src/main/io/serial.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 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/build_config.h"
  28
  29 #include "cli/cli.h"
  30
  31 #include "common/utils.h"
  32
  33 #include "drivers/time.h"
  34 #include "drivers/system.h"
  35 #include "drivers/serial.h"
  36 #include "drivers/serial_uart.h"
  37 #if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
  38 #include "drivers/serial_softserial.h"
  39 #endif
  40
  41 #if defined(SIMULATOR_BUILD)
  42 #include "drivers/serial_tcp.h"
  43 #endif
  44
  45 #include "drivers/light_led.h"
  46
  47 #if defined(USE_VCP)
  48 #include "drivers/serial_usb_vcp.h"
  49 #endif
  50
  51 #include "config/config.h"
  52
  53 #include "io/serial.h"
  54
  55 #include "msp/msp_serial.h"
  56
  57 #include "pg/pg.h"
  58 #include "pg/pg_ids.h"
  59
  60 #ifdef USE_TELEMETRY
  61 #include "telemetry/telemetry.h"
  62 #endif
  63
  64 #include "pg/pinio.h"
  65
  66 static serialPortUsage_t serialPortUsageList[SERIAL_PORT_COUNT];
  67
  68 const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
  69 #ifdef USE_VCP
  70     SERIAL_PORT_USB_VCP,
  71 #endif
  72 #ifdef USE_UART1
  73     SERIAL_PORT_USART1,
  74 #endif
  75 #ifdef USE_UART2
  76     SERIAL_PORT_USART2,
  77 #endif
  78 #ifdef USE_UART3
  79     SERIAL_PORT_USART3,
  80 #endif
  81 #ifdef USE_UART4
  82     SERIAL_PORT_UART4,
  83 #endif
  84 #ifdef USE_UART5
  85     SERIAL_PORT_UART5,
  86 #endif
  87 #ifdef USE_UART6
  88     SERIAL_PORT_USART6,
  89 #endif
  90 #ifdef USE_UART7
  91     SERIAL_PORT_USART7,
  92 #endif
  93 #ifdef USE_UART8
  94     SERIAL_PORT_USART8,
  95 #endif
  96 #ifdef USE_UART9
  97     SERIAL_PORT_UART9,
  98 #endif
  99 #ifdef USE_UART10
 100     SERIAL_PORT_USART10,
 101 #endif
 102 #ifdef USE_SOFTSERIAL1
 103     SERIAL_PORT_SOFTSERIAL1,
 104 #endif
 105 #ifdef USE_SOFTSERIAL2
 106     SERIAL_PORT_SOFTSERIAL2,
 107 #endif
 108 #ifdef USE_LPUART1
 109     SERIAL_PORT_LPUART1,
 110 #endif
 111 };
 112
 113 static uint8_t serialPortCount;
 114
 115 const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
 116         400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
 117
 118 #define BAUD_RATE_COUNT ARRAYLEN(baudRates)
 119
 120 serialPortConfig_t *serialFindPortConfigurationMutable(serialPortIdentifier_e identifier)
 121 {
 122     for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
 123         serialPortConfig_t *candidate = &serialConfigMutable()->portConfigs[index];
 124         if (candidate->identifier == identifier) {
 125             return candidate;
 126         }
 127     }
 128     return NULL;
 129 }
 130
 131 PG_REGISTER_WITH_RESET_FN(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 1);
 132
 133 void pgResetFn_serialConfig(serialConfig_t *serialConfig)
 134 {
 135     memset(serialConfig, 0, sizeof(serialConfig_t));
 136
 137     for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
 138         serialConfig->portConfigs[i].identifier = serialPortIdentifiers[i];
 139         serialConfig->portConfigs[i].msp_baudrateIndex = BAUD_115200;
 140         serialConfig->portConfigs[i].gps_baudrateIndex = BAUD_57600;
 141         serialConfig->portConfigs[i].telemetry_baudrateIndex = BAUD_AUTO;
 142         serialConfig->portConfigs[i].blackbox_baudrateIndex = BAUD_115200;
 143     }
 144
 145     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
 146
 147 #ifdef SERIALRX_UART
 148     serialPortConfig_t *serialRxUartConfig = serialFindPortConfigurationMutable(SERIALRX_UART);
 149     if (serialRxUartConfig) {
 150         serialRxUartConfig->functionMask = FUNCTION_RX_SERIAL;
 151     }
 152 #endif
 153
 154 #ifdef SBUS_TELEMETRY_UART
 155     serialPortConfig_t *serialTlemetryUartConfig = serialFindPortConfigurationMutable(SBUS_TELEMETRY_UART);
 156     if (serialTlemetryUartConfig) {
 157         serialTlemetryUartConfig->functionMask = FUNCTION_TELEMETRY_SMARTPORT;
 158     }
 159 #endif
 160
 161 #if defined(USE_VCP) && defined(USE_MSP_UART)
 162     if (serialConfig->portConfigs[0].identifier == SERIAL_PORT_USB_VCP) {
