/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file interface_serial.cpp
*
* Serial interface for PX4IO
*/
/* XXX trim includes */
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <errno.h>
#include <string.h>
#include <arch/board/board.h>
/* XXX might be able to prune these */
#include <nuttx/arch.h>
#include <chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include <stm32_internal.h>
#include <debug.h>
#include <drivers/drv_hrt.h>
#include <drivers/boards/px4fmuv2/px4fmu_internal.h> /* XXX should really not be hardcoding v2 here */
#include <systemlib/perf_counter.h>
#include <modules/px4iofirmware/protocol.h>
#include "interface.h"
#define PKT_MAX_REGS 32 // by agreement w/IO
#pragma pack(push, 1)
struct IOPacket {
uint8_t count_code;
uint8_t crc;
uint8_t page;
uint8_t offset;
uint16_t regs[PKT_MAX_REGS];
};
#pragma pack(pop)
/* serial register accessors */
#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x))
#define rSR REG(STM32_USART_SR_OFFSET)
#define rDR REG(STM32_USART_DR_OFFSET)
#define rBRR REG(STM32_USART_BRR_OFFSET)
#define rCR1 REG(STM32_USART_CR1_OFFSET)
#define rCR2 REG(STM32_USART_CR2_OFFSET)
#define rCR3 REG(STM32_USART_CR3_OFFSET)
#define rGTPR REG(STM32_USART_GTPR_OFFSET)
#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
#define PKT_CODE_MASK 0xc0
#define PKT_COUNT_MASK 0x3f
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
static uint8_t crc_packet(IOPacket &pkt);
class PX4IO_serial : public PX4IO_interface
{
public:
PX4IO_serial();
virtual ~PX4IO_serial();
virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
virtual bool ok();
virtual int test(unsigned mode);
private:
/*
* XXX tune this value
*
* At 1.5Mbps each register takes 13.3µs, and we always transfer a full packet.
* Packet overhead is 26µs for the four-byte header.
*
* 32 registers = 451µs
*
* Maybe we can just send smaller packets (e.g. 8 regs) and loop for larger (less common)
* transfers? Could cause issues with any regs expecting to be written atomically...
*/
static IOPacket _dma_buffer; // XXX static to ensure DMA-able memory
DMA_HANDLE _tx_dma;
DMA_HANDLE _rx_dma;
volatile unsigned _rx_length;
/** saved DMA status */
static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values
static const unsigned _dma_status_waiting = 0x00000000;
volatile unsigned _rx_dma_status;
/** bus-ownership lock */
sem_t _bus_semaphore;
/** client-waiting lock/signal */
sem_t _completion_semaphore;
/**
* Start the transaction with IO and wait for it to complete.
*/
int _wait_complete();
/**
* DMA completion handler.
*/
static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
void _do_rx_dma_callback(unsigned status);
/**
* Serial interrupt handler.
*/
static int _interrupt(int vector, void *context);
void _do_interrupt();
/**
* Cancel any DMA in progress with an error.
*/
void _abort_dma();
/**
* Performance counters.
*/
perf_counter_t _perf_dmasetup;
perf_counter_t _perf_timeouts;
perf_counter_t _perf_errors;
perf_counter_t _perf_txns;
perf_counter_t _perf_crcerrs;
};
IOPacket PX4IO_serial::_dma_buffer;
static PX4IO_serial *g_interface;
PX4IO_interface *io_serial_interface()
{
return new PX4IO_serial();
}
PX4IO_serial::PX4IO_serial() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_rx_length(0),
_rx_dma_status(_dma_status_inactive),
_perf_dmasetup(perf_alloc(PC_ELAPSED, "dmasetup")),
_perf_timeouts(perf_alloc(PC_COUNT, "timeouts")),
_perf_errors(perf_alloc(PC_COUNT, "errors ")),
_perf_txns(perf_alloc(PC_ELAPSED, "txns ")),
_perf_crcerrs(perf_alloc(PC_COUNT, "crcerrs "))
{
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
return;
/* configure pins for serial use */
stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
/* reset & configure the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* eat any existing interrupt status */
(void)rSR;
(void)rDR;
/* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5;
uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
/* attach serial interrupt handler */
