), 4); + putstr("dev 0x"); fill( puthex(16, device), 6); + putstr("ver "); fill( putint( version), 4); + putstr("irq "); fill( putint( irq), 4); + putstr("addr 0x"); fill( puthex(32, dev_addr), 10); + if (verbose) + print_vendor_device( vendor, device); + putchar('\n'); + } + } +} + +void ahb_info( uint8_t verbose) +{ + uint16_t vendor; + uint16_t device; + uint16_t version; + uint16_t irq; + + uint32_t address; + uint16_t cp; + uint16_t mask; + uint16_t type; + + uint32_t config_word; + uint32_t bar; + uint32_t ahb_unit; + + uint8_t i; + + uint32_t* config_addr = (uint32_t*) 0xfffff000; + uint32_t* bar_addr = (uint32_t*) 0xfffff010; + + + // check for 64 master and 64 slaves + for (ahb_unit = 0; ahb_unit < 128; ahb_unit++) + { + config_addr = (uint32_t*) (0xfffff000 + (ahb_unit << 5)); + bar_addr = (uint32_t*) config_addr + 4; + + config_word = *config_addr; + + vendor = (config_word >> 24) & 0xff; + device = (config_word >> 12) & 0xfff; + version = (config_word >> 5) & 0xf; + irq = (config_word >> 0) & 0x1f; + + if (vendor > 0) + { + if (ahb_unit < 64) + { + putstr("ahbmst"); + fill( putint( ahb_unit), 6); + } + else + { + putstr("ahbslv"); + fill( putint( ahb_unit - 64), 6); + } + + // print config word + putstr("vend 0x"); fill( puthex( 8, vendor), 4); + putstr("dev 0x"); fill( puthex(16, device), 6); + putstr("ver "); fill( putint( version), 4); + putstr("irq "); fill( putint( irq), 4); + putstr("addr 0x"); fill( puthex(32, *bar_addr & 0xfff00000), 10); + if (verbose) + print_vendor_device( vendor, device); + putchar('\n'); + + if ((vendor == 1) && (device == 6)) + apb_info( bar_addr, verbose); + + /* + // check all 4 bank address registers + for (i = 0; i < 4; i++) + { + bar = *bar_addr; + + address = bar & 0xfff0000; + cp = (bar >> 16) & 0xf; + mask = (bar >> 4) & 0xfff; + type = (bar >> 0) & 0xf; + + // print bank address register + putstr("address 0x"); fill( puthex( 32, address), 6); + putstr("c/p 0x"); fill( puthex( 8, cp), 6); + putstr("mask 0x"); fill( puthex( 16, mask), 6); + putstr("type 0x"); fill( puthex( 8, type), 6); + putchar('\n'); + + bar_addr++; + } // for i + */ + + } // vendor > 0 + } // for ahb_unit +} + diff --git a/mig_test/software/ambainfo.h b/mig_test/software/ambainfo.h new file mode 100644 index 0000000..e9828f1 --- /dev/null +++ b/mig_test/software/ambainfo.h @@ -0,0 +1,16 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/ambainfo.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef AMBAINFO_H +#define AMBAINFO_H + +void print_vendor_device( uint8_t vendor, uint8_t device); +void apb_info( uint32_t* addr, uint8_t verbose); +void ahb_info( uint8_t verbose); + +#endif // AMBAINFO_H diff --git a/mig_test/software/include/common.h b/mig_test/software/include/common.h new file mode 100644 index 0000000..9028a90 --- /dev/null +++ b/mig_test/software/include/common.h @@ -0,0 +1,23 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/common.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + +#ifndef COMMON_H +#define COMMON_H + +//////////////////////////////////////// +// specific stuff + +char putchar ( char c); +void putstr ( const char *s); +void putbin ( unsigned char dataType, unsigned long data); +unsigned char puthex ( unsigned char dataType, unsigned long data); +unsigned char itoa ( int z, char* Buffer ); +unsigned char putint ( unsigned long data); +unsigned char putuint ( long data); +void putpfloat( unsigned long data); + +#endif // COMMON_H diff --git a/mig_test/software/include/lcd-routines.h b/mig_test/software/include/lcd-routines.h new file mode 100644 index 0000000..e3516cf --- /dev/null +++ b/mig_test/software/include/lcd-routines.h @@ -0,0 +1,167 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/lcd-routines.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +// Ansteuerung eines HD44780 kompatiblen LCD im 4-Bit-Interfacemodus +// http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial/LCD-Ansteuerung +// + +#ifndef LCD_ROUTINES_H +#define LCD_ROUTINES_H + +#include "peripherie.h" + +//////////////////////////////////////////////////////////////////////////////// +// Hier die verwendete Taktfrequenz in Hz eintragen, wichtig! + +#ifndef F_CPU +#define F_CPU 50000000 +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Pinbelegung für das LCD, an verwendete Pins anpassen +// Alle LCD Pins müssen an einem Port angeschlossen sein und die 4 +// Datenleitungen müssen auf aufeinanderfolgenden Pins liegen + +// LCD DB4-DB7 <--> PORTD Bit PD0-PD3 +#define LCD_PORT (gpio0->ioout) +#define LCD_DDR (gpio0->iodir) +#define LCD_DB (8) + +// LCD RS <--> PORTD Bit PD4 (RS: 0=Data, 1=Command) +#define LCD_RS (14) + +// LCD EN <--> PORTD Bit PD5 (EN: 1-Impuls für Daten) +#define LCD_EN (13) + +#define LCD_RW (15) + +//////////////////////////////////////////////////////////////////////////////// +// LCD Ausführungszeiten (MS=Millisekunden, US=Mikrosekunden) + +#define LCD_BOOTUP_MS 15 +#define LCD_ENABLE_US 1 +#define LCD_WRITEDATA_US 46 +#define LCD_COMMAND_US 42 + +#define LCD_SOFT_RESET_MS1 5 +#define LCD_SOFT_RESET_MS2 1 +#define LCD_SOFT_RESET_MS3 1 +#define LCD_SET_4BITMODE_MS 5 + +#define LCD_CLEAR_DISPLAY_MS 2 +#define LCD_CURSOR_HOME_MS 2 + +//////////////////////////////////////////////////////////////////////////////// +// Zeilendefinitionen des verwendeten LCD +// Die Einträge hier sollten für ein LCD mit einer Zeilenlänge von 16 Zeichen passen +// Bei anderen Zeilenlängen müssen diese Einträge angepasst werden + +#define LCD_DDADR_LINE1 0x00 +#define LCD_DDADR_LINE2 0x40 +#define LCD_DDADR_LINE3 0x10 +#define LCD_DDADR_LINE4 0x50 + +//////////////////////////////////////////////////////////////////////////////// +// Initialisierung: muss ganz am Anfang des Programms aufgerufen werden. +void lcd_init( void ); + +//////////////////////////////////////////////////////////////////////////////// +// LCD löschen +void lcd_clear( void ); + +//////////////////////////////////////////////////////////////////////////////// +// Cursor in die 1. Zeile, 0-te Spalte +void lcd_home( void ); + +//////////////////////////////////////////////////////////////////////////////// +// Cursor an eine beliebige Position +void lcd_setcursor( uint8_t spalte, uint8_t zeile ); + +//////////////////////////////////////////////////////////////////////////////// +// Ausgabe eines einzelnen Zeichens an der aktuellen Cursorposition +void lcd_data( uint8_t data ); + +//////////////////////////////////////////////////////////////////////////////// +// Ausgabe eines Strings an der aktuellen Cursorposition +void lcd_string( const char *data ); + +//////////////////////////////////////////////////////////////////////////////// +// Definition eines benutzerdefinierten Sonderzeichens. +// data muss auf ein Array[5] mit den Spaltencodes des zu definierenden Zeichens +// zeigen +void lcd_generatechar( uint8_t code, const uint8_t *data ); + +//////////////////////////////////////////////////////////////////////////////// +// Ausgabe eines Kommandos an das LCD. +void lcd_command( uint8_t data ); + + +//////////////////////////////////////////////////////////////////////////////// +// LCD Befehle und Argumente. +// Zur Verwendung in lcd_command + +// Clear Display -------------- 0b00000001 +#define LCD_CLEAR_DISPLAY 0x01 + +// Cursor Home ---------------- 0b0000001x +#define LCD_CURSOR_HOME 0x02 + +// Set Entry Mode ------------- 0b000001xx +#define LCD_SET_ENTRY 0x04 + +#define LCD_ENTRY_DECREASE 0x00 +#define LCD_ENTRY_INCREASE 0x02 +#define LCD_ENTRY_NOSHIFT 0x00 +#define LCD_ENTRY_SHIFT 0x01 + +// Set Display ---------------- 0b00001xxx +#define LCD_SET_DISPLAY 0x08 + +#define LCD_DISPLAY_OFF 0x00 +#define LCD_DISPLAY_ON 0x04 +#define LCD_CURSOR_OFF 0x00 +#define LCD_CURSOR_ON 0x02 +#define LCD_BLINKING_OFF 0x00 +#define LCD_BLINKING_ON 0x01 + +// Set Shift ------------------ 0b0001xxxx +#define LCD_SET_SHIFT 0x10 + +#define LCD_CURSOR_MOVE 0x00 +#define LCD_DISPLAY_SHIFT 0x08 +#define LCD_SHIFT_LEFT 0x00 +#define LCD_SHIFT_RIGHT 0x04 + +// Set Function --------------- 0b001xxxxx +#define LCD_SET_FUNCTION 0x20 + +#define LCD_FUNCTION_4BIT 0x00 +#define LCD_FUNCTION_8BIT 0x10 +#define LCD_FUNCTION_1LINE 0x00 +#define LCD_FUNCTION_2LINE 0x08 +#define LCD_FUNCTION_5X7 0x00 +#define LCD_FUNCTION_5X10 0x04 + +#define LCD_SOFT_RESET 0x30 + +// Set CG RAM Address --------- 0b01xxxxxx (Character Generator RAM) +#define LCD_SET_CGADR 0x40 + +#define LCD_GC_CHAR0 0 +#define LCD_GC_CHAR1 1 +#define LCD_GC_CHAR2 2 +#define LCD_GC_CHAR3 3 +#define LCD_GC_CHAR4 4 +#define LCD_GC_CHAR5 5 +#define LCD_GC_CHAR6 6 +#define LCD_GC_CHAR7 7 + +// Set DD RAM Address --------- 0b1xxxxxxx (Display Data RAM) +#define LCD_SET_DDADR 0x80 + +#endif diff --git a/mig_test/software/include/peripherie.h b/mig_test/software/include/peripherie.h new file mode 100644 index 0000000..9734d4c --- /dev/null +++ b/mig_test/software/include/peripherie.h @@ -0,0 +1,323 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/peripherie.