SummerCart64/sw/controller/src/dd.c

#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "dd.h"
#include "fpga.h"
#include "hw.h"
#include "rtc.h"
#include "usb.h"


#define DD_SECTOR_MAX_SIZE          (232)
#define DD_BLOCK_DATA_SECTORS_NUM   (85)
#define DD_BLOCK_BUFFER_ADDRESS     (0x03BC0000UL - (DD_SECTOR_MAX_SIZE * DD_BLOCK_DATA_SECTORS_NUM))
#define DD_SECTOR_BUFFER_ADDRESS    (0x06006000UL)

#define DD_DRIVE_ID_RETAIL          (0x0003)
#define DD_DRIVE_ID_DEVELOPMENT     (0x0004)
#define DD_VERSION_RETAIL           (0x0114)

#define DD_SPIN_UP_TIME             (2000)


typedef enum {
    DD_CMD_SEEK_READ                = 0x01,
    DD_CMD_SEEK_WRITE               = 0x02,
    DD_CMD_CLEAR_DISK_CHANGE        = 0x08,
    DD_CMD_CLEAR_RESET_STATE        = 0x09,
    DD_CMD_READ_VERSION             = 0x0A,
    DD_CMD_SET_DISK_TYPE            = 0x0B,
    DD_CMD_REQUEST_STATUS           = 0x0C,
    DD_CMD_SET_RTC_YEAR_MONTH       = 0x0F,
    DD_CMD_SET_RTC_DAY_HOUR         = 0x10,
    DD_CMD_SET_RTC_MINUTE_SECOND    = 0x11,
    DD_CMD_GET_RTC_YEAR_MONTH       = 0x12,
    DD_CMD_GET_RTC_DAY_HOUR         = 0x13,
    DD_CMD_GET_RTC_MINUTE_SECOND    = 0x14,
    DD_CMD_READ_PROGRAM_VERSION     = 0x1B,
} dd_cmd_t;


enum state {
    STATE_IDLE,
    STATE_START,
    STATE_BLOCK_READ_WAIT,
    STATE_SECTOR_READ,
    STATE_SECTOR_WRITE,
    STATE_BLOCK_WRITE,
    STATE_BLOCK_WRITE_WAIT,
    STATE_NEXT_BLOCK,
};


typedef union sector_info {
    uint32_t full;
    struct {
        uint8_t sector_num;
        uint8_t sector_size;
        uint8_t sector_size_full;
        uint8_t sectors_in_block;
    };
} sector_info_t;

struct process {
    enum state state;
    rtc_time_t time;
    bool disk_spinning;
    bool cmd_response_delayed;
    bool cmd_response_ready;
    bool bm_running;
    bool transfer_mode;
    bool full_track_transfer;
    bool starting_block;
    uint16_t head_track;
    uint8_t current_sector;
    sector_info_t sector_info;
    bool block_ready;
    bool block_valid;
};


static struct process p;


static uint16_t dd_track_head_block (void) {
    uint16_t track = ((p.head_track & DD_TRACK_MASK) << 2);
    uint16_t head = (((p.head_track & DD_HEAD_MASK) ? 1 : 0) << 1);
    uint16_t block = (p.starting_block ? 1 : 0);
    return (track | head | block);
}

static bool dd_block_read_request (void) {
    usb_tx_info_t packet_info;
    packet_info.cmd = PACKET_CMD_DD_REQUEST;
    packet_info.data_length = 12;
    packet_info.data[0] = 1;
    packet_info.data[1] = DD_BLOCK_BUFFER_ADDRESS;
    packet_info.data[2] = dd_track_head_block();
    packet_info.dma_length = 0;
    p.block_ready = false;
    return usb_enqueue_packet(&packet_info);
}

