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esp32-hal-uart.c
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// Copyright 2015-2025 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "esp32-hal-uart.h"
#if SOC_UART_SUPPORTED
#include "esp32-hal.h"
#include "esp32-hal-periman.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "driver/uart.h"
#include "hal/uart_ll.h"
#include "soc/soc_caps.h"
#include "soc/uart_struct.h"
#include "soc/uart_periph.h"
#include "rom/ets_sys.h"
#include "rom/gpio.h"
#include "driver/gpio.h"
#include "hal/gpio_hal.h"
#include "esp_rom_gpio.h"
#include "driver/rtc_io.h"
#include "driver/lp_io.h"
#include "soc/uart_periph.h"
#include "esp_private/uart_share_hw_ctrl.h"
static int s_uart_debug_nr = 0; // UART number for debug output
#define REF_TICK_BAUDRATE_LIMIT 250000 // this is maximum UART badrate using REF_TICK as clock
struct uart_struct_t {
#if !CONFIG_DISABLE_HAL_LOCKS
SemaphoreHandle_t lock; // UART lock
#endif
uint8_t num; // UART number for IDF driver API
bool has_peek; // flag to indicate that there is a peek byte pending to be read
uint8_t peek_byte; // peek byte that has been read but not consumed
QueueHandle_t uart_event_queue; // export it by some uartGetEventQueue() function
// configuration data:: Arduino API typical data
int8_t _rxPin, _txPin, _ctsPin, _rtsPin; // UART GPIOs
uint32_t _baudrate, _config; // UART baudrate and config
// UART ESP32 specific data
uint16_t _rx_buffer_size, _tx_buffer_size; // UART RX and TX buffer sizes
bool _inverted; // UART inverted signal
uint8_t _rxfifo_full_thrhd; // UART RX FIFO full threshold
int8_t _uart_clock_source; // UART Clock Source used when it is started using uartBegin()
};
#if CONFIG_DISABLE_HAL_LOCKS
#define UART_MUTEX_LOCK()
#define UART_MUTEX_UNLOCK()
static uart_t _uart_bus_array[] = {
{0, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#if SOC_UART_NUM > 1
{1, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 2
{2, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 3
{3, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 4
{4, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 5
{5, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
};
#else
#define UART_MUTEX_LOCK() \
if (uart->lock != NULL) \
do { \
} while (xSemaphoreTake(uart->lock, portMAX_DELAY) != pdPASS)
#define UART_MUTEX_UNLOCK() \
if (uart->lock != NULL) \
xSemaphoreGive(uart->lock)
static uart_t _uart_bus_array[] = {
{NULL, 0, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#if SOC_UART_NUM > 1
{NULL, 1, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 2
{NULL, 2, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 3
{NULL, 3, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 4
{NULL, 4, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
#if SOC_UART_NUM > 5
{NULL, 5, false, 0, NULL, -1, -1, -1, -1, 0, 0, 0, 0, false, 0, -1},
#endif
};
#endif
#if SOC_UART_LP_NUM >= 1
// LP UART enable pins routine
static bool lp_uart_config_io(uint8_t uart_num, int8_t pin, rtc_gpio_mode_t direction, uint32_t idx) {
/* Skip configuration if the LP_IO is -1 */
if (pin < 0) {
return true;
}
// Initialize LP_IO
if (rtc_gpio_init(pin) != ESP_OK) {
log_e("Failed to initialize LP_IO %d", pin);
return false;
}
// Set LP_IO direction
if (rtc_gpio_set_direction(pin, direction) != ESP_OK) {
log_e("Failed to set LP_IO %d direction", pin);
return false;
}
// Connect pins
const uart_periph_sig_t *upin = &uart_periph_signal[uart_num].pins[idx];
#if !SOC_LP_GPIO_MATRIX_SUPPORTED // ESP32-C6/C61/C5
// When LP_IO Matrix is not support, LP_IO Mux must be connected to the pins
if (rtc_gpio_iomux_func_sel(pin, upin->iomux_func) != ESP_OK) {
log_e("Failed to set LP_IO pin %d into Mux function", pin);
return false;
}
#else // So far, only ESP32-P4
// If the configured pin is the default LP_IO Mux pin for LP UART, then set the LP_IO MUX function
if (upin->default_gpio == pin) {
if (rtc_gpio_iomux_func_sel(pin, upin->iomux_func) != ESP_OK) {
log_e("Failed to set LP_IO pin %d into Mux function", pin);
return false;
}
} else {
// Otherwise, set the LP_IO Matrix and select FUNC1
if (rtc_gpio_iomux_func_sel(pin, 1) != ESP_OK) {
log_e("Failed to set LP_IO pin %d into Mux function GPIO", pin);
return false;
