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aiie/teensy/teensy.ino

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#include <Arduino.h>
#include <SPI.h>
#include <TimeLib.h>
#include <TeensyThreads.h>
#include <Bounce2.h>
#include "bios.h"
#include "cpu.h"
#include "applevm.h"
#include "teensy-display.h"
#include "teensy-keyboard.h"
#include "teensy-speaker.h"
#include "teensy-paddles.h"
#include "teensy-filemanager.h"
#include "teensy-usb.h"
#include "appleui.h"
#include "teensy-prefs.h"
#include "teensy-println.h"
#if F_CPU < 240000000
#pragma AiiE warning: performance will improve if you overclock the Teensy to 240MHz (F_CPU=240MHz) or 256MHz (F_CPU=256MHz)
#endif
#define RESETPIN 39
#define BATTERYPIN 38
#define SPEAKERPIN A16 // aka digital 40
#include "globals.h"
#include "teensy-crash.h"
BIOS bios;
// How many microseconds per cycle
#define SPEEDCTL ((float)1000000/(float)g_speed)
static time_t getTeensy3Time() { return Teensy3Clock.get(); }
TeensyUSB usb;
int cpuThreadId;
int displayThreadId;
int maintenanceThreadId;
int biosThreadId = -1;
Bounce resetButtonDebouncer = Bounce();
Threads::Mutex cpulock; // For the BIOS to suspend CPU cleanly
Threads::Mutex displaylock; // For the BIOS to shut down the display cleanly
volatile bool g_writePrefsFromMainLoop = false;
void onKeypress(int unicode)
{
Serial.print("onKeypress:");
Serial.println(unicode);
uint8_t modifiers = usb.getModifiers();
Serial.print("Modifiers: ");
Serial.println(modifiers, HEX);
if (unicode == 0) {
unicode = usb.getOemKey();
Serial.print("oemKey: ");
Serial.println(unicode);
}
// vmkeyboard->keyDepressed(keypad.key[i].kchar);
}
void onKeyrelease(int unicode)
{
Serial.print("onKeyrelease: ");
Serial.println(unicode);
uint8_t modifiers = usb.getModifiers();
Serial.print("Modifiers: ");
Serial.println(modifiers, HEX);
if (unicode == 0) {
unicode = usb.getOemKey();
Serial.print("oemKey: ");
Serial.println(unicode);
}
// vmkeyboard->keyReleased(keypad.key[i].kchar);
}
void setup()
{
Serial.begin(230400);
#if 0
// Wait for USB serial connection before booting while debugging
while (!Serial) {
yield();
}
#endif
delay(120); // let the power settle
// enableFaultHandler();
SCB_SHCSR |= SCB_SHCSR_BUSFAULTENA | SCB_SHCSR_USGFAULTENA | SCB_SHCSR_MEMFAULTENA;
// set the Time library to use Teensy 3.0's RTC to keep time
setSyncProvider(getTeensy3Time);
delay(100); // don't know if we need this
if (timeStatus() == timeSet) {
println("RTC set from Teensy");
} else {
println("Error while setting RTC");
}
pinMode(RESETPIN, INPUT);
digitalWrite(RESETPIN, HIGH);
analogReadRes(8); // We only need 8 bits of resolution (0-255) for battery & paddles
analogReadAveraging(4); // ?? dunno if we need this or not.
pinMode(SPEAKERPIN, OUTPUT); // analog speaker output, used as digital volume control
pinMode(BATTERYPIN, INPUT);
println("creating virtual hardware");
g_speaker = new TeensySpeaker(SPEAKERPIN);
println(" fm");
// First create the filemanager - the interface to the host file system.
g_filemanager = new TeensyFileManager();
// Construct the interface to the host display. This will need the
// VM's video buffer in order to draw the VM, but we don't have that
// yet.
println(" display");
g_display = new TeensyDisplay();
println(" UI");
g_ui = new AppleUI();
// Next create the virtual CPU. This needs the VM's MMU in order to
// run, but we don't have that yet.
println(" cpu");
g_cpu = new Cpu();
println(" usb");
usb.init();
usb.attachKeypress(onKeypress);
usb.attachKeyrelease(onKeyrelease);
// Create the virtual machine. This may read from g_filemanager to
// get ROMs if necessary. (The actual Apple VM we've built has them
// compiled in, though.) It will create its virutal hardware (MMU,
// video driver, floppy, paddles, whatever).
