145 lines
4.0 KiB
C
145 lines
4.0 KiB
C
#include "serial_io.h"
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#include "blocking_io/blocking_fifo.h"
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#include "cmsis_os2.h"
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#include <stdint.h>
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#include <stm32h7xx_hal.h>
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#include <string.h>
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static void serial_io_tx_cplt(UART_HandleTypeDef *huart);
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static void serial_io_rx_cplt(UART_HandleTypeDef *huart);
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static void serial_io_thread(void * arg);
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#define SERIAL_IO_FIFO_LEN (16384)
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static UART_HandleTypeDef uart;
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static DMA_HandleTypeDef dma;
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static osEventFlagsId_t flags;
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static osThreadId_t th;
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static BFifo fifo;
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static uint8_t buf[SERIAL_IO_FIFO_LEN];
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static char c;
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#define SERIAL_IO_TX_CPLT_FLAG (0x01)
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void serial_io_init() {
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// initialize FIFO
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bfifo_create(&fifo, buf, SERIAL_IO_FIFO_LEN);
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// initialize flags and thread
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flags = osEventFlagsNew(NULL);
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osThreadAttr_t attr;
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memset(&attr, 0, sizeof(osThreadAttr_t));
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attr.name = "serialio";
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attr.stack_size = 2048;
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th = osThreadNew(serial_io_thread, NULL, &attr);
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// Enable peripheral clocks
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__HAL_RCC_GPIOD_CLK_ENABLE();
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__HAL_RCC_USART3_CLK_ENABLE();
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__HAL_RCC_DMA1_CLK_ENABLE();
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// Initialize pins as USART3 Tx and Rx
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GPIO_InitTypeDef gpio;
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// TX
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gpio.Pin = GPIO_PIN_8;
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gpio.Mode = GPIO_MODE_AF_PP;
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gpio.Alternate = GPIO_AF7_USART3;
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gpio.Speed = GPIO_SPEED_HIGH;
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gpio.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOD, &gpio);
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// RX
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gpio.Pin = GPIO_PIN_9;
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gpio.Mode = GPIO_MODE_AF_OD;
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HAL_GPIO_Init(GPIOD, &gpio);
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// Initialize USART3
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uart.Instance = USART3;
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uart.Init.BaudRate = 115200;
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uart.Init.Mode = UART_MODE_TX_RX;
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uart.Init.Parity = UART_PARITY_NONE;
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uart.Init.WordLength = UART_WORDLENGTH_8B;
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uart.Init.StopBits = UART_STOPBITS_1;
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uart.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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uart.Init.OverSampling = UART_OVERSAMPLING_16;
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uart.Init.ClockPrescaler = UART_PRESCALER_DIV16;
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// huart.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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HAL_UART_Init(&uart);
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HAL_UART_RegisterCallback(&uart, HAL_UART_TX_COMPLETE_CB_ID, serial_io_tx_cplt);
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HAL_UART_RegisterCallback(&uart, HAL_UART_RX_COMPLETE_CB_ID, serial_io_rx_cplt);
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HAL_UART_Receive_IT(&uart, (uint8_t *)&c, 1);
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HAL_NVIC_SetPriority(USART3_IRQn, 12, 0);
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HAL_NVIC_EnableIRQ(USART3_IRQn);
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// configure DMA
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dma.Instance = DMA1_Stream0;
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dma.Init.Request = DMA_REQUEST_USART3_TX;
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dma.Init.Direction = DMA_MEMORY_TO_PERIPH;
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dma.Init.PeriphInc = DMA_PINC_DISABLE;
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dma.Init.MemInc = DMA_MINC_ENABLE;
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dma.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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dma.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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dma.Init.Mode = DMA_NORMAL;
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dma.Init.Priority = DMA_PRIORITY_VERY_HIGH;
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dma.Init.FIFOMode = DMA_FIFO_THRESHOLD_FULL;
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dma.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
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dma.Init.MemBurst = DMA_MBURST_SINGLE;
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dma.Init.PeriphBurst = DMA_PBURST_SINGLE;
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HAL_DMA_Init(&dma);
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__HAL_LINKDMA(&uart, hdmatx, dma);
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 12, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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}
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void DMA1_Stream0_IRQHandler() {
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HAL_DMA_IRQHandler(&dma);
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}
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void USART3_IRQHandler() {
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HAL_UART_IRQHandler(&uart);
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}
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void serial_io_write(const char *str, uint32_t len) {
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bfifo_push(&fifo, (const uint8_t *)str, len);
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}
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// ----------
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#define SERIAL_IO_LINEBUF_LEN (256)
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static uint8_t lineBuf[SERIAL_IO_LINEBUF_LEN];
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static void serial_io_thread(void * arg) {
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while (true) {
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bfifo_wait_avail(&fifo);
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uint32_t size = bfifo_read(&fifo, lineBuf, SERIAL_IO_LINEBUF_LEN);
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bfifo_pop(&fifo, size, 0);
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HAL_UART_Transmit_DMA(&uart, lineBuf, size);
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osEventFlagsWait(flags, SERIAL_IO_TX_CPLT_FLAG, 0, osWaitForever);
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}
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}
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// ----------
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static void serial_io_tx_cplt(UART_HandleTypeDef *huart) {
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osEventFlagsSet(flags, SERIAL_IO_TX_CPLT_FLAG);
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}
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__weak void serial_io_rx_callback(const uint8_t *data, uint32_t size) {
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(void)data;
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(void)size;
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}
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static void serial_io_rx_cplt(UART_HandleTypeDef *huart) {
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char k = c;
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HAL_UART_Receive_IT(&uart, (uint8_t *)&c, 1);
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serial_io_rx_callback((const uint8_t *)&k, 1);
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} |