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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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@ -24,46 +24,26 @@
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* Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
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* Hamasaki/Timecop - Initial baseflight code
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build/debug.h"
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#ifdef USE_UART
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#include "build/build_config.h"
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#include "build/atomic.h"
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#include "common/utils.h"
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#include "drivers/io.h"
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#include "drivers/nvic.h"
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#include "drivers/inverter.h"
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#include "drivers/dma.h"
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#include "drivers/nvic.h"
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#include "drivers/rcc.h"
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#include "drivers/serial.h"
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#include "drivers/serial_uart.h"
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#include "drivers/serial_uart_impl.h"
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static void usartConfigurePinInversion(uartPort_t *uartPort)
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{
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#if !defined(USE_INVERTER)
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UNUSED(uartPort);
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#else
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bool inverted = uartPort->port.options & SERIAL_INVERTED;
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#ifdef USE_INVERTER
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if (inverted) {
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// Enable hardware inverter if available.
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enableInverter(uartPort->USARTx, true);
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}
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#endif
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#endif
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}
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// XXX uartReconfigure does not handle resource management properly.
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void uartReconfigure(uartPort_t *uartPort)
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@ -84,29 +64,25 @@ void uartReconfigure(uartPort_t *uartPort)
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if (uartPort->port.mode & MODE_TX)
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uartPort->Handle.Init.Mode |= UART_MODE_TX;
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usartConfigurePinInversion(uartPort);
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// config external pin inverter (no internal pin inversion available)
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uartConfigureExternalPinInversion(uartPort);
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#ifdef TARGET_USART_CONFIG
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// TODO: move declaration into header file
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void usartTargetConfigure(uartPort_t *);
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usartTargetConfigure(uartPort);
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#endif
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if (uartPort->port.options & SERIAL_BIDIR)
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{
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if (uartPort->port.options & SERIAL_BIDIR) {
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DAL_HalfDuplex_Init(&uartPort->Handle);
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}
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else
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{
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} else {
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DAL_UART_Init(&uartPort->Handle);
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}
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// Receive DMA or IRQ
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if (uartPort->port.mode & MODE_RX)
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{
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if (uartPort->port.mode & MODE_RX) {
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#ifdef USE_DMA
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if (uartPort->rxDMAResource)
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{
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if (uartPort->rxDMAResource) {
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uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
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uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
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uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
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@ -170,8 +146,7 @@ void uartReconfigure(uartPort_t *uartPort)
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DAL_DMA_DeInit(&uartPort->txDMAHandle);
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DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
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if (status != DAL_OK)
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{
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if (status != DAL_OK) {
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while (1);
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}
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/* Associate the initialized DMA handle to the UART handle */
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@ -187,55 +162,14 @@ void uartReconfigure(uartPort_t *uartPort)
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SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXCIEN);
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}
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}
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return;
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}
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bool checkUsartTxOutput(uartPort_t *s)
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{
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uartDevice_t *uart = container_of(s, uartDevice_t, port);
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IO_t txIO = IOGetByTag(uart->tx.pin);
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if ((uart->txPinState == TX_PIN_MONITOR) && txIO) {
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if (IORead(txIO)) {
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// TX is high so we're good to transmit
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// Enable USART TX output
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uart->txPinState = TX_PIN_ACTIVE;
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IOConfigGPIOAF(txIO, IOCFG_AF_PP, uart->tx.af);
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// Enable the UART transmitter
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SET_BIT(s->Handle.Instance->CTRL1, USART_CTRL1_TXEN);
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return true;
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} else {
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// TX line is pulled low so don't enable USART TX
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return false;
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}
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}
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return true;
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}
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void uartTxMonitor(uartPort_t *s)
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{
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uartDevice_t *uart = container_of(s, uartDevice_t, port);
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if (uart->txPinState == TX_PIN_ACTIVE) {
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IO_t txIO = IOGetByTag(uart->tx.pin);
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// Disable the UART transmitter
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CLEAR_BIT(s->Handle.Instance->CTRL1, USART_CTRL1_TXEN);
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// Switch TX to an input with pullup so it's state can be monitored
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uart->txPinState = TX_PIN_MONITOR;
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IOConfigGPIO(txIO, IOCFG_IPU);
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}
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}
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#ifdef USE_DMA
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void uartTryStartTxDMA(uartPort_t *s)
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{
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// uartTryStartTxDMA must be protected, since it is called from
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// uartWrite and handleUsartTxDma (an ISR).
