static void sdk7786_power_off(void)
{
fpga_write_reg(fpga_read_reg(PWRCR) | PWRCR_PDWNREQ, PWRCR);
/*
* It can take up to 20us for the R8C to do its job, back off and
* wait a bit until we've been shut off. Even though newer FPGA
* versions don't set the ACK bit, the latency issue remains.
*/
while ((fpga_read_reg(PWRCR) & PWRCR_PDWNACK) == 0)
cpu_sleep();
}
static int __init sdk7786_pci_init(void)
{
u16 data = fpga_read_reg(PCIECR);
/*
* Enable slot #4 if it's been specified on the command line.
*
* Optionally reroute if slot #4 has a card present while slot #3
* does not, regardless of command line value.
*
* Card presence is logically inverted.
*/
slot4en ?: (!(data & PCIECR_PRST4) && (data & PCIECR_PRST3));
if (slot4en) {
pr_info("Activating PCIe slot#4 (disabling slot#3)\n");
data &= ~PCIECR_PCIEMUX1;
fpga_write_reg(data, PCIECR);
/* Warn about forced rerouting if slot#3 is occupied */
if ((data & PCIECR_PRST3) == 0) {
pr_warning("Unreachable card detected in slot#3\n");
return -EBUSY;
}
} else
pr_info("PCIe slot#4 disabled\n");
return 0;
}
void __init sdk7786_fpga_init(void)
{
u16 version, date;
sdk7786_fpga_base = sdk7786_fpga_probe();
if (unlikely(!sdk7786_fpga_base)) {
panic("FPGA detection failed.\n");
return;
}
version = fpga_read_reg(FPGAVR);
date = fpga_read_reg(FPGADR);
pr_info("\tFPGA version:\t%d.%d (built on %d/%d/%d)\n",
bcd2bin(version >> 8) & 0xf, bcd2bin(version & 0xf),
((date >> 12) & 0xf) + 2000,
(date >> 8) & 0xf, bcd2bin(date & 0xff));
}
/* Initialize the board */
static void __init sdk7786_setup(char **cmdline_p)
{
pr_info("Renesas Technology Europe SDK7786 support:\n");
sdk7786_fpga_init();
pr_info("\tPCB revision:\t%d\n", fpga_read_reg(PCBRR) & 0xf);
machine_ops.restart = sdk7786_restart;
pm_power_off = sdk7786_power_off;
register_smp_ops(&shx3_smp_ops);
}
static int sdk7786_i2c_setup(void)
{
unsigned int tmp;
/*
* Hand over I2C control to the FPGA.
*/
tmp = fpga_read_reg(SBCR);
tmp &= ~SCBR_I2CCEN;
tmp |= SCBR_I2CMEN;
fpga_write_reg(tmp, SBCR);
return i2c_register_board_info(0, sdk7786_i2c_devices,
ARRAY_SIZE(sdk7786_i2c_devices));
}
static int usrgpir_gpio_get(struct gpio_chip *chip, unsigned gpio)
{
return !!(fpga_read_reg(USRGPIR) & (1 << gpio));
}
void
main_loop()
{
if (first)
{
first = FALSE;
printf("main_loop CPUCS = 0x%x\r\n", CPUCS);
}
/* check for ep1 out data */
if(!(EP1OUTCS & bmEPBUSY))
{
BYTE *buf_out = EP1OUTBUF;
BYTE *buf_in = EP1INBUF;
BYTE len_out = EP1OUTBC;
BYTE len_in = 0;
BOOL ok = FALSE;
//printf("ep1 out\r\n");
/* decrypt data */
ep1_decrypt(buf_out, buf_out, len_out);
/* handle command */
//if (buf_out[0] != CMD_FPGA_UPLOAD_DATA)
// printf("cmd 0x%x len %d\r\n", buf_out[0], len_out);
switch (buf_out[0])
{
case CMD_WRITE_EEPROM:
if (len_out > 5 && buf_out[1] == 0x42 && buf_out[2] == 0x55 && (buf_out[4] + 5) == len_out &&
eeprom_write(I2C_EEPROM_ADDRESS, buf_out[3], buf_out[4], buf_out + 5))
{
ok = TRUE;
}
break;
case CMD_READ_EEPROM:
if (len_out == 5 && buf_out[1] == 0x33 && buf_out[2] == 0x81)
{
/* wait for ep1in ready */
