Joel Challis
5 years ago
committed by
GitHub
commit
526c185e7e
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/*
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* WARNING: be careful changing this code, it is very timing dependent |
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*/ |
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#include "quantum.h" |
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#include "serial.h" |
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#include "wait.h" |
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#include "hal.h" |
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// TODO: resolve/remove build warnings
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#if defined(RGBLIGHT_ENABLE) && defined(RGBLED_SPLIT) && defined(PROTOCOL_CHIBIOS) && defined(WS2812_DRIVER_BITBANG) |
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# warning "RGBLED_SPLIT not supported with bitbang WS2812 driver" |
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#endif |
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// default wait implementation cannot be called within interrupt
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// this method seems to be more accurate than GPT timers
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#if PORT_SUPPORTS_RT == FALSE |
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# error "chSysPolledDelayX method not supported on this platform" |
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#else |
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# undef wait_us |
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# define wait_us(x) chSysPolledDelayX(US2RTC(STM32_SYSCLK, x)) |
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#endif |
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#ifndef SELECT_SOFT_SERIAL_SPEED |
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# define SELECT_SOFT_SERIAL_SPEED 1 |
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// TODO: correct speeds...
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// 0: about 189kbps (Experimental only)
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// 1: about 137kbps (default)
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// 2: about 75kbps
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// 3: about 39kbps
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// 4: about 26kbps
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// 5: about 20kbps
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#endif |
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// Serial pulse period in microseconds. At the moment, going lower than 12 causes communication failure
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#if SELECT_SOFT_SERIAL_SPEED == 0 |
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# define SERIAL_DELAY 12 |
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#elif SELECT_SOFT_SERIAL_SPEED == 1 |
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# define SERIAL_DELAY 16 |
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#elif SELECT_SOFT_SERIAL_SPEED == 2 |
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# define SERIAL_DELAY 24 |
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#elif SELECT_SOFT_SERIAL_SPEED == 3 |
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# define SERIAL_DELAY 32 |
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#elif SELECT_SOFT_SERIAL_SPEED == 4 |
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# define SERIAL_DELAY 48 |
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#elif SELECT_SOFT_SERIAL_SPEED == 5 |
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# define SERIAL_DELAY 64 |
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#else |
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# error invalid SELECT_SOFT_SERIAL_SPEED value |
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#endif |
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inline static void serial_delay(void) { wait_us(SERIAL_DELAY); } |
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inline static void serial_delay_half(void) { wait_us(SERIAL_DELAY / 2); } |
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inline static void serial_delay_blip(void) { wait_us(1); } |
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inline static void serial_output(void) { setPinOutput(SOFT_SERIAL_PIN); } |
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inline static void serial_input(void) { setPinInputHigh(SOFT_SERIAL_PIN); } |
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inline static bool serial_read_pin(void) { return !!readPin(SOFT_SERIAL_PIN); } |
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inline static void serial_low(void) { writePinLow(SOFT_SERIAL_PIN); } |
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inline static void serial_high(void) { writePinHigh(SOFT_SERIAL_PIN); } |
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void interrupt_handler(void *arg); |
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// Use thread + palWaitLineTimeout instead of palSetLineCallback
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// - Methods like setPinOutput and palEnableLineEvent/palDisableLineEvent
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// cause the interrupt to lock up, which would limit to only receiving data...
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static THD_WORKING_AREA(waThread1, 128); |
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static THD_FUNCTION(Thread1, arg) { |
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(void)arg; |
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chRegSetThreadName("blinker"); |
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while (true) { |
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palWaitLineTimeout(SOFT_SERIAL_PIN, TIME_INFINITE); |
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interrupt_handler(NULL); |
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} |
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} |
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static SSTD_t *Transaction_table = NULL; |
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static uint8_t Transaction_table_size = 0; |
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void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size) { |
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Transaction_table = sstd_table; |
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Transaction_table_size = (uint8_t)sstd_table_size; |
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serial_output(); |
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serial_high(); |
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} |
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void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size) { |
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Transaction_table = sstd_table; |
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Transaction_table_size = (uint8_t)sstd_table_size; |
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serial_input(); |
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palEnablePadEvent(PAL_PORT(SOFT_SERIAL_PIN), PAL_PAD(SOFT_SERIAL_PIN), PAL_EVENT_MODE_FALLING_EDGE); |
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chThdCreateStatic(waThread1, sizeof(waThread1), HIGHPRIO, Thread1, NULL); |
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} |
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// Used by the master to synchronize timing with the slave.
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static void __attribute__((noinline)) sync_recv(void) { |
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serial_input(); |
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// This shouldn't hang if the slave disconnects because the
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// serial line will float to high if the slave does disconnect.
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while (!serial_read_pin()) { |
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} |
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serial_delay(); |
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} |
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// Used by the slave to send a synchronization signal to the master.
