homeclaw/web-ui/vendor/rp2040js/sio.js

import { Interpolator } from './interpolator.js';
const CPUID = 0x000;
// GPIO
const GPIO_IN = 0x004; // Input value for GPIO pins
const GPIO_HI_IN = 0x008; // Input value for QSPI pins
const GPIO_OUT = 0x010; // GPIO output value
const GPIO_OUT_SET = 0x014; // GPIO output value set
const GPIO_OUT_CLR = 0x018; // GPIO output value clear
const GPIO_OUT_XOR = 0x01c; // GPIO output value XOR
const GPIO_OE = 0x020; // GPIO output enable
const GPIO_OE_SET = 0x024; // GPIO output enable set
const GPIO_OE_CLR = 0x028; // GPIO output enable clear
const GPIO_OE_XOR = 0x02c; // GPIO output enable XOR
const GPIO_HI_OUT = 0x030; // QSPI output value
const GPIO_HI_OUT_SET = 0x034; // QSPI output value set
const GPIO_HI_OUT_CLR = 0x038; // QSPI output value clear
const GPIO_HI_OUT_XOR = 0x03c; // QSPI output value XOR
const GPIO_HI_OE = 0x040; // QSPI output enable
const GPIO_HI_OE_SET = 0x044; // QSPI output enable set
const GPIO_HI_OE_CLR = 0x048; // QSPI output enable clear
const GPIO_HI_OE_XOR = 0x04c; // QSPI output enable XOR
const GPIO_MASK = 0x3fffffff;
//HARDWARE DIVIDER
const DIV_UDIVIDEND = 0x060; //  Divider unsigned dividend
const DIV_UDIVISOR = 0x064; //  Divider unsigned divisor
const DIV_SDIVIDEND = 0x068; //  Divider signed dividend
const DIV_SDIVISOR = 0x06c; //  Divider signed divisor
const DIV_QUOTIENT = 0x070; //  Divider result quotient
const DIV_REMAINDER = 0x074; //Divider result remainder
const DIV_CSR = 0x078;
//INTERPOLATOR
const INTERP0_ACCUM0 = 0x080; // Read/write access to accumulator 0
const INTERP0_ACCUM1 = 0x084; // Read/write access to accumulator 1
const INTERP0_BASE0 = 0x088; // Read/write access to BASE0 register
const INTERP0_BASE1 = 0x08c; // Read/write access to BASE1 register
const INTERP0_BASE2 = 0x090; // Read/write access to BASE2 register
const INTERP0_POP_LANE0 = 0x094; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
const INTERP0_POP_LANE1 = 0x098; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
const INTERP0_POP_FULL = 0x09c; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
const INTERP0_PEEK_LANE0 = 0x0a0; // Read LANE0 result, without altering any internal state (PEEK)
const INTERP0_PEEK_LANE1 = 0x0a4; // Read LANE1 result, without altering any internal state (PEEK)
const INTERP0_PEEK_FULL = 0x0a8; // Read FULL result, without altering any internal state (PEEK)
const INTERP0_CTRL_LANE0 = 0x0ac; // Control register for lane 0
const INTERP0_CTRL_LANE1 = 0x0b0; // Control register for lane 1
const INTERP0_ACCUM0_ADD = 0x0b4; // Values written here are atomically added to ACCUM0
const INTERP0_ACCUM1_ADD = 0x0b8; // Values written here are atomically added to ACCUM1
const INTERP0_BASE_1AND0 = 0x0bc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
const INTERP1_ACCUM0 = 0x0c0; // Read/write access to accumulator 0
const INTERP1_ACCUM1 = 0x0c4; // Read/write access to accumulator 1
const INTERP1_BASE0 = 0x0c8; // Read/write access to BASE0 register
const INTERP1_BASE1 = 0x0cc; // Read/write access to BASE1 register
const INTERP1_BASE2 = 0x0d0; // Read/write access to BASE2 register
const INTERP1_POP_LANE0 = 0x0d4; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
const INTERP1_POP_LANE1 = 0x0d8; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
const INTERP1_POP_FULL = 0x0dc; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
const INTERP1_PEEK_LANE0 = 0x0e0; // Read LANE0 result, without altering any internal state (PEEK)
const INTERP1_PEEK_LANE1 = 0x0e4; // Read LANE1 result, without altering any internal state (PEEK)
const INTERP1_PEEK_FULL = 0x0e8; // Read FULL result, without altering any internal state (PEEK)
const INTERP1_CTRL_LANE0 = 0x0ec; // Control register for lane 0
const INTERP1_CTRL_LANE1 = 0x0f0; // Control register for lane 1
const INTERP1_ACCUM0_ADD = 0x0f4; // Values written here are atomically added to ACCUM0
const INTERP1_ACCUM1_ADD = 0x0f8; // Values written here are atomically added to ACCUM1
const INTERP1_BASE_1AND0 = 0x0fc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
//SPINLOCK
const SPINLOCK_ST = 0x5c;
const SPINLOCK0 = 0x100;
const SPINLOCK31 = 0x17c;
export class RPSIO {
    constructor(rp2040) {
        this.rp2040 = rp2040;
        this.gpioValue = 0;
