src/main/drivers/serial_uart_hal.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  * Authors:
  23  * jflyper - Refactoring, cleanup and made pin-configurable
  24  * Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
  25  * Hamasaki/Timecop - Initial baseflight code
  26 */
  27 #include <stdbool.h>
  28 #include <stdint.h>
  29 #include <stdlib.h>
  30
  31 #include "platform.h"
  32
  33 #ifdef USE_UART
  34
  35 #include "build/build_config.h"
  36 #include "build/atomic.h"
  37
  38 #include "common/utils.h"
  39 #include "drivers/io.h"
  40 #include "drivers/nvic.h"
  41 #include "drivers/inverter.h"
  42 #include "drivers/dma.h"
  43 #include "drivers/rcc.h"
  44
  45 #include "drivers/serial.h"
  46 #include "drivers/serial_uart.h"
  47 #include "drivers/serial_uart_impl.h"
  48
  49 static void usartConfigurePinInversion(uartPort_t *uartPort) {
  50     bool inverted = uartPort->port.options & SERIAL_INVERTED;
  51
  52     if (inverted)
  53     {
  54         if (uartPort->port.mode & MODE_RX)
  55         {
  56             uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_RXINVERT_INIT;
  57             uartPort->Handle.AdvancedInit.RxPinLevelInvert = UART_ADVFEATURE_RXINV_ENABLE;
  58         }
  59         if (uartPort->port.mode & MODE_TX)
  60         {
  61             uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_TXINVERT_INIT;
  62             uartPort->Handle.AdvancedInit.TxPinLevelInvert = UART_ADVFEATURE_TXINV_ENABLE;
  63         }
  64     }
  65 }
  66
  67 // XXX uartReconfigure does not handle resource management properly.
  68
  69 void uartReconfigure(uartPort_t *uartPort)
  70 {
  71     HAL_UART_DeInit(&uartPort->Handle);
  72     uartPort->Handle.Init.BaudRate = uartPort->port.baudRate;
  73     // according to the stm32 documentation wordlen has to be 9 for parity bits
  74     // this does not seem to matter for rx but will give bad data on tx!
  75     uartPort->Handle.Init.WordLength = (uartPort->port.options & SERIAL_PARITY_EVEN) ? UART_WORDLENGTH_9B : UART_WORDLENGTH_8B;
  76     uartPort->Handle.Init.StopBits = (uartPort->port.options & SERIAL_STOPBITS_2) ? USART_STOPBITS_2 : USART_STOPBITS_1;
  77     uartPort->Handle.Init.Parity = (uartPort->port.options & SERIAL_PARITY_EVEN) ? USART_PARITY_EVEN : USART_PARITY_NONE;
  78     uartPort->Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  79     uartPort->Handle.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  80     uartPort->Handle.Init.Mode = 0;
  81
  82     if (uartPort->port.mode & MODE_RX)
  83         uartPort->Handle.Init.Mode |= UART_MODE_RX;
  84     if (uartPort->port.mode & MODE_TX)
  85         uartPort->Handle.Init.Mode |= UART_MODE_TX;
  86
  87
  88     usartConfigurePinInversion(uartPort);
  89
  90 #ifdef TARGET_USART_CONFIG
  91     void usartTargetConfigure(uartPort_t *);
  92     usartTargetConfigure(uartPort);
  93 #endif
  94
  95     if (uartPort->port.options & SERIAL_BIDIR)
  96     {
  97         HAL_HalfDuplex_Init(&uartPort->Handle);
  98     }
  99     else
 100     {
 101         HAL_UART_Init(&uartPort->Handle);
 102     }
 103
 104     // Receive DMA or IRQ
 105     if (uartPort->port.mode & MODE_RX)
 106     {
 107 #ifdef USE_DMA
 108         if (uartPort->rxDMAResource)
 109         {
 110             uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
 111 #if !defined(STM32H7)
 112             uartPort->rxDMAHandle.Init.Channel = uartPort->rxDMAChannel;
 113 #else
 114             uartPort->txDMAHandle.Init.Request = uartPort->rxDMARequest;
 115 #endif
 116             uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
 117             uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
 118             uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
 119             uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
 120             uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
 121             uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
 122             uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 123             uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
 124             uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
 125             uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
 126             uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 127
