src/main/drivers/serial_uart_stm32f4xx.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #include "drivers/time.h"
  24 #include "drivers/io.h"
  25 #include "rcc.h"
  26 #include "drivers/nvic.h"
  27
  28 #include "serial.h"
  29 #include "serial_uart.h"
  30 #include "serial_uart_impl.h"
  31
  32 #define UART_RX_BUFFER_SIZE UART1_RX_BUFFER_SIZE
  33 #define UART_TX_BUFFER_SIZE UART1_RX_BUFFER_SIZE
  34
  35 typedef struct uartDevice_s {
  36     USART_TypeDef* dev;
  37     uartPort_t port;
  38     ioTag_t rx;
  39     ioTag_t tx;
  40     volatile uint8_t rxBuffer[UART_RX_BUFFER_SIZE];
  41     volatile uint8_t txBuffer[UART_TX_BUFFER_SIZE];
  42     uint32_t rcc_ahb1;
  43     rccPeriphTag_t rcc_apb2;
  44     rccPeriphTag_t rcc_apb1;
  45     uint8_t af;
  46     uint8_t irq;
  47     uint32_t irqPriority;
  48 } uartDevice_t;
  49
  50 //static uartPort_t uartPort[MAX_UARTS];
  51 #ifdef USE_UART1
  52 static uartDevice_t uart1 =
  53 {
  54     .dev = USART1,
  55     .rx = IO_TAG(UART1_RX_PIN),
  56     .tx = IO_TAG(UART1_TX_PIN),
  57     .af = GPIO_AF_USART1,
  58 #ifdef UART1_AHB1_PERIPHERALS
  59     .rcc_ahb1 = UART1_AHB1_PERIPHERALS,
  60 #endif
  61     .rcc_apb2 = RCC_APB2(USART1),
  62     .irq = USART1_IRQn,
  63     .irqPriority = NVIC_PRIO_SERIALUART
  64 };
  65 #endif
  66
  67 #ifdef USE_UART2
  68 static uartDevice_t uart2 =
  69 {
  70     .dev = USART2,
  71     .rx = IO_TAG(UART2_RX_PIN),
  72     .tx = IO_TAG(UART2_TX_PIN),
  73     .af = GPIO_AF_USART2,
  74 #ifdef UART2_AHB1_PERIPHERALS
  75     .rcc_ahb1 = UART2_AHB1_PERIPHERALS,
  76 #endif
  77     .rcc_apb1 = RCC_APB1(USART2),
  78     .irq = USART2_IRQn,
  79     .irqPriority = NVIC_PRIO_SERIALUART
  80 };
  81 #endif
  82
  83 #ifdef USE_UART3
  84 static uartDevice_t uart3 =
  85 {
  86     .dev = USART3,
  87     .rx = IO_TAG(UART3_RX_PIN),
  88     .tx = IO_TAG(UART3_TX_PIN),
  89     .af = GPIO_AF_USART3,
  90 #ifdef UART3_AHB1_PERIPHERALS
  91     .rcc_ahb1 = UART3_AHB1_PERIPHERALS,
  92 #endif
  93     .rcc_apb1 = RCC_APB1(USART3),
  94     .irq = USART3_IRQn,
  95     .irqPriority = NVIC_PRIO_SERIALUART
  96 };
  97 #endif
  98
  99 #ifdef USE_UART4
 100 static uartDevice_t uart4 =
 101 {
 102     .dev = UART4,
 103     .rx = IO_TAG(UART4_RX_PIN),
 104     .tx = IO_TAG(UART4_TX_PIN),
 105     .af = GPIO_AF_UART4,
 106 #ifdef UART4_AHB1_PERIPHERALS
 107     .rcc_ahb1 = UART4_AHB1_PERIPHERALS,
 108 #endif
 109     .rcc_apb1 = RCC_APB1(UART4),
 110     .irq = UART4_IRQn,
 111     .irqPriority = NVIC_PRIO_SERIALUART
 112 };
 113 #endif
 114
 115 #ifdef USE_UART5
 116 static uartDevice_t uart5 =
 117 {
 118     .dev = UART5,
 119     .rx = IO_TAG(UART5_RX_PIN),
 120     .tx = IO_TAG(UART5_TX_PIN),
 121     .af = GPIO_AF_UART5,
 122 #ifdef UART5_AHB1_PERIPHERALS
 123     .rcc_ahb1 = UART5_AHB1_PERIPHERALS,
 124 #endif
 125     .rcc_apb1 = RCC_APB1(UART5),
 126     .irq = UART5_IRQn,
 127     .irqPriority = NVIC_PRIO_SERIALUART
 128 };
 129 #endif
 130
 131 #ifdef USE_UART6
 132 static uartDevice_t uart6 =
 133 {
 134     .dev = USART6,
 135     .rx = IO_TAG(UART6_RX_PIN),
 136     .tx = IO_TAG(UART6_TX_PIN),
 137     .af = GPIO_AF_USART6,
 138 #ifdef UART6_AHB1_PERIPHERALS
 139     .rcc_ahb1 = UART6_AHB1_PERIPHERALS,
 140 #endif
 141     .rcc_apb2 = RCC_APB2(USART6),
 142     .irq = USART6_IRQn,
 143     .irqPriority = NVIC_PRIO_SERIALUART
 144 };
 145 #endif
 146
 147 #ifdef USE_UART7
 148 static uartDevice_t uart7 =
 149 {
 150     .dev = UART7,
 151     .rx = IO_TAG(UART7_RX_PIN),
 152     .tx = IO_TAG(UART7_TX_PIN),
 153     .af = GPIO_AF_UART7,
 154     .rcc_apb1 = RCC_APB1(UART7),
 155     .irq = UART7_IRQn,
 156     .irqPriority = NVIC_PRIO_SERIALUART
