src/main/drivers/serial_uart_stm32h7xx.c

   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 /*
  22  * jflyper - Refactoring, cleanup and made pin-configurable
  23  */
  24
  25 #include <stdbool.h>
  26 #include <stdint.h>
  27
  28 #include "platform.h"
  29
  30 #ifdef USE_UART
  31
  32 #include "drivers/system.h"
  33 #include "drivers/dma.h"
  34 #include "drivers/io.h"
  35 #include "drivers/nvic.h"
  36 #include "drivers/rcc.h"
  37
  38 #include "drivers/serial.h"
  39 #include "drivers/serial_uart.h"
  40 #include "drivers/serial_uart_impl.h"
  41
  42 #ifndef UART1_TX_DMA_STREAM
  43 #define UART1_TX_DMA_STREAM NULL
  44 #endif
  45 #ifndef UART1_RX_DMA_STREAM
  46 #define UART1_RX_DMA_STREAM NULL
  47 #endif
  48 #ifndef UART2_TX_DMA_STREAM
  49 #define UART2_TX_DMA_STREAM NULL
  50 #endif
  51 #ifndef UART2_RX_DMA_STREAM
  52 #define UART2_RX_DMA_STREAM NULL
  53 #endif
  54 #ifndef UART3_TX_DMA_STREAM
  55 #define UART3_TX_DMA_STREAM NULL
  56 #endif
  57 #ifndef UART3_RX_DMA_STREAM
  58 #define UART3_RX_DMA_STREAM NULL
  59 #endif
  60 #ifndef UART4_TX_DMA_STREAM
  61 #define UART4_TX_DMA_STREAM NULL
  62 #endif
  63 #ifndef UART4_RX_DMA_STREAM
  64 #define UART4_RX_DMA_STREAM NULL
  65 #endif
  66 #ifndef UART5_TX_DMA_STREAM
  67 #define UART5_TX_DMA_STREAM NULL
  68 #endif
  69 #ifndef UART5_RX_DMA_STREAM
  70 #define UART5_RX_DMA_STREAM NULL
  71 #endif
  72 #ifndef UART6_TX_DMA_STREAM
  73 #define UART6_TX_DMA_STREAM NULL
  74 #endif
  75 #ifndef UART6_RX_DMA_STREAM
  76 #define UART6_RX_DMA_STREAM NULL
  77 #endif
  78 #ifndef UART7_TX_DMA_STREAM
  79 #define UART7_TX_DMA_STREAM NULL
  80 #endif
  81 #ifndef UART7_RX_DMA_STREAM
  82 #define UART7_RX_DMA_STREAM NULL
  83 #endif
  84 #ifndef UART8_TX_DMA_STREAM
  85 #define UART8_TX_DMA_STREAM NULL
  86 #endif
  87 #ifndef UART8_RX_DMA_STREAM
  88 #define UART8_RX_DMA_STREAM NULL
  89 #endif
  90 #ifndef UART9_TX_DMA_STREAM
  91 #define UART9_TX_DMA_STREAM NULL
  92 #endif
  93 #ifndef UART9_RX_DMA_STREAM
  94 #define UART9_RX_DMA_STREAM NULL
  95 #endif
  96 #ifndef UART10_TX_DMA_STREAM
  97 #define UART10_TX_DMA_STREAM NULL
  98 #endif
  99 #ifndef UART10_RX_DMA_STREAM
 100 #define UART10_RX_DMA_STREAM NULL
 101 #endif
 102
 103 const uartHardware_t uartHardware[UARTDEV_COUNT] = {
 104 #ifdef USE_UART1
 105     {
 106         .device = UARTDEV_1,
 107         .reg = USART1,
 108 #ifdef USE_DMA
 109         .rxDMAChannel = DMA_REQUEST_USART1_RX,
 110         .rxDMAResource = (dmaResource_t *)UART1_RX_DMA_STREAM,
 111         .txDMAChannel = DMA_REQUEST_USART1_TX,
 112         .txDMAResource = (dmaResource_t *)UART1_TX_DMA_STREAM,
 113 #endif
 114         .rxPins = {
 115             { DEFIO_TAG_E(PA10), GPIO_AF7_USART1 },
 116             { DEFIO_TAG_E(PB7),  GPIO_AF7_USART1 },
 117             { DEFIO_TAG_E(PB15), GPIO_AF4_USART1 },
 118         },
 119         .txPins = {
 120             { DEFIO_TAG_E(PA9),  GPIO_AF7_USART1 },