}
// Connect the LP_IO to the LP UART peripheral signal
esp_err_t ret;
if (direction == RTC_GPIO_MODE_OUTPUT_ONLY) {
ret = lp_gpio_connect_out_signal(pin, UART_PERIPH_SIGNAL(uart_num, idx), 0, 0);
} else {
ret = lp_gpio_connect_in_signal(pin, UART_PERIPH_SIGNAL(uart_num, idx), 0);
}
if (ret != ESP_OK) {
log_e("Failed to connect LP_IO pin %d to UART%d signal", pin, uart_num);
return false;
}
}
#endif // SOC_LP_GPIO_MATRIX_SUPPORTED
return true;
}
// When LP UART needs the RTC IO MUX to set the pin, it will always have fixed pins for RX, TX, CTS and RTS
static bool lpuartCheckPins(int8_t rxPin, int8_t txPin, int8_t ctsPin, int8_t rtsPin, uint8_t uart_nr) {
// check if LP UART is being used and if the pins are valid
#if !SOC_LP_GPIO_MATRIX_SUPPORTED // ESP32-C6/C61/C5
uint16_t lp_uart_fixed_pin = uart_periph_signal[uart_nr].pins[SOC_UART_RX_PIN_IDX].default_gpio;
if (uart_nr >= SOC_UART_HP_NUM) { // it is a LP UART NUM
if (rxPin > 0 && rxPin != lp_uart_fixed_pin) {
log_e("UART%d LP UART requires RX pin to be set to %d.", uart_nr, lp_uart_fixed_pin);
return false;
}
lp_uart_fixed_pin = uart_periph_signal[uart_nr].pins[SOC_UART_TX_PIN_IDX].default_gpio;
if (txPin > 0 && txPin != lp_uart_fixed_pin) {
log_e("UART%d LP UART requires TX pin to be set to %d.", uart_nr, lp_uart_fixed_pin);
return false;
}
lp_uart_fixed_pin = uart_periph_signal[uart_nr].pins[SOC_UART_CTS_PIN_IDX].default_gpio;
if (ctsPin > 0 && ctsPin != lp_uart_fixed_pin) {
log_e("UART%d LP UART requires CTS pin to be set to %d.", uart_nr, lp_uart_fixed_pin);
return false;
}
lp_uart_fixed_pin = uart_periph_signal[uart_nr].pins[SOC_UART_RTS_PIN_IDX].default_gpio;
if (rtsPin > 0 && rtsPin != lp_uart_fixed_pin) {
log_e("UART%d LP UART requires RTS pin to be set to %d.", uart_nr, lp_uart_fixed_pin);
return false;
}
}
return true;
#else // ESP32-P4 can set any pin for LP UART
return true;
#endif // SOC_LP_GPIO_MATRIX_SUPPORTED
}
#endif // SOC_UART_LP_NUM >= 1
// Negative Pin Number will keep it unmodified, thus this function can detach individual pins
// This function will also unset the pins in the Peripheral Manager and set the pin to -1 after detaching
static bool _uartDetachPins(uint8_t uart_num, int8_t rxPin, int8_t txPin, int8_t ctsPin, int8_t rtsPin) {
if (uart_num >= SOC_UART_NUM) {
log_e("Serial number is invalid, please use number from 0 to %u", SOC_UART_NUM - 1);
return false;
}
// get UART information
uart_t *uart = &_uart_bus_array[uart_num];
bool retCode = true;
//log_v("detaching UART%d pins: prev,pin RX(%d,%d) TX(%d,%d) CTS(%d,%d) RTS(%d,%d)", uart_num,
// uart->_rxPin, rxPin, uart->_txPin, txPin, uart->_ctsPin, ctsPin, uart->_rtsPin, rtsPin); vTaskDelay(10);
// detaches HP and LP pins and sets Peripheral Manager and UART information
if (rxPin >= 0 && uart->_rxPin == rxPin && perimanGetPinBusType(rxPin) == ESP32_BUS_TYPE_UART_RX) {
gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rxPin], PIN_FUNC_GPIO);
// avoids causing BREAK in the UART line
if (uart->_inverted) {
esp_rom_gpio_connect_in_signal(GPIO_FUNC_IN_LOW, UART_PERIPH_SIGNAL(uart_num, SOC_UART_RX_PIN_IDX), false);
} else {
esp_rom_gpio_connect_in_signal(GPIO_FUNC_IN_HIGH, UART_PERIPH_SIGNAL(uart_num, SOC_UART_RX_PIN_IDX), false);
}
uart->_rxPin = -1; // -1 means unassigned/detached
if (!perimanClearPinBus(rxPin)) {
retCode = false;
log_e("UART%d failed to detach RX pin %d", uart_num, rxPin);
}
}
if (txPin >= 0 && uart->_txPin == txPin && perimanGetPinBusType(txPin) == ESP32_BUS_TYPE_UART_TX) {
gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[txPin], PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(txPin, SIG_GPIO_OUT_IDX, false, false);
uart->_txPin = -1; // -1 means unassigned/detached
if (!perimanClearPinBus(txPin)) {
retCode = false;
log_e("UART%d failed to detach TX pin %d", uart_num, txPin);
}
}
if (ctsPin >= 0 && uart->_ctsPin == ctsPin && perimanGetPinBusType(ctsPin) == ESP32_BUS_TYPE_UART_CTS) {
gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[ctsPin], PIN_FUNC_GPIO);
esp_rom_gpio_connect_in_signal(GPIO_FUNC_IN_LOW, UART_PERIPH_SIGNAL(uart_num, SOC_UART_CTS_PIN_IDX), false);
uart->_ctsPin = -1; // -1 means unassigned/detached
if (!perimanClearPinBus(ctsPin)) {
retCode = false;
