nrf/modules/machine/uart: Add timeout keyword options and "any" method.
Changes in this commit: - Add the timeout and timeout_char keyword options. - Make uart.read() non-blocking. - Add uart.any(). - Add ioctl MP_STREAM_POLL handling. - Change uart.write() into non-busy waiting. uart.write() still waits until all data has been sent, but calls MICROPY_EVENT_POLL_HOOK while waiting. uart.write() uses DMA for transfer. One option would be to add a small local buffer, such that transfers up to the size of the buffer could be done without waiting. - As a side effect to the change of uart.write(), uart.txdone() and ioctl flush now report/wait correctly for the end of transmission. - Change machine_hard_uart_buf_t in machine_hard_uart_obj_t to an instance of that struct, rather than a pointer to one.
This commit is contained in:
robert-hh
Damien George
parent
42511b5291
commit
7ea192af05
@ -98,15 +98,15 @@ typedef struct _machine_hard_uart_buf_t {
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typedef struct _machine_hard_uart_obj_t {
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mp_obj_base_t base;
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const nrfx_uart_t * p_uart; // Driver instance
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machine_hard_uart_buf_t *buf;
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machine_hard_uart_buf_t buf;
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uint16_t timeout; // timeout waiting for first char (in ms)
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uint16_t timeout_char; // timeout waiting between chars (in ms)
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} machine_hard_uart_obj_t;
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static const nrfx_uart_t instance0 = NRFX_UART_INSTANCE(0);
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STATIC machine_hard_uart_buf_t machine_hard_uart_buf[1];
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STATIC const machine_hard_uart_obj_t machine_hard_uart_obj[] = {
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{{&machine_uart_type}, .p_uart = &instance0, .buf = &machine_hard_uart_buf[0]},
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STATIC machine_hard_uart_obj_t machine_hard_uart_obj[] = {
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{{&machine_uart_type}, .p_uart = &instance0}
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};
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void uart_init0(void) {
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@ -124,45 +124,45 @@ STATIC int uart_find(mp_obj_t id) {
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STATIC void uart_event_handler(nrfx_uart_event_t const *p_event, void *p_context) {
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machine_hard_uart_obj_t *self = p_context;
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if (p_event->type == NRFX_UART_EVT_RX_DONE) {
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int chr = self->buf->rx_buf[0];
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nrfx_uart_rx(self->p_uart, &self->buf->rx_buf[0], 1);
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nrfx_uart_rx(self->p_uart, &self->buf.rx_buf[0], 1);
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int chr = self->buf.rx_buf[0];
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#if !MICROPY_PY_BLE_NUS && MICROPY_KBD_EXCEPTION
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if (chr == mp_interrupt_char) {
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self->buf->rx_ringbuf.iget = 0;
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self->buf->rx_ringbuf.iput = 0;
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self->buf.rx_ringbuf.iget = 0;
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self->buf.rx_ringbuf.iput = 0;
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mp_sched_keyboard_interrupt();
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} else
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#endif
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{
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ringbuf_put((ringbuf_t*)&self->buf->rx_ringbuf, chr);
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ringbuf_put((ringbuf_t *)&self->buf.rx_ringbuf, chr);
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}
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}
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}
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bool uart_rx_any(const machine_hard_uart_obj_t *self) {
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return self->buf->rx_ringbuf.iput != self->buf->rx_ringbuf.iget;
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bool uart_rx_any(machine_hard_uart_obj_t *self) {
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return self->buf.rx_ringbuf.iput != self->buf.rx_ringbuf.iget;
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}
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int uart_rx_char(const machine_hard_uart_obj_t * self) {
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return ringbuf_get((ringbuf_t*)&self->buf->rx_ringbuf);
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int uart_rx_char(machine_hard_uart_obj_t *self) {
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return ringbuf_get((ringbuf_t *)&self->buf.rx_ringbuf);
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}
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STATIC nrfx_err_t uart_tx_char(const machine_hard_uart_obj_t * self, int c) {
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STATIC nrfx_err_t uart_tx_char(machine_hard_uart_obj_t *self, int c) {
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while (nrfx_uart_tx_in_progress(self->p_uart)) {
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;
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}
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self->buf->tx_buf[0] = c;
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return nrfx_uart_tx(self->p_uart, &self->buf->tx_buf[0], 1);
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self->buf.tx_buf[0] = c;
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return nrfx_uart_tx(self->p_uart, &self->buf.tx_buf[0], 1);
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}
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void uart_tx_strn(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
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void uart_tx_strn(machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
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for (const char *top = str + len; str < top; str++) {
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uart_tx_char(uart_obj, *str);
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}
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}
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void uart_tx_strn_cooked(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
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void uart_tx_strn_cooked(machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
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for (const char *top = str + len; str < top; str++) {
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if (*str == '\n') {
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uart_tx_char(uart_obj, '\r');
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@ -184,10 +184,12 @@ STATIC void machine_hard_uart_print(const mp_print_t *print, mp_obj_t self_in, m
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/// - `id`is bus id.
