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-rw-r--r--platforms/chibios/drivers/serial_protocol.c12
-rw-r--r--platforms/chibios/drivers/uart.c12
-rw-r--r--platforms/chibios/drivers/uart.h46
-rw-r--r--platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c24
-rw-r--r--platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c12
-rw-r--r--platforms/chibios/drivers/ws2812_pwm.c24
-rw-r--r--platforms/chibios/drivers/ws2812_spi.c8
7 files changed, 73 insertions, 65 deletions
diff --git a/platforms/chibios/drivers/serial_protocol.c b/platforms/chibios/drivers/serial_protocol.c
index c95aed9885..ccaf73282d 100644
--- a/platforms/chibios/drivers/serial_protocol.c
+++ b/platforms/chibios/drivers/serial_protocol.c
@@ -102,15 +102,11 @@ static inline bool react_to_transaction(void) {
* @return bool Indicates success of transaction.
*/
bool soft_serial_transaction(int index) {
- bool result = initiate_transaction((uint8_t)index);
+ /* Clear the receive queue, to start with a clean slate.
+ * Parts of failed transactions or spurious bytes could still be in it. */
+ serial_transport_driver_clear();
- if (unlikely(!result)) {
- /* Clear the receive queue, to start with a clean slate.
- * Parts of failed transactions or spurious bytes could still be in it. */
- serial_transport_driver_clear();
- }
-
- return result;
+ return initiate_transaction((uint8_t)index);
}
/**
diff --git a/platforms/chibios/drivers/uart.c b/platforms/chibios/drivers/uart.c
index 396803f33b..b16130d80b 100644
--- a/platforms/chibios/drivers/uart.c
+++ b/platforms/chibios/drivers/uart.c
@@ -18,7 +18,9 @@
#include "quantum.h"
-#if defined(WB32F3G71xx) || defined(WB32FQ95xx)
+#if defined(MCU_KINETIS)
+static SerialConfig serialConfig = {SERIAL_DEFAULT_BITRATE};
+#elif defined(WB32F3G71xx) || defined(WB32FQ95xx)
static SerialConfig serialConfig = {SERIAL_DEFAULT_BITRATE, SD1_WRDLEN, SD1_STPBIT, SD1_PARITY, SD1_ATFLCT};
#else
static SerialConfig serialConfig = {SERIAL_DEFAULT_BITRATE, SD1_CR1, SD1_CR2, SD1_CR3};
@@ -30,11 +32,15 @@ void uart_init(uint32_t baud) {
if (!is_initialised) {
is_initialised = true;
+#if defined(MCU_KINETIS)
+ serialConfig.sc_speed = baud;
+#else
serialConfig.speed = baud;
+#endif
#if defined(USE_GPIOV1)
- palSetLineMode(SD1_TX_PIN, PAL_MODE_ALTERNATE_OPENDRAIN);
- palSetLineMode(SD1_RX_PIN, PAL_MODE_ALTERNATE_OPENDRAIN);
+ palSetLineMode(SD1_TX_PIN, SD1_TX_PAL_MODE);
+ palSetLineMode(SD1_RX_PIN, SD1_RX_PAL_MODE);
#else
palSetLineMode(SD1_TX_PIN, PAL_MODE_ALTERNATE(SD1_TX_PAL_MODE) | PAL_OUTPUT_TYPE_OPENDRAIN);
palSetLineMode(SD1_RX_PIN, PAL_MODE_ALTERNATE(SD1_RX_PAL_MODE) | PAL_OUTPUT_TYPE_OPENDRAIN);
diff --git a/platforms/chibios/drivers/uart.h b/platforms/chibios/drivers/uart.h
index 603d51037b..db97840270 100644
--- a/platforms/chibios/drivers/uart.h
+++ b/platforms/chibios/drivers/uart.h
@@ -28,32 +28,50 @@
# define SD1_TX_PIN A9
#endif
-#ifndef SD1_TX_PAL_MODE
-# define SD1_TX_PAL_MODE 7
-#endif
-
#ifndef SD1_RX_PIN
# define SD1_RX_PIN A10
#endif
-#ifndef SD1_RX_PAL_MODE
-# define SD1_RX_PAL_MODE 7
-#endif
-
#ifndef SD1_CTS_PIN
# define SD1_CTS_PIN A11
#endif
-#ifndef SD1_CTS_PAL_MODE
-# define SD1_CTS_PAL_MODE 7
-#endif
-
#ifndef SD1_RTS_PIN
# define SD1_RTS_PIN A12
#endif
-#ifndef SD1_RTS_PAL_MODE
-# define SD1_RTS_PAL_MODE 7
+#ifdef USE_GPIOV1
+# ifndef SD1_TX_PAL_MODE
+# define SD1_TX_PAL_MODE PAL_MODE_ALTERNATE_OPENDRAIN
+# endif
+
+# ifndef SD1_RX_PAL_MODE
+# define SD1_RX_PAL_MODE PAL_MODE_ALTERNATE_OPENDRAIN
+# endif
+
+# ifndef SD1_CTS_PAL_MODE
+# define SD1_CTS_PAL_MODE PAL_MODE_ALTERNATE_OPENDRAIN
+# endif
+
+# ifndef SD1_RTS_PAL_MODE
+# define SD1_RTS_PAL_MODE PAL_MODE_ALTERNATE_OPENDRAIN
+# endif
+#else
+# ifndef SD1_TX_PAL_MODE
+# define SD1_TX_PAL_MODE 7
+# endif
+
+# ifndef SD1_RX_PAL_MODE
+# define SD1_RX_PAL_MODE 7
+# endif
+
+# ifndef SD1_CTS_PAL_MODE
+# define SD1_CTS_PAL_MODE 7
+# endif
+
+# ifndef SD1_RTS_PAL_MODE
+# define SD1_RTS_PAL_MODE 7
+# endif
#endif
#ifndef SD1_CR1
diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
index 764764b3f9..dd4723a086 100644
--- a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
+++ b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
@@ -140,9 +140,8 @@ void pio_serve_interrupt(void) {
// strength is chosen because the transmitting side must still be able to drive
// the signal low. With this configuration the rise times are fast enough and
// the generated low level with 360mV will generate a logical zero.