log_e("UART%d failed to detach CTS pin %d", uart_num, ctsPin);
}
}
if (rtsPin >= 0 && uart->_rtsPin == rtsPin && perimanGetPinBusType(rtsPin) == ESP32_BUS_TYPE_UART_RTS) {
gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rtsPin], PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(rtsPin, SIG_GPIO_OUT_IDX, false, false);
uart->_rtsPin = -1; // -1 means unassigned/detached
if (!perimanClearPinBus(rtsPin)) {
retCode = false;
log_e("UART%d failed to detach RTS pin %d", uart_num, rtsPin);
}
}
return retCode;
}
// Peripheral Manager detach callback for each specific UART PIN
static bool _uartDetachBus_RX(void *busptr) {
// sanity check - it should never happen
assert(busptr && "_uartDetachBus_RX bus NULL pointer.");
uart_t *bus = (uart_t *)busptr;
return _uartDetachPins(bus->num, bus->_rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
static bool _uartDetachBus_TX(void *busptr) {
// sanity check - it should never happen
assert(busptr && "_uartDetachBus_TX bus NULL pointer.");
uart_t *bus = (uart_t *)busptr;
return _uartDetachPins(bus->num, UART_PIN_NO_CHANGE, bus->_txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
static bool _uartDetachBus_CTS(void *busptr) {
// sanity check - it should never happen
assert(busptr && "_uartDetachBus_CTS bus NULL pointer.");
uart_t *bus = (uart_t *)busptr;
return _uartDetachPins(bus->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, bus->_ctsPin, UART_PIN_NO_CHANGE);
}
static bool _uartDetachBus_RTS(void *busptr) {
// sanity check - it should never happen
assert(busptr && "_uartDetachBus_RTS bus NULL pointer.");
uart_t *bus = (uart_t *)busptr;
return _uartDetachPins(bus->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, bus->_rtsPin);
}
// Attach function for UART
// connects the IO Pad, set Paripheral Manager and internal UART structure data
static bool _uartAttachPins(uint8_t uart_num, int8_t rxPin, int8_t txPin, int8_t ctsPin, int8_t rtsPin) {
if (uart_num >= SOC_UART_NUM) {
log_e("Serial number is invalid, please use number from 0 to %u", SOC_UART_NUM - 1);
return false;
}
// get UART information
uart_t *uart = &_uart_bus_array[uart_num];
//log_v("attaching UART%d pins: prev,new RX(%d,%d) TX(%d,%d) CTS(%d,%d) RTS(%d,%d)", uart_num,
// uart->_rxPin, rxPin, uart->_txPin, txPin, uart->_ctsPin, ctsPin, uart->_rtsPin, rtsPin); vTaskDelay(10);
// IDF uart_set_pin() checks if the pin is used within LP UART and if it is a valid RTC IO pin
// No need for Arduino Layer to check it again
bool retCode = true;
if (rxPin >= 0) {
// forces a clean detaching from a previous peripheral
if (perimanGetPinBusType(rxPin) != ESP32_BUS_TYPE_INIT) {
perimanClearPinBus(rxPin);
}
// connect RX Pad
bool ret = ESP_OK == uart_set_pin(uart->num, UART_PIN_NO_CHANGE, rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
#if SOC_UART_LP_NUM >= 1
if (ret && uart_num >= SOC_UART_HP_NUM) { // it is a LP UART NUM
ret &= lp_uart_config_io(uart->num, rxPin, RTC_GPIO_MODE_INPUT_ONLY, SOC_UART_RX_PIN_IDX);
}
#endif
if (ret) {
ret &= perimanSetPinBus(rxPin, ESP32_BUS_TYPE_UART_RX, (void *)uart, uart_num, -1);
if (ret) {
uart->_rxPin = rxPin;
}
}
if (!ret) {
log_e("UART%d failed to attach RX pin %d", uart_num, rxPin);
}
retCode &= ret;
}
if (txPin >= 0) {
// forces a clean detaching from a previous peripheral
if (perimanGetPinBusType(txPin) != ESP32_BUS_TYPE_INIT) {
perimanClearPinBus(txPin);
}
// connect TX Pad
bool ret = ESP_OK == uart_set_pin(uart->num, txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
#if SOC_UART_LP_NUM >= 1
if (ret && uart_num >= SOC_UART_HP_NUM) { // it is a LP UART NUM
ret &= lp_uart_config_io(uart->num, txPin, RTC_GPIO_MODE_OUTPUT_ONLY, SOC_UART_TX_PIN_IDX);
}
#endif
if (ret) {
ret &= perimanSetPinBus(txPin, ESP32_BUS_TYPE_UART_TX, (void *)uart, uart_num, -1);
if (ret) {
uart->_txPin = txPin;
}
}
if (!ret) {
log_e("UART%d failed to attach TX pin %d", uart_num, txPin);
}
retCode &= ret;
}
if (ctsPin >= 0) {
// forces a clean detaching from a previous peripheral
if (perimanGetPinBusType(ctsPin) != ESP32_BUS_TYPE_INIT) {
perimanClearPinBus(ctsPin);
}
// connect CTS Pad
bool ret = ESP_OK == uart_set_pin(uart->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, ctsPin);
#if SOC_UART_LP_NUM >= 1
