static int64_t opb_write(struct proc_chip *chip, uint32_t addr, uint32_t data,
uint32_t sz)
{
uint64_t ctl = ECCB_CTL_MAGIC, stat;
int64_t rc, tout;
uint64_t data_reg;
switch(sz) {
case 1:
data_reg = ((uint64_t)data) << 56;
break;
case 2:
data_reg = ((uint64_t)data) << 48;
break;
case 4:
data_reg = ((uint64_t)data) << 32;
break;
default:
prerror("LPC: Invalid data size %d\n", sz);
return OPAL_PARAMETER;
}
rc = xscom_write(chip->id, chip->lpc_xbase + ECCB_DATA, data_reg);
if (rc) {
log_simple_error(&e_info(OPAL_RC_LPC_WRITE),
"LPC: XSCOM write to ECCB DATA error %lld\n", rc);
return rc;
}
ctl = SETFIELD(ECCB_CTL_DATASZ, ctl, sz);
ctl = SETFIELD(ECCB_CTL_ADDRLEN, ctl, ECCB_ADDRLEN_4B);
ctl = SETFIELD(ECCB_CTL_ADDR, ctl, addr);
rc = xscom_write(chip->id, chip->lpc_xbase + ECCB_CTL, ctl);
if (rc) {
log_simple_error(&e_info(OPAL_RC_LPC_WRITE),
"LPC: XSCOM write to ECCB CTL error %lld\n", rc);
return rc;
}
for (tout = 0; tout < ECCB_TIMEOUT; tout++) {
rc = xscom_read(chip->id, chip->lpc_xbase + ECCB_STAT, &stat);
if (rc) {
log_simple_error(&e_info(OPAL_RC_LPC_WRITE),
"LPC: XSCOM read from ECCB STAT err %lld\n",
rc);
return rc;
}
if (stat & ECCB_STAT_OP_DONE) {
if (stat & ECCB_STAT_ERR_MASK) {
log_simple_error(&e_info(OPAL_RC_LPC_WRITE),
"LPC: Error status: 0x%llx\n", stat);
return OPAL_HARDWARE;
}
return OPAL_SUCCESS;
}
time_wait(100);
}
log_simple_error(&e_info(OPAL_RC_LPC_WRITE), "LPC: Write timeout !\n");
return OPAL_HARDWARE;
}
int testthread(int* arg){
int i;
int id[100];
temp = 0;
timeout = 2000; /* in millisceonds */
for(N = 2; N<=50; N*=5){
printf("\n\n* %ld threads Test...", N);
fflush(stdout);
timeout *= 3;
strt = mytime();
id[0]=0;
for(i = 1; i < N; i++){
id[i]=i;
minithread_fork(thread1, &id[i]);
}
thread1(&id[0]);
if(temp >= N*3)
printf(" Preemption working");
else
printf(" Preemption failed");
fflush(stdout);
time_wait(4000); /* in milliseconds */
}
return 0;
}
static int64_t opb_read(struct proc_chip *chip, uint32_t addr, uint32_t *data,
uint32_t sz)
{
uint64_t ctl = ECCB_CTL_MAGIC | ECCB_CTL_READ, stat;
int64_t rc, tout;
if (sz != 1 && sz != 2 && sz != 4) {
prerror("LPC: Invalid data size %d\n", sz);
return OPAL_PARAMETER;
}
ctl = SETFIELD(ECCB_CTL_DATASZ, ctl, sz);
ctl = SETFIELD(ECCB_CTL_ADDRLEN, ctl, ECCB_ADDRLEN_4B);
ctl = SETFIELD(ECCB_CTL_ADDR, ctl, addr);
rc = xscom_write(chip->id, chip->lpc_xbase + ECCB_CTL, ctl);
if (rc) {
log_simple_error(&e_info(OPAL_RC_LPC_READ),
"LPC: XSCOM write to ECCB CTL error %lld\n", rc);
return rc;
}
for (tout = 0; tout < ECCB_TIMEOUT; tout++) {
rc = xscom_read(chip->id, chip->lpc_xbase + ECCB_STAT, &stat);
if (rc) {
log_simple_error(&e_info(OPAL_RC_LPC_READ),
"LPC: XSCOM read from ECCB STAT err %lld\n",
rc);
return rc;
}
if (stat & ECCB_STAT_OP_DONE) {
uint32_t rdata = GETFIELD(ECCB_STAT_RD_DATA, stat);
if (stat & ECCB_STAT_ERR_MASK) {
log_simple_error(&e_info(OPAL_RC_LPC_READ),
"LPC: Error status: 0x%llx\n", stat);
return OPAL_HARDWARE;
}
switch(sz) {
case 1:
*data = rdata >> 24;
break;
case 2:
*data = rdata >> 16;
break;
default:
*data = rdata;
break;
}
return 0;
}
time_wait(100);
}
void cpu_wait_job(struct cpu_job *job, bool free_it)
{
unsigned long ticks = usecs_to_tb(5);
if (!job)
return;
while(!job->complete) {
time_wait(ticks);
lwsync();
}
lwsync();
smt_medium();
if (free_it)
free(job);
}
int main( void )
{
uint32_t chargeopportunity = 0;
init();
random_walk_disable();
time_wait(TICKS_PER_SEC * 1);
/* start charging if touching charger within 1 second */
chargeopportunity = the_time + 20;
leds_set(ORANGE);
while (the_time < chargeopportunity)
{
if ( battery_power_good() )
now_parking = !charge_complete;
}
leds_set(NONE);
