Making graphics hardware like its 1990, explained. Renders Doom, Comanche and Quake levels!
This is work in progress. Please stay tuned if you'd like to known when additional explanations come in. Comments welcome!
Quick links:
The tinyGPUs project started with the following question: "What would have resembled graphics hardware dedicated to our beloved retro-games from the early 90's, such as Doom 1993 and Comanche 1992?". This led me to creating the DMC-1 GPU, the first (and currently only!) tiny GPU in this repository.
DMCstands for Doom Meets Comanche... also, it sounds cool (any resemblance to a car name is of course pure coincidence).
However, the true objective is to explore and explain basic graphics hardware design. Don't expect to learn anything about modern GPUs, but rather expect to learn about fundamental graphics algorithms, their elegant simplicity, and how to turn these algorithms into hardware on FPGAs.
The
DMC-1is powering my Doom-chip "onice" demo, about which I gave a talk at rC3 nowhere in December 2021. You can watch it here and browse the slides here.
There is a plan to do another tiny GPU, hence the s in tinyGPUs, exploring different design tradeoffs. But that will come later.
The tinyGPUs are written in Silice, with bits and pieces of Verilog.
For building the DMC-1 demos Silice has to be installed and in the path, please refer to the Silice repository.
Note: The build process automatically downloads files, including data files from external sources. See the download scripts here and here.
There are several demos: terrain, tetrahedron, doomchip-onice, interleaved, triangles and q5k (quake viewer!).
All can be simulated, and currently run on the mch2022 badge and the icebreaker with a SPI screen plugged in the PMOD 1A connector (details below).
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The demos are running both on the icebreaker board and the MCH2022 badge.
All demos run in simulation (verilator). Note that it takes a little bit of time before the rendering starts, as the full boot process (including loading code from SPIflash) is being simulating. During boot the screen remains black (on real hardware this delay is imperceptible).
For the rotating tetrahedron demo:
cd demos
make simulation DEMO=tetrahedron
For the terrain demo:
cd demos
make simulation DEMO=terrain
For the doomchip-onice demo:
cd demos
make simulation DEMO=doomchip-onice
For the quake-up5k (q5k) demo:
cd demos
make simulation DEMO=q5k
The badge scripts require python dependencies:
pip install pyserial pyusb
Plugin the board and type:
cd demos
make BOARD=mch2022 DEMO=q5k program_all MCH2022_PORT=/dev/ttyACM1
The
program_alltarget takes time as it uploads the texture pack. Once done, useprogram_codeto only upload the compiled code andprogram_designfor the design only (as long as there is power to the badge).
When switching between the q5k (Quake) and other demos, use
make cleanbefore building to ensure the correct palette is used next.
A 240x320 SPIscreen with a ST7789 driver has to be hooked to the PMOD 1A, following this pinout:
| PMOD1A | SPIscreen |
|---|---|
| pin 1 | rst |
| pin 2 | dc |
| pin 3 | clk |
| pin 4 | din |
| pin 5 (GND) | screen GND |
| pin 6 (VCC) | screen VCC |
| pin 11 (GND) | cs |
| pin 12 (VCC) | bl |
For the rotating tetrahedron demo:
cd demos
make BOARD=icebreaker DEMO=tetrahedron program_all
For the terrain demo:
cd demos
make BOARD=icebreaker DEMO=terrain program_all
program_alltakes a long time as it transfers the texture data onto the board. After doing it once, to test other demos replaceprogram_allbyprogram_code.
When switching between the q5k (Quake) and other demos, use
make cleanbefore building to ensure the correct palette is used next.
I started the DMC-1 after my initial doomchip experiments. The original doomchip, which is available in the Silice repository was pushing the idea of running the Doom render loop without any CPU. This means that the entire rendering algorithm was turned into specialized logic -- a Doom dedicated chip that could not do anything else but render E1M1 ... !
I went on to design several versions, including one using SDRAM to store level and textures. This was a fun experiment, but of course the resulting design is very large because every part of the algorithm becomes a piece of a complex dedicated circuit. That might be desirable under specific circumstances, but is otherwise highly unusual. You see, normally one seeks to produce compact hardware designs, minimizing the resource usage, and in particular the number of logic gates (or their LUTs equivalent in FPGAs).
