- rewritten ULP code from scratch (experimental)

- improved PS/2 keyboard and mouse reliability (no more clashes)
- removed PS2Controller.waitData, injectInRXBuffer, suspend() and resume()
- added PS2Controller.enableRX() and disableRX()
- added PS2Device.syncError(), CLKTimeOutError()

src/comdrivers/ps2controller.h

@@ -33,6 +33,7 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/timers.h"
 
 #include "fabutils.h"
 #include "fabglconf.h"
@@ -114,15 +115,13 @@ class PS2Controller {
   void begin(PS2Preset preset = PS2Preset::KeyboardPort0_MousePort1, KbdMode keyboardMode = KbdMode::CreateVirtualKeysQueue);
 
   /**
-   * @brief Gets the number of scancodes available in the controller buffer.
+   * @brief Determines if one byte has been received from the specified port
    *
    * @param PS2Port PS2 port number (0 = port 0, 1 = port1).
    *
-   * @return The number of scancodes available to read.
+   * @return True if one byte is available
    */
-  int dataAvailable(int PS2Port);
-
-  bool waitData(int timeOutMS, int PS2Port);
+  bool dataAvailable(int PS2Port);
 
   /**
    * @brief Gets a scancode from the queue.
@@ -131,7 +130,7 @@ class PS2Controller {
    *
    * @return The first scancode of the queue (-1 if no data is available).
    */
-  int getData(int PS2Port);
+  int getData(int PS2Port, int timeOutMS);
 
   /**
    * @brief Sends a command to the device.
@@ -142,42 +141,22 @@ class PS2Controller {
   void sendData(uint8_t data, int PS2Port);
 
   /**
-   * @brief Injects a byte into the RX buffer.
-   *
-   * Injects a byte as if it were actually sent by the device.
-   *
-   * @param value Byte to inject.
-   * @param PS2Port PS2 port number (0 = port 0, 1 = port1).
-   */
-  void injectInRXBuffer(int value, int PS2Port);
-
-  /**
-   * @brief Suspends PS/2 ports operations
-   */
-  void suspend();
-
-  /**
-   * @brief Resumes PS/2 ports operations
-   */
-  void resume();
-
-  /**
-   * @brief Suspends PS/2 port driving the CLK line Low
+   * @brief Disables inputs from PS/2 port driving the CLK line Low
    *
-   * Use resumePort() to release CLK line.
+   * Use enableRX() to release CLK line.
    *
    * @param PS2Port PS2 port number (0 = port 0, 1 = port1).
    */
-  void suspendPort(int PS2Port);
+  void disableRX(int PS2Port);
 
   /**
-   * @brief Resumes PS/2 port releasing CLK line
+   * @brief Enables inputs from PS/2 port releasing CLK line
    *
-   * Use suspendPort() to suspend.
+   * Use disableRX() to disable inputs from PS/2 port.
    *
    * @param PS2Port PS2 port number (0 = port 0, 1 = port1).
    */
-  void resumePort(int PSPort);
+  void enableRX(int PSPort);
 
   /**
    * @brief Returns the instance of Keyboard object automatically created by PS2Controller.
@@ -202,15 +181,18 @@ class PS2Controller {
    *
    * @return A pointer to PS2Controller singleton object
    */
-  static PS2Controller * instance() { return s_instance; }
+  static PS2Controller * instance()  { return s_instance; }
+
+  bool parityError(int PS2Port)      { return m_parityError[PS2Port]; }
 
-  void warmInit();
+  bool syncError(int PS2Port)        { return m_syncError[PS2Port]; }
 
-  bool parityError(int PS2Port) { return m_parityError[PS2Port]; }
+  bool CLKTimeOutError(int PS2Port)  { return m_CLKTimeOutError[PS2Port]; }
 
 private:
 
-  static void IRAM_ATTR rtc_isr(void * arg);
+
+  static void IRAM_ATTR ULPWakeISR(void * arg);
 
   static PS2Controller * s_instance;
 
@@ -219,21 +201,18 @@ class PS2Controller {
   Keyboard *            m_keyboard;
   Mouse *               m_mouse;
 
-  // address of next word to read in the circular buffer
-  volatile int          m_readPos[2];
-
-  // task that is waiting for TX ends
-  volatile TaskHandle_t m_TXWaitTask[2];
+  bool                  m_portEnabled[2];
 
-  // task that is waiting for RX event
-  volatile TaskHandle_t m_RXWaitTask[2];
+  intr_handle_t         m_ULPWakeISRHandle;
 
-  intr_handle_t         m_isrHandle;
+  // true if last call to getData() had a parity, sync error (start or stop missing bits) or CLK timeout
+  bool                  m_parityError[2];
+  bool                  m_syncError[2];
+  bool                  m_CLKTimeOutError[2];
 