irq_attach(PX4IO_SERIAL_VECTOR, _interrupt);
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
/* rCR3 = USART_CR3_EIE;*/
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE /*| USART_CR1_IDLEIE*/;
/* create semaphores */
sem_init(&_completion_semaphore, 0, 0);
sem_init(&_bus_semaphore, 0, 1);
g_interface = this;
}
PX4IO_serial::~PX4IO_serial()
{
if (_tx_dma != nullptr) {
stm32_dmastop(_tx_dma);
stm32_dmafree(_tx_dma);
}
if (_rx_dma != nullptr) {
stm32_dmastop(_rx_dma);
stm32_dmafree(_rx_dma);
}
/* reset the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* detach our interrupt handler */
up_disable_irq(PX4IO_SERIAL_VECTOR);
irq_detach(PX4IO_SERIAL_VECTOR);
/* restore the GPIOs */
stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* and kill our semaphores */
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
perf_free(_perf_dmasetup);
perf_free(_perf_timeouts);
perf_free(_perf_errors);
perf_free(_perf_txns);
perf_free(_perf_crcerrs);
if (g_interface == this)
g_interface = nullptr;
}
bool
PX4IO_serial::ok()
{
if (_tx_dma == nullptr)
return false;
if (_rx_dma == nullptr)
return false;
return true;
}
int
PX4IO_serial::test(unsigned mode)
{
switch (mode) {
case 0:
lowsyslog("test 0\n");
/* kill DMA, this is a PIO test */
stm32_dmastop(_tx_dma);
stm32_dmastop(_rx_dma);
rCR3 &= ~(USART_CR3_DMAR | USART_CR3_DMAT);
for (;;) {
while (!(rSR & USART_SR_TXE))
;
rDR = 0x55;
}
return 0;
case 1:
lowsyslog("test 1\n");
{
for (unsigned count = 0;; count++) {
uint16_t value = count & 0xffff;
set_reg(PX4IO_PAGE_TEST, PX4IO_P_TEST_LED, &value, 1);
/* ignore errors */
if (count > 100) {
perf_print_counter(_perf_dmasetup);
perf_print_counter(_perf_txns);
perf_print_counter(_perf_timeouts);
perf_print_counter(_perf_errors);
perf_print_counter(_perf_crcerrs);
count = 0;
}
usleep(10000);
}
return 0;
}
case 2:
lowsyslog("test 2\n");
return 0;
}
return -1;
}
int
PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
if (num_values > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
_dma_buffer.count_code = num_values | PKT_CODE_WRITE;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * num_values));
for (unsigned i = num_values; i < PKT_MAX_REGS; i++)
_dma_buffer.regs[i] = 0x55aa;
/* XXX implement check byte */
/* start the transaction and wait for it to complete */
int result = _wait_complete();
sem_post(&_bus_semaphore);
return result;
}
int
PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
if (num_values > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
_dma_buffer.count_code = num_values | PKT_CODE_READ;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
/* start the transaction and wait for it to complete */
int result = _wait_complete();
if (result != OK)
goto out;
/* compare the received count with the expected count */
if (PKT_COUNT(_dma_buffer) != num_values) {
result = -EIO;
goto out;
} else {
/* XXX implement check byte */
/* copy back the result */
memcpy(values, &_dma_buffer.regs[0], (2 * num_values));
}
out:
sem_post(&_bus_semaphore);
return result;
}
int
PX4IO_serial::_wait_complete()
{
/* clear any lingering error status */
(void)rSR;
(void)rDR;
/* start RX DMA */
perf_begin(_perf_txns);
perf_begin(_perf_dmasetup);
/* DMA setup time ~3µs */
_rx_dma_status = _dma_status_waiting;
_rx_length = 0;
stm32_dmasetup(
_rx_dma,
PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
reinterpret_cast<uint32_t>(&_dma_buffer),
sizeof(_dma_buffer),
DMA_SCR_DIR_P2M |
DMA_SCR_MINC |
DMA_SCR_PSIZE_8BITS |
DMA_SCR_MSIZE_8BITS |
DMA_SCR_PBURST_SINGLE |
DMA_SCR_MBURST_SINGLE);
stm32_dmastart(_rx_dma, _dma_callback, this, false);
rCR3 |= USART_CR3_DMAR;
/* start TX DMA - no callback if we also expect a reply */
/* DMA setup time ~3µs */
_dma_buffer.crc = 0;
_dma_buffer.crc = crc_packet(_dma_buffer);
stm32_dmasetup(
_tx_dma,
PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
reinterpret_cast<uint32_t>(&_dma_buffer),
sizeof(_dma_buffer), /* XXX should be PKT_LENGTH() */
DMA_SCR_DIR_M2P |
DMA_SCR_MINC |
