590 lines
16 KiB
C
590 lines
16 KiB
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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* 2018-10-28 checked
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* avr-gcc 4.9.2
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* avr-gcc 5.4.0
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* avr-gcc 7.3.0
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*/
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#ifndef F_CPU
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#define F_CPU 16000000
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#endif
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <stddef.h>
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#include <stdbool.h>
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#include "serial.h"
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#ifdef SOFT_SERIAL_PIN
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#ifdef __AVR_ATmega32U4__
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// if using ATmega32U4 I2C, can not use PD0 and PD1 in soft serial.
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#ifdef USE_I2C
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#if SOFT_SERIAL_PIN == D0 || SOFT_SERIAL_PIN == D1
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#error Using ATmega32U4 I2C, so can not use PD0, PD1
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#endif
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#endif
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#if SOFT_SERIAL_PIN >= D0 && SOFT_SERIAL_PIN <= D3
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#define SERIAL_PIN_DDR DDRD
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#define SERIAL_PIN_PORT PORTD
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#define SERIAL_PIN_INPUT PIND
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#if SOFT_SERIAL_PIN == D0
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#define SERIAL_PIN_MASK _BV(PD0)
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#define EIMSK_BIT _BV(INT0)
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#define EICRx_BIT (~(_BV(ISC00) | _BV(ISC01)))
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#define SERIAL_PIN_INTERRUPT INT0_vect
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#elif SOFT_SERIAL_PIN == D1
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#define SERIAL_PIN_MASK _BV(PD1)
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#define EIMSK_BIT _BV(INT1)
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#define EICRx_BIT (~(_BV(ISC10) | _BV(ISC11)))
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#define SERIAL_PIN_INTERRUPT INT1_vect
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#elif SOFT_SERIAL_PIN == D2
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#define SERIAL_PIN_MASK _BV(PD2)
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#define EIMSK_BIT _BV(INT2)
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#define EICRx_BIT (~(_BV(ISC20) | _BV(ISC21)))
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#define SERIAL_PIN_INTERRUPT INT2_vect
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#elif SOFT_SERIAL_PIN == D3
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#define SERIAL_PIN_MASK _BV(PD3)
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#define EIMSK_BIT _BV(INT3)
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#define EICRx_BIT (~(_BV(ISC30) | _BV(ISC31)))
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#define SERIAL_PIN_INTERRUPT INT3_vect
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#endif
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#elif SOFT_SERIAL_PIN == E6
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#define SERIAL_PIN_DDR DDRE
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#define SERIAL_PIN_PORT PORTE
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#define SERIAL_PIN_INPUT PINE
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#define SERIAL_PIN_MASK _BV(PE6)
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#define EIMSK_BIT _BV(INT6)
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#define EICRx_BIT (~(_BV(ISC60) | _BV(ISC61)))
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#define SERIAL_PIN_INTERRUPT INT6_vect
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#else
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#error invalid SOFT_SERIAL_PIN value
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#endif
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#else
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#error serial.c now support ATmega32U4 only
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#endif
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//////////////// for backward compatibility ////////////////////////////////
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#if !defined(SERIAL_USE_SINGLE_TRANSACTION) && !defined(SERIAL_USE_MULTI_TRANSACTION)
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/* --- USE OLD API (compatible with let's split serial.c) */
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#if SERIAL_SLAVE_BUFFER_LENGTH > 0
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uint8_t volatile serial_slave_buffer[SERIAL_SLAVE_BUFFER_LENGTH] = {0};
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#endif
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#if SERIAL_MASTER_BUFFER_LENGTH > 0
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uint8_t volatile serial_master_buffer[SERIAL_MASTER_BUFFER_LENGTH] = {0};
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#endif
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uint8_t volatile status0 = 0;
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SSTD_t transactions[] = {
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{ (uint8_t *)&status0,
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#if SERIAL_MASTER_BUFFER_LENGTH > 0
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sizeof(serial_master_buffer), (uint8_t *)serial_master_buffer,
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#else
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0, (uint8_t *)NULL,
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#endif
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#if SERIAL_SLAVE_BUFFER_LENGTH > 0
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sizeof(serial_slave_buffer), (uint8_t *)serial_slave_buffer
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#else