-static inline void enter_rx_state(void) {
+static void __no_inline_not_in_flash_func(enter_rx_state)(void) {
osalSysLock();
- nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, RP_IRQ_USB0_PRIORITY);
// Wait for the transmitting state machines FIFO to run empty. At this point
// the last byte has been pulled from the transmitting state machines FIFO
// into the output shift register. We have to wait a tiny bit more until
@@ -162,11 +161,8 @@ static inline void enter_rx_state(void) {
osalSysUnlock();
}
-static inline void leave_rx_state(void) {
+static void __no_inline_not_in_flash_func(leave_rx_state)(void) {
osalSysLock();
- // We don't want to be interrupted by frequent (1KHz) USB interrupts while
- // doing our timing critical sending operation.
- nvicDisableVector(RP_USBCTRL_IRQ_NUMBER);
// In Half-duplex operation the tx pin dual-functions as sender and
// receiver. To not receive the data we will send, we disable the receiving
// state machine.
@@ -185,12 +181,13 @@ static inline void leave_rx_state(void) {}
#endif
/**
- * @brief Clear the RX and TX hardware FIFOs of the state machines.
+ * @brief Clear the FIFO of the RX state machine.
*/
inline void serial_transport_driver_clear(void) {
osalSysLock();
- pio_sm_clear_fifos(pio, rx_state_machine);
- pio_sm_clear_fifos(pio, tx_state_machine);
+ while (!pio_sm_is_rx_fifo_empty(pio, rx_state_machine)) {
+ pio_sm_clear_fifos(pio, rx_state_machine);
+ }
osalSysUnlock();
}
@@ -198,11 +195,6 @@ static inline msg_t sync_tx(sysinterval_t timeout) {
msg_t msg = MSG_OK;
osalSysLock();
while (pio_sm_is_tx_fifo_full(pio, tx_state_machine)) {
-#if !defined(SERIAL_USART_FULL_DUPLEX)
- // Enable USB interrupts again, because we might sleep for a long time
- // here and don't want to be disconnected from the host.
- nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, RP_IRQ_USB0_PRIORITY);
-#endif
pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + tx_state_machine, true);
msg = osalThreadSuspendTimeoutS(&tx_thread, timeout);
if (msg < MSG_OK) {
@@ -210,10 +202,6 @@ static inline msg_t sync_tx(sysinterval_t timeout) {
break;
}
}
-#if !defined(SERIAL_USART_FULL_DUPLEX)
- // Entering timing critical territory again.
- nvicDisableVector(RP_USBCTRL_IRQ_NUMBER);
-#endif
osalSysUnlock();
return msg;
}
diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
index bc34eded14..4470e2c826 100644
--- a/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
+++ b/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
@@ -36,10 +36,10 @@ static int state_machine = -1;
// clang-format off
static const uint16_t ws2812_program_instructions[] = {
// .wrap_target
- 0x7221, // 0: out x, 1 side 1 [2]
- 0x0123, // 1: jmp !x, 3 side 0 [1]
- 0x0400, // 2: jmp 0 side 0 [4]
- 0xb442, // 3: nop side 1 [4]
+ 0x7221, // 0: out x, 1 side 1 [2]
+ 0x0123, // 1: jmp !x, 3 side 0 [1]
+ 0x0400, // 2: jmp 0 side 0 [4]
+ 0xb442, // 3: nop side 1 [4]
// .wrap
};
@@ -62,7 +62,7 @@ static const pio_program_t ws2812_program = {
.origin = -1,
};
-static uint32_t WS2812_BUFFER[RGBLED_NUM];
+static uint32_t WS2812_BUFFER[WS2812_LED_COUNT];
static const rp_dma_channel_t* WS2812_DMA_CHANNEL;
bool ws2812_init(void) {
@@ -154,7 +154,7 @@ static inline void sync_ws2812_transfer(void) {
// Abort the synchronization if we have to wait longer than the total
// count of LEDs in millisecounds. This is safely much longer than it
// would take to push all the data out.
