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#include "hardware/regs/io_bank0.h"
#include "hardware/structs/padsbank0.h"
#include "uart_rx.pio.h"
#include "uart_tx.pio.h"
#include "split.h"
#include "util.h"
#include "matrix.h"
#include "hardware/pio.h"
#include "hardware/irq.h"
#include "hardware/gpio.h"
#include "hardware/address_mapped.h"
#include "hardware/regs/intctrl.h"
#include "hardware/regs/pads_bank0.h"
#include "hardware/uart.h"
#include "hardware/timer.h"
#include "hardware/clocks.h"
#include "pico/time.h"
#include "bsp/board.h"
#include "class/cdc/cdc_device.h"
#include "tusb.h"
#include <stdint.h>
#define UART_TIMEOUT 20
#define UART_BAUD 9600
#define LEFT 0
#define RIGHT 1
#define SLAVE 0
#define MASTER 1
#if SPLIT_SIDE == LEFT
#define UART_TX_PIN 0
#define UART_RX_PIN 1
#elif SPLIT_SIDE == RIGHT
#define UART_TX_PIN 1
#define UART_RX_PIN 0
#endif
enum {
CMD_SCAN_MATRIX_REQ = 0xA0,
CMD_SCAN_MATRIX_RESP,
CMD_STDIO_PUTS
};
static void uart_tx_sm_init(void);
static void uart_rx_sm_init(void);
static void uart_full_init(void);
static bool uart_await_rx(uint32_t timeout_ms);
static bool uart_await_tx(uint32_t timeout_ms);
static uint8_t uart_rx_byte(void);
static void uart_tx_byte(uint8_t c);
static uint uart_recv(uint8_t *data, uint len);
static uint uart_send(const uint8_t *data, uint len);
static void handle_cmd(uint8_t cmd);
static void irq_rx(void);
static uint uart_tx_sm;
static uint uart_tx_sm_offset;
static uint uart_rx_sm;
static uint uart_rx_sm_offset;
static bool scan_pending = false;
void
uart_tx_sm_init(void)
{
pio_sm_config config;
uart_tx_sm = CLAIM_UNUSED_SM(pio0);
uart_tx_sm_offset = pio_add_program(pio0, &uart_tx_program);
config = uart_tx_program_get_default_config(uart_tx_sm_offset);
sm_config_set_out_shift(&config, true, false, 32);
sm_config_set_out_pins(&config, UART_TX_PIN, 1);
sm_config_set_sideset_pins(&config, UART_TX_PIN);
sm_config_set_fifo_join(&config, PIO_FIFO_JOIN_TX);
sm_config_set_clkdiv(&config,
((float) clock_get_hz(clk_sys)) / (8 * UART_BAUD));
pio_sm_init(pio0, uart_tx_sm, uart_tx_sm_offset, &config);
pio_sm_set_enabled(pio0, uart_tx_sm, false);
}
void
uart_rx_sm_init(void)
{
pio_sm_config config;
uart_rx_sm = CLAIM_UNUSED_SM(pio0);
uart_rx_sm_offset = pio_add_program(pio0, &uart_rx_program);
config = uart_rx_program_get_default_config(uart_rx_sm_offset);
sm_config_set_in_pins(&config, UART_RX_PIN);
sm_config_set_jmp_pin(&config, UART_RX_PIN);
sm_config_set_in_shift(&config, true, false, 32);
sm_config_set_fifo_join(&config, PIO_FIFO_JOIN_RX);
sm_config_set_clkdiv(&config,
((float) clock_get_hz(clk_sys)) / (8 * UART_BAUD));
pio_sm_init(pio0, uart_rx_sm, uart_rx_sm_offset, &config);
pio_sm_set_enabled(pio0, uart_rx_sm, false);
}
void
uart_full_init(void)
{
pio_gpio_init(pio0, UART_RX_PIN);
pio_sm_set_pins_with_mask(pio0, uart_rx_sm, 1U, 1U << UART_RX_PIN);
pio_sm_set_consecutive_pindirs(pio0, uart_rx_sm, UART_RX_PIN, 1, false);
pio_gpio_init(pio0, UART_TX_PIN);
gpio_set_slew_rate(UART_TX_PIN, GPIO_SLEW_RATE_FAST);
gpio_set_drive_strength(UART_TX_PIN, GPIO_DRIVE_STRENGTH_12MA);
pio_sm_set_pins_with_mask(pio0, uart_tx_sm, 1U, 1U << UART_TX_PIN);
pio_sm_set_consecutive_pindirs(pio0, uart_tx_sm, UART_TX_PIN, 1, true);
uart_rx_sm_init();
uart_tx_sm_init();
pio_set_irq0_source_enabled(pio0,
