/****************************************************************************
*
* Copyright (c) 2013-2015 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 px4io_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 <stdio.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 <debug.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include <systemlib/perf_counter.h>
#include <modules/px4iofirmware/protocol.h>
#ifdef PX4IO_SERIAL_BASE
device::Device *PX4IO_serial_interface();
/* 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)
class PX4IO_serial : public device::Device
{
public:
PX4IO_serial();
virtual ~PX4IO_serial();
virtual int init();
virtual int read(unsigned offset, void *data, unsigned count = 1);
virtual int write(unsigned address, void *data, unsigned count = 1);
virtual int ioctl(unsigned operation, unsigned &arg);
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;
/** 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 _pc_txns;
perf_counter_t _pc_dmasetup;
perf_counter_t _pc_retries;
perf_counter_t _pc_timeouts;
perf_counter_t _pc_crcerrs;
perf_counter_t _pc_dmaerrs;
perf_counter_t _pc_protoerrs;
perf_counter_t _pc_uerrs;
perf_counter_t _pc_idle;
perf_counter_t _pc_badidle;
/* do not allow top copying this class */
PX4IO_serial(PX4IO_serial &);
PX4IO_serial& operator = (const PX4IO_serial &);
};
IOPacket PX4IO_serial::_dma_buffer;
static PX4IO_serial *g_interface;
device::Device
*PX4IO_serial_interface()
{
return new PX4IO_serial();
}
PX4IO_serial::PX4IO_serial() :
Device("PX4IO_serial"),
_tx_dma(nullptr),
_rx_dma(nullptr),
_rx_dma_status(_dma_status_inactive),
_bus_semaphore(SEM_INITIALIZER(0)),
_completion_semaphore(SEM_INITIALIZER(0)),
_pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")),
_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
_pc_retries(perf_alloc(PC_COUNT, "io_retries ")),
_pc_timeouts(perf_alloc(PC_COUNT, "io_timeouts ")),
_pc_crcerrs(perf_alloc(PC_COUNT, "io_crcerrs ")),
_pc_dmaerrs(perf_alloc(PC_COUNT, "io_dmaerrs ")),
_pc_protoerrs(perf_alloc(PC_COUNT, "io_protoerrs")),
_pc_uerrs(perf_alloc(PC_COUNT, "io_uarterrs ")),
_pc_idle(perf_alloc(PC_COUNT, "io_idle ")),
_pc_badidle(perf_alloc(PC_COUNT, "io_badidle "))
{
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(_pc_txns);
perf_free(_pc_dmasetup);
perf_free(_pc_retries);
perf_free(_pc_timeouts);
perf_free(_pc_crcerrs);
perf_free(_pc_dmaerrs);
perf_free(_pc_protoerrs);
perf_free(_pc_uerrs);
perf_free(_pc_idle);
perf_free(_pc_badidle);
if (g_interface == this)
g_interface = nullptr;
}
int
PX4IO_serial::init()
{
/* 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 -1;
}
/* 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);
/* XXX this could try talking to IO */
return 0;
}
int
PX4IO_serial::ioctl(unsigned operation, unsigned &arg)
{
switch (operation) {
case 1: /* XXX magic number - test operation */
switch (arg) {
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:
{
unsigned fails = 0;
for (unsigned count = 0;; count++) {
uint16_t value = count & 0xffff;
if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0)
fails++;
if (count >= 5000) {
lowsyslog("==== test 1 : %u failures ====\n", fails);
perf_print_counter(_pc_txns);
perf_print_counter(_pc_dmasetup);
perf_print_counter(_pc_retries);
perf_print_counter(_pc_timeouts);
perf_print_counter(_pc_crcerrs);
perf_print_counter(_pc_dmaerrs);
perf_print_counter(_pc_protoerrs);
perf_print_counter(_pc_uerrs);
perf_print_counter(_pc_idle);
perf_print_counter(_pc_badidle);
count = 0;
}
}
return 0;
}
case 2:
lowsyslog("test 2\n");
return 0;
}
default:
break;
}
return -1;
}
int
PX4IO_serial::write(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
if (count > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
int result;
for (unsigned retries = 0; retries < 3; retries++) {
_dma_buffer.count_code = count | PKT_CODE_WRITE;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * count));
for (unsigned i = count; i < PKT_MAX_REGS; i++)
_dma_buffer.regs[i] = 0x55aa;
/* XXX implement check byte */
/* start the transaction and wait for it to complete */
result = _wait_complete();
