modm-io · salkinium · Jun 22, 2024 · Jun 22, 2024 · Jun 22, 2024 · Jun 22, 2024
diff --git a/examples/black_pill_f401/uart_freertos/main.cpp b/examples/black_pill_f401/uart_freertos/main.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2016, Sascha Schade
+ * Copyright (c) 2017, Niklas Hauser
+ * Copyright (c) 2019, Raphael Lehmann
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+
+/*
+ * A single FreeRTOS task which reads symbols from Usart1
+ * and sends them back, toggling the LED for every symbol
+ */
+
+using namespace Board;
+using namespace modm::platform;
+
+using Uart = BufferedUart<UsartHal1, UartTxBuffer<4>>;
+using FreeRtosUart = BufferedUart<UsartHal1, UartRxBufferFreeRtos<8>, UartTxBufferFreeRtos<4>>;
+
+void
+taskMain(void *)
+{
+    // Let's test the old driver first:
+    Uart::connect<GpioOutputB6::Tx, GpioInputB7::Rx>();
+    Uart::initialize<SystemClock, 115200_Bd>();
+    Uart::writeBlocking( (uint8_t *)"Old UART\r\n", 10 );
+
+    while( (USART1->SR & USART_SR_TC) == 0 ); // Making sure the transmission has finished.
+                                              // Maybe this should be exposed via UsartHal?
+
+    // The old UART driver and the new one can coexist, and you
+    // can even switch between them at runtime:
+    FreeRtosUart::connect<GpioOutputB6::Tx, GpioInputB7::Rx>();
+    FreeRtosUart::initialize<SystemClock, 115200_Bd>();
+    Led::set();
+
+    FreeRtosUart::writeBlocking( (uint8_t *)"FreeRTOS UART\r\n", 15 );
+
+    uint8_t chr;
+    while (true)
+    {
+        FreeRtosUart::read( chr );
+        FreeRtosUart::write( chr );
+        Led::toggle();
+    }
+}
+
+constexpr int stack_size = 200;
+StackType_t stack[stack_size];
+StaticTask_t taskBuffer;
+
+int
+main()
+{
+    Board::initialize();
+
+    TaskHandle_t h_mainTask = xTaskCreateStatic(taskMain, "Main",  stack_size, NULL, 2, stack, &taskBuffer);
+    configASSERT( h_mainTask != NULL );
+    vTaskStartScheduler();
+    return 0;
+}
diff --git a/examples/black_pill_f401/uart_freertos/project.xml b/examples/black_pill_f401/uart_freertos/project.xml
@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:black-pill-f401</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/black_pill_f401/uart_freertos</option>
+  </options>
+  <modules>
+    <module>modm:build:make</module>
+    <module>modm:build:scons</module>
+    <module>modm:platform:uart:1</module>
+    <module>modm:freertos</module>
+  </modules>
+</library>
diff --git a/examples/blue_pill_f103/adns_9800/main.cpp b/examples/blue_pill_f103/adns_9800/main.cpp
@@ -26,6 +26,7 @@
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 

diff --git a/examples/blue_pill_f103/can/main.cpp b/examples/blue_pill_f103/can/main.cpp
@@ -12,6 +12,8 @@
 #include <modm/board.hpp>
 #include <modm/debug/logger.hpp>
 
+
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/blue_pill_f103/encoder_input/main.cpp b/examples/blue_pill_f103/encoder_input/main.cpp
@@ -20,6 +20,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/blue_pill_f103/encoder_input_bitbang/main.cpp b/examples/blue_pill_f103/encoder_input_bitbang/main.cpp
@@ -20,6 +20,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/blue_pill_f103/environment/main.cpp b/examples/blue_pill_f103/environment/main.cpp
@@ -31,6 +31,7 @@ Bme280Thread bme280Thread;
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::IOStream stream(loggerDevice);
 

diff --git a/examples/blue_pill_f103/flash/main.cpp b/examples/blue_pill_f103/flash/main.cpp
@@ -14,6 +14,7 @@
 
 using namespace std::chrono_literals;
 
