openpilot_comma/board/drivers/uart.h

// IRQs: USART1, USART2, USART3, UART5

#define FIFO_SIZE 0x400U
typedef struct uart_ring {
  volatile uint16_t w_ptr_tx;
  volatile uint16_t r_ptr_tx;
  uint8_t elems_tx[FIFO_SIZE];
  volatile uint16_t w_ptr_rx;
  volatile uint16_t r_ptr_rx;
  uint8_t elems_rx[FIFO_SIZE];
  USART_TypeDef *uart;
  void (*callback)(struct uart_ring*);
} uart_ring;

void uart_init(USART_TypeDef *u, int baud);

bool getc(uart_ring *q, char *elem);
bool putc(uart_ring *q, char elem);

void puts(const char *a);
void puth(unsigned int i);
void hexdump(const void *a, int l);


// ***************************** serial port queues *****************************

// esp = USART1
uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                       .w_ptr_rx = 0, .r_ptr_rx = 0,
                       .uart = USART1,
                       .callback = NULL};

// lin1, K-LINE = UART5
// lin2, L-LINE = USART3
uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                        .w_ptr_rx = 0, .r_ptr_rx = 0,
                        .uart = UART5,
                        .callback = NULL};
uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                        .w_ptr_rx = 0, .r_ptr_rx = 0,
                        .uart = USART3,
                        .callback = NULL};

// debug = USART2
void debug_ring_callback(uart_ring *ring);
uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
                         .w_ptr_rx = 0, .r_ptr_rx = 0,
                         .uart = USART2,
                         .callback = debug_ring_callback};


uart_ring *get_ring_by_number(int a) {
  uart_ring *ring = NULL;
  switch(a) {
    case 0:
      ring = &debug_ring;
      break;
    case 1:
      ring = &esp_ring;
      break;
    case 2:
      ring = &lin1_ring;
      break;
    case 3:
      ring = &lin2_ring;
      break;
    default:
      ring = NULL;
      break;
  }
  return ring;
}

// ***************************** serial port *****************************

void uart_ring_process(uart_ring *q) {
  enter_critical_section();
  // TODO: check if external serial is connected
  int sr = q->uart->SR;

  if (q->w_ptr_tx != q->r_ptr_tx) {
    if ((sr & USART_SR_TXE) != 0) {
      q->uart->DR = q->elems_tx[q->r_ptr_tx];
      q->r_ptr_tx = (q->r_ptr_tx + 1U) % FIFO_SIZE;
    }
    // there could be more to send
    q->uart->CR1 |= USART_CR1_TXEIE;
  } else {
    // nothing to send
    q->uart->CR1 &= ~USART_CR1_TXEIE;
  }

  if ((sr & USART_SR_RXNE) || (sr & USART_SR_ORE)) {
    uint8_t c = q->uart->DR;  // TODO: can drop packets
    if (q != &esp_ring) {
      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
      if (next_w_ptr != q->r_ptr_rx) {
        q->elems_rx[q->w_ptr_rx] = c;
        q->w_ptr_rx = next_w_ptr;
        if (q->callback != NULL) {
          q->callback(q);
        }
      }
    }
  }

  if ((sr & USART_SR_ORE) != 0) {
    // set dropped packet flag?
  }

  exit_critical_section();
}

// interrupt boilerplate

void USART1_IRQHandler(void) { uart_ring_process(&esp_ring); }
void USART2_IRQHandler(void) { uart_ring_process(&debug_ring); }
void USART3_IRQHandler(void) { uart_ring_process(&lin2_ring); }
void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }

bool getc(uart_ring *q, char *elem) {
  bool ret = false;

  enter_critical_section();
  if (q->w_ptr_rx != q->r_ptr_rx) {
    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
    ret = true;
  }
  exit_critical_section();

  return ret;
}

bool injectc(uart_ring *q, char elem) {
  int ret = false;
  uint16_t next_w_ptr;

  enter_critical_section();
  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_rx) {
    q->elems_rx[q->w_ptr_rx] = elem;
    q->w_ptr_rx = next_w_ptr;
    ret = true;
  }
  exit_critical_section();

  return ret;
}

bool putc(uart_ring *q, char elem) {
  bool ret = false;
  uint16_t next_w_ptr;

  enter_critical_section();
  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_tx) {
    q->elems_tx[q->w_ptr_tx] = elem;
    q->w_ptr_tx = next_w_ptr;
    ret = true;
  }
  exit_critical_section();

  uart_ring_process(q);

  return ret;
}

void uart_flush(uart_ring *q) {
  while (q->w_ptr_tx != q->r_ptr_tx) {
    __WFI();
  }
}

void uart_flush_sync(uart_ring *q) {
  // empty the TX buffer
  while (q->w_ptr_tx != q->r_ptr_tx) {
    uart_ring_process(q);
  }
}

void uart_send_break(uart_ring *u) {
  while ((u->uart->CR1 & USART_CR1_SBK) != 0);
  u->uart->CR1 |= USART_CR1_SBK;
}

void clear_uart_buff(uart_ring *q) {
  enter_critical_section();
  q->w_ptr_tx = 0;
  q->r_ptr_tx = 0;
  q->w_ptr_rx = 0;
  q->r_ptr_rx = 0;
  exit_critical_section();
}

// ***************************** start UART code *****************************

#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_) * 25U) / (4U * (_BAUD_)))
#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_)) / 100U)
#define __DIVFRAQ(_PCLK_, _BAUD_)                    ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))

void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
  if (u == USART1) {
    // USART1 is on APB2
    u->BRR = __USART_BRR(48000000U, baud);
  } else {
    u->BRR = __USART_BRR(24000000U, baud);
  }
}

#define USART1_DMA_LEN 0x20
char usart1_dma[USART1_DMA_LEN];

void uart_dma_drain(void) {
  uart_ring *q = &esp_ring;

  enter_critical_section();

  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
    // disable DMA
    q->uart->CR3 &= ~USART_CR3_DMAR;
    DMA2_Stream5->CR &= ~DMA_SxCR_EN;
    while ((DMA2_Stream5->CR & DMA_SxCR_EN) != 0);

    unsigned int i;
    for (i = 0; i < (USART1_DMA_LEN - DMA2_Stream5->NDTR); i++) {
      char c = usart1_dma[i];
      uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
      if (next_w_ptr != q->r_ptr_rx) {
        q->elems_rx[q->w_ptr_rx] = c;
        q->w_ptr_rx = next_w_ptr;
      }
    }

    // reset DMA len
    DMA2_Stream5->NDTR = USART1_DMA_LEN;

    // clear interrupts
    DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
    //DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;

    // enable DMA
    DMA2_Stream5->CR |= DMA_SxCR_EN;
    q->uart->CR3 |= USART_CR3_DMAR;
  }

  exit_critical_section();
}

void DMA2_Stream5_IRQHandler(void) {
  //set_led(LED_BLUE, 1);
  uart_dma_drain();
  //set_led(LED_BLUE, 0);
}

void uart_init(USART_TypeDef *u, int baud) {
  // enable uart and tx+rx mode
  u->CR1 = USART_CR1_UE;
  uart_set_baud(u, baud);

  u->CR1 |= USART_CR1_TE | USART_CR1_RE;
  //u->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
  //u->CR2 = USART_CR2_STOP_0;
  // ** UART is ready to work **

  // enable interrupts
  if (u != USART1) {
    u->CR1 |= USART_CR1_RXNEIE;
  }

  if (u == USART1) {
    // DMA2, stream 2, channel 3
    DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
    DMA2_Stream5->NDTR = USART1_DMA_LEN;
    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);

    // channel4, increment memory, periph -> memory, enable
    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_EN;

    // this one uses DMA receiver
    u->CR3 = USART_CR3_DMAR;

    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
    NVIC_EnableIRQ(USART1_IRQn);
  } else if (u == USART2) {
    NVIC_EnableIRQ(USART2_IRQn);
  } else if (u == USART3) {
    NVIC_EnableIRQ(USART3_IRQn);
  } else if (u == UART5) {
    NVIC_EnableIRQ(UART5_IRQn);
  } else {
    // USART type undefined, skip
  }
}

void putch(const char a) {
  if (has_external_debug_serial) {
    /*while ((debug_ring.uart->SR & USART_SR_TXE) == 0);
    debug_ring.uart->DR = a;*/

    // assuming debugging is important if there's external serial connected
    while (!putc(&debug_ring, a));

    //putc(&debug_ring, a);
  } else {
    // misra-c2012-17.7: serial debug function, ok to ignore output
    (void)injectc(&debug_ring, a);
  }
}

void puts(const char *a) {
  for (const char *in = a; *in; in++) {
    if (*in == '\n') putch('\r');
    putch(*in);
  }
}

void putui(uint32_t i) {
  uint32_t i_copy = i;
  char str[11];
  uint8_t idx = 10;
  str[idx] = '\0';
  idx--;
  do {
    str[idx] = (i_copy % 10U) + 0x30U;
    idx--;
    i_copy /= 10;
  } while (i_copy != 0U);
  puts(str + idx + 1U);
}

void puth(unsigned int i) {
  char c[] = "0123456789abcdef";
  for (int pos = 28; pos != -4; pos -= 4) {
    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
  }
}

void puth2(unsigned int i) {
  char c[] = "0123456789abcdef";
  for (int pos = 4; pos != -4; pos -= 4) {
    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
  }
}

void hexdump(const void *a, int l) {
  for (int i=0; i < l; i++) {
    if ((i != 0) && ((i & 0xf) == 0)) puts("\n");
    puth2(((const unsigned char*)a)[i]);
    puts(" ");
  }
  puts("\n");
}