mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 04:15:44 +03:00
Add apm32f405/f407 support (#13796)
* Add APM32F4 driver libraries and USB middleware * Add the APM32F405 and APM32F407 target files * Add APM32 startup files * Add APM32F4 linker files * Add APM32F4.mk * Add APM32 driver files * Add APM32F40X MCU type * Sync with the Betaflight master branch and modify the driver directory structure * Implement CLI on the APM32 * Implement ADC on the APM32 * Implement config streamer on the APM32 * Implement I2C on the APM32 * Implement SPI on the APM32 * Implement DSHOT on the APM32 * Implement transponder ir on the APM32 * Implement serial uart on the APM32 * Implement MCO on the APM32 * Implement DWT on the APM32 * Update the init.c file, adding APM32 MCO configuration * Remove all duplicated APM32 driver files and retaining only the APM32 LIB directory * Create APM32F4.mk * Add linker files for APM32F405 and APM32F407 * Add startup and library config files for APM32F405 and APM32F407 * Add target files for APM32F405 and APM32F407 * Add apm32 MCU driver files * Add build configuration for APM32 MCU * Implement config streamer on APM32 * Implement CLI on the APM32 * Implement ADC on the APM32 * Implement RCC on the APM32 * Implement MCO on the APM32 * Implement I2C on the APM32 * Implement SPI on the APM32 * Implement serial uart on the APM32 * Implement IO on the APM32 * Implement DMA on the APM32 * Implement DSHOT on the APM32 * Implement transponder ir on the APM32 * Update init.c * Add the inclusion of the 'platform.h' file to the APM USB driver source file * Merge bus SPI duplicate code from APM32 to STM32 * Update timer_apm32.c * Merge motor duplicate code from APM32 to STM32 * Merge serial uart duplicate code from APM32 to STM32 * Update APM32F4.mk * Update cli.c * Update APM32F4.mk * Remove the apm32_flash_f4_split.ld * Associate the apm32 linker file with stm32_flash_f4_split.ld
This commit is contained in:
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6dcc268918
84 changed files with 13936 additions and 49 deletions
359
src/main/drivers/mcu/apm32/serial_uart_apm32.c
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359
src/main/drivers/mcu/apm32/serial_uart_apm32.c
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Authors:
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* jflyper - Refactoring, cleanup and made pin-configurable
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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/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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{
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DAL_UART_DeInit(&uartPort->Handle);
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uartPort->Handle.Init.BaudRate = uartPort->port.baudRate;
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// according to the stm32 documentation wordlen has to be 9 for parity bits
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// this does not seem to matter for rx but will give bad data on tx!
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uartPort->Handle.Init.WordLength = (uartPort->port.options & SERIAL_PARITY_EVEN) ? UART_WORDLENGTH_9B : UART_WORDLENGTH_8B;
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uartPort->Handle.Init.StopBits = (uartPort->port.options & SERIAL_STOPBITS_2) ? USART_STOPBITS_2 : USART_STOPBITS_1;
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uartPort->Handle.Init.Parity = (uartPort->port.options & SERIAL_PARITY_EVEN) ? USART_PARITY_EVEN : USART_PARITY_NONE;
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uartPort->Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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uartPort->Handle.Init.OverSampling = UART_OVERSAMPLING_16;
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uartPort->Handle.Init.Mode = 0;
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if (uartPort->port.mode & MODE_RX)
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uartPort->Handle.Init.Mode |= UART_MODE_RX;
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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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#ifdef TARGET_USART_CONFIG
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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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DAL_HalfDuplex_Init(&uartPort->Handle);
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}
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else
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{
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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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#ifdef USE_DMA
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if (uartPort->rxDMAResource)
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{
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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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uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
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uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
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uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
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#if defined(APM32F4)
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uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
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uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
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uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
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#endif
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uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
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DAL_DMA_DeInit(&uartPort->rxDMAHandle);
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DAL_DMA_Init(&uartPort->rxDMAHandle);
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/* Associate the initialized DMA handle to the UART handle */
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__DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
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DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
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uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
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} else
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#endif
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{
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/* Enable the UART Parity Error Interrupt */
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SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_PEIEN);
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/* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */
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SET_BIT(uartPort->USARTx->CTRL3, USART_CTRL3_ERRIEN);
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/* Enable the UART Data Register not empty Interrupt */
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SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_RXBNEIEN);
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/* Enable Idle Line detection */
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SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_IDLEIEN);
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}
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}
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// Transmit DMA or IRQ
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if (uartPort->port.mode & MODE_TX) {
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#ifdef USE_DMA
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if (uartPort->txDMAResource) {
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uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
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uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
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uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
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uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
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uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
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uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
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uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
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uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
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uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
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uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
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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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while (1);
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}
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/* Associate the initialized DMA handle to the UART handle */
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__DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
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__DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
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} else
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#endif
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{
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/* Enable the UART Transmit Data Register Empty Interrupt */
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SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXBEIEN);
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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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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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return;
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}
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DAL_UART_StateTypeDef state = DAL_UART_GetState(&s->Handle);
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if ((state & DAL_UART_STATE_BUSY_TX) == DAL_UART_STATE_BUSY_TX) {
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// UART is still transmitting
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return;
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}
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if (s->port.txBufferHead == s->port.txBufferTail) {
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// No more data to transmit
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s->txDMAEmpty = true;
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return;
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}
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uint16_t size;
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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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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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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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}
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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 // USE_UART
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