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0, (uint8_t *)NULL,
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#endif
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}
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};
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void serial_master_init(void)
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{ soft_serial_initiator_init(transactions, TID_LIMIT(transactions)); }
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void serial_slave_init(void)
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{ soft_serial_target_init(transactions, TID_LIMIT(transactions)); }
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// 0 => no error
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// 1 => slave did not respond
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// 2 => checksum error
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int serial_update_buffers()
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{
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int result;
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result = soft_serial_transaction();
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return result;
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}
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#endif // end of OLD API (compatible with let's split serial.c)
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////////////////////////////////////////////////////////////////////////////
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#define ALWAYS_INLINE __attribute__((always_inline))
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#define NO_INLINE __attribute__((noinline))
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#define _delay_sub_us(x) __builtin_avr_delay_cycles(x)
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// parity check
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#define ODD_PARITY 1
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#define EVEN_PARITY 0
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#define PARITY EVEN_PARITY
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#ifdef SERIAL_DELAY
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// custom setup in config.h
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// #define TID_SEND_ADJUST 2
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// #define SERIAL_DELAY 6 // micro sec
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// #define READ_WRITE_START_ADJUST 30 // cycles
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// #define READ_WRITE_WIDTH_ADJUST 8 // cycles
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#else
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// ============ Standard setups ============
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#ifndef SELECT_SOFT_SERIAL_SPEED
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#define SELECT_SOFT_SERIAL_SPEED 1
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// 0: about 189kbps
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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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#if __GNUC__ < 6
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#define TID_SEND_ADJUST 14
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#else
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#define TID_SEND_ADJUST 2
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#endif
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#if SELECT_SOFT_SERIAL_SPEED == 0
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// Very High speed
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#define SERIAL_DELAY 4 // micro sec
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#if __GNUC__ < 6
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#define READ_WRITE_START_ADJUST 33 // cycles
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_START_ADJUST 34 // cycles
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#elif SELECT_SOFT_SERIAL_SPEED == 1
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// High speed
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#define SERIAL_DELAY 6 // micro sec
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#if __GNUC__ < 6
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#define READ_WRITE_START_ADJUST 30 // cycles
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_START_ADJUST 33 // cycles
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#elif SELECT_SOFT_SERIAL_SPEED == 2
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// Middle speed
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#define SERIAL_DELAY 12 // micro sec
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#define READ_WRITE_START_ADJUST 30 // cycles
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#if __GNUC__ < 6
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#elif SELECT_SOFT_SERIAL_SPEED == 3
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// Low speed
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#define SERIAL_DELAY 24 // micro sec
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#define READ_WRITE_START_ADJUST 30 // cycles
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#if __GNUC__ < 6
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#elif SELECT_SOFT_SERIAL_SPEED == 4
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// Very Low speed
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#define SERIAL_DELAY 36 // micro sec
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#define READ_WRITE_START_ADJUST 30 // cycles
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#if __GNUC__ < 6
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#elif SELECT_SOFT_SERIAL_SPEED == 5
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// Ultra Low speed
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#define SERIAL_DELAY 48 // micro sec
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#define READ_WRITE_START_ADJUST 30 // cycles
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#if __GNUC__ < 6
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#define READ_WRITE_WIDTH_ADJUST 3 // cycles
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#else
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#define READ_WRITE_WIDTH_ADJUST 7 // cycles
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#endif
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#else
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#error invalid SELECT_SOFT_SERIAL_SPEED value
