Add SerialUART::setPollingMode() (#473)

Fixes #472

Instead of using interrupts, explicitly call the IRQ handler dueing Serial
read/peek/available calls.

Add to keywords.txt for syntax hilighting.

Add poll calls in the SerialUART::write-like calls (write,
flush, etc.)

Really remove division from IRQ routines/

cores/rp2040/SerialPIO.cpp

@@ -114,15 +114,13 @@ void __not_in_flash_func(SerialPIO::_handleIRQ)() {
             }
         }
 
-        if ((_writer + 1) % _fifosize != _reader) {
+        auto next_writer = _writer + 1;
+        if (next_writer == _fifoSize) {
+            next_writer = 0;
+        }
+        if (next_writer != _reader) {
             _queue[_writer] = val & ((1 << _bits) -  1);
             asm volatile("" ::: "memory"); // Ensure the queue is written before the written count advances
-            // Avoid using division or mod because the HW divider could be in use
-            auto next_writer = _writer + 1;
-            if (next_writer == _fifosize) {
-                next_writer = 0;
-            }
-            asm volatile("" ::: "memory"); // Ensure the reader value is only written once, correctly
             _writer = next_writer;
         } else {
             // TODO: Overflow
@@ -130,11 +128,11 @@ void __not_in_flash_func(SerialPIO::_handleIRQ)() {
     }
 }
 
-SerialPIO::SerialPIO(pin_size_t tx, pin_size_t rx, size_t fifosize) {
+SerialPIO::SerialPIO(pin_size_t tx, pin_size_t rx, size_t fifoSize) {
     _tx = tx;
     _rx = rx;
-    _fifosize = fifosize + 1; // Always one unused entry
-    _queue = new uint8_t[_fifosize];
+    _fifoSize = fifoSize + 1; // Always one unused entry
+    _queue = new uint8_t[_fifoSize];
     mutex_init(&_mutex);
 }
 
@@ -278,7 +276,7 @@ int SerialPIO::read() {
     if (_writer != _reader) {
         auto ret = _queue[_reader];
         asm volatile("" ::: "memory"); // Ensure the value is read before advancing
-        auto next_reader = (_reader + 1) % _fifosize;
+        auto next_reader = (_reader + 1) % _fifoSize;
         asm volatile("" ::: "memory"); // Ensure the reader value is only written once, correctly
         _reader = next_reader;
         return ret;
@@ -291,7 +289,7 @@ int SerialPIO::available() {
     if (!_running || !m || (_rx == NOPIN)) {
         return 0;
     }
-    return (_writer - _reader) % _fifosize;
+    return (_writer - _reader) % _fifoSize;
 }
 
 int SerialPIO::availableForWrite() {

cores/rp2040/SerialPIO.h

@@ -32,7 +32,7 @@ extern "C" typedef struct uart_inst uart_inst_t;
 class SerialPIO : public HardwareSerial {
 public:
     static const pin_size_t NOPIN = 0xff; // Use in constructor to disable RX or TX unit
-    SerialPIO(pin_size_t tx, pin_size_t rx, size_t fifosize = 32);
+    SerialPIO(pin_size_t tx, pin_size_t rx, size_t fifoSize = 32);
     ~SerialPIO();
 
     void begin(unsigned long baud = 115200) override {
@@ -73,7 +73,7 @@ private:
     int _rxBits;
 
     // Lockless, IRQ-handled circular queue
-    size_t   _fifosize;
+    size_t   _fifoSize;
     uint32_t _writer;
     uint32_t _reader;
     uint8_t  *_queue;

cores/rp2040/SerialUART.cpp

@@ -65,6 +65,14 @@ bool SerialUART::setTX(pin_size_t pin) {
     return false;
 }
 
+bool SerialUART::setPollingMode(bool mode) {
+    if (_running) {
+        return false;
+    }
+    _polling = mode;
+    return true;
+}
+
 bool SerialUART::setFIFOSize(size_t size) {
     if (!size || _running) {
         return false;
@@ -128,15 +136,19 @@ void SerialUART::begin(unsigned long baud, uint16_t config) {
     _writer = 0;
     _reader = 0;
 
-    if (_uart == uart0) {
-        irq_set_exclusive_handler(UART0_IRQ, _uart0IRQ);
-        irq_set_enabled(UART0_IRQ, true);
+    if (!_polling) {
+        if (_uart == uart0) {
+            irq_set_exclusive_handler(UART0_IRQ, _uart0IRQ);
+            irq_set_enabled(UART0_IRQ, true);
+        } else {
+            irq_set_exclusive_handler(UART1_IRQ, _uart1IRQ);
+            irq_set_enabled(UART1_IRQ, true);
+        }
+        // Set the IRQ enables and FIFO level to minimum
+        uart_set_irq_enables(_uart, true, false);
     } else {
-        irq_set_exclusive_handler(UART1_IRQ, _uart1IRQ);
-        irq_set_enabled(UART1_IRQ, true);
+        // Polling mode has no IRQs used
     }
-    // Set the IRQ enables and FIFO level to minimum
-    uart_set_irq_enables(_uart, true, false);
     _running = true;
 }
 
