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irix-657m-src/stand/arcs/IP22audio/hal2_servo.c
calmsacibis995 8fc8fa8089 Source code upload
2022-09-29 17:59:04 +03:00

519 lines
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#define INFINITE
void hal2_1ktone();
void MakeTable(int *tab);
void MakeTune(int *tunetab, int *sintab, int step, int nsamps);
void PrintTune(int *tunetab,int nsamps);
void BuildDescriptors(void);
void PrintDescriptors(void);
void SetupHAL2(void);
void InitiateDMA(void);
void WaitForDMA(void);
#define PRINTFS
/*
#define CONSPUTC
#define DUART_WRITE
#define PROM_READ
*/
#include "sys/sbd.h"
#include "sys/hal2.h"
/*
#include "sys/hpc3.h"
*/
#include "sys/IP22.h"
#define STEP 1000 /* Generates a 1Khz tone */
#define NSAMPS 96000 /* 2 seconds of tune */
#define MIN(a,b) ( (a) < (b) ? (a) : (b) )
#define MAX_DESCRIPTORS 1000
/*#define SPIN while (*isrp & HAL2_ISR_TSTATUS);*/
#define SPIN us_delay(10000)
/*#define NOTYET 1*/
int sintab[48000];
int tunetab[NSAMPS*2]; /* the *2 is because it's stereo */
scdescr_t desc_list[MAX_DESCRIPTORS];
main()
{
volatile long *p6 = (volatile long *)PHYS_TO_K1(HPC3_PBUS_CFG_ADDR(6));
volatile long *p5 = (volatile long *)PHYS_TO_K1(HPC3_PBUS_CFG_ADDR(5));
volatile long *p4 = (volatile long *)PHYS_TO_K1(HPC3_PBUS_CFG_ADDR(4));
*p6=0x141b;
*p5=0x40e07;
*p4=0x0e07;
stuff();
hal2_1ktone();
}
void
hal2_1ktone()
{
printf("HAL2 1k tone test entered\n");
hal2_configure_pbus_pio();
printf("pbus pio configured\n");
hal2_configure_pbus_dma();
printf("pbus dma configured\n");
MakeTable(sintab);
printf("sin table configured\n");
MakeTune(tunetab,sintab,STEP,NSAMPS);
printf("tune table configured\n");
PrintTune(tunetab,26);
printf("build dma descriptors\n");
BuildDescriptors();
/*
PrintDescriptors();
*/
printf("Set Up HAL2\n");
SetupHAL2();
printf("Initiate DMA\n");
InitiateDMA();
printf("Wait for DMA\n");
WaitForDMA();
printf("HAL2 1k tone test done\n");
}
/* Make a 48000 element table containing one cycle of 32767*sin(x) */
void
MakeTable(int *tab)
{
unsigned int theta,t2,t3,t4,t5,t6,t7;
int *p1,*p2;
int i;
/* Compute the first quadrant */
p1=tab; p2=p1+12000;
for(i=0;i<=6000;i++) {
theta=i*51472; /* theta=i*.25*pi*65536 */
theta/=6000; /* theta=i*.25*pi*65536/6000 */
t2=(theta*theta)>>16;
t3=(t2*theta)>>16;
t4=(t2*t2)>>16;
t5=(t2*t3)>>16;
t6=(t3*t3)>>16;
t7=(t3*t4)>>16;
/*Use a taylor series for sin x to compute values in the first octant*/
*p1++=(5040*theta-840*t3+42*t5-t7)/5040;
/*Use a taylor series for cos x to compute values in the second octant*/
*p2--= 65535-(t2>>1) + ( 30*t4 -t6)/720;
}
/* Scale and limit */
p1=tab; p2=p1+12000;
while(p1<=p2) {
t7 = (*p1>>1);
if(t7>=32767)
t7=32767;
*p1=t7;
p1++;
}
/* Reflect the first quadrant into the second quadrant */
p1=tab; p2=p1+24000;
while(p1<=p2) {
*p2 = *p1;
p1++;
p2--;
}
/* Reflect the first two quadrants int the last two quadrants */
p1=tab+1; p2=tab+47999;
while(p1<=p2) {
*p2 = -(*p1);
p1++;
p2--;
}
}
#define NORMAL_TUNE
#if defined NORMAL_TUNE
void
MakeTune(int *tunetab, int *sintab, int step, int nsamps)
{
int i,j,s;
j=0;
for(i=0;i<nsamps;i++) {
*tunetab=sintab[j]<<8;
tunetab++;
*tunetab=sintab[j]<<8;
tunetab++;
j+=step;
if(j>=48000)j-=48000;
}
}
#elif defined ALTERNATING
void
MakeTune(int *tunetab, int *sintab, int step, int nsamps)
{
int i,j,s;
j=0;
for(i=0;i<nsamps;i++) {
