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[chibios] improve uart driver

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- add uart 7 and 8
- implement set_baudrate and set_stop/parity functions
- dynamic config of uart pins
This commit is contained in:
Gautier Hattenberger
2016-09-23 18:31:46 +02:00
parent 4da4db7b5e
commit 8d820e4aab
1 changed files with 306 additions and 18 deletions
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sw/airborne/arch/chibios/mcu_periph/uart_arch.c
+306 -18
View File
@@ -37,8 +37,10 @@
#include "mcu_periph/uart_arch.h"
#include <ch.h>
#include <hal.h>
#include "mcu_periph/gpio.h"
struct SerialInit {
SerialConfig *conf;
semaphore_t *rx_sem;
semaphore_t *tx_sem;
mutex_t *rx_mtx;
@@ -101,14 +103,14 @@ static void handle_uart_tx(struct uart_periph *p)
#define USE_UART1_RX TRUE
#endif
static const SerialConfig usart1_config = {
static SerialConfig usart1_config = {
UART1_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart1_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart1_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART1_RX
@@ -147,9 +149,19 @@ static THD_WORKING_AREA(wa_thd_uart1_tx, 1024);
void uart1_init(void)
{
uart_periph_init(&uart1);
// Only set pin if enabled and not statically defined in board file
#if USE_UART1_TX && defined UART1_GPIO_PORT_TX
gpio_setup_pin_af(UART1_GPIO_PORT_TX, UART1_GPIO_TX, UART1_GPIO_AF, TRUE);
#endif
#if USE_UART1_RX && defined UART1_GPIO_PORT_RX
gpio_setup_pin_af(UART1_GPIO_PORT_RX, UART1_GPIO_RX, UART1_GPIO_AF, FALSE);
#endif
sdStart(&SD1, &usart1_config);
uart1.reg_addr = &SD1;
uart1.init_struct = &uart1_init_struct;
uart1_init_struct.conf = &usart1_config;
// Create threads
#if USE_UART1_RX
@@ -183,14 +195,14 @@ void uart1_init(void)
#define USE_UART2_RX TRUE
#endif
static const SerialConfig usart2_config = {
static SerialConfig usart2_config = {
UART2_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart2_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart2_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART2_RX
@@ -229,9 +241,19 @@ static THD_WORKING_AREA(wa_thd_uart2_tx, 1024);
void uart2_init(void)
{
uart_periph_init(&uart2);
// Only set pin if enabled and not statically defined in board file
#if USE_UART2_TX && defined UART2_GPIO_PORT_TX
gpio_setup_pin_af(UART2_GPIO_PORT_TX, UART2_GPIO_TX, UART2_GPIO_AF, TRUE);
#endif
#if USE_UART2_RX && defined UART2_GPIO_PORT_RX
gpio_setup_pin_af(UART2_GPIO_PORT_RX, UART2_GPIO_RX, UART2_GPIO_AF, FALSE);
#endif
sdStart(&SD2, &usart2_config);
uart2.reg_addr = &SD2;
uart2.init_struct = &uart2_init_struct;
uart2_init_struct.conf = &usart2_config;
// Create threads
#if USE_UART2_RX
@@ -264,14 +286,14 @@ void uart2_init(void)
#define USE_UART3_RX TRUE
#endif
static const SerialConfig usart3_config = {
static SerialConfig usart3_config = {
UART3_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart3_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart3_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART3_RX
@@ -310,9 +332,19 @@ static THD_WORKING_AREA(wa_thd_uart3_tx, 1024);
void uart3_init(void)
{
uart_periph_init(&uart3);
// Only set pin if enabled and not statically defined in board file
#if USE_UART3_TX && defined UART3_GPIO_PORT_TX
gpio_setup_pin_af(UART3_GPIO_PORT_TX, UART3_GPIO_TX, UART3_GPIO_AF, TRUE);
