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px4-firmware/nuttx/drivers/sercomm/uart.c

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/****************************************************************************
* drivers/sercomm/uart.c
* Calypso DBB internal UART Driver
*
* (C) 2010 by Harald Welte <laforge@gnumonks.org>
* (C) 2010 by Ingo Albrecht <prom@berlin.ccc.de>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
**************************************************************************/
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <nuttx/config.h>
#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <arch/calypso/memory.h>
#include <arch/calypso/debug.h>
#include <arch/calypso/defines.h>
//#include <arch/calypso/console.h>
#include <nuttx/sercomm/sercomm.h>
#include "uart.h"
#define BASE_ADDR_UART_MODEM 0xffff5000
#define OFFSET_IRDA 0x800
#define UART_REG(n,m) (BASE_ADDR_UART_MODEM + ((n)*OFFSET_IRDA)+(m))
#define LCR7BIT 0x80
#define LCRBFBIT 0x40
#define MCR6BIT 0x20
#define REG_OFFS(m) ((m) & ~(LCR7BIT|LCRBFBIT|MCR6BIT))
/* read access LCR[7] = 0 */
enum uart_reg {
RHR = 0,
IER = 1,
IIR = 2,
LCR = 3,
MCR = 4,
LSR = 5,
MSR = 6,
SPR = 7,
MDR1 = 8,
DMR2 = 9,
SFLSR = 0x0a,
RESUME = 0x0b,
SFREGL = 0x0c,
SFREGH = 0x0d,
BLR = 0x0e,
ACREG = 0x0f,
SCR = 0x10,
SSR = 0x11,
EBLR = 0x12,
/* read access LCR[7] = 1 */
DLL = RHR | LCR7BIT,
DLH = IER | LCR7BIT,
DIV1_6 = ACREG | LCR7BIT,
/* read/write access LCR[7:0] = 0xbf */
EFR = IIR | LCRBFBIT,
XON1 = MCR | LCRBFBIT,
XON2 = LSR | LCRBFBIT,
XOFF1 = MSR | LCRBFBIT,
XOFF2 = SPR | LCRBFBIT,
/* read/write access if EFR[4] = 1 and MCR[6] = 1 */
TCR = MSR | MCR6BIT,
TLR = SPR | MCR6BIT,
};
/* write access LCR[7] = 0 */
#define THR RHR
#define FCR IIR /* only if EFR[4] = 1 */
#define TXFLL SFLSR
#define TXFLH RESUME
#define RXFLL SFREGL
#define RXFLH SFREGH
enum fcr_bits {
FIFO_EN = (1 << 0),
RX_FIFO_CLEAR = (1 << 1),
TX_FIFO_CLEAR = (1 << 2),
DMA_MODE = (1 << 3),
};
#define TX_FIFO_TRIG_SHIFT 4
#define RX_FIFO_TRIG_SHIFT 6
enum iir_bits {
IIR_INT_PENDING = 0x01,
IIR_INT_TYPE = 0x3E,
IIR_INT_TYPE_RX_STATUS_ERROR = 0x06,
IIR_INT_TYPE_RX_TIMEOUT = 0x0C,
IIR_INT_TYPE_RHR = 0x04,
IIR_INT_TYPE_THR = 0x02,
IIR_INT_TYPE_MSR = 0x00,
IIR_INT_TYPE_XOFF = 0x10,
IIR_INT_TYPE_FLOW = 0x20,
IIR_FCR0_MIRROR = 0xC0,
};
#define UART_REG_UIR 0xffff6000
/* enable or disable the divisor latch for access to DLL, DLH */
static void uart_set_lcr7bit(int uart, int on)
{
uint8_t reg;
reg = readb(UART_REG(uart, LCR));
if (on)
reg |= (1 << 7);
else
reg &= ~(1 << 7);
writeb(reg, UART_REG(uart, LCR));
}
static uint8_t old_lcr;
static void uart_set_lcr_bf(int uart, int on)
{
if (on) {
old_lcr = readb(UART_REG(uart, LCR));
writeb(0xBF, UART_REG(uart, LCR));
} else {
writeb(old_lcr, UART_REG(uart, LCR));
}
}
/* Enable or disable the TCR_TLR latch bit in MCR[6] */
static void uart_set_mcr6bit(int uart, int on)
{
uint8_t mcr;
/* we assume EFR[4] is always set to 1 */
mcr = readb(UART_REG(uart, MCR));
if (on)
mcr |= (1 << 6);
else
mcr &= ~(1 << 6);
writeb(mcr, UART_REG(uart, MCR));
}
static void uart_reg_write(int uart, enum uart_reg reg, uint8_t val)
{
if (reg & LCRBFBIT)
uart_set_lcr_bf(uart, 1);
