mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-26 01:35:41 +03:00
Refactor uart (#13585)
* serial - refactor serial resource handling
- port related resources (tx/rx/inverted,dma)
- are stored sequentially, with space in place of ports that are not
enabled (RESOURCE_UART_COUNT + RESOURCE_LPUART_COUNT +
RESOURCE_SOFTSERIAL_COUNT)
- RESOURCE_UART_OFFSET, RESOURCE_LPUART_OFFSET, RESOURCE_SOFTSERIAL_OFFSET
- resource entries are pointing into this array (UART, LPUART, SOFTSERIAL)
- both pins and DMA
- inverter is supproted only for UART + LPUART (makes sense only
for UART, to be removed)
- softSerialPinConfig is removed, it is no longer necessary
- serialResourceIndex(identifier) is used universally to get correct
index into resource array
- unified handling of resources where possible
- serialOwnerTxRx() + serialOwnerIndex() are used for displaying resources
correctly to user.
- serialType(identifier) implemented
- serialOwnerTxRx / serialOwnerIndex are trivial with it
- large switch() statemens are greatly simplified
* serial - merge code duplicated in all UART implementations
- drivers/serial_uart_hw.c contains merged serialUART code.
Code did not match exactly. Obvious cases are fixed, more complicated
use #ifs
- pin inversion unified
- uartOpen is refactored a bit
* serial - refactor uartDevice
- use 'compressed' enum from uartDeviceIdx_e. Only enabled ports are
in this enum.
- uartDeviceIdx directly indexes uartDevice (no search necessary, no
wasted space)
- use `serialPortIdentifier_e identifier;` for uartHardware
- for DMA remap, define only entries for enabled ports (uartDeviceIdx_e
does not exist disabled port)
* serial - apply changes to inverter
New implementation is trivial
* serial - HAL - rxIrq, txIrq replaces by irqn
There is only one IRQ for serial
* serial - serial_post.h
Generated code to normalize target configuration.
jinja2 template is used to generate header file. Port handling is
unified a lot.
SERIAL_<type><n>_USED 0/1 - always defined, value depends on target configuration
SERIAL_<type>_MASK - bitmask of used ports or given type. <port>1 is BIT(0)
SERIAL_<type>_COUNT - number of enabled ports of given type
SERIAL_<type>_MAX - <index of highest used port> + 1, 0 when no port is enabled
* targets - remove automatically calculated valued from configs
serial_post.h generated it
* serial - remove definitions replaced by serial_post.h
* serial - change LPUART to UART_LP1 in places
LPUART is mostly handled as another UART port, this change reflects it
* serial - use ARRAYLEN / ARRAYEND in some places
replaces constant that may not match actual array size
* serial - adapt softserial to changes
* serial - whitespace, comments
* softserial - fix serialTimerConfigureTimebase
* serial - suspicious code
* serial - unittests
* serial - cleanup
* serial - simpler port names
Is this useful ?
* serial - no port count for SITL necessary
* serial - fix unittests
include serial_post.h, some ports are defined, so normalization will
work fine
* timers - remove obsolete defines from SITL and unittests
* serial - cosmetic improvements
comments, whitespace, minor refactoring
* serial - fix serialInit bug
serialPortToDisable was preventing further tests
* serial - fix possible NULL pointer dereference
* serial - move serialResourceIndex to drivers
* serial - refactor pp/od and pulldown/pullup/nopull
Centralize serial options handling, decouple it from MCU type
Move some code into new drivers/serial_impl.c
* serial - make port.identifier valid early in port initialization
* serial - fix unittest
Code is moved around a bit to make unittests implementation easier
* serial - bug - fix off-by-one error
uart1/softserial1/lpuart was not working properly because of this
* serial - whipespace + formating + style + comments
No functional changes
* utils - add popcount functions
Wrap __builtin_popcount for easier use. Refactor existing code using
it. Update code using BITCOUNT macro in dynamic context (BITCOUNT is
for compile-time use only)
* serial - inverter - simplify code
* pinio - prevent array access overflow
* serial - refactor SERIAL_BIDIR_*
SERIAL_BIDIR_OD / SERIAL_BIDIR_PP
SERIAL_PULL_DEFAULT / SERIAL_PULL_NONE / SERIAL_PULL_PD
* serial - simplify code
minor refactoring
- cleaner AVOID_UARTx_FOR_PWM_PPM (unused anyway)
- serialFindPortConfiguration* - remove code duplication
- use serialType in smartaudio
* serial - add port names
- const string is assiociated with each compiled-in port (easy to pass around)
- findSerialPortByName
* cli - improve serialpassthrough
- support port options (in current mode argument)
- support port names (`serialpassthrough uart1`)
- improve error handling; check more parse errors
* cli - resources - minor refactor
- prevent SERIAL_TX_NONSENSE when parsing resource type
- fix possible NULL pointer dereference
- store resource tag only after checking all conditions
- slighty better error reporting
- `resource serial_tx 1` will print resource assignment
* serial - remane pulldown to SERIAL_PULL_SMARTAUDIO
Make sure nobody uses it by
mistake. SERIAL_PULL_SMARTAUDIO_SUPER_DANGEROUS_USE_AT_YOUR_OWN_RISK_THIS_WILL_BREAK_EVERYTHING_AND_KILL_YOUR_PET_FISH
would be better choice, but try shorter version first.
