src/platform/APM32/serial_uart_apm32.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  * Authors:
  23  * jflyper - Refactoring, cleanup and made pin-configurable
  24  * Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
  25  * Hamasaki/Timecop - Initial baseflight code
  26 */
  27
  28 #include <stdbool.h>
  29 #include <stdint.h>
  30
  31 #include "platform.h"
  32
  33 #ifdef USE_UART
  34
  35 #include "build/build_config.h"
  36 #include "build/atomic.h"
  37
  38 #include "common/utils.h"
  39 #include "drivers/inverter.h"
  40 #include "drivers/nvic.h"
  41 #include "drivers/rcc.h"
  42
  43 #include "drivers/serial.h"
  44 #include "drivers/serial_uart.h"
  45 #include "drivers/serial_uart_impl.h"
  46
  47 // XXX uartReconfigure does not handle resource management properly.
  48
  49 void uartReconfigure(uartPort_t *uartPort)
  50 {
  51     DAL_UART_DeInit(&uartPort->Handle);
  52     uartPort->Handle.Init.BaudRate = uartPort->port.baudRate;
  53     // according to the stm32 documentation wordlen has to be 9 for parity bits
  54     // this does not seem to matter for rx but will give bad data on tx!
  55     uartPort->Handle.Init.WordLength = (uartPort->port.options & SERIAL_PARITY_EVEN) ? UART_WORDLENGTH_9B : UART_WORDLENGTH_8B;
  56     uartPort->Handle.Init.StopBits = (uartPort->port.options & SERIAL_STOPBITS_2) ? USART_STOPBITS_2 : USART_STOPBITS_1;
  57     uartPort->Handle.Init.Parity = (uartPort->port.options & SERIAL_PARITY_EVEN) ? USART_PARITY_EVEN : USART_PARITY_NONE;
  58     uartPort->Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  59     uartPort->Handle.Init.OverSampling = UART_OVERSAMPLING_16;
  60     uartPort->Handle.Init.Mode = 0;
  61
  62     if (uartPort->port.mode & MODE_RX)
  63         uartPort->Handle.Init.Mode |= UART_MODE_RX;
  64     if (uartPort->port.mode & MODE_TX)
  65         uartPort->Handle.Init.Mode |= UART_MODE_TX;
  66
  67     // config external pin inverter (no internal pin inversion available)
  68     uartConfigureExternalPinInversion(uartPort);
  69
  70 #ifdef TARGET_USART_CONFIG
  71     // TODO: move declaration into header file
  72     void usartTargetConfigure(uartPort_t *);
  73     usartTargetConfigure(uartPort);
  74 #endif
  75
  76     if (uartPort->port.options & SERIAL_BIDIR) {
  77         DAL_HalfDuplex_Init(&uartPort->Handle);
  78     } else {
  79         DAL_UART_Init(&uartPort->Handle);
  80     }
  81
  82     // Receive DMA or IRQ
  83     if (uartPort->port.mode & MODE_RX) {
  84 #ifdef USE_DMA
  85         if (uartPort->rxDMAResource) {
  86             uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
  87             uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
  88             uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
  89             uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
  90             uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
  91             uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  92             uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
  93             uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
  94 #if defined(APM32F4)
  95             uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
  96             uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
  97             uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
  98             uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
  99 #endif
 100             uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 101
 102             DAL_DMA_DeInit(&uartPort->rxDMAHandle);
 103             DAL_DMA_Init(&uartPort->rxDMAHandle);
 104             /* Associate the initialized DMA handle to the UART handle */
 105             __DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
 106
 107             DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
 108
 109             uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
 110         } else
 111 #endif
 112         {
 113             /* Enable the UART Parity Error Interrupt */
 114             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_PEIEN);
 115
 116             /* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */
 117             SET_BIT(uartPort->USARTx->CTRL3, USART_CTRL3_ERRIEN);
 118
 119             /* Enable the UART Data Register not empty Interrupt */
 120             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_RXBNEIEN);
 121
 122             /* Enable Idle Line detection */
 123             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_IDLEIEN);
 124         }
 125     }
 126
 127     // Transmit DMA or IRQ
 128     if (uartPort->port.mode & MODE_TX) {
 129 #ifdef USE_DMA
 130         if (uartPort->txDMAResource) {
 131             uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
 132             uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
 133             uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
 134             uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
 135             uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
 136             uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
 137             uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
 138             uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
 139             uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 140             uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
 141             uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
 142             uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
 143             uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 144
 145             DAL_DMA_DeInit(&uartPort->txDMAHandle);
 146             DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
 147             if (status != DAL_OK) {
 148                 while (1);
 149             }
 150             /* Associate the initialized DMA handle to the UART handle */
 151             __DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
 152
 153             __DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
 154         } else
 155 #endif
 156         {
 157
 158             /* Enable the UART Transmit Data Register Empty Interrupt */
 159             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXBEIEN);
 160             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXCIEN);
 161         }
 162     }
 163 }
 164
 165 #ifdef USE_DMA
 166 void uartTryStartTxDMA(uartPort_t *s)
 167 {
 168     // uartTryStartTxDMA must be protected, since it is called from
 169     // uartWrite and handleUsartTxDma (an ISR).
 170
 171     ATOMIC_BLOCK(NVIC_PRIO_SERIALUART_TXDMA) {
 172         if (IS_DMA_ENABLED(s->txDMAResource)) {
 173             // DMA is already in progress
 174             return;
 175         }
 176
 177         DAL_UART_StateTypeDef state = DAL_UART_GetState(&s->Handle);
 178         if ((state & DAL_UART_STATE_BUSY_TX) == DAL_UART_STATE_BUSY_TX) {
 179             // UART is still transmitting
 180             return;
 181         }
 182
 183         if (s->port.txBufferHead == s->port.txBufferTail) {
 184             // No more data to transmit
 185             s->txDMAEmpty = true;
 186             return;
 187         }
 188
 189         unsigned chunk;
 190         uint32_t fromwhere = s->port.txBufferTail;
 191
 192         if (s->port.txBufferHead > s->port.txBufferTail) {
 193             chunk = s->port.txBufferHead - s->port.txBufferTail;
 194             s->port.txBufferTail = s->port.txBufferHead;
 195         } else {
 196             chunk = s->port.txBufferSize - s->port.txBufferTail;
 197             s->port.txBufferTail = 0;
 198         }
 199         s->txDMAEmpty = false;
 200         DAL_UART_Transmit_DMA(&s->Handle, (uint8_t*)s->port.txBuffer + fromwhere, chunk);
 201     }
 202 }
 203 #endif
 204 #endif // USE_UART