void PIOS_USART_IRQ_Handler(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;
volatile uint8_t dr = usart_dev->cfg->regs->DR;
/* Check if RXNE flag is set */
if (sr & USART_SR_RXNE) {
if (PIOS_USART_RxBufferPut(usart_id, dr) < 0) {
/* Here we could add some error handling */
}
}
/* Check if TXE flag is set */
if (sr & USART_SR_TXE) {
if (PIOS_USART_TxBufferUsed(usart_id) > 0) {
int32_t b = PIOS_USART_TxBufferGet(usart_id);
if (b < 0) {
/* Here we could add some error handling */
usart_dev->cfg->regs->DR = 0xff;
} else {
usart_dev->cfg->regs->DR = b & 0xff;
}
} else {
/* Disable TXE interrupt (TXEIE=0) */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
}
/**
* puts more than one byte onto the transmit buffer (used for atomic sends)
* \param[in] USART USART name
* \param[in] *buffer pointer to buffer to be sent
* \param[in] len number of bytes to be sent
* \return 0 if no error
* \return -1 if buffer full or cannot get all requested bytes (retry)
*/
static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (len >= fifoBuf_getFree(&usart_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -1;
}
/* Copy bytes to be transmitted into transmit buffer */
/* This operation should be atomic! */
PIOS_IRQ_Disable();
uint16_t used = fifoBuf_getUsed(&usart_dev->tx);
fifoBuf_putData(&usart_dev->tx,buffer,len);
if (used == 0) {
/* enable sending when buffer was previously empty */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
PIOS_IRQ_Enable();
/* No error */
return 0;
}
static void PIOS_USART_TxStart(uintptr_t usart_id, uint16_t tx_bytes_avail)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
/**
* returns number of used bytes in transmit buffer
* \param[in] USART USART name
* \return number of used bytes
* \return 0 if USART not available
*/
static int32_t PIOS_USART_TxBufferUsed(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
return (fifoBuf_getUsed(&usart_dev->tx));
}
static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;
volatile uint8_t dr = usart_dev->cfg->regs->DR;
/* Check if RXNE flag is set */
bool rx_need_yield = false;
if (sr & USART_SR_RXNE) {
uint8_t byte = dr;
if (usart_dev->rx_in_cb) {
uint16_t rc;
rc = (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
if (rc < 1) {
/* Lost bytes on rx */
usart_dev->rx_dropped += 1;
}
}
}
/* Check if TXE flag is set */
bool tx_need_yield = false;
if (sr & USART_SR_TXE) {
if (usart_dev->tx_out_cb) {
uint8_t b;
uint16_t bytes_to_send;
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
if (bytes_to_send > 0) {
/* Send the byte we've been given */
usart_dev->cfg->regs->DR = b;
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield || tx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
static void PIOS_USART_generic_irq_handler(uintptr_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool rx_need_yield = false;
bool tx_need_yield = false;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/* Check if RXNE flag is set */
if (USART_GetITStatus(usart_dev->cfg->regs, USART_IT_RXNE)) {
uint8_t byte = (uint8_t)USART_ReceiveData(usart_dev->cfg->regs);
if (usart_dev->rx_in_cb) {
(void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
}
}
/* Check if TXE flag is set */
if (USART_GetITStatus(usart_dev->cfg->regs, USART_IT_TXE)) {
if (usart_dev->tx_out_cb) {
uint8_t b;
uint16_t bytes_to_send;
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
if (bytes_to_send > 0) {
/* Send the byte we've been given */
USART_SendData(usart_dev->cfg->regs, b);
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
/* Check for overrun condition
* Note i really wanted to use USART_GetITStatus but it fails on getting the
* ORE flag although RXNE interrupt is enabled.
* Probably a bug in the ST library...
