diff --git a/sw/include/printf.h b/sw/include/printf.h new file mode 100644 index 0000000..8f7a4c8 --- /dev/null +++ b/sw/include/printf.h @@ -0,0 +1,117 @@ +/////////////////////////////////////////////////////////////////////////////// +// \author (c) Marco Paland (info@paland.com) +// 2014-2019, PALANDesign Hannover, Germany +// +// \license The MIT License (MIT) +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. +// +// \brief Tiny printf, sprintf and snprintf implementation, optimized for speed on +// embedded systems with a very limited resources. +// Use this instead of bloated standard/newlib printf. +// These routines are thread safe and reentrant. +// +/////////////////////////////////////////////////////////////////////////////// + +#ifndef _PRINTF_H_ +#define _PRINTF_H_ + +#include +#include + + +#ifdef __cplusplus +extern "C" { +#endif + + +/** + * Output a character to a custom device like UART, used by the printf() function + * This function is declared here only. You have to write your custom implementation somewhere + * \param character Character to output + */ +void _putchar(char character); + + +/** + * Tiny printf implementation + * You have to implement _putchar if you use printf() + * To avoid conflicts with the regular printf() API it is overridden by macro defines + * and internal underscore-appended functions like printf_() are used + * \param format A string that specifies the format of the output + * \return The number of characters that are written into the array, not counting the terminating null character + */ +#define printf printf_ +int printf_(const char* format, ...); + + +/** + * Tiny sprintf implementation + * Due to security reasons (buffer overflow) YOU SHOULD CONSIDER USING (V)SNPRINTF INSTEAD! + * \param buffer A pointer to the buffer where to store the formatted string. MUST be big enough to store the output! + * \param format A string that specifies the format of the output + * \return The number of characters that are WRITTEN into the buffer, not counting the terminating null character + */ +#define sprintf sprintf_ +int sprintf_(char* buffer, const char* format, ...); + + +/** + * Tiny snprintf/vsnprintf implementation + * \param buffer A pointer to the buffer where to store the formatted string + * \param count The maximum number of characters to store in the buffer, including a terminating null character + * \param format A string that specifies the format of the output + * \param va A value identifying a variable arguments list + * \return The number of characters that COULD have been written into the buffer, not counting the terminating + * null character. A value equal or larger than count indicates truncation. Only when the returned value + * is non-negative and less than count, the string has been completely written. + */ +#define snprintf snprintf_ +#define vsnprintf vsnprintf_ +int snprintf_(char* buffer, size_t count, const char* format, ...); +int vsnprintf_(char* buffer, size_t count, const char* format, va_list va); + + +/** + * Tiny vprintf implementation + * \param format A string that specifies the format of the output + * \param va A value identifying a variable arguments list + * \return The number of characters that are WRITTEN into the buffer, not counting the terminating null character + */ +#define vprintf vprintf_ +int vprintf_(const char* format, va_list va); + + +/** + * printf with output function + * You may use this as dynamic alternative to printf() with its fixed _putchar() output + * \param out An output function which takes one character and an argument pointer + * \param arg An argument pointer for user data passed to output function + * \param format A string that specifies the format of the output + * \return The number of characters that are sent to the output function, not counting the terminating null character + */ +int fctprintf(void (*out)(char character, void* arg), void* arg, const char* format, ...); + + +#ifdef __cplusplus +} +#endif + + +#endif // _PRINTF_H_ diff --git a/sw/include/usb.h b/sw/include/usb.h index 953345e..7b0df47 100644 --- a/sw/include/usb.h +++ b/sw/include/usb.h @@ -7,6 +7,25 @@ extern "C" { struct usb_setup_request; +enum epfifo_response { + EPF_ACK = 0, + EPF_NAK = 1, + EPF_NONE = 2, + EPF_STALL = 3, +}; + +// Note that our PIDs are only bits 2 and 3 of the token, +// since all other bits are effectively redundant at this point. +enum USB_PID { + USB_PID_OUT = 0, + USB_PID_SOF = 1, + USB_PID_IN = 2, + USB_PID_SETUP = 3, +}; + +#define USB_EV_ERROR 1 +#define USB_EV_PACKET 2 + void usb_isr(void); void usb_init(void); void usb_connect(void); diff --git a/sw/src/crt0-vexriscv.S b/sw/src/crt0-vexriscv.S index 931d50a..340f89d 100644 --- a/sw/src/crt0-vexriscv.S +++ b/sw/src/crt0-vexriscv.S @@ -6,13 +6,6 @@ _start: j crt_init - nop - nop - nop - nop - nop - nop - nop .section .text .global trap_entry @@ -55,7 +48,6 @@ trap_entry: mret .text - crt_init: la sp, _fstack + 4 la a0, trap_entry @@ -87,5 +79,6 @@ bss_done: csrw mie,a0 call main -infinit_loop: - j infinit_loop + +infinite_loop: + j infinite_loop diff --git a/sw/src/div.S b/sw/src/div.S new file mode 100644 index 0000000..b837820 --- /dev/null +++ b/sw/src/div.S @@ -0,0 +1,121 @@ + .text + .align 2 + +#ifndef __riscv64 +/* Our RV64 64-bit routines are equivalent to our RV32 32-bit routines. */ +# define __udivdi3 __udivsi3 +# define __umoddi3 __umodsi3 +# define __divdi3 __divsi3 +# define __moddi3 __modsi3 +#else + .globl __udivsi3 +__udivsi3: + /* Compute __udivdi3(a0 << 32, a1 << 32); cast result to uint32_t. */ + sll a0, a0, 32 + sll a1, a1, 32 + move t0, ra + jal __udivdi3 + sext.w a0, a0 + jr t0 + + .globl __umodsi3 +__umodsi3: + /* Compute __udivdi3((uint32_t)a0, (uint32_t)a1); cast a1 to uint32_t. */ + sll a0, a0, 32 + sll a1, a1, 32 + srl a0, a0, 32 + srl a1, a1, 32 + move t0, ra + jal __udivdi3 + sext.w a0, a1 + jr t0 + + .globl __modsi3 + __modsi3 = __moddi3 + + .globl __divsi3 +__divsi3: + /* Check for special case of INT_MIN/-1. Otherwise, fall into __divdi3. */ + li t0, -1 + beq a1, t0, .L20 +#endif + + .globl __divdi3 +__divdi3: + bltz a0, .L10 + bltz a1, .L11 + /* Since the quotient is positive, fall into __udivdi3. */ + + .globl __udivdi3 +__udivdi3: + mv a2, a1 + mv a1, a0 + li a0, -1 + beqz a2, .L5 + li a3, 1 + bgeu a2, a1, .L2 +.L1: + blez a2, .L2 + slli a2, a2, 1 + slli a3, a3, 1 + bgtu a1, a2, .L1 +.L2: + li a0, 0 +.L3: + bltu a1, a2, .L4 + sub a1, a1, a2 + or a0, a0, a3 +.L4: + srli a3, a3, 1 + srli a2, a2, 1 + bnez a3, .L3 +.L5: + ret + + .globl __umoddi3 +__umoddi3: + /* Call __udivdi3(a0, a1), then return the remainder, which is in a1. */ + move t0, ra + jal __udivdi3 + move a0, a1 + jr t0 + + /* Handle negative arguments to __divdi3. */ +.L10: + neg a0, a0 + bgez a1, .L12 /* Compute __udivdi3(-a0, a1), then negate the result. */ + neg a1, a1 + j __divdi3 /* Compute __udivdi3(-a0, -a1). */ +.L11: /* Compute __udivdi3(a0, -a1), then negate the result. */ + neg a1, a1 +.L12: + move t0, ra + jal __divdi3 + neg a0, a0 + jr t0 + + .globl __moddi3 +__moddi3: + move t0, ra + bltz a1, .L31 + bltz a0, .L32 +.L30: + jal __udivdi3 /* The dividend is not negative. */ + move a0, a1 + jr t0 +.L31: + neg a1, a1 + bgez a0, .L30 +.L32: + neg a0, a0 + jal __udivdi3 /* The dividend is hella negative. */ + neg a0, a1 + jr t0 + +#ifdef __riscv64 + /* continuation of __divsi3 */ +.L20: + sll t0, t0, 31 + bne a0, t0, __divdi3 + ret +#endif \ No newline at end of file diff --git a/sw/src/main.c b/sw/src/main.c index 9e9802e..2d87c72 100644 --- a/sw/src/main.c +++ b/sw/src/main.c @@ -1,10 +1,11 @@ -#include +#include #include #include #include #include #include -#include +#include +#include struct ff_spi *spi; diff --git a/sw/src/mul.S b/sw/src/mul.S new file mode 100644 index 0000000..2499abf --- /dev/null +++ b/sw/src/mul.S @@ -0,0 +1,26 @@ + .text + .align 2 + +#ifdef __riscv64 +#define _RISCV_SZPTR 64 +#define _RISCV_SZINT 64 +#else +/* Our RV64 64-bit routine is equivalent to our RV32 32-bit routine. */ +# define __muldi3 __mulsi3 +#define _RISCV_SZPTR 32 +#define _RISCV_SZINT 32 +#endif + + .globl __muldi3 +__muldi3: + mv a2, a0 + li a0, 0 +.L1: + slli a3, a1, _RISCV_SZPTR-1 + bgez a3, .L2 + add a0, a0, a2 +.L2: + srli a1, a1, 1 + slli a2, a2, 1 + bnez a1, .L1 + ret diff --git a/sw/src/printf.c b/sw/src/printf.c new file mode 100644 index 0000000..1e5e8c8 --- /dev/null +++ b/sw/src/printf.c @@ -0,0 +1,914 @@ +/////////////////////////////////////////////////////////////////////////////// +// \author (c) Marco Paland (info@paland.com) +// 2014-2019, PALANDesign Hannover, Germany +// +// \license The MIT License (MIT) +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. +// +// \brief Tiny printf, sprintf and (v)snprintf implementation, optimized for speed on +// embedded systems with a very limited resources. These routines are thread +// safe and reentrant! +// Use this instead of the bloated standard/newlib printf cause these use +// malloc for printf (and may not be thread safe). +// +/////////////////////////////////////////////////////////////////////////////// + +#include +#include + +#include "printf.h" + + +// define this globally (e.g. gcc -DPRINTF_INCLUDE_CONFIG_H ...) to include the +// printf_config.h header file +// default: undefined +// #ifdef PRINTF_INCLUDE_CONFIG_H +// #include "printf_config.h" +// #endif + + +// 'ntoa' conversion buffer size, this must be big enough to hold one converted +// numeric number including padded zeros (dynamically created on stack) +// default: 32 byte +#ifndef PRINTF_NTOA_BUFFER_SIZE +#define PRINTF_NTOA_BUFFER_SIZE 