Merge pull request #289 from paparazzi/stm_uart1_hw_flow_control

Add UART hardware flow control (for STM32 only)
paparazzi · Oct 5, 2012 · 816884c · 816884c
2 parents e880b2c + 91ef1c9
commit 816884c
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Showing 10 changed files with 69 additions and 26 deletions.
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
@@ -56,7 +56,7 @@ static inline void uart_set_baudrate(struct uart_periph* p, uint32_t baud) {
   ((uartRegs_t *)(p->reg_addr))->fcr = UART_FIFO_8;
 }
 
-void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
+void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control __attribute__ ((unused))) {
   uart_disable_interrupts(p);
   uart_set_baudrate(p, baud);
   uart_enable_interrupts(p);

diff --git a/sw/airborne/arch/omap/mcu_periph/uart_arch.c b/sw/airborne/arch/omap/mcu_periph/uart_arch.c
@@ -32,7 +32,7 @@
 #include "fms/fms_serial_port.h"
 
 
-void uart_periph_set_baudrate(struct uart_periph* p, uint16_t baud) {
+void uart_periph_set_baudrate(struct uart_periph* p, uint16_t baud, bool_t hw_flow_control __attribute__ ((unused))) {
   struct FmsSerialPort* fmssp;
   // close serial port if already open
   if (p->reg_addr != NULL) {

diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -30,15 +30,20 @@
 #include "std.h"
 #include "pprz_baudrate.h"
 
-void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
+void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control) {
 
   /* Configure USART */
   USART_InitTypeDef usart;
   usart.USART_BaudRate            = baud;
   usart.USART_WordLength          = USART_WordLength_8b;
   usart.USART_StopBits            = USART_StopBits_1;
   usart.USART_Parity              = USART_Parity_No;
-  usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+  if (hw_flow_control) {
+    usart.USART_HardwareFlowControl = USART_HardwareFlowControl_RTS_CTS;
+  }
+  else {
+    usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+  }
   usart.USART_Mode                = USART_Mode_Rx | USART_Mode_Tx;
   USART_Init(p->reg_addr, &usart);
   /* Enable USART1 Receive interrupts */
@@ -136,8 +141,25 @@ void uart1_init( void ) {
   gpio.GPIO_Mode  = GPIO_Mode_IN_FLOATING;
   GPIO_Init(UART1_RxPort, &gpio);
 
-  /* Configure USART1 */
-  uart_periph_set_baudrate(&uart1, UART1_BAUD);
+#if UART1_HW_FLOW_CONTROL
+#warning "USING UART1 HW FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
+  /* GPIOA: GPIO_Pin_12 USART1 Rts push-pull */
+  gpio.GPIO_Pin   = UART1_RtsPin;
+  gpio.GPIO_Mode  = GPIO_Mode_AF_PP;
+  gpio.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(UART1_FlowControlPort, &gpio);
+
+  /* GPIOA: GPIO_Pin_11 USART1 Cts pin as floating input */
+  gpio.GPIO_Pin   = UART1_CtsPin;
+  gpio.GPIO_Mode  = GPIO_Mode_IN_FLOATING;
+  GPIO_Init(UART1_FlowControlPort, &gpio);
+
+  /* Configure USART1, enable hardware flow control*/
+  uart_periph_set_baudrate(&uart1, UART1_BAUD, TRUE);
+#else
+  /* Configure USART1, no flow control */
+  uart_periph_set_baudrate(&uart1, UART1_BAUD, FALSE);
+#endif
 }
 
 void usart1_irq_handler(void) { usart_irq_handler(&uart1); }
@@ -171,7 +193,7 @@ void uart2_init( void ) {
   GPIO_Init(UART2_RxPort, &gpio);
 
   /* Configure USART2 */
-  uart_periph_set_baudrate(&uart2, UART2_BAUD);
+  uart_periph_set_baudrate(&uart2, UART2_BAUD, FALSE);
 }
 
 void usart2_irq_handler(void) { usart_irq_handler(&uart2); }
@@ -207,7 +229,7 @@ void uart3_init( void ) {
   GPIO_Init(UART3_RxPort, &gpio);
 
   /* Configure USART3 */
-  uart_periph_set_baudrate(&uart3, UART3_BAUD);
+  uart_periph_set_baudrate(&uart3, UART3_BAUD, FALSE);
 }
 
 void usart3_irq_handler(void) { usart_irq_handler(&uart3); }
@@ -242,10 +264,9 @@ void uart5_init( void ) {
   GPIO_Init(UART5_RxPort, &gpio);
 
   /* Configure UART5 */
-  uart_periph_set_baudrate(&uart5, UART5_BAUD);
+  uart_periph_set_baudrate(&uart5, UART5_BAUD, FALSE);
 }
 
 void usart5_irq_handler(void) { usart_irq_handler(&uart5); }
 
 #endif /* USE_UART5 */
-
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -55,6 +55,9 @@
 #define UART3_RxPin GPIO_Pin_11
 #define UART5_RxPin GPIO_Pin_2
 
