b33f204529
All board pins that have UART's assigned can be used. Baud rate range is 75 Baud to ~2 MBaud. No flow control yet, and only RX is buffered. TX buffer and flow control may be added later for SAMD51 with its larger RAM and Flash.
476 lines
17 KiB
C
476 lines
17 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2020-2021 Damien P. George
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* Copyright (c) 2022 Robert Hammelrath
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "py/runtime.h"
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#include "py/mphal.h"
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#include "py/stream.h"
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#include "py/ringbuf.h"
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#include "modmachine.h"
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#include "samd_soc.h"
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#include "pin_af.h"
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#include "clock_config.h"
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#define DEFAULT_UART_BAUDRATE (115200)
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#define DEFAULT_BUFFER_SIZE (256)
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#define MIN_BUFFER_SIZE (32)
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#define MAX_BUFFER_SIZE (32766)
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#define USART_BUFFER_TX (0)
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typedef struct _machine_uart_obj_t {
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mp_obj_base_t base;
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uint8_t id;
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uint32_t baudrate;
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uint8_t bits;
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uint8_t parity;
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uint8_t stop;
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uint8_t tx;
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sercom_pad_config_t tx_pad_config;
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uint8_t rx;
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sercom_pad_config_t rx_pad_config;
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uint16_t timeout; // timeout waiting for first char (in ms)
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uint16_t timeout_char; // timeout waiting between chars (in ms)
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bool new;
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ringbuf_t read_buffer;
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#if USART_BUFFER_TX
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ringbuf_t write_buffer;
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#endif
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} machine_uart_obj_t;
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Sercom *sercom_instance[] = SERCOM_INSTS;
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machine_uart_obj_t *uart_table[SERCOM_INST_NUM] = {};
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STATIC const char *_parity_name[] = {"None", "", "0", "1"}; // Is defined as 0, 2, 3
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// Irq handler
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// take all bytes from the fifo and store them in the buffer
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STATIC void uart_drain_rx_fifo(machine_uart_obj_t *self, Sercom *uart) {
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while (uart->USART.INTFLAG.bit.RXC != 0) {
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if (ringbuf_free(&self->read_buffer) > 0) {
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// get a byte from uart and put into the buffer
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ringbuf_put(&(self->read_buffer), uart->USART.DATA.bit.DATA);
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} else {
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// if the buffer is full, discard the data for now
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// t.b.d.: flow control
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uint32_t temp;
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(void)temp;
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temp = uart->USART.DATA.bit.DATA;
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}
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}
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}
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void common_uart_irq_handler(int uart_id) {
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machine_uart_obj_t *self = uart_table[uart_id];
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// Handle IRQ
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if (self != NULL) {
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Sercom *uart = sercom_instance[self->id];
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if (uart->USART.INTFLAG.bit.RXC != 0) {
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// Now handler the incoming data
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uart_drain_rx_fifo(self, uart);
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} else if (uart->USART.INTFLAG.bit.DRE != 0) {
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// handle the outgoing data
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} else {
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// Disable the other interrupts, if set by error
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uart->USART.INTENCLR.reg = (uint8_t) ~(SERCOM_USART_INTENCLR_DRE | SERCOM_USART_INTENCLR_RXC);
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}
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}
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}
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void sercom_enable(Sercom *uart, int state) {
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uart->USART.CTRLA.bit.ENABLE = state; // Set the state on/off
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// Wait for the Registers to update.
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while (uart->USART.SYNCBUSY.bit.ENABLE) {
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}
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}
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STATIC void machine_uart_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
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mp_printf(print, "UART(%u, baudrate=%u, bits=%u, parity=%s, stop=%u, "
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"timeout=%u, timeout_char=%u, rxbuf=%d)",
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self->id, self->baudrate, self->bits, _parity_name[self->parity],
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self->stop + 1, self->timeout, self->timeout_char, self->read_buffer.size - 1);
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}
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STATIC mp_obj_t machine_uart_init_helper(machine_uart_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_baudrate, ARG_bits, ARG_parity, ARG_stop, ARG_tx, ARG_rx,
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ARG_timeout, ARG_timeout_char, ARG_rxbuf, ARG_txbuf};
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_baudrate, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_bits, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_parity, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
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{ MP_QSTR_stop, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_tx, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
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{ MP_QSTR_rx, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_timeout_char, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_rxbuf, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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#if USART_BUFFER_TX
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{ MP_QSTR_txbuf, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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#endif
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};
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// Parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// Set baudrate if configured.
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if (args[ARG_baudrate].u_int > 0) {
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self->baudrate = args[ARG_baudrate].u_int;
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}
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// Set bits if configured.
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if (args[ARG_bits].u_int > 0) {
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self->bits = args[ARG_bits].u_int;
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}
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// Set parity if configured.
