diff --git a/GPS/GPS.c b/GPS/GPS.c
index 9d347fb7cc33a1cd0aa375890a5fe36951d507e3..fded757b399393b1454b9fe5a5c2ed61ed9d8701 100644
--- a/GPS/GPS.c
+++ b/GPS/GPS.c
@@ -5,6 +5,7 @@ char nmea_buffer_A[128];
char * nmea_buffer_pointer = nmea_buffer_A;
+char checksum;
char nmea_buffer_B[128];
@@ -45,15 +46,11 @@ volatile void __not_in_flash_func (pio_irq0_gps_handler)(void)
{
interrupt = 1;
printf("GPS HANDLER: interrupt : %x\n", pio_interrupt_get(gps_pio, 0));
- printf("final checksummmmm: %x\n", reverseByte(test_val));
if (pio_interrupt_get(gps_pio, 0)) {
- pio_sm_put(pio0,1, 0);
-
/* Stop DMA */
while(!pio_sm_is_rx_fifo_empty(gps_pio, 0));
dma_channel_abort(nmea_dma_channel);
/* Change buffer */
- char checksum = 0;
char checksum_temp = 0;
if(bufferA_selected){
bufferA_selected = 0;
@@ -65,15 +62,6 @@ volatile void __not_in_flash_func (pio_irq0_gps_handler)(void)
memset(nmea_buffer_A, 0, 128);
nmea_buffer_pointer = nmea_buffer_A;
}
- /* Restart DMA */
- dma_channel_configure(
- xor_dma_channel, // Channel to be configured
- &xor_dma_c, // The configuration we just created
- (io_rw_8*)&pio0_hw->txf[1], // The initial write address
- nmea_buffer_pointer, // The initial read address
- 128, // Number of transfers; in this case each is 1 byte.
- false // Start immediately.
- );
dma_channel_configure(nmea_dma_channel, &c, nmea_buffer_pointer+1, (io_rw_8*)&pio0_hw->rxf[0]+3, 128, true);
/* Let the PIO read again */
pio_interrupt_clear(gps_pio, 0);
@@ -109,8 +97,6 @@ volatile void __not_in_flash_func (pio_irq0_gps_handler)(void)
}
//printf("%s\n", nmea_buffer_B);
}
- printf("checksum = %x\n",checksum);
-
irq_clear(PIO0_IRQ_0);
}
}
@@ -327,41 +313,41 @@ void init_nmea_dma(uint sm){
);
printf("------- GPS DMA Started\n");
- printf("Configuring XOR DMA...\n");
- xor_dma_channel = dma_claim_unused_channel(true);
- printf("------- Using DMA Channel %i\n", xor_dma_channel);
- xor_dma_c = dma_channel_get_default_config(xor_dma_channel);
- channel_config_set_transfer_data_size(&xor_dma_c, DMA_SIZE_8);
- channel_config_set_read_increment(&xor_dma_c, false);
- channel_config_set_write_increment(&xor_dma_c, false);
- channel_config_set_dreq(&xor_dma_c, pio_get_dreq(gps_pio, sm, false));
-
- dma_channel_configure(
- xor_dma_channel, // Channel to be configured
- &xor_dma_c, // The configuration we just created
- (io_rw_8*)&pio0_hw->txf[1]+3, // The initial write address
- &test_val, // The initial read address
- 128, // Number of transfers; in this case each is 1 byte.
- false // Start immediately.
- );
- printf("------- XOR DMA Started\n");
-
- printf("Configuring XOR DMA...\n");
- other_xor_dma_channel = dma_claim_unused_channel(true);
- printf("------- Using DMA Channel %i\n", other_xor_dma_channel);
- other_xor_dma_c = dma_channel_get_default_config(other_xor_dma_channel);
- channel_config_set_transfer_data_size(&other_xor_dma_c, DMA_SIZE_8);
- channel_config_set_read_increment(&other_xor_dma_c, false);
- channel_config_set_write_increment(&other_xor_dma_c, false);
- channel_config_set_dreq(&other_xor_dma_c, pio_get_dreq(gps_pio, sm, false));
-
- dma_channel_configure(
- other_xor_dma_channel, // Channel to be configured
- &other_xor_dma_c, // The configuration we just created
- &test_val,
- (io_rw_8*)&pio0_hw->rxf[1],
- 128, // Number of transfers; in this case each is 1 byte.
