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|
/****************************************************************************************************
RepRapFirmware network comms to ESP8266-based device
****************************************************************************************************/
#include "RepRapFirmware.h"
#include "compiler.h"
#include "Pins.h"
#include "WifiFirmwareUploader.h"
#include "TransactionBuffer.h"
#include "TransactionBufferReader.h"
// Define exactly one of the following as 1, thje other as zero
// The PDC seems to be too slow to work reliably without getting transmit underruns, so we use the DMAC now.
#define USE_PDC 0 // use peripheral DMA controller
#define USE_DMAC 1 // use general DMA controller
#if USE_PDC
#include "pdc.h"
#endif
#if USE_DMAC
#include "dmac.h"
#endif
#include "matrix.h"
// Forward declarations of static functions
static void spi_dma_disable();
static bool spi_dma_check_rx_complete();
static TransactionBuffer inBuffer, outBuffer;
static uint32_t dummyOutBuffer[TransactionBuffer::headerDwords] = {0, 0, 0, 0, 0};
void EspTransferRequestIsr()
{
reprap.GetNetwork()->EspRequestsTransfer();
}
/*-----------------------------------------------------------------------------------*/
// WiFi interface class
Network::Network(Platform* p) : platform(p), responseCode(0), responseBody(nullptr), responseText(nullptr), responseFile(nullptr),
spiTxUnderruns(0), spiRxOverruns(0),
state(disabled), activated(false), connectedToAp(false)
{
strcpy(hostname, HOSTNAME);
ClearIpAddress();
wiFiServerVersion[0] = 0;
}
void Network::Init()
{
// Make sure the ESP8266 is held in the reset state
pinMode(EspResetPin, OUTPUT_LOW);
uploader = new WifiFirmwareUploader(Serial1);
}
void Network::Activate()
{
activated = true;
if (state == enabled)
{
Start();
}
}
void Network::Exit()
{
Stop();
}
void Network::ClearIpAddress()
{
for (size_t i = 0; i < ARRAY_SIZE(ipAddress); ++i)
{
ipAddress[i] = 0;
}
}
// Start up the ESP. We assume it is not already started.
// ESP8266 boot modes:
// GPIO0 GPIO2 GPIO15
// 0 1 0 Firmware download from UART
// 1 1 0 Normal boot from flash memory
// 0 0 1 SD card boot (not used on Duet)
void Network::Start()
{
// The ESP8266 is held in a reset state by a pulldown resistor until we enable it.
// Make sure the ESP8266 is in the reset state
pinMode(EspResetPin, OUTPUT_LOW);
// Take the ESP8266 out of power down
pinMode(EspEnablePin, OUTPUT_HIGH);
// Set up our transfer request pin (GPIO4) as an output and set it low
pinMode(SamTfrReadyPin, OUTPUT_LOW);
// Set up our data ready pin (ESP GPIO0) as an output and set it high ready to boot the ESP from flash
pinMode(EspTransferRequestPin, OUTPUT_HIGH);
// GPIO2 also needs to be high to boot. It's connected to MISO on the SAM, so set the pullup resistor on that pin
pinMode(APIN_SPI_MISO, INPUT_PULLUP);
// Set our CS input (ESP GPIO15) low ready for booting the ESP. This also clears the transfer ready latch.
pinMode(SamCsPin, OUTPUT_LOW);
// Make sure it has time to reset - no idea how long it needs, but 20ms should be plenty
delay(50);
// Release the reset on the ESP8266
digitalWrite(EspResetPin, HIGH);
// Give it time to sample GPIO0 and GPIO15
// GPIO0 has to be held high for sufficient time:
// - 10ms is not enough
// - 18ms after reset is released, an oscillating signal appears on GPIO0 for 55ms
// - so 18ms is probably long enough. Use 25ms for safety.
delay(50);
// Relinquish control of our CS pin so that the ESP can take it over
pinMode(SamCsPin, INPUT);
// Set the data request pin to be an input
pinMode(EspTransferRequestPin, INPUT_PULLUP);
attachInterrupt(EspTransferRequestPin, EspTransferRequestIsr, RISING);
// The ESP takes about 300ms before it starts talking to use, so don't wait for it here, do that in Spin()
// Clear the transaction buffers
inBuffer.Clear();
outBuffer.Clear();
state = starting;
(void) SPI->SPI_SR; // clear any pending interrupt
NVIC_SetPriority(SPI_IRQn, 10);
NVIC_EnableIRQ(SPI_IRQn);
connectedToAp = false;
spiTxUnderruns = spiRxOverruns = 0;
}
// Stop the ESP
void Network::Stop()
{
if (state != disabled)
{
digitalWrite(SamTfrReadyPin, LOW); // tell the ESP we can't receive
for (int i = 0; i < 10 && (state == receivePending || state == sendReceivePending); ++i)
{
delay(1);
}
digitalWrite(EspResetPin, LOW); // put the ESP back into reset
NVIC_DisableIRQ(SPI_IRQn);
spi_disable(SPI);
spi_dma_check_rx_complete();
spi_dma_disable();
ClearIpAddress();
state = disabled;
connectedToAp = false;
}
}
void Network::Spin()
{
// static float lastTime = 0.0;
// Main state machine.
