USART.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Author: Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <interfaces/arch_registers.h>
#include <miosix.h>
#include <utils/ClockUtils.h>
 
#include <chrono>
#include <string>
 
#include "arch/common/drivers/serial.h"
 
#ifndef USE_MOCK_PERIPHERALS
using USARTType = USART_TypeDef;
#else
// TODO: Create test utils
using USARTType = USART_TypeDef;
#endif
 
#if defined(UART8)
#define N_USART_PORTS 8
#elif defined(UART7)
#define N_USART_PORTS 7
#elif defined(USART6)
#define N_USART_PORTS 6
#elif defined(UART5)
#define N_USART_PORTS 5
#elif defined(UART4)
#define N_USART_PORTS 4
#elif defined(USART3)
#define N_USART_PORTS 3
#elif defined(USART2)
#define N_USART_PORTS 2
#elif defined(USART1)
#define N_USART_PORTS 1
#else
#error "Your architecture doesn't support UART"
#endif
 
namespace Boardcore
{
 
class USARTInterface
{
public:
    explicit USARTInterface(USARTType* usart, int baudrate);
 
    virtual ~USARTInterface() = 0;
 
    [[nodiscard]] virtual bool readBlocking(
        void* buffer, size_t nBytes,
        std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero())
    {
        size_t temp;
        return readImpl(buffer, nBytes, temp, true, timeout);
    };
 
    [[nodiscard]] virtual bool readBlocking(
        void* buffer, size_t nBytes, size_t& nBytesRead,
        std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero())
    {
        return readImpl(buffer, nBytes, nBytesRead, true, timeout);
    };
 
    virtual void write(const void* buf, size_t nBytes) = 0;
 
    virtual void writeString(const char* buffer) = 0;
 
    int getId() { return id; };
 
    USARTType* getPeripheral() { return usart; };
 
protected:
    virtual bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
                          const bool blocking,
                          std::chrono::nanoseconds timeout) = 0;
 
    USARTType* usart;
    int id = -1;                 
    IRQn_Type irqn;              
    std::string serialPortName;  
    int baudrate;  
 
    PrintLogger logger = Logging::getLogger("usart");
};
 
class USART : public USARTInterface
{
public:
    enum class WordLength : bool
    {
        BIT8 = 0,
        BIT9 = 1
    };
 
    enum class ParityBit : bool
    {
        NO_PARITY = 0,
        PARITY    = 1
    };
 
    void IRQhandleInterrupt();
 
    USART(USARTType* usart, int baudrate,
          unsigned int queueLen = INTERNAL_QUEUE_LENGTH);
 
    USART(const USART&)            = delete;
    USART& operator=(const USART&) = delete;
    USART(USART&&)                 = delete;
    USART& operator=(USART&&)      = delete;
 
    ~USART() override;
 
    [[nodiscard]] bool read(void* buffer, size_t nBytes)
    {
        size_t temp;
        auto timeout = std::chrono::nanoseconds::zero();
        return readImpl(buffer, nBytes, temp, false, timeout);
    }
 
    [[nodiscard]] bool read(void* buffer, size_t nBytes, size_t& nBytesRead)
    {
        auto timeout = std::chrono::nanoseconds::zero();
        return readImpl(buffer, nBytes, nBytesRead, false, timeout);
    };
 
    void write(const void* buf, size_t nBytes);
 
    void writeString(const char* buffer);
 
    bool writeFile(const std::string& fileName);
 
    void setWordLength(WordLength wl);
 
    void setParity(ParityBit pb);
 
    void setStopBits(int stopBits);
 
    void setBaudrate(int baudrate);
 
    void setOversampling(bool oversampling);
 
    void clearQueue();
 
private:
    [[nodiscard]] bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
                                const bool blocking,
                                std::chrono::nanoseconds timeout) override;
 
    miosix::FastMutex rxMutex;  
    miosix::FastMutex txMutex;  
 
    miosix::Thread* rxWaiter =
        nullptr;  
 
    miosix::DynUnsyncQueue<char> rxQueue;  
    bool idle             = true;          
    ParityBit parity      = ParityBit::NO_PARITY;
    WordLength wordLength = WordLength::BIT8;
    int stopBits          = 1;      
    bool over8            = false;  
    bool error            = false;  
 
    static constexpr unsigned int INTERNAL_QUEUE_LENGTH = 256;
};
 
class STM32SerialWrapper : public USARTInterface
{
public:
    STM32SerialWrapper(USARTType* usart, int baudrate);
 
    STM32SerialWrapper(USARTType* usart, int baudrate, miosix::GpioPin tx,
                       miosix::GpioPin rx);
 
    STM32SerialWrapper(const STM32SerialWrapper&)            = delete;
    STM32SerialWrapper& operator=(const STM32SerialWrapper&) = delete;
    STM32SerialWrapper(STM32SerialWrapper&&)                 = delete;
    STM32SerialWrapper& operator=(STM32SerialWrapper&&)      = delete;
 
    ~STM32SerialWrapper();
 
    void write(const void* buf, size_t nBytes);
 
    void writeString(const char* buffer);
 
private:
    [[nodiscard]] bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
                                const bool blocking,
                                std::chrono::nanoseconds timeout) override;
 
    bool serialCommSetup();
 
    miosix::STM32Serial* serial;  
 
    int fd;
};
 
}  // namespace Boardcore