src/main/drivers/serial_uart_impl.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 // Configuration constants
  24
  25 #if defined(STM32F1)
  26 #define UARTDEV_COUNT_MAX 3
  27 #define UARTHARDWARE_MAX_PINS 3
  28 #ifndef UART_RX_BUFFER_SIZE
  29 #define UART_RX_BUFFER_SIZE     128
  30 #endif
  31 #ifndef UART_TX_BUFFER_SIZE
  32 #define UART_TX_BUFFER_SIZE     256
  33 #endif
  34 #elif defined(STM32F3)
  35 #define UARTDEV_COUNT_MAX 5
  36 #define UARTHARDWARE_MAX_PINS 4
  37 #ifndef UART_RX_BUFFER_SIZE
  38 #define UART_RX_BUFFER_SIZE     128
  39 #endif
  40 #ifndef UART_TX_BUFFER_SIZE
  41 #define UART_TX_BUFFER_SIZE     256
  42 #endif
  43 #elif defined(STM32F4)
  44 #define UARTDEV_COUNT_MAX 6
  45 #define UARTHARDWARE_MAX_PINS 4
  46 #ifndef UART_RX_BUFFER_SIZE
  47 #define UART_RX_BUFFER_SIZE     128
  48 #endif
  49 #ifndef UART_TX_BUFFER_SIZE
  50 #ifdef USE_MSP_DISPLAYPORT
  51 #define UART_TX_BUFFER_SIZE     1280
  52 #else
  53 #define UART_TX_BUFFER_SIZE     256
  54 #endif
  55 #endif
  56 #elif defined(STM32F7)
  57 #define UARTDEV_COUNT_MAX 8
  58 #define UARTHARDWARE_MAX_PINS 4
  59 #ifndef UART_RX_BUFFER_SIZE
  60 #define UART_RX_BUFFER_SIZE     128
  61 #endif
  62 #ifndef UART_TX_BUFFER_SIZE
  63 #ifdef USE_MSP_DISPLAYPORT
  64 #define UART_TX_BUFFER_SIZE     1280
  65 #else
  66 #define UART_TX_BUFFER_SIZE     256
  67 #endif
  68 #endif
  69 #elif defined(STM32H7)
  70 #define UARTDEV_COUNT_MAX 8
  71 #define UARTHARDWARE_MAX_PINS 5
  72 #ifndef UART_RX_BUFFER_SIZE
  73 #define UART_RX_BUFFER_SIZE     128
  74 #endif
  75 #ifndef UART_TX_BUFFER_SIZE
  76 #ifdef USE_MSP_DISPLAYPORT
  77 #define UART_TX_BUFFER_SIZE     1280
  78 #else
  79 #define UART_TX_BUFFER_SIZE     256
  80 #endif
  81 #endif
  82 #elif defined(STM32G4)
  83 #define UARTDEV_COUNT_MAX 9  // UART1~5 + UART9 (Implemented with LPUART1)
  84 #define UARTHARDWARE_MAX_PINS 3
  85 #ifndef UART_RX_BUFFER_SIZE
  86 #define UART_RX_BUFFER_SIZE     128
  87 #endif
  88 #ifndef UART_TX_BUFFER_SIZE
  89 #ifdef USE_MSP_DISPLAYPORT
  90 #define UART_TX_BUFFER_SIZE     1280
  91 #else
  92 #define UART_TX_BUFFER_SIZE     256
  93 #endif
  94 #endif
  95 #else
  96 #error unknown MCU family
  97 #endif
  98
  99 // Count number of configured UARTs
 100
 101 #ifdef USE_UART1
 102 #define UARTDEV_COUNT_1 1
 103 #else
 104 #define UARTDEV_COUNT_1 0
 105 #endif
 106
 107 #ifdef USE_UART2
 108 #define UARTDEV_COUNT_2 1
 109 #else
 110 #define UARTDEV_COUNT_2 0
 111 #endif
 112
 113 #ifdef USE_UART3
 114 #define UARTDEV_COUNT_3 1
 115 #else
 116 #define UARTDEV_COUNT_3 0
 117 #endif
 118
 119 #ifdef USE_UART4
 120 #define UARTDEV_COUNT_4 1
 121 #else
 122 #define UARTDEV_COUNT_4 0
 123 #endif
 124
 125 #ifdef USE_UART5
 126 #define UARTDEV_COUNT_5 1
 127 #else
 128 #define UARTDEV_COUNT_5 0
 129 #endif
 130
 131 #ifdef USE_UART6
 132 #define UARTDEV_COUNT_6 1
 133 #else
 134 #define UARTDEV_COUNT_6 0
 135 #endif
 136
 137 #ifdef USE_UART7
 138 #define UARTDEV_COUNT_7 1
 139 #else
 140 #define UARTDEV_COUNT_7 0
 141 #endif
 142
 143 #ifdef USE_UART8
 144 #define UARTDEV_COUNT_8 1
 145 #else
 146 #define UARTDEV_COUNT_8 0
 147 #endif
 148
 149 #ifdef USE_UART9
 150 #define UARTDEV_COUNT_9 1
 151 #else
 152 #define UARTDEV_COUNT_9 0
 153 #endif
 154
 155 #ifdef USE_UART10
 156 #define UARTDEV_COUNT_10 1
 157 #else
 158 #define UARTDEV_COUNT_10 0
 159 #endif
 160
 161 #ifdef USE_LPUART1
 162 #define LPUARTDEV_COUNT_1 1
 163 #else
 164 #define LPUARTDEV_COUNT_1 0
 165 #endif
 166
 167 #define UARTDEV_COUNT (UARTDEV_COUNT_1 + UARTDEV_COUNT_2 + UARTDEV_COUNT_3 + UARTDEV_COUNT_4 + UARTDEV_COUNT_5 + UARTDEV_COUNT_6 + UARTDEV_COUNT_7 + UARTDEV_COUNT_8 + UARTDEV_COUNT_9 + UARTDEV_COUNT_10 + LPUARTDEV_COUNT_1)
 168
 169 typedef struct uartPinDef_s {
 170     ioTag_t pin;
 171 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 172     uint8_t af;
 173 #endif
 174 } uartPinDef_t;
 175
 176 typedef struct uartHardware_s {
 177     UARTDevice_e device;    // XXX Not required for full allocation
 178     USART_TypeDef* reg;
 179
 180 #ifdef USE_DMA
 181     dmaResource_t *txDMAResource;
 182     dmaResource_t *rxDMAResource;
 183     // For H7 and G4, {tx|rx}DMAChannel are DMAMUX input index for  peripherals (DMA_REQUEST_xxx); H7:RM0433 Table 110, G4:RM0440 Table 80.