+#define UART1_CtsPin GPIO_Pin_11
+#define UART1_RtsPin GPIO_Pin_12
+
 #define UART1_TxPort GPIOA
 #define UART2_TxPort GPIOA
 #define UART3_TxPort GPIOC
@@ -65,6 +68,8 @@
 #define UART3_RxPort GPIOC
 #define UART5_RxPort GPIOD
 
+#define UART1_FlowControlPort GPIOA
+
 #define UART1_Periph RCC_APB2Periph_GPIOA
 #define UART2_Periph RCC_APB2Periph_GPIOA
 #define UART3_Periph RCC_APB2Periph_GPIOC
@@ -112,6 +117,9 @@
 #define UART3_reg USART3
 #define UART5_reg USART5
 
+#if defined UART1_FLOW_CONTROL
+#error UART1_FLOW_CONTROL is renamed to UART1_HW_FLOW_CONTROL
+#endif
 
 #if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
 extern void usart1_irq_handler(void);

diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
@@ -57,7 +57,7 @@ struct uart_periph {
 };
 
 extern void uart_periph_init(struct uart_periph* p);
-extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud);
+extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control);
 //extern void uart_periph_init_param(struct uart_periph* p, uint32_t baud, uint8_t mode, uint8_t fmode, char * dev);
 extern void uart_transmit(struct uart_periph* p, uint8_t data);
 extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len);
@@ -82,7 +82,7 @@ extern void uart0_init(void);
 #define Uart0ChAvailable() UartChAvailable(uart0)
 #define Uart0Getch() UartGetch(uart0)
 #define Uart0TxRunning uart0.tx_running
-#define Uart0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b)
+#define Uart0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b, 0)
 //#define Uart0InitParam(_b, _m, _fm) uart_periph_init_param(&uart0, _b, _m, _fm, "")
 
 #define UART0Init           Uart0Init
@@ -107,7 +107,11 @@ extern void uart1_init(void);
 #define Uart1ChAvailable() UartChAvailable(uart1)
 #define Uart1Getch() UartGetch(uart1)
 #define Uart1TxRunning uart1.tx_running
-#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b)
+#if UART1_HW_FLOW_CONTROL
+#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b, TRUE)
+#else
+#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b, FALSE)
+#endif
 //#define Uart1InitParam(_b, _m, _fm) uart_periph_init_param(&uart1, _b, _m, _fm, "")
 
 #define UART1Init           Uart1Init
@@ -132,7 +136,7 @@ extern void uart2_init(void);
 #define Uart2ChAvailable() UartChAvailable(uart2)
 #define Uart2Getch() UartGetch(uart2)
 #define Uart2TxRunning uart2.tx_running
-#define Uart2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b)
+#define Uart2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b, FALSE)
 //#define Uart2InitParam(_b, _m, _fm) uart_periph_init_param(&uart2, _b, _m, _fm, "")
 
 #define UART2Init           Uart2Init
@@ -157,7 +161,7 @@ extern void uart3_init(void);
 #define Uart3ChAvailable() UartChAvailable(uart3)
 #define Uart3Getch() UartGetch(uart3)
 #define Uart3TxRunning uart3.tx_running
-#define Uart3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b)
+#define Uart3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b, FALSE)
 //#define Uart3InitParam(_b, _m, _fm) uart_periph_init_param(&uart3, _b, _m, _fm, "")
 
 #define UART3Init           Uart3Init
@@ -182,7 +186,7 @@ extern void uart5_init(void);
 #define Uart5ChAvailable() UartChAvailable(uart5)
 #define Uart5Getch() UartGetch(uart5)
 #define Uart5TxRunning uart5.tx_running
-#define Uart5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b)
+#define Uart5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b, FALSE)
 //#define Uart5InitParam(_b, _m, _fm) uart_periph_init_param(&uart5, _b, _m, _fm, "")
 
 #define UART5Init           Uart5Init

diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml
@@ -426,6 +426,7 @@ let () =
   let ivy_bus = ref Defivybus.default_ivy_bus
   and port = ref "/dev/ttyUSB0"
   and baudrate = ref "9600"
+  and hw_flow_control = ref false
   and transport = ref "pprz"
   and uplink = ref true
   and audio = ref false
@@ -443,6 +444,7 @@ let () =
       "-noac_info", Arg.Clear ac_info, (sprintf "Disables AC traffic info (uplink).");
       "-nouplink", Arg.Clear uplink, (sprintf "Disables the uplink (from the ground to the aircraft).");
       "-s", Arg.Set_string baudrate, (sprintf "<baudrate>  Default is %s" !baudrate);
+      "-hfc",  Arg.Set hw_flow_control, "Enable UART hardware flow control (CTS/RTS)";
       "-local_timestamp", Arg.Unit (fun () -> add_timestamp := Some (Unix.gettimeofday ())), "Add local timestamp to messages sent over ivy";
       "-transport", Arg.Set_string transport, (sprintf "<transport> Available protocols are modem,pprz,pprz2 and xbee. Default is %s" !transport);
       "-udp", Arg.Set udp, "Listen a UDP connection on <udp_port>";
@@ -475,7 +477,7 @@ let () =
       end else if !audio then
 	Demod.init !port
       else if on_serial_device then
-	Serial.opendev !port (Serial.speed_of_baudrate !baudrate)
+	Serial.opendev !port (Serial.speed_of_baudrate !baudrate) !hw_flow_control
       else
 	Unix.openfile !port [Unix.O_RDWR] 0o640
     in

