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ico_gpio.py
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ico_gpio.py
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##############################################################################
# (C) Copyright 2016 Kevin M. Hubbard, Black Mesa Labs
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
# 11.25.2016 : Kevin M. Hubbard created
#
# Installing spidev for RaspberryPi for SPI communications
# sudo apt-get install python-dev
# sudo apt-get install git
# git clone git://github.com/doceme/py-spidev
# cd py-spidev
# sudo python setup.py install
##############################################################################
#import os.path;
#from pygame.locals import *
#import array;
#import random;
import time;
import sys;
import datetime;
from time import sleep;
import spidev;
class App ():
def __init__(self):
return;
def main(self):
self.main_init();
self.main_loop();
def main_init( self ):
args = sys.argv + [None]*5;# args[0] is this scripts name
self.dbg_flag = args[1];# ie debug or display or pi etc
# use SPI for MesaBus instead of UART
self.spi_port = spidev.SpiDev();
self.spi_port.open(0,1);# Note: icoboard uses CE0 for Mach, CE1 for Ice
# Note: SPI rate works up to 32 MHz, but the CS_L time is software
# controlled and the gap between 2 byte cycles is always about 300us
# Low Level SPI Timing
# 1 MHz : Write = 200uS, Read = 127uS
# 32 MHz : Write = 20uS, Read = 12uS
# LocalBus Timing
# Write : 800uS ( two back to back )
# Read : 400uS
self.spi_port.max_speed_hz = 32000000;# 1-32 MHz typical
self.mb = mesa_bus( self.spi_port);# Establish a MesaBus link
self.lb = local_bus( self.mb, self.dbg_flag );# Establish a LocalBus link
self.define_reg_space();
# print("Sleeping 5sec to allow for SUMP2 Arm");
# sleep(5.0);
# # On PMOD P2, drive a 8bit binary counter to LEDs
# for i in range( 0,256,1 ):
# self.lb.wr( self.reg_pmod_p2_ctrl, [ i ] );
# data = self.lb.rd( self.reg_pmod_p2_ctrl, 1 )[0];
# sleep(0.02);
# self.lb.wr( self.reg_pmod_p2_ctrl, [0x55] );
# print("READ %08X" % data );
# sys.exit();
# Read MesaBus ID information from this FPGA
( id_mfr, id_dev, id_snum, id_timestamp, english_time ) = self.mesa_id();
print( id_mfr );
print( id_dev );
print( id_snum );
print( id_timestamp );
print( english_time );
# Read some registers
data = self.lb.rd( 0x00000000, 1 )[0];
print("READ %08X" % data );
data = self.lb.rd( 0x00000004, 1 )[0];
print("READ %08X" % data );
data = self.lb.rd( 0x00000008, 1 )[0];
print("READ %08X" % data );
# Configure GPIO Pins on the 4 PMOD connectors P1,P2,P3,P4
# Note: see source/reg_space.txt for bitfield definitions
self.lb.wr( self.reg_pmod_p1_cfg , [ 0x77777777 ] );# Watch SPI Traffic
# self.lb.wr( self.reg_pmod_p2_cfg , [ 0x11111111 ] );
# self.lb.wr( self.reg_pmod_p3_cfg , [ 0x11111111 ] );
# self.lb.wr( self.reg_pmod_p4_cfg , [ 0x11111111 ] );
# sys.exit();
# self.lb.wr( self.reg_pmod_p1_ctrl, [ 0x00000001 ] );
# self.lb.wr( self.reg_pmod_p2_ctrl, [ 0x00000003 ] );
# self.lb.wr( self.reg_pmod_p3_ctrl, [ 0x00000007 ] );
# self.lb.wr( self.reg_pmod_p4_ctrl, [ 0x0000000f ] );
# self.lb.wr( self.reg_pmod_p1_cfg , [ 0x00000a98 ] );# PWM0,1 and 2
self.lb.wr( self.reg_pmod_p2_cfg , [ 0xfedcba98 ] );# PWM0,1 and 2
