New usart implementation:

Fixed a bug where the maximum baud rate was incorrectly set to 225000
General cleanup
Use new rcc and nvic APIs

7 files changed, 235 insertions, 308 deletions

diff --git a/libmaple/nvic.h b/libmaple/nvic.h
index 8f18e4d..6cad48d 100644
--- a/libmaple/nvic.h
+++ b/libmaple/nvic.h
@@ -62,10 +62,16 @@
 extern "C"{
 #endif
 
+enum {
+   NVIC_USART1 = 37,
+   NVIC_USART2 = 38,
+   NVIC_USART3 = 39,
+};
+
 void nvic_init(void);
 void nvic_disable_interrupts(void);
-void nvic_enable_interrupt(uint32);
-void nvic_disable_interrupt(uint32);
+void nvic_enable_interrupt(uint32 device);
+void nvic_disable_interrupt(uint32 device);
 
 #ifdef __cplusplus
 }
diff --git a/libmaple/ring_buffer.h b/libmaple/ring_buffer.h
new file mode 100644
index 0000000..95b9dd8
--- /dev/null
+++ b/libmaple/ring_buffer.h
@@ -0,0 +1,57 @@
+/**
+ *  @brief simple circular buffer
+ */
+
+#ifndef _RING_BUFFER_H_
+#define _RING_BUFFER_H_
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+/* The buffer is empty when head == tail.
+ * The buffer is full when the head is one byte in front of the tail
+ * The total buffer size must be a power of two
+ * One byte is left free to distinguish empty from full */
+typedef struct ring_buffer {
+    uint32 head;
+    uint32 tail;
+    uint8 size;
+    uint8 *buf;
+} ring_buffer;
+
+static inline void rb_init(ring_buffer *rb, uint8 size, uint8 *buf) {
+   ASSERT(IS_POWER_OF_TWO(size));
+   rb->head = 0;
+   rb->tail = 0;
+   rb->size = size;
+   rb->buf = buf;
+}
+
+static inline void rb_insert(ring_buffer *rb, uint8 element) {
+   rb->buf[(rb->tail)++] = element;
+   rb->tail &= (rb->size - 1);
+}
+
+static inline uint8 rb_remove(ring_buffer *rb) {
+   uint8 ch = rb->buf[rb->head++];
+   rb->head &= (rb->size - 1);
+   return ch;
+}
+
+static inline uint32 rb_full_count(ring_buffer *rb) {
+   return rb->tail - rb->head;
+}
+
+static inline void  rb_reset(ring_buffer *rb) {
+   rb->tail = rb->head;
+}
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+
+
+#endif
+
diff --git a/libmaple/usart.c b/libmaple/usart.c
index 2a587f3..53a6150 100644
--- a/libmaple/usart.c
+++ b/libmaple/usart.c
@@ -42,117 +42,66 @@
 #define USART_TE            BIT(3)
 #define USART_RE            BIT(2)
 #define USART_RXNEIE        BIT(5)       // read data register not empty interrupt enable
-#define USART_TXE           BIT(7)
 #define USART_TC            BIT(6)
 