 163         serialPortConfig_t * uart1Config = serialFindPortConfigurationMutable(SERIAL_PORT_USART1);
 164         if (uart1Config) {
 165             uart1Config->functionMask = FUNCTION_MSP;
 166         }
 167     }
 168 #endif
 169
 170     serialConfig->reboot_character = 'R';
 171     serialConfig->serial_update_rate_hz = 100;
 172 }
 173
 174 baudRate_e lookupBaudRateIndex(uint32_t baudRate)
 175 {
 176     uint8_t index;
 177
 178     for (index = 0; index < BAUD_RATE_COUNT; index++) {
 179         if (baudRates[index] == baudRate) {
 180             return index;
 181         }
 182     }
 183     return BAUD_AUTO;
 184 }
 185
 186 int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
 187 {
 188     for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
 189         if (serialPortIdentifiers[index] == identifier) {
 190             return index;
 191         }
 192     }
 193     return -1;
 194 }
 195
 196 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier)
 197 {
 198     uint8_t index;
 199     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
 200         serialPortUsage_t *candidate = &serialPortUsageList[index];
 201         if (candidate->identifier == identifier) {
 202             return candidate;
 203         }
 204     }
 205     return NULL;
 206 }
 207
 208 serialPortUsage_t *findSerialPortUsageByPort(serialPort_t *serialPort)
 209 {
 210     uint8_t index;
 211     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
 212         serialPortUsage_t *candidate = &serialPortUsageList[index];
 213         if (candidate->serialPort == serialPort) {
 214             return candidate;
 215         }
 216     }
 217     return NULL;
 218 }
 219
 220 typedef struct findSerialPortConfigState_s {
 221     uint8_t lastIndex;
 222 } findSerialPortConfigState_t;
 223
 224 static findSerialPortConfigState_t findSerialPortConfigState;
 225
 226 const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
 227 {
 228     memset(&findSerialPortConfigState, 0, sizeof(findSerialPortConfigState));
 229
 230     return findNextSerialPortConfig(function);
 231 }
 232
 233 const serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function)
 234 {
 235     while (findSerialPortConfigState.lastIndex < SERIAL_PORT_COUNT) {
 236         const serialPortConfig_t *candidate = &serialConfig()->portConfigs[findSerialPortConfigState.lastIndex++];
 237
 238         if (candidate->functionMask & function) {
 239             return candidate;
 240         }
 241     }
 242     return NULL;
 243 }
 244
 245 portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function)
 246 {
 247     if (!portConfig || (portConfig->functionMask & function) == 0) {
 248         return PORTSHARING_UNUSED;
 249     }
 250     return portConfig->functionMask == function ? PORTSHARING_NOT_SHARED : PORTSHARING_SHARED;
 251 }
 252
 253 bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction)
 254 {
 255     return (portConfig) && (portConfig->functionMask & sharedWithFunction) && (portConfig->functionMask & functionMask);
 256 }
 257
 258 serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction)
 259 {
 260     for (unsigned i = 0; i < SERIAL_PORT_COUNT; i++) {
 261         const serialPortConfig_t *candidate = &serialConfig()->portConfigs[i];
 262
 263         if (isSerialPortShared(candidate, functionMask, sharedWithFunction)) {
 264             const serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(candidate->identifier);
 265             if (!serialPortUsage) {
 266                 continue;
 267             }
 268             return serialPortUsage->serialPort;
 269         }
 270     }
 271     return NULL;
 272 }
 273
 274 #ifdef USE_TELEMETRY
 275 #define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | TELEMETRY_PORT_FUNCTIONS_MASK | FUNCTION_VTX_MSP)
 276 #else
 277 #define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | FUNCTION_VTX_MSP)
 278 #endif
 279
 280 bool isSerialConfigValid(const serialConfig_t *serialConfigToCheck)
 281 {
 282     UNUSED(serialConfigToCheck);
 283     /*
 284      * rules:
 285      * - 1 MSP port minimum, max MSP ports is defined and must be adhered to.
