git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3317 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 557 insertions, 0 deletions

diff --git a/os/hal/platforms/STM32/uart_lld.c b/os/hal/platforms/STM32/uart_lld.c
new file mode 100644
index 000000000..a9303744d
--- /dev/null
+++ b/os/hal/platforms/STM32/uart_lld.c
@@ -0,0 +1,557 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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.

+

+    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    STM32/uart_lld.c

+ * @brief   STM32 low level UART driver code.

+ *

+ * @addtogroup UART

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_UART || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/** @brief USART1 UART driver identifier.*/

+#if STM32_UART_USE_USART1 || defined(__DOXYGEN__)

+UARTDriver UARTD1;

+#endif

+

+/** @brief USART2 UART driver identifier.*/

+#if STM32_UART_USE_USART2 || defined(__DOXYGEN__)

+UARTDriver UARTD2;

+#endif

+

+/** @brief USART3 UART driver identifier.*/

+#if STM32_UART_USE_USART3 || defined(__DOXYGEN__)

+UARTDriver UARTD3;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/**

+ * @brief   Status bits translation.

+ *

+ * @param[in] sr        USART SR register value

+ *

+ * @return  The error flags.

+ */

+static uartflags_t translate_errors(uint16_t sr) {

+  uartflags_t sts = 0;

+

+  if (sr & USART_SR_ORE)

+    sts |= UART_OVERRUN_ERROR;

+  if (sr & USART_SR_PE)

+    sts |= UART_PARITY_ERROR;

+  if (sr & USART_SR_FE)

+    sts |= UART_FRAMING_ERROR;

+  if (sr & USART_SR_NE)

+    sts |= UART_NOISE_ERROR;

+  if (sr & USART_SR_LBD)

+    sts |= UART_BREAK_DETECTED;

+  return sts;

+}

+

+/**

+ * @brief   Puts the receiver in the UART_RX_IDLE state.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ */

+static void set_rx_idle_loop(UARTDriver *uartp) {

+  uint32_t mode;

+  

+  /* RX DMA channel preparation, if the char callback is defined then the

+     TCIE interrupt is enabled too.*/

+  if (uartp->config->rxchar_cb == NULL)

+    mode = STM32_DMA_CR_DIR_P2M | STM32_DMA_CR_CIRC | STM32_DMA_CR_TEIE;

+  else

+    mode = STM32_DMA_CR_DIR_P2M | STM32_DMA_CR_CIRC | STM32_DMA_CR_TEIE |

+           STM32_DMA_CR_TCIE;

+  dmaStreamSetMemory0(uartp->dmarx, &uartp->rxbuf);

+  dmaStreamSetTransactionSize(uartp->dmarx, 1);

+  dmaStreamSetMode(uartp->dmarx, uartp->dmamode | mode);

+  dmaStreamEnable(uartp->dmarx);

+}

+

+/**

+ * @brief   USART de-initialization.

+ * @details This function must be invoked with interrupts disabled.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ */

+static void usart_stop(UARTDriver *uartp) {

+

+  /* Stops RX and TX DMA channels.*/

+  dmaStreamDisable(uartp->dmarx);

+  dmaStreamClearInterrupt(uartp->dmarx);

+  dmaStreamDisable(uartp->dmatx);

+  dmaStreamClearInterrupt(uartp->dmatx);

+  

+  /* Stops USART operations.*/

+  uartp->usart->CR1 = 0;

+  uartp->usart->CR2 = 0;

+  uartp->usart->CR3 = 0;

+}

+

+/**

+ * @brief   USART initialization.

+ * @details This function must be invoked with interrupts disabled.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ */

+static void usart_start(UARTDriver *uartp) {

+  uint16_t cr1;

+  USART_TypeDef *u = uartp->usart;

+

+  /* Defensive programming, starting from a clean state.*/

+  usart_stop(uartp);

+

+  /* Baud rate setting.*/

+  if (uartp->usart == USART1)

+    u->BRR = STM32_PCLK2 / uartp->config->speed;

+  else

+    u->BRR = STM32_PCLK1 / uartp->config->speed;

+

+  /* Resetting eventual pending status flags.*/

+  (void)u->SR;  /* SR reset step 1.*/

+  (void)u->DR;  /* SR reset step 2.*/

+  u->SR = 0;

+

+  /* Note that some bits are enforced because required for correct driver

+     operations.*/

+  if (uartp->config->txend2_cb == NULL)

+    cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE;

+  else

+    cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE |

+          USART_CR1_TCIE;