println(" vm");
Serial.flush();
g_vm = new AppleVM();
// Now that the VM exists and it has created an MMU, we tell the CPU
// how to access memory through the MMU.
println(" [setMMU]");
g_cpu->SetMMU(g_vm->getMMU());
// And the physical keyboard needs hooks in to the virtual keyboard...
println(" keyboard");
g_keyboard = new TeensyKeyboard(g_vm->getKeyboard());
println(" paddles");
g_paddles = new TeensyPaddles(A3, A4, g_invertPaddleX, g_invertPaddleY);
// Now that all the virtual hardware is glued together, reset the VM
println("Resetting VM");
g_vm->Reset();
println("Reading prefs");
readPrefs(); // read from eeprom and set anything we need setting
// Debugging: insert a disk on startup...
//((AppleVM *)g_vm)->insertDisk(0, "/A2DISKS/UTIL/mock2dem.dsk", false);
//((AppleVM *)g_vm)->insertDisk(0, "/A2DISKS/JORJ/disk_s6d1.dsk", false);
// ((AppleVM *)g_vm)->insertDisk(0, "/A2DISKS/GAMES/ALIBABA.DSK", false);
resetButtonDebouncer.attach(RESETPIN);
resetButtonDebouncer.interval(5); // ms
println("free-running");
Serial.flush();
threads.setMicroTimer(); // use a 100uS timer instead of a 1mS timer
cpuThreadId = threads.addThread(runCPU);
displayThreadId = threads.addThread(runDisplay);
maintenanceThreadId = threads.addThread(runMaintenance);
// Set the relative priorities of the threads by defining how long a "slice"
// is for each (in 100uS "ticks")
// At a ratio of 50:10:1, we get about 30FPS and 100% CPU speed.
threads.setTimeSlice(displayThreadId, 100);
threads.setTimeSlice(cpuThreadId, 20);
threads.setTimeSlice(maintenanceThreadId, 1);
}
// FIXME: move these memory-related functions elsewhere...
// This only gives you an estimated free mem size. It's not perfect.
uint32_t FreeRamEstimate()
{
uint32_t stackTop;
uint32_t heapTop;
// current position of the stack.
stackTop = (uint32_t) &stackTop;
// current position of heap.
void* hTop = malloc(1);
heapTop = (uint32_t) hTop;
free(hTop);
// The difference is the free, available ram.
return stackTop - heapTop;
}
#include "malloc.h"
int heapSize(){
return mallinfo().uordblks;
}
void biosInterrupt()
{
// Make sure the CPU and display don't run while we're in interrupt.
Threads::Scope lock1(cpulock);
Threads::Scope lock2(displaylock);
// wait for the interrupt button to be released
while (!resetButtonDebouncer.read())
;
// invoke the BIOS
if (bios.runUntilDone()) {
// if it returned true, we have something to store persistently in EEPROM.
// The EEPROM doesn't like to be written to from a thread?
g_writePrefsFromMainLoop = true;
while (g_writePrefsFromMainLoop) {
delay(100);
// wait for write to complete
}
// Also might have changed the paddles state
TeensyPaddles *tmp = (TeensyPaddles *)g_paddles;
tmp->setRev(g_invertPaddleX, g_invertPaddleY);
}
// if we turned off debugMode, make sure to clear the debugMsg
if (g_debugMode == D_NONE) {
g_display->debugMsg("");
}
// clear the CPU next-step counters
#if 0
// FIXME: this is to prevent the CPU from racing to catch up, and we need sth in the threads world
g_cpu->cycles = 0;
nextInstructionMicros = micros();
startMicros = micros();
#endif
// Drain the speaker queue (FIXME: a little hacky)
g_speaker->maintainSpeaker(-1, -1);
// Force the display to redraw
g_display->redraw(); // Redraw the UI
((AppleDisplay*)(g_vm->vmdisplay))->modeChange(); // force a full re-draw and blit
// Poll the keyboard before we start, so we can do selftest on startup
g_keyboard->maintainKeyboard();
}
//bool debugState = false;
//bool debugLCDState = false;
// FIXME: how often does this really need to run? We can threads.yield() when we're running too quickly
void runMaintenance()
{
uint32_t nextRuntime = 0;
while (1) {
if (millis() > nextRuntime) {
nextRuntime = millis() + 100; // FIXME: what's a good time here
if (biosThreadId == -1) {
// bios is not running; see if it should be
if (!resetButtonDebouncer.read()) {
// This is the BIOS interrupt. We immediately act on it.
