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Add ps2_interrupt.c

tags/v1.9
tmk 10 years ago
parent
532e100450
commit
4eb27ee890
4 changed files with 122 additions and 308 deletions
Split View Show Diff Stats
  1. 1
    1
      protocol.mk
  2. 27
    24
      protocol/ps2_busywait.c
  3. 81
    273
      protocol/ps2_interrupt.c
  4. 13
    10
      protocol/ps2_usart.c

+ 1
- 1
protocol.mk View File

@@ -13,7 +13,7 @@ ifdef PS2_USE_BUSYWAIT
endif

ifdef PS2_USE_INT
SRC += protocol/ps2.c
SRC += protocol/ps2_interrupt.c
OPT_DEFS += -DPS2_USE_INT
endif


+ 27
- 24
protocol/ps2_busywait.c View File

@@ -35,16 +35,16 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/

/*
* PS/2 protocol busywait version
*/

#include <stdbool.h>
#include <util/delay.h>
#include "ps2.h"
#include "debug.h"


/*
* PS/2 protocol busywait version
*/

#define WAIT(stat, us, err) do { \
if (!wait_##stat(us)) { \
ps2_error = err; \
@@ -52,6 +52,7 @@ POSSIBILITY OF SUCH DAMAGE.
} \
} while (0)


uint8_t ps2_error = PS2_ERR_NONE;


@@ -65,18 +66,19 @@ void ps2_host_init(void)

uint8_t ps2_host_send(uint8_t data)
{
uint8_t res = 0;
bool parity = true;
ps2_error = PS2_ERR_NONE;

/* terminate a transmission if we have */
inhibit();
_delay_us(200); // at least 100us
_delay_us(100); // 100us [4]p.13, [5]p.50

/* start bit [1] */
/* 'Request to Send' and Start bit */
data_lo();
clock_hi();
WAIT(clock_lo, 20000, 10); // may take 15ms at most until device starts clocking
/* data [2-9] */
WAIT(clock_lo, 10000, 10); // 10ms [5]p.50

/* Data bit */
for (uint8_t i = 0; i < 8; i++) {
_delay_us(15);
if (data&(1<<i)) {
@@ -88,15 +90,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3);
}
/* parity [10] */

/* Parity bit */
_delay_us(15);
if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5);
/* stop bit [11] */

/* Stop bit */
_delay_us(15);
data_hi();
/* ack [12] */

/* Ack */
WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7);

@@ -105,17 +110,16 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(data_hi, 50, 9);

inhibit();
res = ps2_host_recv_response();
return ps2_host_recv_response();
ERROR:
inhibit();
return res;
return 0;
}

/* receive data when host want else inhibit communication */
uint8_t ps2_host_recv_response(void)
{
// Command might take 20ms to response([3]p.21)
// TrackPoint might take 25ms ([5]2.7)
// Command may take 25ms/20ms at most([5]p.46, [3]p.21)
// 250 * 100us(wait for start bit in ps2_host_recv)
uint8_t data = 0;
uint8_t try = 250;
@@ -125,14 +129,6 @@ uint8_t ps2_host_recv_response(void)
return data;
}

/* send LED state to keyboard */
void ps2_host_set_led(uint8_t led)
{
ps2_host_send(0xED);
ps2_host_send(led);
}


/* called after start bit comes */
uint8_t ps2_host_recv(void)
{
@@ -180,3 +176,10 @@ ERROR:
inhibit();
return 0;
}

/* send LED state to keyboard */
void ps2_host_set_led(uint8_t led)
{
ps2_host_send(0xED);
ps2_host_send(led);
}

protocol/ps2.c → protocol/ps2_interrupt.c View File

@@ -35,49 +35,16 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/

/*
* PS/2 protocol Pin interrupt version
*/

#include <stdbool.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "ps2.h"
#include "debug.h"


#ifndef PS2_USE_INT
static uint8_t recv_data(void);
#endif
static inline void clock_lo(void);
static inline void clock_hi(void);
static inline bool clock_in(void);
static inline void data_lo(void);
static inline void data_hi(void);
static inline bool data_in(void);
static inline uint16_t wait_clock_lo(uint16_t us);
static inline uint16_t wait_clock_hi(uint16_t us);
static inline uint16_t wait_data_lo(uint16_t us);
static inline uint16_t wait_data_hi(uint16_t us);
static inline void idle(void);
static inline void inhibit(void);


/*
Primitive PS/2 Library for AVR
==============================
Host side is only supported now.