+  u->CR1 = uartp->config->cr1 | cr1;

+  u->CR2 = uartp->config->cr2 | USART_CR2_LBDIE;

+  u->CR3 = uartp->config->cr3 | USART_CR3_DMAT | USART_CR3_DMAR |

+                                USART_CR3_EIE;

+

+  /* Starting the receiver idle loop.*/

+  set_rx_idle_loop(uartp);

+}

+

+/**

+ * @brief   RX DMA common service routine.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ * @param[in] flags     pre-shifted content of the ISR register

+ */

+static void uart_lld_serve_rx_end_irq(UARTDriver *uartp, uint32_t flags) {

+

+  /* DMA errors handling.*/

+#if defined(STM32_UART_DMA_ERROR_HOOK)

+  if ((flags & STM32_DMA_ISR_TEIF) != 0) {

+    STM32_UART_DMA_ERROR_HOOK(uartp);

+  }

+#else

+  (void)flags;

+#endif

+

+  if (uartp->rxstate == UART_RX_IDLE) {

+    /* Receiver in idle state, a callback is generated, if enabled, for each

+       received character and then the driver stays in the same state.*/

+    if (uartp->config->rxchar_cb != NULL)

+      uartp->config->rxchar_cb(uartp, uartp->rxbuf);

+  }

+  else {

+    /* Receiver in active state, a callback is generated, if enabled, after

+       a completed transfer.*/

+    dmaStreamDisable(uartp->dmarx);

+    uartp->rxstate = UART_RX_COMPLETE;

+    if (uartp->config->rxend_cb != NULL)

+      uartp->config->rxend_cb(uartp);

+    /* If the callback didn't explicitly change state then the receiver

+       automatically returns to the idle state.*/

+    if (uartp->rxstate == UART_RX_COMPLETE) {

+      uartp->rxstate = UART_RX_IDLE;

+      set_rx_idle_loop(uartp);

+    }

+  }

+}

+

+/**

+ * @brief   TX DMA common service routine.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ * @param[in] flags     pre-shifted content of the ISR register

+ */

+static void uart_lld_serve_tx_end_irq(UARTDriver *uartp, uint32_t flags) {

+

+  /* DMA errors handling.*/

+#if defined(STM32_UART_DMA_ERROR_HOOK)

+  if ((flags & STM32_DMA_ISR_TEIF) != 0) {

+    STM32_UART_DMA_ERROR_HOOK(uartp);

+  }

+#else

+  (void)flags;

+#endif

+

+  dmaStreamDisable(uartp->dmatx);

+  /* A callback is generated, if enabled, after a completed transfer.*/

+  uartp->txstate = UART_TX_COMPLETE;

+  if (uartp->config->txend1_cb != NULL)

+    uartp->config->txend1_cb(uartp);

+  /* If the callback didn't explicitly change state then the transmitter

+     automatically returns to the idle state.*/

+  if (uartp->txstate == UART_TX_COMPLETE)

+    uartp->txstate = UART_TX_IDLE;

+}

+

+/**

+ * @brief   USART common service routine.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ */

+static void serve_usart_irq(UARTDriver *uartp) {

+  uint16_t sr;

+  USART_TypeDef *u = uartp->usart;

+  

+  sr = u->SR;   /* SR reset step 1.*/

+  (void)u->DR;  /* SR reset step 2.*/

+  if (sr & (USART_SR_LBD | USART_SR_ORE | USART_SR_NE |

+            USART_SR_FE  | USART_SR_PE)) {

+    u->SR = ~USART_SR_LBD;

+    if (uartp->config->rxerr_cb != NULL)

+      uartp->config->rxerr_cb(uartp, translate_errors(sr));

+  }

+  if (sr & USART_SR_TC) {

+    u->SR = ~USART_SR_TC;

+    /* End of transmission, a callback is generated.*/

+    if (uartp->config->txend2_cb != NULL)

+      uartp->config->txend2_cb(uartp);

+  }

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if STM32_UART_USE_USART1 || defined(__DOXYGEN__)

+/**

+ * @brief   USART1 IRQ handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(USART1_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  serve_usart_irq(&UARTD1);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_UART_USE_USART1 */

+

+#if STM32_UART_USE_USART2 || defined(__DOXYGEN__)

+/**

+ * @brief   USART2 IRQ handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(USART2_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  serve_usart_irq(&UARTD2);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_UART_USE_USART2 */

+

+#if STM32_UART_USE_USART3 || defined(__DOXYGEN__)

+/**

+ * @brief   USART3 IRQ handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(USART3_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  serve_usart_irq(&UARTD3);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_UART_USE_USART3 */

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level UART driver initialization.