while (EP1INCS & bmEPBUSY);
if (eeprom_read(I2C_EEPROM_ADDRESS, buf_out[3], buf_out[4], buf_in))
{
len_in = buf_out[4];
ok = TRUE;
}
}
break;
case CMD_WRITE_LED_TABLE:
if (len_out > 3 && (buf_out[2] + 3) == len_out && buf_out[1] < sizeof (led_table))
{
BYTE *dst = led_table + buf_out[1];
BYTE *src = buf_out + 3;
BYTE len = buf_out[2];
while (len-- > 0)
{
*dst++ = *src++;
if (dst == led_table + sizeof (led_table))
dst = led_table;
}
ok = TRUE;
}
break;
case CMD_SET_LED_MODE:
if (len_out == 6)
{
led_run = buf_out[1];
RCAP2L = buf_out[2];
RCAP2H = buf_out[3];
led_div = buf_out[4];
led_repeat = buf_out[5];
ok = TRUE;
}
break;
case CMD_FPGA_UPLOAD_INIT:
ok = fpga_upload_init();
break;
case CMD_FPGA_UPLOAD_DATA:
if (len_out > 2 && (buf_out[1] + 2) == len_out)
{
ok = fpga_upload_data(buf_out + 2, buf_out[1]);
}
break;
case CMD_FPGA_WRITE_REGISTER:
if (len_out > 2 && (2*buf_out[1] + 2) == len_out)
{
BYTE i;
for (i = 0; i < buf_out[1]; i++)
fpga_write_reg(buf_out[2 + 2*i], buf_out[2 + 2*i + 1]);
ok = TRUE;
}
break;
case CMD_FPGA_READ_REGISTER:
if (len_out > 2 && (buf_out[1] + 2) == len_out)
{
BYTE i;
/* wait for ep1in ready */
while (EP1INCS & bmEPBUSY);
for (i = 0; i < buf_out[1]; i++)
buf_in[i] = fpga_read_reg(buf_out[2 + i]);
len_in = buf_out[1];
ok = TRUE;
}
break;
case CMD_START_ACQUISITION:
if (len_out == 1)
{
gpif_stuff_start();
ok = TRUE;
}
break;
case CMD_ABORT_ACQUISITION_ASYNC:
if (len_out == 1)
{
gpif_stuff_abort();
ok = TRUE;
}
break;
case CMD_ABORT_ACQUISITION_SYNC:
if (len_out == 2)
{
gpif_stuff_abort();
/* wait for ep1in ready */
while (EP1INCS & bmEPBUSY);
buf_in[0] = buf_out[1] ^ 0xff;
len_in = 1;
ok = TRUE;
}
break;
// CMD_RETURN_TO_BOOTLOADER 0x7c
// CMD_GET_REVID 0x82
}
if (!ok)
{
/* stall ep1 */
EP1OUTCS |= bmEPSTALL; /* FIXME: dont stall? */
printf("STALL\r\n");
}
else if (len_in > 0)
{
/* send reply */
ep1_encrypt(buf_in, buf_in, len_in);
SYNCDELAY;
EP1INBC = len_in;
}
/* prepare ep1 out for next packet */
EP1OUTBC = 0xff;
SYNCDELAY;
}
/* led stuff */
if (TF2)
{
static BYTE count = 0, index = 0;
CLEAR_TIMER2();
if (led_run)
{
if (count == 0)
{
count = led_div;
if (index < sizeof (led_table))
fpga_write_reg(5, led_table[index++]);
if (index == sizeof (led_table) && led_repeat)
index = 0;
}
else
{
count -= 1;
}
}
}
}
int main(void)
{
uint32_t REVID_reg=HWREG(SYSCONFIG_REG_BASE);
if(REVID_reg!=0x4E840102)
{
printf("fail to read revid ,error debug ");
SW_BREAKPOINT ;
return 1;
}
dsp_delay(200);
EMIF_init();
UPP_PINMUX();
test_fpga_reg();
// uint32_t bcnt= Loadfromfile(ptr);
// int j=0;
memset(recv_adc_buffer,0,UPP_RX_BCNT);
TEST_uart();
// load_fpga(ptr,bcnt);
init_9822();
fpga_upp_test();
config_upp();
int frcnt = 0;
int cc=0;
static int calc_cnt = 0;
while(1)
{
config_upp();
calc_cnt++;
recv_adc_buffer[2531]=1;
upp_receive_fifo(recv_adc_buffer,UPP_RX_LNCNT,UPP_DMA_BCNT);
cc=0;
char show_str[50];
//送的数据速度太快，导致程序移植timeout，
//好像和buffer一直没有被取出会导致overflow相关。如果程序不运行需要大量时间的函数就不会出现问题
while(1)
{
if(recv_adc_buffer[2531]!=1 )
{
if (calc_cnt %loop_num ==1)
{
