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avr: moved COM and COMPROTO defs and routines into dedicated files.

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This commit is contained in:
Martin Preuss
2023-04-16 23:23:06 +02:00
parent d53b061aed
commit 5f4260d605
15 changed files with 1332 additions and 1001 deletions
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663
avr/com2.asm
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@@ -12,33 +12,8 @@
; ***************************************************************************
; defines
.equ COM2_BUFFER_SIZE = 24 ; CAVE: must change code in COM2_BufferPosToX when changing this!
.equ COM2_BUFFER_NUM = 4
.include "com2_defs.asm"
.equ COM2_MAXWAIT_US = 100 ; maximum wait time in microseconds when waiting for rising/falling clock
.equ COM2_MAINTENANCE_ADDR = 0xc1
.equ COM2_CRC_POLYNOMIAL = 0x97
; flags for variable payload enqueue function
.equ COM2_PAYLOAD_FLAGS_SECONDS = 0x01
.equ COM2_PAYLOAD_FLAGS_UID = 0x02
.equ COM2_PAYLOAD_FLAGS_RESERVED1 = 0x04
.equ COM2_PAYLOAD_FLAGS_NUM0 = 0x08
.equ COM2_PAYLOAD_FLAGS_NUM1 = 0x10
.equ COM2_PAYLOAD_FLAGS_NUM2 = 0x20
.equ COM2_PAYLOAD_FLAGS_NUM3 = 0x40
.equ COM2_PAYLOAD_FLAGS_NUM4 = 0x80
.equ COM2_PAYLOAD_FLAGS_SHIFT_NUM = 3
.equ COM2_MSG_OFFS_DESTADDR = 0
.equ COM2_MSG_OFFS_MSGLEN = 1
.equ COM2_MSG_OFFS_MSGDATA = 2
.equ COM2_MSG_OFFS_CMD = 2 ; first at COM2_MSG_OFFS_MSGDATA
.equ COM2_MSG_OFFS_SRCADDR = 3
.equ COM2_MSG_OFFS_PAYLOAD = 4 ; payload for the cmd follows here
@@ -317,82 +292,44 @@ com2ReceivePacket:
rcall Utils_IncrementCounter16 ; (r18, r19, 22)
clc
ret
com2ReceivePacket_bufferAvailable:
push xl
push xh
rcall com2ReceivePacketIntoX
lds r16, com2Address
rcall com2ReceivePacketRaw
pop xh
pop xl
brcs com2ReceivePacket_received
rcall COM2_BufferDeallocBack
clc
ret
com2ReceivePacket_received:
brcc com2ReceivePacket_error
rcall com2CheckMessageInBuffer ; (R16, R17, R18, R19, R20, X)
brcs com2ReceivePacket_crcOkay
ldi xl, LOW(com2StatsContentError)
ldi xh, HIGH(com2StatsContentError)
rcall Utils_IncrementCounter16 ; (r18, r19, 22)
clc
ret
com2ReceivePacket_crcOkay:
brcc com2ReceivePacket_dataError
; everything okay
ldi xl, LOW(com2StatsPacketsIn)
ldi xh, HIGH(com2StatsPacketsIn)
rcall Utils_IncrementCounter16 ; (r18, r19, 22)
sec
ret
; ---------------------------------------------------------------------------
; receive packet into buffer pointed to by X.
