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Add ps2_interrupt.c

master
tmk 2013-11-28 14:20:00 +09:00
parent 532e100450
commit 4eb27ee890
4 changed files with 124 additions and 310 deletions
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2
protocol.mk
View File

@ -13,7 +13,7 @@ ifdef PS2_USE_BUSYWAIT
endif endif
ifdef PS2_USE_INT ifdef PS2_USE_INT
SRC += protocol/ps2.c SRC += protocol/ps2_interrupt.c
OPT_DEFS += -DPS2_USE_INT OPT_DEFS += -DPS2_USE_INT
endif endif

51
protocol/ps2_busywait.c
View File

@ -35,16 +35,16 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. POSSIBILITY OF SUCH DAMAGE.
*/ */
/*
* PS/2 protocol busywait version
*/
#include <stdbool.h> #include <stdbool.h>
#include <util/delay.h> #include <util/delay.h>
#include "ps2.h" #include "ps2.h"
#include "debug.h" #include "debug.h"
/*
* PS/2 protocol busywait version
*/
#define WAIT(stat, us, err) do { \ #define WAIT(stat, us, err) do { \
if (!wait_##stat(us)) { \ if (!wait_##stat(us)) { \
ps2_error = err; \ ps2_error = err; \
@ -52,6 +52,7 @@ POSSIBILITY OF SUCH DAMAGE.
} \ } \
} while (0) } while (0)
uint8_t ps2_error = PS2_ERR_NONE; uint8_t ps2_error = PS2_ERR_NONE;
@ -65,18 +66,19 @@ void ps2_host_init(void)
uint8_t ps2_host_send(uint8_t data) uint8_t ps2_host_send(uint8_t data)
{ {
uint8_t res = 0;
bool parity = true; bool parity = true;
ps2_error = PS2_ERR_NONE; ps2_error = PS2_ERR_NONE;
/* terminate a transmission if we have */ /* terminate a transmission if we have */
inhibit(); inhibit();
_delay_us(200); // at least 100us _delay_us(100); // 100us [4]p.13, [5]p.50
/* start bit [1] */ /* 'Request to Send' and Start bit */
data_lo(); data_lo();
clock_hi(); clock_hi();
WAIT(clock_lo, 20000, 10); // may take 15ms at most until device starts clocking WAIT(clock_lo, 10000, 10); // 10ms [5]p.50
/* data [2-9] */
/* Data bit */
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
_delay_us(15); _delay_us(15);
if (data&(1<<i)) { if (data&(1<<i)) {
@ -88,15 +90,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2); WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3); WAIT(clock_lo, 50, 3);
} }
/* parity [10] */
/* Parity bit */
_delay_us(15); _delay_us(15);
if (parity) { data_hi(); } else { data_lo(); } if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4); WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5); WAIT(clock_lo, 50, 5);
/* stop bit [11] */
/* Stop bit */
_delay_us(15); _delay_us(15);
data_hi(); data_hi();
/* ack [12] */
/* Ack */
WAIT(data_lo, 50, 6); WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7); WAIT(clock_lo, 50, 7);
@ -105,17 +110,16 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(data_hi, 50, 9); WAIT(data_hi, 50, 9);
inhibit(); inhibit();
res = ps2_host_recv_response(); return ps2_host_recv_response();
ERROR: ERROR:
inhibit(); inhibit();
return res; return 0;
} }
/* receive data when host want else inhibit communication */ /* receive data when host want else inhibit communication */
uint8_t ps2_host_recv_response(void) uint8_t ps2_host_recv_response(void)
{ {
// Command might take 20ms to response([3]p.21) // Command may take 25ms/20ms at most([5]p.46, [3]p.21)
// TrackPoint might take 25ms ([5]2.7)
// 250 * 100us(wait for start bit in ps2_host_recv) // 250 * 100us(wait for start bit in ps2_host_recv)
uint8_t data = 0; uint8_t data = 0;
uint8_t try = 250; uint8_t try = 250;
@ -125,14 +129,6 @@ uint8_t ps2_host_recv_response(void)
return data; return data;
} }
/* send LED state to keyboard */
void ps2_host_set_led(uint8_t led)
{
ps2_host_send(0xED);
ps2_host_send(led);
}
/* called after start bit comes */ /* called after start bit comes */
uint8_t ps2_host_recv(void) uint8_t ps2_host_recv(void)
{ {
@ -180,3 +176,10 @@ ERROR:
inhibit(); inhibit();
return 0; return 0;
} }
/* send LED state to keyboard */
void ps2_host_set_led(uint8_t led)
{
ps2_host_send(0xED);
ps2_host_send(led);
}

358
protocol/ps2.c → protocol/ps2_interrupt.c
View File

@ -35,49 +35,16 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. POSSIBILITY OF SUCH DAMAGE.