* smartaudio - minor refactor/improvement
- Fix softserial on AT32
- make it easier to handle SA on per-cpu basis
* softserial - minor refactoring
no functional changes
* UART - move AF handling before MCU dependent code
* UART - adapt APM32 / APM32F4 code
- Modeled after F4 where possible
- come code moved from APM32 to APM32F4, possbily not necessary, but
it improves similarity with STM32F4
* UART - APM32 - remove per-pin AF
* UART - APM32 - bugfix - fix pinswap #if conditions
* UART - apply some improvemnts from APM32 to STM32
* UART - add todo for F4 serial speed
* UART - fix typo
* UART - refactor support for USE_SMARTAUDIO_NOPULLDOWN
* UART - typos, comments, minor improvements
* UART - move code into enableRxIrq
TODO: split into mcu-specific filer (but in sepatate PR)
* UART - add UART_TRAIT_xx
makes #if test easier and more consistent
more traits shall follow
* UART - fix variable name
unused branch, would trigger compilation error otherwise
* UART - use tables instead of switch
* UART - smartaudio
minor style change + better comments
* UART - unify mspPorts iteration
* UART - fix spelling
* UART - another typo
* UART - fix serialResourceIndex
offset must be added, not subtracted
offset can be negative
* UART - fix typo
Bad day ...
* UART - use const table
GCC does optimize it better.
Should not cause functional change
* UART - use OwnerIndex for inverter
- 1 based
- only UART has inversion
* UART - refactor serial_resource a bit
Single table + helper function. New table is easier to read
* UART - serial_impl header is necessary
* UART - style-only changes
typos
unify whitespace
comment improvement
add some const modifiers
use cfg in uartConfigureDma
minor improvemnt of for loops
* UART - remove LPUART inverter
LPUART always supports internal inversion, code was incomplete and
unused
* UART - update jinja template, regenerate files
* UART - enable UART module RCC clk before configuring DMA
Does not change anything, UART RCCs are enabled unconditionally
This commit is contained in:
Petr Ledvina
GitHub
parent
a659189bf0
commit
246d04dc57
90 changed files with 2471 additions and 1931 deletions
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@ -37,9 +37,12 @@
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#include "common/utils.h"
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#include "io/serial.h"
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#include "drivers/nvic.h"
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#include "drivers/io.h"
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#include "drivers/serial.h"
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#include "drivers/serial_impl.h"
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#include "drivers/timer.h"
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#include "serial_softserial.h"
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@ -47,8 +50,6 @@
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#define RX_TOTAL_BITS 10
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#define TX_TOTAL_BITS 10
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#define MAX_SOFTSERIAL_PORTS 2
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typedef enum {
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TIMER_MODE_SINGLE,
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TIMER_MODE_DUAL,
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@ -87,7 +88,6 @@ typedef struct softSerial_s {
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uint16_t transmissionErrors;
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uint16_t receiveErrors;
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uint8_t softSerialPortIndex;
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timerMode_e timerMode;
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timerOvrHandlerRec_t overCb;
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@ -95,23 +95,16 @@ typedef struct softSerial_s {
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} softSerial_t;
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static const struct serialPortVTable softSerialVTable; // Forward
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static softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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// SERIAL_SOFTSERIAL_COUNT is fine, softserial ports must start from 1 and be continuous
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static softSerial_t softSerialPorts[SERIAL_SOFTSERIAL_COUNT];
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void onSerialTimerOverflow(timerOvrHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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static void setTxSignal(softSerial_t *softSerial, uint8_t state)
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typedef enum { IDLE = ENABLE, MARK = DISABLE } SerialTxState_e;
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static void setTxSignal(softSerial_t *softSerial, SerialTxState_e state)
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{
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if (softSerial->port.options & SERIAL_INVERTED) {
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state = !state;
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}
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if (state) {
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IOHi(softSerial->txIO);
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} else {
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IOLo(softSerial->txIO);
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}
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IOWrite(softSerial->txIO, (softSerial->port.options & SERIAL_INVERTED) ? !state : state);
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}
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static void serialEnableCC(softSerial_t *softSerial)
