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Uploading multi-core version of Breakout as part11

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Adam Greenwood-Byrne 2021-02-24 20:02:43 +00:00
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4
part10-multicore/README.md
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@ -153,3 +153,7 @@ Finally, we look at _kernel.c_, where we now have a single `main()`, but also:
_As you run this, you'll see that these functions run in parallel on their respective cores. Welcome to symmetric multi-processing!_ _As you run this, you'll see that these functions run in parallel on their respective cores. Welcome to symmetric multi-processing!_
![Code now running on all four cores of the Raspberry Pi 4](images/10-multicore-running.jpg) ![Code now running on all four cores of the Raspberry Pi 4](images/10-multicore-running.jpg)
Coming up in part 11, we'll put all of this work together for a multi-core version of our Breakout game.
[Go to part11-breakout-smp>](../part11-breakout-smp)

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part11-breakout-smp/Makefile Normal file
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CFILES = $(wildcard *.c lib/*.c)
OFILES = $(CFILES:.c=.o)
LLVMPATH = /opt/homebrew/opt/llvm/bin
CLANGFLAGS = -Wall -O2 -ffreestanding -nostdinc -nostdlib -mcpu=cortex-a72+nosimd
all: clean kernel8.img
boot/boot.o: boot/boot.S
$(LLVMPATH)/clang --target=aarch64-elf $(CLANGFLAGS) -c $< -o $@
bin/BCM4345C0.o : bin/BCM4345C0.hcd
$(LLVMPATH)/llvm-objcopy -I binary -O elf64-littleaarch64 -B aarch64 $< $@
bin/audio.o : bin/audio.bin
$(LLVMPATH)/llvm-objcopy -I binary -O elf64-littleaarch64 -B aarch64 $< $@
%.o: %.c
$(LLVMPATH)/clang --target=aarch64-elf $(CLANGFLAGS) -c $< -o $@
kernel8.img: boot/boot.o $(OFILES) bin/BCM4345C0.o bin/audio.o
$(LLVMPATH)/ld.lld -m aarch64elf -nostdlib boot/boot.o $(OFILES) bin/BCM4345C0.o bin/audio.o -T boot/link.ld -o kernel8.elf
$(LLVMPATH)/llvm-objcopy -O binary kernel8.elf kernel8.img
clean:
/bin/rm kernel8.elf *.o bin/*.o boot/*.o lib/*.o *.img > /dev/null 2> /dev/null || true

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part11-breakout-smp/README.md Normal file
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Writing a "bare metal" operating system for Raspberry Pi 4 (Part 11)
====================================================================
Putting it all together
-----------------------
Frankly, I'm unlikely to write much documentation for this part. I'm also only providing a Clang _Makefile_ for now. If you're using gcc, have a go at putting your own _Makefile_ together, referencing the previous parts.
This part simply builds on the work we've done so far, and delivers a new Breakout codebase with:
* Gameplay running in the foreground on the main CPU core 0
* Graphics updated in the background on CPU core 1
* Looped 8-bit music playing in the background on CPU core 2
* Bluetooth communications managed in the background on CPU core 3
I've taken the opportunity to organise the code a little better and so you'll see some changes to the _Makefile_, and a new directory structure in place. Tidy codebase = tidy mind!
Important takeaway
------------------
As you read through this code, you'll maybe notice that a very different style has emerged. Multi-processing adds a dimension of complexity when coding and requires a total mindset shift.
There's a lot more signalling/semaphores, so the cores can be sure they're doing the right thing at the right time.
You're no longer "dry-running" a single, sequential thread. You're having to spot the potential for bugs/unexpected behaviour from the interplay of four concurrent threads!
_Good luck as you explore the code!_

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part11-breakout-smp/boot/boot.S Normal file
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#define LOCAL_CONTROL 0xff800000
#define LOCAL_PRESCALER 0xff800008
#define OSC_FREQ 54000000
#define MAIN_STACK 0x400000
.section ".text.boot" // Make sure the linker puts this at the start of the kernel image
.global _start // Execution starts here
_start:
ldr x0, =LOCAL_CONTROL // Sort out the timer
str wzr, [x0]
mov w1, 0x80000000
str w1, [x0, #(LOCAL_PRESCALER - LOCAL_CONTROL)]
ldr x0, =OSC_FREQ
msr cntfrq_el0, x0
msr cntvoff_el2, xzr
// Check processor ID is zero (executing on main core), else hang
mrs x1, mpidr_el1
and x1, x1, #3
cbz x1, 2f
// We're not on the main core, so hang in an infinite wait loop
adr x5, spin_cpu0
1: wfe
ldr x4, [x5, x1, lsl #3]
cbz x4, 1b
ldr x2, =__stack_start // Get ourselves a fresh stack - location depends on CPU core asking
lsl x1, x1, #9 // Multiply core_number by 512
add x3, x2, x1 // Add to the address
mov sp, x3
mov x0, #0
mov x1, #0
mov x2, #0
mov x3, #0
br x4
b 1b
2: // We're on the main core!
// Set stack to start somewhere safe
mov sp, #MAIN_STACK
// Clean the BSS section
ldr x1, =__bss_start // Start address
ldr w2, =__bss_size // Size of the section
3: cbz w2, 4f // Quit loop if zero
str xzr, [x1], #8
sub w2, w2, #1
cbnz w2, 3b // Loop if non-zero
// Jump to our main() routine in C (make sure it doesn't return)
4: bl main
// In case it does return, halt the master core too
b 1b
.ltorg
.org 0xd8
.globl spin_cpu0
spin_cpu0:
.quad 0
.org 0xe0
.globl spin_cpu1
spin_cpu1:
.quad 0
.org 0xe8
.globl spin_cpu2
spin_cpu2:
.quad 0
.org 0xf0
.globl spin_cpu3
spin_cpu3:
.quad 0

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part11-breakout-smp/boot/link.ld Normal file
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SECTIONS
{
.text : { KEEP(*(.text.boot)) *(.text .text.* .gnu.linkonce.t*) }
.rodata : { *(.rodata .rodata.* .gnu.linkonce.r*) }
PROVIDE(_data = .);
.data : { *(.data .data.* .gnu.linkonce.d*) }
.bss (NOLOAD) : {
. = ALIGN(16);
__bss_start = .;
*(.bss .bss.*)
*(COMMON)
__bss_end = .;
__bss_size = (__bss_end - __bss_start)>>3;
}
.cpu1Stack :
{
. = ALIGN(16);
__stack_start = .;
. = . + 512;
__cpu1_stack = .;
}
.cpu2Stack :
{
. = . + 512;
__cpu2_stack = .;
}
.cpu3Stack :
{
. = . + 512;
__cpu3_stack = .;
}
_end = .;
/DISCARD/ : { *(.comment) *(.gnu*) *(.note*) *(.eh_frame*) }
}

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part11-breakout-smp/breakout.c Normal file
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#include "breakout.h"
#include "include/fb.h"
#include "include/multicore.h"
// OBJECT INITIALISERS
void initBricks(void)
{
int brickwidth = 32;
int brickheight = 8;
int brickspacer = 20;
const int brickcols[] = { 0x11, 0x22, 0xEE, 0x44, 0x66 };
int ybrick = MARGIN + brickheight;
for (int i=0; i<ROWS; i++) {
int xbrick = MARGIN + (VIRTWIDTH/COLS/2) - (brickwidth/2);
for (int j = 0; j<COLS; j++) {
objects[numobjs].type = OBJ_BRICK;
objects[numobjs].x = xbrick;
objects[numobjs].y = ybrick;
objects[numobjs].width = brickwidth;
objects[numobjs].height = brickheight;
objects[numobjs].color = brickcols[i];
objects[numobjs].alive = 1;
objects[numobjs].redraw = 1;
objects[numobjs].move = 0;
numobjs++;
xbrick += (VIRTWIDTH/COLS);
}
ybrick = ybrick + brickspacer;
}
}
void initBall(void)
{
objects[numobjs].type = OBJ_BALL;
objects[numobjs].x = (WIDTH/2) - ballradius;
objects[numobjs].y = (HEIGHT/2) - ballradius;
objects[numobjs].width = ballradius * 2;
objects[numobjs].height = ballradius * 2;
objects[numobjs].color = 0x55;
objects[numobjs].alive = 1;
objects[numobjs].redraw = 1;
objects[numobjs].move = 0;
ball = &objects[numobjs];
numobjs++;
}
void initPaddle(void)
{
int paddleheight = 20;
int startx = MARGIN + (dir * ((VIRTWIDTH - paddlewidth + MARGIN)/100));
objects[numobjs].type = OBJ_PADDLE;
objects[numobjs].x = startx;
objects[numobjs].y = (HEIGHT-MARGIN-paddleheight);
objects[numobjs].width = paddlewidth;
objects[numobjs].height = paddleheight;
objects[numobjs].color = 0x11;
objects[numobjs].alive = 1;
objects[numobjs].redraw = 1;
objects[numobjs].move = 0;
paddle = &objects[numobjs];
numobjs++;
}
void initScoreboard(int points, int lives)
{
objects[numobjs].type = OBJ_SCOREBOARD;
objects[numobjs].x = lives;
objects[numobjs].y = points;
objects[numobjs].width = 0; // unused
objects[numobjs].height = 0; // unused
objects[numobjs].color = 0x0f;
objects[numobjs].alive = 1;
objects[numobjs].redraw = 1;
objects[numobjs].move = 0;
scoreboard = &objects[numobjs];
numobjs++;
}
void updateScoreboard(int points, int lives)
{
while (scoreboard->move || scoreboard->redraw); // Wait for any current move/redraw to finish
scoreboard->x = lives;
scoreboard->y = points;
scoreboard->redraw = 1;
}
void initEndgame(void)
{
objects[numobjs].type = OBJ_ENDGAME;
objects[numobjs].x = 0;
objects[numobjs].y = 0;
objects[numobjs].width = 0; // unused
objects[numobjs].height = 0; // unused
objects[numobjs].color = 0;
objects[numobjs].alive = 0;
objects[numobjs].redraw = 0;
objects[numobjs].move = 0;
endgame = &objects[numobjs];
numobjs++;
}
void updateEndgame(int gameover, int welldone)
{
while (endgame->move || endgame->redraw); // Wait for any current move/redraw to finish
endgame->x = gameover;
endgame->y = welldone;
endgame->color = welldone ? 0x02 : 0x04;
endgame->alive = gameover | welldone;
endgame->redraw = 1;
}
void removeObject(volatile struct Object *object)
{
while (object->move || object->redraw); // Wait for any current move/redraw to finish
object->alive = 0;
object->redraw = 1;
}
volatile struct Object *detectObjectCollision(volatile struct Object *with, int xoff, int yoff)
{
for (int i=0; i<numobjs;i++) {
if (&objects[i] != with && objects[i].alive == 1) {
if (with->x + xoff > objects[i].x + objects[i].width || objects[i].x > with->x + xoff + with->width) {
// with is too far left or right to collide
} else if (with->y + yoff > objects[i].y + objects[i].height || objects[i].y > with->y + yoff + with->height) {
// with is too far up or down to collide
} else {
// Collision!
return &objects[i];
}
}
}
return 0;
}
void moveObject(volatile struct Object *object, int x, int y)
{
while (object->move || object->redraw); // Wait for any current move/redraw to finish
object->newx = x;
object->newy = y;
object->move = 1;
}
// THE GAME
const int ballradius = 15;
const int paddlewidth = 80;
volatile unsigned char dir = 50;
volatile unsigned int numobjs = 0;
volatile struct Object *objects = (struct Object *)SAFE_ADDRESS;
volatile struct Object *ball;
volatile struct Object *paddle;
volatile struct Object *scoreboard;
volatile struct Object *endgame;
void breakout_init()
{
initBricks();
initBall();
initPaddle();
initScoreboard(0, NUM_LIVES);
initEndgame();
}
void breakout()
{
volatile struct Object *foundObject;
int bricks = ROWS * COLS;
int lives = NUM_LIVES;
int points = 0;
int velocity_x = 1;
int velocity_y = 3;
while (lives > 0 && bricks > 0) {
// Are we going to hit anything?
foundObject = detectObjectCollision(ball, velocity_x, velocity_y);
if (foundObject) {
if (foundObject == paddle) {
velocity_y = -velocity_y;
// Are we going to hit the side of the paddle
if (ball->x + ball->width + velocity_x == paddle->x || ball->x + velocity_x == paddle->x + paddle->width) velocity_x = -velocity_x;
} else if (foundObject->type == OBJ_BRICK) {
removeObject(foundObject);
velocity_y = -velocity_y;
bricks--;
points++;
updateScoreboard(points, lives);
}
}
moveObject(ball, ball->x + velocity_x, ball->y + velocity_y);
wait_msec(0x186A);
// Check we're in the game arena still
if (ball->x + ball->width >= WIDTH-MARGIN) {
velocity_x = -velocity_x;
} else if (ball->x <= MARGIN) {
velocity_x = -velocity_x;
} else if (ball->y + ball->height >= HEIGHT-MARGIN) {
lives--;
removeObject(ball);
removeObject(paddle);
updateScoreboard(points, lives);
if (lives) {
initBall();
initPaddle();
}
} else if (ball->y <= MARGIN) {
velocity_y = -velocity_y;
}
}
// Show endgame state
if (bricks == 0) {
removeObject(ball);
removeObject(paddle);
updateEndgame(0, 1);
} else {
updateEndgame(1, 0);
}
wait_msec(0x500000); // Wait 5 seconds
// Clear endgame state
updateEndgame(0, 0);
}
void main()
{
fb_init(); // Init the screen for debug
start_core3(comms_core); // Start the comms engine (core 3)
while (!comms_up); // Wait for comms up
breakout_init(); // Initialise the game engine (core 0)
start_core1(gfx_core); // Start the graphics engine (core 1)
start_core2(snd_core); // Start the sound engine (core 2)
while (1) {
breakout(); // Run the game
breakout_init(); // Re-initialise the game engine
}
}