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#endif /* SELECT_SOFT_SERIAL_SPEED */
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#endif /* SERIAL_DELAY */
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#define SERIAL_DELAY_HALF1 (SERIAL_DELAY/2)
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#define SERIAL_DELAY_HALF2 (SERIAL_DELAY - SERIAL_DELAY/2)
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#define SLAVE_INT_WIDTH_US 1
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#ifndef SERIAL_USE_MULTI_TRANSACTION
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#define SLAVE_INT_RESPONSE_TIME SERIAL_DELAY
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#else
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#define SLAVE_INT_ACK_WIDTH_UNIT 2
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#define SLAVE_INT_ACK_WIDTH 4
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#endif
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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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inline static void serial_delay(void) ALWAYS_INLINE;
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inline static
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void serial_delay(void) {
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_delay_us(SERIAL_DELAY);
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}
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inline static void serial_delay_half1(void) ALWAYS_INLINE;
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inline static
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void serial_delay_half1(void) {
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_delay_us(SERIAL_DELAY_HALF1);
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}
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inline static void serial_delay_half2(void) ALWAYS_INLINE;
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inline static
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void serial_delay_half2(void) {
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_delay_us(SERIAL_DELAY_HALF2);
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}
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inline static void serial_output(void) ALWAYS_INLINE;
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inline static
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void serial_output(void) {
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SERIAL_PIN_DDR |= SERIAL_PIN_MASK;
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}
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// make the serial pin an input with pull-up resistor
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inline static void serial_input_with_pullup(void) ALWAYS_INLINE;
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inline static
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void serial_input_with_pullup(void) {
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SERIAL_PIN_DDR &= ~SERIAL_PIN_MASK;
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SERIAL_PIN_PORT |= SERIAL_PIN_MASK;
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}
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inline static uint8_t serial_read_pin(void) ALWAYS_INLINE;
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inline static
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uint8_t serial_read_pin(void) {
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return !!(SERIAL_PIN_INPUT & SERIAL_PIN_MASK);
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}
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inline static void serial_low(void) ALWAYS_INLINE;
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inline static
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void serial_low(void) {
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SERIAL_PIN_PORT &= ~SERIAL_PIN_MASK;
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}
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inline static void serial_high(void) ALWAYS_INLINE;
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inline static
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void serial_high(void) {
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SERIAL_PIN_PORT |= SERIAL_PIN_MASK;
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}
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void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size)
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{
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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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{
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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_with_pullup();
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// Enable INT0-INT3,INT6
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EIMSK |= EIMSK_BIT;
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#if SERIAL_PIN_MASK == _BV(PE6)
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// Trigger on falling edge of INT6
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EICRB &= EICRx_BIT;
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#else
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// Trigger on falling edge of INT0-INT3
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EICRA &= EICRx_BIT;
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#endif
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}
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// Used by the sender to synchronize timing with the reciver.
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static void sync_recv(void) NO_INLINE;
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static
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void sync_recv(void) {
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for (uint8_t i = 0; i < SERIAL_DELAY*5 && serial_read_pin(); i++ ) {
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}
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// This shouldn't hang if the target disconnects because the
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// serial line will float to high if the target does disconnect.
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while (!serial_read_pin());
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}
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// Used by the reciver to send a synchronization signal to the sender.
