[uart] Refactor STM32 USART HAL and make TX/RX buffer optional

.travis.yml

@@ -10,7 +10,7 @@ before_install:
   - sudo apt-get install -y python3 python3-pip scons cmake doxygen gcc-10 g++-10 build-essential libboost-all-dev libwiringpi-dev
   - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 90 --slave /usr/bin/g++ g++ /usr/bin/g++-10 --slave /usr/bin/gcov gcov /usr/bin/gcov-10
   #- sudo apt-get install -y gcc-arm-none-eabi
-  - wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 | tar xj -C /opt
+  - wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 | tar xvj -C /opt
   - export PATH="/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH"
   - pip3 install modm
   - export PATH="~/.local/bin:$PATH"

examples/generic/i2c_multiplex/main.cpp

@@ -108,7 +108,7 @@ main()
 
 #ifndef MODM_BOARD_HAS_LOGGER
 	LoggerUsart::connect<LoggerUsartTx::Tx, LoggerUsartRx::Rx>();
-	LoggerUsart::initialize<Board::SystemClock, 115200_Bd>(12);
+	LoggerUsart::initialize<Board::SystemClock, 115200_Bd>();
 #endif
 
 	modm::platform::I2cMaster1::connect<modm::platform::GpioB7::Sda, modm::platform::GpioB6::Scl>();

examples/generic/ros/can_bridge/main.cpp

@@ -95,7 +95,7 @@ main()
 
 	// Reinit onboard UART to 1 Mbps
 	// Do not use it for logging because this will destroy ROS serial messages.
-	RosSerialUart::initialize<Board::SystemClock, 250_kBd>(12);
+	RosSerialUart::initialize<Board::SystemClock, 250_kBd>();
 
 	CanFilter::setStartFilterBankForCan2(14);
 

examples/generic/ros/environment/main.cpp

@@ -62,7 +62,7 @@ main()
 
 	// Reinit onboard UART to 1 Mbps
 	// Do not use it for logging because this will destroy ROS serial messages.
-	Board::stlink::Uart::initialize<Board::SystemClock, 1_MBd>(12);
+	Board::stlink::Uart::initialize<Board::SystemClock, 1_MBd>();
 
     MyI2cMaster::connect<Board::D14::Sda, Board::D15::Scl>();
     MyI2cMaster::initialize<Board::SystemClock, 100_kHz>();

examples/generic/ros/sub_pub/main.cpp

@@ -74,7 +74,7 @@ main()
 
 	// Reinit onboard UART to 1 Mbps
 	// Do not use it for logging because this will destroy ROS serial messages.
-	Board::stlink::Uart::initialize<Board::SystemClock, 1_MBd>(12);
+	Board::stlink::Uart::initialize<Board::SystemClock, 1_MBd>();
 
 	Board::LedGreen::set();
 

examples/nucleo_g071rb/amnb/main.cpp

@@ -69,7 +69,7 @@ main()
 	LedD13::setOutput();
 
 	Usart1::connect<PinNode1::Tx>();
-	Usart1::initialize<SystemClock, 115200>();
+	Usart1::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
 	// Use Single-Wire Half-Duplex Mode
 	PinNode1::configure(Gpio::OutputType::OpenDrain);
 	PinNode1::configure(Gpio::InputType::PullUp);
@@ -78,7 +78,7 @@ main()
 	USART1->CR1 |= USART_CR1_UE;
 
 	Usart3::connect<PinNode2::Tx>();
-	Usart3::initialize<SystemClock, 115200>();
+	Usart3::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
 	// Use Single-Wire Half-Duplex Mode
 	PinNode2::configure(Gpio::OutputType::OpenDrain);
 	PinNode2::configure(Gpio::InputType::PullUp);
@@ -87,7 +87,7 @@ main()
 	USART3->CR1 |= USART_CR1_UE;
 
 	Usart4::connect<PinNode3::Tx>();
-	Usart4::initialize<SystemClock, 115200>();
+	Usart4::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
 	// Use Single-Wire Half-Duplex Mode
 	PinNode3::configure(Gpio::OutputType::OpenDrain);
 	PinNode3::configure(Gpio::InputType::PullUp);

examples/nucleo_g071rb/amnb/project.xml

@@ -2,10 +2,9 @@
   <extends>modm:nucleo-g071rb</extends>
   <options>
     <option name="modm:build:build.path">../../../build/nucleo_g071rb/amnb</option>
-    <option name="modm:platform:uart:1:buffer.tx">1</option>
     <option name="modm:platform:uart:1:buffer.rx">32</option>
-    <option name="modm:platform:uart:3:buffer.tx">1</option>
-    <option name="modm:platform:uart:3:buffer.rx">32</option>
+    <option name="modm:platform:uart:3:buffer.rx">16</option>
+    <option name="modm:platform:uart:4:buffer.rx">0</option>
     <option name="modm:communication:amnb:with_heap">False</option>
   </options>
   <modules>

examples/stm32f0_discovery/logger/main.cpp

@@ -33,7 +33,7 @@ main()
 
