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//! A USB-Serial driver for the nRF52840
use core::ops::Deref;
use bbqueue::{BBBuffer, Consumer, Producer};
use nrf52840_hal::{usbd::{Usbd, UsbPeripheral}, pac::USBD};
// use sportty::{Message, max_encoding_length};
use usb_device::{device::UsbDevice, UsbError};
use usbd_serial::SerialPort;
use heapless::{LinearMap, Deque, Vec};
use crate::alloc::{HeapArray, HEAP};
use postcard::{CobsAccumulator, FeedResult};
use serde::{Serialize, Deserialize};
#[derive(Serialize, Deserialize)]
pub struct Chunk {
port: u16,
buf: Vec<u8, 128>,
}
const USB_BUF_SZ: usize = 4096;
static UART_INC: BBBuffer<USB_BUF_SZ> = BBBuffer::new();
static UART_OUT: BBBuffer<USB_BUF_SZ> = BBBuffer::new();
/// A type alias for the nRF52840 USB Peripheral type
pub type AUsbPeripheral = Usbd<UsbPeripheral<'static>>;
/// A type alias for the nRF52840 USB Device type
pub type AUsbDevice = UsbDevice<'static, AUsbPeripheral>;
/// A type alias for the nRF52840 CDC-ACM USB Serial port type
pub type ASerialPort = SerialPort<'static, AUsbPeripheral>;
/// The handle necessary for servicing USB interrupts
pub struct UsbUartIsr {
dev: AUsbDevice,
ser: ASerialPort,
out: Consumer<'static, USB_BUF_SZ>,
inc: Producer<'static, USB_BUF_SZ>,
}
impl UsbUartIsr {
/// Service the USB ISR, which is triggered by either a regular polling timer,
/// or some kind of USB interrupt.
pub fn poll(&mut self) {
// Service the relevant hardware logic
self.dev.poll(&mut [&mut self.ser]);
// If there is data to be sent...
if let Ok(rgr) = self.out.read() {
match self.ser.write(&rgr) {
// ... and there is room to send it, then send it.
Ok(sz) if sz > 0 => {
rgr.release(sz);
},
// ... and there is no room to send it, then just bail.
Ok(_) | Err(UsbError::WouldBlock) => {
// Just silently drop the read grant
}
// ... and there is a USB error, then panic.
Err(_) => defmt::panic!("Usb Error Write!"),
}
}
// If there is room to receive data...
if let Ok(mut wgr) = self.inc.grant_max_remaining(128) {
match self.ser.read(&mut wgr) {
// ... and there is data to be read, then take it.
Ok(sz) if sz > 0 => {
wgr.commit(sz);
},
// ... and there is no data to be read, then just bail.
Ok(_) | Err(UsbError::WouldBlock) => {
// Just silently drop the write grant
}
// ... and there is a USB error, then panic.
Err(_) => defmt::panic!("Usb Error Read!"),
}
}
}
}
/// The "userspace" handle for the driver
pub struct UsbUartSys {
out: Producer<'static, USB_BUF_SZ>,
inc: Consumer<'static, USB_BUF_SZ>,
// TODO: There's probably a smarter way to handle this without having
// a bigass accumulator struct in here. Either limit max size, or use
// a smarter stream decoder which can emit partial data on the fly
acc: CobsAccumulator<256>,
// Also, we might want to "coverge" older messages into fewer allocs,
// to avoid small chunks filling up the queue
ports: LinearMap<u16, Deque<HeapArray<u8>, 16>, 8>,
}
/// A struct containing both the "interrupt" and "userspace" handles
/// for this USB-Serial driver
pub struct UsbUartParts {
pub isr: UsbUartIsr,
pub sys: UsbUartSys,
}
/// Obtain the "userspace" and "interrupt" portions of the USB-Serial driver
///
/// This only returns `Ok` once, as this driver is a singleton. Subsequent
/// calls will return an `Err`.