 121             { DEFIO_TAG_E(PB6),  GPIO_AF7_USART1 },
 122             { DEFIO_TAG_E(PB14), GPIO_AF4_USART1 },
 123         },
 124         .rcc = RCC_APB2(USART1),
 125         .rxIrq = USART1_IRQn,
 126         .txPriority = NVIC_PRIO_SERIALUART1_TXDMA,
 127         .rxPriority = NVIC_PRIO_SERIALUART1,
 128         .txBuffer = uart1TxBuffer,
 129         .rxBuffer = uart1RxBuffer,
 130         .txBufferSize = sizeof(uart1TxBuffer),
 131         .rxBufferSize = sizeof(uart1RxBuffer),
 132     },
 133 #endif
 134
 135 #ifdef USE_UART2
 136     {
 137         .device = UARTDEV_2,
 138         .reg = USART2,
 139 #ifdef USE_DMA
 140         .rxDMAChannel = DMA_REQUEST_USART2_RX,
 141         .rxDMAResource = (dmaResource_t *)UART2_RX_DMA_STREAM,
 142         .txDMAChannel = DMA_REQUEST_USART2_TX,
 143         .txDMAResource = (dmaResource_t *)UART2_TX_DMA_STREAM,
 144 #endif
 145         .rxPins = {
 146             { DEFIO_TAG_E(PA3), GPIO_AF7_USART2 },
 147             { DEFIO_TAG_E(PD6), GPIO_AF7_USART2 }
 148         },
 149         .txPins = {
 150             { DEFIO_TAG_E(PA2), GPIO_AF7_USART2 },
 151             { DEFIO_TAG_E(PD5), GPIO_AF7_USART2 }
 152         },
 153         .rcc = RCC_APB1L(USART2),
 154         .rxIrq = USART2_IRQn,
 155         .txPriority = NVIC_PRIO_SERIALUART2_TXDMA,
 156         .rxPriority = NVIC_PRIO_SERIALUART2,
 157         .txBuffer = uart2TxBuffer,
 158         .rxBuffer = uart2RxBuffer,
 159         .txBufferSize = sizeof(uart2TxBuffer),
 160         .rxBufferSize = sizeof(uart2RxBuffer),
 161     },
 162 #endif
 163
 164 #ifdef USE_UART3
 165     {
 166         .device = UARTDEV_3,
 167         .reg = USART3,
 168 #ifdef USE_DMA
 169         .rxDMAChannel = DMA_REQUEST_USART3_RX,
 170         .rxDMAResource = (dmaResource_t *)UART3_RX_DMA_STREAM,
 171         .txDMAChannel = DMA_REQUEST_USART3_TX,
 172         .txDMAResource = (dmaResource_t *)UART3_TX_DMA_STREAM,
 173 #endif
 174         .rxPins = {
 175             { DEFIO_TAG_E(PB11), GPIO_AF7_USART3 },
 176             { DEFIO_TAG_E(PC11), GPIO_AF7_USART3 },
 177             { DEFIO_TAG_E(PD9), GPIO_AF7_USART3 }
 178         },
 179         .txPins = {
 180             { DEFIO_TAG_E(PB10), GPIO_AF7_USART3 },
 181             { DEFIO_TAG_E(PC10), GPIO_AF7_USART3 },
 182             { DEFIO_TAG_E(PD8), GPIO_AF7_USART3 }
 183         },
 184         .rcc = RCC_APB1L(USART3),
 185         .rxIrq = USART3_IRQn,
 186         .txPriority = NVIC_PRIO_SERIALUART3_TXDMA,
 187         .rxPriority = NVIC_PRIO_SERIALUART3,
 188         .txBuffer = uart3TxBuffer,
 189         .rxBuffer = uart3RxBuffer,
 190         .txBufferSize = sizeof(uart3TxBuffer),
 191         .rxBufferSize = sizeof(uart3RxBuffer),
 192     },
 193 #endif
 194
 195 #ifdef USE_UART4
 196     {
 197         .device = UARTDEV_4,
 198         .reg = UART4,
 199 #ifdef USE_DMA
 200         .rxDMAChannel = DMA_REQUEST_UART4_RX,