// Take care with this, because ISRs may cause the following state transitions:
// idle -> transferPending
// transferPending -> processing
switch (state)
{
case starting:
// See if the ESP8266 has set CS high yet
if (digitalRead(SamCsPin))
{
// Setup the SPI controller in slave mode and assign the CS pin to it
platform->Message(HOST_MESSAGE, "WiFi server starting up\n");
SetupSpi(); // set up the SPI subsystem
state = idle;
TryStartTransfer();
}
break;
case transferDone:
// platform->Message(HOST_MESSAGE, "Transfer done\n");
if (spi_dma_check_rx_complete())
{
if (inBuffer.IsReady())
{
// platform->MessageF(DEBUG_MESSAGE, "Rec %u\n", inBuffer.GetFragment());
if (inBuffer.IsValid())
{
inBuffer.AppendNull();
// platform->Message(HOST_MESSAGE, "Got data\n");
}
else
{
if (reprap.Debug(moduleNetwork))
{
platform->MessageF(DEBUG_MESSAGE, "Bad msg in: ip=%u.%u.%u.%u opcode=%04x frag=%u length=%u\n",
inBuffer.GetIp() & 255,
(inBuffer.GetIp() >> 8) & 255,
(inBuffer.GetIp() >> 16) & 255,
(inBuffer.GetIp() >> 24) & 255,
inBuffer.GetOpcode(),
inBuffer.GetFragment(),
inBuffer.GetLength()
);
}
inBuffer.Clear();
}
}
else
{
// platform->MessageF(DEBUG_MESSAGE, "Rec null %u %u %u %u %u\n",
// inBuffer.GetOpcode(), inBuffer.GetIp(), inBuffer.GetSeq(), inBuffer.GetFragment(), inBuffer.GetLength());
}
state = processing;
}
else
{
break;
}
// no break
case processing:
// Deal with incoming data, if any
if (inBuffer.IsReady())
{
ProcessIncomingData(inBuffer); // this may or may not clear inBuffer
}
if (!inBuffer.IsEmpty())
{
break; // still processing
}
responseFragment = 0;
state = sending;
// no break
case sending:
if (outBuffer.IsEmpty())
{
// See if we have more of the current response to send
if (responseBody != nullptr)
{
// We have a reply contained in an OutputBuffer
outBuffer.SetMessage(trTypeResponse | ttRr, responseIp, responseFragment);
if (responseFragment == 0)
{
// Put the return code and content length at the start of the message
outBuffer.AppendU32(responseCode);
outBuffer.AppendU32(responseBody->Length());
}
do
{
const size_t len = responseBody->BytesLeft();
const size_t bytesWritten = outBuffer.AppendData(responseBody->Read(0), len);
if (bytesWritten < len)
{
// Output buffer is full so will will need to send another fragment
(void)responseBody->Read(bytesWritten); // say how much data we have taken from the buffer
break;
}
responseBody = OutputBuffer::Release(responseBody);
}
while (responseBody != nullptr);
if (responseBody == nullptr)
{
outBuffer.SetLastFragment();
DebugPrintResponse();
state = idle;
}
else
{
++responseFragment;
DebugPrintResponse();
}
}
else if (responseText != nullptr)
{
// We have a simple text reply to send
outBuffer.SetMessage(trTypeResponse | ttRr, responseIp, responseFragment);
if (responseFragment == 0)
{
// Put the return code and content length at the start of the message
outBuffer.AppendU32(responseCode);
outBuffer.AppendU32(strlen(responseText));
}
const size_t len = strlen(responseText);
const size_t lenSent = outBuffer.AppendData(responseText, len);
if (lenSent < len)
{
responseText += lenSent;
++responseFragment;
DebugPrintResponse();
}
else
{
responseText = nullptr;
outBuffer.SetLastFragment();
DebugPrintResponse();
state = idle;
}
}
else if (responseFile != nullptr)
{
// We have a file reply to send
outBuffer.SetMessage(trTypeResponse | ttRr, responseIp, responseFragment);
if (responseFragment == 0)
{
// Put the return code and content length at the start of the message
outBuffer.AppendU32(responseCode);
outBuffer.AppendU32(responseFileBytes);
}
size_t spaceLeft;
char *p = outBuffer.GetBuffer(spaceLeft);
uint32_t bytesToRead = min<uint32_t>(spaceLeft, responseFileBytes);
int bytesRead = responseFile->Read(p, bytesToRead);
if (bytesRead >= 0 && (uint32_t)bytesRead <= bytesToRead)
{
outBuffer.DataAppended((uint32_t)bytesRead);
}
bool finished;
if (bytesRead == (int)bytesToRead)
{
responseFileBytes -= (uint32_t)bytesRead;
finished = (responseFileBytes == 0);
}
else
{
// We have a file read error, however it's too late to signal it unless this is the first fragment
