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nrf/modules/machine/uart: Add timeout keyword options and "any" method.
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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.
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@robert-hh @dpgeorge
robert-hh authored and dpgeorge committed Mar 20, 2023
1 parent 42511b5 commit 7ea192a
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Showing 2 changed files with 74 additions and 41 deletions.
107 changes: 70 additions & 37 deletions ports/nrf/modules/machine/uart.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -98,15 +98,15 @@ typedef struct _machine_hard_uart_buf_t {
typedef struct _machine_hard_uart_obj_t {
mp_obj_base_t base;
const nrfx_uart_t * p_uart; // Driver instance
machine_hard_uart_buf_t *buf;
machine_hard_uart_buf_t buf;
uint16_t timeout; // timeout waiting for first char (in ms)
uint16_t timeout_char; // timeout waiting between chars (in ms)
} machine_hard_uart_obj_t;

static const nrfx_uart_t instance0 = NRFX_UART_INSTANCE(0);

STATIC machine_hard_uart_buf_t machine_hard_uart_buf[1];

STATIC const machine_hard_uart_obj_t machine_hard_uart_obj[] = {
{{&machine_uart_type}, .p_uart = &instance0, .buf = &machine_hard_uart_buf[0]},
STATIC machine_hard_uart_obj_t machine_hard_uart_obj[] = {
{{&machine_uart_type}, .p_uart = &instance0}
};

void uart_init0(void) {
Expand All @@ -124,45 +124,45 @@ STATIC int uart_find(mp_obj_t id) {
STATIC void uart_event_handler(nrfx_uart_event_t const *p_event, void *p_context) {
machine_hard_uart_obj_t *self = p_context;
if (p_event->type == NRFX_UART_EVT_RX_DONE) {
int chr = self->buf->rx_buf[0];
nrfx_uart_rx(self->p_uart, &self->buf->rx_buf[0], 1);
nrfx_uart_rx(self->p_uart, &self->buf.rx_buf[0], 1);
int chr = self->buf.rx_buf[0];
#if !MICROPY_PY_BLE_NUS && MICROPY_KBD_EXCEPTION
if (chr == mp_interrupt_char) {
self->buf->rx_ringbuf.iget = 0;
self->buf->rx_ringbuf.iput = 0;
self->buf.rx_ringbuf.iget = 0;
self->buf.rx_ringbuf.iput = 0;
mp_sched_keyboard_interrupt();
} else
#endif
{
ringbuf_put((ringbuf_t*)&self->buf->rx_ringbuf, chr);
ringbuf_put((ringbuf_t *)&self->buf.rx_ringbuf, chr);
}
}
}

bool uart_rx_any(const machine_hard_uart_obj_t *self) {
return self->buf->rx_ringbuf.iput != self->buf->rx_ringbuf.iget;
bool uart_rx_any(machine_hard_uart_obj_t *self) {
return self->buf.rx_ringbuf.iput != self->buf.rx_ringbuf.iget;
}

int uart_rx_char(const machine_hard_uart_obj_t * self) {
return ringbuf_get((ringbuf_t*)&self->buf->rx_ringbuf);
int uart_rx_char(machine_hard_uart_obj_t *self) {
return ringbuf_get((ringbuf_t *)&self->buf.rx_ringbuf);
}

STATIC nrfx_err_t uart_tx_char(const machine_hard_uart_obj_t * self, int c) {
STATIC nrfx_err_t uart_tx_char(machine_hard_uart_obj_t *self, int c) {
while (nrfx_uart_tx_in_progress(self->p_uart)) {
;
}
self->buf->tx_buf[0] = c;
return nrfx_uart_tx(self->p_uart, &self->buf->tx_buf[0], 1);
self->buf.tx_buf[0] = c;
return nrfx_uart_tx(self->p_uart, &self->buf.tx_buf[0], 1);
}


void uart_tx_strn(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
void uart_tx_strn(machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
for (const char *top = str + len; str < top; str++) {
uart_tx_char(uart_obj, *str);
}
}