 157 };
 158 #endif
 159
 160 #ifdef USE_UART8
 161 static uartDevice_t uart8 =
 162 {
 163     .dev = UART8,
 164     .rx = IO_TAG(UART8_RX_PIN),
 165     .tx = IO_TAG(UART8_TX_PIN),
 166     .af = GPIO_AF_UART8,
 167     .rcc_apb1 = RCC_APB1(UART8),
 168     .irq = UART8_IRQn,
 169     .irqPriority = NVIC_PRIO_SERIALUART
 170 };
 171 #endif
 172
 173 static uartDevice_t* uartHardwareMap[] = {
 174 #ifdef USE_UART1
 175     &uart1,
 176 #else
 177     NULL,
 178 #endif
 179 #ifdef USE_UART2
 180     &uart2,
 181 #else
 182     NULL,
 183 #endif
 184 #ifdef USE_UART3
 185     &uart3,
 186 #else
 187     NULL,
 188 #endif
 189 #ifdef USE_UART4
 190     &uart4,
 191 #else
 192     NULL,
 193 #endif
 194 #ifdef USE_UART5
 195     &uart5,
 196 #else
 197     NULL,
 198 #endif
 199 #ifdef USE_UART6
 200     &uart6,
 201 #else
 202     NULL,
 203 #endif
 204 #ifdef USE_UART7
 205     &uart7,
 206 #else
 207     NULL,
 208 #endif
 209 #ifdef USE_UART8
 210     &uart8,
 211 #else
 212     NULL,
 213 #endif
 214     };
 215
 216 void uartIrqHandler(uartPort_t *s)
 217 {
 218     if (USART_GetITStatus(s->USARTx, USART_IT_RXNE) == SET) {
 219         if (s->port.rxCallback) {
 220             s->port.rxCallback(s->USARTx->DR, s->port.rxCallbackData);
 221         } else {
 222             s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR;
 223             s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
 224         }
 225     }
 226
 227     if (USART_GetITStatus(s->USARTx, USART_IT_TXE) == SET) {
 228         if (s->port.txBufferTail != s->port.txBufferHead) {
 229             USART_SendData(s->USARTx, s->port.txBuffer[s->port.txBufferTail]);
 230             s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
 231         } else {
 232             USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
 233         }
 234     }
 235
 236     if (USART_GetITStatus(s->USARTx, USART_FLAG_ORE) == SET)
 237     {
 238         USART_ClearITPendingBit (s->USARTx, USART_IT_ORE);
 239     }
 240 }
 241
 242 void uartGetPortPins(UARTDevice_e device, serialPortPins_t * pins)
 243 {
 244     uartDevice_t *uart = uartHardwareMap[device];
 245
 246     if (uart) {
 247         pins->txPin = uart->tx;
 248         pins->rxPin = uart->rx;
 249     }
 250     else {
 251         pins->txPin = IO_TAG(NONE);
 252         pins->rxPin = IO_TAG(NONE);
 253     }
 254 }
 255
 256 void uartClearIdleFlag(uartPort_t *s)
 257 {
 258     (void) s->USARTx->SR;
 259     (void) s->USARTx->DR;
 260 }
 261
 262 uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_t mode, portOptions_t options)
 263 {
 264     uartPort_t *s;
 265
 266     uartDevice_t *uart = uartHardwareMap[device];
 267     if (!uart) return NULL;
 268
 269     s = &(uart->port);
 270     s->port.vTable = uartVTable;
 271
 272     s->port.baudRate = baudRate;
 273
 274     s->port.rxBuffer = uart->rxBuffer;
 275     s->port.txBuffer = uart->txBuffer;
 276     s->port.rxBufferSize = sizeof(uart->rxBuffer);
 277     s->port.txBufferSize = sizeof(uart->txBuffer);
 278
 279     s->USARTx = uart->dev;
 280
 281     IO_t tx = IOGetByTag(uart->tx);
 282     IO_t rx = IOGetByTag(uart->rx);
 283
 284     if (uart->rcc_apb2)
 285         RCC_ClockCmd(uart->rcc_apb2, ENABLE);
 286
 287     if (uart->rcc_apb1)
 288         RCC_ClockCmd(uart->rcc_apb1, ENABLE);
 289
 290     if (uart->rcc_ahb1)
 291         RCC_AHB1PeriphClockCmd(uart->rcc_ahb1, ENABLE);
 292
 293     if (options & SERIAL_BIDIR) {
 294         IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, RESOURCE_INDEX(device));
 295         if (options & SERIAL_BIDIR_PP) {
 296             IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
