From 7fbb94cb15fdd20cd9ada11588568583128c77f4 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Sun, 5 Jun 2022 18:36:34 -0400 Subject: move source to folder; openocd.sh programs directly --- .gitignore | 2 +- 2048.c | 104 -------- 2048.h | 3 - Makefile | 20 +- buttons.c | 58 ----- buttons.h | 34 --- dogs.c | 356 -------------------------- dogs.h | 33 --- flapbird.c | 80 ------ flapbird.h | 8 - main.c | 150 ----------- openocd.sh | 2 +- osal.c | 467 --------------------------------- osal.h | 754 ------------------------------------------------------ source/2048.c | 104 ++++++++ source/2048.h | 3 + source/buttons.c | 58 +++++ source/buttons.h | 34 +++ source/dogs.c | 356 ++++++++++++++++++++++++++ source/dogs.h | 33 +++ source/flapbird.c | 80 ++++++ source/flapbird.h | 8 + source/main.c | 150 +++++++++++ source/osal.c | 467 +++++++++++++++++++++++++++++++++ source/osal.h | 754 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 25 files changed, 2051 insertions(+), 2067 deletions(-) delete mode 100644 2048.c delete mode 100644 2048.h delete mode 100644 buttons.c delete mode 100644 buttons.h delete mode 100644 dogs.c delete mode 100644 dogs.h delete mode 100644 flapbird.c delete mode 100644 flapbird.h delete mode 100644 main.c delete mode 100644 osal.c delete mode 100644 osal.h create mode 100644 source/2048.c create mode 100644 source/2048.h create mode 100644 source/buttons.c create mode 100644 source/buttons.h create mode 100644 source/dogs.c create mode 100644 source/dogs.h create mode 100644 source/flapbird.c create mode 100644 source/flapbird.h create mode 100644 source/main.c create mode 100644 source/osal.c create mode 100644 source/osal.h diff --git a/.gitignore b/.gitignore index 9d75526..9401e39 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,3 @@ ChibiOS_*/ build -.dep +.* diff --git a/2048.c b/2048.c deleted file mode 100644 index ce73844..0000000 --- a/2048.c +++ /dev/null @@ -1,104 +0,0 @@ -#include "buttons.h" -#include "dogs.h" - -static int values[16]; - -void g2048_init() -{ - for (int i = 0; i < 16; i++) - values[i] = 0; -} - -int g2048_loop() -{ - if ((button_state & BUTTON_JOYUP) == BUTTON_JOYUP) { - for (int x = 0; x < 3; x++) { - for (int y = 0; y < 3; y++) { - - if (values[4 * y + x] != 0) - continue; - } - } - - for (int y = 3; y > 0; y--) { - for (int x = 0; x < 4; x++) { - if (values[4 * y + x] != 0) { - if (values[4 * (y - 1) + x] == 0) - values[4 * (y - 1) + x] = values[4 * y + x], values[4 * y + x] = 0; - else if (values[4 * (y - 1) + x] == values[4 * y + x]) - values[4 * (y - 1) + x]++, values[4 * y + x] = 0; - } - } - } - - for (int i = 15; i >= 0; i--) { - if (values[i] == 0) { - values[i] = 1; - break; - } - } - } else if ((button_state & BUTTON_JOYDOWN) == BUTTON_JOYDOWN) { - for (int y = 0; y < 3; y++) { - for (int x = 0; x < 4; x++) { - if (values[4 * y + x] != 0) { - if (values[4 * (y + 1) + x] == 0) - values[4 * (y + 1) + x] = values[4 * y + x], values[4 * y + x] = 0; - else if (values[4 * (y + 1) + x] == values[4 * y + x]) - values[4 * (y + 1) + x]++, values[4 * y + x] = 0; - } - } - } - - for (int i = 15; i >= 0; i--) { - if (values[i] == 0) { - values[i] = 1; - break; - } - } - } else if ((button_state & BUTTON_JOYLEFT) == BUTTON_JOYLEFT) { - for (int x = 3; x > 0; x--) { - for (int y = 0; y < 4; y++) { - if (values[4 * y + x] != 0) { - if (values[4 * y + x - 1] == 0) - values[4 * y + x - 1] = values[4 * y + x], values[4 * y + x] = 0; - else if (values[4 * y + x - 1] == values[4 * y + x]) - values[4 * y + x - 1]++, values[4 * y + x] = 0; - } - } - } - - for (int i = 15; i >= 0; i--) { - if (values[i] == 0) { - values[i] = 1; - break; - } - } - } else if ((button_state & BUTTON_JOYRIGHT) == BUTTON_JOYRIGHT) { - for (int x = 0; x < 3; x++) { - for (int y = 0; y < 4; y++) { - if (values[4 * y + x] != 0) { - if (values[4 * y + x + 1] == 0) - values[4 * y + x + 1] = values[4 * y + x], values[4 * y + x] = 0; - else if (values[4 * y + x + 1] == values[4 * y + x]) - values[4 * y + x + 1]++, values[4 * y + x] = 0; - } - } - } - - for (int i = 15; i >= 0; i--) { - if (values[i] == 0) { - values[i] = 1; - break; - } - } - } - - dogs_clear(); - for (int i = 0; i < 16; i++) { - if (values[i] != 0) - draw_number(31 + 10 * (i % 4), 12 + 10 * (3 - (i / 4)), values[i]); - } - dogs_flush(); - - return 500; -} diff --git a/2048.h b/2048.h deleted file mode 100644 index b8bdf14..0000000 --- a/2048.h +++ /dev/null @@ -1,3 +0,0 @@ -void g2048_init(); -int g2048_loop(); - diff --git a/Makefile b/Makefile index 050356d..3fedc91 100644 --- a/Makefile +++ b/Makefile @@ -102,33 +102,17 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32l0xx.m include $(CHIBIOS)/os/hal/hal.mk include $(CHIBIOS)/os/hal/ports/STM32/STM32L0xx/platform.mk include $(CHIBIOS)/os/hal/boards/ST_NUCLEO32_L011K4/board.mk -#include $(CHIBIOS)/os/hal/osal/os-less/ARMCMx/osal.mk -#include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk -# RTOS files (optional). -#include $(CHIBIOS)/os/nil/nil.mk -#include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk # Auto-build files in ./source recursively. -#include $(CHIBIOS)/tools/mk/autobuild.mk -# Other files (optional). -#include $(CHIBIOS)/test/lib/test.mk -#include $(CHIBIOS)/test/nil/nil_test.mk -#include $(CHIBIOS)/test/oslib/oslib_test.mk +include $(CHIBIOS)/tools/mk/autobuild.mk # Define linker script file here -#LDSCRIPT= $(STARTUPLD)/STM32L011x4.ld LDSCRIPT= ./STM32L011x4.ld # C sources that can be compiled in ARM or THUMB mode depending on the global # setting. CSRC = $(ALLCSRC) \ $(TESTSRC) \ - $(CHIBIOS)/os/hal/osal/lib/osal_vt.c \ - 2048.c \ - buttons.c \ - dogs.c \ - flapbird.c \ - main.c \ - osal.c + $(CHIBIOS)/os/hal/osal/lib/osal_vt.c # C++ sources that can be compiled in ARM or THUMB mode depending on the global # setting. diff --git a/buttons.c b/buttons.c deleted file mode 100644 index 45ea7bd..0000000 --- a/buttons.c +++ /dev/null @@ -1,58 +0,0 @@ -/** - * buttons.c - Provides ability to read button state. - * Copyright (C) 2020 Clyne Sullivan - * - * This program 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 3 of the License, or - * (at your option) any later version. - * See the GNU General Public License for more details. - */ - -#include "buttons.h" -#include "hal.h" - -unsigned char button_state = 0; - -static void buttonStateHandler(void *arg) -{ - int pad = (unsigned int)arg & 0xFF; - int bit = 1 << ((unsigned int)arg >> 8); - - if (!palReadPad(GPIOA, pad)) { - if ((button_state & bit) != bit) - button_state |= bit; - } else { - if ((button_state & bit) == bit) - button_state &= ~(bit); - } -} - -void buttons_init() -{ - palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_PULLUP); // Joy A (UL) - palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_PULLUP); // Joy B (UR) - palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_PULLUP); // Joy C (DR) - palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_PULLUP); // Joy D (DL) - palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_PULLUP); // Joy button - palSetPadMode(GPIOA, 7, PAL_MODE_INPUT_PULLUP); // Button 1 - palSetPadMode(GPIOA, 9, PAL_MODE_INPUT_PULLUP); // Button 2 - palSetPadMode(GPIOA, 10, PAL_MODE_INPUT_PULLUP); // Button 3 - palEnablePadEvent(GPIOA, 0, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 1, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 2, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 3, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 6, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 7, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 9, PAL_EVENT_MODE_BOTH_EDGES); - palEnablePadEvent(GPIOA, 10, PAL_EVENT_MODE_BOTH_EDGES); - palSetPadCallback(GPIOA, 0, buttonStateHandler, (void *)0x0700); - palSetPadCallback(GPIOA, 1, buttonStateHandler, (void *)0x0601); - palSetPadCallback(GPIOA, 2, buttonStateHandler, (void *)0x0502); - palSetPadCallback(GPIOA, 3, buttonStateHandler, (void *)0x0403); - palSetPadCallback(GPIOA, 6, buttonStateHandler, (void *)0x0306); - palSetPadCallback(GPIOA, 7, buttonStateHandler, (void *)0x0207); - palSetPadCallback(GPIOA, 9, buttonStateHandler, (void *)0x0109); - palSetPadCallback(GPIOA, 10, buttonStateHandler, (void *)0x000A); -} - diff --git a/buttons.h b/buttons.h deleted file mode 100644 index ba7e02d..0000000 --- a/buttons.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * buttons.h - Provides ability to read button state. - * Copyright (C) 2020 Clyne Sullivan - * - * This program 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 3 of the License, or - * (at your option) any later version. - * See the GNU General Public License for more details. - */ - -#ifndef BUTTONS_H_ -#define BUTTONS_H_ - -#define BUTTON_JOYUL (1 << 7) -#define BUTTON_JOYUR (1 << 6) -#define BUTTON_JOYDR (1 << 5) -#define BUTTON_JOYDL (1 << 4) -#define BUTTON_JOY (1 << 3) -#define BUTTON_1 (1 << 2) -#define BUTTON_2 (1 << 1) -#define BUTTON_3 (1 << 0) - -#define BUTTON_JOYUP (BUTTON_JOYUL | BUTTON_JOYUR) -#define BUTTON_JOYDOWN (BUTTON_JOYDL | BUTTON_JOYDR) -#define BUTTON_JOYLEFT (BUTTON_JOYUL | BUTTON_JOYDL) -#define BUTTON_JOYRIGHT (BUTTON_JOYUR | BUTTON_JOYDR) - -extern unsigned char button_state; - -void buttons_init(); - -#endif // BUTTONS_H_ - diff --git a/dogs.c b/dogs.c deleted file mode 100644 index 101339f..0000000 --- a/dogs.c +++ /dev/null @@ -1,356 +0,0 @@ -/** - * dogs.c - Interface for drawing to the EADOGS102N-6 display. - * Copyright (C) 2020 Clyne Sullivan - * - * This program 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 3 of the License, or - * (at your option) any later version. - * See the GNU General Public License for more details. - */ - -//#include "ch.h" -#include "dogs.h" -#include "hal.h" - -#define SET_DATA palSetPad(GPIOC, 15) -#define SET_CMD palClearPad(GPIOC, 15) -#define CS_HIGH palSetPad(GPIOA, 4) -#define CS_LOW palClearPad(GPIOA, 4) -unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; - -//static volatile bool dogs_spi_done = false; - -#define spi_send(data, len) spiSend(&SPID1, len, data) -//static void spi_send(unsigned char *data, unsigned int len) -//{ - //dogs_spi_done = false; - //spiStartSend(&SPID1, len, data); - //while (!dogs_spi_done) - // asm("wfi"); - - //for (; len > 0; --len) - // spiPolledExchange(&SPID1, *data++); -//} - -static void dogs_init_display(); -//static void dogs_spi_callback(SPIDriver *spid) -//{ -// if (spiIsBufferComplete(spid)) -// dogs_spi_done = true; -//} - -void dogs_init() -{ - // SPI - palSetPadMode(GPIOB, 1, PAL_MODE_ALTERNATE(1)); // MOSI - palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(0)); // CLK - palSetPadMode(GPIOA, 4, PAL_MODE_OUTPUT_PUSHPULL); // nCS - palSetPadMode(GPIOC, 14, PAL_MODE_OUTPUT_PUSHPULL); // nRST - palSetPadMode(GPIOC, 15, PAL_MODE_OUTPUT_PUSHPULL); // CD - - palSetPad(GPIOA, 4); - palSetPad(GPIOC, 14); - palClearPad(GPIOC, 15); - - static const SPIConfig spicfg = { - false, - NULL /*dogs_spi_callback*/, - 0, // cr1 - 0 - }; - spiStart(&SPID1, &spicfg); - - dogs_init_display(); - dogs_clear(); - dogs_flush(); -} - -void dogs_write_cmd(unsigned char byte) -{ - spi_send(&byte, 1); -} - -void dogs_set_column(unsigned int col) -{ - dogs_write_cmd(0x10 | ((col >> 4) & 0xF)); - dogs_write_cmd(0x00 | (col & 0xF)); -} -void dogs_set_power(unsigned int bits) -{ - dogs_write_cmd(0x28 | (bits & 0x7)); -} -void dogs_set_scroll_line(unsigned int startline) -{ - dogs_write_cmd(0x40 | (startline & 0x3F)); -} -void dogs_set_page(unsigned int page) -{ - dogs_write_cmd(0xB0 | (page & 0xF)); -} -void dogs_set_vlcd_ratio(unsigned int ratio) -{ - dogs_write_cmd(0x20 | (ratio & 0x7)); -} -void dogs_set_contrast(unsigned int value) -{ - dogs_write_cmd(0x81); - dogs_write_cmd(0x00 | (value & 0x3F)); -} -void dogs_set_pixelson(bool on) -{ - dogs_write_cmd(on ? 