32U +#endif + +// 'ftoa' conversion buffer size, this must be big enough to hold one converted +// float number including padded zeros (dynamically created on stack) +// default: 32 byte +#ifndef PRINTF_FTOA_BUFFER_SIZE +#define PRINTF_FTOA_BUFFER_SIZE 32U +#endif + +// support for the floating point type (%f) +// default: activated +// #ifndef PRINTF_DISABLE_SUPPORT_FLOAT +// #define PRINTF_SUPPORT_FLOAT +// #endif + +// support for exponential floating point notation (%e/%g) +// default: activated +// #ifndef PRINTF_DISABLE_SUPPORT_EXPONENTIAL +// #define PRINTF_SUPPORT_EXPONENTIAL +// #endif + +// define the default floating point precision +// default: 6 digits +#ifndef PRINTF_DEFAULT_FLOAT_PRECISION +#define PRINTF_DEFAULT_FLOAT_PRECISION 6U +#endif + +// define the largest float suitable to print with %f +// default: 1e9 +#ifndef PRINTF_MAX_FLOAT +#define PRINTF_MAX_FLOAT 1e9 +#endif + +// support for the long long types (%llu or %p) +// default: activated +// #ifndef PRINTF_DISABLE_SUPPORT_LONG_LONG +// #define PRINTF_SUPPORT_LONG_LONG +// #endif + +// support for the ptrdiff_t type (%t) +// ptrdiff_t is normally defined in as long or long long type +// default: activated +#ifndef PRINTF_DISABLE_SUPPORT_PTRDIFF_T +// #define PRINTF_SUPPORT_PTRDIFF_T +#endif + +/////////////////////////////////////////////////////////////////////////////// + +// internal flag definitions +#define FLAGS_ZEROPAD (1U << 0U) +#define FLAGS_LEFT (1U << 1U) +#define FLAGS_PLUS (1U << 2U) +#define FLAGS_SPACE (1U << 3U) +#define FLAGS_HASH (1U << 4U) +#define FLAGS_UPPERCASE (1U << 5U) +#define FLAGS_CHAR (1U << 6U) +#define FLAGS_SHORT (1U << 7U) +#define FLAGS_LONG (1U << 8U) +#define FLAGS_LONG_LONG (1U << 9U) +#define FLAGS_PRECISION (1U << 10U) +#define FLAGS_ADAPT_EXP (1U << 11U) + + +// import float.h for DBL_MAX +#if defined(PRINTF_SUPPORT_FLOAT) +#include +#endif + + +// output function type +typedef void (*out_fct_type)(char character, void* buffer, size_t idx, size_t maxlen); + + +// wrapper (used as buffer) for output function type +typedef struct { + void (*fct)(char character, void* arg); + void* arg; +} out_fct_wrap_type; + + +// internal buffer output +static inline void _out_buffer(char character, void* buffer, size_t idx, size_t maxlen) +{ + if (idx < maxlen) { + ((char*)buffer)[idx] = character; + } +} + + +// internal null output +static inline void _out_null(char character, void* buffer, size_t idx, size_t maxlen) +{ + (void)character; (void)buffer; (void)idx; (void)maxlen; +} + + +// internal _putchar wrapper +static inline void _out_char(char character, void* buffer, size_t idx, size_t maxlen) +{ + (void)buffer; (void)idx; (void)maxlen; + if (character) { + _putchar(character); + } +} + + +// internal output function wrapper +static inline void _out_fct(char character, void* buffer, size_t idx, size_t maxlen) +{ + (void)idx; (void)maxlen; + if (character) { + // buffer is the output fct pointer + ((out_fct_wrap_type*)buffer)->fct(character, ((out_fct_wrap_type*)buffer)->arg); + } +} + + +// internal secure strlen +// \return The length of the string (excluding the terminating 0) limited by 'maxsize' +static inline unsigned int _strnlen_s(const char* str, size_t maxsize) +{ + const char* s; + for (s = str; *s && maxsize--; ++s); + return (unsigned int)(s - str); +} + + +// internal test if char is a digit (0-9) +// \return true if char is a digit +static inline bool _is_digit(char ch) +{ + return (ch >= '0') && (ch <= '9'); +} + + +// internal ASCII string to unsigned int conversion +static unsigned int _atoi(const char** str) +{ + unsigned int i = 0U; + while (_is_digit(**str)) { + i = i * 10U + (unsigned int)(*((*str)++) - '0'); + } + return i; +} + + +// output the specified string in reverse, taking care of any zero-padding +static size_t _out_rev(out_fct_type out, char* buffer, size_t idx, size_t maxlen, const char* buf, size_t len, unsigned int width, unsigned int flags) +{ + const size_t start_idx = idx; + + // pad spaces up to given width + if (!(flags & FLAGS_LEFT) && !(flags & FLAGS_ZEROPAD)) { + for (size_t i = len; i < width; i++) { + out(' ', buffer, idx++, maxlen); + } + } + + // reverse string + while (len) { + out(buf[--len], buffer, idx++, maxlen); + } + + // append pad spaces up to given width + if (flags & FLAGS_LEFT) { + while (idx - start_idx < width) { + out(' ', buffer, idx++, maxlen); + } + } + + return idx; +} + + +// internal itoa format +static size_t _ntoa_format(out_fct_type out, char* buffer, size_t idx, size_t maxlen, char* buf, size_t len, bool negative, unsigned int base, unsigned int prec, unsigned int width, unsigned int flags) +{ + // pad leading zeros + if (!