openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/drivers/uart.h

@@ -0,0 +1,211 @@
+// IRQs: USART2, USART3, UART5
+
+// ***************************** Definitions *****************************
+#define FIFO_SIZE_INT 0x400U
+
+typedef struct uart_ring {
+  volatile uint16_t w_ptr_tx;
+  volatile uint16_t r_ptr_tx;
+  uint8_t *elems_tx;
+  uint32_t tx_fifo_size;
+  volatile uint16_t w_ptr_rx;
+  volatile uint16_t r_ptr_rx;
+  uint8_t *elems_rx;
+  uint32_t rx_fifo_size;
+  USART_TypeDef *uart;
+  void (*callback)(struct uart_ring*);
+  bool overwrite;
+} uart_ring;
+
+#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, overwrite_mode) \
+  uint8_t elems_rx_##x[size_rx]; \
+  uint8_t elems_tx_##x[size_tx]; \
+  uart_ring uart_ring_##x = {  \
+    .w_ptr_tx = 0, \
+    .r_ptr_tx = 0, \
+    .elems_tx = ((uint8_t *)&(elems_tx_##x)), \
+    .tx_fifo_size = (size_tx), \
+    .w_ptr_rx = 0, \
+    .r_ptr_rx = 0, \
+    .elems_rx = ((uint8_t *)&(elems_rx_##x)), \
+    .rx_fifo_size = (size_rx), \
+    .uart = (uart_ptr), \
+    .callback = (callback_ptr), \
+    .overwrite = (overwrite_mode) \
+  };
+
+// ***************************** Function prototypes *****************************
+void debug_ring_callback(uart_ring *ring);
+void uart_tx_ring(uart_ring *q);
+void uart_send_break(uart_ring *u);
+
+// ******************************** UART buffers ********************************
+
+// debug = USART2
+UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, true)
+
+// SOM debug = UART7
+#ifdef STM32H7
+  UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, true)
+#else
+  // UART7 is not available on F4
+  UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, true)
+#endif
+
+uart_ring *get_ring_by_number(int a) {
+  uart_ring *ring = NULL;
+  switch(a) {
+    case 0:
+      ring = &uart_ring_debug;
+      break;
+    case 4:
+      ring = &uart_ring_som_debug;
+      break;
+    default:
+      ring = NULL;
+      break;
+  }
+  return ring;
+}
+
+// ************************* Low-level buffer functions *************************
+bool getc(uart_ring *q, char *elem) {
+  bool ret = false;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr_rx != q->r_ptr_rx) {
+    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+    ret = true;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
+bool injectc(uart_ring *q, char elem) {
+  int ret = false;
+  uint16_t next_w_ptr;
+
+  ENTER_CRITICAL();
+  next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+
+  if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+  }
+
+  if (next_w_ptr != q->r_ptr_rx) {
+    q->elems_rx[q->w_ptr_rx] = elem;
+    q->w_ptr_rx = next_w_ptr;
+    ret = true;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
+bool putc(uart_ring *q, char elem) {
+  bool ret = false;
+  uint16_t next_w_ptr;
+
+  ENTER_CRITICAL();
+  next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size;
+
+  if ((next_w_ptr == q->r_ptr_tx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
+  }
+
+  if (next_w_ptr != q->r_ptr_tx) {
+    q->elems_tx[q->w_ptr_tx] = elem;
+    q->w_ptr_tx = next_w_ptr;
+    ret = true;
+  }
+  EXIT_CRITICAL();
+
+  uart_tx_ring(q);
+
+  return ret;
+}
+
+// Seems dangerous to use (might lock CPU if called with interrupts disabled f.e.)
+// TODO: Remove? Not used anyways
+void uart_flush(uart_ring *q) {
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    __WFI();
+  }
+}
+
+void uart_flush_sync(uart_ring *q) {
+  // empty the TX buffer
+  while (q->w_ptr_tx != q->r_ptr_tx) {
+    uart_tx_ring(q);
+  }
+}
+
+void clear_uart_buff(uart_ring *q) {
+  ENTER_CRITICAL();
+  q->w_ptr_tx = 0;
+  q->r_ptr_tx = 0;
+  q->w_ptr_rx = 0;
+  q->r_ptr_rx = 0;
+  EXIT_CRITICAL();
+}
+
+// ************************ High-level debug functions **********************
+void putch(const char a) {
+  // misra-c2012-17.7: serial debug function, ok to ignore output
+  (void)injectc(&uart_ring_debug, a);
+}
+
+void print(const char *a) {
+  for (const char *in = a; *in; in++) {
+    if (*in == '\n') putch('\r');
+    putch(*in);
+  }
+}
+
+void putui(uint32_t i) {
+  uint32_t i_copy = i;
+  char str[11];
+  uint8_t idx = 10;
+  str[idx] = '\0';
+  idx--;
+  do {
+    str[idx] = (i_copy % 10U) + 0x30U;
+    idx--;
+    i_copy /= 10;
+  } while (i_copy != 0U);
+  print(&str[idx + 1U]);
+}
+
+void puthx(uint32_t i, uint8_t len) {
+  const char c[] = "0123456789abcdef";
+  for (int pos = ((int)len * 4) - 4; pos > -4; pos -= 4) {
+    putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
+  }
+}
+
+void puth(unsigned int i) {
+  puthx(i, 8U);
+}
+
+void puth2(unsigned int i) {
+  puthx(i, 2U);
+}
+
+void puth4(unsigned int i) {
+  puthx(i, 4U);
+}
+
+void hexdump(const void *a, int l) {
+  if (a != NULL) {
+    for (int i=0; i < l; i++) {
+      if ((i != 0) && ((i & 0xf) == 0)) print("\n");
+      puth2(((const unsigned char*)a)[i]);
+      print(" ");
+    }
+  }
+  print("\n");
+}