if (ret && uart_num >= SOC_UART_HP_NUM) { // it is a LP UART NUM
ret &= lp_uart_config_io(uart->num, ctsPin, RTC_GPIO_MODE_INPUT_ONLY, SOC_UART_CTS_PIN_IDX);
}
#endif
if (ret) {
ret &= perimanSetPinBus(ctsPin, ESP32_BUS_TYPE_UART_CTS, (void *)uart, uart_num, -1);
if (ret) {
uart->_ctsPin = ctsPin;
}
}
if (!ret) {
log_e("UART%d failed to attach CTS pin %d", uart_num, ctsPin);
}
retCode &= ret;
}
if (rtsPin >= 0) {
// forces a clean detaching from a previous peripheral
if (perimanGetPinBusType(rtsPin) != ESP32_BUS_TYPE_INIT) {
perimanClearPinBus(rtsPin);
}
// connect RTS Pad
bool ret = ESP_OK == uart_set_pin(uart->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, rtsPin, UART_PIN_NO_CHANGE);
#if SOC_UART_LP_NUM >= 1
if (ret && uart_num >= SOC_UART_HP_NUM) { // it is a LP UART NUM
ret &= lp_uart_config_io(uart->num, rtsPin, RTC_GPIO_MODE_OUTPUT_ONLY, SOC_UART_RTS_PIN_IDX);
}
#endif
if (ret) {
ret &= perimanSetPinBus(rtsPin, ESP32_BUS_TYPE_UART_RTS, (void *)uart, uart_num, -1);
if (ret) {
uart->_rtsPin = rtsPin;
}
}
if (!ret) {
log_e("UART%d failed to attach RTS pin %d", uart_num, rtsPin);
}
retCode &= ret;
}
return retCode;
}
// just helper functions
int8_t uart_get_RxPin(uint8_t uart_num) {
return _uart_bus_array[uart_num]._rxPin;
}
int8_t uart_get_TxPin(uint8_t uart_num) {
return _uart_bus_array[uart_num]._txPin;
}
void uart_init_PeriMan(void) {
// set Peripheral Manager deInit Callback for each UART pin
perimanSetBusDeinit(ESP32_BUS_TYPE_UART_RX, _uartDetachBus_RX);
perimanSetBusDeinit(ESP32_BUS_TYPE_UART_TX, _uartDetachBus_TX);
perimanSetBusDeinit(ESP32_BUS_TYPE_UART_CTS, _uartDetachBus_CTS);
perimanSetBusDeinit(ESP32_BUS_TYPE_UART_RTS, _uartDetachBus_RTS);
}
// Routines that take care of UART events will be in the HardwareSerial Class code
void uartGetEventQueue(uart_t *uart, QueueHandle_t *q) {
// passing back NULL for the Queue pointer when UART is not initialized yet
*q = NULL;
if (uart == NULL) {
return;
}
*q = uart->uart_event_queue;
return;
}
bool uartIsDriverInstalled(uart_t *uart) {
if (uart == NULL) {
return false;
}
if (uart_is_driver_installed(uart->num)) {
return true;
}
return false;
}
// Negative Pin Number will keep it unmodified, thus this function can set individual pins
// When pins are changed, it will detach the previous one
bool uartSetPins(uint8_t uart_num, int8_t rxPin, int8_t txPin, int8_t ctsPin, int8_t rtsPin) {
if (uart_num >= SOC_UART_NUM) {
log_e("Serial number is invalid, please use number from 0 to %u", SOC_UART_NUM - 1);
return false;
}
// get UART information
uart_t *uart = &_uart_bus_array[uart_num];
#if SOC_UART_LP_NUM >= 1
// check if LP UART is being used and if the pins are valid
if (!lpuartCheckPins(rxPin, txPin, ctsPin, rtsPin, uart_num)) {
return false; // failed to set pins
}
#endif
bool retCode = true;
UART_MUTEX_LOCK();
//log_v("setting UART%d pins: prev->new RX(%d->%d) TX(%d->%d) CTS(%d->%d) RTS(%d->%d)", uart_num,
// uart->_rxPin, rxPin, uart->_txPin, txPin, uart->_ctsPin, ctsPin, uart->_rtsPin, rtsPin); vTaskDelay(10);
// First step: detaches all previous UART pins
bool rxPinChanged = rxPin >= 0 && rxPin != uart->_rxPin;
if (rxPinChanged) {
retCode &= _uartDetachPins(uart_num, uart->_rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
bool txPinChanged = txPin >= 0 && txPin != uart->_txPin;
if (txPinChanged) {
retCode &= _uartDetachPins(uart_num, UART_PIN_NO_CHANGE, uart->_txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
bool ctsPinChanged = ctsPin >= 0 && ctsPin != uart->_ctsPin;
if (ctsPinChanged) {
retCode &= _uartDetachPins(uart_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, uart->_ctsPin, UART_PIN_NO_CHANGE);
}
bool rtsPinChanged = rtsPin >= 0 && rtsPin != uart->_rtsPin;
if (rtsPinChanged) {
retCode &= _uartDetachPins(uart_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, uart->_rtsPin);
}
// Second step: attach all UART new pins
if (rxPinChanged) {
retCode &= _uartAttachPins(uart_num, rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
if (txPinChanged) {
retCode &= _uartAttachPins(uart_num, UART_PIN_NO_CHANGE, txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
if (ctsPinChanged) {
retCode &= _uartAttachPins(uart->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, ctsPin, UART_PIN_NO_CHANGE);
