kopia lustrzana https://github.com/OpenRTX/OpenRTX
Driver for STM32F4 USART3, can be used as a debug serial interface on MD3x0 devices without GPS and is enabled by defining the macro MD3x0_ENABLE_DBG
Silvano Seva
rodzic
a8b838bd47
commit
eb474d6bee
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@ -140,6 +140,7 @@ stm32f405_src = ['platform/mcu/STM32F4xx/boot/startup.cpp',
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'platform/mcu/STM32F4xx/drivers/delays.cpp',
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'platform/mcu/STM32F4xx/drivers/rtc.c',
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'platform/mcu/STM32F4xx/drivers/SPI2.c',
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'platform/mcu/STM32F4xx/drivers/USART3.cpp',
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'platform/mcu/CMSIS/Device/ST/STM32F4xx/Source/system_stm32f4xx.c']
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stm32f405_inc = ['platform/mcu/CMSIS/Include',
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@ -261,7 +261,7 @@ void *rtx_task(void *arg)
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}
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}
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#ifdef HAS_GPS
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#if defined(HAS_GPS) && !defined(MD3x0_ENABLE_DBG)
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/**
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* \internal Task function for parsing GPS data and updating radio state.
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*/
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@ -345,7 +345,7 @@ void create_threads()
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pthread_attr_setstacksize(&kbd_attr, KBD_TASK_STKSIZE);
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pthread_create(&kbd_thread, &kbd_attr, kbd_task, NULL);
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#ifdef HAS_GPS
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#if defined(HAS_GPS) && !defined(MD3x0_ENABLE_DBG)
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// Create GPS thread
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pthread_t gps_thread;
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pthread_attr_t gps_attr;
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@ -94,7 +94,11 @@ void __attribute__((naked)) USART1_IRQHandler()
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#endif
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{
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saveContext();
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#if defined(PLATFORM_MD3x0) && defined(MD3x0_ENABLE_DBG)
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asm volatile("bl _Z13usart3irqImplv");
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#else
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asm volatile("bl _Z12GpsUsartImplv");
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#endif
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restoreContext();
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}
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@ -117,7 +121,7 @@ void gps_init(const uint16_t baud)
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PORT->BRR = quot/2 + (quot & 1);
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PORT->CR3 |= USART_CR3_ONEBIT;
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PORT->CR1 = USART_CR1_RE
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| USART_CR1_RXNEIE;
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| USART_CR1_RXNEIE;
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#ifdef PLATFORM_MD3x0
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NVIC_ClearPendingIRQ(USART3_IRQn);
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@ -0,0 +1,193 @@
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/***************************************************************************
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* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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* *
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* Adapted from STM32 USART driver for miosix kernel written by Federico *
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* Terraneo. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#include <kernel/scheduler/scheduler.h>
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#include <interfaces/gpio.h>
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#include <kernel/queue.h>
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#include <miosix.h>
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#include "USART3.h"
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#define U3TXD GPIOD,8
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#define U3RXD GPIOD,8
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using namespace miosix;
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static constexpr int rxQueueMin = 16; // Minimum queue size
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DynUnsyncQueue< char > rxQueue(128); // Queue for incoming data
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Thread *rxWaiting = 0; // Thread waiting on RX
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bool rxIdle = true; // Flag for RX idle
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FastMutex rxMutex; // Mutex locked during reception
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FastMutex txMutex; // Mutex locked during transmission
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/**
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* \internal
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* Wait until all characters have been written to the serial port.
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* Needs to be callable from interrupts disabled (it is used in IRQwrite)
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*/
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inline void waitSerialTxFifoEmpty()
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{
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while((USART3->SR & USART_SR_TC) == 0) ;
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}
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/**
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* \internal
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* Interrupt handler function, called by USART3_IRQHandler.