@@ -144,10 +156,12 @@ void SerialUART::end() {
     if (!_running) {
         return;
     }
-    if (_uart == uart0) {
-        irq_set_enabled(UART0_IRQ, false);
-    } else {
-        irq_set_enabled(UART1_IRQ, false);
+    if (!_polling) {
+        if (_uart == uart0) {
+            irq_set_enabled(UART0_IRQ, false);
+        } else {
+            irq_set_enabled(UART1_IRQ, false);
+        }
     }
     uart_deinit(_uart);
     delete[] _queue;
@@ -159,6 +173,9 @@ int SerialUART::peek() {
     if (!_running || !m) {
         return -1;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     if (_writer != _reader) {
         return _queue[_reader];
     }
@@ -170,6 +187,9 @@ int SerialUART::read() {
     if (!_running || !m) {
         return -1;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     if (_writer != _reader) {
         auto ret = _queue[_reader];
         asm volatile("" ::: "memory"); // Ensure the value is read before advancing
@@ -186,6 +206,9 @@ int SerialUART::available() {
     if (!_running || !m) {
         return 0;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     return (_writer - _reader) % _fifoSize;
 }
 
@@ -194,6 +217,9 @@ int SerialUART::availableForWrite() {
     if (!_running || !m) {
         return 0;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     return (uart_is_writable(_uart)) ? 1 : 0;
 }
 
@@ -202,6 +228,9 @@ void SerialUART::flush() {
     if (!_running || !m) {
         return;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     uart_tx_wait_blocking(_uart);
 }
 
@@ -210,6 +239,9 @@ size_t SerialUART::write(uint8_t c) {
     if (!_running || !m) {
         return 0;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     uart_putc_raw(_uart, c);
     return 1;
 }
@@ -219,6 +251,9 @@ size_t SerialUART::write(const uint8_t *p, size_t len) {
     if (!_running || !m) {
         return 0;
     }
+    if (_polling) {
+        _handleIRQ();
+    }
     size_t cnt = len;
     while (cnt) {
         uart_putc_raw(_uart, *p);
@@ -247,21 +282,20 @@ void arduino::serialEvent2Run(void) {
     }
 }
 
-// IRQ handler, called when FIFO > 1/4 full or when it had held unread data for >32 bit times
+// IRQ handler, called when FIFO > 1/8 full or when it had held unread data for >32 bit times
 void __not_in_flash_func(SerialUART::_handleIRQ)() {
     // ICR is write-to-clear
     uart_get_hw(_uart)->icr = UART_UARTICR_RTIC_BITS | UART_UARTICR_RXIC_BITS;
     while (uart_is_readable(_uart)) {
         auto val = uart_getc(_uart);
-        if ((_writer + 1) % _fifoSize != _reader) {
+        auto next_writer = _writer + 1;
+        if (next_writer == _fifoSize) {
+            next_writer = 0;
+        }
+        if (next_writer != _reader) {
             _queue[_writer] = val;
             asm volatile("" ::: "memory"); // Ensure the queue is written before the written count advances
             // Avoid using division or mod because the HW divider could be in use
-            auto next_writer = _writer + 1;
-            if (next_writer == _fifoSize) {
-                next_writer = 0;
-            }
-            asm volatile("" ::: "memory"); // Ensure the reader value is only written once, correctly
             _writer = next_writer;
         } else {
             // TODO: Overflow

cores/rp2040/SerialUART.h

@@ -41,6 +41,7 @@ public:
         return ret;
     }
     bool setFIFOSize(size_t size);
+    bool setPollingMode(bool mode = true);
 
     void begin(unsigned long baud = 115200) override {
         begin(baud, SERIAL_8N1);
@@ -67,6 +68,7 @@ private:
     pin_size_t _tx, _rx;
     int _baud;
     mutex_t _mutex;
+    bool _polling = false;
 
     // Lockless, IRQ-handled circular queue
     uint32_t _writer;

docs/serial.rst

@@ -31,5 +31,16 @@ using the ``setFIFOSize`` call prior to calling ``begin()``
         Serial1.setFIFOSize(128);
         Serial1.begin(baud);
 
+The FIFO is normally handled via an interrupt, which reduced CPU load and
+makes it less likely to lose characters.  However, the FIFO introduces up
+to 32 bit-times of delay before serial data is available to the application.
+
+For applications where this is an issue (i.e. very low baud), use
+``setPollingMode(true)`` before calling ``begin()``
+
+.. code:: cpp
+        Serial1.setPollingMode(true);
+        Serial1.begin(110)
+
 For detailed information about the Serial ports, see the
 Arduino `Serial Reference <https://www.arduino.cc/reference/en/language/functions/communication/serial/>`_ .

keywords.txt

@@ -35,3 +35,4 @@ PIOProgram	KEYWORD2
 prepare	KEYWORD2
 SerialPIO	KEYWORD2
 setFIFOSize	KEYWORD2
+setPollingMode	KEYWORD2