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[Core] PS/2 PIO Driver for RP2040 (#17893) 

Co-authored-by: Johannes H. Jensen <joh@pseudoberries.com>
pull/20262/head
Marek Kraus 1 year ago
committed by GitHub
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      platforms/chibios/drivers/vendor/RP/RP2040/ps2_vendor.c

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platforms/chibios/drivers/vendor/RP/RP2040/ps2_vendor.c View File

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// Copyright 2022 Marek Kraus (@gamelaster)
// SPDX-License-Identifier: GPL-2.0-or-later
#include "quantum.h"
#include "hardware/pio.h"
#include "hardware/clocks.h"
#include "ps2.h"
#include "print.h"
#if !defined(MCU_RP)
# error PIO Driver is only available for Raspberry Pi 2040 MCUs!
#endif
#if defined(PS2_ENABLE)
# if defined(PS2_MOUSE_ENABLE)
# if !defined(PS2_MOUSE_USE_REMOTE_MODE)
# define BUFFERED_MODE_ENABLE
# endif
# else // PS2 Keyboard
# define BUFFERED_MODE_ENABLE
# endif
#endif
#if PS2_DATA_PIN + 1 != PS2_CLOCK_PIN
# error PS/2 Clock pin must be followed by data pin!
#endif
static inline void pio_serve_interrupt(void);
#if defined(PS2_PIO_USE_PIO1)
static const PIO pio = pio1;
OSAL_IRQ_HANDLER(RP_PIO1_IRQ_0_HANDLER) {
OSAL_IRQ_PROLOGUE();
pio_serve_interrupt();
OSAL_IRQ_EPILOGUE();
}
#else
static const PIO pio = pio0;
OSAL_IRQ_HANDLER(RP_PIO0_IRQ_0_HANDLER) {
OSAL_IRQ_PROLOGUE();
pio_serve_interrupt();
OSAL_IRQ_EPILOGUE();
}
#endif
#define PS2_WRAP_TARGET 0
#define PS2_WRAP 20
// clang-format off
static const uint16_t ps2_program_instructions[] = {
// .wrap_target
0x00c7, // 0: jmp pin, 7
0xe02a, // 1: set x, 10
0x2021, // 2: wait 0 pin, 1
0x4001, // 3: in pins, 1
0x20a1, // 4: wait 1 pin, 1
0x0042, // 5: jmp x--, 2
0x0000, // 6: jmp 0
0x00e9, // 7: jmp !osre, 9
0x0000, // 8: jmp 0
0xff81, // 9: set pindirs, 1 [31]
0xe280, // 10: set pindirs, 0 [2]
0xe082, // 11: set pindirs, 2
0x2021, // 12: wait 0 pin, 1
0xe029, // 13: set x, 9
0x6081, // 14: out pindirs, 1
0x20a1, // 15: wait 1 pin, 1
0x2021, // 16: wait 0 pin, 1
0x004e, // 17: jmp x--, 14
0xe083, // 18: set pindirs, 3
0x2021, // 19: wait 0 pin, 1
0x20a1, // 20: wait 1 pin, 1
// .wrap
};
// clang-format on
static const struct pio_program ps2_program = {
.instructions = ps2_program_instructions,
.length = 21,
.origin = -1,
};
static int state_machine = -1;
static thread_reference_t tx_thread = NULL;
#define BUFFER_SIZE 32
static input_buffers_queue_t pio_rx_queue;
static __attribute__((aligned(4))) uint8_t pio_rx_buffer[BQ_BUFFER_SIZE(BUFFER_SIZE, sizeof(uint32_t))];
uint8_t ps2_error = PS2_ERR_NONE;
void pio_serve_interrupt(void) {
uint32_t irqs = pio->ints0;
if (irqs & (PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS << state_machine)) {
osalSysLockFromISR();
uint32_t* frame_buffer = (uint32_t*)ibqGetEmptyBufferI(&pio_rx_queue);
if (frame_buffer == NULL) {
osalSysUnlockFromISR();
return;
}
*frame_buffer = pio_sm_get(pio, state_machine);
ibqPostFullBufferI(&pio_rx_queue, sizeof(uint32_t));
osalSysUnlockFromISR();
}
if (irqs & (PIO_IRQ0_INTF_SM0_TXNFULL_BITS << state_machine)) {
pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, false);
osalSysLockFromISR();
osalThreadResumeI(&tx_thread, MSG_OK);
osalSysUnlockFromISR();
}
}
void ps2_host_init(void) {
ibqObjectInit(&pio_rx_queue, false, pio_rx_buffer, sizeof(uint32_t), BUFFER_SIZE, NULL, NULL);
uint pio_idx = pio_get_index(pio);
hal_lld_peripheral_unreset(pio_idx == 0 ? RESETS_ALLREG_PIO0 : RESETS_ALLREG_PIO1);
state_machine = pio_claim_unused_sm(pio, true);
if (state_machine < 0) {
dprintln("ERROR: Failed to acquire state machine for PS/2!");
ps2_error = PS2_ERR_NODATA;
