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-rw-r--r--drivers/chibios/serial.c290
-rw-r--r--drivers/chibios/serial.h62
-rw-r--r--drivers/chibios/serial_usart.c234
3 files changed, 586 insertions, 0 deletions
diff --git a/drivers/chibios/serial.c b/drivers/chibios/serial.c
new file mode 100644
index 000000000..26c680653
--- /dev/null
+++ b/drivers/chibios/serial.c
@@ -0,0 +1,290 @@
+/*
+ * WARNING: be careful changing this code, it is very timing dependent
+ */
+
+#include "quantum.h"
+#include "serial.h"
+#include "wait.h"
+
+#include "hal.h"
+
+// TODO: resolve/remove build warnings
+#if defined(RGBLIGHT_ENABLE) && defined(RGBLED_SPLIT) && defined(PROTOCOL_CHIBIOS) && defined(WS2812_DRIVER_BITBANG)
+# warning "RGBLED_SPLIT not supported with bitbang WS2812 driver"
+#endif
+
+// default wait implementation cannot be called within interrupt
+// this method seems to be more accurate than GPT timers
+#if PORT_SUPPORTS_RT == FALSE
+# error "chSysPolledDelayX method not supported on this platform"
+#else
+# undef wait_us
+# define wait_us(x) chSysPolledDelayX(US2RTC(STM32_SYSCLK, x))
+#endif
+
+#ifndef SELECT_SOFT_SERIAL_SPEED
+# define SELECT_SOFT_SERIAL_SPEED 1
+// TODO: correct speeds...
+// 0: about 189kbps (Experimental only)
+// 1: about 137kbps (default)
+// 2: about 75kbps
+// 3: about 39kbps
+// 4: about 26kbps
+// 5: about 20kbps
+#endif
+
+// Serial pulse period in microseconds. At the moment, going lower than 12 causes communication failure
+#if SELECT_SOFT_SERIAL_SPEED == 0
+# define SERIAL_DELAY 12
+#elif SELECT_SOFT_SERIAL_SPEED == 1
+# define SERIAL_DELAY 16
+#elif SELECT_SOFT_SERIAL_SPEED == 2
+# define SERIAL_DELAY 24
+#elif SELECT_SOFT_SERIAL_SPEED == 3
+# define SERIAL_DELAY 32
+#elif SELECT_SOFT_SERIAL_SPEED == 4
+# define SERIAL_DELAY 48
+#elif SELECT_SOFT_SERIAL_SPEED == 5
+# define SERIAL_DELAY 64
+#else
+# error invalid SELECT_SOFT_SERIAL_SPEED value
+#endif
+
+inline static void serial_delay(void) { wait_us(SERIAL_DELAY); }
+inline static void serial_delay_half(void) { wait_us(SERIAL_DELAY / 2); }
+inline static void serial_delay_blip(void) { wait_us(1); }
+inline static void serial_output(void) { setPinOutput(SOFT_SERIAL_PIN); }
+inline static void serial_input(void) { setPinInputHigh(SOFT_SERIAL_PIN); }
+inline static bool serial_read_pin(void) { return !!readPin(SOFT_SERIAL_PIN); }
+inline static void serial_low(void) { writePinLow(SOFT_SERIAL_PIN); }
+inline static void serial_high(void) { writePinHigh(SOFT_SERIAL_PIN); }
+
+void interrupt_handler(void *arg);
+
+// Use thread + palWaitLineTimeout instead of palSetLineCallback
+// - Methods like setPinOutput and palEnableLineEvent/palDisableLineEvent
+// cause the interrupt to lock up, which would limit to only receiving data...
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+ (void)arg;
+ chRegSetThreadName("blinker");
+ while (true) {
+ palWaitLineTimeout(SOFT_SERIAL_PIN, TIME_INFINITE);
+ interrupt_handler(NULL);
+ }
+}
+
+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;
+
+ 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;
+
+ serial_input();
+
+ palEnablePadEvent(PAL_PORT(SOFT_SERIAL_PIN), PAL_PAD(SOFT_SERIAL_PIN), PAL_EVENT_MODE_FALLING_EDGE);
+ chThdCreateStatic(waThread1, sizeof(waThread1), HIGHPRIO, Thread1, NULL);
+}
+
+// Used by the master to synchronize timing with the slave.
+static void __attribute__((noinline)) sync_recv(void) {
+ serial_input();
+ // This shouldn't hang if the slave disconnects because the
+ // serial line will float to high if the slave does disconnect.
+ while (!serial_read_pin()) {
+ }
+
+ serial_delay();
+}
+
+// Used by the slave to send a synchronization signal to the master.
