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-rw-r--r--drivers/chibios/serial.c52
-rw-r--r--drivers/chibios/serial.h62
-rw-r--r--drivers/chibios/serial_usart.c47
-rw-r--r--drivers/chibios/spi_master.c70
-rw-r--r--drivers/chibios/spi_master.h19
5 files changed, 116 insertions, 134 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..9f180d2d74 100644
--- a/drivers/chibios/serial_usart.c
+++ b/drivers/chibios/serial_usart.c
@@ -113,37 +113,29 @@ void usart_slave_init(void) {
chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL);
}
-static SSTD_t* Transaction_table = NULL;
-static uint8_t Transaction_table_size = 0;
+void soft_serial_initiator_init(void) { usart_master_init(); }
-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;
-
- usart_master_init();
-}
-
-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;
-
- usart_slave_init();
-}
+void soft_serial_target_init(void) { usart_slave_init(); }
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];
+ uint8_t sstd_index = sdGet(&SERIAL_USART_DRIVER); // first chunk is always transaction id
+ split_transaction_desc_t* trans = &split_transaction_table[sstd_index];
// Always write back the sstd_index as part of a basic handshake
sstd_index ^= HANDSHAKE_MAGIC;
sdWrite(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index));
if (trans->initiator2target_buffer_size) {
- sdRead(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size);
+ sdRead(&SERIAL_USART_DRIVER, split_trans_initiator2target_buffer(trans), trans->initiator2target_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->target2initiator_buffer_size, split_trans_target2initiator_buffer(trans));
}
if (trans->target2initiator_buffer_size) {
- sdWrite(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size);
+ sdWrite(&SERIAL_USART_DRIVER, split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size);
}
if (trans->status) {
@@ -160,17 +152,14 @@ void handle_soft_serial_slave(void) {
// 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;
-#endif
- if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR;
- SSTD_t* trans = &Transaction_table[sstd_index];
- msg_t res = 0;
+ if (sstd_index > NUM_TOTAL_TRANSACTIONS) return TRANSACTION_TYPE_ERROR;
+ split_transaction_desc_t* trans = &split_transaction_table[sstd_index];
+ msg_t res = 0;
+
+ if (!trans->status) return TRANSACTION_TYPE_ERROR; // not registered
sdClear(&SERIAL_USART_DRIVER);
@@ -189,7 +178,7 @@ int soft_serial_transaction(int index) {
}
if (trans->initiator2target_buffer_size) {
- res = sdWriteTimeout(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
+ res = sdWriteTimeout(&SERIAL_USART_DRIVER, split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
if (res < 0) {
dprintf("serial::usart_transmit NO_RESPONSE\n");
return TRANSACTION_NO_RESPONSE;
@@ -197,7 +186,7 @@ int soft_serial_transaction(int index) {
}
if (trans->target2initiator_buffer_size) {
- res = sdReadTimeout(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
+ res = sdReadTimeout(&SERIAL_USART_DRIVER, split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
if (res < 0) {
dprintf("serial::usart_receive NO_RESPONSE\n");
return TRANSACTION_NO_RESPONSE;
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;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-26 07:53:31 +0000