add support for esp32c3 to receive UART data

Author: zdima

src/machine/machine_esp32c3.go

@@ -5,6 +5,8 @@ package machine
 
 import (
 	"device/esp"
+	"device/riscv"
+	"errors"
 	"runtime/interrupt"
 	"runtime/volatile"
 	"sync"
@@ -214,18 +216,269 @@ func setupPinInterrupt() error {
 	}).Enable()
 }
 
-var DefaultUART = UART0
-
 var (
+	DefaultUART = UART0
+
 	UART0  = &_UART0
 	_UART0 = UART{Bus: esp.UART0, Buffer: NewRingBuffer()}
 	UART1  = &_UART1
 	_UART1 = UART{Bus: esp.UART1, Buffer: NewRingBuffer()}
+
+	onceUart            = sync.Once{}
+	errSamePins         = errors.New("UART: invalid pin combination")
+	errWrongUART        = errors.New("UART: unsupported UARTn")
+	errWrongBitSize     = errors.New("UART: invalid data size")
+	errWrongStopBitSize = errors.New("UART: invalid bit size")
 )
 
 type UART struct {
-	Bus    *esp.UART_Type
-	Buffer *RingBuffer
+	Bus                  *esp.UART_Type
+	Buffer               *RingBuffer
+	ParityErrorDetected  bool // set when parity error detected
+	DataErrorDetected    bool // set when data corruption detected
+	DataOverflowDetected bool // set when data overflow detected in UART FIFO buffer or RingBuffer
+}
+
+type UARTStopBits int
+
+const (
+	UARTStopBits_Default UARTStopBits = iota
+	UARTStopBits_1
+	UARTStopBits_1_5
+	UARTStopBits_2
+)
+
+const (
+	defaultDataBits = 8
+	defaultStopBit  = 1
+	defaultParity   = ParityNone
+
+	uartInterrupts = esp.UART_INT_ENA_RXFIFO_FULL_INT_ENA |
+		esp.UART_INT_ENA_PARITY_ERR_INT_ENA |
+		esp.UART_INT_ENA_FRM_ERR_INT_ENA |
+		esp.UART_INT_ENA_RXFIFO_OVF_INT_ENA |
+		esp.UART_INT_ENA_GLITCH_DET_INT_ENA
+
+	pplClockFreq = 80e6
+)
+
+type registerSet struct {
+	interruptMapReg  *volatile.Register32
+	uartClockBitMask uint32
+	gpioMatrixSignal uint32
+}
+
+func (uart *UART) Configure(config UARTConfig) error {
+	if config.BaudRate == 0 {
+		config.BaudRate = 115200
+	}
+	if config.TX == config.RX {
+		return errSamePins
+	}
+	switch {
+	case uart.Bus == esp.UART0:
+		return uart.configure(config, registerSet{
+			interruptMapReg:  &esp.INTERRUPT_CORE0.UART_INTR_MAP,
+			uartClockBitMask: esp.SYSTEM_PERIP_CLK_EN0_UART_CLK_EN,
+			gpioMatrixSignal: 6,
+		})
+	case uart.Bus == esp.UART1:
+		return uart.configure(config, registerSet{
+			interruptMapReg:  &esp.INTERRUPT_CORE0.UART1_INTR_MAP,
+			uartClockBitMask: esp.SYSTEM_PERIP_CLK_EN0_UART1_CLK_EN,
+			gpioMatrixSignal: 9,
+		})
+	}
+	return errWrongUART
+}
+
+func (uart *UART) configure(config UARTConfig, regs registerSet) error {
+
+	initUARTClock(uart.Bus, regs)
+
+	// - disbale TX/RX clock to make sure the UART transmitter or receiver is not at work during configuration
+	uart.Bus.SetCLK_CONF_TX_SCLK_EN(0)
+	uart.Bus.SetCLK_CONF_RX_SCLK_EN(0)
+
+	// Configure static registers (Ref: Configuring URATn Communication)
+
+	// - default clock source: 1=APB_CLK, 2=FOSC_CLK, 3=XTAL_CLK
+	uart.Bus.SetCLK_CONF_SCLK_SEL(1)
