mirror of
https://github.com/betaflight/betaflight.git
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CLEANUP: MCU file locations (#13692)
This commit is contained in:
J Blackman
GitHub
parent
ffdf918b07
commit
c2c3d6740c
172 changed files with 519 additions and 465 deletions
417
src/main/drivers/mcu/stm32/serial_uart_stm32f4xx.c
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417
src/main/drivers/mcu/stm32/serial_uart_stm32f4xx.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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* jflyper - Refactoring, cleanup and made pin-configurable
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*/
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#include <stdbool.h>
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#include <stdint.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/debug.h"
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#include "drivers/system.h"
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#include "drivers/io.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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const uartHardware_t uartHardware[UARTDEV_COUNT] = {
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#ifdef USE_UART1
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{
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.device = UARTDEV_1,
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.reg = USART1,
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.rxDMAChannel = DMA_Channel_4,
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.txDMAChannel = DMA_Channel_4,
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#ifdef USE_UART1_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA2_Stream5,
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#endif
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#ifdef USE_UART1_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA2_Stream7,
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#endif
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.rxPins = { { DEFIO_TAG_E(PA10) }, { DEFIO_TAG_E(PB7) },
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#if defined(STM32F411xE)
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{ DEFIO_TAG_E(PB3) },
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#endif
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},
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.txPins = { { DEFIO_TAG_E(PA9) }, { DEFIO_TAG_E(PB6) },
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#if defined(STM32F411xE)
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{ DEFIO_TAG_E(PA15) },
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#endif
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},
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.af = GPIO_AF_USART1,
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.rcc = RCC_APB2(USART1),
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.irqn = USART1_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART1_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART1,
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.txBuffer = uart1TxBuffer,
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.rxBuffer = uart1RxBuffer,
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.txBufferSize = sizeof(uart1TxBuffer),
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.rxBufferSize = sizeof(uart1RxBuffer),
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},
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#endif
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#ifdef USE_UART2
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{
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.device = UARTDEV_2,
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.reg = USART2,
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.rxDMAChannel = DMA_Channel_4,
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.txDMAChannel = DMA_Channel_4,
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#ifdef USE_UART2_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA1_Stream5,
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#endif
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#ifdef USE_UART2_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA1_Stream6,
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#endif
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.rxPins = { { DEFIO_TAG_E(PA3) }, { DEFIO_TAG_E(PD6) } },
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.txPins = { { DEFIO_TAG_E(PA2) }, { DEFIO_TAG_E(PD5) } },
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.af = GPIO_AF_USART2,
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.rcc = RCC_APB1(USART2),
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.irqn = USART2_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART2_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART2,
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.txBuffer = uart2TxBuffer,
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.rxBuffer = uart2RxBuffer,
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.txBufferSize = sizeof(uart2TxBuffer),
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.rxBufferSize = sizeof(uart2RxBuffer),
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},
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#endif
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#ifdef USE_UART3
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{
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.device = UARTDEV_3,
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.reg = USART3,
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.rxDMAChannel = DMA_Channel_4,
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.txDMAChannel = DMA_Channel_4,
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#ifdef USE_UART3_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA1_Stream1,
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#endif
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#ifdef USE_UART3_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA1_Stream3,
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#endif
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.rxPins = { { DEFIO_TAG_E(PB11) }, { DEFIO_TAG_E(PC11) }, { DEFIO_TAG_E(PD9) } },
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.txPins = { { DEFIO_TAG_E(PB10) }, { DEFIO_TAG_E(PC10) }, { DEFIO_TAG_E(PD8) } },
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.af = GPIO_AF_USART3,
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.rcc = RCC_APB1(USART3),
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.irqn = USART3_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART3_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART3,
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.txBuffer = uart3TxBuffer,
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.rxBuffer = uart3RxBuffer,
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.txBufferSize = sizeof(uart3TxBuffer),
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.rxBufferSize = sizeof(uart3RxBuffer),
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},
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#endif
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#ifdef USE_UART4
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{
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.device = UARTDEV_4,
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.reg = UART4,
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.rxDMAChannel = DMA_Channel_4,
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.txDMAChannel = DMA_Channel_4,
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#ifdef USE_UART4_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA1_Stream2,
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#endif
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#ifdef USE_UART4_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA1_Stream4,
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#endif
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.rxPins = { { DEFIO_TAG_E(PA1) }, { DEFIO_TAG_E(PC11) } },
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.txPins = { { DEFIO_TAG_E(PA0) }, { DEFIO_TAG_E(PC10) } },
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.af = GPIO_AF_UART4,
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.rcc = RCC_APB1(UART4),
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.irqn = UART4_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART4_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART4,
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.txBuffer = uart4TxBuffer,
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.rxBuffer = uart4RxBuffer,
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.txBufferSize = sizeof(uart4TxBuffer),
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.rxBufferSize = sizeof(uart4RxBuffer),
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},
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#endif
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#ifdef USE_UART5
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{
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.device = UARTDEV_5,
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.reg = UART5,
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.rxDMAChannel = DMA_Channel_4,
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.txDMAChannel = DMA_Channel_4,
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#ifdef USE_UART5_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA1_Stream0,
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#endif
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#ifdef USE_UART5_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA1_Stream7,
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#endif
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.rxPins = { { DEFIO_TAG_E(PD2) } },
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.txPins = { { DEFIO_TAG_E(PC12) } },
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.af = GPIO_AF_UART5,
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.rcc = RCC_APB1(UART5),
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.irqn = UART5_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART5_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART5,
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.txBuffer = uart5TxBuffer,
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.rxBuffer = uart5RxBuffer,
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.txBufferSize = sizeof(uart5TxBuffer),