0xA5 : 0xA4); -} -void dogs_set_invert(bool invert) -{ - dogs_write_cmd(invert ? 0xA7 : 0xA6); -} -void dogs_set_sleep(bool sleep) -{ - dogs_write_cmd(sleep ? 0xAE : 0xAF); -} -void dogs_set_segdir(bool normal) -{ - dogs_write_cmd(normal ? 0xA0 : 0xA1); -} -void dogs_set_comdir(bool normal) -{ - dogs_write_cmd(normal ? 0xC0 : 0xC8); -} -void dogs_reset() -{ - dogs_write_cmd(0xE2); -} -void dogs_set_bias(bool higher) -{ - dogs_write_cmd(higher ? 0xA2 : 0xA3); -} -void dogs_set_advanced(unsigned int bits) -{ - dogs_write_cmd(0xFA); - dogs_write_cmd(0x10 | bits); -} - -void dogs_init_display() -{ - SET_CMD; - CS_LOW; - dogs_reset(); - CS_HIGH; - - unsigned long int reset_sleep = (STM32_SYSCLK / 1000) * 100; - while (reset_sleep != 0) { - asm("nop; nop; nop; nop; nop"); - reset_sleep -= 8; - } - - CS_LOW; - dogs_set_scroll_line(0); - dogs_set_segdir(true); - dogs_set_comdir(false); - dogs_set_pixelson(false); - dogs_set_invert(false); - dogs_set_bias(true); - dogs_set_power(0x07); - dogs_set_vlcd_ratio(7); - dogs_set_contrast(12); - dogs_set_advanced(0x83); - dogs_set_sleep(false); - CS_HIGH; -} - -void dogs_clear() -{ - uint32_t *ptr = (uint32_t *)dogs_buffer; - unsigned int count = sizeof(dogs_buffer) / sizeof(uint32_t) / 12; - - for (; count; --count) { - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - *ptr++ = 0; - } -} - -void dogs_flush() -{ - unsigned char *ptr = dogs_buffer; - CS_LOW; - for (int page = 0; page < 8; ++page) { - SET_CMD; - dogs_set_page(page); - dogs_set_column(30); - - SET_DATA; - spi_send(ptr, 102); - ptr += 102; - } - CS_HIGH; -} - -void draw_pixel(int x, int y, bool state) -{ - if (x < 0 || y < 0 || x >= DISP_WIDTH || y >= DISP_HEIGHT) - return; - y = DISP_HEIGHT - 1 - y; - if (state) - dogs_buffer[y / 8 * DISP_WIDTH + x] |= (1 << (y % 8)); - else - dogs_buffer[y / 8 * DISP_WIDTH + x] &= ~(1 << (y % 8)); -} - -void draw_rect(int x, int y, int w, int h) -{ - for (int i = 0; i < w; i++) { - for (int j = 0; j < h; j++) - draw_pixel(x + i, y + j, true); - } -} - -void draw_bitmap(int x, int y, const unsigned char *buffer) -{ - // Prepare source information - const unsigned char *src = buffer; - const int width = *src++; - const int height = *src++; - int sbit = 0; - - for (int j = 0; j < height; j++) { - for (int i = 0; i < width; i++) { - draw_pixel(x + i, y + j, *src & (1 << sbit)); - if (++sbit == 8) { - sbit = 0; - ++src; - } - } - } -} - -static const unsigned char draw_number_bitmaps[10][10] = { - { 8, 8, // '0' - 0b00011000, - 0b00100100, - 0b01000010, - 0b01000010, - 0b01000010, - 0b01000010, - 0b00100100, - 0b00011000, - }, - { 8, 8, // '1' - 0b01111100, - 0b00010000, - 0b00010000, - 0b00010000, - 0b00010000, - 0b00010000, - 0b00010100, - 0b00011000, - }, - { 8, 8, // '2' - 0b01111110, - 0b00001000, - 0b00010000, - 0b00100000, - 0b01000000, - 0b01000010, - 0b00100100, - 0b00011000, - }, - { 8, 8, // '3' - 0b00011100, - 0b00100010, - 0b01000000, - 0b00100000, - 0b00111100, - 0b01000000, - 0b00100010, - 0b00011100, - }, - { 8, 8, // '4' - 0b00100000, - 0b00100000, - 0b00100000, - 0b00111110, - 0b00100100, - 0b00101000, - 0b00110000, - 0b00100000, - }, - { 8, 8, // '5' - 0b00011100, - 0b00100010, - 0b01000000, - 0b01000000, - 0b00100000, - 0b00011110, - 0b00000010, - 0b01111110, - }, - { 8, 8, // '6' - 0b00011000, - 0b00100100, - 0b01000010, - 0b01000110, - 0b00111010, - 0b00000010, - 0b00000100, - 0b00111000, - }, - { 8, 8, // '7' - 0b00001000, - 0b00001000, - 0b00001000, - 0b00001000, - 0b00010000, - 0b00100000, - 0b01000000, - 0b01111110, - }, - { 8, 8, // '8' - 0b00011000, - 0b00100100, - 0b01000010, - 0b00100100, - 0b00111100, - 0b01000010, - 0b00100100, - 0b00011000, - }, - { 8, 8, // '9' - 0b00011100, - 0b00100010, - 0b01000000, - 0b01111000, - 0b01000100, - 0b01000010, - 0b00100100, - 0b00011000, - }, -}; - -void draw_number(int x, int y, int number) -{ - if (number < 0) - number = -number; - int tmp = number; - int count; - for (count = 0; tmp; count++) - tmp /= 10; - if (count == 0) - count = 1; - x += count * 8; - do { - x -= 8; - draw_bitmap(x, y, draw_number_bitmaps[number % 10]); - } while (number /= 10); -} - diff --git a/dogs.h b/dogs.h deleted file mode 100644 index 8af24fd..0000000 --- a/dogs.h +++ /dev/null @@ -1,33 +0,0 @@ -/** - * dogs.h - Interface for drawing to the EADOGS102N-6 display. - * Copyright (C) 2020 Clyne Sullivan - * - * This program 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 3 of the License, or - * (at your option) any later version. - * See the GNU General Public License for more details. - */ - -#ifndef DOGS_H_ -#define DOGS_H_ - -#include - -#define DISP_WIDTH 102 -#define DISP_HEIGHT 64 - -extern unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; - -void dogs_init(); -void dogs_clear(); -void dogs_flush(); -void dogs_set_sleep(bool sleep); - -void draw_pixel(int x, int y, bool state); -void draw_rect(int x, int y, int w, int h); -void draw_bitmap(int x, int y, const unsigned char *buffer); -void draw_number(int x, int y, int number); - -#endif // DOGS_H_ - diff --git a/flapbird.c b/flapbird.c deleted file mode 100644 index f2dd2cf..0000000 --- a/flapbird.c +++ /dev/null @@ -1,80 +0,0 @@ -#include "buttons.h" -#include "dogs.h" - -static const unsigned char bird[] = { - 8, 8, - 0b00111100, - 0b01100110, - 0b01000010, - 0b01111110, - 0b01100110, - 0b01000010, - 0b11000000, - 0b11000000, -}; - -static int score; -static int t1x, t1o; -static int t2x, t2o; -static int py; -static int vy; -static int counter; - -void flapbird_init() -{ - score = 0; - t1x = DISP_WIDTH / 2, t1o = 15; - t2x = DISP_WIDTH, t2o = 49; - py = DISP_HEIGHT / 2 - 4; - vy = 0; - counter = 0; -} - -int flapbird_loop() -{ - // Player logic - if (py > 0) { - py += vy; - if (vy > -3) - vy--; - } else { - if (py < 0) - py = 0; - if (score > 0) - score = 0; - } - - if (button_state & BUTTON_2) { - vy = 5; - if (py <= 0) - py = 1; - } - - // Rendering - dogs_clear(); - - draw_rect(t1x, 0, 4, t1o - 10); - draw_rect(t1x, t1o + 10, 4, DISP_HEIGHT - t1o + 10); - draw_rect(t2x, 0, 4, t2o - 10); - draw_rect(t2x, t2o + 10, 4, DISP_HEIGHT - t2o + 10); - draw_bitmap(4, py, bird); - - draw_number(DISP_WIDTH - 25, DISP_HEIGHT - 8, score); - dogs_flush(); - - // Game logic - if (t1x == 4) - score = (py + 2 > t1o - 10 && py + 6 < t1o + 10) ? score + 1 : 0; - if (t2x == 4) - score = (py + 2 > t2o - 10 && py + 6 < t2o + 10) ? score + 1 : 0; - - t1x -= 2; - if (t1x <= -5) - t1x = DISP_WIDTH; - t2x -= 2; - if (t2x <= -5) - t2x = DISP_WIDTH; - - return 100; -} - diff --git a/flapbird.h b/flapbird.h deleted file mode 100644 index 7ab4199..0000000 --- a/flapbird.h +++ /dev/null @@ -1,8 +0,0 @@ -#ifndef FLAPBIRD_H_ -#define FLAPBIRD_H_ - -void flapbird_init(); -int flapbird_loop(); - -#endif // FLAPBIRD_H_ - diff --git a/main.c b/main.c deleted file mode 100644 index 1ef13bf..0000000 --- a/main.c +++ /dev/null @@ -1,150 +0,0 @@ -/** - * main.c - Firmware entry point and main loop for game or testing. - * Copyright (C) 2020 Clyne Sullivan - * - * This program 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 3 of the License, or - * (at your option) any later version. - * See the GNU General Public License for more details. - */ - -#include "buttons.h" -#include "dogs.h" -#include "hal.h" - -//#include "2048.h" -#include "flapbird.h" - -/* - * Progress: - * - Serial through LPUART1 works (38400 baud, takes over swdio pins) - * - Display comm. over SPI, can clear screen - * - Can read buttons through PAL (through interrupts now) - * - Use ADC to read Vintref, print to screen in mV - * - Sleep mode via WFI, saves ~0.5mA (we're running around 1.1mA) - * - Run at 512kHz, only use HSI for ADC: 360uA (jumpy) - * - Drop to 1.2V Vcore (range 3), enable low-V detector: 375uA (steady) (440uA at 1MHz) - * - Run at 4MHz, drop to low-power run/sleep @ 64kHz for idle: 375uA (also lowered contrast) - * - Sleep display for 'pause': ~240uA - * - * - Use RTC for delay, Stop mode when idle: 348uA - * - * - Flappy bird is going, 2048 next - */ - -static int readVddmv(); - -static void alarm_callback(RTCDriver *rtcp, rtcevent_t event) -{ - (void)rtcp; - (void)event; - - static bool sleep = false; - - bool sleep_button = (button_state & BUTTON_1) != 0; - if (sleep && !sleep_button) - return; - - RCC->ICSCR |= 6 << RCC_ICSCR_MSIRANGE_Pos; - dogs_set_sleep(false); - - if (sleep_button) { - sleep ^= true; - if (sleep) { - draw_number(DISP_WIDTH - 33, 0, - !(PWR->CSR & PWR_CSR_PVDO) ? readVddmv() : 1); - dogs_flush(); - } - } - - if (!sleep) - flapbird_loop(); - - dogs_set_sleep(true); -} - -int main(void) -{ - halInit(); - //chSysInit(); - buttons_init(); - - dogs_init(); - flapbird_init(); - - static const RTCWakeup wakeupcfg = { - (0 << 16) | // wucksel (37k /16 = ~2k) - 200 // wut (hope for 10Hz) - }; - rtcSTM32SetPeriodicWakeup(&RTCD1, &wakeupcfg); - rtcSetCallback(&RTCD1, alarm_callback); - - RCC->CR &= ~RCC_CR_HSION; - PWR->CR |= PWR_CR_LPSDSR | PWR_CR_ULP; - PWR->CR |= PWR_CR_LPRUN; - SCB->SCR = 6; - //FLASH->ACR |= FLASH_ACR_SLEEP_PD; - - // Below code for serial -- note that it cuts off debugging, and MUST be used in a thread - //chThdSleepMilliseconds(2000); - //palSetPadMode(GPIOA, 13, PAL_MODE_ALTERNATE(6)); - //palSetPadMode(GPIOA, 14, PAL_MODE_ALTERNATE(6)); - //sdStart(&LPSD1, NULL); - //chnWrite(&LPSD1, (const uint8_t *)"Hello World!\r\n", 14); - - /* This is now the idle thread loop, you may perform here a low priority - task but YOU MUST NEVER TRY TO SLEEP OR WAIT in this loop. Note that - this tasks runs at the lowest priority level so any instruction added - here will be executed after all other tasks have been started. */ - while (1) - asm("wfe"); -} - -void HardFault_Handler() -{ - while (1); -} - -static volatile bool adc_is_complete = false; -static void adc_callback(ADCDriver *adcd) -{ - (void)adcd; - adc_is_complete = true; -} - -static const ADCConfig adccfg = { - .dummy = 0 -}; - -static const ADCConversionGroup adcgrpcfg = { - .circular = false, - .num_channels = 1, - .end_cb = adc_callback, - .error_cb = NULL, - .cfgr1 = ADC_CFGR1_RES_12BIT, /* CFGR1 */ - .cfgr2 = 0, /* CFGR2 */ - .tr = ADC_TR(0, 0), /* TR */ - .smpr = ADC_SMPR_SMP_1P5, /* SMPR */ - .chselr = ADC_CHSELR_CHSEL17 /* CHSELR */ -}; - -int readVddmv() -{ - adcsample_t reading = 0; - - RCC->CR |= RCC_CR_HSION; - while (!