     // initialize Uart1 for MODM_LOG_*
     Usart1::connect<GpioOutputA9::Tx, GpioInputA10::Rx>();
-    Usart1::initialize<Board::SystemClock, 115200_Bd>(12);
+    Usart1::initialize<Board::SystemClock, 115200_Bd>();
 
     // Use the logging streams to print some messages.
     // Change MODM_LOG_LEVEL above to enable or disable these messages

examples/stm32f0_discovery/logger/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f051r8</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f0_discovery/logger</option>
+    <option name="modm:platform:uart:1:buffer.tx">1024</option>
   </options>
   <modules>
     <module>modm:debug</module>

examples/stm32f4_discovery/can/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f407vg</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f4_discovery/can</option>
+    <option name="modm:platform:uart:2:buffer.tx">2048</option>
   </options>
   <modules>
     <module>modm:debug</module>

examples/stm32f4_discovery/can2/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f407vg</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f4_discovery/can2</option>
+    <option name="modm:platform:uart:2:buffer.tx">2048</option>
   </options>
   <modules>
     <module>modm:debug</module>

examples/stm32f4_discovery/pressure_ams5915/main.cpp

@@ -100,7 +100,7 @@ main()
 	Board::initialize();
 
 	Usart2::connect<GpioOutputA2::Tx>();
-	Usart2::initialize<Board::SystemClock, 115200_Bd>(10);
+	Usart2::initialize<Board::SystemClock, 115200_Bd>();
 
 	MyI2cMaster::connect<GpioB10::Scl, GpioB11::Sda>();
 	MyI2cMaster::initialize<Board::SystemClock, 400_kHz>();

examples/stm32f4_discovery/pressure_ams5915/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f407vg</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f4_discovery/pressure_ams5915</option>
+    <option name="modm:platform:uart:2:buffer.tx">2048</option>
   </options>
   <modules>
     <module>modm:driver:ams5915</module>

examples/stm32f4_discovery/temperature_ltc2984/main.cpp

@@ -145,7 +145,7 @@ main()
 	Board::initialize();
 
 	Usart2::connect<GpioOutputA2::Tx>();
-	Usart2::initialize<Board::SystemClock, 115200_Bd>(10);
+	Usart2::initialize<Board::SystemClock, 115200_Bd>();
 
 	// Connect the GPIOs to the SPIs alternate function
 	SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();

examples/stm32f4_discovery/temperature_ltc2984/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f407vg</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f4_discovery/temperature_ltc2984</option>
+    <option name="modm:platform:uart:2:buffer.tx">2048</option>
   </options>
   <modules>
     <module>modm:driver:ltc2984</module>

src/modm/board/olimexino_stm32/board.hpp

@@ -145,7 +145,7 @@ initialize()
 	SysTickTimer::initialize<SystemClock>();
 
 	uext::Uart::connect<uext::Tx::Tx, uext::Rx::Rx>();
-	uext::Uart::initialize<SystemClock, 115200_Bd>(12);
+	uext::Uart::initialize<SystemClock, 115200_Bd>();
 
 }
 

src/modm/platform/spi/stm32_uart/module.lb

@@ -12,10 +12,12 @@
 
 def get_properties(env):
     device = env[":target"]
-    driver = device.get_driver("usart:stm32")
-    properties = device.properties
-    properties["target"] = device.identifier
-    properties["driver"] = driver
+    driver = device.get_driver("usart:stm32*")
+    properties = {
+        "target": device.identifier,
+        "driver": driver,
+        "over8_sampling": ("feature" in driver) and ("over8" in driver["feature"]),
+    }
     return properties
 
 class Instance(Module):

