5 files changed, 116 insertions, 134 deletions

diff --git a/drivers/chibios/serial.c b/drivers/chibios/serial.c
index 54f7e1321..f54fbcee4 100644
--- a/drivers/chibios/serial.c
+++ b/drivers/chibios/serial.c
@@ -74,21 +74,12 @@ static THD_FUNCTION(Thread1, arg) {
     }
 }
 
-static SSTD_t *Transaction_table      = NULL;
-static uint8_t Transaction_table_size = 0;
-
-void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size) {
-    Transaction_table      = sstd_table;
-    Transaction_table_size = (uint8_t)sstd_table_size;
-
+void soft_serial_initiator_init(void) {
     serial_output();
     serial_high();
 }
 
-void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size) {
-    Transaction_table      = sstd_table;
-    Transaction_table_size = (uint8_t)sstd_table_size;
-
+void soft_serial_target_init(void) {
     serial_input();
 
     palEnablePadEvent(PAL_PORT(SOFT_SERIAL_PIN), PAL_PAD(SOFT_SERIAL_PIN), PAL_EVENT_MODE_FALLING_EDGE);
@@ -154,16 +145,14 @@ void interrupt_handler(void *arg) {
     uint8_t checksum_computed = 0;
     int     sstd_index        = 0;
 
-#ifdef SERIAL_USE_MULTI_TRANSACTION
     sstd_index = serial_read_byte();
     sync_send();
-#endif
 
-    SSTD_t *trans = &Transaction_table[sstd_index];
+    split_transaction_desc_t *trans = &split_transaction_table[sstd_index];
     for (int i = 0; i < trans->initiator2target_buffer_size; ++i) {
-        trans->initiator2target_buffer[i] = serial_read_byte();
+        split_trans_initiator2target_buffer(trans)[i] = serial_read_byte();
         sync_send();
-        checksum_computed += trans->initiator2target_buffer[i];
+        checksum_computed += split_trans_initiator2target_buffer(trans)[i];
     }
     checksum_computed ^= 7;
     uint8_t checksum_received = serial_read_byte();
@@ -172,12 +161,17 @@ void interrupt_handler(void *arg) {
     // wait for the sync to finish sending
     serial_delay();
 
+    // Allow any slave processing to occur
+    if (trans->slave_callback) {
+        trans->slave_callback(trans->initiator2target_buffer_size, split_trans_initiator2target_buffer(trans), trans->target2initiator_buffer_size, split_trans_target2initiator_buffer(trans));
+    }
+
     uint8_t checksum = 0;
     for (int i = 0; i < trans->target2initiator_buffer_size; ++i) {
-        serial_write_byte(trans->target2initiator_buffer[i]);
+        serial_write_byte(split_trans_target2initiator_buffer(trans)[i]);
         sync_send();
         serial_delay_half();
-        checksum += trans->target2initiator_buffer[i];
+        checksum += split_trans_target2initiator_buffer(trans)[i];
     }
     serial_write_byte(checksum ^ 7);
     sync_send();
@@ -206,15 +200,10 @@ void interrupt_handler(void *arg) {
 //    TRANSACTION_NO_RESPONSE
 //    TRANSACTION_DATA_ERROR
 // this code is very time dependent, so we need to disable interrupts
-#ifndef SERIAL_USE_MULTI_TRANSACTION
-int soft_serial_transaction(void) {
-    int sstd_index = 0;
-#else
 int soft_serial_transaction(int sstd_index) {
-#endif
-
-    if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR;
-    SSTD_t *trans = &Transaction_table[sstd_index];
+    if (sstd_index > NUM_TOTAL_TRANSACTIONS) return TRANSACTION_TYPE_ERROR;
+    split_transaction_desc_t *trans = &split_transaction_table[sstd_index];
+    if (!trans->status) return TRANSACTION_TYPE_ERROR;  // not registered
 
     // TODO: remove extra delay between transactions
     serial_delay();
@@ -244,14 +233,13 @@ int soft_serial_transaction(int sstd_index) {
 