(RCC->CR & RCC_CR_HSIRDY)); - - adcStart(&ADCD1, &adccfg); - adcSTM32EnableVREF(&ADCD1); - adcStartConversion(&ADCD1, &adcgrpcfg, &reading, 1); - while (!adc_is_complete); - adcStopConversion(&ADCD1); - adcSTM32DisableVREF(&ADCD1); - adcStop(&ADCD1); - - RCC->CR &= ~RCC_CR_HSION; - - return 3000 * /* CAL */ *((adcsample_t *)0x1FF80078) / reading; -} diff --git a/openocd.sh b/openocd.sh index 90d4052..1ce7e72 100755 --- a/openocd.sh +++ b/openocd.sh @@ -1 +1 @@ -sudo openocd -f /usr/local/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/local/share/openocd/scripts/target/stm32l0.cfg +openocd -f /usr/local/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/local/share/openocd/scripts/target/stm32l0.cfg -c "init; program build/ch.hex verify reset exit" diff --git a/osal.c b/osal.c deleted file mode 100644 index 5c62069..0000000 --- a/osal.c +++ /dev/null @@ -1,467 +0,0 @@ -/* - ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. -*/ - -/** - * @file osal.c - * @brief OSAL module code. - * - * @addtogroup OSAL - * @{ - */ - -#include "osal.h" -#include "osal_vt.h" - -/*===========================================================================*/ -/* Module local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module exported variables. */ -/*===========================================================================*/ - -/** - * @brief Pointer to a halt error message. - * @note The message is meant to be retrieved by the debugger after the - * system halt caused by an unexpected error. - */ -const char *osal_halt_msg; - -/*===========================================================================*/ -/* Module local types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module local variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module local functions. */ -/*===========================================================================*/ - -static void callback_timeout(void *p) { - osalSysLockFromISR(); - osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT); - osalSysUnlockFromISR(); -} - -/*===========================================================================*/ -/* Module exported functions. */ -/*===========================================================================*/ - -/** - * @brief OSAL module initialization. - * - * @api - */ -void osalInit(void) { - - vtInit(); - - OSAL_INIT_HOOK(); -} - -/** - * @brief System halt with error message. - * - * @param[in] reason the halt message pointer - * - * @api - */ -#if !defined(__DOXYGEN__) -__attribute__((weak, noreturn)) -#endif -void osalSysHalt(const char *reason) { - - osalSysDisable(); - osal_halt_msg = reason; - while (true) { - } -} - -/** - * @brief Polled delay. - * @note The real delay is always few cycles in excess of the specified - * value. - * - * @param[in] cycles number of cycles - * - * @xclass - */ -void osalSysPolledDelayX(rtcnt_t cycles) { - - (void)cycles; -} - -/** - * @brief System timer handler. - * @details The handler is used for scheduling and Virtual Timers management. - * - * @iclass - */ -void osalOsTimerHandlerI(void) { - - osalDbgCheckClassI(); - - vtDoTickI(); -} - -/** - * @brief Checks if a reschedule is required and performs it. - * @note I-Class functions invoked from thread context must not reschedule - * by themselves, an explicit reschedule using this function is - * required in this scenario. - * @note Not implemented in this simplified OSAL. - * - * @sclass - */ -void osalOsRescheduleS(void) { - -} - -/** - * @brief Current system time. - * @details Returns the number of system ticks since the @p osalInit() - * invocation. - * @note The counter can reach its maximum and then restart from zero. - * @note This function can be called from any context but its atomicity - * is not guaranteed on architectures whose word size is less than - * @p systime_t size. - * - * @return The system time in ticks. - * - * @xclass - */ -systime_t osalOsGetSystemTimeX(void) { - - return vtlist.vt_systime; -} - -/** - * @brief Suspends the invoking thread for the specified time. - * - * @param[in] time the delay in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE is allowed but interpreted as a - * normal time specification. - * - @a TIME_IMMEDIATE this value is not allowed. - * . - * - * @sclass - */ -void osalThreadSleepS(sysinterval_t time) { - virtual_timer_t vt; - thread_reference_t tr; - - tr = NULL; - vtSetI(&vt, time, callback_timeout, (void *)&tr); - osalThreadSuspendS(&tr); -} - -/** - * @brief Suspends the invoking thread for the specified time. - * - * @param[in] time the delay in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE is allowed but interpreted as a - * normal time specification. - * - @a TIME_IMMEDIATE this value is not allowed. - * . - * - * @api - */ -void osalThreadSleep(sysinterval_t time) { - - osalSysLock(); - osalThreadSleepS(time); - osalSysUnlock(); -} - -/** - * @brief Sends the current thread sleeping and sets a reference variable. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @return The wake up message. - * - * @sclass - */ -msg_t osalThreadSuspendS(thread_reference_t *trp) { - thread_t self = {MSG_WAIT}; - - osalDbgCheck(trp != NULL); - - *trp = &self; - while (self.message == MSG_WAIT) { - osalSysUnlock(); - /* A state-changing interrupt could occur here and cause the loop to - terminate, an hook macro is executed while waiting.*/ - OSAL_IDLE_HOOK(); - osalSysLock(); - } - - return self.message; -} - -/** - * @brief Sends the current thread sleeping and sets a reference variable. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] timeout the timeout in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state. - * - @a TIME_IMMEDIATE the thread is not enqueued and - * the function returns @p MSG_TIMEOUT as if a timeout - * occurred. - * . - * @return The wake up message. - * @retval MSG_TIMEOUT if the operation timed out. - * - * @sclass - */ -msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) { - msg_t msg; - virtual_timer_t vt; - - osalDbgCheck(trp != NULL); - - if (TIME_INFINITE == timeout) - return osalThreadSuspendS(trp); - - vtSetI(&vt, timeout, callback_timeout, (void *)trp); - msg = osalThreadSuspendS(trp); - if (vtIsArmedI(&vt)) - vtResetI(&vt); - - return msg; -} - -/** - * @brief Wakes up a thread waiting on a thread reference object. - * @note This function must not reschedule because it can be called from - * ISR context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] msg the message code - * - * @iclass - */ -void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { - - osalDbgCheck(trp != NULL); - - if (*trp != NULL) { - (*trp)->message = msg; - *trp = NULL; - } -} - -/** - * @brief Wakes up a thread waiting on a thread reference object. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] msg the message code - * - * @iclass - */ -void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { - - osalDbgCheck(trp != NULL); - - if (*trp != NULL) { - (*trp)->message = msg; - *trp = NULL; - } -} - -/** - * @brief Enqueues the caller thread. - * @details The caller thread is enqueued and put to sleep until it is - * dequeued or the specified timeouts expires. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] timeout the timeout in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state. - * - @a TIME_IMMEDIATE the thread is not enqueued and - * the function returns @p MSG_TIMEOUT as if a timeout - * occurred. - * . - * @return The message from @p osalQueueWakeupOneI() or - * @p osalQueueWakeupAllI() functions. - * @retval MSG_TIMEOUT if the thread has not been dequeued within the - * specified timeout or if the function has been - * invoked with @p TIME_IMMEDIATE as timeout - * specification. - * - * @sclass - */ -msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) { - msg_t msg; - virtual_timer_t vt; - - osalDbgCheck(tqp != NULL); - - if (TIME_IMMEDIATE == timeout) - return MSG_TIMEOUT; - - tqp->tr = NULL; - - if (TIME_INFINITE == timeout) - return osalThreadSuspendS(&tqp->tr); - - vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr); - msg = osalThreadSuspendS(&tqp->tr); - if (vtIsArmedI(&vt)) - vtResetI(&vt); - - return msg; -} - -/** - * @brief Dequeues and wakes up one thread from the queue, if any. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] msg the message code - * - * @iclass - */ -void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) { - - osalDbgCheck(tqp != NULL); - - osalThreadResumeI(&tqp->tr, msg); -} - -/** - * @brief Dequeues and wakes up all threads from the queue. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] msg the message code - * - * @iclass - */ -void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) { - - osalDbgCheck(tqp != NULL); - - osalThreadResumeI(&tqp->tr, msg); -} - -/** - * @brief Add flags to an event source object. - * - * @param[in] esp pointer to the event flags object - * @param[in] flags flags to be ORed to the flags mask - * - * @iclass - */ -void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) { - - osalDbgCheck(esp != NULL); - - esp->flags |= flags; - if (esp->cb != NULL) { - esp->cb(esp); - } -} - -/** - * @brief Add flags to an event source object. - * - * @param[in] esp pointer to the event flags object - * @param[in] flags flags to be ORed to the flags mask - * - * @iclass - */ -void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) { - - osalDbgCheck(esp != NULL); - - osalSysLock(); - osalEventBroadcastFlagsI(esp, flags); - osalSysUnlock(); -} - -/** - * @brief Event callback setup. - * @note The callback is invoked from ISR context and can - * only invoke I-Class functions. The callback is meant - * to wakeup the task that will handle the event by - * calling @p osalEventGetAndClearFlagsI(). - * @note This function is not part of the OSAL API and is provided - * exclusively as an example and for convenience. - * - * @param[in] esp pointer to the event flags object - * @param[in] cb pointer to the callback function - * @param[in] param parameter to be passed to the callback function - * - * @api - */ -void osalEventSetCallback(event_source_t *esp, - eventcallback_t cb, - void *param) { - - osalDbgCheck(esp != NULL); - - esp->cb = cb; - esp->param = param; -} - -/** - * @brief Locks the specified mutex. - * @post The mutex is locked and inserted in the per-thread stack of owned - * mutexes. - * - * @param[in,out] mp pointer to the @p mutex_t object - * - * @api - */ -void osalMutexLock(mutex_t *mp) { - - osalDbgCheck(mp != NULL); - - *mp = 1; -} - -/** - * @brief Unlocks the specified mutex. - * @note The HAL guarantees to release mutex in reverse lock order. The - * mutex being unlocked is guaranteed to be the last locked mutex - * by the invoking thread. - * The implementation can rely on this behavior and eventually - * ignore the @p mp parameter which is supplied in order to support - * those OSes not supporting a stack of the owned mutexes. - * - * @param[in,out] mp pointer to the @p mutex_t object - * - * @api - */ -void osalMutexUnlock(mutex_t *mp) { - - osalDbgCheck(mp != NULL); - - *mp = 0; -} - -/** @} */ diff --git a/osal.h b/osal.h deleted file mode 100644 index 30e1592..0000000 --- a/osal.h +++ /dev/null @@ -1,754 +0,0 @@ -/* - ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. -*/ - -/** - * @file osal.h - * @brief OSAL module header. - * - * @addtogroup OSAL - * @{ - */ - -#ifndef OSAL_H -#define OSAL_H - -#include -#include -#include - -#include "cmparams.h" - -#include "osalconf.h" - -/*===========================================================================*/ -/* Module constants. */ -/*===========================================================================*/ - -/** - * @name Common constants - * @{ - */ -#if !defined(FALSE) || defined(__DOXYGEN__) -#define FALSE 0 -#endif - -#if !defined(TRUE) || defined(__DOXYGEN__) -#define TRUE 1 -#endif - -#define OSAL_SUCCESS false -#define OSAL_FAILED true -/** @} */ - -/** - * @name Messages - * @{ - */ -#define MSG_OK (msg_t)0 -#define MSG_RESET (msg_t)-1 -#define MSG_TIMEOUT (msg_t)-2 -#define MSG_WAIT (msg_t)-10 -/** @} */ - -/** - * @name