self.lb.wr( self.reg_pmod_p3_cfg , [ 0xfedcba98 ] );# PWM0,1 and 2
self.lb.wr( self.reg_pmod_p4_cfg , [ 0xfedcba98 ] );# PWM0,1 and 2
self.lb.wr( self.reg_pwm0_cfg, [ 0x01001013 ] );
self.lb.wr( self.reg_pwm1_cfg, [ 0x01002013 ] );
self.lb.wr( self.reg_pwm2_cfg, [ 0x01004013 ] );
self.lb.wr( self.reg_pwm3_cfg, [ 0x01008013 ] );
self.lb.wr( self.reg_pwm4_cfg, [ 0x01001023 ] );
self.lb.wr( self.reg_pwm5_cfg, [ 0x02001023 ] );
self.lb.wr( self.reg_pwm6_cfg, [ 0x04001023 ] );
self.lb.wr( self.reg_pwm7_cfg, [ 0x08001023 ] );
# On PMOD P2, drive a 8bit binary counter to LEDs
# for i in range( 0,256,1 ):
# self.lb.wr( self.reg_pmod_p2_ctrl, [ i ] );
# sleep(0.02);
# self.lb.wr( self.reg_pmod_p2_ctrl, [0x55] );
sys.exit();
# if ( self.platform == "pi" ):
# import os;
# os.system("sudo shutdown -h now");
def main_loop( self ):
self.test = False;
while (True):
sleep(1);
print("Looping");
def mesa_id( self ):
# Issue a low level MesaBus ID Request and make sure FPGA responds
try:
self.mb.wr( slot = 0x00, subslot = 0xF, cmd = 0xA, payload = "" );
rts = self.mb.port.xfer2(20*[0xFF]);
hex_str = "";
for each in rts:
hex_str += ("%02x" % each );
rts = hex_str;
if ( len( rts ) == 40 ):
mesa_header = rts[0:8];
id_mfr = rts[8:16];
id_dev = rts[16:24];
id_snum = rts[24:32];
id_time = rts[32:40];
english_time = datetime.datetime.fromtimestamp(int( \
id_time,16)).strftime('%Y-%m-%d %H:%M:%S');
return ( id_mfr, id_dev, id_snum, id_time,english_time );
else:
return False;
except:
return False;
def define_reg_space(self):
self.reg_id = 0x00000000;
self.reg_version = 0x00000004;
self.reg_timestamp = 0x00000008;
self.reg_chip_ctrl = 0x0000000c;
self.reg_sump2_ctrl = 0x00000010;
self.reg_sump2_data = 0x00000014;
self.reg_pmod_p1_cfg = 0x00000020;
self.reg_pmod_p2_cfg = 0x00000024;
self.reg_pmod_p3_cfg = 0x00000028;
self.reg_pmod_p4_cfg = 0x0000002c;
self.reg_pmod_p1_ctrl = 0x00000030;
self.reg_pmod_p2_ctrl = 0x00000034;
self.reg_pmod_p3_ctrl = 0x00000038;
self.reg_pmod_p4_ctrl = 0x0000003c;
self.reg_pwm0_cfg = 0x00000080;
self.reg_pwm1_cfg = 0x00000084;
self.reg_pwm2_cfg = 0x00000088;
self.reg_pwm3_cfg = 0x0000008c;
self.reg_pwm4_cfg = 0x00000090;
self.reg_pwm5_cfg = 0x00000094;
self.reg_pwm6_cfg = 0x00000098;
self.reg_pwm7_cfg = 0x0000009c;
return;
def quit(self):
pygame.display.quit();
###############################################################################
# Routines for Reading and Writing a remote 32bit LocalBus over MesaBus
# A local bus cycle is a pre-determined payload transported over the MesaBus
# LocalBus is mapped to SubSlot 0x0
# 0x0 : Write DWORD or Burst starting at Address
# 0x1 : Read DWORD or Burst starting at Address
# 0x2 : Write Multiple DWORDs to same Address
# 0x3 : Read Multiple DWORDs from same Address
class local_bus:
def __init__ ( self, mesa_bus, dbg_flag ):
self.mesa_bus = mesa_bus;
self.dbg_flag = dbg_flag;
def wr( self, addr, data ):