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef PERIPHERIE_H +#define PERIPHERIE_H + +#include <types.h> + +//////////////////// +// hardware types + +// gpio +typedef struct { + volatile uint32_t iodata; // 000 + volatile uint32_t ioout; // 001 + volatile uint32_t iodir; // 010, for bidir port bits + volatile uint32_t irqmask; // 011 + volatile uint32_t irqpol; // 100 + volatile uint32_t irqedge; // 101 + volatile uint32_t bypass; // 110 +} grgpio_t; + + +// uart +#define UART_STATUS_DATA_READY (1<< 0) +#define UART_STATUS_TX_SHREG_EMPTY (1<< 1) +#define UART_STATUS_TX_REG_EMPTY (1<< 2) +#define UART_STATUS_BREAK_RECEIVED (1<< 3) +#define UART_STATUS_OVERRUN (1<< 4) +#define UART_STATUS_PARITY_ERROR (1<< 5) +#define UART_STATUS_FRAMING_ERROR (1<< 6) +#define UART_STATUS_TX_FIFO_HALF_FULL (1<< 7) +#define UART_STATUS_RX_FIFO_HALF_FULL (1<< 8) +#define UART_STATUS_TX_FIFO_FULL (1<< 9) +#define UART_STATUS_RX_FIFO_FULL (1<<10) + +#define UART_CONTROL_RX_ENABLE (1<< 0) +#define UART_CONTROL_TX_ENABLE (1<< 1) +#define UART_CONTROL_RX_INT_ENABLE (1<< 2) +#define UART_CONTROL_TX_INT_ENABLE (1<< 3) +#define UART_CONTROL_PARITY_SELECT (1<< 4) +#define UART_CONTROL_PARITY_ENABLE (1<< 5) +#define UART_CONTROL_FLOW_CONTROL (1<< 6) +#define UART_CONTROL_LOOP_BACK (1<< 7) +#define UART_CONTROL_EXTERNAL_CLOCK (1<< 8) +#define UART_CONTROL_TX_FIFO_INT_ENABLE (1<< 9) +#define UART_CONTROL_RX_FIFO_INT_ENABLE (1<<10) +#define UART_CONTROL_FIFO_DEBUG_MODE (1<<11) +#define UART_CONTROL_BREAK_INT_ENABLE (1<<12) +#define UART_CONTROL_DELAYED_INT_ENABLE (1<<13) +#define UART_CONTROL_TX_REG_EMPTY_INT_ENABLE (1<<14) +#define UART_CONTROL_FIFO_AVAILIBLE (1<<31) + +typedef struct { + volatile uint32_t data; // 000000 + volatile uint32_t status; // 000001 + volatile uint32_t ctrl; // 000010 + volatile uint32_t scaler; // 000011 + volatile uint32_t fifo_debug; // 000100 +} apbuart_t; + + +// timer (grip.pdf p. 279) +#define TIMER_ENABLE (1<<0) +#define TIMER_RESTART (1<<1) +#define TIMER_LOAD (1<<2) +#define TIMER_INT_ENABLE (1<<3) +#define TIMER_INT_PENDING (1<<4) +#define TIMER_CHAIN (1<<5) +#define TIMER_DEBUG_HALT (1<<6) +typedef struct { + volatile uint32_t value; + volatile uint32_t reload; + volatile uint32_t ctrl; + volatile uint32_t unused; +} gptimer_element_t; + +#define TIMER_CONFIG_DISABLE_FREEZE (1<<8) +typedef struct { + volatile uint32_t scaler; // 00000 + volatile uint32_t scaler_reload; // 00001 + volatile uint32_t config; // 00010 ntimers, pirq + volatile uint32_t unused; // 00011 + gptimer_element_t e[8]; +} gptimer_t; + +#define CLOCKS_PER_SECOND (1000) +void usleep( uint32_t nsec); +void msleep( uint32_t msec); +void sleep( uint32_t sec); +void timer_init( void); + + +// i2c +// control register +#define I2C_CORE_ENABLE (1<<7) +#define I2C_INT_ENABLE (1<<6) +// command register +#define I2C_START (1<<7) +#define I2C_STOP (1<<6) +#define I2C_READ (1<<5) +#define I2C_WRITE (1<<4) +#define I2C_ACK (1<<3) +#define I2C_INT_ACK (1<<0) +// status register +#define I2C_RX_ACK (1<<7) +#define I2C_BUSY (1<<6) +#define I2C_ARB_LOST (1<<5) +#define I2C_TIP (1<<1) +#define I2C_INT (1<<0) + +typedef struct { + volatile uint32_t clock_prescaler; // prer 0x00 + volatile uint32_t control; // ctr 0x04 + volatile uint32_t data; // xr 0x08 write -> transmit, read -> receive + volatile uint32_t command; // csr 0x0c write -> command, read -> status +} i2cmst_t; // i2cmstregs + + +// vga +typedef struct { + volatile uint32_t data; + volatile uint32_t background_color; + volatile uint32_t foreground_color; +} apbvga_t; + + +// ethernet +#define ETHER_DESCRIPTOR_ENABLE (1<<11) +#define ETHER_DESCRIPTOR_WRAP (1<<12) +#define ETHER_DESCRIPTOR_INT_ENABLE (1<<13) +#define ETHER_DESCRIPTOR_UNDERRUN_ERR (1<<14) +#define ETHER_DESCRIPTOR_ATTEMEPT_LIMIT_ERR (1<<15) +typedef struct { + volatile uint32_t control; + volatile uint32_t address; +} greth_tx_descriptor_t; + +#define ETHER_CONTROL_TX_ENABLE (1<< 0) +#define ETHER_CONTROL_RX_ENABLE (1<< 1) +#define ETHER_CONTROL_TX_INT (1<< 2) +#define ETHER_CONTROL_RX_INT (1<< 3) +#define ETHER_CONTROL_FULL_DUPLEX (1<< 4) +#define ETHER_CONTROL_PROMISCUOUS_MODE (1<< 5) +#define ETHER_CONTROL_RESET (1<< 6) +#define ETHER_CONTROL_SPEED (1<< 7) +#define ETHER_CONTROL_EDCL_AVAILABLE (1<<31) + +#define ETHER_STATUS_RX_ERROR (1<< 0) +#define ETHER_STATUS_TX_ERROR (1<< 1) +#define ETHER_STATUS_RX_INT (1<< 2) +#define ETHER_STATUS_TX_INT (1<< 3) +#define ETHER_STATUS_RX_AHB_ERROR (1<< 4) +#define ETHER_STATUS_TX_AHB_ERROR (1<< 5) +#define ETHER_STATUS_RX_TOO_SMALL (1<< 6) +#define ETHER_STATUS_INVALID_ADDRESS (1<< 7) + +#define ETHER_MDIO_WR (1<< 0) +#define ETHER_MDIO_RD (1<< 1) +#define ETHER_MDIO_LINKFAIL (1<< 2) +#define ETHER_MDIO_BUSY (1<< 3) +#define ETHER_MDIO_NOT_VALID (1<< 4) + +typedef struct { + volatile uint32_t control; // 0x00 + volatile uint32_t status; // 0x04 + volatile uint32_t mac_msb; // 0x08 + volatile uint32_t mac_lsb; // 0x0C + volatile uint32_t mdio_control; // 0x10 + volatile uint32_t tx_pointer; // 0x14 + volatile uint32_t rx_pointer; // 0x18 + volatile uint32_t edcl_ip; // 0x1C + volatile uint32_t hash_msb; // 0x20 + volatile uint32_t hash_lsb; // 0x24 +} greth_t; + + +struct udp_header_st { + uint16_t source_port; + uint16_t dest_port; + uint16_t length; + uint16_t checksum; + uint8_t data[1500];//[data_length]; +} __attribute((packed)); + +typedef struct udp_header_st udp_header_t; + + +//uint32_t data_length = 64; // minimum size is 46 (w/o vlan tag) or 42 (with vlan tag) + +#define PROTOCOL_UDP (17) +#define FLAG_DF (1<<14) +#define FLAG_MF (1<<15) +struct ip_header_st { + uint8_t version; // +ihl (ip header length) + uint8_t tos; + uint16_t length; + uint16_t identification; + uint16_t fragment_offset; // +flags + uint8_t ttl; + uint8_t protocol_id; // udp = 17, tcp = 6 + uint16_t checksum; + uint32_t source_ip; + uint32_t dest_ip; + udp_header_t udp_header; +} __attribute((packed)); + +typedef struct ip_header_st ip_header_t; + +#define ETHERTYPE_IPv4 (0x0800) +#define ETHERTYPE_ARP (0x0806) +struct mac_header_st { + uint8_t dest_mac[6]; + uint8_t source_mac[6]; + uint16_t ethertype; // length or eg. 0x800 IPv4, 0x0806 ARP, 0x8892 Profinet, 0x88a4 etherCat + ip_header_t ip_header; +} __attribute((packed)); +typedef struct mac_header_st mac_header_t; + + +// ddr control register set +typedef struct { + volatile uint32_t sdram_control; + volatile uint32_t sdram_config; + volatile uint32_t sdram_power_saving; + volatile uint32_t reserved; + volatile uint32_t status_read; + volatile uint32_t phy_config_0; + volatile uint32_t phy_config_1; +} ddrspa_t; + + +// dcm control +typedef struct { + volatile uint32_t psstatus; + volatile int32_t psdec; + volatile int32_t psinc; + volatile int32_t psvalue; +} dcm_ctrl_t; + + +// debug console (for simulation) +char debug_putchar( char c); + +// function pointer for putchar +extern char (* stdout) ( char); + + +// iqr +typedef struct { + volatile uint32_t irq_level; // 0x00 + volatile uint32_t irq_pending; // 0x04 + volatile uint32_t irq_force; // 0x08 + volatile uint32_t irq_clear; // 0x0c + volatile uint32_t mp_status; // 0x10 + volatile uint32_t broadcast; // 0x14 (NCPU > 1) + volatile uint32_t dummy[10]; // 0x18 - 0x3c + volatile uint32_t irq_mask; // 0x40 + // open: interrupt force, extended interrupt acknowledge +} irqmp_t; + + +// mctrl +typedef struct { + volatile uint32_t mcfg1; // 0x00 + volatile uint32_t mcfg2; // 