finished = true;
}
if (finished)
{
responseFile->Close();
responseFile = nullptr;
outBuffer.SetLastFragment();
DebugPrintResponse();
state = idle;
}
else
{
++responseFragment;
DebugPrintResponse();
}
}
else
{
state = idle;
}
TryStartTransfer();
}
break;
case idle:
TryStartTransfer();
break;
case disabled:
uploader->Spin();
break;
default:
break;
}
platform->ClassReport(longWait);
}
void Network::DebugPrintResponse()
{
if (reprap.Debug(moduleNetwork))
{
char buffer[200];
StringRef reply(buffer, ARRAY_SIZE(buffer));
outBuffer.AppendNull();
size_t len;
const char* s = (const char*)outBuffer.GetData(len);
uint32_t frag = outBuffer.GetFragment() & ~lastFragment;
reply.printf("Resp %u: ", outBuffer.GetFragment());
if (frag == 0 && len >= 8)
{
// First fragment, so there is a 2-word header
reply.catf("%08x %08x ", *(const uint32_t*)s, *(const uint32_t*)(s + 4));
s += 8;
len -= 8;
}
if (len < 38)
{
reply.catf("%s\n", s);
}
else
{
reply.catf("%c%c%c%c...s\n", s[0], s[1], s[2], s[3], s + len - 30);
}
platform->Message(HOST_MESSAGE, reply.Pointer());
}
}
// Translate a ESP8266 reset reason to text
const char* Network::TranslateEspResetReason(uint32_t reason)
{
// Mapping from known ESP reset codes to reasons
static const char * const resetReasonTexts[] =
{
"Power on",
"Hardware watchdog",
"Exception",
"Software watchdog",
"Software restart",
"Deep-sleep wakeup",
"Turned on by main processor"
};
return (reason < sizeof(resetReasonTexts)/sizeof(resetReasonTexts[0]))
? resetReasonTexts[reason]
: "Unknown";
}
void Network::ProcessIncomingData(TransactionBuffer &buf)
{
uint32_t opcode = inBuffer.GetOpcode();
switch(opcode & 0xFF0000FF)
{
case trTypeInfo | ttNetworkInfo:
// Network info received from host
// The first 4 bytes specify the format of the remaining data, as follows:
// Format 1:
// 4 bytes of IP address
// 4 bytes of free heap
// 4 bytes of reset reason
// 4 bytes of flash chip size
// 2 bytes of operating state (1 = client, 2 = access point)
// 2 bytes of ESP8266 Vcc according to its ADC
// 16 chars of WiFi firmware version
// 64 chars of host name, null terminated
// 32 chars of ssid (either ssid we are connected to or our own AP name), null terminated
{
TransactionBufferReader reader(buf);
uint32_t infoVersion = reader.GetPrimitive<uint32_t>();
if (infoVersion == 1 || infoVersion == 2)
{
reader.GetArray(ipAddress, 4);
const uint32_t freeHeap = reader.GetPrimitive<uint32_t>();
const char *resetReason = TranslateEspResetReason(reader.GetPrimitive<uint32_t>());
const uint32_t flashSize = reader.GetPrimitive<uint32_t>();
int32_t rssi;
if (infoVersion == 2)
{
rssi = reader.GetPrimitive<int32_t>();
}
const uint16_t wifiState = reader.GetPrimitive<uint16_t>();
const uint16_t espVcc = reader.GetPrimitive<uint16_t>();
const char *firmwareVersion = reader.GetString(16);
strncpy(wiFiServerVersion, firmwareVersion, ARRAY_SIZE(wiFiServerVersion));
const char *hostName = reader.GetString(64);
const char *ssid = reader.GetString(32);
if (reader.IsOk())
{
platform->MessageF(HOST_MESSAGE,
"DuetWiFiServer version %s\n"
"Flash size %u, free RAM %u bytes, WiFi Vcc %.2fV, host name: %s, reset reason: %s\n",
firmwareVersion, flashSize, freeHeap, (float)espVcc/1024, hostName, resetReason);
if (wifiState == 1)
{
if (infoVersion == 2)
{
platform->MessageF(HOST_MESSAGE, "WiFi server connected to access point %s, IP=%u.%u.%u.%u, signal strength=%ddBm\n",
ssid, ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3], rssi);
}
else
{
platform->MessageF(HOST_MESSAGE, "WiFi server connected to access point %s, IP=%u.%u.%u.%u\n",
ssid, ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3]);
}
}
else if (wifiState == 2)
{
platform->MessageF(HOST_MESSAGE, "WiFi is running as an access point with name %s\n", ssid);
}
else
{
platform->MessageF(HOST_MESSAGE, "Unknown WiFi state %d\n", wifiState);
}
connectedToAp = true;
}
}
}
inBuffer.Clear();
break;
case trTypeInfo | ttNetworkInfoOld:
// Old style network info received from host. Remove this code when everyone is using updated DuetWiFiServer firmware.
