[Core] PS/2 PIO Driver for RP2040

platforms/chibios/drivers/vendor/RP/RP2040/ps2_vendor.c

@@ -0,0 +1,271 @@
+// Copyright 2022 Marek Kraus (@gamelaster)
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#include "quantum.h"
+
+#include "hardware/pio.h"
+#include "hardware/clocks.h"
+#include "ps2.h"
+#include "print.h"
+
+#if !defined(MCU_RP)
+#    error PIO Driver is only available for Raspberry Pi 2040 MCUs!
+#endif
+
+#if defined(PS2_ENABLE)
+#    if defined(PS2_MOUSE_ENABLE)
+#        if !defined(PS2_MOUSE_USE_REMOTE_MODE)
+#            define BUFFERED_MODE_ENABLE
+#        endif
+#    else // PS2 Keyboard
+#        define BUFFERED_MODE_ENABLE
+#    endif
+#endif
+
+#if PS2_DATA_PIN + 1 != PS2_CLOCK_PIN
+#    error PS/2 Clock pin must be followed by data pin!
+#endif
+
+static inline void pio_serve_interrupt(void);
+
+#if defined(PS2_PIO_USE_PIO1)
+static const PIO pio = pio1;
+
+OSAL_IRQ_HANDLER(RP_PIO1_IRQ_0_HANDLER) {
+    OSAL_IRQ_PROLOGUE();
+    pio_serve_interrupt();
+    OSAL_IRQ_EPILOGUE();
+}
+#else
+static const PIO pio = pio0;
+
+OSAL_IRQ_HANDLER(RP_PIO0_IRQ_0_HANDLER) {
+    OSAL_IRQ_PROLOGUE();
+    pio_serve_interrupt();
+    OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#define PS2_WRAP_TARGET 0
+#define PS2_WRAP 20
+
+// clang-format off
+static const uint16_t ps2_program_instructions[] = {
+            //     .wrap_target
+    0x00c7, //  0: jmp    pin, 7
+    0xe02a, //  1: set    x, 10
+    0x2021, //  2: wait   0 pin, 1
+    0x4001, //  3: in     pins, 1
+    0x20a1, //  4: wait   1 pin, 1
+    0x0042, //  5: jmp    x--, 2
+    0x0000, //  6: jmp    0
+    0x00e9, //  7: jmp    !osre, 9
+    0x0000, //  8: jmp    0
+    0xff81, //  9: set    pindirs, 1             [31]
+    0xe280, // 10: set    pindirs, 0             [2]
+    0xe082, // 11: set    pindirs, 2
+    0x2021, // 12: wait   0 pin, 1
+    0xe029, // 13: set    x, 9
+    0x6081, // 14: out    pindirs, 1
+    0x20a1, // 15: wait   1 pin, 1
+    0x2021, // 16: wait   0 pin, 1
+    0x004e, // 17: jmp    x--, 14
+    0xe083, // 18: set    pindirs, 3
+    0x2021, // 19: wait   0 pin, 1
+    0x20a1, // 20: wait   1 pin, 1
+            //     .wrap
+};
+// clang-format on
+
+static const struct pio_program ps2_program = {
+    .instructions = ps2_program_instructions,
+    .length       = 21,
+    .origin       = -1,
+};
+
+static int                state_machine = -1;
+static thread_reference_t tx_thread     = NULL;
+
+#define BUFFER_SIZE 32
+static input_buffers_queue_t               pio_rx_queue;
+static __attribute__((aligned(4))) uint8_t pio_rx_buffer[BQ_BUFFER_SIZE(BUFFER_SIZE, sizeof(uint32_t))];
+
+uint8_t ps2_error = PS2_ERR_NONE;
+
+void pio_serve_interrupt(void) {
+    uint32_t irqs = pio->ints0;
+
+    if (irqs & (PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS << state_machine)) {
+        osalSysLockFromISR();
+        uint32_t* frame_buffer = (uint32_t*)ibqGetEmptyBufferI(&pio_rx_queue);
+        if (frame_buffer == NULL) {
+            osalSysUnlockFromISR();
+            return;
+        }
+        *frame_buffer = pio_sm_get(pio, state_machine);
+        ibqPostFullBufferI(&pio_rx_queue, sizeof(uint32_t));
+        osalSysUnlockFromISR();
+    }
+
+    if (irqs & (PIO_IRQ0_INTF_SM0_TXNFULL_BITS << state_machine)) {
+        pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, false);
+        osalSysLockFromISR();
+        osalThreadResumeI(&tx_thread, MSG_OK);
+        osalSysUnlockFromISR();
+    }
+}
+
+void ps2_host_init(void) {
+    ibqObjectInit(&pio_rx_queue, false, pio_rx_buffer, sizeof(uint32_t), BUFFER_SIZE, NULL, NULL);
+    uint pio_idx = pio_get_index(pio);
+
+    hal_lld_peripheral_unreset(pio_idx == 0 ? RESETS_ALLREG_PIO0 : RESETS_ALLREG_PIO1);
+
+    state_machine = pio_claim_unused_sm(pio, true);
+    if (state_machine < 0) {
+        dprintln("ERROR: Failed to acquire state machine for PS/2!");
+        ps2_error = PS2_ERR_NODATA;
+        return;
+    }
+
+    uint offset = pio_add_program(pio, &ps2_program);
+
+    pio_sm_config c = pio_get_default_sm_config();
+    sm_config_set_wrap(&c, offset + PS2_WRAP_TARGET, offset + PS2_WRAP);
+
+    // Set pindirs to input (output enable is inverted below)
+    pio_sm_set_consecutive_pindirs(pio, state_machine, PS2_DATA_PIN, 2, true);
+    sm_config_set_clkdiv(&c, (float)clock_get_hz(clk_sys) / (200.0f * KHZ));
+    sm_config_set_set_pins(&c, PS2_DATA_PIN, 2);
+    sm_config_set_out_pins(&c, PS2_DATA_PIN, 1);
+    sm_config_set_out_shift(&c, true, true, 10);
+    sm_config_set_in_shift(&c, true, true, 11);
+    sm_config_set_jmp_pin(&c, PS2_CLOCK_PIN);
+    sm_config_set_in_pins(&c, PS2_DATA_PIN);
+
+    // clang-format off
+    iomode_t pin_mode = PAL_RP_PAD_IE |
+                        PAL_RP_GPIO_OE |
+                        PAL_RP_PAD_SLEWFAST |
+                        PAL_RP_PAD_DRIVE12 |
+                        // Invert output enable so that pindirs=1 means input
+                        // and indirs=0 means output. This way, out pindirs
+                        // works correctly with the open-drain PS/2 interface.