biosThreadId = threads.addThread(biosInterrupt);
}
} else if (threads.getState(biosThreadId) != Threads::RUNNING) {
// When the BIOS thread exits, we clean up
threads.wait(biosThreadId);
biosThreadId = -1;
}
g_keyboard->maintainKeyboard();
usb.maintain();
static unsigned long nextBattCheck = millis() + 30;// debugging
static int batteryLevel = 0; // static for debugging code! When done
// debugging, this can become a local
// in the appropriate block below
if (millis() >= nextBattCheck) {
// FIXME: what about rollover?
nextBattCheck = millis() + 3 * 1000; // check every 3 seconds
// This is a bit disruptive - but the external 3.3v will drop along with the battery level, so we should use the more stable (I hope) internal 1.7v.
// The alternative is to build a more stable buck/boost regulator for reference...
batteryLevel = analogRead(BATTERYPIN);
/* LiIon charge to a max of 4.2v; and we should not let them discharge below about 3.5v.
* With a resistor voltage divider of Z1=39k, Z2=10k we're looking at roughly 20.4% of
* those values: (10/49) * 4.2 = 0.857v, and (10/49) * 3.5 = 0.714v. Since the external
* voltage reference flags as the battery drops, we can't use that as an absolute
* reference. So using the INTERNAL 1.1v reference, that should give us a reasonable
* range, in theory; the math shows the internal reference to be about 1.27v (assuming
* the resistors are indeed 39k and 10k, which is almost certainly also wrong). But
* then the high end would be 172, and the low end is about 142, which matches my
* actual readings here very well.
*
* Actual measurements:
* 3.46v = 144 - 146
* 4.21v = 172
*/
#if 0
Serial.print("battery: ");
println(batteryLevel);
#endif
if (batteryLevel < 146)
batteryLevel = 146;
if (batteryLevel > 168)
batteryLevel = 168;
batteryLevel = map(batteryLevel, 146, 168, 0, 100);
g_ui->drawPercentageUIElement(UIePowerPercentage, batteryLevel);
}
} else {
threads.delay(10);
// threads.yield();
}
}
}
// FIXME: figure out how to limit this to 30 FPS (or whatver) so we can
// appropriately use threads.yield()
void runDisplay()
{
g_display->redraw(); // Redraw the UI; don't blit to the physical device
while (1) {
{
Threads::Scope lock(displaylock);
doDebugging();
uint32_t startDisp = millis();
uint32_t cpuBefore = g_cpu->cycles;
g_ui->blit();
g_vm->vmdisplay->lockDisplay();
if (g_vm->vmdisplay->needsRedraw()) { // necessary for the VM to redraw
// Used to get the dirty rect and blit just that rect. Could still do,
// but instead, I'm just wildly wasting resources. MWAHAHAHA
// AiieRect what = g_vm->vmdisplay->getDirtyRect();
g_vm->vmdisplay->didRedraw();
// g_display->blit(what);
}
g_display->blit(); // Blit the whole thing, including UI area
g_vm->vmdisplay->unlockDisplay();
uint32_t dispTime = millis() - startDisp;
uint32_t cpuAfter = g_cpu->cycles;
if (dispTime > 75) {
print("Slow blit: ");
print(dispTime);
print(" cpu ran: ");
println(cpuAfter - cpuBefore);
}
}
}
}
void runCPU()
{
uint32_t nextInstructionMicros;
uint32_t startMicros;
startMicros = nextInstructionMicros = micros();
uint32_t startMillis = millis();
while (1) {
// Relatively critical timing: CPU needs to run ahead at least 4
// cycles, b/c we're calling this interrupt (runCPU, that is) just
// about 1/3 as fast as we should; and the speaker is updated
// directly from within it, so it needs to be real-ish time.
if (micros() >= nextInstructionMicros) {
uint32_t expectedCycles = (micros() - startMicros) * SPEEDCTL;
uint8_t executed;
cpulock.lock(); // Blocking; if the BIOS is running, we stall here
executed = g_cpu->Run(24);
cpulock.unlock();
// The CPU of the Apple //e ran at 1.023 MHz. Adjust when we think
// the next instruction should run based on how long the execution
// was ((1000/1023) * numberOfCycles) - which is about 97.8%.
