Momentum-Apps/port/raspberry_port.c

/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "serial_io.h"
#include "serial_comm.h"
#include <pigpio.h>

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <time.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdarg.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/param.h>

// #define SERIAL_DEBUG_ENABLE

#ifdef SERIAL_DEBUG_ENABLE

static void serial_debug_print(const uint8_t *data, uint16_t size, bool write)
{
    static bool write_prev = false;
    uint8_t hex_str[3];

    if (write_prev != write) {
        write_prev = write;
        printf("\n--- %s ---\n", write ? "WRITE" : "READ");
    }

    for (uint32_t i = 0; i < size; i++) {
        printf("%02x ", data[i]);
    }
}

#else

static void serial_debug_print(const uint8_t *data, uint16_t size, bool write) { }

#endif

static int serial;
static int64_t s_time_end;
static int32_t s_reset_trigger_pin;
static int32_t s_gpio0_trigger_pin;


static speed_t convert_baudrate(int baud)
{
    switch (baud) {
        case 50: return B50;
        case 75: return B75;
        case 110: return B110;
        case 134: return B134;
        case 150: return B150;
        case 200: return B200;
        case 300: return B300;
        case 600: return B600;
        case 1200: return B1200;
        case 1800: return B1800;
        case 2400: return B2400;
        case 4800: return B4800;
        case 9600: return B9600;
        case 19200: return B19200;
        case 38400: return B38400;
        case 57600: return B57600;
        case 115200: return B115200;
        case 230400: return B230400;
        case 460800: return B460800;
        case 500000: return B500000;
        case 576000: return B576000;
        case 921600: return B921600;
        case 1000000: return B1000000;
        case 1152000: return B1152000;
        case 1500000: return B1500000;
        case 2000000: return B2000000;
        case 2500000: return B2500000;
        case 3000000: return B3000000;
        case 3500000: return B3500000;
        case 4000000: return B4000000;
        default: return -1;
    }
}

static int serialOpen (const char *device, uint32_t baudrate)
{
    struct termios options;
    int status, fd;

    if ((fd = open (device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1) {
        printf("Error occured while opening serial port !\n");
        return -1 ;
    }

    fcntl (fd, F_SETFL, O_RDWR) ;

    // Get and modify current options:

    tcgetattr (fd, &options);
    speed_t baud = convert_baudrate(baudrate);

    if(baud < 0) {
        printf("Invalid baudrate!\n");
        return -1;
    }

    cfmakeraw   (&options) ;
    cfsetispeed (&options, baud) ;
    cfsetospeed (&options, baud) ;

    options.c_cflag |= (CLOCAL | CREAD) ;
    options.c_cflag &= ~(PARENB | CSTOPB | CSIZE) ;
    options.c_cflag |= CS8 ;
    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG) ;
    options.c_oflag &= ~OPOST ;
    options.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
    options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL); // Disable any special handling of received bytes

    options.c_cc [VMIN]  = 0 ;
    options.c_cc [VTIME] = 10 ; // 1 Second

    tcsetattr (fd, TCSANOW, &options) ;

    ioctl (fd, TIOCMGET, &status);

    status |= TIOCM_DTR ;
    status |= TIOCM_RTS ;

    ioctl (fd, TIOCMSET, &status);

    usleep (10000) ;  // 10mS

    return fd ;
}

static esp_loader_error_t change_baudrate(int file_desc, int baudrate)
{
    struct termios options;
    speed_t baud = convert_baudrate(baudrate);

    if(baud < 0) {
        return ESP_LOADER_ERROR_INVALID_PARAM;
    }

    tcgetattr (file_desc, &options);

    cfmakeraw   (&options) ;
    cfsetispeed (&options, baud);
    cfsetospeed (&options, baud);

    tcsetattr (file_desc, TCSANOW, &options);

    return ESP_LOADER_SUCCESS; 
}

static void set_timeout(uint32_t timeout)
{
    struct termios options;

