dev: hardware init code added. starting to write Board methods
This commit is contained in:
A.M. Rowsell
parent
25c351be04
commit
d6eb6b69c2
GPG key ID:
E0879EDBDB0CA7B1
4 changed files with 135 additions and 34 deletions
12
Board.cpp
12
Board.cpp
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@ -8,15 +8,25 @@
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#include "Board.hpp"
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Board::Board() {
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// set up the board grid with smart pointers
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// initialize each square with a Piece, set to PIECE_EMPTY
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boardGrid.resize(8);
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for(int i = 0; i < 8; i++) {
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boardGrid[i].resize(8);
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for(int j = 0; j < 8; j++) {
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boardGrid[i][j] = std::make_unique<Piece>(PIECE_EMPTY);
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}
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}
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}
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Board::~Board() {
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}
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void Board::setupInitialPosition() {
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return;
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}
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void Board::movePiece(int fromX, int fromY, int toX, int toY) {
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void Board::movePiece(Square from, Square to) {
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return;
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}
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10
Board.hpp
10
Board.hpp
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@ -9,19 +9,25 @@
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#define BOARD_HPP
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#include <vector>
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#include <memory>
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#include <cstdint>
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#include "Piece.hpp"
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// why do I have to forward declare all these?!
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class Piece;
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enum Players { PL_WHITE, PL_BLACK };
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struct Square;
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class Board {
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private:
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std::vector<std::vector<Piece *>> boardGrid;
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std::vector<std::vector<std::unique_ptr<Piece>>> boardGrid;
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public:
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Board();
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~Board();
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void setupInitialPosition();
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Piece *getPieceAt(int x, int y) const;
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void movePiece(int fromX, int fromY, int toX, int toY);
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void movePiece(Square from, Square to);
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bool isInBounds(int x, int y) const;
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uint64_t serialBoard = 0xFFFF00000000FFFF; // opening position
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void deserializeBoard(uint64_t incomingBoard);
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@ -11,6 +11,7 @@
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#include <stdint.h>
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#include <utility>
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#include <memory>
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#include <vector>
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#include "Board.hpp"
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class Board;
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142
main.cpp
142
main.cpp
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@ -19,10 +19,10 @@
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// DEVCFG2
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#pragma config FPLLIDIV = DIV_2 // PLL Input Divider (2x Divider)
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#pragma config FPLLMUL = MUL_24 // PLL Multiplier (24x Multiplier)
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#pragma config UPLLIDIV = DIV_2 // USB PLL Input Divider (2x Divider)
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#pragma config FPLLMUL = MUL_24 // PLL Multiplier (24x Multiplier) 96MHz
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#pragma config UPLLIDIV = DIV_2 // USB PLL Input Divider (2x Divider) 48MHz
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#pragma config UPLLEN = ON // USB PLL Enable (Enabled)
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#pragma config FPLLODIV = DIV_8 // System PLL Output Clock Divider (PLL Divide by 8)
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#pragma config FPLLODIV = DIV_8 // System PLL Output Clock Divider (PLL Divide by 8) 12MHz
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// DEVCFG1
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#pragma config FNOSC = FRCPLL // Oscillator Selection Bits (Fast RC Osc with PLL)
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@ -47,6 +47,18 @@
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// #pragma config statements should precede project file includes.
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// Use project enums instead of #define for ON and OFF.
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#include <xc.h>
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#include <sys/attribs.h> // for ISR macros
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#include <sys/kmem.h>
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#include "Board.hpp"
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#include "Piece.hpp"
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#include "NeoPixel.hpp"
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#define F_CPU 12000000UL // 12MHz
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#define F_PER 6000000UL // 6MHz
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#define SPI_BAUD 1000000 // 1MHz hopefully
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volatile uint8_t spi_rx_buffer[8];
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void sendChar(uint8_t c) {
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U1TXREG = c;
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@ -63,7 +75,28 @@ uint8_t appInfo(uint8_t *msg, uint16_t len) {
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return 0;
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}
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/*
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* Pin mapping:
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*
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* UART: (for debug)
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* U1TX = RC0/pin 25
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*
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* SPI: (to 74HC165)
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* Shift/Load = RA0
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* Shift Clock SCK1 = RB14/pin 14
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* Data out SDI1 = RC8/pin 4
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*
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*
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* USB:
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* RB10: D+
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* RB11: D-
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*
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*
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*/
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#define SL_TRIS TRISAbits.TRISA0
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#define SL_LAT LATAbits.LATA0
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uint8_t initSystem(void) {
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/* set up GPIO */
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SYSKEY = 0x0;
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SYSKEY = 0xAA996655;
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@ -71,48 +104,99 @@ uint8_t initSystem(void) {
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CFGCON &= ~(1<<13); // unlock PPS
