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     uartConfigurePinSwap(uartPort);
  89
  90     if (uartPort->port.options & SERIAL_BIDIR)
  91         usart_single_line_halfduplex_select(uartPort->USARTx, TRUE);
  92     else
  93         usart_single_line_halfduplex_select(uartPort->USARTx, FALSE);
  94
  95      usart_enable(uartPort->USARTx, TRUE);
  96 }
  97
  98 serialPort_t *uartOpen(usart_type *USARTx, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options)
  99 {
 100     uartPort_t *s = NULL;
 101
 102     if (false) {
 103 #ifdef USE_UART1
 104     } else if (USARTx == USART1) {
 105         s = serialUART1(baudRate, mode, options);
 106
 107 #endif
 108 #ifdef USE_UART2
 109     } else if (USARTx == USART2) {
 110         s = serialUART2(baudRate, mode, options);
 111 #endif
 112 #ifdef USE_UART3
 113     } else if (USARTx == USART3) {
 114         s = serialUART3(baudRate, mode, options);
 115 #endif
 116 #ifdef USE_UART4
 117     } else if (USARTx == UART4) {
 118         s = serialUART4(baudRate, mode, options);
 119 #endif
 120 #ifdef USE_UART5
 121     } else if (USARTx == UART5) {
 122         s = serialUART5(baudRate, mode, options);
 123 #endif
 124 #ifdef USE_UART6
 125     } else if (USARTx == USART6) {
 126         s = serialUART6(baudRate, mode, options);
 127 #endif
 128 #ifdef USE_UART7
 129     } else if (USARTx == UART7) {
 130         s = serialUART7(baudRate, mode, options);
 131 #endif
 132 #ifdef USE_UART8
 133     } else if (USARTx == UART8) {
 134         s = serialUART8(baudRate, mode, options);
 135 #endif
 136
 137     } else {
 138         return (serialPort_t *)s;
 139     }
 140
 141     // common serial initialisation code should move to serialPort::init()
 142     s->port.rxBufferHead = s->port.rxBufferTail = 0;
 143     s->port.txBufferHead = s->port.txBufferTail = 0;
 144     // callback works for IRQ-based RX ONLY
 145     s->port.rxCallback = rxCallback;
 146     s->port.rxCallbackData = rxCallbackData;
 147     s->port.mode = mode;
 148     s->port.baudRate = baudRate;
 149     s->port.options = options;
 150
 151     uartReconfigure(s);
 152
 153     if (mode & MODE_RX) {
 154         usart_flag_clear(s->USARTx, USART_RDBF_FLAG);
 155         usart_interrupt_enable (s->USARTx, USART_RDBF_INT, TRUE);
 156
 157     }
 158
 159     if (mode & MODE_TX) {
 160         usart_interrupt_enable (s->USARTx, USART_TDBE_INT, TRUE);
 161
 162     }
 163     usart_enable(s->USARTx, TRUE);
 164
 165     return (serialPort_t *)s;
 166 }
 167
 168 void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
 169 {
 170     uartPort_t *uartPort = (uartPort_t *)instance;
 171     uartPort->port.baudRate = baudRate;
 172     uartReconfigure(uartPort);
 173 }
 174
 175 void uartSetMode(serialPort_t *instance, portMode_t mode)
 176 {
 177     uartPort_t *uartPort = (uartPort_t *)instance;
 178     uartPort->port.mode = mode;
 179     uartReconfigure(uartPort);
 180 }
 181
 182 void uartSetOptions(serialPort_t *instance, portOptions_t options)
 183 {
 184     uartPort_t *uartPort = (uartPort_t *)instance;
 185     uartPort->port.options = options;
 186     uartReconfigure(uartPort);
 187 }
 188
 189 uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
 190 {
 191     const uartPort_t *s = (const uartPort_t*)instance;
 192
 193     if (s->port.rxBufferHead >= s->port.rxBufferTail) {
 194         return s->port.rxBufferHead - s->port.rxBufferTail;
 195     } else {
 196         return s->port.rxBufferSize + s->port.rxBufferHead - s->port.rxBufferTail;
 197     }
 198 }
 199
 200 uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
 201 {
 202     const uartPort_t *s = (const uartPort_t*)instance;
 203
 204     uint32_t bytesUsed;
 205
 206     if (s->port.txBufferHead >= s->port.txBufferTail) {
 207         bytesUsed = s->port.txBufferHead - s->port.txBufferTail;
 208     } else {
 209         bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail;
 210     }
 211
 212     return (s->port.txBufferSize - 1) - bytesUsed;
 213 }
 214
 215 bool isUartTransmitBufferEmpty(const serialPort_t *instance)
 216 {
 217     const uartPort_t *s = (const uartPort_t *)instance;
 218     return s->port.txBufferTail == s->port.txBufferHead;
 219 }
 220
 221 uint8_t uartRead(serialPort_t *instance)
 222 {
 223     uint8_t ch;
 224     uartPort_t *s = (uartPort_t *)instance;
 225
 226     ch = s->port.rxBuffer[s->port.rxBufferTail];
 227     if (s->port.rxBufferTail + 1 >= s->port.rxBufferSize) {
 228         s->port.rxBufferTail = 0;
 229     } else {
 230         s->port.rxBufferTail++;
 231     }
 232
 233     return ch;
 234 }
 235
 236 void uartWrite(serialPort_t *instance, uint8_t ch)
 237 {
 238     uartPort_t *s = (uartPort_t *)instance;
 239     s->port.txBuffer[s->port.txBufferHead] = ch;
 240     if (s->port.txBufferHead + 1 >= s->port.txBufferSize) {
 241         s->port.txBufferHead = 0;
 242     } else {
 243         s->port.txBufferHead++;
 244     }
 245
 246     usart_interrupt_enable (s->USARTx, USART_TDBE_INT, TRUE);
 247
 248 }
 249
 250 bool isUartIdle(serialPort_t *instance)
 251 {
 252     uartPort_t *s = (uartPort_t *)instance;
 253     if(usart_flag_get(s->USARTx, USART_IDLEF_FLAG)) {
 254
 255         uartClearIdleFlag(s);
 256         return true;
 257     } else {
 258         return false;
 259     }
 260 }
 261
 262 const struct serialPortVTable uartVTable[] = {
 263     {
 264         .serialWrite = uartWrite,
 265         .serialTotalRxWaiting = uartTotalRxBytesWaiting,
 266         .serialTotalTxFree = uartTotalTxBytesFree,
 267         .serialRead = uartRead,
 268         .serialSetBaudRate = uartSetBaudRate,
 269         .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
 270         .setMode = uartSetMode,
 271         .setOptions = uartSetOptions,
 272         .isConnected = NULL,
 273         .writeBuf = NULL,
 274         .beginWrite = NULL,
 275         .endWrite = NULL,
 276         .isIdle = isUartIdle,
 277     }
 278 };