// Data is 4 bytes of IP address, 4 bytes of free heap, 4 bytes of reset reason, 64 chars of host name, and 32 bytes of ssid
{
TransactionBufferReader reader(buf);
reader.GetArray(ipAddress, 4);
uint32_t freeHeap = reader.GetPrimitive<uint32_t>();
const char *resetReason = TranslateEspResetReason(reader.GetPrimitive<uint32_t>());
const char *hostName = reader.GetString(64);
const char *ssid = reader.GetString(32);
if (reader.IsOk())
{
platform->MessageF(HOST_MESSAGE, "WiFi server connected to access point %s, IP=%u.%u.%u.%u\n",
ssid, ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3]);
platform->MessageF(HOST_MESSAGE, "WiFi host name %s, free memory %u bytes, reset reason: %s\n", hostName, freeHeap, resetReason);
connectedToAp = true;
}
}
inBuffer.Clear();
break;
case trTypeRequest | ttRr:
#if 0
{
size_t length;
const char* data = (const char*)inBuffer.GetData(length);
if (length > 30) { data += (length - 30); }
platform->MessageF(DEBUG_MESSAGE, "IP %u.%u.%u.%u Frag %u %s\n",
inBuffer.GetIp() & 255,
(inBuffer.GetIp() >> 8) & 255,
(inBuffer.GetIp() >> 16) & 255,
(inBuffer.GetIp() >> 24) & 255,
inBuffer.GetFragment(),
data);
}
#else
// Do nothing - the webserver module will pick it up
#endif
break;
default:
{
size_t length;
const char* data = (const char*)inBuffer.GetData(length);
platform->MessageF(DEBUG_MESSAGE, "Received opcode %08x length %u data %s\n", opcode, length, data);
}
inBuffer.Clear();
break;
}
}
// Called by the webserver module to get an incoming request
const char *Network::GetRequest(uint32_t& ip, size_t& length, uint32_t& fragment) const
{
if (state == processing)
{
uint32_t opcode = inBuffer.GetOpcode();
if ((opcode & 0xFF0000FF) == (trTypeRequest | ttRr))
{
const void *data = inBuffer.GetData(length);
if (length > 0)
{
ip = inBuffer.GetIp();
fragment = inBuffer.GetFragment();
if ((fragment & 0x7FFFFFFF) == 0)
{
length += 1; // allow client to read the null at the end too
}
// platform->MessageF(HOST_MESSAGE, "Req: %s\n", (const char*)data);
return (const char*)data;
}
else
{
platform->Message(DEBUG_MESSAGE, "Bad request\n");
inBuffer.Clear(); // bad request
}
}
}
return nullptr;
}
// Send a reply from an OutputBuffer chain. Release the chain when we have finished with it.
void Network::SendReply(uint32_t ip, unsigned int code, OutputBuffer *body)
{
if (responseBody != nullptr || responseText != nullptr || responseFile != nullptr)
{
platform->Message(HOST_MESSAGE, "response already being sent in SendReply(ob*)\n");
}
else
{
responseIp = ip;
responseCode = code;
responseBody = body;
#if 0
//debug
{
char buf[101];
size_t len = min<size_t>(ARRAY_UPB(buf), responseBody->DataLength());
strncpy(buf, responseBody->Data(), len);
buf[len] = 0;
platform->MessageF(HOST_MESSAGE, "%s %u %s\n", (responseCode & rcJson) ? "JSON reply" : "Reply", responseCode & rcNumber, buf);
}
#endif
// Say we have taken the request
if (state == processing)
{
uint32_t opcode = inBuffer.GetOpcode();
if ((opcode & 0xFF0000FF) == (trTypeRequest | ttRr))
{
inBuffer.Clear();
}
}
}
}
// Send a reply from a null-terminated string
void Network::SendReply(uint32_t ip, unsigned int code, const char *text)
{
if (responseBody != nullptr || responseText != nullptr || responseFile != nullptr)
{
platform->Message(HOST_MESSAGE, "response already being sent in SendReply(cc*)\n");
}
else
{
responseIp = ip;
responseCode = code;
responseText = text;
//debug
//platform->MessageF(HOST_MESSAGE, "%s %u %s\n", (responseCode & rcJson) ? "JSON reply" : "Reply", responseCode & rcNumber, text);
// Say we have taken the request
if (state == processing)
{
uint32_t opcode = inBuffer.GetOpcode();
if ((opcode & 0xFF0000FF) == (trTypeRequest | ttRr))
{
inBuffer.Clear();
}
}
}
}
// Send a file as the reply. Close the file at the end.