Special time constants - * @{ - */ -#define TIME_IMMEDIATE ((sysinterval_t)0) -#define TIME_INFINITE ((sysinterval_t)-1) -/** @} */ - -/** - * @name Systick modes. - * @{ - */ -#define OSAL_ST_MODE_NONE 0 -#define OSAL_ST_MODE_PERIODIC 1 -#define OSAL_ST_MODE_FREERUNNING 2 -/** @} */ - -/** - * @name Systick parameters. - * @{ - */ -/** - * @brief Size in bits of the @p systick_t type. - */ -#define OSAL_ST_RESOLUTION 32 - -/** - * @brief Systick mode required by the underlying OS. - */ -#define OSAL_ST_MODE OSAL_ST_MODE_NONE -/** @} */ - -/** - * @name IRQ-related constants - * @{ - */ -/** - * @brief Total priority levels. - */ -#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS) - -/** - * @brief Highest IRQ priority for HAL drivers. - */ -#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__) -#define OSAL_IRQ_MAXIMUM_PRIORITY 0 -#else -#define OSAL_IRQ_MAXIMUM_PRIORITY 1 -#endif - -/** - * @brief Converts from numeric priority to BASEPRI register value. - */ -#define OSAL_BASEPRI(priority) ((priority) << (8U - CORTEX_PRIORITY_BITS)) -/** @} */ - -/*===========================================================================*/ -/* Module pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @brief Frequency in Hertz of the system tick. - */ -#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__) -#define OSAL_ST_FREQUENCY 1000 -#endif - -/** - * @brief Enables OSAL assertions. - */ -#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) -#define OSAL_DBG_ENABLE_ASSERTS FALSE -#endif - -/** - * @brief Enables OSAL functions parameters checks. - */ -#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) -#define OSAL_DBG_ENABLE_CHECKS FALSE -#endif - -/** - * @brief OSAL initialization hook. - */ -#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__) -#define OSAL_INIT_HOOK() -#endif - -/** - * @brief Idle loop hook macro. - */ -#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__) -#define OSAL_IDLE_HOOK() -#endif - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module data structures and types. */ -/*===========================================================================*/ - -/** - * @brief Type of a system status word. - */ -typedef uint32_t syssts_t; - -/** - * @brief Type of a message. - */ -typedef int32_t msg_t; - -/** - * @brief Type of system time counter. - */ -typedef uint32_t systime_t; - -/** - * @brief Type of system time interval. - */ -typedef uint32_t sysinterval_t; - -/** - * @brief Type of realtime counter. - */ -typedef uint32_t rtcnt_t; - -/** - * @brief Type of a thread. - * @note The content of this structure is not part of the API and should - * not be relied upon. Implementers may define this structure in - * an entirely different way. - */ -typedef struct { - volatile msg_t message; -} thread_t; - -/** - * @brief Type of a thread reference. - */ -typedef thread_t * thread_reference_t; - -/** - * @brief Type of an event flags mask. - */ -typedef uint32_t eventflags_t; - -/** - * @brief Type of an event flags object. - * @note The content of this structure is not part of the API and should - * not be relied upon. Implementers may define this structure in - * an entirely different way. - * @note Retrieval and clearing of the flags are not defined in this - * API and are implementation-dependent. - */ -typedef struct event_source event_source_t; - -/** - * @brief Type of an event source callback. - * @note This type is not part of the OSAL API and is provided - * exclusively as an example and for convenience. - */ -typedef void (*eventcallback_t)(event_source_t *esp); - -/** - * @brief Events source object. - * @note The content of this structure is not part of the API and should - * not be relied upon. Implementers may define this structure in - * an entirely different way. - * @note Retrieval and clearing of the flags are not defined in this - * API and are implementation-dependent. - */ -struct event_source { - volatile eventflags_t flags; /**< @brief Stored event flags. */ - eventcallback_t cb; /**< @brief Event source callback. */ - void *param; /**< @brief User defined field. */ -}; - -/** - * @brief Type of a mutex. - * @note If the OS does not support mutexes or there is no OS then them - * mechanism can be simulated. - */ -typedef uint32_t mutex_t; - -/** - * @brief Type of a thread queue. - * @details A thread queue is a queue of sleeping threads, queued threads - * can be dequeued one at time or all together. - * @note If the OSAL is implemented on a bare metal machine without RTOS - * then the queue can be implemented as a single thread reference. - */ -typedef struct { - thread_reference_t tr; -} threads_queue_t; - -/*===========================================================================*/ -/* Module macros. */ -/*===========================================================================*/ - -/** - * @name Debug related macros - * @{ - */ -/** - * @brief Condition assertion. - * @details If the condition check fails then the OSAL panics with a - * message and halts. - * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS - * switch is enabled. - * @note The remark string is not currently used except for putting a - * comment in the code about the assertion. - * - * @param[in] c the condition to be verified to be true - * @param[in] remark a remark string - * - * @api - */ -#define osalDbgAssert(c, remark) do { \ - /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ - if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \ - if (!(c)) { \ - /*lint -restore*/ \ - osalSysHalt(__func__); \ - } \ - } \ -} while (false) - -/** - * @brief Function parameters check. - * @details If the condition check fails then the OSAL panics and halts. - * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch - * is enabled. - * - * @param[in] c the condition to be verified to be true - * - * @api - */ -#define osalDbgCheck(c) do { \ - /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ - if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \ - if (!(c)) { \ - /*lint -restore*/ \ - osalSysHalt(__func__); \ - } \ - } \ -} while (false) - -/** - * @brief I-Class state check. - * @note Implementation is optional. - */ -#define osalDbgCheckClassI() - -/** - * @brief S-Class state check. - * @note Implementation is optional. - */ -#define osalDbgCheckClassS() -/** @} */ - -/** - * @name IRQ service routines wrappers - * @{ - */ -/** - * @brief Priority level verification macro. - */ -#define OSAL_IRQ_IS_VALID_PRIORITY(n) \ - (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS)) - -/** - * @brief IRQ prologue code. - * @details This macro must be inserted at the start of all IRQ handlers. - */ -#define OSAL_IRQ_PROLOGUE() - -/** - * @brief IRQ epilogue code. - * @details This macro must be inserted at the end of all IRQ handlers. - */ -#define OSAL_IRQ_EPILOGUE() - -/** - * @brief IRQ handler function declaration. - * @details This macro hides the details of an ISR function declaration. - * - * @param[in] id a vector name as defined in @p vectors.s - */ -#define OSAL_IRQ_HANDLER(id) void id(void) -/** @} */ - -/** - * @name Time conversion utilities - * @{ - */ -/** - * @brief Seconds to system ticks. - * @details Converts from seconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] secs number of seconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_S2I(secs) \ - ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY)) - -/** - * @brief Milliseconds to system ticks. - * @details Converts from milliseconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] msecs number of milliseconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_MS2I(msecs) \ - ((sysinterval_t)((((((uint32_t)(msecs)) * \ - ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL)) - -/** - * @brief Microseconds to system ticks. - * @details Converts from microseconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] usecs number of microseconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_US2I(usecs) \ - ((sysinterval_t)((((((uint32_t)(usecs)) * \ - ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL)) -/** @} */ - -/** - * @name Time conversion utilities for the realtime counter - * @{ - */ -/** - * @brief Seconds to realtime counter. - * @details Converts from seconds to realtime counter cycles. - * @note The macro assumes that @p freq >= @p 1. - * - * @param[in] freq clock frequency, in Hz, of the realtime counter - * @param[in] sec number of seconds - * @return The number of cycles. - * - * @api - */ -#define OSAL_S2RTC(freq, sec) ((freq) * (sec)) - -/** - * @brief Milliseconds to realtime counter. - * @details Converts from milliseconds to realtime counter cycles. - * @note The result is rounded upward to the next millisecond boundary. - * @note The macro assumes that @p freq >= @p 1000. - * - * @param[in] freq clock frequency, in Hz, of the realtime counter - * @param[in] msec number of milliseconds - * @return The number of cycles. - * - * @api - */ -#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec)) - -/** - * @brief Microseconds to realtime counter. - * @details Converts from microseconds to realtime counter cycles. - * @note The result is rounded upward to the next microsecond boundary. - * @note The macro assumes that @p freq >= @p 1000000. - * - * @param[in] freq clock frequency, in Hz, of the realtime counter - * @param[in] usec number of microseconds - * @return The number of cycles. - * - * @api - */ -#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) -/** @} */ - -/** - * @name Sleep macros using absolute time - * @{ - */ -/** - * @brief Delays the invoking thread for the specified number of seconds. - * @note The specified time is rounded up to a value allowed by the real - * system tick clock. - * @note The maximum specifiable value is implementation dependent. - * - * @param[in] secs time in seconds, must be different from zero - * - * @api - */ -#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs)) - -/** - * @brief Delays the invoking thread for the specified number of - * milliseconds. - * @note The specified time is rounded up to a value allowed by the real - * system tick clock. - * @note The maximum specifiable value is implementation dependent. - * - * @param[in] msecs time in milliseconds, must be different from zero - * - * @api - */ -#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs)) - -/** - * @brief Delays the invoking thread for the specified number of - * microseconds. - * @note The specified time is rounded up to a value allowed by the real - * system tick clock. - * @note The maximum specifiable value is implementation dependent. - * - * @param[in] usecs time in microseconds, must be different from zero - * - * @api - */ -#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs)) -/** @} */ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -extern const char *osal_halt_msg; - -#ifdef __cplusplus -extern "C" { -#endif - void osalInit(void); - void osalSysHalt(const char *reason); - void osalSysPolledDelayX(rtcnt_t cycles); - void osalOsTimerHandlerI(void); - void osalOsRescheduleS(void); - systime_t osalOsGetSystemTimeX(void); - void osalThreadSleepS(sysinterval_t time); - void osalThreadSleep(sysinterval_t time); - msg_t osalThreadSuspendS(thread_reference_t *trp); - msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout); - void osalThreadResumeI(thread_reference_t *trp, msg_t