From fb84b57628cbc63b2035378ad38108d38bea297a Mon Sep 17 00:00:00 2001 From: jaseg Date: Thu, 26 Dec 2013 18:57:37 +0100 Subject: Converted main.c from dos to unix line endings --- firmware/main.c | 624 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 312 insertions(+), 312 deletions(-) diff --git a/firmware/main.c b/firmware/main.c index fb00ff2..afe766e 100644 --- a/firmware/main.c +++ b/firmware/main.c @@ -1,312 +1,312 @@ -/* Copyright (c) 2012 Texas Instruments Incorporated. All rights reserved. - * Software License Agreement - * - * Texas Instruments (TI) is supplying this software for use solely and - * exclusively on TI's microcontroller products. The software is owned by - * TI and/or its suppliers, and is protected under applicable copyright - * laws. You may not combine this software with "viral" open-source - * software in order to form a larger program. - * - * THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS. - * NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT - * NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY - * CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL - * DAMAGES, FOR ANY REASON WHATSOEVER. - * - * This is part of revision 9453 of the EK-LM4F120XL Firmware Package. - */ - -#include "inc/hw_ints.h" -#include "inc/hw_memmap.h" -#include "inc/hw_types.h" -#include "inc/hw_ssi.h" -#include "driverlib/debug.h" -#include "driverlib/fpu.h" -#include "driverlib/gpio.h" -#include "driverlib/interrupt.h" -#include "driverlib/pin_map.h" -#include "driverlib/sysctl.h" -#include "driverlib/systick.h" -#include "driverlib/timer.h" -#include "driverlib/uart.h" -#include "driverlib/rom.h" -#include "driverlib/rom_map.h" -#include "driverlib/udma.h" -#include "driverlib/ssi.h" -#include "usblib/usblib.h" -#include "usblib/usb-ids.h" -#include "usblib/device/usbdevice.h" -#include "usblib/device/usbdbulk.h" -#include "utils/uartstdio.h" -#include "utils/ustdlib.h" -#include "usb_bulk_structs.h" -#include - -#define CRATE_WIDTH 5 -#define CRATE_HEIGHT 4 -#define CRATES_X 8 -#define CRATES_Y 4 -#define BUS_COUNT 4 -#define BYTES_PER_PIXEL 3 -#define CRATES_PER_BUS 8 -#define BUS_ROWS (CRATES_Y*CRATE_HEIGHT) -#define CRATE_COUNT (CRATES_X*CRATES_Y) -#define CRATE_SIZE (CRATE_WIDTH*CRATE_HEIGHT) -#define BUS_SIZE (CRATES_PER_BUS*CRATE_SIZE*BYTES_PER_PIXEL) -unsigned const char const BOTTLE_MAP[CRATE_SIZE] = { - 0, 1, 2, 3, 4, - 19, 8, 7, 6, 5, - 18, 9, 10, 11, 12, - 17, 16, 15, 14, 13 -}; - -unsigned const char const CRATE_MAP[CRATE_COUNT] = { - 0x37, 0x35, 0x33, 0x31, 0x21, 0x23, 0x25, 0x27, - 0x36, 0x34, 0x32, 0x30, 0x20, 0x22, 0x24, 0x26, - 0x16, 0x14, 0x12, 0x10, 0x00, 0x02, 0x04, 0x06, - 0x17, 0x15, 0x13, 0x11, 0x01, 0x03, 0x05, 0x07 -}; - -#define SYSTICKS_PER_SECOND 100 -#define SYSTICK_PERIOD_MS (1000 / SYSTICKS_PER_SECOND) - -unsigned char framebuffer1[BUS_COUNT*BUS_SIZE]; -unsigned char framebuffer2[BUS_COUNT*BUS_SIZE]; -unsigned char *framebuffer_input = framebuffer1; -unsigned char *framebuffer_output = framebuffer2; - -unsigned long framebuffer_read(void *data, unsigned long len); -/* Kick off DMA transfer from RAM to SPI interfaces */ -void kickoff_transfers(void); -void kickoff_transfer(unsigned int channel, unsigned int offset, int base); -void ssi_udma_channel_config(unsigned int channel); - -unsigned char ucControlTable[1024] __attribute__ ((aligned(1024))); - -volatile unsigned long g_ulSysTickCount = 0; - -#ifdef DEBUG -#define DEBUG_PRINT UARTprintf -#else -#define DEBUG_PRINT while(0) ((int (*)(char *, ...))0) -#endif - -volatile unsigned long g_ulFlags = 0; -char *g_pcStatus; -static volatile tBoolean g_bUSBConfigured = false; - -void SysTickIntHandler(void) { - g_ulSysTickCount++; -} - -unsigned long usb_rx_handler(void *pvCBData, unsigned long ulEvent, unsigned long ulMsgValue, void *pvMsgData) { - unsigned int read; - switch(ulEvent) { - case USB_EVENT_CONNECTED: - g_bUSBConfigured = true; - DEBUG_PRINT("Host connected.