void Network::SendReply(uint32_t ip, unsigned int code, FileStore *file)
{
if (responseBody != nullptr || responseText != nullptr || responseFile != nullptr)
{
platform->Message(HOST_MESSAGE, "response already being sent in SendReply(fs*)\n");
file->Close();
}
else
{
responseIp = ip;
responseCode = code;
responseFile = file;
responseFileBytes = file->Length();
// Say we have taken the request
if (state == processing)
{
uint32_t opcode = inBuffer.GetOpcode();
if ((opcode & 0xFF0000FF) == (trTypeRequest | ttRr))
{
inBuffer.Clear();
}
}
}
}
// This is called when we have read a message fragment and there is no reply to send
void Network::DiscardMessage()
{
if (responseBody != nullptr || responseText != nullptr || responseFile != nullptr)
{
platform->Message(HOST_MESSAGE, "response being sent in DiscardMessage\n");
}
//debug
//platform->MessageF(HOST_MESSAGE, "%s %u %s\n", (responseCode & rcJson) ? "JSON reply" : "Reply", responseCode & rcNumber, text);
// Say we have taken the request
if (state == processing)
{
uint32_t opcode = inBuffer.GetOpcode();
if ((opcode & 0xFF0000FF) == (trTypeRequest | ttRr))
{
inBuffer.Clear();
}
// For faster response, change the state to idle so we can accept another packet immediately
state = idle;
TryStartTransfer();
}
}
void Network::Diagnostics(MessageType mtype)
{
platform->Message(mtype, "=== Network ===\n");
const char* text = (state == starting) ? "starting"
: (state == disabled) ? "disabled"
: (state == enabled) ? "enabled but not running"
: "running";
platform->MessageF(mtype, "WiFiServer is %s\n", text);
platform->MessageF(mtype, "SPI underruns %u, overruns %u\n", spiTxUnderruns, spiRxOverruns);
}
void Network::Enable()
{
if (state == disabled)
{
state = enabled;
if (activated)
{
Start();
}
}
}
void Network::Disable()
{
if (activated && state != disabled)
{
Stop();
platform->Message(GENERIC_MESSAGE, "WiFi server stopped\n");
}
}
bool Network::IsEnabled() const
{
return state != disabled;
}
const uint8_t *Network::GetIPAddress() const
{
return ipAddress;
}
uint16_t Network::GetHttpPort() const
{
return DefaultHttpPort;
}
void Network::SetHttpPort(uint16_t port)
{
// Not supported
}
// Set the DHCP hostname. Removes all whitespaces and converts the name to lower-case.
void Network::SetHostname(const char *name)
{
size_t i = 0;
while (*name && i < ARRAY_UPB(hostname))
{
char c = *name++;
if (c >= 'A' && c <= 'Z')
{
c += 'a' - 'A';
}
if ((c >= 'a' && c <= 'z') || (c >= '0' && c <= '9') || (c == '-') || (c == '_'))
{
hostname[i++] = c;
}
}
if (i)
{
hostname[i] = 0;
}
else
{
strcpy(hostname, HOSTNAME);
}
}
#if USE_PDC
static Pdc *spi_pdc;
#endif
#if USE_DMAC
// Our choice of DMA channels to use
const uint32_t CONF_SPI_DMAC_TX_CH = 1;
const uint32_t CONF_SPI_DMAC_RX_CH = 2;
// Hardware IDs of the SPI transmit and receive DMA interfaces. See atsam datasheet.