}
if (rtsPinChanged) {
retCode &= _uartAttachPins(uart->num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, rtsPin);
}
UART_MUTEX_UNLOCK();
if (!retCode) {
log_e("UART%d set pins failed.", uart_num);
}
return retCode;
}
//
bool uartSetHwFlowCtrlMode(uart_t *uart, uart_hw_flowcontrol_t mode, uint8_t threshold) {
if (uart == NULL) {
return false;
}
// IDF will issue corresponding error message when mode or threshold are wrong and prevent crashing
// IDF will check (mode > HW_FLOWCTRL_CTS_RTS || threshold >= SOC_UART_FIFO_LEN)
UART_MUTEX_LOCK();
bool retCode = (ESP_OK == uart_set_hw_flow_ctrl(uart->num, mode, threshold));
UART_MUTEX_UNLOCK();
return retCode;
}
// This helper function will return true if a new IDF UART driver needs to be restarted and false if the current one can continue its execution
bool _testUartBegin(
uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rxPin, int8_t txPin, uint32_t rx_buffer_size, uint32_t tx_buffer_size, bool inverted,
uint8_t rxfifo_full_thrhd
) {
if (uart_nr >= SOC_UART_NUM) {
return false; // no new driver has to be installed
}
uart_t *uart = &_uart_bus_array[uart_nr];
// verify if is necessary to restart the UART driver
if (uart_is_driver_installed(uart_nr)) {
// some parameters can't be changed unless we end the UART driver
if (uart->_rx_buffer_size != rx_buffer_size || uart->_tx_buffer_size != tx_buffer_size || uart->_inverted != inverted
|| uart->_rxfifo_full_thrhd != rxfifo_full_thrhd) {
return true; // the current IDF UART driver must be terminated and a new driver shall be installed
} else {
return false; // The current IDF UART driver can continue its execution
}
} else {
return true; // no IDF UART driver is running and a new driver shall be installed
}
}
uart_t *uartBegin(
uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rxPin, int8_t txPin, uint32_t rx_buffer_size, uint32_t tx_buffer_size, bool inverted,
uint8_t rxfifo_full_thrhd
) {
if (uart_nr >= SOC_UART_NUM) {
log_e("UART number is invalid, please use number from 0 to %u", SOC_UART_NUM - 1);
return NULL; // no new driver was installed
}
uart_t *uart = &_uart_bus_array[uart_nr];
log_v("UART%d baud(%ld) Mode(%x) rxPin(%d) txPin(%d)", uart_nr, baudrate, config, rxPin, txPin);
#if SOC_UART_LP_NUM >= 1
// check if LP UART is being used and if the pins are valid
if (!lpuartCheckPins(rxPin, txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, uart_nr)) {
if (uart_is_driver_installed(uart_nr)) {
return uart; // keep the same installed driver
} else {
return NULL; // no new driver was installed
}
}
#endif
#if !CONFIG_DISABLE_HAL_LOCKS
if (uart->lock == NULL) {
uart->lock = xSemaphoreCreateMutex();
if (uart->lock == NULL) {
log_e("HAL LOCK error.");
return NULL; // no new driver was installed
}
}
#endif
if (uart_is_driver_installed(uart_nr)) {
log_v("UART%d Driver already installed.", uart_nr);
// some parameters can't be changed unless we end the UART driver
if (uart->_rx_buffer_size != rx_buffer_size || uart->_tx_buffer_size != tx_buffer_size || uart->_inverted != inverted
|| uart->_rxfifo_full_thrhd != rxfifo_full_thrhd) {
log_v("UART%d changing buffer sizes or inverted signal or rxfifo_full_thrhd. IDF driver will be restarted", uart_nr);
log_v("RX buffer size: %d -> %d", uart->_rx_buffer_size, rx_buffer_size);
log_v("TX buffer size: %d -> %d", uart->_tx_buffer_size, tx_buffer_size);
log_v("Inverted signal: %s -> %s", uart->_inverted ? "true" : "false", inverted ? "true" : "false");
log_v("RX FIFO full threshold: %d -> %d", uart->_rxfifo_full_thrhd, rxfifo_full_thrhd);
uartEnd(uart_nr);
} else {
bool retCode = true;
//User may just want to change some parameters, such as baudrate, data length, parity, stop bits or pins
if (uart->_baudrate != baudrate) {
retCode = uartSetBaudRate(uart, baudrate);
}
UART_MUTEX_LOCK();
uart_word_length_t data_bits = (config & 0xc) >> 2;
uart_parity_t parity = config & 0x3;
uart_stop_bits_t stop_bits = (config & 0x30) >> 4;
if (retCode && (uart->_config & 0xc) >> 2 != data_bits) {
if (ESP_OK != uart_set_word_length(uart_nr, data_bits)) {
log_e("UART%d changing data length failed.", uart_nr);
retCode = false;
} else {
log_v("UART%d changed data length to %d", uart_nr, data_bits + 5);
}
}
if (retCode && (uart->_config & 0x3) != parity) {