-#define USART_STOP_BITS_1   BIT_MASK_SHIFT(0b0, 12)
-#define USART_STOP_BITS_05  BIT_MASK_SHIFT(0b01, 12)
-#define USART_STOP_BITS_2   BIT_MASK_SHIFT(0b02, 12)
-#define USART_STOP_BITS_15  BIT_MASK_SHIFT(0b02, 12)
-
-#define USART1_CLK          72000000UL
-#define USART2_CLK          36000000UL
-#define USART3_CLK          36000000UL
-
-#define USART_RECV_BUF_SIZE 64
-
-/* Ring buffer notes:
- * The buffer is empty when head == tail.
- * The buffer is full when the head is one byte in front of the tail
- * The total buffer size must be a power of two
- * Note, one byte is necessarily left free with this scheme */
-typedef struct usart_ring_buf {
-    uint32 head;
-    uint32 tail;
-    uint8 buf[USART_RECV_BUF_SIZE];
-} usart_ring_buf;
-
-static usart_ring_buf ring_buf1;
-static usart_ring_buf ring_buf2;
-static usart_ring_buf ring_buf3;
-
-typedef struct usart_port {
-    volatile uint32 SR;       // Status register
-    volatile uint32 DR;       // Data register
-    volatile uint32 BRR;      // Baud rate register
-    volatile uint32 CR1;      // Control register 1
-    volatile uint32 CR2;      // Control register 2
-    volatile uint32 CR3;      // Control register 3
-    volatile uint32 GTPR;     // Guard time and prescaler register
-} usart_port;
-
+/* usart descriptor table  */
+struct usart_dev usart_dev_table[] = {
+   [USART1] = {
+      .base = (usart_port*)USART1_BASE,
+      .rcc_dev_num = RCC_USART1,
+      .nvic_dev_num = NVIC_USART1
+   },
+   [USART2] = {
+      .base = (usart_port*)USART2_BASE,
+      .rcc_dev_num = RCC_USART2,
+      .nvic_dev_num = NVIC_USART2
+   },
+   [USART3] = {
+      .base = (usart_port*)USART3_BASE,
+      .rcc_dev_num = RCC_USART3,
+      .nvic_dev_num = NVIC_USART3
+   },
+};
+
+/* usart interrupt handlers  */
 void USART1_IRQHandler(void) {
-    /* Read the data  */
-    ring_buf1.buf[ring_buf1.tail++] = (uint8)(((usart_port*)(USART1_BASE))->DR);
-    ring_buf1.tail %= USART_RECV_BUF_SIZE;
+    rb_insert(&(usart_dev_table[USART1].rb), (uint8)(((usart_port*)(USART1_BASE))->DR));
 }
 
-/* Don't overrun your buffer, seriously  */
 void USART2_IRQHandler(void) {
-    /* Read the data  */
-    ring_buf2.buf[ring_buf2.tail++] = (uint8)(((usart_port*)(USART2_BASE))->DR);
-    ring_buf2.tail %= USART_RECV_BUF_SIZE;
+   rb_insert(&(usart_dev_table[USART2].rb), (uint8)(((usart_port*)(USART2_BASE))->DR));
 }
-/* Don't overrun your buffer, seriously  */
+
 void USART3_IRQHandler(void) {
-    /* Read the data  */
-    ring_buf3.buf[ring_buf3.tail++] = (uint8)(((usart_port*)(USART3_BASE))->DR);
-    ring_buf3.tail %= USART_RECV_BUF_SIZE;
+    rb_insert(&usart_dev_table[USART3].rb, (uint8)(((usart_port*)(USART3_BASE))->DR));
 }
 
 /**
  *  @brief Enable a USART in single buffer transmission mode, multibuffer
- *  receiver mode.
- *
+ *     receiver mode.
  *  @param usart_num USART to be initialized
  *  @param baud Baud rate to be set at
- *  @param recvBuf buf buffer for receiver
- *  @param len size of recvBuf
- *
- *  @sideeffect Turns on the specified USART
  */
 void usart_init(uint8 usart_num, uint32 baud) {
-    ASSERT((usart_num <= NR_USARTS) && (usart_num > 0));
-    ASSERT(baud && (baud < USART_MAX_BAUD));
-
     usart_port *port;
-    usart_ring_buf *ring_buf;
+    ring_buffer *ring_buf;
 
     uint32 clk_speed;
     uint32 integer_part;
     uint32 fractional_part;
     uint32 tmp;
 