*/ */
/*
* PS/2 protocol Pin interrupt version
*/
#include <stdbool.h> #include <stdbool.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h> #include <util/delay.h>
#include "ps2.h" #include "ps2.h"
#include "debug.h" #include "debug.h"
#ifndef PS2_USE_INT
static uint8_t recv_data(void);
#endif
static inline void clock_lo(void);
static inline void clock_hi(void);
static inline bool clock_in(void);
static inline void data_lo(void);
static inline void data_hi(void);
static inline bool data_in(void);
static inline uint16_t wait_clock_lo(uint16_t us);
static inline uint16_t wait_clock_hi(uint16_t us);
static inline uint16_t wait_data_lo(uint16_t us);
static inline uint16_t wait_data_hi(uint16_t us);
static inline void idle(void);
static inline void inhibit(void);
/*
Primitive PS/2 Library for AVR
==============================
Host side is only supported now.
I/O control
-----------
High state is asserted by input with pull up.
PS/2 References
---------------
http://www.computer-engineering.org/ps2protocol/
http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
*/
#define WAIT(stat, us, err) do { \ #define WAIT(stat, us, err) do { \
if (!wait_##stat(us)) { \ if (!wait_##stat(us)) { \
ps2_error = err; \ ps2_error = err; \
@ -89,38 +56,38 @@ http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
uint8_t ps2_error = PS2_ERR_NONE; uint8_t ps2_error = PS2_ERR_NONE;
static inline uint8_t pbuf_dequeue(void);
static inline void pbuf_enqueue(uint8_t data);
static inline bool pbuf_has_data(void);
static inline void pbuf_clear(void);
void ps2_host_init(void) void ps2_host_init(void)
{ {
// POR(150-2000ms) plus BAT(300-500ms) may take 2.5sec([3]p.20) idle();
_delay_ms(2500);
#ifdef PS2_USE_INT
PS2_INT_INIT(); PS2_INT_INIT();
PS2_INT_ON(); PS2_INT_ON();
idle(); // POR(150-2000ms) plus BAT(300-500ms) may take 2.5sec([3]p.20)
#else //_delay_ms(2500);
inhibit();
#endif
} }
// TODO: send using interrupt if available
uint8_t ps2_host_send(uint8_t data) uint8_t ps2_host_send(uint8_t data)
{ {
uint8_t res = 0;
bool parity = true; bool parity = true;
ps2_error = PS2_ERR_NONE; ps2_error = PS2_ERR_NONE;
#ifdef PS2_USE_INT
PS2_INT_OFF(); PS2_INT_OFF();
#endif
/* terminate a transmission if we have */ /* terminate a transmission if we have */
inhibit(); inhibit();
_delay_us(200); // at least 100us _delay_us(100); // 100us [4]p.13, [5]p.50
/* start bit [1] */ /* 'Request to Send' and Start bit */
data_lo(); data_lo();
clock_hi(); clock_hi();
WAIT(clock_lo, 20000, 10); // may take 15ms at most until device starts clocking WAIT(clock_lo, 10000, 10); // 10ms [5]p.50
/* data [2-9] */
/* Data bit[2-9] */
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
_delay_us(15); _delay_us(15);
if (data&(1<<i)) { if (data&(1<<i)) {
@ -132,15 +99,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2); WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3); WAIT(clock_lo, 50, 3);
} }
/* parity [10] */
/* Parity bit */
_delay_us(15); _delay_us(15);
if (parity) { data_hi(); } else { data_lo(); } if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4); WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5); WAIT(clock_lo, 50, 5);
/* stop bit [11] */
/* Stop bit */
