src/main/drivers/serial_uart_hal.c - master - Sangak/inav

src/main/drivers/serial_uart_hal.c
290 строк9 KB
Ada
Add NEXUS target for RadioMaster Nexus (Original) flight controller
11 фев 2026, 23:43
11 фев 2026, 23:43cdb2976
/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 * Authors:
 * Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
 * Hamasaki/Timecop - Initial baseflight code
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>

#include "platform.h"

#include "build/build_config.h"

#include "common/utils.h"
#include "drivers/io.h"
#include "drivers/nvic.h"

#include "serial.h"
#include "serial_uart.h"
#include "serial_uart_impl.h"

static void usartConfigurePinInversion(uartPort_t *uartPort) {
    bool inverted = uartPort->port.options & SERIAL_INVERTED;

    if (inverted)
    {
        if (uartPort->port.mode & MODE_RX)
        {
            uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_RXINVERT_INIT;
            uartPort->Handle.AdvancedInit.RxPinLevelInvert = UART_ADVFEATURE_RXINV_ENABLE;
        }
        if (uartPort->port.mode & MODE_TX)
        {
            uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_TXINVERT_INIT;
            uartPort->Handle.AdvancedInit.TxPinLevelInvert = UART_ADVFEATURE_TXINV_ENABLE;
        }
    }

#ifdef USE_UART4_SWAP
    if (uartPort->Handle.Instance == UART4) {
        uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_SWAP_INIT;
        uartPort->Handle.AdvancedInit.Swap = UART_ADVFEATURE_SWAP_ENABLE;
    }
#endif
}

static void uartReconfigure(uartPort_t *uartPort)
{
    /*RCC_PeriphCLKInitTypeDef RCC_PeriphClkInit;
    RCC_PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_USART3|
            RCC_PERIPHCLK_UART4|RCC_PERIPHCLK_UART5|RCC_PERIPHCLK_USART6|RCC_PERIPHCLK_UART7|RCC_PERIPHCLK_UART8;
    RCC_PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Uart4ClockSelection = RCC_UART4CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Uart5ClockSelection = RCC_UART5CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Usart6ClockSelection = RCC_USART6CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Uart7ClockSelection = RCC_UART7CLKSOURCE_SYSCLK;
    RCC_PeriphClkInit.Uart8ClockSelection = RCC_UART8CLKSOURCE_SYSCLK;
    HAL_RCCEx_PeriphCLKConfig(&RCC_PeriphClkInit);*/

    HAL_UART_DeInit(&uartPort->Handle);
    uartPort->Handle.Init.BaudRate = uartPort->port.baudRate;
    uartPort->Handle.Init.WordLength = (uartPort->port.options & SERIAL_PARITY_EVEN) ? UART_WORDLENGTH_9B : UART_WORDLENGTH_8B;
    uartPort->Handle.Init.StopBits = (uartPort->port.options & SERIAL_STOPBITS_2) ? USART_STOPBITS_2 : USART_STOPBITS_1;
    uartPort->Handle.Init.Parity = (uartPort->port.options & SERIAL_PARITY_EVEN) ? USART_PARITY_EVEN : USART_PARITY_NONE;
    uartPort->Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    uartPort->Handle.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    uartPort->Handle.Init.Mode = 0;

    if (uartPort->port.mode & MODE_RX)
        uartPort->Handle.Init.Mode |= UART_MODE_RX;
    if (uartPort->port.mode & MODE_TX)
        uartPort->Handle.Init.Mode |= UART_MODE_TX;


    usartConfigurePinInversion(uartPort);

    if (uartPort->port.options & SERIAL_BIDIR)
    {
        HAL_HalfDuplex_Init(&uartPort->Handle);
    }
    else
    {
        HAL_UART_Init(&uartPort->Handle);
    }

    if (uartPort->port.mode & MODE_RX) {
        /* Enable the UART Parity Error Interrupt */
        SET_BIT(uartPort->USARTx->CR1, USART_CR1_PEIE);

        /* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */
        SET_BIT(uartPort->USARTx->CR3, USART_CR3_EIE);

        /* Enable the UART Data Register not empty Interrupt */
        SET_BIT(uartPort->USARTx->CR1, USART_CR1_RXNEIE);
    }