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static void __attribute__((noinline)) sync_send(void) { |
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serial_output(); |
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serial_low(); |
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serial_delay(); |
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serial_high(); |
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} |
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// Reads a byte from the serial line
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static uint8_t __attribute__((noinline)) serial_read_byte(void) { |
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uint8_t byte = 0; |
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serial_input(); |
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for (uint8_t i = 0; i < 8; ++i) { |
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byte = (byte << 1) | serial_read_pin(); |
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serial_delay(); |
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} |
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return byte; |
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} |
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// Sends a byte with MSB ordering
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static void __attribute__((noinline)) serial_write_byte(uint8_t data) { |
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uint8_t b = 8; |
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serial_output(); |
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while (b--) { |
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if (data & (1 << b)) { |
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serial_high(); |
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} else { |
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serial_low(); |
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} |
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serial_delay(); |
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} |
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} |
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// interrupt handle to be used by the slave device
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void interrupt_handler(void *arg) { |
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chSysLockFromISR(); |
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sync_send(); |
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// read mid pulses
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serial_delay_blip(); |
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uint8_t checksum_computed = 0; |
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int sstd_index = 0; |
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#ifdef SERIAL_USE_MULTI_TRANSACTION |
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sstd_index = serial_read_byte(); |
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sync_send(); |
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#endif |
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SSTD_t *trans = &Transaction_table[sstd_index]; |
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for (int i = 0; i < trans->initiator2target_buffer_size; ++i) { |
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trans->initiator2target_buffer[i] = serial_read_byte(); |
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sync_send(); |
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checksum_computed += trans->initiator2target_buffer[i]; |
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} |
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checksum_computed ^= 7; |
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uint8_t checksum_received = serial_read_byte(); |
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sync_send(); |
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// wait for the sync to finish sending
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serial_delay(); |
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uint8_t checksum = 0; |
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for (int i = 0; i < trans->target2initiator_buffer_size; ++i) { |
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serial_write_byte(trans->target2initiator_buffer[i]); |
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sync_send(); |
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serial_delay_half(); |
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checksum += trans->target2initiator_buffer[i]; |
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} |
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serial_write_byte(checksum ^ 7); |
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sync_send(); |
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// wait for the sync to finish sending
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serial_delay(); |
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*trans->status = (checksum_computed == checksum_received) ? TRANSACTION_ACCEPTED : TRANSACTION_DATA_ERROR; |
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// end transaction
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serial_input(); |
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// TODO: remove extra delay between transactions
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serial_delay(); |
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chSysUnlockFromISR(); |
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} |
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/////////
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// start transaction by initiator
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//
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// int soft_serial_transaction(int sstd_index)
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//
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// Returns:
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// TRANSACTION_END
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// TRANSACTION_NO_RESPONSE
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// TRANSACTION_DATA_ERROR
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// this code is very time dependent, so we need to disable interrupts
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#ifndef SERIAL_USE_MULTI_TRANSACTION |
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int soft_serial_transaction(void) { |
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int sstd_index = 0; |
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#else |
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int soft_serial_transaction(int sstd_index) { |
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#endif |
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if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR; |
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SSTD_t *trans = &Transaction_table[sstd_index]; |
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// TODO: remove extra delay between transactions
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serial_delay(); |
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// this code is very time dependent, so we need to disable interrupts
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chSysLock(); |
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// signal to the slave that we want to start a transaction
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serial_output(); |
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serial_low(); |
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serial_delay_blip(); |
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// wait for the slaves response
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serial_input(); |
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serial_high(); |
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serial_delay(); |
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// check if the slave is present
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if (serial_read_pin()) { |
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// slave failed to pull the line low, assume not present
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dprintf("serial::NO_RESPONSE\n"); |
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chSysUnlock(); |
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return TRANSACTION_NO_RESPONSE; |
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} |
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// if the slave is present syncronize with it
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uint8_t checksum = 0; |
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// send data to the slave
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#ifdef SERIAL_USE_MULTI_TRANSACTION |
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serial_write_byte(sstd_index); // first chunk is transaction id
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sync_recv(); |
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#endif |
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for (int i = 0; i < trans->initiator2target_buffer_size; ++i) { |
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serial_write_byte(trans->initiator2target_buffer[i]); |
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sync_recv(); |
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checksum += trans->initiator2target_buffer[i]; |
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} |
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serial_write_byte(checksum ^ 7); |
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sync_recv(); |
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serial_delay(); |
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serial_delay(); // read mid pulses
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// receive data from the slave
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uint8_t checksum_computed = 0; |
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for (int i = 0; i < trans->target2initiator_buffer_size; ++i) { |
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trans->target2initiator_buffer[i] = serial_read_byte(); |
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sync_recv(); |
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checksum_computed += trans->target2initiator_buffer[i]; |
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} |
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checksum_computed ^= 7; |
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uint8_t checksum_received = serial_read_byte(); |
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sync_recv(); |
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serial_delay(); |
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if ((checksum_computed) != (checksum_received)) { |
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dprintf("serial::FAIL[%u,%u,%u]\n", checksum_computed, checksum_received, sstd_index); |
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serial_output(); |
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serial_high(); |
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chSysUnlock(); |
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return TRANSACTION_DATA_ERROR; |
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} |
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// always, release the line when not in use
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serial_high(); |
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serial_output(); |
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chSysUnlock(); |
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return TRANSACTION_END; |
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} |
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