0x04 + volatile uint32_t mcfg3; // 0x08 + volatile uint32_t mcfg4; // 0x0c +} mctrl_t; + + +//////////////////// +// hardware units + +// ZPU frequency +#define F_CPU (125000000) + +// set min prescaler to ntimers+1 +#define TIMER_PRESCALER (8) + +// scaler for uart +#define UART_BAUD_RATE (115200) +//#define UART_BAUD_RATE (9600) +#define UART_SCALER (F_CPU/(8 * UART_BAUD_RATE)) +#define UART_FIFOSIZE (16) + +// scaler for i2c +#define I2C_PRESCALER_100K (F_CPU/(5 * 100000)-1) +#define I2C_PRESCALER_400K (F_CPU/(5 * 400000)-1) + + +extern apbuart_t *uart0; +extern gptimer_t *timer0; +extern irqmp_t *irqmp0; +extern apbvga_t *vga0; +extern grgpio_t *gpio0; +extern greth_t *ether0; +extern mctrl_t *mctrl0; +volatile extern uint32_t *debug_con0; +volatile extern uint32_t *reset_reg; +extern ddrspa_t *ddr0; + +extern i2cmst_t *i2c_dvi; +extern i2cmst_t *i2c_fmc; + +//char *debug_con0 = (char *) 0x80000000; +//uint32_t *reset_reg = (uint32_t *) 0x80000004; +//apbuart_t *uart0 = (apbuart_t *) 0x80000100; +//gptimer_t *timer0 = (gptimer_t *) 0x80000200; +//grgpio_t *gpio0 = (grgpio_t *) 0x80000400; +//apbvga_t *vga0 = (apbvga_t *) 0x80000600; +//i2cmst_t *i2cmst0 = (i2cmst_t *) 0x80000700; + +//greth_t *ether0 = (greth_t *) 0x80000c00; +//dcm_ctrl_t *dcm_ctrl0 = (dcm_ctrl_t *) 0x80000e00; +//ddrspa_t *ddr0 = (ddrspa_t *) 0xfff00000; + +#endif // PERIPHERIE_H diff --git a/mig_test/software/include/timer.h b/mig_test/software/include/timer.h new file mode 100644 index 0000000..fa4875f --- /dev/null +++ b/mig_test/software/include/timer.h @@ -0,0 +1,49 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/timer.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#include "peripherie.h" + +#ifndef TIMER_H +#define TIMER_H + + +//////////////////////////////////////// +// timer functions + + +// wait for a given time in micro seconds +void usleep(uint32_t usec); + +// wait for given time in milli seconds +void msleep(uint32_t msec); + + +// wait for given time in seconds +void sleep(uint32_t sec); + + +// deliver the milli seconds from timer 0.1 +uint32_t msecs( void); + +// deliver the seconds from timer 0.2 +uint32_t seconds( void); + +// deliver the time (in seconds and fraction) from timer +uint32_t get_time( void); + +// just a loop +void wait( uint32_t value); + + +// initialisation for the timer +void timer_init( void); + +#define TIMER_STOP timer0->e[1].ctrl &= ~TIMER_ENABLE; +#define TIMER_RUN timer0->e[1].ctrl |= TIMER_ENABLE; + +#endif // TIMER_H diff --git a/mig_test/software/include/types.h b/mig_test/software/include/types.h new file mode 100644 index 0000000..d8e6862 --- /dev/null +++ b/mig_test/software/include/types.h @@ -0,0 +1,43 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/types.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef TYPES_H +#define TYPES_H + +//////////////////// +// common types + +typedef signed char int8_t; +typedef unsigned char uint8_t; + +typedef short int16_t; +typedef unsigned short uint16_t; + +typedef long int32_t; +typedef unsigned long uint32_t; + +typedef long long int64_t; +typedef unsigned long long uint64_t; + +#define TRUE (1==1) +#define FALSE (1==0) + + +//////////////////////////////////////// +// common defines + +#define set_bit(mem, bv) ((mem) |= bv) +#define clear_bit(mem, bv) ((mem) &= ~bv) +#define toggle_bit(mem, bv) ((mem) ^= bv) +#define bit_is_set(mem, bv) (mem & bv) +#define bit_is_clear(mem, bv) (!(mem & bv)) +#define loop_until_bit_is_set(mem, bv) do {} while( bit_is_clear(mem, bv)) +#define loop_until_bit_is_clear(mem, bv) do {} while( bit_is_set(mem, bv)) + + +#endif // TYPES_H diff --git a/mig_test/software/include/uart.h b/mig_test/software/include/uart.h new file mode 100644 index 0000000..ca040e4 --- /dev/null +++ b/mig_test/software/include/uart.h @@ -0,0 +1,25 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/uart.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef UART_H +#define UART_H + + +//////////////////////////////////////// +// uart functions + +#define UART_HW_HANDSHAKE_ON (uart0-> ctrl |= UART_CONTROL_FLOW_CONTROL) +#define UART_HW_HANDSHAKE_OFF (uart0-> ctrl &= ~UART_CONTROL_FLOW_CONTROL) + +void uart_init( void); +unsigned int uart_check_receiver(); +char uart_getchar(); +void uart_putchar_raw( char c); +char uart_putchar( char c); + +#endif // UART_H diff --git a/mig_test/software/include/vga.h b/mig_test/software/include/vga.h new file mode 100644 index 0000000..f4d3914 --- /dev/null +++ b/mig_test/software/include/vga.h @@ -0,0 +1,18 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/include/vga.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#include "peripherie.h" + + +extern uint8_t vga_line; +extern uint8_t vga_column; + +void vga_init( void); +void vga_clear( void); +void vga_putchar( char c); + diff --git a/mig_test/software/lib/crt0.S b/mig_test/software/lib/crt0.S new file mode 100644 index 0000000..9c9e199 --- /dev/null +++ b/mig_test/software/lib/crt0.S @@ -0,0 +1,973 @@ +/* Startup code for ZPU + Copyright (C) 2005 Free Software Foundation, Inc. + +This file is free software; you can redistribute it and/or modify it +under the terms of the GNU General Public License as published by the +Free Software Foundation; either version 2, or (at your option) any +later version. + +In addition to the permissions in the GNU General Public License, the +Free Software Foundation gives you unlimited permission to link the +compiled version of this file with other programs, and to distribute +those programs without any restriction coming from the use of this +file. (The General Public License restrictions do apply in other +respects; for example, they cover modification of the file, and +distribution when not linked into another program.) + +This file is distributed in the hope that it will be useful, but +WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; see the file COPYING. If not, write to +the Free Software Foundation, 59 Temple Place - Suite 330, +Boston, MA 02111-1307, USA. */ + .file "crt0.S" + + +; cleaned BLa + + +; .section ".fixed_vectors","ax" +; KLUDGE!!! we remove the executable bit to avoid relaxation + .section ".fixed_vectors","a" + +; DANGER!!!! +; we need to align these code sections to 32 bytes, which +; means we must not use any assembler instructions that are relaxed +; at linker time +; DANGER!!!! + + .macro fixedim value + im \value + .endm + + .macro jsr address + im _memreg ; save R0 + load + im _memreg+4 ; save R1 + load + im _memreg+8 ; save R2 + load + fixedim \address + call + im _memreg+8 + store ; restore R2 + im _memreg+4 + store ; restore R1 + im _memreg + store ; restore R0 + .endm + + + .macro jmp address + fixedim \address + poppc + .endm + + + .macro fast_neg + not + im 1 + add + .endm + + .macro cimpl funcname + ; save R0 + im _memreg + load + + ; save R1 + im _memreg+4 + load + + ; save R2 + im _memreg+8 + load + + loadsp 20 + loadsp 20 + + fixedim \funcname + call + + ; destroy arguments on stack + storesp 0 + storesp 0 + + im _memreg + load + + ; poke the result into the right slot + storesp 24 + + ; restore R2 + im _memreg+8 + store + + ; restore R1 + im _memreg+4 + store + + ; restore r0 + im _memreg + store + + + storesp 4 + poppc + .endm + + .macro mult1bit + ; create mask of lowest bit in A + loadsp 8 ; A + im 1 + and + im -1 + add + not + loadsp 8 ; B + and + add ; accumulate in C + + ; shift B left 1 bit + loadsp 4 ; B + addsp 0 + storesp 8 ; B + + ; shift A right 1 bit + loadsp 8 ; A + flip + addsp 0 + flip + storesp 12 ; A + .endm + + + +/* vectors */ + .balign 32,0 +# offset 0x0000 0000 + .globl _start +_start: + ; intSp must be 0 when we jump to _premain; aha BLa + + ;im ZPU_ID + ;loadsp 0 + ;im _cpu_config + ;store + ;config + jmp _premain + + + .balign 32,0 +# offset 0x0000 0020 + .globl _zpu_interrupt_vector +_zpu_interrupt_vector: + jmp ___zpu_interrupt_vector + +# memreg moved Bla +# offset 0x0000 0030 + .balign 16,0 + .globl _memreg + .weak _memreg +_memreg: + + + +/* instruction emulation code */ + +# opcode 34 +# offset 0x0000 0040 + .balign 32,0 +_loadh: + loadsp 4 + ; by not masking out bit 0, we cause a memory access error + ; on unaligned access + im ~0x2 + and + load + + ; mult 