+                        // Setting pindirs=1 effectively pulls the line high,
+                        // due to the pull-up resistor, while pindirs=0 pulls
+                        // the line low.
+                        PAL_RP_IOCTRL_OEOVER_DRVINVPERI |
+                        (pio_idx == 0 ? PAL_MODE_ALTERNATE_PIO0 : PAL_MODE_ALTERNATE_PIO1);
+    // clang-format on
+
+    palSetLineMode(PS2_DATA_PIN, pin_mode);
+    palSetLineMode(PS2_CLOCK_PIN, pin_mode);
+
+    pio_set_irq0_source_enabled(pio, pis_sm0_rx_fifo_not_empty + state_machine, true);
+    pio_sm_init(pio, state_machine, offset, &c);
+
+#if defined(PS2_PIO_USE_PIO1)
+    nvicEnableVector(RP_PIO1_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
+#else
+    nvicEnableVector(RP_PIO0_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
+#endif
+
+    pio_sm_set_enabled(pio, state_machine, true);
+}
+
+static int bit_parity(int x) {
+    return !__builtin_parity(x);
+}
+
+uint8_t ps2_host_send(uint8_t data) {
+    uint32_t frame = 0b1000000000;
+    frame          = frame | data;
+
+    if (bit_parity(data)) {
+        frame = frame | (1 << 8);
+    }
+
+    pio_sm_put(pio, state_machine, frame);
+
+    msg_t msg = MSG_OK;
+    osalSysLock();
+    while (pio_sm_is_tx_fifo_full(pio, state_machine)) {
+        pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, true);
+        msg = osalThreadSuspendTimeoutS(&tx_thread, TIME_MS2I(100));
+        if (msg < MSG_OK) {
+            pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + state_machine, false);
+            ps2_error = PS2_ERR_NODATA;
+            osalSysUnlock();
+            return 0;
+        }
+    }
+    osalSysUnlock();
+
+    return ps2_host_recv_response();
+}
+
+static uint8_t ps2_get_data_from_frame(uint32_t frame) {
+    uint8_t  data       = (frame >> 22) & 0xFF;
+    uint32_t start_bit  = (frame & 0b00000000001000000000000000000000) ? 1 : 0;
+    uint32_t parity_bit = (frame & 0b01000000000000000000000000000000) ? 1 : 0;
+    uint32_t stop_bit   = (frame & 0b10000000001000000000000000000000) ? 1 : 0;
+
+    if (start_bit != 0) {
+        ps2_error = PS2_ERR_STARTBIT1;
+        return 0;
+    }
+
+    if (parity_bit != bit_parity(data)) {
+        ps2_error = PS2_ERR_PARITY;
+        return 0;
+    }
+
+    if (stop_bit != 1) {
+        ps2_error = PS2_ERR_STARTBIT2;
+        return 0;
+    }
+
+    return data;
+}
+
+uint8_t ps2_host_recv_response(void) {
+    uint32_t frame = 0;
+    msg_t    msg   = MSG_OK;
+
+    msg = ibqReadTimeout(&pio_rx_queue, (uint8_t*)&frame, sizeof(uint32_t), TIME_MS2I(100));
+    if (msg < MSG_OK) {
+        ps2_error = PS2_ERR_NODATA;
+        return 0;
+    }
+
+    return ps2_get_data_from_frame(frame);
+}
+
+#ifdef BUFFERED_MODE_ENABLE
+
+bool pbuf_has_data(void) {
+    osalSysLock();
+    bool has_data = !ibqIsEmptyI(&pio_rx_queue);
+    osalSysUnlock();
+    return has_data;
+}
+
+uint8_t ps2_host_recv(void) {
+    uint32_t frame = 0;
+    msg_t    msg   = MSG_OK;
+
+    uint8_t has_data = pbuf_has_data();
+    if (has_data) {
+        msg = ibqReadTimeout(&pio_rx_queue, (uint8_t*)&frame, sizeof(uint32_t), TIME_MS2I(100));
+        if (msg < MSG_OK) {
+            ps2_error = PS2_ERR_NODATA;
+            return 0;
+        }
+    } else {
+        ps2_error = PS2_ERR_NODATA;
+    }
+
+    return frame != 0 ? ps2_get_data_from_frame(frame) : 0;
+}
+
+#endif