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#include "quantum.h" |
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#include "serial.h" |
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#include "printf.h" |
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#include "ch.h" |
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#include "hal.h" |
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#ifndef USART_CR1_M0 |
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# define USART_CR1_M0 USART_CR1_M // some platforms (f1xx) dont have this so |
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#endif |
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#ifndef USE_GPIOV1 |
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// The default PAL alternate modes are used to signal that the pins are used for USART |
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# ifndef SERIAL_USART_TX_PAL_MODE |
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# define SERIAL_USART_TX_PAL_MODE 7 |
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# endif |
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#endif |
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#ifndef SERIAL_USART_DRIVER |
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# define SERIAL_USART_DRIVER SD1 |
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#endif |
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#ifndef SERIAL_USART_CR1 |
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# define SERIAL_USART_CR1 (USART_CR1_PCE | USART_CR1_PS | USART_CR1_M0) // parity enable, odd parity, 9 bit length |
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#endif |
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#ifndef SERIAL_USART_CR2 |
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# define SERIAL_USART_CR2 (USART_CR2_STOP_1) // 2 stop bits |
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#endif |
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#ifndef SERIAL_USART_CR3 |
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# define SERIAL_USART_CR3 0 |
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#endif |
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#ifdef SOFT_SERIAL_PIN |
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# define SERIAL_USART_TX_PIN SOFT_SERIAL_PIN |
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#endif |
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#ifndef SELECT_SOFT_SERIAL_SPEED |
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# define SELECT_SOFT_SERIAL_SPEED 1 |
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#endif |
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#ifdef SERIAL_USART_SPEED |
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// Allow advanced users to directly set SERIAL_USART_SPEED |
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#elif SELECT_SOFT_SERIAL_SPEED == 0 |
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# define SERIAL_USART_SPEED 460800 |
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#elif SELECT_SOFT_SERIAL_SPEED == 1 |
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# define SERIAL_USART_SPEED 230400 |
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#elif SELECT_SOFT_SERIAL_SPEED == 2 |
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# define SERIAL_USART_SPEED 115200 |
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#elif SELECT_SOFT_SERIAL_SPEED == 3 |
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# define SERIAL_USART_SPEED 57600 |
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#elif SELECT_SOFT_SERIAL_SPEED == 4 |
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# define SERIAL_USART_SPEED 38400 |
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#elif SELECT_SOFT_SERIAL_SPEED == 5 |
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# define SERIAL_USART_SPEED 19200 |
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#else |
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# error invalid SELECT_SOFT_SERIAL_SPEED value |
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#endif |
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#define TIMEOUT 100 |
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#define HANDSHAKE_MAGIC 7 |
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static inline msg_t sdWriteHalfDuplex(SerialDriver* driver, uint8_t* data, uint8_t size) { |
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msg_t ret = sdWrite(driver, data, size); |
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// Half duplex requires us to read back the data we just wrote - just throw it away |
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uint8_t dump[size]; |
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sdRead(driver, dump, size); |
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return ret; |
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} |
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#undef sdWrite |
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#define sdWrite sdWriteHalfDuplex |
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static inline msg_t sdWriteTimeoutHalfDuplex(SerialDriver* driver, uint8_t* data, uint8_t size, uint32_t timeout) { |
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msg_t ret = sdWriteTimeout(driver, data, size, timeout); |
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// Half duplex requires us to read back the data we just wrote - just throw it away |
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uint8_t dump[size]; |
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sdReadTimeout(driver, dump, size, timeout); |
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return ret; |
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} |
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#undef sdWriteTimeout |
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#define sdWriteTimeout sdWriteTimeoutHalfDuplex |
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static inline void sdClear(SerialDriver* driver) { |
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while (sdGetTimeout(driver, TIME_IMMEDIATE) != MSG_TIMEOUT) { |
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// Do nothing with the data |
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} |
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} |
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static SerialConfig sdcfg = { |
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(SERIAL_USART_SPEED), // speed - mandatory |
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(SERIAL_USART_CR1), // CR1 |
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(SERIAL_USART_CR2), // CR2 |
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(SERIAL_USART_CR3) // CR3 |
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}; |
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void handle_soft_serial_slave(void); |
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/* |
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* This thread runs on the slave and responds to transactions initiated |
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* by the master |
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*/ |
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static THD_WORKING_AREA(waSlaveThread, 2048); |
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static THD_FUNCTION(SlaveThread, arg) { |
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(void)arg; |
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chRegSetThreadName("slave_transport"); |
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while (true) { |
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handle_soft_serial_slave(); |
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} |
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} |
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__attribute__((weak)) void usart_init(void) { |
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#if defined(USE_GPIOV1) |
