mirror of
https://github.com/ByteWelder/Tactility.git
synced 2026-02-19 03:13:14 +00:00
74127a5f6c
- Add kernel support for SPI driver - Add kernel support for UART driver - Implemented ESP32 UART kernel driver - Update existing UART-related code in Tactility to use new kernel driver - Remove UART from tt::hal::Configuration - Remove tt_hal_uart functionality but keep functions for now - Update devicetrees for UART changes - Kernel mutex and recursive mutex: improved locking API design - Other kernel improvements - Added device_exists_of_type() and device_find_by_name()
380 lines
11 KiB
C++
380 lines
11 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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#include <driver/uart.h>
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#include <tactility/concurrent/mutex.h>
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#include <tactility/device.h>
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#include <tactility/driver.h>
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#include <tactility/drivers/uart_controller.h>
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#include <tactility/drivers/esp32_uart.h>
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#include <tactility/error_esp32.h>
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#include <tactility/log.h>
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#include <tactility/time.h>
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#include <new>
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#define TAG "esp32_uart"
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struct Esp32UartInternal {
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Mutex mutex {};
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UartConfig config {};
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bool config_set = false;
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bool is_open = false;
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Esp32UartInternal() {
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mutex_construct(&mutex);
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}
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~Esp32UartInternal() {
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mutex_destruct(&mutex);
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}
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};
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#define GET_CONFIG(device) ((Esp32UartConfig*)device->config)
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#define GET_DATA(device) ((Esp32UartInternal*)device_get_driver_data(device))
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#define lock(data) mutex_lock(&data->mutex)
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#define unlock(data) mutex_unlock(&data->mutex)
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extern "C" {
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static uart_parity_t to_esp32_parity(enum UartParity parity) {
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switch (parity) {
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case UART_CONTROLLER_PARITY_DISABLE: return UART_PARITY_DISABLE;
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case UART_CONTROLLER_PARITY_EVEN: return UART_PARITY_EVEN;
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case UART_CONTROLLER_PARITY_ODD: return UART_PARITY_ODD;
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default: return UART_PARITY_DISABLE;
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}
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}
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static uart_word_length_t to_esp32_data_bits(enum UartDataBits bits) {
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switch (bits) {
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case UART_CONTROLLER_DATA_5_BITS: return UART_DATA_5_BITS;
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case UART_CONTROLLER_DATA_6_BITS: return UART_DATA_6_BITS;
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case UART_CONTROLLER_DATA_7_BITS: return UART_DATA_7_BITS;
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case UART_CONTROLLER_DATA_8_BITS: return UART_DATA_8_BITS;
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default: return UART_DATA_8_BITS;
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}
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}
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static uart_stop_bits_t to_esp32_stop_bits(enum UartStopBits bits) {
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switch (bits) {
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case UART_CONTROLLER_STOP_BITS_1: return UART_STOP_BITS_1;
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case UART_CONTROLLER_STOP_BITS_1_5: return UART_STOP_BITS_1_5;
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case UART_CONTROLLER_STOP_BITS_2: return UART_STOP_BITS_2;
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default: return UART_STOP_BITS_1;
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}
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}
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static error_t read_byte(Device* device, uint8_t* out, TickType_t timeout) {
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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int len = uart_read_bytes(dts_config->port, out, 1, timeout);
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unlock(driver_data);
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if (len < 0) return ERROR_RESOURCE;
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if (len == 0) return ERROR_TIMEOUT;
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return ERROR_NONE;
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}
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static error_t write_byte(Device* device, uint8_t out, TickType_t timeout) {
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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int len = uart_write_bytes(dts_config->port, (const char*)&out, 1);
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if (len < 0) {
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unlock(driver_data);
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return ERROR_RESOURCE;
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}
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// uart_write_bytes is non-blocking on the buffer but we might want to wait for it to be sent?
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// The API signature has timeout, but ESP-IDF's uart_write_bytes doesn't use it for blocking.
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// However, if we want to ensure it's SENT, we could use uart_wait_tx_done.