point_notclear = point_nclear_return_maxValue(recv_adc_buffer, 20, &MaxValue);
leftpoint = bi_side_search_withMaxValue(recv_adc_buffer, point_notclear, 0, ratio, 5, MaxValue);
rightpoint = bi_side_search_withMaxValue(recv_adc_buffer, point_notclear, 1, ratio, 5, MaxValue);
Set_Zeros(buffer_int_data, leftpoint - 5, rightpoint + 5);
Sum_To_Int(recv_adc_buffer, buffer_int_data, leftpoint - 5, rightpoint + 5);
}
else if(calc_cnt %loop_num != 0)
{
Sum_To_Int(recv_adc_buffer, buffer_int_data, leftpoint - 5, rightpoint + 5);
//sprintf(show_str, "location = %d\t\t",frcnt);
//str2com(show_str);
}
else
{
Sum_To_Int(recv_adc_buffer, buffer_int_data, leftpoint - 5, rightpoint + 5);
//dsp_delay(500000);
//Data_Average_Int(buffer_int_data, buffer_tmp , 4, 790, 850);
region_gauss_filter(buffer_int_data, leftpoint - 5, rightpoint + 5,buffer_float_data);
//point_notclear = point_nclear_return_maxValue(recv_adc_buffer, 20, &MaxValue);
leftpoint = bi_side_search_float(buffer_float_data, point_notclear, 0 , ratio, 5, MaxValue*4);
rightpoint = bi_side_search_float(buffer_float_data, point_notclear, 1 , ratio, 5, MaxValue*4);
mylocation = zhixin_upward(buffer_float_data, leftpoint, rightpoint, ratio ,MaxValue);
kalman_result = kalman_realtime(mylocation, &kalman_preData, &kalman_p);
kalman_loop_num++;
//kalman_result1 = kalman_realtime(kalman_result, &kalman_preData1, &kalman_p1);
//kalman_result2 = kalman_realtime(kalman_result1, &kalman_preData2, &kalman_p2);
//mylocation = 0.235;
//sprintf(show_str, "location = %f\t\t",kalman_result2);
//str2com(show_str);
// Set_Zeros(buffer_int_data,745,865);
// memset(buffer_int_data,0,sizeof(uint16_t) * 900);
}
//
frcnt++;
if(frcnt%2000 ==0)
{
uint16_t r0= fpga_read_reg(UPP_CNT);
sprintf(show_str, " A %d %d %d ",frcnt,r0,cc);
str2com(show_str);
}
break;
}
cc++;
if(cc>80000)
{
uint16_t r0= fpga_read_reg(UPP_CNT);
sprintf(show_str, "B %d %d %d ",calc_cnt,r0,cc);
str2com(show_str);
break;
}
}
//str2com(show_str);
continue;
// SW_BREAKPOINT ;
// printf("end of ccd \n");
// printf("over windows %d %d %d %d \n",light[24],light[25],light[2028],light[2029]);
}
}
static void sdk7786_pcie_clk_disable(struct clk *clk)
{
fpga_write_reg(fpga_read_reg(PCIECR) & ~PCIECR_CLKEN, PCIECR);
}
/*
* FPGA-driven PCIe clocks
*
* Historically these include the oscillator, clock B (slots 2/3/4) and
* clock A (slot 1 and the CPU clock). Newer revs of the PCB shove
* everything under a single PCIe clocks enable bit that happens to map
* to the same bit position as the oscillator bit for earlier FPGA
* versions.
*
* Given that the legacy clocks have the side-effect of shutting the CPU
* off through the FPGA along with the PCI slots, we simply leave them in
* their initial state and don't bother registering them with the clock
* framework.
*/
static int sdk7786_pcie_clk_enable(struct clk *clk)
{
fpga_write_reg(fpga_read_reg(PCIECR) | PCIECR_CLKEN, PCIECR);
return 0;
}
static int sdk7786_mode_pins(void)
{
return fpga_read_reg(MODSWR);
}
uint16_t fpga_read_test(int file_desc)
{
return fpga_read_reg(file_desc, FPGA_REG_TEST);
}