_delay_us(15); _delay_us(15);
data_hi(); data_hi();
/* ack [12] */
/* Ack */
WAIT(data_lo, 50, 6); WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7); WAIT(clock_lo, 50, 7);
@ -148,107 +118,35 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 8); WAIT(clock_hi, 50, 8);
WAIT(data_hi, 50, 9); WAIT(data_hi, 50, 9);
#ifdef PS2_USE_INT
PS2_INT_ON();
#endif
res = ps2_host_recv_response();
ERROR:
#ifdef PS2_USE_INT
PS2_INT_ON();
idle(); idle();
#else PS2_INT_ON();
inhibit(); return ps2_host_recv_response();
#endif ERROR:
return res; idle();
PS2_INT_ON();
return 0;
} }
#ifndef PS2_USE_INT
/* receive data when host want else inhibit communication */
uint8_t ps2_host_recv_response(void) uint8_t ps2_host_recv_response(void)
{ {
// Command might take 20ms to response([3]p.21) // Command may take 25ms/20ms at most([5]p.46, [3]p.21)
// TrackPoint might take 25ms ([5]2.7) uint8_t retry = 25;
uint8_t data = 0; while (retry-- && !pbuf_has_data()) {
uint8_t try = 200; _delay_ms(1);
while (try-- && (data = ps2_host_recv())) ;
return data;
}
#endif
#ifndef PS2_USE_INT
uint8_t ps2_host_recv(void)
{
uint8_t data = 0;
/* release lines(idle state) */
idle();
/* wait start bit */
wait_clock_lo(100); // TODO: this is enough?
data = recv_data();
inhibit();
return data;
}
#else
/* ring buffer to store ps/2 key data */
#define PBUF_SIZE 32
static uint8_t pbuf[PBUF_SIZE];
static uint8_t pbuf_head = 0;
static uint8_t pbuf_tail = 0;
static inline void pbuf_enqueue(uint8_t data)
{
uint8_t sreg = SREG;
cli();
uint8_t next = (pbuf_head + 1) % PBUF_SIZE;
if (next != pbuf_tail) {
pbuf[pbuf_head] = data;
pbuf_head = next;
} else {
debug("pbuf: full\n");
} }
SREG = sreg; return pbuf_dequeue();
}
static inline uint8_t pbuf_dequeue(void)
{
uint8_t val = 0;
uint8_t sreg = SREG;
cli();
if (pbuf_head != pbuf_tail) {
val = pbuf[pbuf_tail];
pbuf_tail = (pbuf_tail + 1) % PBUF_SIZE;
}
SREG = sreg;
return val;
}
static inline bool pbuf_has_data(void)
{
uint8_t sreg = SREG;
cli();
bool has_data = (pbuf_head != pbuf_tail);
SREG = sreg;
return has_data;
}
static inline void pbuf_clear(void)
{
uint8_t sreg = SREG;
cli();
pbuf_head = pbuf_tail = 0;
SREG = sreg;
} }
/* get data received by interrupt */ /* get data received by interrupt */
uint8_t ps2_host_recv(void) uint8_t ps2_host_recv(void)
{ {
return pbuf_dequeue(); if (pbuf_has_data()) {
} ps2_error = PS2_ERR_NONE;
return pbuf_dequeue();
uint8_t ps2_host_recv_response(void) } else {
{ ps2_error = PS2_ERR_NODATA;
while (!pbuf_has_data()) ; return 0;
return pbuf_dequeue(); }
} }
ISR(PS2_INT_VECT) ISR(PS2_INT_VECT)
@ -303,7 +201,6 @@ ISR(PS2_INT_VECT)
if (!data_in()) if (!data_in())
goto ERROR; goto ERROR;
pbuf_enqueue(data); pbuf_enqueue(data);
//phex(data);
goto DONE; goto DONE;
break; break;
default: default:
@ -311,7 +208,6 @@ ISR(PS2_INT_VECT)
} }
goto RETURN; goto RETURN;
ERROR: ERROR:
inhibit();
ps2_error = state; ps2_error = state;
DONE: DONE:
state = INIT; state = INIT;
@ -320,8 +216,6 @@ DONE:
RETURN: RETURN:
return; return;
} }
#endif
/* send LED state to keyboard */ /* send LED state to keyboard */
void ps2_host_set_led(uint8_t led) void ps2_host_set_led(uint8_t led)
@ -331,139 +225,53 @@ void ps2_host_set_led(uint8_t led)
} }