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SDI1R = 0b0110; // RC8
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SDI2R = 0b0100; // RB2
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SS2R = 0b0111; // RC4
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RPB5R = 0b0011; // SD01
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RPC0R = 0b0001; // U1TX
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SYSKEY = 0x12345678; // lock SYSKEY
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ANSELACLR = 0xFFFF; // port A all digital
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SL_TRIS = 0; // RA0 as output
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SL_LAT = 1; // set high
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/* Set up SPI1 */
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SPI1BRG = 1; // 1.5MHz
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SPI1CONbits.ENHBUF = 1; // enable enhanced buffer
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SPI1CONbits.MSTEN = 1; // master mode
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SPI1CONbits.STXISEL = 0b10; // interrupt on half-empty or more
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SPI1CON = 0; // reset SPI config
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SPI1BRG = (F_PER / (2 * SPI_BAUD)) - 1; // calculate for 1MHz
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SPI1STATCLR = _SPI1STAT_SPIROV_MASK; // Clear overflow
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SPI1CONbits.MSTEN = 1; // Enable Master mode
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SPI1CONbits.CKP = 0; // Clock idle low
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SPI1CONbits.CKE = 1; // Transmit on falling edge
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SPI1CONbits.SMP = 1; // Input sampled at end
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SPI1CONbits.ON = 1; // Enable SPI
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/* set up UART */
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U1BRG = 38; // 9600 baud
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U1BRG = 19; // 9600 baud (was 38 @ 24MHz)
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U1STAbits.UTXEN = 1; // enable transmitter
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U1MODEbits.ON = 1; // enable UART
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/* set up DMA */
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// clear all 4 DMA channel flags & IE
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// IEC1CLR = 0xF0000000;
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// IFS1CLR = 0xF0000000;
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//
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// DMACONbits.ON = 1; //enable DMA controller
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//
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// // Channel 0: SPI2 receive triggers DMA to buffer
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// DCH0ECONbits.CHSIRQ = 51; // SPI2 receive complete
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// DCH0ECONbits.SIRQEN = 1; // enable trigger
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// DCH0CONbits.CHCHN = 1; // enable chaining
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// DCH0CONbits.CHAEN = 1; // auto enable
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// DCH0SSA = KVA_TO_PA(&SPI2BUF); // source is SPI2BUF
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// DCH0DSA = KVA_TO_PA(dmaBuffer);
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// DCH0SSIZ = 1;
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// DCH0DSIZ = 16;
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// DCH0CSIZ = 16; // copy 1 sets of 2 bytes from source to destination
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//
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// IEC1SET = 0x10000000; // channel 0 interrupt enable
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// DCH0CONbits.CHEN = 1; // enable channel
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IEC1CLR = 0xF0000000;
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IFS1CLR = 0xF0000000;
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DMACONbits.ON = 1; //enable DMA controller
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// === DMA Channel 1 Init (RX from SPI1BUF to spi_rx_buffer[]) ===
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DCH0CON = 0; // Reset channel config
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DCH0ECON = 0;
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DCH0SSA = KVA_TO_PA(&SPI1BUF); // Source: SPI1BUF
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DCH0DSA = KVA_TO_PA(spi_rx_buffer); // Destination: receive buffer
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DCH0SSIZ = 1; // Source size = 1 byte
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DCH0DSIZ = sizeof(spi_rx_buffer); // Destination size = 8 bytes
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DCH0CSIZ = 1; // Cell transfer size = 1 byte
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DCH0ECONbits.CHSIRQ = _SPI1_VECTOR; // Trigger on SPI1 receive
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DCH0ECONbits.SIRQEN = 1; // Enable IRQ trigger
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DCH0INTCLR = 0x00FF00FF; // Clear all interrupt flags
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DCH0INTbits.CHBCIE = 1; // Enable block complete interrupt
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DCH0CONbits.CHPRI = 2; // Priority 2 (TX is higher)
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DCH0CONbits.CHAEN = 1; // Auto-enable on trigger
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DCH0CONbits.CHEN = 1; // Enable channel
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return 0;
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}
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void initInterrupts(void) {
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INTCONbits.MVEC = 1; // Enable multi-vector interrupts
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__builtin_enable_interrupts();
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IPC10bits.DMA0IP = 3; // Priority level 3
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IFS1CLR = _IFS1_DMA0IF_MASK; // Clear interrupt flag
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IEC1SET = _IEC1_DMA0IE_MASK; // Enable DMA1 interrupt
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}
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void startSPI_DMA_Transfer(void) {
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// Pulse PL low to latch inputs from 74HC165
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SL_LAT = 0;
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asm volatile("nop; nop; nop;"); // small delay
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SL_LAT = 1;
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DCH0CONbits.CHEN = 1;
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for (int i = 0; i < 8; i++) {
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while (SPI1STATbits.SPITBF); // Wait if TX buffer full
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SPI1BUF = 0x00; // Send dummy byte to clock in data
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}
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return;
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}
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extern "C" int main(void) {
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initSystem();
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initInterrupts();
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Board gameBoard;
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NeoPixel boardLights(64);
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while(1) {
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}
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}
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// === Interrupt Service Routine for DMA0 (RX complete) ===
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extern "C" void __ISR(_DMA0_VECTOR, IPL3SOFT) DMA0Handler(void) {
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__builtin_disable_interrupts(); // stop additional ints from firing
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if (DCH0INTbits.CHBCIF) {
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DCH0INTCLR = _DCH0INT_CHBCIF_MASK; // Clear block complete flag
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// DMA RX completed — spi_rx_buffer[] now contains the data
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}
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IFS1CLR = _IFS1_DMA0IF_MASK; // Clear global DMA0 IRQ flag
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}
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