static bool dd_block_write_request (void) {
    usb_tx_info_t packet_info;
    packet_info.cmd = PACKET_CMD_DD_REQUEST;
    packet_info.data_length = 12;
    packet_info.data[0] = 2;
    packet_info.data[1] = DD_BLOCK_BUFFER_ADDRESS;
    packet_info.data[2] = dd_track_head_block();
    packet_info.dma_length = (p.sector_info.sector_size + 1) * DD_BLOCK_DATA_SECTORS_NUM;
    packet_info.dma_address = DD_BLOCK_BUFFER_ADDRESS;
    p.block_ready = false;
    return usb_enqueue_packet(&packet_info);
}

static void dd_set_cmd_response_ready (void) {
    p.cmd_response_ready = true;
}


void dd_set_block_ready (bool valid) {
    p.block_ready = true;
    p.block_valid = valid;
}

void dd_set_drive_type (dd_drive_type_t type) {
    switch (type) {
        case DD_DRIVE_TYPE_RETAIL:
            fpga_reg_set(REG_DD_DRIVE_ID, DD_DRIVE_ID_RETAIL);
            break;

        case DD_DRIVE_TYPE_DEVELOPMENT:
            fpga_reg_set(REG_DD_DRIVE_ID, DD_DRIVE_ID_DEVELOPMENT);
            break;
    }
}

void dd_set_disk_state (dd_disk_state_t state) {
    uint32_t scr = fpga_reg_get(REG_DD_SCR);
    scr &= ~(DD_SCR_DISK_CHANGED | DD_SCR_DISK_INSERTED);
    switch (state) {
        case DD_DISK_STATE_EJECTED:
            break;

        case DD_DISK_STATE_INSERTED:
            scr |= DD_SCR_DISK_INSERTED;
            break;

        case DD_DISK_STATE_CHANGED:
            scr |= (DD_SCR_DISK_CHANGED | DD_SCR_DISK_INSERTED);
            break;
    }
    fpga_reg_set(REG_DD_SCR, scr);
}

void dd_init (void) {
    fpga_reg_set(REG_DD_SCR, DD_SCR_DISK_INSERTED);
    fpga_reg_set(REG_DD_HEAD_TRACK, 0);
    fpga_reg_set(REG_DD_DRIVE_ID, DD_DRIVE_ID_RETAIL);
    p.state = STATE_IDLE;
    p.cmd_response_delayed = false;
    p.cmd_response_ready = false;
    p.disk_spinning = false;
    p.bm_running = false;
}

void dd_process (void) {
    uint32_t starting_scr = fpga_reg_get(REG_DD_SCR);
    uint32_t scr = starting_scr;

    if (scr & DD_SCR_HARD_RESET) {
        p.state = STATE_IDLE;
        p.cmd_response_delayed = false;
        p.cmd_response_ready = false;
        p.disk_spinning = false;
        p.bm_running = false;
        p.head_track = 0;
        scr &= ~(DD_SCR_DISK_CHANGED);
    }

    if (scr & DD_SCR_CMD_PENDING) {
        uint32_t cmd_data = fpga_reg_get(REG_DD_CMD_DATA);
        uint8_t cmd = (cmd_data >> 16) & 0xFF;
        uint16_t data = cmd_data & 0xFFFF;

        if (p.cmd_response_delayed) {
            if (p.cmd_response_ready) {
                p.cmd_response_delayed = false;
                fpga_reg_set(REG_DD_HEAD_TRACK, DD_HEAD_TRACK_INDEX_LOCK | data);
                scr |= DD_SCR_CMD_READY;
            }
        } else if ((cmd == DD_CMD_SEEK_READ) || (cmd == DD_CMD_SEEK_WRITE)) {
            p.cmd_response_delayed = true;
            p.cmd_response_ready = false;
            if (!p.disk_spinning) {
                p.disk_spinning = true;
                hw_tim_setup(TIM_ID_DD, DD_SPIN_UP_TIME, dd_set_cmd_response_ready);
            } else {
                p.cmd_response_ready = true;
            }
            fpga_reg_set(REG_DD_HEAD_TRACK, p.head_track & ~(DD_HEAD_TRACK_INDEX_LOCK));
            p.head_track = data & DD_HEAD_TRACK_MASK;
        } else {
            switch (cmd) {
                case DD_CMD_CLEAR_DISK_CHANGE:
                    scr &= ~(DD_SCR_DISK_CHANGED);
                    break;