     uint8_t checksum = 0;
     // send data to the slave
-#ifdef SERIAL_USE_MULTI_TRANSACTION
     serial_write_byte(sstd_index);  // first chunk is transaction id
     sync_recv();
-#endif
+
     for (int i = 0; i < trans->initiator2target_buffer_size; ++i) {
-        serial_write_byte(trans->initiator2target_buffer[i]);
+        serial_write_byte(split_trans_initiator2target_buffer(trans)[i]);
         sync_recv();
-        checksum += trans->initiator2target_buffer[i];
+        checksum += split_trans_initiator2target_buffer(trans)[i];
     }
     serial_write_byte(checksum ^ 7);
     sync_recv();
@@ -262,9 +250,9 @@ int soft_serial_transaction(int sstd_index) {
     // receive data from the slave
     uint8_t checksum_computed = 0;
     for (int i = 0; i < trans->target2initiator_buffer_size; ++i) {
-        trans->target2initiator_buffer[i] = serial_read_byte();
+        split_trans_target2initiator_buffer(trans)[i] = serial_read_byte();
         sync_recv();
-        checksum_computed += trans->target2initiator_buffer[i];
+        checksum_computed += split_trans_target2initiator_buffer(trans)[i];
     }
     checksum_computed ^= 7;
     uint8_t checksum_received = serial_read_byte();
diff --git a/drivers/chibios/serial.h b/drivers/chibios/serial.h
deleted file mode 100644
index 0c1857d52..000000000
--- a/drivers/chibios/serial.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#pragma once
-
-#include <stdbool.h>
-
-// /////////////////////////////////////////////////////////////////
-// Need Soft Serial defines in config.h
-// /////////////////////////////////////////////////////////////////
-// ex.
-//  #define SOFT_SERIAL_PIN ??   // ?? = D0,D1,D2,D3,E6
-//  OPTIONAL: #define SELECT_SOFT_SERIAL_SPEED ? // ? = 1,2,3,4,5
-//                                               //  1: about 137kbps (default)
-//                                               //  2: about 75kbps
-//                                               //  3: about 39kbps
-//                                               //  4: about 26kbps
-//                                               //  5: about 20kbps
-//
-// //// USE simple API (using signle-type transaction function)
-//   /* nothing */
-// //// USE flexible API (using multi-type transaction function)
-//   #define SERIAL_USE_MULTI_TRANSACTION
-//
-// /////////////////////////////////////////////////////////////////
-
-// Soft Serial Transaction Descriptor
-typedef struct _SSTD_t {
-    uint8_t *status;
-    uint8_t  initiator2target_buffer_size;
-    uint8_t *initiator2target_buffer;
-    uint8_t  target2initiator_buffer_size;
-    uint8_t *target2initiator_buffer;
-} SSTD_t;
-#define TID_LIMIT(table) (sizeof(table) / sizeof(SSTD_t))
-
-// initiator is transaction start side
-void soft_serial_initiator_init(SSTD_t *sstd_table, int sstd_table_size);
-// target is interrupt accept side
-void soft_serial_target_init(SSTD_t *sstd_table, int sstd_table_size);
-
-// initiator result
-#define TRANSACTION_END 0
-#define TRANSACTION_NO_RESPONSE 0x1
-#define TRANSACTION_DATA_ERROR 0x2
-#define TRANSACTION_TYPE_ERROR 0x4
-#ifndef SERIAL_USE_MULTI_TRANSACTION
-int soft_serial_transaction(void);
-#else
-int soft_serial_transaction(int sstd_index);
-#endif
-
-// target status
-// *SSTD_t.status has
-//   initiator:
-//       TRANSACTION_END
-//    or TRANSACTION_NO_RESPONSE
-//    or TRANSACTION_DATA_ERROR
-//   target:
-//       TRANSACTION_DATA_ERROR
-//    or TRANSACTION_ACCEPTED
-#define TRANSACTION_ACCEPTED 0x8
-#ifdef SERIAL_USE_MULTI_TRANSACTION
-int soft_serial_get_and_clean_status(int sstd_index);
-#endif
diff --git a/drivers/chibios/serial_usart.c b/drivers/chibios/serial_usart.c
index cae29388c..9f180d2d7 100644
--- a/drivers/chibios/serial_usart.c
+++ b/drivers/chibios/serial_usart.c
@@ -113,37 +113,29 @@ void usart_slave_init(void) {
     chThdCreateStatic(waSlaveThread, sizeof(waSlaveThread), HIGHPRIO, SlaveThread, NULL);
 }
 
-static SSTD_t* Transaction_table      = NULL;
-static uint8_t Transaction_table_size = 0;
+void soft_serial_initiator_init(void) { usart_master_init(); }
 