;
; OUT:
; - CFLAG: set if okay (packet received), cleared on error
; REGS: r16, r17, x (r18, r19, r20, r21, r22)
com2ReceivePacketIntoX:
; read destination address
rcall com2ReceiveByte ; read byte (R16, R17, R20, R21, R22)
brcc com2ReceivePacket_ioError
; compare destination address (accept "FF" and own address)
cpi r16, 0xff
breq com2ReceivePacket_acceptAddr
lds r17, com2Address
cp r16, r17
breq com2ReceivePacket_acceptAddr
clc ; not for me
ret
com2ReceivePacket_acceptAddr:
st X+, r16 ; store dest address, lock buffer
; read msg length
rcall com2ReceiveByte ; read packet length (R16, R17, R20, R21, R22)
brcc com2ReceivePacket_ioError
st X+, r16
cpi r16, (COM2_BUFFER_SIZE-3)
brcc com2ReceivePacket_contentError ; packet too long
inc r16 ; account for checksum byte
mov r17, r16
com2ReceivePacket_loop:
push r17
rcall com2ReceiveByte ; read byte (R16, R17, R20, R21, R22)
pop r17
brcc com2ReceivePacket_ioError
st X+, r16
dec r17
brne com2ReceivePacket_loop
sec
ret
com2ReceivePacket_error:
cpi r16, COM2_ERROR_IOERROR
breq com2ReceivePacket_ioError
cpi r16, COM2_ERROR_DATAERROR
breq com2ReceivePacket_dataError
rjmp com2ReceivePacket_retnc
com2ReceivePacket_ioError:
ldi xl, LOW(com2StatsIoError)
ldi xh, HIGH(com2StatsIoError)
rjmp com2ReceivePacket_incCounter
com2ReceivePacket_contentError:
rjmp com2ReceivePacket_incCounterDeallocNc
com2ReceivePacket_dataError:
ldi xl, LOW(com2StatsContentError)
ldi xh, HIGH(com2StatsContentError)
rjmp com2ReceivePacket_incCounter
com2ReceivePacket_incCounter:
rcall Utils_IncrementCounter16 ; (r18, r19, 22)
rjmp com2ReceivePacket_incCounterDeallocNc
com2ReceivePacket_incCounterDeallocNc:
rcall Utils_IncrementCounter16 ; (r18, r19, 22)
com2ReceivePacket_deallocRetnc:
rcall COM2_BufferDeallocBack
com2ReceivePacket_retnc:
clc
ret
@@ -412,85 +349,31 @@ COM2_SendPacket:
ldi xh, HIGH(com2SendBuffer)
COM2_SendPacketAtX:
in r15, SREG
push r15
cli
Utils_WaitNanoSecs COM_BIT_LENGTH, 0, r22 ; wait for one bit duration
; check for ATTN line: busy?
cbi COM_PORT_ATTN, COM_PINNUM_ATTN ; disable pullup on ATTN
cbi COM_DDR_ATTN, COM_PINNUM_ATTN ; set ATTN as input
nop ; needed to sample current input
sbis COM_PIN_ATTN, COM_PINNUM_ATTN ; ATTN low?
rjmp COM2_SendPacket_lineBusyError ; jump if it is
rcall COM2_SendPacketWithAttn
brcs COM2_SendPacket_okay
cbi COM_PORT_ATTN, COM_PINNUM_ATTN ; set ATTN low
sbi COM_DDR_ATTN, COM_PINNUM_ATTN ; set ATTN as output
Utils_WaitNanoSecs COM_BIT_LENGTH, 0, r22 ; wait for one bit duration
cpi r16, COM2_ERROR_BUSY
breq COM2_SendPacket_busyError
cpi r16, COM2_ERROR_COLLISION
breq COM2_SendPacket_collError
adiw xh:xl, COM2_MSG_OFFS_MSGLEN
ld r16, X
sbiw xh:xl, COM2_MSG_OFFS_MSGLEN
inc r16 ; account for dest addr
inc r16 ; account for msglen byte
inc r16 ; account for crc byte
rcall com2SendPacketRaw
cbi COM_DDR_ATTN, COM_PINNUM_ATTN ; release ATTN line (by setting direction to IN)
brcc COM2_SendPacket_ioError
; packet successfully sent
ldi xl, LOW(com2StatsPacketsOut)
ldi xh, HIGH(com2StatsPacketsOut)
rcall Utils_IncrementCounter16 ; (r18, r19, r22)
pop r15
out SREG, r15
sec
ret
COM2_SendPacket_ioError:
ldi xl, LOW(com2StatsCollisions)
ldi xh, HIGH(com2StatsCollisions)
rjmp COM2_SendPacket_incCounter
COM2_SendPacket_lineBusyError:
ldi xl, LOW(com2StatsBusyError)
ldi xh, HIGH(com2StatsBusyError)
rjmp COM2_SendPacket_incCounter
COM2_SendPacket_incCounter:
rcall Utils_IncrementCounter16 ; (r18, r19, r22)
pop r15
out SREG, r15
COM2_SendPacket_busyError:
ldi xl, LOW(com2StatsBusyError)
ldi xh, HIGH(com2StatsBusyError)
rjmp COM2_SendPacket_incCounterRetNc
COM2_SendPacket_collError:
ldi xl, LOW(com2StatsCollisions)
ldi xh, HIGH(com2StatsCollisions)
COM2_SendPacket_incCounterRetNc:
rcall Utils_IncrementCounter16 ; (r18, r19, r22)
clc
ret
; ---------------------------------------------------------------------------
; send packet over wire, expects ATTN to be low.