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/// - `baudrate` is the clock rate.
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STATIC mp_obj_t machine_hard_uart_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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enum { ARG_id, ARG_baudrate };
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enum { ARG_id, ARG_baudrate, ARG_timeout, ARG_timeout_char };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_baudrate, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 9600} },
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
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{ MP_QSTR_timeout_char, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
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};
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// parse args
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@ -196,7 +198,7 @@ STATIC mp_obj_t machine_hard_uart_make_new(const mp_obj_type_t *type, size_t n_a
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// get static peripheral object
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int uart_id = uart_find(args[ARG_id].u_obj);
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const machine_hard_uart_obj_t * self = &machine_hard_uart_obj[uart_id];
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machine_hard_uart_obj_t *self = &machine_hard_uart_obj[uart_id];
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nrfx_uart_config_t config;
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@ -238,19 +240,21 @@ STATIC mp_obj_t machine_hard_uart_make_new(const mp_obj_type_t *type, size_t n_a
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config.pselrts = MICROPY_HW_UART1_RTS;
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config.pselcts = MICROPY_HW_UART1_CTS;
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#endif
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self->timeout = args[ARG_timeout].u_int;
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self->timeout_char = args[ARG_timeout_char].u_int;
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// Set context to this instance of UART
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config.p_context = (void *)self;
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// Initialise ring buffer
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self->buf->rx_ringbuf.buf = self->buf->rx_ringbuf_array;
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self->buf->rx_ringbuf.size = sizeof(self->buf->rx_ringbuf_array);
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self->buf->rx_ringbuf.iget = 0;
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self->buf->rx_ringbuf.iput = 0;
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self->buf.rx_ringbuf.buf = self->buf.rx_ringbuf_array;
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self->buf.rx_ringbuf.size = sizeof(self->buf.rx_ringbuf_array);
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self->buf.rx_ringbuf.iget = 0;
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self->buf.rx_ringbuf.iput = 0;
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// Enable event callback and start asynchronous receive
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nrfx_uart_init(self->p_uart, &config, uart_event_handler);
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nrfx_uart_rx(self->p_uart, &self->buf->rx_buf[0], 1);
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nrfx_uart_rx(self->p_uart, &self->buf.rx_buf[0], 1);
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#if NRFX_UART_ENABLED
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nrfx_uart_rx_enable(self->p_uart);
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@ -286,20 +290,29 @@ STATIC mp_obj_t machine_hard_uart_readchar(mp_obj_t self_in) {
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_hard_uart_readchar_obj, machine_hard_uart_readchar);
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// uart.any()
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STATIC mp_obj_t machine_uart_any(mp_obj_t self_in) {
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machine_hard_uart_obj_t *self = self_in;
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return MP_OBJ_NEW_SMALL_INT(ringbuf_avail((ringbuf_t *)&self->buf.rx_ringbuf));
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_any_obj, machine_uart_any);
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// uart.sendbreak()
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STATIC mp_obj_t machine_hard_uart_sendbreak(mp_obj_t self_in) {
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_hard_uart_sendbreak_obj, machine_hard_uart_sendbreak);
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// Since uart.write() waits up to the last byte, uart.txdone() always returns True.