I/O control
-----------
High state is asserted by input with pull up.


PS/2 References
---------------
http://www.computer-engineering.org/ps2protocol/
http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
*/


#define WAIT(stat, us, err) do { \
if (!wait_##stat(us)) { \
ps2_error = err; \
@@ -89,38 +56,38 @@ http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
uint8_t ps2_error = PS2_ERR_NONE;


static inline uint8_t pbuf_dequeue(void);
static inline void pbuf_enqueue(uint8_t data);
static inline bool pbuf_has_data(void);
static inline void pbuf_clear(void);


void ps2_host_init(void)
{
// POR(150-2000ms) plus BAT(300-500ms) may take 2.5sec([3]p.20)
_delay_ms(2500);

#ifdef PS2_USE_INT
idle();
PS2_INT_INIT();
PS2_INT_ON();
idle();
#else
inhibit();
#endif
// POR(150-2000ms) plus BAT(300-500ms) may take 2.5sec([3]p.20)
//_delay_ms(2500);
}

// TODO: send using interrupt if available
uint8_t ps2_host_send(uint8_t data)
{
uint8_t res = 0;
bool parity = true;
ps2_error = PS2_ERR_NONE;
#ifdef PS2_USE_INT
PS2_INT_OFF();
#endif
/* terminate a transmission if we have */
inhibit();
_delay_us(200); // at least 100us
_delay_us(100); // 100us [4]p.13, [5]p.50

/* start bit [1] */
/* 'Request to Send' and Start bit */
data_lo();
clock_hi();
WAIT(clock_lo, 20000, 10); // may take 15ms at most until device starts clocking
/* data [2-9] */
WAIT(clock_lo, 10000, 10); // 10ms [5]p.50

/* Data bit[2-9] */
for (uint8_t i = 0; i < 8; i++) {
_delay_us(15);
if (data&(1<<i)) {
@@ -132,15 +99,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3);
}
/* parity [10] */

/* Parity bit */
_delay_us(15);
if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5);
/* stop bit [11] */

/* Stop bit */
_delay_us(15);
data_hi();
/* ack [12] */

/* Ack */
WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7);

@@ -148,107 +118,35 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 8);
WAIT(data_hi, 50, 9);

#ifdef PS2_USE_INT
idle();
PS2_INT_ON();
#endif
res = ps2_host_recv_response();
return ps2_host_recv_response();
ERROR:
#ifdef PS2_USE_INT
PS2_INT_ON();
idle();
#else
inhibit();
#endif
return res;
PS2_INT_ON();
return 0;
}

#ifndef PS2_USE_INT
/* receive data when host want else inhibit communication */
uint8_t ps2_host_recv_response(void)
{
// Command might take 20ms to response([3]p.21)
// TrackPoint might take 25ms ([5]2.7)
uint8_t data = 0;
uint8_t try = 200;
while (try-- && (data = ps2_host_recv())) ;
return data;
}
#endif

#ifndef PS2_USE_INT
uint8_t ps2_host_recv(void)
{
uint8_t data = 0;

/* release lines(idle state) */
idle();

/* wait start bit */
wait_clock_lo(100); // TODO: this is enough?
data = recv_data();

inhibit();
return data;
}
#else
/* ring buffer to store ps/2 key data */
#define PBUF_SIZE 32
static uint8_t pbuf[PBUF_SIZE];
static uint8_t pbuf_head = 0;
static uint8_t pbuf_tail = 0;
static inline void pbuf_enqueue(uint8_t data)
{
uint8_t sreg = SREG;
cli();
uint8_t next = (pbuf_head + 1) % PBUF_SIZE;
if (next != pbuf_tail) {
pbuf[pbuf_head] = data;
pbuf_head = next;
} else {
debug("pbuf: full\n");
// Command may take 25ms/20ms at most([5]p.46, [3]p.21)
uint8_t retry = 25;
while (retry-- && !pbuf_has_data()) {
_delay_ms(1);
}
SREG = sreg;
}
static inline uint8_t pbuf_dequeue(void)
{
uint8_t val = 0;