DMA_SCR_PSIZE_8BITS |
DMA_SCR_MSIZE_8BITS |
DMA_SCR_PBURST_SINGLE |
DMA_SCR_MBURST_SINGLE);
stm32_dmastart(_tx_dma, nullptr, nullptr, false);
rCR3 |= USART_CR3_DMAT;
perf_end(_perf_dmasetup);
/* compute the deadline for a 5ms timeout */
struct timespec abstime;
clock_gettime(CLOCK_REALTIME, &abstime);
#if 1
abstime.tv_sec++; /* long timeout for testing */
#else
abstime.tv_nsec += 5000000; /* 5ms timeout */
while (abstime.tv_nsec > 1000000000) {
abstime.tv_sec++;
abstime.tv_nsec -= 1000000000;
}
#endif
/* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */
int ret;
for (;;) {
ret = sem_timedwait(&_completion_semaphore, &abstime);
if (ret == OK) {
/* check for DMA errors */
if (_rx_dma_status & DMA_STATUS_TEIF) {
lowsyslog("DMA receive error\n");
ret = -1;
break;
}
/* check packet CRC */
uint8_t crc = _dma_buffer.crc;
_dma_buffer.crc = 0;
if (crc != crc_packet(_dma_buffer))
perf_count(_perf_crcerrs);
break;
}
if (errno == ETIMEDOUT) {
lowsyslog("timeout waiting for PX4IO link (%d/%d)\n", stm32_dmaresidual(_tx_dma), stm32_dmaresidual(_rx_dma));
/* something has broken - clear out any partial DMA state and reconfigure */
_abort_dma();
perf_count(_perf_timeouts);
break;
}
lowsyslog("unexpected ret %d/%d\n", ret, errno);
}
/* reset DMA status */
_rx_dma_status = _dma_status_inactive;
/* update counters */
perf_end(_perf_txns);
if (ret != OK)
perf_count(_perf_errors);
return ret;
}
void
PX4IO_serial::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
{
if (arg != nullptr) {
PX4IO_serial *ps = reinterpret_cast<PX4IO_serial *>(arg);
ps->_do_rx_dma_callback(status);
}
}
void
PX4IO_serial::_do_rx_dma_callback(unsigned status)
{
/* on completion of a reply, wake the waiter */
if (_rx_dma_status == _dma_status_waiting) {
/* check for packet overrun - this will occur after DMA completes */
uint32_t sr = rSR;
if (sr & (USART_SR_ORE | USART_SR_RXNE)) {
(void)rDR;
status = DMA_STATUS_TEIF;
}
/* save RX status */
_rx_dma_status = status;
/* disable UART DMA */
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
/* DMA may have stopped short */
_rx_length = sizeof(IOPacket) - stm32_dmaresidual(_rx_dma);
/* complete now */
sem_post(&_completion_semaphore);
}
}
int
PX4IO_serial::_interrupt(int irq, void *context)
{
if (g_interface != nullptr)
g_interface->_do_interrupt();
return 0;
}
void
PX4IO_serial::_do_interrupt()
{
uint32_t sr = rSR; /* get UART status register */
/* handle error/exception conditions */
if (sr & (USART_SR_ORE | USART_SR_NE | USART_SR_FE | USART_SR_IDLE)) {
/* read DR to clear status */
(void)rDR;
} else {
ASSERT(0);
}
if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
/*
* If we are in the process of listening for something, these are all fatal;
* abort the DMA with an error.
*/
if (_rx_dma_status == _dma_status_waiting) {
_abort_dma();
/* complete DMA as though in error */
_do_rx_dma_callback(DMA_STATUS_TEIF);
return;
}
/* XXX we might want to use FE / line break as an out-of-band handshake ... handle it here */
/* don't attempt to handle IDLE if it's set - things went bad */
return;
}
if (sr & USART_SR_IDLE) {
/* if there was DMA transmission still going, this is an error */
if (stm32_dmaresidual(_tx_dma) != 0) {
/* babble from IO */
_abort_dma();
return;
}
/* if there is DMA reception going on, this is a short packet */
if (_rx_dma_status == _dma_status_waiting) {
/* stop the receive DMA */
stm32_dmastop(_rx_dma);
/* complete the short reception */
_do_rx_dma_callback(DMA_STATUS_TCIF);
}
}
}
void
PX4IO_serial::_abort_dma()
{
/* disable UART DMA */
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
(void)rSR;
(void)rDR;
(void)rDR;
/* stop DMA */
stm32_dmastop(_tx_dma);
stm32_dmastop(_rx_dma);
}
static const uint8_t crc8_tab[256] =
{
0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
};
static uint8_t
crc_packet(IOPacket &pkt)
{
uint8_t *end = (uint8_t *)(&pkt.regs[PKT_COUNT(pkt)]);
uint8_t *p = (uint8_t *)&pkt;
uint8_t c = 0;
while (p < end)
c = crc8_tab[c ^ *(p++)];
return c;
}