sprit-forth/msp430.cpp

// sprit-forth: A portable subroutine-threaded Forth.
// Copyright (C) 2023  Clyne Sullivan <clyne@bitgloo.com>
//
// This library is free software; you can redistribute it and/or modify it
// under the terms of the GNU Library General Public License as published by
// the Free Software Foundation; either version 2 of the License, or (at your
// option) any later version.
//
// This library 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 Library General Public License for
// more details.
//
// You should have received a copy of the GNU Library General Public License
// along with this library; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin St, Fifth Floor, Boston, MA  02110-1301, USA.

#include <algorithm>

#include <msp430.h>

#include "core.hpp"
#include "parse.hpp"
#include "state.hpp"
#include "types.hpp"

using DoubleCell = Cell;

static char strbuf[80];

static void serput(int c);
static void serputs(const char *s);
static void printint(DoubleCell n, int base);

static void initMCU();
static void initGPIO();
static void initClock();
static void initUART();
static void Software_Trim();
#define MCLK_FREQ_MHZ (16)

static void doparse();

// TODO:
// sys m* _/ _% _' depth _rdepth _in _ev find _uma u< um/mod

static void peek()           { *sp() = *(Cell *)(*sp()); }
static void commaSP()        { comma(pop()); }
static void discard()        { auto v = pop(); (void)v; }
static void tobool()         { if (*sp()) *sp() = -1; }

constexpr WordSet words (
    Word("[",         WordWrap<[] { STATE = 0; }>).markImmediate(),
    Word("]",         WordWrap<[] { STATE = -1; }>),
    Word("@",         WordWrap<peek>),
    Word("c@",        WordWrap<peek, [] { *sp() &= 0xFF; }>),
    Word("!",         WordWrap<[] { auto a = (Cell *)pop(); *a = pop(); }>),
    Word("c!",        WordWrap<[] { auto a = (char *)pop(); *a = pop(); }>),
    Word("_d",        WordWrap<[] { *sp() += (Cell)DICT.data(); }>),
    Word("_jmp",      WordWrap<[] { jump((FuncList)*++IP); }>),
    Word("_jmp0",     WordWrap<[] {
        ++IP;
        if (pop() == 0)
            jump((FuncList)*IP);
    }>),
    Word(",",         WordWrap<commaSP>),
    Word("emit",      WordWrap<[] { serput(pop()); }>),
    Word("key",       WordWrap<[] { push(key()); }>),
    Word("key?",      WordWrap<[] { push(haskey()); }, tobool>),
    Word("execute",   WordWrap<[] { (void)executor((FuncList *)pop()); }>),
    Word(":",         WordWrap<colon>),
    Word(";",         WordWrap<semic>).markImmediate(),
    Word("exit",      fexit),
    Word("drop",      WordWrap<discard>),
    Word("dup",       WordWrap<[] { push(*sp()); }>),
    Word("swap",      WordWrap<[] { std::swap(*sp(), *(sp() - 1)); }>),
    Word("pick",      WordWrap<[] { auto t = *(sp() - *sp() - 1); *sp() = t; }>),
    Word("cells",     WordWrap<[] { *sp() *= sizeof(Cell); }>),
    Word("+",         WordWrap<[] { *(sp() - 1) += *sp(); }, discard>),
    Word("-",         WordWrap<[] { *(sp() - 1) -= *sp(); }, discard>),
    Word("*",         WordWrap<[] { *(sp() - 1) *= *sp(); }, discard>),
    Word("/",         WordWrap<[] { *(sp() - 1) /= *sp(); }, discard>),
    Word("mod",       WordWrap<[] { *(sp() - 1) %= *sp(); }, discard>),
    Word("=",         WordWrap<[] { *(sp() - 1) = *(sp() - 1) == *sp(); }, discard, tobool>),
    Word("<",         WordWrap<[] { *(sp() - 1) = *(sp() - 1) < *sp(); }, discard, tobool>),
    Word("or",        WordWrap<[] { *(sp() - 1) |= *sp(); }, discard>),
    Word("and",       WordWrap<[] { *(sp() - 1) &= *sp(); }, discard>),
    Word("xor",       WordWrap<[] { *(sp() - 1) ^= *sp(); }, discard>),
    Word("lshift",    WordWrap<[] { *(sp() - 1) <<= *sp(); }, discard>),
    Word("rshift",    WordWrap<[] { *(sp() - 1) >>= *sp(); }, discard>),
    Word(">r",        WordWrap<[] { rpush(pop()); }>),
    Word("r>",        WordWrap<[] { push(rpop()); }>),
    Word("immediate", WordWrap<[] { ((Word *)LATEST)->markImmediate(); }>),
    Word("aligned",   WordWrap<[] { *sp() = aligned(*sp()); }>),
    Word("align",     WordWrap<align>),
    Word("literal",   WordWrap<[] { if (STATE) compileliteral(); }>).markImmediate(),
    Word("\'",        WordWrap<tick>),
    Word("_i",        WordWrap<[] { *sp() = ((Word *)*sp())->immediate(); }, tobool>),
    Word("[']",       WordWrap<tick, compileliteral>).markImmediate(),
    Word("compile,",  WordWrap<peek, commaSP>),
    Word("word",      WordWrap<word>),
    //Word("_b",        WordWrap<[] {
    //    serput('#'); // Gives a good breakpoint spot for gdb
    //}>),
    Word(".",         WordWrap<[] { printint(pop(), BASE); }>)
);

