Helix serial bugfix (#3255)
* add helix serial debug code * serial debug macro move from config.h to serial.h * helix serial.c debugging... * refine debug macros * add some comments * add SELECT_SERIAL_SPEED * add comments * debugging sync_send/sync_recv * add very high speed * fix sync_send/sync_recv * fix com. start and switch send/recv * debug mode off * remove debug codes
This commit is contained in:
parent
d80774027e
commit
1038bbef40
1 changed files with 102 additions and 47 deletions
|
@ -14,9 +14,45 @@
|
|||
|
||||
#ifdef USE_SERIAL
|
||||
|
||||
// Serial pulse period in microseconds. Its probably a bad idea to lower this
|
||||
// value.
|
||||
#define SERIAL_DELAY 30
|
||||
#define _delay_sub_us(x) __builtin_avr_delay_cycles(x)
|
||||
|
||||
// Serial pulse period in microseconds.
|
||||
#define SELECT_SERIAL_SPEED 1
|
||||
#if SELECT_SERIAL_SPEED == 0
|
||||
// Very High speed
|
||||
#define SERIAL_DELAY 4 // micro sec
|
||||
#define READ_WRITE_START_ADJUST 30 // cycles
|
||||
#define READ_WRITE_WIDTH_ADJUST 10 // cycles
|
||||
#elif SELECT_SERIAL_SPEED == 1
|
||||
// High speed
|
||||
#define SERIAL_DELAY 6 // micro sec
|
||||
#define READ_WRITE_START_ADJUST 23 // cycles
|
||||
#define READ_WRITE_WIDTH_ADJUST 10 // cycles
|
||||
#elif SELECT_SERIAL_SPEED == 2
|
||||
// Middle speed
|
||||
#define SERIAL_DELAY 12 // micro sec
|
||||
#define READ_WRITE_START_ADJUST 25 // cycles
|
||||
#define READ_WRITE_WIDTH_ADJUST 10 // cycles
|
||||
#elif SELECT_SERIAL_SPEED == 3
|
||||
// Low speed
|
||||
#define SERIAL_DELAY 24 // micro sec
|
||||
#define READ_WRITE_START_ADJUST 25 // cycles
|
||||
#define READ_WRITE_WIDTH_ADJUST 10 // cycles
|
||||
#elif SELECT_SERIAL_SPEED == 4
|
||||
// Very Low speed
|
||||
#define SERIAL_DELAY 50 // micro sec
|
||||
#define READ_WRITE_START_ADJUST 25 // cycles
|
||||
#define READ_WRITE_WIDTH_ADJUST 10 // cycles
|
||||
#else
|
||||
#error Illegal Serial Speed
|
||||
#endif
|
||||
|
||||
|
||||
#define SERIAL_DELAY_HALF1 (SERIAL_DELAY/2)
|
||||
#define SERIAL_DELAY_HALF2 (SERIAL_DELAY - SERIAL_DELAY/2)
|
||||
|
||||
#define SLAVE_INT_WIDTH 1
|
||||
#define SLAVE_INT_RESPONSE_TIME SERIAL_DELAY
|
||||
|
||||
uint8_t volatile serial_slave_buffer[SERIAL_SLAVE_BUFFER_LENGTH] = {0};
|
||||
uint8_t volatile serial_master_buffer[SERIAL_MASTER_BUFFER_LENGTH] = {0};
|
||||
|
@ -28,9 +64,17 @@ inline static
|
|||
void serial_delay(void) {
|
||||
_delay_us(SERIAL_DELAY);
|
||||
}
|
||||
void serial_delay_short(void) {
|
||||
_delay_us(SERIAL_DELAY-1);
|
||||
|
||||
inline static
|
||||
void serial_delay_half1(void) {
|
||||
_delay_us(SERIAL_DELAY_HALF1);
|
||||
}
|
||||
|
||||
inline static
|
||||
void serial_delay_half2(void) {
|
||||
_delay_us(SERIAL_DELAY_HALF2);
|
||||
}
|
||||
|
||||
inline static
|
||||
void serial_output(void) {
|
||||
SERIAL_PIN_DDR |= SERIAL_PIN_MASK;
|
||||
|
@ -38,7 +82,7 @@ void serial_output(void) {
|
|||
|
||||
// make the serial pin an input with pull-up resistor
|
||||
inline static
|
||||
void serial_input(void) {
|
||||
void serial_input_with_pullup(void) {
|
||||
SERIAL_PIN_DDR &= ~SERIAL_PIN_MASK;
|
||||
SERIAL_PIN_PORT |= SERIAL_PIN_MASK;
|
||||
}
|
||||
|
@ -64,7 +108,7 @@ void serial_master_init(void) {
|
|||
}
|
||||
|
||||
void serial_slave_init(void) {
|
||||
serial_input();
|
||||
serial_input_with_pullup();
|
||||
|
||||
#ifndef USE_SERIAL_PD2
|
||||
// Enable INT0
|
||||
|
@ -79,25 +123,21 @@ void serial_slave_init(void) {
|
|||
#endif
|
||||
}
|
||||
|
||||
// Used by the master to synchronize timing with the slave.
