Merge branch 'master' into i2c-thread-safe

cores/esp32/HardwareSerial.cpp

@@ -33,11 +33,7 @@ void HardwareSerial::setDebugOutput(bool en)
         return;
     }
     if(en) {
-        if(_uart->txEnabled) {
         uartSetDebug(_uart);
-        } else {
-            uartSetDebug(0);
-        }
     } else {
         if(uartGetDebug() == _uart_nr) {
             uartSetDebug(0);
@@ -45,33 +41,14 @@ void HardwareSerial::setDebugOutput(bool en)
     }
 }
 
-bool HardwareSerial::isTxEnabled(void)
-{
-    if(_uart == 0) {
-        return false;
-    }
-    return _uart->txEnabled;
-}
-
-bool HardwareSerial::isRxEnabled(void)
-{
-    if(_uart == 0) {
-        return false;
-    }
-    return _uart->rxEnabled;
-}
-
 int HardwareSerial::available(void)
 {
-    if (_uart && _uart->rxEnabled) {
     return uartAvailable(_uart);
 }
-    return 0;
-}
 
 int HardwareSerial::peek(void)
 {
-    if (_uart && _uart->rxEnabled) {
+    if (available()) {
         return uartPeek(_uart);
     }
     return -1;
@@ -79,7 +56,7 @@ int HardwareSerial::peek(void)
 
 int HardwareSerial::read(void)
 {
-    if(_uart && _uart->rxEnabled) {
+    if(available()) {
         return uartRead(_uart);
     }
     return -1;
@@ -87,26 +64,17 @@ int HardwareSerial::read(void)
 
 void HardwareSerial::flush()
 {
-    if(_uart == 0 || !_uart->txEnabled) {
-        return;
-    }
     uartFlush(_uart);
 }
 
 size_t HardwareSerial::write(uint8_t c)
 {
-    if(_uart == 0 || !_uart->txEnabled) {
-        return 0;
-    }
     uartWrite(_uart, c);
     return 1;
 }
 
 size_t HardwareSerial::write(const uint8_t *buffer, size_t size)
 {
-    if(_uart == 0 || !_uart->txEnabled) {
-        return 0;
-    }
     uartWriteBuf(_uart, buffer, size);
     return size;
 }

cores/esp32/HardwareSerial.h

@@ -65,8 +65,6 @@ public:
     operator bool() const;
 
     void setDebugOutput(bool);
-    bool isTxEnabled(void);
-    bool isRxEnabled(void);
 
 protected:
     int _uart_nr;

cores/esp32/esp32-hal-uart.c

@@ -13,18 +13,22 @@
 // limitations under the License.
 
 #include "esp32-hal-uart.h"
+#include "esp32-hal.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/queue.h"
 #include "freertos/semphr.h"
 #include "rom/ets_sys.h"
 #include "esp_attr.h"
 #include "esp_intr.h"
 #include "rom/uart.h"
 #include "soc/uart_reg.h"
+#include "soc/uart_struct.h"
 #include "soc/io_mux_reg.h"
 #include "soc/gpio_sig_map.h"
 
-#define ETS_UART2_INUM  5
+#define ETS_UART_INUM  5
+#define ETS_UART2_INUM  ETS_UART_INUM
 
 #define UART_REG_BASE(u)    ((u==0)?DR_REG_UART_BASE:(      (u==1)?DR_REG_UART1_BASE:(    (u==2)?DR_REG_UART2_BASE:0)))
 #define UART_RXD_IDX(u)     ((u==0)?U0RXD_IN_IDX:(          (u==1)?U1RXD_IN_IDX:(         (u==2)?U2RXD_IN_IDX:0)))
@@ -34,29 +38,113 @@
 
 static int s_uart_debug_nr = 0;
 
+struct uart_struct_t {
+    uart_dev_t * dev;
+    uint8_t num;
+    xQueueHandle queue;
+};
+
+static uart_t _uart_bus_array[3] = {
+    {(volatile uart_dev_t *)(DR_REG_UART_BASE), 0, NULL},
+    {(volatile uart_dev_t *)(DR_REG_UART1_BASE), 1, NULL},
+    {(volatile uart_dev_t *)(DR_REG_UART2_BASE), 2, NULL}
+};
+
 static void IRAM_ATTR _uart_isr(void *arg)
 {
-    uint8_t c;
+    uint8_t i, c;
     BaseType_t xHigherPriorityTaskWoken;
-    uart_t* uart = (uart_t*)arg;
+    uart_t* uart;
 