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palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); |
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#else |
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palSetLineMode(SERIAL_USART_TX_PIN, PAL_MODE_ALTERNATE(SERIAL_USART_TX_PAL_MODE) | PAL_STM32_OTYPE_OPENDRAIN); |
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#endif |
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} |
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void usart_master_init(void) { |
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usart_init(); |
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sdcfg.cr3 |= USART_CR3_HDSEL; |
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sdStart(&SERIAL_USART_DRIVER, &sdcfg); |
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} |
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void usart_slave_init(void) { |
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usart_init(); |
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sdcfg.cr3 |= USART_CR3_HDSEL; |
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sdStart(&SERIAL_USART_DRIVER, &sdcfg); |
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// Start transport thread |
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chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL); |
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} |
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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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void soft_serial_initiator_init(SSTD_t* sstd_table, int sstd_table_size) { |
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Transaction_table = sstd_table; |
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Transaction_table_size = (uint8_t)sstd_table_size; |
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usart_master_init(); |
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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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Transaction_table = sstd_table; |
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Transaction_table_size = (uint8_t)sstd_table_size; |
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usart_slave_init(); |
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} |
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void handle_soft_serial_slave(void) { |
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uint8_t sstd_index = sdGet(&SERIAL_USART_DRIVER); // first chunk is always transaction id |
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SSTD_t* trans = &Transaction_table[sstd_index]; |
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// Always write back the sstd_index as part of a basic handshake |
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sstd_index ^= HANDSHAKE_MAGIC; |
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sdWrite(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index)); |
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if (trans->initiator2target_buffer_size) { |
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sdRead(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size); |
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} |
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if (trans->target2initiator_buffer_size) { |
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sdWrite(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size); |
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} |
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if (trans->status) { |
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*trans->status = TRANSACTION_ACCEPTED; |
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} |
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} |
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///////// |
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// start transaction by initiator |
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// |
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// int soft_serial_transaction(int sstd_index) |
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// |
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// Returns: |
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// TRANSACTION_END |
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// TRANSACTION_NO_RESPONSE |
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// TRANSACTION_DATA_ERROR |
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#ifndef SERIAL_USE_MULTI_TRANSACTION |
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int soft_serial_transaction(void) { |
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uint8_t sstd_index = 0; |
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#else |
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int soft_serial_transaction(int index) { |
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uint8_t sstd_index = index; |
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#endif |
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if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR; |
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SSTD_t* trans = &Transaction_table[sstd_index]; |
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msg_t res = 0; |
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sdClear(&SERIAL_USART_DRIVER); |
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// First chunk is always transaction id |
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sdWriteTimeout(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index), TIME_MS2I(TIMEOUT)); |
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uint8_t sstd_index_shake = 0xFF; |
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// Which we always read back first so that we can error out correctly |
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// - due to the half duplex limitations on return codes, we always have to read *something* |
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// - without the read, write only transactions *always* succeed, even during the boot process where the slave is not ready |
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res = sdReadTimeout(&SERIAL_USART_DRIVER, &sstd_index_shake, sizeof(sstd_index_shake), TIME_MS2I(TIMEOUT)); |
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if (res < 0 || (sstd_index_shake != (sstd_index ^ HANDSHAKE_MAGIC))) { |
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dprintf("serial::usart_shake NO_RESPONSE\n"); |
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return TRANSACTION_NO_RESPONSE; |
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} |
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if (trans->initiator2target_buffer_size) { |
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res = sdWriteTimeout(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size, TIME_MS2I(TIMEOUT)); |
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if (res < 0) { |
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dprintf("serial::usart_transmit NO_RESPONSE\n"); |
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return TRANSACTION_NO_RESPONSE; |
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} |
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} |
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if (trans->target2initiator_buffer_size) { |
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res = sdReadTimeout(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size, TIME_MS2I(TIMEOUT)); |
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if (res < 0) { |
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dprintf("serial::usart_receive NO_RESPONSE\n"); |
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return TRANSACTION_NO_RESPONSE; |
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} |
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} |
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return TRANSACTION_END; |
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} |