(flags & FLAGS_LEFT)) { + if (width && (flags & FLAGS_ZEROPAD) && (negative || (flags & (FLAGS_PLUS | FLAGS_SPACE)))) { + width--; + } + while ((len < prec) && (len < PRINTF_NTOA_BUFFER_SIZE)) { + buf[len++] = '0'; + } + while ((flags & FLAGS_ZEROPAD) && (len < width) && (len < PRINTF_NTOA_BUFFER_SIZE)) { + buf[len++] = '0'; + } + } + + // handle hash + if (flags & FLAGS_HASH) { + if (!(flags & FLAGS_PRECISION) && len && ((len == prec) || (len == width))) { + len--; + if (len && (base == 16U)) { + len--; + } + } + if ((base == 16U) && !(flags & FLAGS_UPPERCASE) && (len < PRINTF_NTOA_BUFFER_SIZE)) { + buf[len++] = 'x'; + } + else if ((base == 16U) && (flags & FLAGS_UPPERCASE) && (len < PRINTF_NTOA_BUFFER_SIZE)) { + buf[len++] = 'X'; + } + else if ((base == 2U) && (len < PRINTF_NTOA_BUFFER_SIZE)) { + buf[len++] = 'b'; + } + if (len < PRINTF_NTOA_BUFFER_SIZE) { + buf[len++] = '0'; + } + } + + if (len < PRINTF_NTOA_BUFFER_SIZE) { + if (negative) { + buf[len++] = '-'; + } + else if (flags & FLAGS_PLUS) { + buf[len++] = '+'; // ignore the space if the '+' exists + } + else if (flags & FLAGS_SPACE) { + buf[len++] = ' '; + } + } + + return _out_rev(out, buffer, idx, maxlen, buf, len, width, flags); +} + + +// internal itoa for 'long' type +static size_t _ntoa_long(out_fct_type out, char* buffer, size_t idx, size_t maxlen, unsigned long value, bool negative, unsigned long base, unsigned int prec, unsigned int width, unsigned int flags) +{ + char buf[PRINTF_NTOA_BUFFER_SIZE]; + size_t len = 0U; + + // no hash for 0 values + if (!value) { + flags &= ~FLAGS_HASH; + } + + // write if precision != 0 and value is != 0 + if (!(flags & FLAGS_PRECISION) || value) { + do { + const char digit = (char)(value % base); + buf[len++] = digit < 10 ? '0' + digit : (flags & FLAGS_UPPERCASE ? 'A' : 'a') + digit - 10; + value /= base; + } while (value && (len < PRINTF_NTOA_BUFFER_SIZE)); + } + + return _ntoa_format(out, buffer, idx, maxlen, buf, len, negative, (unsigned int)base, prec, width, flags); +} + + +// internal itoa for 'long long' type +#if defined(PRINTF_SUPPORT_LONG_LONG) +static size_t _ntoa_long_long(out_fct_type out, char* buffer, size_t idx, size_t maxlen, unsigned long long value, bool negative, unsigned long long base, unsigned int prec, unsigned int width, unsigned int flags) +{ + char buf[PRINTF_NTOA_BUFFER_SIZE]; + size_t len = 0U; + + // no hash for 0 values + if (!value) { + flags &= ~FLAGS_HASH; + } + + // write if precision != 0 and value is != 0 + if (!(flags & FLAGS_PRECISION) || value) { + do { + const char digit = (char)(value % base); + buf[len++] = digit < 10 ? '0' + digit : (flags & FLAGS_UPPERCASE ? 'A' : 'a') + digit - 10; + value /= base; + } while (value && (len < PRINTF_NTOA_BUFFER_SIZE)); + } + + return _ntoa_format(out, buffer, idx, maxlen, buf, len, negative, (unsigned int)base, prec, width, flags); +} +#endif // PRINTF_SUPPORT_LONG_LONG + + +#if defined(PRINTF_SUPPORT_FLOAT) + +#if defined(PRINTF_SUPPORT_EXPONENTIAL) +// forward declaration so that _ftoa can switch to exp notation for values > PRINTF_MAX_FLOAT +static size_t _etoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags); +#endif + + +// internal ftoa for fixed decimal floating point +static size_t _ftoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags) +{ + char buf[PRINTF_FTOA_BUFFER_SIZE]; + size_t len = 0U; + double diff = 0.0; + + // powers of 10 + static const double pow10[] = { 1, 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000, 1000000000 }; + + // test for special values + if (value != value) + return _out_rev(out, buffer, idx, maxlen, "nan", 3, width, flags); + if (value < -DBL_MAX) + return _out_rev(out, buffer, idx, maxlen, "fni-", 4, width, flags); + if (value > DBL_MAX) + return _out_rev(out, buffer, idx, maxlen, (flags & FLAGS_PLUS) ? "fni+" : "fni", (flags & FLAGS_PLUS) ? 4U : 3U, width, flags); + + // test for very large values + // standard printf behavior is to print EVERY whole number digit -- which could be 100s of characters overflowing your buffers == bad + if ((value > PRINTF_MAX_FLOAT) || (value < -PRINTF_MAX_FLOAT)) { +#if defined(PRINTF_SUPPORT_EXPONENTIAL) + return _etoa(out, buffer, idx, maxlen, value, prec, width, flags); +#else + return 0U; +#endif + } + + // test for negative + bool negative = false; + if (value < 0) { + negative = true; + value = 0 - value; + } + + // set default precision, if not set explicitly + if (!(flags & FLAGS_PRECISION)) { + prec = PRINTF_DEFAULT_FLOAT_PRECISION; + } + // limit precision to 9, cause a prec >= 10 can lead to overflow errors + while ((len < PRINTF_FTOA_BUFFER_SIZE) && (prec > 9U)) { + buf[len++] = '0'; + prec--; + } + + int whole = (int)value; + double tmp = (value - whole) * pow10[prec]; + unsigned long frac = (unsigned long)tmp; + diff = tmp - frac; + + if (diff > 0.5) { + ++frac; + // handle rollover, e.g. case 0.99 with prec 1 is 1.0 + if (frac >= pow10[prec]) { + frac = 0; + ++whole; + } + } + else if (diff < 0.5) { + } + else if ((frac == 0U) || (frac & 1U)) { + // if halfway, round up if odd OR if last digit is 0 + ++frac; + } + + if (prec == 0U) { + diff = value - (double)whole; + if ((!