 286      * - MSP is allowed to be shared with EITHER any telemetry OR blackbox.
 287      *   (using either / or, switching based on armed / disarmed or the AUX channel configured for BOXTELEMETRY)
 288      * - serial RX and FrSky / LTM / MAVLink telemetry can be shared
 289      *   (serial RX using RX line, telemetry using TX line)
 290      * - No other sharing combinations are valid.
 291      */
 292     uint8_t mspPortCount = 0;
 293
 294     for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
 295         const serialPortConfig_t *portConfig = &serialConfigToCheck->portConfigs[index];
 296
 297         if (portConfig->functionMask & FUNCTION_MSP) {
 298             mspPortCount++;
 299         } else if (portConfig->identifier == SERIAL_PORT_USB_VCP) {
 300             // Require MSP to be enabled for the VCP port
 301             return false;
 302         }
 303
 304         uint8_t bitCount = BITCOUNT(portConfig->functionMask);
 305
 306 #ifdef USE_VTX_MSP
 307         if ((portConfig->functionMask & FUNCTION_VTX_MSP) && bitCount == 1) { // VTX MSP has to be shared with RX or MSP serial
 308             return false;
 309         }
 310 #endif
 311
 312         if (bitCount > 1) {
 313             // shared
 314             if (bitCount > (BITCOUNT(FUNCTION_MSP | ALL_FUNCTIONS_SHARABLE_WITH_MSP))) {
 315                 return false;
 316             }
 317
 318             if ((portConfig->functionMask & FUNCTION_MSP) && (portConfig->functionMask & ALL_FUNCTIONS_SHARABLE_WITH_MSP)) {
 319                 // MSP & telemetry
 320 #ifdef USE_TELEMETRY
 321             } else if (telemetryCheckRxPortShared(portConfig, rxConfig()->serialrx_provider)) {
 322                 // serial RX & telemetry
 323 #endif
 324             } else {
 325                 // some other combination
 326                 return false;
 327             }
 328         }
 329     }
 330
 331     if (mspPortCount == 0 || mspPortCount > MAX_MSP_PORT_COUNT) {
 332         return false;
 333     }
 334     return true;
 335 }
 336
 337 const serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier)
 338 {
 339     for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
 340         const serialPortConfig_t *candidate = &serialConfig()->portConfigs[index];
 341         if (candidate->identifier == identifier) {
 342             return candidate;
 343         }
 344     }
 345     return NULL;
 346 }
 347
 348 bool doesConfigurationUsePort(serialPortIdentifier_e identifier)
 349 {
 350     const serialPortConfig_t *candidate = serialFindPortConfiguration(identifier);
 351     return candidate != NULL && candidate->functionMask;
 352 }
 353
 354 serialPort_t *openSerialPort(
 355     serialPortIdentifier_e identifier,
 356     serialPortFunction_e function,
 357     serialReceiveCallbackPtr rxCallback,
 358     void *rxCallbackData,
 359     uint32_t baudRate,
 360     portMode_e mode,
 361     portOptions_e options)
 362 {
