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atbetaflight/src/main/drivers/serial_uart_stm32f4xx.c

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "system.h"
#include "io.h"
#include "rcc.h"
#include "nvic.h"
#include "dma.h"
#include "serial.h"
#include "serial_uart.h"
#include "serial_uart_impl.h"
#define UART_RX_BUFFER_SIZE 512
#define UART_TX_BUFFER_SIZE 512
typedef enum UARTDevice {
UARTDEV_1 = 0,
UARTDEV_2 = 1,
UARTDEV_3 = 2,
UARTDEV_4 = 3,
UARTDEV_5 = 4,
UARTDEV_6 = 5
} UARTDevice;
typedef struct uartDevice_s {
USART_TypeDef* dev;
uartPort_t port;
uint32_t DMAChannel;
DMA_Stream_TypeDef *txDMAStream;
DMA_Stream_TypeDef *rxDMAStream;
ioTag_t rx;
ioTag_t tx;
volatile uint8_t rxBuffer[UART_RX_BUFFER_SIZE];
volatile uint8_t txBuffer[UART_TX_BUFFER_SIZE];
uint32_t rcc_ahb1;
rccPeriphTag_t rcc_apb2;
rccPeriphTag_t rcc_apb1;
uint8_t af;
uint8_t txIrq;
uint8_t rxIrq;
uint32_t txPriority;
uint32_t rxPriority;
} uartDevice_t;
//static uartPort_t uartPort[MAX_UARTS];
#ifdef USE_UART1
static uartDevice_t uart1 =
{
.DMAChannel = DMA_Channel_4,
.txDMAStream = DMA2_Stream7,
#ifdef USE_UART1_RX_DMA
.rxDMAStream = DMA2_Stream5,
#endif
.dev = USART1,
.rx = IO_TAG(UART1_RX_PIN),
.tx = IO_TAG(UART1_TX_PIN),
.af = GPIO_AF_USART1,
#ifdef UART1_AHB1_PERIPHERALS
.rcc_ahb1 = UART1_AHB1_PERIPHERALS,
#endif
.rcc_apb2 = RCC_APB2(USART1),
.txIrq = DMA2_ST7_HANDLER,
.rxIrq = USART1_IRQn,
.txPriority = NVIC_PRIO_SERIALUART1_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART1
};
#endif
#ifdef USE_UART2
static uartDevice_t uart2 =
{
.DMAChannel = DMA_Channel_4,
#ifdef USE_UART2_RX_DMA
.rxDMAStream = DMA1_Stream5,
#endif
.txDMAStream = DMA1_Stream6,
.dev = USART2,
.rx = IO_TAG(UART2_RX_PIN),
.tx = IO_TAG(UART2_TX_PIN),
.af = GPIO_AF_USART2,
#ifdef UART2_AHB1_PERIPHERALS
.rcc_ahb1 = UART2_AHB1_PERIPHERALS,
#endif
.rcc_apb1 = RCC_APB1(USART2),
.txIrq = DMA1_ST6_HANDLER,
.rxIrq = USART2_IRQn,
.txPriority = NVIC_PRIO_SERIALUART2_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART2
};
#endif
#ifdef USE_UART3
static uartDevice_t uart3 =
{
.DMAChannel = DMA_Channel_4,
#ifdef USE_UART3_RX_DMA
.rxDMAStream = DMA1_Stream1,
#endif
.txDMAStream = DMA1_Stream3,
.dev = USART3,
.rx = IO_TAG(UART3_RX_PIN),
.tx = IO_TAG(UART3_TX_PIN),
.af = GPIO_AF_USART3,
#ifdef UART3_AHB1_PERIPHERALS
.rcc_ahb1 = UART3_AHB1_PERIPHERALS,
#endif
.rcc_apb1 = RCC_APB1(USART3),
.txIrq = DMA1_ST3_HANDLER,
.rxIrq = USART3_IRQn,
.txPriority = NVIC_PRIO_SERIALUART3_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART3
};
#endif
#ifdef USE_UART4
static uartDevice_t uart4 =
{
.DMAChannel = DMA_Channel_4,
#ifdef USE_UART4_RX_DMA
.rxDMAStream = DMA1_Stream2,
#endif
.txDMAStream = DMA1_Stream4,
.dev = UART4,
.rx = IO_TAG(UART4_RX_PIN),
.tx = IO_TAG(UART4_TX_PIN),
.af = GPIO_AF_UART4,
#ifdef UART4_AHB1_PERIPHERALS
.rcc_ahb1 = UART4_AHB1_PERIPHERALS,
#endif
.rcc_apb1 = RCC_APB1(UART4),
.txIrq = DMA1_ST4_HANDLER,
.rxIrq = UART4_IRQn,
.txPriority = NVIC_PRIO_SERIALUART4_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART4
};
#endif
#ifdef USE_UART5
static uartDevice_t uart5 =
{
.DMAChannel = DMA_Channel_4,