else if (reg & LCR7BIT)
uart_set_lcr7bit(uart, 1);
else if (reg & MCR6BIT)
uart_set_mcr6bit(uart, 1);
writeb(val, UART_REG(uart, REG_OFFS(reg)));
if (reg & LCRBFBIT)
uart_set_lcr_bf(uart, 0);
else if (reg & LCR7BIT)
uart_set_lcr7bit(uart, 0);
else if (reg & MCR6BIT)
uart_set_mcr6bit(uart, 0);
}
/* read from a UART register, applying any required latch bits */
static uint8_t uart_reg_read(int uart, enum uart_reg reg)
{
uint8_t ret;
if (reg & LCRBFBIT)
uart_set_lcr_bf(uart, 1);
else if (reg & LCR7BIT)
uart_set_lcr7bit(uart, 1);
else if (reg & MCR6BIT)
uart_set_mcr6bit(uart, 1);
ret = readb(UART_REG(uart, REG_OFFS(reg)));
if (reg & LCRBFBIT)
uart_set_lcr_bf(uart, 0);
else if (reg & LCR7BIT)
uart_set_lcr7bit(uart, 0);
else if (reg & MCR6BIT)
uart_set_mcr6bit(uart, 0);
return ret;
}
#if 0
static void uart_irq_handler_cons(__unused enum irq_nr irqnr)
{
const uint8_t uart = CONS_UART_NR;
uint8_t iir;
//uart_putchar_nb(uart, 'U');
iir = uart_reg_read(uart, IIR);
if (iir & IIR_INT_PENDING)
return;
switch (iir & IIR_INT_TYPE) {
case IIR_INT_TYPE_RHR:
break;
case IIR_INT_TYPE_THR:
if (cons_rb_flush() == 1) {
/* everything was flushed, disable THR IRQ */
uint8_t ier = uart_reg_read(uart, IER);
ier &= ~(1 << 1);
uart_reg_write(uart, IER, ier);
}
break;
case IIR_INT_TYPE_MSR:
break;
case IIR_INT_TYPE_RX_STATUS_ERROR:
break;
case IIR_INT_TYPE_RX_TIMEOUT:
break;
case IIR_INT_TYPE_XOFF:
break;
}
}
#endif
static void uart_irq_handler_sercomm(__unused enum irq_nr irqnr, __unused void *context)
{
const uint8_t uart = SERCOMM_UART_NR;
uint8_t iir, ch;
//uart_putchar_nb(uart, 'U');
iir = uart_reg_read(uart, IIR);
if (iir & IIR_INT_PENDING)
return;
switch (iir & IIR_INT_TYPE) {
case IIR_INT_TYPE_RX_TIMEOUT:
case IIR_INT_TYPE_RHR:
/* as long as we have rx data available */
while (uart_getchar_nb(uart, &ch)) {
if (sercomm_drv_rx_char(ch) < 0) {
/* sercomm cannot receive more data right now */
uart_irq_enable(uart, UART_IRQ_RX_CHAR, 0);
}
}
break;
case IIR_INT_TYPE_THR:
/* as long as we have space in the FIFO */
while (!uart_tx_busy(uart)) {
/* get a byte from sercomm */
if (!sercomm_drv_pull(&ch)) {
/* no more bytes in sercomm, stop TX interrupts */
uart_irq_enable(uart, UART_IRQ_TX_EMPTY, 0);
break;
}
/* write the byte into the TX FIFO */
uart_putchar_nb(uart, ch);
}
break;
case IIR_INT_TYPE_MSR:
printf("UART IRQ MSR\n");
break;
case IIR_INT_TYPE_RX_STATUS_ERROR:
printf("UART IRQ RX_SE\n");
break;
case IIR_INT_TYPE_XOFF:
printf("UART IRQXOFF\n");
break;
}
}
static const uint8_t uart2irq[] = {
[0] = IRQ_UART_IRDA,
[1] = IRQ_UART_MODEM,
};
void uart_init(uint8_t uart, uint8_t interrupts)
{
uint8_t irq = uart2irq[uart];
uart_reg_write(uart, IER, 0x00);
if (uart == SERCOMM_UART_NR) {
sercomm_init();
irq_attach(IRQ_UART_MODEM, (xcpt_t)uart_irq_handler_sercomm);
up_enable_irq(IRQ_UART_MODEM);
uart_irq_enable(uart, UART_IRQ_RX_CHAR, 1);
}
#if 0
if (uart == CONS_UART_NR) {
cons_init();
if(interrupts) {
irq_register_handler(irq, &uart_irq_handler_cons);
irq_config(irq, 0, 0, 0xff);
irq_enable(irq);
}
} else {
sercomm_init();
if(interrupts) {
irq_register_handler(irq, &uart_irq_handler_sercomm);
irq_config(irq, 0, 0, 0xff);
irq_enable(irq);
}
uart_irq_enable(uart, UART_IRQ_RX_CHAR, 1);