+static void __attribute__((noinline)) sync_send(void) {
+ serial_output();
+
+ serial_low();
+ serial_delay();
+
+ serial_high();
+}
+
+// Reads a byte from the serial line
+static uint8_t __attribute__((noinline)) serial_read_byte(void) {
+ uint8_t byte = 0;
+ serial_input();
+ for (uint8_t i = 0; i < 8; ++i) {
+ byte = (byte << 1) | serial_read_pin();
+ serial_delay();
+ }
+
+ return byte;
+}
+
+// Sends a byte with MSB ordering
+static void __attribute__((noinline)) serial_write_byte(uint8_t data) {
+ uint8_t b = 8;
+ serial_output();
+ while (b--) {
+ if (data & (1 << b)) {
+ serial_high();
+ } else {
+ serial_low();
+ }
+ serial_delay();
+ }
+}
+
+// interrupt handle to be used by the slave device
+void interrupt_handler(void *arg) {
+ chSysLockFromISR();
+
+ sync_send();
+
+ // read mid pulses
+ serial_delay_blip();
+
+ 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];
+ for (int i = 0; i < trans->initiator2target_buffer_size; ++i) {
+ trans->initiator2target_buffer[i] = serial_read_byte();
+ sync_send();
+ checksum_computed += trans->initiator2target_buffer[i];
+ }
+ checksum_computed ^= 7;
+ uint8_t checksum_received = serial_read_byte();
+ sync_send();
+
+ // wait for the sync to finish sending
+ serial_delay();
+
+ uint8_t checksum = 0;
+ for (int i = 0; i < trans->target2initiator_buffer_size; ++i) {
+ serial_write_byte(trans->target2initiator_buffer[i]);
+ sync_send();
+ serial_delay_half();
+ checksum += trans->target2initiator_buffer[i];
+ }
+ serial_write_byte(checksum ^ 7);
+ sync_send();
+
+ // wait for the sync to finish sending
+ serial_delay();
+
+ *trans->status = (checksum_computed == checksum_received) ? TRANSACTION_ACCEPTED : TRANSACTION_DATA_ERROR;
+
+ // end transaction
+ serial_input();
+
+ // TODO: remove extra delay between transactions
+ serial_delay();
+
+ chSysUnlockFromISR();
+}
+
+/////////
+// start transaction by initiator
+//
+// int soft_serial_transaction(int sstd_index)
+//
+// Returns:
+// TRANSACTION_END
+// 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];
+
+ // TODO: remove extra delay between transactions
+ serial_delay();
+
+ // this code is very time dependent, so we need to disable interrupts
+ chSysLock();
+
+ // signal to the slave that we want to start a transaction
+ serial_output();
+ serial_low();
+ serial_delay_blip();
+
+ // wait for the slaves response
+ serial_input();
+ serial_high();
+ serial_delay();
+
+ // check if the slave is present
+ if (serial_read_pin()) {
+ // slave failed to pull the line low, assume not present
+ dprintf("serial::NO_RESPONSE\n");
+ chSysUnlock();
+ return TRANSACTION_NO_RESPONSE;
+ }
+
+ // if the slave is present syncronize with it
+
+ 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]);
+ sync_recv();
+ checksum += trans->initiator2target_buffer[i];
+ }
+ serial_write_byte(checksum ^ 7);
+ sync_recv();
+
+ serial_delay();
+ serial_delay(); // read mid pulses
+
+ // 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();
+ sync_recv();
+ checksum_computed += trans->target2initiator_buffer[i];
+ }
+ checksum_computed ^= 7;
+ uint8_t checksum_received = serial_read_byte();
+
+ sync_recv();
+ serial_delay();
+
+ if ((checksum_computed) != (checksum_received)) {
+ dprintf("serial::FAIL[%u,%u,%u]\n", checksum_computed, checksum_received, sstd_index);
+ serial_output();
+ serial_high();
+
+ chSysUnlock();
+ return TRANSACTION_DATA_ERROR;
+ }
+
+ // always, release the line when not in use
+ serial_high();
+ serial_output();
+
+ chSysUnlock();
+ return TRANSACTION_END;
+}
diff --git a/drivers/chibios/serial.h b/drivers/chibios/serial.h
new file mode 100644
index 000000000..0c1857d52
--- /dev/null
+++ b/drivers/chibios/serial.h
@@ -0,0 +1,62 @@
+#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
new file mode 100644
index 000000000..62b4913cb
--- /dev/null
+++ b/drivers/chibios/serial_usart.c
@@ -0,0 +1,234 @@
+#include "quantum.h"
+#include "serial.h"
+#include "printf.h"
+
+#include "ch.h"
+#include "hal.h"
+
+#ifndef USART_CR1_M0
+# define USART_CR1_M0 USART_CR1_M // some platforms (f1xx) dont have this so
+#endif