 363 #if !(defined(USE_UART) || defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
 364     UNUSED(rxCallback);
 365     UNUSED(rxCallbackData);
 366     UNUSED(baudRate);
 367     UNUSED(mode);
 368     UNUSED(options);
 369 #endif
 370
 371     serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(identifier);
 372     if (!serialPortUsage || serialPortUsage->function != FUNCTION_NONE) {
 373         // not available / already in use
 374         return NULL;
 375     }
 376
 377     serialPort_t *serialPort = NULL;
 378
 379     switch (identifier) {
 380 #ifdef USE_VCP
 381         case SERIAL_PORT_USB_VCP:
 382             serialPort = usbVcpOpen();
 383             break;
 384 #endif
 385
 386 #if defined(USE_UART)
 387 #ifdef USE_UART1
 388         case SERIAL_PORT_USART1:
 389 #endif
 390 #ifdef USE_UART2
 391         case SERIAL_PORT_USART2:
 392 #endif
 393 #ifdef USE_UART3
 394         case SERIAL_PORT_USART3:
 395 #endif
 396 #ifdef USE_UART4
 397         case SERIAL_PORT_UART4:
 398 #endif
 399 #ifdef USE_UART5
 400         case SERIAL_PORT_UART5:
 401 #endif
 402 #ifdef USE_UART6
 403         case SERIAL_PORT_USART6:
 404 #endif
 405 #ifdef USE_UART7
 406         case SERIAL_PORT_USART7:
 407 #endif
 408 #ifdef USE_UART8
 409         case SERIAL_PORT_USART8:
 410 #endif
 411 #ifdef USE_UART9
 412         case SERIAL_PORT_UART9:
 413 #endif
 414 #ifdef USE_UART10
 415         case SERIAL_PORT_USART10:
 416 #endif
 417 #ifdef USE_LPUART1
 418         case SERIAL_PORT_LPUART1:
 419 #endif
 420 #if defined(SIMULATOR_BUILD)
 421             // emulate serial ports over TCP
 422             serialPort = serTcpOpen(SERIAL_PORT_IDENTIFIER_TO_UARTDEV(identifier), rxCallback, rxCallbackData, baudRate, mode, options);
 423 #else
 424             serialPort = uartOpen(SERIAL_PORT_IDENTIFIER_TO_UARTDEV(identifier), rxCallback, rxCallbackData, baudRate, mode, options);
 425 #endif
 426             break;
 427 #endif
 428
 429 #ifdef USE_SOFTSERIAL1
 430         case SERIAL_PORT_SOFTSERIAL1:
 431             serialPort = openSoftSerial(SOFTSERIAL1, rxCallback, rxCallbackData, baudRate, mode, options);
 432             break;
 433 #endif
 434 #ifdef USE_SOFTSERIAL2
 435         case SERIAL_PORT_SOFTSERIAL2:
 436             serialPort = openSoftSerial(SOFTSERIAL2, rxCallback, rxCallbackData, baudRate, mode, options);
 437             break;
 438 #endif
 439         default:
 440             break;
 441     }
 442
 443     if (!serialPort) {
 444         return NULL;
 445     }
 446
 447     serialPort->identifier = identifier;
 448
 449     serialPortUsage->function = function;
 450     serialPortUsage->serialPort = serialPort;
 451
 452     return serialPort;
 453 }
 454
 455 void closeSerialPort(serialPort_t *serialPort)
 456 {
 457     serialPortUsage_t *serialPortUsage = findSerialPortUsageByPort(serialPort);
 458     if (!serialPortUsage) {
 459         // already closed
 460         return;
 461     }
 462
 463     // TODO wait until data has been transmitted.