\n"); - break; - case USB_EVENT_DISCONNECTED: - g_bUSBConfigured = false; - DEBUG_PRINT("Host disconnected.\n"); - break; - case USB_EVENT_RX_AVAILABLE: - DEBUG_PRINT("Handling host data.\n"); - /* Beware of the cast, it might bite. */ - read = USBDBulkPacketRead((void *)&g_sBulkDevice, usb_rx_buffer, BULK_BUFFER_SIZE, 1); - return framebuffer_read(usb_rx_buffer, read); - case USB_EVENT_SUSPEND: - case USB_EVENT_RESUME: - break; - default: - break; - } - return 0; -} - -typedef struct { - unsigned char command; /* 0x00 for frame data, 0x01 to initiate latch */ - unsigned char crate_x; - unsigned char crate_y; - unsigned char rgb_data[CRATE_SIZE*BYTES_PER_PIXEL]; -} FramebufferData; - -unsigned long framebuffer_read(void *data, unsigned long len) { - if(len < 1) - goto length_error; - DEBUG_PRINT("Rearranging data.\n"); - FramebufferData *fb = (FramebufferData *)data; - if(fb->command == 1){ - if(len != 1) - goto length_error; - DEBUG_PRINT("Starting DMA.\n"); - kickoff_transfers(); - }else{ - if(len != sizeof(FramebufferData)) - goto length_error; - - if(fb->crate_x > CRATES_X || fb->crate_y > CRATES_Y){ - UARTprintf("Invalid frame index\n"); - return len; - } - - unsigned int idx = CRATE_MAP[fb->crate_x + fb->crate_y*CRATES_X]; - unsigned int bus = idx>>4; - unsigned int crate = idx & 0x0F; - for(unsigned int x=0; xrgb_data[src]; - framebuffer_input[dst + 1] = fb->rgb_data[src + 1]; - framebuffer_input[dst + 2] = fb->rgb_data[src + 2]; - } - } - } - return len; -length_error: - UARTprintf("Invalid packet length\n"); - return len; -} - -void kickoff_transfers() { - while(MAP_uDMAChannelIsEnabled(11) - || MAP_uDMAChannelIsEnabled(25) - || MAP_uDMAChannelIsEnabled(13) - || MAP_uDMAChannelIsEnabled(15)){ - UARTprintf("A DMA tranfer is still running\n"); - /* Idle for some time to give the µDMA controller a chance to complete its job */ - SysCtlDelay(5000); - } - /* Wait 1.2ms (20kCy @ 50MHz) to ensure the WS2801 latch this frame's data */ - SysCtlDelay(20000); - /* Swap buffers */ - unsigned char *tmp = framebuffer_output; - framebuffer_output = framebuffer_input; - framebuffer_input = tmp; - /* Re-schedule DMA transfers */ - kickoff_transfer(11, 0, SSI0_BASE); - kickoff_transfer(25, 1, SSI1_BASE); - kickoff_transfer(13, 2, SSI2_BASE); - kickoff_transfer(15, 3, SSI3_BASE); -} - -inline void kickoff_transfer(unsigned int channel, unsigned int offset, int base) { - MAP_uDMAChannelTransferSet(channel | UDMA_PRI_SELECT, UDMA_MODE_BASIC, framebuffer_output+BUS_SIZE*offset, (void *)(base + SSI_O_DR), BUS_SIZE); - MAP_uDMAChannelEnable(channel); -} - -void ssi_udma_channel_config(unsigned int channel) { - /* Set the USEBURST attribute for the uDMA SSI TX channel. This will force the controller to always use a burst - * when transferring data from the TX buffer to the SSI. This is somewhat more effecient bus usage than the default - * which allows single or burst transfers. */ - MAP_uDMAChannelAttributeEnable(channel, UDMA_ATTR_USEBURST); - /* Configure the SSI Tx µDMA Channel to transfer from RAM to TX FIFO. The arbitration size is set to 4, which - * matches the SSI TX FIFO µDMA trigger threshold. */ - MAP_uDMAChannelControlSet(channel | UDMA_PRI_SELECT, UDMA_SIZE_8 | UDMA_SRC_INC_8 | UDMA_DST_INC_NONE | UDMA_ARB_4); -} - -int main(void) { - /* Enable