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// Heap memory allocation
#define SAFE_ADDRESS 0x00400000 // Somewhere safe to store a lot of data
// The screen
#define WIDTH 1920
#define HEIGHT 1080
#define MARGIN 30
#define VIRTWIDTH (WIDTH-(2*MARGIN))
#define FONT_BPG 8
// For the bricks
#define ROWS 5
#define COLS 10
// Gameplay
#define NUM_LIVES 3
extern const int ballradius;
extern const int paddlewidth;
// Object tracking
struct Object
{
unsigned int type;
unsigned int x;
unsigned int y;
unsigned int width;
unsigned int height;
unsigned char color;
unsigned char alive;
unsigned char redraw;
unsigned int newx;
unsigned int newy;
unsigned char move;
};
enum {
OBJ_NONE = 0,
OBJ_BRICK = 1,
OBJ_PADDLE = 2,
OBJ_BALL = 3,
OBJ_SCOREBOARD = 4,
OBJ_ENDGAME = 5
};
extern volatile unsigned int numobjs;
extern volatile struct Object *objects;
extern volatile struct Object *ball;
extern volatile struct Object *paddle;
extern volatile struct Object *scoreboard;
extern volatile struct Object *endgame;
extern volatile unsigned int comms_up;
extern volatile unsigned char dir;
// Shared functions
void gfx_core(void);
void snd_core(void);
void comms_core(void);
void moveObject(volatile struct Object *object, int x, int y);

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#include "breakout.h"
#include "include/multicore.h"
#include "include/io.h"
#include "include/bt.h"
#include "include/fb.h"
#define MAX_MSG_LEN 50
#define MAX_READ_RUN 100
unsigned char data_buf[MAX_MSG_LEN];
unsigned int data_len;
unsigned int messages_received = 0;
unsigned int poll_state = 0;
enum {
LE_EVENT_CODE = 0x3e,
LE_CONNECT_CODE = 0x01,
LE_ADREPORT_CODE = 0x02,
HCI_ACL_PKT = 0x02,
HCI_EVENT_PKT = 0x04
};
unsigned int got_echo_sid = 0;
unsigned int got_echo_name = 0;
unsigned char echo_addr[6];
unsigned int connected = 0;
unsigned int connection_handle = 0;
volatile unsigned int comms_up = 0;
int memcmp(const char *str1, const char *str2, int count) {
const char *s1 = (const char*)str1;
const char *s2 = (const char*)str2;
while (count-- > 0) {
if (*s1++ != *s2++) return s1[-1] < s2[-1] ? -1 : 1;
}
return 0;
}
void hci_poll2(unsigned char byte)
{
switch (poll_state) {
case 0:
if (byte != HCI_EVENT_PKT) poll_state = 0;
else poll_state = 1;
break;
case 1:
if (byte != LE_EVENT_CODE) poll_state = 0;
else poll_state = 2;
break;
case 2:
if (byte > MAX_MSG_LEN) poll_state = 0;
else {
poll_state = 3;
data_len = byte;
}
break;
default:
data_buf[poll_state - 3] = byte;
if (poll_state == data_len + 3 - 1) {
messages_received++;
poll_state = 0;
} else poll_state++;
}
}
unsigned char *hci_poll()
{
unsigned int goal = messages_received + 1;
if (bt_isReadByteReady()) {
unsigned int run = 0;
while (run < MAX_READ_RUN && messages_received < goal && bt_isReadByteReady()) {
unsigned char byte = bt_readByte();
hci_poll2(byte);
run++;
}
if (run == MAX_READ_RUN) return 0;
else return data_buf;
}
return 0;
}
void bt_search(void) {
unsigned char *buf;
while ( (buf = hci_poll()) ) {
if (data_len >= 2) {
if (buf[0] == LE_ADREPORT_CODE) {
if (buf[1] == 1) { // num_reports
if (buf[2] == 0) { // event_type
int bufindex = 0;
unsigned char ad_len = buf[11];
for (int c=9;c>=4;c--) echo_addr[9-c] = buf[bufindex + c]; // save the mac address
bufindex += 11;
got_echo_sid = 0; got_echo_name = 0; // Reset the search state machine
do {
ad_len = buf[bufindex];
unsigned char ad_type = buf[bufindex + 1];
bufindex += 2;
if (ad_len >= 2) {
if (ad_type == 0x03) {
unsigned int sid = buf[bufindex] | (buf[bufindex + 1] << 8);
if (sid == 0xEC00) {
got_echo_sid = 1;
debugstr("got sid... ");
}
} else if (ad_type == 0x09) {
char remote_name[ad_len - 1];
unsigned int d=0;
while (d<ad_len - 1) {
remote_name[d] = buf[bufindex + d];
d++;
}
if (!memcmp(remote_name,"echo",4)) {
got_echo_name = 1;
debugstr("got name... ");
}
}
}
bufindex += ad_len - 1;
} while (bufindex < data_len);
}
}
}
}
}
}
void bt_conn()
{
unsigned char *buf;
while ( (buf = hci_poll()) ) {
if (!connected && data_len >= 2 && buf[0] == LE_CONNECT_CODE) {
connected = !*(buf+1);
debughex(connected); debugstr(" ");
connection_handle = *(buf+2) | (*(buf+3) << 8);
debughex(connection_handle); debugstr(" ");
if (connection_handle == 0) wait_msec(0x186A);
}
}
}
void acl_poll()
{
while (bt_isReadByteReady()) {
unsigned char byte = bt_waitReadByte();
if (byte == HCI_EVENT_PKT) {
bt_waitReadByte(); // opcode
unsigned char length = bt_waitReadByte();
for (int i=0;i<length;i++) bt_waitReadByte();
} else if (byte == HCI_ACL_PKT) {
unsigned char h1 = bt_waitReadByte(); // handle1
unsigned char h2 = bt_waitReadByte(); // handle2
unsigned char thandle = h1 | (h2 << 8);
unsigned char d1 = bt_waitReadByte();
unsigned char d2 = bt_waitReadByte();
unsigned int dlen = d1 | (d2 << 8);
unsigned char data[dlen];
if (dlen > 7) {
for (int i=0;i<dlen;i++) data[i] = bt_waitReadByte();
unsigned int length = data[0] | (data[1] << 8);
unsigned int channel = data[2] | (data[3] << 8);
unsigned char opcode = data[4];
if (thandle == connection_handle && length == 4 && opcode == 0x1b) {
if (channel == 4 && data[5] == 0x2a && data[6] == 0x00) {
dir = data[7];
moveObject(paddle, MARGIN + (dir * ((VIRTWIDTH - paddlewidth + MARGIN)/100)), paddle->y);
}
}
}
}
}
}
void comms_core(void)
{
clear_core3();
uart_init();
bt_init();
debugstr("Initialising Bluetooth: ");
debugstr(">> reset: ");
bt_reset();
debugstr(">> firmware load: ");
bt_loadfirmware();
debugstr(">> set baud: ");
bt_setbaud();
debugstr(">> set bdaddr: ");
bt_setbdaddr();
// Print the BD_ADDR
unsigned char local_addr[6];
bt_getbdaddr(local_addr);
for (int c=5;c>=0;c--) debugch(local_addr[c]);
debugcrlf();
// Start scanning
debugstr("Setting event mask... ");
setLEeventmask(0xff);
debugstr("Starting scanning... ");
startActiveScanning();
// Search for the echo
debugstr("Waiting...");
debugcrlf();
while (!(got_echo_sid && got_echo_name)) bt_search();
stopScanning();
for (int c=0;c<=5;c++) debugch(echo_addr[c]);
debugcrlf();
// Connecting to echo
debugstr("Connecting to echo: ");
connect(echo_addr);
while (!(connected && connection_handle)) bt_conn();
debugstr("Connected!");
debugcrlf();
// Subscribe to updates
debugstr("Sending read request: ");
debughex(connection_handle); debugcrlf();
sendACLsubscribe(connection_handle);
comms_up = 1;
while (1) acl_poll();
}