(diff < 0.5) || (diff > 0.5)) && (whole & 1)) { + // exactly 0.5 and ODD, then round up + // 1.5 -> 2, but 2.5 -> 2 + ++whole; + } + } + else { + unsigned int count = prec; + // now do fractional part, as an unsigned number + while (len < PRINTF_FTOA_BUFFER_SIZE) { + --count; + buf[len++] = (char)(48U + (frac % 10U)); + if (!(frac /= 10U)) { + break; + } + } + // add extra 0s + while ((len < PRINTF_FTOA_BUFFER_SIZE) && (count-- > 0U)) { + buf[len++] = '0'; + } + if (len < PRINTF_FTOA_BUFFER_SIZE) { + // add decimal + buf[len++] = '.'; + } + } + + // do whole part, number is reversed + while (len < PRINTF_FTOA_BUFFER_SIZE) { + buf[len++] = (char)(48 + (whole % 10)); + if (!(whole /= 10)) { + break; + } + } + + // pad leading zeros + if (!(flags & FLAGS_LEFT) && (flags & FLAGS_ZEROPAD)) { + if (width && (negative || (flags & (FLAGS_PLUS | FLAGS_SPACE)))) { + width--; + } + while ((len < width) && (len < PRINTF_FTOA_BUFFER_SIZE)) { + buf[len++] = '0'; + } + } + + if (len < PRINTF_FTOA_BUFFER_SIZE) { + if (negative) { + buf[len++] = '-'; + } + else if (flags & FLAGS_PLUS) { + buf[len++] = '+'; // ignore the space if the '+' exists + } + else if (flags & FLAGS_SPACE) { + buf[len++] = ' '; + } + } + + return _out_rev(out, buffer, idx, maxlen, buf, len, width, flags); +} + + +#if defined(PRINTF_SUPPORT_EXPONENTIAL) +// internal ftoa variant for exponential floating-point type, contributed by Martijn Jasperse +static size_t _etoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags) +{ + // check for NaN and special values + if ((value != value) || (value > DBL_MAX) || (value < -DBL_MAX)) { + return _ftoa(out, buffer, idx, maxlen, value, prec, width, flags); + } + + // determine the sign + const bool negative = value < 0; + if (negative) { + value = -value; + } + + // default precision + if (!(flags & FLAGS_PRECISION)) { + prec = PRINTF_DEFAULT_FLOAT_PRECISION; + } + + // determine the decimal exponent + // based on the algorithm by David Gay (https://www.ampl.com/netlib/fp/dtoa.c) + union { + uint64_t U; + double F; + } conv; + + conv.F = value; + int exp2 = (int)((conv.U >> 52U) & 0x07FFU) - 1023; // effectively log2 + conv.U = (conv.U & ((1ULL << 52U) - 1U)) | (1023ULL << 52U); // drop the exponent so conv.F is now in [1,2) + // now approximate log10 from the log2 integer part and an expansion of ln around 1.5 + int expval = (int)(0.1760912590558 + exp2 * 0.301029995663981 + (conv.F - 1.5) * 0.289529654602168); + // now we want to compute 10^expval but we want to be sure it won't overflow + exp2 = (int)(expval * 3.321928094887362 + 0.5); + const double z = expval * 2.302585092994046 - exp2 * 0.6931471805599453; + const double z2 = z * z; + conv.U = (uint64_t)(exp2 + 1023) << 52U; + // compute exp(z) using continued fractions, see https://en.wikipedia.org/wiki/Exponential_function#Continued_fractions_for_ex + conv.F *= 1 + 2 * z / (2 - z + (z2 / (6 + (z2 / (10 + z2 / 14))))); + // correct for rounding errors + if (value < conv.F) { + expval--; + conv.F /= 10; + } + + // the exponent format is "%+03d" and largest value is "307", so set aside 4-5 characters + unsigned int minwidth = ((expval < 100) && (expval > -100)) ? 4U : 5U; + + // in "%g" mode, "prec" is the number of *significant figures* not decimals + if (flags & FLAGS_ADAPT_EXP) { + // do we want to fall-back to "%f" mode? + if ((value >= 1e-4) && (value < 1e6)) { + if ((int)prec > expval) { + prec = (unsigned)((int)prec - expval - 1); + } + else { + prec = 0; + } + flags |= FLAGS_PRECISION; // make sure _ftoa respects precision + // no characters in exponent + minwidth = 0U; + expval = 0; + } + else { + // we use one sigfig for the whole part + if ((prec > 0) && (flags & FLAGS_PRECISION)) { + --prec; + } + } + } + + // will everything fit? + unsigned int fwidth = width; + if (width > minwidth) { + // we didn't fall-back so subtract the characters required for the exponent + fwidth -= minwidth; + } else { + // not enough characters, so go back to default sizing + fwidth = 0U; + } + if ((flags & FLAGS_LEFT) && minwidth) { + // if we're padding on the right, DON'T pad the floating part + fwidth = 0U; + } + + // rescale the float value + if (expval) { + value /= conv.F; + } + + // output the floating part + const size_t start_idx = idx; + idx = _ftoa(out, buffer, idx, maxlen, negative ? -value : value, prec, fwidth, flags & ~FLAGS_ADAPT_EXP); + + // output the exponent part + if (minwidth) { + // output the exponential symbol + out((flags & FLAGS_UPPERCASE) ? 