From dc2c181001827545b0dd08dafc13f02147b25f35 Mon Sep 17 00:00:00 2001 From: c1570 Date: Tue, 14 Mar 2023 18:19:11 +0100 Subject: [PATCH] dual mcu demo --- README.md | 10 + demo/dual-mcu.ts | 120 +++ demo/dual-mcu/CMakeLists.txt | 42 + demo/dual-mcu/dual-mcu-0.hex | 1293 +++++++++++++++++++++++++++ demo/dual-mcu/dual-mcu-1.hex | 1247 ++++++++++++++++++++++++++ demo/dual-mcu/dual-mcu.c | 37 + demo/dual-mcu/dual-mcu.pio | 26 + demo/dual-mcu/pico_sdk_import.cmake | 64 ++ package.json | 1 + 9 files changed, 2840 insertions(+) create mode 100644 demo/dual-mcu.ts create mode 100644 demo/dual-mcu/CMakeLists.txt create mode 100644 demo/dual-mcu/dual-mcu-0.hex create mode 100644 demo/dual-mcu/dual-mcu-1.hex create mode 100644 demo/dual-mcu/dual-mcu.c create mode 100644 demo/dual-mcu/dual-mcu.pio create mode 100644 demo/dual-mcu/pico_sdk_import.cmake diff --git a/README.md b/README.md index ca5823c..2e7a7f8 100644 --- a/README.md +++ b/README.md @@ -107,6 +107,16 @@ sudo umount fat12/ # unmount the filesystem While CircuitPython does not typically use a writeable filesystem, note that this functionality is unavailable (see MicroPython filesystem support section for more details). +### Dual RP2040 demo +``` +npm install +npm run start:dual-mcu +``` + +This fires up two instances of rp2040js including some glue code that connects the GPIOs 2-10 in an open collector/pull up bus fashion. +It will write a VCD trace of bus signals to the file `dual-mcu-bus-trace.vcd` including a virtual signal indicating conflicts on the bus. +The demo programs on the two RP2040s pull a single line low each (MCU0: D0 then D1 then ... then D7, MCU1 in the opposite direction). + ## Learn more - [Live-coding stream playlist](https://www.youtube.com/playlist?list=PLLomdjsHtJTxT-vdJHwa3z62dFXZnzYBm) diff --git a/demo/dual-mcu.ts b/demo/dual-mcu.ts new file mode 100644 index 0000000..df6d46e --- /dev/null +++ b/demo/dual-mcu.ts @@ -0,0 +1,120 @@ +import * as fs from "fs"; +import { RP2040 } from "../src"; +import { GPIOPinState } from "../src/gpio-pin"; +import { bootromB1 } from "./bootrom"; +import { loadHex } from "./intelhex"; + +const hex1 = fs.readFileSync("demo/dual-mcu/dual-mcu-0.hex", "utf-8"); +const hex2 = fs.readFileSync("demo/dual-mcu/dual-mcu-1.hex", "utf-8"); +const mcu1 = new RP2040(); +const mcu2 = new RP2040(); +mcu1.loadBootrom(bootromB1); +mcu2.loadBootrom(bootromB1); +loadHex(hex1, mcu1.flash, 0x10000000); +loadHex(hex2, mcu2.flash, 0x10000000); + +mcu1.uart[0].onByte = (value) => { + process.stdout.write(new Uint8Array([value])); +}; + +mcu2.uart[0].onByte = (value) => { + process.stdout.write(new Uint8Array([value])); +}; + +// GPIOPinState: { Low, High, Input, InputPullUp, InputPullDown } + +const pin_state: number[][] = [ + [0, 0, 0, 0, 0, 0, 0], // result value + [3, 3, 3, 3, 3, 3, 3], // input from mcu1 (pullup initially) + [3, 3, 3, 3, 3, 3, 3], // input from mcu2 (pullup initially) +]; +const pin_gpio: number[] = [2, 3, 4, 5, 6, 7, 8, 9]; +const pin_label: string[] = ["d0", "d1", "d2", "d3", "d4", "d5", "d6", "d7"]; +const vcd_file = fs.createWriteStream("dual-mcu-bus-trace.vcd", {}); +let last_conflict_cycle: number = -1; + +// This listener connects the two MCUs and writes a VCD signal trace file. +// This code assumes pullups enabled (open collector/pullup bus). +function pinListener(mcu_id: number, pin: number) { + return (state: GPIOPinState, oldState: GPIOPinState) => { + pin_state[mcu_id + 1][pin] = state; + const v: number = + pin_state[0 + 1][pin] === 0 || pin_state[1 + 1][pin] === 0 ? 0 : 1; + mcu1.gpio[pin_gpio[pin]].setInputValue(v == 1 ? true : false); + mcu2.gpio[pin_gpio[pin]].setInputValue(v == 1 ? true : false); + + // write signal to VCD file + const pin_vcd_id = String.fromCharCode(pin + 34); + if (pin_state[0][pin] !