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#include "breakout.h"
#include "include/fb.h"
#include "include/multicore.h"
// GRAPHICS ROUTINES
void gfx_drawObject(volatile struct Object *object)
{
const int zoom = WIDTH/192;
const int strwidth = 10 * FONT_BPG * zoom;
const int strheight = FONT_BPG * zoom;
char tens, ones;
switch(object->type) {
case OBJ_BALL:
drawCircle(object->x + ballradius, object->y + ballradius, ballradius, object->alive ? object->color : 0, 1);
break;
case OBJ_SCOREBOARD:
tens = object->y / 10;
ones = object->y - (10 * tens);
drawString((WIDTH/2)-252, MARGIN-25, "Score: 0 Lives: ", object->color, 3);
drawChar(tens + 0x30, (WIDTH/2)-252 + (8*8*3), MARGIN-25, object->color, 3);
drawChar(ones + 0x30, (WIDTH/2)-252 + (8*9*3), MARGIN-25, object->color, 3);
drawChar((char)object->x + 0x30, (WIDTH/2)-252 + (8*20*3), MARGIN-25, object->color, 3);
break;
case OBJ_ENDGAME:
if (object->alive) {
if (object->x) {
drawString((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), "Game over!", object->color, zoom);
} else if (object->y) {
drawString((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), "Well done!", object->color, zoom);
}
} else {
drawString((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), " ", 0, zoom);
}
break;
default:
drawRect(object->x, object->y, object->x + object->width, object->y + object->height, object->alive ? object->color : 0, 1);
break;
}
object->redraw = 0;
}
void gfx_moveObject(volatile struct Object *object)
{
if (object->type == OBJ_BALL) {
drawCircle(object->x + ballradius, object->y + ballradius, ballradius, 0, 1);
object->redraw = 1;
} else {
moveRectAbs(object->x, object->y, object->width, object->height, object->newx, object->newy, 0);
}
object->x = object->newx;
object->y = object->newy;
object->move = 0;
object->newx = 0;
object->newy = 0;
}
void gfx_update(void)
{
for (int i=0;i<numobjs;i++) {
if (objects[i].move) gfx_moveObject(&objects[i]);
if (objects[i].redraw) gfx_drawObject(&objects[i]);
}
}
void gfx_core(void)
{
clear_core1();
while (1) gfx_update();
}

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part11-breakout-smp/breakout_snd.c Normal file
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#include "include/fb.h"
#include "include/io.h"
#include "include/multicore.h"
#define PWM_BASE (PERIPHERAL_BASE + 0x20C000 + 0x800) /* PWM1 register base address on RPi4 */
#define PWM_LEGACY_BASE (LEGACY_BASE + 0x20C000 + 0x800) /* PWM1 register base legacy address on RPi4 */
#define CLOCK_BASE (PERIPHERAL_BASE + 0x101000)
#define BCM2711_PWMCLK_CNTL 40
#define BCM2711_PWMCLK_DIV 41
#define PM_PASSWORD 0x5A000000
#define BCM2711_PWM_CONTROL 0
#define BCM2711_PWM_STATUS 1
#define BCM2711_PWM_DMAC 2
#define BCM2711_PWM0_RANGE 4
#define BCM2711_PWM0_DATA 5
#define BCM2711_PWM_FIFO 6
#define BCM2711_PWM1_RANGE 8
#define BCM2711_PWM1_DATA 9
#define BCM2711_PWM1_USEFIFO 0x2000 /* Data from FIFO */
#define BCM2711_PWM1_ENABLE 0x0100 /* Channel enable */
#define BCM2711_PWM0_USEFIFO 0x0020 /* Data from FIFO */
#define BCM2711_PWM0_ENABLE 0x0001 /* Channel enable */
#define BCM2711_PWM_ENAB 0x80000000 /* PWM DMA Configuration: DMA Enable (bit 31 set) */
#define BCM2711_GAPO2 0x20
#define BCM2711_GAPO1 0x10
#define BCM2711_RERR1 0x8
#define BCM2711_WERR1 0x4
#define BCM2711_FULL1 0x1
#define ERRORMASK (BCM2711_GAPO2 | BCM2711_GAPO1 | BCM2711_RERR1 | BCM2711_WERR1)
volatile unsigned* clk = (void*)CLOCK_BASE;
volatile unsigned* pwm = (void*)PWM_BASE;
void audio_init(void)
{
gpio_useAsAlt0(40); // Ensure PWM1 is mapped to GPIO 40/41
gpio_useAsAlt0(41);
wait_msec(2);
// Setup clock
*(clk + BCM2711_PWMCLK_CNTL) = PM_PASSWORD | (1 << 5); // Stop clock
wait_msec(2);
int idiv = 2;
*(clk + BCM2711_PWMCLK_DIV) = PM_PASSWORD | (idiv<<12);
*(clk + BCM2711_PWMCLK_CNTL) = PM_PASSWORD | 16 | 1; // Osc + Enable
wait_msec(2);
// Setup PWM
*(pwm + BCM2711_PWM_CONTROL) = 0;
wait_msec(2);
*(pwm+BCM2711_PWM0_RANGE) = 0x264; // 44.1khz, Stereo, 8-bit (54Mhz / 44100 / 2)
*(pwm+BCM2711_PWM1_RANGE) = 0x264;
*(pwm+BCM2711_PWM_CONTROL) =
BCM2711_PWM1_USEFIFO |
BCM2711_PWM1_ENABLE |
BCM2711_PWM0_USEFIFO |
BCM2711_PWM0_ENABLE | 1<<6;
}
void snd_core(void)
{
clear_core2();
int i=0;
long status;
extern unsigned char _binary_bin_audio_bin_start[];
extern unsigned char _binary_bin_audio_bin_size[];
unsigned int size = (long)&_binary_bin_audio_bin_size;
unsigned char *data = &(_binary_bin_audio_bin_start[0]);
// Initialise the audio
audio_init();
// Write data out to FIFO and loop infinitely
while (1) {
while (i < size) {
status = *(pwm + BCM2711_PWM_STATUS);
if (!(status & BCM2711_FULL1)) {
*(pwm+BCM2711_PWM_FIFO) = *(data + i);
i++;
*(pwm+BCM2711_PWM_FIFO) = *(data + i);
i++;
}
if ((status & ERRORMASK)) {
*(pwm+BCM2711_PWM_STATUS) = ERRORMASK;
}
}
i=0;
}
}

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part11-breakout-smp/include/bt.h Normal file
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void bt_reset();
void bt_loadfirmware();
void bt_setbaud();
void bt_setbdaddr();
void bt_getbdaddr(unsigned char *bdaddr);
void bt_init();
unsigned int bt_isReadByteReady();
unsigned char bt_readByte();
unsigned char bt_waitReadByte();
void setLEeventmask(unsigned char mask);
void startActiveScanning();
void stopScanning();
void startActiveAdvertising();
void connect(unsigned char *addr);
void sendACLsubscribe(unsigned int handle);

13
part11-breakout-smp/include/fb.h Normal file
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void fb_init();
void drawPixel(int x, int y, unsigned char attr);
void drawChar(unsigned char ch, int x, int y, unsigned char attr, int zoom);
void drawString(int x, int y, char *s, unsigned char attr, int zoom);
void drawRect(int x1, int y1, int x2, int y2, unsigned char attr, int fill);
void drawCircle(int x0, int y0, int radius, unsigned char attr, int fill);
void drawLine(int x1, int y1, int x2, int y2, unsigned char attr);
void moveRectAbs(int oldx, int oldy, int width, int height, int newx, int newy, unsigned char attr);
void wait_msec(unsigned int n);
void debugstr(char *str);
void debugcrlf(void);
void debugch(unsigned char b);
void debughex(unsigned int d);

15
part11-breakout-smp/include/io.h Normal file
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#define PERIPHERAL_BASE 0xFE000000
void uart_init();
void uart_writeText(char *buffer);
void uart_loadOutputFifo();
unsigned char uart_readByte();
unsigned int uart_isReadByteReady();
void uart_writeByteBlockingActual(unsigned char ch);
void uart_update();
void mmio_write(long reg, unsigned int val);
unsigned int mmio_read(long reg);
void gpio_useAsAlt0(unsigned int pin_number);
void gpio_useAsAlt3(unsigned int pin_number);
void uart_hex(unsigned int d);
void uart_byte(unsigned char b);

34
part11-breakout-smp/include/mb.h Normal file
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extern volatile unsigned int mbox[36];
enum {
MBOX_REQUEST = 0
};
enum {
MBOX_CH_POWER = 0,
MBOX_CH_FB = 1,
MBOX_CH_VUART = 2,
MBOX_CH_VCHIQ = 3,
MBOX_CH_LEDS = 4,
MBOX_CH_BTNS = 5,
MBOX_CH_TOUCH = 6,
MBOX_CH_COUNT = 7,
MBOX_CH_PROP = 8 // Request from ARM for response by VideoCore
};
enum {
MBOX_TAG_SETPOWER = 0x28001,
MBOX_TAG_SETCLKRATE = 0x38002,
MBOX_TAG_SETPHYWH = 0x48003,
MBOX_TAG_SETVIRTWH = 0x48004,
MBOX_TAG_SETVIRTOFF = 0x48009,
MBOX_TAG_SETDEPTH = 0x48005,
MBOX_TAG_SETPXLORDR = 0x48006,
MBOX_TAG_GETFB = 0x40001,
MBOX_TAG_GETPITCH = 0x40008,
MBOX_TAG_LAST = 0
};
unsigned int mbox_call(unsigned char ch);

11
part11-breakout-smp/include/multicore.h Normal file
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extern unsigned int spin_cpu0;
extern unsigned int spin_cpu1;
extern unsigned int spin_cpu2;
extern unsigned int spin_cpu3;
void start_core1(void (*func)(void));
void start_core2(void (*func)(void));
void start_core3(void (*func)(void));
void clear_core1(void);
void clear_core2(void);
void clear_core3(void);