8 + loadsp 8 + im 3 + and + fast_neg + im 2 + add + im 3 + ashiftleft + ; shift right addr&3 * 8 + lshiftright + im 0xffff + and + storesp 8 + + poppc + +# opcode 35 +# offset 0x0000 0060 + .balign 32,0 +_storeh: + loadsp 4 + ; by not masking out bit 0, we cause a memory access error + ; on unaligned access + im ~0x2 + and + load + + ; mask + im 0xffff + loadsp 12 + im 3 + and + fast_neg + im 2 + add + im 3 + ashiftleft + ashiftleft + not + + and + + loadsp 12 + im 0xffff + + nop + + fixedim _storehtail + poppc + + +# opcode 36 +# offset 0x0000 0080 + .balign 32,0 +_lessthan: + loadsp 8 + fast_neg + loadsp 8 + add + + ; DANGER!!!! + ; 0x80000000 will overflow when negated, so we need to mask + ; the result above with the compare positive to negative + ; number case + loadsp 12 + loadsp 12 + not + and + not + and + + + ; handle case where we are comparing a negative number + ; and positve number. This can underflow. E.g. consider 0x8000000 < 0x1000 + loadsp 12 + not + loadsp 12 + and + + or + + + + flip + im 1 + and + + + storesp 12 + storesp 4 + poppc + + +# opcode 37 +# offset 0x0000 00a0 + .balign 32,0 +_lessthanorequal: + loadsp 8 + loadsp 8 + lessthan + loadsp 12 + loadsp 12 + eq + or + + storesp 12 + storesp 4 + poppc + + +# opcode 38 +# offset 0x0000 00c0 + .balign 32,0 +_ulessthan: + ; fish up arguments + loadsp 4 + loadsp 12 + + /* low: -1 if low bit dif is negative 0 otherwise: neg (not x&1 and (y&1)) + x&1 y&1 neg (not x&1 and (y&1)) + 1 1 0 + 1 0 0 + 0 1 -1 + 0 0 0 + + */ + loadsp 4 + not + loadsp 4 + and + im 1 + and + neg + + + /* high: upper 31-bit diff is only wrong when diff is 0 and low=-1 + high=x>>1 - y>>1 + low + + extremes + + 0000 - 1111: + low= neg(not 0 and 1) = 1111 (-1) + high=000+ neg(111) +low = 000 + 1001 + low = 1000 + OK + + 1111 - 0000 + low=neg(not 1 and 0) = 0 + high=111+neg(000) + low = 0111 + OK + + + */ + loadsp 8 + + flip + addsp 0 + flip + + loadsp 8 + + flip + addsp 0 + flip + + sub + + ; if they are equal, then the last bit decides... + add + + /* test if negative: result = flip(diff) & 1 */ + flip + im 1 + and + + ; destroy a&b which are on stack + storesp 4 + storesp 4 + + storesp 12 + storesp 4 + poppc + +# opcode 39 +# offset 0x0000 00e0 + .balign 32,0 +_ulessthanorequal: + loadsp 8 + loadsp 8 + ulessthan + loadsp 12 + loadsp 12 + eq + or + + storesp 12 + storesp 4 + poppc + + +# opcode 40 +# offset 0x0000 0100 + .balign 32,0 + .globl _swap +_swap: + breakpoint ; tbd + +# opcode 41 +# offset 0x0000 0120 + .balign 32,0 +_slowmult: + im _slowmultImpl + poppc + +# opcode 42 +# offset 0x0000 0140 + .balign 32,0 +_lshiftright: + loadsp 8 + flip + + loadsp 8 + ashiftleft + flip + + storesp 12 + storesp 4 + + poppc + + +# opcode 43 +# offset 0x0000 0160 + .balign 32,0 +_ashiftleft: + loadsp 8 + + loadsp 8 + im 0x1f + and + fast_neg + im _ashiftleftEnd + add + poppc + + + +# opcode 44 +# offset 0x0000 0180 + .balign 32,0 +_ashiftright: + loadsp 8 + loadsp 8 + lshiftright + + ; handle signed value + im -1 + loadsp 12 + im 0x1f + and + lshiftright + not ; now we have an integer on the stack with the signed + ; bits in the right position + + ; mask these bits with the signed bit. + loadsp 16 + not + flip + im 1 + and + im -1 + add + + and + + ; stuff in the signed bits... + or + + ; store result into correct stack slot + storesp 12 + + ; move up return value + storesp 4 + poppc + +# opcode 45 +# offset 0x0000 01a0 + .balign 32,0 +_call: + ; fn + loadsp 4 + + ; return address + loadsp 4 + + ; store return address + storesp 12 + + ; fn to call + storesp 4 + + pushsp ; flush internal stack + popsp + + poppc + +_storehtail: + + and + loadsp 12 + im 3 + and + fast_neg + im 2 + add + im 3 + ashiftleft + nop + ashiftleft + + or + + loadsp 8 + im ~0x3 + and + + store + + storesp 4 + storesp 4 + poppc + + +# opcode 46 +# offset 0x0000 01c0 + .balign 32,0 +_eq: + loadsp 8 + fast_neg + loadsp 8 + add + + not + loadsp 0 + im 1 + add + not + and + flip + im 1 + and + + storesp 12 + storesp 4 + poppc + +# opcode 47 +# offset 0x0000 01e0 + .balign 32,0 +_neq: + loadsp 8 + fast_neg + loadsp 8 + add + + not + loadsp 0 + im 1 + add + not + and + flip + + not + + im 1 + and + + storesp 12 + storesp 4 + poppc + + +# opcode 48 +# offset 0x0000 0200 + .balign 32,0 +_neg: + loadsp 4 + not + im 1 + add + storesp 8 + + poppc + + +# opcode 49 +# offset 0x0000 0220 + .balign 32,0 +_sub: + loadsp 8 + loadsp 8 + fast_neg + add + storesp 12 + + storesp 4 + + poppc + + +# opcode 50 +# offset 0x0000 0240 + .balign 32,0 +_xor: + loadsp 8 + not + loadsp 8 + and + + loadsp 12 + loadsp 12 + not + and + + or + + storesp 12 + storesp 4 + poppc + +# opcode 51 +# offset 0x0000 0260 + .balign 32,0 +_loadb: + loadsp 4 + im ~0x3 + and + load + + loadsp 8 + im 3 + and + fast_neg + im 3 + add + ; x8 + addsp 0 + addsp 0 + addsp 0 + + lshiftright + + im 0xff + and + storesp 8 + + poppc + + +# opcode 52 +# offset 0x0000 0280 + .balign 32,0 +_storeb: + loadsp 4 + im ~0x3 + and + load + + ; mask away destination + im _mask + loadsp 12 + im 3 + and + addsp 0 + addsp 0 + add + load + + and + + + im _storebtail + poppc + +# opcode 53 +# offset 0x0000 02a0 + .balign 32,0 +_div: + jmp ___div + +# opcode 54 +# offset 0x0000 02c0 + .balign 32,0 +_mod: + jmp ___mod + +# opcode 55 +# offset 0x0000 02e0 + .balign 32,0 + .globl _eqbranch +_eqbranch: + loadsp 8 + + ; eq + + not + loadsp 0 + im 1 + add + not + and + flip + im 1 + and + + ; mask + im -1 + add + loadsp 0 + storesp 16 + + ; no branch address + loadsp 4 + + and + + ; fetch boolean & neg mask + loadsp 12 + not + + ; calc address & mask for branch + loadsp 8 + loadsp 16 + add + ; subtract 1 to find PC of branch instruction + im -1 + add + + and + + or + + storesp 4 + storesp 4 + storesp 4 + poppc + + +# opcode 56 +# offset 0x0000 0300 + .balign 32,0 + .globl _neqbranch +_neqbranch: + loadsp 8 + + ; neq + + not + loadsp 0 + im 1 + add + not + and + flip + + not + + im 1 + and + + ; mask + im -1 + add + loadsp 0 + storesp 16 + + ; no branch address + loadsp 4 + + and + + ; fetch boolean & neg mask + loadsp 12 + not + + ; calc address & mask for branch + loadsp 8 + loadsp 16 + add + ; find address of branch instruction + im -1 + add + + and + + or + + storesp 4 + storesp 4 + storesp 4 + poppc + +# opcode 57 +# offset 0x0000 0320 + .balign 32,0 + .globl _poppcrel +_poppcrel: + add + ; address of poppcrel + im -1 + add + poppc + +# opcode 58 +# offset 0x0000 0340 + .balign 32,0 + .globl _config +_config: + im 1 + nop + im _hardware + store + storesp 4 + poppc + +# opcode 59 +# offset 0x0000 0360 + .balign 32,0 +_pushpc: + loadsp 4 + im 1 + add + storesp 8 + poppc + +# opcode 60 +# offset 0x0000 0380 + .balign 32,0 +_syscall_emulate: + .byte 0 + +# opcode 61 +# offset 0x0000 03a0 + .balign 32,0 +_pushspadd: + pushsp + im 4 + add + loadsp 8 + addsp 0 + addsp 0 + add + storesp 8 + + poppc + +# opcode 62 +# offset 0x0000 03c0 + .balign 32,0 +_halfmult: + breakpoint + +# opcode 63 +# offset 0x0000 03e0 + .balign 32,0 +_callpcrel: + loadsp 4 + loadsp 4 + add + im -1 + add + loadsp 4 + + storesp 12 ; return address + storesp 4 + pushsp ; this will flush the internal stack. + popsp + poppc + + .text + + + + +_ashiftleftBegin: + .rept 0x1f + addsp 0 + .endr +_ashiftleftEnd: + storesp 12 + storesp 4 + poppc + +_storebtail: + loadsp 12 + im 0xff + and + loadsp 12 + im 3 + and + + fast_neg + im 3 + add + ; x8 + addsp 0 + addsp 0 + addsp 0 + + ashiftleft + + or + + loadsp 8 + im ~0x3 + and + + store + + storesp 4 + storesp 4 + poppc + + + + +; NB! this is not an EMULATE instruction. It is a varargs fn. + .globl _syscall +_syscall: + syscall + poppc + +_slowmultImpl: + + loadsp 8 ; A + loadsp 8 ; B + im 0 ; C + +.LmoreMult: + mult1bit + + ; cutoff + loadsp 8 + .byte (.LmoreMult-.Lbranch)&0x7f+0x80 +.Lbranch: + neqbranch + + storesp 4 + storesp 4 + storesp 12 + storesp 4 + poppc + +___mod: + cimpl __modsi3 +___div: + cimpl __divsi3 + + .globl ___zpu_interrupt_vector + .weak ___zpu_interrupt_vector + +___zpu_interrupt_vector: + jsr _zpu_interrupt + poppc + + .data + .balign 4,0 +_mask: + .long 0x00ffffff + .long 0xff00ffff + .long 0xffff00ff + .long 0xffffff00 + + + .globl _hardware +_hardware: + .long 0 + .globl _cpu_config +_cpu_config: + .long 0 + diff --git a/mig_test/software/lib/divmod.c b/mig_test/software/lib/divmod.c new file mode 100644 index 0000000..e810ea7 --- /dev/null +++ b/mig_test/software/lib/divmod.c @@ -0,0 +1,50 @@ +long udivmodsi4 ();
