From 74effd7c14436f921d2a7bbbf33411246652db13 Mon Sep 17 00:00:00 2001 From: Raphael Coeffic Date: Thu, 25 Nov 2021 18:08:16 +0100 Subject: [PATCH] Moved AUX2 to HAL LL TODO: power for serial ports --- .../common/arm/stm32/aux_serial_driver.cpp | 297 +++++++----------- radio/src/targets/horus/hal.h | 2 + 2 files changed, 118 insertions(+), 181 deletions(-) diff --git a/radio/src/targets/common/arm/stm32/aux_serial_driver.cpp b/radio/src/targets/common/arm/stm32/aux_serial_driver.cpp index 4ee2d5c8b..64cadc7e7 100644 --- a/radio/src/targets/common/arm/stm32/aux_serial_driver.cpp +++ b/radio/src/targets/common/arm/stm32/aux_serial_driver.cpp @@ -65,6 +65,17 @@ const stm32_usart_t auxUSART = { #endif }; +static void auxSerialOnSend(uint8_t& data) +{ + return auxSerialTxFifo.pop(data); +} + +static etx_serial_callbacks auxSerialCb = { + .on_send = auxSerialOnSend, + .on_receive = nullptr, + .on_error = nullptr, +}; + void auxSerialSetup(unsigned int baudrate, bool rx_enable, uint8_t word_length, uint8_t parity, uint8_t stop_bits) { @@ -116,14 +127,41 @@ void auxSerialSetup(unsigned int baudrate, bool rx_enable, uint8_t word_length, stm32_usart_init(&auxUSART, &serialInit); } +extern "C" void AUX_SERIAL_USART_IRQHandler(void) +{ + DEBUG_INTERRUPT(INT_SER2); + stm32_usart_isr(&auxUSART, &auxSerialCb); +} + +void auxSerialPutc(char c) +{ + if (auxSerialTxFifo.isFull()) return; + auxSerialTxFifo.push(c); + stm32_usart_send_buffer(&auxUSART, &c, 1); +} + +void auxSerialStop() +{ + stm32_usart_deinit(&auxUSART); +} + +static void serialPushLua(uint8_t data) +{ + if (luaRxFifo) + luaRxFifo->push(data); +} + void auxSerialInit(unsigned int mode, unsigned int protocol) { auxSerialStop(); auxSerialMode = mode; + auxSerialCb.on_receive = nullptr; switch (mode) { case UART_MODE_TELEMETRY_MIRROR: + // TODO: add a setting for the telemetry protocol ??? + // -> how do we know the baudrate? #if defined(CROSSFIRE) if (protocol == PROTOCOL_TELEMETRY_CROSSFIRE) { auxSerialSetup(CROSSFIRE_TELEM_MIRROR_BAUDRATE, false); @@ -156,19 +194,14 @@ void auxSerialInit(unsigned int mode, unsigned int protocol) AUX_SERIAL_POWER_ON(); break; +#if defined(LUA) case UART_MODE_LUA: auxSerialSetup(LUA_DEFAULT_BAUDRATE, false); + auxSerialCb.on_receive = serialPushLua; AUX_SERIAL_POWER_ON(); - } -} - -void auxSerialPutc(char c) -{ -#if !defined(SIMU) - if (auxSerialTxFifo.isFull()) return; - auxSerialTxFifo.push(c); - USART_ITConfig(AUX_SERIAL_USART, USART_IT_TXE, ENABLE); + break; #endif + } } void auxSerialSbusInit() @@ -176,15 +209,6 @@ void auxSerialSbusInit() auxSerialInit(UART_MODE_SBUS_TRAINER, 0); } -void auxSerialStop() -{ -#if defined(AUX_SERIAL_DMA_Stream_RX) - DMA_DeInit(AUX_SERIAL_DMA_Stream_RX); -#endif - - USART_DeInit(AUX_SERIAL_USART); -} - uint8_t auxSerialTracesEnabled() { #if defined(DEBUG) @@ -193,55 +217,6 @@ uint8_t auxSerialTracesEnabled() return false; #endif } - -extern "C" void AUX_SERIAL_USART_IRQHandler(void) -{ - DEBUG_INTERRUPT(INT_SER2); - - // Send - if (USART_GetITStatus(AUX_SERIAL_USART, USART_IT_TXE) != RESET) { - uint8_t txchar; - if (auxSerialTxFifo.pop(txchar)) { - /* Write one byte to the transmit data register */ - USART_SendData(AUX_SERIAL_USART, txchar); - } - else { - USART_ITConfig(AUX_SERIAL_USART, USART_IT_TXE, DISABLE); - } - } - -#if defined(CLI) - if (getSelectedUsbMode() != USB_SERIAL_MODE) { - // Receive - uint32_t status = AUX_SERIAL_USART->SR; - while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) { - uint8_t data = AUX_SERIAL_USART->DR; - if (!(status & USART_FLAG_ERRORS)) { - switch (auxSerialMode) { - case UART_MODE_DEBUG: - cliReceiveData(&data, 1); - break; - } - } - status = AUX_SERIAL_USART->SR; - } - } -#endif - - // Receive - uint32_t status = AUX_SERIAL_USART->SR; - while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) { - uint8_t data = AUX_SERIAL_USART->DR; - UNUSED(data); - if (!(status & USART_FLAG_ERRORS)) { -#if defined(LUA) & !defined(CLI) - if (luaRxFifo && auxSerialMode == UART_MODE_LUA) - luaRxFifo->push(data); -#endif - } - status = AUX_SERIAL_USART->SR; - } -} #endif // AUX_SERIAL #if defined(AUX2_SERIAL) @@ -249,68 +224,87 @@ uint8_t aux2SerialMode = UART_MODE_COUNT; // Prevent debug output before port i Fifo aux2SerialTxFifo; AuxSerialRxFifo aux2SerialRxFifo __DMA (AUX2_SERIAL_DMA_Stream_RX); -void aux2SerialSetup(unsigned int baudrate, bool dma, uint8_t length, uint8_t parity, uint8_t stop) +const LL_GPIO_InitTypeDef auxUSARTPinInit = { + .Pin = AUX2_SERIAL_GPIO_PIN_TX | AUX2_SERIAL_GPIO_PIN_RX, + .Mode = LL_GPIO_MODE_ALTERNATE, + .Speed = LL_GPIO_SPEED_FREQ_LOW, + .OutputType = LL_GPIO_OUTPUT_PUSHPULL, + .Pull = LL_GPIO_PULL_UP, + .Alternate = AUX2_SERIAL_GPIO_AF_LL, +}; + +const stm32_usart_t aux2USART = { + .USARTx = AUX2_SERIAL_USART, + .GPIOx = AUX2_SERIAL_GPIO, + .pinInit = &auxUSARTPinInit, + .IRQn = AUX2_SERIAL_USART_IRQn, + .IRQ_Prio = 7, // TODO: define constant + .txDMA = nullptr, + .txDMA_Stream = 0, + .txDMA_Channel = 0, + .rxDMA = AUX2_SERIAL_DMA_RX, + .rxDMA_Stream = AUX2_SERIAL_DMA_Stream_RX_LL, + .rxDMA_Channel = AUX2_SERIAL_DMA_Channel_RX, +}; + +static void aux2SerialOnSend(uint8_t& data) { - USART_InitTypeDef USART_InitStructure; - GPIO_InitTypeDef GPIO_InitStructure; + return aux2SerialTxFifo.pop(data); +} - GPIO_PinAFConfig(AUX2_SERIAL_GPIO, AUX2_SERIAL_GPIO_PinSource_RX, AUX2_SERIAL_GPIO_AF); - GPIO_PinAFConfig(AUX2_SERIAL_GPIO, AUX2_SERIAL_GPIO_PinSource_TX, AUX2_SERIAL_GPIO_AF); +static etx_serial_callbacks aux2SerialCb = { + .on_send = aux2SerialOnSend, + .on_receive = nullptr, + .on_error = nullptr, +}; - GPIO_InitStructure.GPIO_Pin = AUX2_SERIAL_GPIO_PIN_TX | AUX2_SERIAL_GPIO_PIN_RX; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; - GPIO_Init(AUX2_SERIAL_GPIO, &GPIO_InitStructure); +void aux2SerialSetup(unsigned int baudrate, bool rx_enable, uint8_t word_length, + uint8_t parity, uint8_t stop_bits) +{ + etx_serial_init serialInit = { + .baudrate = baudrate, + .parity = parity, + .stop_bits = stop_bits, + .word_length = word_length, + .rx_enable = rx_enable, + .rx_dma_buf = nullptr, + .rx_dma_buf_len = 0, + .on_receive = nullptr, // TODO + .on_error = nullptr, // TODO + }; + if (rx_enable) { + aux2SerialRxFifo.clear(); + serialInit.rx_dma_buf = aux2SerialRxFifo.buffer(); + serialInit.rx_dma_buf_len = aux2SerialRxFifo.size(); + } + + stm32_usart_init(&aux2USART, &serialInit); + #if defined(AUX2_SERIAL_PWR_GPIO) GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_InitStructure.GPIO_Pin = AUX2_SERIAL_PWR_GPIO_PIN; GPIO_Init(AUX2_SERIAL_PWR_GPIO, &GPIO_InitStructure); #endif +} - USART_InitStructure.USART_BaudRate = baudrate; - USART_InitStructure.USART_WordLength = length; - USART_InitStructure.USART_StopBits = stop; - USART_InitStructure.USART_Parity = parity; - USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; - USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; - USART_Init(AUX2_SERIAL_USART, &USART_InitStructure); +extern "C" void AUX2_SERIAL_USART_IRQHandler(void) +{ + DEBUG_INTERRUPT(INT_SER2); + stm32_usart_isr(&aux2USART, &aux2SerialCb); +} - if (dma) { - DMA_InitTypeDef DMA_InitStructure; - aux2SerialRxFifo.clear(); - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_RXNE, DISABLE); - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_TXE, DISABLE); - DMA_InitStructure.DMA_Channel = AUX2_SERIAL_DMA_Channel_RX; - DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&AUX2_SERIAL_USART->DR); - DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(aux2SerialRxFifo.buffer()); - DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; - DMA_InitStructure.DMA_BufferSize = aux2SerialRxFifo.size(); - DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; - DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; - DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; - DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; - DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; - DMA_InitStructure.DMA_Priority = DMA_Priority_Low; - DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; - DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; - DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; - DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; - DMA_Init(AUX2_SERIAL_DMA_Stream_RX, &DMA_InitStructure); - USART_DMACmd(AUX2_SERIAL_USART, USART_DMAReq_Rx, ENABLE); - USART_Cmd(AUX2_SERIAL_USART, ENABLE); - DMA_Cmd(AUX2_SERIAL_DMA_Stream_RX, ENABLE); - } - else { - USART_Cmd(AUX2_SERIAL_USART, ENABLE); - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_RXNE, ENABLE); - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_TXE, DISABLE); - NVIC_SetPriority(AUX2_SERIAL_USART_IRQn, 7); - NVIC_EnableIRQ(AUX2_SERIAL_USART_IRQn); - } +void aux2SerialPutc(char c) +{ + if (aux2SerialTxFifo.isFull()) return; + aux2SerialTxFifo.push(c); + stm32_usart_send_buffer(&aux2USART, &c, 1); +} + +void aux2SerialStop() +{ + stm32_usart_deinit(&aux2USART); } void aux2SerialInit(unsigned