-    switch (usart_num) {
-    case 1:
-        port = (usart_port*)USART1_BASE;
-        ring_buf = &ring_buf1;
-        clk_speed = USART1_CLK;
-        rcc_clk_enable(RCC_USART1);
-        REG_SET(NVIC_ISER1, BIT(5));
-        break;
-    case 2:
-        port = (usart_port*)USART2_BASE;
-        ring_buf = &ring_buf2;
-        clk_speed = USART2_CLK;
-        rcc_clk_enable(RCC_USART2);
-        REG_SET(NVIC_ISER1, BIT(6));
-        break;
-    case 3:
-        port = (usart_port*)USART3_BASE;
-        ring_buf = &ring_buf3;
-        clk_speed = USART3_CLK;
-        rcc_clk_enable(RCC_USART3);
-        REG_SET(NVIC_ISER1, BIT(7));
-        break;
-    default:
-        /* should never get here  */
-        ASSERT(0);
-    }
+    port = usart_dev_table[usart_num].base;
+    rcc_clk_enable(usart_dev_table[usart_num].rcc_dev_num);
+    nvic_enable_interrupt(usart_dev_table[usart_num].nvic_dev_num);
+
+    /* usart1 is mad fast  */
+    clk_speed = (usart_num == USART1) ? 72000000UL : 36000000UL;
 
-    /* Initialize ring buffer  */
-    ring_buf->head = 0;
-    ring_buf->tail = 0;
+    /* Initialize rx ring buffer  */
+    rb_init(&usart_dev_table[usart_num].rb,
+            sizeof (usart_dev_table[usart_num].rx_buf),
+            usart_dev_table[usart_num].rx_buf);
 
     /* Set baud rate  */
     integer_part = ((25 * clk_speed) / (4 * baud));
@@ -175,33 +124,10 @@ void usart_init(uint8 usart_num, uint32 baud) {
 
 /**
  *  @brief Turn off a USART.
- *
  *  @param USART to be disabled
- *
- *  @sideeffect Turns off the specified USART
  */
 void usart_disable(uint8 usart_num) {
-    ASSERT((usart_num <= NR_USARTS) && (usart_num > 0));
-    usart_port *port;
-
-    switch (usart_num) {
-    case 1:
-        port = (usart_port*)USART1_BASE;
-        break;
-    case 2:
-        port = (usart_port*)USART2_BASE;
-        break;
-    case 3:
-        port = (usart_port*)USART3_BASE;
-        break;
-    default:
-        /* should never get here  */
-        ASSERT(0);
-    }
-
-    /* Is this usart enabled?  */
-    if (!(port->SR & USART_UE))
-        return;
+    usart_port *port = usart_dev_table[usart_num].base;
 
     /* TC bit must be high before disabling the usart  */
     while ((port->SR & USART_TC) == 0)
@@ -211,18 +137,17 @@ void usart_disable(uint8 usart_num) {
     port->CR1 = 0;
 
     /* Clean up buffer */
-    usart_clear_buffer(usart_num);
+    usart_reset_rx(usart_num);
 }
 
 
 /**
  *  @brief Print a null terminated string to the specified USART
  *
- *  @param[in] usart_num USART to send on
- *  @param[in] str String to send
+ *  @param usart_num usart to send on
+ *  @param str string to send
  */
 void usart_putstr(uint8 usart_num, const char* str) {
-    ASSERT((usart_num <= NR_USARTS) && (usart_num > 0));
     char ch;
 
     while((ch = *(str++)) != '\0') {
@@ -233,11 +158,10 @@ void usart_putstr(uint8 usart_num, const char* str) {
 /**
  *  @brief Print an unsigned integer to the specified usart
  *
- *  @param[in] usart_num usart to send on
- *  @param[in] val number to print
+ *  @param usart_num usart to send on
+ *  @param val number to print
  */
 void usart_putudec(uint8 usart_num, uint32 val) {
-    ASSERT((usart_num <= NR_USARTS) && (usart_num > 0));
     char digits[12];
     int i;
 