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const unsigned int vgapal[16] = {
0x000000,
0x0000AA,
0x00AA00,
0x00AAAA,
0xAA0000,
0xAA00AA,
0xAA5500,
0xAAAAAA,
0x555555,
0x5555FF,
0x55FF55,
0x55FFFF,
0xFF5555,
0xFF55FF,
0xFFFF55,
0xFFFFFF
};
enum {
FONT_WIDTH = 8,
FONT_HEIGHT = 8,
FONT_BPG = 8, // Bytes per glyph
FONT_BPL = 1, // Bytes per line
FONT_NUMGLYPHS = 224
};
const unsigned char font[FONT_NUMGLYPHS][FONT_BPG] = {
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0000 (nul)
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0001
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0002
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0003
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0004
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0005
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0006
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0007
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0008
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0009
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000A
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000B
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000C
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000D
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000E
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+000F
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0010
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0011
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0012
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0013
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0014
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0015
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0016
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0017
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0018
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0019
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001A
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001B
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001C
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001D
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001E
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+001F
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0020 (space)
{ 0x18, 0x3C, 0x3C, 0x18, 0x18, 0x00, 0x18, 0x00}, // U+0021 (!)
{ 0x36, 0x36, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0022 (")
{ 0x36, 0x36, 0x7F, 0x36, 0x7F, 0x36, 0x36, 0x00}, // U+0023 (#)
{ 0x0C, 0x3E, 0x03, 0x1E, 0x30, 0x1F, 0x0C, 0x00}, // U+0024 ($)
{ 0x00, 0x63, 0x33, 0x18, 0x0C, 0x66, 0x63, 0x00}, // U+0025 (%)
{ 0x1C, 0x36, 0x1C, 0x6E, 0x3B, 0x33, 0x6E, 0x00}, // U+0026 (&)
{ 0x06, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0027 (')
{ 0x18, 0x0C, 0x06, 0x06, 0x06, 0x0C, 0x18, 0x00}, // U+0028 (()
{ 0x06, 0x0C, 0x18, 0x18, 0x18, 0x0C, 0x06, 0x00}, // U+0029 ())
{ 0x00, 0x66, 0x3C, 0xFF, 0x3C, 0x66, 0x00, 0x00}, // U+002A (*)
{ 0x00, 0x0C, 0x0C, 0x3F, 0x0C, 0x0C, 0x00, 0x00}, // U+002B (+)
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C, 0x06}, // U+002C (,)
{ 0x00, 0x00, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00}, // U+002D (-)
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C, 0x00}, // U+002E (.)
{ 0x60, 0x30, 0x18, 0x0C, 0x06, 0x03, 0x01, 0x00}, // U+002F (/)
{ 0x3E, 0x63, 0x73, 0x7B, 0x6F, 0x67, 0x3E, 0x00}, // U+0030 (0)
{ 0x0C, 0x0E, 0x0C, 0x0C, 0x0C, 0x0C, 0x3F, 0x00}, // U+0031 (1)
{ 0x1E, 0x33, 0x30, 0x1C, 0x06, 0x33, 0x3F, 0x00}, // U+0032 (2)
{ 0x1E, 0x33, 0x30, 0x1C, 0x30, 0x33, 0x1E, 0x00}, // U+0033 (3)
{ 0x38, 0x3C, 0x36, 0x33, 0x7F, 0x30, 0x78, 0x00}, // U+0034 (4)
{ 0x3F, 0x03, 0x1F, 0x30, 0x30, 0x33, 0x1E, 0x00}, // U+0035 (5)
{ 0x1C, 0x06, 0x03, 0x1F, 0x33, 0x33, 0x1E, 0x00}, // U+0036 (6)
{ 0x3F, 0x33, 0x30, 0x18, 0x0C, 0x0C, 0x0C, 0x00}, // U+0037 (7)
{ 0x1E, 0x33, 0x33, 0x1E, 0x33, 0x33, 0x1E, 0x00}, // U+0038 (8)
{ 0x1E, 0x33, 0x33, 0x3E, 0x30, 0x18, 0x0E, 0x00}, // U+0039 (9)
{ 0x00, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x00}, // U+003A (:)
{ 0x00, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x06}, // U+003B (;)
{ 0x18, 0x0C, 0x06, 0x03, 0x06, 0x0C, 0x18, 0x00}, // U+003C (<)
{ 0x00, 0x00, 0x3F, 0x00, 0x00, 0x3F, 0x00, 0x00}, // U+003D (=)
{ 0x06, 0x0C, 0x18, 0x30, 0x18, 0x0C, 0x06, 0x00}, // U+003E (>)
{ 0x1E, 0x33, 0x30, 0x18, 0x0C, 0x00, 0x0C, 0x00}, // U+003F (?)
{ 0x3E, 0x63, 0x7B, 0x7B, 0x7B, 0x03, 0x1E, 0x00}, // U+0040 (@)
{ 0x0C, 0x1E, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x00}, // U+0041 (A)
{ 0x3F, 0x66, 0x66, 0x3E, 0x66, 0x66, 0x3F, 0x00}, // U+0042 (B)
{ 0x3C, 0x66, 0x03, 0x03, 0x03, 0x66, 0x3C, 0x00}, // U+0043 (C)
{ 0x1F, 0x36, 0x66, 0x66, 0x66, 0x36, 0x1F, 0x00}, // U+0044 (D)
{ 0x7F, 0x46, 0x16, 0x1E, 0x16, 0x46, 0x7F, 0x00}, // U+0045 (E)
{ 0x7F, 0x46, 0x16, 0x1E, 0x16, 0x06, 0x0F, 0x00}, // U+0046 (F)
{ 0x3C, 0x66, 0x03, 0x03, 0x73, 0x66, 0x7C, 0x00}, // U+0047 (G)
{ 0x33, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x33, 0x00}, // U+0048 (H)
{ 0x1E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+0049 (I)
{ 0x78, 0x30, 0x30, 0x30, 0x33, 0x33, 0x1E, 0x00}, // U+004A (J)
{ 0x67, 0x66, 0x36, 0x1E, 0x36, 0x66, 0x67, 0x00}, // U+004B (K)
{ 0x0F, 0x06, 0x06, 0x06, 0x46, 0x66, 0x7F, 0x00}, // U+004C (L)
{ 0x63, 0x77, 0x7F, 0x7F, 0x6B, 0x63, 0x63, 0x00}, // U+004D (M)
{ 0x63, 0x67, 0x6F, 0x7B, 0x73, 0x63, 0x63, 0x00}, // U+004E (N)
{ 0x1C, 0x36, 0x63, 0x63, 0x63, 0x36, 0x1C, 0x00}, // U+004F (O)
{ 0x3F, 0x66, 0x66, 0x3E, 0x06, 0x06, 0x0F, 0x00}, // U+0050 (P)
{ 0x1E, 0x33, 0x33, 0x33, 0x3B, 0x1E, 0x38, 0x00}, // U+0051 (Q)
{ 0x3F, 0x66, 0x66, 0x3E, 0x36, 0x66, 0x67, 0x00}, // U+0052 (R)
{ 0x1E, 0x33, 0x07, 0x0E, 0x38, 0x33, 0x1E, 0x00}, // U+0053 (S)
{ 0x3F, 0x2D, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+0054 (T)
{ 0x33, 0x33, 0x33, 0x33, 0x33, 0x33, 0x3F, 0x00}, // U+0055 (U)
{ 0x33, 0x33, 0x33, 0x33, 0x33, 0x1E, 0x0C, 0x00}, // U+0056 (V)
{ 0x63, 0x63, 0x63, 0x6B, 0x7F, 0x77, 0x63, 0x00}, // U+0057 (W)
{ 0x63, 0x63, 0x36, 0x1C, 0x1C, 0x36, 0x63, 0x00}, // U+0058 (X)
{ 0x33, 0x33, 0x33, 0x1E, 0x0C, 0x0C, 0x1E, 0x00}, // U+0059 (Y)
{ 0x7F, 0x63, 0x31, 0x18, 0x4C, 0x66, 0x7F, 0x00}, // U+005A (Z)
{ 0x1E, 0x06, 0x06, 0x06, 0x06, 0x06, 0x1E, 0x00}, // U+005B ([)
{ 0x03, 0x06, 0x0C, 0x18, 0x30, 0x60, 0x40, 0x00}, // U+005C (\)
{ 0x1E, 0x18, 0x18, 0x18, 0x18, 0x18, 0x1E, 0x00}, // U+005D (])
{ 0x08, 0x1C, 0x36, 0x63, 0x00, 0x00, 0x00, 0x00}, // U+005E (^)
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF}, // U+005F (_)
{ 0x0C, 0x0C, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+0060 (`)
{ 0x00, 0x00, 0x1E, 0x30, 0x3E, 0x33, 0x6E, 0x00}, // U+0061 (a)
{ 0x07, 0x06, 0x06, 0x3E, 0x66, 0x66, 0x3B, 0x00}, // U+0062 (b)
{ 0x00, 0x00, 0x1E, 0x33, 0x03, 0x33, 0x1E, 0x00}, // U+0063 (c)
{ 0x38, 0x30, 0x30, 0x3e, 0x33, 0x33, 0x6E, 0x00}, // U+0064 (d)
{ 0x00, 0x00, 0x1E, 0x33, 0x3f, 0x03, 0x1E, 0x00}, // U+0065 (e)
{ 0x1C, 0x36, 0x06, 0x0f, 0x06, 0x06, 0x0F, 0x00}, // U+0066 (f)
{ 0x00, 0x00, 0x6E, 0x33, 0x33, 0x3E, 0x30, 0x1F}, // U+0067 (g)
{ 0x07, 0x06, 0x36, 0x6E, 0x66, 0x66, 0x67, 0x00}, // U+0068 (h)
{ 0x0C, 0x00, 0x0E, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+0069 (i)
{ 0x30, 0x00, 0x30, 0x30, 0x30, 0x33, 0x33, 0x1E}, // U+006A (j)
{ 0x07, 0x06, 0x66, 0x36, 0x1E, 0x36, 0x67, 0x00}, // U+006B (k)
{ 0x0E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+006C (l)
{ 0x00, 0x00, 0x33, 0x7F, 0x7F, 0x6B, 0x63, 0x00}, // U+006D (m)
{ 0x00, 0x00, 0x1F, 0x33, 0x33, 0x33, 0x33, 0x00}, // U+006E (n)
{ 0x00, 0x00, 0x1E, 0x33, 0x33, 0x33, 0x1E, 0x00}, // U+006F (o)
{ 0x00, 0x00, 0x3B, 0x66, 0x66, 0x3E, 0x06, 0x0F}, // U+0070 (p)
{ 0x00, 0x00, 0x6E, 0x33, 0x33, 0x3E, 0x30, 0x78}, // U+0071 (q)
{ 0x00, 0x00, 0x3B, 0x6E, 0x66, 0x06, 0x0F, 0x00}, // U+0072 (r)
{ 0x00, 0x00, 0x3E, 0x03, 0x1E, 0x30, 0x1F, 0x00}, // U+0073 (s)
{ 0x08, 0x0C, 0x3E, 0x0C, 0x0C, 0x2C, 0x18, 0x00}, // U+0074 (t)
{ 0x00, 0x00, 0x33, 0x33, 0x33, 0x33, 0x6E, 0x00}, // U+0075 (u)
{ 0x00, 0x00, 0x33, 0x33, 0x33, 0x1E, 0x0C, 0x00}, // U+0076 (v)
{ 0x00, 0x00, 0x63, 0x6B, 0x7F, 0x7F, 0x36, 0x00}, // U+0077 (w)
{ 0x00, 0x00, 0x63, 0x36, 0x1C, 0x36, 0x63, 0x00}, // U+0078 (x)
{ 0x00, 0x00, 0x33, 0x33, 0x33, 0x3E, 0x30, 0x1F}, // U+0079 (y)
{ 0x00, 0x00, 0x3F, 0x19, 0x0C, 0x26, 0x3F, 0x00}, // U+007A (z)
{ 0x38, 0x0C, 0x0C, 0x07, 0x0C, 0x0C, 0x38, 0x00}, // U+007B ({)
{ 0x18, 0x18, 0x18, 0x00, 0x18, 0x18, 0x18, 0x00}, // U+007C (|)
{ 0x07, 0x0C, 0x0C, 0x38, 0x0C, 0x0C, 0x07, 0x00}, // U+007D (})
{ 0x6E, 0x3B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+007E (~)
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // U+007F
{ 0x1E, 0x33, 0x03, 0x33, 0x1E, 0x18, 0x30, 0x1E}, // U+00C7 (C cedille)
{ 0x00, 0x33, 0x00, 0x33, 0x33, 0x33, 0x7E, 0x00}, // U+00FC (u umlaut)
{ 0x38, 0x00, 0x1E, 0x33, 0x3F, 0x03, 0x1E, 0x00}, // U+00E9 (e aigu)
{ 0x7E, 0xC3, 0x3C, 0x60, 0x7C, 0x66, 0xFC, 0x00}, // U+00E2 (a circumflex)
{ 0x33, 0x00, 0x1E, 0x30, 0x3E, 0x33, 0x7E, 0x00}, // U+00E4 (a umlaut)
{ 0x07, 0x00, 0x1E, 0x30, 0x3E, 0x33, 0x7E, 0x00}, // U+00E0 (a grave)
{ 0x0C, 0x0C, 0x1E, 0x30, 0x3E, 0x33, 0x7E, 0x00}, // U+00E5 (a ring)
{ 0x00, 0x00, 0x1E, 0x03, 0x03, 0x1E, 0x30, 0x1C}, // U+00E7 (c cedille)
{ 0x7E, 0xC3, 0x3C, 0x66, 0x7E, 0x06, 0x3C, 0x00}, // U+00EA (e circumflex)
{ 0x33, 0x00, 0x1E, 0x33, 0x3F, 0x03, 0x1E, 0x00}, // U+00EB (e umlaut)
{ 0x07, 0x00, 0x1E, 0x33, 0x3F, 0x03, 0x1E, 0x00}, // U+00E8 (e grave)
{ 0x33, 0x00, 0x0E, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+00EF (i umlaut)
{ 0x3E, 0x63, 0x1C, 0x18, 0x18, 0x18, 0x3C, 0x00}, // U+00EE (i circumflex)
{ 0x07, 0x00, 0x0E, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+00EC (i grave)
{ 0x63, 0x1C, 0x36, 0x63, 0x7F, 0x63, 0x63, 0x00}, // U+00C4 (A umlaut)
{ 0x0C, 0x0C, 0x00, 0x1E, 0x33, 0x3F, 0x33, 0x00}, // U+00C5 (A ring)
{ 0x07, 0x00, 0x3F, 0x06, 0x1E, 0x06, 0x3F, 0x00}, // U+00C8 (E grave)
{ 0x00, 0x00, 0xFE, 0x30, 0xFE, 0x33, 0xFE, 0x00}, // U+00E6 (ae)
{ 0x7C, 0x36, 0x33, 0x7F, 0x33, 0x33, 0x73, 0x00}, // U+00C6 (AE)
{ 0x1E, 0x33, 0x00, 0x1E, 0x33, 0x33, 0x1E, 0x00}, // U+00F4 (o circumflex)
{ 0x00, 0x33, 0x00, 0x1E, 0x33, 0x33, 0x1E, 0x00}, // U+00F6 (o umlaut)
{ 0x00, 0x07, 0x00, 0x1E, 0x33, 0x33, 0x1E, 0x00}, // U+00F2 (o grave)
{ 0x1E, 0x33, 0x00, 0x33, 0x33, 0x33, 0x7E, 0x00}, // U+00FB (u circumflex)
{ 0x00, 0x07, 0x00, 0x33, 0x33, 0x33, 0x7E, 0x00}, // U+00F9 (u grave)
{ 0x00, 0x33, 0x00, 0x33, 0x33, 0x3E, 0x30, 0x1F}, // U+00FF (y umlaut)
{ 0xC3, 0x18, 0x3C, 0x66, 0x66, 0x3C, 0x18, 0x00}, // U+00D6 (O umlaut)
{ 0x33, 0x00, 0x33, 0x33, 0x33, 0x33, 0x1E, 0x00}, // U+00DC (U umlaut)
{ 0x18, 0x18, 0x7E, 0x03, 0x03, 0x7E, 0x18, 0x18}, // U+00A2 (dollarcents)
{ 0x1C, 0x36, 0x26, 0x0F, 0x06, 0x67, 0x3F, 0x00}, // U+00A3 (pound sterling)
{ 0x33, 0x33, 0x1E, 0x3F, 0x0C, 0x3F, 0x0C, 0x0C}, // U+00A5 (yen)
{ 0x7C, 0xC6, 0x1C, 0x36, 0x36, 0x1C, 0x33, 0x1E}, // U+00A7 (paragraph)
{ 0x70, 0xD8, 0x18, 0x3C, 0x18, 0x18, 0x1B, 0x0E}, // U+0192 (dutch florijn)
{ 0x38, 0x00, 0x1E, 0x30, 0x3E, 0x33, 0x7E, 0x00}, // U+00E1 (a aigu)
{ 0x1C, 0x00, 0x0E, 0x0C, 0x0C, 0x0C, 0x1E, 0x00}, // U+00ED (i augu)
{ 0x00, 0x38, 0x00, 0x1E, 0x33, 0x33, 0x1E, 0x00}, // U+00F3 (o aigu)
{ 0x00, 0x38, 0x00, 0x33, 0x33, 0x33, 0x7E, 0x00}, // U+00FA (u aigu)
{ 0x00, 0x1F, 0x00, 0x1F, 0x33, 0x33, 0x33, 0x00}, // U+00F1 (n ~)
{ 0x3F, 0x00, 0x33, 0x37, 0x3F, 0x3B, 0x33, 0x00}, // U+00D1 (N ~)
{ 0x3C, 0x36, 0x36, 0x7C, 0x00, 0x00, 0x00, 0x00}, // U+00AA (superscript a)
{ 0x1C, 0x36, 0x36, 0x1C, 0x00, 0x00, 0x00, 0x00}, // U+00BA (superscript 0)
{ 0x0C, 0x00, 0x0C, 0x06, 0x03, 0x33, 0x1E, 0x00}, // U+00BF (inverted ?)
{ 0x00, 0x00, 0x00, 0x3F, 0x03, 0x03, 0x00, 0x00}, // U+2310 (gun pointing right)
{ 0x00, 0x00, 0x00, 0x3F, 0x30, 0x30, 0x00, 0x00}, // U+00AC (gun pointing left)
{ 0xC3, 0x63, 0x33, 0x7B, 0xCC, 0x66, 0x33, 0xF0}, // U+00BD (1/2)
{ 0xC3, 0x63, 0x33, 0xBD, 0xEC, 0xF6, 0xF3, 0x03}, // U+00BC (1/4)
{ 0x18, 0x18, 0x00, 0x18, 0x18, 0x18, 0x18, 0x00}, // U+00A1 (inverted !)
{ 0x00, 0xCC, 0x66, 0x33, 0x66, 0xCC, 0x00, 0x00}, // U+00AB (<<)
{ 0x00, 0x33, 0x66, 0xCC, 0x66, 0x33, 0x00, 0x00}, // U+00BB (>>)
{ 0x55, 0x00, 0xAA, 0x00, 0x55, 0x00, 0xAA, 0x00}, // U+2591 (25% solid)
{ 0x55, 0xAA, 0x55, 0xAA, 0x55, 0xAA, 0x55, 0xAA}, // U+2592 (50% solid)
{ 0xFF, 0xAA, 0xFF, 0x55, 0xFF, 0xAA, 0xFF, 0x55}, // U+2593 (75% solid)
{ 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08}, // U+2502 (thin vertical)
{ 0x08, 0x08, 0x08, 0x08, 0x0f, 0x08, 0x08, 0x08}, // U+2524 (down L, left L, up L)
{ 0x08, 0x08, 0x08, 0x0F, 0x08, 0x0F, 0x08, 0x08}, // U+2561 (up L, down L, left D)
{ 0x14, 0x14, 0x14, 0x14, 0x17, 0x14, 0x14, 0x14}, // U+2562 (up D, down D, left L)
{ 0x00, 0x00, 0x00, 0x00, 0x1F, 0x14, 0x14, 0x14}, // U+2556 (down D, left L)
{ 0x00, 0x00, 0x00, 0x0F, 0x08, 0x0F, 0x08, 0x08}, // U+2555 (down L, left D)
{ 0x14, 0x14, 0x14, 0x17, 0x10, 0x17, 0x14, 0x14}, // U+2563 (up D, down D, left D)
{ 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14}, // U+2551 (double vertical)
{ 0x00, 0x00, 0x00, 0x1F, 0x10, 0x17, 0x14, 0x14}, // U+2557 (down D, left D)
{ 0x14, 0x14, 0x14, 0x17, 0x10, 0x1F, 0x00, 0x00}, // U+255D (up D, left D)
{ 0x14, 0x14, 0x14, 0x14, 0x1F, 0x00, 0x00, 0x00}, // U+255C (up D, left L)
{ 0x08, 0x08, 0x08, 0x0F, 0x08, 0x0F, 0x00, 0x00}, // U+255B (up L, left D)
{ 0x00, 0x00, 0x00, 0x00, 0x0f, 0x08, 0x08, 0x08}, // U+2510 (down L, left L)
{ 0x08, 0x08, 0x08, 0x08, 0xf8, 0x00, 0x00, 0x00}, // U+2514 (up L, right L)
{ 0x08, 0x08, 0x08, 0x08, 0xff, 0x00, 0x00, 0x00}, // U+2534 (up L, right L, left L)
{ 0x00, 0x00, 0x00, 0x00, 0xff, 0x08, 0x08, 0x08}, // U+252C (down L, right L, left L)
{ 0x08, 0x08, 0x08, 0x08, 0xf8, 0x08, 0x08, 0x08}, // U+251C (down L, right L, up L)
{ 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00}, // U+2500 (thin horizontal)
{ 0x08, 0x08, 0x08, 0x08, 0xff, 0x08, 0x08, 0x08}, // U+253C (up L, right L, left L, down L)
{ 0x08, 0x08, 0x08, 0xF8, 0x08, 0xF8, 0x08, 0x08}, // U+255E (up L, down L, right D)
{ 0x14, 0x14, 0x14, 0x14, 0xF4, 0x14, 0x14, 0x14}, // U+255F (up D, down D, right L)
{ 0x14, 0x14, 0x14, 0xF4, 0x04, 0xFC, 0x00, 0x00}, // U+255A (up D, right D)
{ 0x00, 0x00, 0x00, 0xFC, 0x04, 0xF4, 0x14, 0x14}, // U+2554 (down D, right D)
{ 0x14, 0x14, 0x14, 0xF7, 0x00, 0xFF, 0x00, 0x00}, // U+2569 (left D, right D, up D)
{ 0x00, 0x00, 0x00, 0xFF, 0x00, 0xF7, 0x14, 0x14}, // U+2566 (left D, right D, down D)
{ 0x14, 0x14, 0x14, 0xF4, 0x04, 0xF4, 0x14, 0x14}, // U+2560 (up D, down D, right D)
{ 0x00, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0x00}, // U+2550 (double horizontal)
{ 0x14, 0x14, 0x14, 0xF7, 0x00, 0xF7, 0x14, 0x14}, // U+256C (left D, right D, down D, up D)
{ 0x08, 0x08, 0x08, 0xFF, 0x00, 0xFF, 0x00, 0x00}, // U+2567 (left D, right D, up L)
{ 0x14, 0x14, 0x14, 0x14, 0xFF, 0x00, 0x00, 0x00}, // U+2568 (left L, right L, up D)
{ 0x00, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x08, 0x08}, // U+2564 (left D, right D, down L)
{ 0x00, 0x00, 0x00, 0x00, 0xFF, 0x14, 0x14, 0x14}, // U+2565 (left L, right L, down D)
{ 0x14, 0x14, 0x14, 0x14, 0xFC, 0x00, 0x00, 0x00}, // U+2559 (up D, right L)
{ 0x08, 0x08, 0x08, 0xF8, 0x08, 0xF8, 0x00, 0x00}, // U+2558 (up L, right D)
{ 0x00, 0x00, 0x00, 0xF8, 0x08, 0xF8, 0x08, 0x08}, // U+2552 (down L, right D)
{ 0x00, 0x00, 0x00, 0x00, 0xFC, 0x14, 0x14, 0x14}, // U+2553 (down D, right L)
{ 0x14, 0x14, 0x14, 0x14, 0xFF, 0x14, 0x14, 0x14}, // U+256B (left L, right L, down D, up D)
{ 0x08, 0x08, 0x08, 0xFF, 0x08, 0xFF, 0x08, 0x08}, // U+256A (left D, right D, down L, up L)
{ 0x08, 0x08, 0x08, 0x08, 0x0f, 0x00, 0x00, 0x00}, // U+2518 (up L, left L)
{ 0x00, 0x00, 0x00, 0x00, 0xf8, 0x08, 0x08, 0x08}, // U+250C (down L, right L)
{ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, // U+2588 (solid)
{ 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF}, // U+2584 (bottom half)
{ 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}, // U+258C (left half)
{ 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0}, // U+2590 (right half)
{ 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00}, // U+2580 (top half)
};

