Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Refactor uart (#13585)

Browse source 
* 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 2024-11-04 22:07:25 +01:00 • committed by GitHub
parent a659189bf0
commit 246d04dc57
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
90 changed files with 2471 additions and 1931 deletions
Download patch file Download diff file Expand all files Collapse all files

92
src/platform/STM32/serial_uart_stm32f4xx.c
View file

@ -26,7 +26,6 @@
#include <stdint.h>
#include "platform.h"
#include "build/debug.h"
#ifdef USE_UART
@ -45,7 +44,7 @@
const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART1
{
.device = UARTDEV_1,
.identifier = SERIAL_PORT_USART1,
.reg = USART1,
.rxDMAChannel = DMA_Channel_4,
.txDMAChannel = DMA_Channel_4,
@ -79,7 +78,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART2
{
.device = UARTDEV_2,
.identifier = SERIAL_PORT_USART2,
.reg = USART2,
.rxDMAChannel = DMA_Channel_4,
.txDMAChannel = DMA_Channel_4,
@ -105,7 +104,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART3
{
.device = UARTDEV_3,
.identifier = SERIAL_PORT_USART3,
.reg = USART3,
.rxDMAChannel = DMA_Channel_4,
.txDMAChannel = DMA_Channel_4,
@ -131,7 +130,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART4
{
.device = UARTDEV_4,
.identifier = SERIAL_PORT_UART4,
.reg = UART4,
.rxDMAChannel = DMA_Channel_4,
.txDMAChannel = DMA_Channel_4,
@ -157,7 +156,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART5
{
.device = UARTDEV_5,
.identifier = SERIAL_PORT_UART5,
.reg = UART5,
.rxDMAChannel = DMA_Channel_4,
.txDMAChannel = DMA_Channel_4,
@ -183,7 +182,7 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
#ifdef USE_UART6
{
.device = UARTDEV_6,
.identifier = SERIAL_PORT_USART6,
.reg = USART6,
.rxDMAChannel = DMA_Channel_5,
.txDMAChannel = DMA_Channel_5,
@ -297,83 +296,6 @@ void uartDmaIrqHandler(dmaChannelDescriptor_t* descriptor)
}
}
// XXX Should serialUART be consolidated?
uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_e mode, portOptions_e options)
{
uartDevice_t *uart = uartDevmap[device];
if (!uart) return NULL;
const uartHardware_t *hardware = uart->hardware;
if (!hardware) return NULL; // XXX Can't happen !?
uartPort_t *s = &(uart->port);
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBuffer = hardware->rxBuffer;
s->port.txBuffer = hardware->txBuffer;
s->port.rxBufferSize = hardware->rxBufferSize;
s->port.txBufferSize = hardware->txBufferSize;
s->USARTx = hardware->reg;
s->checkUsartTxOutput = checkUsartTxOutput;
#ifdef USE_DMA
uartConfigureDma(uart);
#endif
IO_t txIO = IOGetByTag(uart->tx.pin);
IO_t rxIO = IOGetByTag(uart->rx.pin);
if (hardware->rcc) {
RCC_ClockCmd(hardware->rcc, ENABLE);
}
uart->txPinState = TX_PIN_IGNORE;
if (options & SERIAL_BIDIR) {
IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
IOConfigGPIOAF(txIO, (options & SERIAL_BIDIR_PP_PD) ? IOCFG_AF_PP_PD
: (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP
: IOCFG_AF_OD, hardware->af);
} else {
if ((mode & MODE_TX) && txIO) {
IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
if (options & SERIAL_CHECK_TX) {
uart->txPinState = TX_PIN_ACTIVE;
// Switch TX to an input with pullup so it's state can be monitored
uartTxMonitor(s);
} else {
IOConfigGPIOAF(txIO, IOCFG_AF_PP_UP, hardware->af);
}
}
if ((mode & MODE_RX) && rxIO) {
IOInit(rxIO, OWNER_SERIAL_RX, RESOURCE_INDEX(device));
IOConfigGPIOAF(rxIO, IOCFG_AF_PP_UP, hardware->af);
}
}
#ifdef USE_DMA
if (!(s->rxDMAResource)) {
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = hardware->irqn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(hardware->rxPriority);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(hardware->rxPriority);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
#endif
return s;
}
void uartIrqHandler(uartPort_t *s)
{
if (!s->rxDMAResource && (USART_GetITStatus(s->USARTx, USART_IT_RXNE) == SET)) {
@ -416,4 +338,4 @@ void uartIrqHandler(uartPort_t *s)
(void) s->USARTx->DR;
}
}
#endif
#endif // USE_UART