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ATOMIC_BLOCK(NVIC_PRIO_SERIALUART_TXDMA) {
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if (IS_DMA_ENABLED(s->txDMAResource)) {
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// DMA is already in progress
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@ -254,106 +188,19 @@ void uartTryStartTxDMA(uartPort_t *s)
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return;
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}
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uint16_t size;
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unsigned chunk;
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uint32_t fromwhere = s->port.txBufferTail;
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if (s->port.txBufferHead > s->port.txBufferTail) {
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size = s->port.txBufferHead - s->port.txBufferTail;
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chunk = s->port.txBufferHead - s->port.txBufferTail;
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s->port.txBufferTail = s->port.txBufferHead;
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} else {
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size = s->port.txBufferSize - s->port.txBufferTail;
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chunk = s->port.txBufferSize - s->port.txBufferTail;
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s->port.txBufferTail = 0;
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}
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s->txDMAEmpty = false;
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DAL_UART_Transmit_DMA(&s->Handle, (uint8_t *)&s->port.txBuffer[fromwhere], size);
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DAL_UART_Transmit_DMA(&s->Handle, (uint8_t*)s->port.txBuffer + fromwhere, chunk);
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}
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}
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static void handleUsartTxDma(uartPort_t *s)
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{
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uartDevice_t *uart = container_of(s, uartDevice_t, port);
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uartTryStartTxDMA(s);
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if (s->txDMAEmpty && (uart->txPinState != TX_PIN_IGNORE)) {
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// Switch TX to an input with pullup so it's state can be monitored
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uartTxMonitor(s);
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}
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}
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void uartDmaIrqHandler(dmaChannelDescriptor_t* descriptor)
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{
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UNUSED(descriptor);
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uartPort_t *s = &(((uartDevice_t*)(descriptor->userParam))->port);
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF))
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{
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
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DMA_CLEAR_FLAG(descriptor, DMA_IT_HTIF);
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_FEIF))
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{
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DMA_CLEAR_FLAG(descriptor, DMA_IT_FEIF);
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}
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handleUsartTxDma(s);
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}
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TEIF))
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{
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TEIF);
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}
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_DMEIF))
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{
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DMA_CLEAR_FLAG(descriptor, DMA_IT_DMEIF);
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}
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}
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#endif // USE_DMA
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FAST_IRQ_HANDLER void uartIrqHandler(uartPort_t *s)
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{
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UART_HandleTypeDef *huart = &s->Handle;
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uint32_t isrflags = READ_REG(huart->Instance->STS);
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uint32_t cr1its = READ_REG(huart->Instance->CTRL1);
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uint32_t cr3its = READ_REG(huart->Instance->CTRL3);
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/* UART in mode Receiver ---------------------------------------------------*/
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if (!s->rxDMAResource && (((isrflags & USART_STS_RXBNEFLG) != RESET) && ((cr1its & USART_CTRL1_RXBNEIEN) != RESET))) {
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if (s->port.rxCallback) {
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s->port.rxCallback(huart->Instance->DATA, s->port.rxCallbackData);
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} else {
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s->port.rxBuffer[s->port.rxBufferHead] = huart->Instance->DATA;
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s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
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}
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}
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// Detect completion of transmission
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if (((isrflags & USART_STS_TXCFLG) != RESET) && ((cr1its & USART_CTRL1_TXCIEN) != RESET)) {
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// Switch TX to an input with pullup so it's state can be monitored
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uartTxMonitor(s);
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__DAL_UART_CLEAR_FLAG(huart, UART_IT_TC);
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}
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if (!s->txDMAResource && (((isrflags & USART_STS_TXBEFLG) != RESET) && ((cr1its & USART_CTRL1_TXBEIEN) != RESET))) {
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if (s->port.txBufferTail != s->port.txBufferHead) {
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huart->Instance->DATA = (((uint16_t) s->port.txBuffer[s->port.txBufferTail]) & (uint16_t) 0x01FFU);
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s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
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} else {
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__DAL_UART_DISABLE_IT(huart, UART_IT_TXE);
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}
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}
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if (((isrflags & USART_STS_OVREFLG) != RESET) && (((cr1its & USART_CTRL1_RXBNEIEN) != RESET)
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|| ((cr3its & USART_CTRL3_ERRIEN) != RESET))) {
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__DAL_UART_CLEAR_OREFLAG(huart);
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}
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if (((isrflags & USART_STS_IDLEFLG) != RESET) && ((cr1its & USART_STS_IDLEFLG) != RESET)) {
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if (s->port.idleCallback) {
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s->port.idleCallback();
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}
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// clear
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(void) huart->Instance->STS;
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(void) huart->Instance->DATA;
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}
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}
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#endif
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#endif // USE_UART
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