 184     // For F4 and F7, these are 32-bit channel identifiers (DMA_CHANNEL_x).
 185     uint32_t txDMAChannel;
 186     uint32_t rxDMAChannel;
 187 #endif // USE_DMA
 188
 189     uartPinDef_t rxPins[UARTHARDWARE_MAX_PINS];
 190     uartPinDef_t txPins[UARTHARDWARE_MAX_PINS];
 191
 192     rccPeriphTag_t rcc;
 193
 194 #if !defined(STM32F7)
 195     uint8_t af;
 196 #endif
 197
 198 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 199     uint8_t txIrq;
 200     uint8_t rxIrq;
 201 #else
 202     uint8_t irqn;
 203 #endif
 204     uint8_t txPriority;
 205     uint8_t rxPriority;
 206
 207     volatile uint8_t *txBuffer;
 208     volatile uint8_t *rxBuffer;
 209     uint16_t txBufferSize;
 210     uint16_t rxBufferSize;
 211 } uartHardware_t;
 212
 213 extern const uartHardware_t uartHardware[];
 214
 215 // uartDevice_t is an actual device instance.
 216 // XXX Instances are allocated for uarts defined by USE_UARTx atm.
 217
 218 typedef struct uartDevice_s {
 219     uartPort_t port;
 220     const uartHardware_t *hardware;
 221     uartPinDef_t rx;
 222     uartPinDef_t tx;
 223     volatile uint8_t *rxBuffer;
 224     volatile uint8_t *txBuffer;
 225 #if !(defined(STM32F1) || defined(STM32F4)) // Older CPUs don't support pin swap.
 226     bool pinSwap;
 227 #endif
 228 } uartDevice_t;
 229
 230 extern uartDevice_t *uartDevmap[];
 231
 232 extern const struct serialPortVTable uartVTable[];
 233
 234 void uartTryStartTxDMA(uartPort_t *s);
 235
 236 uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_e mode, portOptions_e options);
 237
 238 void uartIrqHandler(uartPort_t *s);
 239
 240 void uartReconfigure(uartPort_t *uartPort);
 241
 242 void uartConfigureDma(uartDevice_t *uartdev);
 243
 244 void uartDmaIrqHandler(dmaChannelDescriptor_t* descriptor);
 245
 246 #if defined(STM32F3) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 247 #define UART_REG_RXD(base) ((base)->RDR)
 248 #define UART_REG_TXD(base) ((base)->TDR)
 249 #elif defined(STM32F1) || defined(STM32F4)
 250 #define UART_REG_RXD(base) ((base)->DR)
 251 #define UART_REG_TXD(base) ((base)->DR)
 252 #endif
 253
 254 #define UART_BUFFER(type, n, rxtx) type volatile uint8_t uart ## n ## rxtx ## xBuffer[UART_ ## rxtx ## X_BUFFER_SIZE]
 255
 256 #define UART_BUFFERS_EXTERN(n) \
 257     UART_BUFFER(extern, n, R); \
 258     UART_BUFFER(extern, n, T); struct dummy_s
 259
 260 #define LPUART_BUFFER(type, n, rxtx) type volatile uint8_t lpuart ## n ## rxtx ## xBuffer[UART_ ## rxtx ## X_BUFFER_SIZE]
 261
 262 #define LPUART_BUFFERS_EXTERN(n) \
 263     LPUART_BUFFER(extern, n, R); \
 264     LPUART_BUFFER(extern, n, T); struct dummy_s
 265
 266 #ifdef USE_UART1
 267 UART_BUFFERS_EXTERN(1);
 268 #endif
 269
 270 #ifdef USE_UART2
 271 UART_BUFFERS_EXTERN(2);
 272 #endif
 273
 274 #ifdef USE_UART3
 275 UART_BUFFERS_EXTERN(3);
 276 #endif
 277
 278 #ifdef USE_UART4
 279 UART_BUFFERS_EXTERN(4);
 280 #endif
 281
 282 #ifdef USE_UART5
 283 UART_BUFFERS_EXTERN(5);
 284 #endif
 285
 286 #ifdef USE_UART6
 287 UART_BUFFERS_EXTERN(6);
 288 #endif
 289
 290 #ifdef USE_UART7
 291 UART_BUFFERS_EXTERN(7);
 292 #endif
 293
 294 #ifdef USE_UART8
 295 UART_BUFFERS_EXTERN(8);
 296 #endif
 297
 298 #ifdef USE_UART9
 299 UART_BUFFERS_EXTERN(9);
 300 #endif
 301
 302 #ifdef USE_UART10
 303 UART_BUFFERS_EXTERN(10);
 304 #endif
 305
 306 #ifdef USE_LPUART1
 307 LPUART_BUFFERS_EXTERN(1);
 308 #endif
 309
 310 #undef UART_BUFFERS_EXTERN