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#include "../include/io.h"
#include "../include/fb.h"
// UART0
enum {
ARM_UART0_BASE = PERIPHERAL_BASE + 0x201000,
ARM_UART0_DR = ARM_UART0_BASE + 0x00,
ARM_UART0_FR = ARM_UART0_BASE + 0x18,
ARM_UART0_IBRD = ARM_UART0_BASE + 0x24,
ARM_UART0_FBRD = ARM_UART0_BASE + 0x28,
ARM_UART0_LCRH = ARM_UART0_BASE + 0x2C,
ARM_UART0_CR = ARM_UART0_BASE + 0x30,
ARM_UART0_IFLS = ARM_UART0_BASE + 0x34,
ARM_UART0_IMSC = ARM_UART0_BASE + 0x38,
ARM_UART0_RIS = ARM_UART0_BASE + 0x3C,
ARM_UART0_MIS = ARM_UART0_BASE + 0x40,
ARM_UART0_ICR = ARM_UART0_BASE + 0x44
};
unsigned char lo(unsigned int val) { return (unsigned char)(val & 0xff); }
unsigned char hi(unsigned int val) { return (unsigned char)((val & 0xff00) >> 8); }
unsigned int bt_isReadByteReady() { return (!(mmio_read(ARM_UART0_FR) & 0x10)); }
unsigned char bt_readByte()
{
unsigned char ch = lo(mmio_read(ARM_UART0_DR));
return ch;
}
unsigned char bt_waitReadByte()
{
while (!bt_isReadByteReady());
return bt_readByte();
}
void bt_writeByte(char byte)
{
while ((mmio_read(ARM_UART0_FR) & 0x20) != 0);
mmio_write(ARM_UART0_DR, (unsigned int)byte);
}
void bt_flushrx()
{
while (bt_isReadByteReady()) bt_readByte();
}
void bt_init()
{
gpio_useAsAlt3(30);
gpio_useAsAlt3(31);
gpio_useAsAlt3(32);
gpio_useAsAlt3(33);
bt_flushrx();
mmio_write(ARM_UART0_IMSC, 0x00);
mmio_write(ARM_UART0_ICR, 0x7ff);
mmio_write(ARM_UART0_IBRD, 0x1a);
mmio_write(ARM_UART0_FBRD, 0x03);
mmio_write(ARM_UART0_IFLS, 0x08);
mmio_write(ARM_UART0_LCRH, 0x70);
mmio_write(ARM_UART0_CR, 0xB01);
mmio_write(ARM_UART0_IMSC, 0x430);
wait_msec(0x100000);
}
// HOST SETUP
enum {
OGF_HOST_CONTROL = 0x03,
OGF_LE_CONTROL = 0x08,
OGF_VENDOR = 0x3f,
COMMAND_SET_BDADDR = 0x01,
COMMAND_RESET_CHIP = 0x03,
COMMAND_SET_BAUD = 0x18,
COMMAND_LOAD_FIRMWARE = 0x2e,
HCI_COMMAND_PKT = 0x01,
HCI_ACL_PKT = 0x02,
HCI_EVENT_PKT = 0x04,
COMMAND_COMPLETE_CODE = 0x0e,
CONNECT_COMPLETE_CODE = 0x0f,
LL_SCAN_ACTIVE = 0x01,
LL_ADV_NONCONN_IND = 0x03
};
int hciCommandBytes(unsigned char *opcodebytes, volatile unsigned char *data, unsigned char length)
{
unsigned char c=0;
bt_writeByte(HCI_COMMAND_PKT);
bt_writeByte(opcodebytes[0]);
bt_writeByte(opcodebytes[1]);
bt_writeByte(length);
while (c++<length) bt_writeByte(*data++);
if (bt_waitReadByte() != HCI_EVENT_PKT) return 1;
unsigned char code = bt_waitReadByte();
if (code == CONNECT_COMPLETE_CODE) {
if (bt_waitReadByte() != 4) return 2;
unsigned char err = bt_waitReadByte();
if (err != 0) {
uart_writeText("Saw HCI COMMAND STATUS error "); uart_hex(err); uart_writeText("\n");
return 12;
}
if (bt_waitReadByte() == 0) return 3;
if (bt_waitReadByte() != opcodebytes[0]) return 4;
if (bt_waitReadByte() != opcodebytes[1]) return 5;
} else if (code == COMMAND_COMPLETE_CODE) {
if (bt_waitReadByte() != 4) return 6;
if (bt_waitReadByte() == 0) return 7;
if (bt_waitReadByte() != opcodebytes[0]) return 8;
if (bt_waitReadByte() != opcodebytes[1]) return 9;
if (bt_waitReadByte() != 0) return 10;
} else return 11;
return 0;
}
int hciCommand(unsigned short ogf, unsigned short ocf, volatile unsigned char *data, unsigned char length)
{
unsigned short opcode = ogf << 10 | ocf;
unsigned char opcodebytes[2] = { lo(opcode), hi(opcode) };
return hciCommandBytes(opcodebytes, data, length);
}
void bt_reset() {
volatile unsigned char empty[] = {};
if (hciCommand(OGF_HOST_CONTROL, COMMAND_RESET_CHIP, empty, 0)) uart_writeText("bt_reset() failed\n");
}
void bt_loadfirmware()
{
volatile unsigned char empty[] = {};
if (hciCommand(OGF_VENDOR, COMMAND_LOAD_FIRMWARE, empty, 0)) uart_writeText("loadFirmware() failed\n");
extern unsigned char _binary_bin_BCM4345C0_hcd_start[];
extern unsigned char _binary_bin_BCM4345C0_hcd_size[];
unsigned int c=0;
unsigned int size = (long)&_binary_bin_BCM4345C0_hcd_size;
unsigned char opcodebytes[2];
unsigned char length;
unsigned char *data = &(_binary_bin_BCM4345C0_hcd_start[0]);
while (c < size) {
opcodebytes[0] = *data;
opcodebytes[1] = *(data+1);
length = *(data+2);
data += 3;
if (hciCommandBytes(opcodebytes, data, length)) {
uart_writeText("Firmware data load failed\n");
break;
}
data += length;
c += 3 + length;
}
wait_msec(0x100000);
}
void bt_setbaud()
{
volatile unsigned char command[6] = { 0, 0, 0x00, 0xc2, 0x01, 0x00 }; // little endian, 115200
if (hciCommand(OGF_VENDOR, COMMAND_SET_BAUD, command, 6)) uart_writeText("bt_setbaud() failed\n");
}
void bt_setbdaddr()
{
volatile unsigned char command[6] = { 0xee, 0xff, 0xc0, 0xee, 0xff, 0xc0 }; // reversed
if (hciCommand(OGF_VENDOR, COMMAND_SET_BDADDR, command, 6)) uart_writeText("bt_setbdaddr() failed\n");
}
void bt_getbdaddr(unsigned char *bdaddr) {
bt_writeByte(HCI_COMMAND_PKT);
bt_writeByte(0x09);
bt_writeByte(0x10);
bt_writeByte(0x00);
if (bt_waitReadByte() != HCI_EVENT_PKT) return;
if (bt_waitReadByte() != COMMAND_COMPLETE_CODE) return;
if (bt_waitReadByte() != 0x0a) return;
if (bt_waitReadByte() != 1) return;
if (bt_waitReadByte() != 0x09) return;
if (bt_waitReadByte() != 0x10) return;
if (bt_waitReadByte() != 0x00) return;
for (int c=0;c<6;c++) bdaddr[c] = bt_waitReadByte();
}
void sendACLsubscribe(unsigned int handle)
{
bt_writeByte(HCI_ACL_PKT);
bt_writeByte(lo(handle));
bt_writeByte(hi(handle));
unsigned int length = 0x0009;
bt_writeByte(lo(length));
bt_writeByte(hi(length));
unsigned int data_length = 0x0005;
bt_writeByte(lo(data_length));
bt_writeByte(hi(data_length));
unsigned int channel = 0x0004;
bt_writeByte(lo(channel));
bt_writeByte(hi(channel));
volatile unsigned char command[5] = { 0x12, 0x2b, 0x00, 0x01, 0x00 };
unsigned int c=0;
while (c++<data_length) bt_writeByte(command[c-1]);
}
void setLEeventmask(unsigned char mask)
{
volatile unsigned char command[8] = { 0 };
command[0] = mask;
if (hciCommand(OGF_LE_CONTROL, 0x01, command, 8)) uart_writeText("setLEeventmask failed\n");
}
void setLEscanenable(unsigned char state, unsigned char duplicates) {
volatile unsigned char command[2];
command[0] = state;
command[1] = duplicates;
if (hciCommand(OGF_LE_CONTROL, 0x0c, command, 2)) uart_writeText("setLEscanenable failed\n");
}
void setLEscanparameters(unsigned char type, unsigned char linterval, unsigned char hinterval, unsigned char lwindow, unsigned char hwindow, unsigned char own_address_type, unsigned char filter_policy) {
volatile unsigned char command[7];
command[0] = type;
command[1] = linterval;
command[2] = hinterval;
command[3] = lwindow;
command[4] = hwindow;
command[5] = own_address_type;
command[6] = filter_policy;
if (hciCommand(OGF_LE_CONTROL, 0x0b, command, 7)) uart_writeText("setLEscanparameters failed\n");
}
void setLEadvertenable(unsigned char state) {
volatile unsigned char command[1];
command[0] = state;
if (hciCommand(OGF_LE_CONTROL, 0x0a, command, 1)) uart_writeText("setLEadvertenable failed\n");
}
void setLEadvertparameters(unsigned char type, unsigned char linterval_min, unsigned char hinterval_min, unsigned char linterval_max, unsigned char hinterval_max, unsigned char own_address_type, unsigned char filter_policy) {
volatile unsigned char command[15] = { 0 };
command[0] = linterval_min;
command[1] = hinterval_min;
command[2] = linterval_max;
command[3] = hinterval_max;
command[4] = type;
command[5] = own_address_type;
command[13] = 0x07;
command[14] = filter_policy;
if (hciCommand(OGF_LE_CONTROL, 0x06, command, 15)) uart_writeText("setLEadvertparameters failed\n");
}
void setLEadvertdata() {
static unsigned char command[32] = {
0x19,
0x02, 0x01, 0x06,
0x03, 0x03, 0xAA, 0xFE,
0x11, 0x16, 0xAA, 0xFE, 0x10, 0x00, 0x03,
0x69, 0x73, 0x6f, 0x6d, 0x65, 0x74, 0x69, 0x6d,
0x2e, 0x65, 0x73,
0, 0, 0, 0, 0, 0
};
if (hciCommand(OGF_LE_CONTROL, 0x08, command, 32)) uart_writeText("setLEadvertdata failed\n");
}
void stopScanning() {
setLEscanenable(0, 0);
}
void stopAdvertising() {
setLEadvertenable(0);
}
void startActiveScanning() {
float BleScanInterval = 60; // every 60ms
float BleScanWindow = 60;
float BleScanDivisor = 0.625;
unsigned int p = BleScanInterval / BleScanDivisor;
unsigned int q = BleScanWindow / BleScanDivisor;
setLEscanparameters(LL_SCAN_ACTIVE, lo(p), hi(p), lo(q), hi(q), 0, 0);
setLEscanenable(1, 0);
}
void startActiveAdvertising() {
float advertMinFreq = 100; // every 100ms
float advertMaxFreq = 100; // every 100ms
float bleGranularity = 0.625;
unsigned int min_interval = advertMinFreq / bleGranularity;
unsigned int max_interval = advertMaxFreq / bleGranularity;
setLEadvertparameters(LL_ADV_NONCONN_IND, lo(min_interval), hi(min_interval), lo(max_interval), hi(max_interval), 0, 0);
setLEadvertdata();
setLEadvertenable(1);
}
void connect(unsigned char *addr)
{
float BleScanInterval = 60; // every 60ms
float BleScanWindow = 60;
float BleScanDivisor = 0.625;
float connMinFreq = 30; // every 30ms
float connMaxFreq = 50; // every 50ms
float BleGranularity = 1.25;
unsigned int p = BleScanInterval / BleScanDivisor;
unsigned int q = BleScanWindow / BleScanDivisor;
unsigned int min_interval = connMinFreq / BleGranularity;
unsigned int max_interval = connMaxFreq / BleGranularity;
volatile unsigned char command[25] = { 0 };
command[0] = lo(p);
command[2] = lo(q);
command[6] = *(addr+5);
command[7] = *(addr+4);
command[8] = *(addr+3);
command[9] = *(addr+2);
command[10] = *(addr+1);
command[11] = *addr;
command[13] = lo(min_interval);
command[15] = lo(max_interval);
command[19] = 0x2a;
command[20] = 0x00;
if (hciCommand(OGF_LE_CONTROL, 0x0d, command, 25)) uart_writeText("createLEconnection failed\n");
}

