path: root/firmware/main.c

/* 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/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"

#define CRATE_WIDTH		5
#define CRATE_HEIGHT	4
#define CRATES_X		4
#define CRATES_Y		2
#define BUS_COUNT		4
#define BYTES_PER_PIXEL	3
#define BUS_ROWS		(CRATES_Y*CRATE_HEIGHT)
#define BUS_COLUMNS		(CRATES_X*CRATE_WIDTH)
#define CRATES_PER_BUS	(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[CRATES_PER_BUS] = {
	6, 4, 2, 0,
	7, 5, 3, 1
};

#define SYSTICKS_PER_SECOND     100
#define SYSTICK_PERIOD_MS       (1000 / SYSTICKS_PER_SECOND)

unsigned char framebuffer[BUS_COUNT*BUS_SIZE];
/* Kick off DMA from RAM to SPI interfaces */
void start_dma(void);
unsigned long framebuffer_read(void *data, unsigned long len);
void ssi_udma_channel_config(unsigned char channel, unsigned char offset);

unsigned char ucControlTable[1024] __attribute__ ((aligned(1024)));

volatile unsigned long g_ulSysTickCount = 0;

#ifdef DEBUG
unsigned long g_ulUARTRxErrors = 0;
#endif

//Debug output is available via UART0 if DEBUG is defined during build.
#ifdef DEBUG
//Map all debug print calls to UARTprintf in debug builds.
#define DEBUG_PRINT UARTprintf
#else
//Compile out all debug print calls in release builds.
#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 RxHandler(void *pvCBData, unsigned long ulEvent, unsigned long ulMsgValue, void *pvMsgData) {
    switch(ulEvent) {
        case USB_EVENT_CONNECTED:
            g_bUSBConfigured = true;
            UARTprintf("Host connected.\n");
            USBBufferFlush(&g_sRxBuffer);
            break;
        case USB_EVENT_DISCONNECTED:
            g_bUSBConfigured = false;
            UARTprintf("Host disconnected.\n");
            break;
        case USB_EVENT_RX_AVAILABLE:
			UARTprintf("Handling host data.\n");
			USBBufferDataRemoved(&g_sRxBuffer, framebuffer_read(pvMsgData, ulMsgValue));
        case USB_EVENT_SUSPEND:
        case USB_EVENT_RESUME:
            break;
        default:
            break;
    }
    return 0;
}

typedef struct {
	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 != sizeof(FramebufferData))
		return len;
	UARTprintf("Rearranging data.\n");
	FramebufferData *fb = (FramebufferData *)data;
	unsigned int bus = fb->crate_x/4;
	for(unsigned int x=0; x<CRATE_WIDTH; x++){
		for(unsigned int y=0; y<CRATE_HEIGHT; y++){
			unsigned int crate 	= CRATE_MAP[fb->crate_x + fb->crate_y*CRATES_X];
			unsigned int bottle	= BOTTLE_MAP[x%CRATE_WIDTH + (y%CRATE_HEIGHT)*CRATE_WIDTH];
			unsigned int src 	= (bus*BUS_SIZE + crate*CRATE_SIZE + bottle)*3;
			unsigned int dst	= (bus*BUS_SIZE + y*BUS_COLUMNS + x)*3;
			//Copy r, g and b data
			framebuffer[src]     = fb->rgb_data[dst];
			framebuffer[src + 1] = fb->rgb_data[dst + 1];
			framebuffer[src + 2] = fb->rgb_data[dst + 2];
		}
	}
	UARTprintf("Starting DMA.\n");
	start_dma();
	return len;
}

void start_dma(void){
}

void ssi_udma_channel_config(unsigned char channel, unsigned char offset){
	/* 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. */
    ROM_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. */
	ROM_uDMAChannelControlSet(channel, UDMA_SIZE_8 | UDMA_SRC_INC_8 | UDMA_DST_INC_NONE | UDMA_ARB_4);
    ROM_uDMAChannelTransferSet(channel | UDMA_PRI_SELECT, UDMA_MODE_BASIC, framebuffer+BUS_SIZE*offset, (void *)(SSI0_BASE + SSI_O_DR), BUS_SIZE);
    ROM_uDMAChannelEnable(channel);
}

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. */
    ROM_FPULazyStackingEnable();

    //Set clock to PLL at 50MHz
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
                       SYSCTL_XTAL_16MHZ);

    //Configure UART0 pins
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //Enable the GPIO pins for the LED (PF2 & PF3).  
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    ROM_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.
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);

    //Enable the system tick.
    ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
    ROM_SysTickIntEnable();
    ROM_SysTickEnable();

	//Configure USB
    USBBufferInit((tUSBBuffer *)&g_sRxBuffer);
    USBStackModeSet(0, USB_MODE_FORCE_DEVICE, 0);
    USBDBulkInit(0, (tUSBDBulkDevice *)&g_sBulkDevice);

	//Configure SSI0..3 for the ws2801's SPI-like protocol
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI1);
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3);

    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinConfigure(GPIO_PA2_SSI0CLK);
    GPIOPinConfigure(GPIO_PA5_SSI0TX);
	ROM_GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_5);

    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    GPIOPinConfigure(GPIO_PB4_SSI2CLK);
    GPIOPinConfigure(GPIO_PB7_SSI2TX);
	ROM_GPIOPinTypeSSI(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_7);

    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    GPIOPinConfigure(GPIO_PD0_SSI3CLK);
    GPIOPinConfigure(GPIO_PD3_SSI3TX);
	ROM_GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_3);

    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    GPIOPinConfigure(GPIO_PF2_SSI1CLK);
    GPIOPinConfigure(GPIO_PF1_SSI1TX);
	ROM_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_3);

	SSIConfigSetExpClk(SSI0_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 2000000, 8);
	SSIConfigSetExpClk(SSI1_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 2000000, 8);
	SSIConfigSetExpClk(SSI2_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 2000000, 8);
	SSIConfigSetExpClk(SSI3_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0, SSI_MODE_MASTER, 2000000, 8);

	//Configure the µDMA controller for use by the SPI interface
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA);
    ROM_IntEnable(INT_UDMAERR); // Enable µDMA error interrupt
    ROM_uDMAEnable();
    ROM_uDMAControlBaseSet(ucControlTable);
	
	ROM_uDMAChannelAssign(UDMA_CH11_SSI0TX);
	ROM_uDMAChannelAssign(UDMA_CH25_SSI1TX);
	ROM_uDMAChannelAssign(UDMA_CH13_SSI2TX);
	ROM_uDMAChannelAssign(UDMA_CH15_SSI3TX);
	
	ssi_udma_channel_config(11, 0);
	ssi_udma_channel_config(25, 1);
	ssi_udma_channel_config(13, 2);
	ssi_udma_channel_config(15, 3);

	ROM_SSIDMAEnable(SSI0_BASE, SSI_DMA_TX);
	ROM_SSIDMAEnable(SSI1_BASE, SSI_DMA_TX);
	ROM_SSIDMAEnable(SSI2_BASE, SSI_DMA_TX);
	ROM_SSIDMAEnable(SSI3_BASE, SSI_DMA_TX);

	//Enable the SSIs after configuring anything around them.
	SSIEnable(SSI0_BASE);
	SSIEnable(SSI1_BASE);
	SSIEnable(SSI2_BASE);
	SSIEnable(SSI3_BASE);

	UARTprintf("Booted.\n");

    while(1){
    }
}