|
||||
// Used by the sender to synchronize timing with the reciver.
|
||||
static
|
||||
void sync_recv(void) {
|
||||
serial_input();
|
||||
for (int i = 0; i < SERIAL_DELAY*5 && serial_read_pin(); i++ ) {
|
||||
}
|
||||
// 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();
|
||||
_delay_us(SERIAL_DELAY-5);
|
||||
}
|
||||
|
||||
// Used by the slave to send a synchronization signal to the master.
|
||||
// Used by the reciver to send a synchronization signal to the sender.
|
||||
static
|
||||
void sync_send(void) {
|
||||
serial_output();
|
||||
|
||||
serial_low();
|
||||
serial_delay();
|
||||
|
||||
serial_high();
|
||||
}
|
||||
|
||||
|
@ -105,66 +145,70 @@ void sync_send(void) {
|
|||
static
|
||||
uint8_t serial_read_byte(void) {
|
||||
uint8_t byte = 0;
|
||||
serial_input();
|
||||
_delay_sub_us(READ_WRITE_START_ADJUST);
|
||||
for ( uint8_t i = 0; i < 8; ++i) {
|
||||
serial_delay_half1(); // read the middle of pulses
|
||||
byte = (byte << 1) | serial_read_pin();
|
||||
serial_delay();
|
||||
_delay_us(1);
|
||||
_delay_sub_us(READ_WRITE_WIDTH_ADJUST);
|
||||
serial_delay_half2();
|
||||
}
|
||||
|
||||
return byte;
|
||||
}
|
||||
|
||||
// Sends a byte with MSB ordering
|
||||
static
|
||||
void serial_write_byte(uint8_t data) {
|
||||
uint8_t b = 8;
|
||||
serial_output();
|
||||
while( b-- ) {
|
||||
if(data & (1 << b)) {
|
||||
uint8_t b = 1<<7;
|
||||
while( b ) {
|
||||
if(data & b) {
|
||||
serial_high();
|
||||
} else {
|
||||
serial_low();
|
||||
}
|
||||
b >>= 1;
|
||||
serial_delay();
|
||||
}
|
||||
serial_low(); // sync_send() / senc_recv() need raise edge
|
||||
}
|
||||
|
||||
// interrupt handle to be used by the slave device
|
||||
ISR(SERIAL_PIN_INTERRUPT) {
|
||||
sync_send();
|
||||
serial_output();
|
||||
|
||||
// slave send phase
|
||||
uint8_t checksum = 0;
|
||||
for (int i = 0; i < SERIAL_SLAVE_BUFFER_LENGTH; ++i) {
|
||||
serial_write_byte(serial_slave_buffer[i]);
|
||||
sync_send();
|
||||
serial_write_byte(serial_slave_buffer[i]);
|
||||
checksum += serial_slave_buffer[i];
|
||||
}
|
||||
serial_write_byte(checksum);
|
||||
sync_send();
|
||||
serial_write_byte(checksum);
|
||||
|
||||
// wait for the sync to finish sending
|
||||
serial_delay();
|
||||
|
||||
// read the middle of pulses
|
||||
_delay_us(SERIAL_DELAY/2);
|
||||
// slave switch to input
|
||||
sync_send(); //0
|
||||
serial_delay_half1(); //1
|
||||
serial_low(); //2
|
||||
serial_input_with_pullup(); //2
|
||||
serial_delay_half1(); //3
|
||||
|
||||
// slave recive phase
|
||||
uint8_t checksum_computed = 0;
|
||||
for (int i = 0; i < SERIAL_MASTER_BUFFER_LENGTH; ++i) {
|
||||
sync_recv();
|
||||
serial_master_buffer[i] = serial_read_byte();
|
||||
sync_send();
|
||||
checksum_computed += serial_master_buffer[i];
|
||||
}
|
||||
sync_recv();
|
||||