== v) { + pin_state[0][pin] = v; + vcd_file.write(`#${mcu1.core.cycles} ${v}${pin_vcd_id}\n`); + } + + // write conflict flag to VCD file + const conflict: boolean = + (pin_state[0 + 1][pin] === 0 && pin_state[1 + 1][pin] === 1) || + (pin_state[0 + 1][pin] === 1 && pin_state[1 + 1][pin] === 0); + if (conflict) + console.log( + `Conflict on pin ${pin_label[pin]} at cycle ${mcu1.core.cycles} (${ + pin_state[0 + 1][pin] + }/${pin_state[1 + 1][pin]})` + ); + const have_new_conflict = conflict && last_conflict_cycle === -1; + const conflict_recently_resolved = !conflict && last_conflict_cycle !== -1; + if ( + conflict_recently_resolved && + mcu1.core.cycles === last_conflict_cycle + ) { + // one mcu set conflict and other resolved in same cycle: + // delay until next signal change so that the conflict signal is visible in VCD + return; + } + const write_conflict_flag: boolean = + have_new_conflict || conflict_recently_resolved; + if (write_conflict_flag) { + vcd_file.write(`#${mcu1.core.cycles} ${conflict ? 1 : 0}!\n`); + } + last_conflict_cycle = conflict ? mcu1.core.cycles : -1; + }; +} + +for (let i = 0; i < pin_label.length; i++) { + mcu1.gpio[pin_gpio[i]].addListener(pinListener(0, i)); + mcu2.gpio[pin_gpio[i]].addListener(pinListener(1, i)); +} + +mcu1.core.PC = 0x10000000; +mcu2.core.PC = 0x10000000; + +// write VCD file header +vcd_file.write("$timescale 1ns $end\n"); +vcd_file.write("$scope module logic $end\n"); +vcd_file.write(`$var wire 1 ! bus_conflict $end\n`); +for (let pin = 0; pin < pin_label.length; pin++) { + const pin_vcd_id = String.fromCharCode(pin + 34); + vcd_file.write(`$var wire 1 ${pin_vcd_id} ${pin_label[pin]} $end\n`); +} +vcd_file.write("$upscope $end\n"); +vcd_file.write("$enddefinitions $end\n"); + +function run_mcus() { + let cycles_mcu2_behind = 0; + for (let i = 0; i < 100000; i++) { + if (mcu1.core.cycles % (1 << 25) === 0) + console.log(`clock: ${mcu1.core.cycles / 125000000} secs`); + // run mcu1 for one step, take note of how many cycles that took, + // then step mcu2 until it caught up. + let cycles = mcu1.core.cycles; + mcu1.step(); + cycles_mcu2_behind += mcu1.core.cycles - cycles; + while (cycles_mcu2_behind > 0) { + cycles = mcu2.core.cycles; + mcu2.step(); + cycles_mcu2_behind -= mcu2.core.cycles - cycles; + } + } + setTimeout(() => run_mcus(), 0); +} + +run_mcus(); diff --git a/demo/dual-mcu/CMakeLists.txt b/demo/dual-mcu/CMakeLists.txt new file mode 100644 index 0000000..b5cb3ca --- /dev/null +++ b/demo/dual-mcu/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.12) +include(pico_sdk_import.cmake) + +project(dual-mcu C CXX ASM) +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 17) + +pico_sdk_init() + +add_executable(dual-mcu-0 + dual-mcu.c +) + +add_executable(dual-mcu-1 + dual-mcu.c +) + +target_compile_options(dual-mcu-0 PRIVATE -Wall -DMCU0) +target_compile_options(dual-mcu-1 PRIVATE -Wall -DMCU1) + +target_link_libraries(dual-mcu-0 + hardware_pio + pico_stdlib + pico_util +) + +target_link_libraries(dual-mcu-1 + hardware_pio + pico_stdlib + pico_util +) + +pico_enable_stdio_usb(dual-mcu-0 0) +pico_enable_stdio_uart(dual-mcu-0 1) +pico_enable_stdio_usb(dual-mcu-1 0) +pico_enable_stdio_uart(dual-mcu-1 1) + +pico_generate_pio_header(dual-mcu-0 ${CMAKE_CURRENT_LIST_DIR}/dual-mcu.pio) +pico_generate_pio_header(dual-mcu-1 ${CMAKE_CURRENT_LIST_DIR}/dual-mcu.pio) + +pico_add_extra_outputs(dual-mcu-0) +pico_add_extra_outputs(dual-mcu-1) diff --git a/demo/dual-mcu/dual-mcu-0.hex b/demo/dual-mcu/dual-mcu-0.hex new file mode 100644 index 0000000..6e4a011 --- /dev/null +++ b/demo/dual-mcu/dual-mcu-0.hex @@ -0,0 +1,1293 @@ +:020000041000EA +:1000000000B5324B212058609868022188439860DF +:10001000D860186158612E4B002199600221596106 +:100020000121F02299502B49196001219960352056 +:1000300000F044F80222904214D00621196600F024 +:1000400034F8196E01211966002018661A6600F04E +:100050002CF8196E196E196E052000F02FF8012189 +:100060000842F9D1002199601B49196000215960AB +:100070001A491B48016001219960EB211966A021F2 +:10008000196600F012F800219960164914480160C1 +:100090000121996001BC002800D000471248134993 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a/demo/dual-mcu/dual-mcu.c b/demo/dual-mcu/dual-mcu.c new file mode 100644 index 0000000..493cedc --- /dev/null +++ b/demo/dual-mcu/dual-mcu.c @@ -0,0 +1,37 @@ +#include +#include "pico/stdlib.h" +#include "hardware/structs/rosc.h" +#include "dual-mcu.pio.h" + +int main() { + stdio_init_all(); + + uint bus_start_pin = 2; // start at GPIO2, leave GPIO0/1 to UART + PIO pio = pio0; + uint sm = pio_claim_unused_sm(pio, true); + uint offset = pio_add_program(pio, &dualmcu_program); + dualmcu_program_init(pio, sm, offset, bus_start_pin, 500); // run PIO at 125MHz/500=0.25MHz + +#ifdef MCU0 + uint mcu = 0; +#else + uint mcu = 1; +#endif + uint8_t bus_cycle = 0; + while (true) { + // The PIO program keeps pins at low and changes pindirs instead: + // pindir 1 (output) thus pulls the pin to low, + // pindir 0 (input) will make the pullup pull the signal to high + // (unless the other MCU drives that pin low). + uint32_t bus_val = (1 << ((mcu == 0) ? bus_cycle : (8 - bus_cycle))) ^ 0xff; + uint32_t out_dirs = bus_val ^ 0xff; + pio_sm_put_blocking(pio, sm, out_dirs); + uint32_t read_val = pio_sm_get_blocking(pio, sm); + + if(mcu == 0) { + sleep_us(10); // just make sure the emulator does not print messages on top of each other + } + printf("mcu%d - value put: %02lx - value read: %02lx\n", mcu, bus_val, read_val); + bus_cycle = (bus_cycle + 1) % 8; + } +} diff --git a/demo/dual-mcu/dual-mcu.pio b/demo/dual-mcu/dual-mcu.pio new file mode 100644 index 0000000..f0bdb82 --- /dev/null +++ b/demo/dual-mcu/dual-mcu.pio @@ -0,0 +1,26 @@ +.program dualmcu + + pull block + mov pins, null + out pindirs, 8 [5] + in pins, 8 + push [31] + +% c-sdk { +static inline void dualmcu_program_init(PIO pio, uint sm, uint offset, uint bus_pin_start, float div) { + const uint bus_pin_count = 8; + pio_sm_config c = dualmcu_program_get_default_config(offset); + sm_config_set_out_pins(&c, bus_pin_start, bus_pin_count); + sm_config_set_in_pins(&c, bus_pin_start); + sm_config_set_in_shift(&c, false /* true: shift ISR right */, false, 0); + sm_config_set_out_shift(&c, true /* true: shift OSR right */, false, 0); + for(uint i=0; i/external/pico_sdk_import.cmake + +# This can be dropped into an external project to help locate this SDK +# It should be include()ed prior to project() + +# todo document + +if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) + set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) + message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") +endif () + +set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the PICO SDK") +set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of PICO SDK from git if not otherwise locatable") +set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") + +if (NOT PICO_SDK_PATH) + if (PICO_SDK_FETCH_FROM_GIT) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY git@asic-git.pitowers.org:projectmu/pico_sdk.git + GIT_TAG master + ) + if (NOT pico_sdk) + message("Downloading PICO SDK") + FetchContent_Populate(pico_sdk) + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "PICO SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the PICO SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the PICO SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE}) diff --git a/package.json b/package.json index 4b13c9d..933fb69 100644 --- a/package.json +++ b/package.json @@ -36,6 +36,7 @@ "start:micropython": "ts-node demo/micropython-run.ts", "start:circuitpython": "ts-node demo/micropython-run.ts --circuitpython", "start:gdbdiff": "ts-node debug/gdbdiff.ts", + "start:dual-mcu": "ts-node demo/dual-mcu.ts", "test": "jest" }, "devDependencies": {