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static void sync_send(void) NO_INLINE;
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static
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void sync_send(void) {
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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 serial_read_chunk(uint8_t *pterrcount, uint8_t bit) NO_INLINE;
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static uint8_t serial_read_chunk(uint8_t *pterrcount, uint8_t bit) {
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uint8_t byte, i, p, pb;
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_delay_sub_us(READ_WRITE_START_ADJUST);
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for( i = 0, byte = 0, p = PARITY; i < bit; i++ ) {
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serial_delay_half1(); // read the middle of pulses
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if( serial_read_pin() ) {
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byte = (byte << 1) | 1; p ^= 1;
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} else {
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byte = (byte << 1) | 0; p ^= 0;
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}
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_delay_sub_us(READ_WRITE_WIDTH_ADJUST);
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serial_delay_half2();
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}
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/* recive parity bit */
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serial_delay_half1(); // read the middle of pulses
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pb = serial_read_pin();
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_delay_sub_us(READ_WRITE_WIDTH_ADJUST);
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serial_delay_half2();
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*pterrcount += (p != pb)? 1 : 0;
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return byte;
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}
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// Sends a byte with MSB ordering
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void serial_write_chunk(uint8_t data, uint8_t bit) NO_INLINE;
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void serial_write_chunk(uint8_t data, uint8_t bit) {
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uint8_t b, p;
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for( p = PARITY, b = 1<<(bit-1); b ; b >>= 1) {
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if(data & b) {
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serial_high(); p ^= 1;
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} else {
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serial_low(); p ^= 0;
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}
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serial_delay();
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}
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/* send parity bit */
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if(p & 1) { serial_high(); }
|
||
|
|
else { serial_low(); }
|
||
|
|
serial_delay();
|
||
|
|
|
||
|
|
serial_low(); // sync_send() / senc_recv() need raise edge
|
||
|
|
}
|
||
|
|
|
||
|
|
static void serial_send_packet(uint8_t *buffer, uint8_t size) NO_INLINE;
|
||
|
|
static
|
||
|
|
void serial_send_packet(uint8_t *buffer, uint8_t size) {
|
||
|
|
for (uint8_t i = 0; i < size; ++i) {
|
||
|
|
uint8_t data;
|
||
|
|
data = buffer[i];
|
||
|
|
sync_send();
|
||
|
|