#ifndef PS2_USE_INT /*--------------------------------------------------------------------
/* called after start bit comes */ * Ring buffer to store scan codes from keyboard
static uint8_t recv_data(void) *------------------------------------------------------------------*/
#define PBUF_SIZE 32
static uint8_t pbuf[PBUF_SIZE];
static uint8_t pbuf_head = 0;
static uint8_t pbuf_tail = 0;
static inline void pbuf_enqueue(uint8_t data)
{ {
uint8_t data = 0; uint8_t sreg = SREG;
bool parity = true; cli();
ps2_error = PS2_ERR_NONE; uint8_t next = (pbuf_head + 1) % PBUF_SIZE;
if (next != pbuf_tail) {
/* start bit [1] */ pbuf[pbuf_head] = data;
WAIT(clock_lo, 1, 1); pbuf_head = next;
WAIT(data_lo, 1, 2); } else {
WAIT(clock_hi, 50, 3); debug("pbuf: full\n");
/* data [2-9] */
for (uint8_t i = 0; i < 8; i++) {
WAIT(clock_lo, 50, 4);
if (data_in()) {
parity = !parity;
data |= (1<<i);
}
WAIT(clock_hi, 50, 5);
} }
SREG = sreg;
}
static inline uint8_t pbuf_dequeue(void)
{
uint8_t val = 0;
/* parity [10] */ uint8_t sreg = SREG;
WAIT(clock_lo, 50, 6); cli();
if (data_in() != parity) { if (pbuf_head != pbuf_tail) {
ps2_error = PS2_ERR_PARITY; val = pbuf[pbuf_tail];
goto ERROR; pbuf_tail = (pbuf_tail + 1) % PBUF_SIZE;
} }
WAIT(clock_hi, 50, 7); SREG = sreg;
/* stop bit [11] */ return val;
WAIT(clock_lo, 50, 8);
WAIT(data_hi, 1, 9);
WAIT(clock_hi, 50, 10);
return data;
ERROR:
return 0;
} }
#endif static inline bool pbuf_has_data(void)
static inline void clock_lo()
{ {
PS2_CLOCK_PORT &= ~(1<<PS2_CLOCK_BIT); uint8_t sreg = SREG;
PS2_CLOCK_DDR |= (1<<PS2_CLOCK_BIT); cli();
bool has_data = (pbuf_head != pbuf_tail);
SREG = sreg;
return has_data;
} }
static inline void clock_hi() static inline void pbuf_clear(void)
{ {
/* input with pull up */ uint8_t sreg = SREG;
PS2_CLOCK_DDR &= ~(1<<PS2_CLOCK_BIT); cli();
PS2_CLOCK_PORT |= (1<<PS2_CLOCK_BIT); pbuf_head = pbuf_tail = 0;
} SREG = sreg;
static inline bool clock_in()
{
PS2_CLOCK_DDR &= ~(1<<PS2_CLOCK_BIT);
PS2_CLOCK_PORT |= (1<<PS2_CLOCK_BIT);
_delay_us(1);
return PS2_CLOCK_PIN&(1<<PS2_CLOCK_BIT);
}
static inline void data_lo()
{
PS2_DATA_PORT &= ~(1<<PS2_DATA_BIT);
PS2_DATA_DDR |= (1<<PS2_DATA_BIT);
}
static inline void data_hi()
{
/* input with pull up */
PS2_DATA_DDR &= ~(1<<PS2_DATA_BIT);
PS2_DATA_PORT |= (1<<PS2_DATA_BIT);
}
static inline bool data_in()
{
PS2_DATA_DDR &= ~(1<<PS2_DATA_BIT);
PS2_DATA_PORT |= (1<<PS2_DATA_BIT);
_delay_us(1);
return PS2_DATA_PIN&(1<<PS2_DATA_BIT);
} }
static inline uint16_t wait_clock_lo(uint16_t us)
{
while (clock_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_clock_hi(uint16_t us)
{
while (!clock_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_data_lo(uint16_t us)
{
while (data_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
static inline uint16_t wait_data_hi(uint16_t us)
{
while (!data_in() && us) { asm(""); _delay_us(1); us--; }
return us;
}
/* idle state that device can send */
static inline void idle(void)
{
clock_hi();
data_hi();
}
/* inhibit device to send */
static inline void inhibit(void)
{
clock_lo();
data_hi();
}
/* PS/2 Resources
*
* [1] The PS/2 Mouse/Keyboard Protocol
* http://www.computer-engineering.org/ps2protocol/
* Concise and thorough primer of PS/2 protocol.