# LocalBus WR cycle is a Addr+Data 8byte payload
# Mesabus has maximum payload of 255 bytes, or 63 DWORDs.
# 1 DWORD is LB Addr, leaving 62 DWORDs available for data bursts
# if data is more than 62 dwords, parse it into multiple bursts
each_addr = addr;
data_list = data;
while ( len( data_list ) > 0 ):
if ( len( data_list ) > 62 ):
data_payload = data_list[0:62];
data_list = data_list[62:];
else:
data_payload = data_list[0:];
data_list = [];
payload = ( "%08x" % each_addr );
for each_data in data_payload:
payload += ( "%08x" % each_data );
each_addr +=4;
# print(payload);
self.mesa_bus.wr( 0x00, 0x0, 0x0, payload );
return;
def rd( self, addr, num_dwords ):
dwords_remaining = num_dwords;
each_addr = addr;
rts = [];
rts_dword = "00000000";
while ( dwords_remaining > 0 ):
if ( dwords_remaining > 62 ):
n_dwords = 62;
dwords_remaining -= 62;
else:
n_dwords = dwords_remaining;
dwords_remaining = 0;
# LocalBus RD cycle is a Addr+Len 8byte payload to 0x00,0x0,0x1
payload = ( "%08x" % each_addr ) + ( "%08x" % n_dwords );
self.mesa_bus.wr( 0x00, 0x0, 0x1, payload );
rts_mesa = self.mesa_bus.rd();
# The Mesa Readback Ro packet resembles a Wi Write packet from slot 0xFE
# This is to support a synchronous bus that clocks 0xFFs for idle
# This only handles single DWORD reads and checks for:
# "F0FE0004"+"12345678" + "\n"
# "04" is num payload bytes and "12345678" is the read payload
if ( len( rts_mesa ) > 8 ):
rts_str = rts_mesa[8:];# Strip the FOFE0004 header
while ( len( rts_str ) >= 8 ):
rts_dword = rts_str[0:8];
rts_str = rts_str[8:];
try:
rts += [ int( rts_dword, 16 ) ];
except:
# print("ERROR:Invalid LocalBus Read "+rts_mesa+" "+rts_dword);
if ( self.dbg_flag == "debug" ):
sys.exit();
# rts += [ 0xdeadbeef ];
rts += [ 0x00000000 ];
else:
# print("ERROR: Invalid LocalBus Read " + rts_mesa + " " + rts_dword);
if ( self.dbg_flag == "debug" ):
sys.exit();
# rts += [ 0xdeadbeef ];
rts += [ 0x00000000 ];
each_addr += ( 4 * n_dwords );
return rts;
###############################################################################
# Routines for Reading and Writing Payloads over MesaBus
# A payload is a series of bytes in hexadecimal string format. A typical use
# for MesaBus is to transport a higher level Local Bus protocol for 32bit
# writes and reads. MesaBus is lower level and transports payloads to a
# specific device on a serial chained bus based on the Slot Number.
# More info at : https://blackmesalabs.wordpress.com/2016/03/04/mesa-bus/
class mesa_bus:
def __init__ ( self, port ):
self.port = port;
def wr( self, slot, subslot, cmd, payload ):
preamble = "FFF0";
slot = "%02x" % slot;
subslot = "%01x" % subslot;
cmd = "%01x" % cmd;
num_bytes = "%02x" % ( len( payload ) / 2 );
mesa_str = preamble + slot + subslot + cmd + num_bytes + payload;
# print( mesa_str );
if ( type( self.port ) == spidev.SpiDev ):
mesa_hex_list = [];
for i in range( 0, len(mesa_str)/2 ):
mesa_hex = int(mesa_str[i*2:i*2+2],16);
mesa_hex_list += [mesa_hex];
# print("%02x" % mesa_hex );
rts = self.port.xfer2( mesa_hex_list );
# print( rts);
else:
self.port.wr( mesa_str );
return;
def rd( self ):
if ( type( self.port ) == spidev.SpiDev ):
hex_str = "";
rts = self.port.xfer2(8*[0xFF]);
for each in rts:
hex_str += ("%02x" % each );
rts = hex_str;
# print rts;
else:
rts = self.port.rd();
# print( rts );
return rts;
###############################################################################
app = App();
app.main();