+
+#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
+# endif
+#endif
+
+#ifndef SERIAL_USART_DRIVER
+# define SERIAL_USART_DRIVER SD1
+#endif
+
+#ifndef 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
+# define SERIAL_USART_CR2 (USART_CR2_STOP_1) // 2 stop bits
+#endif
+
+#ifndef SERIAL_USART_CR3
+# define SERIAL_USART_CR3 0
+#endif
+
+#ifdef SOFT_SERIAL_PIN
+# define SERIAL_USART_TX_PIN SOFT_SERIAL_PIN
+#endif
+
+#ifndef SELECT_SOFT_SERIAL_SPEED
+# define SELECT_SOFT_SERIAL_SPEED 1
+#endif
+
+#ifdef SERIAL_USART_SPEED
+// Allow advanced users to directly set SERIAL_USART_SPEED
+#elif SELECT_SOFT_SERIAL_SPEED == 0
+# define SERIAL_USART_SPEED 460800
+#elif SELECT_SOFT_SERIAL_SPEED == 1
+# define SERIAL_USART_SPEED 230400
+#elif SELECT_SOFT_SERIAL_SPEED == 2
+# define SERIAL_USART_SPEED 115200
+#elif SELECT_SOFT_SERIAL_SPEED == 3
+# define SERIAL_USART_SPEED 57600
+#elif SELECT_SOFT_SERIAL_SPEED == 4
+# define SERIAL_USART_SPEED 38400
+#elif SELECT_SOFT_SERIAL_SPEED == 5
+# define SERIAL_USART_SPEED 19200
+#else
+# error invalid SELECT_SOFT_SERIAL_SPEED value
+#endif
+
+#define TIMEOUT 100
+#define HANDSHAKE_MAGIC 7
+
+static inline msg_t sdWriteHalfDuplex(SerialDriver* driver, uint8_t* data, uint8_t size) {
+ msg_t ret = sdWrite(driver, data, size);
+
+ // Half duplex requires us to read back the data we just wrote - just throw it away
+ uint8_t dump[size];
+ sdRead(driver, dump, size);
+
+ return ret;
+}
+#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);
+
+ return ret;
+}
+#undef sdWriteTimeout
+#define sdWriteTimeout sdWriteTimeoutHalfDuplex
+
+static inline void sdClear(SerialDriver* driver) {
+ while (sdGetTimeout(driver, TIME_IMMEDIATE) != MSG_TIMEOUT) {
+ // Do nothing with the data
+ }
+}
+
+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);
+
+/*
+ * This thread runs on the slave and responds to transactions initiated
+ * by the master
+ */
+static THD_WORKING_AREA(waSlaveThread, 2048);
+static THD_FUNCTION(SlaveThread, arg) {
+ (void)arg;
+ chRegSetThreadName("slave_transport");
+
+ while (true) {
+ handle_soft_serial_slave();
+ }
+}
+
+__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
+}
+
+void usart_master_init(void) {
+ usart_init();
+
+ sdcfg.cr3 |= USART_CR3_HDSEL;
+ sdStart(&SERIAL_USART_DRIVER, &sdcfg);
+}
+
+void usart_slave_init(void) {
+ usart_init();
+
+ sdcfg.cr3 |= USART_CR3_HDSEL;
+ sdStart(&SERIAL_USART_DRIVER, &sdcfg);
+
+ // Start transport thread
+ 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(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 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];
+
+ // 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);
+ }
+
+ if (trans->target2initiator_buffer_size) {
+ sdWrite(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size);
+ }
+
+ if (trans->status) {
+ *trans->status = TRANSACTION_ACCEPTED;
+ }
+}
+
+/////////
+// 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;
+#endif
+
+ if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR;
+ SSTD_t* trans = &Transaction_table[sstd_index];
+ msg_t res = 0;
+
+ sdClear(&SERIAL_USART_DRIVER);
+
+ // First chunk is always transaction id
+ sdWriteTimeout(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index), TIME_MS2I(TIMEOUT));
+
+ 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(TIMEOUT));
+ if (res < 0 || (sstd_index_shake != (sstd_index ^ HANDSHAKE_MAGIC))) {
+ dprintf("serial::usart_shake NO_RESPONSE\n");
+ return TRANSACTION_NO_RESPONSE;
+ }
+
+ if (trans->initiator2target_buffer_size) {
+ res = sdWriteTimeout(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size, TIME_MS2I(TIMEOUT));
+ if (res < 0) {
+ dprintf("serial::usart_transmit NO_RESPONSE\n");
+ return TRANSACTION_NO_RESPONSE;
+ }
+ }
+
+ if (trans->target2initiator_buffer_size) {
+ res = sdReadTimeout(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size, TIME_MS2I(TIMEOUT));
+ if (res < 0) {
+ dprintf("serial::usart_receive NO_RESPONSE\n");
+ return TRANSACTION_NO_RESPONSE;
+ }
+ }
+
+ return TRANSACTION_END;
+}
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