src/main/drivers/serial_uart_hal_at32f43x.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 /*
  19  * Authors:
  20  * Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
  21  * Hamasaki/Timecop - Initial baseflight code
  22 */
  23 #include <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "platform.h"
  27
  28 #include "build/build_config.h"
  29
  30 #include "common/utils.h"
  31
  32 #include "drivers/uart_inverter.h"
  33
  34 #include "serial.h"
  35 #include "serial_uart.h"
  36 #include "serial_uart_impl.h"
  37
  38 static void usartConfigurePinInversion(uartPort_t *uartPort) {
  39 #if !defined(USE_UART_INVERTER)
  40     UNUSED(uartPort);
  41 #else
  42     bool inverted = uartPort->port.options & SERIAL_INVERTED;
  43
  44 #ifdef USE_UART_INVERTER
  45     uartInverterLine_e invertedLines = UART_INVERTER_LINE_NONE;
  46     if (uartPort->port.mode & MODE_RX) {
  47         invertedLines |= UART_INVERTER_LINE_RX;
  48     }
  49     if (uartPort->port.mode & MODE_TX) {
  50         invertedLines |= UART_INVERTER_LINE_TX;
  51     }
  52     uartInverterSet(uartPort->USARTx, invertedLines, inverted);
  53 #endif
  54
  55 #endif
  56 }
  57
  58 static void uartReconfigure(uartPort_t *uartPort)
  59 {
  60     usart_enable(uartPort->USARTx, FALSE);
  61     uint32_t baud_rate =  115200;
  62     usart_data_bit_num_type data_bit = USART_DATA_8BITS;
  63     usart_stop_bit_num_type stop_bit = USART_STOP_1_BIT;
  64     usart_parity_selection_type parity_type = USART_PARITY_EVEN;
  65
  66     baud_rate = uartPort->port.baudRate;
  67     stop_bit = (uartPort->port.options & SERIAL_STOPBITS_2) ? USART_STOP_2_BIT : USART_STOP_1_BIT;
  68
  69     // according to the stm32 documentation wordlen has to be 9 for parity bits
  70     // this does not seem to matter for rx but will give bad data on tx!
  71     if (uartPort->port.options & SERIAL_PARITY_EVEN) {
  72         data_bit = USART_DATA_9BITS;
  73     } else {
  74         data_bit = USART_DATA_8BITS;
  75     }
  76     usart_init(uartPort->USARTx, baud_rate, data_bit, stop_bit);
  77
  78     parity_type   = (uartPort->port.options & SERIAL_PARITY_EVEN) ? USART_PARITY_EVEN : USART_PARITY_NONE;
  79     usart_parity_selection_config(uartPort->USARTx, parity_type);
  80     usart_hardware_flow_control_set (uartPort->USARTx, USART_HARDWARE_FLOW_NONE);
  81
  82     if (uartPort->port.mode & MODE_RX)
  83           usart_receiver_enable(uartPort->USARTx, TRUE);
  84     if (uartPort->port.mode & MODE_TX)
  85           usart_transmitter_enable(uartPort->USARTx, TRUE);
  86
  87     usartConfigurePinInversion(uartPort);
  88
  89     if (uartPort->port.options & SERIAL_BIDIR)
  90         usart_single_line_halfduplex_select(uartPort->USARTx, TRUE);
  91     else
  92         usart_single_line_halfduplex_select(uartPort->USARTx, FALSE);
  93
  94      usart_enable(uartPort->USARTx, TRUE);
  95 }
  96
  97 serialPort_t *uartOpen(usart_type *USARTx, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options)
  98 {
  99     uartPort_t *s = NULL;
 100
 101     if (false) {
 102 #ifdef USE_UART1
 103     } else if (USARTx == USART1) {
 104         s = serialUART1(baudRate, mode, options);
 105
 106 #endif
 107 #ifdef USE_UART2
 108     } else if (USARTx == USART2) {
 109         s = serialUART2(baudRate, mode, options);
 110 #endif
 111 #ifdef USE_UART3
 112     } else if (USARTx == USART3) {
 113         s = serialUART3(baudRate, mode, options);
 114 #endif
 115 #ifdef USE_UART4
 116     } else if (USARTx == UART4) {
 117         s = serialUART4(baudRate, mode, options);
 118 #endif
 119 #ifdef USE_UART5
 120     } else if (USARTx == UART5) {
 121         s = serialUART5(baudRate, mode, options);
 122 #endif
 123 #ifdef USE_UART6
 124     } else if (USARTx == USART6) {
 125         s = serialUART6(baudRate, mode, options);
 126 #endif
 127 #ifdef USE_UART7
 128     } else if (USARTx == UART7) {
 129         s = serialUART7(baudRate, mode, options);
 130 #endif
 131 #ifdef USE_UART8
 132     } else if (USARTx == UART8) {
 133         s = serialUART8(baudRate, mode, options);
 134 #endif
 135