#endif
#if USE_UART3_RX && defined UART3_GPIO_PORT_RX
gpio_setup_pin_af(UART3_GPIO_PORT_RX, UART3_GPIO_RX, UART3_GPIO_AF, FALSE);
#endif
sdStart(&SD3, &usart3_config);
uart3.reg_addr = &SD3;
uart3.init_struct = &uart3_init_struct;
uart3_init_struct.conf = &usart3_config;
// Create threads
#if USE_UART3_RX
@@ -345,14 +377,14 @@ void uart3_init(void)
#define USE_UART4_RX TRUE
#endif
static const SerialConfig usart4_config = {
static SerialConfig usart4_config = {
UART4_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart4_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart4_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART4_RX
@@ -391,9 +423,19 @@ static THD_WORKING_AREA(wa_thd_uart4_tx, 1024);
void uart4_init(void)
{
uart_periph_init(&uart4);
// Only set pin if enabled and not statically defined in board file
#if USE_UART4_TX && defined UART4_GPIO_PORT_TX
gpio_setup_pin_af(UART4_GPIO_PORT_TX, UART4_GPIO_TX, UART4_GPIO_AF, TRUE);
#endif
#if USE_UART4_RX && defined UART4_GPIO_PORT_RX
gpio_setup_pin_af(UART4_GPIO_PORT_RX, UART4_GPIO_RX, UART4_GPIO_AF, FALSE);
#endif
sdStart(&SD4, &usart4_config);
uart4.reg_addr = &SD4;
uart4.init_struct = &uart4_init_struct;
uart4_init_struct.conf = &usart4_config;
// Create threads
#if USE_UART4_RX
@@ -426,14 +468,14 @@ void uart4_init(void)
#define USE_UART5_RX TRUE
#endif
static const SerialConfig usart5_config = {
static SerialConfig usart5_config = {
UART5_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart5_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart5_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART5_RX
@@ -472,9 +514,19 @@ static THD_WORKING_AREA(wa_thd_uart5_tx, 1024);
void uart5_init(void)
{
uart_periph_init(&uart5);
// Only set pin if enabled and not statically defined in board file
#if USE_UART5_TX && defined UART5_GPIO_PORT_TX
gpio_setup_pin_af(UART5_GPIO_PORT_TX, UART5_GPIO_TX, UART5_GPIO_AF, TRUE);
#endif
#if USE_UART5_RX && defined UART5_GPIO_PORT_RX
gpio_setup_pin_af(UART5_GPIO_PORT_RX, UART5_GPIO_RX, UART5_GPIO_AF, FALSE);
#endif
sdStart(&SD5, &usart5_config);
uart5.reg_addr = &SD5;
uart5.init_struct = &uart5_init_struct;
uart5_init_struct.conf = &usart5_config;
// Create threads
#if USE_UART5_RX
@@ -507,14 +559,14 @@ void uart5_init(void)
#define USE_UART6_RX TRUE
#endif
static const SerialConfig usart6_config = {
static SerialConfig usart6_config = {
UART6_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart6_init_struct = { NULL, NULL, NULL, NULL };
static struct SerialInit uart6_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART6_RX
@@ -553,9 +605,19 @@ static THD_WORKING_AREA(wa_thd_uart6_tx, 1024);
void uart6_init(void)
{
uart_periph_init(&uart6);
// Only set pin if enabled and not statically defined in board file
#if USE_UART6_TX && defined UART6_GPIO_PORT_TX
gpio_setup_pin_af(UART6_GPIO_PORT_TX, UART6_GPIO_TX, UART6_GPIO_AF, TRUE);
#endif
#if USE_UART6_RX && defined UART6_GPIO_PORT_RX
gpio_setup_pin_af(UART6_GPIO_PORT_RX, UART6_GPIO_RX, UART6_GPIO_AF, FALSE);
#endif
sdStart(&SD6, &usart6_config);
uart6.reg_addr = &SD6;
uart6.init_struct = &uart6_init_struct;
uart6_init_struct.conf = &usart6_config;
// Create threads
#if USE_UART6_RX
@@ -574,6 +636,188 @@ void uart6_init(void)
#endif
#if USE_UART7
#ifndef UART7_BAUD