if (ESP_OK != uart_set_parity(uart_nr, parity)) {
log_e("UART%d changing parity failed.", uart_nr);
retCode = false;
} else {
log_v("UART%d changed parity to %s", uart_nr, parity == 0 ? "NONE" : parity == 2 ? "EVEN" : "ODD");
}
}
if (retCode && (uart->_config & 0xc30) >> 4 != stop_bits) {
if (ESP_OK != uart_set_stop_bits(uart_nr, stop_bits)) {
log_e("UART%d changing stop bits failed.", uart_nr);
retCode = false;
} else {
log_v("UART%d changed stop bits to %d", uart_nr, stop_bits == 3 ? 2 : 1);
}
}
if (retCode) {
uart->_config = config;
}
if (retCode && rxPin > 0 && uart->_rxPin != rxPin) {
retCode &= _uartDetachPins(uart_nr, uart->_rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
retCode &= _uartAttachPins(uart_nr, rxPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
if (!retCode) {
log_e("UART%d changing RX pin failed.", uart_nr);
} else {
log_v("UART%d changed RX pin to %d", uart_nr, rxPin);
}
}
if (retCode && txPin > 0 && uart->_txPin != txPin) {
retCode &= _uartDetachPins(uart_nr, UART_PIN_NO_CHANGE, uart->_txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
retCode &= _uartAttachPins(uart_nr, UART_PIN_NO_CHANGE, txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
if (!retCode) {
log_e("UART%d changing TX pin failed.", uart_nr);
} else {
log_v("UART%d changed TX pin to %d", uart_nr, txPin);
}
}
UART_MUTEX_UNLOCK();
if (retCode) {
// UART driver was already working, just return the uart_t structure, saying that no new driver was installed
return uart;
}
// if we reach this point, it means that we need to restart the UART driver
uartEnd(uart_nr);
}
} else {
log_v("UART%d not installed. Starting installation", uart_nr);
}
uart_config_t uart_config;
memset(&uart_config, 0, sizeof(uart_config_t));
uart_config.flags.backup_before_sleep = false; // new flag from IDF v5.3
uart_config.data_bits = (config & 0xc) >> 2;
uart_config.parity = (config & 0x3);
uart_config.stop_bits = (config & 0x30) >> 4;
uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
uart_config.rx_flow_ctrl_thresh = rxfifo_full_thrhd >= UART_HW_FIFO_LEN(uart_nr) ? UART_HW_FIFO_LEN(uart_nr) - 6 : rxfifo_full_thrhd;
log_v(
"UART%d RX FIFO full threshold set to %d (value requested: %d || FIFO Max = %d)", uart_nr, uart_config.rx_flow_ctrl_thresh, rxfifo_full_thrhd,
UART_HW_FIFO_LEN(uart_nr)
);
rxfifo_full_thrhd = uart_config.rx_flow_ctrl_thresh; // makes sure that it will be set correctly in the struct
uart_config.baud_rate = baudrate;
#if SOC_UART_LP_NUM >= 1
if (uart_nr >= SOC_UART_HP_NUM) { // it is a LP UART NUM
if (uart->_uart_clock_source > 0) {
uart_config.lp_source_clk = (soc_periph_lp_uart_clk_src_t)uart->_uart_clock_source; // use user defined LP UART clock
log_v("Setting UART%d to user defined LP clock source (%d) ", uart_nr, uart->_uart_clock_source);
} else {
uart_config.lp_source_clk = LP_UART_SCLK_DEFAULT; // use default LP clock
log_v("Setting UART%d to Default LP clock source", uart_nr);
}
} else
#endif // SOC_UART_LP_NUM >= 1
{
if (uart->_uart_clock_source >= 0) {
uart_config.source_clk = (soc_module_clk_t)uart->_uart_clock_source; // use user defined HP UART clock
log_v("Setting UART%d to user defined HP clock source (%d) ", uart_nr, uart->_uart_clock_source);
} else {
// there is an issue when returning from light sleep with the C6 and H2: the uart baud rate is not restored
// therefore, uart clock source will set to XTAL for all SoC that support it. This fix solves the C6|H2 issue.
#if SOC_UART_SUPPORT_XTAL_CLK
uart_config.source_clk = UART_SCLK_XTAL; // valid for C2, S3, C3, C6, H2 and P4
log_v("Setting UART%d to use XTAL clock", uart_nr);
#elif SOC_UART_SUPPORT_REF_TICK
if (baudrate <= REF_TICK_BAUDRATE_LIMIT) {
uart_config.source_clk = UART_SCLK_REF_TICK; // valid for ESP32, S2 - MAX supported baud rate is 250 Kbps
log_v("Setting UART%d to use REF_TICK clock", uart_nr);
} else {
uart_config.source_clk = UART_SCLK_APB; // baudrate may change with the APB Frequency!
log_v("Setting UART%d to use APB clock", uart_nr);
}
#else
// Default CLK Source: CLK_APB for ESP32|S2|S3|C3 -- CLK_PLL_F40M for C2 -- CLK_PLL_F48M for H2 -- CLK_PLL_F80M for C6|P4
uart_config.source_clk = UART_SCLK_DEFAULT; // baudrate may change with the APB Frequency!