msg); - void osalThreadResumeS(thread_reference_t *trp, msg_t msg); - msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout); - void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg); - void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg); - void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags); - void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags); - void osalEventSetCallback(event_source_t *esp, - eventcallback_t cb, - void *param); - void osalMutexLock(mutex_t *mp); - void osalMutexUnlock(mutex_t *mp); -#ifdef __cplusplus -} -#endif - -/*===========================================================================*/ -/* Module inline functions. */ -/*===========================================================================*/ - -/** - * @brief Disables interrupts globally. - * - * @special - */ -static inline void osalSysDisable(void) { - - __disable_irq(); -} - -/** - * @brief Enables interrupts globally. - * - * @special - */ -static inline void osalSysEnable(void) { - - __enable_irq(); -} - -/** - * @brief Enters a critical zone from thread context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysLock(void) { - -#if CORTEX_MODEL == 0 - __disable_irq(); -#else - __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); -#endif -} - -/** - * @brief Leaves a critical zone from thread context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysUnlock(void) { - -#if CORTEX_MODEL == 0 - __enable_irq(); -#else - __set_BASEPRI(0); -#endif -} - -/** - * @brief Enters a critical zone from ISR context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysLockFromISR(void) { - -#if CORTEX_MODEL == 0 - __disable_irq(); -#else - __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); -#endif -} - -/** - * @brief Leaves a critical zone from ISR context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysUnlockFromISR(void) { - -#if CORTEX_MODEL == 0 - __enable_irq(); -#else - __set_BASEPRI(0); -#endif -} - -/** - * @brief Returns the execution status and enters a critical zone. - * @details This functions enters into a critical zone and can be called - * from any context. Because its flexibility it is less efficient - * than @p chSysLock() which is preferable when the calling context - * is known. - * @post The system is in a critical zone. - * - * @return The previous system status, the encoding of this - * status word is architecture-dependent and opaque. - * - * @xclass - */ -static inline syssts_t osalSysGetStatusAndLockX(void) { - syssts_t sts; - -#if CORTEX_MODEL == 0 - sts = (syssts_t)__get_PRIMASK(); - __disable_irq(); -#else - sts = (syssts_t)__get_BASEPRI(); - __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); -#endif - return sts; -} - -/** - * @brief Restores the specified execution status and leaves a critical zone. - * @note A call to @p chSchRescheduleS() is automatically performed - * if exiting the critical zone and if not in ISR context. - * - * @param[in] sts the system status to be restored. - * - * @xclass - */ -static inline void osalSysRestoreStatusX(syssts_t sts) { - -#if CORTEX_MODEL == 0 - if ((sts & (syssts_t)1) == (syssts_t)0) { - __enable_irq(); - } -#else - __set_BASEPRI(sts); -#endif -} - -/** - * @brief Adds an interval to a system time returning a system time. - * - * @param[in] systime base system time - * @param[in] interval interval to be added - * @return The new system time. - * - * @xclass - */ -static inline systime_t osalTimeAddX(systime_t systime, - sysinterval_t interval) { - - return systime + (systime_t)interval; -} - -/** - * @brief Subtracts two system times returning an interval. - * - * @param[in] start first system time - * @param[in] end second system time - * @return The interval representing the time difference. - * - * @xclass - */ -static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) { - - return (sysinterval_t)((systime_t)(end - start)); -} - -/** - * @brief Checks if the specified time is within the specified time window. - * @note When start==end then the function returns always false because the - * time window has zero size. - * @note This function can be called from any context. - * - * @param[in] time the time to be verified - * @param[in] start the start of the time window (inclusive) - * @param[in] end the end of the time window (non inclusive) - * @retval true current time within the specified time window. - * @retval false current time not within the specified time window. - * - * @xclass - */ -static inline bool osalTimeIsInRangeX(systime_t time, - systime_t start, - systime_t end) { - - return (bool)((systime_t)((systime_t)time - (systime_t)start) < - (systime_t)((systime_t)end - (systime_t)start)); -} - -/** - * @brief Initializes a threads queue object. - * - * @param[out] tqp pointer to the threads queue object - * - * @init - */ -static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { - - osalDbgCheck(tqp != NULL); -} - -/** - * @brief Initializes an event source object. - * - * @param[out] esp pointer to the event source object - * - * @init - */ -static inline void osalEventObjectInit(event_source_t *esp) { - - osalDbgCheck(esp != NULL); - - esp->flags = (eventflags_t)0; - esp->cb = NULL; - esp->param = NULL; -} - -/** - * @brief Initializes s @p mutex_t object. - * - * @param[out] mp pointer to the @p mutex_t object - * - * @init - */ -static inline void osalMutexObjectInit(mutex_t *mp) { - - osalDbgCheck(mp != NULL); - - *mp = 0; -} - -#endif /* OSAL_H */ - -/** @} */ diff --git a/source/2048.c b/source/2048.c new file mode 100644 index 0000000..ce73844 --- /dev/null +++ b/source/2048.c @@ -0,0 +1,104 @@ +#include "buttons.h" +#include "dogs.h" + +static int values[16]; + +void g2048_init() +{ + for (int i = 0; i < 16; i++) + values[i] = 0; +} + +int g2048_loop() +{ + if ((button_state & BUTTON_JOYUP) == BUTTON_JOYUP) { + for (int x = 0; x < 3; x++) { + for (int y = 0; y < 3; y++) { + + if (values[4 * y + x] != 0) + continue; + } + } + + for (int y = 3; y > 0; y--) { + for (int x = 0; x < 4; x++) { + if (values[4 * y + x] != 0) { + if (values[4 * (y - 1) + x] == 0) + values[4 * (y - 1) + x] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * (y - 1) + x] == values[4 * y + x]) + values[4 * (y - 1) + x]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYDOWN) == BUTTON_JOYDOWN) { + for (int y = 0; y < 3; y++) { + for (int x = 0; x < 4; x++) { + if (values[4 * y + x] != 0) { + if (values[4 * (y + 1) + x] == 0) + values[4 * (y + 1) + x] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * (y + 1) + x] == values[4 * y + x]) + values[4 * (y + 1) + x]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYLEFT) == BUTTON_JOYLEFT) { + for (int x = 3; x > 0; x--) { + for (int y = 0; y < 4; y++) { + if (values[4 * y + x] != 0) { + if (values[4 * y + x - 1] == 0) + values[4 * y + x - 1] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * y + x - 1] == values[4 * y + x]) + values[4 * y + x - 1]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } else if ((button_state & BUTTON_JOYRIGHT) == BUTTON_JOYRIGHT) { + for (int x = 0; x < 3; x++) { + for (int y = 0; y < 4; y++) { + if (values[4 * y + x] != 0) { + if (values[4 * y + x + 1] == 0) + values[4 * y + x + 1] = values[4 * y + x], values[4 * y + x] = 0; + else if (values[4 * y + x + 1] == values[4 * y + x]) + values[4 * y + x + 1]++, values[4 * y + x] = 0; + } + } + } + + for (int i = 15; i >= 0; i--) { + if (values[i] == 0) { + values[i] = 1; + break; + } + } + } + + dogs_clear(); + for (int i = 0; i < 16; i++) { + if (values[i] != 0) + draw_number(31 + 10 * (i % 4), 12 + 10 * (3 - (i / 4)), values[i]); + } + dogs_flush(); + + return 500; +} diff --git a/source/2048.h b/source/2048.h new file mode 100644 index 0000000..b8bdf14 --- /dev/null +++ b/source/2048.h @@ -0,0 +1,3 @@ +void g2048_init(); +int g2048_loop(); + diff --git a/source/buttons.c b/source/buttons.c new file mode 100644 index 0000000..45ea7bd --- /dev/null +++ b/source/buttons.c @@ -0,0 +1,58 @@ +/** + * buttons.c - Provides ability to read button state. + * Copyright (C) 2020 Clyne Sullivan + * + * This program 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 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#include "buttons.h" +#include "hal.h" + +unsigned char button_state = 0; + +static void buttonStateHandler(void *arg) +{ + int pad = (unsigned int)arg & 0xFF; + int bit = 1 << ((unsigned int)arg >> 8); + + if (!palReadPad(GPIOA, pad)) { + if ((button_state & bit) != bit) + button_state |= bit; + } else { + if ((button_state & bit) == bit) + button_state &= ~(bit); + } +} + +void buttons_init() +{ + palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_PULLUP); // Joy A (UL) + palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_PULLUP); // Joy B (UR) + palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_PULLUP); // Joy C (DR) + palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_PULLUP); // Joy D (DL) + palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_PULLUP); // Joy button + palSetPadMode(GPIOA, 7, PAL_MODE_INPUT_PULLUP); // Button 1 + palSetPadMode(GPIOA, 9, PAL_MODE_INPUT_PULLUP); // Button 2 + palSetPadMode(GPIOA, 10, PAL_MODE_INPUT_PULLUP); // Button 3 + palEnablePadEvent(GPIOA, 0, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 1, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 2, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 3, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 6, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 7, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 9, PAL_EVENT_MODE_BOTH_EDGES); + palEnablePadEvent(GPIOA, 10, PAL_EVENT_MODE_BOTH_EDGES); + palSetPadCallback(GPIOA, 0, buttonStateHandler, (void *)0x0700); + palSetPadCallback(GPIOA, 1, buttonStateHandler, (void *)0x0601); + palSetPadCallback(GPIOA, 2, buttonStateHandler, (void *)0x0502); + palSetPadCallback(GPIOA, 3, buttonStateHandler, (void *)0x0403); + palSetPadCallback(GPIOA, 6, buttonStateHandler, (void *)0x0306); + palSetPadCallback(GPIOA, 7, buttonStateHandler, (void *)0x0207); + palSetPadCallback(GPIOA, 9, buttonStateHandler, (void *)0x0109); + palSetPadCallback(GPIOA, 10, buttonStateHandler, (void *)0x000A); +} + diff --git a/source/buttons.h b/source/buttons.h new file mode 100644 index 0000000..ba7e02d --- /dev/null +++ b/source/buttons.h @@ -0,0 +1,34 @@ +/** + * buttons.h - Provides ability to read button state. + * Copyright (C) 2020 Clyne Sullivan + * + * This program 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 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#ifndef BUTTONS_H_ +#define BUTTONS_H_ + +#define BUTTON_JOYUL (1 << 7) +#define BUTTON_JOYUR (1 << 6) +#define BUTTON_JOYDR (1 << 5) +#define BUTTON_JOYDL (1 << 4) +#define BUTTON_JOY (1 << 3) +#define BUTTON_1 (1 << 2) +#define BUTTON_2 (1 << 1) +#define BUTTON_3 (1 << 0) + +#define BUTTON_JOYUP (BUTTON_JOYUL | BUTTON_JOYUR) +#define BUTTON_JOYDOWN (BUTTON_JOYDL | BUTTON_JOYDR) +#define BUTTON_JOYLEFT (BUTTON_JOYUL | BUTTON_JOYDL) +#define BUTTON_JOYRIGHT (BUTTON_JOYUR | BUTTON_JOYDR) + +extern unsigned char button_state; + +void buttons_init(); + +#endif // BUTTONS_H_ + diff --git a/source/dogs.c b/source/dogs.c new file mode 100644 index 0000000..b986845 --- /dev/null +++ b/source/dogs.c @@ -0,0 +1,356 @@ +/** + * dogs.c - Interface for drawing to the EADOGS102N-6 display. + * Copyright (C) 2020 Clyne Sullivan + * + * This program 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 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +//#include "ch.h" +#include "dogs.h" +#include "hal.h" + +#define SET_DATA palSetPad(GPIOC, 15) +#define SET_CMD palClearPad(GPIOC, 15) +#define CS_HIGH palSetPad(GPIOA, 4) +#define CS_LOW palClearPad(GPIOA, 4) +unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; + +//static volatile bool dogs_spi_done = false; + +#define spi_send(data, len) spiSend(&SPID1, len, data) +//static void spi_send(unsigned char *data, unsigned int len) +//{ + //dogs_spi_done = false; + //spiStartSend(&SPID1, len, data); + //while (!dogs_spi_done) + // asm("wfi"); + + //for (; len > 0; --len) + // spiPolledExchange(&SPID1, *data++); +//} + +static void dogs_init_display(); +//static void dogs_spi_callback(SPIDriver *spid) +//{ +// if (spiIsBufferComplete(spid)) +// dogs_spi_done = true; +//} + +void dogs_init() +{ + // SPI + palSetPadMode(GPIOB, 1, PAL_MODE_ALTERNATE(1)); // MOSI + palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(0)); // CLK + palSetPadMode(GPIOA, 4, PAL_MODE_OUTPUT_PUSHPULL); // nCS + palSetPadMode(GPIOC, 14, PAL_MODE_OUTPUT_PUSHPULL); // nRST + palSetPadMode(GPIOC, 15, PAL_MODE_OUTPUT_PUSHPULL); // CD + + palSetPad(GPIOA, 4); + palSetPad(GPIOC, 14); + palClearPad(GPIOC, 15); + + static const SPIConfig spicfg = { + false, + NULL /*dogs_spi_callback*/, + 0, // cr1 + 0 + }; + spiStart(&SPID1, &spicfg); + + dogs_init_display(); + dogs_clear(); + dogs_flush(); +} + +void dogs_write_cmd(unsigned char byte) +{ + spi_send(&byte, 1); +} + +void dogs_set_column(unsigned int col) +{ + dogs_write_cmd(0x10 | ((col >> 4) & 0xF)); + dogs_write_cmd(0x00 | (col & 0xF)); +} +void dogs_set_power(unsigned int bits) +{ + dogs_write_cmd(0x28 | (bits & 0x7)); +} +void dogs_set_scroll_line(unsigned int startline) +{ + dogs_write_cmd(0x40 | (startline & 0x3F)); +} +void dogs_set_page(unsigned int page) +{ + dogs_write_cmd(0xB0 | (page & 0xF)); +} +void dogs_set_vlcd_ratio(unsigned int ratio) +{ + dogs_write_cmd(0x20 | (ratio & 0x7)); +} +void dogs_set_contrast(unsigned int value) +{ + dogs_write_cmd(0x81); + dogs_write_cmd(0x00 | (value & 0x3F)); +} +void dogs_set_pixelson(bool on) +{ + dogs_write_cmd(on ? 0xA5 : 0xA4); +} +void dogs_set_invert(bool invert) +{ + dogs_write_cmd(invert ? 0xA7 : 0xA6); +} +void dogs_set_sleep(bool sleep) +{ + dogs_write_cmd(sleep ? 0xAE : 0xAF); +} +void dogs_set_segdir(bool normal) +{ + dogs_write_cmd(normal ? 0xA0 : 0xA1); +} +void dogs_set_comdir(bool normal) +{ + dogs_write_cmd(normal ? 0xC0 : 0xC8); +} +void dogs_reset() +{ + dogs_write_cmd(0xE2); +} +void dogs_set_bias(bool higher) +{ + dogs_write_cmd(higher ? 0xA2 : 0xA3); +} +void dogs_set_advanced(unsigned int bits) +{ + dogs_write_cmd(0xFA); + dogs_write_cmd(0x10 | bits); +} + +void dogs_init_display() +{ + SET_CMD; + CS_LOW; + dogs_reset(); + CS_HIGH; + + unsigned long int reset_sleep = (STM32_SYSCLK / 1000) * 100; + while (reset_sleep != 0) { + asm("nop; nop; nop; nop; nop"); + reset_sleep -= 8; + } + + CS_LOW; + dogs_set_scroll_line(0); + dogs_set_segdir(true); + dogs_set_comdir(false); + dogs_set_pixelson(false); + dogs_set_invert(false); + dogs_set_bias(true); + dogs_set_power(0x07); + dogs_set_vlcd_ratio(7); + dogs_set_contrast(12); + dogs_set_advanced(0x83); + dogs_set_sleep(false); + CS_HIGH; +} + +void dogs_clear() +{ + uint32_t *ptr = (uint32_t *)dogs_buffer; + unsigned int count = sizeof(dogs_buffer) / sizeof(uint32_t) / 12; + + for (; count; --count) { + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + *ptr++ = 0; + } +} + +void dogs_flush() +{ + unsigned char *ptr = dogs_buffer; + CS_LOW; + for (int page = 0; page < 8; ++page) { + SET_CMD; + dogs_set_page(page); + dogs_set_column(30); + + SET_DATA; + spi_send(ptr, 102); + ptr += 102; + } + CS_HIGH; +} + +void draw_pixel(int x, int y, bool state) +{ + if (x < 0 || y < 0 || x >= DISP_WIDTH || y >= DISP_HEIGHT) + return; + y = DISP_HEIGHT - 1 - y; + if (state) + dogs_buffer[y / 8 * DISP_WIDTH + x] |= (1 << (y % 8)); + else + dogs_buffer[y / 8 * DISP_WIDTH + x] &= ~(1 << (y % 8)); +} + +void draw_rect(int x, int y, int w, int h) +{ + for (int i = 0; i < w; i++) { + for (int j = 0; j < h; j++) + draw_pixel(x + i, y + j, true); + } +} + +void draw_bitmap(int x, int y, const unsigned char *buffer) +{ + // Prepare source information + const unsigned char *src = buffer; + const int width = *src++; + const int height = *src++; + int sbit = 0; + + for (int j = 0; j < height; j++) { + for (int i = 0; i < width; i++) { + draw_pixel(x + i, y + j, *src & (1 << sbit)); + if (++sbit == 8) { + sbit = 0; + ++src; + } + } + } +} + +static const unsigned char draw_number_bitmaps[10][10] = { + { 8, 8, // '0' + 0b00011000, + 0b00100100, + 0b01000010, + 0b01000010, + 0b01000010, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '1' + 0b01111100, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010000, + 0b00010100, + 0b00011000, + }, + { 8, 8, // '2' + 0b01111110, + 0b00001000, + 0b00010000, + 0b00100000, + 0b01000000, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '3' + 0b00011100, + 0b00100010, + 0b01000000, + 0b00100000, + 0b00111100, + 0b01000000, + 0b00100010, + 0b00011100, + }, + { 8, 8, // '4' + 0b00100000, + 0b00100000, + 0b00100000, + 0b00111110, + 0b00100100, + 0b00101000, + 0b00110000, + 0b00100000, + }, + { 8, 8, // '5' + 0b00011100, + 0b00100010, + 0b01000000, + 0b01000000, + 0b00100000, + 0b00011110, + 0b00000010, + 0b01111110, + }, + { 8, 8, // '6' + 0b00011000, + 0b00100100, + 0b01000010, + 0b01000110, + 0b00111010, + 0b00000010, + 0b00000100, + 0b00111000, + }, + { 8, 8, // '7' + 0b00001000, + 0b00001000, + 0b00001000, + 0b00001000, + 0b00010000, + 0b00100000, + 0b01000000, + 0b01111110, + }, + { 8, 8, // '8' + 0b00011000, + 0b00100100, + 0b01000010, + 0b00100100, + 0b00111100, + 0b01000010, + 0b00100100, + 0b00011000, + }, + { 8, 8, // '9' + 0b00011100, + 0b00100010, + 0b01000000, + 0b01111000, + 0b01000100, + 0b01000010, + 0b00100100, + 0b00011000, + }, +}; + +void draw_number(int x, int y, int number) +{ + if (number < 0) + number = -number; + int tmp = number; + int count; + for (count = 0; tmp; count++) + tmp /= 10; + if (count == 0) + count = 1; + x += count * 8; + do { + x -= 8; + draw_bitmap(x, y, draw_number_bitmaps[number % 10]); + } while (number /= 10); +} + diff --git a/source/dogs.h b/source/dogs.h new file mode 100644 index 0000000..8af24fd --- /dev/null +++ b/source/dogs.h @@ -0,0 +1,33 @@ +/** + * dogs.h - Interface for drawing to the EADOGS102N-6 display. + * Copyright (C) 2020 Clyne Sullivan + * + * This program 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 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#ifndef DOGS_H_ +#define DOGS_H_ + +#include + +#define DISP_WIDTH 102 +#define DISP_HEIGHT 64 + +extern unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; + +void dogs_init(); +void dogs_clear(); +void dogs_flush(); +void dogs_set_sleep(bool sleep); + +void draw_pixel(int x, int y, bool state); +void draw_rect(int x, int y, int w, int h); +void draw_bitmap(int x, int y, const unsigned char *buffer); +void draw_number(int x, int y, int number); + +#endif // DOGS_H_ + diff --git a/source/flapbird.c b/source/flapbird.c new file mode 100644 index 0000000..f2dd2cf --- /dev/null +++ b/source/flapbird.c @@ -0,0 +1,80 @@ +#include "buttons.h" +#include "dogs.h" + +static const unsigned char bird[] = { + 8, 8, + 0b00111100, + 0b01100110, + 0b01000010, + 0b01111110, + 0b01100110, + 0b01000010, + 0b11000000, + 0b11000000, +}; + +static int score; +static int t1x, t1o; +static int t2x, t2o; +static int py; +static int vy; +static int counter; + +void flapbird_init() +{ + score = 0; + t1x = DISP_WIDTH / 2, t1o = 15; + t2x = DISP_WIDTH, t2o = 49; + py = DISP_HEIGHT / 2 - 4; + vy = 0; + counter = 0; +} + +int flapbird_loop() +{ + // Player logic + if (py > 0) { + py += vy; + if (vy > -3) + vy--; + } else { + if (py < 0) + py = 0; + if (score > 0) + score = 0; + } + + if (button_state & BUTTON_2) { + vy = 5; + if (py <= 0) + py = 1; + } + + // Rendering + dogs_clear(); + + draw_rect(t1x, 0, 4, t1o - 10); + draw_rect(t1x, t1o + 10, 4, DISP_HEIGHT - t1o + 10); + draw_rect(t2x, 0, 4, t2o - 10); + draw_rect(t2x, t2o + 10, 4, DISP_HEIGHT - t2o + 10); + draw_bitmap(4, py, bird); + + draw_number(DISP_WIDTH - 25, DISP_HEIGHT - 8, score); + dogs_flush(); + + // Game logic + if (t1x == 4) + score = (py + 2 > t1o - 10 && py + 6 < t1o + 10) ? score + 1 : 0; + if (t2x == 4) + score = (py + 2 > t2o - 10 && py + 6 < t2o + 10) ? score + 1 : 0; + + t1x -= 2; + if (t1x <= -5) + t1x = DISP_WIDTH; + t2x -= 2; + if (t2x <= -5) + t2x = DISP_WIDTH; + + return 100; +} + diff --git a/source/flapbird.h b/source/flapbird.h new file mode 100644 index 0000000..7ab4199 --- /dev/null +++ b/source/flapbird.h @@ -0,0 +1,8 @@ +#ifndef FLAPBIRD_H_ +#define FLAPBIRD_H_ + +void flapbird_init(); +int flapbird_loop(); + +#endif // FLAPBIRD_H_ + diff --git a/source/main.c b/source/main.c new file mode 100644 index 0000000..fd753ea --- /dev/null +++ b/source/main.c @@ -0,0 +1,150 @@ +/** + * main.c - Firmware entry point and main loop for game or testing. + * Copyright (C) 2020 Clyne Sullivan + * + * This program 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 3 of the License, or + * (at your option) any later version. + * See the GNU General Public License for more details. + */ + +#include "buttons.h" +#include "dogs.h" +#include "hal.h" + +//#include "2048.h" +#include "flapbird.h" + +/* + * Progress: + * - Serial through LPUART1 works (38400 baud, takes over swdio pins) + * - Display comm. over SPI, can clear screen + * - Can read buttons through PAL (through interrupts now) + * - Use ADC to read Vintref, print to screen in mV + * - Sleep mode via WFI, saves ~0.5mA (we're running around 1.1mA) + * - Run at 512kHz, only use HSI for ADC: 360uA (jumpy) + * - Drop to 1.2V Vcore (range 3), enable low-V detector: 375uA (steady) (440uA at 1MHz) + * - Run at 4MHz, drop to low-power run/sleep @ 64kHz for idle: 375uA (also lowered contrast) + * - Sleep display for 'pause': ~240uA + * + * - Use RTC for delay, Stop mode when idle: 348uA + * + * - Flappy bird is going, 2048 next + */ + +static int readVddmv(); + +static void alarm_callback(RTCDriver *rtcp, rtcevent_t event) +{ + (void)rtcp; + (void)event; + + static bool sleep = false; + + bool sleep_button = (button_state & BUTTON_1) != 0; + if (sleep && !sleep_button) + return; + + RCC->ICSCR |= 6 << RCC_ICSCR_MSIRANGE_Pos; + dogs_set_sleep(false); + + if (sleep_button) { + sleep ^= true; + if (sleep) { + draw_number(DISP_WIDTH - 33, 0, + !(PWR->CSR & PWR_CSR_PVDO) ? readVddmv() : 1); + dogs_flush(); + } + } + + if (!sleep) + flapbird_loop(); + + dogs_set_sleep(true); +} + +int main(void) +{ + halInit(); + //chSysInit(); + buttons_init(); + + dogs_init(); + flapbird_init(); + + static const RTCWakeup wakeupcfg = { + (0 << 16) | // wucksel (37k /16 = ~2k) + 200 // wut (hope for 10Hz) + }; + rtcSTM32SetPeriodicWakeup(&RTCD1, &wakeupcfg); + rtcSetCallback(&RTCD1, alarm_callback); + + RCC->CR &= ~RCC_CR_HSION; + PWR->CR |= PWR_CR_LPSDSR | PWR_CR_ULP; + PWR->CR |= PWR_CR_LPRUN; + SCB->SCR = 6; + //FLASH->ACR |= FLASH_ACR_SLEEP_PD; + + // Below code for serial -- note that it cuts off debugging, and MUST be used in a thread + //chThdSleepMilliseconds(2000); + //palSetPadMode(GPIOA, 13, PAL_MODE_ALTERNATE(6)); + //palSetPadMode(GPIOA, 14, PAL_MODE_ALTERNATE(6)); + //sdStart(&LPSD1, NULL); + //chnWrite(&LPSD1, (const uint8_t *)"Hello World!