#define UART7_BAUD SERIAL_DEFAULT_BITRATE
#endif
/* by default enable UART Tx and Rx */
#ifndef USE_UART7_TX
#define USE_UART7_TX TRUE
#endif
#ifndef USE_UART7_RX
#define USE_UART7_RX TRUE
#endif
static SerialConfig usart7_config = {
UART7_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart7_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART7_RX
static MUTEX_DECL(uart7_rx_mtx);
static SEMAPHORE_DECL(uart7_rx_sem, 0);
static __attribute__((noreturn)) void thd_uart7_rx(void *arg)
{
(void) arg;
chRegSetThreadName("uart7_rx");
while (TRUE) {
handle_uart_rx(&uart7);
}
}
static THD_WORKING_AREA(wa_thd_uart7_rx, 1024);
#endif
#if USE_UART7_TX
static MUTEX_DECL(uart7_tx_mtx);
static SEMAPHORE_DECL(uart7_tx_sem, 0);
static __attribute__((noreturn)) void thd_uart7_tx(void *arg)
{
(void) arg;
chRegSetThreadName("uart7_tx");
while (TRUE) {
handle_uart_tx(&uart7);
}
}
static THD_WORKING_AREA(wa_thd_uart7_tx, 1024);
#endif
void uart7_init(void)
{
uart_periph_init(&uart7);
// Only set pin if enabled and not statically defined in board file
#if USE_UART7_TX && defined UART7_GPIO_PORT_TX
gpio_setup_pin_af(UART7_GPIO_PORT_TX, UART7_GPIO_TX, UART7_GPIO_AF, TRUE);
#endif
#if USE_UART7_RX && defined UART7_GPIO_PORT_RX
gpio_setup_pin_af(UART7_GPIO_PORT_RX, UART7_GPIO_RX, UART7_GPIO_AF, FALSE);
#endif
sdStart(&SD7, &usart7_config);
uart7.reg_addr = &SD7;
uart7.init_struct = &uart7_init_struct;
uart7_init_struct.conf = &usart7_config;
// Create threads
#if USE_UART7_RX
uart7_init_struct.rx_mtx = &uart7_rx_mtx;
uart7_init_struct.rx_sem = &uart7_rx_sem;
chThdCreateStatic(wa_thd_uart7_rx, sizeof(wa_thd_uart7_rx),
NORMALPRIO, thd_uart7_rx, NULL);
#endif
#if USE_UART7_TX
uart7_init_struct.tx_mtx = &uart7_tx_mtx;
uart7_init_struct.tx_sem = &uart7_tx_sem;
chThdCreateStatic(wa_thd_uart7_tx, sizeof(wa_thd_uart7_tx),
NORMALPRIO, thd_uart7_tx, NULL);
#endif
}
#endif
#if USE_UART8
#ifndef UART8_BAUD
#define UART8_BAUD SERIAL_DEFAULT_BITRATE
#endif
/* by default enable UART Tx and Rx */
#ifndef USE_UART8_TX
#define USE_UART8_TX TRUE
#endif
#ifndef USE_UART8_RX
#define USE_UART8_RX TRUE
#endif
static SerialConfig usart8_config = {
UART8_BAUD, /* BITRATE */
0, /* USART CR1 */
USART_CR2_STOP1_BITS, /* USART CR2 */
0 /* USART CR3 */
};
static struct SerialInit uart8_init_struct = { NULL, NULL, NULL, NULL, NULL };
// Threads RX and TX
#if USE_UART8_RX
static MUTEX_DECL(uart8_rx_mtx);
static SEMAPHORE_DECL(uart8_rx_sem, 0);
static __attribute__((noreturn)) void thd_uart8_rx(void *arg)
{
(void) arg;
chRegSetThreadName("uart8_rx");
while (TRUE) {
handle_uart_rx(&uart8);
}
}
static THD_WORKING_AREA(wa_thd_uart8_rx, 1024);
#endif
#if USE_UART8_TX
static MUTEX_DECL(uart8_tx_mtx);
static SEMAPHORE_DECL(uart8_tx_sem, 0);
static __attribute__((noreturn)) void thd_uart8_tx(void *arg)
{
(void) arg;
chRegSetThreadName("uart8_tx");
while (TRUE) {
handle_uart_tx(&uart8);
}
}
static THD_WORKING_AREA(wa_thd_uart8_tx, 1024);
#endif
void uart8_init(void)
{
uart_periph_init(&uart8);
// Only set pin if enabled and not statically defined in board file
#if USE_UART8_TX && defined UART8_GPIO_PORT_TX
gpio_setup_pin_af(UART8_GPIO_PORT_TX, UART8_GPIO_TX, UART8_GPIO_AF, TRUE);
#endif
#if USE_UART8_RX && defined UART8_GPIO_PORT_RX
gpio_setup_pin_af(UART8_GPIO_PORT_RX, UART8_GPIO_RX, UART8_GPIO_AF, FALSE);