log_v("Setting UART%d to use DEFAULT clock", uart_nr);
#endif // SOC_UART_SUPPORT_XTAL_CLK
}
}
UART_MUTEX_LOCK();
bool retCode = ESP_OK == uart_driver_install(uart_nr, rx_buffer_size, tx_buffer_size, 20, &(uart->uart_event_queue), 0);
if (retCode) {
retCode &= ESP_OK == uart_param_config(uart_nr, &uart_config);
}
if (retCode) {
if (inverted) {
// invert signal for both Rx and Tx
retCode &= ESP_OK == uart_set_line_inverse(uart_nr, UART_SIGNAL_TXD_INV | UART_SIGNAL_RXD_INV);
} else {
// disable invert signal for both Rx and Tx
retCode &= ESP_OK == uart_set_line_inverse(uart_nr, UART_SIGNAL_INV_DISABLE);
}
}
// if all fine, set internal parameters
if (retCode) {
uart->_baudrate = baudrate;
uart->_config = config;
uart->_inverted = inverted;
uart->_rxfifo_full_thrhd = rxfifo_full_thrhd;
uart->_rx_buffer_size = rx_buffer_size;
uart->_tx_buffer_size = tx_buffer_size;
uart->has_peek = false;
uart->peek_byte = 0;
#if SOC_UART_LP_NUM >= 1
if (uart_nr >= SOC_UART_HP_NUM) {
uart->_uart_clock_source = uart_config.lp_source_clk;
} else
#endif
{
uart->_uart_clock_source = uart_config.source_clk;
}
}
UART_MUTEX_UNLOCK();
// uartSetPins detaches previous pins if new ones are used over a previous begin()
if (retCode) {
retCode &= uartSetPins(uart_nr, rxPin, txPin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
}
if (!retCode) {
log_e("UART%d initialization error.", uart->num);
uartEnd(uart_nr);
uart = NULL;
} else {
uartFlush(uart);
log_v("UART%d initialization done.", uart->num);
}
return uart; // a new driver was installed
}
// This function code is under testing - for now just keep it here
void uartSetFastReading(uart_t *uart) {
if (uart == NULL) {
return;
}
UART_MUTEX_LOCK();
// override default RX IDF Driver Interrupt - no BREAK, PARITY or OVERFLOW
uart_intr_config_t uart_intr = {
.intr_enable_mask = UART_INTR_RXFIFO_FULL | UART_INTR_RXFIFO_TOUT, // only these IRQs - no BREAK, PARITY or OVERFLOW
.rx_timeout_thresh = 1,
.txfifo_empty_intr_thresh = 10,
.rxfifo_full_thresh = 2,
};
ESP_ERROR_CHECK(uart_intr_config(uart->num, &uart_intr));
UART_MUTEX_UNLOCK();
}
bool uartSetRxTimeout(uart_t *uart, uint8_t numSymbTimeout) {
if (uart == NULL) {
return false;
}
uint16_t maxRXTimeout = uart_get_max_rx_timeout(uart->num);
if (numSymbTimeout > maxRXTimeout) {
log_e("Invalid RX Timeout value, its limit is %d", maxRXTimeout);
return false;
}
UART_MUTEX_LOCK();
bool retCode = (ESP_OK == uart_set_rx_timeout(uart->num, numSymbTimeout));
UART_MUTEX_UNLOCK();
return retCode;
}
bool uartSetRxFIFOFull(uart_t *uart, uint8_t numBytesFIFOFull) {
if (uart == NULL) {
return false;
}
uint8_t rxfifo_full_thrhd = numBytesFIFOFull >= UART_HW_FIFO_LEN(uart->num) ? UART_HW_FIFO_LEN(uart->num) - 6 : numBytesFIFOFull;
UART_MUTEX_LOCK();
bool retCode = (ESP_OK == uart_set_rx_full_threshold(uart->num, rxfifo_full_thrhd));
if (retCode) {
uart->_rxfifo_full_thrhd = rxfifo_full_thrhd;
if (rxfifo_full_thrhd != numBytesFIFOFull) {
log_w("The RX FIFO Full value for UART%d was set to %d instead of %d", uart->num, rxfifo_full_thrhd, numBytesFIFOFull);
}
log_v("UART%d RX FIFO Full value set to %d from a requested value of %d", uart->num, rxfifo_full_thrhd, numBytesFIFOFull);
} else {
log_e("UART%d failed to set RX FIFO Full value to %d", uart->num, numBytesFIFOFull);
}
UART_MUTEX_UNLOCK();
return retCode;
}
void uartEnd(uint8_t uart_num) {
if (uart_num >= SOC_UART_NUM) {
log_e("Serial number is invalid, please use number from 0 to %u", SOC_UART_NUM - 1);
return;
}
// get UART information
uart_t *uart = &_uart_bus_array[uart_num];
UART_MUTEX_LOCK();
_uartDetachPins(uart_num, uart->_rxPin, uart->_txPin, uart->_ctsPin, uart->_rtsPin);
if (uart_is_driver_installed(uart_num)) {
uart_driver_delete(uart_num);
}
UART_MUTEX_UNLOCK();
}
void uartSetRxInvert(uart_t *uart, bool invert) {
if (uart == NULL) {
return;
}
#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2 || CONFIG_IDF_TARGET_ESP32P4
// POTENTIAL ISSUE :: original code only set/reset rxd_inv bit
// IDF or LL set/reset the whole inv_mask!
