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components/openthread/src/port/esp_uart_spinel_interface.cpp
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/*
* SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "esp_uart_spinel_interface.hpp"
#include <errno.h>
#include <fcntl.h>
#include <sys/select.h>
#include <sys/unistd.h>
#include "esp_check.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_openthread_common_macro.h"
#include "esp_openthread_types.h"
#include "esp_openthread_uart.h"
#include "driver/uart_vfs.h"
#include "core/common/code_utils.hpp"
#include "core/common/logging.hpp"
#include "driver/uart.h"
#include "lib/platform/exit_code.h"
#include "openthread/platform/time.h"
namespace esp {
namespace openthread {
UartSpinelInterface::UartSpinelInterface(void)
: m_receiver_frame_callback(nullptr)
, m_receiver_frame_context(nullptr)
, m_receive_frame_buffer(nullptr)
, m_uart_fd(-1)
, mRcpFailureHandler(nullptr)
{
}
UartSpinelInterface::~UartSpinelInterface(void)
{
Deinit();
}
otError UartSpinelInterface::Init(ReceiveFrameCallback aCallback, void *aCallbackContext, RxFrameBuffer &aFrameBuffer)
{
otError error = OT_ERROR_NONE;
m_receiver_frame_callback = aCallback;
m_receiver_frame_context = aCallbackContext;
m_receive_frame_buffer = &aFrameBuffer;
m_hdlc_decoder.Init(aFrameBuffer, HandleHdlcFrame, this);
return error;
}
void UartSpinelInterface::Deinit(void)
{
m_receiver_frame_callback = nullptr;
m_receiver_frame_context = nullptr;
m_receive_frame_buffer = nullptr;
}
esp_err_t UartSpinelInterface::Enable(const esp_openthread_uart_config_t &radio_uart_config)
{
esp_err_t error = ESP_OK;
m_uart_rx_buffer = static_cast<uint8_t *>(heap_caps_malloc(kMaxFrameSize, MALLOC_CAP_8BIT));
if (m_uart_rx_buffer == NULL) {
return ESP_ERR_NO_MEM;
}
error = InitUart(radio_uart_config);
ESP_LOGI(OT_PLAT_LOG_TAG, "spinel UART interface initialization completed");
return error;
}
esp_err_t UartSpinelInterface::Disable(void)
{
if (m_uart_rx_buffer) {
heap_caps_free(m_uart_rx_buffer);
}
m_uart_rx_buffer = NULL;
return DeinitUart();
}
otError UartSpinelInterface::SendFrame(const uint8_t *frame, uint16_t length)
{
otError error = OT_ERROR_NONE;
encoder_buffer.Clear();
ot::Hdlc::Encoder hdlc_encoder(encoder_buffer);
SuccessOrExit(error = hdlc_encoder.BeginFrame());
SuccessOrExit(error = hdlc_encoder.Encode(frame, length));
SuccessOrExit(error = hdlc_encoder.EndFrame());
SuccessOrExit(error = Write(encoder_buffer.GetFrame(), encoder_buffer.GetLength()));
exit:
if (error != OT_ERROR_NONE) {
ESP_LOGE(OT_PLAT_LOG_TAG, "send radio frame failed");
} else {
ESP_LOGD(OT_PLAT_LOG_TAG, "sent radio frame");
}
return error;
}
void UartSpinelInterface::Process(const void *aMainloopContext)
{
if (FD_ISSET(m_uart_fd, &((esp_openthread_mainloop_context_t *)aMainloopContext)->read_fds)) {
ESP_LOGD(OT_PLAT_LOG_TAG, "radio uart read event");
TryReadAndDecode();
}
}
int UartSpinelInterface::TryReadAndDecode(void)
{
uint8_t buffer[UART_HW_FIFO_LEN(m_uart_config.port)];
ssize_t rval;
do {
rval = read(m_uart_fd, buffer, sizeof(buffer));
if (rval > 0) {
m_hdlc_decoder.Decode(buffer, static_cast<uint16_t>(rval));
}
} while (rval > 0);
if ((rval < 0) && (errno != EAGAIN) && (errno != EWOULDBLOCK)) {
ESP_ERROR_CHECK(TryRecoverUart());
}
return rval;
}
otError UartSpinelInterface::WaitForWritable(void)
{
otError error = OT_ERROR_NONE;
struct timeval timeout = {kMaxWaitTime / MS_PER_S, (kMaxWaitTime % MS_PER_S) * US_PER_MS};
uint64_t now = otPlatTimeGet();
uint64_t end = now + kMaxWaitTime * US_PER_MS;
fd_set write_fds;
fd_set error_fds;
int rval;
while (true) {
FD_ZERO(&write_fds);
FD_ZERO(&error_fds);
FD_SET(m_uart_fd, &write_fds);
FD_SET(m_uart_fd, &error_fds);
rval = select(m_uart_fd + 1, NULL, &write_fds, &error_fds, &timeout);
if (rval > 0) {
if (FD_ISSET(m_uart_fd, &write_fds)) {
ExitNow();
} else if (FD_ISSET(m_uart_fd, &error_fds)) {
ExitNow(error = OT_ERROR_FAILED);
}
} else if ((rval < 0) && (errno != EINTR)) {