    // Transmit IRQ
    if (uartPort->port.mode & MODE_TX) {
        /* Enable the UART Transmit Data Register Empty Interrupt */
        SET_BIT(uartPort->USARTx->CR1, USART_CR1_TXEIE);
    }
    return;
}

serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options)
{
    uartPort_t *s = NULL;

    if (false) {
#ifdef USE_UART1
    } else if (USARTx == USART1) {
        s = serialUART1(baudRate, mode, options);
#endif
#ifdef USE_UART2
    } else if (USARTx == USART2) {
        s = serialUART2(baudRate, mode, options);
#endif
#ifdef USE_UART3
    } else if (USARTx == USART3) {
        s = serialUART3(baudRate, mode, options);
#endif
#ifdef USE_UART4
    } else if (USARTx == UART4) {
        s = serialUART4(baudRate, mode, options);
#endif
#ifdef USE_UART5
    } else if (USARTx == UART5) {
        s = serialUART5(baudRate, mode, options);
#endif
#ifdef USE_UART6
    } else if (USARTx == USART6) {
        s = serialUART6(baudRate, mode, options);
#endif
#ifdef USE_UART7
    } else if (USARTx == UART7) {
        s = serialUART7(baudRate, mode, options);
#endif
#ifdef USE_UART8
    } else if (USARTx == UART8) {
        s = serialUART8(baudRate, mode, options);
#endif
    } else {
        return (serialPort_t *)s;
    }


    // common serial initialisation code should move to serialPort::init()
    s->port.rxBufferHead = s->port.rxBufferTail = 0;
    s->port.txBufferHead = s->port.txBufferTail = 0;
    // callback works for IRQ-based RX ONLY
    s->port.rxCallback = callback;
    s->port.rxCallbackData = rxCallbackData;
    s->port.mode = mode;
    s->port.baudRate = baudRate;
    s->port.options = options;

    uartReconfigure(s);

    return (serialPort_t *)s;
}

void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
{
    uartPort_t *uartPort = (uartPort_t *)instance;
    uartPort->port.baudRate = baudRate;
    uartReconfigure(uartPort);
}

void uartSetMode(serialPort_t *instance, portMode_t mode)
{
    uartPort_t *uartPort = (uartPort_t *)instance;
    uartPort->port.mode = mode;
    uartReconfigure(uartPort);
}

void uartSetOptions(serialPort_t *instance, portOptions_t options)
{
    uartPort_t *uartPort = (uartPort_t *)instance;
    uartPort->port.options = options;
    uartReconfigure(uartPort);
}

uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
{
    uartPort_t *s = (uartPort_t*)instance;

    if (s->port.rxBufferHead >= s->port.rxBufferTail) {
        return s->port.rxBufferHead - s->port.rxBufferTail;
    } else {
        return s->port.rxBufferSize + s->port.rxBufferHead - s->port.rxBufferTail;
    }
}

uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
{
    uartPort_t *s = (uartPort_t*)instance;

    uint32_t bytesUsed;

    if (s->port.txBufferHead >= s->port.txBufferTail) {
        bytesUsed = s->port.txBufferHead - s->port.txBufferTail;
    } else {
        bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail;
    }

    return (s->port.txBufferSize - 1) - bytesUsed;
}

bool isUartTransmitBufferEmpty(const serialPort_t *instance)
{
    uartPort_t *s = (uartPort_t *)instance;
    return s->port.txBufferTail == s->port.txBufferHead;
}

uint8_t uartRead(serialPort_t *instance)
{
    uint8_t ch;
    uartPort_t *s = (uartPort_t *)instance;


    ch = s->port.rxBuffer[s->port.rxBufferTail];
    if (s->port.rxBufferTail + 1 >= s->port.rxBufferSize) {
        s->port.rxBufferTail = 0;
    } else {
        s->port.rxBufferTail++;
    }

    return ch;
}

void uartWrite(serialPort_t *instance, uint8_t ch)
{
    uartPort_t *s = (uartPort_t *)instance;
    s->port.txBuffer[s->port.txBufferHead] = ch;
    if (s->port.txBufferHead + 1 >= s->port.txBufferSize) {
        s->port.txBufferHead = 0;
    } else {
        s->port.txBufferHead++;
    }

    __HAL_UART_ENABLE_IT(&s->Handle, UART_IT_TXE);
}

bool isUartIdle(serialPort_t *instance)
{
    uartPort_t *s = (uartPort_t *)instance;
    if(__HAL_UART_GET_FLAG(&s->Handle, UART_FLAG_IDLE)) {
        __HAL_UART_CLEAR_IDLEFLAG(&s->Handle);
        return true;
    } else {
        return false;
    }
}

const struct serialPortVTable uartVTable[] = {
    {
        .serialWrite = uartWrite,
        .serialTotalRxWaiting = uartTotalRxBytesWaiting,
        .serialTotalTxFree = uartTotalTxBytesFree,
        .serialRead = uartRead,
        .serialSetBaudRate = uartSetBaudRate,
        .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
        .setMode = uartSetMode,
        .setOptions = uartSetOptions,
        .isConnected = NULL,
        .writeBuf = NULL,
        .beginWrite = NULL,
        .endWrite = NULL,
        .isIdle = isUartIdle,
    }
};