-    uart->dev->int_clr.val = UART_RXFIFO_FULL_INT_ENA | UART_FRM_ERR_INT_ENA | UART_RXFIFO_TOUT_INT_ENA; //Acknowledge the interrupt
+    for(i=0;i<3;i++){
+        uart = &_uart_bus_array[i];
+        uart->dev->int_clr.rxfifo_full = 1;
+        uart->dev->int_clr.frm_err = 1;
+        uart->dev->int_clr.rxfifo_tout = 1;
         while(uart->dev->status.rxfifo_cnt) {
             c = uart->dev->fifo.rw_byte;
-        if(!xQueueIsQueueFullFromISR(uart->queue)) {
+            if(uart->queue != NULL && !xQueueIsQueueFullFromISR(uart->queue)) {
                 xQueueSendFromISR(uart->queue, &c, &xHigherPriorityTaskWoken);
             }
         }
+    }
 
     if (xHigherPriorityTaskWoken) {
         portYIELD_FROM_ISR();
     }
 }
 
+void uartEnableGlobalInterrupt()
+{
+    xt_set_interrupt_handler(ETS_UART_INUM, _uart_isr, NULL);
+    ESP_INTR_ENABLE(ETS_UART_INUM);
+}
+
+void uartDisableGlobalInterrupt()
+{
+    ESP_INTR_DISABLE(ETS_UART_INUM);
+    xt_set_interrupt_handler(ETS_UART_INUM, NULL, NULL);
+}
+
+void uartEnableInterrupt(uart_t* uart)
+{
+    uart->dev->conf1.rxfifo_full_thrhd = 112;
+    uart->dev->conf1.rx_tout_thrhd = 2;
+    uart->dev->conf1.rx_tout_en = 1;
+    uart->dev->int_ena.rxfifo_full = 1;
+    uart->dev->int_ena.frm_err = 1;
+    uart->dev->int_ena.rxfifo_tout = 1;
+    uart->dev->int_clr.val = 0xffffffff;
+
+    intr_matrix_set(xPortGetCoreID(), UART_INTR_SOURCE(uart->num), ETS_UART_INUM);
+}
+
+void uartDisableInterrupt(uart_t* uart)
+{
+    uart->dev->conf1.val = 0;
+    uart->dev->int_ena.val = 0;
+    uart->dev->int_clr.val = 0xffffffff;
+}
+
+void uartDetachRx(uart_t* uart)
+{
+    if(uart == NULL) {
+        return;
+    }
+    pinMatrixInDetach(UART_RXD_IDX(uart->num), false, false);
+    uartDisableInterrupt(uart);
+}
+
+void uartDetachTx(uart_t* uart)
+{
+    if(uart == NULL) {
+        return;
+    }
+    pinMatrixOutDetach(UART_TXD_IDX(uart->num), false, false);
+}
+
+void uartAttachRx(uart_t* uart, uint8_t rxPin, bool inverted)
+{
+    if(uart == NULL || rxPin > 39) {
+        return;
+    }
+    pinMode(rxPin, INPUT);
+    pinMatrixInAttach(rxPin, UART_RXD_IDX(uart->num), inverted);
+    uartEnableInterrupt(uart);
+    uartEnableGlobalInterrupt();
+}
+
+void uartAttachTx(uart_t* uart, uint8_t txPin, bool inverted)
+{
+    if(uart == NULL || txPin > 39) {
+        return;
+    }
+    pinMode(txPin, OUTPUT);
+    pinMatrixOutAttach(txPin, UART_TXD_IDX(uart->num), inverted, false);
+}
+
 uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rxPin, int8_t txPin, uint16_t queueLen, bool inverted)
 {
-    uint32_t conf1 = 0;
-
     if(uart_nr > 2) {
         return NULL;
     }
@@ -65,87 +153,59 @@ uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rx
         return NULL;
     }
 
-    uart_t* uart = (uart_t*) malloc(sizeof(uart_t));
+    uart_t* uart = &_uart_bus_array[uart_nr];
-    if(uart == 0) {
-        return NULL;
-    }
     