ESP_ERROR_CHECK(TryRecoverUart());
ExitNow(error = OT_ERROR_FAILED);
}
now = otPlatTimeGet();
if (end > now) {
uint64_t remain = end - now;
timeout.tv_sec = static_cast<time_t>(remain / 1000000);
timeout.tv_usec = static_cast<suseconds_t>(remain % 1000000);
} else {
break;
}
}
error = OT_ERROR_FAILED;
exit:
return error;
}
otError UartSpinelInterface::Write(const uint8_t *aFrame, uint16_t length)
{
otError error = OT_ERROR_NONE;
while (length) {
ssize_t rval;
rval = write(m_uart_fd, aFrame, length);
if (rval > 0) {
assert(rval <= length);
length -= static_cast<uint16_t>(rval);
aFrame += static_cast<uint16_t>(rval);
continue;
} else if (rval < 0) {
ESP_ERROR_CHECK(TryRecoverUart());
ExitNow(error = OT_ERROR_FAILED);
}
SuccessOrExit(error = WaitForWritable());
}
exit:
return error;
}
otError UartSpinelInterface::WaitForFrame(uint64_t timeout_us)
{
otError error = OT_ERROR_NONE;
struct timeval timeout;
fd_set read_fds;
fd_set error_fds;
int rval;
FD_ZERO(&read_fds);
FD_ZERO(&error_fds);
FD_SET(m_uart_fd, &read_fds);
FD_SET(m_uart_fd, &error_fds);
timeout.tv_sec = static_cast<time_t>(timeout_us / US_PER_S);
timeout.tv_usec = static_cast<suseconds_t>(timeout_us % US_PER_S);
rval = select(m_uart_fd + 1, &read_fds, NULL, &error_fds, &timeout);
if (rval > 0) {
if (FD_ISSET(m_uart_fd, &read_fds)) {
TryReadAndDecode();
} else if (FD_ISSET(m_uart_fd, &error_fds)) {
ESP_ERROR_CHECK(TryRecoverUart());
ExitNow(error = OT_ERROR_FAILED);
}
} else if (rval == 0) {
ExitNow(error = OT_ERROR_RESPONSE_TIMEOUT);
} else {
ESP_ERROR_CHECK(TryRecoverUart());
ExitNow(error = OT_ERROR_FAILED);
}
exit:
return error;
}
void UartSpinelInterface::HandleHdlcFrame(void *context, otError error)
{
static_cast<UartSpinelInterface *>(context)->HandleHdlcFrame(error);
}
void UartSpinelInterface::HandleHdlcFrame(otError error)
{
if (error == OT_ERROR_NONE) {
ESP_LOGD(OT_PLAT_LOG_TAG, "received hdlc radio frame");
m_receiver_frame_callback(m_receiver_frame_context);
} else {
ESP_LOGE(OT_PLAT_LOG_TAG, "dropping radio frame: %s", otThreadErrorToString(error));
m_receive_frame_buffer->DiscardFrame();
}
}
esp_err_t UartSpinelInterface::InitUart(const esp_openthread_uart_config_t &radio_uart_config)
{
char uart_path[16];
m_uart_config = radio_uart_config;
ESP_RETURN_ON_ERROR(esp_openthread_uart_init_port(&radio_uart_config), OT_PLAT_LOG_TAG,
"esp_openthread_uart_init_port failed");
// We have a driver now installed so set up the read/write functions to use driver also.
uart_vfs_dev_port_set_tx_line_endings(m_uart_config.port, ESP_LINE_ENDINGS_LF);
uart_vfs_dev_port_set_rx_line_endings(m_uart_config.port, ESP_LINE_ENDINGS_LF);
snprintf(uart_path, sizeof(uart_path), "/dev/uart/%d", radio_uart_config.port);
m_uart_fd = open(uart_path, O_RDWR | O_NONBLOCK);
return m_uart_fd >= 0 ? ESP_OK : ESP_FAIL;
}
esp_err_t UartSpinelInterface::DeinitUart(void)
{
if (m_uart_fd != -1) {
close(m_uart_fd);
m_uart_fd = -1;
return uart_driver_delete(m_uart_config.port);
} else {
return ESP_ERR_INVALID_STATE;
}
}
esp_err_t UartSpinelInterface::TryRecoverUart(void)
{
ESP_RETURN_ON_ERROR(DeinitUart(), OT_PLAT_LOG_TAG, "DeInitUart failed");
ESP_RETURN_ON_ERROR(InitUart(m_uart_config), OT_PLAT_LOG_TAG, "InitUart failed");
return ESP_OK;
}
otError UartSpinelInterface::HardwareReset(void)
{
if (mRcpFailureHandler) {
TryRecoverUart();
mRcpFailureHandler();
}
return OT_ERROR_NONE;
}
void UartSpinelInterface::UpdateFdSet(void *aMainloopContext)
{
// Register only READ events for radio UART and always wait
// for a radio WRITE to complete.
FD_SET(m_uart_fd, &((esp_openthread_mainloop_context_t *)aMainloopContext)->read_fds);
if (m_uart_fd > ((esp_openthread_mainloop_context_t *)aMainloopContext)->max_fd) {
((esp_openthread_mainloop_context_t *)aMainloopContext)->max_fd = m_uart_fd;
}
}
uint32_t UartSpinelInterface::GetBusSpeed(void) const
{
return m_uart_config.uart_config.baud_rate;
}
} // namespace openthread
} // namespace esp
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