serial_write_chunk(data,8);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static uint8_t serial_recive_packet(uint8_t *buffer, uint8_t size) NO_INLINE;
|
||
|
|
static
|
||
|
|
uint8_t serial_recive_packet(uint8_t *buffer, uint8_t size) {
|
||
|
|
uint8_t pecount = 0;
|
||
|
|
for (uint8_t i = 0; i < size; ++i) {
|
||
|
|
uint8_t data;
|
||
|
|
sync_recv();
|
||
|
|
data = serial_read_chunk(&pecount, 8);
|
||
|
|
buffer[i] = data;
|
||
|
|
}
|
||
|
|
return pecount == 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
inline static
|
||
|
|
void change_sender2reciver(void) {
|
||
|
|
sync_send(); //0
|
||
|
|
serial_delay_half1(); //1
|
||
|
|
serial_low(); //2
|
||
|
|
serial_input_with_pullup(); //2
|
||
|
|
serial_delay_half1(); //3
|
||
|
|
}
|
||
|
|
|
||
|
|
inline static
|
||
|
|
void change_reciver2sender(void) {
|
||
|
|
sync_recv(); //0
|
||
|
|
serial_delay(); //1
|
||
|
|
serial_low(); //3
|
||
|
|
serial_output(); //3
|
||
|
|
serial_delay_half1(); //4
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline uint8_t nibble_bits_count(uint8_t bits)
|
||
|
|
{
|
||
|
|
bits = (bits & 0x5) + (bits >> 1 & 0x5);
|
||
|
|
bits = (bits & 0x3) + (bits >> 2 & 0x3);
|
||
|
|
return bits;
|
||
|
|
}
|
||
|
|
|
||
|
|
// interrupt handle to be used by the target device
|
||
|
|
ISR(SERIAL_PIN_INTERRUPT) {
|
||
|
|
|
||
|
|
#ifndef SERIAL_USE_MULTI_TRANSACTION
|
||
|
|
serial_low();
|
||
|
|
serial_output();
|
||
|
|
SSTD_t *trans = Transaction_table;
|
||
|
|
#else
|
||
|
|
// recive transaction table index
|
||
|
|
uint8_t tid, bits;
|
||
|
|
uint8_t pecount = 0;
|
||
|
|
sync_recv();
|
||
|
|
bits = serial_read_chunk(&pecount,7);
|
||
|
|
tid = bits>>3;
|
||
|
|
bits = (bits&7) != nibble_bits_count(tid);
|
||
|
|
if( bits || pecount> 0 || tid > Transaction_table_size ) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
serial_delay_half1();
|
||
|
|
|
||
|
|
serial_high(); // response step1 low->high
|
||
|
|
serial_output();
|
||
|
|
_delay_sub_us(SLAVE_INT_ACK_WIDTH_UNIT*SLAVE_INT_ACK_WIDTH);
|
||
|
|
SSTD_t *trans = &Transaction_table[tid];
|
||
|
|
serial_low(); // response step2 ack high->low
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// target send phase
|
||
|
|
if( trans->target2initiator_buffer_size > 0 )
|
||
|
|
serial_send_packet((uint8_t *)trans->target2initiator_buffer,
|
||
|
|
trans->target2initiator_buffer_size);
|
||
|
|
// target switch to input
|
||
|
|
change_sender2reciver();
|
||
|
|
|
||
|
|
// target recive phase
|
||
|
|
if( trans->initiator2target_buffer_size > 0 ) {
|
||
|
|
if (serial_recive_packet((uint8_t *)trans->initiator2target_buffer,
|
||
|
|
trans->initiator2target_buffer_size) ) {
|
||
|
|
*trans->status = TRANSACTION_ACCEPTED;
|
||
|
|
} else {
|
||
|
|
*trans->status = TRANSACTION_DATA_ERROR;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
*trans->status = TRANSACTION_ACCEPTED;
|
||
|
|
}
|
||
|
|
|
||
|
|
sync_recv(); //weit initiator output to high
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////
|
||
|
|
// start transaction by initiator
|
||
|
|
//
|
||
|
|
// int soft_serial_transaction(int sstd_index)
|
||
|
|
//
|
||
|
|
// Returns:
|
||
|
|
// TRANSACTION_END
|
||
|
|
// TRANSACTION_NO_RESPONSE
|
||
|
|
// TRANSACTION_DATA_ERROR
|
||
|
|
// this code is very time dependent, so we need to disable interrupts
|
||
|
|
#ifndef SERIAL_USE_MULTI_TRANSACTION
|
||
|
|
int soft_serial_transaction(void) {
|
||
|
|
SSTD_t *trans = Transaction_table;
|
||
|
|
#else
|
||
|
|
int soft_serial_transaction(int sstd_index) {
|
||
|
|
if( sstd_index > Transaction_table_size )
|
||
|
|
return TRANSACTION_TYPE_ERROR;
|
||
|
|
SSTD_t *trans = &Transaction_table[sstd_index];
|
||
|
|
#endif
|
||
