diff options
Diffstat (limited to 'drivers/chibios')
| -rw-r--r-- | drivers/chibios/serial.c | 52 | ||||
| -rw-r--r-- | drivers/chibios/serial.h | 62 | ||||
| -rw-r--r-- | drivers/chibios/serial_usart.c | 352 | ||||
| -rw-r--r-- | drivers/chibios/serial_usart.h | 40 | ||||
| -rw-r--r-- | drivers/chibios/serial_usart_duplex.c | 261 | ||||
| -rw-r--r-- | drivers/chibios/spi_master.c | 70 | ||||
| -rw-r--r-- | drivers/chibios/spi_master.h | 19 | 
7 files changed, 362 insertions, 494 deletions
| diff --git a/drivers/chibios/serial.c b/drivers/chibios/serial.c index 54f7e1321f..f54fbcee4e 100644 --- a/drivers/chibios/serial.c +++ b/drivers/chibios/serial.c @@ -74,21 +74,12 @@ static THD_FUNCTION(Thread1, arg) {      }  } -static SSTD_t *Transaction_table      = NULL; -static uint8_t Transaction_table_size = 0; - -void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; - +void soft_serial_initiator_init(void) {      serial_output();      serial_high();  } -void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; - +void soft_serial_target_init(void) {      serial_input();      palEnablePadEvent(PAL_PORT(SOFT_SERIAL_PIN), PAL_PAD(SOFT_SERIAL_PIN), PAL_EVENT_MODE_FALLING_EDGE); @@ -154,16 +145,14 @@ void interrupt_handler(void *arg) {      uint8_t checksum_computed = 0;      int     sstd_index        = 0; -#ifdef SERIAL_USE_MULTI_TRANSACTION      sstd_index = serial_read_byte();      sync_send(); -#endif -    SSTD_t *trans = &Transaction_table[sstd_index]; +    split_transaction_desc_t *trans = &split_transaction_table[sstd_index];      for (int i = 0; i < trans->initiator2target_buffer_size; ++i) { -        trans->initiator2target_buffer[i] = serial_read_byte(); +        split_trans_initiator2target_buffer(trans)[i] = serial_read_byte();          sync_send(); -        checksum_computed += trans->initiator2target_buffer[i]; +        checksum_computed += split_trans_initiator2target_buffer(trans)[i];      }      checksum_computed ^= 7;      uint8_t checksum_received = serial_read_byte(); @@ -172,12 +161,17 @@ void interrupt_handler(void *arg) {      // wait for the sync to finish sending      serial_delay(); +    // Allow any slave processing to occur +    if (trans->slave_callback) { +        trans->slave_callback(trans->initiator2target_buffer_size, split_trans_initiator2target_buffer(trans), trans->target2initiator_buffer_size, split_trans_target2initiator_buffer(trans)); +    } +      uint8_t checksum = 0;      for (int i = 0; i < trans->target2initiator_buffer_size; ++i) { -        serial_write_byte(trans->target2initiator_buffer[i]); +        serial_write_byte(split_trans_target2initiator_buffer(trans)[i]);          sync_send();          serial_delay_half(); -        checksum += trans->target2initiator_buffer[i]; +        checksum += split_trans_target2initiator_buffer(trans)[i];      }      serial_write_byte(checksum ^ 7);      sync_send(); @@ -206,15 +200,10 @@ void interrupt_handler(void *arg) {  //    TRANSACTION_NO_RESPONSE  //    TRANSACTION_DATA_ERROR  // this code is very time dependent, so we need to disable interrupts -#ifndef SERIAL_USE_MULTI_TRANSACTION -int soft_serial_transaction(void) { -    int sstd_index = 0; -#else  int soft_serial_transaction(int sstd_index) { -#endif - -    if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR; -    SSTD_t *trans = &Transaction_table[sstd_index]; +    if (sstd_index > NUM_TOTAL_TRANSACTIONS) return TRANSACTION_TYPE_ERROR; +    split_transaction_desc_t *trans = &split_transaction_table[sstd_index]; +    if (!trans->status) return TRANSACTION_TYPE_ERROR;  // not registered      // TODO: remove extra delay between transactions      serial_delay(); @@ -244,14 +233,13 @@ int soft_serial_transaction(int sstd_index) {      uint8_t checksum = 0;      // send data to the slave -#ifdef SERIAL_USE_MULTI_TRANSACTION      serial_write_byte(sstd_index);  // first chunk is transaction id      sync_recv(); -#endif +      for (int i = 0; i < trans->initiator2target_buffer_size; ++i) { -        serial_write_byte(trans->initiator2target_buffer[i]); +        serial_write_byte(split_trans_initiator2target_buffer(trans)[i]);          sync_recv(); -        checksum += trans->initiator2target_buffer[i]; +        checksum += split_trans_initiator2target_buffer(trans)[i];      }      serial_write_byte(checksum ^ 7);      sync_recv(); @@ -262,9 +250,9 @@ int soft_serial_transaction(int sstd_index) {      // receive data from the slave      uint8_t checksum_computed = 0;      for (int i = 0; i < trans->target2initiator_buffer_size; ++i) { -        trans->target2initiator_buffer[i] = serial_read_byte(); +        split_trans_target2initiator_buffer(trans)[i] = serial_read_byte();          sync_recv(); -        checksum_computed += trans->target2initiator_buffer[i]; +        checksum_computed += split_trans_target2initiator_buffer(trans)[i];      }      checksum_computed ^= 7;      uint8_t checksum_received = serial_read_byte(); diff --git a/drivers/chibios/serial.h b/drivers/chibios/serial.h deleted file mode 100644 index 0c1857d52e..0000000000 --- a/drivers/chibios/serial.h +++ /dev/null @@ -1,62 +0,0 @@ -#pragma once - -#include <stdbool.h> - -// ///////////////////////////////////////////////////////////////// -// Need Soft Serial defines in config.h -// ///////////////////////////////////////////////////////////////// -// ex. -//  #define SOFT_SERIAL_PIN ??   // ?? = D0,D1,D2,D3,E6 -//  OPTIONAL: #define SELECT_SOFT_SERIAL_SPEED ? // ? = 1,2,3,4,5 -//                                               //  1: about 137kbps (default) -//                                               //  2: about 75kbps -//                                               //  3: about 39kbps -//                                               //  4: about 26kbps -//                                               //  5: about 20kbps -// -// //// USE simple API (using signle-type transaction function) -//   /* nothing */ -// //// USE flexible API (using multi-type transaction function) -//   #define SERIAL_USE_MULTI_TRANSACTION -// -// ///////////////////////////////////////////////////////////////// - -// Soft Serial Transaction Descriptor -typedef struct _SSTD_t { -    uint8_t *status; -    uint8_t  initiator2target_buffer_size; -    uint8_t *initiator2target_buffer; -    uint8_t  target2initiator_buffer_size; -    uint8_t *target2initiator_buffer; -} SSTD_t; -#define TID_LIMIT(table) (sizeof(table) / sizeof(SSTD_t)) - -// initiator is transaction start side -void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size); -// target is interrupt accept side -void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size); - -// initiator result -#define TRANSACTION_END 0 -#define TRANSACTION_NO_RESPONSE 0x1 -#define TRANSACTION_DATA_ERROR 0x2 -#define TRANSACTION_TYPE_ERROR 0x4 -#ifndef SERIAL_USE_MULTI_TRANSACTION -int soft_serial_transaction(void); -#else -int soft_serial_transaction(int sstd_index); -#endif - -// target status -// *SSTD_t.status has -//   initiator: -//       TRANSACTION_END -//    or TRANSACTION_NO_RESPONSE -//    or TRANSACTION_DATA_ERROR -//   target: -//       TRANSACTION_DATA_ERROR -//    or TRANSACTION_ACCEPTED -#define TRANSACTION_ACCEPTED 0x8 -#ifdef SERIAL_USE_MULTI_TRANSACTION -int soft_serial_get_and_clean_status(int sstd_index); -#endif diff --git a/drivers/chibios/serial_usart.c b/drivers/chibios/serial_usart.c index cae29388c3..ea4473791c 100644 --- a/drivers/chibios/serial_usart.c +++ b/drivers/chibios/serial_usart.c @@ -16,190 +16,300 @@  #include "serial_usart.h" -#ifndef USE_GPIOV1 -// The default PAL alternate modes are used to signal that the pins are used for USART -#    ifndef SERIAL_USART_TX_PAL_MODE -#        define SERIAL_USART_TX_PAL_MODE 7 +#if defined(SERIAL_USART_CONFIG) +static SerialConfig serial_config = SERIAL_USART_CONFIG; +#else +static SerialConfig serial_config = { +    .speed = (SERIAL_USART_SPEED), /* speed - mandatory */ +    .cr1   = (SERIAL_USART_CR1), +    .cr2   = (SERIAL_USART_CR2), +#    if !defined(SERIAL_USART_FULL_DUPLEX) +    .cr3   = ((SERIAL_USART_CR3) | USART_CR3_HDSEL) /* activate half-duplex mode */ +#    else +    .cr3 = (SERIAL_USART_CR3)  #    endif +};  #endif -#ifndef SERIAL_USART_DRIVER -#    define SERIAL_USART_DRIVER SD1 -#endif - -#ifdef SOFT_SERIAL_PIN -#    define SERIAL_USART_TX_PIN SOFT_SERIAL_PIN -#endif - -static inline msg_t sdWriteHalfDuplex(SerialDriver* driver, uint8_t* data, uint8_t size) { -    msg_t ret = sdWrite(driver, data, size); +static SerialDriver* serial_driver = &SERIAL_USART_DRIVER; -    // Half duplex requires us to read back the data we just wrote - just throw it away -    uint8_t dump[size]; -    sdRead(driver, dump, size); +static inline bool react_to_transactions(void); +static inline bool __attribute__((nonnull)) receive(uint8_t* destination, const size_t size); +static inline bool __attribute__((nonnull)) send(const uint8_t* source, const size_t size); +static inline int  initiate_transaction(uint8_t sstd_index); +static inline void usart_clear(void); -    return ret; +/** + * @brief Clear the receive input queue. + */ +static inline void usart_clear(void) { +    osalSysLock(); +    bool volatile queue_not_empty = !iqIsEmptyI(&serial_driver->iqueue); +    osalSysUnlock(); + +    while (queue_not_empty) { +        osalSysLock(); +        /* Hard reset the input queue. */ +        iqResetI(&serial_driver->iqueue); +        osalSysUnlock(); +        /* Allow pending interrupts to preempt. +         * Do not merge the lock/unlock blocks into one +         * or the code will not work properly. +         * The empty read adds a tiny amount of delay. */ +        (void)queue_not_empty; +        osalSysLock(); +        queue_not_empty = !iqIsEmptyI(&serial_driver->iqueue); +        osalSysUnlock(); +    }  } -#undef sdWrite -#define sdWrite sdWriteHalfDuplex -static inline msg_t sdWriteTimeoutHalfDuplex(SerialDriver* driver, uint8_t* data, uint8_t size, uint32_t timeout) { -    msg_t ret = sdWriteTimeout(driver, data, size, timeout); - -    // Half duplex requires us to read back the data we just wrote - just throw it away -    uint8_t dump[size]; -    sdReadTimeout(driver, dump, size, timeout); +/** + * @brief Blocking send of buffer with timeout. + * + * @return true Send success. + * @return false Send failed. + */ +static inline bool send(const uint8_t* source, const size_t size) { +    bool success = (size_t)sdWriteTimeout(serial_driver, source, size, TIME_MS2I(SERIAL_USART_TIMEOUT)) == size; + +#if !defined(SERIAL_USART_FULL_DUPLEX) +    if (success) { +        /* Half duplex fills the input queue with the data we wrote - just throw it away. +           Under the right circumstances (e.g. bad cables paired with high baud rates) +           less bytes can be present in the input queue, therefore a timeout is needed. */ +        uint8_t dump[size]; +        return receive(dump, size); +    } +#endif -    return ret; +    return success;  } -#undef sdWriteTimeout -#define sdWriteTimeout sdWriteTimeoutHalfDuplex -static inline void sdClear(SerialDriver* driver) { -    while (sdGetTimeout(driver, TIME_IMMEDIATE) != MSG_TIMEOUT) { -        // Do nothing with the data -    } +/** + * @brief  Blocking receive of size * bytes with timeout. + * + * @return true Receive success. + * @return false Receive failed. + */ +static inline bool receive(uint8_t* destination, const size_t size) { +    bool success = (size_t)sdReadTimeout(serial_driver, destination, size, TIME_MS2I(SERIAL_USART_TIMEOUT)) == size; +    return success;  } -static SerialConfig sdcfg = { -    (SERIAL_USART_SPEED),  // speed - mandatory -    (SERIAL_USART_CR1),    // CR1 -    (SERIAL_USART_CR2),    // CR2 -    (SERIAL_USART_CR3)     // CR3 -}; - -void handle_soft_serial_slave(void); +#if !defined(SERIAL_USART_FULL_DUPLEX) -/* - * This thread runs on the slave and responds to transactions initiated - * by the master +/** + * @brief Initiate pins for USART peripheral. Half-duplex configuration.   */ -static THD_WORKING_AREA(waSlaveThread, 2048); -static THD_FUNCTION(SlaveThread, arg) { -    (void)arg; -    chRegSetThreadName("slave_transport"); +__attribute__((weak)) void usart_init(void) { +#    if defined(MCU_STM32) +#        if defined(USE_GPIOV1) +    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); +#        else +    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_TX_PAL_MODE) | PAL_STM32_OTYPE_OPENDRAIN); +#        endif -    while (true) { -        handle_soft_serial_slave(); -    } +#        if defined(USART_REMAP) +    USART_REMAP; +#        endif +#    else +#        pragma message "usart_init: MCU Familiy not supported by default, please supply your own init code by implementing usart_init() in your keyboard files." +#    endif  } -__attribute__((weak)) void usart_init(void) { -#if defined(USE_GPIOV1) -    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);  #else -    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_TX_PAL_MODE) | PAL_STM32_OTYPE_OPENDRAIN); -#endif -#if defined(USART_REMAP) +/** + * @brief Initiate pins for USART peripheral. Full-duplex configuration. + */ +__attribute__((weak)) void usart_init(void) { +#    if defined(MCU_STM32) +#        if defined(USE_GPIOV1) +    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_STM32_ALTERNATE_PUSHPULL); +    palSetLineMode(SERIAL_USART_RX_PIN, PAL_MODE_INPUT); +#        else +    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_TX_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); +    palSetLineMode(SERIAL_USART_RX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_RX_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); +#        endif + +#        if defined(USART_REMAP)      USART_REMAP; -#endif +#        endif +#    else +#        pragma message "usart_init: MCU Familiy not supported by default, please supply your own init code by implementing usart_init() in your keyboard files." +#    endif  } -void usart_master_init(void) { -    usart_init(); +#endif -    sdcfg.cr3 |= USART_CR3_HDSEL; -    sdStart(&SERIAL_USART_DRIVER, &sdcfg); +/** + * @brief Overridable master specific initializations. + */ +__attribute__((weak, nonnull)) void usart_master_init(SerialDriver** driver) { +    (void)driver; +    usart_init();  } -void usart_slave_init(void) { +/** + * @brief Overridable slave specific initializations. + */ +__attribute__((weak, nonnull)) void usart_slave_init(SerialDriver** driver) { +    (void)driver;      usart_init(); +} -    sdcfg.cr3 |= USART_CR3_HDSEL; -    sdStart(&SERIAL_USART_DRIVER, &sdcfg); +/** + * @brief This thread runs on