-void soft_serial_initiator_init(SSTD_t* sstd_table, int sstd_table_size) {
-    Transaction_table      = sstd_table;
-    Transaction_table_size = (uint8_t)sstd_table_size;
-
-    usart_master_init();
-}
-
-void soft_serial_target_init(SSTD_t* sstd_table, int sstd_table_size) {
-    Transaction_table      = sstd_table;
-    Transaction_table_size = (uint8_t)sstd_table_size;
-
-    usart_slave_init();
-}
+void soft_serial_target_init(void) { usart_slave_init(); }
 
 void handle_soft_serial_slave(void) {
-    uint8_t sstd_index = sdGet(&SERIAL_USART_DRIVER);  // first chunk is always transaction id
-    SSTD_t* trans      = &Transaction_table[sstd_index];
+    uint8_t                   sstd_index = sdGet(&SERIAL_USART_DRIVER);  // first chunk is always transaction id
+    split_transaction_desc_t* trans      = &split_transaction_table[sstd_index];
 
     // Always write back the sstd_index as part of a basic handshake
     sstd_index ^= HANDSHAKE_MAGIC;
     sdWrite(&SERIAL_USART_DRIVER, &sstd_index, sizeof(sstd_index));
 
     if (trans->initiator2target_buffer_size) {
-        sdRead(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size);
+        sdRead(&SERIAL_USART_DRIVER, split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size);
+    }
+
+    // Allow any slave processing to occur
+    if (trans->slave_callback) {
+        trans->slave_callback(trans->initiator2target_buffer_size, split_trans_initiator2target_buffer(trans), trans->target2initiator_buffer_size, split_trans_target2initiator_buffer(trans));
     }
 
     if (trans->target2initiator_buffer_size) {
-        sdWrite(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size);
+        sdWrite(&SERIAL_USART_DRIVER, split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size);
     }
 
     if (trans->status) {
@@ -160,17 +152,14 @@ void handle_soft_serial_slave(void) {
 //    TRANSACTION_END
 //    TRANSACTION_NO_RESPONSE
 //    TRANSACTION_DATA_ERROR
-#ifndef SERIAL_USE_MULTI_TRANSACTION
-int soft_serial_transaction(void) {
-    uint8_t sstd_index = 0;
-#else
 int soft_serial_transaction(int index) {
     uint8_t sstd_index = index;
-#endif
 
-    if (sstd_index > Transaction_table_size) return TRANSACTION_TYPE_ERROR;
-    SSTD_t* trans = &Transaction_table[sstd_index];
-    msg_t   res   = 0;
+    if (sstd_index > NUM_TOTAL_TRANSACTIONS) return TRANSACTION_TYPE_ERROR;
+    split_transaction_desc_t* trans = &split_transaction_table[sstd_index];
+    msg_t                     res   = 0;
+
+    if (!trans->status) return TRANSACTION_TYPE_ERROR;  // not registered
 
     sdClear(&SERIAL_USART_DRIVER);
 
@@ -189,7 +178,7 @@ int soft_serial_transaction(int index) {
     }
 
     if (trans->initiator2target_buffer_size) {
-        res = sdWriteTimeout(&SERIAL_USART_DRIVER, trans->initiator2target_buffer, trans->initiator2target_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
+        res = sdWriteTimeout(&SERIAL_USART_DRIVER, split_trans_initiator2target_buffer(trans), trans->initiator2target_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
         if (res < 0) {
             dprintf("serial::usart_transmit NO_RESPONSE\n");
             return TRANSACTION_NO_RESPONSE;
@@ -197,7 +186,7 @@ int soft_serial_transaction(int index) {
     }
 
     if (trans->target2initiator_buffer_size) {
-        res = sdReadTimeout(&SERIAL_USART_DRIVER, trans->target2initiator_buffer, trans->target2initiator_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
+        res = sdReadTimeout(&SERIAL_USART_DRIVER, split_trans_target2initiator_buffer(trans), trans->target2initiator_buffer_size, TIME_MS2I(SERIAL_USART_TIMEOUT));
         if (res < 0) {
             dprintf("serial::usart_receive NO_RESPONSE\n");
             return TRANSACTION_NO_RESPONSE;
diff --git a/drivers/chibios/spi_master.c b/drivers/chibios/spi_master.c
index 4852a6eba..28ddcbb2b 100644
--- a/drivers/chibios/spi_master.c
+++ b/drivers/chibios/spi_master.c
@@ -18,8 +18,13 @@
 
 #include "timer.h"
 
-static pin_t     currentSlavePin = NO_PIN;
-static SPIConfig spiConfig       = {false, NULL, 0, 0, 0, 0};
+static pin_t currentSlavePin = NO_PIN;
+
+#if defined(K20x) || defined(KL2x)
+static SPIConfig spiConfig = {NULL, 0, 0, 0};
+#else
+static SPIConfig spiConfig = {false, NULL, 0, 0, 0, 0};
+#endif
 