if (expectedCycles > g_cpu->cycles) {
nextInstructionMicros = micros();
#if 1
// show a warning on serial about our current performance
double percentage = ((double)g_cpu->cycles / (double)expectedCycles) * 100.0;
static uint32_t nextWarningTime = 0;
if (millis() > nextWarningTime) {
static char buf[100];
sprintf(buf, "CPU running at %f%% of %d", percentage, g_speed);
println(buf);
nextWarningTime = millis() + 1000;
}
#endif
} else {
nextInstructionMicros = startMicros + ((double)g_cpu->cycles * (double)SPEEDCTL);
}
((AppleVM *)g_vm)->cpuMaintenance(g_cpu->cycles);
} else {
// threads.yield();
threads.delay(1);
}
}
}
void loop()
{
resetButtonDebouncer.update();
if (g_writePrefsFromMainLoop) {
writePrefs();
g_writePrefsFromMainLoop = false;
}
}
void doDebugging()
{
char buf[25];
switch (g_debugMode) {
case D_SHOWFPS:
// display some FPS data
static uint32_t startAt = millis();
static uint32_t loopCount = 0;
loopCount++;
time_t lenSecs;
lenSecs = (millis() - startAt) / 1000;
if (lenSecs >= 5) {
sprintf(buf, "%lu FPS", loopCount / lenSecs);
g_display->debugMsg(buf);
startAt = millis();
loopCount = 0;
}
break;
case D_SHOWMEMFREE:
sprintf(buf, "%lu %u", FreeRamEstimate(), heapSize());
g_display->debugMsg(buf);
break;
case D_SHOWPADDLES:
sprintf(buf, "%u %u", g_paddles->paddle0(), g_paddles->paddle1());
g_display->debugMsg(buf);
break;
case D_SHOWPC:
sprintf(buf, "%X", g_cpu->pc);
g_display->debugMsg(buf);
break;
case D_SHOWCYCLES:
sprintf(buf, "%lX", g_cpu->cycles);
g_display->debugMsg(buf);
break;
case D_SHOWBATTERY:
sprintf(buf, "BAT %d", analogRead(BATTERYPIN));
g_display->debugMsg(buf);
break;
case D_SHOWTIME:
sprintf(buf, "%.2d:%.2d:%.2d", hour(), minute(), second());
g_display->debugMsg(buf);
break;
case D_SHOWDSK:
{
uint8_t sd = ((AppleVM *)g_vm)->disk6->selectedDrive();
sprintf(buf, "s %d t %d",
sd,
((AppleVM *)g_vm)->disk6->headPosition(sd));
g_display->debugMsg(buf);
}
break;
}
}
void readPrefs()
{
TeensyPrefs np;
prefs_t p;
if (np.readPrefs(&p)) {
g_volume = p.volume;
g_displayType = p.displayType;
g_debugMode = p.debug;
g_speed = (p.speed * (1023000/2)); // steps of half normal speed
if (g_speed < (1023000/2))
g_speed = (1023000/2);
if (p.disk1[0]) {
((AppleVM *)g_vm)->insertDisk(0, p.disk1);
}
if (p.disk2[0]) {
((AppleVM *)g_vm)->insertDisk(1, p.disk2);
}
if (p.hd1[0]) {
((AppleVM *)g_vm)->insertHD(0, p.hd1);
}
if (p.hd2[0]) {
((AppleVM *)g_vm)->insertHD(1, p.hd2);
}
}
g_invertPaddleX = p.invertPaddleX;
g_invertPaddleY = p.invertPaddleY;
// Update the paddles with the new inversion state
((TeensyPaddles *)g_paddles)->setRev(g_invertPaddleX, g_invertPaddleY);
}
void writePrefs()
{
TeensyPrefs np;
prefs_t p;
p.magic = PREFSMAGIC;
p.prefsSize = sizeof(prefs_t);
p.version = PREFSVERSION;
p.invertPaddleX = g_invertPaddleX;
p.invertPaddleY = g_invertPaddleY;
p.volume = g_volume;
p.displayType = g_displayType;
p.debug = g_debugMode;
p.speed = g_speed / (1023000/2);
strcpy(p.disk1, ((AppleVM *)g_vm)->DiskName(0));
strcpy(p.disk2, ((AppleVM *)g_vm)->DiskName(1));
strcpy(p.hd1, ((AppleVM *)g_vm)->HDName(0));
strcpy(p.hd2, ((AppleVM *)g_vm)->HDName(1));
bool ret = np.writePrefs(&p);
}
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