+	// reset divisor of the divider via UART_SCLK_DIV_NUM, UART_SCLK_DIV_A, and UART_SCLK_DIV_B
+	uart.Bus.SetCLK_CONF_SCLK_DIV_NUM(0)
+	uart.Bus.SetCLK_CONF_SCLK_DIV_A(0)
+	uart.Bus.SetCLK_CONF_SCLK_DIV_B(0)
+
+	// - the baud rate
+	uart.SetBaudRate(config.BaudRate)
+	// - the data format
+	uart.SetFormat(defaultDataBits, defaultStopBit, defaultParity)
+	// - set UART mode
+	uart.Bus.SetRS485_CONF_RS485_EN(0)
+	uart.Bus.SetRS485_CONF_RS485TX_RX_EN(0)
+	uart.Bus.SetRS485_CONF_RS485RXBY_TX_EN(0)
+	uart.Bus.SetCONF0_IRDA_EN(0)
+	// - disable hw-flow control
+	uart.Bus.SetCONF0_TX_FLOW_EN(0)
+	uart.Bus.SetCONF1_RX_FLOW_EN(0)
+
+	// synchronize values into Core Clock
+	uart.Bus.SetID_REG_UPDATE(1)
+
+	uart.setupPins(config, regs)
+	uart.configureInterrupt(regs.interruptMapReg)
+	uart.enableTransmitter()
+	uart.enableReceiver()
+
+	// Start TX/RX
+	uart.Bus.SetCLK_CONF_TX_SCLK_EN(1)
+	uart.Bus.SetCLK_CONF_RX_SCLK_EN(1)
+	return nil
+}
+
+func (uart *UART) SetFormat(dataBits, stopBits int, parity UARTParity) error {
+	if dataBits < 5 {
+		return errWrongBitSize
+	}
+	if stopBits > 1 {
+		return errWrongStopBitSize
+	}
+	// - data length
+	uart.Bus.SetCONF0_BIT_NUM(uint32(dataBits - 5))
+	// - stop bit
+	uart.Bus.SetCONF0_STOP_BIT_NUM(uint32(stopBits))
+	// - parity check
+	switch parity {
+	case ParityNone:
+		uart.Bus.SetCONF0_PARITY_EN(0)
+	case ParityEven:
+		uart.Bus.SetCONF0_PARITY_EN(1)
+		uart.Bus.SetCONF0_PARITY(0)
+	case ParityOdd:
+		uart.Bus.SetCONF0_PARITY_EN(1)
+		uart.Bus.SetCONF0_PARITY(1)
+	}
+	return nil
+}
+
+func initUARTClock(bus *esp.UART_Type, regs registerSet) {
+	uartClock := &esp.SYSTEM.PERIP_CLK_EN0
+	uartClockReset := &esp.SYSTEM.PERIP_RST_EN0
+
+	// Initialize/reset URATn (Ref: Initializing URATn)
+	// - enable the clock for UART RAM
+	uartClock.SetBits(esp.SYSTEM_PERIP_CLK_EN0_UART_MEM_CLK_EN)
+	// - enable APB_CLK for UARTn
+	uartClock.SetBits(regs.uartClockBitMask)
+	// - reset sequence
+	uartClockReset.ClearBits(regs.uartClockBitMask)
+	bus.SetCLK_CONF_RST_CORE(1)
+	uartClockReset.SetBits(regs.uartClockBitMask)
+	uartClockReset.ClearBits(regs.uartClockBitMask)
+	bus.SetCLK_CONF_RST_CORE(0)
+	// synchronize core register
+	bus.SetID_REG_UPDATE(0)
+	// enable RTC clock
+	esp.RTC_CNTL.SetRTC_CLK_CONF_DIG_CLK8M_EN(1)
+	// wait for Core Clock to ready for configuration
+	for bus.GetID_REG_UPDATE() > 0 {
+		riscv.Asm("nop")
+	}
+}
+
+func (uart *UART) SetBaudRate(baudRate uint32) {
+	// based on esp-idf
+	max_div := uint32((1 << 12) - 1)
+	sclk_div := (pplClockFreq + (max_div * baudRate) - 1) / (max_div * baudRate)
+	clk_div := (pplClockFreq << 4) / (baudRate * sclk_div)
+	uart.Bus.SetCLKDIV(clk_div >> 4)
+	uart.Bus.SetCLKDIV_FRAG(clk_div & 0xf)
+	uart.Bus.SetCLK_CONF_SCLK_DIV_NUM(sclk_div - 1)
+}
+
+func (uart *UART) setupPins(config UARTConfig, regs registerSet) {
+	config.RX.Configure(PinConfig{Mode: PinInputPullup})