-  int16_t               m_suspendCount;       // 0 = not suspended, >0 suspended
+  // one word queue (contains just the last received word)
+  QueueHandle_t         m_dataIn[2];
 
-  // true if last call to getData() had a parity error
-  bool                  m_parityError[2];
 };
 
 

src/comdrivers/ps2device.cpp

@@ -120,45 +120,62 @@ bool PS2Device::parityError()
 }
 
 
+bool PS2Device::syncError()
+{
+  return PS2Controller::instance()->syncError(m_PS2Port);
+}
+
+
+bool PS2Device::CLKTimeOutError()
+{
+  return PS2Controller::instance()->CLKTimeOutError(m_PS2Port);
+}
+
+
 void PS2Device::suspendPort()
 {
-  PS2Controller::instance()->suspendPort(m_PS2Port);
+  PS2Controller::instance()->disableRX(m_PS2Port);
 }
 
 
 void PS2Device::resumePort()
 {
-  PS2Controller::instance()->resumePort(m_PS2Port);
+  PS2Controller::instance()->enableRX(m_PS2Port);
 }
 
 
 int PS2Device::getData(int timeOutMS)
 {
-  TimeOut timeout;
+  constexpr int INTER_GETDATA_TIMEOUT_MS = 100;
+  constexpr int INTER_GETDATA_PAUSE_MS   = 10;
+
+  int interTimeOut = timeOutMS > -1 ? imin(timeOutMS, INTER_GETDATA_TIMEOUT_MS) : INTER_GETDATA_TIMEOUT_MS;
+
   int ret = -1;
-  while (!timeout.expired(timeOutMS)) {
+  TimeOut timeout;
+  while (true) {
     lock(-1);
-    ret = PS2Controller::instance()->getData(m_PS2Port);
+    ret = PS2Controller::instance()->getData(m_PS2Port, interTimeOut);
     unlock();
-    if (ret > -1 || parityError())
+    if (ret > -1 || parityError() || syncError() || CLKTimeOutError() || timeout.expired(timeOutMS))
       break;
-    lock(-1);
-    PS2Controller::instance()->waitData((timeOutMS > -1 ? timeOutMS : m_cmdSubTimeOut), m_PS2Port);
-    unlock();
-    vTaskDelay(10 / portTICK_PERIOD_MS);
+    // give the opportunity for other sends
+    vTaskDelay(INTER_GETDATA_PAUSE_MS / portTICK_PERIOD_MS);
   }
   return ret;
 }
 
 
 bool PS2Device::sendCommand(uint8_t cmd, uint8_t expectedReply)
 {
-  for (int i = 0; i < m_retryCount; ++i) {
-    PS2Controller::instance()->sendData(cmd, m_PS2Port);
-    if (getData(m_cmdTimeOut) != expectedReply)
-      continue;
-    return true;
-  }
+  constexpr int INTER_WAITREPLY_TIMEOUT_MS = 10;
+
+  PS2Controller::instance()->sendData(cmd, m_PS2Port);
+  TimeOut timeout;
+  do {
+    if (getData(INTER_WAITREPLY_TIMEOUT_MS) == expectedReply)
+      return true;
+  } while (!timeout.expired(m_cmdTimeOut));
   return false;
 }
 
@@ -178,10 +195,7 @@ void PS2Device::requestToResendLastByte()
 bool PS2Device::send_cmdLEDs(bool numLock, bool capsLock, bool scrollLock)
 {
   PS2DeviceLock deviceLock(this);
-  if (!sendCommand(PS2_CMD_SETLEDS, PS2_REPLY_ACK))
-    return false;
-  bool ret = sendCommand((scrollLock << 0) | (numLock << 1) | (capsLock << 2), PS2_REPLY_ACK);
-  return ret;
+  return sendCommand(PS2_CMD_SETLEDS, PS2_REPLY_ACK) && sendCommand((scrollLock << 0) | (numLock << 1) | (capsLock << 2), PS2_REPLY_ACK);
 }
 
 

src/comdrivers/ps2device.h

@@ -90,6 +90,10 @@ class PS2Device {
 
   bool parityError();
 
+  bool syncError();
+
+  bool CLKTimeOutError();
+
   /**
    * @brief Sends a raw command to the PS/2 device and wait for reply
    *

src/devdrivers/keyboard.cpp

@@ -167,6 +167,10 @@ int Keyboard::getNextScancode(int timeOutMS, bool requestResendOnTimeOut)
 {
   while (true) {
     int r = getData(timeOutMS);
+    if (r == -1 && CLKTimeOutError()) {
+      // try to recover a stall sending a re-enable scanning command
+      send_cmdEnableScanning();
+    }
     if (r == -1 && requestResendOnTimeOut) {
       requestToResendLastByte();
       continue;