const uint32_t DMA_HW_ID_SPI_TX = 1;
const uint32_t DMA_HW_ID_SPI_RX = 2;
#endif
static inline void spi_rx_dma_enable()
{
#if USE_PDC
pdc_enable_transfer(spi_pdc, PERIPH_PTCR_RXTEN);
#endif
#if USE_DMAC
dmac_channel_enable(DMAC, CONF_SPI_DMAC_RX_CH);
#endif
}
static inline void spi_tx_dma_enable()
{
#if USE_PDC
pdc_enable_transfer(spi_pdc, PERIPH_PTCR_TXTEN);
#endif
#if USE_DMAC
dmac_channel_enable(DMAC, CONF_SPI_DMAC_TX_CH);
#endif
}
static inline void spi_rx_dma_disable()
{
#if USE_PDC
pdc_disable_transfer(spi_pdc, PERIPH_PTCR_RXTDIS);
#endif
#if USE_DMAC
dmac_channel_disable(DMAC, CONF_SPI_DMAC_RX_CH);
#endif
}
static inline void spi_tx_dma_disable()
{
#if USE_PDC
pdc_disable_transfer(spi_pdc, PERIPH_PTCR_TXTDIS);
#endif
#if USE_DMAC
dmac_channel_disable(DMAC, CONF_SPI_DMAC_TX_CH);
#endif
}
static void spi_dma_disable()
{
spi_tx_dma_disable();
spi_rx_dma_disable();
}
static bool spi_dma_check_rx_complete()
{
#if USE_PDC
return true;
#endif
#if USE_DMAC
uint32_t status = DMAC->DMAC_CHSR;
if ( ((status & (DMAC_CHSR_ENA0 << CONF_SPI_DMAC_RX_CH)) == 0) // controller is not enabled, perhaps because it finished a full buffer transfer
|| ((status & (DMAC_CHSR_EMPT0 << CONF_SPI_DMAC_RX_CH)) != 0) // controller is enabled, probably suspended, and the FIFO is empty
)
{
// Disable the channel.
// We also need to set the resume bit, otherwise it remains suspended when we re-enable it.
DMAC->DMAC_CHDR = (DMAC_CHDR_DIS0 << CONF_SPI_DMAC_RX_CH) | (DMAC_CHDR_RES0 << CONF_SPI_DMAC_RX_CH);
return true;
}
return false;
#endif
}
static void spi_tx_dma_setup(const TransactionBuffer *buf, uint32_t maxTransmitLength)
{
#if USE_PDC
pdc_packet_t pdc_spi_packet;
pdc_spi_packet.ul_addr = reinterpret_cast<uint32_t>(buf);
pdc_spi_packet.ul_size = buf->PacketLength() * 4; // need length in bytes
pdc_tx_init(spi_pdc, &pdc_spi_packet, NULL);
#endif
#if USE_DMAC
DMAC->DMAC_EBCISR; // clear any pending interrupts
dmac_channel_set_source_addr(DMAC, CONF_SPI_DMAC_TX_CH, reinterpret_cast<uint32_t>(buf));
dmac_channel_set_destination_addr(DMAC, CONF_SPI_DMAC_TX_CH, reinterpret_cast<uint32_t>(& SPI->SPI_TDR));
dmac_channel_set_descriptor_addr(DMAC, CONF_SPI_DMAC_TX_CH, 0);
dmac_channel_set_ctrlA(DMAC, CONF_SPI_DMAC_TX_CH, maxTransmitLength | DMAC_CTRLA_SRC_WIDTH_WORD | DMAC_CTRLA_DST_WIDTH_BYTE);
dmac_channel_set_ctrlB(DMAC, CONF_SPI_DMAC_TX_CH,
DMAC_CTRLB_SRC_DSCR | DMAC_CTRLB_DST_DSCR | DMAC_CTRLB_FC_MEM2PER_DMA_FC | DMAC_CTRLB_SRC_INCR_INCREMENTING | DMAC_CTRLB_DST_INCR_FIXED);
#endif
}
static void spi_rx_dma_setup(const TransactionBuffer *buf)
{
#if USE_PDC
pdc_packet_t pdc_spi_packet;
pdc_spi_packet.ul_addr = reinterpret_cast<uint32_t>(buf);
pdc_spi_packet.ul_size = TransactionBuffer::MaxReceiveBytes;
pdc_rx_init(spi_pdc, &pdc_spi_packet, NULL);
#endif
#if USE_DMAC
DMAC->DMAC_EBCISR; // clear any pending interrupts
dmac_channel_set_source_addr(DMAC, CONF_SPI_DMAC_RX_CH, reinterpret_cast<uint32_t>(& SPI->SPI_RDR));
dmac_channel_set_destination_addr(DMAC, CONF_SPI_DMAC_RX_CH, reinterpret_cast<uint32_t>(buf));
dmac_channel_set_descriptor_addr(DMAC, CONF_SPI_DMAC_RX_CH, 0);
dmac_channel_set_ctrlA(DMAC, CONF_SPI_DMAC_RX_CH, TransactionBuffer::MaxTransferBytes | DMAC_CTRLA_SRC_WIDTH_BYTE | DMAC_CTRLA_DST_WIDTH_WORD);
dmac_channel_set_ctrlB(DMAC, CONF_SPI_DMAC_RX_CH,
DMAC_CTRLB_SRC_DSCR | DMAC_CTRLB_DST_DSCR | DMAC_CTRLB_FC_PER2MEM_DMA_FC | DMAC_CTRLB_SRC_INCR_FIXED | DMAC_CTRLB_DST_INCR_INCREMENTING);
#endif
}
/**
* \brief Set SPI slave transfer.
