Moved USART register definitions into seperate header and added abstraction layer.

5 files changed, 58 insertions, 34 deletions

diff --git a/drivers/gps.cpp b/drivers/gps.cpp
index 1ae3684..cdbb7ad 100644
--- a/drivers/gps.cpp
+++ b/drivers/gps.cpp
@@ -9,7 +9,7 @@ void interrupt<Interrupt::USART3>() {
 
 void GPS::irq() {
 	
-	uint8_t c = USART3.DR;
+	uint8_t c = USART3.recv();
 	
 	if(!incomplete_msg) {
 		incomplete_msg = msg_pool.create();
@@ -31,7 +31,7 @@ void GPS::irq() {
 	incomplete_msg->buf[incomplete_msg->n++] = c;
 	
 	if(c == '\n') {
-		GPIOB.ODR ^= 1 << 1;
+		//GPIOB.ODR ^= 1 << 1;
 		
 		const_cast<P<GPSMsg>&>(complete_msg) = incomplete_msg;
 		incomplete_msg.reset();
diff --git a/drivers/gps.h b/drivers/gps.h
index 786b719..16a971b 100644
--- a/drivers/gps.h
+++ b/drivers/gps.h
@@ -2,7 +2,7 @@
 #define GPS_H
 
 #include "rcc.h"
-#include "stm32.h"
+#include "usart.h"
 #include "interrupt.h"
 #include "thread.h"
 
@@ -37,8 +37,8 @@ class GPS {
 		
 		void enable() {
 			RCC.enable(RCC.USART3);
-			USART3.BRR = 7500; // 4800 baud
-			USART3.CR1 = 0x202c;
+			USART3.set_baudrate(4800);
+			USART3.enable();
 			
 			Interrupt::enable(Interrupt::USART3);
 		}
diff --git a/hal/stm32.h b/hal/stm32.h
index 41ebbb7..7ddb479 100644
--- a/hal/stm32.h
+++ b/hal/stm32.h
@@ -57,26 +57,6 @@ struct I2C_t {
 static I2C_t& I2C1 = *(I2C_t*)0x40005400;
 static I2C_t& I2C2 = *(I2C_t*)0x40005800;
 
-struct USART_t {
-	volatile uint32_t SR;
-	volatile uint32_t DR;
-	volatile uint32_t BRR;
-	volatile uint32_t CR1;
-	volatile uint32_t CR2;
-	volatile uint32_t CR3;
-	volatile uint32_t GTPR;
-};
-
-#if defined(STM32F1)
-static USART_t& USART1 = *(USART_t*)0x40013800;
-static USART_t& USART2 = *(USART_t*)0x40004400;
-static USART_t& USART3 = *(USART_t*)0x40004800;
-#elif defined(STM32F4)
-static USART_t& USART1 = *(USART_t*)0x40011000;
-static USART_t& USART2 = *(USART_t*)0x40004400;
-static USART_t& USART3 = *(USART_t*)0x40004800;
-#endif
-
 struct TIM_t {
 	volatile uint32_t CR1;
 	volatile uint32_t CR2;
diff --git a/hal/usart.cpp b/hal/usart.cpp
index c446302..61fe393 100644
--- a/hal/usart.cpp
+++ b/hal/usart.cpp
@@ -2,6 +2,6 @@
 
 template<>
 void interrupt<Interrupt::USART1>() {
-	USART1.DR;
+	USART1.recv();
 	//GPIOB.ODR ^= 1 << 1;
 }
diff --git a/hal/usart.h b/hal/usart.h
index 78a28dc..24618fd 100644
--- a/hal/usart.h
+++ b/hal/usart.h
@@ -6,20 +6,64 @@
 #include "interrupt.h"
 #include "thread.h"
 
+struct USART_reg_t {
+	volatile uint32_t SR;
+	volatile uint32_t DR;
+	volatile uint32_t BRR;
+	volatile uint32_t CR1;
+	volatile uint32_t CR2;
+	volatile uint32_t CR3;
+	volatile uint32_t GTPR;
+};
+
+class USART_t {
+	public:
+		USART_reg_t& reg;
+		const uint32_t clk;
+		
+		USART_t(uint32_t reg_addr, uint32_t bus_clk) : reg(*(USART_reg_t*)reg_addr), clk(bus_clk) {}
+		
+		inline void set_baudrate(uint32_t baudrate) {
+			reg.BRR = clk / baudrate;
+		}
+		
+		inline void enable() {
+			reg.CR1 = 0x202c;
+		}
+		
+		inline void send(uint8_t data) {
+			while(!(reg.SR & 0x80)) {
+				Thread::yield();
+			} // Wait for TXE.
+			
+			reg.DR = data;
+		}
+		
+		inline uint8_t recv() {
+			return reg.DR;
+		}
+};
+
+#if defined(STM32F1)
+static USART_t USART1(0x40013800, 72000000);
+static USART_t USART2(0x40004400, 36000000);
+static USART_t USART3(0x40004800, 36000000);
+#elif defined(STM32F4)
+static USART_t USART1(0x40011000, 84000000);
+static USART_t USART2(0x40004400, 42000000);
+static USART_t USART3(0x40004800, 42000000);
+#endif
+
 inline void usart_enable() {
 	RCC.enable(RCC.USART1);
-	USART1.BRR = 625; // 115200 baud
-	USART1.CR1 = 0x202c;
+	USART1.set_baudrate(115200);
+	USART1.enable();
 	
-	Interrupt::enable(Interrupt::USART1);
+	//Interrupt::enable(Interrupt::USART1);
 }
 
 inline void usart_send(uint8_t data) {
-	while(!(USART1.SR & 0x80)) {
-		Thread::yield();
-	} // Wait for TXE.
-	
-	USART1.DR = data;
+	USART1.send(data);
 }
 
 #endif