teensy-cores/teensy4/HardwareSerial.cpp

#include "HardwareSerial.h"
#include "core_pins.h"
#include "Arduino.h"
//#include "debug/printf.h"

/*typedef struct {
        const uint32_t VERID;
        const uint32_t PARAM;
        volatile uint32_t GLOBAL;
        volatile uint32_t PINCFG;
        volatile uint32_t BAUD;
        volatile uint32_t STAT;
        volatile uint32_t CTRL;
        volatile uint32_t DATA;
        volatile uint32_t MATCH;
        volatile uint32_t MODIR;
        volatile uint32_t FIFO;
        volatile uint32_t WATER;
} IMXRT_LPUART_t; */

#define UART_CLOCK 24000000

#ifndef SERIAL1_TX_BUFFER_SIZE
#define SERIAL1_TX_BUFFER_SIZE     64 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL1_RX_BUFFER_SIZE
#define SERIAL1_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif

#ifndef SERIAL2_TX_BUFFER_SIZE
#define SERIAL2_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL2_RX_BUFFER_SIZE
#define SERIAL2_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif
#ifndef SERIAL3_TX_BUFFER_SIZE
#define SERIAL3_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL3_RX_BUFFER_SIZE
#define SERIAL3_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif
#ifndef SERIAL4_TX_BUFFER_SIZE
#define SERIAL4_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL4_RX_BUFFER_SIZE
#define SERIAL4_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif

#ifndef SERIAL5_TX_BUFFER_SIZE
#define SERIAL5_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL5_RX_BUFFER_SIZE
#define SERIAL5_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif
#ifndef SERIAL6_TX_BUFFER_SIZE
#define SERIAL6_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL6_RX_BUFFER_SIZE
#define SERIAL6_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif
#ifndef SERIAL7_TX_BUFFER_SIZE
#define SERIAL7_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL7_RX_BUFFER_SIZE
#define SERIAL7_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif
#ifndef SERIAL8_TX_BUFFER_SIZE
#define SERIAL8_TX_BUFFER_SIZE     40 // number of outgoing bytes to buffer
#endif
#ifndef SERIAL8_RX_BUFFER_SIZE
#define SERIAL8_RX_BUFFER_SIZE     64 // number of incoming bytes to buffer
#endif

#define IRQ_PRIORITY  64  // 0 = highest priority, 255 = lowest

#define CTRL_ENABLE 		(LPUART_CTRL_TE | LPUART_CTRL_RE | LPUART_CTRL_RIE)
#define CTRL_TX_ACTIVE		(CTRL_ENABLE | LPUART_CTRL_TIE)
#define CTRL_TX_COMPLETING	(CTRL_ENABLE | LPUART_CTRL_TCIE)
#define CTRL_TX_INACTIVE	CTRL_ENABLE 

void HardwareSerial::begin(uint32_t baud, uint8_t format)
{
	//printf("HardwareSerial begin\n");
	float base = (float)UART_CLOCK / (float)baud;
	float besterr = 1e20;
	int bestdiv = 1;
	int bestosr = 4;
	for (int osr=4; osr <= 32; osr++) {
		float div = base / (float)osr;
		int divint = (int)(div + 0.5f);
		if (divint < 1) divint = 1;
		else if (divint > 8191) divint = 8191;
		float err = ((float)divint - div) / div;
		if (err < 0.0f) err = -err;
		if (err <= besterr) {
			besterr = err;
			bestdiv = divint;
			bestosr = osr;
		}
	}
	//printf(" baud %d: osr=%d, div=%d\n", baud, bestosr, bestdiv);
	rx_buffer_head_ = 0;
	rx_buffer_tail_ = 0;
	tx_buffer_head_ = 0;
	tx_buffer_tail_ = 0;
	transmitting_ = 0;

	hardware->ccm_register |= hardware->ccm_value;

	uint32_t fastio = IOMUXC_PAD_SRE | IOMUXC_PAD_DSE(3) | IOMUXC_PAD_SPEED(3);
	*(portControlRegister(hardware->rx_pin)) = fastio;
	*(portControlRegister(hardware->tx_pin)) = fastio;

