usart.c

[詳解]

/** @file
    @brief      STM32 シリアル(USARTドライバ)

    @date       2015.08.09
    @author     Takashi SHUDO

    NUCLEO-F411RE Virtual COM port
      USART2_TX PA2
      USART2_RX PA3

      USART6_TX PA11
      USART6_RX PA12

    32F469IDISCOVERY Virtual COM port
      USART3_TX PB10
      USART3_RX PB11
*/

#include "sysconfig.h"
#include "device.h"
#include "interrupt.h"
#include "fifo.h"
#include "tkprintf.h"
#include "device/uart_ioctl.h"
#include "task/event.h"
#include "task/syscall.h"

#include "stm32f4xx_hal.h"

#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE  // $gsc ターゲットシステムはNUCLEO_F411RE
static void init_rcc_usart2(void)
{
        __GPIOA_CLK_ENABLE();
}

static void init_gpio_usart2(void)
{
        GPIO_InitTypeDef GPIO_InitStruct;

        __USART2_CLK_ENABLE();

        GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

const struct st_device usart2_device;
#endif

#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY       // $gsc ターゲットシステムは32F469IDISCOVERY
static void init_rcc_usart3(void)
{
        __GPIOB_CLK_ENABLE();
}

static void init_gpio_usart3(void)
{
        GPIO_InitTypeDef GPIO_InitStruct;

        __USART3_CLK_ENABLE();

        GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

const struct st_device usart3_device;
#endif

static void init_rcc_usart6(void)
{
        __GPIOC_CLK_ENABLE();
}

static void init_gpio_usart6(void)
{
        GPIO_InitTypeDef GPIO_InitStruct;

        __USART6_CLK_ENABLE();

        GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

#define MAXBUFSIZE      256

typedef struct st_usart_data {
        struct st_fifo rfifo;
        unsigned char rbuf[MAXBUFSIZE];

        unsigned char tbuf[2];

        struct st_event rx_evq;
        struct st_event tx_evq;

        UART_HandleTypeDef huart;
} st_usart_data;

const struct st_device usart6_device;

static st_usart_data usart_data[3];

static void init_usart(st_usart_data *usart_dt, USART_TypeDef *usart, int irq)
{
        UART_HandleTypeDef *huart = &(usart_dt->huart);

        huart->Instance = usart;
        huart->Init.BaudRate = 115200;
        huart->Init.WordLength = UART_WORDLENGTH_8B;
        huart->Init.StopBits = UART_STOPBITS_1;
        huart->Init.Parity = UART_PARITY_NONE;
        huart->Init.Mode = UART_MODE_TX_RX;
        huart->Init.HwFlowCtl = UART_HWCONTROL_NONE;
        huart->Init.OverSampling = UART_OVERSAMPLING_16;
        HAL_UART_Init(huart);

        HAL_NVIC_EnableIRQ(irq);
        __HAL_UART_ENABLE_IT(huart, UART_IT_RXNE);
}

void inthdr_usart(unsigned int intnum, void *sp)
{
        unsigned char rd;
        st_usart_data *usart_dt;
        UART_HandleTypeDef *huart;
        USART_TypeDef *usart;

        //tkprintf("USART int(%ld)\n", intnum);
#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
        if(intnum == IRQ2VECT(USART2_IRQn)) {
                usart_dt = &usart_data[0];
        }
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
        if(intnum == IRQ2VECT(USART3_IRQn)) {
                usart_dt = &usart_data[0];
        }
#endif
        else if(intnum == IRQ2VECT(USART6_IRQn)) {
                usart_dt = &usart_data[1];
        } else {
                return;
        }
        huart = &(usart_dt->huart);
        usart = huart->Instance;

        if(usart->SR & USART_SR_RXNE) {
                usart->SR &= ~(USART_SR_RXNE);
                rd = usart->DR;
                if(write_fifo(&(usart_dt->rfifo), &rd, 1) != 0) {       // FIFOへ格納
                        // SYSERR_PRINT("FIFO Over Flow\n");
                }