void uart_tx_strn_cooked(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
void uart_tx_strn_cooked(machine_hard_uart_obj_t *uart_obj, const char *str, uint len) {
for (const char *top = str + len; str < top; str++) {
if (*str == '\n') {
uart_tx_char(uart_obj, '\r');
Expand All @@ -184,10 +184,12 @@ STATIC void machine_hard_uart_print(const mp_print_t *print, mp_obj_t self_in, m
/// - `id`is bus id.
/// - `baudrate` is the clock rate.
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) {
enum { ARG_id, ARG_baudrate };
enum { ARG_id, ARG_baudrate, ARG_timeout, ARG_timeout_char };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_baudrate, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 9600} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
{ MP_QSTR_timeout_char, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
};

// parse args
Expand All @@ -196,7 +198,7 @@ STATIC mp_obj_t machine_hard_uart_make_new(const mp_obj_type_t *type, size_t n_a

// get static peripheral object
int uart_id = uart_find(args[ARG_id].u_obj);
const machine_hard_uart_obj_t * self = &machine_hard_uart_obj[uart_id];
machine_hard_uart_obj_t *self = &machine_hard_uart_obj[uart_id];

nrfx_uart_config_t config;

Expand Down Expand Up @@ -238,19 +240,21 @@ STATIC mp_obj_t machine_hard_uart_make_new(const mp_obj_type_t *type, size_t n_a
config.pselrts = MICROPY_HW_UART1_RTS;
config.pselcts = MICROPY_HW_UART1_CTS;
#endif
self->timeout = args[ARG_timeout].u_int;
self->timeout_char = args[ARG_timeout_char].u_int;

// Set context to this instance of UART
config.p_context = (void *)self;

// Initialise ring buffer
self->buf->rx_ringbuf.buf = self->buf->rx_ringbuf_array;
self->buf->rx_ringbuf.size = sizeof(self->buf->rx_ringbuf_array);
self->buf->rx_ringbuf.iget = 0;
self->buf->rx_ringbuf.iput = 0;
self->buf.rx_ringbuf.buf = self->buf.rx_ringbuf_array;
self->buf.rx_ringbuf.size = sizeof(self->buf.rx_ringbuf_array);
self->buf.rx_ringbuf.iget = 0;
self->buf.rx_ringbuf.iput = 0;

// Enable event callback and start asynchronous receive
nrfx_uart_init(self->p_uart, &config, uart_event_handler);
nrfx_uart_rx(self->p_uart, &self->buf->rx_buf[0], 1);
nrfx_uart_rx(self->p_uart, &self->buf.rx_buf[0], 1);

#if NRFX_UART_ENABLED
nrfx_uart_rx_enable(self->p_uart);
Expand Down Expand Up @@ -286,20 +290,29 @@ STATIC mp_obj_t machine_hard_uart_readchar(mp_obj_t self_in) {
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_hard_uart_readchar_obj, machine_hard_uart_readchar);

// uart.any()
STATIC mp_obj_t machine_uart_any(mp_obj_t self_in) {
machine_hard_uart_obj_t *self = self_in;
return MP_OBJ_NEW_SMALL_INT(ringbuf_avail((ringbuf_t *)&self->buf.rx_ringbuf));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_any_obj, machine_uart_any);

// uart.sendbreak()
STATIC mp_obj_t machine_hard_uart_sendbreak(mp_obj_t self_in) {
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_hard_uart_sendbreak_obj, machine_hard_uart_sendbreak);

// Since uart.write() waits up to the last byte, uart.txdone() always returns True.
// uart.txdone()
STATIC mp_obj_t machine_uart_txdone(mp_obj_t self_in) {
return mp_const_true;
machine_hard_uart_obj_t *self = self_in;
return mp_obj_new_bool(!nrfx_uart_tx_in_progress(self->p_uart));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_txdone_obj, machine_uart_txdone);