	*(portConfigRegister(hardware->rx_pin)) = hardware->rx_mux_val;
	*(portConfigRegister(hardware->tx_pin)) = hardware->tx_mux_val;

	//hardware->rx_mux_register = hardware->rx_mux_val;
	//hardware->tx_mux_register = hardware->tx_mux_val;
	hardware->rx_select_input_register = hardware->rx_select_val;

	port->BAUD = LPUART_BAUD_OSR(bestosr - 1) | LPUART_BAUD_SBR(bestdiv);
	port->PINCFG = 0;

	// Enable the transmitter, receiver and enable receiver interrupt
	attachInterruptVector(hardware->irq, hardware->irq_handler);
	NVIC_SET_PRIORITY(hardware->irq, IRQ_PRIORITY);	// maybe should put into hardware...
	NVIC_ENABLE_IRQ(hardware->irq);
	uint16_t tx_fifo_size = (((port->FIFO >> 4) & 0x7) << 2);
	uint8_t tx_water = (tx_fifo_size < 16) ? tx_fifo_size >> 1 : 7;
	uint16_t rx_fifo_size = (((port->FIFO >> 0) & 0x7) << 2);
	uint8_t rx_water = (rx_fifo_size < 16) ? rx_fifo_size >> 1 : 7;
	/*
	Serial.printf("SerialX::begin stat:%x ctrl:%x fifo:%x water:%x\n", port->STAT, port->CTRL, port->FIFO, port->WATER );
	Serial.printf("  FIFO sizes: tx:%d rx:%d\n",tx_fifo_size, rx_fifo_size);	
	Serial.printf("  Watermark tx:%d, rx: %d\n", tx_water, rx_water);
	*/
	port->WATER = LPUART_WATER_RXWATER(rx_water) | LPUART_WATER_TXWATER(tx_water);
	port->FIFO |= LPUART_FIFO_TXFE | LPUART_FIFO_RXFE;
	port->CTRL = CTRL_TX_INACTIVE;
	//Serial.printf("    stat:%x ctrl:%x fifo:%x water:%x\n", port->STAT, port->CTRL, port->FIFO, port->WATER );
};

void HardwareSerial::end(void)
{

}

void HardwareSerial::transmitterEnable(uint8_t pin)
{
	while (transmitting_) ;
	pinMode(pin, OUTPUT);
	digitalWrite(pin, LOW);
	transmit_pin_ = pin; 	// BUGBUG - Faster way? 

}

void HardwareSerial::setRX(uint8_t pin)
{
	// BUGBUG Implement
	//Serial.printf("SerialX TX(%d) param:%x stat:%x ctrl:%x fifo:%x water:%x\n", hardware->tx_pin, port->PARAM, port->STAT, port->CTRL, port->FIFO, port->WATER );

}

void HardwareSerial::setTX(uint8_t pin, bool opendrain)
{
	// BUGBUG Implement
}

bool HardwareSerial::attachRts(uint8_t pin)
{
	// BUGBUG Implement
	return false;
}

bool HardwareSerial::attachCts(uint8_t pin)
{
	// BUGBUG Implement
	return false;
}

void HardwareSerial::clear(void)
{
	// BUGBUG:: deal with FIFO
	rx_buffer_head_ = rx_buffer_tail_;
	//if (rts_pin_) rts_assert();
}

int HardwareSerial::availableForWrite(void)
{
	uint32_t head, tail;

	head = tx_buffer_head_;
	tail = tx_buffer_tail_;
	if (head >= tail) return tx_buffer_total_size_ - 1 - head + tail;
	return tail - head - 1;
}

size_t HardwareSerial::write9bit(uint32_t c)
{
	return 0;
}




int HardwareSerial::available(void)
{
	uint32_t head, tail;

	head = rx_buffer_head_;
	tail = rx_buffer_tail_;
	if (head >= tail) return head - tail;
	return rx_buffer_total_size_ + head - tail;
}

int HardwareSerial::peek(void)
{
	uint32_t head, tail;