*/
static void spi_slave_dma_setup(bool dataToSend, bool allowReceive)
{
#if USE_PDC
pdc_disable_transfer(spi_pdc, PERIPH_PTCR_TXTDIS | PERIPH_PTCR_RXTDIS);
TransactionBuffer *outBufPointer = (dataToSend) ? &outBuffer : reinterpret_cast<TransactionBuffer*>(&dummyOutBuffer);
spi_tx_dma_setup(outBufPointer);
if (allowReceive)
{
outBufPointer->SetDataTaken();
spi_rx_dma_setup(&inBuffer);
pdc_enable_transfer(spi_pdc, PERIPH_PTCR_TXTEN | PERIPH_PTCR_RXTEN);
}
else
{
outBufPointer->ClearDataTaken();
pdc_enable_transfer(spi_pdc, PERIPH_PTCR_TXTEN);
}
#endif
#if USE_DMAC
spi_dma_disable();
TransactionBuffer *outBufPointer = (dataToSend) ? &outBuffer : reinterpret_cast<TransactionBuffer*>(&dummyOutBuffer);
if (allowReceive)
{
spi_rx_dma_setup(&inBuffer);
spi_rx_dma_enable();
outBufPointer->SetDataTaken();
}
else
{
outBufPointer->ClearDataTaken();
}
spi_tx_dma_setup(outBufPointer, (dataToSend) ? TransactionBuffer::MaxTransferBytes : 4 * TransactionBuffer::headerDwords);
spi_tx_dma_enable();
#endif
}
// Set up the SPI system
void Network::SetupSpi()
{
#if USE_PDC
spi_pdc = spi_get_pdc_base(SPI);
// The PDCs are masters 2 and 3 and the SRAM is slave 0. Give the PDCs the highest priority.
matrix_set_master_burst_type(0, MATRIX_ULBT_8_BEAT_BURST);
matrix_set_slave_default_master_type(0, MATRIX_DEFMSTR_LAST_DEFAULT_MASTER);
matrix_set_slave_priority(0, (3 << MATRIX_PRAS0_M2PR_Pos) | (3 << MATRIX_PRAS0_M3PR_Pos));
matrix_set_slave_slot_cycle(0, 8);
#endif
#if USE_DMAC
pmc_enable_periph_clk(ID_DMAC);
dmac_init(DMAC);
dmac_set_priority_mode(DMAC, DMAC_PRIORITY_ROUND_ROBIN);
dmac_enable(DMAC);
// The DMAC is master 4 and the SRAM is slave 0. Give the DMAC the highest priority.
matrix_set_slave_default_master_type(0, MATRIX_DEFMSTR_LAST_DEFAULT_MASTER);
matrix_set_slave_priority(0, (3 << MATRIX_PRAS0_M4PR_Pos));
// Set the slave slot cycle limit.
// If we leave it at the default value of 511 clock cycles, we get transmit underruns due to the HSMCI using the bus for too long.
// A value of 8 seems to work. I haven't tried other values yet.
matrix_set_slave_slot_cycle(0, 8);
#endif
pmc_enable_periph_clk(ID_SPI);
spi_dma_disable();
spi_reset(SPI); // this clears the transmit and receive registers and puts the SPI into slave mode
// Set up the SPI pins
ConfigurePin(g_APinDescription[APIN_SPI_SCK]);
ConfigurePin(g_APinDescription[APIN_SPI_MOSI]);
ConfigurePin(g_APinDescription[APIN_SPI_MISO]);
ConfigurePin(g_APinDescription[APIN_SPI_SS0]);
#if USE_DMAC
// Configure DMA RX channel
dmac_channel_set_configuration(DMAC, CONF_SPI_DMAC_RX_CH,
DMAC_CFG_SRC_PER(DMA_HW_ID_SPI_RX) | DMAC_CFG_SRC_H2SEL | DMAC_CFG_SOD | DMAC_CFG_FIFOCFG_ASAP_CFG);
// Configure DMA TX channel
dmac_channel_set_configuration(DMAC, CONF_SPI_DMAC_TX_CH,
DMAC_CFG_DST_PER(DMA_HW_ID_SPI_TX) | DMAC_CFG_DST_H2SEL | DMAC_CFG_SOD | DMAC_CFG_FIFOCFG_ASAP_CFG);
#endif
}
// Start a transfer if necessary. Not called from an ISR.
void Network::TryStartTransfer()
{
cpu_irq_disable();
if (state == idle)
{
if (outBuffer.IsReady())
{
PrepareForTransfer(true, true);
}
else if (digitalRead(EspTransferRequestPin))
{
PrepareForTransfer(false, true);
}
}
else if (state == sending && outBuffer.IsReady())
{
PrepareForTransfer(true, false);
}
cpu_irq_enable();
}
// This is called from the ISR when the ESP requests to send data
void Network::EspRequestsTransfer()
{
irqflags_t flags = cpu_irq_save();
if (state == idle)
{
PrepareForTransfer(false, true);
}
cpu_irq_restore(flags);
}
// Set up the DMA controller and assert transfer ready. Must be called with interrupts disabled.
void Network::PrepareForTransfer(bool dataToSend, bool allowReceive)
pre(state == idle || state == sending)
{
if (allowReceive)
{
state = (dataToSend) ? sendReceivePending : receivePending;
}
// DMA may have transferred an extra word to the SPI transmit data register. We need to clear this.