\r\n", 14); + + /* This is now the idle thread loop, you may perform here a low priority + task but YOU MUST NEVER TRY TO SLEEP OR WAIT in this loop. Note that + this tasks runs at the lowest priority level so any instruction added + here will be executed after all other tasks have been started. */ + while (1) + asm("wfe"); +} + +void HardFault_Handler() +{ + while (1); +} + +static volatile bool adc_is_complete = false; +static void adc_callback(ADCDriver *adcd) +{ + (void)adcd; + adc_is_complete = true; +} + +static const ADCConfig adccfg = { + .dummy = 0 +}; + +static const ADCConversionGroup adcgrpcfg = { + .circular = false, + .num_channels = 1, + .end_cb = adc_callback, + .error_cb = NULL, + .cfgr1 = ADC_CFGR1_RES_12BIT, /* CFGR1 */ + .cfgr2 = 0, /* CFGR2 */ + .tr = ADC_TR(0, 0), /* TR */ + .smpr = ADC_SMPR_SMP_1P5, /* SMPR */ + .chselr = ADC_CHSELR_CHSEL17 /* CHSELR */ +}; + +int readVddmv() +{ + adcsample_t reading = 0; + + RCC->CR |= RCC_CR_HSION; + while (!(RCC->CR & RCC_CR_HSIRDY)); + + adcStart(&ADCD1, &adccfg); + adcSTM32EnableVREF(&ADCD1); + adcStartConversion(&ADCD1, &adcgrpcfg, &reading, 1); + while (!adc_is_complete); + adcStopConversion(&ADCD1); + adcSTM32DisableVREF(&ADCD1); + adcStop(&ADCD1); + + RCC->CR &= ~RCC_CR_HSION; + + return 3000 * /* CAL */ *((adcsample_t *)0x1FF80078) / reading; +} diff --git a/source/osal.c b/source/osal.c new file mode 100644 index 0000000..5c62069 --- /dev/null +++ b/source/osal.c @@ -0,0 +1,467 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file osal.c + * @brief OSAL module code. + * + * @addtogroup OSAL + * @{ + */ + +#include "osal.h" +#include "osal_vt.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/** + * @brief Pointer to a halt error message. + * @note The message is meant to be retrieved by the debugger after the + * system halt caused by an unexpected error. + */ +const char *osal_halt_msg; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +static void callback_timeout(void *p) { + osalSysLockFromISR(); + osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT); + osalSysUnlockFromISR(); +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief OSAL module initialization. + * + * @api + */ +void osalInit(void) { + + vtInit(); + + OSAL_INIT_HOOK(); +} + +/** + * @brief System halt with error message. + * + * @param[in] reason the halt message pointer + * + * @api + */ +#if !defined(__DOXYGEN__) +__attribute__((weak, noreturn)) +#endif +void osalSysHalt(const char *reason) { + + osalSysDisable(); + osal_halt_msg = reason; + while (true) { + } +} + +/** + * @brief Polled delay. + * @note The real delay is always few cycles in excess of the specified + * value. + * + * @param[in] cycles number of cycles + * + * @xclass + */ +void osalSysPolledDelayX(rtcnt_t cycles) { + + (void)cycles; +} + +/** + * @brief System timer handler. + * @details The handler is used for scheduling and Virtual Timers management. + * + * @iclass + */ +void osalOsTimerHandlerI(void) { + + osalDbgCheckClassI(); + + vtDoTickI(); +} + +/** + * @brief Checks if a reschedule is required and performs it. + * @note I-Class functions invoked from thread context must not reschedule + * by themselves, an explicit reschedule using this function is + * required in this scenario. + * @note Not implemented in this simplified OSAL. + * + * @sclass + */ +void osalOsRescheduleS(void) { + +} + +/** + * @brief Current system time. + * @details Returns the number of system ticks since the @p osalInit() + * invocation. + * @note The counter can reach its maximum and then restart from zero. + * @note This function can be called from any context but its atomicity + * is not guaranteed on architectures whose word size is less than + * @p systime_t size. + * + * @return The system time in ticks. + * + * @xclass + */ +systime_t osalOsGetSystemTimeX(void) { + + return vtlist.vt_systime; +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @sclass + */ +void osalThreadSleepS(sysinterval_t time) { + virtual_timer_t vt; + thread_reference_t tr; + + tr = NULL; + vtSetI(&vt, time, callback_timeout, (void *)&tr); + osalThreadSuspendS(&tr); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @api + */ +void osalThreadSleep(sysinterval_t time) { + + osalSysLock(); + osalThreadSleepS(time); + osalSysUnlock(); +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @return The wake up message. + * + * @sclass + */ +msg_t osalThreadSuspendS(thread_reference_t *trp) { + thread_t self = {MSG_WAIT}; + + osalDbgCheck(trp != NULL); + + *trp = &self; + while (self.message == MSG_WAIT) { + osalSysUnlock(); + /* A state-changing interrupt could occur here and cause the loop to + terminate, an hook macro is executed while waiting.*/ + OSAL_IDLE_HOOK(); + osalSysLock(); + } + + return self.message; +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The wake up message. + * @retval MSG_TIMEOUT if the operation timed out. + * + * @sclass + */ +msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(trp != NULL); + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(trp); + + vtSetI(&vt, timeout, callback_timeout, (void *)trp); + msg = osalThreadSuspendS(trp); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must not reschedule because it can be called from + * ISR context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Enqueues the caller thread. + * @details The caller thread is enqueued and put to sleep until it is + * dequeued or the specified timeouts expires. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The message from @p osalQueueWakeupOneI() or + * @p osalQueueWakeupAllI() functions. + * @retval MSG_TIMEOUT if the thread has not been dequeued within the + * specified timeout or if the function has been + * invoked with @p TIME_IMMEDIATE as timeout + * specification. + * + * @sclass + */ +msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(tqp != NULL); + + if (TIME_IMMEDIATE == timeout) + return MSG_TIMEOUT; + + tqp->tr = NULL; + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(&tqp->tr); + + vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr); + msg = osalThreadSuspendS(&tqp->tr); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Dequeues and wakes up one thread from the queue, if any. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Dequeues and wakes up all threads from the queue. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + esp->flags |= flags; + if (esp->cb != NULL) { + esp->cb(esp); + } +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + osalSysLock(); + osalEventBroadcastFlagsI(esp, flags); + osalSysUnlock(); +} + +/** + * @brief Event callback setup. + * @note The callback is invoked from ISR context and can + * only invoke I-Class functions. The callback is meant + * to wakeup the task that will handle the event by + * calling @p osalEventGetAndClearFlagsI(). + * @note This function is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + * + * @param[in] esp pointer to the event flags object + * @param[in] cb pointer to the callback function + * @param[in] param parameter to be passed to the callback function + * + * @api + */ +void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param) { + + osalDbgCheck(esp != NULL); + + esp->cb = cb; + esp->param = param; +} + +/** + * @brief Locks the specified mutex. + * @post The mutex is locked and inserted in the per-thread stack of owned + * mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexLock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 1; +} + +/** + * @brief Unlocks the specified mutex. + * @note The HAL guarantees to release mutex in reverse lock order. The + * mutex being unlocked is guaranteed to be the last locked mutex + * by the invoking thread. + * The implementation can rely on this behavior and eventually + * ignore the @p mp parameter which is supplied in order to support + * those OSes not supporting a stack of the owned mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexUnlock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +/** @} */ diff --git a/source/osal.h b/source/osal.h new file mode 100644 index 0000000..30e1592 --- /dev/null +++ b/source/osal.h @@ -0,0 +1,754 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file osal.h + * @brief OSAL module header. + * + * @addtogroup OSAL + * @{ + */ + +#ifndef OSAL_H +#define OSAL_H + +#include +#include +#include + +#include "cmparams.h" + +#include "osalconf.h" + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Common constants + * @{ + */ +#if !defined(FALSE) || defined(__DOXYGEN__) +#define FALSE 0 +#endif + +#if !defined(TRUE) || defined(__DOXYGEN__) +#define TRUE 1 +#endif + +#define OSAL_SUCCESS false +#define OSAL_FAILED true +/** @} */ + +/** + * @name Messages + * @{ + */ +#define MSG_OK (msg_t)0 +#define MSG_RESET (msg_t)-1 +#define MSG_TIMEOUT (msg_t)-2 +#define MSG_WAIT (msg_t)-10 +/** @} */ + +/** + * @name Special time constants + * @{ + */ +#define TIME_IMMEDIATE ((sysinterval_t)0) +#define TIME_INFINITE ((sysinterval_t)-1) +/** @} */ + +/** + * @name Systick modes. + * @{ + */ +#define OSAL_ST_MODE_NONE 0 +#define OSAL_ST_MODE_PERIODIC 1 +#define OSAL_ST_MODE_FREERUNNING 2 +/** @} */ + +/** + * @name Systick parameters. + * @{ + */ +/** + * @brief Size in bits of the @p systick_t type. + */ +#define OSAL_ST_RESOLUTION 32 + +/** + * @brief Systick mode required by the underlying OS. + */ +#define OSAL_ST_MODE OSAL_ST_MODE_NONE +/** @} */ + +/** + * @name IRQ-related constants + * @{ + */ +/** + * @brief Total priority levels. + */ +#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS) + +/** + * @brief Highest IRQ priority for HAL drivers. + */ +#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__) +#define OSAL_IRQ_MAXIMUM_PRIORITY 0 +#else +#define OSAL_IRQ_MAXIMUM_PRIORITY 1 +#endif + +/** + * @brief Converts from numeric priority to BASEPRI register value. + */ +#define OSAL_BASEPRI(priority) ((priority) << (8U - CORTEX_PRIORITY_BITS)) +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Frequency in Hertz of the system tick. + */ +#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__) +#define OSAL_ST_FREQUENCY 1000 +#endif + +/** + * @brief Enables OSAL assertions. + */ +#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_ASSERTS FALSE +#endif + +/** + * @brief Enables OSAL functions parameters checks. + */ +#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_CHECKS FALSE +#endif + +/** + * @brief OSAL initialization hook. + */ +#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__) +#define OSAL_INIT_HOOK() +#endif + +/** + * @brief Idle loop hook macro. + */ +#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__) +#define OSAL_IDLE_HOOK() +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a system status word. + */ +typedef uint32_t syssts_t; + +/** + * @brief Type of a message. + */ +typedef int32_t msg_t; + +/** + * @brief Type of system time counter. + */ +typedef uint32_t systime_t; + +/** + * @brief Type of system time interval. + */ +typedef uint32_t sysinterval_t; + +/** + * @brief Type of realtime counter. + */ +typedef uint32_t rtcnt_t; + +/** + * @brief Type of a thread. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + */ +typedef struct { + volatile msg_t message; +} thread_t; + +/** + * @brief Type of a thread reference. + */ +typedef thread_t * thread_reference_t; + +/** + * @brief Type of an event flags mask. + */ +typedef uint32_t eventflags_t; + +/** + * @brief Type of an event flags object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +typedef struct event_source event_source_t; + +/** + * @brief Type of an event source callback. + * @note This type is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + */ +typedef void (*eventcallback_t)(event_source_t *esp); + +/** + * @brief Events source object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +struct event_source { + volatile eventflags_t flags; /**< @brief Stored event flags. */ + eventcallback_t cb; /**< @brief Event source callback. */ + void *param; /**< @brief User defined field. */ +}; + +/** + * @brief Type of a mutex. + * @note If the OS does not support mutexes or there is no OS then them + * mechanism can be simulated. + */ +typedef uint32_t mutex_t; + +/** + * @brief Type of a thread queue. + * @details A thread queue is a queue of sleeping threads, queued threads + * can be dequeued one at time or all together. + * @note If the OSAL is implemented on a bare metal machine without RTOS + * then the queue can be implemented as a single thread reference. + */ +typedef struct { + thread_reference_t tr; +} threads_queue_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @name Debug related macros + * @{ + */ +/** + * @brief Condition assertion. + * @details If the condition check fails then the OSAL panics with a + * message and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS + * switch is enabled. + * @note The remark string is not currently used except for putting a + * comment in the code about the assertion. + * + * @param[in] c the condition to be verified to be true + * @param[in] remark a remark string + * + * @api + */ +#define osalDbgAssert(c, remark) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief Function parameters check. + * @details If the condition check fails then the OSAL panics and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch + * is enabled. + * + * @param[in] c the condition to be verified to be true + * + * @api + */ +#define osalDbgCheck(c) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief I-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassI() + +/** + * @brief S-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassS() +/** @} */ + +/** + * @name IRQ service routines wrappers + * @{ + */ +/** + * @brief Priority level verification macro. + */ +#define OSAL_IRQ_IS_VALID_PRIORITY(n) \ + (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS)) + +/** + * @brief IRQ prologue code. + * @details This macro must be inserted at the start of all IRQ handlers. + */ +#define OSAL_IRQ_PROLOGUE() + +/** + * @brief IRQ epilogue code. + * @details This macro must be inserted at the end of all IRQ handlers. + */ +#define OSAL_IRQ_EPILOGUE() + +/** + * @brief IRQ handler function declaration. + * @details This macro hides the details of an ISR function declaration. + * + * @param[in] id a vector name as defined in @p vectors.s + */ +#define OSAL_IRQ_HANDLER(id) void id(void) +/** @} */ + +/** + * @name Time conversion utilities + * @{ + */ +/** + * @brief Seconds to system ticks. + * @details Converts from seconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] secs number of seconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_S2I(secs) \ + ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY)) + +/** + * @brief Milliseconds to system ticks. + * @details Converts from milliseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] msecs number of milliseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_MS2I(msecs) \ + ((sysinterval_t)((((((uint32_t)(msecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL)) + +/** + * @brief Microseconds to system ticks. + * @details Converts from microseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] usecs number of microseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_US2I(usecs) \ + ((sysinterval_t)((((((uint32_t)(usecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL)) +/** @} */ + +/** + * @name Time conversion utilities for the realtime counter + * @{ + */ +/** + * @brief Seconds to realtime counter. + * @details Converts from seconds to realtime counter cycles. + * @note The macro assumes that @p freq >= @p 1. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] sec number of seconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_S2RTC(freq, sec) ((freq) * (sec)) + +/** + * @brief Milliseconds to realtime counter. + * @details Converts from milliseconds to realtime counter cycles. + * @note The result is rounded upward to the next millisecond boundary. + * @note The macro assumes that @p freq >= @p 1000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] msec number of milliseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec)) + +/** + * @brief Microseconds to realtime counter. + * @details Converts from microseconds to realtime counter cycles. + * @note The result is rounded upward to the next microsecond boundary. + * @note The macro assumes that @p freq >= @p 1000000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] usec number of microseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) +/** @} */ + +/** + * @name Sleep macros using absolute time + * @{ + */ +/** + * @brief Delays the invoking thread for the specified number of seconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] secs time in seconds, must be different from zero + * + * @api + */ +#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs)) + +/** + * @brief Delays the invoking thread for the specified number of + * milliseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] msecs time in milliseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs)) + +/** + * @brief Delays the invoking thread for the specified number of + * microseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] usecs time in microseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs)) +/** @} */ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern const char *osal_halt_msg; + +#ifdef __cplusplus +extern "C" { +#endif + void osalInit(void); + void osalSysHalt(const char *reason); + void osalSysPolledDelayX(rtcnt_t cycles); + void osalOsTimerHandlerI(void); + void osalOsRescheduleS(void); + systime_t osalOsGetSystemTimeX(void); + void osalThreadSleepS(sysinterval_t time); + void osalThreadSleep(sysinterval_t time); + msg_t osalThreadSuspendS(thread_reference_t *trp); + msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout); + void osalThreadResumeI(thread_reference_t *trp, msg_t msg); + void osalThreadResumeS(thread_reference_t *trp, msg_t msg); + msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout); + void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg); + void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg); + void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags); + void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags); + void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param); + void osalMutexLock(mutex_t *mp); + void osalMutexUnlock(mutex_t *mp); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Disables interrupts globally. + * + * @special + */ +static inline void osalSysDisable(void) { + + __disable_irq(); +} + +/** + * @brief Enables interrupts globally. + * + * @special + */ +static inline void osalSysEnable(void) { + + __enable_irq(); +} + +/** + * @brief Enters a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLock(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlock(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Enters a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLockFromISR(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlockFromISR(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Returns the execution status and enters a critical zone. + * @details This functions enters into a critical zone and can be called + * from any context. Because its flexibility it is less efficient + * than @p chSysLock() which is preferable when the calling context + * is known. + * @post The system is in a critical zone. + * + * @return The previous system status, the encoding of this + * status word is architecture-dependent and opaque. + * + * @xclass + */ +static inline syssts_t osalSysGetStatusAndLockX(void) { + syssts_t sts; + +#if CORTEX_MODEL == 0 + sts = (syssts_t)__get_PRIMASK(); + __disable_irq(); +#else + sts = (syssts_t)__get_BASEPRI(); + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif + return sts; +} + +/** + * @brief Restores the specified execution status and leaves a critical zone. + * @note A call to @p chSchRescheduleS() is automatically performed + * if exiting the critical zone and if not in ISR context. + * + * @param[in] sts the system status to be restored. + * + * @xclass + */ +static inline void osalSysRestoreStatusX(syssts_t sts) { + +#if CORTEX_MODEL == 0 + if ((sts & (syssts_t)1) == (syssts_t)0) { + __enable_irq(); + } +#else + __set_BASEPRI(sts); +#endif +} + +/** + * @brief Adds an interval to a system time returning a system time. + * + * @param[in] systime base system time + * @param[in] interval interval to be added + * @return The new system time. + * + * @xclass + */ +static inline systime_t osalTimeAddX(systime_t systime, + sysinterval_t interval) { + + return systime + (systime_t)interval; +} + +/** + * @brief Subtracts two system times returning an interval. + * + * @param[in] start first system time + * @param[in] end second system time + * @return The interval representing the time difference. + * + * @xclass + */ +static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) { + + return (sysinterval_t)((systime_t)(end - start)); +} + +/** + * @brief Checks if the specified time is within the specified time window. + * @note When start==end then the function returns always false because the + * time window has zero size. + * @note This function can be called from any context. + * + * @param[in] time the time to be verified + * @param[in] start the start of the time window (inclusive) + * @param[in] end the end of the time window (non inclusive) + * @retval true current time within the specified time window. + * @retval false current time not within the specified time window. + * + * @xclass + */ +static inline bool osalTimeIsInRangeX(systime_t time, + systime_t start, + systime_t end) { + + return (bool)((systime_t)((systime_t)time - (systime_t)start) < + (systime_t)((systime_t)end - (systime_t)start)); +} + +/** + * @brief Initializes a threads queue object. + * + * @param[out] tqp pointer to the threads queue object + * + * @init + */ +static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { + + osalDbgCheck(tqp != NULL); +} + +/** + * @brief Initializes an event source object. + * + * @param[out] esp pointer to the event source object + * + * @init + */ +static inline void osalEventObjectInit(event_source_t *esp) { + + osalDbgCheck(esp != NULL); + + esp->flags = (eventflags_t)0; + esp->cb = NULL; + esp->param = NULL; +} + +/** + * @brief Initializes s @p mutex_t object. + * + * @param[out] mp pointer to the @p mutex_t object + * + * @init + */ +static inline void osalMutexObjectInit(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +#endif /* OSAL_H */ + +/** @} */ -- cgit v1.2.3