/* successful transaction? */
if (result == OK) {
/* check result in packet */
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
result = -EINVAL;
perf_count(_pc_protoerrs);
}
break;
}
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
if (result == OK)
result = count;
return result;
}
int
PX4IO_serial::read(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
uint16_t *values = reinterpret_cast<uint16_t *>(data);
if (count > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
int result;
for (unsigned retries = 0; retries < 3; retries++) {
_dma_buffer.count_code = count | PKT_CODE_READ;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
/* start the transaction and wait for it to complete */
result = _wait_complete();
/* successful transaction? */
if (result == OK) {
/* check result in packet */
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
result = -EINVAL;
perf_count(_pc_protoerrs);
/* compare the received count with the expected count */
} else if (PKT_COUNT(_dma_buffer) != count) {
/* IO returned the wrong number of registers - no point retrying */
result = -EIO;
perf_count(_pc_protoerrs);
/* successful read */
} else {
/* copy back the result */
memcpy(values, &_dma_buffer.regs[0], (2 * count));
}
break;
}
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
if (result == OK)
result = count;
return result;
}
int
PX4IO_serial::_wait_complete()
{
/* clear any lingering error status */
(void)rSR;
(void)rDR;
/* start RX DMA */
perf_begin(_pc_txns);
perf_begin(_pc_dmasetup);
/* DMA setup time ~3µs */
_rx_dma_status = _dma_status_waiting;
/*
* Note that we enable circular buffer mode as a workaround for
* there being no API to disable the DMA FIFO. We need direct mode
* because otherwise when the line idle interrupt fires there
* will be packet bytes still in the DMA FIFO, and we will assume
* that the idle was spurious.
*
* XXX this should be fixed with a NuttX change.
*/
stm32_dmasetup(
_rx_dma,
PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET,
reinterpret_cast<uint32_t>(&_dma_buffer),
sizeof(_dma_buffer),
DMA_SCR_CIRC | /* XXX see note above */
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),
PKT_SIZE(_dma_buffer),
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);
//rCR1 &= ~USART_CR1_TE;
//rCR1 |= USART_CR1_TE;
rCR3 |= USART_CR3_DMAT;
perf_end(_pc_dmasetup);
/* compute the deadline for a 10ms timeout */
struct timespec abstime;
clock_gettime(CLOCK_REALTIME, &abstime);
abstime.tv_nsec += 10*1000*1000;
if (abstime.tv_nsec >= 1000*1000*1000) {
abstime.tv_sec++;
abstime.tv_nsec -= 1000*1000*1000;
}
/* 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) {
perf_count(_pc_dmaerrs);
ret = -EIO;
break;
}
/* check packet CRC - corrupt packet errors mean IO receive CRC error */
uint8_t crc = _dma_buffer.crc;
_dma_buffer.crc = 0;
if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
perf_count(_pc_crcerrs);
ret = -EIO;
break;
}
/* successful txn (may still be reporting an error) */
break;
}
if (errno == ETIMEDOUT) {
/* something has broken - clear out any partial DMA state and reconfigure */
_abort_dma();
perf_count(_pc_timeouts);
perf_cancel(_pc_txns); /* don't count this as a transaction */
break;
}
/* we might? see this for EINTR */
lowsyslog("unexpected ret %d/%d\n", ret, errno);
}
/* reset DMA status */
_rx_dma_status = _dma_status_inactive;
/* update counters */
perf_end(_pc_txns);
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);
/* 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 */
(void)rDR; /* read DR to clear status */
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();
perf_count(_pc_uerrs);
/* 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 is DMA reception going on, this is a short packet */
if (_rx_dma_status == _dma_status_waiting) {
/* verify that the received packet is complete */
size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
/* stop the receive DMA */
stm32_dmastop(_rx_dma);
/* complete the short reception */
_do_rx_dma_callback(DMA_STATUS_TEIF);
return;
}
perf_count(_pc_idle);
/* 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);
}
#endif /* PX4IO_SERIAL_BASE */