+ *

+ * @notapi

+ */

+void uart_lld_init(void) {

+

+#if STM32_UART_USE_USART1

+  uartObjectInit(&UARTD1);

+  UARTD1.usart   = USART1;

+  UARTD1.dmarx   = STM32_DMA1_STREAM5;

+  UARTD1.dmatx   = STM32_DMA1_STREAM4;

+#endif

+

+#if STM32_UART_USE_USART2

+  uartObjectInit(&UARTD2);

+  UARTD2.usart   = USART2;

+  UARTD2.dmarx   = STM32_DMA1_STREAM6;

+  UARTD2.dmatx   = STM32_DMA1_STREAM7;

+#endif

+

+#if STM32_UART_USE_USART3

+  uartObjectInit(&UARTD3);

+  UARTD3.usart   = USART3;

+  UARTD3.dmarx   = STM32_DMA1_STREAM3;

+  UARTD3.dmatx   = STM32_DMA1_STREAM2;

+#endif

+}

+

+/**

+ * @brief   Configures and activates the UART peripheral.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ *

+ * @notapi

+ */

+void uart_lld_start(UARTDriver *uartp) {

+

+  if (uartp->state == UART_STOP) {

+#if STM32_UART_USE_USART1

+    if (&UARTD1 == uartp) {

+      bool_t b;

+      b = dmaStreamAllocate(STM32_DMA1_STREAM4,

+                            STM32_UART_USART1_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_tx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #1", "stream already allocated");

+      b = dmaStreamAllocate(STM32_DMA1_STREAM5,

+                            STM32_UART_USART1_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_rx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #2", "stream already allocated");

+      RCC->APB2ENR |= RCC_APB2ENR_USART1EN;

+      NVICEnableVector(USART1_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_UART_USART1_IRQ_PRIORITY));

+    }

+#endif

+

+#if STM32_UART_USE_USART2

+    if (&UARTD2 == uartp) {

+      bool_t b;

+      b = dmaStreamAllocate(STM32_DMA1_STREAM6,

+                            STM32_UART_USART2_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_rx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #3", "stream already allocated");

+      b = dmaStreamAllocate(STM32_DMA1_STREAM7,

+                            STM32_UART_USART2_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_tx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #4", "stream already allocated");

+      RCC->APB1ENR |= RCC_APB1ENR_USART2EN;

+      NVICEnableVector(USART2_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_UART_USART2_IRQ_PRIORITY));

+    }

+#endif

+

+#if STM32_UART_USE_USART3

+    if (&UARTD3 == uartp) {

+      bool_t b;

+      b = dmaStreamAllocate(STM32_DMA1_STREAM2,

+                            STM32_UART_USART3_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_tx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #5", "stream already allocated");

+      b = dmaStreamAllocate(STM32_DMA1_STREAM3,

+                            STM32_UART_USART3_IRQ_PRIORITY,

+                            (stm32_dmaisr_t)uart_lld_serve_rx_end_irq,

+                            (void *)uartp);

+      chDbgAssert(!b, "uart_lld_start(), #6", "stream already allocated");

+      RCC->APB1ENR |= RCC_APB1ENR_USART3EN;

+      NVICEnableVector(USART3_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_UART_USART3_IRQ_PRIORITY));

+    }

+#endif

+

+    /* Static DMA setup, the transfer size depends on the USART settings,

+       it is 16 bits if M=1 and PCE=0 else it is 8 bits.*/

+    uartp->dmamode = STM32_DMA_CR_PL(STM32_UART_USART1_DMA_PRIORITY);

+    if ((uartp->config->cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M)

+      uartp->dmamode |= STM32_DMA_CR_PSIZE_HWORD | STM32_DMA_CR_MSIZE_HWORD;

+    dmaStreamSetPeripheral(uartp->dmarx, &uartp->usart->DR);

+    dmaStreamSetPeripheral(uartp->dmatx, &uartp->usart->DR);

+    uartp->rxbuf = 0;

+  }

+

+  uartp->rxstate = UART_RX_IDLE;

+  uartp->txstate = UART_TX_IDLE;

+  usart_start(uartp);

+}

+

+/**

+ * @brief   Deactivates the UART peripheral.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ *

+ * @notapi

+ */

+void uart_lld_stop(UARTDriver *uartp) {

+

+  if (uartp->state == UART_READY) {

+    usart_stop(uartp);