#ifdef USE_UART5_RX_DMA
.rxDMAStream = DMA1_Stream0,
#endif
.txDMAStream = DMA1_Stream7,
.dev = UART5,
.rx = IO_TAG(UART5_RX_PIN),
.tx = IO_TAG(UART5_TX_PIN),
.af = GPIO_AF_UART5,
#ifdef UART5_AHB1_PERIPHERALS
.rcc_ahb1 = UART5_AHB1_PERIPHERALS,
#endif
.rcc_apb1 = RCC_APB1(UART5),
.txIrq = DMA1_ST7_HANDLER,
.rxIrq = UART5_IRQn,
.txPriority = NVIC_PRIO_SERIALUART5_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART5
};
#endif
#ifdef USE_UART6
static uartDevice_t uart6 =
{
.DMAChannel = DMA_Channel_5,
#ifdef USE_UART6_RX_DMA
.rxDMAStream = DMA2_Stream1,
#endif
.txDMAStream = DMA2_Stream6,
.dev = USART6,
.rx = IO_TAG(UART6_RX_PIN),
.tx = IO_TAG(UART6_TX_PIN),
.af = GPIO_AF_USART6,
#ifdef UART6_AHB1_PERIPHERALS
.rcc_ahb1 = UART6_AHB1_PERIPHERALS,
#endif
.rcc_apb2 = RCC_APB2(USART6),
.txIrq = DMA2_ST6_HANDLER,
.rxIrq = USART6_IRQn,
.txPriority = NVIC_PRIO_SERIALUART6_TXDMA,
.rxPriority = NVIC_PRIO_SERIALUART6
};
#endif
static uartDevice_t* uartHardwareMap[] = {
#ifdef USE_UART1
&uart1,
#else
NULL,
#endif
#ifdef USE_UART2
&uart2,
#else
NULL,
#endif
#ifdef USE_UART3
&uart3,
#else
NULL,
#endif
#ifdef USE_UART4
&uart4,
#else
NULL,
#endif
#ifdef USE_UART5
&uart5,
#else
NULL,
#endif
#ifdef USE_UART6
&uart6,
#else
NULL,
#endif
};
void uartIrqHandler(uartPort_t *s)
{
if (!s->rxDMAStream && (USART_GetITStatus(s->USARTx, USART_IT_RXNE) == SET)) {
if (s->port.rxCallback) {
s->port.rxCallback(s->USARTx->DR);
} else {
s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR;
s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
}
}
if (!s->txDMAStream && (USART_GetITStatus(s->USARTx, USART_IT_TXE) == SET)) {
if (s->port.txBufferTail != s->port.txBufferHead) {
USART_SendData(s->USARTx, s->port.txBuffer[s->port.txBufferTail]);
s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
} else {
USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
}
}
if (USART_GetITStatus(s->USARTx, USART_FLAG_ORE) == SET)
{
USART_ClearITPendingBit (s->USARTx, USART_IT_ORE);
}
}
static void handleUsartTxDma(uartPort_t *s)
{
DMA_Cmd(s->txDMAStream, DISABLE);
if (s->port.txBufferHead != s->port.txBufferTail)
uartStartTxDMA(s);
else
s->txDMAEmpty = true;
}
void dmaIRQHandler(dmaChannelDescriptor_t* descriptor)
{
uartPort_t *s = &(((uartDevice_t*)(descriptor->userParam))->port);
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
DMA_CLEAR_FLAG(descriptor, DMA_IT_HTIF);
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_FEIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_FEIF);
}
handleUsartTxDma(s);
}
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TEIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_TEIF);
}
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_DMEIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_DMEIF);
}
}
uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
NVIC_InitTypeDef NVIC_InitStructure;
uartDevice_t *uart = uartHardwareMap[device];
if (!uart) return NULL;
s = &(uart->port);
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBuffer = uart->rxBuffer;
s->port.txBuffer = uart->txBuffer;
s->port.rxBufferSize = sizeof(uart->rxBuffer);