 __attribute__((weak)) void spi_init(void) {
     static bool is_initialised = false;
@@ -27,15 +32,15 @@ __attribute__((weak)) void spi_init(void) {
         is_initialised = true;
 
         // Try releasing special pins for a short time
-        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_INPUT);
-        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_INPUT);
-        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_INPUT);
+        setPinInput(SPI_SCK_PIN);
+        setPinInput(SPI_MOSI_PIN);
+        setPinInput(SPI_MISO_PIN);
 
         chThdSleepMilliseconds(10);
 #if defined(USE_GPIOV1)
-        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
-        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
-        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
+        palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), SPI_SCK_PAL_MODE);
+        palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), SPI_MOSI_PAL_MODE);
+        palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), SPI_MISO_PAL_MODE);
 #else
         palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_ALTERNATE(SPI_SCK_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
         palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_ALTERNATE(SPI_MOSI_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
@@ -58,6 +63,54 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {
         return false;
     }
 
+#if defined(K20x) || defined(KL2x)
+    spiConfig.tar0 = SPIx_CTARn_FMSZ(7) | SPIx_CTARn_ASC(1);
+
+    if (lsbFirst) {
+        spiConfig.tar0 |= SPIx_CTARn_LSBFE;
+    }
+
+    switch (mode) {
+        case 0:
+            break;
+        case 1:
+            spiConfig.tar0 |= SPIx_CTARn_CPHA;
+            break;
+        case 2:
+            spiConfig.tar0 |= SPIx_CTARn_CPOL;
+            break;
+        case 3:
+            spiConfig.tar0 |= SPIx_CTARn_CPHA | SPIx_CTARn_CPOL;
+            break;
+    }
+
+    switch (roundedDivisor) {
+        case 2:
+            spiConfig.tar0 |= SPIx_CTARn_BR(0);
+            break;
+        case 4:
+            spiConfig.tar0 |= SPIx_CTARn_BR(1);
+            break;
+        case 8:
+            spiConfig.tar0 |= SPIx_CTARn_BR(3);
+            break;
+        case 16:
+            spiConfig.tar0 |= SPIx_CTARn_BR(4);
+            break;
+        case 32:
+            spiConfig.tar0 |= SPIx_CTARn_BR(5);
+            break;
+        case 64:
+            spiConfig.tar0 |= SPIx_CTARn_BR(6);
+            break;
+        case 128:
+            spiConfig.tar0 |= SPIx_CTARn_BR(7);
+            break;
+        case 256:
+            spiConfig.tar0 |= SPIx_CTARn_BR(8);
+            break;
+    }
+#else
     spiConfig.cr1 = 0;
 
     if (lsbFirst) {
@@ -103,6 +156,7 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {
             spiConfig.cr1 |= SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0;
             break;
     }
+#endif
 
     currentSlavePin  = slavePin;
     spiConfig.ssport = PAL_PORT(slavePin);
diff --git a/drivers/chibios/spi_master.h b/drivers/chibios/spi_master.h
index e93580e31..b5a6ef143 100644
--- a/drivers/chibios/spi_master.h
+++ b/drivers/chibios/spi_master.h
@@ -21,6 +21,7 @@
 #include <stdbool.h>
 
 #include "gpio.h"
+#include "chibios_config.h"
 
 #ifndef SPI_DRIVER
 #    define SPI_DRIVER SPID2
@@ -31,7 +32,11 @@
 #endif
 
 #ifndef SPI_SCK_PAL_MODE
-#    define SPI_SCK_PAL_MODE 5
+#    if defined(USE_GPIOV1)
+#        define SPI_SCK_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
+#    else
+#        define SPI_SCK_PAL_MODE 5
+#    endif
 #endif
 
 #ifndef SPI_MOSI_PIN
@@ -39,7 +44,11 @@
 #endif
 
 #ifndef SPI_MOSI_PAL_MODE
-#    define SPI_MOSI_PAL_MODE 5
+#    if defined(USE_GPIOV1)
+#        define SPI_MOSI_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
+#    else
+#        define SPI_MOSI_PAL_MODE 5
+#    endif
 #endif
 
 #ifndef SPI_MISO_PIN
@@ -47,7 +56,11 @@
 #endif
 
 #ifndef SPI_MISO_PAL_MODE
-#    define SPI_MISO_PAL_MODE 5
+#    if defined(USE_GPIOV1)
+#        define SPI_MISO_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
+#    else
+#        define SPI_MISO_PAL_MODE 5
+#    endif
 #endif
 
 typedef int16_t spi_status_t;