261
part11-breakout-smp/lib/fb.c Normal file
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#include "../include/io.h"
#include "../include/mb.h"
#include "../include/terminal.h"
#define DEBUG 0
unsigned int width, height, pitch, isrgb;
unsigned char *fb;
int curx = 0;
int cury = 0;
void fb_init()
{
mbox[0] = 35*4; // Length of message in bytes
mbox[1] = MBOX_REQUEST;
mbox[2] = MBOX_TAG_SETPHYWH; // Tag identifier
mbox[3] = 8; // Value size in bytes
mbox[4] = 8; // Value size in bytes (again!)
mbox[5] = 1920; // Value(width)
mbox[6] = 1080; // Value(height)
mbox[7] = MBOX_TAG_SETVIRTWH;
mbox[8] = 8;
mbox[9] = 8;
mbox[10] = 1920;
mbox[11] = 1080;
mbox[12] = MBOX_TAG_SETVIRTOFF;
mbox[13] = 8;
mbox[14] = 8;
mbox[15] = 0; // Value(x)
mbox[16] = 0; // Value(y)
mbox[17] = MBOX_TAG_SETDEPTH;
mbox[18] = 4;
mbox[19] = 4;
mbox[20] = 32; // Bits per pixel
mbox[21] = MBOX_TAG_SETPXLORDR;
mbox[22] = 4;
mbox[23] = 4;
mbox[24] = 1; // RGB
mbox[25] = MBOX_TAG_GETFB;
mbox[26] = 8;
mbox[27] = 8;
mbox[28] = 4096; // FrameBufferInfo.pointer
mbox[29] = 0; // FrameBufferInfo.size
mbox[30] = MBOX_TAG_GETPITCH;
mbox[31] = 4;
mbox[32] = 4;
mbox[33] = 0; // Bytes per line
mbox[34] = MBOX_TAG_LAST;
// Check call is successful and we have a pointer with depth 32
if (mbox_call(MBOX_CH_PROP) && mbox[20] == 32 && mbox[28] != 0) {
mbox[28] &= 0x3FFFFFFF; // Convert GPU address to ARM address
width = mbox[10]; // Actual physical width
height = mbox[11]; // Actual physical height
pitch = mbox[33]; // Number of bytes per line
isrgb = mbox[24]; // Pixel order
fb = (unsigned char *)((long)mbox[28]);
}
}
void drawPixel(int x, int y, unsigned char attr)
{
int offs = (y * pitch) + (x * 4);
*((unsigned int*)(fb + offs)) = vgapal[attr & 0x0f];
}
void drawRect(int x1, int y1, int x2, int y2, unsigned char attr, int fill)
{
int y=y1;
while (y <= y2) {
int x=x1;
while (x <= x2) {
if ((x == x1 || x == x2) || (y == y1 || y == y2)) drawPixel(x, y, attr);
else if (fill) drawPixel(x, y, (attr & 0xf0) >> 4);
x++;
}
y++;
}
}
void drawLine(int x1, int y1, int x2, int y2, unsigned char attr)
{
int dx, dy, p, x, y;
dx = x2-x1;
dy = y2-y1;
x = x1;
y = y1;
p = 2*dy-dx;
while (x<x2) {
if (p >= 0) {
drawPixel(x,y,attr);
y++;
p = p+2*dy-2*dx;
} else {
drawPixel(x,y,attr);
p = p+2*dy;
}
x++;
}
}
void drawCircle(int x0, int y0, int radius, unsigned char attr, int fill)
{
int x = radius;
int y = 0;
int err = 0;
while (x >= y) {
if (fill) {
drawLine(x0 - y, y0 + x, x0 + y, y0 + x, (attr & 0xf0) >> 4);
drawLine(x0 - x, y0 + y, x0 + x, y0 + y, (attr & 0xf0) >> 4);
drawLine(x0 - x, y0 - y, x0 + x, y0 - y, (attr & 0xf0) >> 4);
drawLine(x0 - y, y0 - x, x0 + y, y0 - x, (attr & 0xf0) >> 4);
}
drawPixel(x0 - y, y0 + x, attr);
drawPixel(x0 + y, y0 + x, attr);
drawPixel(x0 - x, y0 + y, attr);
drawPixel(x0 + x, y0 + y, attr);
drawPixel(x0 - x, y0 - y, attr);
drawPixel(x0 + x, y0 - y, attr);
drawPixel(x0 - y, y0 - x, attr);
drawPixel(x0 + y, y0 - x, attr);
if (err <= 0) {
y += 1;
err += 2*y + 1;
}
if (err > 0) {
x -= 1;
err -= 2*x + 1;
}
}
}
void drawChar(unsigned char ch, int x, int y, unsigned char attr, int zoom)
{
unsigned char *glyph = (unsigned char *)&font + (ch < FONT_NUMGLYPHS ? ch : 0) * FONT_BPG;
for (int i=1;i<=(FONT_HEIGHT*zoom);i++) {
for (int j=0;j<(FONT_WIDTH*zoom);j++) {
unsigned char mask = 1 << (j/zoom);
unsigned char col = (*glyph & mask) ? attr & 0x0f : (attr & 0xf0) >> 4;
drawPixel(x+j, y+i, col);
}
glyph += (i%zoom) ? 0 : FONT_BPL;
}
}
void drawString(int x, int y, char *s, unsigned char attr, int zoom)
{
while (*s) {
if (*s == '\r') {
x = 0;
} else if(*s == '\n') {
x = 0; y += (FONT_HEIGHT*zoom);
} else {
drawChar(*s, x, y, attr, zoom);
x += (FONT_WIDTH*zoom);
}
s++;
}
}
void moveRectAbs(int oldx, int oldy, int width, int height, int newx, int newy, unsigned char attr)
{
unsigned int xcount = 0, ycount = 0;
unsigned int bitmap[width][height]; // This is very unsafe if it's too big for the stack...
unsigned int offs;
// Save the bitmap
while (xcount < width) {
while (ycount < height) {
offs = ((oldy + ycount) * pitch) + ((oldx + xcount) * 4);
bitmap[xcount][ycount] = *((unsigned int*)(fb + offs));
ycount++;
}
ycount=0;
xcount++;
}
// Wipe it out with background colour
drawRect(oldx, oldy, oldx + width, oldy + width, attr, 1);
// Draw it again
for (int i=newx;i<newx + width;i++) {
for (int j=newy;j<newy + height;j++) {
offs = (j * pitch) + (i * 4);
*((unsigned int*)(fb + offs)) = bitmap[i-newx][j-newy];
}
}
}
void wait_msec(unsigned int n)
{
register unsigned long f, t, r;
// Get the current counter frequency
asm volatile ("mrs %0, cntfrq_el0" : "=r"(f));
// Read the current counter
asm volatile ("mrs %0, cntpct_el0" : "=r"(t));
// Calculate expire value for counter
t+=((f/1000)*n)/1000;
do{asm volatile ("mrs %0, cntpct_el0" : "=r"(r));}while(r<t);
}
int strlen(const char *str) {
const char *s;
for (s = str; *s; ++s);
return (s - str);
}
void debugstr(char *str) {
if (curx + (strlen(str) * 8) >= 1920) {
curx = 0; cury += 8;
}
if (cury + 8 >= 1080) {
cury = 0;
}
if (DEBUG == 1) drawString(curx, cury, str, 0x0f, 1);
curx += (strlen(str) * 8);
}
void debugcrlf(void) {
curx = 0; cury += 8;
}
void debugch(unsigned char b) {
unsigned int n;
int c;
for(c=4;c>=0;c-=4) {
n=(b>>c)&0xF;
n+=n>9?0x37:0x30;
debugstr((char *)&n);
}
debugstr(" ");
}
void debughex(unsigned int d) {
unsigned int n;
int c;
for(c=28;c>=0;c-=4) {
n=(d>>c)&0xF;
n+=n>9?0x37:0x30;
debugstr((char *)&n);
}
debugstr(" ");
}