+
+long
+__divsi3 (long a, long b)
+{
+ int neg = 0;
+ long res;
+
+ if (a < 0)
+ {
+ a = -a;
+ neg = !neg;
+ }
+
+ if (b < 0)
+ {
+ b = -b;
+ neg = !neg;
+ }
+
+ res = udivmodsi4 (a, b, 0);
+
+ if (neg)
+ res = -res;
+
+ return res;
+}
+
+long
+__modsi3 (long a, long b)
+{
+ int neg = 0;
+ long res;
+
+ if (a < 0)
+ {
+ a = -a;
+ neg = 1;
+ }
+
+ if (b < 0)
+ b = -b;
+
+ res = udivmodsi4 (a, b, 1);
+
+ if (neg)
+ res = -res;
+
+ return res;
+}
diff --git a/mig_test/software/lib/premain.c b/mig_test/software/lib/premain.c new file mode 100644 index 0000000..6206c06 --- /dev/null +++ b/mig_test/software/lib/premain.c @@ -0,0 +1,26 @@ +/* +extern char _data_start; +extern char _data_end; +extern char _data_start_rom; +*/ + + +void _premain( void) +{ +/* + int count; + char *dst = (char *) &_data_start; + char *src = (char *) &_data_start_rom; + + if ( (&_data_start) != (&_data_start_rom) ) + { + count = &_data_end - &_data_start; + while (count--) + { + *dst++ = *src++; + } + } +*/ + + main(); +} diff --git a/mig_test/software/lib/udivmodsi4.c b/mig_test/software/lib/udivmodsi4.c new file mode 100644 index 0000000..7d1cb67 --- /dev/null +++ b/mig_test/software/lib/udivmodsi4.c @@ -0,0 +1,24 @@ +unsigned long
+udivmodsi4(unsigned long num, unsigned long den, int modwanted)
+{
+ unsigned long bit = 1;
+ unsigned long res = 0;
+
+ while (den < num && bit && !(den & (1L<<31)))
+ {
+ den <<=1;
+ bit <<=1;
+ }
+ while (bit)
+ {
+ if (num >= den)
+ {
+ num -= den;
+ res |= bit;
+ }
+ bit >>=1;
+ den >>=1;
+ }
+ if (modwanted) return num;
+ return res;
+}
diff --git a/mig_test/software/libhal/Makefile b/mig_test/software/libhal/Makefile new file mode 100644 index 0000000..fe149c1 --- /dev/null +++ b/mig_test/software/libhal/Makefile @@ -0,0 +1,31 @@ +# +# $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/libhal/Makefile $ +# $Date$ +# $Author$ +# $Revision$ +# + +DIR=.. +include include.mak + + +C_FILES=hw.c common.c timer.c uart.c vga.c +OBJECTS=hw.o common.o timer.o uart.o vga.o +INCLUDES=../include/peripherie.h + + +all: libhal.a + + +libhal.a: $(OBJECTS) $(INCLUDES) + $(AR) clr libhal.a $(OBJECTS) + $(RANLIB) libhal.a + + +%.o: %.c $(INCLUDES) + $(CC) -c -o $@ $< $(CFLAGS) + + +clean: + rm -f *.o + rm -f libhal.a diff --git a/mig_test/software/libhal/common.c b/mig_test/software/libhal/common.c new file mode 100644 index 0000000..941c7e4 --- /dev/null +++ b/mig_test/software/libhal/common.c @@ -0,0 +1,203 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWF_Internals/FPGA/hw_sp605/bsp_zpuahb/software/libhal/common.c $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#include <peripherie.h> +#include <stdlib.h> // utoa, dtostrf (actually not implemented) + +//////////////////////////////////////// +// common stuff + + +// libgloss/zpu/syscalls.c work with inbyte and outbyte +char putchar( char c) +{ + return stdout( c); +} + + + +void putstr(const char *s) +{ + while (*s) + putchar( *s++); +} + + +/* + print data in binary format + prepend 0b + parameter: dataType - number of bits +*/ +void putbin( unsigned char dataType, unsigned long data) +{ + unsigned char i, temp; + char dataString[] = "0b "; + + for(i=dataType; i>0; i--) + { + temp = data % 2; + dataString [i+1] = temp + 0x30; + data = data/2; + } + putstr( dataString); +} + + +// http://asalt-vehicle.googlecode.com/svn› trunk› src› uart.c +unsigned char puthex( unsigned char dataType, unsigned long data) +{ + unsigned char count = 8; // number of chars + unsigned char i; + unsigned char temp; + char dataString[] = " "; + + // dataType = bit width + if (dataType == 4) count = 1; + if (dataType == 8) count = 2; + if (dataType == 16) count = 4; + + for(i=count; i>0; i--) + { + temp = data % 16; + if (temp<10) dataString [i-1] = temp + 0x30; + else dataString [i-1] = (temp - 10) + 0x41; + + data = data/16; + } + dataString[count] = '\0'; + putstr( dataString); + + return count; // return length +} + + + +// http://www.mikrocontroller.net/articles/FAQ#itoa.28.29 +unsigned char itoa( long z, char* Buffer ) +{ + int i = 0; + int j; + char tmp; + unsigned u; // In u bearbeiten wir den Absolutbetrag von z. + + // ist die Zahl negativ? + // gleich mal ein - hinterlassen und die Zahl positiv machen + if( z < 0 ) { + Buffer[0] = '-'; + Buffer++; + // -INT_MIN ist idR. größer als INT_MAX und nicht mehr + // als int darstellbar! Man muss daher bei der Bildung + // des Absolutbetrages aufpassen. + u = ( (unsigned)-(z+1) ) + 1; + } + else { + u = (unsigned)z; + } + // die einzelnen Stellen der Zahl berechnen + do { + Buffer[i++] = '0' + u % 10; + u /= 10; + } while( u > 0 ); + + // den String in sich spiegeln + for( j = 0; j < i / 2; ++j ) { + tmp = Buffer[j]; + Buffer[j] = Buffer[i-j-1]; + Buffer[i-j-1] = tmp; + } + Buffer[i] = '\0'; + // Laengenkorrektur wg. Vorzeichen + if (z < 0) + i++; + return i; // BLa: Laenge des Buffers zurueckgeben +} + +unsigned char utoa( unsigned long i, char *p) +{ + unsigned char length; + + length = 0; + do { + *--p = '0' + i % 10; + i /= 10; + length++; + } while (i > 0); + return length; +} + + +unsigned char putuint( unsigned long data) +{ + char str[20]; + unsigned char length; + + length = utoa( data, str); + putstr( str); + return length; +} + + +unsigned char putint( long data) +{ + char str[20]; + unsigned char length; + + length = itoa( data, str); + putstr( str); + return length; +} +/* + putint( 1000); putchar('\n'); // ok + putint( 10000); putchar('\n'); // ok + putint( 100000); putchar('\n'); // ok + putint( 1000000); putchar('\n'); // ok + putint( 10000000); putchar('\n'); // ok + putint( 100000000); putchar('\n'); // ok + putint( 200000000); putchar('\n'); // ok + putint( 400000000); putchar('\n'); // ok + putint( 800000000); putchar('\n'); // ok + putint( 1000000000); putchar('\n'); // ok + putint( 2000000000); putchar('\n'); // ok + putint( 4000000000); putchar('\n'); // -294967296 warning: this decimal constant is unsigned only in ISO C90 + putint( 8000000000); putchar('\n'); // -589934592 warning: integer constant is too large for "long" type +*/ + +unsigned char putfloat( float data) +{ + char str[20]; + unsigned char length; + + length = dtostrf( data, 2, 1, str); + putstr( str); + return length; +} + + +// p means pseudo float +// (an integer with 3 significant digits after the point) +void putpfloat( unsigned long data) +{ + putint( data/1000); + putchar( '.'); + putint( data%1000 ); +} + + +unsigned char putbool( int data) +{ + if (data) + { + putstr( "yes"); + } + else + { + putstr( "no"); + } + return 0; +} + diff --git a/mig_test/software/libhal/hw.c b/mig_test/software/libhal/hw.c new file mode 100644 index 0000000..8401010 --- /dev/null +++ b/mig_test/software/libhal/hw.c @@ -0,0 +1,28 @@ +#include "peripherie.h" + +volatile uint32_t *debug_con0 = (uint32_t *) 0x80000000; +volatile uint32_t *reset_reg = (uint32_t *) 0x80000004; +apbuart_t *uart0 = (apbuart_t *) 0x80000100; +gptimer_t *timer0 = (gptimer_t *) 0x80000200; +irqmp_t *irqmp0 = (irqmp_t *) 0x80000300; +grgpio_t *gpio0 = (grgpio_t *) 0x80000400; +apbvga_t *vga0 = (apbvga_t *) 0x80000600; +i2cmst_t *i2c_dvi = (i2cmst_t *) 0x80000700; +i2cmst_t *i2c_fmc = (i2cmst_t *) 0x80000a00; + +mctrl_t *mctrl0 = (mctrl_t *) 0x80000f00; +/* +greth_t *ether0 = (greth_t *) 0x80000c00; +dcm_ctrl_t *dcm_ctrl0 = (dcm_ctrl_t *) 0x80000e00; +ddrspa_t *ddr0 = (ddrspa_t *) 0xfff00000; +*/ + +char debug_putchar( char c) +{ + *debug_con0 = (uint32_t) c; + return 0; +} + +char (* stdout) (char) = debug_putchar; + + diff --git a/mig_test/software/libhal/include.mak b/mig_test/software/libhal/include.mak new file mode 100644 index 0000000..226ca66 --- /dev/null +++ b/mig_test/software/libhal/include.mak @@ -0,0 +1,16 @@ +AS=zpu-elf-as +CC=zpu-elf-gcc +LD=zpu-elf-ld +OBJCOPY=zpu-elf-objcopy +OBJDUMP=zpu-elf-objdump +AR=zpu-elf-ar +RANLIB=zpu-elf-ranlib +SIZE=zpu-elf-size + +ROMGEN=$(DIR)/support/zpuromgen + +INLCUDES=-I$(DIR)/include +ASFLAGS=-adhls -g $(INLCUDES) +CFLAGS=-O3 -phi -Wall -ffunction-sections -fdata-sections $(INLCUDES) +LDFLAGS=--relax --gc-sections +OBJCOPYFLAGS=--strip-debug --discard-locals diff --git a/mig_test/software/libhal/timer.c b/mig_test/software/libhal/timer.c new file mode 100644 index 0000000..789c565 --- /dev/null +++ b/mig_test/software/libhal/timer.c @@ -0,0 +1,132 @@ +#include "peripherie.h" + +#include "timer.h" + +//////////////////////////////////////// +// timer functions +// timer 0.0 is used for usleep +// timer 0.0 is used for msleep +// timer 0.0 is used for sleep (via msleep) +// +// timer 0.0 ticks with milliseconds +// timer 0.1 ticks with seconds + + +// wait for a given time in micro seconds +void usleep(uint32_t usec) +{ + uint32_t tcr; + + // 1 usec = 6 + timer0->e[0].reload = (F_CPU/TIMER_PRESCALER/1000000)*usec; + timer0->e[0].ctrl = TIMER_ENABLE | TIMER_LOAD; + + do + { + tcr = timer0->e[0].ctrl; + } while ( (tcr & TIMER_ENABLE)); +} + + +// wait for given time in milli seconds +void msleep(uint32_t msec) +{ + uint32_t tcr; + + // some values for 50MHz @ Spartan 3e + // 1 msec = 6250 + // 167 msec = 2**20 (20 bit counter) 391 slices + // 2684 msec = 2**24 (24 bit counter) 450 slices + // = 2**32 (32 bit counter) 572 slices + // some values for 52MHz @ Spartan 6 + // 1 msec = 6500 + // 161 msec = 2**20 (20 bit counter) + // 2581 msec = 2**24 (24 bit counter) 450 slices + // 660 sec = 2**32 (32 bit counter) 572 slices + timer0->e[0].reload = (F_CPU/TIMER_PRESCALER/1000)*msec; + timer0->e[0].ctrl = TIMER_ENABLE | TIMER_LOAD; + + do + { + tcr = timer0->e[0].ctrl; + } while ( (tcr & TIMER_ENABLE)); +} + + +// wait for given time in seconds +void sleep(uint32_t sec) +{ + uint32_t timer; + + for (timer=0; timer<sec; timer++) + { + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + msleep( 100); + } +} + + + +// deliver the milliseconds from timer 0.0 +uint32_t msecs( void) +{ + return( timer0->e[0].value); +} + + +// deliver the seconds from timer 0.1 +uint32_t seconds( void) +{ + return( timer0->e[1].value); +} + + +// deliver the time (in seconds and fraction) from timer +uint32_t get_time( void) +{ + uint32_t value; + + TIMER_STOP; + + // combine values (seconds.milliseconds) + value = timer0->e[1].value * 1000 + timer0->e[0].value; + + TIMER_RUN; + + return( value); +} + + +// just a loop +void wait( uint32_t value) +{ + uint32_t i; + + for (i=0; i<value; i++) {} +} + + +// initialisation for the timer +void timer_init( void) +{ + timer0->scaler_reload = TIMER_PRESCALER-1; // set prescaler + + // set timer 0.1 in chain mode to timer 0.0 + // so it counts in seconds + timer0->e[1].reload = 0xffffffff; + timer0->e[1].ctrl = TIMER_ENABLE | TIMER_RESTART | TIMER_LOAD | TIMER_CHAIN; + + // set timer 0.0 to free running in msec + timer0->e[0].reload = (F_CPU/TIMER_PRESCALER/CLOCKS_PER_SECOND); + timer0->e[0].ctrl = TIMER_ENABLE | TIMER_RESTART | TIMER_LOAD; +} + + diff --git a/mig_test/software/libhal/uart.c b/mig_test/software/libhal/uart.c new file mode 100644 index 0000000..d1290b5 --- /dev/null +++ b/mig_test/software/libhal/uart.c @@ -0,0 +1,56 @@ +//#include <stdio.h> + +#include "peripherie.h" + +//////////////////////////////////////// +// common defines + +#define bit_is_set(mem, bv) (mem & bv) +#define bit_is_clear(mem, bv) (!(mem & bv)) +#define loop_until_bit_is_set(mem, bv) do {} while( bit_is_clear(mem, bv)) +#define loop_until_bit_is_clear(mem, bv) do {} while( bit_is_set(mem, bv)) + + +//////////////////////////////////////// +// uart functions + + +void uart_init( void) +{ + uart0->scaler = UART_SCALER; + uart0->ctrl = UART_CONTROL_TX_ENABLE | UART_CONTROL_RX_ENABLE; +} + + +unsigned int uart_check_receiver() +{ + return ( bit_is_set( uart0->status, UART_STATUS_DATA_READY) != 0); +} + + +char uart_getchar() +{ + loop_until_bit_is_set(uart0->status, UART_STATUS_DATA_READY); + return uart0->data; +} + + +void uart_putchar_raw( char c) +{ + #if UART_FIFOSIZE==1 || !defined(UART_FIFOSIZE) + loop_until_bit_is_set( uart0->status, UART_STATUS_TX_REG_EMPTY); + #else + loop_until_bit_is_clear( uart0->status, UART_STATUS_TX_FIFO_FULL); + #endif + uart0->data = c; +} + + +char uart_putchar( char c) +{ + if (c == '\n') + uart_putchar_raw( '\r'); + uart_putchar_raw( c); + return 0; +} + diff --git a/mig_test/software/libhal/vga.c b/mig_test/software/libhal/vga.c new file mode 100644 index 0000000..8cc55b9 --- /dev/null +++ b/mig_test/software/libhal/vga.c @@ -0,0 +1,67 @@ +//#include <stdio.h> + +#include "peripherie.h" + + +//////////////////////////////////////// +// common defines + +#define bit_is_set(mem, bv) (mem & bv) +#define bit_is_clear(mem, bv) (!(mem & bv)) +#define loop_until_bit_is_set(mem, bv) do {} while( bit_is_clear(mem, bv)) +#define loop_until_bit_is_clear(mem, bv) do {} while( bit_is_set(mem, bv)) + + + + +uint8_t vga_line; +uint8_t vga_column; + +void vga_init( void) +{ + vga0->background_color = 0x00000000; + vga0->foreground_color = 0x0000ff00; + vga_line = 0; + vga_column = 0; +} + + + +void vga_clear( void) +{ + uint32_t count; + uint32_t count_max = 37*80; + + for(count = 0; count< count_max; count++) + vga0->data = count<<8; + + vga_line = 0; + vga_column = 0; +} + + +void vga_putchar( char c) +{ + + vga0->data = (( vga_line * 80 + vga_column)<<8) | c; + if ( (c == '\n') || (vga_column == 79) ) // line feed (+ carrige return) + { + if (vga_line<36) + vga_line++; + else + vga_line = 0; + + vga_column = 0; + } + else if (c == '\f') // form feed + { + vga_clear(); + } + else + { + vga_column++; + } + +} + + diff --git a/mig_test/software/main.c b/mig_test/software/main.c new file mode 100644 index 0000000..535abf2 --- /dev/null +++ b/mig_test/software/main.c @@ -0,0 +1,296 @@ +/* + * $Date$ + * $Author$ + * $Revision$ + */ + +//#include <stdio.h> + +#define BOARD_GIGABEE + +#include "../include/peripherie.h" +#include <common.h> +#include <timer.h> // sleep +#include <uart.h> +#include "schedule.h" // scheduler_init, scheduler_task_* +#include "monitor.h" // monitor_init, monitor_add_command, monitor_mainloop +#include "monitor_functions.h" // x_function, wmem_function, clear_function, quit_function + + +//////////////////////////////////////// +// named IOs +// input +#define MAC_DATA (1<< 4) +#define SIMULATION_ACTIVE (1<< 31) +// output +#define LED0 (1<< 0) +#define LED1 (1<< 1) +#define LED2 (1<< 2) +#define LED3 (1<< 3) +#define LED_USER (1<< 5) + + + + + + + +//////////////////////////////////////////////////////////// + +uint32_t simulation_active; +volatile uint8_t timer_tick; +uint8_t end_simulation = FALSE; + + +//////////////////////////////////////// +// prototypes + +void running_light( uint32_t simulation_active); + +uint32_t run_light_function( void); + + + + +//////////////////////////////////////// +// combined print functions + +/* +char uart_lcd_putchar( char c, FILE *stream) +{ + uart_putchar( c, stream); + lcd_putc( c, stream); +} +*/ + + + + +// helper functions //////////////////////////////////////// +//////////////////////////////////////////////////////////// + +// monitor functions /////////////////////////////////////// +//////////////////////////////////////////////////////////// + +//////////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////// + +void running_light( uint32_t simulation_active) +{ + unsigned int pattern = 0x80300700; + + while (1) + { + + gpio0->ioout = 0x0000000f & pattern; + pattern = (pattern << 1) | (pattern >> 31); + + + if ( simulation_active) + { + // do only limited runs + if ( timer_tick) + { + timer_tick = FALSE; + scheduler_task_check(); + + if ( end_simulation) break; + } + } + else + { + msleep( 125); + } + } + +} + + +//////////////////////////////////////////////////////////// + + +//////////////////////////////////////////////////////////// + +//////////////////////////////////////////////////////////// +// functions for scheduler + +void end_simulation_task( void) +{ + end_simulation = TRUE; +} + + + +void running_light_task( void) +{ + static unsigned int pattern = 0x80300700; + + gpio0->ioout = 0x0000000f & pattern; + pattern = (pattern << 1) | (pattern >> 31); + + scheduler_task_add( running_light_task, SECONDS( 0.125)); +} + + + +//////////////////////////////////////////////////////////// +// start running