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https://github.com/betaflight/betaflight.git
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Refactor (consolidation and separation of stdperiph and hal)
This commit is contained in:
jflyper
parent
a16b67b5a4
commit
ff759034f3
8 changed files with 176 additions and 460 deletions
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@ -33,19 +33,42 @@
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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/dma.h"
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#include "drivers/inverter.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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serialPort_t *uartOpen(UARTDevice_e device, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options)
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{
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uartPort_t *s = serialUART(device, baudRate, mode, options);
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if (!s)
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return (serialPort_t *)s;
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#ifdef USE_DMA
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s->txDMAEmpty = true;
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#endif
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// common serial initialisation code should move to serialPort::init()
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s->port.rxBufferHead = s->port.rxBufferTail = 0;
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s->port.txBufferHead = s->port.txBufferTail = 0;
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// callback works for IRQ-based RX ONLY
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s->port.rxCallback = rxCallback;
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s->port.rxCallbackData = rxCallbackData;
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s->port.mode = mode;
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s->port.baudRate = baudRate;
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s->port.options = options;
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uartReconfigure(s);
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return (serialPort_t *)s;
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}
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static void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
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{
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uartPort_t *uartPort = (uartPort_t *)instance;
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@ -60,66 +83,26 @@ static void uartSetMode(serialPort_t *instance, portMode_e mode)
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uartReconfigure(uartPort);
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}
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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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return;
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}
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// For F4 (and F1), there are cases that NDTR (CNDTR for F1) is non-zero upon TC interrupt.
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// We couldn't find out the root cause, so mask the case here.
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// F3 is not confirmed to be vulnerable, but not excluded as a safety.
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if (xDMA_GetCurrDataCounter(s->txDMAResource)) {
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// Possible premature TC case.
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goto reenable;
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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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// Start a new transaction.
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#ifdef STM32F4
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xDMA_MemoryTargetConfig(s->txDMAResource, (uint32_t)&s->port.txBuffer[s->port.txBufferTail], DMA_Memory_0);
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#else
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DMAx_SetMemoryAddress(s->txDMAResource, (uint32_t)&s->port.txBuffer[s->port.txBufferTail]);
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#endif
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if (s->port.txBufferHead > s->port.txBufferTail) {
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xDMA_SetCurrDataCounter(s->txDMAResource, 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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xDMA_SetCurrDataCounter(s->txDMAResource, 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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reenable:
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xDMA_Cmd(s->txDMAResource, ENABLE);
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}
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}
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static uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
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{
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const uartPort_t *s = (const uartPort_t*)instance;
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#ifdef USE_DMA
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if (s->rxDMAResource) {
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// XXX Could be consolidated
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#ifdef USE_HAL_DRIVER
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uint32_t rxDMAHead = __HAL_DMA_GET_COUNTER(s->Handle.hdmarx);
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#else
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uint32_t rxDMAHead = xDMA_GetCurrDataCounter(s->rxDMAResource);
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#endif
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if (rxDMAHead >= s->rxDMAPos) {
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return rxDMAHead - s->rxDMAPos;
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} else {
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return s->port.rxBufferSize + rxDMAHead - s->rxDMAPos;
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}
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}
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#endif
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if (s->port.rxBufferHead >= s->port.rxBufferTail) {
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return s->port.rxBufferHead - s->port.rxBufferTail;
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@ -140,12 +123,17 @@ static uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
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bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail;
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}
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#ifdef USE_DMA
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if (s->txDMAResource) {
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/*
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* When we queue up a DMA request, we advance the Tx buffer tail before the transfer finishes, so we must add
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* the remaining size of that in-progress transfer here instead:
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*/
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#ifdef USE_HAL_DRIVER
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bytesUsed += __HAL_DMA_GET_COUNTER(s->Handle.hdmatx);
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#else
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bytesUsed += xDMA_GetCurrDataCounter(s->txDMAResource);
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#endif
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/*
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* If the Tx buffer is being written to very quickly, we might have advanced the head into the buffer
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@ -159,6 +147,7 @@ static uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
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return 0;
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}
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}