 201         .rxDMAResource = (dmaResource_t *)UART4_RX_DMA_STREAM,
 202         .txDMAChannel = DMA_REQUEST_UART4_TX,
 203         .txDMAResource = (dmaResource_t *)UART4_TX_DMA_STREAM,
 204 #endif
 205         .rxPins = {
 206             { DEFIO_TAG_E(PA1),  GPIO_AF8_UART4 },
 207             { DEFIO_TAG_E(PA11), GPIO_AF6_UART4 },
 208             { DEFIO_TAG_E(PB8),  GPIO_AF8_UART4 },
 209             { DEFIO_TAG_E(PC11), GPIO_AF8_UART4 },
 210             { DEFIO_TAG_E(PD0),  GPIO_AF8_UART4 }
 211         },
 212         .txPins = {
 213             { DEFIO_TAG_E(PA0),  GPIO_AF8_UART4 },
 214             { DEFIO_TAG_E(PA12), GPIO_AF6_UART4 },
 215             { DEFIO_TAG_E(PB9),  GPIO_AF8_UART4 },
 216             { DEFIO_TAG_E(PC10), GPIO_AF8_UART4 },
 217             { DEFIO_TAG_E(PD1),  GPIO_AF8_UART4 }
 218         },
 219         .rcc = RCC_APB1L(UART4),
 220         .rxIrq = UART4_IRQn,
 221         .txPriority = NVIC_PRIO_SERIALUART4_TXDMA,
 222         .rxPriority = NVIC_PRIO_SERIALUART4,
 223         .txBuffer = uart4TxBuffer,
 224         .rxBuffer = uart4RxBuffer,
 225         .txBufferSize = sizeof(uart4TxBuffer),
 226         .rxBufferSize = sizeof(uart4RxBuffer),
 227     },
 228 #endif
 229
 230 #ifdef USE_UART5
 231     {
 232         .device = UARTDEV_5,
 233         .reg = UART5,
 234 #ifdef USE_DMA
 235         .rxDMAChannel = DMA_REQUEST_UART5_RX,
 236         .rxDMAResource = (dmaResource_t *)UART5_RX_DMA_STREAM,
 237         .txDMAChannel = DMA_REQUEST_UART5_TX,
 238         .txDMAResource = (dmaResource_t *)UART5_TX_DMA_STREAM,
 239 #endif
 240         .rxPins = {
 241             { DEFIO_TAG_E(PB5),  GPIO_AF14_UART5 },
 242             { DEFIO_TAG_E(PB12), GPIO_AF14_UART5 },
 243             { DEFIO_TAG_E(PD2),  GPIO_AF8_UART5 },
 244         },
 245         .txPins = {
 246             { DEFIO_TAG_E(PB6),  GPIO_AF14_UART5 },
 247             { DEFIO_TAG_E(PB13), GPIO_AF14_UART5 },
 248             { DEFIO_TAG_E(PC12), GPIO_AF8_UART5 },
 249         },
 250         .rcc = RCC_APB1L(UART5),
 251         .rxIrq = UART5_IRQn,
 252         .txPriority = NVIC_PRIO_SERIALUART5_TXDMA,
 253         .rxPriority = NVIC_PRIO_SERIALUART5,
 254         .txBuffer = uart5TxBuffer,
 255         .rxBuffer = uart5RxBuffer,
 256         .txBufferSize = sizeof(uart5TxBuffer),
 257         .rxBufferSize = sizeof(uart5RxBuffer),
 258     },
 259 #endif
 260
 261 #ifdef USE_UART6
 262     {
 263         .device = UARTDEV_6,
 264         .reg = USART6,
 265 #ifdef USE_DMA
 266         .rxDMAChannel = DMA_REQUEST_USART6_RX,
 267         .rxDMAResource = (dmaResource_t *)UART6_RX_DMA_STREAM,
 268         .txDMAChannel = DMA_REQUEST_USART6_TX,
 269         .txDMAResource = (dmaResource_t *)UART6_TX_DMA_STREAM,
 270 #endif
 271         .rxPins = {
 272             { DEFIO_TAG_E(PC7), GPIO_AF7_USART6  },
 273             { DEFIO_TAG_E(PG9), GPIO_AF7_USART6 }
 274         },
 275         .txPins = {
 276             { DEFIO_TAG_E(PC6), GPIO_AF7_USART6 },
