From 7e68e81f4757ffff2261ab4a887d4114318aa5b6 Mon Sep 17 00:00:00 2001 From: Jacob Alexander Date: Thu, 15 Oct 2015 00:16:36 -0700 Subject: [PATCH] Adding basic remote capabilities + UART Rx DMA buffers - Rx buffers weren't fast enough, had to use DMA :D - Basic LCD remote capabilities are working, single node - Multi-node broadcast seems to have a bug still - DMA ring buffer allowed for significant processing simplification * There is an overrun risk, but the buffer is large and generally there isn't too much data being sent (just very quickly) - Split out LCD layer stack capability into itself and an "exact" version used for updating remote nodes --- Lib/CMake/modules.cmake | 2 +- Lib/mk20dx.h | 28 ++ Output/pjrcUSB/arm/usb_desc.c | 2 +- Scan/MatrixARM/matrix_scan.c | 1 + Scan/STLcd/capabilities.kll | 3 +- Scan/STLcd/lcd_scan.c | 103 ++++- Scan/UARTConnect/capabilities.kll | 4 +- Scan/UARTConnect/connect_scan.c | 701 +++++++++++++++++++----------- Scan/UARTConnect/connect_scan.h | 8 +- 9 files changed, 572 insertions(+), 280 deletions(-) diff --git a/Lib/CMake/modules.cmake b/Lib/CMake/modules.cmake index 0951d4d..d13b868 100644 --- a/Lib/CMake/modules.cmake +++ b/Lib/CMake/modules.cmake @@ -277,7 +277,7 @@ if ( CTAGS_EXECUTABLE ) endforeach () # Generate the ctags - execute_process ( COMMAND ctags ${CTAG_PATHS} + execute_process ( COMMAND ctags --fields=+l ${CTAG_PATHS} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} ) endif () diff --git a/Lib/mk20dx.h b/Lib/mk20dx.h index 277cfed..ae69dd4 100644 --- a/Lib/mk20dx.h +++ b/Lib/mk20dx.h @@ -511,11 +511,37 @@ #define DMA_ERQ_ERQ1 ((uint32_t)1<<1) // Enable DMA Request 1 #define DMA_ERQ_ERQ2 ((uint32_t)1<<2) // Enable DMA Request 2 #define DMA_ERQ_ERQ3 ((uint32_t)1<<3) // Enable DMA Request 3 +#define DMA_ERQ_ERQ4 ((uint32_t)1<<4) // Enable DMA Request 4 +#define DMA_ERQ_ERQ5 ((uint32_t)1<<5) // Enable DMA Request 5 +#define DMA_ERQ_ERQ6 ((uint32_t)1<<6) // Enable DMA Request 6 +#define DMA_ERQ_ERQ7 ((uint32_t)1<<7) // Enable DMA Request 7 +#define DMA_ERQ_ERQ8 ((uint32_t)1<<8) // Enable DMA Request 8 +#define DMA_ERQ_ERQ9 ((uint32_t)1<<9) // Enable DMA Request 9 +#define DMA_ERQ_ERQ10 ((uint32_t)1<<10) // Enable DMA Request 10 +#define DMA_ERQ_ERQ11 ((uint32_t)1<<11) // Enable DMA Request 11 +#define DMA_ERQ_ERQ12 ((uint32_t)1<<12) // Enable DMA Request 12 +#define DMA_ERQ_ERQ13 ((uint32_t)1<<13) // Enable DMA Request 13 +#define DMA_ERQ_ERQ14 ((uint32_t)1<<14) // Enable DMA Request 14 +#define DMA_ERQ_ERQ15 ((uint32_t)1<<15) // Enable DMA Request 15 +#define DMA_ERQ_ERQ16 ((uint32_t)1<<16) // Enable DMA Request 16 #define DMA_EEI *(volatile uint32_t *)0x40008014 // Enable Error Interrupt Register #define DMA_EEI_EEI0 ((uint32_t)1<<0) // Enable Error Interrupt 0 #define DMA_EEI_EEI1 ((uint32_t)1<<1) // Enable Error Interrupt 1 #define DMA_EEI_EEI2 ((uint32_t)1<<2) // Enable Error Interrupt 2 #define DMA_EEI_EEI3 ((uint32_t)1<<3) // Enable Error Interrupt 3 +#define DMA_EEI_EEI4 ((uint32_t)1<<4) // Enable Error Interrupt 4 +#define DMA_EEI_EEI5 ((uint32_t)1<<5) // Enable Error Interrupt 5 +#define DMA_EEI_EEI6 ((uint32_t)1<<6) // Enable Error Interrupt 6 +#define DMA_EEI_EEI7 ((uint32_t)1<<7) // Enable Error Interrupt 7 +#define DMA_EEI_EEI8 ((uint32_t)1<<8) // Enable Error Interrupt 8 +#define DMA_EEI_EEI9 ((uint32_t)1<<9) // Enable Error Interrupt 9 +#define DMA_EEI_EEI10 ((uint32_t)1<<10) // Enable Error Interrupt 10 +#define DMA_EEI_EEI11 ((uint32_t)1<<11) // Enable Error Interrupt 11 +#define DMA_EEI_EEI12 ((uint32_t)1<<12) // Enable Error Interrupt 12 +#define DMA_EEI_EEI13 ((uint32_t)1<<13) // Enable Error Interrupt 13 +#define DMA_EEI_EEI14 ((uint32_t)1<<14) // Enable Error Interrupt 14 +#define DMA_EEI_EEI15 ((uint32_t)1<<15) // Enable Error Interrupt 15 +#define DMA_EEI_EEI16 ((uint32_t)1<<16) // Enable Error Interrupt 16 #define DMA_CEEI *(volatile uint8_t *)0x40008018 // Clear Enable Error Interrupt Register #define DMA_CEEI_CEEI(n) ((uint8_t)(n & 3)<<0) // Clear Enable Error Interrupt #define DMA_CEEI_CAEE ((uint8_t)1<<6) // Clear All Enable Error Interrupts @@ -1468,6 +1494,8 @@ typedef struct { #define UART0_MA2 *(volatile uint8_t *)0x4006A009 // UART Match Address Registers 2 #define UART0_C4 *(volatile uint8_t *)0x4006A00A // UART Control Register 4 #define UART0_C5 *(volatile uint8_t *)0x4006A00B // UART Control Register 5 +#define UART_C5_TDMAS 0x80 +#define UART_C5_RDMAS 0x20 #define UART0_ED *(volatile uint8_t *)0x4006A00C // UART Extended Data Register #define UART0_MODEM *(volatile uint8_t *)0x4006A00D // UART Modem Register #define UART0_IR *(volatile uint8_t *)0x4006A00E // UART Infrared Register diff --git a/Output/pjrcUSB/arm/usb_desc.c b/Output/pjrcUSB/arm/usb_desc.c index 7a8e497..70ece51 100644 --- a/Output/pjrcUSB/arm/usb_desc.c +++ b/Output/pjrcUSB/arm/usb_desc.c @@ -97,7 +97,7 @@ static uint8_t usb_debug_descriptor[] = { -// ----- USB HID Report Descriptsors ----- +// ----- USB HID Report Descriptors ----- // Each HID interface needs a special report descriptor that tells // the meaning and format of the data. diff --git a/Scan/MatrixARM/matrix_scan.c b/Scan/MatrixARM/matrix_scan.c index 8463b26..a9018df 100644 --- a/Scan/MatrixARM/matrix_scan.c +++ b/Scan/MatrixARM/matrix_scan.c @@ -196,6 +196,7 @@ void Matrix_setup() print( NL ); info_msg("Max Keys: "); printHex( Matrix_maxKeys ); + print( NL ); // Clear out Debounce Array for ( uint8_t item = 0; item < Matrix_maxKeys; item++ ) diff --git a/Scan/STLcd/capabilities.kll b/Scan/STLcd/capabilities.kll index 62d52c0..d5daaea 100644 --- a/Scan/STLcd/capabilities.kll +++ b/Scan/STLcd/capabilities.kll @@ -66,7 +66,8 @@ STLcdDefaultImage = " # Layer Status Display -LCDLayerDisplay => LCD_layerStack_capability(); +LCDLayerDisplay => LCD_layerStack_capability(); +LCDLayerDisplayExact => LCD_layerStackExact_capability( display : 1, stack1 : 2, stack2 : 2, stack3 : 2, stack4 : 2 ); # LCD Module Enabled diff --git a/Scan/STLcd/lcd_scan.c b/Scan/STLcd/lcd_scan.c index 74c6763..c4bf080 100644 --- a/Scan/STLcd/lcd_scan.c +++ b/Scan/STLcd/lcd_scan.c @@ -25,6 +25,11 @@ #include #include +// Interconnect module if compiled in +#if defined(ConnectEnabled_define) +#include +#endif + // Local Includes #include "lcd_scan.h" @@ -344,29 +349,26 @@ inline uint8_t LCD_scan() // ----- Capabilities ----- -uint16_t LCD_layerStack_prevSize = 0; -uint16_t LCD_layerStack_prevTop = 0; -void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args ) +// Takes 1 8 bit length and 4 16 bit arguments, each corresponding to a layer index +// Ordered from top to bottom +// The first argument indicates how many numbers to display (max 4), set to 0 to load default image +uint16_t LCD_layerStackExact[4]; +uint8_t LCD_layerStackExact_size = 0; +typedef struct LCD_layerStackExact_args { + uint8_t numArgs; + uint16_t layers[4]; +} LCD_layerStackExact_args; +void LCD_layerStackExact_capability( uint8_t state, uint8_t stateType, uint8_t *args ) { // Display capability name if ( stateType == 0xFF && state == 0xFF ) { - print("LCD_layerStack_capability"); + print("LCD_layerStackExact_capability(num,layer1,layer2,layer3,layer4)"); return; } - // Parse the layer stack, top to bottom - extern uint16_t macroLayerIndexStack[]; - extern uint16_t macroLayerIndexStackSize; - - // Ignore if the stack size hasn't changed and the top of the stack is the same - if ( macroLayerIndexStackSize == LCD_layerStack_prevSize - && macroLayerIndexStack[macroLayerIndexStackSize - 1] == LCD_layerStack_prevTop ) - { - return; - } - LCD_layerStack_prevSize = macroLayerIndexStackSize; - LCD_layerStack_prevTop = macroLayerIndexStack[macroLayerIndexStackSize - 1]; + // Read arguments + LCD_layerStackExact_args *stack_args = (LCD_layerStackExact_args*)args; // Number data for LCD const uint8_t numbers[10][128] = { @@ -397,10 +399,10 @@ void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args }; // Only display if there are layers active - if ( macroLayerIndexStackSize > 0 ) + if ( stack_args->numArgs > 0 ) { // Set the color according to the "top-of-stack" layer - uint16_t layerIndex = macroLayerIndexStack[ macroLayerIndexStackSize - 1 ]; + uint16_t layerIndex = stack_args->layers[0]; FTM0_C0V = colors[ layerIndex ][0]; FTM0_C1V = colors[ layerIndex ][1]; FTM0_C2V = colors[ layerIndex ][2]; @@ -418,9 +420,9 @@ void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args LCD_writeControlReg( 0x00 ); // Write data - for ( uint16_t layer = 1; layer <= macroLayerIndexStackSize; layer++ ) + for ( uint16_t layer = 0; layer < stack_args->numArgs; layer++ ) { - layerIndex = macroLayerIndexStack[ macroLayerIndexStackSize - layer ]; + layerIndex = stack_args->layers[ layer ]; // Default to 0, if over 9 if ( layerIndex > 9 ) @@ -434,7 +436,7 @@ void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args // Blank out rest of display uint8_t data = 0; - for ( uint8_t c = 0; c < 4 - macroLayerIndexStackSize; c++ ) + for ( uint8_t c = 0; c < 4 - stack_args->numArgs; c++ ) { for ( uint8_t byte = 0; byte < 32; byte++ ) { @@ -456,6 +458,65 @@ void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args } } +// Determines the current layer stack, and sets the LCD output accordingly +// Will only work on a master node when using the interconnect (use LCD_layerStackExact_capability instead) +uint16_t LCD_layerStack_prevSize = 0; +uint16_t LCD_layerStack_prevTop = 0; +void LCD_layerStack_capability( uint8_t state, uint8_t stateType, uint8_t *args ) +{ + // Display capability name + if ( stateType == 0xFF && state == 0xFF ) + { + print("LCD_layerStack_capability()"); + return; + } + + // Parse the layer stack, top to bottom + extern uint16_t macroLayerIndexStack[]; + extern uint16_t macroLayerIndexStackSize; + + // Ignore if the stack size hasn't changed and the top of the stack is the same + if ( macroLayerIndexStackSize == LCD_layerStack_prevSize + && macroLayerIndexStack[macroLayerIndexStackSize - 1] == LCD_layerStack_prevTop ) + { + return; + } + LCD_layerStack_prevSize = macroLayerIndexStackSize; + LCD_layerStack_prevTop = macroLayerIndexStack[macroLayerIndexStackSize - 1]; + + LCD_layerStackExact_args stack_args; + memset( stack_args.layers, 0, sizeof( stack_args.layers ) ); + + // Use the LCD_layerStackExact_capability to set the LCD using the determined stack + // Construct argument set for capability + stack_args.numArgs = macroLayerIndexStackSize; + for ( uint16_t layer = 1; layer <= macroLayerIndexStackSize; layer++ ) + { + stack_args.layers[ layer - 1 ] = macroLayerIndexStack[ macroLayerIndexStackSize - layer ]; + } + + // Only deal with the interconnect if it has been compiled in +#if defined(ConnectEnabled_define) + if ( Connect_master ) + { + // generatedKeymap.h + extern const Capability CapabilitiesList[]; + + // Broadcast layerStackExact remote capability (0xFF is the broadcast id) + Connect_send_RemoteCapability( + 0xFF, + LCD_layerStackExact_capability_index, + state, + stateType, + CapabilitiesList[ LCD_layerStackExact_capability_index ].argCount, + (uint8_t*)&stack_args + ); + } +#endif + // Call LCD_layerStackExact directly + LCD_layerStackExact_capability( state, stateType, (uint8_t*)&stack_args ); +} + // ----- CLI Command Functions ----- diff --git a/Scan/UARTConnect/capabilities.kll b/Scan/UARTConnect/capabilities.kll index b907221..bab1b61 100644 --- a/Scan/UARTConnect/capabilities.kll +++ b/Scan/UARTConnect/capabilities.kll @@ -26,9 +26,11 @@ UARTConnectBaudFine => UARTConnectBaudFine_define; # Thus baud setting = 26 # NOTE: If finer baud adjustment is needed see UARTx_C4 -> BRFA in the datasheet # Baud fine setting = 0x02 -UARTConnectBaud = 1; # 4.5 Mbps @ 72 MHz +UARTConnectBaud = 1; # 4.5 Mbpsa @ 72 MHz UARTConnectBaudFine = 0x0; +#UARTConnectBaud = 39; # 115385 bps @ 72 MHz (close to 115200) + # Cable Check Command Length # This defines the length of the cable command # 0xD2 11010010 is used for each check byte diff --git a/Scan/UARTConnect/connect_scan.c b/Scan/UARTConnect/connect_scan.c index 8b647ac..2b223e1 100644 --- a/Scan/UARTConnect/connect_scan.c +++ b/Scan/UARTConnect/connect_scan.c @@ -31,22 +31,22 @@ -// ----- Macros ----- +// ----- Defines ----- +#define UART_Num_Interfaces 2 #define UART_Master 1 #define UART_Slave 0 -#define uart_lock_m( uartNum ) uart##uartNum##_lock -#define uart_buffer_items_m( uartNum ) uart##uartNum##_buffer_items -#define uart_buffer_m( uartNum ) uart##uartNum##_buffer -#define uart_buffer_head_m( uartNum ) uart##uartNum##_buffer_head -#define uart_buffer_tail_m( uartNum ) uart##uartNum##_buffer_tail -#define uart_tx_status_m( uartNum ) uart##uartNum##_tx_status +#define UART_Buffer_Size UARTConnectBufSize_define + + + +// ----- Macros ----- // Macro for adding to each uart Tx ring buffer #define uart_addTxBuffer( uartNum ) \ case uartNum: \ /* Delay UART copy until there's some space left */ \ - while ( uart_buffer_items_m( uartNum ) + count > uart_buffer_size ) \ + while ( uart_tx_buf[ uartNum ].items + count > UART_Buffer_Size ) \ { \ warn_msg("Too much data to send on UART0, waiting..."); \ delay( 1 ); \ @@ -59,14 +59,14 @@ case uartNum: \ printHex( buffer[ c ] ); \ print( " +" #uartNum NL ); \ } \ - uart_buffer_m( uartNum )[ uart_buffer_tail_m( uartNum )++ ] = buffer[ c ]; \ - uart_buffer_items_m( uartNum )++; \ - if ( uart_buffer_tail_m( uartNum ) >= uart_buffer_size ) \ - uart_buffer_tail_m( uartNum ) = 0; \ - if ( uart_buffer_head_m( uartNum ) == uart_buffer_tail_m( uartNum ) ) \ - uart_buffer_head_m( uartNum )++; \ - if ( uart_buffer_head_m( uartNum ) >= uart_buffer_size ) \ - uart_buffer_head_m( uartNum ) = 0; \ + uart_tx_buf[ uartNum ].buffer[ uart_tx_buf[ uartNum ].tail++ ] = buffer[ c ]; \ + uart_tx_buf[ uartNum ].items++; \ + if ( uart_tx_buf[ uartNum ].tail >= UART_Buffer_Size ) \ + uart_tx_buf[ uartNum ].tail = 0; \ + if ( uart_tx_buf[ uartNum ].head == uart_tx_buf[ uartNum ].tail ) \ + uart_tx_buf[ uartNum ].head++; \ + if ( uart_tx_buf[ uartNum ].head >= UART_Buffer_Size ) \ + uart_tx_buf[ uartNum ].head = 0; \ } \ break @@ -83,7 +83,7 @@ case uartNum: \ print("/"); \ printHex( UART##uartNum##_TCFIFO ); \ print("/"); \ - printHex( uart##uartNum##_buffer_items ); \ + printHex( uart_tx_buf[ uartNum ].items ); \ print( NL ); \ } \ /* XXX Doesn't work well */ \ @@ -92,138 +92,12 @@ case uartNum: \ fifoSize -= UART##uartNum##_TCFIFO; \ while ( fifoSize-- != 0 ) \ { \ - if ( uart##uartNum##_buffer_items == 0 ) \ + if ( uart_tx_buf[ uartNum ].items == 0 ) \ break; \ - UART##uartNum##_D = uart##uartNum##_buffer[ uart##uartNum##_buffer_head++ ]; \ - uart##uartNum##_buffer_items--; \ - if ( uart##uartNum##_buffer_head >= uart_buffer_size ) \ - uart##uartNum##_buffer_head = 0; \ - } \ -} - -// Macro for processing UART Rx -#define uart_processRx( uartNum ) \ -{ \ - if ( !