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F2 PiOS USART: Update to the new driver format for coms
This commit is contained in:
James Cotton
parent
d23e13716b
commit
27213c7fd9
@ -42,34 +42,31 @@
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/* Provide a COM driver */
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static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
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static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
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static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
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static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id);
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static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id);
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static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
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static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
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static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail);
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static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
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const struct pios_com_driver pios_usart_com_driver = {
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.set_baud = PIOS_USART_ChangeBaud,
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.tx_nb = PIOS_USART_TxBufferPutMoreNonBlocking,
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.tx = PIOS_USART_TxBufferPutMore,
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.rx = PIOS_USART_RxBufferGet,
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.rx_avail = PIOS_USART_RxBufferUsed,
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.set_baud = PIOS_USART_ChangeBaud,
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.tx_start = PIOS_USART_TxStart,
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.rx_start = PIOS_USART_RxStart,
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.bind_tx_cb = PIOS_USART_RegisterTxCallback,
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.bind_rx_cb = PIOS_USART_RegisterRxCallback,
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};
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enum pios_usart_dev_magic {
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PIOS_USART_DEV_MAGIC = 0x11223344,
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PIOS_USART_DEV_MAGIC = 0x4152834A,
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};
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struct pios_usart_dev {
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enum pios_usart_dev_magic magic;
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const struct pios_usart_cfg * cfg;
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// align to 32-bit to try and provide speed improvement;
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uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
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t_fifo_buffer rx;
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// align to 32-bit to try and provide speed improvement;
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uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
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t_fifo_buffer tx;
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pios_com_callback rx_in_cb;
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uint32_t rx_in_context;
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pios_com_callback tx_out_cb;
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uint32_t tx_out_context;
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};
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static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
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@ -114,21 +111,47 @@ static struct pios_usart_dev * PIOS_USART_alloc(void)
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*/
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static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
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#define USART_HANDLER(_n) \
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static uint32_t PIOS_USART_ ## _n ## _id; \
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void USART ## _n ## _IRQHandler(void) __attribute__ ((alias ("PIOS_USART_" #_n "_irq_handler"))); \
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static void PIOS_USART_ ## _n ## _irq_handler (void) \
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{ \
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PIOS_USART_generic_irq_handler (PIOS_USART_ ## _n ## _id); \
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} \
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struct hack
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static uint32_t PIOS_USART_1_id;
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void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
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static void PIOS_USART_1_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
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}
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USART_HANDLER(1);
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USART_HANDLER(2);
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USART_HANDLER(3);
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USART_HANDLER(4);
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USART_HANDLER(5);
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USART_HANDLER(6);
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static uint32_t PIOS_USART_2_id;
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void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
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static void PIOS_USART_2_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
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}
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static uint32_t PIOS_USART_3_id;
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void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
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static void PIOS_USART_3_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
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}
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static uint32_t PIOS_USART_4_id;
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void USART4_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_4_irq_handler")));
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static void PIOS_USART_4_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_4_id);
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}
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static uint32_t PIOS_USART_5_id;
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void USART5_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_5_irq_handler")));
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static void PIOS_USART_5_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_5_id);
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}
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static uint32_t PIOS_USART_6_id;
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void USART6_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_6_irq_handler")));
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static void PIOS_USART_6_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_6_id);
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}
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/**
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* Initialise a single USART device
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@ -146,10 +169,6 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
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/* Bind the configuration to the device instance */
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usart_dev->cfg = cfg;
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/* Clear buffer counters */
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fifoBuf_init(&usart_dev->rx, usart_dev->rx_buffer, sizeof(usart_dev->rx_buffer));
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fifoBuf_init(&usart_dev->tx, usart_dev->tx_buffer, sizeof(usart_dev->tx_buffer));
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/* Map pins to USART function */
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/* note __builtin_ctz() due to the difference between GPIO_PinX and GPIO_PinSourceX */