When targeting boards with (relatively) large FPGAs like the de10-nano or ULX3S 85F I was using, this is not a top concern, because the design still fits easily. But there's a lot to be said about trying to be parsimonious and make the best of the resources you have. I come from an age where computers where not powerful beyond imagination as they are today, and where optimizing was not only done for fun, it was essential. And when I say optimizing, I mean it in all possible ways: better algorithms (lower complexity), clever tricks, and informed low level CPU optimizations, usually directly in assembly code. Of course we could not go past the hardware. But now we can! Because thanks to FPGAs and the emergence of open source toolchains we are empowered with designing and quickly testing our own hardware!
This got me wondering. The doomchip is one extreme point of putting everything in hardware and redoing the entire render loop from scratch. The other extreme point -- also very interesting -- is to take the Doom source code and run it on a custom SOC ('system on a chip', the CPU, RAM and other pieces of hardware around). There, the skills are all on designing a very efficient hardware SOC with a good CPU and well thought out memory layout and cache. Some source ports require in depth, careful engine optimizations to fit the target hardware.
There are so many excellent ports, I am just linking to a few for context here.
So the questions I asked myself were, Could we design a GPU for Doom and other games of this era? What would its architecture be like? Could it fit on a small FPGA?
The DMC-1 is my take on this. Thinking beyond Doom, I thought I should also support Comanche 1992 style terrains. There are several reasons for that:
- Comanche was a sight to behold back in the days!
- Adding a terrain to Doom sounds like a huge thing.
- If I was to create a GPU for Doom, it better should come with a killer feature.
And while I was at it, I later added support for Quake level rendering!
In terms of resources, I decided to primarily target the Lattice ice40 UP5K. First, this is the platform used by the incredible source port on custom SOC by Sylvain Munaut. Targeting anything bigger would have seemed too easy. Second, the UP5K is fairly slow (validating timing at 25 MHz is good, anything above is very good), and has 'only' 5K LUTs (that's not so small though, 1K LUTs can run a full 32 bits RISCV dual-core processor!). So this makes for a good challenge. On the upside, the UP5K has 8 DSPs (great for fast multipliers!) and 128KB of SPRAM, a fast one-cycle read/write memory. So this gives hope something can actually be achieved. Plus, a SPIflash memory is typically hooked alongside FPGAs for its configuration. A SPIflash is to be considered read only for our purpose (because writing is very, very slow), but even though reading takes multiple cycles to initialize a random access, performance is far from terrible. And that's great, because SPIflash memories are typically a few MB and we need to put our large textures somewhere!
At this point, you might want to watch my video on the Doomchip on-ice or browse the slides here. This explains how the initial design of the DMC-1 was achieved, including perspective correct texturing for walls and flats (floors and ceilings) as well as the terrain rendering.
I later added support for perspective correct texturing of polygons under any orientation (not just walls and flats), which is what I explain next.
An interesting capability of the DMC-1 is that it can achieve perspective correct texturing on arbitrary slanted surfaces, such as in the tetrahedron demo.
The reason this is noteworthy is because most games of the era were limiting perspective correct texturing to special cases (with good reasons: performance!). Consider this screenshot of E1M1:
All surfaces here are either entirely vertical (walls) or entirely horizontal (flats). Both cases allow a simplification enabling perspective correct texturing without having to perform a division in every pixel. In fact, the original Doom engine renders walls as vertical spans (columns) and flats as horizontal spans (rows) precisely for this reason (through the famous visplane data-structure for the latter, which the original code has a few things to say about: Here comes the obnoxious "visplane" and Now what is a visplane, anyway?)
The reason the per-pixel division is avoided is that since the depth (z) is constant along the drawn line, the division (1/z) can be computed once and used for all the pixels along the entire line.
Avoiding this per-pixel division is a big deal, because divisions are either slow (many cycles) or use a ton of logic (many LUTs), or both!