#if 0   // DEBUG
                if(usart_dt == &usart_data[1]) {
                        tkprintf("%c", rd);
                }
#endif
                event_wakeup_ISR(sp, &(usart_dt->rx_evq), 0);
        }

        if(usart->SR & USART_SR_PE) {
                usart->SR &= ~(USART_SR_PE);
                // SYSERR_PRINT("USART Parity Error\n");
        }

        if(usart->SR & USART_SR_FE) {
                usart->SR &= ~(USART_SR_FE);
                // SYSERR_PRINT("USART Framing Error\n");
        }

        if(usart->SR & USART_SR_NE) {
                usart->SR &= ~(USART_SR_NE);
                // SYSERR_PRINT("USART Noise Error\n");
        }

        if(usart->SR & USART_SR_ORE) {
                usart->SR &= ~(USART_SR_ORE);
                // SYSERR_PRINT("USART OverRun Error\n");
        }

        if(usart->SR & USART_SR_TXE) {
                usart->CR1 &= ~(USART_CR1_TXEIE);
                event_wakeup_ISR(sp, &(usart_dt->tx_evq), 0);
        }
}

const static char usart_rx_eventqueue_name[2][10] = {
#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
        "usart2_rx",
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
        "usart3_rx",
#endif
        "usart6_rx"
};

const static char usart_tx_eventqueue_name[2][10] = {
#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
        "usart2_tx",
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
        "usart3_tx",
#endif
        "usart6_tx"
};

/*
  USARTを初期化する

  8bit, stop bit 1, パリティ無し, 調歩同期
*/
static int usart_init(struct st_device *dev, char *param)
{
        st_usart_data *usart_data = (dev->private_data);

        init_fifo(&(usart_data->rfifo), usart_data->rbuf, MAXBUFSIZE);

#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
        if(dev == &usart2_device) {
                eventqueue_register_ISR(&(usart_data->rx_evq),
                                        usart_rx_eventqueue_name[0], 0, 0, 0);
                eventqueue_register_ISR(&(usart_data->tx_evq),
                                        usart_tx_eventqueue_name[0],
                                        usart_data->tbuf, sizeof(unsigned char), 2);
                register_interrupt(IRQ2VECT(USART2_IRQn), inthdr_usart);

                init_rcc_usart2();
                init_gpio_usart2();
                init_usart(usart_data, USART2, USART2_IRQn);
        }
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
        if(dev == &usart3_device) {
                eventqueue_register_ISR(&(usart_data->rx_evq),
                                        usart_rx_eventqueue_name[0], 0, 0, 0);
                eventqueue_register_ISR(&(usart_data->tx_evq),
                                        usart_tx_eventqueue_name[0],
                                        usart_data->tbuf, sizeof(unsigned char), 2);
                register_interrupt(IRQ2VECT(USART3_IRQn), inthdr_usart);

                init_rcc_usart3();
                init_gpio_usart3();
                init_usart(usart_data, USART3, USART3_IRQn);
        }
#endif
        else if(dev == &usart6_device) {
                eventqueue_register_ISR(&(usart_data->rx_evq),
                                        usart_rx_eventqueue_name[1], 0, 0, 0);
                eventqueue_register_ISR(&(usart_data->tx_evq),
                                        usart_tx_eventqueue_name[1],
                                        usart_data->tbuf, sizeof(unsigned char), 2);
                register_interrupt(IRQ2VECT(USART6_IRQn), inthdr_usart);

                init_rcc_usart6();
                init_gpio_usart6();
                init_usart(usart_data, USART6, USART6_IRQn);
        } else {
                return -1;
        }

        return 0;
}

/*
  USARTからの受信データを取得する
*/
static int usart_getc(struct st_device *dev, unsigned char *rd)
{
        return read_fifo(&(((st_usart_data *)(dev->private_data))->rfifo), rd, 1);
}

#define USART_TC_TIMEOUT        100000
#define USART_TE_TIMEOUT        1000
//#define USART_TE_TIMEOUT      0

/*
  USART出力
*/
static int usart_putc(struct st_device *dev, unsigned char td)
{
        int timeout = USART_TC_TIMEOUT;
        USART_TypeDef *usart = ((st_usart_data *)(dev->private_data))->huart.Instance;

        while(!(usart->SR & USART_SR_TC)) {
                timeout --;
                if(timeout == 0) {
                        SYSERR_PRINT("USART TC timeout\n");
                        break;
                }
        }
        usart->DR = td;