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if (usart_dev->cfg->remap) {
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@ -165,6 +184,28 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
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GPIO_Init(usart_dev->cfg->rx.gpio, (GPIO_InitTypeDef *)&usart_dev->cfg->rx.init);
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GPIO_Init(usart_dev->cfg->tx.gpio, (GPIO_InitTypeDef *)&usart_dev->cfg->tx.init);
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/* Enable USART clock */
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switch ((uint32_t)usart_dev->cfg->regs) {
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case (uint32_t)USART1:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
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break;
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case (uint32_t)USART2:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
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break;
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case (uint32_t)USART3:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
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break;
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case (uint32_t)UART4:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);
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break;
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case (uint32_t)UART5:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE);
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break;
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case (uint32_t)USART6:
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RCC_APB1PeriphClockCmd(RCC_APB2Periph_USART6, ENABLE);
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break;
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}
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/* Configure the USART */
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USART_Init(usart_dev->cfg->regs, (USART_InitTypeDef *)&usart_dev->cfg->init);
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@ -192,8 +233,6 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
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break;
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}
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NVIC_Init((NVIC_InitTypeDef *)&(usart_dev->cfg->irq.init));
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
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// FIXME XXX Clear / reset uart here - sends NUL char else
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@ -206,251 +245,126 @@ out_fail:
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return(-1);
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}
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const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id)
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static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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if (!valid) {
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return (NULL);
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}
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return usart_dev->cfg;
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PIOS_Assert(valid);
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
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}
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static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid);
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
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}
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/**
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* Changes the baud rate of the USART peripheral without re-initialising.
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* \param[in] usart_id USART name (GPS, TELEM, AUX)
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* \param[in] baud Requested baud rate
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*/
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* Changes the baud rate of the USART peripheral without re-initialising.
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* \param[in] usart_id USART name (GPS, TELEM, AUX)
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* \param[in] baud Requested baud rate
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*/
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static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid);
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USART_InitTypeDef USART_InitStructure;
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/* Start with a copy of the default configuration for the peripheral */
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USART_InitStructure = usart_dev->cfg->init;
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/* Adjust the baud rate */
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USART_InitStructure.USART_BaudRate = baud;
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/* Write back the new configuration */
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USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
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}
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/**
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* Returns number of used bytes in receive buffer
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* \param[in] USART USART name
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* \return > 0: number of used bytes
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* \return 0 if USART not available
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*/
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static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id)
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static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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return (fifoBuf_getUsed(&usart_dev->rx));
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}
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/**
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* Gets a byte from the receive buffer
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* \param[in] USART USART name
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* \return -1 if no new byte available
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* \return >= 0: actual byte received
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*/
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static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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if (fifoBuf_getUsed(&usart_dev->rx) == 0) {
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/* Nothing new in the buffer */
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return -1;
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}
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/* get byte - this operation should be atomic! */
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uint8_t b = fifoBuf_getByte(&usart_dev->rx);
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/* Return received byte */
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return b;
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}
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/**
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* puts a byte onto the receive buffer
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* \param[in] USART USART name
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* \param[in] b byte which should be put into Rx buffer
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* \return 0 if no error
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* \return -1 if buffer full (retry)
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*/
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static int32_t PIOS_USART_RxBufferPut(uint32_t usart_id, uint8_t b)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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if (fifoBuf_getFree(&usart_dev->rx) < 1) {
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/* Buffer full (retry) */
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return -1;
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}
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/* Copy received byte into receive buffer */
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/* This operation should be atomic! */
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fifoBuf_putByte(&usart_dev->rx, b);
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/* No error */
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return 0;
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}
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/**
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* returns number of used bytes in transmit buffer
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* \param[in] USART USART name
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* \return number of used bytes
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* \return 0 if USART not available
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*/
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static int32_t PIOS_USART_TxBufferUsed(uint32_t usart_id)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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return (fifoBuf_getUsed(&usart_dev->tx));
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}
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/**
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* gets a byte from the transmit buffer
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* \param[in] USART USART name
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* \return -1 if no new byte available
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* \return >= 0: transmitted byte
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*/
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static int32_t PIOS_USART_TxBufferGet(uint32_t usart_id)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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if (fifoBuf_getUsed(&usart_dev->tx) == 0) {
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/* Nothing new in the buffer */
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return -1;
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}
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/* get byte - this operation should be atomic! */
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PIOS_IRQ_Disable();
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uint8_t b = fifoBuf_getByte(&usart_dev->tx);
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PIOS_IRQ_Enable();
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/* Return received byte */
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return b;
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}
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/**
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* puts more than one byte onto the transmit buffer (used for atomic sends)
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* \param[in] USART USART name
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* \param[in] *buffer pointer to buffer to be sent
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* \param[in] len number of bytes to be sent
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* \return 0 if no error
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* \return -1 if buffer full or cannot get all requested bytes (retry)
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*/
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static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid)
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if (len >= fifoBuf_getFree(&usart_dev->tx)) {
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/* Buffer cannot accept all requested bytes (retry) */
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return -1;
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}
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/* Copy bytes to be transmitted into transmit buffer */
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/* This operation should be atomic! */
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PIOS_IRQ_Disable();
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uint16_t used = fifoBuf_getUsed(&usart_dev->tx);
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fifoBuf_putData(&usart_dev->tx,buffer,len);
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if (used == 0) {
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/* enable sending when buffer was previously empty */
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
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}
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PIOS_IRQ_Enable();
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/* No error */
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return 0;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid);
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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usart_dev->rx_in_context = context;
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usart_dev->rx_in_cb = rx_in_cb;
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}
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/**
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* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
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* (blocking function)
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* \param[in] USART USART name
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* \param[in] *buffer pointer to buffer to be sent
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* \param[in] len number of bytes to be sent
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* \return 0 if no error
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*/
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static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
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static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context)
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{
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int32_t rc;
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while ((rc = PIOS_USART_TxBufferPutMoreNonBlocking(usart_id, buffer, len)) == -1);
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return rc;
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid);
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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usart_dev->tx_out_context = context;
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usart_dev->tx_out_cb = tx_out_cb;
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}
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static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
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{
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struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
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bool valid = PIOS_USART_validate(usart_dev);
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PIOS_Assert(valid);
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|
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/* Call any user provided callback function instead of processing
|
||||
* the interrupt ourselves.
|
||||
*/
|
||||
if (usart_dev->cfg->irq.handler) {
|
||||
(usart_dev->cfg->irq.handler)(usart_id);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/* Force read of dr after sr to make sure to clear error flags */
|
||||
volatile uint16_t sr = usart_dev->cfg->regs->SR;
|
||||
volatile uint8_t dr = usart_dev->cfg->regs->DR;
|
||||
|
||||
|
||||
/* Check if RXNE flag is set */
|
||||
bool rx_need_yield = false;
|
||||
if (sr & USART_SR_RXNE) {
|
||||
if (PIOS_USART_RxBufferPut(usart_id, dr) < 0) {
|
||||
/* Here we could add some error handling */
|
||||
uint8_t byte = dr;
|
||||
if (usart_dev->rx_in_cb) {
|
||||
(void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* Check if TXE flag is set */
|
||||
bool tx_need_yield = false;
|
||||
if (sr & USART_SR_TXE) {
|
||||
if (PIOS_USART_TxBufferUsed(usart_id) > 0) {
|
||||
int32_t b = PIOS_USART_TxBufferGet(usart_id);
|
||||
|
||||
if (b < 0) {
|
||||
/* Here we could add some error handling */
|
||||
usart_dev->cfg->regs->DR = 0xff;
|
||||
if (usart_dev->tx_out_cb) {
|
||||
uint8_t b;
|
||||
uint16_t bytes_to_send;
|
||||
|
||||
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
|
||||
|
||||
if (bytes_to_send > 0) {
|
||||
/* Send the byte we've been given */
|
||||
usart_dev->cfg->regs->DR = b;
|
||||
} else {
|
||||
usart_dev->cfg->regs->DR = b & 0xff;
|
||||
/* No bytes to send, disable TXE interrupt */
|
||||
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
|
||||
}
|
||||
} else {
|
||||
/* Disable TXE interrupt (TXEIE=0) */
|
||||
/* No bytes to send, disable TXE interrupt */
|
||||
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
if (rx_need_yield || tx_need_yield) {
|
||||
vPortYieldFromISR();
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_FREERTOS */
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user