Add inverted serial support on GPIO4 and add FLIR Tau command helper

cli/main.go

@@ -41,6 +41,7 @@ var CLI struct {
 	I2CTransfer I2CTransfer `cmd name:"i2c-txfr" help:"Perform I2C transfer."`
 
 	UARTTx UARTTx `cmd name:"uart-tx" help:"Transmit data over UART."`
+	FlirTX FlirTX `cmd name:"flir-tx" help:"Transmit FLIR Tau(2) command over UART."`
 
 	GPIOSet GPIOSet `cmd name:"gpio-set" help:"Set GPIO pin value and direction."`
 	GPIOGet GPIOGet `cmd name:"gpio-get" help:"Get GPIO values."`

cli/uart.go

@@ -1,12 +1,16 @@
 package main
 
 import (
+	"encoding/binary"
 	"encoding/hex"
+
+	"github.com/sigurn/crc16"
 )
 
 type UARTTx struct {
-	Data string `arg name:"data" help:"Hex string to write to device"`
+	Data   string `arg name:"data" help:"Hex string to write to device"`
-	Baud int    `optional help:"Data rate in bits per second" default:"57600"`
+	Invert bool   `optional help:"Use RS232 polarity instead of TTL" default:"false"`
+	Baud   int    `optional help:"Data rate in bits per second" default:"57600"`
 }
 
 func (l *UARTTx) Run(c *Context) error {
@@ -15,5 +19,32 @@ func (l *UARTTx) Run(c *Context) error {
 		return err
 	}
 
-	return c.hal.UARTTransmit(l.Baud, buf)
+	return c.hal.UARTTransmit(l.Baud, buf, l.Invert)
+}
+
+type FlirTX struct {
+	Func   int    `arg name:"func" type:"hex" help:"Function to call"`
+	Params string `optional name:"data" help:"Parameters as hex string"`
+}
+
+func flirTauEncodeCommand(cmd byte, param []byte) []byte {
+	var crcTab = crc16.MakeTable(crc16.CRC16_XMODEM)
+
+	result := []byte{0x6E, 0, 0, cmd, 0, 0, 0, 0}
+	binary.BigEndian.PutUint16(result[4:], uint16(len(param)))
+
+	binary.BigEndian.PutUint16(result[6:], crc16.Update(0, result[:6], crcTab))
+
+	result = append(result, param...)
+	result = binary.BigEndian.AppendUint16(result, crc16.Update(0, result[8:], crcTab))
+	return result
+}
+
+func (l *FlirTX) Run(c *Context) error {
+	param, err := hex.DecodeString(l.Params)
+	if err != nil {
+		return err
+	}
+
+	return c.hal.UARTTransmit(56700, flirTauEncodeCommand(uint8(l.Func), param), true)
 }

go.mod

@@ -6,6 +6,7 @@ require (
 	github.com/alecthomas/kong v0.2.17
 	github.com/fatih/color v1.12.0
 	github.com/inancgumus/screen v0.0.0-20190314163918-06e984b86ed3
+	github.com/sigurn/crc16 v0.0.0-20211026045750-20ab5afb07e3 // indirect
 	github.com/sstallion/go-hid v0.0.0-20190621001400-1cf4630be9f4
 	golang.org/x/crypto v0.0.0-20210711020723-a769d52b0f97 // indirect
 	golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1

go.sum

@@ -13,6 +13,8 @@ github.com/mattn/go-isatty v0.0.12/go.mod h1:cbi8OIDigv2wuxKPP5vlRcQ1OAZbq2CE4Ky
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
 github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/sigurn/crc16 v0.0.0-20211026045750-20ab5afb07e3 h1:aQKxg3+2p+IFXXg97McgDGT5zcMrQoi0EICZs8Pgchs=
+github.com/sigurn/crc16 v0.0.0-20211026045750-20ab5afb07e3/go.mod h1:9/etS5gpQq9BJsJMWg1wpLbfuSnkm8dPF6FdW2JXVhA=
 github.com/sstallion/go-hid v0.0.0-20190621001400-1cf4630be9f4 h1:hczfXYN39SDj4FcN5J7sgHBtJm4U7ef2nvlonn6NvVU=
 github.com/sstallion/go-hid v0.0.0-20190621001400-1cf4630be9f4/go.mod h1:JwBz6izP5UGcbYDU5VGeLkqpRIpSBDPtCB5/XnVXz9Q=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=

mshal/asm/uart_tx.asm

@@ -1,50 +1,56 @@
-.FLAG PIN, P2.2
+.FLAG PIN, P2.4
-.FLAG DIR, P3.2
+.EQU  BAUD0, 126
-.EQU  BAUD0, 120
+.EQU  BAUD1, 127
-.EQU  BAUD1, 121
-.EQU  PDIR,  122
 