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@ -123,15 +116,13 @@ static void serialEnableCC(softSerial_t *softSerial)
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#endif
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}
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// switch to receive mode
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static void serialInputPortActivate(softSerial_t *softSerial)
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{
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if (softSerial->port.options & SERIAL_INVERTED) {
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const uint8_t pinConfig = (softSerial->port.options & SERIAL_BIDIR_NOPULL) ? IOCFG_AF_PP : IOCFG_AF_PP_PD;
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IOConfigGPIOAF(softSerial->rxIO, pinConfig, softSerial->timerHardware->alternateFunction);
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} else {
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const uint8_t pinConfig = (softSerial->port.options & SERIAL_BIDIR_NOPULL) ? IOCFG_AF_PP : IOCFG_AF_PP_UP;
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IOConfigGPIOAF(softSerial->rxIO, pinConfig, softSerial->timerHardware->alternateFunction);
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}
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const serialPullMode_t pull = serialOptions_pull(softSerial->port.options);
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const uint8_t pinConfig = ((const uint8_t[]){IOCFG_AF_PP, IOCFG_AF_PP_PD, IOCFG_AF_PP_UP})[pull];
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// softserial can easily support opendrain mode, but it is not implemented
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IOConfigGPIOAF(softSerial->rxIO, pinConfig, softSerial->timerHardware->alternateFunction);
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softSerial->rxActive = true;
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softSerial->isSearchingForStartBit = true;
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@ -151,25 +142,27 @@ static void serialInputPortDeActivate(softSerial_t *softSerial)
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#else
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TIM_CCxCmd(softSerial->timerHardware->tim, softSerial->timerHardware->channel, TIM_CCx_Disable);
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#endif
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IOConfigGPIO(softSerial->rxIO, IOCFG_IN_FLOATING);
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IOConfigGPIO(softSerial->rxIO, IOCFG_IN_FLOATING); // leave AF mode; serialOutputPortActivate will follow immediately
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softSerial->rxActive = false;
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}
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static void serialOutputPortActivate(softSerial_t *softSerial)
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{
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if (softSerial->exTimerHardware)
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if (softSerial->exTimerHardware) {
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IOConfigGPIOAF(softSerial->txIO, IOCFG_OUT_PP, softSerial->exTimerHardware->alternateFunction);
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else
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} else {
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IOConfigGPIO(softSerial->txIO, IOCFG_OUT_PP);
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}
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}
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static void serialOutputPortDeActivate(softSerial_t *softSerial)
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{
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if (softSerial->exTimerHardware)
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if (softSerial->exTimerHardware) {
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// TODO: there in no AF associated with input port
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IOConfigGPIOAF(softSerial->txIO, IOCFG_IN_FLOATING, softSerial->exTimerHardware->alternateFunction);
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else
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} else {
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IOConfigGPIO(softSerial->txIO, IOCFG_IN_FLOATING);
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}
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}
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static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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@ -183,19 +176,10 @@ static void serialTimerConfigureTimebase(const timerHardware_t *timerHardwarePtr
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uint32_t clock = baseClock;
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uint32_t timerPeriod;
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do {
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timerPeriod = clock / baud;
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if (isTimerPeriodTooLarge(timerPeriod)) {
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if (clock > 1) {
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clock = clock / 2; // this is wrong - mhz stays the same ... This will double baudrate until ok (but minimum baudrate is < 1200)
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} else {
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// TODO unable to continue, unable to determine clock and timerPeriods for the given baud
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}
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}
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} while (isTimerPeriodTooLarge(timerPeriod));