;
; IN:
; - r16: number of bytes to send
; - x : ptr to buffer to send
; OUT:
; - nothing
; REGS: r16, r17, x (r21, r22)
com2SendPacketRaw:
mov r17, r16
com2SendPacket_loop:
ld r16, X+
rcall com2SendByte ; send byte (R16, R21, R22)
brcc com2SendPacket_ioError
dec r17
brne com2SendPacket_loop
COM2_SendPacket_okay:
ldi xl, LOW(com2StatsPacketsOut)
ldi xh, HIGH(com2StatsPacketsOut)
rcall Utils_IncrementCounter16 ; (r18, r19, r22)
sec
ret
com2SendPacket_ioError:
clc
ret
@@ -544,466 +427,10 @@ com2IsrPcint0_end:
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; Lowlevel IO
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; ---------------------------------------------------------------------------
; com2SendByte
;
; Send a byte.
; We only set the data pin to low at the beginning for the startbit. After that
; we only change the pin direction (e.g. input vs output):
; - for 0 bit: set DDR to output, forcing the data line low
; - for 1 bit: set DDR to input, letting the external pullup R pull the data line to HIGH
; since the output pin is still set to 0 the internal pullup is disabled
; IN:
; - R16: byte to send
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R16, R21, R22
com2SendByte:
ldi r21, 8 ; +1 bits left
; send startbit
cbi COM_PORT_DATA, COM_PINNUM_DATA ; +2 set DATA low
sbi COM_DDR_DATA, COM_PINNUM_DATA ; +2 set DATA as output
Utils_WaitNanoSecs COM_BIT_LENGTH, 5, r22 ; wait for one bit duration
; send data bits
com2SendByte_loop: ; 9 for low bit
lsr r16 ; 1+ bit to send -> CARRY
brcs com2SendByte_setHigh ; HI: +2, LO: +1
com2SendByte_setLow:
sbi COM_DDR_DATA, COM_PINNUM_DATA ; +2 set DATA as output
Utils_WaitNanoSecs COM_BIT_LENGTH, 9, r22
rjmp com2SendByte_loopEnd ; +2
com2SendByte_setHigh:
cbi COM_DDR_DATA, COM_PINNUM_DATA ; +2 set DATA as input, pullup R makes it ONE
nop ; +1 (to make pin change available)
Utils_WaitNanoSecs COM_BIT_LENGTH/2, 11, r22 ; wait for half a bit length for line to safely settle
sbis COM_PIN_DATA, COM_PINNUM_DATA ; +1 if no skip, +2 if skipped
rjmp com2SendByte_error ; +2 if error (collision: we wanted line to be high but it is low)
Utils_WaitNanoSecs COM_BIT_LENGTH/2, 0, r22
com2SendByte_loopEnd:
dec r21 ; +1
brne com2SendByte_loop ; +2, sum per loop: 10 cycles
; send stopbit
cbi COM_DDR_DATA, COM_PINNUM_DATA ; +2 set DATA as input, pullup R makes it ONE
Utils_WaitNanoSecs COM_BIT_LENGTH, 4, r22 ; wait for one bit length
sec
ret
com2SendByte_error:
clc
ret
; ---------------------------------------------------------------------------
; com2ReceiveByte
;
; Receive a byte.
;
; IN:
; - nothing
; OUT:
; - CFLAG: set if okay, clear otherwise
; - R16: byte read (if CFLAG set)
; MODIFIED REGS: R16, R20, R21, R22 (R17)
com2ReceiveByte:
cbi COM_DDR_DATA, COM_PINNUM_DATA ; set DATA port as input
cbi COM_PORT_DATA, COM_PINNUM_DATA ; disable internal pullup for DATA
ldi r21, 8 ; bits left
clr r20 ; byte currently receiving
; wait for startbit
rcall com2WaitForDataLow ; (R17)
brcc com2ReceiveByte_error
Utils_WaitNanoSecs COM_BIT_LENGTH/2, 5, r22 ; goto middle of startbit to maximize sync stability
com2ReceiveByte_loop:
Utils_WaitNanoSecs COM_BIT_LENGTH, 8, r22 ; 8 cycles used in the complete loop between waits
sec ; +1
sbic COM_PIN_DATA, COM_PINNUM_DATA ; LOW: +2, HIGH: +1
rjmp com2ReceiveByte_shiftIn ; HIGH: +2, rjmp, use set CFLAG
clc ; LOW: +1
com2ReceiveByte_shiftIn:
ror r20 ; +1
dec r21 ; +1
brne com2ReceiveByte_loop ; +2, sum per loop: 8 cycles
rcall com2WaitForDataHigh ; wait for start of stopbit
brcc com2ReceiveByte_error
mov r16, r20
sec
ret
com2ReceiveByte_error:
clc
ret
; ---------------------------------------------------------------------------
; com2WaitForDataLow
;
; Waits up to COM2_MAXWAIT_US loops for low data line
; IN:
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGISTERS: r17, r22
