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1.18.0
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rcbench
Servo and ESC test bench: panel, IOmcu and shared C
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The Hitec wire on one RP2350 pin. More...
#include "hitec_line.h"#include <stdint.h>#include <string.h>#include "hardware/clocks.h"#include "hardware/dma.h"#include "hardware/gpio.h"#include "hardware/pio.h"#include "hardware/structs/io_bank0.h"#include "hardware/structs/pads_bank0.h"#include "hardware/timer.h"#include "pico.h"#include "hitec_line.pio.h"Functions | |
| static PIO | line_pio (const hitec_line_t *l) |
| Get the PIO block of a line. | |
| static void | set_pull (unsigned pin, uint8_t family) |
| The family's pull: classic down, the D series up. | |
| static bool | line_idle (const hitec_line_t *l) |
| The state machine waits for a stream: it stalls on the first out, the FIFO is empty and the channel has handed over every word. | |
| static void | line_ready (PIO pio, uint sm, uint offset) |
| Run the program's drain on the stopped machine and put it on the out it stalls on between transactions: the output shift register is empty, whatever a restart left in it, and line_idle() holds from the moment the machine runs again. | |
| static void | line_restart (hitec_line_t *l) |
| Put the state machine at idle with the pad released, whatever it was doing. | |
| static bool | answer_due (const hitec_line_t *l, unsigned n) |
Whether the answer is still to go out with n bytes received: a restart now cuts it. | |
| static unsigned | rx_count (const hitec_line_t *l) |
| Bytes the receive channel has written. | |
| static bool | rx_settled (const hitec_line_t *l) |
| The receive channel has every word the machine pushed, or all it takes. | |
| static void | rx_settle (const hitec_line_t *l) |
| Wait up to RX_SETTLE_SPINS FIFO reads for the channel to take the words still in the receive FIFO. | |
| static unsigned | rx_stop_count (hitec_line_t *l) |
| Stop the machine and count the bytes it received. | |
| static uint32_t | pre_words_us (const hitec_line_t *l, uint32_t words) |
The longest words sample words take, in us, rounded up. | |
| static void | pre_take (hitec_line_t *l) |
| The pad to the sampler, and the sampler started: the pin's control and pad registers kept, the pin in the sampler's block with no input override, 2mA and slow slew, the samples to the line object. | |
| static uint32_t | pre_words_in (const hitec_line_t *l) |
| Sample words written so far: the channel's write address moves after each write. | |
| static bool | pre_rx_stalled (const hitec_line_t *l) |
| Whether the sampler's receive FIFO has run full since its start. | |
| static bool | pre_give (hitec_line_t *l) |
| The sampler stopped with the pad released and the pin's two registers back as they were. | |
| static void | pre_sample (hitec_line_t *l) |
| The sampler from the start of a LISTEN, or once the request is out. | |
| static bool | pre_poll (hitec_line_t *l, hitec_capture_t *out) |
| poll() of a transaction the sampler receives. | |
| void | hitec_line_init (hitec_line_t *line) |
Mark line closed. | |
| hitec_line_err_t | hitec_line_open (hitec_line_t *line, unsigned pin, uint8_t family, uint8_t drive) |
Claim the resources and take pin for family (hitec_family_t) with drive (hitec_drive_t): from the return on the pad is a released input with the family's pull. | |
| static pio_program_t | pre_program (const hitec_line_t *l) |
| The sampler's program as the SDK takes it. | |
| static hitec_line_err_t | pre_claim (hitec_line_t *l, unsigned pin) |
Claim the sampler's state machine, program and DMA channel for pin. | |
| static void | pre_unclaim (hitec_line_t *l) |
| Give back the sampler state machine, its program and its DMA channel. | |
| hitec_line_err_t | hitec_line_open_rx (hitec_line_t *line, unsigned pin, uint8_t family, uint8_t drive, uint8_t rx_mode) |
hitec_line_open() with the receive mode rx (hitec_rx_mode_t). | |
| void | hitec_line_close (hitec_line_t *line) |
| Stop the state machine, give back what the open claimed and leave the pad an input with the family's pull and no input override. | |
| bool | hitec_line_is_open (const hitec_line_t *line) |
| Check whether a line is open. | |
| bool | hitec_line_busy (const hitec_line_t *line) |
| A transaction runs: between a start() that returned true and the poll() that returns true. | |
| uint8_t | hitec_line_rx_mode (const hitec_line_t *line) |
| The receive mode of the open line; HITEC_RX_PULL_UP while closed. | |
| uint32_t | hitec_line_bit_ns (const hitec_line_t *line) |
| The bit time the system clock gives, in ns; 0 on a closed line. | |
| void | hitec_line_abort (hitec_line_t *line) |
| Cut the running transaction: the pad is released at once, and the next poll() returns the bytes so far with the capture marked aborted. | |
| static bool | line_start (hitec_line_t *l, const hitec_xfer_t *xfer) |
| Start a transaction on the line's own state machine. | |
| bool | hitec_line_start (void *ctx, const hitec_xfer_t *xfer) |
The three functions of hitec_driver_t; ctx is the hitec_line_t. | |
| bool | hitec_line_poll (void *ctx, hitec_capture_t *out) |
| Poll a transaction; the second of the three driver functions. | |
| uint32_t | hitec_line_now_us (void *ctx) |
| Read the microsecond clock; the third of the three driver functions. | |
| hitec_driver_t | hitec_line_driver (hitec_line_t *line) |
The driver for line. | |
| void hitec_line_abort | ( | hitec_line_t * | line | ) |
Cut the running transaction: the pad is released at once, and the next poll() returns the bytes so far with the capture marked aborted.