@@ -249,125 +173,4 @@ void usart_putudec(uint8 usart_num, uint32 val) {
     while (--i >= 0) {
         usart_putc(usart_num, digits[i]);
     }
-
 }
-
-
-/**
- *  @brief Return one character from the receive buffer. Assumes
- *  that there is data available.
- *
- *  @param[in] usart_num number of the usart to read from
- *
- *  @return character from ring buffer
- *
- *  @sideeffect may update the head pointer of the recv buffer
- */
-uint8 usart_getc(uint8 usart_num) {
-    uint8 ch;
-    usart_ring_buf *rb;
-
-    switch (usart_num) {
-    case 1:
-        rb = &ring_buf1;
-        break;
-    case 2:
-        rb = &ring_buf2;
-        break;
-    case 3:
-        rb = &ring_buf3;
-        break;
-    default:
-        ASSERT(0);
-    }
-
-    /* Make sure there's actually data to be read  */
-    ASSERT(rb->head != rb->tail);
-
-    /* Read the data and check for wraparound  */
-    ch = rb->buf[rb->head++];
-    rb->head %= USART_RECV_BUF_SIZE;
-
-    return ch;
-}
-
-uint32 usart_data_available(uint8 usart_num) {
-    usart_ring_buf *rb;
-
-    switch (usart_num) {
-    case 1:
-        rb = &ring_buf1;
-        break;
-    case 2:
-        rb = &ring_buf2;
-        break;
-    case 3:
-        rb = &ring_buf3;
-        break;
-    default:
-        ASSERT(0);
-    }
-
-    return rb->tail - rb->head;
-}
-
-void usart_clear_buffer(uint8 usart_num) {
-    usart_ring_buf *rb;
-
-    switch (usart_num) {
-    case 1:
-        rb = &ring_buf1;
-        break;
-    case 2:
-        rb = &ring_buf2;
-        break;
-    case 3:
-        rb = &ring_buf3;
-        break;
-    default:
-        ASSERT(0);
-    }
-
-    rb->tail = rb->head;
-}
-
-
-
-/**
- *  @brief Output a byte out the uart
- *
- *  @param[in] usart_num usart number to output on
- *  @param[in] byte byte to send
- *
- */
-void usart_putc(uint8 usart_num, uint8 byte) {
-    ASSERT((usart_num <= NR_USARTS) && (usart_num > 0));
-    usart_port *port;
-
-    switch (usart_num) {
-    case 1:
-        port = (usart_port*)USART1_BASE;
-        break;
-    case 2:
-        port = (usart_port*)USART2_BASE;
-        break;
-    case 3:
-        port = (usart_port*)USART3_BASE;
-        break;
-    default:
-        /* Should never get here  */
-        ASSERT(0);
-    }
-
-//    if (ch == '\n') {
-//        usart_putc(usart_num, '\r');
-//    }
-
-    port->DR = byte;
-
-    /* Wait for transmission to complete  */
-    while ((port->SR & USART_TXE) == 0)
-        ;
-}
-
-
diff --git a/libmaple/usart.h b/libmaple/usart.h
index 02fb6e0..beffa89 100644
--- a/libmaple/usart.h
+++ b/libmaple/usart.h
@@ -23,32 +23,98 @@
  * ****************************************************************************/
 
 /**
- *  @file usart.h
- *
- *  @brief USART Definitions
+ *  @brief USART definitions and prototypes
  */
 
 #ifndef _USART_H_
 #define _USART_H_
 
-#define NR_USARTS           0x3
+#include "ring_buffer.h"
 
 #ifdef __cplusplus
 extern "C"{
 #endif
 
-#define USART_MAX_BAUD      225000
+#define USART_TXE           BIT(7)
+
+/* usart device numbers  */
+enum {
+   USART1,
+   USART2,
+   USART3,
+};
+
+/* peripheral register struct  */
+typedef struct usart_port {
+    volatile uint32 SR;       // Status register
+    volatile uint32 DR;       // Data register
+    volatile uint32 BRR;      // Baud rate register
+    volatile uint32 CR1;      // Control register 1
+    volatile uint32 CR2;      // Control register 2
+    volatile uint32 CR3;      // Control register 3
+    volatile uint32 GTPR;     // Guard time and prescaler register
+} usart_port;
+
+/* usart descriptor  */
+struct usart_dev {
+   usart_port *base;
+   ring_buffer rb;
+   uint8 rx_buf[64];
+   const uint8 rcc_dev_num;
+   const uint8 nvic_dev_num;
+};
+
+extern struct usart_dev usart_dev_table[];
+
+
+/**
+ * @brief send one character on a usart
+ * @param usart_num usart to send on
+ * @param byte byte to send
+ */
+static inline void usart_putc(uint8 usart_num, uint8 byte) {
+    usart_port *port = usart_dev_table[usart_num].base;
+
+    port->DR = byte;
+
+    /* Wait for transmission to complete  */
+    while ((port->SR & USART_TXE) == 0)
+        ;
+}
+
+
+/**
+ * @brief read one character from a usart
+ * @param usart_num usart to read from
+ * @return byte read
+ */
+static inline uint8 usart_getc(uint8 usart_num) {
+    return rb_remove(&usart_dev_table[usart_num].rb);
+}
+
+
+/**
+ * @brief return the amount of data available in the rx buffer
+ * @param usart_num which usart to check
+ * @return number of bytes in the rx buffer
+ */
+static inline uint32 usart_data_available(uint8 usart_num) {
+    return rb_full_count(&usart_dev_table[usart_num].rb);
+}
+
+
+/**
+ * @brief removes the contents of the rx fifo
+ * @param usart_num which usart to reset
+ */
+static inline void usart_reset_rx(uint8 usart_num) {
+    rb_reset(&usart_dev_table[usart_num].rb);
+}
 