	head = rx_buffer_head_;
	tail = rx_buffer_tail_;
	if (head == tail) return -1;
	if (++tail >= rx_buffer_total_size_) tail = 0;
	if (tail < rx_buffer_size_) {
		return rx_buffer_[tail];
	} else {
		return rx_buffer_storage_[tail-rx_buffer_size_];
	}
}

int HardwareSerial::read(void)
{
	uint32_t head, tail;
	int c;

	head = rx_buffer_head_;
	tail = rx_buffer_tail_;
	if (head == tail) return -1;
	if (++tail >= rx_buffer_total_size_) tail = 0;
	if (tail < rx_buffer_size_) {
		c = rx_buffer_[tail];
	} else {
		c = rx_buffer_storage_[tail-rx_buffer_size_];
	}
	rx_buffer_tail_ = tail;
	if (rts_pin_) {
		uint32_t avail;
		if (head >= tail) avail = head - tail;
		else avail = rx_buffer_total_size_ + head - tail;
		/*  
		if (avail <= rts_low_watermark_) rts_assert();
		*/
	}
	return c;
}	

void HardwareSerial::flush(void)
{
	while (transmitting_) yield(); // wait
}

size_t HardwareSerial::write(uint8_t c)
{
	uint32_t head, n;
	//digitalWrite(3, HIGH);
	//digitalWrite(5, HIGH);
//	if (transmit_pin_) transmit_assert();
	head = tx_buffer_head_;
	if (++head >= tx_buffer_total_size_) head = 0;
	while (tx_buffer_tail_ == head) {
		/*
		int priority = nvic_execution_priority();
		if (priority <= IRQ_PRIORITY) {
			if ((port->STAT & LPUART_STAT_TDRE)) {
				uint32_t tail = tx_buffer_tail_;
				if (++tail >= tx_buffer_total_size_) tail = 0;
				if (tail < tx_buffer_size_) {
					n = tx_buffer_[tail];
				} else {
					n = tx_buffer_storage_[tail-tx_buffer_size_];
				}
				port->DATA  = n;
				tx_buffer_tail_ = tail;
			}
		} else if (priority >= 256) 
		*/
		{
			yield(); // wait
		} 
	}
	//digitalWrite(5, LOW);
	//Serial.printf("WR %x %d %d %d %x %x\n", c, head, tx_buffer_size_,  tx_buffer_total_size_, (uint32_t)tx_buffer_, (uint32_t)tx_buffer_storage_);
	if (head < tx_buffer_size_) {
		tx_buffer_[head] = c;
	} else {
		tx_buffer_storage_[head - tx_buffer_size_] = c;
	}
	transmitting_ = 1;
	tx_buffer_head_ = head;
	port->CTRL |= LPUART_CTRL_TIE; // (may need to handle this issue)BITBAND_SET_BIT(LPUART0_CTRL, TIE_BIT);
	//digitalWrite(3, LOW);
	return 1;
}

void HardwareSerial::IRQHandler() 
{
	//digitalWrite(4, HIGH);
	uint32_t head, tail, n;
	uint32_t ctrl;

	// See if we have stuff to read in.
	if (port->STAT & LPUART_STAT_RDRF) {
		//digitalWrite(5, HIGH);
		#if 1
		n = port->DATA;	// get the byte... 
		#else
		if (use9Bits_ && (port().C3 & 0x80)) {
			n = port().D | 0x100;
		} else {
			n = port().D;
		} 
		#endif
		head = rx_buffer_head_ + 1;
		if (head >= rx_buffer_total_size_) head = 0;
		if (head != rx_buffer_tail_) {
			if (head < rx_buffer_size_) {
				rx_buffer_[head] = n;
			} else {
				rx_buffer_storage_[head-rx_buffer_size_] = n;
			}
			rx_buffer_head_ = head;
		}
		//digitalWrite(5, LOW);
	}