STATIC const mp_rom_map_elem_t machine_hard_uart_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&machine_uart_any_obj) },
{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_stream_read_obj) },
{ MP_ROM_QSTR(MP_QSTR_readline), MP_ROM_PTR(&mp_stream_unbuffered_readline_obj) },
{ MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_stream_readinto_obj) },
Expand All @@ -321,29 +334,38 @@ STATIC const mp_rom_map_elem_t machine_hard_uart_locals_dict_table[] = {
STATIC MP_DEFINE_CONST_DICT(machine_hard_uart_locals_dict, machine_hard_uart_locals_dict_table);

STATIC mp_uint_t machine_hard_uart_read(mp_obj_t self_in, void *buf_in, mp_uint_t size, int *errcode) {
const machine_hard_uart_obj_t *self = self_in;
machine_hard_uart_obj_t *self = self_in;
byte *buf = buf_in;
uint32_t t = self->timeout + mp_hal_ticks_ms();

// read the data
for (size_t i = 0; i < size; i++) {
while (!uart_rx_any(self)) {
if ((int32_t)(mp_hal_ticks_ms() - t) >= 0) { // timed out
if (i == 0) {
*errcode = MP_EAGAIN;
return MP_STREAM_ERROR;
} else {
return i;
}
}
MICROPY_EVENT_POLL_HOOK;
}
buf[i] = uart_rx_char(self);
t = self->timeout_char + mp_hal_ticks_ms();
}

return size;
}

STATIC mp_uint_t machine_hard_uart_write(mp_obj_t self_in, const void *buf_in, mp_uint_t size, int *errcode) {
machine_hard_uart_obj_t *self = self_in;
const byte *buf = buf_in;

nrfx_err_t err = NRFX_SUCCESS;
for (int i = 0; i < size; i++) {
err = uart_tx_char(self, (int)((uint8_t *)buf)[i]);
}

nrfx_err_t err = nrfx_uart_tx(self->p_uart, buf_in, size);
if (err == NRFX_SUCCESS) {
while (nrfx_uart_tx_in_progress(self->p_uart)) {
MICROPY_EVENT_POLL_HOOK;
}
// return number of bytes written
return size;
} else {
Expand All @@ -355,9 +377,20 @@ STATIC mp_uint_t machine_hard_uart_write(mp_obj_t self_in, const void *buf_in, m
STATIC mp_uint_t machine_hard_uart_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
machine_hard_uart_obj_t *self = self_in;
(void)self;
mp_uint_t ret = 0;

if (request == MP_STREAM_FLUSH) {
// Since uart.write() waits up to the last byte, uart.flush() always succeds.
if (request == MP_STREAM_POLL) {
uintptr_t flags = arg;
if ((flags & MP_STREAM_POLL_RD) && uart_rx_any(self) != 0) {
ret |= MP_STREAM_POLL_RD;
}
if ((flags & MP_STREAM_POLL_WR) && !nrfx_uart_tx_in_progress(self->p_uart)) {
ret |= MP_STREAM_POLL_WR;
}
} else if (request == MP_STREAM_FLUSH) {
while (nrfx_uart_tx_in_progress(self->p_uart)) {
MICROPY_EVENT_POLL_HOOK;
}
return 0;
}
return MP_STREAM_ERROR;
Expand Down
8 changes: 4 additions & 4 deletions ports/nrf/modules/machine/uart.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,9 @@ void uart_init0(void);
void uart_deinit(void);
void uart_irq_handler(mp_uint_t uart_id);

bool uart_rx_any(const machine_hard_uart_obj_t * uart_obj);
int uart_rx_char(const machine_hard_uart_obj_t * uart_obj);
void uart_tx_strn(const machine_hard_uart_obj_t * uart_obj, const char *str, uint len);
void uart_tx_strn_cooked(const machine_hard_uart_obj_t *uart_obj, const char *str, uint len);
bool uart_rx_any(machine_hard_uart_obj_t *uart_obj);
int uart_rx_char(machine_hard_uart_obj_t *uart_obj);
void uart_tx_strn(machine_hard_uart_obj_t *uart_obj, const char *str, uint len);
void uart_tx_strn_cooked(machine_hard_uart_obj_t *uart_obj, const char *str, uint len);

#endif

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