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timerConfigure(timerHardwarePtr, timerPeriod, baseClock);
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while (timerPeriod = clock / baud, isTimerPeriodTooLarge(timerPeriod) && clock > 1) {
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clock = clock / 2; // minimum baudrate is < 1200
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}
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timerConfigure(timerHardwarePtr, timerPeriod, clock);
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}
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static void resetBuffers(softSerial_t *softSerial)
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@ -211,15 +195,32 @@ static void resetBuffers(softSerial_t *softSerial)
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softSerial->port.txBufferHead = 0;
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}
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serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baud, portMode_e mode, portOptions_e options)
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softSerial_t* softSerialFromIdentifier(serialPortIdentifier_e identifier)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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if (identifier >= SERIAL_PORT_SOFTSERIAL1 && identifier < SERIAL_PORT_SOFTSERIAL1 + SERIAL_SOFTSERIAL_COUNT) {
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return &softSerialPorts[identifier - SERIAL_PORT_SOFTSERIAL1];
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}
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return NULL;
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}
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ioTag_t tagRx = softSerialPinConfig()->ioTagRx[portIndex];
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ioTag_t tagTx = softSerialPinConfig()->ioTagTx[portIndex];
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serialPort_t *softSerialOpen(serialPortIdentifier_e identifier, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baud, portMode_e mode, portOptions_e options)
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{
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softSerial_t *softSerial = softSerialFromIdentifier(identifier);
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if (!softSerial) {
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return NULL;
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}
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// fill identifier early, so initialization code can use it
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softSerial->port.identifier = identifier;
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const timerHardware_t *timerTx = timerAllocate(tagTx, OWNER_SOFTSERIAL_TX, RESOURCE_INDEX(portIndex));
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const timerHardware_t *timerRx = (tagTx == tagRx) ? timerTx : timerAllocate(tagRx, OWNER_SOFTSERIAL_RX, RESOURCE_INDEX(portIndex));
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const int resourceIndex = serialResourceIndex(identifier);
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const resourceOwner_e ownerTxRx = serialOwnerTxRx(identifier); // rx is always +1
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const int ownerIndex = serialOwnerIndex(identifier);
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const ioTag_t tagRx = serialPinConfig()->ioTagRx[resourceIndex];
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const ioTag_t tagTx = serialPinConfig()->ioTagTx[resourceIndex];
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const timerHardware_t *timerTx = timerAllocate(tagTx, ownerTxRx, ownerIndex);
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const timerHardware_t *timerRx = (tagTx == tagRx) ? timerTx : timerAllocate(tagRx, ownerTxRx + 1, ownerIndex);
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IO_t rxIO = IOGetByTag(tagRx);
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IO_t txIO = IOGetByTag(tagTx);
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@ -227,7 +228,7 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
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if (options & SERIAL_BIDIR) {
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// If RX and TX pins are both assigned, we CAN use either with a timer.
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// However, for consistency with hardware UARTs, we only use TX pin,
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// and this pin must have a timer, and it should not be N-Channel.
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// and this pin must have a timer, and it must not be N-Channel.
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if (!timerTx || (timerTx->output & TIMER_OUTPUT_N_CHANNEL)) {
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return NULL;
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}
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@ -235,10 +236,10 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
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softSerial->timerHardware = timerTx;
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softSerial->txIO = txIO;
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softSerial->rxIO = txIO;
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IOInit(txIO, OWNER_SOFTSERIAL_TX, RESOURCE_INDEX(portIndex));
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IOInit(txIO, ownerTxRx, ownerIndex);
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} else {
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if (mode & MODE_RX) {
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// Need a pin & a timer on RX. Channel should not be N-Channel.
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// Need a pin & a timer on RX. Channel must not be N-Channel.