 136     } else {
 137         return (serialPort_t *)s;
 138     }
 139
 140     // common serial initialisation code should move to serialPort::init()
 141     s->port.rxBufferHead = s->port.rxBufferTail = 0;
 142     s->port.txBufferHead = s->port.txBufferTail = 0;
 143     // callback works for IRQ-based RX ONLY
 144     s->port.rxCallback = rxCallback;
 145     s->port.rxCallbackData = rxCallbackData;
 146     s->port.mode = mode;
 147     s->port.baudRate = baudRate;
 148     s->port.options = options;
 149
 150     uartReconfigure(s);
 151
 152     if (mode & MODE_RX) {
 153         usart_flag_clear(s->USARTx, USART_RDBF_FLAG);
 154         usart_interrupt_enable (s->USARTx, USART_RDBF_INT, TRUE);
 155
 156     }
 157
 158     if (mode & MODE_TX) {
 159         usart_interrupt_enable (s->USARTx, USART_TDBE_INT, TRUE);
 160
 161     }
 162     usart_enable(s->USARTx, TRUE);
 163
 164     return (serialPort_t *)s;
 165 }
 166
 167 void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
 168 {
 169     uartPort_t *uartPort = (uartPort_t *)instance;
 170     uartPort->port.baudRate = baudRate;
 171     uartReconfigure(uartPort);
 172 }
 173
 174 void uartSetMode(serialPort_t *instance, portMode_t mode)
 175 {
 176     uartPort_t *uartPort = (uartPort_t *)instance;
 177     uartPort->port.mode = mode;
 178     uartReconfigure(uartPort);
 179 }
 180
 181 uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
 182 {
 183     const uartPort_t *s = (const uartPort_t*)instance;
 184
 185     if (s->port.rxBufferHead >= s->port.rxBufferTail) {
 186         return s->port.rxBufferHead - s->port.rxBufferTail;
 187     } else {
 188         return s->port.rxBufferSize + s->port.rxBufferHead - s->port.rxBufferTail;
 189     }
 190 }
 191
 192 uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
 193 {
 194     const uartPort_t *s = (const uartPort_t*)instance;
 195
 196     uint32_t bytesUsed;
 197
 198     if (s->port.txBufferHead >= s->port.txBufferTail) {
 199         bytesUsed = s->port.txBufferHead - s->port.txBufferTail;
 200     } else {
 201         bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail;
 202     }
 203
 204     return (s->port.txBufferSize - 1) - bytesUsed;
 205 }
 206
 207 bool isUartTransmitBufferEmpty(const serialPort_t *instance)
 208 {
 209     const uartPort_t *s = (const uartPort_t *)instance;
 210     return s->port.txBufferTail == s->port.txBufferHead;
 211 }
 212
 213 uint8_t uartRead(serialPort_t *instance)
 214 {
 215     uint8_t ch;
 216     uartPort_t *s = (uartPort_t *)instance;
 217
 218     ch = s->port.rxBuffer[s->port.rxBufferTail];
 219     if (s->port.rxBufferTail + 1 >= s->port.rxBufferSize) {
 220         s->port.rxBufferTail = 0;
 221     } else {
 222         s->port.rxBufferTail++;
 223     }
 224
 225     return ch;
 226 }
 227
 228 void uartWrite(serialPort_t *instance, uint8_t ch)
 229 {
 230     uartPort_t *s = (uartPort_t *)instance;
 231     s->port.txBuffer[s->port.txBufferHead] = ch;
 232     if (s->port.txBufferHead + 1 >= s->port.txBufferSize) {
 233         s->port.txBufferHead = 0;
 234     } else {
 235         s->port.txBufferHead++;
 236     }
 237
 238     usart_interrupt_enable (s->USARTx, USART_TDBE_INT, TRUE);
 239
 240 }
 241
 242 bool isUartIdle(serialPort_t *instance)
 243 {
 244     uartPort_t *s = (uartPort_t *)instance;
 245     if(usart_flag_get(s->USARTx, USART_IDLEF_FLAG)) {
 246
 247         uartClearIdleFlag(s);
 248         return true;
 249     } else {
 250         return false;
 251     }
 252 }
 253
 254 const struct serialPortVTable uartVTable[] = {
 255     {
 256         .serialWrite = uartWrite,
 257         .serialTotalRxWaiting = uartTotalRxBytesWaiting,
 258         .serialTotalTxFree = uartTotalTxBytesFree,
 259         .serialRead = uartRead,
 260         .serialSetBaudRate = uartSetBaudRate,
 261         .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
 262         .setMode = uartSetMode,
 263         .isConnected = NULL,
 264         .writeBuf = NULL,
 265         .beginWrite = NULL,
 266         .endWrite = NULL,
 267         .isIdle = isUartIdle,
 268     }
 269 };