Initial arm serial partially based on old lets split code (#7072)
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Joel Challis
GitHub
commit
526c185e7e
2 changed files with 292 additions and 2 deletions
290
drivers/chibios/serial.c
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290
drivers/chibios/serial.c
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/*
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* WARNING: be careful changing this code, it is very timing dependent
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*/
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#include "quantum.h"
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#include "serial.h"
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#include "wait.h"
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#include "hal.h"
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// TODO: resolve/remove build warnings
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#if defined(RGBLIGHT_ENABLE) && defined(RGBLED_SPLIT) && defined(PROTOCOL_CHIBIOS) && defined(WS2812_DRIVER_BITBANG)
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# warning "RGBLED_SPLIT not supported with bitbang WS2812 driver"
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#endif
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// default wait implementation cannot be called within interrupt
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// this method seems to be more accurate than GPT timers
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#if PORT_SUPPORTS_RT == FALSE
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# error "chSysPolledDelayX method not supported on this platform"
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#else
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# undef wait_us
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# define wait_us(x) chSysPolledDelayX(US2RTC(STM32_SYSCLK, x))
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#endif
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#ifndef SELECT_SOFT_SERIAL_SPEED
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# define SELECT_SOFT_SERIAL_SPEED 1
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// TODO: correct speeds...
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// 0: about 189kbps (Experimental only)
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// 1: about 137kbps (default)
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// 2: about 75kbps
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// 3: about 39kbps
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// 4: about 26kbps
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// 5: about 20kbps
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#endif
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// Serial pulse period in microseconds. At the moment, going lower than 12 causes communication failure
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#if SELECT_SOFT_SERIAL_SPEED == 0
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# define SERIAL_DELAY 12
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#elif SELECT_SOFT_SERIAL_SPEED == 1
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# define SERIAL_DELAY 16
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#elif SELECT_SOFT_SERIAL_SPEED == 2
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# define SERIAL_DELAY 24
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#elif SELECT_SOFT_SERIAL_SPEED == 3
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# define SERIAL_DELAY 32
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#elif SELECT_SOFT_SERIAL_SPEED == 4
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# define SERIAL_DELAY 48
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#elif SELECT_SOFT_SERIAL_SPEED == 5
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# define SERIAL_DELAY 64
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#else
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# error invalid SELECT_SOFT_SERIAL_SPEED value
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#endif
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inline static void serial_delay(void) { wait_us(SERIAL_DELAY); }
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inline static void serial_delay_half(void) { wait_us(SERIAL_DELAY / 2); }
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inline static void serial_delay_blip(void) { wait_us(1); }
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inline static void serial_output(void) { setPinOutput(SOFT_SERIAL_PIN); }
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inline static void serial_input(void) { setPinInputHigh(SOFT_SERIAL_PIN); }
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inline static bool serial_read_pin(void) { return !!readPin(SOFT_SERIAL_PIN); }
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inline static void serial_low(void) { writePinLow(SOFT_SERIAL_PIN); }
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inline static void serial_high(void) { writePinHigh(SOFT_SERIAL_PIN); }
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void interrupt_handler(void *arg);
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// Use thread + palWaitLineTimeout instead of palSetLineCallback
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// - Methods like setPinOutput and palEnableLineEvent/palDisableLineEvent
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// cause the interrupt to lock up, which would limit to only receiving data...
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static THD_WORKING_AREA(waThread1, 128);
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static THD_FUNCTION(Thread1, arg) {
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(void)arg;
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chRegSetThreadName("blinker");
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while (true) {
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palWaitLineTimeout(SOFT_SERIAL_PIN, TIME_INFINITE);
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interrupt_handler(NULL);
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}
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}
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static SSTD_t *Transaction_table = NULL;
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static uint8_t Transaction_table_size = 0;
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void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size) {
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Transaction_table = sstd_table;
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Transaction_table_size = (uint8_t)sstd_table_size;
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serial_output();
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serial_high();
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}
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void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size) {
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Transaction_table = sstd_table;
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Transaction_table_size = (uint8_t)sstd_table_size;
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serial_input();
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palEnablePadEvent(PAL_PORT(SOFT_SERIAL_PIN), PAL_PAD(SOFT_SERIAL_PIN), PAL_EVENT_MODE_FALLING_EDGE);
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chThdCreateStatic(waThread1, sizeof(waThread1), HIGHPRIO, Thread1, NULL);
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}
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// Used by the master to synchronize timing with the slave.
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static void __attribute__((noinline)) sync_recv(void) {
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serial_input();
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// This shouldn't hang if the slave disconnects because the
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// serial line will float to high if the slave does disconnect.
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while (!serial_read_pin()) {
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}
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serial_delay();
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}
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// Used by the slave to send a synchronization signal to the master.