pis_sm0_rx_fifo_not_empty + uart_rx_sm, false);
pio_set_irq0_source_enabled(pio0,
pis_sm0_tx_fifo_not_full + uart_tx_sm, false);
pio_set_irq0_source_enabled(pio0, pis_interrupt0, true);
irq_set_priority(PIO0_IRQ_0, PICO_HIGHEST_IRQ_PRIORITY);
irq_set_exclusive_handler(PIO0_IRQ_0, irq_rx);
irq_set_enabled(PIO0_IRQ_0, true);
pio_sm_set_enabled(pio0, uart_rx_sm, true);
pio_sm_set_enabled(pio0, uart_tx_sm, true);
}
bool
uart_await_rx(uint32_t timeout_ms)
{
uint32_t start_ms;
bool empty;
start_ms = board_millis();
do {
empty = pio_sm_is_rx_fifo_empty(pio0, uart_rx_sm);
if (!empty) break;
tud_task();
} while (board_millis() < start_ms + timeout_ms);
return !empty;
}
bool
uart_await_tx(uint32_t timeout_ms)
{
uint32_t start_ms;
bool full;
start_ms = board_millis();
do {
full = pio_sm_is_tx_fifo_full(pio0, uart_tx_sm);
if (!full) break;
tud_task();
} while (board_millis() < start_ms + timeout_ms);
return !full;
pio_sm_set_enabled(pio0, uart_tx_sm, true);
}
uint8_t
uart_rx_byte(void)
{
return *(uint8_t*)((uintptr_t)&pio0->rxf[uart_rx_sm] + 3);
}
void
uart_tx_byte(uint8_t c)
{
pio_sm_put(pio0, uart_tx_sm, c);
}
uint
uart_recv(uint8_t *data, uint len)
{
uint recv;
for (recv = 0; recv < len; recv++) {
if (pio_sm_is_rx_fifo_empty(pio0, uart_rx_sm)) {
if (!uart_await_rx(UART_TIMEOUT))
break;
}
*data++ = uart_rx_byte();
}
return recv;
}
uint
uart_send(const uint8_t *data, uint len)
{
uint sent;
for (sent = 0; sent < len; sent++) {
if (pio_sm_is_tx_fifo_full(pio0, uart_tx_sm)) {
if (!uart_await_tx(UART_TIMEOUT))
break;
}
uart_tx_byte(*data++);
}
return sent;
}
void
handle_cmd(uint8_t cmd)
{
uint8_t buf[128];
DEBUG("Got command %i", cmd);
switch (cmd) {
case CMD_SCAN_MATRIX_REQ:
if (SPLIT_ROLE != SLAVE) {
WARN("Got SCAN_MATRIX_REQ as master");
break;
}
scan_pending = true;
return;
case CMD_SCAN_MATRIX_RESP:
if (SPLIT_ROLE != MASTER) {
WARN("Got SCAN_MATRIX_RESP as slave");
break;
}
scan_pending = false;
return;
case CMD_STDIO_PUTS:
if (SPLIT_ROLE != MASTER) {
WARN("Got STDIO_PUTS as slave");
break;
}
memset(buf, 0, sizeof(buf));
uart_recv(buf, sizeof(buf)-1);
printf("SLAVE: %s\n", buf);
return;
}
WARN("Unexpected uart cmd: %i", cmd);
}
void
irq_rx(void)
{
if (pio_interrupt_get(pio0, 0)) {
DEBUG("UART RX ERR");
pio_interrupt_clear(pio0, 0);
}
}
void
split_init(void)
{
uart_full_init();
}
void
split_task(void)
{
uint32_t start_ms;
uint8_t cmd;
//if (!uart_await_tx(20))
// return;
//DEBUG("Sending");
//uart_tx_byte(CMD_SCAN_MATRIX_RESP);
//return;
if (SPLIT_ROLE == MASTER) {
scan_pending = true;
cmd = CMD_SCAN_MATRIX_REQ;
ASSERT(uart_send(&cmd, 1) == 1);
scan_matrix(); /* scan our side in parallel */
start_ms = board_millis();
while (scan_pending && board_millis() < start_ms + 20) {
if (!pio_sm_is_rx_fifo_empty(pio0, uart_rx_sm))
handle_cmd(uart_rx_byte());
tud_task();
}
if (scan_pending) {
WARN("Slave matrix scan timeout");
} else {
DEBUG("Slave matrix scan success");
}
scan_pending = false;
} else {
start_ms = board_millis();
while (!scan_pending && board_millis() < start_ms + 20) {
if (!pio_sm_is_rx_fifo_empty(pio0, uart_rx_sm))
handle_cmd(uart_rx_byte());
tud_task();
}
if (scan_pending) {
scan_matrix();
cmd = CMD_SCAN_MATRIX_RESP;
DEBUG("Sending SCAN_MATRIX_RESP %i", cmd);
ASSERT(uart_send(&cmd, 1) == 1);
scan_pending = false;
}
}
}
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