#endif
sdStart(&SD8, &usart8_config);
uart8.reg_addr = &SD8;
uart8.init_struct = &uart8_init_struct;
uart8_init_struct.conf = &usart8_config;
// Create threads
#if USE_UART8_RX
uart8_init_struct.rx_mtx = &uart8_rx_mtx;
uart8_init_struct.rx_sem = &uart8_rx_sem;
chThdCreateStatic(wa_thd_uart8_rx, sizeof(wa_thd_uart8_rx),
NORMALPRIO, thd_uart8_rx, NULL);
#endif
#if USE_UART8_TX
uart8_init_struct.tx_mtx = &uart8_tx_mtx;
uart8_init_struct.tx_sem = &uart8_tx_sem;
chThdCreateStatic(wa_thd_uart8_tx, sizeof(wa_thd_uart8_tx),
NORMALPRIO, thd_uart8_tx, NULL);
#endif
}
#endif
uint8_t uart_getch(struct uart_periph *p)
{
@@ -589,10 +833,18 @@ uint8_t uart_getch(struct uart_periph *p)
}
/**
* Set baudrate (from the serialConfig)
* @note Baudrate is set in sdStart, no need for implementation
* Set baudrate
*/
void uart_periph_set_baudrate(struct uart_periph *p __attribute__((unused)), uint32_t baud __attribute__((unused))) {}
void uart_periph_set_baudrate(struct uart_periph *p, uint32_t baud )
{
struct SerialInit *init_struct = (struct SerialInit*)(p->init_struct);
SerialConfig *conf = init_struct->conf;
// set new baudrate
conf->speed = baud;
// restart periph
sdStop((SerialDriver*)(p->reg_addr));
sdStart((SerialDriver*)(p->reg_addr), conf);
}
/**
* Set mode (not necessary, or can be set by SerialConfig)
@@ -600,10 +852,46 @@ void uart_periph_set_baudrate(struct uart_periph *p __attribute__((unused)), uin
void uart_periph_set_mode(struct uart_periph *p __attribute__((unused)), bool tx_enabled __attribute__((unused)),
bool rx_enabled __attribute__((unused)), bool hw_flow_control __attribute__((unused))) {}
void uart_periph_set_bits_stop_parity(struct uart_periph *p __attribute__((unused)),
uint8_t bits __attribute__((unused)), uint8_t stop __attribute__((unused)), uint8_t __attribute__((unused)) parity)
/**
* Set parity and stop bits
*/
void uart_periph_set_bits_stop_parity(struct uart_periph *p,
uint8_t bits, uint8_t stop, uint8_t parity)
{
// TBD
struct SerialInit *init_struct = (struct SerialInit*)(p->init_struct);
SerialConfig *conf = init_struct->conf;
/* Configure USART parity and data bits */
if (parity == UPARITY_EVEN) {
conf->cr1 |= USART_CR1_PCE; // set parity control bit
conf->cr1 &= ~USART_CR1_PS; // clear parity selection bit
if (bits == UBITS_7) {
conf->cr1 &= ~USART_CR1_M; // clear word length bit
} else { // 8 data bits by default
conf->cr1 |= USART_CR1_M; // set word length bit
}
} else if (parity == UPARITY_ODD) {
conf->cr1 |= USART_CR1_PCE; // set parity control bit
conf->cr1 |= USART_CR1_PS; // set parity selection bit
if (bits == UBITS_7) {
conf->cr1 &= ~USART_CR1_M; // clear word length bit
} else { // 8 data bits by default
conf->cr1 |= USART_CR1_M; // set word length bit
}
} else { // 8 data bist, NO_PARITY by default
conf->cr1 &= ~USART_CR1_PCE; // clear parity control bit
conf->cr1 &= ~USART_CR1_M; // clear word length bit
}
/* Configure USART stop bits */
conf->cr2 &= ~USART_CR2_STOP; // clear stop bits
if (stop == USTOP_2) {
conf-> cr2 |= USART_CR2_STOP2_BITS; // set bits for 2 stops
} else { // 1 stop bit by default
conf-> cr2 |= USART_CR2_STOP1_BITS; // set bits for 1 stop
}
sdStop((SerialDriver*)(p->reg_addr));
sdStart((SerialDriver*)(p->reg_addr), conf);
}
// Check free space and set a positive value for fd if valid