uint8_t sreg = SREG;
cli();
if (pbuf_head != pbuf_tail) {
val = pbuf[pbuf_tail];
pbuf_tail = (pbuf_tail + 1) % PBUF_SIZE;
}
SREG = sreg;

return val;
}
static inline bool pbuf_has_data(void)
{
uint8_t sreg = SREG;
cli();
bool has_data = (pbuf_head != pbuf_tail);
SREG = sreg;
return has_data;
}
static inline void pbuf_clear(void)
{
uint8_t sreg = SREG;
cli();
pbuf_head = pbuf_tail = 0;
SREG = sreg;
return pbuf_dequeue();
}

/* get data received by interrupt */
uint8_t ps2_host_recv(void)
{
return pbuf_dequeue();
}
uint8_t ps2_host_recv_response(void)
{
while (!pbuf_has_data()) ;
return pbuf_dequeue();
if (pbuf_has_data()) {
ps2_error = PS2_ERR_NONE;
return pbuf_dequeue();
} else {
ps2_error = PS2_ERR_NODATA;
return 0;
}
}

ISR(PS2_INT_VECT)
@@ -303,7 +201,6 @@ ISR(PS2_INT_VECT)
if (!data_in())
goto ERROR;
pbuf_enqueue(data);
//phex(data);
goto DONE;
break;
default:
@@ -311,7 +208,6 @@ ISR(PS2_INT_VECT)
}
goto RETURN;
ERROR:
inhibit();
ps2_error = state;
DONE:
state = INIT;
@@ -320,8 +216,6 @@ DONE:
RETURN:
return;
}
#endif


/* send LED state to keyboard */
void ps2_host_set_led(uint8_t led)
@@ -331,139 +225,53 @@ void ps2_host_set_led(uint8_t led)
}


#ifndef PS2_USE_INT
/* called after start bit comes */
static uint8_t recv_data(void)
/*--------------------------------------------------------------------
* Ring buffer to store scan codes from keyboard
*------------------------------------------------------------------*/
#define PBUF_SIZE 32
static uint8_t pbuf[PBUF_SIZE];
static uint8_t pbuf_head = 0;
static uint8_t pbuf_tail = 0;
static inline void pbuf_enqueue(uint8_t data)
{
uint8_t data = 0;
bool parity = true;
ps2_error = PS2_ERR_NONE;

/* start bit [1] */
WAIT(clock_lo, 1, 1);
WAIT(data_lo, 1, 2);
WAIT(clock_hi, 50, 3);

/* data [2-9] */
for (uint8_t i = 0; i < 8; i++) {
WAIT(clock_lo, 50, 4);
if (data_in()) {
parity = !parity;
data |= (1<<i);
}
WAIT(clock_hi, 50, 5);
}

/* parity [10] */
WAIT(clock_lo, 50, 6);
if (data_in() != parity) {
ps2_error = PS2_ERR_PARITY;
goto ERROR;
uint8_t sreg = SREG;
cli();
uint8_t next = (pbuf_head + 1) % PBUF_SIZE;
if (next != pbuf_tail) {
pbuf[pbuf_head] = data;
pbuf_head = next;
} else {
debug("pbuf: full\n");
}
WAIT(clock_hi, 50, 7);

/* stop bit [11] */
WAIT(clock_lo, 50, 8);
WAIT(data_hi, 1, 9);
WAIT(clock_hi, 50, 10);