'E' : 'e', buffer, idx++, maxlen); + // output the exponent value + idx = _ntoa_long(out, buffer, idx, maxlen, (expval < 0) ? -expval : expval, expval < 0, 10, 0, minwidth-1, FLAGS_ZEROPAD | FLAGS_PLUS); + // might need to right-pad spaces + if (flags & FLAGS_LEFT) { + while (idx - start_idx < width) out(' ', buffer, idx++, maxlen); + } + } + return idx; +} +#endif // PRINTF_SUPPORT_EXPONENTIAL +#endif // PRINTF_SUPPORT_FLOAT + + +// internal vsnprintf +static int _vsnprintf(out_fct_type out, char* buffer, const size_t maxlen, const char* format, va_list va) +{ + unsigned int flags, width, precision, n; + size_t idx = 0U; + + if (!buffer) { + // use null output function + out = _out_null; + } + + while (*format) + { + // format specifier? %[flags][width][.precision][length] + if (*format != '%') { + // no + out(*format, buffer, idx++, maxlen); + format++; + continue; + } + else { + // yes, evaluate it + format++; + } + + // evaluate flags + flags = 0U; + do { + switch (*format) { + case '0': flags |= FLAGS_ZEROPAD; format++; n = 1U; break; + case '-': flags |= FLAGS_LEFT; format++; n = 1U; break; + case '+': flags |= FLAGS_PLUS; format++; n = 1U; break; + case ' ': flags |= FLAGS_SPACE; format++; n = 1U; break; + case '#': flags |= FLAGS_HASH; format++; n = 1U; break; + default : n = 0U; break; + } + } while (n); + + // evaluate width field + width = 0U; + if (_is_digit(*format)) { + width = _atoi(&format); + } + else if (*format == '*') { + const int w = va_arg(va, int); + if (w < 0) { + flags |= FLAGS_LEFT; // reverse padding + width = (unsigned int)-w; + } + else { + width = (unsigned int)w; + } + format++; + } + + // evaluate precision field + precision = 0U; + if (*format == '.') { + flags |= FLAGS_PRECISION; + format++; + if (_is_digit(*format)) { + precision = _atoi(&format); + } + else if (*format == '*') { + const int prec = (int)va_arg(va, int); + precision = prec > 0 ? (unsigned int)prec : 0U; + format++; + } + } + + // evaluate length field + switch (*format) { + case 'l' : + flags |= FLAGS_LONG; + format++; + if (*format == 'l') { + flags |= FLAGS_LONG_LONG; + format++; + } + break; + case 'h' : + flags |= FLAGS_SHORT; + format++; + if (*format == 'h') { + flags |= FLAGS_CHAR; + format++; + } + break; +#if defined(PRINTF_SUPPORT_PTRDIFF_T) + case 't' : + flags |= (sizeof(ptrdiff_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG); + format++; + break; +#endif + case 'j' : + flags |= (sizeof(intmax_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG); + format++; + break; + case 'z' : + flags |= (sizeof(size_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG); + format++; + break; + default : + break; + } + + // evaluate specifier + switch (*format) { + case 'd' : + case 'i' : + case 'u' : + case 'x' : + case 'X' : + case 'o' : + case 'b' : { + // set the base + unsigned int base; + if (*format == 'x' || *format == 'X') { + base = 16U; + } + else if (*format == 'o') { + base = 8U; + } + else if (*format == 'b') { + base = 2U; + } + else { + base = 10U; + flags &= ~FLAGS_HASH; // no hash for dec format + } + // uppercase + if (*format == 'X') { + flags |= FLAGS_UPPERCASE; + } + + // no plus or space flag for u, x, X, o, b + if ((*format != 'i') && (*format != 'd')) { + flags &= ~(FLAGS_PLUS | FLAGS_SPACE); + } + + // ignore '0' flag when precision is given + if (flags & FLAGS_PRECISION) { + flags &= ~FLAGS_ZEROPAD; + } + + // convert the integer + if ((*format == 'i') || (*format == 'd')) { + // signed + if (flags & FLAGS_LONG_LONG) { +#if defined(PRINTF_SUPPORT_LONG_LONG) + const long long value = va_arg(va, long long); + idx = _ntoa_long_long(out, buffer, idx, maxlen, (unsigned long long)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags); +#endif + } + else if (flags & FLAGS_LONG) { + const long value = va_arg(va, long); + idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned long)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags); + } + else { + const int value = (flags & FLAGS_CHAR) ? (char)va_arg(va, int) : (flags & FLAGS_SHORT) ? (short int)va_arg(va, int) : va_arg(va, int); + idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned int)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags); + } + } + else { + // unsigned + if (flags & FLAGS_LONG_LONG) { +#if defined(PRINTF_SUPPORT_LONG_LONG) + idx = _ntoa_long_long(out, buffer, idx, maxlen, va_arg(va, unsigned long long), false, base, precision, width, flags); +#endif + } + else if (flags & FLAGS_LONG) { + idx = _ntoa_long(out, buffer, idx, maxlen, va_arg(va, unsigned long), false, base, precision, width, flags); + } + else { + const unsigned int value = (flags & FLAGS_CHAR) ? (unsigned char)va_arg(va, unsigned int) : (flags & FLAGS_SHORT) ? (unsigned short int)va_arg(va, unsigned int) : va_arg(va, unsigned int); + idx = _ntoa_long(out, buffer, idx, maxlen, value, false, base, precision, width, flags); + } + } + format++; + break; + } +#if defined(PRINTF_SUPPORT_FLOAT) + case 'f' : + case 'F' : + if (*format == 'F') flags |= FLAGS_UPPERCASE; + idx = _ftoa(out, buffer, idx, maxlen, va_arg(va, double), precision, width, flags); + format++; + break; +#if defined(PRINTF_SUPPORT_EXPONENTIAL) + case 'e': + case 'E': + case 'g': + case 'G': + if ((*format == 'g')||(*format == 'G')) flags |= FLAGS_ADAPT_EXP; + if ((*format == 'E')||(*format == 'G')) flags |= FLAGS_UPPERCASE; + idx = _etoa(out, buffer, idx, maxlen, va_arg(va, double), precision, width, flags); + format++; + break; +#endif // PRINTF_SUPPORT_EXPONENTIAL +#endif // PRINTF_SUPPORT_FLOAT + case 'c' : { + unsigned int l = 1U; + // pre padding + if (!