 277             { DEFIO_TAG_E(PG14), GPIO_AF7_USART6 }
 278         },
 279         .rcc = RCC_APB2(USART6),
 280         .rxIrq = USART6_IRQn,
 281         .txPriority = NVIC_PRIO_SERIALUART6_TXDMA,
 282         .rxPriority = NVIC_PRIO_SERIALUART6,
 283         .txBuffer = uart6TxBuffer,
 284         .rxBuffer = uart6RxBuffer,
 285         .txBufferSize = sizeof(uart6TxBuffer),
 286         .rxBufferSize = sizeof(uart6RxBuffer),
 287     },
 288 #endif
 289
 290 #ifdef USE_UART7
 291     {
 292         .device = UARTDEV_7,
 293         .reg = UART7,
 294 #ifdef USE_DMA
 295         .rxDMAChannel = DMA_REQUEST_UART7_RX,
 296         .rxDMAResource = (dmaResource_t *)UART7_RX_DMA_STREAM,
 297         .txDMAChannel = DMA_REQUEST_UART7_TX,
 298         .txDMAResource = (dmaResource_t *)UART7_TX_DMA_STREAM,
 299 #endif
 300         .rxPins = {
 301             { DEFIO_TAG_E(PA8), GPIO_AF11_UART7 },
 302             { DEFIO_TAG_E(PB3), GPIO_AF11_UART7 },
 303             { DEFIO_TAG_E(PE7), GPIO_AF7_UART7 },
 304             { DEFIO_TAG_E(PF6), GPIO_AF7_UART7 },
 305         },
 306         .txPins = {
 307             { DEFIO_TAG_E(PA15), GPIO_AF11_UART7 },
 308             { DEFIO_TAG_E(PB4),  GPIO_AF11_UART7 },
 309             { DEFIO_TAG_E(PE8),  GPIO_AF7_UART7 },
 310             { DEFIO_TAG_E(PF7),  GPIO_AF7_UART7 },
 311         },
 312         .rcc = RCC_APB1L(UART7),
 313         .rxIrq = UART7_IRQn,
 314         .txPriority = NVIC_PRIO_SERIALUART7_TXDMA,
 315         .rxPriority = NVIC_PRIO_SERIALUART7,
 316         .txBuffer = uart7TxBuffer,
 317         .rxBuffer = uart7RxBuffer,
 318         .txBufferSize = sizeof(uart7TxBuffer),
 319         .rxBufferSize = sizeof(uart7RxBuffer),
 320     },
 321 #endif
 322
 323 #ifdef USE_UART8
 324     {
 325         .device = UARTDEV_8,
 326         .reg = UART8,
 327 #ifdef USE_DMA
 328         .rxDMAChannel = DMA_REQUEST_UART8_RX,
 329         .rxDMAResource = (dmaResource_t *)UART8_RX_DMA_STREAM,
 330         .txDMAChannel = DMA_REQUEST_UART8_TX,
 331         .txDMAResource = (dmaResource_t *)UART8_TX_DMA_STREAM,
 332 #endif
 333         .rxPins = {
 334             { DEFIO_TAG_E(PE0), GPIO_AF8_UART8 }
 335         },
 336         .txPins = {
 337             { DEFIO_TAG_E(PE1), GPIO_AF8_UART8 }
 338         },
 339         .rcc = RCC_APB1L(UART8),
 340         .rxIrq = UART8_IRQn,
 341         .txPriority = NVIC_PRIO_SERIALUART8_TXDMA,
 342         .rxPriority = NVIC_PRIO_SERIALUART8,
 343         .txBuffer = uart8TxBuffer,
 344         .rxBuffer = uart8RxBuffer,
 345         .txBufferSize = sizeof(uart8TxBuffer),
 346         .rxBufferSize = sizeof(uart8RxBuffer),
 347     },
 348 #endif
 349
 350 #ifdef USE_UART9
 351     {
 352         .device = UARTDEV_9,
 353         .reg = UART9,
 354 #ifdef USE_DMA
 355         .rxDMAChannel = DMA_REQUEST_UART9_RX,
 356         .rxDMAResource = (dmaResource_t *)UART9_RX_DMA_STREAM,