Now let's have a look at a more general surface, like this textured triangle in the tetrahedron demo:
This is more general because clearly the perspective is not 'axis aligned' with respect to the screen. This is neither vertical nor horizontal. Yet, this is not free texture mapping either: the texture is painted onto the plane of the triangle, and when seen front-facing it will show up without distortion. I'll refer to this case as planar texturing.
I call free texture mapping the general case where u,v coordinates would be assigned to the triangle vertices and used to interpolate texture coordinates across the triangle surface. This interpolation also requires the per-pixel division, but I don't know a clever trick to escape this one!
One possible approach to deal with the case of arbitrary angled polygons is the so called z-constant rasterization. Roughly speaking, this generalizes the case of having a constant 1/z along a line, but using lines which are no longer axis aligned with respect to the screen. That means rasterizing the polygons along angled lines (on screen) along which the depth is constant.
This is not a very common technique and, afaik, there are not many descriptions or implementations of it. I found a description in this article: Free Direction Texture Mapping by Hannu Helminen. It is part of a highly enjoyable treasure trove, an archive of the PC Game Programmer's Encyclopedia.
As I browsed the PCGPE archive (highly recommended) I found a great article on texturing by Sean Barrett. This article from 1994, which covers many aspects of texturing, introduces an approach for planar texturing mapping. What I describe next is equivalent, and it turns out his approach has been used in many games around the Quake era! I come back to it later.
Z-constant raterization sounds good but I was not too keen on implementing it. Then, I looked back at how I dealt with flats in the Doomchip onice. You see, because I am drawing only vertical span, producing the screen column after column without a framebuffer, I simply cannot draw horizontal spans like the original engine. Thus I had to deal with the perspective effect during texturing, and avoid the per-pixel division. Well, I did not avoid it, because it is required, but instead I precomputed it. Here is a figure detailing the idea (my talk features an animated version):
On the left the screen view (each cell of the grid is a pixel). The blue column is being drawn as a piece of floor. On the right, the side view with the player eye to the left and the view ray through a pixel as a blue line. Here we know the pixel position on screen and want to compute the v coordinate, which is also the distance to the viewer, z. This is the one that requires a division, in this particular case by y_screen. The good news is that because y_screen is limited to the screen height, this can be pre-computed in a table. That is at the root of a good old demoscene effect:
Thanks to the limited range of values (screen height), this fits in a small table that is stored in a specialized FPGA memory called a BRAM. So that's highly efficient in practice.
To be precise, given a value
$n$ that goes from$1$ to$N$ , we precompute a table$T$ of$N$ entries. Choose a large value$M$ , typically if the table stores$b$ bits integers pick$M = 2^b$ . Then precompute all$T[n] = \frac{M}{n}$ (clamp to$M-1$ when$n = 1$ ). For this trick to be reasonable we need$N$ to be bounded and not too large, which was the case here ($N$ being half the screen height). You can see how the table used by the GPU is generated by the pre-processor here.
Quick note on how to use the precomputed division table. Let us assume we want to compute
$\frac{x}{n}$ , instead we will compute(x . T[n]) >> b, where the division by M is replaced by a multiplication and a shift of$b$ bits to the right (or less if we want to keep a fixed point result). Take care that the product$x . T[n]$ does not overflow.
How is this relevant to planar perspective correct texturing? Well, the question is how to generalize this principle and, more importantly for us, whether the required division would also be limited in range so it could be pre-computed in a small-size table.
It turns out that the answer is yes! To understand why, we have to take a different point of view, and see this as a raytracing question: Given a view ray, how do we compute the u,v texture coordinate when hitting a plane? There are good explanations on this page, so I won't repeat these in details here. The important point, however, is that computing these coordinates involves only dividing by the dot product of the plane normal and view ray direction (see the expression of t in the aforementioned page). That is good news because both vectors are unit vectors, so their dot product is necessarily in
Note that the 'unit vectors' will in practice be encoded in integers using fixed point arithmetic. For these unit vectors I typically use 8 bits fractions, so that 256 represents one.
