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358 lines
10 KiB
C
358 lines
10 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_USART USART Functions
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* @brief PIOS interface for USART port
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* @{
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*
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* @file pios_usart.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/*
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* @todo This is virtually identical to the F1xx driver and should be merged.
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_USART
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#include <pios_usart_priv.h>
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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 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_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 = 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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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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{
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return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_usart_dev * PIOS_USART_alloc(void)
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{
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struct pios_usart_dev * usart_dev;
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usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev));
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if (!usart_dev) return(NULL);
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usart_dev->rx_in_cb = 0;
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usart_dev->rx_in_context = 0;
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usart_dev->tx_out_cb = 0;
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usart_dev->tx_out_context = 0;
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usart_dev->magic = PIOS_USART_DEV_MAGIC;
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return(usart_dev);
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}
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#else
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static struct pios_usart_dev pios_usart_devs[PIOS_USART_MAX_DEVS];
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static uint8_t pios_usart_num_devs;
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static struct pios_usart_dev * PIOS_USART_alloc(void)
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{
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struct pios_usart_dev * usart_dev;
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if (pios_usart_num_devs >= PIOS_USART_MAX_DEVS) {
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return (NULL);
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}
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usart_dev = &pios_usart_devs[pios_usart_num_devs++];
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usart_dev->magic = PIOS_USART_DEV_MAGIC;
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return (usart_dev);
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}
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#endif
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/* Bind Interrupt Handlers
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*
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* Map all valid USART IRQs to the common interrupt handler
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* and provide storage for a 32-bit device id IRQ to map
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* each physical IRQ to a specific registered device instance.
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*/
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static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
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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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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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*/
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int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
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{
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PIOS_DEBUG_Assert(usart_id);
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PIOS_DEBUG_Assert(cfg);
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struct pios_usart_dev * usart_dev;
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usart_dev = (struct pios_usart_dev *) PIOS_USART_alloc();
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if (!usart_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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usart_dev->cfg = cfg;
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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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GPIO_PinAFConfig(usart_dev->cfg->rx.gpio,
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__builtin_ctz(usart_dev->cfg->rx.init.GPIO_Pin),
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usart_dev->cfg->remap);
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GPIO_PinAFConfig(usart_dev->cfg->tx.gpio,
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__builtin_ctz(usart_dev->cfg->tx.init.GPIO_Pin),
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usart_dev->cfg->remap);
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}
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/* Initialize the USART Rx and Tx pins */
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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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/* Configure the USART */
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USART_Init(usart_dev->cfg->regs, (USART_InitTypeDef *)&usart_dev->cfg->init);
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*usart_id = (uint32_t)usart_dev;
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/* Configure USART Interrupts */
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switch ((uint32_t)usart_dev->cfg->regs) {
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case (uint32_t)USART1:
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PIOS_USART_1_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)USART2:
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PIOS_USART_2_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)USART3:
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PIOS_USART_3_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)UART4:
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PIOS_USART_4_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)UART5:
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PIOS_USART_5_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)USART6:
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PIOS_USART_6_id = (uint32_t)usart_dev;
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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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/* Enable USART */
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USART_Cmd(usart_dev->cfg->regs, ENABLE);
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return(0);
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out_fail:
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return(-1);
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}
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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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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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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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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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/*
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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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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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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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/* Force read of dr after sr to make sure to clear error flags */
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volatile uint16_t sr = usart_dev->cfg->regs->SR;
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volatile uint8_t dr = usart_dev->cfg->regs->DR;
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/* Check if RXNE flag is set */
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bool rx_need_yield = false;
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if (sr & USART_SR_RXNE) {
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uint8_t byte = dr;
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if (usart_dev->rx_in_cb) {
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(void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
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}
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}
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/* Check if TXE flag is set */
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bool tx_need_yield = false;
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if (sr & USART_SR_TXE) {
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if (usart_dev->tx_out_cb) {
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uint8_t b;
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uint16_t bytes_to_send;
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bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
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if (bytes_to_send > 0) {
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/* Send the byte we've been given */
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usart_dev->cfg->regs->DR = b;
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} else {
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/* No bytes to send, disable TXE interrupt */
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
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}
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} else {
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/* No bytes to send, disable TXE interrupt */
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USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
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}
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (rx_need_yield || tx_need_yield) {
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vPortYieldFromISR();
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}
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#endif /* PIOS_INCLUDE_FREERTOS */
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}
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#endif /* PIOS_INCLUDE_USART */
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/**
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* @}
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* @}
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*/
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