                case DD_CMD_CLEAR_RESET_STATE:
                    scr &= ~(DD_SCR_DISK_CHANGED);
                    scr |= DD_SCR_HARD_RESET_CLEAR;
                    break;

                case DD_CMD_READ_VERSION:
                    data = DD_VERSION_RETAIL;
                    break;

                case DD_CMD_SET_DISK_TYPE:
                    break;

                case DD_CMD_REQUEST_STATUS:
                    data = 0;
                    break;

                case DD_CMD_SET_RTC_YEAR_MONTH:
                    p.time.year = ((data >> 8) & 0xFF);
                    p.time.month = (data & 0xFF);
                    break;

                case DD_CMD_SET_RTC_DAY_HOUR:
                    p.time.day = ((data >> 8) & 0xFF);
                    p.time.hour = (data & 0xFF);
                    break;

                case DD_CMD_SET_RTC_MINUTE_SECOND:
                    p.time.minute = ((data >> 8) & 0xFF);
                    p.time.second = (data & 0xFF);
                    rtc_set_time(&p.time);
                    break;

                case DD_CMD_GET_RTC_YEAR_MONTH:
                    data = (p.time.year << 8) | p.time.month;
                    break;

                case DD_CMD_GET_RTC_DAY_HOUR:
                    data = (p.time.day << 8) | p.time.hour;
                    break;

                case DD_CMD_GET_RTC_MINUTE_SECOND:
                    rtc_get_time(&p.time);
                    data = (p.time.minute << 8) | p.time.second;
                    break;

                case DD_CMD_READ_PROGRAM_VERSION:
                    data = 0;
                    break;

                default:
                    break;
            }

            fpga_reg_set(REG_DD_CMD_DATA, data);
            scr |= DD_SCR_CMD_READY;
        }
    } 

    if (scr & DD_SCR_BM_STOP) {
        scr |= DD_SCR_BM_STOP_CLEAR;
        scr &= ~(DD_SCR_BM_MICRO_ERROR | DD_SCR_BM_TRANSFER_C2 | DD_SCR_BM_TRANSFER_DATA);
        p.bm_running = false;
    } else if (scr & DD_SCR_BM_START) {
        scr |= DD_SCR_BM_CLEAR | DD_SCR_BM_ACK_CLEAR | DD_SCR_BM_START_CLEAR;
        scr &= ~(DD_SCR_BM_MICRO_ERROR | DD_SCR_BM_TRANSFER_C2 | DD_SCR_BM_TRANSFER_DATA);
        p.state = STATE_START;
        p.bm_running = true;
        p.transfer_mode = (scr & DD_SCR_BM_TRANSFER_MODE);
        p.full_track_transfer = (scr & DD_SCR_BM_TRANSFER_BLOCKS);
        p.sector_info.full = fpga_reg_get(REG_DD_SECTOR_INFO);
        p.starting_block = (p.sector_info.sector_num == (p.sector_info.sectors_in_block + 1));
    } else if (p.bm_running) {
        if (scr & DD_SCR_BM_PENDING) {
            scr |= DD_SCR_BM_CLEAR;
            if (p.transfer_mode) {
                if (p.current_sector < (p.sector_info.sectors_in_block - 4)) {
                    p.state = STATE_SECTOR_READ;
                } else if (p.current_sector == (p.sector_info.sectors_in_block - 4)) {
                    p.current_sector += 1;
                    scr &= ~(DD_SCR_BM_TRANSFER_DATA);
                    scr |= DD_SCR_BM_READY;
                } else if (p.current_sector >= p.sector_info.sectors_in_block) {
                    p.state = STATE_NEXT_BLOCK;
                } else {
                }
            } else {
                if (p.current_sector < (p.sector_info.sectors_in_block - 4)) {
                    p.state = STATE_SECTOR_WRITE;
                }
            }
        }
        if (scr & DD_SCR_BM_ACK) {
            scr |= DD_SCR_BM_ACK_CLEAR;
            if (p.transfer_mode) {
                if ((p.current_sector <= (p.sector_info.sectors_in_block - 4))) {
                } else if (p.current_sector < p.sector_info.sectors_in_block) {
                    p.current_sector += 1;
                    scr |= DD_SCR_BM_READY;
                } else if (p.current_sector == p.sector_info.sectors_in_block) {
                    p.current_sector += 1;
                    scr |= DD_SCR_BM_TRANSFER_C2 | DD_SCR_BM_READY;
                }
            } else {
                if (p.current_sector == (p.sector_info.sectors_in_block - 4)) {
                    p.bm_running = false;
                }
            }
        }