        this.gpioOutputEnable = 0;
        this.qspiGpioValue = 0;
        this.qspiGpioOutputEnable = 0;
        this.divDividend = 0;
        this.divDivisor = 1;
        this.divQuotient = 0;
        this.divRemainder = 0;
        this.divCSR = 0;
        this.spinLock = 0;
        this.interp0 = new Interpolator(0);
        this.interp1 = new Interpolator(1);
    }
    updateHardwareDivider(signed) {
        if (this.divDivisor == 0) {
            this.divQuotient = this.divDividend > 0 ? -1 : 1;
            this.divRemainder = this.divDividend;
        }
        else {
            if (signed) {
                this.divQuotient = (this.divDividend | 0) / (this.divDivisor | 0);
                this.divRemainder = (this.divDividend | 0) % (this.divDivisor | 0);
            }
            else {
                this.divQuotient = (this.divDividend >>> 0) / (this.divDivisor >>> 0);
                this.divRemainder = (this.divDividend >>> 0) % (this.divDivisor >>> 0);
            }
        }
        this.divCSR = 0b11;
        this.rp2040.core.cycles += 8;
    }
    readUint32(offset) {
        if (offset >= SPINLOCK0 && offset <= SPINLOCK31) {
            const bitIndexMask = 1 << ((offset - SPINLOCK0) / 4);
            if (this.spinLock & bitIndexMask) {
                return 0;
            }
            else {
                this.spinLock |= bitIndexMask;
                return bitIndexMask;
            }
        }
        switch (offset) {
            case GPIO_IN:
                return this.rp2040.gpioValues;
            case GPIO_HI_IN: {
                const { qspi } = this.rp2040;
                let result = 0;
                for (let qspiIndex = 0; qspiIndex < qspi.length; qspiIndex++) {
                    if (qspi[qspiIndex].inputValue) {
                        result |= 1 << qspiIndex;
                    }
                }
                return result;
            }
            case GPIO_OUT:
                return this.gpioValue;
            case GPIO_OE:
                return this.gpioOutputEnable;
            case GPIO_HI_OUT:
                return this.qspiGpioValue;
            case GPIO_HI_OE:
                return this.qspiGpioOutputEnable;
            case GPIO_OUT_SET:
            case GPIO_OUT_CLR:
            case GPIO_OUT_XOR:
            case GPIO_OE_SET:
            case GPIO_OE_CLR:
            case GPIO_OE_XOR:
            case GPIO_HI_OUT_SET:
            case GPIO_HI_OUT_CLR:
            case GPIO_HI_OUT_XOR:
            case GPIO_HI_OE_SET:
            case GPIO_HI_OE_CLR:
            case GPIO_HI_OE_XOR:
                return 0; // TODO verify with silicone
            case CPUID:
                // Returns the current CPU core id (always 0 for now)
                return 0;
            case SPINLOCK_ST:
                return this.spinLock;
            case DIV_UDIVIDEND:
                return this.divDividend;
            case DIV_SDIVIDEND:
                return this.divDividend;
            case DIV_UDIVISOR:
                return this.divDivisor;
            case DIV_SDIVISOR:
                return this.divDivisor;
            case DIV_QUOTIENT:
                this.divCSR &= ~0b10;
                return this.divQuotient;
            case DIV_REMAINDER:
                return this.divRemainder;
            case DIV_CSR:
                return this.divCSR;
            case INTERP0_ACCUM0:
                return this.interp0.accum0;
            case INTERP0_ACCUM1:
                return this.interp0.accum1;
            case INTERP0_BASE0:
                return this.interp0.base0;
            case INTERP0_BASE1:
                return this.interp0.base1;
            case INTERP0_BASE2:
                return this.interp0.base2;
            case INTERP0_CTRL_LANE0:
                return this.interp0.ctrl0;
            case INTERP0_CTRL_LANE1:
                return this.interp0.ctrl1;
            case INTERP0_PEEK_LANE0:
                return this.interp0.result0;
            case INTERP0_PEEK_LANE1:
                return this.interp0.result1;
            case INTERP0_PEEK_FULL:
                return this.interp0.result2;
            case INTERP0_POP_LANE0: {
                const value = this.interp0.result0;