	// See if we are transmitting and room in buffer. 
	ctrl = port->CTRL;
	if ((ctrl & LPUART_CTRL_TIE) && (port->STAT & LPUART_STAT_TDRE))
	{
		//digitalWrite(3, HIGH);

		head = tx_buffer_head_;
		tail = tx_buffer_tail_;
		do {
			if (head == tail) break;
			if (++tail >= tx_buffer_total_size_) tail = 0;
			if (tail < tx_buffer_size_) {
				n = tx_buffer_[tail];
			} else {
				n = tx_buffer_storage_[tail-tx_buffer_size_];
			}
			//if (use9Bits_) port().C3 = (port().C3 & ~0x40) | ((n & 0x100) >> 2);
			port->DATA = n;
		} while (((port->WATER >> 8) & 0x7) < 4); 	// need to computer properly
		tx_buffer_tail_ = tail;
		if (head == tail) port->CTRL = CTRL_TX_COMPLETING;
		//digitalWrite(3, LOW);
	}

	if ((ctrl & LPUART_CTRL_TCIE) && (port->STAT & LPUART_STAT_TDRE))
	{
		transmitting_ = 0;
		//if (transmit_pin_) transmit_deassert();
		port->CTRL = CTRL_TX_INACTIVE;
	}
	//digitalWrite(4, LOW);
}

void IRQHandler_Serial1()
{
	Serial1.IRQHandler();
}

void IRQHandler_Serial2()
{
	Serial2.IRQHandler();
}

void IRQHandler_Serial3()
{
	Serial3.IRQHandler();
}

void IRQHandler_Serial4()
{
	Serial4.IRQHandler();
}

void IRQHandler_Serial5()
{
	Serial5.IRQHandler();
}

void IRQHandler_Serial6()
{
	Serial6.IRQHandler();
}

void IRQHandler_Serial7()
{
	Serial7.IRQHandler();
}

void IRQHandler_Serial8()
{
	Serial8.IRQHandler();
}




// Serial1
static BUFTYPE tx_buffer1[SERIAL1_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer1[SERIAL1_RX_BUFFER_SIZE];

const HardwareSerial::hardware_t UART6_Hardware = {
	IRQ_LPUART6, &IRQHandler_Serial1,
	CCM_CCGR3, CCM_CCGR3_LPUART6(CCM_CCGR_ON),
	0, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B0_03, // pin 0
	1, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B0_02, // pin 1
	IOMUXC_LPUART6_RX_SELECT_INPUT,
	2, // page 473
	2, // page 472
	1, // page 861
};
HardwareSerial Serial1(&IMXRT_LPUART6, &UART6_Hardware, tx_buffer1, SERIAL1_TX_BUFFER_SIZE,
	rx_buffer1,  SERIAL1_RX_BUFFER_SIZE);

// Serial2
static BUFTYPE tx_buffer2[SERIAL2_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer2[SERIAL2_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART4_Hardware = {
	IRQ_LPUART4, &IRQHandler_Serial2,
	CCM_CCGR1, CCM_CCGR1_LPUART4(CCM_CCGR_ON),
	6, //IOMUXC_SW_MUX_CTL_PAD_GPIO_B1_01, // pin 6
	7, // IOMUXC_SW_MUX_CTL_PAD_GPIO_B1_00, // pin 7
	IOMUXC_LPUART4_RX_SELECT_INPUT,
	2, // page 521
	2, // page 520
	2, // page 858
};
HardwareSerial Serial2(&IMXRT_LPUART4, &UART4_Hardware, tx_buffer2, SERIAL2_TX_BUFFER_SIZE, 
	rx_buffer2,  SERIAL2_RX_BUFFER_SIZE);

// Serial3
static BUFTYPE tx_buffer3[SERIAL3_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer3[SERIAL3_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART2_Hardware = {
	IRQ_LPUART2, &IRQHandler_Serial3,
	CCM_CCGR0, CCM_CCGR0_LPUART2(CCM_CCGR_ON),
	15, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_03, // pin 15
	14, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_02, // pin 14
	IOMUXC_LPUART2_RX_SELECT_INPUT,
	2, // page 491
	2, // page 490
	1, // Page 855
};
HardwareSerial Serial3(&IMXRT_LPUART2, &UART2_Hardware,tx_buffer3, SERIAL3_TX_BUFFER_SIZE,
	rx_buffer3,  SERIAL3_RX_BUFFER_SIZE);