#if 1   // 送信完了割り込み使用
        usart->CR1 |= USART_CR1_TXEIE;  // 送信データエンプティ割り込み許可

        if(event_wait(&(((st_usart_data *)(dev->private_data))->tx_evq), 0, USART_TE_TIMEOUT) == 0) {
                if(USART_TE_TIMEOUT != 0) {
                        SYSERR_PRINT("USART TXE timeout\n");
                }
        }
#endif

        return 1;
}

static int usart_ioctl(struct st_device *dev, unsigned int com, unsigned int arg, void *param)
{
        UART_HandleTypeDef *huart = &(((st_usart_data *)(dev->private_data))->huart);

        switch(com) {
        case IOCMD_UART_SPEED:
                HAL_UART_DeInit(huart);
                huart->Init.BaudRate = arg;
                HAL_UART_Init(huart);
                break;

        default:
                SYSERR_PRINT("Unknown ioctl(%08lX)\n", com);
                return -1;
                break;
        }

        return 0;
}

static int usart_select(struct st_device *dev, unsigned int timeout)
{
        if(fifo_size(&(((st_usart_data *)(dev->private_data))->rfifo)) != 0) {
                return timeout;
        } else {
                return event_wait(&(((st_usart_data *)(dev->private_data))->rx_evq),
                                  0, timeout);
        }
}


/*
  usart2_low
  or
  usart3_low
*/

static UART_HandleTypeDef huart_low;

/*
  USARTを初期化する
*/
static int usart_init_low(struct st_device *dev, char *param)
{
#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
        init_rcc_usart2();
        init_gpio_usart2();
        huart_low.Instance = USART2;
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
        init_rcc_usart3();
        init_gpio_usart3();
        huart_low.Instance = USART3;
#endif

        huart_low.Init.BaudRate = 115200;
        huart_low.Init.WordLength = UART_WORDLENGTH_8B;
        huart_low.Init.StopBits = UART_STOPBITS_1;
        huart_low.Init.Parity = UART_PARITY_NONE;
        huart_low.Init.Mode = UART_MODE_TX_RX;
        huart_low.Init.HwFlowCtl = UART_HWCONTROL_NONE;
        huart_low.Init.OverSampling = UART_OVERSAMPLING_16;
        HAL_UART_Init(&huart_low);

        return 0;
}

/*
  USARTからの受信データを取得する(割り込み無し)
*/
static int usart_getc_low(struct st_device *dev, unsigned char *rd)
{
        USART_TypeDef *usart = huart_low.Instance;

        if(usart->SR & USART_SR_RXNE) {
                usart->SR &= ~(USART_SR_RXNE);
                *rd = usart->DR;
                return 1;
        } else {
                return 0;
        }
}

/*
  USART出力(割り込み無し)
*/
static int usart_putc_low(struct st_device *dev, unsigned char td)
{
        int timeout = USART_TC_TIMEOUT;
        USART_TypeDef *usart = huart_low.Instance;

        while(!(usart->SR & USART_SR_TC)) {
                timeout --;
                if(timeout == 0) {
                        break;
                }
        }
        usart->DR = td;

        return 1;
}

#ifdef GSC_TARGET_SYSTEM_NUCLEO_F411RE
const struct st_device usart2_device = {
        .name   = DEF_DEV_NAME_UART,
        .explan = "STM32F4 USART2",
        .private_data = (void *)&usart_data[0],
        .register_dev = usart_init,
        .getc = usart_getc,
        .putc = usart_putc,
        .ioctl = usart_ioctl,
        .select = usart_select
};

const struct st_device usart2_low_device = {
        .name   = DEF_DEV_NAME_DEBUG,
        .explan = "Debug/Error Console",
        .private_data = (void *)&usart_data[2],
        .register_dev = usart_init_low,
        .getc = usart_getc_low,
        .putc = usart_putc_low
};
#endif
#ifdef GSC_TARGET_SYSTEM_32F469IDISCOVERY
const struct st_device usart3_device = {
        .name   = DEF_DEV_NAME_UART,
        .explan = "STM32F4 USART3",
        .private_data = (void *)&usart_data[0],
        .register_dev = usart_init,
        .getc = usart_getc,
        .putc = usart_putc,
        .ioctl = usart_ioctl,
        .select = usart_select
};

const struct st_device usart3_low_device = {
        .name   = DEF_DEV_NAME_DEBUG,
        .explan = "Debug/Error Console",
        .private_data = (void *)&usart_data[2],
        .register_dev = usart_init_low,
        .getc = usart_getc_low,
        .putc = usart_putc_low
};
#endif

const struct st_device usart6_device = {
        .name   = DEF_DEV_NAME_UART "1",
        .explan = "STM32F4 USART6",
        .private_data = (void *)&usart_data[1],
        .register_dev = usart_init,
        .getc = usart_getc,
        .putc = usart_putc,
        .ioctl = usart_ioctl,
        .select = usart_select
};