( UART##uartNum##_S1 & UART_S1_RDRF ) ) \ - return; \ - uint8_t available = UART##uartNum##_RCFIFO; \ - if ( available == 0 ) \ - { \ - available = UART##uartNum##_D; \ - UART##uartNum##_CFIFO = UART_CFIFO_RXFLUSH; \ - return; \ - } \ - /* Process each byte in the UART buffer */ \ - while ( available-- > 0 ) \ - { \ - /* First check if there was noise or Parity issues with current byte */ \ - uint8_t err_status = UART##uartNum##_ED; \ - /* Read byte from Rx FIFO */ \ - uint8_t byteRead = UART##uartNum##_D; \ - if ( Connect_debug ) \ - { \ - printHex( byteRead ); \ - print("("); \ - printInt8( available ); \ - print(") <-"); \ - } \ - /* Check error status */ \ - if ( err_status & 0x80 ) \ - { \ - print(" NOISY "); \ - } \ - if ( err_status & 0x40 ) \ - { \ - print(" PARITY ERR "); \ - } \ - /* Ignore current byte if there was an error */ \ - if ( err_status ) \ - { \ - uart##uartNum##_rx_status = UARTStatus_Wait; \ - if ( Connect_debug ) \ - { \ - print( NL ); \ - } \ - continue; \ - } \ - switch ( uart##uartNum##_rx_status ) \ - { \ - case UARTStatus_Wait: \ - if ( Connect_debug ) \ - { \ - print(" Wait "); \ - } \ - uart##uartNum##_rx_status = byteRead == 0x16 ? UARTStatus_SYN : UARTStatus_Wait; \ - break; \ - case UARTStatus_SYN: \ - if ( Connect_debug ) \ - { \ - print(" SYN "); \ - } \ - uart##uartNum##_rx_status = byteRead == 0x01 ? UARTStatus_SOH : UARTStatus_Wait; \ - break; \ - case UARTStatus_SOH: \ - { \ - if ( Connect_debug ) \ - { \ - print(" SOH "); \ - } \ - /* Check if this is actually a reserved CMD 0x16 */ \ - if ( byteRead == Command_SYN ) \ - { \ - uart##uartNum##_rx_status = UARTStatus_SYN; \ - break; \ - } \ - /* Otherwise process the command */ \ - uint8_t byte = byteRead; \ - if ( byte < Command_TOP ) \ - { \ - uart##uartNum##_rx_status = UARTStatus_Command; \ - uart##uartNum##_rx_command = byte; \ - uart##uartNum##_rx_bytes_waiting = 0xFFFF; \ - } \ - else \ - { \ - uart##uartNum##_rx_status = UARTStatus_Wait; \ - } \ - switch ( uart##uartNum##_rx_command ) \ - { \ - case IdRequest: \ - Connect_receive_IdRequest( 0, (uint16_t*)&uart##uartNum##_rx_bytes_waiting, uartNum ); \ - uart##uartNum##_rx_status = UARTStatus_Wait; \ - break; \ - default: \ - if ( Connect_debug ) \ - { \ - print(" ### "); \ - printHex( uart##uartNum##_rx_command ); \ - } \ - break; \ - } \ - break; \ - } \ - case UARTStatus_Command: \ - { \ - if ( Connect_debug ) \ - { \ - print(" CMD "); \ - } \ - /* Call specific UARTConnect command receive function */ \ - uint8_t (*rcvFunc)(uint8_t, uint16_t(*), uint8_t) = (uint8_t(*)(uint8_t, uint16_t(*), uint8_t))(Connect_receiveFunctions[ uart##uartNum##_rx_command ]); \ - if ( rcvFunc( byteRead, (uint16_t*)&uart##uartNum##_rx_bytes_waiting, uartNum ) ) \ - uart##uartNum##_rx_status = UARTStatus_Wait; \ - break; \ - } \ - default: \ - erro_msg("Invalid UARTStatus..."); \ - uart##uartNum##_rx_status = UARTStatus_Wait; \ - available++; \ - continue; \ - } \ - if ( Connect_debug ) \ - { \ - print( NL ); \ - } \ + UART##uartNum##_D = uart_tx_buf[ uartNum ].buffer[ uart_tx_buf[ uartNum ].head++ ]; \ + uart_tx_buf[ uartNum ].items--; \ + if ( uart_tx_buf[ uartNum ].head >= UART_Buffer_Size ) \ + uart_tx_buf[ uartNum ].head = 0; \ } \ } @@ -231,31 +105,31 @@ case uartNum: \ #define uart_lockTx( uartNum ) \ { \ /* First, secure place in line for the resource */ \ - while ( uart_lock_m( uartNum ) ); \ - uart_lock_m( uartNum ) = 1; \ + while ( uart_tx_status[ uartNum ].lock ); \ + uart_tx_status[ uartNum ].lock = 1; \ /* Next, wait unit the UART is ready */ \ - while ( uart_tx_status_m( uartNum ) != UARTStatus_Ready ); \ - uart_tx_status_m( uartNum ) = UARTStatus_Wait; \ + while ( uart_tx_status[ uartNum ].status != UARTStatus_Ready ); \ + uart_tx_status[ uartNum ].status = UARTStatus_Wait; \ } #define uart_lockBothTx( uartNum1, uartNum2 ) \ { \ /* First, secure place in line for the resource */ \ - while ( uart_lock_m( uartNum1 ) || uart_lock_m( uartNum2 ) ); \ - uart_lock_m( uartNum1 ) = 1; \ - uart_lock_m( uartNum2 ) = 1; \ + while ( uart_tx_status[ uartNum1 ].lock || uart_tx_status[ uartNum2 ].lock ); \ + uart_tx_status[ uartNum1 ].lock = 1; \ + uart_tx_status[ uartNum2 ].lock = 1; \ /* Next, wait unit the UARTs are ready */ \ - while ( uart_tx_status_m( uartNum1 ) != UARTStatus_Ready || uart_tx_status_m( uartNum2 ) != UARTStatus_Ready ); \ - uart_tx_status_m( uartNum1 ) = UARTStatus_Wait; \ - uart_tx_status_m( uartNum2 ) = UARTStatus_Wait; \ + while ( uart_tx_status[ uartNum1 ].status != UARTStatus_Ready || uart_tx_status[ uartNum2 ].status != UARTStatus_Ready ); \ + uart_tx_status[ uartNum1 ].status = UARTStatus_Wait; \ + uart_tx_status[ uartNum2 ].status = UARTStatus_Wait; \ } #define uart_unlockTx( uartNum ) \ { \ /* Ready the UART */ \ - uart_tx_status_m( uartNum ) = UARTStatus_Ready; \ + uart_tx_status[ uartNum ].status = UARTStatus_Ready; \ /* Unlock the resource */ \ - uart_lock_m( uartNum ) = 0; \ + uart_tx_status[ uartNum ].lock = 0; \ } @@ -273,6 +147,33 @@ void cliFunc_connectSts ( char *args ); +// ----- Structs ----- + +typedef struct UARTRingBuf { + uint8_t head; + uint8_t tail; + uint8_t items; + uint8_t buffer[UART_Buffer_Size]; +} UARTRingBuf; + +typedef struct UARTDMABuf { + uint8_t buffer[UART_Buffer_Size]; + uint16_t last_read; +} UARTDMABuf; + +typedef struct UARTStatusRx { + UARTStatus status; + Command command; + uint16_t bytes_waiting; +} UARTStatusRx; + +typedef struct UARTStatusTx { + UARTStatus status; + uint8_t lock; +} UARTStatusTx; + + + // ----- Variables ----- // Connect Module command dictionary @@ -306,46 +207,27 @@ uint32_t Connect_lastCheck = 0; // Cable Check scheduler uint8_t Connect_debug = 0; // Set 1 for debug uint8_t Connect_override = 0; // Prevents master from automatically being set - -// -- Rx Status Variables -- - -volatile UARTStatus uart0_rx_status; -volatile UARTStatus uart1_rx_status; -volatile uint16_t uart0_rx_bytes_waiting; -volatile uint16_t uart1_rx_bytes_waiting; -volatile Command uart0_rx_command; -volatile Command uart1_rx_command; -volatile uint8_t uart0_lock; -volatile uint8_t uart1_lock; - - -// -- Tx Status Variables -- - -volatile UARTStatus uart0_tx_status; -volatile UARTStatus uart1_tx_status; - - -// -- Ring Buffer Variables -- - -#define uart_buffer_size UARTConnectBufSize_define -volatile uint8_t uart0_buffer_head; -volatile uint8_t uart0_buffer_tail; -volatile uint8_t uart0_buffer_items; -volatile uint8_t uart0_buffer[uart_buffer_size]; -volatile uint8_t uart1_buffer_head; -volatile uint8_t uart1_buffer_tail; -volatile uint8_t uart1_buffer_items; -volatile uint8_t uart1_buffer[uart_buffer_size]; - volatile uint8_t uarts_configured = 0; +// -- Rx Variables -- + +volatile UARTDMABuf uart_rx_buf[UART_Num_Interfaces]; +volatile UARTStatusRx uart_rx_status[UART_Num_Interfaces]; + + +// -- Tx Variables -- + +UARTRingBuf uart_tx_buf [UART_Num_Interfaces]; +UARTStatusTx uart_tx_status[UART_Num_Interfaces]; + + // -- Ring Buffer Convenience Functions -- void Connect_addBytes( uint8_t *buffer, uint8_t count, uint8_t uart ) { // Too big to fit into buffer - if ( count > uart_buffer_size ) + if ( count > UART_Buffer_Size ) { erro_msg("Too big of a command to fit into the buffer..."); return; @@ -480,6 +362,51 @@ void Connect_send_Animation( uint8_t id, uint8_t *paramList, uint8_t numParams ) uart_unlockTx( UART_Slave ); } +// Send a remote capability command using capability index +// This may not be what's expected (especially if the firmware is not the same on each node) +// To broadcast to all slave nodes, set id to 255 instead of a specific id +void Connect_send_RemoteCapability( uint8_t id, uint8_t capabilityIndex, uint8_t state, uint8_t stateType, uint8_t numArgs, uint8_t *args ) +{ + // Prepare header + uint8_t header[] = { 0x16, 0x01, RemoteCapability, id, capabilityIndex, state, stateType, numArgs }; + + // Ignore current id + if ( id == Connect_id ) + return; + + // Send towards slave node + if ( id > Connect_id ) + { + // Lock slave bound Tx + uart_lockTx( UART_Slave ); + + // Send header + Connect_addBytes( header, sizeof( header ), UART_Slave ); + + // Send arguments + Connect_addBytes( args, numArgs, UART_Slave ); + + // Unlock Tx + uart_unlockTx( UART_Slave ); + } + + // Send towards master node + if ( id < Connect_id || id == 255 ) + { + // Lock slave bound Tx + uart_lockTx( UART_Master ); + + // Send header + Connect_addBytes( header, sizeof( header ), UART_Master ); + + // Send arguments + Connect_addBytes( args, numArgs, UART_Master ); + + // Unlock Tx + uart_unlockTx( UART_Master ); + } +} + void Connect_send_Idle( uint8_t num ) { // Wait until the Tx buffers are ready, then lock them @@ -745,6 +672,8 @@ uint8_t Connect_receive_ScanCode( uint8_t byte, uint16_t *pending_bytes, uint8_t break; } // Propagate ScanCode packet + // XXX It would be safer to buffer the scancodes first, before transmitting the packet -Jacob + // The current method is the more efficient/aggressive, but could cause issues if there were errors during transmission else switch ( (*pending_bytes)-- ) { // Byte count always starts at 0xFFFF @@ -788,6 +717,103 @@ uint8_t Connect_receive_Animation( uint8_t byte, uint16_t *pending_bytes, uint8_ return 1; } +// - Remote Capability Variables - +#define Connect_receive_RemoteCapabilityMaxArgs 5 // XXX Calculate the max using kll +RemoteCapabilityCommand Connect_receive_RemoteCapabilityBuffer; +uint8_t Connect_receive_RemoteCapabilityArgs[Connect_receive_RemoteCapabilityMaxArgs]; + +uint8_t Connect_receive_RemoteCapability( uint8_t byte, uint16_t *pending_bytes, uint8_t uart_num ) +{ + // Check which byte in the packet we are at + switch ( (*pending_bytes)-- ) + { + // Byte count always starts at 0xFFFF + case 0xFFFF: // Device Id + Connect_receive_RemoteCapabilityBuffer.id = byte; + break; + + case 0xFFFE: // Capability Index + Connect_receive_RemoteCapabilityBuffer.capabilityIndex = byte; + break; + + case 0xFFFD: // State + Connect_receive_RemoteCapabilityBuffer.state = byte; + break; + + case 0xFFFC: // StateType + Connect_receive_RemoteCapabilityBuffer.stateType = byte; + break; + + case 0xFFFB: // Number of args + Connect_receive_RemoteCapabilityBuffer.numArgs = byte; + *pending_bytes = byte; + break; + + default: // Args (# defined by previous byte) + Connect_receive_RemoteCapabilityArgs[ + Connect_receive_RemoteCapabilityBuffer.numArgs - *pending_bytes + 1 + ] = byte; + + // If entire packet has been fully received + if ( *pending_bytes == 0 ) + { + // Determine if this is the node to run the capability on + // Conditions: Matches or broadcast (0xFF) + if ( Connect_receive_RemoteCapabilityBuffer.id == 0xFF + || Connect_receive_RemoteCapabilityBuffer.id == Connect_id ) + { + extern const Capability CapabilitiesList[]; // See generatedKeymap.h + void (*capability)(uint8_t, uint8_t, uint8_t*) = (void(*)(uint8_t, uint8_t, uint8_t*))( + CapabilitiesList[ Connect_receive_RemoteCapabilityBuffer.capabilityIndex ].func + ); + capability( + Connect_receive_RemoteCapabilityBuffer.state, + Connect_receive_RemoteCapabilityBuffer.stateType, + &Connect_receive_RemoteCapabilityArgs[2] + ); + } + + // If this is not the correct node, keep sending it in the same direction (doesn't matter if more nodes exist) + // or if this is a broadcast + if ( Connect_receive_RemoteCapabilityBuffer.id == 0xFF + || Connect_receive_RemoteCapabilityBuffer.id != Connect_id ) + { + // Prepare outgoing packet + Connect_receive_RemoteCapabilityBuffer.command = RemoteCapability; + + // Send to the other UART (not the one receiving the packet from + uint8_t uart_direction = uart_num == UART_Master ? UART_Slave : UART_Master; + + // Lock Tx UART + switch ( uart_direction ) + { + case UART_Master: uart_lockTx( UART_Master ); break; + case UART_Slave: uart_lockTx( UART_Slave ); break; + } + + // Send header + uint8_t header[] = { 0x16, 0x01 }; + Connect_addBytes( header, sizeof( header ), uart_direction ); + + // Send Remote Capability and arguments + Connect_addBytes( (uint8_t*)&Connect_receive_RemoteCapabilityBuffer, sizeof( RemoteCapabilityCommand ), uart_direction ); + Connect_addBytes( Connect_receive_RemoteCapabilityArgs, Connect_receive_RemoteCapabilityBuffer.numArgs, uart_direction ); + + // Unlock Tx UART + switch ( uart_direction ) + { + case UART_Master: uart_unlockTx( UART_Master ); break; + case UART_Slave: uart_unlockTx( UART_Slave ); break; + } + } + } + break; + } + + // Check whether the scan codes have finished sending + return *pending_bytes == 0 ? 1 : 0; +} + // Baud Rate // NOTE: If finer baud adjustment is needed see UARTx_C4 -> BRFA in the datasheet @@ -802,52 +828,29 @@ void *Connect_receiveFunctions[] = { Connect_receive_IdReport, Connect_receive_ScanCode, Connect_receive_Animation, + Connect_receive_RemoteCapability, }; -// ----- Interrupt Functions ----- - -// Master / UART0 ISR -void uart0_status_isr() -{ - // Process Rx buffer - uart_processRx( 0 ); -} - -// Slave / UART1 ISR -void uart1_status_isr() -{ - // Process Rx buffer - uart_processRx( 1 ); -} - - - // ----- Functions ----- // Resets the state of the UART buffers and state variables void Connect_reset() { - // Rx Status Variables - uart0_rx_status = UARTStatus_Wait; - uart1_rx_status = UARTStatus_Wait; - uart0_rx_bytes_waiting = 0; - uart1_rx_bytes_waiting = 0; - uart0_lock = 0; - uart1_lock = 0; + // Reset Rx + memset( (void*)uart_rx_status, 0, sizeof( UARTStatusRx ) * UART_Num_Interfaces ); - // Tx Status Variables - uart0_tx_status = UARTStatus_Ready; - uart1_tx_status = UARTStatus_Ready; + // Reset Tx + memset( (void*)uart_tx_buf, 0, sizeof( UARTRingBuf ) * UART_Num_Interfaces ); + memset( (void*)uart_tx_status, 0, sizeof( UARTStatusTx ) * UART_Num_Interfaces ); - // Ring Buffer Variables - uart0_buffer_head = 0; - uart0_buffer_tail = 0; - uart0_buffer_items = 0; - uart1_buffer_head = 0; - uart1_buffer_tail = 0; - uart1_buffer_items = 0; + // Set