return;
}
uint offset = pio_add_program(pio, &ps2_program);
pio_sm_config c = pio_get_default_sm_config();
sm_config_set_wrap(&c, offset + PS2_WRAP_TARGET, offset + PS2_WRAP);
// Set pindirs to input (output enable is inverted below)
pio_sm_set_consecutive_pindirs(pio, state_machine, PS2_DATA_PIN, 2, true);
sm_config_set_clkdiv(&c, (float)clock_get_hz(clk_sys) / (200.0f * KHZ));
sm_config_set_set_pins(&c, PS2_DATA_PIN, 2);
sm_config_set_out_pins(&c, PS2_DATA_PIN, 1);
sm_config_set_out_shift(&c, true, true, 10);
sm_config_set_in_shift(&c, true, true, 11);
sm_config_set_jmp_pin(&c, PS2_CLOCK_PIN);
sm_config_set_in_pins(&c, PS2_DATA_PIN);
// clang-format off
iomode_t pin_mode = PAL_RP_PAD_IE |
PAL_RP_GPIO_OE |
PAL_RP_PAD_SLEWFAST |
PAL_RP_PAD_DRIVE12 |
// Invert output enable so that pindirs=1 means input
// and indirs=0 means output. This way, out pindirs
// works correctly with the open-drain PS/2 interface.
// Setting pindirs=1 effectively pulls the line high,
// due to the pull-up resistor, while pindirs=0 pulls
// the line low.
PAL_RP_IOCTRL_OEOVER_DRVINVPERI |
(pio_idx == 0 ? PAL_MODE_ALTERNATE_PIO0 : PAL_MODE_ALTERNATE_PIO1);
// clang-format on
palSetLineMode(PS2_DATA_PIN, pin_mode);
palSetLineMode(PS2_CLOCK_PIN, pin_mode);
pio_set_irq0_source_enabled(pio, pis_sm0_rx_fifo_not_empty + state_machine, true);
pio_sm_init(pio, state_machine, offset, &c);
#if defined(PS2_PIO_USE_PIO1)
nvicEnableVector(RP_PIO1_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
#else
nvicEnableVector(RP_PIO0_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
#endif
pio_sm_set_enabled(pio, state_machine, true);
}
static int bit_parity(int x) {
return !__builtin_parity(x);
}
uint8_t ps2_host_send(uint8_t data) {
uint32_t frame = 0b1000000000;
frame = frame | data;
if (bit_parity(data)) {
frame = frame | (1 << 8);
}
pio_sm_put(pio, state_machine, frame);
msg_t msg = MSG_OK;
osalSysLock();
while (pio_sm_is_tx_fifo_full(pio, state_machine)) {
pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, true);
msg = osalThreadSuspendTimeoutS(&tx_thread, TIME_MS2I(100));
if (msg < MSG_OK) {
pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, false);
ps2_error = PS2_ERR_NODATA;
osalSysUnlock();
return 0;
}
}
osalSysUnlock();
return ps2_host_recv_response();
}
static uint8_t ps2_get_data_from_frame(uint32_t frame) {
uint8_t data = (frame >> 22) & 0xFF;
uint32_t start_bit = (frame & 0b00000000001000000000000000000000) ? 1 : 0;
uint32_t parity_bit = (frame & 0b01000000000000000000000000000000) ? 1 : 0;
uint32_t stop_bit = (frame & 0b10000000001000000000000000000000) ? 1 : 0;
if (start_bit != 0) {
ps2_error = PS2_ERR_STARTBIT1;
return 0;
}
if (parity_bit != bit_parity(data)) {
ps2_error = PS2_ERR_PARITY;
return 0;
}
if (stop_bit != 1) {
ps2_error = PS2_ERR_STARTBIT2;
return 0;
}
return data;
}
uint8_t ps2_host_recv_response(void) {
uint32_t frame = 0;
msg_t msg = MSG_OK;
msg = ibqReadTimeout(&pio_rx_queue, (uint8_t*)&frame, sizeof(uint32_t), TIME_MS2I(100));
if (msg < MSG_OK) {
ps2_error = PS2_ERR_NODATA;
return 0;
}
return ps2_get_data_from_frame(frame);
}
#ifdef BUFFERED_MODE_ENABLE
bool pbuf_has_data(void) {
osalSysLock();
bool has_data = !ibqIsEmptyI(&pio_rx_queue);
osalSysUnlock();
return has_data;
}
uint8_t ps2_host_recv(void) {
uint32_t frame = 0;
msg_t msg = MSG_OK;
uint8_t has_data = pbuf_has_data();
if (has_data) {
msg = ibqReadTimeout(&pio_rx_queue, (uint8_t*)&frame, sizeof(uint32_t), TIME_MS2I(100));
if (msg < MSG_OK) {
ps2_error = PS2_ERR_NODATA;
return 0;
}
} else {
ps2_error = PS2_ERR_NODATA;
}
return frame != 0 ? ps2_get_data_from_frame(frame) : 0;
}
#endif

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