bms/Application/bsp/uart.c

#include "uart.h"
#include "bsp/shark_bsp.h"
#include "libs/shark_libs.h"

#define SHARK_UART_BAUDRATE				38400

#define SHARK_UART0_com					USART0
#define SHARK_UART0_tx_port				GPIOA
#define SHARK_UART0_tx_pin				GPIO_PIN_9
#define SHARK_UART0_rx_port				GPIOA
#define SHARK_UART0_rx_pin				GPIO_PIN_10
#define SHARK_UART0_irq					USART0_IRQn
#define SHARK_UART0_clk					RCU_USART0
#define SHARK_UART0_tx_gpio_clk			RCU_GPIOA
#define SHARK_UART0_rx_gpio_clk			RCU_GPIOA
#define SHARK_UART0_tx_dma				DMA
#define SHARK_UART0_tx_dma_ch			DMA_CH1
#define SHARK_UART0_tx_dma_clk			RCU_DMA
#define SHARK_UART0_rx_dma				DMA
#define SHARK_UART0_rx_dma_ch			DMA_CH2
#define SHARK_UART0_rx_dma_clk			RCU_DMA

#define SHARK_UART1_com					USART1
#define SHARK_UART1_tx_port				GPIOA
#define SHARK_UART1_tx_pin				GPIO_PIN_2
#define SHARK_UART1_rx_port				GPIOA
#define SHARK_UART1_rx_pin				GPIO_PIN_3
#define SHARK_UART1_irq					USART1_IRQn
#define SHARK_UART1_clk					RCU_USART1
#define SHARK_UART1_tx_gpio_clk			RCU_GPIOA
#define SHARK_UART1_rx_gpio_clk			RCU_GPIOA
#define SHARK_UART1_tx_dma				DMA
#define SHARK_UART1_tx_dma_ch			DMA_CH3
#define SHARK_UART1_tx_dma_clk			RCU_DMA
#define SHARK_UART1_rx_dma				DMA
#define SHARK_UART1_rx_dma_ch			DMA_CH4
#define SHARK_UART1_rx_dma_clk			RCU_DMA

#define SHARK_UART_com					SHARK_UART0_com
#define SHARK_UART_tx_port				SHARK_UART0_tx_port
#define SHARK_UART_tx_pin				SHARK_UART0_tx_pin
#define SHARK_UART_rx_port				SHARK_UART0_rx_port
#define SHARK_UART_rx_pin				SHARK_UART0_rx_pin
#define SHARK_UART_irq					SHARK_UART0_irq
#define SHARK_UART_clk					SHARK_UART0_clk
#define SHARK_UART_tx_gpio_clk			SHARK_UART0_tx_gpio_clk
#define SHARK_UART_rx_gpio_clk			SHARK_UART0_rx_gpio_clk
// #define SHARK_UART_tx_dma				SHARK_UART0_tx_dma
#define SHARK_UART_tx_dma_ch			SHARK_UART0_tx_dma_ch
#define SHARK_UART_tx_dma_clk			SHARK_UART0_tx_dma_clk
// #define SHARK_UART_rx_dma				SHARK_UART0_rx_dma
#define SHARK_UART_rx_dma_ch			SHARK_UART0_rx_dma_ch
#define SHARK_UART_rx_dma_clk			SHARK_UART0_rx_dma_clk

// ================================================================================

#define SHARK_UART_CACHE_SIZE \
	(SHARK_UART_TX_MEM_SIZE + SHARK_UART_RX_MEM_SIZE)

#define SHARK_UART_DMA_ADDR(index) \
	(SHARK_UART_com + 0x04)

#define SHARK_UART_DMA_CHCTL_TX() \
	DMA_CHCTL(SHARK_UART_tx_dma_ch)

#define SHARK_UART_DMA_CHCNT_TX() \
	DMA_CHCNT(SHARK_UART_tx_dma_ch)

#define SHARK_UART_DMA_CHMADDR_TX() \
	DMA_CHMADDR(SHARK_UART_tx_dma_ch)

#define SHARK_UART_DMA_CHCTL_RX() \
	DMA_CHCTL(SHARK_UART_rx_dma_ch)

#define SHARK_UART_DMA_CHCNT_RX() \
	DMA_CHCNT(SHARK_UART_rx_dma_ch)

#define SHARK_UART_DMA_CHMADDR_RX() \
	DMA_CHMADDR(SHARK_UART_rx_dma_ch)

// ================================================================================

static u8 shark_uart_tx_cache[SHARK_UART_TX_MEM_SIZE];
static u8 shark_uart_rx_cache[SHARK_UART_RX_MEM_SIZE];

static u16 shark_uart_tx_length;
static u16 shark_uart_tx_crc16;

static u16 shark_uart_rx_index;
static byte_queue_t shark_uart_tx_queue;

// ================================================================================

static bool shark_uart_on_frame_received(u8 *buff, u16 length)
{
	u16 crc0 = shark_decode_u16(buff + length);
	u16 crc1 = shark_crc16_check(buff, length);

	if (crc0 != crc1) {
		return false;
	}

	return true;
}

static void shark_uart_on_data_received(u8 *buff, u16 size)
{
	static bool escape = false;
	static u8 length = 0xFF;
	static u8 frame[16];
	u8 *buff_end;

	for (buff_end = buff + size; buff < buff_end; buff++) {
		u8 value = *buff;

		switch (value) {
		case CH_START:
			length = 0;
			escape = false;
			break;

		case CH_END:
			if (length > 2 && length != 0xFF) {
				shark_uart_on_frame_received(frame, length - 2);
			}

			length = 0xFF;
			break;

		case CH_ESC:
			escape = true;
			break;

		default:
			if (escape) {
				escape = false;

				switch (value) {
				case CH_ESC_START:
					value = CH_START;
					break;

				case CH_ESC_END:
					value = CH_END;
					break;

				case CH_ESC_ESC:
					value = CH_ESC;
					break;

				default:
					length = 0xFF;
				}
			}

			if (length < sizeof(frame)) {
				frame[length] = value;
				length++;
			} else {
				length = 0xFF;
			}
		}
	}
}

static void shark_uart_dma_tx(void)
{
	u32 value = SHARK_UART_DMA_CHCTL_TX();

	if (value & DMA_CHXCTL_CHEN) {
		if (SET != dma_flag_get(SHARK_UART_tx_dma_ch, DMA_FLAG_FTF)) {
			return;
		}

		byte_queue_skip(&shark_uart_tx_queue, shark_uart_tx_length);
		SHARK_UART_DMA_CHCTL_TX() = value & (~DMA_CHXCTL_CHEN);
	}

	shark_uart_tx_length = byte_queue_peek(&shark_uart_tx_queue);
	if (shark_uart_tx_length > 0) {
		SHARK_UART_DMA_CHCNT_TX() = shark_uart_tx_length;
		SHARK_UART_DMA_CHMADDR_TX() = (u32) byte_queue_head(&shark_uart_tx_queue);

		dma_flag_clear(SHARK_UART_tx_dma_ch, DMA_FLAG_FTF);
		SHARK_UART_DMA_CHCTL_TX() = value | DMA_CHXCTL_CHEN;
	}
}

static void shark_uart_dma_rx(void)
{
	u16 index = shark_uart_rx_index;

	shark_uart_rx_index = sizeof(shark_uart_rx_cache) - SHARK_UART_DMA_CHCNT_RX();

	if (shark_uart_rx_index < index) {
		shark_uart_on_data_received(shark_uart_rx_cache + index, sizeof(shark_uart_rx_cache) - index);
		shark_uart_on_data_received(shark_uart_rx_cache, shark_uart_rx_index);
	} else {
		shark_uart_on_data_received(shark_uart_rx_cache + index, shark_uart_rx_index - index);
	}
}

void shark_uart_write(const u8 *buff, u16 size)
{
	while (size > 0) {
		u16 length = byte_queue_write(&shark_uart_tx_queue, buff, size);

		if (length == size) {
			break;
		}

		shark_uart_dma_tx();
		buff += length;
		size -= length;
	}
}

void shark_uart_write_byte(u8 value)
{
	shark_uart_write(&value, 1);
}

void shark_uart_dma_init(dma_channel_enum channelx, u8 direction, u32 periph_addr, void *memory_addr, u16 length)
{
	u32 ctl;

	DMA_CHCTL(channelx) &= ~DMA_CHXCTL_CHEN;

	/* configure peripheral base address */
	DMA_CHPADDR(channelx) = periph_addr;

	/* configure memory base address */
	DMA_CHMADDR(channelx) = (u32) memory_addr;

	/* configure the number of remaining data to be transferred */
	DMA_CHCNT(channelx) = length;

	/* configure peripheral transfer width,memory transfer width and priority */
	ctl = DMA_CHCTL(channelx);
	ctl &= ~(DMA_CHXCTL_PWIDTH | DMA_CHXCTL_MWIDTH | DMA_CHXCTL_PRIO);
	ctl |= (DMA_PERIPHERAL_WIDTH_8BIT | DMA_MEMORY_WIDTH_8BIT | DMA_PRIORITY_ULTRA_HIGH);
	DMA_CHCTL(channelx) = ctl;

	/* configure peripheral increasing mode */
	DMA_CHCTL(channelx) &= ~DMA_CHXCTL_PNAGA;

	/* configure memory increasing mode */
	DMA_CHCTL(channelx) |= DMA_CHXCTL_MNAGA;

	/* configure the direction of data transfer */
	if (DMA_PERIPHERAL_TO_MEMORY == direction) {
		DMA_CHCTL(channelx) &= ~DMA_CHXCTL_DIR;
	} else {
		DMA_CHCTL(channelx) |= DMA_CHXCTL_DIR;
	}
}


static u32 shark_uart_handler(void)
{
	shark_uart_dma_rx();
	shark_uart_dma_tx();
	return 0;
}

static shark_task_t shark_uart_task = {
	.handler = shark_uart_handler
};

void shark_uart_init(void)
{
	byte_queue_init(&shark_uart_tx_queue, shark_uart_tx_cache, sizeof(shark_uart_tx_cache));

	rcu_periph_clock_enable(SHARK_UART_clk);
	rcu_periph_clock_enable(SHARK_UART_rx_gpio_clk);
	rcu_periph_clock_enable(SHARK_UART_tx_gpio_clk);

	gpio_mode_set(SHARK_UART_tx_port, GPIO_MODE_AF, GPIO_PUPD_NONE, SHARK_UART_tx_pin);
	gpio_mode_set(SHARK_UART_rx_port, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, SHARK_UART_rx_pin);

	usart_deinit(SHARK_UART_com);
	usart_baudrate_set(SHARK_UART_com, SHARK_UART_BAUDRATE);

	usart_word_length_set(SHARK_UART_com, USART_WL_8BIT);
	usart_stop_bit_set(SHARK_UART_com, USART_STB_1BIT);
	usart_parity_config(SHARK_UART_com, USART_PM_NONE);
	usart_hardware_flow_rts_config(SHARK_UART_com, USART_RTS_DISABLE);
	usart_hardware_flow_cts_config(SHARK_UART_com, USART_CTS_DISABLE);
	usart_receive_config(SHARK_UART_com, USART_RECEIVE_ENABLE);
	usart_transmit_config(SHARK_UART_com, USART_TRANSMIT_ENABLE);

	rcu_periph_clock_enable(SHARK_UART_tx_dma_clk);
	shark_uart_dma_init(SHARK_UART_tx_dma_ch, DMA_MEMORY_TO_PERIPHERAL, SHARK_UART_DMA_ADDR(), shark_uart_tx_cache, 0);
	dma_circulation_disable(SHARK_UART_tx_dma_ch);
	usart_dma_transmit_config(SHARK_UART_com, USART_DENT_ENABLE);

	rcu_periph_clock_enable(SHARK_UART_rx_dma_clk);
	shark_uart_dma_init(SHARK_UART_rx_dma_ch, DMA_PERIPHERAL_TO_MEMORY, SHARK_UART_DMA_ADDR(), shark_uart_rx_cache, sizeof(shark_uart_rx_cache));
	dma_circulation_enable(SHARK_UART_rx_dma_ch);
	dma_channel_enable(SHARK_UART_rx_dma_ch);
	usart_dma_receive_config(SHARK_UART_com, USART_DENR_ENABLE);

	usart_enable(SHARK_UART_com);

	shark_task_add(&shark_uart_task);
}

void shark_uart_write_byte_esc(u8 value)
{
	switch (value) {
	case CH_START:
		shark_uart_write_byte(CH_ESC);
		value = CH_ESC_START;
		break;

	case CH_END:
		shark_uart_write_byte(CH_ESC);
		value = CH_ESC_END;
		break;

	case CH_ESC:
		shark_uart_write_byte(CH_ESC);
		value = CH_ESC_ESC;
		break;
	}

	shark_uart_write_byte(value);
}

void shark_uart_write_esc(const u8 *buff, u16 length)
{
	const u8 *buff_end;

	for (buff_end = buff + length; buff < buff_end; buff++) {
		shark_uart_write_byte_esc(*buff);
	}
}

void shark_uart_tx_start(void)
{
	shark_uart_write_byte(CH_START);
	shark_uart_tx_crc16 = 0;
}

void shark_uart_tx_continue(const void *buff, u16 length)
{
	shark_uart_write_esc((const u8 *) buff, length);
	shark_uart_tx_crc16 = shark_crc16_update(shark_uart_tx_crc16, (const u8 *) buff, length);
}

void shark_uart_tx_end(void)
{
	shark_uart_write_esc((u8 *) &shark_uart_tx_crc16, sizeof(shark_uart_tx_crc16));
	shark_uart_write_byte(CH_END);
}