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.rxBufferSize = sizeof(uart5RxBuffer),
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},
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#endif
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#ifdef USE_UART6
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{
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.device = UARTDEV_6,
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.reg = USART6,
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.rxDMAChannel = DMA_Channel_5,
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.txDMAChannel = DMA_Channel_5,
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#ifdef USE_UART6_RX_DMA
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.rxDMAResource = (dmaResource_t *)DMA2_Stream1,
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#endif
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#ifdef USE_UART6_TX_DMA
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.txDMAResource = (dmaResource_t *)DMA2_Stream6,
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#endif
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.rxPins = { { DEFIO_TAG_E(PC7) },
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#if defined(STM32F411xE)
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{ DEFIO_TAG_E(PA12) },
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#else
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{ DEFIO_TAG_E(PG9) },
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#endif
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},
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.txPins = { { DEFIO_TAG_E(PC6) },
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#if defined(STM32F411xE)
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{ DEFIO_TAG_E(PA11) },
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#else
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{ DEFIO_TAG_E(PG14) },
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#endif
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},
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.af = GPIO_AF_USART6,
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.rcc = RCC_APB2(USART6),
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.irqn = USART6_IRQn,
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.txPriority = NVIC_PRIO_SERIALUART6_TXDMA,
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.rxPriority = NVIC_PRIO_SERIALUART6,
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.txBuffer = uart6TxBuffer,
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.rxBuffer = uart6RxBuffer,
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.txBufferSize = sizeof(uart6TxBuffer),
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.rxBufferSize = sizeof(uart6RxBuffer),
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},
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#endif
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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->hardware->af);
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// Enable the UART transmitter
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SET_BIT(s->USARTx->CR1, USART_CR1_TE);
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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->USARTx->CR1, USART_CR1_TE);
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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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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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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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// XXX Should serialUART be consolidated?
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uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_e mode, portOptions_e options)
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{
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uartDevice_t *uart = uartDevmap[device];
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if (!uart) return NULL;
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const uartHardware_t *hardware = uart->hardware;
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if (!hardware) return NULL; // XXX Can't happen !?
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uartPort_t *s = &(uart->port);
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s->port.vTable = uartVTable;
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s->port.baudRate = baudRate;
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s->port.rxBuffer = hardware->rxBuffer;
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s->port.txBuffer = hardware->txBuffer;
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s->port.rxBufferSize = hardware->rxBufferSize;
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s->port.txBufferSize = hardware->txBufferSize;
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s->USARTx = hardware->reg;
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s->checkUsartTxOutput = checkUsartTxOutput;
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#ifdef USE_DMA
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uartConfigureDma(uart);
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#endif
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IO_t txIO = IOGetByTag(uart->tx.pin);
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IO_t rxIO = IOGetByTag(uart->rx.pin);
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if (hardware->rcc) {
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RCC_ClockCmd(hardware->rcc, ENABLE);
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}
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uart->txPinState = TX_PIN_IGNORE;
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if (options & SERIAL_BIDIR) {
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IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
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IOConfigGPIOAF(txIO, ((options & SERIAL_BIDIR_PP) || (options & SERIAL_BIDIR_PP_PD)) ? IOCFG_AF_PP : IOCFG_AF_OD, hardware->af);
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} else {
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if ((mode & MODE_TX) && txIO) {
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IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
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if (options & SERIAL_CHECK_TX) {
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uart->txPinState = TX_PIN_ACTIVE;
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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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} else {
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IOConfigGPIOAF(txIO, IOCFG_AF_PP_UP, hardware->af);
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}
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}
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if ((mode & MODE_RX) && rxIO) {
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IOInit(rxIO, OWNER_SERIAL_RX, RESOURCE_INDEX(device));
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IOConfigGPIOAF(rxIO, IOCFG_AF_PP_UP, hardware->af);
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}
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}
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#ifdef USE_DMA
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if (!(s->rxDMAResource)) {
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = hardware->irqn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(hardware->rxPriority);
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(hardware->rxPriority);
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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}
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#endif
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return s;
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}
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void uartIrqHandler(uartPort_t *s)
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{
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if (!s->rxDMAResource && (USART_GetITStatus(s->USARTx, USART_IT_RXNE) == SET)) {
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if (s->port.rxCallback) {
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s->port.rxCallback(s->USARTx->DR, s->port.rxCallbackData);
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} else {
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s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR;
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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 (USART_GetITStatus(s->USARTx, USART_IT_TC) == SET) {
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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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USART_ClearITPendingBit(s->USARTx, USART_IT_TC);
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}
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if (!s->txDMAResource && (USART_GetITStatus(s->USARTx, USART_IT_TXE) == SET)) {
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if (s->port.txBufferTail != s->port.txBufferHead) {
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USART_SendData(s->USARTx, s->port.txBuffer[s->port.txBufferTail]);
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s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
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} else {
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USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
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}
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}
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if (USART_GetITStatus(s->USARTx, USART_IT_ORE) == SET) {
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USART_ClearITPendingBit(s->USARTx, USART_IT_ORE);
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}
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if (USART_GetITStatus(s->USARTx, USART_IT_IDLE) == SET) {
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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) s->USARTx->SR;
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(void) s->USARTx->DR;
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}
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}
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#endif
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