+

+#if STM32_UART_USE_USART1

+    if (&UARTD1 == uartp) {

+      dmaStreamRelease(STM32_DMA1_STREAM4);

+      dmaStreamRelease(STM32_DMA1_STREAM5);

+      NVICDisableVector(USART1_IRQn);

+      RCC->APB2ENR &= ~RCC_APB2ENR_USART1EN;

+      return;

+    }

+#endif

+

+#if STM32_UART_USE_USART2

+    if (&UARTD2 == uartp) {

+      dmaStreamRelease(STM32_DMA1_STREAM6);

+      dmaStreamRelease(STM32_DMA1_STREAM7);

+      NVICDisableVector(USART2_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_USART2EN;

+      return;

+    }

+#endif

+

+#if STM32_UART_USE_USART3

+    if (&UARTD3 == uartp) {

+      dmaStreamRelease(STM32_DMA1_STREAM2);

+      dmaStreamRelease(STM32_DMA1_STREAM3);

+      NVICDisableVector(USART3_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;

+      return;

+    }

+#endif

+  }

+}

+

+/**

+ * @brief   Starts a transmission on the UART peripheral.

+ * @note    The buffers are organized as uint8_t arrays for data sizes below

+ *          or equal to 8 bits else it is organized as uint16_t arrays.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ * @param[in] n         number of data frames to send

+ * @param[in] txbuf     the pointer to the transmit buffer

+ *

+ * @notapi

+ */

+void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf) {

+

+  /* TX DMA channel preparation and start.*/

+  dmaStreamSetMemory0(uartp->dmatx, txbuf);

+  dmaStreamSetTransactionSize(uartp->dmatx, n);

+  dmaStreamSetMode(uartp->dmatx, uartp->dmamode    | STM32_DMA_CR_DIR_M2P |

+                                 STM32_DMA_CR_MINC | STM32_DMA_CR_TEIE    |

+                                 STM32_DMA_CR_TCIE);

+  dmaStreamEnable(uartp->dmatx);

+}

+

+/**

+ * @brief   Stops any ongoing transmission.

+ * @note    Stopping a transmission also suppresses the transmission callbacks.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ *

+ * @return              The number of data frames not transmitted by the

+ *                      stopped transmit operation.

+ *

+ * @notapi

+ */

+size_t uart_lld_stop_send(UARTDriver *uartp) {

+

+  dmaStreamDisable(uartp->dmatx);

+  dmaStreamClearInterrupt(uartp->dmatx);

+  return dmaStreamGetTransactionSize(uartp->dmatx);

+}

+

+/**

+ * @brief   Starts a receive operation on the UART peripheral.

+ * @note    The buffers are organized as uint8_t arrays for data sizes below

+ *          or equal to 8 bits else it is organized as uint16_t arrays.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ * @param[in] n         number of data frames to send

+ * @param[out] rxbuf    the pointer to the receive buffer

+ *

+ * @notapi

+ */

+void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf) {

+

+  /* Stopping previous activity (idle state).*/

+  dmaStreamDisable(uartp->dmarx);

+  dmaStreamClearInterrupt(uartp->dmarx);

+

+  /* RX DMA channel preparation and start.*/

+  dmaStreamSetMemory0(uartp->dmarx, rxbuf);

+  dmaStreamSetTransactionSize(uartp->dmarx, n);

+  dmaStreamSetMode(uartp->dmarx, uartp->dmamode    | STM32_DMA_CR_DIR_P2M |

+                                 STM32_DMA_CR_MINC | STM32_DMA_CR_TEIE    |

+                                 STM32_DMA_CR_TCIE);

+  dmaStreamEnable(uartp->dmarx);

+}

+

+/**

+ * @brief   Stops any ongoing receive operation.

+ * @note    Stopping a receive operation also suppresses the receive callbacks.

+ *

+ * @param[in] uartp     pointer to the @p UARTDriver object

+ *

+ * @return              The number of data frames not received by the

+ *                      stopped receive operation.

+ *

+ * @notapi

+ */

+size_t uart_lld_stop_receive(UARTDriver *uartp) {

+  size_t n;

+

+  dmaStreamDisable(uartp->dmarx);

+  dmaStreamClearInterrupt(uartp->dmarx);

+  n = dmaStreamGetTransactionSize(uartp->dmarx);

+  set_rx_idle_loop(uartp);

+  return n;

+}

+

+#endif /* HAL_USE_UART */

+

+/** @} */