Implement UART HAL (#212)
- Implement UART HAL - Improved I2C and SPI HAL mocking mechanism (removed mock files)
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Ken Van Hoeylandt
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GitHub
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#include "Tactility/hal/uart/Uart.h"
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#include <Tactility/Log.h>
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#include <Tactility/LogMessages.h>
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#include <Tactility/Mutex.h>
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#ifdef ESP_PLATFORM
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#include <esp_check.h>
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#endif
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#define TAG "uart"
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namespace tt::hal::uart {
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struct Data {
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Mutex mutex;
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bool isConfigured = false;
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bool isStarted = false;
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Configuration configuration;
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};
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static Data dataArray[UART_NUM_MAX];
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static const char* initModeToString(InitMode mode) {
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switch (mode) {
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using enum InitMode;
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case ByTactility:
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return TT_STRINGIFY(InitMode::ByTactility);
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case ByExternal:
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return TT_STRINGIFY(InitMode::ByExternal);
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case Disabled:
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return TT_STRINGIFY(InitMode::Disabled);
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}
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tt_crash("not implemented");
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}
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static void printInfo(const Data& data) {
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TT_LOG_V(TAG, "UART info for port %d", data.configuration.port);
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TT_LOG_V(TAG, " isStarted: %d", data.isStarted);
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TT_LOG_V(TAG, " isConfigured: %d", data.isConfigured);
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TT_LOG_V(TAG, " initMode: %s", initModeToString(data.configuration.initMode));
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TT_LOG_V(TAG, " canReinit: %d", data.configuration.canReinit);
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TT_LOG_V(TAG, " hasMutableConfiguration: %d", data.configuration.hasMutableConfiguration);
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TT_LOG_V(TAG, " RX pin: %d", data.configuration.rxPin);
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TT_LOG_V(TAG, " TX pin: %d", data.configuration.txPin);
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TT_LOG_V(TAG, " RTS pin: %d", data.configuration.rtsPin);
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TT_LOG_V(TAG, " CTS pin: %d", data.configuration.ctsPin);
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}
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bool init(const std::vector<uart::Configuration>& configurations) {
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TT_LOG_I(TAG, "Init");
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for (const auto& configuration: configurations) {
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Data& data = dataArray[configuration.port];
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data.configuration = configuration;
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data.isConfigured = true;
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}
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for (const auto& config: configurations) {
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printInfo(dataArray[config.port]);
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if (config.initMode == InitMode::ByTactility) {
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if (!start(config.port)) {
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return false;
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}
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} else if (config.initMode == InitMode::ByExternal) {
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dataArray[config.port].isStarted = true;
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}
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}
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return true;
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}
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static bool configureLocked(uart_port_t port, const uart_config_t& configuration) {
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Data& data = dataArray[port];
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if (data.isStarted) {
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TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
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return false;
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} else if (!data.configuration.hasMutableConfiguration) {
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TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
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return false;
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} else {
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data.configuration.config = configuration;
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return true;
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}
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}
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bool configure(uart_port_t port, const uart_config_t& configuration) {
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if (lock(port)) {
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bool result = configureLocked(port, configuration);
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unlock(port);
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return result;
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} else {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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}
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static bool startLocked(uart_port_t port) {
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Data& data = dataArray[port];
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printInfo(data);
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if (data.isStarted) {
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TT_LOG_E(TAG, "(%d) Starting: Already started", port);
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return false;
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}
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if (!data.isConfigured) {
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TT_LOG_E(TAG, "(%d) Starting: Not configured", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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Configuration& config = data.configuration;
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int intr_alloc_flags;
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#if CONFIG_UART_ISR_IN_IRAM
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intr_alloc_flags = ESP_INTR_FLAG_IRAM;
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#else
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intr_alloc_flags = 0;
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#endif
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esp_err_t result = uart_param_config(config.port, &config.config);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed to configure: %s", port, esp_err_to_name(result));
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return false;
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}
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result = uart_set_pin(config.port, config.txPin, config.rxPin, config.rtsPin, config.ctsPin);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed set pins: %s", port, esp_err_to_name(result));
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return false;
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}
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result = uart_driver_install(config.port, (int)config.rxBufferSize, (int)config.txBufferSize, 0, nullptr, intr_alloc_flags);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed to install driver: %s", port, esp_err_to_name(result));
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return false;
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}
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#endif // ESP_PLATFORM
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data.isStarted = true;
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TT_LOG_I(TAG, "(%d) Started", port);
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return true;
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}
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bool start(uart_port_t port) {
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if (lock(port)) {
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bool result = startLocked(port);
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unlock(port);
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return result;
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} else {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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}
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static bool stopLocked(uart_port_t port) {
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Data& data = dataArray[port];
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Configuration& config = data.configuration;
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if (!config.canReinit) {
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TT_LOG_E(TAG, "(%d) Stopping: Not allowed to re-init", port);
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return false;
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}
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if (!data.isStarted) {
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TT_LOG_E(TAG, "(%d) Stopping: Not started", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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esp_err_t result = uart_driver_delete(port);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Stopping: Failed to delete driver: %s", port, esp_err_to_name(result));
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return false;
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} else {
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data.isStarted = false;
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}
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#else
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data.isStarted = true;
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#endif // ESP_PLATFORM
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TT_LOG_I(TAG, "(%d) Stopped", port);
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return true;
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}
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bool stop(uart_port_t port) {
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if (lock(port)) {
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bool result = stopLocked(port);
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unlock(port);
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return result;
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} else {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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}
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bool isStarted(uart_port_t port) {
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if (lock(port, 50 / portTICK_PERIOD_MS)) {
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bool started = dataArray[port].isStarted;
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unlock(port);
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return started;
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} else {
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// If we can't get a lock, we assume the device is busy and thus has started
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return true;
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}
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}
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bool lock(uart_port_t port, TickType_t timeout) {
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return dataArray[port].mutex.lock(timeout);
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}
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bool unlock(uart_port_t port) {
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return dataArray[port].mutex.unlock();
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}
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size_t read(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout) {
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#ifdef ESP_PLATFORM
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auto start_time = kernel::getTicks();
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if (lock(port, timeout)) {
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auto lock_time = kernel::getTicks() - start_time;
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auto remaining_timeout = std::max(timeout - lock_time, 0UL);
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auto result = uart_read_bytes(port, buffer, bufferSize, remaining_timeout);
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unlock(port);
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return result;
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} else {
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TT_LOG_E(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "read()");
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}
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#endif // ESP_PLATFORM
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return 0;
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}
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size_t write(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout) {
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#ifdef ESP_PLATFORM
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if (lock(port, timeout)) {
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auto result = uart_write_bytes(port, buffer, bufferSize);
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unlock(port);
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return result;
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} else {
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TT_LOG_E(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "write()");
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}
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#endif // ESP_PLATFORM
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return 0;
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}
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} // namespace tt::hal::uart
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