int mode, unsigned int protocol) @@ -318,6 +312,7 @@ void aux2SerialInit(unsigned int mode, unsigned int protocol) aux2SerialStop(); aux2SerialMode = mode; + aux2SerialCb.on_receive = nullptr; switch (mode) { case UART_MODE_TELEMETRY_MIRROR: @@ -353,19 +348,14 @@ void aux2SerialInit(unsigned int mode, unsigned int protocol) AUX2_SERIAL_POWER_ON(); break; +#if defined(LUA) case UART_MODE_LUA: aux2SerialSetup(LUA_DEFAULT_BAUDRATE, false); + aux2SerialCb.on_receive = serialPushLua; AUX2_SERIAL_POWER_ON(); - } -} - -void aux2SerialPutc(char c) -{ -#if !defined(SIMU) - if (aux2SerialTxFifo.isFull()) return; - aux2SerialTxFifo.push(c); - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_TXE, ENABLE); + break; #endif + } } void aux2SerialSbusInit() @@ -373,12 +363,6 @@ void aux2SerialSbusInit() aux2SerialInit(UART_MODE_SBUS_TRAINER, 0); } -void aux2SerialStop() -{ - DMA_DeInit(AUX2_SERIAL_DMA_Stream_RX); - USART_DeInit(AUX2_SERIAL_USART); -} - uint8_t aux2SerialTracesEnabled() { #if defined(DEBUG) @@ -388,53 +372,4 @@ uint8_t aux2SerialTracesEnabled() #endif } -extern "C" void AUX2_SERIAL_USART_IRQHandler(void) -{ - DEBUG_INTERRUPT(INT_SER2); - - // Send - if (USART_GetITStatus(AUX2_SERIAL_USART, USART_IT_TXE) != RESET) { - uint8_t txchar; - if (aux2SerialTxFifo.pop(txchar)) { - /* Write one byte to the transmit data register */ - USART_SendData(AUX2_SERIAL_USART, txchar); - } - else { - USART_ITConfig(AUX2_SERIAL_USART, USART_IT_TXE, DISABLE); - } - } - -#if defined(CLI) - if (getSelectedUsbMode() != USB_SERIAL_MODE) { - // Receive - uint32_t status = AUX2_SERIAL_USART->SR; - while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) { - uint8_t data = AUX2_SERIAL_USART->DR; - if (!(status & USART_FLAG_ERRORS)) { - switch (aux2SerialMode) { - case UART_MODE_DEBUG: - cliReceiveData(&data, 1); - break; - } - } - status = AUX2_SERIAL_USART->SR; - } - } -#endif - - // Receive - uint32_t status = AUX2_SERIAL_USART->SR; - while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) { - uint8_t data = AUX2_SERIAL_USART->DR; - UNUSED(data); - if (!(status & USART_FLAG_ERRORS)) { -#if defined(LUA) & !defined(CLI) - if (luaRxFifo && aux2SerialMode == UART_MODE_LUA) { - luaRxFifo->push(data); - } -#endif - } - status = AUX2_SERIAL_USART->SR; - } -} #endif // AUX2_SERIAL diff --git a/radio/src/targets/horus/hal.h b/radio/src/targets/horus/hal.h index b808fad37..0d9db9bce 100644 --- a/radio/src/targets/horus/hal.h +++ b/radio/src/targets/horus/hal.h @@ -455,8 +455,10 @@ #define AUX2_SERIAL_GPIO_PinSource_TX GPIO_PinSource14 #define AUX2_SERIAL_GPIO_PinSource_RX GPIO_PinSource9 #define AUX2_SERIAL_USART_IRQHandler USART6_IRQHandler + #define AUX2_SERIAL_DMA_RX DMA2 #define AUX2_SERIAL_DMA_Stream_RX DMA2_Stream1 // or DMA2_Stream2 #define AUX2_SERIAL_DMA_Channel_RX DMA_Channel_5 + #define AUX_SERIAL_DMA_Stream_RX_LL LL_DMA_STREAM_1 #define AUX2_SERIAL_PWR_GPIO GPIOB #define AUX2_SERIAL_PWR_GPIO_PIN GPIO_Pin_0 // PB.00 #if defined(RADIO_TX16S)