+	config.TX.Configure(PinConfig{Mode: PinInputPullup})
+
+	// link TX with GPIO signal X (technical reference manual 5.10) (this is not interrupt signal!)
+	config.TX.outFunc().Set(regs.gpioMatrixSignal)
+	// link RX with GPIO signal X and route signals via GPIO matrix (GPIO_SIGn_IN_SEL 0x40)
+	inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SIG_IN_SEL | uint32(config.RX))
+}
+
+func (uart *UART) configureInterrupt(intrMapReg *volatile.Register32) { // Disable all UART interrupts
+	// Disable all UART interrupts
+	uart.Bus.INT_ENA.ClearBits(0x0ffff)
+
+	intrMapReg.Set(7)
+	onceUart.Do(func() {
+		_ = interrupt.New(7, func(i interrupt.Interrupt) {
+			UART0.serveInterrupt(0)
+			UART1.serveInterrupt(1)
+		}).Enable()
+	})
+}
+
+func (uart *UART) serveInterrupt(num int) {
+	// get interrupt status
+	interrutFlag := uart.Bus.INT_ST.Get()
+	if (interrutFlag & uartInterrupts) == 0 {
+		return
+	}
+
+	// block UART interrupts while processing
+	uart.Bus.INT_ENA.ClearBits(uartInterrupts)
+
+	if interrutFlag&esp.UART_INT_ENA_RXFIFO_FULL_INT_ENA > 0 {
+		for uart.Bus.GetSTATUS_RXFIFO_CNT() > 0 {
+			b := uart.Bus.GetFIFO_RXFIFO_RD_BYTE()
+			if !uart.Buffer.Put(byte(b & 0xff)) {
+				uart.DataOverflowDetected = true
+			}
+		}
+	}
+	if interrutFlag&esp.UART_INT_ENA_PARITY_ERR_INT_ENA > 0 {
+		uart.ParityErrorDetected = true
+	}
+	if 0 != interrutFlag&esp.UART_INT_ENA_FRM_ERR_INT_ENA {
+		uart.DataErrorDetected = true
+	}
+	if 0 != interrutFlag&esp.UART_INT_ENA_RXFIFO_OVF_INT_ENA {
+		uart.DataOverflowDetected = true
+	}
+	if 0 != interrutFlag&esp.UART_INT_ENA_GLITCH_DET_INT_ENA {
+		uart.DataErrorDetected = true
+	}
+
+	// Clear the UART interrupt status
+	uart.Bus.INT_CLR.SetBits(interrutFlag)
+	uart.Bus.INT_CLR.ClearBits(interrutFlag)
+	// Enable interrupts
+	uart.Bus.INT_ENA.Set(uartInterrupts)
+}
+
+const uart_empty_thresh_default = 10
+
+func (uart *UART) enableTransmitter() {
+	uart.Bus.SetCONF0_TXFIFO_RST(1)
+	uart.Bus.SetCONF0_TXFIFO_RST(0)
+	// TXINFO empty threshold is when txfifo_empty_int interrupt produced after the amount of data in Tx-FIFO is less than this register value.
+	uart.Bus.SetCONF1_TXFIFO_EMPTY_THRHD(uart_empty_thresh_default)
+	// we are not using interrut on TX since write we are waiting for FIFO to have space.
+	// uart.Bus.INT_ENA.SetBits(esp.UART_INT_ENA_TXFIFO_EMPTY_INT_ENA)
+}
+
+func (uart *UART) enableReceiver() {
+	uart.Bus.SetCONF0_RXFIFO_RST(1)
+	uart.Bus.SetCONF0_RXFIFO_RST(0)
+	// using value 1 so that we can start populate ring buffer with data as we get it
+	uart.Bus.SetCONF1_RXFIFO_FULL_THRHD(1)
+	// enable interrupts for:
+	uart.Bus.SetINT_ENA_RXFIFO_FULL_INT_ENA(1)
+	uart.Bus.SetINT_ENA_FRM_ERR_INT_ENA(1)
+	uart.Bus.SetINT_ENA_PARITY_ERR_INT_ENA(1)
+	uart.Bus.SetINT_ENA_GLITCH_DET_INT_ENA(1)
+	uart.Bus.SetINT_ENA_RXFIFO_OVF_INT_ENA(1)
 }
 
 func (uart *UART) WriteByte(b byte) error {