199
part11-breakout-smp/lib/io.c Normal file
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#include "../include/io.h"
// GPIO
enum {
GPFSEL0 = PERIPHERAL_BASE + 0x200000,
GPSET0 = PERIPHERAL_BASE + 0x20001C,
GPCLR0 = PERIPHERAL_BASE + 0x200028,
GPPUPPDN0 = PERIPHERAL_BASE + 0x2000E4
};
enum {
GPIO_MAX_PIN = 53,
GPIO_FUNCTION_OUT = 1,
GPIO_FUNCTION_ALT5 = 2,
GPIO_FUNCTION_ALT3 = 7,
GPIO_FUNCTION_ALT0 = 4
};
enum {
Pull_None = 0,
Pull_Down = 1, // Are down and up the right way around?
Pull_Up = 2
};
void mmio_write(long reg, unsigned int val) { *(volatile unsigned int *)reg = val; }
unsigned int mmio_read(long reg) { return *(volatile unsigned int *)reg; }
unsigned int gpio_call(unsigned int pin_number, unsigned int value, unsigned int base, unsigned int field_size, unsigned int field_max) {
unsigned int field_mask = (1 << field_size) - 1;
if (pin_number > field_max) return 0;
if (value > field_mask) return 0;
unsigned int num_fields = 32 / field_size;
unsigned int reg = base + ((pin_number / num_fields) * 4);
unsigned int shift = (pin_number % num_fields) * field_size;
unsigned int curval = mmio_read(reg);
curval &= ~(field_mask << shift);
curval |= value << shift;
mmio_write(reg, curval);
return 1;
}
unsigned int gpio_set (unsigned int pin_number, unsigned int value) { return gpio_call(pin_number, value, GPSET0, 1, GPIO_MAX_PIN); }
unsigned int gpio_clear (unsigned int pin_number, unsigned int value) { return gpio_call(pin_number, value, GPCLR0, 1, GPIO_MAX_PIN); }
unsigned int gpio_pull (unsigned int pin_number, unsigned int value) { return gpio_call(pin_number, value, GPPUPPDN0, 2, GPIO_MAX_PIN); }
unsigned int gpio_function(unsigned int pin_number, unsigned int value) { return gpio_call(pin_number, value, GPFSEL0, 3, GPIO_MAX_PIN); }
void gpio_useAsAlt0(unsigned int pin_number) {
gpio_pull(pin_number, Pull_None);
gpio_function(pin_number, GPIO_FUNCTION_ALT0);
}
void gpio_useAsAlt3(unsigned int pin_number) {
gpio_pull(pin_number, Pull_None);
gpio_function(pin_number, GPIO_FUNCTION_ALT3);
}
void gpio_useAsAlt5(unsigned int pin_number) {
gpio_pull(pin_number, Pull_None);
gpio_function(pin_number, GPIO_FUNCTION_ALT5);
}
void gpio_initOutputPinWithPullNone(unsigned int pin_number) {
gpio_pull(pin_number, Pull_None);
gpio_function(pin_number, GPIO_FUNCTION_OUT);
}
void gpio_setPinOutputBool(unsigned int pin_number, unsigned int onOrOff) {
if (onOrOff) {
gpio_set(pin_number, 1);
} else {
gpio_clear(pin_number, 1);
}
}
// UART
enum {
AUX_BASE = PERIPHERAL_BASE + 0x215000,
AUX_IRQ = AUX_BASE,
AUX_ENABLES = AUX_BASE + 4,
AUX_MU_IO_REG = AUX_BASE + 64,
AUX_MU_IER_REG = AUX_BASE + 68,
AUX_MU_IIR_REG = AUX_BASE + 72,
AUX_MU_LCR_REG = AUX_BASE + 76,
AUX_MU_MCR_REG = AUX_BASE + 80,
AUX_MU_LSR_REG = AUX_BASE + 84,
AUX_MU_MSR_REG = AUX_BASE + 88,
AUX_MU_SCRATCH = AUX_BASE + 92,
AUX_MU_CNTL_REG = AUX_BASE + 96,
AUX_MU_STAT_REG = AUX_BASE + 100,
AUX_MU_BAUD_REG = AUX_BASE + 104,
AUX_UART_CLOCK = 500000000,
UART_MAX_QUEUE = 16 * 1024
};
#define AUX_MU_BAUD(baud) ((AUX_UART_CLOCK/(baud*8))-1)
unsigned char uart_output_queue[UART_MAX_QUEUE];
unsigned int uart_output_queue_write = 0;
unsigned int uart_output_queue_read = 0;
void uart_init() {
mmio_write(AUX_ENABLES, 1); //enable UART1
mmio_write(AUX_MU_IER_REG, 0);
mmio_write(AUX_MU_CNTL_REG, 0);
mmio_write(AUX_MU_LCR_REG, 3); //8 bits
mmio_write(AUX_MU_MCR_REG, 0);
mmio_write(AUX_MU_IER_REG, 0);
mmio_write(AUX_MU_IIR_REG, 0xC6); //disable interrupts
mmio_write(AUX_MU_BAUD_REG, AUX_MU_BAUD(115200));
gpio_useAsAlt5(14);
gpio_useAsAlt5(15);
mmio_write(AUX_MU_CNTL_REG, 3); //enable RX/TX
}
unsigned int uart_isOutputQueueEmpty() {
return uart_output_queue_read == uart_output_queue_write;
}
unsigned int uart_isReadByteReady() { return mmio_read(AUX_MU_LSR_REG) & 0x01; }
unsigned int uart_isWriteByteReady() { return mmio_read(AUX_MU_LSR_REG) & 0x20; }
unsigned char uart_readByte() {
while (!uart_isReadByteReady());
return (unsigned char)mmio_read(AUX_MU_IO_REG);
}
void uart_writeByteBlockingActual(unsigned char ch) {
while (!uart_isWriteByteReady());
mmio_write(AUX_MU_IO_REG, (unsigned int)ch);
}
void uart_loadOutputFifo() {
while (!uart_isOutputQueueEmpty() && uart_isWriteByteReady()) {
uart_writeByteBlockingActual(uart_output_queue[uart_output_queue_read]);
uart_output_queue_read = (uart_output_queue_read + 1) & (UART_MAX_QUEUE - 1); // Don't overrun
}
}
void uart_writeByteBlocking(unsigned char ch) {
unsigned int next = (uart_output_queue_write + 1) & (UART_MAX_QUEUE - 1); // Don't overrun
while (next == uart_output_queue_read) uart_loadOutputFifo();
uart_output_queue[uart_output_queue_write] = ch;
uart_output_queue_write = next;
}
void uart_writeText(char *buffer) {
while (*buffer) {
if (*buffer == '\n') uart_writeByteBlockingActual('\r');
uart_writeByteBlockingActual(*buffer++);
}
}
void uart_drainOutputQueue() {
while (!uart_isOutputQueueEmpty()) uart_loadOutputFifo();
}
void uart_update() {
uart_loadOutputFifo();
if (uart_isReadByteReady()) {
unsigned char ch = uart_readByte();
if (ch == '\r') uart_writeText("\n"); else uart_writeByteBlocking(ch);
}
}
void uart_hex(unsigned int d) {
unsigned int n;
int c;
for(c=28;c>=0;c-=4) {
// get highest tetrad
n=(d>>c)&0xF;
// 0-9 => '0'-'9', 10-15 => 'A'-'F'
n+=n>9?0x37:0x30;
uart_writeByteBlockingActual(n);
}
}
void uart_byte(unsigned char b) {
unsigned int n;
int c;
for(c=4;c>=0;c-=4) {
// get highest tetrad
n=(b>>c)&0xF;
// 0-9 => '0'-'9', 10-15 => 'A'-'F'
n+=n>9?0x37:0x30;
uart_writeByteBlockingActual(n);
}
uart_writeByteBlockingActual(' ');
}