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if (args[ARG_parity].u_obj != MP_OBJ_NEW_SMALL_INT(-1)) {
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if (args[ARG_parity].u_obj == mp_const_none) {
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self->parity = 0;
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} else if (mp_obj_get_int(args[ARG_parity].u_obj) & 1) {
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self->parity = 1; // odd
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} else {
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self->parity = 2; // even
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}
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}
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// Set stop bits if configured.
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if (args[ARG_stop].u_int > 0) {
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self->stop = (args[ARG_stop].u_int - 1) & 1;
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}
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// Set TX/RX pins if configured.
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if (args[ARG_tx].u_obj != mp_const_none) {
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self->tx = mp_hal_get_pin_obj(args[ARG_tx].u_obj);
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}
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if (args[ARG_rx].u_obj != mp_const_none) {
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self->rx = mp_hal_get_pin_obj(args[ARG_rx].u_obj);
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}
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// Set timeout if configured.
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if (args[ARG_timeout].u_int >= 0) {
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self->timeout = args[ARG_timeout].u_int;
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}
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// Set timeout_char if configured.
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if (args[ARG_timeout_char].u_int >= 0) {
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self->timeout_char = args[ARG_timeout_char].u_int;
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}
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// Set the RX buffer size if configured.
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size_t rxbuf_len = DEFAULT_BUFFER_SIZE;
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if (args[ARG_rxbuf].u_int > 0) {
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rxbuf_len = args[ARG_rxbuf].u_int;
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if (rxbuf_len < MIN_BUFFER_SIZE) {
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rxbuf_len = MIN_BUFFER_SIZE;
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} else if (rxbuf_len > MAX_BUFFER_SIZE) {
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mp_raise_ValueError(MP_ERROR_TEXT("rxbuf too large"));
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}
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}
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#if USART_BUFFER_TX
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// Set the TX buffer size if configured.
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size_t txbuf_len = DEFAULT_BUFFER_SIZE;
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if (args[ARG_txbuf].u_int > 0) {
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txbuf_len = args[ARG_txbuf].u_int;
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if (txbuf_len < MIN_BUFFER_SIZE) {
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txbuf_len = MIN_BUFFER_SIZE;
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} else if (txbuf_len > MAX_BUFFER_SIZE) {
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mp_raise_ValueError(MP_ERROR_TEXT("txbuf too large"));
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}
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}
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#endif
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// Initialise the UART peripheral if any arguments given, or it was not initialised previously.
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if (n_args > 0 || kw_args->used > 0 || self->new) {
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self->new = false;
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// Check the rx/tx pin assignments
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if (self->tx == 0xff || self->rx == 0xff || (self->tx / 4) != (self->rx / 4)) {
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mp_raise_ValueError(MP_ERROR_TEXT("Non-matching or missing rx/tx"));
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}
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self->rx_pad_config = get_sercom_config(self->rx, self->id);
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self->tx_pad_config = get_sercom_config(self->tx, self->id);
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// Make sure timeout_char is at least as long as a whole character (13 bits to be safe).
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uint32_t min_timeout_char = 13000 / self->baudrate + 1;
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if (self->timeout_char < min_timeout_char) {
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self->timeout_char = min_timeout_char;
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}
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// Allocate the RX/TX buffers.
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ringbuf_alloc(&(self->read_buffer), rxbuf_len + 1);
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MP_STATE_PORT(samd_uart_rx_buffer[self->id]) = self->read_buffer.buf;
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#if USART_BUFFER_TX
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ringbuf_alloc(&(self->write_buffer), txbuf_len + 1);
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MP_STATE_PORT(samd_uart_tx_buffer[self->id]) = self->write_buffer.buf;
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#endif
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// Step 1: Configure the Pin mux.
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mp_hal_set_pin_mux(self->rx, self->rx_pad_config.alt_fct);
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mp_hal_set_pin_mux(self->tx, self->tx_pad_config.alt_fct);
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// Next: Set up the clocks
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enable_sercom_clock(self->id);
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// Next: Configure the USART
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Sercom *uart = sercom_instance[self->id];
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// Reset (clear) the peripheral registers.