return data;
ERROR:
return 0;
}
#endif

static inline void clock_lo()
{
PS2_CLOCK_PORT &= ~(1<<PS2_CLOCK_BIT);
PS2_CLOCK_DDR |= (1<<PS2_CLOCK_BIT);
}
static inline void clock_hi()
{
/* input with pull up */
PS2_CLOCK_DDR &= ~(1<<PS2_CLOCK_BIT);
PS2_CLOCK_PORT |= (1<<PS2_CLOCK_BIT);
}
static inline bool clock_in()
{
PS2_CLOCK_DDR &= ~(1<<PS2_CLOCK_BIT);
PS2_CLOCK_PORT |= (1<<PS2_CLOCK_BIT);
_delay_us(1);
return PS2_CLOCK_PIN&(1<<PS2_CLOCK_BIT);
}
static inline void data_lo()
{
PS2_DATA_PORT &= ~(1<<PS2_DATA_BIT);
PS2_DATA_DDR |= (1<<PS2_DATA_BIT);
}
static inline void data_hi()
{
/* input with pull up */
PS2_DATA_DDR &= ~(1<<PS2_DATA_BIT);
PS2_DATA_PORT |= (1<<PS2_DATA_BIT);
SREG = sreg;
}
static inline bool data_in()
static inline uint8_t pbuf_dequeue(void)
{
PS2_DATA_DDR &= ~(1<<PS2_DATA_BIT);
PS2_DATA_PORT |= (1<<PS2_DATA_BIT);
_delay_us(1);
return PS2_DATA_PIN&(1<<PS2_DATA_BIT);
}
uint8_t val = 0;

static inline uint16_t wait_clock_lo(uint16_t us)
{
while (clock_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_clock_hi(uint16_t us)
{
while (!clock_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_data_lo(uint16_t us)
{
while (data_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_data_hi(uint16_t us)
{
while (!data_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
uint8_t sreg = SREG;
cli();
if (pbuf_head != pbuf_tail) {
val = pbuf[pbuf_tail];
pbuf_tail = (pbuf_tail + 1) % PBUF_SIZE;
}
SREG = sreg;

/* idle state that device can send */
static inline void idle(void)
return val;
}
static inline bool pbuf_has_data(void)
{
clock_hi();
data_hi();
uint8_t sreg = SREG;
cli();
bool has_data = (pbuf_head != pbuf_tail);
SREG = sreg;
return has_data;
}

/* inhibit device to send */
static inline void inhibit(void)
static inline void pbuf_clear(void)
{
clock_lo();
data_hi();
uint8_t sreg = SREG;
cli();
pbuf_head = pbuf_tail = 0;
SREG = sreg;
}


/* PS/2 Resources
*
* [1] The PS/2 Mouse/Keyboard Protocol
* http://www.computer-engineering.org/ps2protocol/
* Concise and thorough primer of PS/2 protocol.
*
* [2] Keyboard and Auxiliary Device Controller
* http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
* Signal Timing and Format
*
* [3] Keyboards(101- and 102-key)
* http://www.mcamafia.de/pdf/ibm_hitrc11.pdf
* Keyboard Layout, Scan Code Set, POR, and Commands.
*
* [4] PS/2 Reference Manuals
* http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
* Collection of IBM Personal System/2 documents.
*
* [5] TrackPoint Engineering Specifications for version 3E
* https://web.archive.org/web/20100526161812/http://wwwcssrv.almaden.ibm.com/trackpoint/download.html
*/

+ 13
- 10
protocol/ps2_usart.c View File

@@ -82,13 +82,14 @@ uint8_t ps2_host_send(uint8_t data)

/* terminate a transmission if we have */
inhibit();
_delay_us(100);
_delay_us(100); // [4]p.13

/* start bit [1] */
/* 'Request to Send' and Start bit */
data_lo();
clock_hi();
WAIT(clock_lo, 15000, 1);
/* data [2-9] */
WAIT(clock_lo, 10000, 10); // 10ms [5]p.50

/* Data bit[2-9] */
for (uint8_t i = 0; i < 8; i++) {
_delay_us(15);
if (data&(1<<i)) {
@@ -100,15 +101,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3);
}
/* parity [10] */

/* Parity bit */
_delay_us(15);
if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5);
/* stop bit [11] */

/* Stop bit */
_delay_us(15);
data_hi();
/* ack [12] */

/* Ack */
WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7);

@@ -127,12 +131,12 @@ ERROR:
return 0;
}

// Do polling data from keyboard to get response to last command.
uint8_t ps2_host_recv_response(void)
{
// Command may take 25ms/20ms at most([5]p.46, [3]p.21)
uint8_t retry = 25;
while (retry-- && !pbuf_has_data()) {
_delay_ms(1); // without this delay it seems to fall into deadlock
_delay_ms(1);
}
return pbuf_dequeue();
}
@@ -188,7 +192,6 @@ static inline void pbuf_enqueue(uint8_t data)
}
SREG = sreg;
}

static inline uint8_t pbuf_dequeue(void)
{
uint8_t val = 0;

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