the slave and responds to transactions initiated + * by the master. + */ +static THD_WORKING_AREA(waSlaveThread, 1024); +static THD_FUNCTION(SlaveThread, arg) { +    (void)arg; +    chRegSetThreadName("usart_tx_rx"); -    // Start transport thread -    chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL); +    while (true) { +        if (!react_to_transactions()) { +            /* Clear the receive queue, to start with a clean slate. +             * Parts of failed transactions or spurious bytes could still be in it. */ +            usart_clear(); +        } +    }  } -static SSTD_t* Transaction_table      = NULL; -static uint8_t Transaction_table_size = 0; +/** + * @brief Slave specific initializations. + */ +void soft_serial_target_init(void) { +    usart_slave_init(&serial_driver); -void soft_serial_initiator_init(SSTD_t* sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; +    sdStart(serial_driver, &serial_config); -    usart_master_init(); +    /* Start transport thread. */ +    chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL);  } -void soft_serial_target_init(SSTD_t* sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; +/** + * @brief React to transactions started by the master. + */ +static inline bool react_to_transactions(void) { +    /* Wait until there is a transaction for us. */ +    uint8_t sstd_index = (uint8_t)sdGet(serial_driver); -    usart_slave_init(); -} +    /* Sanity check that we are actually responding to a valid transaction. */ +    if (sstd_index >= NUM_TOTAL_TRANSACTIONS) { +        return false; +    } -void handle_soft_serial_slave(void) { -    uint8_t sstd_index = sdGet(&SERIAL_USART_DRIVER);  // first chunk is always transaction id -    SSTD_t* trans      = &Transaction_table[sstd_index]; +    split_transaction_desc_t* trans = &split_transaction_table[sstd_index]; -    // Always write back the sstd_index as part of a basic handshake +    /* Send back the handshake which is XORed as a simple checksum, +     to signal that the slave is ready to receive possible transaction buffers  */      sstd_index ^= HANDSHAKE_MAGIC; -    sdWrite(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index)); +    if (!send(&sstd_index, sizeof(sstd_index))) { +        *trans->status = TRANSACTION_DATA_ERROR; +        return false; +    } +    /* Receive transaction buffer from the master. If this transaction requires it.*/      if (trans->initiator2target_buffer_size) { -        sdRead(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size); +        if (!receive(split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size)) { +            *trans->status = TRANSACTION_DATA_ERROR; +            return false; +        }      } -    if (trans->target2initiator_buffer_size) { -        sdWrite(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size); +    /* Allow any slave processing to occur. */ +    if (trans->slave_callback) { +        trans->slave_callback(trans->initiator2target_buffer_size, split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size, split_trans_target2initiator_buffer(trans));      } -    if (trans->status) { -        *trans->status = TRANSACTION_ACCEPTED; +    /* Send transaction buffer to the master. If this transaction requires it. */ +    if (trans->target2initiator_buffer_size) { +        if (!send(split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size)) { +            *trans->status = TRANSACTION_DATA_ERROR; +            return false; +        }      } + +    *trans->status = TRANSACTION_ACCEPTED; +    return true;  } -///////// -//  start transaction by initiator -// -// int  soft_serial_transaction(int sstd_index) -// -// Returns: -//    TRANSACTION_END -//    TRANSACTION_NO_RESPONSE -//    TRANSACTION_DATA_ERROR -#ifndef SERIAL_USE_MULTI_TRANSACTION -int soft_serial_transaction(void) { -    uint8_t sstd_index = 0; -#else -int soft_serial_transaction(int index) { -    uint8_t sstd_index = index; +/** + * @brief Master specific initializations. + */ +void soft_serial_initiator_init(void) { +    usart_master_init(&serial_driver); + +#if defined(MCU_STM32) && defined(SERIAL_USART_PIN_SWAP) +    serial_config.cr2 |= USART_CR2_SWAP;  // master has swapped TX/RX pins  #endif -    if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR; -    SSTD_t* trans = &Transaction_table[sstd_index]; -    msg_t   res   = 0; +    sdStart(serial_driver, &serial_config); +} + +/** + * @brief Start transaction from the master half to the slave half. + * + * @param index Transaction Table index of the transaction to start. + * @return int TRANSACTION_NO_RESPONSE in case of Timeout. + *             TRANSACTION_TYPE_ERROR in case of invalid transaction index. + *             TRANSACTION_END in case of success. + */ +int soft_serial_transaction(int index) { +    /* Clear the receive queue, to start with a clean slate. +     * Parts of failed transactions or spurious bytes could still be in it. */ +    usart_clear(); +    return initiate_transaction((uint8_t)index); +} + +/** + * @brief Initiate transaction to slave half. + */ +static inline int initiate_transaction(uint8_t sstd_index) { +    /* Sanity check that we are actually starting a valid transaction. */ +    if (sstd_index >= NUM_TOTAL_TRANSACTIONS) { +        dprintln("USART: Illegal transaction Id."); +        return TRANSACTION_TYPE_ERROR; +    } + +    split_transaction_desc_t* trans = &split_transaction_table[sstd_index]; -    sdClear(&SERIAL_USART_DRIVER); +    /* Transaction is not registered. Abort. */ +    if (!trans->status) { +        dprintln("USART: Transaction not registered."); +        return TRANSACTION_TYPE_ERROR; +    } -    // First chunk is always transaction id -    sdWriteTimeout(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index), TIME_MS2I(SERIAL_USART_TIMEOUT)); +    /* Send transaction table index to the slave, which doubles as basic handshake token. */ +    if (!send(&sstd_index, sizeof(sstd_index))) { +        dprintln("USART: Send Handshake failed."); +        return TRANSACTION_TYPE_ERROR; +    }      uint8_t sstd_index_shake = 0xFF; -    // Which we always read back first so that we can error out correctly -    //   - due to the half duplex limitations on return codes, we always have to read *something* -    //   - without the read, write only transactions *always* succeed, even during the boot process where the slave is not ready -    res = sdReadTimeout(&SERIAL_USART_DRIVER, &sstd_index_shake, sizeof(sstd_index_shake), TIME_MS2I(SERIAL_USART_TIMEOUT)); -    if (res < 0 || (sstd_index_shake != (sstd_index ^ HANDSHAKE_MAGIC))) { -        dprintf("serial::usart_shake NO_RESPONSE\n"); +    /* Which we always read back first so that we can error out correctly. +     *   - due to the half duplex limitations on return codes, we always have to read *something*. +     *   - without the read, write only transactions *always* succeed, even during the boot process where the slave is not ready. +     */ +    if (!receive(&sstd_index_shake, sizeof(sstd_index_shake)) || (sstd_index_shake != (sstd_index ^ HANDSHAKE_MAGIC))) { +        dprintln("USART: Handshake failed.");          return TRANSACTION_NO_RESPONSE;      } +    /* Send transaction buffer to the slave. If this transaction requires it. */      if (trans->initiator2target_buffer_size) { -        res = sdWriteTimeout(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (res < 0) { -            dprintf("serial::usart_transmit NO_RESPONSE\n"); +        if (!send(split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size)) { +            dprintln("USART: Send failed.");              return TRANSACTION_NO_RESPONSE;          }      } +    /* Receive transaction buffer from the slave. If this transaction requires it. */      if (trans->target2initiator_buffer_size) { -        res = sdReadTimeout(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (res < 0) { -            dprintf("serial::usart_receive NO_RESPONSE\n"); +        if (!receive(split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size)) { +            dprintln("USART: Receive failed.");              return TRANSACTION_NO_RESPONSE;          }      } diff --git a/drivers/chibios/serial_usart.h b/drivers/chibios/serial_usart.h index fee7b4d159..c64e15566f 100644 --- a/drivers/chibios/serial_usart.h +++ b/drivers/chibios/serial_usart.h @@ -23,19 +23,45 @@  #include <ch.h>  #include <hal.h> -#ifndef USART_CR1_M0 +#if !defined(SERIAL_USART_DRIVER) +#    define SERIAL_USART_DRIVER SD1 +#endif + +#if !defined(USE_GPIOV1) +/* The default PAL alternate modes are used to signal that the pins are used for USART. */ +#    if !defined(SERIAL_USART_TX_PAL_MODE) +#        define SERIAL_USART_TX_PAL_MODE 7 +#    endif +#    if !defined(SERIAL_USART_RX_PAL_MODE) +#        define SERIAL_USART_RX_PAL_MODE 7 +#    endif +#endif + +#if defined(SOFT_SERIAL_PIN) +#    define SERIAL_USART_TX_PIN SOFT_SERIAL_PIN +#endif + +#if !defined(SERIAL_USART_TX_PIN) +#    define SERIAL_USART_TX_PIN A9 +#endif + +#if !defined(SERIAL_USART_RX_PIN) +#    define SERIAL_USART_RX_PIN A10 +#endif + +#if !defined(USART_CR1_M0)  #    define USART_CR1_M0 USART_CR1_M  // some platforms (f1xx) dont have this so  #endif -#ifndef SERIAL_USART_CR1 +#if !defined(SERIAL_USART_CR1)  #    define SERIAL_USART_CR1 (USART_CR1_PCE | USART_CR1_PS | USART_CR1_M0)  // parity enable, odd parity, 9 bit length  #endif -#ifndef SERIAL_USART_CR2 +#if !defined(SERIAL_USART_CR2)  #    define SERIAL_USART_CR2 (USART_CR2_STOP_1)  // 2 stop bits  #endif -#ifndef SERIAL_USART_CR3 +#if !defined(SERIAL_USART_CR3)  #    define SERIAL_USART_CR3 0  #endif @@ -61,11 +87,11 @@          } while (0)  #endif -#ifndef SELECT_SOFT_SERIAL_SPEED +#if !defined(SELECT_SOFT_SERIAL_SPEED)  #    define SELECT_SOFT_SERIAL_SPEED 1  #endif -#ifdef SERIAL_USART_SPEED +#if defined(SERIAL_USART_SPEED)  // Allow advanced users to directly set SERIAL_USART_SPEED  #elif SELECT_SOFT_SERIAL_SPEED == 0  #    define SERIAL_USART_SPEED 460800 @@ -83,7 +109,7 @@  #    error invalid SELECT_SOFT_SERIAL_SPEED value  #endif -#ifndef SERIAL_USART_TIMEOUT +#if !defined(SERIAL_USART_TIMEOUT)  #    define SERIAL_USART_TIMEOUT 100  #endif diff --git a/drivers/chibios/serial_usart_duplex.c b/drivers/chibios/serial_usart_duplex.c deleted file mode 100644 index cc9b889ac2..0000000000 --- a/drivers/chibios/serial_usart_duplex.c +++ /dev/null @@ -1,261 +0,0 @@ -/* Copyright 2021 QMK - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program.  If not, see <http://www.gnu.org/licenses/>. - */ - -#include "serial_usart.h" - -#include <stdatomic.h> - -#if !defined(USE_GPIOV1) -// The default PAL alternate modes are used to signal that the pins are used for USART -#    if !defined(SERIAL_USART_TX_PAL_MODE) -#        define SERIAL_USART_TX_PAL_MODE 7 -#    endif -#    if !defined(SERIAL_USART_RX_PAL_MODE) -#        define SERIAL_USART_RX_PAL_MODE 7 -#    endif -#endif - -#if !defined(SERIAL_USART_DRIVER) -#    define SERIAL_USART_DRIVER UARTD1 -#endif - -#if !defined(SERIAL_USART_TX_PIN) -#    define SERIAL_USART_TX_PIN A9 -#endif - -#if !defined(SERIAL_USART_RX_PIN) -#    define SERIAL_USART_RX_PIN A10 -#endif - -#define SIGNAL_HANDSHAKE_RECEIVED 0x1 - -void        handle_transactions_slave(uint8_t sstd_index); -static void receive_transaction_handshake(UARTDriver* uartp, uint16_t received_handshake); - -/* - * UART driver configuration structure. We use the blocking DMA enabled API and - * the rxchar callback to receive handshake tokens but only on the slave halve. - */ -// clang-format off -static UARTConfig uart_config = { -    .txend1_cb = NULL, -    .txend2_cb = NULL, -    .rxend_cb = NULL, -    .rxchar_cb = NULL, -    .rxerr_cb = NULL, -    .timeout_cb = NULL, -    .speed = (SERIAL_USART_SPEED), -    .cr1 = (SERIAL_USART_CR1), -    .cr2 = (SERIAL_USART_CR2), -    .cr3 = (SERIAL_USART_CR3) -}; -// clang-format on - -static SSTD_t*              Transaction_table      = NULL; -static uint8_t              Transaction_table_size = 0; -static atomic_uint_least8_t handshake              = 0xFF; -static thread_reference_t   tp_target              = NULL; - -/* - * This callback is invoked when a character is received but the application - * was not ready to receive it, the character is passed as parameter. - * Receive transaction table index from initiator, which doubles as basic handshake token. */ -static void receive_transaction_handshake(UARTDriver* uartp, uint16_t received_handshake) { -    /* Check if received handshake is not a valid transaction id. -     * Please note that we can still catch a seemingly valid handshake -     * i.e. a byte from a ongoing transfer which is in the allowed range. -     * So this check mainly prevents any obviously wrong handshakes and -     * subsequent wakeups of the receiving thread, which is a costly operation. */ -    if (received_handshake > Transaction_table_size) { -        return; -    } - -    handshake = (uint8_t)received_handshake; -    chSysLockFromISR(); -    /* Wakeup receiving thread to start a transaction. */ -    chEvtSignalI(tp_target, (eventmask_t)SIGNAL_HANDSHAKE_RECEIVED); -    chSysUnlockFromISR(); -} - -__attribute__((weak)) void usart_init(void) { -#if defined(USE_GPIOV1) -    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_STM32_ALTERNATE_PUSHPULL); -    palSetLineMode(SERIAL_USART_RX_PIN, PAL_MODE_INPUT); -#else -    palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_TX_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); -    palSetLineMode(SERIAL_USART_RX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_RX_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); -#endif -} - -/* - * This thread runs on the slave half and reacts to transactions initiated from the master. - */ -static THD_WORKING_AREA(waSlaveThread, 1024); -static THD_FUNCTION(SlaveThread, arg) { -    (void)arg; -    chRegSetThreadName("slave_usart_tx_rx"); - -    while (true) { -        /* We sleep as long as there is no handshake waiting for us. */ -        chEvtWaitAny((eventmask_t)SIGNAL_HANDSHAKE_RECEIVED); -        handle_transactions_slave(handshake); -    } -} - -void soft_serial_target_init(SSTD_t* const sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; -    usart_init(); - -#if defined(USART_REMAP) -    USART_REMAP; -#endif - -    tp_target = chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL); - -    // Start receiving handshake tokens on slave halve -    uart_config.rxchar_cb = receive_transaction_handshake; -    uartStart(&SERIAL_USART_DRIVER, &uart_config); -} - -/** - * @brief React to transactions started