*tunetab=0xffff;
tunetab++;
*tunetab=0xffff;
tunetab++;
j+=step;
if(j>=48000)j-=48000;
}
}
#else
void
MakeTune(int *tunetab, int *sintab, int step, int nsamps)
{
int i,j,k,s,t;
j=0;
k=0;
for(i=0;i<nsamps;i++) {
s=(sintab[j]>>8)&0xff;
t=(sintab[k]>>8)&0xff;
#ifdef LATER
*tunetab=(s<<24)+(s<<16)+(t<<8)+t;
tunetab++;
*tunetab=(s<<24)+(s<<16)+(t<<8)+t;
tunetab++;
#endif
*tunetab=(s<<16)+s;
tunetab++;
*tunetab=(t<<16)+t;
tunetab++;
j+=step;
if(j>=48000)j-=48000;
k+=step+step;
if(k>=48000)k-=48000;
}
}
#endif
void
PrintTune(int *tunetab,int nsamps)
{
int i;
for(i=0;i<nsamps;i+=2) {
printf("%d %d %d %d %d %d\n",
i,tunetab[0],tunetab[1],
1+i,tunetab[2],tunetab[3]);
tunetab+=4;
}
}
void
BuildDescriptors()
{
int nbytes, nremaining, bytes_till_page_boundary, bytes_this_descriptor;
char *p;
scdescr_t *desc;
desc=desc_list;
nbytes=NSAMPS*sizeof(long)*2;
nremaining=nbytes;
p=(char *)tunetab;
while(nremaining) {
desc->cbp = K1_TO_PHYS(p);
bytes_till_page_boundary = 4096-( (int)p & 0xfff);
bytes_this_descriptor = MIN(bytes_till_page_boundary,nremaining);
desc->bcnt = bytes_this_descriptor;
desc->eox=0;
desc->pad1=0;
desc->xie=0;
desc->pad0=0;
desc->nbp = K1_TO_PHYS(desc+1);
desc->word_pad = 0;
nremaining -= bytes_this_descriptor;
p+= bytes_this_descriptor;
desc++;
}
desc--;
#ifdef INFINITE
desc->nbp = K1_TO_PHYS(desc_list);
desc->eox = 0;
#else
desc->nbp = 0;
desc->eox = 1;
#endif
}
void
PrintDescriptors()
{
scdescr_t *desc;
desc=desc_list;
while(1) {
printf(
"0x%8x: eox 0x%x pad1 0x%x xie 0x%x pad0 0x%4x bc %d\n",
desc,
desc->eox,
desc->pad1,
desc->xie,
desc->pad0,
desc->bcnt);
if(desc->eox)break;
printf("Next address: 0x%8x, buffer address 0x%8x\n",
desc->nbp, desc->cbp);
desc++;
}
}
/*
** InitiateDMA - initiates a transmit DMA on channel 0 of the descriptor
** chain starting at desc_list.
*/
void
InitiateDMA()
{
pbus_control_write_t ctrlval;
volatile pbus_control_write_t* ctrlptr=
(pbus_control_write_t*)PHYS_TO_K1(HPC3_PBUS_CONTROL(0));
volatile unsigned long *dpptr=(unsigned long *)PHYS_TO_K1(HPC3_PBUS_DP(0));
ctrlval.pad0=0;
ctrlval.fifo_end=47;
ctrlval.pad1=0;
ctrlval.fifo_beg=0;
ctrlval.highwater=4;
ctrlval.pad2=0;
ctrlval.real_time=1;
ctrlval.ch_act_ld=1;
ctrlval.ch_act=1;
ctrlval.flush=0;
ctrlval.receive=0;
ctrlval.little=0;
ctrlval.pad3=0;
*dpptr=K1_TO_PHYS(desc_list);
*ctrlptr=ctrlval;
}
void
SetupHAL2(void)
{
volatile unsigned long *idr0p=(unsigned long *)PHYS_TO_K1(HAL2_IDR0);
volatile unsigned long *idr1p=(unsigned long *)PHYS_TO_K1(HAL2_IDR1);
volatile unsigned long *idr2p=(unsigned long *)PHYS_TO_K1(HAL2_IDR2);
volatile unsigned long *idr3p=(unsigned long *)PHYS_TO_K1(HAL2_IDR3);
volatile unsigned long *iarp=(unsigned long *)PHYS_TO_K1(HAL2_IAR);
volatile unsigned long *isrp=(unsigned long *)PHYS_TO_K1(HAL2_ISR);
int inc, mod, modctrl;
/* Set up the ISR */
*isrp = 0;
us_delay(50);
*isrp = HAL2_ISR_CODEC_RESET_N|HAL2_ISR_GLOBAL_RESET_N;
/* Clear DMA ENABLE */
*idr0p = 0x0; /* Disable all the devices */
*iarp = HAL2_DMA_ENABLE_W;
SPIN;
/* Set up DMA Endian */
*idr0p = 0; /* All ports are big endian */
*iarp = HAL2_DMA_ENDIAN_W;
SPIN;
/* Set up DMA DRIVE */
*idr0p = 1; /* Activate only port 0 */
*iarp = HAL2_DMA_DRIVE_W;
SPIN;
/* Set up CODEC A */
*idr0p = 0 /* Physical DMA channel */
+(1<<3) /* Bres Clock ID */
+(2<<8); /* Stereo Mode */
*iarp = HAL2_CODECA_CTRL1_W;
SPIN;