lazy stacking for interrupt handlers. This allows floating-point instructions to be used within interrupt - * handlers, but at the expense of extra stack usage. */ - MAP_FPULazyStackingEnable(); - - /* Set clock to PLL at 50MHz */ - MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | - SYSCTL_XTAL_16MHZ); - - /* Configure UART0 pins */ - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); - MAP_GPIOPinConfigure(GPIO_PA0_U0RX); - MAP_GPIOPinConfigure(GPIO_PA1_U0TX); - MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1); - - /* Enable the GPIO pins for the LED (PF2 & PF3). */ - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); - MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3|GPIO_PIN_2); - - UARTStdioInit(0); - UARTprintf("Booting...\n\n"); - - g_bUSBConfigured = false; - - /* Enable the GPIO peripheral used for USB, and configure the USB pins. */ - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); - MAP_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5); - - /* Enable the system tick. FIXME do we need this? */ - MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND); - MAP_SysTickIntEnable(); - MAP_SysTickEnable(); - - /* Configure USB */ - USBStackModeSet(0, USB_MODE_FORCE_DEVICE, 0); - USBDBulkInit(0, (tUSBDBulkDevice *)&g_sBulkDevice); - - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); - MAP_GPIOPinConfigure(GPIO_PA2_SSI0CLK); - MAP_GPIOPinConfigure(GPIO_PA5_SSI0TX); - MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_5); - - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); - MAP_GPIOPinConfigure(GPIO_PB4_SSI2CLK); - MAP_GPIOPinConfigure(GPIO_PB7_SSI2TX); - MAP_GPIOPinTypeSSI(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_7); - - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); - MAP_GPIOPinConfigure(GPIO_PD0_SSI3CLK); - MAP_GPIOPinConfigure(GPIO_PD3_SSI3TX); - MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_3); - - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); - MAP_GPIOPinConfigure(GPIO_PF2_SSI1CLK); - MAP_GPIOPinConfigure(GPIO_PF1_SSI1TX); - MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_1); - - /* Configure SSI0..3 for the ws2801's SPI-like protocol */ - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0); - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI1); - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2); - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3); - - /* 200kBd */ - MAP_SSIConfigSetExpClk(SSI0_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); - MAP_SSIConfigSetExpClk(SSI1_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); - MAP_SSIConfigSetExpClk(SSI2_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); - MAP_SSIConfigSetExpClk(SSI3_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); - - /* Configure the µDMA controller for use by the SPI interface */ - MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA); - MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA); - // FIXME what do we need this for? IntEnable(INT_UDMAERR); // Enable µDMA error interrupt - MAP_uDMAEnable(); - MAP_uDMAControlBaseSet(ucControlTable); - - MAP_uDMAChannelAssign(UDMA_CH11_SSI0TX); - MAP_uDMAChannelAssign(UDMA_CH25_SSI1TX); - MAP_uDMAChannelAssign(UDMA_CH13_SSI2TX); - MAP_uDMAChannelAssign(UDMA_CH15_SSI3TX); - - ssi_udma_channel_config(11); - ssi_udma_channel_config(25); - ssi_udma_channel_config(13); - ssi_udma_channel_config(15); - - MAP_SSIDMAEnable(SSI0_BASE, SSI_DMA_TX); - MAP_SSIDMAEnable(SSI1_BASE, SSI_DMA_TX); - MAP_SSIDMAEnable(SSI2_BASE, SSI_DMA_TX); - MAP_SSIDMAEnable(SSI3_BASE, SSI_DMA_TX); - - /* Enable the SSIs after configuring anything around them. */ - MAP_SSIEnable(SSI0_BASE); - MAP_SSIEnable(SSI1_BASE); - MAP_SSIEnable(SSI2_BASE); - MAP_SSIEnable(SSI3_BASE); - - UARTprintf("Booted.