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static void __attribute__((noinline)) sync_send(void) {
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serial_output();
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serial_low();
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serial_delay();
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serial_high();
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}
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// Reads a byte from the serial line
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static uint8_t __attribute__((noinline)) serial_read_byte(void) {
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uint8_t byte = 0;
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serial_input();
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for (uint8_t i = 0; i < 8; ++i) {
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byte = (byte << 1) | serial_read_pin();
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serial_delay();
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}
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return byte;
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}
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// Sends a byte with MSB ordering
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static void __attribute__((noinline)) serial_write_byte(uint8_t data) {
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uint8_t b = 8;
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serial_output();
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while (b--) {
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if (data & (1 << b)) {
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serial_high();
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} else {
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serial_low();
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}
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serial_delay();
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}
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}
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// interrupt handle to be used by the slave device
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void interrupt_handler(void *arg) {
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chSysLockFromISR();
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sync_send();
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// read mid pulses
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serial_delay_blip();
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uint8_t checksum_computed = 0;
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int sstd_index = 0;
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#ifdef SERIAL_USE_MULTI_TRANSACTION
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sstd_index = serial_read_byte();
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sync_send();
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#endif
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SSTD_t *trans = &Transaction_table[sstd_index];
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for (int i = 0; i < trans->initiator2target_buffer_size; ++i) {
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trans->initiator2target_buffer[i] = serial_read_byte();
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sync_send();
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checksum_computed += trans->initiator2target_buffer[i];
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}
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checksum_computed ^= 7;
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uint8_t checksum_received = serial_read_byte();
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sync_send();
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// wait for the sync to finish sending
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serial_delay();
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uint8_t checksum = 0;
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for (int i = 0; i < trans->target2initiator_buffer_size; ++i) {
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serial_write_byte(trans->target2initiator_buffer[i]);
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sync_send();
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serial_delay_half();
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checksum += trans->target2initiator_buffer[i];
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}
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serial_write_byte(checksum ^ 7);
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sync_send();
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// wait for the sync to finish sending
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serial_delay();
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*trans->status = (checksum_computed == checksum_received) ? TRANSACTION_ACCEPTED : TRANSACTION_DATA_ERROR;
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// end transaction
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serial_input();
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// TODO: remove extra delay between transactions
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serial_delay();
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chSysUnlockFromISR();
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}
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/////////
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// start transaction by initiator
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//
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// int soft_serial_transaction(int sstd_index)
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//
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// Returns:
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// TRANSACTION_END
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// TRANSACTION_NO_RESPONSE
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// TRANSACTION_DATA_ERROR
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// this code is very time dependent, so we need to disable interrupts
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#ifndef SERIAL_USE_MULTI_TRANSACTION
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int soft_serial_transaction(void) {
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int sstd_index = 0;
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#else
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int soft_serial_transaction(int sstd_index) {
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#endif
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if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR;
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SSTD_t *trans = &Transaction_table[sstd_index];
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// TODO: remove extra delay between transactions
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serial_delay();
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// this code is very time dependent, so we need to disable interrupts
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chSysLock();
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// signal to the slave that we want to start a transaction
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serial_output();
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serial_low();
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serial_delay_blip();
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// wait for the slaves response
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serial_input();
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serial_high();
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serial_delay();
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// check if the slave is present
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if (serial_read_pin()) {
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// slave failed to pull the line low, assume not present
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dprintf("serial::NO_RESPONSE\n");
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chSysUnlock();
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return TRANSACTION_NO_RESPONSE;
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}
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// if the slave is present syncronize with it
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uint8_t checksum = 0;
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// send data to the slave
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#ifdef SERIAL_USE_MULTI_TRANSACTION
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serial_write_byte(sstd_index); // first chunk is transaction id
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sync_recv();
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#endif
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for (int i = 0; i < trans->initiator2target_buffer_size; ++i) {
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serial_write_byte(trans->initiator2target_buffer[i]);
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sync_recv();
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checksum += trans->initiator2target_buffer[i];
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}
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serial_write_byte(checksum ^ 7);
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sync_recv();
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serial_delay();
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serial_delay(); // read mid pulses
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// receive data from the slave
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uint8_t checksum_computed = 0;
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for (int i = 0; i < trans->target2initiator_buffer_size; ++i) {
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trans->target2initiator_buffer[i] = serial_read_byte();
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sync_recv();
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checksum_computed += trans->target2initiator_buffer[i];
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}
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checksum_computed ^= 7;
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uint8_t checksum_received = serial_read_byte();
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sync_recv();
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serial_delay();
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if ((checksum_computed) != (checksum_received)) {
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dprintf("serial::FAIL[%u,%u,%u]\n", checksum_computed, checksum_received, sstd_index);
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serial_output();
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serial_high();
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chSysUnlock();
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return TRANSACTION_DATA_ERROR;
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}
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// always, release the line when not in use
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serial_high();
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serial_output();
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chSysUnlock();
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return TRANSACTION_END;
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}
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@ -203,7 +203,7 @@
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* @note Disabling this option saves both code and data space.
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* @note Disabling this option saves both code and data space.
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*/
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*/
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# if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
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# if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
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# define PAL_USE_CALLBACKS FALSE
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# define PAL_USE_CALLBACKS TRUE
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# endif
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# endif
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/**
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/**
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@ -211,7 +211,7 @@
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* @note Disabling this option saves both code and data space.
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* @note Disabling this option saves both code and data space.
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*/
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*/
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# if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
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# if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
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# define PAL_USE_WAIT FALSE
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# define PAL_USE_WAIT TRUE
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# endif
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# endif
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/*===========================================================================*/
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/*===========================================================================*/
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