- false // Start immediately.
- );
- printf("------- XOR DMA Started\n");
+ // printf("Configuring XOR DMA...\n");
+ // xor_dma_channel = dma_claim_unused_channel(true);
+ // printf("------- Using DMA Channel %i\n", xor_dma_channel);
+ // xor_dma_c = dma_channel_get_default_config(xor_dma_channel);
+ // channel_config_set_transfer_data_size(&xor_dma_c, DMA_SIZE_8);
+ // channel_config_set_read_increment(&xor_dma_c, false);
+ // channel_config_set_write_increment(&xor_dma_c, false);
+ // channel_config_set_dreq(&xor_dma_c, pio_get_dreq(gps_pio, sm, false));
+
+ // dma_channel_configure(
+ // xor_dma_channel, // Channel to be configured
+ // &xor_dma_c, // The configuration we just created
+ // (io_rw_8*)&pio0_hw->txf[1]+3, // The initial write address
+ // &test_val, // The initial read address
+ // 128, // Number of transfers; in this case each is 1 byte.
+ // false // Start immediately.
+ // );
+ // printf("------- XOR DMA Started\n");
+
+ // printf("Configuring XOR DMA...\n");
+ // other_xor_dma_channel = dma_claim_unused_channel(true);
+ // printf("------- Using DMA Channel %i\n", other_xor_dma_channel);
+ // other_xor_dma_c = dma_channel_get_default_config(other_xor_dma_channel);
+ // channel_config_set_transfer_data_size(&other_xor_dma_c, DMA_SIZE_8);
+ // channel_config_set_read_increment(&other_xor_dma_c, false);
+ // channel_config_set_write_increment(&other_xor_dma_c, false);
+ // channel_config_set_dreq(&other_xor_dma_c, pio_get_dreq(gps_pio, sm, false));
+
+ // dma_channel_configure(
+ // other_xor_dma_channel, // Channel to be configured
+ // &other_xor_dma_c, // The configuration we just created
+ // &test_val,
+ // (io_rw_8*)&pio0_hw->rxf[1],
+ // 128, // Number of transfers; in this case each is 1 byte.
+ // false // Start immediately.
+ // );
+ // printf("------- XOR DMA Started\n");
}
\ No newline at end of file
diff --git a/GPS/GPS.h b/GPS/GPS.h
index 6b2a29493c56dda86f608eb68d5984948b620c0a..a6e70905b2483cf4ed5a7712d7300527fd28ea9e 100644
--- a/GPS/GPS.h
+++ b/GPS/GPS.h
@@ -23,6 +23,8 @@ extern volatile char test_val;
extern volatile int interrupt;
+extern char checksum;
+
unsigned char reverseByte(unsigned char byte);
diff --git a/GPS/pio.pio b/GPS/pio.pio
index 02a052c6861d2a114ba29edfc1187cbc3c462efa..f3602932dd6ba9b4d4c5376baa69782b1804904e 100644
--- a/GPS/pio.pio
+++ b/GPS/pio.pio
@@ -1,16 +1,15 @@
.program pio
- ;out X, 32 ; Copy this char in X scratch register
+ out X, 32 ; Copy this char in X scratch register
.wrap_target
skip:
wait 0 PIN 0 [31]; Wait Start bit
set Y, 7 [13] ; Sample in the middle of data bits
read_bit:
- irq clear 4
in PINS 1 [29] ; Read a single data bit, then wait for one period
jmp Y-- read_bit ; Repeat 7 time
- ;mov Y, ISR
+ mov Y, ISR
