LibrePilot/flight/PiOS/STM32F10x/pios_usart.c

/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup   PIOS_USART USART Functions
 * @brief PIOS interface for USART port
 * @{
 *
 * @file       pios_usart.c   
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
 * @brief      USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/* 
 * This program 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.
 * 
 * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */


/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_USART)

#include <pios_usart_priv.h>

/* Provide a COM driver */
const struct pios_com_driver pios_usart_com_driver = {
  .set_baud = PIOS_USART_ChangeBaud,
  .tx_nb    = PIOS_USART_TxBufferPutMoreNonBlocking,
  .tx       = PIOS_USART_TxBufferPutMore,
  .rx       = PIOS_USART_RxBufferGet,
  .rx_avail = PIOS_USART_RxBufferUsed,
};

static struct pios_usart_dev * find_usart_dev_by_id (uint8_t usart)
{
  if (usart >= pios_usart_num_devices) {
    /* Undefined USART port for this board (see pios_board.c) */
    return NULL;
  }

  /* Get a handle for the device configuration */
  return &(pios_usart_devs[usart]);
}

/**
* Initialise the onboard USARTs
*/
void PIOS_USART_Init(void)
{
  struct pios_usart_dev * usart_dev;
  uint8_t                 i;

  for (i = 0; i < pios_usart_num_devices; i++) {
    /* Get a handle for the device configuration */
    usart_dev = find_usart_dev_by_id(i);
    PIOS_DEBUG_Assert(usart_dev);

    /* Clear buffer counters */
    usart_dev->rx.head = usart_dev->rx.tail = usart_dev->rx.size = 0;
    usart_dev->tx.head = usart_dev->tx.tail = usart_dev->tx.size = 0;

    /* Enable the USART Pins Software Remapping */
    if (usart_dev->cfg->remap) {
      GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
    }

    /* Initialize the USART Rx and Tx pins */
    GPIO_Init(usart_dev->cfg->rx.gpio, &usart_dev->cfg->rx.init);
    GPIO_Init(usart_dev->cfg->tx.gpio, &usart_dev->cfg->tx.init);

    /* Enable USART clock */
    switch ((uint32_t)usart_dev->cfg->regs) {
    case (uint32_t)USART1:
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
      break;
    case (uint32_t)USART2:
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
      break;
    case (uint32_t)USART3:
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
      break;
    }

    /* Enable USART */
    USART_Init(usart_dev->cfg->regs, &usart_dev->cfg->init);

    /* Configure USART Interrupts */
    NVIC_Init(&usart_dev->cfg->irq.init);
    USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
    USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE,  ENABLE);

    /* Enable USART */
    USART_Cmd(usart_dev->cfg->regs, ENABLE);
  }
}

/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart USART name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
void PIOS_USART_ChangeBaud(uint8_t usart, uint32_t baud)
{
  struct pios_usart_dev * usart_dev;
  USART_InitTypeDef USART_InitStructure;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

#if 0
  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -2;
  }
#endif

  /* Start with a copy of the default configuration for the peripheral */
  USART_InitStructure = usart_dev->cfg->init;

  /* Adjust the baud rate */
  USART_InitStructure.USART_BaudRate = baud;
  
  /* Write back the new configuration */
  USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
}

/**
* Returns number of free bytes in receive buffer
* \param[in] USART USART name
* \return USART number of free bytes
* \return 1: USART available
* \return 0: USART not available
*/
int32_t PIOS_USART_RxBufferFree(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -2;
  }

  return (sizeof(usart_dev->rx.buf) - usart_dev->rx.size);
}

/**
* Returns number of used bytes in receive buffer
* \param[in] USART USART name
* \return > 0: number of used bytes
* \return 0 if USART not available
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_RxBufferUsed(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -2;
  }

  return (usart_dev->rx.size);
}

/**
* Gets a byte from the receive buffer
* \param[in] USART USART name
* \return -1 if USART not available
* \return -2 if no new byte available
* \return >= 0: number of received bytes
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_RxBufferGet(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -2;
  }

  if (!usart_dev->rx.size) {
    /* Nothing new in the buffer */
    return -1;
  }

  /* get byte - this operation should be atomic! */
  PIOS_IRQ_Disable();
  uint8_t b = usart_dev->rx.buf[usart_dev->rx.tail++];
  if (usart_dev->rx.tail >= sizeof(usart_dev->rx.buf)) {
    usart_dev->rx.tail = 0;
  }
  usart_dev->rx.size--;
  PIOS_IRQ_Enable();
  
  /* Return received byte */
  return b;
}

/**
* Returns the next byte of the receive buffer without taking it
* \param[in] USART USART name
* \return -1 if USART not available
* \return -2 if no new byte available
* \return >= 0: number of received bytes
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_RxBufferPeek(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -2;
  }

  if (!usart_dev->rx.size) {
    /* Nothing new in the buffer */
    return -1;
  }

  /* get byte - this operation should be atomic! */
  PIOS_IRQ_Disable();
  uint8_t b = usart_dev->rx.buf[usart_dev->rx.tail];
  PIOS_IRQ_Enable();
  
  /* Return received byte */
  return b;
}

/**
* puts a byte onto the receive buffer
* \param[in] USART USART name
* \param[in] b byte which should be put into Rx buffer
* \return 0 if no error
* \return -1 if USART not available
* \return -2 if buffer full (retry)
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_RxBufferPut(uint8_t usart, uint8_t b)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -1;
  }

  if (usart_dev->rx.size >= sizeof(usart_dev->rx.buf)) {
    /* Buffer full (retry) */
    return -2;
  }

  /* Copy received byte into receive buffer */
  /* This operation should be atomic! */
  PIOS_IRQ_Disable();
  usart_dev->rx.buf[usart_dev->rx.head++] = b;
  if (usart_dev->rx.head >= sizeof(usart_dev->rx.buf)) {
    usart_dev->rx.head = 0;
  }
  usart_dev->rx.size++;
  PIOS_IRQ_Enable();

  /* No error */
  return 0;
}

/**
* returns number of free bytes in transmit buffer
* \param[in] USART USART name
* \return number of free bytes
* \return 0 if USART not available
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferFree(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return 0;
  }

  return (sizeof(usart_dev->tx.buf) - usart_dev->tx.size);
}

/**
* returns number of used bytes in transmit buffer
* \param[in] USART USART name
* \return number of used bytes
* \return 0 if USART not available
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferUsed(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return 0;
  }

  return (usart_dev->tx.size);
}

/**
* gets a byte from the transmit buffer
* \param[in] USART USART name
* \return -1 if USART not available
* \return -2 if no new byte available
* \return >= 0: transmitted byte
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferGet(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -1;
  }

  if (!usart_dev->tx.size) {
    /* Nothing new in the buffer */
    return -2;
  }

  /* get byte - this operation should be atomic! */
  PIOS_IRQ_Disable();
  uint8_t b = usart_dev->tx.buf[usart_dev->tx.tail++];
  if (usart_dev->tx.tail >= sizeof(usart_dev->tx.buf)) {
    usart_dev->tx.tail = 0;
  }
  usart_dev->tx.size--;
  PIOS_IRQ_Enable();
  
  /* Return received byte */
  return b;
}

/**
* puts more than one byte onto the transmit buffer (used for atomic sends)
* \param[in] USART USART name
* \param[in] *buffer pointer to buffer to be sent
* \param[in] len number of bytes to be sent
* \return 0 if no error
* \return -1 if USART not available
* \return -2 if buffer full or cannot get all requested bytes (retry)
* \return -3 if USART not supported by USARTTxBufferPut Routine
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint8_t usart, const uint8_t *buffer, uint16_t len)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);

  if (!usart_dev) {
    /* Undefined USART port for this board (see pios_board.c) */
    return -1;
  }

  if (usart_dev->tx.size + len >= sizeof(usart_dev->tx.buf)) {
    /* Buffer cannot accept all requested bytes (retry) */
    return -2;
  }

  /* Copy bytes to be transmitted into transmit buffer */
  /* This operation should be atomic! */
  PIOS_IRQ_Disable();

  uint16_t i;
  for(i = 0; i < len; ++i) {
    usart_dev->tx.buf[usart_dev->tx.head++] = *buffer++;
    if (usart_dev->tx.head >= sizeof(usart_dev->tx.buf)) {
      usart_dev->tx.head = 0;
    }

    usart_dev->tx.size++;
    if (usart_dev->tx.size == 1) {
      /* Buffer has just become non-empty, enable tx interrupt. */
      USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
    }
  }

  PIOS_IRQ_Enable();

  /* No error */
  return 0;
}

/**
* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
* (blocking function)
* \param[in] USART USART name
* \param[in] *buffer pointer to buffer to be sent
* \param[in] len number of bytes to be sent
* \return 0 if no error
* \return -1 if USART not available
* \return -3 if USART not supported by USARTTxBufferPut Routine
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferPutMore(uint8_t usart, const uint8_t *buffer, uint16_t len)
{
  int32_t rc;

  while((rc = PIOS_USART_TxBufferPutMoreNonBlocking(usart, buffer, len)) == -2);

  return rc;
}

/**
* puts a byte onto the transmit buffer
* \param[in] USART USART name
* \param[in] b byte which should be put into Tx buffer
* \return 0 if no error
* \return -1 if USART not available
* \return -2 if buffer full (retry)
* \return -3 if USART not supported by USARTTxBufferPut Routine
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferPut_NonBlocking(uint8_t usart, uint8_t b)
{
  return PIOS_USART_TxBufferPutMoreNonBlocking(usart, &b, 1);
}

/**
* puts a byte onto the transmit buffer<BR>
* (blocking function)
* \param[in] USART USART name
* \param[in] b byte which should be put into Tx buffer
* \return 0 if no error
* \return -1 if USART not available
* \return -3 if USART not supported by USARTTxBufferPut Routine
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USART_TxBufferPut(uint8_t usart, uint8_t b)
{
  return PIOS_USART_TxBufferPutMore(usart, &b, 1);
}

void PIOS_USART_IRQ_Handler(uint8_t usart)
{
  struct pios_usart_dev * usart_dev;

  /* Get a handle for the device configuration */
  usart_dev = find_usart_dev_by_id(usart);
  PIOS_DEBUG_Assert(usart_dev);

  /* Check if RXNE flag is set */
  if (usart_dev->cfg->regs->SR & USART_SR_RXNE) {
    uint8_t b = usart_dev->cfg->regs->DR;
		
    if (PIOS_USART_RxBufferPut(usart, b) < 0) {
      /* Here we could add some error handling */
    }
  }

  /* Check if TXE flag is set */
  if (usart_dev->cfg->regs->SR & USART_SR_TXE) {
    if (PIOS_USART_TxBufferUsed(usart) > 0) {
      int32_t b = PIOS_USART_TxBufferGet(usart);

      if(b < 0) {
	/* Here we could add some error handling */
	usart_dev->cfg->regs->DR = 0xff;
      } else {
	usart_dev->cfg->regs->DR = b & 0xff;
      }
    } else {
      /* Disable TXE interrupt (TXEIE=0) */
      USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
    }
  }
}

#endif

/**
  * @}
  * @}
  */