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if (timeout > 0) {
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esp_err_t err = uart_wait_tx_done(dts_config->port, timeout);
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unlock(driver_data);
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if (err == ESP_ERR_TIMEOUT) return ERROR_TIMEOUT;
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if (err != ESP_OK) return ERROR_RESOURCE;
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} else {
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unlock(driver_data);
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}
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return ERROR_NONE;
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}
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static error_t write_bytes(Device* device, const uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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int len = uart_write_bytes(dts_config->port, (const char*)buffer, buffer_size);
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if (len < 0) {
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unlock(driver_data);
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return ERROR_RESOURCE;
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}
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if (timeout > 0) {
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esp_err_t err = uart_wait_tx_done(dts_config->port, timeout);
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unlock(driver_data);
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if (err == ESP_ERR_TIMEOUT) return ERROR_TIMEOUT;
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if (err != ESP_OK) return ERROR_RESOURCE;
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} else {
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unlock(driver_data);
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}
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return ERROR_NONE;
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}
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static error_t read_bytes(Device* device, uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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int len = uart_read_bytes(dts_config->port, buffer, buffer_size, timeout);
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unlock(driver_data);
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if (len < 0) return ERROR_RESOURCE;
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if (len < (int)buffer_size) return ERROR_TIMEOUT;
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return ERROR_NONE;
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}
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static error_t get_available(Device* device, size_t* available_bytes) {
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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esp_err_t err = uart_get_buffered_data_len(dts_config->port, available_bytes);
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unlock(driver_data);
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if (err != ESP_OK) return esp_err_to_error(err);
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return ERROR_NONE;
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}
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static error_t set_config(Device* device, const struct UartConfig* config) {
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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lock(driver_data);
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if (driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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memcpy(&driver_data->config, config, sizeof(UartConfig));
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driver_data->config_set = true;
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unlock(driver_data);
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return ERROR_NONE;
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}
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static error_t get_config(Device* device, struct UartConfig* config) {
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auto* driver_data = GET_DATA(device);
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lock(driver_data);
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if (!driver_data->config_set) {
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unlock(driver_data);
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return ERROR_RESOURCE;
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}
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memcpy(config, &driver_data->config, sizeof(UartConfig));
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unlock(driver_data);
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return ERROR_NONE;
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}
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static error_t open(Device* device) {
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ESP_LOGI(TAG, "%s open", device->name);
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (driver_data->is_open) {
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unlock(driver_data);
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LOG_W(TAG, "%s is already open", device->name);
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return ERROR_INVALID_STATE;
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}
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if (!driver_data->config_set) {
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unlock(driver_data);
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LOG_E(TAG, "%s open failed: config not set", device->name);
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return ERROR_INVALID_STATE;
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}
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esp_err_t esp_error = uart_driver_install(dts_config->port, 1024, 0, 0, NULL, 0);
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if (esp_error != ESP_OK) {
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LOG_E(TAG, "%s failed to install: %s", device->name, esp_err_to_name(esp_error));
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unlock(driver_data);
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return esp_err_to_error(esp_error);
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}
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uart_config_t uart_config = {
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.baud_rate = (int)driver_data->config.baud_rate,
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.data_bits = to_esp32_data_bits(driver_data->config.data_bits),
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.parity = to_esp32_parity(driver_data->config.parity),
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.stop_bits = to_esp32_stop_bits(driver_data->config.stop_bits),
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE, // Flow control is not yet exposed via UartConfig
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.rx_flow_ctrl_thresh = 0,
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.source_clk = UART_SCLK_DEFAULT,
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.flags = {
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.allow_pd = 0,
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.backup_before_sleep = 0
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}
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};
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if (dts_config->pinCts != UART_PIN_NO_CHANGE || dts_config->pinRts != UART_PIN_NO_CHANGE) {
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LOG_W(TAG, "%s: CTS/RTS pins are defined but hardware flow control is disabled (not supported in UartConfig)", device->name);
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}
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esp_error = uart_param_config(dts_config->port, &uart_config);
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if (esp_error != ESP_OK) {
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LOG_E(TAG, "%s failed to configure: %s", device->name, esp_err_to_name(esp_error));
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uart_driver_delete(dts_config->port);
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unlock(driver_data);
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return ERROR_RESOURCE;
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}
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esp_error = uart_set_pin(dts_config->port, dts_config->pinTx, dts_config->pinRx, dts_config->pinCts, dts_config->pinRts);
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if (esp_error != ESP_OK) {
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LOG_E(TAG, "%s failed to set uart pins: %s", device->name, esp_err_to_name(esp_error));
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uart_driver_delete(dts_config->port);
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unlock(driver_data);
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return ERROR_RESOURCE;
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}
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driver_data->is_open = true;
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unlock(driver_data);
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return ERROR_NONE;
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}
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static error_t close(Device* device) {
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ESP_LOGI(TAG, "%s close", device->name);
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if (xPortInIsrContext()) return ERROR_ISR_STATUS;
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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LOG_W(TAG, "Already closed");
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return ERROR_INVALID_STATE;
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}
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uart_driver_delete(dts_config->port);
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driver_data->is_open = false;
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unlock(driver_data);
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return ERROR_NONE;
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}
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static bool is_open(Device* device) {
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auto* driver_data = GET_DATA(device);
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lock(driver_data);
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bool status = driver_data->is_open;
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unlock(driver_data);
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return status;
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}
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static error_t flush_input(Device* device) {
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auto* driver_data = GET_DATA(device);
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auto* dts_config = GET_CONFIG(device);
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lock(driver_data);
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if (!driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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esp_err_t err = uart_flush_input(dts_config->port);
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unlock(driver_data);
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return esp_err_to_error(err);
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}
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static error_t start(Device* device) {
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ESP_LOGI(TAG, "%s start", device->name);
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auto* data = new(std::nothrow) Esp32UartInternal();
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if (!data) return ERROR_OUT_OF_MEMORY;
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device_set_driver_data(device, data);
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return ERROR_NONE;
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}
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static error_t stop(Device* device) {
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ESP_LOGI(TAG, "%s stop", device->name);
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auto* driver_data = GET_DATA(device);
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lock(driver_data);
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if (driver_data->is_open) {
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unlock(driver_data);
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return ERROR_INVALID_STATE;
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}
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unlock(driver_data);
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device_set_driver_data(device, nullptr);
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delete driver_data;
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return ERROR_NONE;
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}
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const static UartControllerApi esp32_uart_api = {
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.read_byte = read_byte,
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.write_byte = write_byte,
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.write_bytes = write_bytes,
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.read_bytes = read_bytes,
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.get_available = get_available,
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.set_config = set_config,
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.get_config = get_config,
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.open = open,
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.close = close,
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.is_open = is_open,
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.flush_input = flush_input
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};
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extern struct Module platform_module;
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Driver esp32_uart_driver = {
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.name = "esp32_uart",
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.compatible = (const char*[]) { "espressif,esp32-uart", nullptr },
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.start_device = start,
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.stop_device = stop,
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.api = (void*)&esp32_uart_api,
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.device_type = &UART_CONTROLLER_TYPE,
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.owner = &platform_module,
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.internal = nullptr
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};
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} // extern "C"
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