pub fn setup_usb_uart(dev: AUsbDevice, ser: ASerialPort) -> Result<UsbUartParts, ()> {
let (inc_prod, inc_cons) = UART_INC.try_split().map_err(drop)?;
let (out_prod, out_cons) = UART_OUT.try_split().map_err(drop)?;
// Port zero (stdio) is always mapped.
let mut ports = LinearMap::new();
ports.insert(0, Deque::new()).ok();
Ok(UsbUartParts {
isr: UsbUartIsr {
dev,
ser,
out: out_cons,
inc: inc_prod,
},
sys: UsbUartSys {
out: out_prod,
inc: inc_cons,
acc: CobsAccumulator::new(),
ports,
}
})
}
// Implement the "userspace" traits for the USB UART
impl crate::traits::Serial for UsbUartSys {
fn register_port(&mut self, port: u16) -> Result<(), ()> {
if self.ports.contains_key(&port) {
return Err(());
}
self.ports.insert(port, Deque::new()).map_err(drop)?;
defmt::println!("Registered port {=u16}!", port);
Ok(())
}
fn release_port(&mut self, port: u16) -> Result<(), ()> {
if port == 0 {
return Err(());
}
if self.ports.remove(&port).is_some() {
Ok(())
} else {
Err(())
}
}
fn process(&mut self) {
// Process all incoming message and dispatch to queues
while let Ok(rgr) = self.inc.read() {
let mut window = rgr.deref();
let rec_len = rgr.len();
//////////////////////
// No early returns here! We need to release the grant!
while !window.is_empty() {
match self.acc.feed::<Chunk>(window) {
FeedResult::Consumed => {
window = &[];
},
FeedResult::OverFull(rem) => {
defmt::println!("Overfull error!");
window = rem;
},
FeedResult::DeserError(rem) => {
defmt::println!("Chunk deser error!");
window = rem;
},
FeedResult::Success { data, remaining } => {
window = remaining;
// TODO: Replace this with `map()` and Results so we can actually
// tell which part went wrong
let failed = self.ports
.get_mut(&data.port)
.and_then(|dq| {
// Keep the heap locked for as short as possible!
let mut hp = HEAP.try_lock()?;
let habox = hp.alloc_box_array(0u8, data.buf.len()).ok()?;
Some((dq, habox))
})
.and_then(|(dq, mut habox)| {
habox.copy_from_slice(&data.buf);
dq.push_back(habox).ok()
}).is_none();
if failed && self.ports.contains_key(&data.port) {
defmt::println!("Failed to receive message for serial port {=u16}. Discarding.", data.port);
}
},
}
}
rgr.release(rec_len);
// End of "no early return" zone!
//////////////////////
}
}
fn recv<'a>(&mut self, port: u16, buf: &'a mut [u8]) -> Result<&'a mut [u8], ()> {
self.process();
let deq = self.ports.get_mut(&port).ok_or(())?;
let mut used = 0;
let buflen = buf.len();
while used < buf.len() {
let msg = match deq.pop_front() {
None => {
// No more queued contents, bail!
