diff options
Diffstat (limited to 'drivers')
49 files changed, 6106 insertions, 1083 deletions
diff --git a/drivers/avr/i2c_master.c b/drivers/avr/i2c_master.c index b1e4885298..2773e00778 100644 --- a/drivers/avr/i2c_master.c +++ b/drivers/avr/i2c_master.c @@ -28,8 +28,14 @@ # define F_SCL 400000UL // SCL frequency #endif +#ifndef I2C_START_RETRY_COUNT +# define I2C_START_RETRY_COUNT 20 +#endif // I2C_START_RETRY_COUNT + #define TWBR_val (((F_CPU / F_SCL) - 16) / 2) +#define MAX(X, Y) ((X) > (Y) ? (X) : (Y)) + void i2c_init(void) { TWSR = 0; /* no prescaler */ TWBR = (uint8_t)TWBR_val; @@ -47,7 +53,7 @@ void i2c_init(void) { #endif } -i2c_status_t i2c_start(uint8_t address, uint16_t timeout) { +static i2c_status_t i2c_start_impl(uint8_t address, uint16_t timeout) { // reset TWI control register TWCR = 0; // transmit START condition @@ -86,6 +92,17 @@ i2c_status_t i2c_start(uint8_t address, uint16_t timeout) { return I2C_STATUS_SUCCESS; } +i2c_status_t i2c_start(uint8_t address, uint16_t timeout) { + // Retry i2c_start_impl a bunch times in case the remote side has interrupts disabled. + uint16_t timeout_timer = timer_read(); + uint16_t time_slice = MAX(1, (timeout == (I2C_TIMEOUT_INFINITE)) ? 5 : (timeout / (I2C_START_RETRY_COUNT))); // if it's infinite, wait 1ms between attempts, otherwise split up the entire timeout into the number of retries + i2c_status_t status; + do { + status = i2c_start_impl(address, time_slice); + } while ((status < 0) && ((timeout == I2C_TIMEOUT_INFINITE) || (timer_elapsed(timeout_timer) < timeout))); + return status; +} + i2c_status_t i2c_write(uint8_t data, uint16_t timeout) { // load data into data register TWDR = data; diff --git a/drivers/avr/i2c_slave.c b/drivers/avr/i2c_slave.c index 62a378165a..2907f164c0 100644 --- a/drivers/avr/i2c_slave.c +++ b/drivers/avr/i2c_slave.c @@ -17,6 +17,7 @@ * GitHub repository: https://github.com/g4lvanix/I2C-slave-lib */ +#include <stddef.h> #include <avr/io.h> #include <util/twi.h> #include <avr/interrupt.h> @@ -24,6 +25,12 @@ #include "i2c_slave.h" +#if defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) +# include "transactions.h" + +static volatile bool is_callback_executor = false; +#endif // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) + volatile uint8_t i2c_slave_reg[I2C_SLAVE_REG_COUNT]; static volatile uint8_t buffer_address; @@ -48,11 +55,14 @@ ISR(TWI_vect) { case TW_SR_SLA_ACK: // The device is now a slave receiver slave_has_register_set = false; +#if defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) + is_callback_executor = false; +#endif // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) break; case TW_SR_DATA_ACK: // This device is a slave receiver and has received data - // First byte is the location then the bytes will be writen in buffer with auto-incriment + // First byte is the location then the bytes will be writen in buffer with auto-increment if (!slave_has_register_set) { buffer_address = TWDR; @@ -60,10 +70,25 @@ ISR(TWI_vect) { ack = 0; buffer_address = 0; } - slave_has_register_set = true; // address has been receaved now fill in buffer + slave_has_register_set = true; // address has been received now fill in buffer + +#if defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) + // Work out if we're attempting to execute a callback + is_callback_executor = buffer_address == split_transaction_table[I2C_EXECUTE_CALLBACK].initiator2target_offset; +#endif // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) } else { i2c_slave_reg[buffer_address] = TWDR; buffer_address++; + +#if defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) + // If we're intending to execute a transaction callback, do so, as we've just received the transaction ID + if (is_callback_executor) { + split_transaction_desc_t *trans = &split_transaction_table[split_shmem->transaction_id]; + 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)); + } + } +#endif // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) } break; diff --git a/drivers/avr/i2c_slave.h b/drivers/avr/i2c_slave.h index 1cd0625ef4..a8647c9da3 100644 --- a/drivers/avr/i2c_slave.h +++ b/drivers/avr/i2c_slave.h @@ -22,7 +22,18 @@ #pragma once -#define I2C_SLAVE_REG_COUNT 30 +#ifndef I2C_SLAVE_REG_COUNT + +# if defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) +# include "transport.h" +# define I2C_SLAVE_REG_COUNT sizeof(split_shared_memory_t) +# else // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) +# define I2C_SLAVE_REG_COUNT 30 +# endif // defined(USE_I2C) && defined(SPLIT_COMMON_TRANSACTIONS) + +#endif // I2C_SLAVE_REG_COUNT + +_Static_assert(I2C_SLAVE_REG_COUNT < 256, "I2C target registers must be single byte"); extern volatile uint8_t i2c_slave_reg[I2C_SLAVE_REG_COUNT]; diff --git a/drivers/avr/serial.c b/drivers/avr/serial.c index 3647bee0d3..9a7345a53d 100644 --- a/drivers/avr/serial.c +++ b/drivers/avr/serial.c @@ -224,15 +224,8 @@ # define SERIAL_DELAY_HALF2 (SERIAL_DELAY - SERIAL_DELAY / 2) # define SLAVE_INT_WIDTH_US 1 -# ifndef SERIAL_USE_MULTI_TRANSACTION -# define SLAVE_INT_RESPONSE_TIME SERIAL_DELAY -# else -# define SLAVE_INT_ACK_WIDTH_UNIT 2 -# define SLAVE_INT_ACK_WIDTH 4 -# endif - -static SSTD_t *Transaction_table = NULL; -static uint8_t Transaction_table_size = 0; +# define SLAVE_INT_ACK_WIDTH_UNIT 2 +# define SLAVE_INT_ACK_WIDTH 4 inline static void serial_delay(void) ALWAYS_INLINE; inline static void serial_delay(void) { _delay_us(SERIAL_DELAY); } @@ -259,16 +252,12 @@ inline static void serial_low(void) { writePinLow(SOFT_SERIAL_PIN); } inline static void serial_high(void) ALWAYS_INLINE; inline static void serial_high(void) { writePinHigh(SOFT_SERIAL_PIN); } -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_with_pullup(); // Enable INT0-INT7 @@ -395,19 +384,14 @@ static inline uint8_t nibble_bits_count(uint8_t bits) { // interrupt handle to be used by the target device ISR(SERIAL_PIN_INTERRUPT) { -# ifndef SERIAL_USE_MULTI_TRANSACTION - serial_low(); - serial_output(); - SSTD_t *trans = Transaction_table; -# else // recive transaction table index uint8_t tid, bits; uint8_t pecount = 0; sync_recv(); - bits = serial_read_chunk(&pecount, 7); + bits = serial_read_chunk(&pecount, 8); tid = bits >> 3; - bits = (bits & 7) != nibble_bits_count(tid); - if (bits || pecount > 0 || tid > Transaction_table_size) { + bits = (bits & 7) != (nibble_bits_count(tid) & 7); + if (bits || pecount > 0 || tid > NUM_TOTAL_TRANSACTIONS) { return; } serial_delay_half1(); @@ -415,18 +399,22 @@ ISR(SERIAL_PIN_INTERRUPT) { serial_high(); // response step1 low->high serial_output(); _delay_sub_us(SLAVE_INT_ACK_WIDTH_UNIT * SLAVE_INT_ACK_WIDTH); - SSTD_t *trans = &Transaction_table[tid]; + split_transaction_desc_t *trans = &split_transaction_table[tid]; serial_low(); // response step2 ack high->low -# endif + + // If the transaction has a callback, we can execute it now + 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)); + } // target send phase - if (trans->target2initiator_buffer_size > 0) serial_send_packet((uint8_t *)trans->target2initiator_buffer, trans->target2initiator_buffer_size); + if (trans->target2initiator_buffer_size > 0) serial_send_packet((uint8_t *)split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size); // target switch to input change_sender2reciver(); // target recive phase if (trans->initiator2target_buffer_size > 0) { - if (serial_recive_packet((uint8_t *)trans->initiator2target_buffer, trans->initiator2target_buffer_size)) { + if (serial_recive_packet((uint8_t *)split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size)) { *trans->status = TRANSACTION_ACCEPTED; } else { *trans->status = TRANSACTION_DATA_ERROR; @@ -448,14 +436,12 @@ ISR(SERIAL_PIN_INTERRUPT) { // 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) { - SSTD_t *trans = Transaction_table; -# else int soft_serial_transaction(int sstd_index) { - if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR; - SSTD_t *trans = &Transaction_table[sstd_index]; -# endif + 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 + cli(); // signal to the target that we want to start a transaction @@ -463,27 +449,11 @@ int soft_serial_transaction(int sstd_index) { serial_low(); _delay_us(SLAVE_INT_WIDTH_US); -# ifndef SERIAL_USE_MULTI_TRANSACTION - // wait for the target response - serial_input_with_pullup(); - _delay_us(SLAVE_INT_RESPONSE_TIME); - - // check if the target is present - if (serial_read_pin()) { - // target failed to pull the line low, assume not present - serial_output(); - serial_high(); - *trans->status = TRANSACTION_NO_RESPONSE; - sei(); - return TRANSACTION_NO_RESPONSE; - } - -# else // send transaction table index int tid = (sstd_index << 3) | (7 & nibble_bits_count(sstd_index)); sync_send(); _delay_sub_us(TID_SEND_ADJUST); - serial_write_chunk(tid, 7); + serial_write_chunk(tid, 8); serial_delay_half1(); // wait for the target response (step1 low->high) @@ -504,12 +474,11 @@ int soft_serial_transaction(int sstd_index) { } _delay_sub_us(SLAVE_INT_ACK_WIDTH_UNIT); } -# endif // initiator recive phase // if the target is present syncronize with it if (trans->target2initiator_buffer_size > 0) { - if (!serial_recive_packet((uint8_t *)trans->target2initiator_buffer, trans->target2initiator_buffer_size)) { + if (!serial_recive_packet((uint8_t *)split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size)) { serial_output(); serial_high(); *trans->status = TRANSACTION_DATA_ERROR; @@ -523,7 +492,7 @@ int soft_serial_transaction(int sstd_index) { // initiator send phase if (trans->initiator2target_buffer_size > 0) { - serial_send_packet((uint8_t *)trans->initiator2target_buffer, trans->initiator2target_buffer_size); + serial_send_packet((uint8_t *)split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size); } // always, release the line when not in use @@ -534,9 +503,8 @@ int soft_serial_transaction(int sstd_index) { return TRANSACTION_END; } -# ifdef SERIAL_USE_MULTI_TRANSACTION int soft_serial_get_and_clean_status(int sstd_index) { - SSTD_t *trans = &Transaction_table[sstd_index]; + split_transaction_desc_t *trans = &split_transaction_table[sstd_index]; cli(); int retval = *trans->status; *trans->status = 0; @@ -544,8 +512,6 @@ int soft_serial_get_and_clean_status(int sstd_index) { sei(); return retval; } -# endif - #endif // Helix serial.c history diff --git a/drivers/avr/serial.h b/drivers/avr/serial.h deleted file mode 100644 index 53e66cf905..0000000000 --- a/drivers/avr/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 resullt -#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.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/ |