uint8_t checksum_received = serial_read_byte();
|
||||
sync_send();
|
||||
|
||||
serial_input(); // end transaction
|
||||
|
||||
if ( checksum_computed != checksum_received ) {
|
||||
status |= SLAVE_DATA_CORRUPT;
|
||||
} else {
|
||||
status &= ~SLAVE_DATA_CORRUPT;
|
||||
}
|
||||
|
||||
sync_recv(); //weit master output to high
|
||||
}
|
||||
|
||||
inline
|
||||
|
@ -178,6 +222,7 @@ bool serial_slave_DATA_CORRUPT(void) {
|
|||
// Returns:
|
||||
// 0 => no error
|
||||
// 1 => slave did not respond
|
||||
// 2 => checksum error
|
||||
int serial_update_buffers(void) {
|
||||
// this code is very time dependent, so we need to disable interrupts
|
||||
cli();
|
||||
|
@ -185,51 +230,61 @@ int serial_update_buffers(void) {
|
|||
// signal to the slave that we want to start a transaction
|
||||
serial_output();
|
||||
serial_low();
|
||||
_delay_us(1);
|
||||
_delay_us(SLAVE_INT_WIDTH);
|
||||
|
||||
// wait for the slaves response
|
||||
serial_input();
|
||||
serial_high();
|
||||
_delay_us(SERIAL_DELAY);
|
||||
serial_input_with_pullup();
|
||||
_delay_us(SLAVE_INT_RESPONSE_TIME);
|
||||
|
||||
// check if the slave is present
|
||||
if (serial_read_pin()) {
|
||||
// slave failed to pull the line low, assume not present
|
||||
serial_output();
|
||||
serial_high();
|
||||
sei();
|
||||
return 1;
|
||||
}
|
||||
|
||||
// master recive phase
|
||||
// if the slave is present syncronize with it
|
||||
sync_recv();
|
||||
|
||||
uint8_t checksum_computed = 0;
|
||||
// receive data from the slave
|
||||
for (int i = 0; i < SERIAL_SLAVE_BUFFER_LENGTH; ++i) {
|
||||
serial_slave_buffer[i] = serial_read_byte();
|
||||
sync_recv();
|
||||
serial_slave_buffer[i] = serial_read_byte();
|
||||
checksum_computed += serial_slave_buffer[i];
|
||||
}
|
||||
uint8_t checksum_received = serial_read_byte();
|
||||
sync_recv();
|
||||
uint8_t checksum_received = serial_read_byte();
|
||||
|
||||
if (checksum_computed != checksum_received) {
|
||||
serial_output();
|
||||
serial_high();
|
||||
sei();
|
||||
return 2;
|
||||
}
|
||||
|
||||
// master switch to output
|
||||
sync_recv(); //0
|
||||
serial_delay(); //1
|
||||
serial_low(); //3
|
||||
serial_output(); // 3
|
||||
serial_delay_half1(); //4
|
||||
|
||||
// master send phase
|
||||
uint8_t checksum = 0;
|
||||
// send data to the slave
|
||||
|
||||
for (int i = 0; i < SERIAL_MASTER_BUFFER_LENGTH; ++i) {
|
||||
sync_send();
|
||||
serial_write_byte(serial_master_buffer[i]);
|
||||
sync_recv();
|
||||
checksum += serial_master_buffer[i];
|
||||
}
|
||||
sync_send();
|
||||
serial_write_byte(checksum);
|
||||
sync_recv();
|
||||
|
||||
// always, release the line when not in use
|
||||
serial_output();
|
||||
serial_high();
|
||||
sync_send();
|
||||
|
||||
sei();
|
||||
return 0;
|
||||
|
|
Loading…
Reference in a new issue