com2WaitForDataLow:
ldi r17, COM2_MAXWAIT_US
com2WaitForDataLow_loop:
sbis COM_PIN_DATA, COM_PINNUM_DATA
rjmp com2WaitForDataLow_done
rcall com2WaitFor1000ns
dec r17
brne com2WaitForDataLow_loop
clc ; timeout
ret
com2WaitForDataLow_done:
sec ; ok
ret
; ---------------------------------------------------------------------------
; com2WaitForDataHigh
;
; Waits up to COM2_MAXWAIT_US loops for high data line
; IN:
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGISTERS: r17, r22, X
com2WaitForDataHigh:
ldi r17, COM2_MAXWAIT_US
com2WaitForDataHigh_loop:
sbic COM_PIN_DATA, COM_PINNUM_DATA
rjmp com2WaitForDataHigh_done
rcall com2WaitFor1000ns
dec r17
brne com2WaitForDataHigh_loop
clc ; timeout
ret
com2WaitForDataHigh_done:
sec ; ok
ret
; ---------------------------------------------------------------------------
; com2WaitForAttnHigh
;
; Waits up to COM2_MAXWAIT_US loops for high ATTN line
; IN:
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGISTERS: r17, r22, X
com2WaitForAttnHigh:
ldi r17, COM2_MAXWAIT_US
com2WaitForAttnHigh_loop:
sbic COM_PIN_ATTN, COM_PINNUM_ATTN
rjmp com2WaitForAttnHigh_done
rcall com2WaitFor1000ns
dec r17
brne com2WaitForAttnHigh_loop
clc ; timeout
ret
com2WaitForAttnHigh_done:
sec ; ok
ret
; ---------------------------------------------------------------------------
; comWaitFor100ns
;
; Waits for 100 nanoseconds.
; IN:
; OUT:
; - CFLAG: set if okay, clear otherwise
; REGS: r17, r22
com2WaitFor1000ns:
Utils_WaitNanoSecs 1000, 7, r22 ; wait for 100 nanosecs (minus 3 cycles for rcall, 4 for ret)
ret
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; CRC code
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; ---------------------------------------------------------------------------
; add checksum byte to buffer
;
; IN:
; - X : pointer to packet buffer
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R16, R17, R18, R19, X
com2CalcAndAddChecksumByte:
adiw xh:xl, COM2_MSG_OFFS_MSGLEN
ld r18, X ; read msg len
sbiw xh:xl, COM2_MSG_OFFS_MSGLEN
inc r18 ; account for dest address
inc r18 ; account for msg len byte
ldi r19, COM2_CRC_POLYNOMIAL
rcall com2CalcCrc8 ; (R16, R17, R18, R20, X)
st X, r16 ; add checksum byte
sec
ret
; ---------------------------------------------------------------------------
; check message in buffer
;
; IN:
; - X : pointer to packet buffer
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGS: R16, R17, R18, R19, R20, X
com2CheckMessageInBuffer:
adiw xh:xl, COM2_MSG_OFFS_MSGLEN
ld r18, X ; read msg len
sbiw xh:xl, COM2_MSG_OFFS_MSGLEN
inc r18 ; account for dest address
inc r18 ; account for msg len byte
ldi r19, COM2_CRC_POLYNOMIAL
rcall com2CalcCrc8 ; (R16, R17, R18, R20, X)
ld r17, X
cp r16, r17 ; should be equal
brne com2CheckMessageInBuffer_error
sec
ret
com2CheckMessageInBuffer_error:
clc
ret
; ---------------------------------------------------------------------------
; calc crc8 checksum using given polynomial
;
; IN:
; - X : pointer to data to calc crc8 for
; - r18: number of bytes to calc crc8 for
; - r19: polynomial to use (e.g. 0x97: HD=4 up to 119 bytes, e.g. detects all 1 to 3 bit errors)
; OUT:
; - r16: crc8 checksum
; - X : point directly behind the checked area
; MODIFIED REGS: R16, R17, R18, R20, X
com2CalcCrc8:
ldi r16, 0xff ; crc
com2CalcCrc8_loop1:
ld r17, X+ ; running var
eor r16, r17
ldi r20, 8 ; counter for loop2
com2CalcCrc8_loop2:
lsl r16
brcc com2CalcCrc8_l1
eor r16, r19
com2CalcCrc8_l1:
dec r20
brne com2CalcCrc8_loop2
dec r18
brne com2CalcCrc8_loop1
ret
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; buffer code
; +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
; ---------------------------------------------------------------------------
; COM_BufferAlloc
;
; Allocate a transfer buffer.