Rx/Tx buffers as ready + for ( uint8_t inter = 0; inter < UART_Num_Interfaces; inter++ ) + { + uart_tx_status[ inter ].status = UARTStatus_Ready; + uart_rx_buf[ inter ].last_read = UART_Buffer_Size; + } } @@ -868,8 +871,8 @@ void Connect_setup( uint8_t master ) if ( Connect_master ) Connect_id = 0; // 0x00 is always the master Id - // Master / UART0 setup - // Slave / UART1 setup + // UART0 setup + // UART1 setup // Setup the the UART interface for keyboard data input SIM_SCGC4 |= SIM_SCGC4_UART0; // Disable clock gating SIM_SCGC4 |= SIM_SCGC4_UART1; // Disable clock gating @@ -895,30 +898,81 @@ void Connect_setup( uint8_t master ) UART0_C1 = UART_C1_M | UART_C1_PE | UART_C1_ILT; UART1_C1 = UART_C1_M | UART_C1_PE | UART_C1_ILT; - // Number of bytes in FIFO before TX Interrupt - UART0_TWFIFO = 1; - UART1_TWFIFO = 1; + // Only using Tx Fifos + UART0_PFIFO = UART_PFIFO_TXFE; + UART1_PFIFO = UART_PFIFO_TXFE; - // Number of bytes in FIFO before RX Interrupt - UART0_RWFIFO = 1; - UART1_RWFIFO = 1; + // Setup DMA clocks + SIM_SCGC6 |= SIM_SCGC6_DMAMUX; + SIM_SCGC7 |= SIM_SCGC7_DMA; - // Enable TX and RX FIFOs - UART0_PFIFO = UART_PFIFO_TXFE | UART_PFIFO_RXFE; - UART1_PFIFO = UART_PFIFO_TXFE | UART_PFIFO_RXFE; + // Start with channels disabled first + DMAMUX0_CHCFG0 = 0; + DMAMUX0_CHCFG1 = 0; - // Reciever Inversion Disabled, LSBF - // UART_S2_RXINV UART_S2_MSBF - UART0_S2 |= 0x00; - UART1_S2 |= 0x00; + // Configure DMA channels + //DMA_DSR_BCR0 |= DMA_DSR_BCR_DONE_MASK; // TODO What's this? + DMA_TCD0_CSR = 0; + DMA_TCD1_CSR = 0; - // Transmit Inversion Disabled - // UART_C3_TXINV - UART0_C3 |= 0x00; - UART1_C3 |= 0x00; + // Default control register + DMA_CR = 0; + + // DMA Priority + DMA_DCHPRI0 = 0; // Ch 0, priority 0 + DMA_DCHPRI1 = 1; // ch 1, priority 1 + + // Clear error interrupts + DMA_EEI = 0; + + // Setup TCD + DMA_TCD0_SADDR = (uint32_t*)&UART0_D; + DMA_TCD1_SADDR = (uint32_t*)&UART1_D; + DMA_TCD0_SOFF = 0; + DMA_TCD1_SOFF = 0; + + // No modulo, 8-bit transfer size + DMA_TCD0_ATTR = DMA_TCD_ATTR_SMOD(0) | DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DMOD(0) | DMA_TCD_ATTR_DSIZE(0); + DMA_TCD1_ATTR = DMA_TCD_ATTR_SMOD(0) | DMA_TCD_ATTR_SSIZE(0) | DMA_TCD_ATTR_DMOD(0) | DMA_TCD_ATTR_DSIZE(0); + + // One byte transferred at a time + DMA_TCD0_NBYTES_MLNO = 1; + DMA_TCD1_NBYTES_MLNO = 1; + + // Source address does not change + DMA_TCD0_SLAST = 0; + DMA_TCD1_SLAST = 0; + + // Destination buffer + DMA_TCD0_DADDR = (uint32_t*)uart_rx_buf[0].buffer; + DMA_TCD1_DADDR = (uint32_t*)uart_rx_buf[1].buffer; + + // Incoming byte, increment by 1 in the rx buffer + DMA_TCD0_DOFF = 1; + DMA_TCD1_DOFF = 1; + + // Single major loop, must be the same value + DMA_TCD0_CITER_ELINKNO = UART_Buffer_Size; + DMA_TCD1_CITER_ELINKNO = UART_Buffer_Size; + DMA_TCD0_BITER_ELINKNO = UART_Buffer_Size; + DMA_TCD1_BITER_ELINKNO = UART_Buffer_Size; + + // Reset buffer when full + DMA_TCD0_DLASTSGA = -( UART_Buffer_Size ); + DMA_TCD1_DLASTSGA = -( UART_Buffer_Size ); + + // Enable DMA channels + DMA_ERQ |= DMA_ERQ_ERQ0 | DMA_ERQ_ERQ1; + + // Setup DMA channel routing + DMAMUX0_CHCFG0 = DMAMUX_ENABLE | DMAMUX_SOURCE_UART0_RX; + DMAMUX0_CHCFG1 = DMAMUX_ENABLE | DMAMUX_SOURCE_UART1_RX; + + // Enable DMA requests (requires Rx interrupts) + UART0_C5 = UART_C5_RDMAS; + UART1_C5 = UART_C5_RDMAS; // TX Enabled, RX Enabled, RX Interrupt Enabled - // UART_C2_TE UART_C2_RE UART_C2_RIE UART0_C2 = UART_C2_TE | UART_C2_RE | UART_C2_RIE; UART1_C2 = UART_C2_TE | UART_C2_RE | UART_C2_RIE; @@ -934,6 +988,143 @@ void Connect_setup( uint8_t master ) } +#define DMA_BUF_POS( x, pos ) \ + case x: \ + pos = DMA_TCD##x##_CITER_ELINKNO; \ + break +void Connect_rx_process( uint8_t uartNum ) +{ + // Determine current position to read until + uint16_t bufpos = 0; + switch ( uartNum ) + { + DMA_BUF_POS( 0, bufpos ); + DMA_BUF_POS( 1, bufpos ); + } + + // Process each of the new bytes + // Even if we receive more bytes during processing, wait until the next check so we don't starve other tasks + while ( bufpos != uart_rx_buf[ uartNum ].last_read ) + { + // If the last_read byte is at the buffer edge, roll back to beginning + if ( uart_rx_buf[ uartNum ].last_read == 0 ) + { + uart_rx_buf[ uartNum ].last_read = UART_Buffer_Size; + + // Check to see if we're at the boundary + if ( bufpos == UART_Buffer_Size ) + break; + } + + // Read the byte out of Rx DMA buffer + uint8_t byte = uart_rx_buf[ uartNum ].buffer[ UART_Buffer_Size - uart_rx_buf[ uartNum ].last_read-- ]; + + if ( Connect_debug ) + { + printHex( byte ); + print(" "); + } + + // Process UART byte + switch ( uart_rx_status[ uartNum ].status ) + { + // Every packet must start with a SYN / 0x16 + case UARTStatus_Wait: + if ( Connect_debug ) + { + print(" Wait "); + } + uart_rx_status[ uartNum ].status = byte == 0x16 ? UARTStatus_SYN : UARTStatus_Wait; + break; + + // After a SYN, there must be a SOH / 0x01 + case UARTStatus_SYN: + if ( Connect_debug ) + { + print(" SYN "); + } + uart_rx_status[ uartNum ].status = byte == 0x01 ? UARTStatus_SOH : UARTStatus_Wait; + break; + + // After a SOH the packet structure may diverge a bit + // This is the packet type field (refer to the Command enum) + // For very small packets (e.g. IdRequest) this is all that's required to take action + case UARTStatus_SOH: + { + if ( Connect_debug ) + { + print(" SOH "); + } + + // Check if this is actually a reserved CMD 0x16 (Error condition) + if ( byte == Command_SYN ) + { + uart_rx_status[ uartNum ].status = UARTStatus_SYN; + break; + } + + // Otherwise process the command + if ( byte < Command_TOP ) + { + uart_rx_status[ uartNum ].status = UARTStatus_Command; + uart_rx_status[ uartNum ].command = byte; + uart_rx_status[ uartNum ].bytes_waiting = 0xFFFF; + } + // Invalid packet type, ignore + else + { + uart_rx_status[ uartNum ].status = UARTStatus_Wait; + } + + // Check if this is a very short packet + switch ( uart_rx_status[ uartNum ].command ) + { + case IdRequest: + Connect_receive_IdRequest( 0, (uint16_t*)&uart_rx_status[ uartNum ].bytes_waiting, uartNum ); + uart_rx_status[ uartNum ].status = UARTStatus_Wait; + break; + + default: + if ( Connect_debug ) + { + print(" ### "); + printHex( uart_rx_status[ uartNum ].command ); + } + break; + } + break; + } + + // After the packet type has been deciphered do Command specific processing + // Until the Command has received all the bytes it requires the UART buffer stays in this state + case UARTStatus_Command: + { + if ( Connect_debug ) + { + print(" CMD "); + } + /* Call specific UARTConnect command receive function */ + uint8_t (*rcvFunc)(uint8_t, uint16_t(*), uint8_t) = (uint8_t(*)(uint8_t, uint16_t(*), uint8_t))(Connect_receiveFunctions[ uart_rx_status[ uartNum ].command ]); + if ( rcvFunc( byte, (uint16_t*)&uart_rx_status[ uartNum ].bytes_waiting, uartNum ) ) + uart_rx_status[ uartNum ].status = UARTStatus_Wait; + break; + } + + // Unknown status, should never get here + default: + erro_msg("Invalid UARTStatus..."); + uart_rx_status[ uartNum ].status = UARTStatus_Wait; + continue; + } + + if ( Connect_debug ) + { + print( NL ); + } + } +} + + // Scan for updates in the master/slave // - Interrupts will deal with most input functions // - Used to send queries @@ -974,10 +1165,14 @@ void Connect_scan() { // Check if Tx Buffers are empty and the Tx Ring buffers have data to send // This happens if there was previously nothing to send - if ( uart0_buffer_items > 0 && UART0_TCFIFO == 0 ) + if ( uart_tx_buf[ 0 ].items > 0 && UART0_TCFIFO == 0 ) uart_fillTxFifo( 0 ); - if ( uart1_buffer_items > 0 && UART1_TCFIFO == 0 ) + if ( uart_tx_buf[ 1 ].items > 0 && UART1_TCFIFO == 0 ) uart_fillTxFifo( 1 ); + + // Process Rx Buffers + Connect_rx_process( 0 ); + Connect_rx_process( 1 ); } } @@ -1153,9 +1348,9 @@ void cliFunc_connectSts( char* args ) print("/"); printHex32( Connect_cableChecksMaster ); print( NL "\tRx:\t"); - printHex( uart1_rx_status ); + printHex( uart_rx_status[UART_Master].status ); print( NL "\tTx:\t"); - printHex( uart1_tx_status ); + printHex( uart_tx_status[UART_Master].status ); print( NL "Slave <=" NL "\tStatus:\t"); printHex( Connect_cableOkSlave ); print( NL "\tFaults:\t"); @@ -1163,8 +1358,8 @@ void cliFunc_connectSts( char* args ) print("/"); printHex32( Connect_cableChecksSlave ); print( NL "\tRx:\t"); - printHex( uart0_rx_status ); + printHex( uart_rx_status[UART_Slave].status ); print( NL "\tTx:\t"); - printHex( uart0_tx_status ); + printHex( uart_tx_status[UART_Slave].status ); } diff --git a/Scan/UARTConnect/connect_scan.h b/Scan/UARTConnect/connect_scan.h index bb50610..cdd7ed0 100644 --- a/Scan/UARTConnect/connect_scan.h +++ b/Scan/UARTConnect/connect_scan.h @@ -119,11 +119,14 @@ typedef struct AnimationCommand { // Remote Capability Command // Initiated by the master to trigger a capability on a given node // RemoteOutput is enabled while capability is activated +// Set id to 255 if command should be sent in all directions typedef struct RemoteCapabilityCommand { Command command; uint8_t id; - Capability capability; - uint8_t numArgs; + uint8_t capabilityIndex; + uint8_t state; + uint8_t stateType; + uint8_t numArgs; // # of bytes, args may be larger than 1 byte uint8_t firstArg[0]; } RemoteCapabilityCommand; @@ -162,4 +165,5 @@ void Connect_setup( uint8_t master ); void Connect_scan(); void Connect_send_ScanCode( uint8_t id, TriggerGuide *scanCodeStateList, uint8_t numScanCodes ); +void Connect_send_RemoteCapability( uint8_t id, uint8_t capabilityIndex, uint8_t state, uint8_t stateType, uint8_t numArgs, uint8_t *args );