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https://github.com/betaflight/betaflight.git
synced 2025-07-21 15:25:36 +03:00
Rework uart rx interrupt, DMA TX still not working
# Conflicts: # src/main/drivers/serial_uart_hal.c # src/main/io/gps.c
This commit is contained in:
Sami Korhonen
parent
4fd046470b
commit
a70da02c58
5 changed files with 145 additions and 148 deletions
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@ -236,8 +236,8 @@ static uartDevice_t uart8 =
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#endif
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.txDMAStream = DMA1_Stream0,
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.dev = UART8,
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.rx = IO_TAG(UART6_RX_PIN),
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.tx = IO_TAG(UART6_TX_PIN),
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.rx = IO_TAG(UART8_RX_PIN),
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.tx = IO_TAG(UART8_TX_PIN),
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.af = GPIO_AF8_UART8,
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#ifdef UART8_AHB1_PERIPHERALS
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.rcc_ahb1 = UART8_AHB1_PERIPHERALS,
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@ -297,48 +297,67 @@ static uartDevice_t* uartHardwareMap[] = {
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void uartIrqHandler(uartPort_t *s)
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{
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/// TODO: This implmentation is kind of a hack to reduce overhead otherwise generated by the HAL, there might be a better solution
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UART_HandleTypeDef *huart = &s->Handle;
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/* UART in mode Receiver ---------------------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_RXNE) != RESET))
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{
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uint8_t rbyte = (uint8_t)(huart->Instance->RDR & (uint8_t)0xff);
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if (!s->rxDMAStream && (s->Handle.RxXferSize != s->Handle.RxXferCount)) {
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if (s->port.callback) {
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// The HAL has already stored the last received byte in the receive buffer we have tell it where to put the next
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s->port.callback(s->USARTx->RDR);
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s->Handle.pRxBuffPtr = (uint8_t *)s->port.rxBuffer;
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s->port.callback(rbyte);
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} else {
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// The HAL has already stored the last received byte in the receive buffer we have tell it where to put the next
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s->port.rxBuffer[s->port.rxBufferHead] = rbyte;
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s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
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s->Handle.pRxBuffPtr = (uint8_t *)&s->port.rxBuffer[s->port.rxBufferHead];
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}
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//__HAL_UART_CLEAR_IT(huart, UART_IT_RXNE);
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CLEAR_BIT(huart->Instance->CR1, (USART_CR1_PEIE));
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// We override the rx transfer counter to keep it going without disabling interrupts
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s->Handle.RxXferCount = s->Handle.RxXferSize;
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/* Disable the UART Error Interrupt: (Frame error, noise error, overrun error) */
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CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
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uint32_t errorcode = HAL_UART_GetError(&s->Handle);
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if(errorcode != HAL_UART_ERROR_NONE)
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{
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if(!s->rxDMAStream)
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{
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HAL_UART_Receive_IT(&s->Handle, (uint8_t *)s->port.rxBuffer, s->port.rxBufferSize);
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}
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else
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{
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HAL_UART_Receive_DMA(&s->Handle, (uint8_t *)s->port.rxBuffer, s->port.rxBufferSize);
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}
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}
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__HAL_UART_SEND_REQ(huart, UART_RXDATA_FLUSH_REQUEST);
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}
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if (!s->txDMAStream && (s->Handle.TxXferCount == 0)) {
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if (s->port.txBufferTail != s->port.txBufferHead) {
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// very inefficient but will most likely never be used anyway as TX dma is enabled by default.
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HAL_UART_Transmit_IT(&s->Handle, (uint8_t *)&s->port.txBuffer[s->port.txBufferTail], 1);
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s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
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}
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/* UART parity error interrupt occurred -------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_PE) != RESET))
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{
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__HAL_UART_CLEAR_IT(huart, UART_CLEAR_PEF);
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}
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else if(s->txDMAStream && (s->Handle.TxXferCount == 0) && (s->Handle.TxXferSize != 0))
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/* UART frame error interrupt occurred --------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_FE) != RESET))
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{
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__HAL_UART_CLEAR_IT(huart, UART_CLEAR_FEF);
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}
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/* UART noise error interrupt occurred --------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_NE) != RESET))
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{
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__HAL_UART_CLEAR_IT(huart, UART_CLEAR_NEF);
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}
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/* UART Over-Run interrupt occurred -----------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_ORE) != RESET))
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{
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__HAL_UART_CLEAR_IT(huart, UART_CLEAR_OREF);
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}
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/* UART in mode Transmitter ------------------------------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_TXE) != RESET))
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{
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//UART_Transmit_IT(huart);
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}
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/* UART in mode Transmitter (transmission end) -----------------------------*/
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if((__HAL_UART_GET_IT(huart, UART_IT_TC) != RESET))
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{
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__HAL_UART_CLEAR_IT(huart, UART_CLEAR_TCF);
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}
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/*if(s->txDMAStream && (s->Handle.TxXferCount == 0) && (s->Handle.TxXferSize != 0))
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{
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handleUsartTxDma(s);
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}
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}*/
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}
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static void handleUsartTxDma(uartPort_t *s)
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@ -348,34 +367,15 @@ static void handleUsartTxDma(uartPort_t *s)
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else
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{
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s->txDMAEmpty = true;
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s->Handle.TxXferSize = 0;
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s->Handle.gState = HAL_UART_STATE_READY;
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}
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}
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void dmaIRQHandler(dmaChannelDescriptor_t* descriptor)
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{
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uartPort_t *s = &(((uartDevice_t*)(descriptor->userParam))->port);
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HAL_DMA_IRQHandler(&s->txDMAHandle);
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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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handleUsartTxDma(s);
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}
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uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, portOptions_t options)
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@ -411,8 +411,6 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
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IO_t tx = IOGetByTag(uart->tx);
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IO_t rx = IOGetByTag(uart->rx);
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// clocks
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if (options & SERIAL_BIDIR) {
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IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, RESOURCE_INDEX(device));
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IOConfigGPIOAF(tx, IOCFG_AF_OD, uart->af);
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@ -455,7 +453,6 @@ uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t option
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void USART1_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -470,7 +467,6 @@ uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t option
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void USART2_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_2]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -485,7 +481,6 @@ uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t option
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void USART3_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_3]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -500,7 +495,6 @@ uartPort_t *serialUART4(uint32_t baudRate, portMode_t mode, portOptions_t option
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void UART4_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_4]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -515,7 +509,6 @@ uartPort_t *serialUART5(uint32_t baudRate, portMode_t mode, portOptions_t option
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void UART5_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_5]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -530,7 +523,6 @@ uartPort_t *serialUART6(uint32_t baudRate, portMode_t mode, portOptions_t option
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void USART6_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_6]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -545,7 +537,6 @@ uartPort_t *serialUART7(uint32_t baudRate, portMode_t mode, portOptions_t option
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void UART7_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_7]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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@ -560,7 +551,6 @@ uartPort_t *serialUART8(uint32_t baudRate, portMode_t mode, portOptions_t option
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void UART8_IRQHandler(void)
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{
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uartPort_t *s = &(uartHardwareMap[UARTDEV_8]->port);
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HAL_UART_IRQHandler(&s->Handle);
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uartIrqHandler(s);
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}
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#endif
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