Does nothing when no transaction runs.
| line | Line object. |
| uint32_t hitec_line_bit_ns | ( | const hitec_line_t * | line | ) |
The bit time the system clock gives, in ns; 0 on a closed line.
| line | Line object. |
| bool hitec_line_busy | ( | const hitec_line_t * | line | ) |
A transaction runs: between a start() that returned true and the poll() that returns true.
| line | Line object. |
| void hitec_line_close | ( | hitec_line_t * | line | ) |
Stop the state machine, give back what the open claimed and leave the pad an input with the family's pull and no input override.
A transaction on the wire is cut. Safe on a closed line.
| line | Line object. |
| hitec_driver_t hitec_line_driver | ( | hitec_line_t * | line | ) |
| void hitec_line_init | ( | hitec_line_t * | line | ) |
Mark line closed.
Call once, before the first open.
| line | Line object to mark closed. |
| bool hitec_line_is_open | ( | const hitec_line_t * | line | ) |
Check whether a line is open.
| line | Line object. |
| uint32_t hitec_line_now_us | ( | void * | ctx | ) |
Read the microsecond clock; the third of the three driver functions.
| ctx | The hitec_line_t. |
| hitec_line_err_t hitec_line_open | ( | hitec_line_t * | line, |
| unsigned | pin, | ||
| uint8_t | family, | ||
| uint8_t | drive ) |
Claim the resources and take pin for family (hitec_family_t) with drive (hitec_drive_t): from the return on the pad is a released input with the family's pull.
The caller has stopped every other use of the pin. On an error nothing stays claimed and the pin is not touched. An open line is closed first.
| line | Line object. |
| pin | GPIO number. |
| family | hitec_family_t value. |
| drive | hitec_drive_t value. |
| hitec_line_err_t hitec_line_open_rx | ( | hitec_line_t * | line, |
| unsigned | pin, | ||
| uint8_t | family, | ||
| uint8_t | drive, | ||
| uint8_t | rx ) |
hitec_line_open() with the receive mode rx (hitec_rx_mode_t).
HITEC_RX_PULL_UP is hitec_line_open(). HITEC_RX_PRECHARGE takes the D series only (HITEC_LINE_ERR_ARG for classic) and claims the sampler as well; on an error nothing stays claimed and the pin is not touched.
| line | Line object. |
| pin | GPIO number. |
| family | hitec_family_t value. |
| drive | hitec_drive_t value. |
| rx | hitec_rx_mode_t value. |
| bool hitec_line_poll | ( | void * | ctx, |
| hitec_capture_t * | out ) |
Poll a transaction; the second of the three driver functions.
| ctx | The hitec_line_t. |
| out | Receives the capture when the transaction has ended. |
| uint8_t hitec_line_rx_mode | ( | const hitec_line_t * | line | ) |
The receive mode of the open line; HITEC_RX_PULL_UP while closed.
| line | Line object. |
| bool hitec_line_start | ( | void * | ctx, |
| const hitec_xfer_t * | xfer ) |
The three functions of hitec_driver_t; ctx is the hitec_line_t.
| ctx | The hitec_line_t. |
| xfer | Transaction to run. |
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The state machine waits for a stream: it stalls on the first out, the FIFO is empty and the channel has handed over every word.
A stream is 3 words or more and the program reads all of them before the receiver starts, so this is false from the start of a transfer to the end of the transaction.
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Run the program's drain on the stopped machine and put it on the out it stalls on between transactions: the output shift register is empty, whatever a restart left in it, and line_idle() holds from the moment the machine runs again.
The transmit FIFO is empty, so autopull takes nothing.
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Start a transaction on the line's own state machine.
A transaction on the line's own state machine.
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Claim the sampler's state machine, program and DMA channel for pin.
Touches no pin; on false nothing stays claimed.
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The sampler stopped with the pad released and the pin's two registers back as they were.
True when samples went missing: the receive FIFO ran full while the channel still had words to take. Once the channel has every word, the state machine runs on until this stops it and fills the FIFO in 8 words, 278us at 150MHz; that stall loses nothing.
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Wait up to RX_SETTLE_SPINS FIFO reads for the channel to take the words still in the receive FIFO.
The caller has made sure the machine pushes nothing more.
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Stop the machine and count the bytes it received.
Stopped first, so it pushes nothing more; then the channel takes what is still in the receive FIFO, and only then is the count read. A byte pushed just before the stop is counted, not cleared by the restart that follows. The machine stays stopped at its address, so answer_due() reads where it stopped.
| l | The line, busy on its own state machine. |
1.18.0