int main()
{
    initMCU();
    initialize(words);

    serputs("alee forth\n\r");

    while (1) {
        doparse();
        serputs("\n\r");
    }
}

void getinput()
{
    auto ptr = strbuf;

    while (1) {
        if (UCA0IFG & UCRXIFG) {
            auto c = static_cast<char>(UCA0RXBUF);
            serput(c);

            if (c == '\r') {
                do {
                    addkey(*--ptr);
                } while (ptr != strbuf);

                serputs("\n\r");
                return;
            } else if (c == '\b') {
                if (ptr > strbuf)
                    --ptr;
            } else if (ptr < strbuf + sizeof(strbuf)) {
                if (c >= 'A' && c <= 'Z')
                    c += 32;
                *ptr++ = c;
            }
        }
    }
}

void doparse()
{
    auto result = parse();

    if (result == Error::none) {
        serputs(STATE ? "compiled" : "ok");
    } else {
        serputs("error ");
        printint(static_cast<int>(result), BASE);
    }
}

void serput(int c)
{
    while (!(UCA0IFG & UCTXIFG));
    UCA0TXBUF = static_cast<char>(c);
}

void serputs(const char *s)
{
    while (*s)
        serput(*s++);
}

void printint(DoubleCell n, int base)
{
    static const char digit[] = "0123456789ABCDEF";

    char *ptr = strbuf;
    bool neg = n < 0;

    if (neg)
        n = -n;

    do {
        *ptr++ = digit[n % base];
    } while ((n /= base));

    if (neg)
        serput('-');

    do {
        serput(*--ptr);
    } while (ptr > strbuf);
    serput(' ');
}

void initMCU()
{
    WDTCTL = WDTPW | WDTHOLD;
    initGPIO();
    initClock();
    initUART();
    SYSCFG0 = FRWPPW;
}

void initGPIO()
{
    // Unnecessary, but done by TI example
    P1DIR = 0xFF; P2DIR = 0xFF;
    P1REN = 0xFF; P2REN = 0xFF;
    P1OUT = 0x00; P2OUT = 0x00;

    // Set LED pins to outputs
    P6DIR |= BIT0 | BIT1 | BIT2;
    P6OUT |= BIT0 | BIT1 | BIT2;
    P5DIR |= BIT5 | BIT6 | BIT7;
    P5OUT |= BIT5 | BIT6 | BIT7;

    // Setup buttons w/ pullups
    P3DIR &= ~BIT4; P3REN |= BIT4; P3OUT |= BIT4;
    P2DIR &= ~BIT3; P2REN |= BIT3; P2OUT |= BIT3;

    // Allow GPIO configurations to be applied
    PM5CTL0 &= ~LOCKLPM5;

    // Safety measure, prevent unwarranted interrupts
    P5IFG = 0;
    P6IFG = 0;
}

void initClock()
{
    static_assert(MCLK_FREQ_MHZ == 16);

    // Configure one FRAM waitstate as required by the device datasheet for MCLK
    // operation beyond 8MHz _before_ configuring the clock system.
    FRCTL0 = FRCTLPW | NWAITS_1;

    P2SEL0 |= BIT0 | BIT1;                       // P2.0~P2.1: crystal pins
    do
    {
        CSCTL7 &= ~(XT1OFFG | DCOFFG);           // Clear XT1 and DCO fault flag
        SFRIFG1 &= ~OFIFG;
    } while (SFRIFG1 & OFIFG);                   // Test oscillator fault flag

    __bis_SR_register(SCG0);                     // disable FLL
    CSCTL3 |= SELREF__XT1CLK;                    // Set XT1 as FLL reference source
    CSCTL1 = DCOFTRIMEN_1 | DCOFTRIM0 | DCOFTRIM1 | DCORSEL_5;// DCOFTRIM=5, DCO Range = 16MHz
    CSCTL2 = FLLD_0 + 487;                       // DCOCLKDIV = 16MHz
    __delay_cycles(3);
    __bic_SR_register(SCG0);                     // enable FLL
    Software_Trim();                             // Software Trim to get the best DCOFTRIM value

