From 293c53d77486b9f44a6190c39ec44a04f8e02978 Mon Sep 17 00:00:00 2001
From: Stefan Kerkmann <karlk90@pm.me>
Date: Sun, 10 Jul 2022 16:27:17 +0200
Subject: [PATCH] Stabilize Half-duplex PIO split comms

...by disabling USB IRQs during sending as those tend to occur during
the timing critical sending phase. This hack notably reduces the amount
of spurious failed transactions. Also the PIO IRQ now gets the highest
priority over all other IRQs.
---
 .../drivers/vendor/RP/RP2040/serial_vendor.c  | 20 ++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
index 949fc6dd933..d933dc1f5d6 100644
--- a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
+++ b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c
@@ -142,6 +142,7 @@ void pio_serve_interrupt(void) {
 // the generated low level with 360mV will generate a logical zero.
 static inline void enter_rx_state(void) {
     osalSysLock();
+    nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, RP_IRQ_USB0_PRIORITY);
     // Wait for the transmitting state machines FIFO to run empty. At this point
     // the last byte has been pulled from the transmitting state machines FIFO
     // into the output shift register. We have to wait a tiny bit more until
@@ -163,6 +164,9 @@ static inline void enter_rx_state(void) {
 
 static inline void leave_rx_state(void) {
     osalSysLock();
+    // We don't want to be interrupted by frequent (1KHz) USB interrupts while
+    // doing our timing critical sending operation.
+    nvicDisableVector(RP_USBCTRL_IRQ_NUMBER);
     // In Half-duplex operation the tx pin dual-functions as sender and
     // receiver. To not receive the data we will send, we disable the receiving
     // state machine.
@@ -194,12 +198,21 @@ static inline msg_t sync_tx(sysinterval_t timeout) {
     msg_t msg = MSG_OK;
     osalSysLock();
     while (pio_sm_is_tx_fifo_full(pio, tx_state_machine)) {
+#if !defined(SERIAL_USART_FULL_DUPLEX)
+        // Enable USB interrupts again, because we might sleep for a long time
+        // here and don't want to be disconnected from the host.
+        nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, RP_IRQ_USB0_PRIORITY);
+#endif
         pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + tx_state_machine, true);
         msg = osalThreadSuspendTimeoutS(&tx_thread, timeout);
         if (msg < MSG_OK) {
             break;
         }
     }
+#if !defined(SERIAL_USART_FULL_DUPLEX)
+    // Entering timing critical territory again.
+    nvicDisableVector(RP_USBCTRL_IRQ_NUMBER);
+#endif
     osalSysUnlock();
     return msg;
 }
@@ -412,11 +425,12 @@ static inline void pio_init(pin_t tx_pin, pin_t rx_pin) {
     pio_set_irq0_source_enabled(pio, pis_sm0_tx_fifo_not_full + tx_state_machine, true);
     pio_set_irq0_source_enabled(pio, pis_interrupt0, true);
 
-    // Enable PIO specific interrupt vector
+    // Enable PIO specific interrupt vector, as the pio implementation is timing
+    // critical we use the highest possible priority.
 #if defined(SERIAL_PIO_USE_PIO1)
-    nvicEnableVector(RP_PIO1_IRQ_0_NUMBER, RP_IRQ_UART0_PRIORITY);
+    nvicEnableVector(RP_PIO1_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
 #else
-    nvicEnableVector(RP_PIO0_IRQ_0_NUMBER, RP_IRQ_UART0_PRIORITY);
+    nvicEnableVector(RP_PIO0_IRQ_0_NUMBER, CORTEX_MAX_KERNEL_PRIORITY);
 #endif
 
     enter_rx_state();