push
- ; jmp X!=Y skip ; Repeat reception if not end of Packet
- ; irq WAIT 0 ; Generate IRQ if end of Packet
+ jmp X!=Y skip ; Repeat reception if not end of Packet
+ irq WAIT 0 ; Generate IRQ if end of Packet
.wrap
diff --git a/PA_PIO.c b/PA_PIO.c
index 3713d81ec23ae7618c77d4154abe74ed0000c626..c34192ffb72cefba387d12b18fc3099b693a301b 100644
--- a/PA_PIO.c
+++ b/PA_PIO.c
@@ -12,32 +12,21 @@ int main()
{
stdio_init_all();
sleep_ms(2000);
+ test_pio_xor(9600);
int gps_sm = gps_init(pio0, 9600);
- // comparator_init(pio0, 1000, 2);
- test_pio_xor();
- char rx_gps = 0;
+ //comparator_init(pio0, 1000, 2);
int read = 0;
- char checksum = 0;
- char old = 0;
+ char final_xor = '\n' ^ '\r' ^ '*' ^ '$' ;
while (true) {
- read = pio_sm_get_blocking(pio0,1);
- printf("res = %08x\n", read);
- if(read == 0){
- pio_sm_put(pio0,1, 0);
+ read = pio_sm_get_blocking(pio1,0);
+ if(interrupt){
+ char hex[3];
+ printf("Read checksum = %x\n",checksum);
+ snprintf(hex, sizeof(hex), "%02X", (char)checksum);
+ printf("PIO Checksum = %02x\n", final_xor ^ reverseByte(read>>24) ^ hex[0] ^ hex[1] );
+ pio_sm_put_blocking(pio1, 0, 0x24<<24);
+ interrupt = 0;
}
-
- // sleep_us(100);
- // if(interrupt){
- // char checksum = read ;
- // printf("calculated checksum = %x\n", reverseByte(checksum));
- // interrupt = 0;
- // }
- // else {
- // pio_sm_put(pio0,1, read<<24);
- // }
-
-
-
}
}
diff --git a/PIO_XOR/pio_xor.c b/PIO_XOR/pio_xor.c
index 01b09101178c36d50be1b1049ee4030a7ebfd476..20df32c41f16e19d2f16245c8dcf9a0605913efa 100644
--- a/PIO_XOR/pio_xor.c
+++ b/PIO_XOR/pio_xor.c
@@ -1,20 +1,25 @@
#include "pio_xor.h"
-void test_pio_xor(void){
- uint sm = pio_claim_unused_sm(pio0, true);
+void test_pio_xor(uint32_t baudrate){
+ uint sm = pio_claim_unused_sm(pio1, true);
printf("sm = %i\n",sm);
- int offset = pio_add_program(pio0, &pio_xor_program);
+ int offset = pio_add_program(pio1, &pio_xor_program);
printf("------- Offset = %i\n", offset);
pio_sm_config c = pio_xor_program_get_default_config(offset);
- pio_gpio_init(pio0, 13);
- pio_sm_set_consecutive_pindirs(pio0, sm, 13, 1, false);
+ pio_gpio_init(pio1, 13);
+ pio_sm_set_consecutive_pindirs(pio1, sm, 13, 1, false);
sm_config_set_in_pins(&c, 13);
+ int clock_freq = clock_get_hz(clk_sys);
- sm_config_set_clkdiv_int_frac8(&c, 1, 0);
+ int sm_frequency = baudrate*32;
+ int sm_divider_int = clock_freq/sm_frequency;
+ float sm_divider_float = ((float)clock_freq/sm_frequency) - sm_divider_int;
+ printf("------- State machine divider = %i - %f\n", sm_divider_int, sm_divider_float);
+ sm_config_set_clkdiv_int_frac8(&c, sm_divider_int, sm_divider_float);
sm_config_set_out_shift(&c, false, false, 8);
sm_config_set_in_shift(&c, false, false, 8);
- pio_sm_init(pio0, sm, offset, &c);