//
// NOTE: `&mut buf[..0]` does correctly give back `&mut []`
// (and not a slice panic) as you may expect - I checked :)
return Ok(&mut buf[..used]);
}
Some(msg) => msg,
};
let avail = buflen - used;
if msg.len() <= avail {
buf[used..][..msg.len()].copy_from_slice(&msg);
used += msg.len();
} else {
let (now, later) = msg.split_at(avail);
buf[used..].copy_from_slice(now);
let mut hp = defmt::unwrap!(HEAP.try_lock());
let mut habox = defmt::unwrap!(hp.alloc_box_array(0u8, later.len()).ok());
habox.copy_from_slice(later);
// Okay to ignore error - We just made space
deq.push_front(habox).ok();
used += avail;
}
}
// if we've reached here, we've filled the destination buffer
Ok(buf)
}
fn send<'a>(&mut self, port: u16, buf: &'a [u8]) -> Result<(), &'a [u8]> {
// Check if port is mapped
if !self.ports.contains_key(&port) {
defmt::println!("Unregistered port: {=u16}", port);
return Err(buf);
}
let mut used = 0;
for ch in buf.chunks(128) {
let mut dunk = Vec::new();
dunk.extend_from_slice(ch).ok();
let msg = Chunk { port, buf: dunk };
match self.out.grant_exact(256) {
Ok(mut wgr) => {
let enc_used = postcard::to_slice_cobs(&msg, &mut wgr).unwrap().len();
wgr.commit(enc_used);
used += ch.len();
},
Err(_) => {
return Err(&buf[..used]);
},
}
}
// This means that we reached `remaining.is_empty()`, and all
// data has been successfully sent.
Ok(())
}
}
pub fn enable_usb_interrupts(usbd: &USBD) {
usbd.intenset.write(|w| {
// rg -o "events_[a-z_0-9]+" ./usbd.rs | sort | uniq
w.endepin0().set_bit();
w.endepin1().set_bit();
w.endepin2().set_bit();
w.endepin3().set_bit();
w.endepin4().set_bit();
w.endepin5().set_bit();
w.endepin6().set_bit();
w.endepin7().set_bit();
w.endepout0().set_bit();
w.endepout1().set_bit();
w.endepout2().set_bit();
w.endepout3().set_bit();
w.endepout4().set_bit();
w.endepout5().set_bit();
w.endepout6().set_bit();
w.endepout7().set_bit();
w.ep0datadone().set_bit();
w.ep0setup().set_bit();
w.sof().set_bit();
w.usbevent().set_bit();
w.usbreset().set_bit();
w
});
}
// struct Accumulator<const N: usize> {
// buf: [u8; N],
// idx: usize,
// }
// enum AccError<'a> {
// NoRoomNoRem,
// NoRoomWithRem(&'a [u8]),
// }
// impl<const N: usize> Accumulator<N> {
// fn new() -> Self {
// Self {
// buf: [0u8; N],
// idx: 0,
// }
// }
// fn feed<'a>(&mut self, buf: &'a [u8]) -> Result<Option<AccSuccess<'a, N>>, AccError<'a>> {
// match buf.iter().position(|b| *b == 0) {
// Some(n) if (self.idx + n) <= N => {
// let (now, later) = buf.split_at(n + 1);
// self.buf[self.idx..][..now.len()].copy_from_slice(now);
// let mut msg = AccMsg {
// buf: [0u8; N],
// len: self.idx + now.len(),
// };
// msg.buf[..msg.len].copy_from_slice(&self.buf[..msg.len]);
// self.idx = 0;
// Ok(Some(AccSuccess {
// remainder: later,
// msg,
// }))
// },
// Some(n) if n < buf.len() => {
// self.idx = 0;
// Err(AccError::NoRoomWithRem(&buf[(n + 1)..]))
// },
// Some(_) => {
// self.idx = 0;
// Err(AccError::NoRoomNoRem)
// }
// None if (self.idx + buf.len()) <= N => {
// self.buf[self.idx..][..buf.len()].copy_from_slice(buf);
// self.idx += buf.len();
// Ok(None)
// },
// None => {
// // No room, and no zero. Truncate the current buf.
// self.idx = 0;
// Err(AccError::NoRoomNoRem)
// },
// }
// }
// }
// struct AccSuccess<'a, const N: usize> {
// remainder: &'a [u8],
// msg: AccMsg<N>,
// }
// struct AccMsg<const N: usize> {
// buf: [u8; N],
// len: usize,
// }
// impl<const N: usize> AccMsg<N> {
// fn as_mut_slice(&mut self) -> &mut [u8] {
// &mut self.buf[..self.len]
// }
// }