light +uint32_t run_light_function( void) +{ + scheduler_task_add( running_light_task, 1); + return 0; +} + + + +// +// process serial commands +// +void uart_monitor( void) +{ + uint8_t c; + uint8_t key_time_out = 250; + uint32_t key_state; + + putchar( '\n'); + + monitor_init(); + + +// monitor_add_command("reset", "system reset", reset_function); + monitor_add_command("sysinfo", "show system info <verbose>", system_info_function); + + monitor_add_command("run", "running light", run_light_function); + + monitor_add_command("wmem", "write word <addr> <length> <value(s)>", wmem_function); + monitor_add_command("x", "eXamine memory <addr> <length>", x_function); + monitor_add_command("task", "print tasklist", scheduler_tasklist); + + monitor_add_command("help", "", help_function); + + + // initial help + help_function(); + + monitor_prompt(); + + monitor_run = TRUE; + + while( monitor_run) + { + // process scheduler + if ( timer_tick) + { + timer_tick = FALSE; + scheduler_task_check(); + } + + // process uart + if ( uart_check_receiver() ) + { + monitor_input( uart_getchar() ); + } + + // process commands + monitor_mainloop(); + } +} + + + +//////////////////////////////////////////////////////////// + +void banner( void) +{ + putstr("\n\n"); + putstr("BSP Trenz Gigabee"); + + char *hw_revision = (char *)0x80000000; + char *svn_revision = (char *)0x80000020; + int32_t *hw_frequency = (int32_t *)0x80000040; + + if (simulation_active) + { + putstr(" (on sim)\n"); + } + else + { + putstr("\nSVN revision : "); putstr( svn_revision); + putstr("\nHW synthesized: "); putstr( hw_revision); + putstr("\nHW frequency : "); putint( *hw_frequency/1000000); putstr(" MHz"); + putstr("\nSW compiled : " __DATE__ " " __TIME__ ); + putstr("\nSW frequency : "); putint( F_CPU/1000000); putstr(" MHz"); + putchar('\n'); + } +} + + +//////////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////// +void _zpu_interrupt( void) +{ + uint32_t reg_val; + + // check for timer 0.0 interrupt + reg_val = timer0->e[0].ctrl; + if bit_is_set( reg_val, TIMER_INT_PENDING) + { + // clear interrupt pending bit + clear_bit( reg_val, TIMER_INT_PENDING); + timer0->e[0].ctrl = reg_val; + + timer_tick = TRUE; + } + return; +} + +//////////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////// + +int main(void) +{ + + // check if on simulator or on hardware + simulation_active = bit_is_set( gpio0->iodata, (1<<31)); + + //////////////////////////////////////////////////////////// + // init stuff + timer_init(); + uart_init(); + scheduler_init(); + + + // enable timer interrupt, for scheduler + set_bit( timer0->e[0].ctrl, TIMER_INT_ENABLE); + + + if (!simulation_active) + { + stdout = uart_putchar; + } + else + { + // debug_putchar is for simulator + stdout = debug_putchar; + } + + //////////////////////////////////////////////////////////// + banner(); + + //////////////////////////////////////////////////////////// + // decide which main function to use + + if ( !simulation_active) + { + uart_monitor(); + } + + // test of scheduler + scheduler_task_add( end_simulation_task, 1); + running_light( simulation_active); + + //////////////////////////////////////////////////////////// + // end simulation + abort(); + +} diff --git a/mig_test/software/monitor.c b/mig_test/software/monitor.c new file mode 100644 index 0000000..c5131e6 --- /dev/null +++ b/mig_test/software/monitor.c @@ -0,0 +1,225 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/monitor.c $ + * $Date$ + * $Author$ + * $Revision$ + */ + +#include "monitor.h" + +//////////////////////////////////////////////////////////// +// monitor functions + +static char command_list[MAX_COMMANDS][MAX_COMMAND_LENGTH]; +static char help_list [MAX_COMMANDS][MAX_HELP_LENGTH]; +static command_ptr_t command_ptr_list[MAX_COMMANDS]; + +uint8_t buffer[BUFFER_LENGTH]; +uint8_t command_number; +uint8_t buffer_position; +command_ptr_t exec_function; + + + +/* + reset some values for monitor +*/ +void monitor_init( void) +{ + buffer_position = 0; + command_number = 0; + exec_function = 0; +} + + +/* + add an command to the monitor list +*/ +void monitor_add_command(char* new_command, char* new_help, command_ptr_t new_command_ptr) +{ + if (command_number < MAX_COMMANDS) + { + strcpy( command_list[ command_number], new_command); + strcpy( help_list[ command_number], new_help); + command_ptr_list[ command_number] = new_command_ptr; + command_number++; + } + else + { + putstr("ERROR: too much commands.\n"); + } +} + + +/* + print out a nice promt +*/ +void monitor_prompt( void) { + putstr("> "); +} + + +/* + check the line buffer content and search command +*/ +void process_buffer( void) { + uint8_t command_index; + uint8_t i; + + i = 0; + + while ( !((buffer[i] == ' ') || (buffer[i] == 0)) ) i++; + + if (!i) { + monitor_prompt(); + return; + } + + for ( command_index = 0; command_index < command_number; command_index++) { + if ( !strncmp( command_list[ command_index], buffer, i) ) { + exec_function = command_ptr_list[ command_index]; + return; + } + } + putstr("command not found.\n"); + monitor_prompt(); +} + + +uint8_t monitor_run; + + +/* + execute the command +*/ +void monitor_mainloop( void) +{ + uint32_t return_value; + + // execute selected function + if (exec_function) { + return_value = exec_function(); + exec_function = 0; + + // print return value (as hex) + if (return_value > 0) + { + putstr("0x"); + if (return_value > 0xffff) + puthex(32, return_value); + else + if (return_value > 0xff) + puthex(16, return_value); + else + puthex(8, return_value); + putchar('\n'); + } + + monitor_prompt(); + } +} + + +/* + add an character to the monitor line buffer +*/ +void monitor_input(uint8_t c) { + + // carrige return + if (c == CR) { + putchar( LF); + buffer[ buffer_position++] = 0; + process_buffer(); + buffer_position = 0; + + // backspace or delete + } else if ( (c == BS) || (c == DEL)) { + if (buffer_position > 0) { + putchar( BS); + putchar( ' '); + putchar( BS); + buffer_position--; + } + } else { + // add to buffer + if ((c >= 0x20) && (buffer_position < (BUFFER_LENGTH-1))) { + putchar( c); + buffer[ buffer_position++] = c; + } + } +} + + +/* + parse the argument as string +*/ +char* monitor_get_argument_string(uint8_t num) +{ + uint8_t index; + uint8_t arg; + + // example line: + // " command arg1 arg2 arg3 " + + index = 0; + + // search for first char (non space) + while (( buffer[ index] != 0) && (buffer[ index] == ' ')) index++; + + for ( arg = 0; arg < num; arg++) + { + // next space + while (( buffer[ index] != 0) && (buffer[ index] != ' ')) index++; + // next non space + while (( buffer[ index] != 0) && (buffer[ index] == ' ')) index++; + } + return &buffer[ index]; +} + + +/* + parse the argument as integer +*/ +int monitor_get_argument_int(uint8_t num) +{ + char *endptr; + return strtol( monitor_get_argument_string(num), &endptr, 0); +} + + +/* + parse the argument as hex number +*/ +uint32_t monitor_get_argument_hex(uint8_t num) +{ + char *endptr; + return strtoul( monitor_get_argument_string(num), &endptr, 16); +} + + + +/* + print all avalible functions as help screen +*/ +uint32_t help_function( void) +{ + uint8_t command_index; + uint8_t i; + + putchar( LF); + putstr("supported commands:\n\n"); + for ( command_index = 0; command_index < command_number; command_index++) { + putstr( command_list[ command_index]); + if (strlen( help_list[ command_index]) > 0 ) + { + for (i = strlen( command_list[ command_index]); i < MAX_COMMAND_LENGTH; i++) putchar(' '); + putstr( " - "); + putstr( help_list[ command_index]); + } + putchar('\n'); + } + putchar( LF); + return command_number; +} + + diff --git a/mig_test/software/monitor.h b/mig_test/software/monitor.h new file mode 100644 index 0000000..74d6472 --- /dev/null +++ b/mig_test/software/monitor.h @@ -0,0 +1,67 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/monitor.