    CSCTL4 = SELMS__DCOCLKDIV | SELA__XT1CLK;    // set XT1 (~32768Hz) as ACLK source, ACLK = 32768Hz
                                                 // default DCOCLKDIV as MCLK and SMCLK source

}

void initUART()
{
    // Configure UART pins
    P5SEL0 |= BIT1 | BIT2;
    SYSCFG3 |= USCIA0RMP; // Set the remapping source

    UCA0CTLW0 |= UCSWRST;
    UCA0CTLW0 |= UCSSEL__SMCLK; // 16 MHz

    // Baud Rate calculation
    // N = 16MHz / 115200 = 138.888
    // OS16 = 1, UCBRx = INT(N/16) = 8(.6806)
    // UCBRFx = INT( ((N/16) - UCBRx) * 16) = 10(.8896)
    UCA0BRW = 8;
    UCA0MCTLW = 0xD600 | 0x00A0 | UCOS16;

    UCA0CTLW0 &= ~UCSWRST;                    // Initialize eUSCI
}

void Software_Trim()
{
    unsigned int oldDcoTap = 0xffff;
    unsigned int newDcoTap = 0xffff;
    unsigned int newDcoDelta = 0xffff;
    unsigned int bestDcoDelta = 0xffff;
    unsigned int csCtl0Copy = 0;
    unsigned int csCtl1Copy = 0;
    unsigned int csCtl0Read = 0;
    unsigned int csCtl1Read = 0;
    unsigned int dcoFreqTrim = 3;
    unsigned char endLoop = 0;

    do
    {
        CSCTL0 = 0x100;                         // DCO Tap = 256
        do
        {
            CSCTL7 &= ~DCOFFG;                  // Clear DCO fault flag
        }while (CSCTL7 & DCOFFG);               // Test DCO fault flag

        __delay_cycles((unsigned int)3000 * MCLK_FREQ_MHZ);// Wait FLL lock status (FLLUNLOCK) to be stable
                                                           // Suggest to wait 24 cycles of divided FLL reference clock
        while((CSCTL7 & (FLLUNLOCK0 | FLLUNLOCK1)) && ((CSCTL7 & DCOFFG) == 0));

        csCtl0Read = CSCTL0;                   // Read CSCTL0
        csCtl1Read = CSCTL1;                   // Read CSCTL1

        oldDcoTap = newDcoTap;                 // Record DCOTAP value of last time
        newDcoTap = csCtl0Read & 0x01ff;       // Get DCOTAP value of this time
        dcoFreqTrim = (csCtl1Read & 0x0070)>>4;// Get DCOFTRIM value

        if(newDcoTap < 256)                    // DCOTAP < 256
        {
            newDcoDelta = 256 - newDcoTap;     // Delta value between DCPTAP and 256
            if((oldDcoTap != 0xffff) && (oldDcoTap >= 256)) // DCOTAP cross 256
                endLoop = 1;                   // Stop while loop
            else
            {
                dcoFreqTrim--;
                CSCTL1 = (csCtl1Read & (~DCOFTRIM)) | (dcoFreqTrim<<4);
            }
        }
        else                                   // DCOTAP >= 256
        {
            newDcoDelta = newDcoTap - 256;     // Delta value between DCPTAP and 256
            if(oldDcoTap < 256)                // DCOTAP cross 256
                endLoop = 1;                   // Stop while loop
            else
            {
                dcoFreqTrim++;
                CSCTL1 = (csCtl1Read & (~DCOFTRIM)) | (dcoFreqTrim<<4);
            }
        }

        if(newDcoDelta < bestDcoDelta)         // Record DCOTAP closest to 256
        {
            csCtl0Copy = csCtl0Read;
            csCtl1Copy = csCtl1Read;
            bestDcoDelta = newDcoDelta;
        }

    }while(endLoop == 0);                      // Poll until endLoop == 1

    CSCTL0 = csCtl0Copy;                       // Reload locked DCOTAP
    CSCTL1 = csCtl1Copy;                       // Reload locked DCOFTRIM
    while(CSCTL7 & (FLLUNLOCK0 | FLLUNLOCK1)); // Poll until FLL is locked
}

// disables the watchdog between the __start() and the __crt_0init()
extern "C"
__attribute__((naked, section(".crt_0010init")))
void __gcc_disable_watchdog()
{
    WDTCTL = WDTPW + WDTHOLD;
}