by the master. - * This version uses duplex send and receive usart pheriphals and DMA backed transfers. - */ -void inline handle_transactions_slave(uint8_t sstd_index) { -    size_t  buffer_size = 0; -    msg_t   msg         = 0; -    SSTD_t* trans       = &Transaction_table[sstd_index]; - -    /* Send back the handshake which is XORed as a simple checksum, -     to signal that the slave is ready to receive possible transaction buffers  */ -    sstd_index ^= HANDSHAKE_MAGIC; -    buffer_size = (size_t)sizeof(sstd_index); -    msg         = uartSendTimeout(&SERIAL_USART_DRIVER, &buffer_size, &sstd_index, TIME_MS2I(SERIAL_USART_TIMEOUT)); - -    if (msg != MSG_OK) { -        if (trans->status) { -            *trans->status = TRANSACTION_NO_RESPONSE; -        } -        return; -    } - -    /* Receive transaction buffer from the master. If this transaction requires it.*/ -    buffer_size = (size_t)trans->initiator2target_buffer_size; -    if (buffer_size) { -        msg = uartReceiveTimeout(&SERIAL_USART_DRIVER, &buffer_size, trans->initiator2target_buffer, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (msg != MSG_OK) { -            if (trans->status) { -                *trans->status = TRANSACTION_NO_RESPONSE; -            } -            return; -        } -    } - -    /* Send transaction buffer to the master. If this transaction requires it. */ -    buffer_size = (size_t)trans->target2initiator_buffer_size; -    if (buffer_size) { -        msg = uartSendFullTimeout(&SERIAL_USART_DRIVER, &buffer_size, trans->target2initiator_buffer, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (msg != MSG_OK) { -            if (trans->status) { -                *trans->status = TRANSACTION_NO_RESPONSE; -            } -            return; -        } -    } - -    if (trans->status) { -        *trans->status = TRANSACTION_ACCEPTED; -    } -} - -void soft_serial_initiator_init(SSTD_t* const sstd_table, int sstd_table_size) { -    Transaction_table      = sstd_table; -    Transaction_table_size = (uint8_t)sstd_table_size; -    usart_init(); - -#if defined(SERIAL_USART_PIN_SWAP) -    uart_config.cr2 |= USART_CR2_SWAP;  // master has swapped TX/RX pins -#endif - -#if defined(USART_REMAP) -    USART_REMAP; -#endif - -    uartStart(&SERIAL_USART_DRIVER, &uart_config); -} - -/** - * @brief Start transaction from the master to the slave. - * This version uses duplex send and receive usart pheriphals and DMA backed transfers. - * - * @param index Transaction Table index of the transaction to start. - * @return int TRANSACTION_NO_RESPONSE in case of Timeout. - *             TRANSACTION_TYPE_ERROR in case of invalid transaction index. - *             TRANSACTION_END in case of success. - */ -#if !defined(SERIAL_USE_MULTI_TRANSACTION) -int soft_serial_transaction(void) { -    uint8_t sstd_index = 0; -#else -int soft_serial_transaction(int index) { -    uint8_t sstd_index = index; -#endif - -    if (sstd_index > Transaction_table_size) { -        return TRANSACTION_TYPE_ERROR; -    } - -    SSTD_t* const trans       = &Transaction_table[sstd_index]; -    msg_t         msg         = 0; -    size_t        buffer_size = (size_t)sizeof(sstd_index); - -    /* Send transaction table index to the slave, which doubles as basic handshake token. */ -    uartSendFullTimeout(&SERIAL_USART_DRIVER, &buffer_size, &sstd_index, TIME_MS2I(SERIAL_USART_TIMEOUT)); - -    uint8_t sstd_index_shake = 0xFF; -    buffer_size              = (size_t)sizeof(sstd_index_shake); - -    /* Receive the handshake token from the slave. The token was XORed by the slave as a simple checksum. -     If the tokens match, the master will start to send and receive possible transaction buffers. */ -    msg = uartReceiveTimeout(&SERIAL_USART_DRIVER, &buffer_size, &sstd_index_shake, TIME_MS2I(SERIAL_USART_TIMEOUT)); -    if (msg != MSG_OK || (sstd_index_shake != (sstd_index ^ HANDSHAKE_MAGIC))) { -        dprintln("USART: Handshake Failed"); -        return TRANSACTION_NO_RESPONSE; -    } - -    /* Send transaction buffer to the slave. If this transaction requires it. */ -    buffer_size = (size_t)trans->initiator2target_buffer_size; -    if (buffer_size) { -        msg = uartSendFullTimeout(&SERIAL_USART_DRIVER, &buffer_size, trans->initiator2target_buffer, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (msg != MSG_OK) { -            dprintln("USART: Send Failed"); -            return TRANSACTION_NO_RESPONSE; -        } -    } - -    /* Receive transaction buffer from the slave. If this transaction requires it. */ -    buffer_size = (size_t)trans->target2initiator_buffer_size; -    if (buffer_size) { -        msg = uartReceiveTimeout(&SERIAL_USART_DRIVER, &buffer_size, trans->target2initiator_buffer, TIME_MS2I(SERIAL_USART_TIMEOUT)); -        if (msg != MSG_OK) { -            dprintln("USART: Receive Failed"); -            return