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef MONITOR_H +#define MONITOR_H + +#include <types.h> + +//////////////////////////////////////////////////////////// +// monitor definitions + +#define MAX_COMMANDS (64) +#define MAX_COMMAND_LENGTH (12) +#define MAX_HELP_LENGTH (40) +#define BUFFER_LENGTH (80) + +#define CR '\r' +#define LF '\n' +#define BS '\b' +#define DEL (0x7f) + +#define SOH (0x01) +#define EOT (0x04) +#define ACK (0x06) +#define NAK (0x15) +#define CAN (0x18) +#define EOF (0x1a) + + +//////////////////////////////////////////////////////////// +// monitor variables + +typedef uint32_t (*command_ptr_t) (void); + +extern char command_list[MAX_COMMANDS][MAX_COMMAND_LENGTH]; +extern char help_list [MAX_COMMANDS][MAX_HELP_LENGTH]; +extern command_ptr_t command_ptr_list[MAX_COMMANDS]; + +extern uint8_t buffer[BUFFER_LENGTH]; +extern uint8_t command_number; +extern uint8_t buffer_position; +extern command_ptr_t exec_function; + + +//////////////////////////////////////////////////////////// +// monitor functions + +void monitor_init( void); +void monitor_add_command(char* new_command, char* new_help, command_ptr_t new_command_ptr); +void monitor_prompt( void); +void process_buffer( void); +extern uint8_t monitor_run; + +void monitor_mainloop( void); +void monitor_input(uint8_t c); +char* monitor_get_argument_string(uint8_t num); +int monitor_get_argument_int(uint8_t num); +uint32_t monitor_get_argument_hex(uint8_t num); + +uint32_t help_function( void); + +#endif // MONITOR_H diff --git a/mig_test/software/monitor_functions.c b/mig_test/software/monitor_functions.c new file mode 100644 index 0000000..5eda564 --- /dev/null +++ b/mig_test/software/monitor_functions.c @@ -0,0 +1,134 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/monitor_functions.c $ + * $Date$ + * $Author$ + * $Revision$ + */ + +#include <types.h> +#include "monitor.h" +#include "ambainfo.h" // apb_info, ahb_info +#include "peripherie.h" + + +volatile uint8_t running_direction = 0; + + +/* + exit the monitor program +*/ +uint32_t quit_function( void) +{ + monitor_run = FALSE; + return 0; +} + + +/* + do a memory dump + arguments: + start address + length +*/ +uint32_t x_function( void) +{ + uint32_t addr; + uint32_t count; + uint32_t index; + uint32_t* ptr; + + addr = monitor_get_argument_hex(1); + count = monitor_get_argument_hex(2); + + // set minimum count, if count is not set + if (count == 0) count = 16; + + // we can only read at 32 bit aligned addresses + ptr = (uint32_t*)(addr & 0xfffffffc); + + if (count != 1) + { + for (index = 0; index < count; index++) + { + if ( (index % 4) == 0) + { + putstr("\n0x"); puthex(32, (uint32_t)ptr); putstr(" : "); + } + putstr("0x"); puthex( 32, *ptr); putchar(' '); + *ptr++; + } + } + else + // fast version without address + { + putstr("0x"); puthex( 32, *ptr); + } + putchar( '\n'); + return 0; +} + + +/* + write specific value on memory + arguments: + address + count + value(0) .. value(n) +*/ +uint32_t wmem_function( void) +{ + uint32_t addr; + uint8_t count; + uint8_t index; + uint32_t value; + uint32_t* ptr; + + addr = monitor_get_argument_hex(1); + count = monitor_get_argument_int(2); + + ptr = (uint32_t*)addr; // automatic word aligned + + index = 3; + while (count > 0) + { + value = monitor_get_argument_hex(index); + index++; + count--; + *ptr = value; + ptr++; + } + return count; +} + + +/* + clear screen +*/ +uint32_t clear_function( void) +{ + putchar('\f'); + return 0; +} + + +//////////////////////////////////////////////////////////// +// reset function +uint32_t reset_function( void) +{ + *reset_reg = 0x87654321; + return 1; +} + + +//////////////////////////////////////////////////////////// +// system info +uint32_t system_info_function( void) +{ + uint8_t verbose; + + verbose = monitor_get_argument_int(1); + ahb_info( verbose); + return 0; +} + + diff --git a/mig_test/software/monitor_functions.h b/mig_test/software/monitor_functions.h new file mode 100644 index 0000000..3061290 --- /dev/null +++ b/mig_test/software/monitor_functions.h @@ -0,0 +1,24 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/monitor_functions.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef MONITOR_FUNCTIONS_H +#define MONITOR_FUNCTIONS_H + +extern volatile uint8_t running_direction; + + +uint32_t quit_function( void); +uint32_t x_function( void); +uint32_t wmem_function( void); +uint32_t clear_function( void); + +uint32_t reset_function( void); + +uint32_t system_info_function( void); + +#endif // MONITOR_FUNCTIONS_H diff --git a/mig_test/software/schedule.c b/mig_test/software/schedule.c new file mode 100644 index 0000000..41357eb --- /dev/null +++ b/mig_test/software/schedule.c @@ -0,0 +1,144 @@ +/*
+ * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/schedule.c $
+ * $Date$
+ * $Author$
+ * $Revision$
+ */
+
+#include <types.h>
+#include "schedule.h"
+
+#define MAXTIMERS 10
+#define T_FREE 254 // > MAXTIMERS
+#define T_LAST 255
+
+typedef struct{
+ uint8_t next; // next in list or end mark
+ t_res delta; // delta to previous entry
+ funcp func;
+} t_ctrl_struct;
+
+
+t_ctrl_struct t_ctrl_lst[MAXTIMERS];
+t_res t_delay; // count down until next service
+uint8_t t_first; // point to first entry
+
+
+void scheduler_task_check(void)
+{
+ t_ctrl_struct *p; // for faster access
+
+ --t_delay;
+ while( t_delay == 0 ){ // serve if delay = 0
+ if( t_first == T_LAST ) // no function to serve
+ break;
+ p = &t_ctrl_lst[t_first];
+ t_first = p->next; // point to next
+ p->next = T_FREE; // mark free
+ t_delay = t_ctrl_lst[t_first].delta; // next delay delta
+ p->func(); // execute function
+ }
+}
+
+
+uint8_t scheduler_task_add( funcp func, t_res delay )
+{
+ uint8_t n;
+ uint8_t i; // index
+ uint8_t ipre; // previous index
+ t_res d1; // last delta delay
+ t_ctrl_struct *p; // for faster access
+
+ for( n = 0;; ){
+ p = &t_ctrl_lst[n];
+ if( p->next == T_FREE )
+ break;
+ n++;
+ if( n == MAXTIMERS )
+ return 1; // error, list full
+ }
+
+ i = t_first;
+ d1 = t_delay;
+ while( i != T_LAST ){ // check until end
+ if( d1 >= delay ){ // last >= new
+ t_ctrl_lst[i].delta = d1 - delay; // correct following entry
+ break;
+ }else{
+ delay -= d1; // remaining delay
+ ipre = i; // previous entry
+ i = t_ctrl_lst[i].next; // index of next entry
+ d1 = t_ctrl_lst[i].delta; // next delay delta
+ }
+ } // insert new entry
+
+ p->next = i; // following entry
+ p->delta = delay; // store remaining delay
+ p->func = func;
+
+ if( i == t_first ){ // insert at first
+ t_first = n;
+ t_delay = delay;
+ }else{
+ t_ctrl_lst[ipre].next = n; // previous entry
+ }
+ return 0; // successful
+}
+
+
+uint8_t scheduler_task_remove( funcp func )
+{
+ uint8_t ipre; // previous index
+ uint8_t irem; // index to be removed
+ uint8_t ifol = t_first; // following index
+ t_ctrl_struct *p; // for faster access
+
+ do{
+ if( ifol == T_LAST )
+ return 1; // not found
+ ipre = irem;
+ irem = ifol;
+ p = &t_ctrl_lst[irem];
+ ifol = p->next; // get next
+ }while( p->func != func ); // found it
+
+ p->next = T_FREE; // mark it as free
+ if( irem == t_first ){
+ t_first = ifol; // serve next entry
+ t_delay += t_ctrl_lst[ifol].delta; // correct current delta
+ }else{
+ t_ctrl_lst[ipre].next = ifol; // skip index
+ if( ifol != T_LAST ) // correct following delta
+ t_ctrl_lst[ifol].delta += p->delta;
+ }
+ return 0; // successful
+}
+
+
+void scheduler_init(void)
+{
+ uint8_t i;
+
+ for( i = MAXTIMERS; i; i-- )
+ t_ctrl_lst[i-1].next = T_FREE; // mark all free
+ t_first = T_LAST; // set no timer served
+}
+
+
+uint32_t scheduler_tasklist( void)
+{
+ uint8_t i;
+
+ for( i = MAXTIMERS; i; i-- )
+ {
+ if ( t_ctrl_lst[i-1].next != T_FREE)
+ {
+ putint( i);
+ putstr(": func: ");
+ puthex( 32, t_ctrl_lst[i-1].func);
+ putchar('\n');
+ }
+ }
+
+ return 0;
+}
diff --git a/mig_test/software/schedule.h b/mig_test/software/schedule.h new file mode 100644 index 0000000..cd9729d --- /dev/null +++ b/mig_test/software/schedule.h @@ -0,0 +1,25 @@ +/* + * $HeadURL: https://svn.fzd.de/repo/concast/FWF_Projects/FWKE/hw_sp605/bsp_zpuahb/software/schedule.h $ + * $Date$ + * $Author$ + * $Revision$ + */ + + +#ifndef SCHEDULE_H +#define SCHEDULE_H + +#define t_res uint32_t // resolution for time + +#define SECONDS(x) ((t_res)(CLOCKS_PER_SECOND * x + 0.5)) + + +typedef void (*funcp)(void); + +void scheduler_task_check(void); +uint8_t scheduler_task_add( funcp func, t_res delay ); +uint8_t scheduler_task_remove( funcp func ); +void scheduler_init(void); +uint32_t scheduler_tasklist( void); + +#endif // SCHEDULE_H |