src/modm/platform/spi/stm32_uart/uart_spi_master.hpp.in

@@ -72,30 +72,13 @@ public:
 	static void
 	initialize()
 	{
-%% if target["family"] != "f1"
-		constexpr UartBase::OversamplingMode oversample =
-				UartBaudrate::getOversamplingMode(SystemClock::Usart{{ id }}, baudrate);
-%% endif
-		UsartHal{{ id }}::initializeWithBrr(
-				UartBaudrate::getBrr<SystemClock::Usart{{ id }}, baudrate, tolerance>(),
-%% if target["family"] == "f1"
-				UsartHal{{ id }}::Parity::Disabled);
-%% else
-				UsartHal{{ id }}::Parity::Disabled,
-				oversample);
-%% endif
-
-%% if extended
-		UsartHal{{ id }}::disableOperation();
-%% endif
-		UsartHal{{ id }}::setLastBitClockPulse(UsartHal{{ id }}::LastBitClockPulse::Output);
-		UsartHal{{ id }}::setSpiClock(UsartHal{{ id }}::SpiClock::Enabled);
-%% if extended
-		UsartHal{{ id }}::enableOperation();
-%% endif
-
+		UsartHal{{ id }}::initialize<SystemClock, baudrate, tolerance>(
+				UsartHal{{ id }}::Parity::Disabled, UsartHal{{ id }}::WordLength::Bit8);
+		UsartHal{{ id }}::setSpiClock(UsartHal{{ id }}::SpiClock::Enabled,
+		                              UsartHal{{ id }}::LastBitClockPulse::Output);
 		UsartHal{{ id }}::setTransmitterEnable(true);
 		UsartHal{{ id }}::setReceiverEnable(true);
+		UsartHal{{ id }}::enableOperation();
 		dataOrder = DataOrder::MsbFirst;
 		state = 0;
 	}
@@ -104,7 +87,9 @@ public:
 	static void
 	setDataMode(DataMode mode)
 	{
+		if constexpr (UsartHal{{ id }}::isExtended) UsartHal{{ id }}::disableOperation();
 		UsartHal{{ id }}::setSpiDataMode(static_cast<UartBase::SpiDataMode>(mode));
+		if constexpr (UsartHal{{ id }}::isExtended) UsartHal{{ id }}::enableOperation();
 	}
 
 	/// @warning 	On this target, only `DataOrder::LsbFirst` is natively

src/modm/platform/uart/at90_tiny_mega/module.lb

@@ -20,11 +20,6 @@ def get_properties(env):
     return properties
 
 def load_options(module):
-    module.add_option(
-        BooleanOption(
-            name="buffered",
-            description="",
-            default=True))
     module.add_option(
         NumericOption(
             name="buffer.tx",

src/modm/platform/uart/sam/module.lb

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
-# Copyright (c) 2016-2018, Niklas Hauser
-# Copyright (c) 2017, Fabian Greif
-# Copyright (c) 2017, Erik Henriksson
+# Copyright (c) 2020, Erik Henriksson
 #
 # This file is part of the modm project.
 #
@@ -30,9 +28,6 @@ class Instance(Module):
         device = env[":target"].identifier
         global props
         props["id"] = self.instance
-        props["driver"] = self.driver
-        props["features"] = self.driver["feature"] if "feature" in self.driver else []
-        props["uart_name"] = 'Uart'
         props["sercom_name"] = self.driver["name"].capitalize()
 
         env.substitutions = props
@@ -43,22 +38,17 @@ class Instance(Module):
         env.template("uart.hpp.in", "uart_{}.hpp".format(self.instance))
         env.template("uart.cpp.in", "uart_{}.cpp".format(self.instance))
 
-        props["instances"].append(self.instance)
-
 
 def init(module):
     module.name = ":platform:uart"
     module.description = "Universal Asynchronous Receiver Transmitter (UART)"
 
 def prepare(module, options):
     device = options[":target"]
-    if not (device.has_driver("sercom:*")):
+    if not (device.has_driver("sercom:sam")):
         return False
 
     module.depends(
-        ":architecture:atomic",
-        ":architecture:interrupt",
-        ":architecture:register",
         ":architecture:uart",
         ":math:algorithm",
         ":cmsis:device",
@@ -67,11 +57,6 @@ def prepare(module, options):
 
     global props
     drivers = options[":target"].get_all_drivers("sercom")
-    props["extended_driver"] = ("extended" in drivers[0]["type"])
-    props["over8_sampling"] = ("feature" in drivers[0]) and ("over8" in drivers[0]["feature"])
-    props["tcbgt"] = ("feature" in drivers[0]) and ("tcbgt" in drivers[0]["feature"])
-    props["instances"] = []
-
     for driver in drivers:
         for instance in driver["instance"]:
             module.add_submodule(Instance(driver, instance))
@@ -80,8 +65,6 @@ def prepare(module, options):
     return True
 
 def build(env):
-    device = env[":target"]
-
     global props
     env.substitutions = props
     env.outbasepath = "modm/src/modm/platform/uart"