\n"); - - while(1); -} +/* Copyright (c) 2012 Texas Instruments Incorporated. All rights reserved. + * Software License Agreement + * + * Texas Instruments (TI) is supplying this software for use solely and + * exclusively on TI's microcontroller products. The software is owned by + * TI and/or its suppliers, and is protected under applicable copyright + * laws. You may not combine this software with "viral" open-source + * software in order to form a larger program. + * + * THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS. + * NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT + * NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY + * CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL + * DAMAGES, FOR ANY REASON WHATSOEVER. + * + * This is part of revision 9453 of the EK-LM4F120XL Firmware Package. + */ + +#include "inc/hw_ints.h" +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_ssi.h" +#include "driverlib/debug.h" +#include "driverlib/fpu.h" +#include "driverlib/gpio.h" +#include "driverlib/interrupt.h" +#include "driverlib/pin_map.h" +#include "driverlib/sysctl.h" +#include "driverlib/systick.h" +#include "driverlib/timer.h" +#include "driverlib/uart.h" +#include "driverlib/rom.h" +#include "driverlib/rom_map.h" +#include "driverlib/udma.h" +#include "driverlib/ssi.h" +#include "usblib/usblib.h" +#include "usblib/usb-ids.h" +#include "usblib/device/usbdevice.h" +#include "usblib/device/usbdbulk.h" +#include "utils/uartstdio.h" +#include "utils/ustdlib.h" +#include "usb_bulk_structs.h" +#include + +#define CRATE_WIDTH 5 +#define CRATE_HEIGHT 4 +#define CRATES_X 8 +#define CRATES_Y 4 +#define BUS_COUNT 4 +#define BYTES_PER_PIXEL 3 +#define CRATES_PER_BUS 8 +#define BUS_ROWS (CRATES_Y*CRATE_HEIGHT) +#define CRATE_COUNT (CRATES_X*CRATES_Y) +#define CRATE_SIZE (CRATE_WIDTH*CRATE_HEIGHT) +#define BUS_SIZE (CRATES_PER_BUS*CRATE_SIZE*BYTES_PER_PIXEL) +unsigned const char const BOTTLE_MAP[CRATE_SIZE] = { + 0, 1, 2, 3, 4, + 19, 8, 7, 6, 5, + 18, 9, 10, 11, 12, + 17, 16, 15, 14, 13 +}; + +unsigned const char const CRATE_MAP[CRATE_COUNT] = { + 0x37, 0x35, 0x33, 0x31, 0x21, 0x23, 0x25, 0x27, + 0x36, 0x34, 0x32, 0x30, 0x20, 0x22, 0x24, 0x26, + 0x16, 0x14, 0x12, 0x10, 0x00, 0x02, 0x04, 0x06, + 0x17, 0x15, 0x13, 0x11, 0x01, 0x03, 0x05, 0x07 +}; + +#define SYSTICKS_PER_SECOND 100 +#define SYSTICK_PERIOD_MS (1000 / SYSTICKS_PER_SECOND) + +unsigned char framebuffer1[BUS_COUNT*BUS_SIZE]; +unsigned char framebuffer2[BUS_COUNT*BUS_SIZE]; +unsigned char *framebuffer_input = framebuffer1; +unsigned char *framebuffer_output = framebuffer2; + +unsigned long framebuffer_read(void *data, unsigned long len); +/* Kick off DMA transfer from RAM to SPI interfaces */ +void kickoff_transfers(void); +void kickoff_transfer(unsigned int channel, unsigned int offset, int base); +void ssi_udma_channel_config(unsigned int channel); + +unsigned char ucControlTable[1024] __attribute__ ((aligned(1024))); + +volatile unsigned long g_ulSysTickCount = 0; + +#ifdef DEBUG +#define DEBUG_PRINT UARTprintf +#else +#define DEBUG_PRINT while(0) ((int (*)(char *, ...))0) +#endif + +volatile unsigned long g_ulFlags = 0; +char *g_pcStatus; +static volatile tBoolean g_bUSBConfigured = false; + +void SysTickIntHandler(void) { + g_ulSysTickCount++; +} + +unsigned long usb_rx_handler(void *pvCBData, unsigned long ulEvent, unsigned long ulMsgValue, void *pvMsgData) { + unsigned int read; + switch(ulEvent) { + case USB_EVENT_CONNECTED: + g_bUSBConfigured = true; + DEBUG_PRINT("Host connected.