(flags & FLAGS_LEFT)) { + while (l++ < width) { + out(' ', buffer, idx++, maxlen); + } + } + // char output + out((char)va_arg(va, int), buffer, idx++, maxlen); + // post padding + if (flags & FLAGS_LEFT) { + while (l++ < width) { + out(' ', buffer, idx++, maxlen); + } + } + format++; + break; + } + + case 's' : { + const char* p = va_arg(va, char*); + unsigned int l = _strnlen_s(p, precision ? precision : (size_t)-1); + // pre padding + if (flags & FLAGS_PRECISION) { + l = (l < precision ? l : precision); + } + if (!(flags & FLAGS_LEFT)) { + while (l++ < width) { + out(' ', buffer, idx++, maxlen); + } + } + // string output + while ((*p != 0) && (!(flags & FLAGS_PRECISION) || precision--)) { + out(*(p++), buffer, idx++, maxlen); + } + // post padding + if (flags & FLAGS_LEFT) { + while (l++ < width) { + out(' ', buffer, idx++, maxlen); + } + } + format++; + break; + } + + case 'p' : { + width = sizeof(void*) * 2U; + flags |= FLAGS_ZEROPAD | FLAGS_UPPERCASE; +#if defined(PRINTF_SUPPORT_LONG_LONG) + const bool is_ll = sizeof(uintptr_t) == sizeof(long long); + if (is_ll) { + idx = _ntoa_long_long(out, buffer, idx, maxlen, (uintptr_t)va_arg(va, void*), false, 16U, precision, width, flags); + } + else { +#endif + idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned long)((uintptr_t)va_arg(va, void*)), false, 16U, precision, width, flags); +#if defined(PRINTF_SUPPORT_LONG_LONG) + } +#endif + format++; + break; + } + + case '%' : + out('%', buffer, idx++, maxlen); + format++; + break; + + default : + out(*format, buffer, idx++, maxlen); + format++; + break; + } + } + + // termination + out((char)0, buffer, idx < maxlen ? idx : maxlen - 1U, maxlen); + + // return written chars without terminating \0 + return (int)idx; +} + + +/////////////////////////////////////////////////////////////////////////////// + +int printf_(const char* format, ...) +{ + va_list va; + va_start(va, format); + char buffer[1]; + const int ret = _vsnprintf(_out_char, buffer, (size_t)-1, format, va); + va_end(va); + return ret; +} + + +int sprintf_(char* buffer, const char* format, ...) +{ + va_list va; + va_start(va, format); + const int ret = _vsnprintf(_out_buffer, buffer, (size_t)-1, format, va); + va_end(va); + return ret; +} + + +int snprintf_(char* buffer, size_t count, const char* format, ...) +{ + va_list va; + va_start(va, format); + const int ret = _vsnprintf(_out_buffer, buffer, count, format, va); + va_end(va); + return ret; +} + + +int vprintf_(const char* format, va_list va) +{ + char buffer[1]; + return _vsnprintf(_out_char, buffer, (size_t)-1, format, va); +} + + +int vsnprintf_(char* buffer, size_t count, const char* format, va_list va) +{ + return _vsnprintf(_out_buffer, buffer, count, format, va); +} + + +int fctprintf(void (*out)(char character, void* arg), void* arg, const char* format, ...) +{ + va_list va; + va_start(va, format); + const out_fct_wrap_type out_fct_wrap = { out, arg }; + const int ret = _vsnprintf(_out_fct, (char*)(uintptr_t)&out_fct_wrap, (size_t)-1, format, va); + va_end(va); + return ret; +} diff --git a/sw/src/tester.c b/sw/src/tester.c index 6350a15..5acae18 100644 --- a/sw/src/tester.c +++ b/sw/src/tester.c @@ -1,5 +1,7 @@ #include +#include void tester_poll(void) { + printf("Hello, world!\n"); return; } \ No newline at end of file diff --git a/sw/src/usb-cdc.c b/sw/src/usb-cdc.c index 52d511c..61972f0 100644 --- a/sw/src/usb-cdc.c +++ b/sw/src/usb-cdc.c @@ -1,4 +1,6 @@ +#include #include +#include static int connected = 0; @@ -10,4 +12,13 @@ int cdc_connected(void) void cdc_set_connected(int is_connected) { connected = is_connected; +} + +void _putchar(char character) +{ + // Wait for buffer to be empty + while (usb_ep_2_in_respond_read() == EPF_ACK) + ; + usb_ep_2_in_ibuf_head_write(character); + usb_ep_2_in_respond_write(EPF_ACK); } \ No newline at end of file diff --git a/sw/src/usb-epfifo.c b/sw/src/usb-epfifo.c index 35f5056..989c2e6 100644 --- a/sw/src/usb-epfifo.c +++ b/sw/src/usb-epfifo.c @@ -5,14 +5,23 @@ #ifdef CSR_USB_EP_0_OUT_EV_PENDING_ADDR +static const int max_byte_length = 64; + #define EP0OUT_BUFFERS 4 +#define