 128
 129             HAL_DMA_DeInit(&uartPort->rxDMAHandle);
 130             HAL_DMA_Init(&uartPort->rxDMAHandle);
 131             /* Associate the initialized DMA handle to the UART handle */
 132             __HAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
 133
 134             HAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
 135
 136             uartPort->rxDMAPos = __HAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
 137         } else
 138 #endif
 139         {
 140             /* Enable the UART Parity Error Interrupt */
 141             SET_BIT(uartPort->USARTx->CR1, USART_CR1_PEIE);
 142
 143             /* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */
 144             SET_BIT(uartPort->USARTx->CR3, USART_CR3_EIE);
 145
 146             /* Enable the UART Data Register not empty Interrupt */
 147             SET_BIT(uartPort->USARTx->CR1, USART_CR1_RXNEIE);
 148
 149             /* Enable Idle Line detection */
 150             SET_BIT(uartPort->USARTx->CR1, USART_CR1_IDLEIE);
 151         }
 152     }
 153
 154     // Transmit DMA or IRQ
 155     if (uartPort->port.mode & MODE_TX) {
 156 #ifdef USE_DMA
 157         if (uartPort->txDMAResource) {
 158             uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
 159 #if !defined(STM32H7)
 160             uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
 161 #else
 162             uartPort->txDMAHandle.Init.Request = uartPort->txDMARequest;
 163 #endif
 164             uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
 165             uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
 166             uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
 167             uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
 168             uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
 169             uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
 170             uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 171             uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
 172             uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
 173             uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
 174             uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 175
 176
 177             HAL_DMA_DeInit(&uartPort->txDMAHandle);
 178             HAL_StatusTypeDef status = HAL_DMA_Init(&uartPort->txDMAHandle);
 179             if (status != HAL_OK)
 180             {
 181                 while (1);
 182             }
 183             /* Associate the initialized DMA handle to the UART handle */
 184             __HAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
 185
 186             __HAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
 187         } else
 188 #endif
 189         {
 190
 191             /* Enable the UART Transmit Data Register Empty Interrupt */
 192             SET_BIT(uartPort->USARTx->CR1, USART_CR1_TXEIE);
 193         }
 194     }
 195     return;
 196 }
 197
 198 #ifdef USE_DMA
 199 void uartTryStartTxDMA(uartPort_t *s)
 200 {
 201     ATOMIC_BLOCK(NVIC_PRIO_SERIALUART_TXDMA) {
 202         if (IS_DMA_ENABLED(s->txDMAResource)) {
 203             // DMA is already in progress
 204             return;
 205         }
 206
 207         HAL_UART_StateTypeDef state = HAL_UART_GetState(&s->Handle);
 208         if ((state & HAL_UART_STATE_BUSY_TX) == HAL_UART_STATE_BUSY_TX) {
 209             return;
 210         }
 211
 212         if (s->port.txBufferHead == s->port.txBufferTail) {
 213             // No more data to transmit
 214             s->txDMAEmpty = true;
 215             return;
 216         }
 217
 218         uint16_t size;
 219         uint32_t fromwhere = s->port.txBufferTail;
 220
 221         if (s->port.txBufferHead > s->port.txBufferTail) {
 222             size = s->port.txBufferHead - s->port.txBufferTail;
 223             s->port.txBufferTail = s->port.txBufferHead;
 224         } else {
 225             size = s->port.txBufferSize - s->port.txBufferTail;
 226             s->port.txBufferTail = 0;
 227         }
 228         s->txDMAEmpty = false;
 229
 230         HAL_UART_Transmit_DMA(&s->Handle, (uint8_t *)&s->port.txBuffer[fromwhere], size);
 231     }
 232 }
 233 #endif
 234
 235 #endif // USE_UART