- if (unlikely(timer_elapsed_fast(start) > RGBLED_NUM)) {
+ if (unlikely(timer_elapsed_fast(start) > WS2812_LED_COUNT)) {
dprintln("ERROR: WS2812 DMA transfer has stalled, aborting!");
dmaChannelDisableX(WS2812_DMA_CHANNEL);
return;
diff --git a/platforms/chibios/drivers/ws2812_pwm.c b/platforms/chibios/drivers/ws2812_pwm.c
index 792de85ce9..c4a591c10b 100644
--- a/platforms/chibios/drivers/ws2812_pwm.c
+++ b/platforms/chibios/drivers/ws2812_pwm.c
@@ -88,8 +88,8 @@
*/
#define WS2812_COLOR_BITS (WS2812_CHANNELS * 8)
#define WS2812_RESET_BIT_N (1000 * WS2812_TRST_US / WS2812_TIMING)
-#define WS2812_COLOR_BIT_N (RGBLED_NUM * WS2812_COLOR_BITS) /**< Number of data bits */
-#define WS2812_BIT_N (WS2812_COLOR_BIT_N + WS2812_RESET_BIT_N) /**< Total number of bits in a frame */
+#define WS2812_COLOR_BIT_N (WS2812_LED_COUNT * WS2812_COLOR_BITS) /**< Number of data bits */
+#define WS2812_BIT_N (WS2812_COLOR_BIT_N + WS2812_RESET_BIT_N) /**< Total number of bits in a frame */
/**
* @brief High period for a zero, in ticks
@@ -133,7 +133,7 @@
/**
* @brief Determine the index in @ref ws2812_frame_buffer "the frame buffer" of a given bit
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] byte: The byte number [0, 2]
* @param[in] bit: The bit number [0, 7]
*
@@ -147,7 +147,7 @@
*
* @note The red byte is the middle byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -159,7 +159,7 @@
*
* @note The red byte is the first byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -171,7 +171,7 @@
*
* @note The red byte is the last byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit index [0, 7]
*
* @return The bit index
@@ -184,7 +184,7 @@
*
* @note The red byte is the middle byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -196,7 +196,7 @@
*
* @note The red byte is the first byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -208,7 +208,7 @@
*
* @note The red byte is the last byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit index [0, 7]
*
* @return The bit index
@@ -221,7 +221,7 @@
*
* @note The red byte is the middle byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -233,7 +233,7 @@
*
* @note The red byte is the first byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit number [0, 7]
*
* @return The bit index
@@ -245,7 +245,7 @@
*
* @note The red byte is the last byte in the color packet
*
- * @param[in] led: The led index [0, @ref RGBLED_NUM)
+ * @param[in] led: The led index [0, @ref WS2812_LED_COUNT)
* @param[in] bit: The bit index [0, 7]
*
* @return The bit index
diff --git a/platforms/chibios/drivers/ws2812_spi.c b/platforms/chibios/drivers/ws2812_spi.c
index a73eb69720..03ffbd7f82 100644
--- a/platforms/chibios/drivers/ws2812_spi.c
+++ b/platforms/chibios/drivers/ws2812_spi.c
@@ -80,7 +80,7 @@
# define WS2812_CHANNELS 3
#endif
#define BYTES_FOR_LED (BYTES_FOR_LED_BYTE * WS2812_CHANNELS)
-#define DATA_SIZE (BYTES_FOR_LED * RGBLED_NUM)
+#define DATA_SIZE (BYTES_FOR_LED * WS2812_LED_COUNT)
#define RESET_SIZE (1000 * WS2812_TRST_US / (2 * WS2812_TIMING))
#define PREAMBLE_SIZE 4
@@ -181,7 +181,7 @@ void ws2812_init(void) {
spiStart(&WS2812_SPI, &spicfg); /* Setup transfer parameters. */
spiSelect(&WS2812_SPI); /* Slave Select assertion. */
#ifdef WS2812_SPI_USE_CIRCULAR_BUFFER
- spiStartSend(&WS2812_SPI, sizeof(txbuf) / sizeof(txbuf[0]), txbuf);
+ spiStartSend(&WS2812_SPI, ARRAY_SIZE(txbuf), txbuf);
#endif
}
@@ -200,9 +200,9 @@ void ws2812_setleds(LED_TYPE* ledarray, uint16_t leds) {
// Instead spiSend can be used to send synchronously (or the thread logic can be added back).
#ifndef WS2812_SPI_USE_CIRCULAR_BUFFER
# ifdef WS2812_SPI_SYNC
- spiSend(&WS2812_SPI, sizeof(txbuf) / sizeof(txbuf[0]), txbuf);
+ spiSend(&WS2812_SPI, ARRAY_SIZE(txbuf), txbuf);
# else
- spiStartSend(&WS2812_SPI, sizeof(txbuf) / sizeof(txbuf[0]), txbuf);
+ spiStartSend(&WS2812_SPI, ARRAY_SIZE(txbuf), txbuf);
# endif
#endif
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-25 11:16:37 +0000