|
|
cli();
|
||
|
|
|
||
|
|
// signal to the target that we want to start a transaction
|
||
|
|
serial_output();
|
||
|
|
serial_low();
|
||
|
|
_delay_us(SLAVE_INT_WIDTH_US);
|
||
|
|
|
||
|
|
#ifndef SERIAL_USE_MULTI_TRANSACTION
|
||
|
|
// wait for the target response
|
||
|
|
serial_input_with_pullup();
|
||
|
|
_delay_us(SLAVE_INT_RESPONSE_TIME);
|
||
|
|
|
||
|
|
// check if the target is present
|
||
|
|
if (serial_read_pin()) {
|
||
|
|
// target failed to pull the line low, assume not present
|
||
|
|
serial_output();
|
||
|
|
serial_high();
|
||
|
|
*trans->status = TRANSACTION_NO_RESPONSE;
|
||
|
|
sei();
|
||
|
|
return TRANSACTION_NO_RESPONSE;
|
||
|
|
}
|
||
|
|
|
||
|
|
#else
|
||
|
|
// send transaction table index
|
||
|
|
int tid = (sstd_index<<3) | (7 & nibble_bits_count(sstd_index));
|
||
|
|
sync_send();
|
||
|
|
_delay_sub_us(TID_SEND_ADJUST);
|
||
|
|
serial_write_chunk(tid, 7);
|
||
|
|
serial_delay_half1();
|
||
|
|
|
||
|
|
// wait for the target response (step1 low->high)
|
||
|
|
serial_input_with_pullup();
|
||
|
|
while( !serial_read_pin() ) {
|
||
|
|
_delay_sub_us(2);
|
||
|
|
}
|
||
|
|
|
||
|
|
// check if the target is present (step2 high->low)
|
||
|
|
for( int i = 0; serial_read_pin(); i++ ) {
|
||
|
|
if (i > SLAVE_INT_ACK_WIDTH + 1) {
|
||
|
|
// slave failed to pull the line low, assume not present
|
||
|
|
serial_output();
|
||
|
|
serial_high();
|
||
|
|
*trans->status = TRANSACTION_NO_RESPONSE;
|
||
|
|
sei();
|
||
|
|
return TRANSACTION_NO_RESPONSE;
|
||
|
|
}
|
||
|
|
_delay_sub_us(SLAVE_INT_ACK_WIDTH_UNIT);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// initiator recive phase
|
||
|
|
// if the target is present syncronize with it
|
||
|
|
if( trans->target2initiator_buffer_size > 0 ) {
|
||
|
|
if (!serial_recive_packet((uint8_t *)trans->target2initiator_buffer,
|
||
|
|
trans->target2initiator_buffer_size) ) {
|
||
|
|
serial_output();
|
||
|
|
serial_high();
|
||
|
|
*trans->status = TRANSACTION_DATA_ERROR;
|
||
|
|
sei();
|
||
|
|
return TRANSACTION_DATA_ERROR;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// initiator switch to output
|
||
|
|
change_reciver2sender();
|
||
|
|
|
||
|
|
// initiator send phase
|
||
|
|
if( trans->initiator2target_buffer_size > 0 ) {
|
||
|
|
serial_send_packet((uint8_t *)trans->initiator2target_buffer,
|
||
|
|
trans->initiator2target_buffer_size);
|
||
|
|
}
|
||
|
|
|
||
|
|
// always, release the line when not in use
|
||
|
|
sync_send();
|
||
|
|
|
||
|
|
*trans->status = TRANSACTION_END;
|
||
|
|
sei();
|
||
|
|
return TRANSACTION_END;
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef SERIAL_USE_MULTI_TRANSACTION
|
||
|
|
int soft_serial_get_and_clean_status(int sstd_index) {
|
||
|
|
SSTD_t *trans = &Transaction_table[sstd_index];
|
||
|
|
cli();
|
||
|
|
int retval = *trans->status;
|
||
|
|
*trans->status = 0;;
|
||
|
|
sei();
|
||
|
|
return retval;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Helix serial.c history
|
||
|
|
// 2018-1-29 fork from let's split and add PD2, modify sync_recv() (#2308, bceffdefc)
|
||
|
|
// 2018-6-28 bug fix master to slave comm and speed up (#3255, 1038bbef4)
|
||
|
|
// (adjusted with avr-gcc 4.9.2)
|
||
|
|
// 2018-7-13 remove USE_SERIAL_PD2 macro (#3374, f30d6dd78)
|
||
|
|
// (adjusted with avr-gcc 4.9.2)
|
||
|
|
// 2018-8-11 add support multi-type transaction (#3608, feb5e4aae)
|
||
|
|
// (adjusted with avr-gcc 4.9.2)
|
||
|
|
// 2018-10-21 fix serial and RGB animation conflict (#4191, 4665e4fff)
|
||
|
|
// (adjusted with avr-gcc 7.3.0)
|
||
|
|
// 2018-10-28 re-adjust compiler depend value of delay (#4269, 8517f8a66)
|
||
|
|
// (adjusted with avr-gcc 5.4.0, 7.3.0)
|