*/
if (USART_GetFlagStatus(usart_dev->cfg->regs, USART_FLAG_ORE)) {
USART_ClearITPendingBit(usart_dev->cfg->regs, USART_IT_ORE);
++usart_dev->error_overruns;
}
#if defined(PIOS_INCLUDE_FREERTOS)
portEND_SWITCHING_ISR((rx_need_yield || tx_need_yield) ? pdTRUE : pdFALSE);
#endif /* PIOS_INCLUDE_FREERTOS */
}
static void PIOS_USART_RegisterTxCallback(uintptr_t usart_id, pios_com_callback tx_out_cb, uintptr_t context)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usart_dev->tx_out_context = context;
usart_dev->tx_out_cb = tx_out_cb;
}
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
static void PIOS_USART_ChangeBaud(uintptr_t usart_id, uint32_t baud)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_InitTypeDef USART_InitStructure;
/* Start with a copy of the default configuration for the peripheral */
USART_InitStructure = usart_dev->cfg->init;
/* Adjust the baud rate */
USART_InitStructure.USART_BaudRate = baud;
/* Write back the new configuration */
USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
}
/**
* Gets a byte from the receive buffer
* \param[in] USART USART name
* \return -1 if no new byte available
* \return >= 0: actual byte received
*/
static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (fifoBuf_getUsed(&usart_dev->rx) == 0) {
/* Nothing new in the buffer */
return -1;
}
/* get byte - this operation should be atomic! */
uint8_t b = fifoBuf_getByte(&usart_dev->rx);
/* Return received byte */
return b;
}
/**
* puts a byte onto the receive buffer
* \param[in] USART USART name
* \param[in] b byte which should be put into Rx buffer
* \return 0 if no error
* \return -1 if buffer full (retry)
*/
static int32_t PIOS_USART_RxBufferPut(uint32_t usart_id, uint8_t b)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (fifoBuf_getFree(&usart_dev->rx) < 1) {
/* Buffer full (retry) */
return -1;
}
/* Copy received byte into receive buffer */
/* This operation should be atomic! */
fifoBuf_putByte(&usart_dev->rx, b);
/* No error */
return 0;
}
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
static void PIOS_USART_ChangeBaud(uintptr_t usart_id, uint32_t baud)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_InitTypeDef USART_InitStructure;
/* Start with a copy of the default configuration for the peripheral */
USART_InitStructure = usart_dev->cfg->init;
/* Adjust the baud rate */
USART_InitStructure.USART_BaudRate = baud;
/* Write back the new configuration */
USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
/* For some reason USART_Init results in the UE bit in USART_CR1 being cleared
* so we have to enable it again.
*/
USART_Cmd(usart_dev->cfg->regs, ENABLE);
}
// FIXME XXX Clear / reset uart here - sends NUL char else
/* Enable USART */
USART_Cmd(usart_dev->cfg->regs, ENABLE);
return 0;
out_fail:
return -1;
}
static void PIOS_USART_RxStart(uint32_t usart_id, __attribute__((unused)) uint16_t rx_bytes_avail)
{
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
}
static void PIOS_USART_TxStart(uint32_t usart_id, __attribute__((unused)) uint16_t tx_bytes_avail)
{
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
*usart_id = (uint32_t)usart_dev;
NVIC_Init((NVIC_InitTypeDef *)&cfg->irq.init);
USART_ITConfig(cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(cfg->regs, USART_IT_TXE, ENABLE);
USART_ITConfig(cfg->regs, USART_IT_ORE, DISABLE);
USART_ITConfig(cfg->regs, USART_IT_TC, DISABLE);
/* Enable USART */
USART_Cmd(cfg->regs, ENABLE);
return 0;
}
static void PIOS_USART_RxStart(uint32_t usart_id, __attribute__((unused)) uint16_t rx_bytes_avail)
{
const struct pios_usart_dev *usart_dev = PIOS_USART_validate(usart_id);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
}
static void PIOS_USART_TxStart(uint32_t usart_id, __attribute__((unused)) uint16_t tx_bytes_avail)
{
const struct pios_usart_dev *usart_dev = PIOS_USART_validate(usart_id);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