s->port.txBufferSize = sizeof(uart->txBuffer);
s->USARTx = uart->dev;
if (uart->rxDMAStream) {
s->rxDMAChannel = uart->DMAChannel;
s->rxDMAStream = uart->rxDMAStream;
dmaInit(dmaGetIdentifier(uart->rxDMAStream), OWNER_SERIAL_RX, RESOURCE_INDEX(device));
}
if (uart->txDMAStream) {
s->txDMAChannel = uart->DMAChannel;
s->txDMAStream = uart->txDMAStream;
dmaInit(dmaGetIdentifier(uart->txDMAStream), OWNER_SERIAL_TX, RESOURCE_INDEX(device));
}
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
IO_t tx = IOGetByTag(uart->tx);
IO_t rx = IOGetByTag(uart->rx);
if (uart->rcc_apb2)
RCC_ClockCmd(uart->rcc_apb2, ENABLE);
if (uart->rcc_apb1)
RCC_ClockCmd(uart->rcc_apb1, ENABLE);
if (uart->rcc_ahb1)
RCC_AHB1PeriphClockCmd(uart->rcc_ahb1, ENABLE);
if (options & SERIAL_BIDIR) {
IOInit(tx, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
if (options & SERIAL_BIDIR_PP)
IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
else
IOConfigGPIOAF(tx, IOCFG_AF_OD, uart->af);
}
else {
if (mode & MODE_TX) {
IOInit(tx, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
IOConfigGPIOAF(tx, IOCFG_AF_PP_UP, uart->af);
}
if (mode & MODE_RX) {
IOInit(rx, OWNER_SERIAL_RX, RESOURCE_INDEX(device));
IOConfigGPIOAF(rx, IOCFG_AF_PP_UP, uart->af);
}
}
// DMA TX Interrupt
dmaSetHandler(uart->txIrq, dmaIRQHandler, uart->txPriority, (uint32_t)uart);
if (!(s->rxDMAChannel)) {
NVIC_InitStructure.NVIC_IRQChannel = uart->rxIrq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(uart->rxPriority);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(uart->rxPriority);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
return s;
}
#ifdef USE_UART1
uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_1, baudRate, mode, options);
}
// USART1 Rx/Tx IRQ Handler
void USART1_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
uartIrqHandler(s);
}
#endif
#ifdef USE_UART2
// USART2 - GPS or Spektrum or ?? (RX + TX by IRQ)
uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_2, baudRate, mode, options);
}
void USART2_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_2]->port);
uartIrqHandler(s);
}
#endif
#ifdef USE_UART3
// USART3
uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_3, baudRate, mode, options);
}
void USART3_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_3]->port);
uartIrqHandler(s);
}
#endif
#ifdef USE_UART4
// USART4
uartPort_t *serialUART4(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_4, baudRate, mode, options);
}
void UART4_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_4]->port);
uartIrqHandler(s);
}
#endif
#ifdef USE_UART5
// USART5
uartPort_t *serialUART5(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_5, baudRate, mode, options);
}
void UART5_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_5]->port);
uartIrqHandler(s);
}
#endif
#ifdef USE_UART6
// USART6
uartPort_t *serialUART6(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
return serialUART(UARTDEV_6, baudRate, mode, options);
}
void USART6_IRQHandler(void)
{
uartPort_t *s = &(uartHardwareMap[UARTDEV_6]->port);
uartIrqHandler(s);
}
#endif
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