And that's about it for the main trick enabling perspective correct planar texturing. In the API these are the COLDRAW_PLANE_B span types, which require first some setup, using PARAMETER_PLANE_A (specifying the normal, u and v axis coordinate along the screen y axis). An example of using the planar spans can be seen in the Doomchip on-ice (simplified here for readability):
// setup per-column
int rz = 4096;
int cx = col_to_x[c];
int du = dot3( cx,b,rz, cosview,0,sinview ) >> 14;
int dv = dot3( cx,b,rz, -sinview,0,cosview ) >> 14;
col_send(
PARAMETER_PLANE_A(256,0,0), // ny,uy,vy
PARAMETER_PLANE_A_EX(du,dv) | PARAMETER
);
// ...
// drawing a floor span
col_send(
COLDRAW_PLANE_B(-sec_f_h,btm-scr_h/2),
COLDRAW_COL(texid, b,t, light) | PLANE
);Planar spans are only used for flats (horizontal floors/ceilings) in this demo, since walls use simpler and faster vertical spans. Because the surfaces are horizontal, the parameters to PARAMETER_PLANE_A are 256,0,0: only the normal has a non zero coordinate along the screen y axis. Note how du represents the dot product between the view front vector (cosview,0,sinview) and the screen 'ray' (cx,b,rz) (cx is the screen x coordinate, b the base of the span in y screen coordinates, rz represents the view depth axis). dv is similar for the orthogonal direction. These two values du,dv define the rotation of the texture in the plane.
A more general use can be seen in the tetrahedron demo. In this demo the triangles are rasterized into spans on the CPU ; this can be seen in the file raster.c that contains detailed comments on that process too. And of course, that is also the case in the Quake viewer demo.
In this 1994 article, Sean Barrett introduces the idea of rasterizing with planar texturing, with a technique using 9 'magic numbers'. Interestingly, these numbers are used to compute three values
The only difference is that I precompute and store the dot product into a table, to turn the per-pixel division into a multiply (and that this can now be implemented in hardware on an FPGA!).
Huge thanks to Sean Barrett for discussions on z-constant and planar texture mapping. Make sure to read his 1994 PCGPE article that discusses many important aspects of texturing.
A big challenge in the q5k demo (Quake viewer) was to support lightmaps: textures which contain light information blended with the standard color textures.
The lightmaps of every polygon in the level are packed into standard textures (this is done by the qrepack tool). However the key question is how to blend the lightmaps with the color textures? This is a form of multitexturing. At first sight this seems to need a profound revision of the texture sampler, fetching two textures with different sets of texture coordinates and mixing the result (at least twice the logic!).
 | + |  | = |  |
However, an early design decision made this much simpler. The per-column buffers of the DMC-1 (see colbufs in the design) store 16 bits per pixel: 8 bits for a color byte (index in the palette), and an 8 bits light level. That is because I do not use the Doom/Quake palette trick for lighting, but instead dim the actual RGB values after palette lookup, before sending data to the screen.
So to blend the lightmaps in, all that is needed is to write the light information in a second pass, sending each rasterized column span twice: first for color textures, second for lightmaps. The depth test is set to allow writes when depth is equal, so that only the surfaces that are exactly overlapping the visible ones go through.
Minimal changes to the GPU, so we get lightmaps 'almost' for free!
I started a walkthrough of the Silice design in this separate page.
The DMC-1 is unusual in that it renders the screen column by column, in order. This specific choice is motivated by the fact that we stream pixels to a small LCD/OLED screen that typically features a framebuffer, so we do not have to spend precious memory on a framebuffer FPGA-side. Also, this allows the use of a one column depth buffer, a luxury enabling simpler drawing of scenes containing both the terrain, buildings and sprites.
This however imposes a specific draw order CPU side which is not always comfortable. That is why a second tinyGPU, using a different approach and likely an additional (writable) external memory is planned ;)
- Data files for terrains are downloaded from s-macke VoxelSpace repository which also contains excellent explanations regarding the Comanche terrain rendering algorithm.
- Doom shareware data,
doom1.wad, is automatically downloaded and is of course part of the original game by Id Software. - Quake e1m1.bsp used in the q5k demo is downloaded from this repository and uses free textures from the "Quake Revitalization Project".