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// uart.txdone()
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STATIC mp_obj_t machine_uart_txdone(mp_obj_t self_in) {
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return mp_const_true;
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machine_hard_uart_obj_t *self = self_in;
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return mp_obj_new_bool(!nrfx_uart_tx_in_progress(self->p_uart));
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_txdone_obj, machine_uart_txdone);
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STATIC const mp_rom_map_elem_t machine_hard_uart_locals_dict_table[] = {
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// instance methods
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{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&machine_uart_any_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_stream_read_obj) },
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{ MP_ROM_QSTR(MP_QSTR_readline), MP_ROM_PTR(&mp_stream_unbuffered_readline_obj) },
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{ MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_stream_readinto_obj) },
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@ -321,14 +334,25 @@ STATIC const mp_rom_map_elem_t machine_hard_uart_locals_dict_table[] = {
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STATIC MP_DEFINE_CONST_DICT(machine_hard_uart_locals_dict, machine_hard_uart_locals_dict_table);
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STATIC mp_uint_t machine_hard_uart_read(mp_obj_t self_in, void *buf_in, mp_uint_t size, int *errcode) {
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const machine_hard_uart_obj_t *self = self_in;
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machine_hard_uart_obj_t *self = self_in;
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byte *buf = buf_in;
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uint32_t t = self->timeout + mp_hal_ticks_ms();
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// read the data
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for (size_t i = 0; i < size; i++) {
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while (!uart_rx_any(self)) {
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if ((int32_t)(mp_hal_ticks_ms() - t) >= 0) { // timed out
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if (i == 0) {
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*errcode = MP_EAGAIN;
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return MP_STREAM_ERROR;
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} else {
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return i;
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}
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}
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MICROPY_EVENT_POLL_HOOK;
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}
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buf[i] = uart_rx_char(self);
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t = self->timeout_char + mp_hal_ticks_ms();
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}
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return size;
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@ -336,14 +360,12 @@ STATIC mp_uint_t machine_hard_uart_read(mp_obj_t self_in, void *buf_in, mp_uint_
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STATIC mp_uint_t machine_hard_uart_write(mp_obj_t self_in, const void *buf_in, mp_uint_t size, int *errcode) {
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machine_hard_uart_obj_t *self = self_in;
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const byte *buf = buf_in;
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nrfx_err_t err = NRFX_SUCCESS;
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for (int i = 0; i < size; i++) {
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err = uart_tx_char(self, (int)((uint8_t *)buf)[i]);
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}
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nrfx_err_t err = nrfx_uart_tx(self->p_uart, buf_in, size);
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if (err == NRFX_SUCCESS) {
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while (nrfx_uart_tx_in_progress(self->p_uart)) {
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MICROPY_EVENT_POLL_HOOK;
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}
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// return number of bytes written
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return size;
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} else {
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@ -355,9 +377,20 @@ STATIC mp_uint_t machine_hard_uart_write(mp_obj_t self_in, const void *buf_in, m
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STATIC mp_uint_t machine_hard_uart_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
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machine_hard_uart_obj_t *self = self_in;
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(void)self;
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mp_uint_t ret = 0;
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if (request == MP_STREAM_FLUSH) {
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// Since uart.write() waits up to the last byte, uart.flush() always succeds.
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if (request == MP_STREAM_POLL) {
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uintptr_t flags = arg;
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if ((flags & MP_STREAM_POLL_RD) && uart_rx_any(self) != 0) {
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ret |= MP_STREAM_POLL_RD;
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}
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if ((flags & MP_STREAM_POLL_WR) && !nrfx_uart_tx_in_progress(self->p_uart)) {
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ret |= MP_STREAM_POLL_WR;
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}
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} else if (request == MP_STREAM_FLUSH) {
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while (nrfx_uart_tx_in_progress(self->p_uart)) {
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MICROPY_EVENT_POLL_HOOK;
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}
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return 0;
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}
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return MP_STREAM_ERROR;
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@ -38,9 +38,9 @@ void uart_init0(void);
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void uart_deinit(void);
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void uart_irq_handler(mp_uint_t uart_id);
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bool uart_rx_any(const machine_hard_uart_obj_t * uart_obj);
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int uart_rx_char(const machine_hard_uart_obj_t * uart_obj);
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void uart_tx_strn(const machine_hard_uart_obj_t * uart_obj, const char *str, uint len);
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void uart_tx_strn_cooked(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len);
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bool uart_rx_any(machine_hard_uart_obj_t *uart_obj);
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int uart_rx_char(machine_hard_uart_obj_t *uart_obj);
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void uart_tx_strn(machine_hard_uart_obj_t *uart_obj, const char *str, uint len);
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void uart_tx_strn_cooked(machine_hard_uart_obj_t *uart_obj, const char *str, uint len);
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#endif
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