 357         .txDMAChannel = DMA_REQUEST_UART9_TX,
 358         .txDMAResource = (dmaResource_t *)UART9_TX_DMA_STREAM,
 359 #endif
 360         .rxPins = {
 361             { DEFIO_TAG_E(PD14), GPIO_AF11_UART9 }
 362         },
 363         .txPins = {
 364             { DEFIO_TAG_E(PD15), GPIO_AF11_UART9 }
 365         },
 366         .rcc = RCC_APB2(UART9),
 367         .rxIrq = UART9_IRQn,
 368         .txPriority = NVIC_PRIO_SERIALUART9_TXDMA,
 369         .rxPriority = NVIC_PRIO_SERIALUART9,
 370         .txBuffer = uart9TxBuffer,
 371         .rxBuffer = uart9RxBuffer,
 372         .txBufferSize = sizeof(uart9TxBuffer),
 373         .rxBufferSize = sizeof(uart9RxBuffer),
 374     },
 375 #endif
 376
 377 #ifdef USE_UART10
 378     {
 379         .device = UARTDEV_10,
 380         .reg = USART10,
 381 #ifdef USE_DMA
 382         .rxDMAChannel = DMA_REQUEST_USART10_RX,
 383         .rxDMAResource = (dmaResource_t *)UART10_RX_DMA_STREAM,
 384         .txDMAChannel = DMA_REQUEST_USART10_TX,
 385         .txDMAResource = (dmaResource_t *)UART10_TX_DMA_STREAM,
 386 #endif
 387         .rxPins = {
 388             { DEFIO_TAG_E(PE2), GPIO_AF11_USART10 }
 389         },
 390         .txPins = {
 391             { DEFIO_TAG_E(PE3), GPIO_AF11_USART10 }
 392         },
 393         .rcc = RCC_APB2(USART10),
 394         .rxIrq = USART10_IRQn,
 395         .txPriority = NVIC_PRIO_SERIALUART10_TXDMA,
 396         .rxPriority = NVIC_PRIO_SERIALUART10,
 397         .txBuffer = uart10TxBuffer,
 398         .rxBuffer = uart10RxBuffer,
 399         .txBufferSize = sizeof(uart10TxBuffer),
 400         .rxBufferSize = sizeof(uart10RxBuffer),
 401     },
 402 #endif
 403
 404 #ifdef USE_LPUART1
 405     {
 406         .device = LPUARTDEV_1,
 407         .reg = LPUART1,
 408 #ifdef USE_DMA
 409         .rxDMAChannel = BDMA_REQUEST_LPUART1_RX,
 410         .rxDMAResource = (dmaResource_t *)NULL, // No DMA support yet (Need BDMA support)
 411         .txDMAChannel = BDMA_REQUEST_LPUART1_TX,
 412         .txDMAResource = (dmaResource_t *)NULL, // No DMA support yet (Need BDMA support)
 413 #endif
 414         .rxPins = {
 415             { DEFIO_TAG_E(PA10), GPIO_AF3_LPUART },
 416             { DEFIO_TAG_E(PB7),  GPIO_AF8_LPUART }
 417         },
 418         .txPins = {
 419             { DEFIO_TAG_E(PA9),  GPIO_AF3_LPUART },
 420             { DEFIO_TAG_E(PB6),  GPIO_AF8_LPUART }
 421         },
 422         .rcc = RCC_APB4(LPUART1),
 423         .rxIrq = LPUART1_IRQn,
 424         .txPriority = NVIC_PRIO_SERIALLPUART1_TXDMA, // Not used until DMA is supported
 425         .rxPriority = NVIC_PRIO_SERIALLPUART1,       // Not used until DMA is supported
 426         .txBuffer = lpuart1TxBuffer,
 427         .rxBuffer = lpuart1RxBuffer,
 428         .txBufferSize = sizeof(lpuart1TxBuffer),
 429         .rxBufferSize = sizeof(lpuart1RxBuffer),
 430     },
 431 #endif
 432
 433 };
 434
 435 // XXX Should serialUART be consolidated?