 void usart_init(uint8 usart_num, uint32 baud);
 void usart_disable(uint8 usart_num);
-
 void usart_putstr(uint8 usart_num, const char*);
 void usart_putudec(uint8 usart_num, uint32 val);
-void usart_putc(uint8 usart_num, uint8 ch);
-
-uint32 usart_data_available(uint8 usart_num);
-uint8 usart_getc(uint8 usart_num);
-void usart_clear_buffer(uint8 usart_num);
 
 #ifdef __cplusplus
 } // extern "C"
diff --git a/libmaple/util.h b/libmaple/util.h
index a18fa84..5b20088 100644
--- a/libmaple/util.h
+++ b/libmaple/util.h
@@ -65,6 +65,8 @@
 #define __read(reg)                     *(volatile uint32*)(reg)
 #define __write(reg, value)             *(volatile uint32*)(reg) = (value)
 
+#define IS_POWER_OF_TWO(v)  (v && !(v & (v - 1)))
+
 #ifdef __cplusplus
 extern "C"{
 #endif
diff --git a/wirish/comm/HardwareSerial.cpp b/wirish/comm/HardwareSerial.cpp
index 7157e74..c1babff 100644
--- a/wirish/comm/HardwareSerial.cpp
+++ b/wirish/comm/HardwareSerial.cpp
@@ -34,77 +34,59 @@
 #include "gpio.h"
 #include "timers.h"
 
-#define USART1_TX_PORT             GPIOA_BASE
-#define USART1_TX_PIN              9
-#define USART1_RX_PORT             GPIOA_BASE
-#define USART1_RX_PIN              10
-
-#define USART2_TX_PORT             GPIOA_BASE
-#define USART2_TX_PIN              2
-#define USART2_RX_PORT             GPIOA_BASE
-#define USART2_RX_PIN              3
-
-#define USART3_TX_PORT             GPIOB_BASE
-#define USART3_TX_PIN              10
-#define USART3_RX_PORT             GPIOB_BASE
-#define USART3_RX_PIN              11
-
-HardwareSerial::HardwareSerial(uint8 usartNum) {
-    ASSERT(usartNum == 1 ||
-           usartNum == 2 ||
-           usartNum == 3);
-    this->usartNum = usartNum;
+HardwareSerial Serial1(USART1, 4500000UL, GPIOA_BASE, 9, 10, 1, 2);
+HardwareSerial Serial2(USART2, 2250000UL, GPIOA_BASE, 2, 3,  2, 3);
+HardwareSerial Serial3(USART3, 2250000UL, GPIOB_BASE, 10, 11, 0, 0);
+
+HardwareSerial::HardwareSerial(uint8 usart_num,
+                               uint32 max_baud,
+                               GPIO_Port *gpio_port,
+                               uint8 tx_pin,
+                               uint8 rx_pin,
+                               uint8 timer_num,
+                               uint8 compare_num) {
+    this->usart_num = usart_num;
+    this->max_baud = max_baud;
+    this->gpio_port = gpio_port;
+    this->tx_pin = tx_pin;
+    this->rx_pin = rx_pin;
+    this->timer_num = timer_num;
+    this->compare_num = compare_num;
 }
 