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*/
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void __attribute__((noinline)) usart3irqImpl()
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{
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unsigned int status = USART3->SR;
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char c;
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if(status & USART_SR_RXNE)
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{
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//Always read data, since this clears interrupt flags
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c = USART3->DR;
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//If no error put data in buffer
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if((status & USART_SR_FE) == 0)
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{
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if(rxQueue.tryPut(c) == false) {/*fifo overflow*/}
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}
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rxIdle = false;
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}
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if(status & USART_SR_IDLE)
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{
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c = USART3->DR; //clears interrupt flags
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rxIdle = true;
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}
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if((status & USART_SR_IDLE) || rxQueue.size() >= rxQueueMin)
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{
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//Enough data in buffer or idle line, awake thread
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if(rxWaiting)
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{
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rxWaiting->IRQwakeup();
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if(rxWaiting->IRQgetPriority()>
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Thread::IRQgetCurrentThread()->IRQgetPriority())
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Scheduler::IRQfindNextThread();
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rxWaiting = 0;
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}
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}
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}
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void usart3_init(unsigned int baudrate)
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{
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gpio_setMode(U3RXD, ALTERNATE);
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gpio_setMode(U3TXD, ALTERNATE);
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gpio_setAlternateFunction(U3RXD, 7);
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gpio_setAlternateFunction(U3TXD, 7);
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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__DSB();
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unsigned int freq = SystemCoreClock;
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if(RCC->CFGR & RCC_CFGR_PPRE1_2) freq/= 1<<(((RCC->CFGR >> 10) & 0x3)+1);
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const unsigned int quot = 2*freq/baudrate; // 2*freq for round to nearest
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USART3->BRR = quot/2 + (quot & 1); // Round to nearest
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USART3->CR3 |= USART_CR3_ONEBIT;
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USART3->CR1 = USART_CR1_UE // Enable port
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| USART_CR1_RXNEIE // Interrupt on data received
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| USART_CR1_IDLEIE // Interrupt on idle line
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| USART_CR1_TE // Transmission enbled
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| USART_CR1_RE; // Reception enabled
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NVIC_SetPriority(USART3_IRQn,15); // Lowest priority for serial
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NVIC_EnableIRQ(USART3_IRQn);
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}
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void usart3_terminate()
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{
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waitSerialTxFifoEmpty();
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NVIC_DisableIRQ(USART3_IRQn);
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USART3->CR1 &= ~USART_CR1_UE;
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RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
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__DSB();
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}
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ssize_t usart3_readBlock(void *buffer, size_t size, off_t where)
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{
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miosix::Lock< miosix::FastMutex > l(rxMutex);
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char *buf = reinterpret_cast< char* >(buffer);
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size_t result = 0;
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FastInterruptDisableLock dLock;
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for(;;)
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{
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//Try to get data from the queue
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for(; result < size; result++)
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{
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if(rxQueue.tryGet(buf[result])==false) break;
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//This is here just not to keep IRQ disabled for the whole loop
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FastInterruptEnableLock eLock(dLock);
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}
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if(rxIdle && result > 0) break;
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if(result == size) break;
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//Wait for data in the queue
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do {
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rxWaiting = Thread::IRQgetCurrentThread();
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Thread::IRQwait();
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{
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FastInterruptEnableLock eLock(dLock);
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Thread::yield();
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}
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} while(rxWaiting);
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}
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return result;
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}
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ssize_t usart3_writeBlock(void *buffer, size_t size, off_t where)
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{
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miosix::Lock< miosix::FastMutex > l(txMutex);
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const char *buf = reinterpret_cast< const char* >(buffer);
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for(size_t i = 0; i < size; i++)
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{
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while((USART3->SR & USART_SR_TXE) == 0) ;
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USART3->DR = *buf++;
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}
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return size;
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}
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void usart3_IRQwrite(const char *str)
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{
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// We can reach here also with only kernel paused, so make sure
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// interrupts are disabled. This is important for the DMA case
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bool interrupts = areInterruptsEnabled();
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if(interrupts) fastDisableInterrupts();
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while(*str)
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{
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while((USART3->SR & USART_SR_TXE) == 0) ;
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USART3->DR = *str++;
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}
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waitSerialTxFifoEmpty();
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if(interrupts) fastEnableInterrupts();
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}
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@ -0,0 +1,84 @@
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/***************************************************************************
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* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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* *
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* Adapted from STM32 USART driver for miosix kernel written by Federico *
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* Terraneo. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#ifndef USART3_H
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#define USART3_H
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#include <stdint.h>
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#include <stddef.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initialise USART3 peripheral with a given baud rate. Serial communication is
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* configured for 8 data bits, no parity, one stop bit.
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*
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* @param baudrate: serial port baud rate, in bits per second.
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*/
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void usart3_init(unsigned int baudrate);
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/**
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* Shut down USART3 peripheral.
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*/
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void usart3_terminate();
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/**
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* Read a block of data.
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*
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* \param buffer buffer where read data will be stored.
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* \param size buffer size.
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* \param where where to read from.
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* \return number of bytes read or a negative number on failure. Note that
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* it is normal for this function to return less character than the amount
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* asked.
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*/
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ssize_t usart3_readBlock(void *buffer, size_t size, off_t where);
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/**
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* Write a block of data.
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*
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* \param buffer buffer where take data to write.
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* \param size buffer size.
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* \param where where to write to.
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* \return number of bytes written or a negative number on failure.
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*/
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ssize_t usart3_writeBlock(void *buffer, size_t size, off_t where);
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/**
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* Write a string.
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* Can be used to write debug information before the kernel is started or in
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* case of serious errors, right before rebooting.
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* Can ONLY be called when the kernel is not yet started, paused or within
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* an interrupt. This default implementation ignores writes.
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*
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* \param str the string to write. The string must be NUL terminated.
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*/
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void usart3_IRQwrite(const char *str);
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#ifdef __cplusplus
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}
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#endif
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#endif /* USART3_H */
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