 436
 437 uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_e mode, portOptions_e options)
 438 {
 439     uartDevice_t *uartdev = uartDevmap[device];
 440     if (!uartdev) {
 441         return NULL;
 442     }
 443
 444     uartPort_t *s = &(uartdev->port);
 445
 446     s->port.vTable = uartVTable;
 447
 448     s->port.baudRate = baudRate;
 449
 450     const uartHardware_t *hardware = uartdev->hardware;
 451
 452     s->USARTx = hardware->reg;
 453
 454     s->port.rxBuffer = hardware->rxBuffer;
 455     s->port.txBuffer = hardware->txBuffer;
 456     s->port.rxBufferSize = hardware->rxBufferSize;
 457     s->port.txBufferSize = hardware->txBufferSize;
 458
 459     s->checkUsartTxOutput = checkUsartTxOutput;
 460
 461 #ifdef USE_DMA
 462     uartConfigureDma(uartdev);
 463 #endif
 464
 465     s->Handle.Instance = hardware->reg;
 466
 467     if (hardware->rcc) {
 468         RCC_ClockCmd(hardware->rcc, ENABLE);
 469     }
 470
 471     IO_t txIO = IOGetByTag(uartdev->tx.pin);
 472     IO_t rxIO = IOGetByTag(uartdev->rx.pin);
 473
 474     uartdev->txPinState = TX_PIN_IGNORE;
 475
 476     if ((options & SERIAL_BIDIR) && txIO) {
 477         ioConfig_t ioCfg = IO_CONFIG(
 478             ((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP) || (options & SERIAL_BIDIR_PP_PD)) ? GPIO_MODE_AF_PP : GPIO_MODE_AF_OD,
 479             GPIO_SPEED_FREQ_HIGH,
 480             ((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP_PD)) ? GPIO_PULLDOWN : GPIO_PULLUP
 481         );
 482
 483         IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
 484         IOConfigGPIOAF(txIO, ioCfg, uartdev->tx.af);
 485     } else {
 486         if ((mode & MODE_TX) && txIO) {
 487             IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
 488
 489             if ((options & SERIAL_INVERTED) == SERIAL_NOT_INVERTED) {
 490                 uartdev->txPinState = TX_PIN_ACTIVE;
 491                 // Switch TX to an input with pullup so it's state can be monitored
 492                 uartTxMonitor(s);
 493             } else {
 494                 IOConfigGPIOAF(txIO, IOCFG_AF_PP, uartdev->tx.af);
 495             }
 496         }
 497
 498         if ((mode & MODE_RX) && rxIO) {
 499             IOInit(rxIO, OWNER_SERIAL_RX, RESOURCE_INDEX(device));
 500             IOConfigGPIOAF(rxIO, IOCFG_AF_PP, uartdev->rx.af);
 501         }
 502     }
 503
 504 #ifdef USE_DMA
 505     if (!s->rxDMAResource)
 506 #endif
 507     {
 508         HAL_NVIC_SetPriority(hardware->rxIrq, NVIC_PRIORITY_BASE(hardware->rxPriority), NVIC_PRIORITY_SUB(hardware->rxPriority));
 509         HAL_NVIC_EnableIRQ(hardware->rxIrq);
 510     }
 511
 512     return s;
 513 }
 514 #endif // USE_UART