while(1)
{
leds_update_mood();
if (battery_critical())
low_power();
/* We may have finished charging */
if( charge_complete )
{
food_level = 0;
charge_complete = FALSE;
now_parking = 0;
/* reverse out of the charger */
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(5);
continue;
}
/* Go to the charger if... */
if( battery_low()
/* Or we've reached a defficiency of food */
|| ( food_level > FOOD_THRESHOLD )
|| ( now_parking ) )
{
if (battery_low() )
mood = MOOD_DRIVING_TO_CHARGER_FLATBATT;
else if ( food_level > FOOD_THRESHOLD )
mood = MOOD_DRIVING_TO_CHARGER_NOFOOD;
now_parking = !charge_complete;
parking_update();
continue;
}
/* Parking involves a static situation, which is incompatible
with the watchdog - hence leave it here. */
watchdog_update();
if( hasfood() )
{
mood = MOOD_GOT_FOOD;
/* Are we at the light source? */
if(light_intensity == 0)
{
/* Deposit food here */
mood = MOOD_AT_LAMP;
leds_update_mood();
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(10);
}
/* Do we have a reasonable bearing? */
else if(bearing_strength > 10)
{
random_walk_disable();
braitenberg_update();
}
else
/* Random Walk */
random_walk_enable();
}
else
{
/* Not got food, just do random walk */
mood = MOOD_NONE;
random_walk_enable();
}
}
}
int main( void )
{
uint32_t chargeopportunity = 0;
init();
random_walk_disable();
time_wait(TICKS_PER_SEC * 1);
/* start charging if touching charger within 1 second */
chargeopportunity = the_time + 20;
leds_set(RED); // red LED on for 2 seconds
P4DIR |= (0x09); //P40 and P43 are output IR
P4OUT |= (0x09); //all IR leds on (3 top, one bottom)
time_wait(TICKS_PER_SEC * 2);
leds_set(GREEN); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(ORANGE); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(RED); //green LED on for 1 second
time_wait(TICKS_PER_SEC * 1);
leds_set(NONE);
P4OUT &= ~(0x01);
motor_l=1; //left motor running at low speed for 1 second
time_wait(TICKS_PER_SEC *1);
motor_l=0;
motor_r=1; //right motor running at low speed for 1 second
time_wait(TICKS_PER_SEC *1);
motor_r=0;
motor_mode= MOTOR_BK;
time_wait(TICKS_PER_SEC *2);
motor_l=2;
motor_r=2;
time_wait(TICKS_PER_SEC *1);
motor_l=0;
motor_r=0;
motor_mode= MOTOR_FWD;
/*
while (the_time < chargeopportunity)
{
if ( battery_power_good() )
{
now_parking = !charge_complete;
}
}
*/
leds_set(NONE);
while(1)
{
leds_update_mood();
if (battery_critical())
{
low_power();
}
/*
// We may have finished charging
if( charge_complete )
{
food_level = 0;
charge_complete = FALSE;
now_parking = 0;
// reverse out of the charger
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_BK;
time_wait(5);
continue;
}
*/
/*
// Go to the charger if...
if( battery_low()
// Or we've reached a defficiency of food
|| ( food_level > FOOD_THRESHOLD )
|| ( now_parking ) )
{
if (battery_low() )
{
mood = MOOD_DRIVING_TO_CHARGER_FLATBATT;
}
else if ( food_level > FOOD_THRESHOLD )
{
mood = MOOD_DRIVING_TO_CHARGER_NOFOOD;
}
now_parking = !charge_complete;
parking_update();
continue;
}
*/
/* Parking involves a static situation, which is incompatible
with the watchdog - hence leave it here. */
watchdog_update();
/*
if( hasfood() )
{
mood = MOOD_GOT_FOOD;
*/
/* Are we at the light source? */
if(light_intensity == 0)
{
/* Deposit food here */
mood = MOOD_AT_LAMP;
leds_update_mood();
random_walk_disable();
motor_r = motor_l = 6;
motor_mode = MOTOR_FWD;
time_wait(10);
}
/* Do we have a reasonable bearing? */
else if(bearing_strength > 10)
{
random_walk_disable();
braitenberg_update();
}
else
{
/* Random Walk */
random_walk_enable();
}
/*
}
else
{
// Not got food, just do random walk
mood = MOOD_NONE;
random_walk_enable();
}
*/
}
}