// The only way I can find to do this is to issue a software reset to the SPI system.
// Fortunately, this leaves the SPI system in slave mode.
spi_reset(SPI);
spi_set_bits_per_transfer(SPI, 0, SPI_CSR_BITS_8_BIT);
// Set up the DMA controller
spi_slave_dma_setup(dataToSend, allowReceive);
spi_enable(SPI);
// Enable the end-of transfer interrupt
(void)SPI->SPI_SR; // clear any pending interrupt
SPI->SPI_IER = SPI_IER_NSSR; // enable the NSS rising interrupt
// Tell the ESP that we are ready to accept data
digitalWrite(SamTfrReadyPin, HIGH);
}
// SPI interrupt handler, called when NSS goes high
void SPI_Handler()
{
reprap.GetNetwork()->SpiInterrupt();
}
void Network::SpiInterrupt()
{
uint32_t status = SPI->SPI_SR; // read status and clear interrupt
SPI->SPI_IDR = SPI_IER_NSSR; // disable the interrupt
if ((status & SPI_SR_NSSR) != 0)
{
if (state == sendReceivePending || state == receivePending)
{
#if USE_PDC
pdc_disable_transfer(spi_pdc, PERIPH_PTCR_TXTDIS | PERIPH_PTCR_RXTDIS);
#endif
#if USE_DMAC
spi_tx_dma_disable();
dmac_channel_suspend(DMAC, CONF_SPI_DMAC_RX_CH); // suspend the receive channel, don't disable it because the FIFO needs to empty first
#endif
spi_disable(SPI);
digitalWrite(SamTfrReadyPin, LOW);
if (state == sendReceivePending)
{
outBuffer.Clear(); // don't send the data again
}
if ((status & SPI_SR_OVRES) != 0)
{
++spiRxOverruns;
}
if (state == sendReceivePending && (status & SPI_SR_UNDES) != 0)
{
++spiTxUnderruns;
}
state = transferDone;
}
else if (state == sending)
{
spi_tx_dma_disable();
spi_disable(SPI);
digitalWrite(SamTfrReadyPin, LOW);
outBuffer.Clear(); // don't send the data again
if ((status & SPI_SR_UNDES) != 0)
{
++spiTxUnderruns;
}
}
}
}
// Reset the ESP8266 and leave held in reset
void Network::ResetWiFi()
{
pinMode(EspResetPin, OUTPUT_LOW);
}
// Reset the ESP8266 to take commands from the UART. The caller must wait for the reset to complete after calling this.
// ESP8266 boot modes:
// GPIO0 GPIO2 GPIO15
// 0 1 0 Firmware download from UART
// 1 1 0 Normal boot from flash memory
// 0 0 1 SD card boot (not used in on Duet)
void Network::ResetWiFiForUpload()
{
// Make sure the ESP8266 is in the reset state
pinMode(EspResetPin, OUTPUT_LOW);
// Take the ESP8266 out of power down
pinMode(EspEnablePin, OUTPUT_HIGH);
// Set up our transfer request pin (GPIO4) as an output and set it low
pinMode(SamTfrReadyPin, OUTPUT_LOW);
// Set up our data ready pin (ESP GPIO0) as an output and set it low ready to boot the ESP from UART
pinMode(EspTransferRequestPin, OUTPUT_LOW);
// GPIO2 also needs to be high to boot up. It's connected to MISO on the SAM, so set the pullup resistor on that pin
pinMode(APIN_SPI_MISO, INPUT_PULLUP);
// Set our CS input (ESP GPIO15) low ready for booting the ESP. This also clears the transfer ready latch.
pinMode(SamCsPin, OUTPUT_LOW);
// Make sure it has time to reset - no idea how long it needs, but 50ms should be plenty
delay(50);
// Release the reset on the ESP8266
digitalWrite(EspResetPin, HIGH);
}
// Reset the ESP8266 to take commands from an external input. The caller must wait for the reset to complete after calling this.
void Network::ResetWiFiForExternalUpload()
{
ResetWiFiForUpload();
// Set our TxD pin low to make things easier for the FTDI chip to drive the ESP RxD input
pinMode(APIN_UART1_TXD, OUTPUT_LOW);
}
// End
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