; IN:
; - nothing
; OUT:
; - CFLAG: set if okay, clear otherwise
; - X: pointer to allocated buffer in SRAM
; MODIFIED REGISTERS: r16, r17, r21
COM2_BufferAlloc:
in r21, SREG ; save global interrupt enable bit from SREG
cli
lds r17, com2RecvBuffersUsed
cpi r17, COM2_BUFFER_NUM
brcc COM2_AllocBuffer_error ; no buffer available
inc r17 ; increment number of buffers used
sts com2RecvBuffersUsed, r17 ; store new value
lds r16, com2MaxBuffersUsed ; calc max buffers used
cp r16, r17
brcc COM2_AllocBuffer_l0
sts com2MaxBuffersUsed, r17
COM2_AllocBuffer_l0:
lds r16, com2RecvBuffersWritePos ; get current write pos
mov r17, r16 ; increment for next call
inc r17
cpi r17, COM2_BUFFER_NUM ; CF set if COM_BUFFER_NUM > R17
brcs COM2_AllocBuffer_l1
clr r17 ; wraparound
COM2_AllocBuffer_l1:
sts com2RecvBuffersWritePos, r17 ; store new writepos for next caller
rcall COM2_BufferPosToX ; (R16, R17)
out SREG, r21 ; restore global interrupt enable bit in SREG
sec
ret
COM2_AllocBuffer_error:
out SREG, r21
clc
ret
; ---------------------------------------------------------------------------
; COM2_BufferDeallocBack
;
; Release a transfer buffer at the end of the list by decreasing the write pos.
; This releases the last allocated buffer!
;
; IN:
; - nothing
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGISTERS: r16, r17, r21
COM2_BufferDeallocBack:
in r21, SREG ; save global interrupt enable bit from SREG
cli
lds r17, com2RecvBuffersUsed
tst r17
breq COM2_BufferDeallocBack_error ; no buffer allocated, nothing to release
dec r17
sts com2RecvBuffersUsed, r17 ; store new value
lds r17, com2RecvBuffersWritePos
tst r17 ; 0?
brne COM2_BufferDeallocBack_l1 ; nope go directly decrement r17
ldi r17, COM2_BUFFER_NUM ; wrap-around
COM2_BufferDeallocBack_l1:
dec r17
sts com2RecvBuffersWritePos, r17
out SREG, r21
sec
ret
COM2_BufferDeallocBack_error:
out SREG, r21
clc
ret
; ---------------------------------------------------------------------------
; COM2_BufferDeallocFront
;
; Release a transfer buffer by increasing the read pos.
;
; IN:
; - nothing
; OUT:
; - CFLAG: set if okay, clear otherwise
; MODIFIED REGISTERS: r16, r17, r21
COM2_BufferDeallocFront:
in r21, SREG ; save global interrupt enable bit from SREG
cli
lds r17, com2RecvBuffersUsed
tst r17
breq COM2_BufferDeallocFront_error ; no buffer allocated, nothing to release
dec r17
sts com2RecvBuffersUsed, r17 ; store new value
lds r17, com2RecvBuffersReadPos
inc r17
cpi r17, COM2_BUFFER_NUM
brcs COM2_BufferDeallocFront_l1
clr r17 ; wrap-around
COM2_BufferDeallocFront_l1:
sts com2RecvBuffersReadPos, r17
out SREG, r21
sec
ret
COM2_BufferDeallocFront_error:
out SREG, r21
clc
ret
; ---------------------------------------------------------------------------
; COM2_BufferPosToX
;
; Get a pointer to the SRAM position of the given buffer.
; CAVE: Code must correspond to COM2_BUFFER_SIZE!!
; IN:
; - R16: buffer number (starting with 0)
; OUT:
; - X: pointer to buffer in SRAM
; MODIFIED REGISTERS: R16, R17
COM2_BufferPosToX:
; calculate offset
clr r17
mov xl, r16
clr xh
lsl xl
rol xh ; *2
add xl, r16
adc xh, r17 ; *3
lsl xl
rol xh ; *6
lsl xl
rol xh ; *12
lsl xl
rol xh ; *24
; add base position of buffers
ldi r16, LOW(com2RecvBuffers)
ldi r17, HIGH(com2RecvBuffers)
add xl, r16
adc xh, r17
ret
.include "com2_packets.asm"
.include "com2_lowlevel.asm"
.include "com2_buffer.asm"
.include "com2_crc.asm"