*
* [2] Keyboard and Auxiliary Device Controller
* http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
* Signal Timing and Format
*
* [3] Keyboards(101- and 102-key)
* http://www.mcamafia.de/pdf/ibm_hitrc11.pdf
* Keyboard Layout, Scan Code Set, POR, and Commands.
*
* [4] PS/2 Reference Manuals
* http://www.mcamafia.de/pdf/ibm_hitrc07.pdf
* Collection of IBM Personal System/2 documents.
*
* [5] TrackPoint Engineering Specifications for version 3E
* https://web.archive.org/web/20100526161812/http://wwwcssrv.almaden.ibm.com/trackpoint/download.html
*/

23
protocol/ps2_usart.c
View File

@ -82,13 +82,14 @@ uint8_t ps2_host_send(uint8_t data)
/* terminate a transmission if we have */ /* terminate a transmission if we have */
inhibit(); inhibit();
_delay_us(100); _delay_us(100); // [4]p.13
/* start bit [1] */ /* 'Request to Send' and Start bit */
data_lo(); data_lo();
clock_hi(); clock_hi();
WAIT(clock_lo, 15000, 1); WAIT(clock_lo, 10000, 10); // 10ms [5]p.50
/* data [2-9] */
/* Data bit[2-9] */
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
_delay_us(15); _delay_us(15);
if (data&(1<<i)) { if (data&(1<<i)) {
@ -100,15 +101,18 @@ uint8_t ps2_host_send(uint8_t data)
WAIT(clock_hi, 50, 2); WAIT(clock_hi, 50, 2);
WAIT(clock_lo, 50, 3); WAIT(clock_lo, 50, 3);
} }
/* parity [10] */
/* Parity bit */
_delay_us(15); _delay_us(15);
if (parity) { data_hi(); } else { data_lo(); } if (parity) { data_hi(); } else { data_lo(); }
WAIT(clock_hi, 50, 4); WAIT(clock_hi, 50, 4);
WAIT(clock_lo, 50, 5); WAIT(clock_lo, 50, 5);
/* stop bit [11] */
/* Stop bit */
_delay_us(15); _delay_us(15);
data_hi(); data_hi();
/* ack [12] */
/* Ack */
WAIT(data_lo, 50, 6); WAIT(data_lo, 50, 6);
WAIT(clock_lo, 50, 7); WAIT(clock_lo, 50, 7);
@ -127,12 +131,12 @@ ERROR:
return 0; return 0;
} }
// Do polling data from keyboard to get response to last command.
uint8_t ps2_host_recv_response(void) uint8_t ps2_host_recv_response(void)
{ {
// Command may take 25ms/20ms at most([5]p.46, [3]p.21)
uint8_t retry = 25; uint8_t retry = 25;
while (retry-- && !pbuf_has_data()) { while (retry-- && !pbuf_has_data()) {
_delay_ms(1); // without this delay it seems to fall into deadlock _delay_ms(1);
} }
return pbuf_dequeue(); return pbuf_dequeue();
} }
@ -188,7 +192,6 @@ static inline void pbuf_enqueue(uint8_t data)
} }
SREG = sreg; SREG = sreg;
} }
static inline uint8_t pbuf_dequeue(void) static inline uint8_t pbuf_dequeue(void)
{ {
uint8_t val = 0; uint8_t val = 0;