TRANSACTION_NO_RESPONSE; -        } -    } - -    return TRANSACTION_END; -} diff --git a/drivers/chibios/spi_master.c b/drivers/chibios/spi_master.c index 4852a6eba4..28ddcbb2ba 100644 --- a/drivers/chibios/spi_master.c +++ b/drivers/chibios/spi_master.c @@ -18,8 +18,13 @@  #include "timer.h" -static pin_t     currentSlavePin = NO_PIN; -static SPIConfig spiConfig       = {false, NULL, 0, 0, 0, 0}; +static pin_t currentSlavePin = NO_PIN; + +#if defined(K20x) || defined(KL2x) +static SPIConfig spiConfig = {NULL, 0, 0, 0}; +#else +static SPIConfig spiConfig = {false, NULL, 0, 0, 0, 0}; +#endif  __attribute__((weak)) void spi_init(void) {      static bool is_initialised = false; @@ -27,15 +32,15 @@ __attribute__((weak)) void spi_init(void) {          is_initialised = true;          // Try releasing special pins for a short time -        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_INPUT); -        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_INPUT); -        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_INPUT); +        setPinInput(SPI_SCK_PIN); +        setPinInput(SPI_MOSI_PIN); +        setPinInput(SPI_MISO_PIN);          chThdSleepMilliseconds(10);  #if defined(USE_GPIOV1) -        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL); -        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL); -        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL); +        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), SPI_SCK_PAL_MODE); +        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), SPI_MOSI_PAL_MODE); +        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), SPI_MISO_PAL_MODE);  #else          palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_ALTERNATE(SPI_SCK_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);          palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_ALTERNATE(SPI_MOSI_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); @@ -58,6 +63,54 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {          return false;      } +#if defined(K20x) || defined(KL2x) +    spiConfig.tar0 = SPIx_CTARn_FMSZ(7) | SPIx_CTARn_ASC(1); + +    if (lsbFirst) { +        spiConfig.tar0 |= SPIx_CTARn_LSBFE; +    } + +    switch (mode) { +        case 0: +            break; +        case 1: +            spiConfig.tar0 |= SPIx_CTARn_CPHA; +            break; +        case 2: +            spiConfig.tar0 |= SPIx_CTARn_CPOL; +            break; +        case 3: +            spiConfig.tar0 |= SPIx_CTARn_CPHA | SPIx_CTARn_CPOL; +            break; +    } + +    switch (roundedDivisor) { +        case 2: +            spiConfig.tar0 |= SPIx_CTARn_BR(0); +            break; +        case 4: +            spiConfig.tar0 |= SPIx_CTARn_BR(1); +            break; +        case 8: +            spiConfig.tar0 |= SPIx_CTARn_BR(3); +            break; +        case 16: +            spiConfig.tar0 |= SPIx_CTARn_BR(4); +            break; +        case 32: +            spiConfig.tar0 |= SPIx_CTARn_BR(5); +            break; +        case 64: +            spiConfig.tar0 |= SPIx_CTARn_BR(6); +            break; +        case 128: +            spiConfig.tar0 |= SPIx_CTARn_BR(7); +            break; +        case 256: +            spiConfig.tar0 |= SPIx_CTARn_BR(8); +            break; +    } +#else      spiConfig.cr1 = 0;      if (lsbFirst) { @@ -103,6 +156,7 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {              spiConfig.cr1 |= SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0;              break;      } +#endif      currentSlavePin  = slavePin;      spiConfig.ssport = PAL_PORT(slavePin); diff --git a/drivers/chibios/spi_master.h b/drivers/chibios/spi_master.h index e93580e319..b5a6ef1437 100644 --- a/drivers/chibios/spi_master.h +++ b/drivers/chibios/spi_master.h @@ -21,6 +21,7 @@  #include <stdbool.h>  #include "gpio.h" +#include "chibios_config.h"  #ifndef SPI_DRIVER  #    define SPI_DRIVER SPID2 @@ -31,7 +32,11 @@  #endif  #ifndef SPI_SCK_PAL_MODE -#    define SPI_SCK_PAL_MODE 5 +#    if defined(USE_GPIOV1) +#        define SPI_SCK_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL +#    else +#        define SPI_SCK_PAL_MODE 5 +#    endif  #endif  #ifndef SPI_MOSI_PIN @@ -39,7 +44,11 @@  #endif  #ifndef SPI_MOSI_PAL_MODE -#    define SPI_MOSI_PAL_MODE 5 +#    if defined(USE_GPIOV1) +#        define SPI_MOSI_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL +#    else +#        define SPI_MOSI_PAL_MODE 5 +#    endif  #endif  #ifndef SPI_MISO_PIN @@ -47,7 +56,11 @@  #endif  #ifndef SPI_MISO_PAL_MODE -#    define SPI_MISO_PAL_MODE 5 +#    if defined(USE_GPIOV1) +#        define SPI_MISO_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL +#    else +#        define SPI_MISO_PAL_MODE 5 +#    endif  #endif  typedef int16_t spi_status_t; 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