 uint8 HardwareSerial::read(void) {
-    return usart_getc(usartNum);
+    return usart_getc(usart_num);
 }
 
 uint32 HardwareSerial::available(void) {
-
-    return usart_data_available(usartNum);
+    return usart_data_available(usart_num);
 }
 
 void HardwareSerial::write(unsigned char ch) {
-    usart_putc(usartNum, ch);
+    usart_putc(usart_num, ch);
 }
 
 void HardwareSerial::begin(uint32 baud) {
-    ASSERT(!(baud > USART_MAX_BAUD));
+   if (baud > max_baud) {
+      return;
+   }
+
+   gpio_set_mode(gpio_port, tx_pin, GPIO_MODE_AF_OUTPUT_PP);
+   gpio_set_mode(gpio_port, rx_pin, GPIO_MODE_INPUT_FLOATING);
 
-    /* Set appropriate pin modes  */
-    switch (usartNum) {
-    case 1:
-        gpio_set_mode(USART1_TX_PORT, USART1_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
-        gpio_set_mode(USART1_RX_PORT, USART1_RX_PIN, GPIO_MODE_INPUT_FLOATING);
-        /* Turn off any pwm  */
-        timer_set_mode(1, 2, TIMER_DISABLED);
-        break;
-    case 2:
-        gpio_set_mode(USART2_TX_PORT, USART2_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
-        gpio_set_mode(USART2_RX_PORT, USART2_RX_PIN, GPIO_MODE_INPUT_FLOATING);
-        /* Turn off any pwm  */
-        timer_set_mode(2, 3, TIMER_DISABLED);
-        break;
-    case 3:
-        gpio_set_mode(USART3_TX_PORT, USART3_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
-        gpio_set_mode(USART3_RX_PORT, USART3_RX_PIN, GPIO_MODE_INPUT_FLOATING);
-        break;
-    default:
-        ASSERT(0);
-    }
+   if ((usart_num == USART1) ||
+       (usart_num == USART2)) {
+      /* turn off any pwm if there's a conflict on this usart */
+      timer_set_mode(timer_num, compare_num, TIMER_DISABLED);
+   }
 
-    usart_init(usartNum, baud);
+    usart_init(usart_num, baud);
 }
 
 void HardwareSerial::end(void) {
-    usart_disable(usartNum);
+    usart_disable(usart_num);
 }
 
 void HardwareSerial::flush(void) {
-    usart_clear_buffer(usartNum);
+    usart_reset_rx(usart_num);
 }
-
-HardwareSerial Serial1(1);
-HardwareSerial Serial2(2);
-HardwareSerial Serial3(3);
diff --git a/wirish/comm/HardwareSerial.h b/wirish/comm/HardwareSerial.h
index 5ed81cd..c2209ce 100644
--- a/wirish/comm/HardwareSerial.h
+++ b/wirish/comm/HardwareSerial.h
@@ -35,9 +35,21 @@
 
 class HardwareSerial : public Print {
     private:
-        uint8 usartNum;
+        uint8 usart_num;
+        uint32 max_baud;
+        GPIO_Port *gpio_port;
+        uint8 tx_pin;
+        uint8 rx_pin;
+        uint8 timer_num;
+        uint8 compare_num;
     public:
-        HardwareSerial(uint8);
+        HardwareSerial(uint8 usart_num,
+                       uint32 max_baud,
+                       GPIO_Port *gpio_port,
+                       uint8 tx_pin,
+                       uint8 rx_pin,
+                       uint8 timer_num,
+                       uint8 compare_num);
         void begin(uint32);
         void end(void);
         uint32 available(void);
@@ -46,7 +58,6 @@ class HardwareSerial : public Print {
         virtual void write(unsigned char);
         using Print::write;
 };
-
 extern HardwareSerial Serial1;
 extern HardwareSerial Serial2;
 extern HardwareSerial Serial3;