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#endif
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return (s->port.txBufferSize - 1) - bytesUsed;
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}
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@ -166,9 +155,12 @@ static uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
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static bool isUartTransmitBufferEmpty(const serialPort_t *instance)
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{
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const uartPort_t *s = (const uartPort_t *)instance;
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#ifdef USE_DMA
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if (s->txDMAResource) {
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return s->txDMAEmpty;
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} else {
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} else
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#endif
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{
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return s->port.txBufferTail == s->port.txBufferHead;
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}
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}
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@ -178,11 +170,14 @@ static uint8_t uartRead(serialPort_t *instance)
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uint8_t ch;
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uartPort_t *s = (uartPort_t *)instance;
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#ifdef USE_DMA
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if (s->rxDMAResource) {
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ch = s->port.rxBuffer[s->port.rxBufferSize - s->rxDMAPos];
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if (--s->rxDMAPos == 0)
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s->rxDMAPos = s->port.rxBufferSize;
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} else {
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} else
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#endif
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{
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ch = s->port.rxBuffer[s->port.rxBufferTail];
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if (s->port.rxBufferTail + 1 >= s->port.rxBufferSize) {
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s->port.rxBufferTail = 0;
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@ -197,17 +192,26 @@ static uint8_t uartRead(serialPort_t *instance)
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static void uartWrite(serialPort_t *instance, uint8_t ch)
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{
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uartPort_t *s = (uartPort_t *)instance;
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s->port.txBuffer[s->port.txBufferHead] = ch;
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if (s->port.txBufferHead + 1 >= s->port.txBufferSize) {
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s->port.txBufferHead = 0;
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} else {
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s->port.txBufferHead++;
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}
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#ifdef USE_DMA
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if (s->txDMAResource) {
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uartTryStartTxDMA(s);
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} else {
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} else
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#endif
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{
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#ifdef USE_HAL_DRIVER
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__HAL_UART_ENABLE_IT(&s->Handle, UART_IT_TXE);
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#else
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USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE);
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#endif
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}
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}
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@ -228,75 +232,43 @@ const struct serialPortVTable uartVTable[] = {
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}
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};
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#define UART_IRQHandler(type, dev) \
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void type ## dev ## _IRQHandler(void) \
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{ \
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uartPort_t *s = &(uartDevmap[UARTDEV_ ## dev]->port); \
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uartIrqHandler(s); \
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}
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#ifdef USE_UART1
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// USART1 Rx/Tx IRQ Handler
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void USART1_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_1]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(USART, 1) // USART1 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART2
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// USART2 Rx/Tx IRQ Handler
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void USART2_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_2]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(USART, 2) // USART2 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART3
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// USART3 Rx/Tx IRQ Handler
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void USART3_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_3]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(USART, 3) // USART3 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART4
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// UART4 Rx/Tx IRQ Handler
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void UART4_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_4]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(UART, 4) // UART4 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART5
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// UART5 Rx/Tx IRQ Handler
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void UART5_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_5]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(UART, 5) // UART5 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART6
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// USART6 Rx/Tx IRQ Handler
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void USART6_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_6]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(USART, 6) // USART6 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART7
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// UART7 Rx/Tx IRQ Handler
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void UART7_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_7]->port);
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uartIrqHandler(s);
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}
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UART_IRQHandler(UART, 7) // UART7 Rx/Tx IRQ Handler
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#endif
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#ifdef USE_UART8
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// UART8 Rx/Tx IRQ Handler
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void UART8_IRQHandler(void)
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{
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uartPort_t *s = &(uartDevmap[UARTDEV_8]->port);
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uartIrqHandler(s);
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}
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#endif
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UART_IRQHandler(UART, 8) // UART8 Rx/Tx IRQ Handler
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#endif
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#endif // USE_UART
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