        switch (p.state) {
            case STATE_IDLE:
                break;

            case STATE_START:
                p.current_sector = 0;
                if (dd_block_read_request()) {
                    p.state = STATE_BLOCK_READ_WAIT;
                }
                break;

            case STATE_BLOCK_READ_WAIT:
                if (p.block_ready) {
                    if (p.transfer_mode) {
                        if (p.block_valid) {
                            p.state = STATE_SECTOR_READ;
                            scr |= DD_SCR_BM_TRANSFER_DATA;
                        } else {
                            p.state = STATE_SECTOR_READ;
                            scr |= DD_SCR_BM_MICRO_ERROR;
                        }
                    } else {
                        p.state = STATE_IDLE;
                        if (p.block_valid) {
                            scr |= DD_SCR_BM_TRANSFER_DATA | DD_SCR_BM_READY;
                        } else {
                            scr |= DD_SCR_BM_MICRO_ERROR | DD_SCR_BM_READY;
                        }
                    }
                }
                break;

            case STATE_SECTOR_READ:
                fpga_mem_copy(
                    DD_BLOCK_BUFFER_ADDRESS + (p.current_sector * (p.sector_info.sector_size + 1)),
                    DD_SECTOR_BUFFER_ADDRESS,
                    p.sector_info.sector_size + 1
                );
                p.state = STATE_IDLE;
                p.current_sector += 1;
                scr |= DD_SCR_BM_READY;
                break;

            case STATE_SECTOR_WRITE:
                fpga_mem_copy(
                    DD_SECTOR_BUFFER_ADDRESS,
                    DD_BLOCK_BUFFER_ADDRESS + (p.current_sector * (p.sector_info.sector_size + 1)),
                    p.sector_info.sector_size + 1
                );
                p.current_sector += 1;
                if (p.current_sector < (p.sector_info.sectors_in_block - 4)) {
                    p.state = STATE_IDLE;
                    scr |= DD_SCR_BM_READY;
                } else {
                    p.state = STATE_BLOCK_WRITE;
                }
                break;

            case STATE_BLOCK_WRITE:
                if (dd_block_write_request()) {
                    p.state = STATE_BLOCK_WRITE_WAIT;
                }
                break;

            case STATE_BLOCK_WRITE_WAIT:
                if (p.block_ready) {
                    p.state = STATE_NEXT_BLOCK;
                }
                break;

            case STATE_NEXT_BLOCK:
                if (p.full_track_transfer) {
                    p.state = STATE_START;
                    p.full_track_transfer = false;
                    p.starting_block = !p.starting_block;
                    scr &= ~(DD_SCR_BM_TRANSFER_C2);
                } else {
                    if (p.transfer_mode) {
                        p.bm_running = false;
                    } else {
                        p.state = STATE_IDLE;
                        scr &= ~(DD_SCR_BM_TRANSFER_C2 | DD_SCR_BM_TRANSFER_DATA);
                        scr |= DD_SCR_BM_READY;
                    }
                }
                break;
        }
    }

    if (scr != starting_scr) {
        fpga_reg_set(REG_DD_SCR, scr);
    }
}