*idr0p = (0<<10)+(0x00<<7)+(0x00<<2); /* unmute, A/D gains == 0 */
*idr1p = (0x0<<7) /* Left D/A output atten */
+(0x0<<2) /* Right D/A output atten */
+(0<<1) /* Digital output port data bit 1 */
+(0); /* Digital output port data bit 0 */
*iarp = HAL2_CODECA_CTRL2_W;
SPIN;
/* Set up BRES CLOCK 1 */
*idr0p = 0; /* 48khz master */
*iarp = HAL2_BRES1_CTRL1_W;
SPIN;
inc=1;
mod=1;
modctrl = 0xffff & (inc-mod-1);
*idr0p = inc;
*idr1p = modctrl;
*iarp = HAL2_BRES1_CTRL2_W;
SPIN;
/* Set up DMA ENABLE */
*idr0p = 0x8; /* Enable only DAC A*/
*iarp = HAL2_DMA_ENABLE_W;
SPIN;
}
void
WaitForDMA(void)
{
volatile unsigned long *revptr=(unsigned long *)PHYS_TO_K1(HAL2_REV);
volatile unsigned long *idr0ptr=(unsigned long *)PHYS_TO_K1(HAL2_IDR0);
volatile unsigned long *idr1ptr=(unsigned long *)PHYS_TO_K1(HAL2_IDR1);
volatile unsigned long *iarp=(unsigned long *)PHYS_TO_K1(HAL2_IAR);
/*volatile unsigned char *ser1ptr=(unsigned char *)PHYS_TO_K1(0xbfbd9807);*/
volatile unsigned char *ser1ptr=(unsigned char *)PHYS_TO_K1(0xbfbd9837);
long rev;
volatile pbus_control_read_t* ctrlptr=
(pbus_control_read_t*)PHYS_TO_K1(HPC3_PBUS_CONTROL(0));
pbus_control_read_t ctrlval;
int ntimes;
int inc=128;
int mod = 512;
int modctrl;
int maxtimes=3000;
#ifdef INFINITE
for(ntimes=0;;ntimes++) {
#else
for(ntimes=0;ntimes<maxtimes;ntimes++) {
#endif
ctrlval = *ctrlptr;
if(!ctrlval.ch_act)break;
/* Set up BRES CLOCK 1 */
modctrl = 0xffff & (inc-mod-1);
*idr0ptr = inc;
*idr1ptr = modctrl;
*iarp = HAL2_BRES1_CTRL2_W;
SPIN;
inc = (inc + 1);
if (inc > mod) {
inc = 128;
}
#ifdef PRINTFS
switch(ntimes&3) {
case 0:
printf("/%c",8);
break;
case 1:
printf("-%c",8);
break;
case 2:
printf("\\%c",8);
break;
case 3:
printf("-%c",8);
break;
}
#endif
#ifdef PROM_READ
{
volatile int *x = (int *)0xbfc00000;
volatile a,b,c,d;
int i=0;
for (i = 0; i < 10000; i++) {
a = *x;
b = *x;
c = *x;
d = *x;
if (a != 0xbf000f0 || b != 0xbf000f0
|| c != 0xbf000f0 | d != 0xbf000f0) {
printf("bang!\n");
}
}
}
#endif /*PROM_READ*/
#ifdef CONSPUTC
{
int i=0;
for (i = 0; i < 10; i++) {
consputc((unsigned char)'A',0);
}
}
#endif
#ifdef DUART_WRITE
{
int i=0;
volatile int a;
for (i = 0; i < 10; i++) {
*ser1ptr = 'A';
*ser1ptr = 'A';
*ser1ptr = 'A';
*ser1ptr = 'A';
a = *ser1ptr;
}
}
#endif
#ifdef LATER
rev = *revptr; rev = *revptr; rev = *revptr; rev = *revptr;
rev = *revptr; rev = *revptr; rev = *revptr; rev = *revptr;
rev = *revptr; rev = *revptr; rev = *revptr; rev = *revptr;
rev = *revptr; rev = *revptr; rev = *revptr; rev = *revptr;
rev = *revptr; rev = *revptr; rev = *revptr; rev = *revptr;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
*idr0ptr=0x55555555; *idr0ptr=0x55555555; *idr0ptr=0x55555555;
#endif
#ifdef LATER
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr; rev=*ser1ptr;
#endif
#ifdef LATER
*ser1ptr='A';
#endif
#ifdef LATER
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
*ser1ptr=0x55555555; *ser1ptr=0x55555555; *ser1ptr=0x55555555;
#endif
us_delay(10000);
}
if(ntimes==maxtimes) {
printf("Dma did not complete after %d*.01 seconds\n",ntimes);
} else {
printf("Dma complete after %d*.01 seconds\n",ntimes);
}
}
stuff()
{
volatile unsigned char *ser1ptr=(unsigned char *)PHYS_TO_K1(0xbfbd9807);
int i;
printf("0x%x\n",ser1ptr);
us_delay(100000);
for(i=0;i<10;i++) {
*ser1ptr='C';
us_delay(100000);
}
}
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