// Serial4
static BUFTYPE tx_buffer4[SERIAL4_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer4[SERIAL4_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART3_Hardware = {
	IRQ_LPUART3, &IRQHandler_Serial4,
	CCM_CCGR0, CCM_CCGR0_LPUART3(CCM_CCGR_ON),
	16, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_07, // pin 16
	17, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_06, // pin 17
	IOMUXC_LPUART3_RX_SELECT_INPUT,
	2, // page 495
	2, // page 494
	0, // Page 857
};
HardwareSerial Serial4(&IMXRT_LPUART3, &UART3_Hardware, tx_buffer4, SERIAL4_TX_BUFFER_SIZE,
	rx_buffer4,  SERIAL4_RX_BUFFER_SIZE);

// Serial5
static BUFTYPE tx_buffer5[SERIAL5_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer5[SERIAL5_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART8_Hardware = {
	IRQ_LPUART8, &IRQHandler_Serial5,
	CCM_CCGR6, CCM_CCGR6_LPUART8(CCM_CCGR_ON),
	21, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_11, // pin 21
	20, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B1_10, // pin 20
	IOMUXC_LPUART8_RX_SELECT_INPUT,
	2, // page 499
	2, // page 498
	1, // Page 864-5
};
HardwareSerial Serial5(&IMXRT_LPUART8, &UART8_Hardware, tx_buffer5, SERIAL5_TX_BUFFER_SIZE,
	rx_buffer5,  SERIAL5_RX_BUFFER_SIZE);

// Serial6
static BUFTYPE tx_buffer6[SERIAL6_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer6[SERIAL6_RX_BUFFER_SIZE];
uint32_t IOMUXC_LPUART1_RX_SELECT_INPUT;		// bugbug - does not exist so hack

static HardwareSerial::hardware_t UART1_Hardware = {
	IRQ_LPUART1, &IRQHandler_Serial6,
	CCM_CCGR5, CCM_CCGR5_LPUART1(CCM_CCGR_ON),
	25, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B0_13, // pin 25
	24, //IOMUXC_SW_MUX_CTL_PAD_GPIO_AD_B0_12, // pin 24
	IOMUXC_LPUART1_RX_SELECT_INPUT,
	2, // page 486
	2, // page 485
	0, // ??? Does not have one ???

};
HardwareSerial Serial6(&IMXRT_LPUART1, &UART1_Hardware, tx_buffer6, SERIAL6_TX_BUFFER_SIZE,
	rx_buffer6,  SERIAL6_RX_BUFFER_SIZE);

// Serial7
static BUFTYPE tx_buffer7[SERIAL7_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer7[SERIAL7_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART7_Hardware = {
	IRQ_LPUART7, &IRQHandler_Serial7,
	CCM_CCGR5, CCM_CCGR5_LPUART7(CCM_CCGR_ON),
	28, //IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_32, // pin 28
	29, //IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_31, // pin 29
	IOMUXC_LPUART7_RX_SELECT_INPUT,
	2, // page 458
	2, // page 457
	1, // Page 863

};
HardwareSerial Serial7(&IMXRT_LPUART7, &UART7_Hardware, tx_buffer7, SERIAL7_TX_BUFFER_SIZE,
	rx_buffer7,  SERIAL7_RX_BUFFER_SIZE);

// Serial8
static BUFTYPE tx_buffer8[SERIAL8_TX_BUFFER_SIZE];
static BUFTYPE rx_buffer8[SERIAL8_RX_BUFFER_SIZE];

static HardwareSerial::hardware_t UART5_Hardware = {
	IRQ_LPUART5, &IRQHandler_Serial8,
	CCM_CCGR3, CCM_CCGR3_LPUART5(CCM_CCGR_ON),
	30, //IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_24, // pin 30
	31, // IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_23, // pin 31
	IOMUXC_LPUART5_RX_SELECT_INPUT,
	2, // page 450
	2, // page 449
	0,
};
HardwareSerial Serial8(&IMXRT_LPUART5, &UART5_Hardware, tx_buffer8, SERIAL8_TX_BUFFER_SIZE,
	rx_buffer8,  SERIAL8_RX_BUFFER_SIZE);