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while (uart->USART.SYNCBUSY.bit.SWRST) {
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}
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uart->USART.CTRLA.bit.SWRST = 1; // Reset all Registers, disable peripheral
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while (uart->USART.SYNCBUSY.bit.SWRST) {
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}
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uint8_t txpo = self->tx_pad_config.pad_nr;
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#if defined(MCU_SAMD21)
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if (self->tx_pad_config.pad_nr == 2) { // Map pad 2 to TXPO = 1
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txpo = 1;
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}
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#endif
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uart->USART.CTRLA.reg =
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SERCOM_USART_CTRLA_DORD // Data order
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| SERCOM_USART_CTRLA_FORM(self->parity != 0 ? 1 : 0) // Enable parity or not
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| SERCOM_USART_CTRLA_RXPO(self->rx_pad_config.pad_nr) // Set Pad#
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| SERCOM_USART_CTRLA_TXPO(txpo) // Set Pad#
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| SERCOM_USART_CTRLA_MODE(1) // USART with internal clock
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;
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uart->USART.CTRLB.reg =
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SERCOM_USART_CTRLB_RXEN // Enable Rx & Tx
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| SERCOM_USART_CTRLB_TXEN
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| ((self->parity & 1) << SERCOM_USART_CTRLB_PMODE_Pos)
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| (self->stop << SERCOM_USART_CTRLB_SBMODE_Pos)
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| SERCOM_USART_CTRLB_CHSIZE((self->bits & 7) | (self->bits & 1))
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;
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while (uart->USART.SYNCBUSY.bit.CTRLB) {
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}
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// USART is driven by the clock of GCLK Generator 2, freq by get_apb_freq()
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// baud rate; 65536 * (1 - 16 * 115200/bus_freq)
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uint32_t baud = 65536 - ((uint64_t)(65536 * 16) * self->baudrate + get_apb_freq() / 2) / get_apb_freq();
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uart->USART.BAUD.bit.BAUD = baud; // Set Baud
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// Enable RXC interrupt
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uart->USART.INTENSET.bit.RXC = 1;
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#if defined(MCU_SAMD21)
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NVIC_EnableIRQ(SERCOM0_IRQn + self->id);
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#elif defined(MCU_SAMD51)
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NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * self->id + 2);
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#endif
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sercom_register_irq(self->id, SERCOM_IRQ_TYPE_UART);
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sercom_enable(uart, 1);
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}
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return MP_OBJ_FROM_PTR(self);
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}
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STATIC mp_obj_t machine_uart_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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// Get UART bus.
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int uart_id = mp_obj_get_int(args[0]);
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if (uart_id < 0 || uart_id > SERCOM_INST_NUM) {
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mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("UART(%d) doesn't exist"), uart_id);
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}
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// Create the UART object and fill it with defaults.
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machine_uart_obj_t *self = mp_obj_malloc(machine_uart_obj_t, &machine_uart_type);
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self->id = uart_id;
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self->baudrate = DEFAULT_UART_BAUDRATE;
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self->bits = 8;
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self->stop = 0;
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self->timeout = 1;
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self->timeout_char = 1;
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self->tx = 0xff;
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self->rx = 0xff;
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self->new = true;
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uart_table[uart_id] = self;
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
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return machine_uart_init_helper(self, n_args - 1, args + 1, &kw_args);
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}
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// uart.init(baud, [kwargs])
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STATIC mp_obj_t machine_uart_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
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return machine_uart_init_helper(args[0], n_args - 1, args + 1, kw_args);
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(machine_uart_init_obj, 1, machine_uart_init);
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STATIC mp_obj_t machine_uart_deinit(mp_obj_t self_in) {
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machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
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Sercom *uart = sercom_instance[self->id];
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// clear table entry of uart
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uart_table[self->id] = NULL;
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// Disable interrupts
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uart->USART.INTENCLR.reg = 0xff;
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MP_STATE_PORT(samd_uart_rx_buffer[self->id]) = NULL;
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#if USART_BUFFER_TX
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MP_STATE_PORT(samd_uart_tx_buffer[self->id]) = NULL;
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#endif
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_deinit_obj, machine_uart_deinit);
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STATIC mp_obj_t machine_uart_any(mp_obj_t self_in) {
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machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
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// get all bytes from the fifo first
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uart_drain_rx_fifo(self, sercom_instance[self->id]);
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return MP_OBJ_NEW_SMALL_INT(ringbuf_avail(&self->read_buffer));
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_any_obj, machine_uart_any);
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STATIC mp_obj_t machine_uart_sendbreak(mp_obj_t self_in) {
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machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
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uint32_t break_time_us = 13 * 1000000 / self->baudrate;
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// Wait for the TX queue & register to clear
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// Since the flags are not safe, just wait sufficiently long.
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// Once tx buffering is implemented, wait as well for the buffer to clear.