\n"); + break; + case USB_EVENT_DISCONNECTED: + g_bUSBConfigured = false; + DEBUG_PRINT("Host disconnected.\n"); + break; + case USB_EVENT_RX_AVAILABLE: + DEBUG_PRINT("Handling host data.\n"); + /* Beware of the cast, it might bite. */ + read = USBDBulkPacketRead((void *)&g_sBulkDevice, usb_rx_buffer, BULK_BUFFER_SIZE, 1); + return framebuffer_read(usb_rx_buffer, read); + case USB_EVENT_SUSPEND: + case USB_EVENT_RESUME: + break; + default: + break; + } + return 0; +} + +typedef struct { + unsigned char command; /* 0x00 for frame data, 0x01 to initiate latch */ + unsigned char crate_x; + unsigned char crate_y; + unsigned char rgb_data[CRATE_SIZE*BYTES_PER_PIXEL]; +} FramebufferData; + +unsigned long framebuffer_read(void *data, unsigned long len) { + if(len < 1) + goto length_error; + DEBUG_PRINT("Rearranging data.\n"); + FramebufferData *fb = (FramebufferData *)data; + if(fb->command == 1){ + if(len != 1) + goto length_error; + DEBUG_PRINT("Starting DMA.\n"); + kickoff_transfers(); + }else{ + if(len != sizeof(FramebufferData)) + goto length_error; + + if(fb->crate_x > CRATES_X || fb->crate_y > CRATES_Y){ + UARTprintf("Invalid frame index\n"); + return len; + } + + unsigned int idx = CRATE_MAP[fb->crate_x + fb->crate_y*CRATES_X]; + unsigned int bus = idx>>4; + unsigned int crate = idx & 0x0F; + for(unsigned int x=0; xrgb_data[src]; + framebuffer_input[dst + 1] = fb->rgb_data[src + 1]; + framebuffer_input[dst + 2] = fb->rgb_data[src + 2]; + } + } + } + return len; +length_error: + UARTprintf("Invalid packet length\n"); + return len; +} + +void kickoff_transfers() { + while(MAP_uDMAChannelIsEnabled(11) + || MAP_uDMAChannelIsEnabled(25) + || MAP_uDMAChannelIsEnabled(13) + || MAP_uDMAChannelIsEnabled(15)){ + UARTprintf("A DMA tranfer is still running\n"); + /* Idle for some time to give the µDMA controller a chance to complete its job */ + SysCtlDelay(5000); + } + /* Wait 1.2ms (20kCy @ 50MHz) to ensure the WS2801 latch this frame's data */ + SysCtlDelay(20000); + /* Swap buffers */ + unsigned char *tmp = framebuffer_output; + framebuffer_output = framebuffer_input; + framebuffer_input = tmp; + /* Re-schedule DMA transfers */ + kickoff_transfer(11, 0, SSI0_BASE); + kickoff_transfer(25, 1, SSI1_BASE); + kickoff_transfer(13, 2, SSI2_BASE); + kickoff_transfer(15, 3, SSI3_BASE); +} + +inline void kickoff_transfer(unsigned int channel, unsigned int offset, int base) { + MAP_uDMAChannelTransferSet(channel | UDMA_PRI_SELECT, UDMA_MODE_BASIC, framebuffer_output+BUS_SIZE*offset, (void *)(base + SSI_O_DR), BUS_SIZE); + MAP_uDMAChannelEnable(channel); +} + +void ssi_udma_channel_config(unsigned int channel) { + /* Set the USEBURST attribute for the uDMA SSI TX channel. This will force the controller to always use a burst + * when transferring data from the TX buffer to the SSI. This is somewhat more effecient bus usage than the default + * which allows single or burst transfers. */ + MAP_uDMAChannelAttributeEnable(channel, UDMA_ATTR_USEBURST); + /* Configure the SSI Tx µDMA Channel to transfer from RAM to TX FIFO. The arbitration size is set to 4, which + * matches the SSI TX FIFO µDMA trigger threshold. */ + MAP_uDMAChannelControlSet(channel | UDMA_PRI_SELECT, UDMA_SIZE_8 | UDMA_SRC_INC_8 | UDMA_DST_INC_NONE | UDMA_ARB_4); +} + +int main(void) { + /* Enable lazy stacking for interrupt handlers. This allows floating-point instructions to be used within interrupt + * handlers, but at the expense of extra stack usage. */ + MAP_FPULazyStackingEnable(); + + /* Set clock to PLL at 50MHz */ + MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | + SYSCTL_XTAL_16MHZ); + + /* Configure UART0 pins */ + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); + MAP_GPIOPinConfigure(GPIO_PA0_U0RX); + MAP_GPIOPinConfigure(GPIO_PA1_U0TX); + MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1); + + /* Enable the GPIO pins for the LED (PF2 & PF3). */ + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); + MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3|GPIO_PIN_2); + + UARTStdioInit(0); + UARTprintf("Booting...