-    MOV BAUD0, R5 ;Save baud rate param
+    PUSH BAUD0
-    MOV BAUD1, R6
+    PUSH BAUD1
-    MOV PDIR,  P3
-    CLR DIR
 
-more:
     MOVX A, @DPTR
     INC  DPTR
+    MOV  BAUD0, A
+    MOVX A, @DPTR
+    MOV  BAUD1, A
 
+more:
     MOV  R0, #8    ;Send 8 bits from A
-    CLR  PIN       ;Send start bit
+    INC  DPTR
 
-    MOV  R5, BAUD0 ;Delay between bits
+    MOV  A, R6
-    MOV  R6, BAUD1
+    RRC  A
+    MOV  PIN,C     ;Send start bit
+
+    MOV  R1, BAUD0 ;Delay between bits
+    MOV  R2, BAUD1
 d1:
-    DJNZ R5, d1
+    DJNZ R1, d1
-    DJNZ R6, d1 
+    DJNZ R2, d1
+
+    MOVX A, @DPTR
 
 bits:
     RRC  A         ;Rotate bits via carry
     MOV  PIN,C     ;Output bits
 
-    MOV  R5, BAUD0 ;Delay between bits
+    MOV  R1, BAUD0 ;Delay between bits
-    MOV  R6, BAUD1
+    MOV  R2, BAUD1
 d2:
-    DJNZ R5, d2
+    DJNZ R1, d2
-    DJNZ R6, d2 
+    DJNZ R2, d2
     
     DJNZ R0, bits  ;Send all bits
 
-    RRC  A         ;Not needed, but makes timing equal
+    MOV   A, R6
-    SETB PIN       ;Send stop bit
+    RLC   A
+    MOV   PIN,C     ;Send stop bit
     
-    MOV  R5, BAUD0 ;Delay between bits
+    MOV  R1, BAUD0 ;Delay between bits
-    MOV  R6, BAUD1
+    MOV  R2, BAUD1
 d3:
-    DJNZ R5, d3
+    DJNZ R1, d3
-    DJNZ R6, d3 
+    DJNZ R2, d3
 
     DJNZ R7, more  ;Send all characters
 
-    MOV  P3, PDIR
+    POP  BAUD0
-
+    POP  BAUD1
     RET

mshal/asm/uart_tx.bin

@@ -1 +1 @@
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mshal/hal_patch_uart.go

@@ -1,21 +1,35 @@
 package mshal
 
-import (
+import "encoding/binary"
-	"encoding/binary"
-)
 
-func (h *HAL) UARTTransmit(baud int, buf []byte) error {
+func (h *HAL) UARTTransmit(baud int, data []byte, invert bool) error {
-	region := h.MemoryRegionGet(MemoryRegionUserRAM)
+	if _, _, err := h.GPIOUpdate(0, 0, 1>>4, 0); err != nil {
-	parent, addr := region.GetParent()
-	addr += region.GetLength() - len(buf)
-
-	if _, err := parent.Access(true, addr, buf); err != nil {
 		return err
 	}
 
-	var div [2]byte
+	region := h.MemoryRegionGet(MemoryRegionUserRAM)
-	binary.LittleEndian.PutUint16(div[:], uint16((1.0/float64(baud))/108.125e-9))
+	parent, addr := region.GetParent()
 
-	_, err := h.PatchExecFunc(false, h.patchCallAddrs[4], PatchExecFuncRequest{DPTR: uint16(addr), R5: div[0] + 1, R6: div[1] + 1, R7_A: uint8(len(buf))})
+	params := make([]byte, 2+len(data))
+	addr += region.GetLength() - len(params)
+
+	binary.LittleEndian.PutUint16(params[:], uint16((1.0/float64(baud))/108.125e-9))
+	params[0] += 1
+	params[1] += 1
+
+	copy(params[2:], data)
+	ssbit := byte(0x80)
+	if invert {
+		ssbit = 0x01
+		for i := range data {
+			params[2+i] ^= 0xFF
+		}
+	}
+
+	if _, err := parent.Access(true, addr, params); err != nil {
+		return err
+	}
+
+	_, err := h.PatchExecFunc(false, h.patchCallAddrs[4], PatchExecFuncRequest{DPTR: uint16(addr), R6: ssbit, R7_A: uint8(len(data))})
 	return err
 }