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mp_hal_delay_us(2 * break_time_us);
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// Disable MUX
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PORT->Group[self->tx / 32].PINCFG[self->tx % 32].bit.PMUXEN = 0;
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// Set TX pin to low for break time
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mp_hal_pin_low(self->tx);
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mp_hal_delay_us(break_time_us);
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mp_hal_pin_high(self->tx);
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// Enable Mux again
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mp_hal_set_pin_mux(self->tx, self->tx_pad_config.alt_fct);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_sendbreak_obj, machine_uart_sendbreak);
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void uart_deinit_all(void) {
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for (int i = 0; i < SERCOM_INST_NUM; i++) {
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if (uart_table[i] != NULL) {
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machine_uart_deinit((mp_obj_t)uart_table[i]);
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}
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}
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}
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STATIC const mp_rom_map_elem_t machine_uart_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_uart_init_obj) },
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{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_uart_deinit_obj) },
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{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&machine_uart_any_obj) },
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{ MP_ROM_QSTR(MP_QSTR_sendbreak), MP_ROM_PTR(&machine_uart_sendbreak_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_stream_read_obj) },
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{ MP_ROM_QSTR(MP_QSTR_readline), MP_ROM_PTR(&mp_stream_unbuffered_readline_obj) },
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{ MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_stream_readinto_obj) },
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{ MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_stream_write_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(machine_uart_locals_dict, machine_uart_locals_dict_table);
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STATIC mp_uint_t machine_uart_read(mp_obj_t self_in, void *buf_in, mp_uint_t size, int *errcode) {
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machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
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uint64_t t = mp_hal_ticks_ms() + self->timeout;
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uint64_t timeout_char = self->timeout_char;
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uint8_t *dest = buf_in;
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Sercom *uart = sercom_instance[self->id];
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// t.b.d. Cater timeout for timer wrap after 50 days.
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for (size_t i = 0; i < size; i++) {
|
|
// Wait for the first/next character
|
|
while (ringbuf_avail(&self->read_buffer) == 0) {
|
|
if (uart->USART.INTFLAG.bit.RXC != 0) {
|
|
// Force a few incoming bytes to the buffer
|
|
uart_drain_rx_fifo(self, uart);
|
|
break;
|
|
}
|
|
if (mp_hal_ticks_ms() > t) { // timed out
|
|
if (i <= 0) {
|
|
*errcode = MP_EAGAIN;
|
|
return MP_STREAM_ERROR;
|
|
} else {
|
|
return i;
|
|
}
|
|
}
|
|
MICROPY_EVENT_POLL_HOOK
|
|
}
|
|
*dest++ = ringbuf_get(&(self->read_buffer));
|
|
t = mp_hal_ticks_ms() + timeout_char;
|
|
}
|
|
return size;
|
|
}
|
|
|
|
STATIC mp_uint_t machine_uart_write(mp_obj_t self_in, const void *buf_in, mp_uint_t size, int *errcode) {
|
|
machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in);
|
|
size_t remaining = size;
|
|
const uint8_t *src = buf_in;
|
|
Sercom *uart = sercom_instance[self->id];
|
|
|
|
while (remaining--) {
|
|
while (!(uart->USART.INTFLAG.bit.DRE)) {
|
|
}
|
|
uart->USART.DATA.bit.DATA = *src;
|
|
src += 1;
|
|
}
|
|
|
|
return size;
|
|
}
|
|
|
|
STATIC mp_uint_t machine_uart_ioctl(mp_obj_t self_in, mp_uint_t request, mp_uint_t arg, int *errcode) {
|
|
machine_uart_obj_t *self = self_in;
|
|
mp_uint_t ret;
|
|
Sercom *uart = sercom_instance[self->id];
|
|
if (request == MP_STREAM_POLL) {
|
|
uintptr_t flags = arg;
|
|
ret = 0;
|
|
if ((flags & MP_STREAM_POLL_RD) && (uart->USART.INTFLAG.bit.RXC != 0 || ringbuf_avail(&self->read_buffer) > 0)) {
|
|
ret |= MP_STREAM_POLL_RD;
|
|
}
|
|
if ((flags & MP_STREAM_POLL_WR) && (uart->USART.INTFLAG.bit.DRE != 0)) {
|
|
ret |= MP_STREAM_POLL_WR;
|
|
}
|
|
} else {
|
|
*errcode = MP_EINVAL;
|
|
ret = MP_STREAM_ERROR;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
STATIC const mp_stream_p_t uart_stream_p = {
|
|
.read = machine_uart_read,
|
|
.write = machine_uart_write,
|
|
.ioctl = machine_uart_ioctl,
|
|
.is_text = false,
|
|
};
|
|
|
|
MP_DEFINE_CONST_OBJ_TYPE(
|
|
machine_uart_type,
|
|
MP_QSTR_UART,
|
|
MP_TYPE_FLAG_ITER_IS_STREAM,
|
|
make_new, machine_uart_make_new,
|
|
print, machine_uart_print,
|
|
protocol, &uart_stream_p,
|
|
locals_dict, &machine_uart_locals_dict
|
|
);
|
|
|
|
MP_REGISTER_ROOT_POINTER(void *samd_uart_rx_buffer[SERCOM_INST_NUM]);
|