// if (invert)
// ESP_ERROR_CHECK(uart_set_line_inverse(uart->num, UART_SIGNAL_RXD_INV));
// else
// ESP_ERROR_CHECK(uart_set_line_inverse(uart->num, UART_SIGNAL_INV_DISABLE));
log_e("uartSetRxInvert is not supported in ESP32C6, ESP32H2 and ESP32P4");
#else
// this implementation is better over IDF API because it only affects RXD
// this is supported in ESP32, ESP32-S2 and ESP32-C3
uart_dev_t *hw = UART_LL_GET_HW(uart->num);
if (invert) {
hw->conf0.rxd_inv = 1;
} else {
hw->conf0.rxd_inv = 0;
}
#endif
}
uint32_t uartAvailable(uart_t *uart) {
if (uart == NULL) {
return 0;
}
UART_MUTEX_LOCK();
size_t available;
uart_get_buffered_data_len(uart->num, &available);
if (uart->has_peek) {
available++;
}
UART_MUTEX_UNLOCK();
return available;
}
uint32_t uartAvailableForWrite(uart_t *uart) {
if (uart == NULL) {
return 0;
}
UART_MUTEX_LOCK();
uint32_t available = uart_ll_get_txfifo_len(UART_LL_GET_HW(uart->num));
size_t txRingBufferAvailable = 0;
if (ESP_OK == uart_get_tx_buffer_free_size(uart->num, &txRingBufferAvailable)) {
available = txRingBufferAvailable == 0 ? available : txRingBufferAvailable;
}
UART_MUTEX_UNLOCK();
return available;
}
size_t uartReadBytes(uart_t *uart, uint8_t *buffer, size_t size, uint32_t timeout_ms) {
if (uart == NULL || size == 0 || buffer == NULL) {
return 0;
}
size_t bytes_read = 0;
UART_MUTEX_LOCK();
if (uart->has_peek) {
uart->has_peek = false;
*buffer++ = uart->peek_byte;
size--;
bytes_read = 1;
}
if (size > 0) {
int len = uart_read_bytes(uart->num, buffer, size, pdMS_TO_TICKS(timeout_ms));
if (len < 0) {
len = 0; // error reading UART
}
bytes_read += len;
}
UART_MUTEX_UNLOCK();
return bytes_read;
}
// DEPRECATED but the original code will be kepts here as future reference when a final solution
// to the UART driver is defined in the use case of reading byte by byte from UART.
uint8_t uartRead(uart_t *uart) {
if (uart == NULL) {
return 0;
}
uint8_t c = 0;
UART_MUTEX_LOCK();
if (uart->has_peek) {
uart->has_peek = false;
c = uart->peek_byte;
} else {
int len = uart_read_bytes(uart->num, &c, 1, 20 / portTICK_PERIOD_MS);
if (len <= 0) { // includes negative return from IDF in case of error
c = 0;
}
}
UART_MUTEX_UNLOCK();
return c;
}
uint8_t uartPeek(uart_t *uart) {
if (uart == NULL) {
return 0;
}
uint8_t c = 0;
UART_MUTEX_LOCK();
if (uart->has_peek) {
c = uart->peek_byte;
} else {
int len = uart_read_bytes(uart->num, &c, 1, 20 / portTICK_PERIOD_MS);
if (len <= 0) { // includes negative return from IDF in case of error
c = 0;
} else {
uart->has_peek = true;
uart->peek_byte = c;
}
}
UART_MUTEX_UNLOCK();
return c;
}
void uartWrite(uart_t *uart, uint8_t c) {
if (uart == NULL) {
return;
}
UART_MUTEX_LOCK();
uart_write_bytes(uart->num, &c, 1);
UART_MUTEX_UNLOCK();
}
void uartWriteBuf(uart_t *uart, const uint8_t *data, size_t len) {
if (uart == NULL || data == NULL || !len) {
return;
}
UART_MUTEX_LOCK();
uart_write_bytes(uart->num, data, len);
UART_MUTEX_UNLOCK();
}
void uartFlush(uart_t *uart) {
uartFlushTxOnly(uart, true);
}
void uartFlushTxOnly(uart_t *uart, bool txOnly) {
if (uart == NULL) {
return;
}
UART_MUTEX_LOCK();
while (!uart_ll_is_tx_idle(UART_LL_GET_HW(uart->num)));
if (!txOnly) {
ESP_ERROR_CHECK(uart_flush_input(uart->num));
}
UART_MUTEX_UNLOCK();
}
bool uartSetBaudRate(uart_t *uart, uint32_t baud_rate) {
if (uart == NULL) {
return false;
}
bool retCode = true;
soc_module_clk_t newClkSrc = UART_SCLK_DEFAULT;
int8_t previousClkSrc = uart->_uart_clock_source;
#if SOC_UART_LP_NUM >= 1
if (uart->num >= SOC_UART_HP_NUM) { // it is a LP UART NUM