39
part11-breakout-smp/lib/mb.c Normal file
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@ -0,0 +1,39 @@
#include "../include/io.h"
// The buffer must be 16-byte aligned as only the upper 28 bits of the address can be passed via the mailbox
volatile unsigned int __attribute__((aligned(16))) mbox[36];
enum {
VIDEOCORE_MBOX = (PERIPHERAL_BASE + 0x0000B880),
MBOX_READ = (VIDEOCORE_MBOX + 0x0),
MBOX_POLL = (VIDEOCORE_MBOX + 0x10),
MBOX_SENDER = (VIDEOCORE_MBOX + 0x14),
MBOX_STATUS = (VIDEOCORE_MBOX + 0x18),
MBOX_CONFIG = (VIDEOCORE_MBOX + 0x1C),
MBOX_WRITE = (VIDEOCORE_MBOX + 0x20),
MBOX_RESPONSE = 0x80000000,
MBOX_FULL = 0x80000000,
MBOX_EMPTY = 0x40000000
};
unsigned int mbox_call(unsigned char ch)
{
// 28-bit address (MSB) and 4-bit value (LSB)
unsigned int r = ((unsigned int)((long) &mbox) &~ 0xF) | (ch & 0xF);
// Wait until we can write
while (mmio_read(MBOX_STATUS) & MBOX_FULL);
// Write the address of our buffer to the mailbox with the channel appended
mmio_write(MBOX_WRITE, r);
while (1) {
// Is there a reply?
while (mmio_read(MBOX_STATUS) & MBOX_EMPTY);
// Is it a reply to our message?
if (r == mmio_read(MBOX_READ)) return mbox[1]==MBOX_RESPONSE; // Is it successful?
}
return 0;
}

44
part11-breakout-smp/lib/multicore.c Normal file
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#include "../include/multicore.h"
void store32(unsigned long address, unsigned long value)
{
*(unsigned long *) address = value;
}
unsigned long load32(unsigned long address)
{
return *(unsigned long *) address;
}
void start_core1(void (*func)(void))
{
store32((unsigned long)&spin_cpu1, (unsigned long)func);
asm volatile ("sev");
}
void start_core2(void (*func)(void))
{
store32((unsigned long)&spin_cpu2, (unsigned long)func);
asm volatile ("sev");
}
void start_core3(void (*func)(void))
{
store32((unsigned long)&spin_cpu3, (unsigned long)func);
asm volatile ("sev");
}
void clear_core1(void)
{
store32((unsigned long)&spin_cpu1, 0);
}
void clear_core2(void)
{
store32((unsigned long)&spin_cpu2, 0);
}
void clear_core3(void)
{
store32((unsigned long)&spin_cpu3, 0);
}

2
part8-breakout-ble/kernel.c
View file

@ -407,7 +407,9 @@ void breakout()
else drawString((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), "Game over!", 0x04, zoom); else drawString((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), "Game over!", 0x04, zoom);
wait_msec(0x500000); // Wait 5 seconds wait_msec(0x500000); // Wait 5 seconds
drawRect((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), (WIDTH/2)+(strwidth/2), (HEIGHT/2)+(strheight/2), 0, 1); drawRect((WIDTH/2)-(strwidth/2), (HEIGHT/2)-(strheight/2), (WIDTH/2)+(strwidth/2), (HEIGHT/2)+(strheight/2), 0, 1);
numobjs = 0;
} }
void main() void main()