 464     serialPort->rxCallback = NULL;
 465
 466     serialPortUsage->function = FUNCTION_NONE;
 467     serialPortUsage->serialPort = NULL;
 468 }
 469
 470 void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
 471 {
 472 #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
 473     UNUSED(softserialEnabled);
 474 #endif
 475
 476     serialPortCount = SERIAL_PORT_COUNT;
 477     memset(&serialPortUsageList, 0, sizeof(serialPortUsageList));
 478
 479     for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
 480         serialPortUsageList[index].identifier = serialPortIdentifiers[index];
 481
 482         if (serialPortToDisable != SERIAL_PORT_NONE) {
 483             if (serialPortUsageList[index].identifier == serialPortToDisable) {
 484                 serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
 485                 serialPortCount--;
 486             }
 487         }
 488 #if !defined(SIMULATOR_BUILD)
 489         else if (serialPortUsageList[index].identifier <= SERIAL_PORT_USART10
 490 #ifdef USE_LPUART1
 491             || serialPortUsageList[index].identifier == SERIAL_PORT_LPUART1
 492 #endif
 493         ) {
 494             int resourceIndex = SERIAL_PORT_IDENTIFIER_TO_INDEX(serialPortUsageList[index].identifier);
 495             if (!(serialPinConfig()->ioTagTx[resourceIndex] || serialPinConfig()->ioTagRx[resourceIndex])) {
 496                 serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
 497                 serialPortCount--;
 498             }
 499         }
 500 #endif
 501         else if ((serialPortUsageList[index].identifier == SERIAL_PORT_SOFTSERIAL1
 502 #ifdef USE_SOFTSERIAL1
 503             && !(softserialEnabled && (serialPinConfig()->ioTagTx[RESOURCE_SOFT_OFFSET + SOFTSERIAL1] ||
 504                 serialPinConfig()->ioTagRx[RESOURCE_SOFT_OFFSET + SOFTSERIAL1]))
 505 #endif
 506            ) || (serialPortUsageList[index].identifier == SERIAL_PORT_SOFTSERIAL2
 507 #ifdef USE_SOFTSERIAL2
 508             && !(softserialEnabled && (serialPinConfig()->ioTagTx[RESOURCE_SOFT_OFFSET + SOFTSERIAL2] ||
 509                 serialPinConfig()->ioTagRx[RESOURCE_SOFT_OFFSET + SOFTSERIAL2]))
 510 #endif
 511             )) {
 512             serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
 513             serialPortCount--;
 514         }
 515     }
 516 }
 517
 518 void serialRemovePort(serialPortIdentifier_e identifier)
 519 {
 520     for (uint8_t index = 0; index < SERIAL_PORT_COUNT; index++) {
 521         if (serialPortUsageList[index].identifier == identifier) {
 522             serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
 523             serialPortCount--;
 524         }
 525     }
 526 }
 527
 528 uint8_t serialGetAvailablePortCount(void)
 529 {
 530     return serialPortCount;
 531 }
 532
 533 bool serialIsPortAvailable(serialPortIdentifier_e identifier)
 534 {
 535     for (uint8_t index = 0; index < SERIAL_PORT_COUNT; index++) {
 536         if (serialPortUsageList[index].identifier == identifier) {
 537             return true;
 538         }
 539     }
 540     return false;
 541 }
 542
 543 void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
 544 {
 545     while (!isSerialTransmitBufferEmpty(serialPort)) {
 546         delay(10);
 547     };
 548 }
 549
 550 #if defined(USE_GPS) || defined(USE_SERIAL_PASSTHROUGH)
 551 // Default data consumer for serialPassThrough.
 552 static void nopConsumer(uint8_t data)
 553 {
 554     UNUSED(data);
 555 }
 556
 557 /*
 558  A high-level serial passthrough implementation. Used by cli to start an
 559  arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
 560  for specialized data processing.
 561  */
 562 void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC)
 563 {
 564     waitForSerialPortToFinishTransmitting(left);
 565     waitForSerialPortToFinishTransmitting(right);
 566
 567     if (!leftC)
 568         leftC = &nopConsumer;
 569     if (!rightC)
 570         rightC = &nopConsumer;
 571
 572     LED0_OFF;
 573     LED1_OFF;
 574
 575     // Either port might be open in a mode other than MODE_RXTX. We rely on
 576     // serialRxBytesWaiting() to do the right thing for a TX only port. No
 577     // special handling is necessary OR performed.
 578     while (1) {
 579         // TODO: maintain a timestamp of last data received. Use this to
 580         // implement a guard interval and check for `+++` as an escape sequence
 581         // to return to CLI command mode.
 582         // https://en.wikipedia.org/wiki/Escape_sequence#Modem_control
 583         if (serialRxBytesWaiting(left)) {
 584             LED0_ON;
 585             uint8_t c = serialRead(left);
 586             // Make sure there is space in the tx buffer
 587             while (!serialTxBytesFree(right));
 588             serialWrite(right, c);
 589             leftC(c);
 590             LED0_OFF;
 591          }
 592          if (serialRxBytesWaiting(right)) {
 593              LED0_ON;
 594              uint8_t c = serialRead(right);
 595              // Make sure there is space in the tx buffer
 596              while (!serialTxBytesFree(left));
 597              serialWrite(left, c);
 598              rightC(c);
 599              LED0_OFF;
 600          }
 601      }
 602  }
 603  #endif