\n\n"); + + g_bUSBConfigured = false; + + /* Enable the GPIO peripheral used for USB, and configure the USB pins. */ + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); + MAP_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5); + + /* Enable the system tick. FIXME do we need this? */ + MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND); + MAP_SysTickIntEnable(); + MAP_SysTickEnable(); + + /* Configure USB */ + USBStackModeSet(0, USB_MODE_FORCE_DEVICE, 0); + USBDBulkInit(0, (tUSBDBulkDevice *)&g_sBulkDevice); + + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); + MAP_GPIOPinConfigure(GPIO_PA2_SSI0CLK); + MAP_GPIOPinConfigure(GPIO_PA5_SSI0TX); + MAP_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_5); + + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); + MAP_GPIOPinConfigure(GPIO_PB4_SSI2CLK); + MAP_GPIOPinConfigure(GPIO_PB7_SSI2TX); + MAP_GPIOPinTypeSSI(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_7); + + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); + MAP_GPIOPinConfigure(GPIO_PD0_SSI3CLK); + MAP_GPIOPinConfigure(GPIO_PD3_SSI3TX); + MAP_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_3); + + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); + MAP_GPIOPinConfigure(GPIO_PF2_SSI1CLK); + MAP_GPIOPinConfigure(GPIO_PF1_SSI1TX); + MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_1); + + /* Configure SSI0..3 for the ws2801's SPI-like protocol */ + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0); + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI1); + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2); + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3); + + /* 200kBd */ + MAP_SSIConfigSetExpClk(SSI0_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); + MAP_SSIConfigSetExpClk(SSI1_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); + MAP_SSIConfigSetExpClk(SSI2_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); + MAP_SSIConfigSetExpClk(SSI3_BASE, MAP_SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 1000000, 8); + + /* Configure the µDMA controller for use by the SPI interface */ + MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA); + MAP_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA); + // FIXME what do we need this for? IntEnable(INT_UDMAERR); // Enable µDMA error interrupt + MAP_uDMAEnable(); + MAP_uDMAControlBaseSet(ucControlTable); + + MAP_uDMAChannelAssign(UDMA_CH11_SSI0TX); + MAP_uDMAChannelAssign(UDMA_CH25_SSI1TX); + MAP_uDMAChannelAssign(UDMA_CH13_SSI2TX); + MAP_uDMAChannelAssign(UDMA_CH15_SSI3TX); + + ssi_udma_channel_config(11); + ssi_udma_channel_config(25); + ssi_udma_channel_config(13); + ssi_udma_channel_config(15); + + MAP_SSIDMAEnable(SSI0_BASE, SSI_DMA_TX); + MAP_SSIDMAEnable(SSI1_BASE, SSI_DMA_TX); + MAP_SSIDMAEnable(SSI2_BASE, SSI_DMA_TX); + MAP_SSIDMAEnable(SSI3_BASE, SSI_DMA_TX); + + /* Enable the SSIs after configuring anything around them. */ + MAP_SSIEnable(SSI0_BASE); + MAP_SSIEnable(SSI1_BASE); + MAP_SSIEnable(SSI2_BASE); + MAP_SSIEnable(SSI3_BASE); + + UARTprintf("Booted.\n"); + + while(1); +} -- cgit