-    uart->dev = (uart_dev_t *)UART_REG_BASE(uart_nr);
+    if(queueLen && uart->queue == NULL) {
-    uart->num = uart_nr;
-    uart->inverted = inverted;
-
-    uart->rxPin = rxPin;
-    uart->txPin = txPin;
-    uart->rxEnabled = (uart->rxPin != -1);
-    uart->txEnabled = (uart->txPin != -1);
-
-    uartFlush(uart);
-
-    if(uart->rxEnabled) {
         uart->queue = xQueueCreate(queueLen, sizeof(uint8_t)); //initialize the queue
         if(uart->queue == NULL) {
-            free(uart);
             return NULL;
         }
-
-        pinMode(uart->rxPin, INPUT);
-        pinMatrixInAttach(uart->rxPin, UART_RXD_IDX(uart->num), uart->inverted);
-        intr_matrix_set(xPortGetCoreID(), UART_INTR_SOURCE(uart->num), UART_INUM(uart->num));
-        xt_set_interrupt_handler(UART_INUM(uart->num), _uart_isr, uart);
-        ESP_INTR_ENABLE(UART_INUM(uart->num));
-        conf1 = (112 << UART_RXFIFO_FULL_THRHD_S) | (0x02 << UART_RX_TOUT_THRHD_S) | UART_RX_TOUT_EN;
-        uart->dev->int_ena.val = UART_RXFIFO_FULL_INT_ENA | UART_FRM_ERR_INT_ENA | UART_RXFIFO_TOUT_INT_ENA;
-        uart->dev->int_clr.val = 0xffff;
-    }
-    if(uart->txEnabled) {
-        pinMode(uart->txPin, OUTPUT);
-        pinMatrixOutAttach(uart->txPin, UART_TXD_IDX(uart->num), uart->inverted, false);
     }
 
+    uartFlush(uart);
     uartSetBaudRate(uart, baudrate);
     uart->dev->conf0.val = config;
-    uart->dev->conf1.val = conf1;
+
+    if(rxPin != -1) {
+        uartAttachRx(uart, rxPin, inverted);
+    }
+
+    if(txPin != -1) {
+        uartAttachTx(uart, txPin, inverted);
+    }
+
     return uart;
 }
 
 void uartEnd(uart_t* uart)
 {
-    if(uart == 0) {
+    if(uart == NULL) {
         return;
     }
 
-    if(uart->rxEnabled) {
+    if(uart->queue != NULL) {
-        pinMode(uart->rxPin, INPUT);
-        if(uart->num || uart->rxPin != 3) {
-            pinMatrixInDetach(UART_RXD_IDX(uart->num), uart->inverted, false);
-        }
-
-        ESP_INTR_DISABLE(UART_INUM(uart->num));
-        xt_set_interrupt_handler(UART_INUM(uart->num), NULL, NULL);
         vQueueDelete(uart->queue);
     }
-    if(uart->txEnabled) {
+
-        pinMode(uart->txPin, INPUT);
+    uartDetachRx(uart);
-        if(uart->num || uart->txPin != 1) {
+    uartDetachTx(uart);
-            pinMatrixInDetach(UART_TXD_IDX(uart->num), !uart->inverted, uart->inverted);
-        }
-    }
 
     uart->dev->conf0.val = 0;
-    uart->dev->conf1.val = 0;
-    uart->dev->int_ena.val = 0;
-    uart->dev->int_clr.val = 0xffff;
-
-    free(uart);
 }
 
 uint32_t uartAvailable(uart_t* uart)
 {
+    if(uart == NULL || uart->queue == NULL) {
+        return 0;
+    }
     return uxQueueMessagesWaiting(uart->queue);
 }
 
 uint8_t uartRead(uart_t* uart)
 {
+    if(uart == NULL || uart->queue == NULL) {
+        return 0;
+    }
     uint8_t c;
     if(xQueueReceive(uart->queue, &c, 0)) {
         return c;
@@ -155,6 +215,9 @@ uint8_t uartRead(uart_t* uart)
 
 uint8_t uartPeek(uart_t* uart)
 {
+    if(uart == NULL || uart->queue == NULL) {
+        return 0;
+    }
     uint8_t c;
     if(xQueuePeek(uart->queue, &c, 0)) {
         return c;
@@ -164,14 +227,20 @@ uint8_t uartPeek(uart_t* uart)
 