+ pio_sm_init(pio1, sm, offset, &c);
/* Enable the state machine */
- pio_sm_put(pio0, sm, 0);
- pio_sm_set_enabled(pio0, sm, 1);
+ pio_sm_put(pio1, sm, 0);
+ pio_sm_set_enabled(pio1, sm, 1);
}
\ No newline at end of file
diff --git a/PIO_XOR/pio_xor.h b/PIO_XOR/pio_xor.h
index cdd639e6c1eb82d94bb23c775b5f1c362290935b..bdf91dec2d65480a6d594285cbb0165b52b3a321 100644
--- a/PIO_XOR/pio_xor.h
+++ b/PIO_XOR/pio_xor.h
@@ -10,6 +10,6 @@
#include "hardware/dma.h"
#include "pio_xor.pio.h"
-void test_pio_xor(void);
+void test_pio_xor(uint32_t baudrate);
#endif
\ No newline at end of file
diff --git a/PIO_XOR/pio_xor.pio b/PIO_XOR/pio_xor.pio
index 1f182e2d7c15ee8119123b47413716efaea7797e..a80bef5ea2bea608e7e215e187a1862766cb90fe 100644
--- a/PIO_XOR/pio_xor.pio
+++ b/PIO_XOR/pio_xor.pio
@@ -1,33 +1,37 @@
.program pio_xor
- ;pull BLOCK
- ;mov OSR, NULL
.wrap_target
pull NoBlock
+ wait 0 PIN 0 [31]; Wait Start bit
+ nop [15]
repeat:
- mov X, ISR ; 1: Copy ISR in X
+ mov X, ISR; 1: Copy ISR in X
mov ISR, NULL ; Set ISR to all zeros
-
- irq wait 4 ; Wait pin sampling from uart
- in PINS, 1
+ in PINS, 1 [11]
out Y, 1 ; 2: ISR[0] = last byte bit, ISR[1] = new byte bit
in Y, 1
mov Y, ISR ; 3: Copy ISR in Y
; 4: Computation of XOR
- jmp !Y is_zero ; if Y = 00; out = 0
+ jmp !Y is_zero_long; if Y = 00; out = 0
jmp Y-- once ; decrement once
once:
- jmp !Y is_one
+ jmp !Y is_one_long
jmp Y-- twice ; decrement twice
twice:
- jmp !Y is_one ; If Y-2 >= 0 ; out = 1
- jmp is_zero ; else out = 0
+ jmp !Y is_one_fast; If Y-2 >= 0 ; out = 1
+ jmp is_zero_fast ; else out = 0
- is_zero:
- set Y, 0
+ is_zero_long:
+ set Y, 0 [9]
jmp send
- is_one:
- set Y, 1
+ is_zero_fast:
+ set Y, 0 [3]
+ jmp send
+ is_one_long:
+ set Y, 1 [7]
+ jmp send
+ is_one_fast:
+ set Y, 1 [5]
jmp send
send:
@@ -38,39 +42,5 @@
mov OSR, ISR
mov x, OSR
push
+ wait 1 PIN 0; Wait Stop bit
.wrap
-
-; .program pio_xor
-; .wrap_target
-; pull IFEMPTY ; Changes OSR only when a full byte has been treated
-; mov X, ISR ; 1: Copy ISR in X
-; mov ISR, NULL ; Set ISR to all zeros
-; wait 1 IRQ 5
-; out PINS, 1 ; 2: ISR[1] = new wbyte bit
-; out ISR, 1 ; --- ISR[0] = last byte bit,
-; mov Y, ISR ; 3: Copy ISR in Y
-; ; 4: Computation of XOR
-
-; jmp !Y is_zero ; if Y = 00; out = 0
-; jmp Y-- once ; decrement once
-; once:
-; jmp !Y is_one
-; jmp Y-- twice ; decrement twice
-; twice:
-; jmp !Y is_one ; If Y-2 <= 0 ; out = 1
-; jmp is_zero ; else out = 0
-
-; is_zero:
-; set Y, 0
-; jmp send
-; is_one:
-; set Y, 1
-; jmp send
-
-; send:
-; mov ISR, X ; 6: Copy X (Last iteration's ISR) into ISR
-; in Y, 1 ; 7: Push the new byte into ISR
-; mov X, ISR ;
-; push IFFULL; should setup autopush instead
-; mov ISR, X
-; .wrap
\ No newline at end of file