diff --git a/sw/lib/ocaml/cserial.c b/sw/lib/ocaml/cserial.c
@@ -40,7 +40,7 @@ static int baudrates[] = { B0, B50, B75, B110, B134, B150, B200, B300, B600, B12
 /****************************************************************************/
 /* Open serial device for requested protocoll */
 /****************************************************************************/
-value c_init_serial(value device, value speed)
+value c_init_serial(value device, value speed, value hw_flow_control)
 {
   struct termios orig_termios, cur_termios;
 
@@ -63,8 +63,14 @@ value c_init_serial(value device, value speed)
   cur_termios.c_oflag  &=~(OPOST|ONLCR|OCRNL|ONOCR|ONLRET);
 
   /* control modes */
-  cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS);
-  cur_termios.c_cflag |= CREAD|CS8|CLOCAL;
+  if (Bool_val(hw_flow_control)) {
+    cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL);
+    cur_termios.c_cflag |= CREAD|CS8|CLOCAL|CRTSCTS;
+  }
+  else {
+    cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS);
+    cur_termios.c_cflag |= CREAD|CS8|CLOCAL;
+  }
 
   /* local modes */
   cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);

diff --git a/sw/lib/ocaml/serial.ml b/sw/lib/ocaml/serial.ml
@@ -77,13 +77,13 @@ let string_of_payload = fun x -> x
 let payload_of_string = fun x -> x
 
 
-external init_serial : string -> speed -> Unix.file_descr = "c_init_serial"
+external init_serial : string -> speed -> bool -> Unix.file_descr = "c_init_serial"
 external set_dtr : Unix.file_descr -> bool -> unit = "c_set_dtr"
 external set_speed : Unix.file_descr -> speed -> unit = "c_serial_set_baudrate"
 
-let opendev device speed =
+let opendev device speed hw_flow_control =
   try
-    init_serial device speed
+    init_serial device speed hw_flow_control
   with
     Failure x ->
       failwith (Printf.sprintf "Error %s (%s)" x device)

diff --git a/sw/lib/ocaml/serial.mli b/sw/lib/ocaml/serial.mli
@@ -49,7 +49,7 @@ type speed =
 
 val speed_of_baudrate : string -> speed
 
-val opendev : string -> speed -> Unix.file_descr
+val opendev : string -> speed -> bool -> Unix.file_descr
 val close : Unix.file_descr -> unit
 val set_dtr : Unix.file_descr -> bool -> unit
 val set_speed : Unix.file_descr -> speed -> unit

diff --git a/sw/logalizer/play_core.ml b/sw/logalizer/play_core.ml
@@ -122,6 +122,7 @@ let was_running = ref false
 let bus = ref Defivybus.default_ivy_bus
 let port = ref "/dev/ttyUSB0"
 let baudrate = ref "9600"
+let hw_flow_control = ref false
 let file_to_load = ref ""
 let output_on_serial = ref false
 
@@ -177,7 +178,8 @@ let init = fun () ->
     [ "-b", Arg.String (fun x -> bus := x), (sprintf "<ivy bus> Default is %s" !bus);
       "-d", Arg.Set_string port, (sprintf "<port> Default is %s" !port);
       "-o", Arg.Set output_on_serial, "Output binary messages on serial port";
-      "-s", Arg.Set_string baudrate, (sprintf "<baudrate>  Default is %s" !baudrate)]
+      "-s", Arg.Set_string baudrate, (sprintf "<baudrate>  Default is %s" !baudrate);
+      "-hfc",  Arg.Set hw_flow_control, "Enable UART hardware flow control (CTS/RTS)";]
     (fun x -> file_to_load := x)
     "Usage: ";
 
@@ -187,7 +189,7 @@ let init = fun () ->
 
   let serial_port =
     if !output_on_serial then
-      Some (Unix.out_channel_of_descr (Serial.opendev !port (Serial.speed_of_baudrate !baudrate)))
+      Some (Unix.out_channel_of_descr (Serial.opendev !port (Serial.speed_of_baudrate !baudrate) !hw_flow_control))
     else
       None in