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if (!timerRx || (timerRx->output & TIMER_OUTPUT_N_CHANNEL)) {
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return NULL;
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}
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@ -246,27 +247,29 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
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softSerial->rxIO = rxIO;
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softSerial->timerHardware = timerRx;
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if (!((mode & MODE_TX) && rxIO == txIO)) {
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IOInit(rxIO, OWNER_SOFTSERIAL_RX, RESOURCE_INDEX(portIndex));
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// RX only on pin
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IOInit(rxIO, ownerTxRx + 1, ownerIndex);
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}
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}
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if (mode & MODE_TX) {
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// Need a pin on TX
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if (!tagTx)
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if (!txIO)
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return NULL;
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softSerial->txIO = txIO;
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if (!(mode & MODE_RX)) {
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// TX Simplex, must have a timer
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if (!timerTx)
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if (!timerTx) {
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return NULL;
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}
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softSerial->timerHardware = timerTx;
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} else {
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// Duplex
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// Duplex, use timerTx if available
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softSerial->exTimerHardware = timerTx;
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}
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IOInit(txIO, OWNER_SOFTSERIAL_TX, RESOURCE_INDEX(portIndex));
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IOInit(txIO, ownerTxRx, ownerIndex);
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}
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}
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resetBuffers(softSerial);
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softSerial->softSerialPortIndex = portIndex;
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softSerial->transmissionErrors = 0;
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softSerial->receiveErrors = 0;
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if (!(options & SERIAL_BIDIR)) {
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serialOutputPortActivate(softSerial);
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setTxSignal(softSerial, ENABLE);
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setTxSignal(softSerial, IDLE);
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}
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serialInputPortActivate(softSerial);
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void processTxState(softSerial_t *softSerial)
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{
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uint8_t mask;
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if (!softSerial->isTransmittingData) {
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if (isSoftSerialTransmitBufferEmpty((serialPort_t *)softSerial)) {
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// Transmit buffer empty.
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// Start listening if not already in if half-duplex
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// Switch to RX mode if not already listening and running in half-duplex mode
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if (!softSerial->rxActive && softSerial->port.options & SERIAL_BIDIR) {
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serialOutputPortDeActivate(softSerial);
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serialOutputPortDeActivate(softSerial); // TODO: not necessary
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serialInputPortActivate(softSerial);
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}
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return;
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@ -352,7 +351,7 @@ void processTxState(softSerial_t *softSerial)
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}
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// build internal buffer, MSB = Stop Bit (1) + data bits (MSB to LSB) + start bit(0) LSB
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softSerial->internalTxBuffer = (1 << (TX_TOTAL_BITS - 1)) | (byteToSend << 1);
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softSerial->internalTxBuffer = (1 << (TX_TOTAL_BITS - 1)) | (byteToSend << 1) | 0;
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softSerial->bitsLeftToTransmit = TX_TOTAL_BITS;
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softSerial->isTransmittingData = true;
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@ -365,16 +364,18 @@ void processTxState(softSerial_t *softSerial)
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// and continuing here may cause bit period to decrease causing sampling errors
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// at the receiver under high rates.
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// Note that there will be (little less than) 1-bit delay; take it as "turn around time".
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// XXX We may be able to reload counter and continue. (Future work.)
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// This time is important in noninverted pulldown bidir mode (SmartAudio).
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// During this period, TX pin is in IDLE state so next startbit (MARK) can be detected
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// XXX Otherwise, we may be able to reload counter and continue. (Future work.)
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return;
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}
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}
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if (softSerial->bitsLeftToTransmit) {
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mask = softSerial->internalTxBuffer & 1;
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const bool bit = softSerial->internalTxBuffer & 1;
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softSerial->internalTxBuffer >>= 1;
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setTxSignal(softSerial, mask);
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setTxSignal(softSerial, bit);
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softSerial->bitsLeftToTransmit--;
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return;
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}
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||||
|
|
@ -390,8 +391,7 @@ enum {
|
|||
void applyChangedBits(softSerial_t *softSerial)
|
||||
{
|
||||
if (softSerial->rxEdge == TRAILING) {
|
||||
uint8_t bitToSet;
|
||||
for (bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex; bitToSet++) {
|
||||
for (unsigned bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex; bitToSet++) {
|
||||
softSerial->internalRxBuffer |= 1 << bitToSet;
|
||||
}
|
||||
}
|
||||
|
|
@ -477,12 +477,13 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|||
UNUSED(capture);
|
||||
|
||||
softSerial_t *self = container_of(cbRec, softSerial_t, edgeCb);
|
||||
bool inverted = self->port.options & SERIAL_INVERTED;
|
||||
|
||||
if ((self->port.mode & MODE_RX) == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
const bool inverted = self->port.options & SERIAL_INVERTED;
|
||||
|
||||
if (self->isSearchingForStartBit) {
|
||||
// Synchronize the bit timing so that it will interrupt at the center
|
||||
// of the bit period.
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue