stm32_uart.cpp

#include "stm32_uart.hpp"
 
#ifdef HAL_UART_MODULE_ENABLED
 
using namespace LibXR;
 
STM32UART* STM32UART::map[STM32_UART_NUMBER] = {nullptr};
 
stm32_uart_id_t stm32_uart_get_id(USART_TypeDef* addr)
{
  if (addr == nullptr)
  {  // NOLINT
    return stm32_uart_id_t::STM32_UART_ID_ERROR;
  }
#ifdef USART1
  else if (addr == USART1)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART1;
  }
#endif
#ifdef USART2
  else if (addr == USART2)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART2;
  }
#endif
#ifdef USART3
  else if (addr == USART3)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART3;
  }
#endif
#ifdef USART4
  else if (addr == USART4)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART4;
  }
#endif
#ifdef USART5
  else if (addr == USART5)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART5;
  }
#endif
#ifdef USART6
  else if (addr == USART6)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART6;
  }
#endif
#ifdef USART7
  else if (addr == USART7)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART7;
  }
#endif
#ifdef USART8
  else if (addr == USART8)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART8;
  }
#endif
#ifdef USART9
  else if (addr == USART9)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART9;
  }
#endif
#ifdef USART10
  else if (addr == USART10)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART10;
  }
#endif
#ifdef USART11
  else if (addr == USART11)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART11;
  }
#endif
#ifdef USART12
  else if (addr == USART12)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART12;
  }
#endif
#ifdef USART13
  else if (addr == USART13)  // NOLINT
  {
    return stm32_uart_id_t::STM32_USART13;
  }
#endif
#ifdef UART1
  else if (addr == UART1)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART1;
  }
#endif
#ifdef UART2
  else if (addr == UART2)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART2;
  }
#endif
#ifdef UART3
  else if (addr == UART3)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART3;
  }
#endif
#ifdef UART4
  else if (addr == UART4)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART4;
  }
#endif
#ifdef UART5
  else if (addr == UART5)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART5;
  }
#endif
#ifdef UART6
  else if (addr == UART6)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART6;
  }
#endif
#ifdef UART7
  else if (addr == UART7)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART7;
  }
#endif
#ifdef UART8
  else if (addr == UART8)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART8;
  }
#endif
#ifdef UART9
  else if (addr == UART9)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART9;
  }
#endif
#ifdef UART10
  else if (addr == UART10)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART10;
  }
#endif
#ifdef UART11
  else if (addr == UART11)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART11;
  }
#endif
#ifdef UART12
  else if (addr == UART12)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART12;
  }
#endif
#ifdef UART13
  else if (addr == UART13)  // NOLINT
  {
    return stm32_uart_id_t::STM32_UART13;
  }
#endif
#ifdef LPUART1
  else if (addr == LPUART1)  // NOLINT
  {
    return stm32_uart_id_t::STM32_LPUART1;
  }
#endif
#ifdef LPUART2
  else if (addr == LPUART2)  // NOLINT
  {
    return stm32_uart_id_t::STM32_LPUART2;
  }
#endif
#ifdef LPUART3
  else if (addr == LPUART3)  // NOLINT
  {
    return stm32_uart_id_t::STM32_LPUART3;
  }
#endif
  else
  {
    return stm32_uart_id_t::STM32_UART_ID_ERROR;
  }
}
 
ErrorCode STM32UART::WriteFun(WritePort& port, bool)
{
  STM32UART* uart = CONTAINER_OF(&port, STM32UART, _write_port);
 
  if (uart->in_tx_isr.IsSet())
  {
    return ErrorCode::PENDING;
  }
 
  if (!uart->dma_buff_tx_.HasPending())
  {
    WriteInfoBlock info;
    if (port.queue_info_->Peek(info) != ErrorCode::OK)
    {
      return ErrorCode::PENDING;
    }
 
    uint8_t* buffer = nullptr;
    bool use_pending = false;
 
    if (uart->uart_handle_->gState == HAL_UART_STATE_READY)
    {
      buffer = reinterpret_cast<uint8_t*>(uart->dma_buff_tx_.ActiveBuffer());
    }
    else
    {
      buffer = reinterpret_cast<uint8_t*>(uart->dma_buff_tx_.PendingBuffer());
      use_pending = true;
    }
 
    if (port.queue_data_->PopBatch(reinterpret_cast<uint8_t*>(buffer), info.data.size_) !=
        ErrorCode::OK)
    {
      ASSERT(false);
      return ErrorCode::EMPTY;
    }
 
    if (use_pending)
    {
      uart->dma_buff_tx_.SetPendingLength(info.data.size_);
      uart->dma_buff_tx_.EnablePending();
      if (uart->uart_handle_->gState == HAL_UART_STATE_READY &&
          uart->dma_buff_tx_.HasPending())
      {
        uart->dma_buff_tx_.Switch();
      }
      else
      {
        return ErrorCode::PENDING;
      }
    }
 
    port.queue_info_->Pop(uart->write_info_active_);
 
#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
    SCB_CleanDCache_by_Addr(
        reinterpret_cast<uint32_t*>(uart->dma_buff_tx_.ActiveBuffer()), info.data.size_);
#endif
 
    uart->dma_buff_tx_.SetActiveLength(info.data.size_);
    uart->tx_busy_.Set();
    auto ans = HAL_UART_Transmit_DMA(
        uart->uart_handle_, static_cast<uint8_t*>(uart->dma_buff_tx_.ActiveBuffer()),
        info.data.size_);
 
    if (ans != HAL_OK)
    {
      uart->tx_busy_.Clear();
      return ErrorCode::FAILED;
    }
    else
    {
      return ErrorCode::OK;
    }
  }
 
  return ErrorCode::PENDING;
}
 
ErrorCode STM32UART::ReadFun(ReadPort&, bool) { return ErrorCode::PENDING; }
 
STM32UART::STM32UART(UART_HandleTypeDef* uart_handle, RawData dma_buff_rx,
                     RawData dma_buff_tx, uint32_t tx_queue_size)
    : UART(&_read_port, &_write_port),
      _read_port(dma_buff_rx.size_),
      _write_port(tx_queue_size, dma_buff_tx.size_ / 2),
      dma_buff_rx_(dma_buff_rx),
      dma_buff_tx_(dma_buff_tx),
      uart_handle_(uart_handle),
      id_(stm32_uart_get_id(uart_handle_->Instance))
{
  ASSERT(id_ != STM32_UART_ID_ERROR);
 
  map[id_] = this;
 
  if ((uart_handle->Init.Mode & UART_MODE_TX) == UART_MODE_TX)
  {
    ASSERT(uart_handle_->hdmatx != NULL);
    _write_port = WriteFun;
  }
 
  SetRxDMA();
}
 
ErrorCode STM32UART::SetConfig(UART::Configuration config)
{
  HAL_UART_DeInit(uart_handle_);
  uart_handle_->Init.BaudRate = config.baudrate;
 
  switch (config.parity)
  {
    case UART::Parity::NO_PARITY:
      uart_handle_->Init.Parity = UART_PARITY_NONE;
      uart_handle_->Init.WordLength = UART_WORDLENGTH_8B;
      break;
    case UART::Parity::EVEN:
      uart_handle_->Init.Parity = UART_PARITY_EVEN;
      uart_handle_->Init.WordLength = UART_WORDLENGTH_9B;
      break;
    case UART::Parity::ODD:
      uart_handle_->Init.Parity = UART_PARITY_ODD;
      uart_handle_->Init.WordLength = UART_WORDLENGTH_9B;
      break;
    default:
      ASSERT(false);
  }
 
  switch (config.stop_bits)
  {
    case 1:
      uart_handle_->Init.StopBits = UART_STOPBITS_1;
      break;
    case 2:
      uart_handle_->Init.StopBits = UART_STOPBITS_2;
      break;
    default:
      ASSERT(false);
  }
 
  if (HAL_UART_Init(uart_handle_) != HAL_OK)
  {
    return ErrorCode::INIT_ERR;
  }
 
  last_rx_pos_ = 0;
 
  SetRxDMA();
 
  if (tx_busy_.IsSet())
  {
    HAL_UART_Transmit_DMA(uart_handle_, dma_buff_tx_.ActiveBuffer(),
                          dma_buff_tx_.GetActiveLength());
  }
 
  return ErrorCode::OK;
}
 
void STM32UART::SetRxDMA()
{
  if ((uart_handle_->Init.Mode & UART_MODE_RX) == UART_MODE_RX)
  {
    ASSERT(uart_handle_->hdmarx != NULL);
 
    uart_handle_->hdmarx->Init.Mode = DMA_CIRCULAR;
    HAL_DMA_Init(uart_handle_->hdmarx);
 
    HAL_UARTEx_ReceiveToIdle_DMA(
        uart_handle_, reinterpret_cast<uint8_t*>(dma_buff_rx_.addr_), dma_buff_rx_.size_);
    _read_port = ReadFun;
  }
}
 
// NOLINTNEXTLINE
static inline void STM32_UART_RX_ISR_Handler(UART_HandleTypeDef* uart_handle)
{
  auto uart = STM32UART::map[stm32_uart_get_id(uart_handle->Instance)];
  auto rx_buf = static_cast<uint8_t*>(uart->dma_buff_rx_.addr_);
  size_t dma_size = uart->dma_buff_rx_.size_;
 
  size_t curr_pos =
      dma_size - __HAL_DMA_GET_COUNTER(uart_handle->hdmarx);  // 当前 DMA 写入位置
  size_t last_pos = uart->last_rx_pos_;
 
#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
  SCB_InvalidateDCache_by_Addr(rx_buf, dma_size);
#endif
 
  if (curr_pos != last_pos)
  {
    if (curr_pos > last_pos)
    {
      // 线性接收区
      uart->read_port_->queue_data_->PushBatch(&rx_buf[last_pos], curr_pos - last_pos);
    }
    else
    {
      // 回卷区：last→end，再从0→curr
      uart->read_port_->queue_data_->PushBatch(&rx_buf[last_pos], dma_size - last_pos);
      uart->read_port_->queue_data_->PushBatch(&rx_buf[0], curr_pos);
    }
 
    uart->last_rx_pos_ = curr_pos;
    uart->read_port_->ProcessPendingReads(true);
  }
}
 
// NOLINTNEXTLINE
void STM32_UART_ISR_Handler_TX_CPLT(stm32_uart_id_t id)
{
  auto uart = STM32UART::map[id];
 
  uart->tx_busy_.Clear();
 
  Flag::ScopedRestore tx_flag(uart->in_tx_isr);
 
  size_t pending_len = uart->dma_buff_tx_.GetPendingLength();
 
  if (pending_len == 0)
  {
    return;
  }
 
  uart->dma_buff_tx_.Switch();
 
#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
  SCB_CleanDCache_by_Addr(reinterpret_cast<uint32_t*>(uart->dma_buff_tx_.ActiveBuffer()),
                          pending_len);
#endif
 
  uart->dma_buff_tx_.SetActiveLength(pending_len);
  uart->tx_busy_.Set();
 
  auto ans = HAL_UART_Transmit_DMA(
      uart->uart_handle_, static_cast<uint8_t*>(uart->dma_buff_tx_.ActiveBuffer()),
      pending_len);
 
  ASSERT(ans == HAL_OK);
 
  WriteInfoBlock& current_info = uart->write_info_active_;
 
  if (uart->write_port_->queue_info_->Pop(current_info) != ErrorCode::OK)
  {
    ASSERT(false);
    return;
  }
 
  uart->write_port_->Finish(true, ans == HAL_OK ? ErrorCode::OK : ErrorCode::BUSY,
                            current_info);
 
  WriteInfoBlock next_info;
 
  if (uart->write_port_->queue_info_->Peek(next_info) != ErrorCode::OK)
  {
    return;
  }
 
  if (uart->write_port_->queue_data_->PopBatch(
          reinterpret_cast<uint8_t*>(uart->dma_buff_tx_.PendingBuffer()),
          next_info.data.size_) != ErrorCode::OK)
  {
    ASSERT(false);
    return;
  }
 
  uart->dma_buff_tx_.SetPendingLength(next_info.data.size_);
 
  uart->dma_buff_tx_.EnablePending();
}
 
extern "C" void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef* huart, uint16_t)
{
  STM32_UART_RX_ISR_Handler(huart);
}
 
extern "C" void HAL_UART_TxCpltCallback(UART_HandleTypeDef* huart)
{
  STM32_UART_ISR_Handler_TX_CPLT(stm32_uart_get_id(huart->Instance));
}
 
extern "C" __attribute__((used)) void HAL_UART_ErrorCallback(UART_HandleTypeDef* huart)
{
  HAL_UART_Abort_IT(huart);
}
 
extern "C" void HAL_UART_AbortCpltCallback(UART_HandleTypeDef* huart)
{
  auto uart = STM32UART::map[stm32_uart_get_id(huart->Instance)];
  uart->last_rx_pos_ = 0;
  HAL_UARTEx_ReceiveToIdle_DMA(huart, huart->pRxBuffPtr, uart->dma_buff_rx_.size_);
  if (uart->tx_busy_.IsSet())
  {
    HAL_UART_Transmit_DMA(huart, uart->dma_buff_tx_.ActiveBuffer(),
                          uart->dma_buff_tx_.GetActiveLength());
  }
}
 
#endif