    timeout /= 100;
    timeout = MAX(timeout, 1);

    tcgetattr(serial, &options);
    options.c_cc[VTIME] = timeout;
    tcsetattr(serial, TCSANOW, &options);
}

static esp_loader_error_t read_char(char *c, uint32_t timeout)
{
    set_timeout(timeout);
    int read_bytes = read(serial, c, 1);

    if (read_bytes == 1) {
        return ESP_LOADER_SUCCESS;
    } else if (read_bytes == 0) {
        return ESP_LOADER_ERROR_TIMEOUT;
    } else {
        return ESP_LOADER_ERROR_FAIL;
    }
}

static esp_loader_error_t read_data(char *buffer, uint32_t size)
{
    for (int i = 0; i < size; i++) {
        uint32_t remaining_time = loader_port_remaining_time();
        RETURN_ON_ERROR( read_char(&buffer[i], remaining_time) );
    }

    return ESP_LOADER_SUCCESS;
}

esp_loader_error_t loader_port_raspberry_init(const char *device,
                                              uint32_t baudrate,
                                              uint32_t reset_trigger_pin,
                                              uint32_t gpio0_trigger_pin)
{
    s_reset_trigger_pin = reset_trigger_pin;
    s_gpio0_trigger_pin = gpio0_trigger_pin;

    serial = serialOpen(device, baudrate);
    if (serial < 0) {
        printf("Serial port could not be opened!\n");
        return ESP_LOADER_ERROR_FAIL;
    }

    if (gpioInitialise() < 0) {
        printf("pigpio initialisation failed\n");
        return ESP_LOADER_ERROR_FAIL;
    }

    gpioSetMode(reset_trigger_pin, PI_OUTPUT);
    gpioSetMode(gpio0_trigger_pin, PI_OUTPUT);

    return ESP_LOADER_SUCCESS;
}


esp_loader_error_t loader_port_serial_write(const uint8_t *data, uint16_t size, uint32_t timeout)
{
    serial_debug_print(data, size, true);

    int written = write(serial, data, size);

    if (written < 0) {
        return ESP_LOADER_ERROR_FAIL;
    } else if (written < size) {
        return ESP_LOADER_ERROR_TIMEOUT;
    } else {
        return ESP_LOADER_SUCCESS;
    }
}


esp_loader_error_t loader_port_serial_read(uint8_t *data, uint16_t size, uint32_t timeout)
{
    RETURN_ON_ERROR( read_data(data, size) );

    serial_debug_print(data, size, false);

    return ESP_LOADER_SUCCESS;
}


// Set GPIO0 LOW, then assert reset pin for 50 milliseconds.
void loader_port_enter_bootloader(void)
{
    gpioWrite(s_gpio0_trigger_pin, 0);
    gpioWrite(s_reset_trigger_pin, 0);
    loader_port_delay_ms(50);
    gpioWrite(s_reset_trigger_pin, 1);
    loader_port_delay_ms(50);
    gpioWrite(s_gpio0_trigger_pin, 1);
}


void loader_port_reset_target(void)
{
    gpioWrite(s_reset_trigger_pin, 0);
    loader_port_delay_ms(50);
    gpioWrite(s_reset_trigger_pin, 1);
}


void loader_port_delay_ms(uint32_t ms)
{
    usleep(ms * 1000);
}


void loader_port_start_timer(uint32_t ms)
{
    s_time_end = clock() + (ms * (CLOCKS_PER_SEC / 1000));
}


uint32_t loader_port_remaining_time(void)
{
    int64_t remaining = (s_time_end - clock()) / 1000;
    return (remaining > 0) ? (uint32_t)remaining : 0;
}


void loader_port_debug_print(const char *str)
{
    printf("DEBUG: %s\n", str);
}

esp_loader_error_t loader_port_change_baudrate(uint32_t baudrate)
{
    return change_baudrate(serial, baudrate);
}