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incubator-nuttx/drivers/rpmsg/rpmsg_port_uart.c

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/****************************************************************************
* drivers/rpmsg/rpmsg_port_uart.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <debug.h>
#include <errno.h>
#include <fcntl.h>
#include <stdint.h>
#include <stdio.h>
#include <nuttx/crc16.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/mutex.h>
#include <nuttx/fs/fs.h>
#include "rpmsg_port.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define RPMSG_PORT_UART_START 0x7f
#define RPMSG_PORT_UART_END 0x7e
#define RPMSG_PORT_UART_CONNREQ 0x7d
#define RPMSG_PORT_UART_CONNACK 0x7c
#define RPMSG_PORT_UART_ESCAPE 0x7b
#define RPMSG_PORT_UART_ESCAPE_MASK 0x20
#define RPMSG_PORT_UART_BUFLEN 256
#define RPMSG_PORT_UART_RX_WAIT_START 1
#define RPMSG_PORT_UART_RX_RECV_NORMAL 2
#define RPMSG_PORT_UART_RX_RECV_ESCAPE 3
#ifdef CONFIG_RPMSG_PORT_UART_CRC
# define rpmsg_port_uart_crc16(hdr) \
crc16((FAR uint8_t *)&(hdr)->cmd, (hdr)->len - sizeof((hdr)->crc))
#else
# define rpmsg_port_uart_crc16(hdr) 0
#endif
#ifdef CONFIG_RPMSG_PORT_UART_DEBUG
# define rpmsgdump lib_dumpbuffer
# define rpmsgdbg rpmsginfo
#else
# define rpmsgdump(m,b,s)
# define rpmsgdbg(fmt,...)
#endif
/****************************************************************************
* Private Types
****************************************************************************/
struct rpmsg_port_uart_s
{
struct rpmsg_port_s port; /* Rpmsg port device */
struct file file; /* Indicate uart device */
char localcpu[RPMSG_NAME_SIZE];
rpmsg_port_rx_cb_t rx_cb;
bool connected;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static void rpmsg_port_uart_send_data(FAR struct rpmsg_port_uart_s *rpuart,
FAR struct rpmsg_port_header_s *hdr);
static void rpmsg_port_uart_register_callback(FAR struct rpmsg_port_s *port,
rpmsg_port_rx_cb_t callback);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct rpmsg_port_ops_s g_rpmsg_port_uart_ops =
{
.notify_tx_ready = NULL,
.notify_rx_free = NULL,
.register_callback = rpmsg_port_uart_register_callback,
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: rpmsg_port_uart_send_packet
*
* Description:
* Send a data packet.
*
****************************************************************************/
static void rpmsg_port_uart_send_packet(FAR struct rpmsg_port_uart_s *rpuart,
FAR const void *data, size_t datalen)
{
rpmsgdump("TX Packed Data", data, datalen);
while (datalen > 0)
{
ssize_t ret = file_write(&rpuart->file, data, datalen);
DEBUGASSERT(ret >= 0);
data = (FAR uint8_t *)data + ret;
datalen -= ret;
}
rpmsgdbg("Sent %zu Data\n", datalen);
}
/****************************************************************************
* Name: rpmsg_port_uart_send_frame
*
* Description:
* Send a frame.
*
****************************************************************************/
static void rpmsg_port_uart_send_frame(FAR struct rpmsg_port_uart_s *rpuart,
FAR const void *data, size_t datalen)
{
uint8_t buf[RPMSG_PORT_UART_BUFLEN];
uint8_t ch;
size_t next = 0;
rpmsgdump("Send Data", data, datalen);
/* Pack start frame char first */
buf[next++] = RPMSG_PORT_UART_START;
/* Pack the data */
for (; datalen-- > 0; data = (FAR uint8_t *)data + 1)
{
ch = *(FAR uint8_t *)data;
if (ch >= RPMSG_PORT_UART_ESCAPE && ch <= RPMSG_PORT_UART_START)
{
buf[next++] = RPMSG_PORT_UART_ESCAPE;
buf[next++] = ch ^ RPMSG_PORT_UART_ESCAPE_MASK;
}
else
{
buf[next++] = ch;
}
if (next > RPMSG_PORT_UART_BUFLEN - 2)
{
rpmsg_port_uart_send_packet(rpuart, buf, next);
next = 0;
}
}
/* Pack end frame char */
buf[next++] = RPMSG_PORT_UART_END;
/* Send this frame */
rpmsg_port_uart_send_packet(rpuart, buf, next);
}
/****************************************************************************
* Name: rpmsg_port_uart_send_data
*
* Description:
* Send a data frame.