                this.interp0.writeback();
                return value;
            }
            case INTERP0_POP_LANE1: {
                const value = this.interp0.result1;
                this.interp0.writeback();
                return value;
            }
            case INTERP0_POP_FULL: {
                const value = this.interp0.result2;
                this.interp0.writeback();
                return value;
            }
            case INTERP0_ACCUM0_ADD:
                return this.interp0.smresult0;
            case INTERP0_ACCUM1_ADD:
                return this.interp0.smresult1;
            case INTERP1_ACCUM0:
                return this.interp1.accum0;
            case INTERP1_ACCUM1:
                return this.interp1.accum1;
            case INTERP1_BASE0:
                return this.interp1.base0;
            case INTERP1_BASE1:
                return this.interp1.base1;
            case INTERP1_BASE2:
                return this.interp1.base2;
            case INTERP1_CTRL_LANE0:
                return this.interp1.ctrl0;
            case INTERP1_CTRL_LANE1:
                return this.interp1.ctrl1;
            case INTERP1_PEEK_LANE0:
                return this.interp1.result0;
            case INTERP1_PEEK_LANE1:
                return this.interp1.result1;
            case INTERP1_PEEK_FULL:
                return this.interp1.result2;
            case INTERP1_POP_LANE0: {
                const value = this.interp1.result0;
                this.interp1.writeback();
                return value;
            }
            case INTERP1_POP_LANE1: {
                const value = this.interp1.result1;
                this.interp1.writeback();
                return value;
            }
            case INTERP1_POP_FULL: {
                const value = this.interp1.result2;
                this.interp1.writeback();
                return value;
            }
            case INTERP1_ACCUM0_ADD:
                return this.interp1.smresult0;
            case INTERP1_ACCUM1_ADD:
                return this.interp1.smresult1;
        }
        console.warn(`Read from invalid SIO address: ${offset.toString(16)}`);
        return 0xffffffff;
    }
    writeUint32(offset, value) {
        if (offset >= SPINLOCK0 && offset <= SPINLOCK31) {
            const bitIndexMask = ~(1 << ((offset - SPINLOCK0) / 4));
            this.spinLock &= bitIndexMask;
            return;
        }
        const prevGpioValue = this.gpioValue;
        const prevGpioOutputEnable = this.gpioOutputEnable;
        switch (offset) {
            case GPIO_OUT:
                this.gpioValue = value & GPIO_MASK;
                break;
            case GPIO_OUT_SET:
                this.gpioValue |= value & GPIO_MASK;
                break;
            case GPIO_OUT_CLR:
                this.gpioValue &= ~value;
                break;
            case GPIO_OUT_XOR:
                this.gpioValue ^= value & GPIO_MASK;
                break;
            case GPIO_OE:
                this.gpioOutputEnable = value & GPIO_MASK;
                break;
            case GPIO_OE_SET:
                this.gpioOutputEnable |= value & GPIO_MASK;
                break;
            case GPIO_OE_CLR:
                this.gpioOutputEnable &= ~value;
                break;
            case GPIO_OE_XOR:
                this.gpioOutputEnable ^= value & GPIO_MASK;
                break;
            case GPIO_HI_OUT:
                this.qspiGpioValue = value & GPIO_MASK;
                break;
            case GPIO_HI_OUT_SET:
                this.qspiGpioValue |= value & GPIO_MASK;
                break;
            case GPIO_HI_OUT_CLR:
                this.qspiGpioValue &= ~value;
                break;
            case GPIO_HI_OUT_XOR:
                this.qspiGpioValue ^= value & GPIO_MASK;
                break;
            case GPIO_HI_OE:
                this.qspiGpioOutputEnable = value & GPIO_MASK;
                break;
            case GPIO_HI_OE_SET:
                this.qspiGpioOutputEnable |= value & GPIO_MASK;
                break;
            case GPIO_HI_OE_CLR:
                this.qspiGpioOutputEnable &= ~value;
                break;
            case GPIO_HI_OE_XOR:
                this.qspiGpioOutputEnable ^= value & GPIO_MASK;
                break;
            case DIV_UDIVIDEND:
                this.divDividend = value;
                this.updateHardwareDivider(false);
                break;
            case DIV_SDIVIDEND:
                this.divDividend = value;
                this.updateHardwareDivider(true);
                break;
            case DIV_UDIVISOR:
                this.divDivisor = value;
                this.updateHardwareDivider(false);
                break;
            case DIV_SDIVISOR:
                this.divDivisor = value;
                this.updateHardwareDivider(true);
                break;
            case DIV_QUOTIENT:
                this.divQuotient = value;
                this.divCSR = 0b11;
                break;
            case DIV_REMAINDER:
                this.divRemainder = value;
                this.divCSR = 0b11;
                break;
            case INTERP0_ACCUM0:
                this.interp0.accum0 = value;
                this.interp0.update();
                break;
            case INTERP0_ACCUM1:
                this.interp0.accum1 = value;
                this.interp0.update();
                break;
            case INTERP0_BASE0:
                this.interp0.base0 = value;
                this.interp0.update();
                break;
            case INTERP0_BASE1:
                this.interp0.base1 = value;
                this.interp0.update();
                break;
            case INTERP0_BASE2:
                this.interp0.base2 = value;
                this.interp0.update();
                break;
            case INTERP0_CTRL_LANE0:
                this.interp0.ctrl0 = value;
                this.interp0.update();
                break;
            case INTERP0_CTRL_LANE1:
                this.interp0.ctrl1 = value;
                this.interp0.update();
                break;
            case INTERP0_ACCUM0_ADD:
                this.interp0.accum0 += value;
                this.interp0.update();
                break;
            case INTERP0_ACCUM1_ADD:
                this.interp0.accum1 += value;
                this.interp0.update();
                break;
            case INTERP0_BASE_1AND0:
                this.interp0.setBase01(value);
                break;
            case INTERP1_ACCUM0:
                this.interp1.accum0 = value;
                this.interp1.update();
                break;
            case INTERP1_ACCUM1:
                this.interp1.accum1 = value;
                this.interp1.update();
                break;
            case INTERP1_BASE0:
                this.interp1.base0 = value;
                this.interp1.update();
                break;
            case INTERP1_BASE1:
                this.interp1.base1 = value;
                this.interp1.update();
                break;
            case INTERP1_BASE2:
                this.interp1.base2 = value;
                this.interp1.update();
                break;
            case INTERP1_CTRL_LANE0:
                this.interp1.ctrl0 = value;
                this.interp1.update();
                break;
            case INTERP1_CTRL_LANE1:
                this.interp1.ctrl1 = value;
                this.interp1.update();
                break;
            case INTERP1_ACCUM0_ADD:
                this.interp1.accum0 += value;
                this.interp1.update();
                break;
            case INTERP1_ACCUM1_ADD:
                this.interp1.accum1 += value;
                this.interp1.update();
                break;
            case INTERP1_BASE_1AND0:
                this.interp1.setBase01(value);
                break;
            default:
                console.warn(`Write to invalid SIO address: ${offset.toString(16)}, value=${value.toString(16)}`);
        }
        const pinsToUpdate = (this.gpioValue ^ prevGpioValue) | (this.gpioOutputEnable ^ prevGpioOutputEnable);
        if (pinsToUpdate) {
            const { gpio } = this.rp2040;
            for (let gpioIndex = 0; gpioIndex < gpio.length; gpioIndex++) {
                if (pinsToUpdate & (1 << gpioIndex)) {
                    gpio[gpioIndex].checkForUpdates();
                }
            }
        }
    }
}