EP2OUT_BUFFERS 4 __attribute__((aligned(4))) +#define EP0OUT_BUFFER_SIZE 256 static uint8_t volatile usb_ep0out_buffer_len[EP0OUT_BUFFERS]; -static uint8_t volatile usb_ep0out_buffer[EP0OUT_BUFFERS][256]; +static uint8_t volatile usb_ep0out_buffer[EP0OUT_BUFFERS][EP0OUT_BUFFER_SIZE]; static uint8_t volatile usb_ep0out_last_tok[EP0OUT_BUFFERS]; static volatile uint8_t usb_ep0out_wr_ptr; static volatile uint8_t usb_ep0out_rd_ptr; -static const int max_byte_length = 64; + +#define EP2OUT_BUFFER_SIZE 256 +static uint8_t volatile usb_ep2out_buffer_len[EP2OUT_BUFFERS]; +static uint8_t volatile usb_ep2out_buffer[EP2OUT_BUFFERS][EP2OUT_BUFFER_SIZE]; +static volatile uint8_t usb_ep2out_wr_ptr; +static volatile uint8_t usb_ep2out_rd_ptr; static const uint8_t * volatile current_data; static volatile int current_length; @@ -20,25 +29,6 @@ static volatile int data_offset; static volatile int data_to_send; static int next_packet_is_empty; -// Note that our PIDs are only bits 2 and 3 of the token, -// since all other bits are effectively redundant at this point. -enum USB_PID { - USB_PID_OUT = 0, - USB_PID_SOF = 1, - USB_PID_IN = 2, - USB_PID_SETUP = 3, -}; - -enum epfifo_response { - EPF_ACK = 0, - EPF_NAK = 1, - EPF_NONE = 2, - EPF_STALL = 3, -}; - -#define USB_EV_ERROR 1 -#define USB_EV_PACKET 2 - void usb_idle(void) { usb_ep_0_out_ev_enable_write(0); usb_ep_0_in_ev_enable_write(0); @@ -60,14 +50,22 @@ void usb_disconnect(void) { } void usb_connect(void) { - usb_ep_0_out_ev_pending_write(usb_ep_0_out_ev_enable_read()); usb_ep_0_in_ev_pending_write(usb_ep_0_in_ev_pending_read()); usb_ep_0_out_ev_enable_write(USB_EV_PACKET | USB_EV_ERROR); usb_ep_0_in_ev_enable_write(USB_EV_PACKET | USB_EV_ERROR); + usb_ep_1_in_ev_pending_write(usb_ep_1_in_ev_enable_read()); + usb_ep_1_in_ev_enable_write(USB_EV_PACKET | USB_EV_ERROR); + + usb_ep_2_out_ev_pending_write(usb_ep_2_out_ev_enable_read()); + usb_ep_2_in_ev_pending_write(usb_ep_2_in_ev_pending_read()); + usb_ep_2_out_ev_enable_write(USB_EV_PACKET | USB_EV_ERROR); + usb_ep_2_in_ev_enable_write(USB_EV_PACKET | USB_EV_ERROR); + // Accept incoming data by default. usb_ep_0_out_respond_write(EPF_ACK); + usb_ep_2_out_respond_write(EPF_ACK); // Reject outgoing data, since we have none to give yet. usb_ep_0_in_respond_write(EPF_NAK); @@ -153,24 +151,24 @@ void usb_wait_for_send_done(void) { } void usb_isr(void) { - uint8_t ep0o_pending = usb_ep_0_out_ev_pending_read(); - uint8_t ep0i_pending = usb_ep_0_in_ev_pending_read(); + uint8_t ep0out_pending = usb_ep_0_out_ev_pending_read(); + uint8_t ep0in_pending = usb_ep_0_in_ev_pending_read(); + uint8_t ep1in_pending = usb_ep_1_in_ev_pending_read(); + uint8_t ep2in_pending = usb_ep_2_in_ev_pending_read(); + uint8_t ep2out_pending = usb_ep_2_out_ev_pending_read(); // We got an OUT or a SETUP packet. Copy it to usb_ep0out_buffer // and clear the "pending" bit. - if (ep0o_pending) { + if (ep0out_pending) { uint8_t last_tok = usb_ep_0_out_last_tok_read(); int byte_count = 0; usb_ep0out_last_tok[usb_ep0out_wr_ptr] = last_tok; volatile uint8_t * obuf = usb_ep0out_buffer[usb_ep0out_wr_ptr]; - if (!usb_ep_0_out_obuf_empty_read()) { - while (!usb_ep_0_out_obuf_empty_read()) { - obuf[byte_count++] = usb_ep_0_out_obuf_head_read(); - usb_ep_0_out_obuf_head_write(0); - } + while (!usb_ep_0_out_obuf_empty_read()) { + obuf[byte_count++] = usb_ep_0_out_obuf_head_read(); + usb_ep_0_out_obuf_head_write(0); } - if (byte_count >= 2) usb_ep0out_buffer_len[usb_ep0out_wr_ptr] = byte_count - 2 /* Strip off CRC16 */; usb_ep0out_wr_ptr = (usb_ep0out_wr_ptr + 1) & (EP0OUT_BUFFERS-1); @@ -181,17 +179,43 @@ void usb_isr(void) { current_length = 0; current_data = NULL; } - - usb_ep_0_out_ev_pending_write(ep0o_pending); + usb_ep_0_out_ev_pending_write(ep0out_pending); usb_ep_0_out_respond_write(EPF_ACK); } // We just got an "IN" token. Send data if we have it. - if (ep0i_pending) { + if (ep0in_pending) { usb_ep_0_in_respond_write(EPF_NAK); - usb_ep_0_in_ev_pending_write(ep0i_pending); + usb_ep_0_in_ev_pending_write(ep0in_pending); } - + + if (ep1in_pending) { + usb_ep_1_in_respond_write(EPF_NAK); + usb_ep_1_in_ev_pending_write(ep1in_pending); + } + + if (ep2in_pending) { + usb_ep_2_in_respond_write(EPF_NAK); + usb_ep_2_in_ev_pending_write(ep2in_pending); + } + + if (ep2out_pending) { + volatile uint8_t * obuf = usb_ep2out_buffer[usb_ep2out_wr_ptr]; + int sz = 0; + while (!usb_ep_2_out_obuf_empty_read()) { + if (sz < EP2OUT_BUFFER_SIZE) + obuf[sz++] = usb_ep_2_out_obuf_head_read() + 1; + usb_ep_2_out_obuf_head_write(0); + } + if (sz > 2) { + usb_ep2out_buffer_len[usb_ep2out_wr_ptr] = sz - 2; /* Strip off CRC16 */ + usb_ep2out_wr_ptr = (usb_ep2out_wr_ptr + 1) & (EP2OUT_BUFFERS-1); + } + + usb_ep_2_out_respond_write(EPF_ACK); + usb_ep_2_out_ev_pending_write(ep2out_pending); + } + return; }