*
****************************************************************************/
static void rpmsg_port_uart_send_data(FAR struct rpmsg_port_uart_s *rpuart,
FAR struct rpmsg_port_header_s *hdr)
{
rpmsgdbg("Send data len: %" PRIu16 "\n", hdr->len);
hdr->cmd = 0;
hdr->avail = 0;
hdr->crc = rpmsg_port_uart_crc16(hdr);
rpmsg_port_uart_send_frame(rpuart, hdr, hdr->len);
}
/****************************************************************************
* Name: rpmsg_port_uart_send_connect_req
****************************************************************************/
static void
rpmsg_port_uart_send_connect_req(FAR struct rpmsg_port_uart_s *rpuart)
{
uint8_t ch = RPMSG_PORT_UART_CONNREQ;
ssize_t ret = file_write(&rpuart->file, &ch, 1);
if (ret != 1)
{
rpmsgerr("Send connect request failed, ret=%d\n", ret);
PANIC();
}
}
/****************************************************************************
* Name: rpmsg_port_uart_send_connect_ack
****************************************************************************/
static void
rpmsg_port_uart_send_connect_ack(FAR struct rpmsg_port_uart_s *rpuart)
{
uint8_t ch = RPMSG_PORT_UART_CONNACK;
ssize_t ret = file_write(&rpuart->file, &ch, 1);
if (ret != 1)
{
rpmsgerr("Send connect ack failed, ret=%d\n", ret);
PANIC();
}
}
/****************************************************************************
* Name: rpmsg_port_uart_register_callback
****************************************************************************/
static void rpmsg_port_uart_register_callback(FAR struct rpmsg_port_s *port,
rpmsg_port_rx_cb_t callback)
{
FAR struct rpmsg_port_uart_s *rpuart =
(FAR struct rpmsg_port_uart_s *)port;
rpuart->rx_cb = callback;
}
/****************************************************************************
* Name: rpmsg_port_uart_process_rx_conn
****************************************************************************/
static void
rpmsg_port_uart_process_rx_conn(FAR struct rpmsg_port_uart_s *rpuart,
uint8_t ch)
{
if (ch == RPMSG_PORT_UART_CONNREQ)
{
rpmsgdbg("Connect Request Command %d\n", rpuart->connected);
if (rpuart->connected)
{
rpmsg_port_unregister(&rpuart->port);
}
else
{
rpuart->connected = true;
}
rpmsg_port_uart_send_connect_ack(rpuart);
rpmsg_port_register(&rpuart->port, rpuart->localcpu);
}
else if (ch == RPMSG_PORT_UART_CONNACK)
{
rpmsgdbg("Connect Ack Command %d\n", rpuart->connected);
if (!rpuart->connected)
{
rpuart->connected = true;
rpmsg_port_register(&rpuart->port, rpuart->localcpu);
}
}
}
/****************************************************************************
* Name: rpmsg_port_uart_rx_thread
****************************************************************************/
static int rpmsg_port_uart_rx_thread(int argc, FAR char *argv[])
{
FAR struct rpmsg_port_uart_s *rpuart =
(FAR struct rpmsg_port_uart_s *)(uintptr_t)strtoul(argv[2], NULL, 16);
FAR struct rpmsg_port_queue_s *rxq = &rpuart->port.rxq;
FAR struct rpmsg_port_header_s *hdr = NULL;
uint8_t state = RPMSG_PORT_UART_RX_WAIT_START;
uint8_t buf[RPMSG_PORT_UART_BUFLEN];
uint16_t next;
for (; ; )
{
ssize_t ret;
ssize_t i;
ret = file_read(&rpuart->file, buf, sizeof(buf));
if (ret < 0)
{
rpmsgerr("file_read failed, ret=%zd\n", ret);
PANIC();
}
rpmsgdump("Received data:", buf, ret);
for (i = 0; i < ret; i++)
{
if (buf[i] == RPMSG_PORT_UART_CONNREQ ||
buf[i] == RPMSG_PORT_UART_CONNACK)
{
if (hdr != NULL)
{
rpmsg_port_queue_return_buffer(rxq, hdr);
hdr = NULL;
}
rpmsg_port_uart_process_rx_conn(rpuart, buf[i]);
state = RPMSG_PORT_UART_RX_WAIT_START;
continue;
}
if (rpuart->connected == false)
{
continue;
}
switch (state)
{
case RPMSG_PORT_UART_RX_WAIT_START:
if (buf[i] == RPMSG_PORT_UART_START)
{
if (hdr == NULL)
{
hdr = rpmsg_port_queue_get_available_buffer(rxq,
true);
next = 0;
}
state = RPMSG_PORT_UART_RX_RECV_NORMAL;
}
break;
case RPMSG_PORT_UART_RX_RECV_NORMAL:
if (buf[i] == RPMSG_PORT_UART_START)
{
rpmsgerr("Recv dup start char, i=%zd\n", i);
state = RPMSG_PORT_UART_RX_WAIT_START;
}
else if (buf[i] == RPMSG_PORT_UART_END)
{
DEBUGASSERT(hdr->len == next);
DEBUGASSERT(hdr->crc == 0 ||
hdr->crc == rpmsg_port_uart_crc16(hdr));
if (rpuart->rx_cb != NULL)
{
rpuart->rx_cb(&rpuart->port, hdr);
}
state = RPMSG_PORT_UART_RX_WAIT_START;
hdr = NULL;
}
else if (buf[i] == RPMSG_PORT_UART_ESCAPE)
{
state = RPMSG_PORT_UART_RX_RECV_ESCAPE;
}
else
{
*((FAR char *)hdr + next++) = buf[i];
}
break;
case RPMSG_PORT_UART_RX_RECV_ESCAPE:
*((FAR char *)hdr + next++) =
buf[i] ^ RPMSG_PORT_UART_ESCAPE_MASK;
state = RPMSG_PORT_UART_RX_RECV_NORMAL;
break;
default:
PANIC();
}
}
}
return 0;
}
/****************************************************************************
* Name: rpmsg_port_uart_tx_thread
****************************************************************************/
static int rpmsg_port_uart_tx_thread(int argc, FAR char *argv[])
{
FAR struct rpmsg_port_uart_s *rpuart =
(FAR struct rpmsg_port_uart_s *)(uintptr_t)strtoul(argv[2], NULL, 16);
FAR struct rpmsg_port_queue_s *txq = &rpuart->port.txq;
FAR struct rpmsg_port_header_s *hdr;
rpmsg_port_uart_send_connect_req(rpuart);
for (; ; )
{
while (!rpuart->connected)
{
nxsig_usleep(100000);
}
while ((hdr = rpmsg_port_queue_get_buffer(txq, true)) != NULL)
{
rpmsg_port_uart_send_data(rpuart, hdr);
rpmsg_port_queue_return_buffer(txq, hdr);
}
}
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: rpmsg_port_uart_initialize
*
* Description:
* Initialze a rpmsg_port_uart device to communicate between two chips.
*
* Input Parameters:
* cfg - Configuration of buffers needed for communication.
* uartpath - Uart device path.
* localcpu - Local cpu name
*
****************************************************************************/
int rpmsg_port_uart_initialize(FAR const struct rpmsg_port_config_s *cfg,
FAR const char *uartpath,
FAR const char *localcpu)
{
FAR struct rpmsg_port_uart_s *rpuart;
FAR char *argv[3];
char arg1[32];
int ret;
int rx;
rpuart = kmm_zalloc(sizeof(*rpuart));
if (rpuart == NULL)
{
rpmsgerr("Malloc rptun uart failed\n");
return -ENOMEM;
}
/* Hardware initialize */
ret = file_open(&rpuart->file, uartpath, O_RDWR);
if (ret < 0)
{
rpmsgerr("Open uart device failed, ret=%d\n", ret);
goto err_file;
}
if (localcpu != NULL)
{
strlcpy(rpuart->localcpu, localcpu, sizeof(rpuart->localcpu));
}
ret = rpmsg_port_initialize(&rpuart->port, cfg, &g_rpmsg_port_uart_ops);
if (ret < 0)
{
rpmsgerr("Port initialize failed, ret=%d\n", ret);
goto err_rpmsg_port;
}
snprintf(arg1, sizeof(arg1), "%p", rpuart);
argv[0] = (FAR char *)cfg->remotecpu;
argv[1] = arg1;
argv[2] = NULL;
ret = kthread_create("rpmsg-uart-rx",
CONFIG_RPMSG_PORT_UART_RX_THREAD_PRIORITY,
CONFIG_RPMSG_PORT_UART_RX_THREAD_STACKSIZE,
rpmsg_port_uart_rx_thread, argv);
if (ret < 0)
{
rpmsgerr("Rx thread create failed, ret=%d\n", ret);
goto err_rx_thread;
}
rx = ret;
argv[0] = (FAR char *)cfg->remotecpu;
argv[1] = arg1;
argv[2] = NULL;
ret = kthread_create("rpmsg-uart-tx",
CONFIG_RPMSG_PORT_UART_TX_THREAD_PRIORITY,
CONFIG_RPMSG_PORT_UART_TX_THREAD_STACKSIZE,
rpmsg_port_uart_tx_thread, argv);
if (ret < 0)
{
rpmsgerr("Tx thread create failed, ret=%d\n", ret);
goto err_tx_thread;
}
return ret;
err_tx_thread:
kthread_delete(rx);
err_rx_thread:
rpmsg_port_uninitialize(&rpuart->port);
err_rpmsg_port:
file_close(&rpuart->file);
err_file:
kmm_free(rpuart);
return ret;
}
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