 297         } else {
 298             IOConfigGPIOAF(tx,
 299                     (options & SERIAL_BIDIR_NOPULL) ? IOCFG_AF_OD : IOCFG_AF_OD_UP,
 300                     uart->af);
 301         }
 302     }
 303     else {
 304         if (mode & MODE_TX) {
 305             IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(device));
 306             IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
 307         }
 308
 309         if (mode & MODE_RX) {
 310             IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
 311             IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
 312         }
 313     }
 314
 315     NVIC_SetPriority(uart->irq, uart->irqPriority);
 316     NVIC_EnableIRQ(uart->irq);
 317
 318     return s;
 319 }
 320
 321 #ifdef USE_UART1
 322 uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t options)
 323 {
 324     return serialUART(UARTDEV_1, baudRate, mode, options);
 325 }
 326
 327 // USART1 Rx/Tx IRQ Handler
 328 void USART1_IRQHandler(void)
 329 {
 330     uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
 331     uartIrqHandler(s);
 332 }
 333
 334 #endif
 335
 336 #ifdef USE_UART2
 337 // USART2 - GPS or Spektrum or ?? (RX + TX by IRQ)
 338 uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t options)
 339 {
 340     return serialUART(UARTDEV_2, baudRate, mode, options);
 341 }
 342
 343 void USART2_IRQHandler(void)
 344 {
 345     uartPort_t *s = &(uartHardwareMap[UARTDEV_2]->port);
 346     uartIrqHandler(s);
 347 }
 348 #endif
 349
 350 #ifdef USE_UART3
 351 // USART3
 352 uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t options)
 353 {
 354     return serialUART(UARTDEV_3, baudRate, mode, options);
 355 }
 356
 357 void USART3_IRQHandler(void)
 358 {
 359     uartPort_t *s = &(uartHardwareMap[UARTDEV_3]->port);
 360     uartIrqHandler(s);
 361 }
 362 #endif
 363
 364 #ifdef USE_UART4
 365 // USART4
 366 uartPort_t *serialUART4(uint32_t baudRate, portMode_t mode, portOptions_t options)
 367 {
 368     return serialUART(UARTDEV_4, baudRate, mode, options);
 369 }
 370
 371 void UART4_IRQHandler(void)
 372 {
 373     uartPort_t *s = &(uartHardwareMap[UARTDEV_4]->port);
 374     uartIrqHandler(s);
 375 }
 376 #endif
 377
 378 #ifdef USE_UART5
 379 // USART5
 380 uartPort_t *serialUART5(uint32_t baudRate, portMode_t mode, portOptions_t options)
 381 {
 382     return serialUART(UARTDEV_5, baudRate, mode, options);
 383 }
 384
 385 void UART5_IRQHandler(void)
 386 {
 387     uartPort_t *s = &(uartHardwareMap[UARTDEV_5]->port);
 388     uartIrqHandler(s);
 389 }
 390 #endif
 391
 392 #ifdef USE_UART6
 393 // USART6
 394 uartPort_t *serialUART6(uint32_t baudRate, portMode_t mode, portOptions_t options)
 395 {
 396     return serialUART(UARTDEV_6, baudRate, mode, options);
 397 }
 398
 399 void USART6_IRQHandler(void)
 400 {
 401     uartPort_t *s = &(uartHardwareMap[UARTDEV_6]->port);
 402     uartIrqHandler(s);
 403 }
 404 #endif
 405
 406 #ifdef USE_UART7
 407 uartPort_t *serialUART7(uint32_t baudRate, portMode_t mode, portOptions_t options)
 408 {
 409     return serialUART(UARTDEV_7, baudRate, mode, options);
 410 }
 411
 412 // UART7 Rx/Tx IRQ Handler
 413 void UART7_IRQHandler(void)
 414 {
 415     uartPort_t *s = &(uartHardwareMap[UARTDEV_7]->port);
 416     uartIrqHandler(s);
 417 }
 418 #endif
 419
 420 #ifdef USE_UART8
 421 uartPort_t *serialUART8(uint32_t baudRate, portMode_t mode, portOptions_t options)
 422 {
 423     return serialUART(UARTDEV_8, baudRate, mode, options);
 424 }
 425
 426 // UART8 Rx/Tx IRQ Handler
 427 void UART8_IRQHandler(void)
 428 {
 429     uartPort_t *s = &(uartHardwareMap[UARTDEV_8]->port);
 430     uartIrqHandler(s);
 431 }
 432 #endif