}
#endif
#if 0
if (uart == 1) {
/* assign UART to MCU and unmask interrupts*/
writeb(UART_REG_UIR, 0x00);
}
#endif
/* if we don't initialize these, we get strange corruptions in the
received data... :-( */
uart_reg_write(uart, MDR1, 0x07); /* turn off UART */
uart_reg_write(uart, XON1, 0x00); /* Xon1/Addr Register */
uart_reg_write(uart, XON2, 0x00); /* Xon2/Addr Register */
uart_reg_write(uart, XOFF1, 0x00); /* Xoff1 Register */
uart_reg_write(uart, XOFF2, 0x00); /* Xoff2 Register */
uart_reg_write(uart, EFR, 0x00); /* Enhanced Features Register */
/* select UART mode */
uart_reg_write(uart, MDR1, 0);
/* no XON/XOFF flow control, ENHANCED_EN, no auto-RTS/CTS */
uart_reg_write(uart, EFR, (1 << 4));
/* enable Tx/Rx FIFO, Tx trigger at 56 spaces, Rx trigger at 60 chars */
uart_reg_write(uart, FCR, FIFO_EN | RX_FIFO_CLEAR | TX_FIFO_CLEAR |
(3 << TX_FIFO_TRIG_SHIFT) | (3 << RX_FIFO_TRIG_SHIFT));
/* THR interrupt only when TX FIFO and TX shift register are empty */
uart_reg_write(uart, SCR, (1 << 0));// | (1 << 3));
/* 8 bit, 1 stop bit, no parity, no break */
uart_reg_write(uart, LCR, 0x03);
uart_set_lcr7bit(uart, 0);
}
void uart_poll(uint8_t uart) {
/* if(uart == CONS_UART_NR) {
uart_irq_handler_cons(0);
} else
*/ {
uart_irq_handler_sercomm(0, NULL);
}
}
void uart_irq_enable(uint8_t uart, enum uart_irq irq, int on)
{
uint8_t ier = uart_reg_read(uart, IER);
uint8_t mask = 0;
switch (irq) {
case UART_IRQ_TX_EMPTY:
mask = (1 << 1);
break;
case UART_IRQ_RX_CHAR:
mask = (1 << 0);
break;
}
if (on)
ier |= mask;
else
ier &= ~mask;
uart_reg_write(uart, IER, ier);
}
void uart_putchar_wait(uint8_t uart, int c)
{
/* wait while TX FIFO indicates full */
while (readb(UART_REG(uart, SSR)) & 0x01) { }
/* put character in TX FIFO */
writeb(c, UART_REG(uart, THR));
}
int uart_putchar_nb(uint8_t uart, int c)
{
/* if TX FIFO indicates full, abort */
if (readb(UART_REG(uart, SSR)) & 0x01)
return 0;
writeb(c, UART_REG(uart, THR));
return 1;
}
int uart_getchar_nb(uint8_t uart, uint8_t *ch)
{
uint8_t lsr;
lsr = readb(UART_REG(uart, LSR));
/* something strange happened */
if (lsr & 0x02)
printf("LSR RX_OE\n");
if (lsr & 0x04)
printf("LSR RX_PE\n");
if (lsr & 0x08)
printf("LSR RX_FE\n");
if (lsr & 0x10)
printf("LSR RX_BI\n");
if (lsr & 0x80)
printf("LSR RX_FIFO_STS\n");
/* is the Rx FIFO empty? */
if (!(lsr & 0x01))
return 0;
*ch = readb(UART_REG(uart, RHR));
//printf("getchar_nb(%u) = %02x\n", uart, *ch);
return 1;
}
int uart_tx_busy(uint8_t uart)
{
if (readb(UART_REG(uart, SSR)) & 0x01)
return 1;
return 0;
}
static const uint16_t divider[] = {
[UART_38400] = 21, /* 38,690 */
[UART_57600] = 14, /* 58,035 */
[UART_115200] = 7, /* 116,071 */
[UART_230400] = 4, /* 203,125! (-3% would be 223,488) */
[UART_460800] = 2, /* 406,250! (-3% would be 446,976) */
[UART_921600] = 1, /* 812,500! (-3% would be 893,952) */
};
int uart_baudrate(uint8_t uart, enum uart_baudrate bdrt)
{
uint16_t div;
if (bdrt > ARRAY_SIZE(divider))
return -1;
div = divider[bdrt];
uart_set_lcr7bit(uart, 1);
writeb(div & 0xff, UART_REG(uart, DLL));
writeb(div >> 8, UART_REG(uart, DLH));
uart_set_lcr7bit(uart, 0);
return 0;
}
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