 void uartWrite(uart_t* uart, uint8_t c)
 {
+    if(uart == NULL) {
+        return;
+    }
     while(uart->dev->status.rxfifo_cnt == 0x7F);
     uart->dev->fifo.rw_byte = c;
 }
 
 void uartWriteBuf(uart_t* uart, const uint8_t * data, size_t len)
 {
+    if(uart == NULL) {
+        return;
+    }
     while(len) {
-        while(len && uart->dev->status.txfifo_cnt < 0x7F) {
+        while(len && uart->dev->status.rxfifo_cnt < 0x7F) {
             uart->dev->fifo.rw_byte = *data++;
             len--;
         }
@@ -180,31 +249,24 @@ void uartWriteBuf(uart_t* uart, const uint8_t * data, size_t len)
 
 void uartFlush(uart_t* uart)
 {
-    uint32_t tmp = 0x00000000;
+    if(uart == NULL) {
-
-    if(uart == 0) {
         return;
     }
 
-    if(uart->rxEnabled) {
-        tmp |= UART_RXFIFO_RST;
-    }
-
-    if(uart->txEnabled) {
     while(uart->dev->status.txfifo_cnt);
-        tmp |= UART_TXFIFO_RST;
-    }
 
-    uart->dev->conf0.val |= (tmp);
+    uart->dev->conf0.txfifo_rst = 1;
-    uart->dev->conf0.val &= ~(tmp);
+    uart->dev->conf0.txfifo_rst = 0;
+
+    uart->dev->conf0.rxfifo_rst = 1;
+    uart->dev->conf0.rxfifo_rst = 0;
 }
 
 void uartSetBaudRate(uart_t* uart, uint32_t baud_rate)
 {
-    if(uart == 0) {
+    if(uart == NULL) {
         return;
     }
-    uart->baud_rate = baud_rate;
     uint32_t clk_div = ((UART_CLK_FREQ<<4)/baud_rate);
     uart->dev->clk_div.div_int = clk_div>>4 ;
     uart->dev->clk_div.div_frag = clk_div & 0xf;
@@ -212,10 +274,11 @@ void uartSetBaudRate(uart_t* uart, uint32_t baud_rate)
 
 uint32_t uartGetBaudRate(uart_t* uart)
 {
-    if(uart == 0) {
+    if(uart == NULL) {
         return 0;
     }
-    return uart->baud_rate;
+    uint32_t clk_div = (uart->dev->clk_div.div_int << 4) | (uart->dev->clk_div.div_frag & 0x0F);
+    return ((UART_CLK_FREQ<<4)/clk_div);
 }
 
 static void IRAM_ATTR uart0_write_char(char c)

cores/esp32/esp32-hal-uart.h

@@ -19,10 +19,9 @@
 extern "C" {
 #endif
 
-#include "esp32-hal.h"
+#include <stdint.h>
-#include "soc/uart_struct.h"
+#include <stdbool.h>
-#include "freertos/FreeRTOS.h"
+#include <stdlib.h>
-#include "freertos/queue.h"
 
 #define SERIAL_5N1 0x8000010
 #define SERIAL_6N1 0x8000014
@@ -49,17 +48,8 @@ extern "C" {
 #define SERIAL_7O2 0x800003b
 #define SERIAL_8O2 0x800003f
 
-typedef struct {
+struct uart_struct_t;
-    uart_dev_t * dev;
+typedef struct uart_struct_t uart_t;
-    xQueueHandle queue;
-    uint32_t baud_rate;
-    uint8_t num;
-    int8_t rxPin;
-    int8_t txPin;
-    bool rxEnabled;
-    bool txEnabled;
-    bool inverted;
-} uart_t;
 
 uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rxPin, int8_t txPin, uint16_t queueLen, bool inverted);
 void uartEnd(uart_t* uart);
@@ -67,8 +57,10 @@ void uartEnd(uart_t* uart);
 uint32_t uartAvailable(uart_t* uart);
 uint8_t uartRead(uart_t* uart);
 uint8_t uartPeek(uart_t* uart);
+
 void uartWrite(uart_t* uart, uint8_t c);
 void uartWriteBuf(uart_t* uart, const uint8_t * data, size_t len);
+
 void uartFlush(uart_t* uart);
 
 void uartSetBaudRate(uart_t* uart, uint32_t baud_rate);