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/blue_pill_f103/logger/main.cpp b/examples/blue_pill_f103/logger/main.cpp
@@ -23,6 +23,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/blue_pill_f103/weight_scale_hx711/main.cpp b/examples/blue_pill_f103/weight_scale_hx711/main.cpp
@@ -23,6 +23,7 @@ using namespace Board;
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart1 = BufferedUart<UsartHal1, UartTxBuffer<256>>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/generic/i2c_multiplex/main.cpp b/examples/generic/i2c_multiplex/main.cpp
@@ -22,6 +22,7 @@ using I2cMultiplexer = modm::I2cMultiplexer<MyI2cMaster, Mpx>;
 #ifndef MODM_BOARD_HAS_LOGGER
 #include <modm/debug.hpp>
 // Add logger manually
+using Usart2 = BufferedUart<UsartHal2, UartTxBuffer<2048>, UartRxBuffer<2048>>;
 using LoggerUsart = Usart2;
 using LoggerUsartTx = modm::platform::GpioA2;
 using LoggerUsartRx = modm::platform::GpioA3;

diff --git a/examples/generic/i2c_multiplex/project.xml b/examples/generic/i2c_multiplex/project.xml
@@ -4,8 +4,6 @@
   <options>
     <option name=":target">stm32f303k8t6</option>
     <!-- <option name=":target">stm32f103c8t6</option> -->
-    <option name=":platform:uart:2:buffer.tx">2Ki</option>
-    <option name=":platform:uart:2:buffer.rx">2Ki</option>
     <option name=":build:build.path">../../../build/generic/i2c_multiplex</option>
   </options>
   <modules>

diff --git a/examples/generic/ros/can_bridge/main.cpp b/examples/generic/ros/can_bridge/main.cpp
@@ -48,7 +48,7 @@ messageModmToRos(const modm::can::Message& source, can_msgs::Frame& destination)
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::DISABLED
 
-using RosSerialUart = Usart2;
+using RosSerialUart = BufferedUart<UsartHal2, UartTxBuffer<512>, UartRxBuffer<512>>;
 
 namespace ros
 {

diff --git a/examples/generic/ros/can_bridge/project.xml b/examples/generic/ros/can_bridge/project.xml
@@ -3,8 +3,6 @@
   <options>
     <option name="modm:build:build.path">../../../../build/generic/ros/can_bridge</option>
     <option name="modm:build:openocd.cfg">openocd.cfg</option>
-    <option name="modm:platform:uart:2:buffer.tx">512</option>
-    <option name="modm:platform:uart:2:buffer.rx">512</option>
   </options>
   <modules>
     <module>modm:build:scons</module>

diff --git a/examples/generic/ros/environment/main.cpp b/examples/generic/ros/environment/main.cpp
@@ -36,7 +36,7 @@
 
 // Define which UART is used for communication to and from ROS serial
 // When using the STlink Uart on Nucleo boards logging must be disabled.
-using RosSerialUart = Board::stlink::Uart;
+using RosSerialUart = BufferedUart<UsartHal2, UartTxBuffer<512>, UartRxBuffer<512>>;
 
 namespace ros
 {

diff --git a/examples/generic/ros/environment/project.xml b/examples/generic/ros/environment/project.xml
@@ -2,8 +2,6 @@
   <extends>modm:nucleo-l476rg</extends>
   <options>
     <option name="modm:build:build.path">../../../../build/generic/ros/environment</option>
-    <option name="modm:platform:uart:2:buffer.tx">512</option>
-    <option name="modm:platform:uart:2:buffer.rx">512</option>
   </options>
   <modules>
     <module>modm:driver:bme280</module>

diff --git a/examples/generic/ros/sub_pub/main.cpp b/examples/generic/ros/sub_pub/main.cpp
@@ -29,7 +29,7 @@
 
 // Define which UART is used for communication to and from ROS serial
 // When using the STlink Uart on Nucleo boards logging must be disabled.
-using RosSerialUart = Board::stlink::Uart;
+using RosSerialUart = BufferedUart<UsartHal2, UartTxBuffer<512>, UartRxBuffer<512>>;
 
 namespace ampel
 {

diff --git a/examples/generic/ros/sub_pub/project.xml b/examples/generic/ros/sub_pub/project.xml
@@ -2,8 +2,6 @@
   <extends>modm:nucleo-l476rg</extends>
   <options>
     <option name="modm:build:build.path">../../../../build/generic/ros/sub_pub</option>
-    <option name="modm:platform:uart:2:buffer.tx">512</option>
-    <option name="modm:platform:uart:2:buffer.rx">512</option>
   </options>
   <modules>
     <module>modm:communication:ros</module>

diff --git a/examples/nucleo_g071rb/amnb/main.cpp b/examples/nucleo_g071rb/amnb/main.cpp
@@ -15,6 +15,9 @@
 using namespace Board;
 using namespace std::chrono_literals;
 using namespace modm::amnb;
+using Usart1 = BufferedUart<UsartHal1, UartRxBuffer<32>>;
+using Usart3 = BufferedUart<UsartHal3, UartRxBuffer<16>>;
+using Usart4 = BufferedUart<UsartHal4>;
 // ----------------------------------------------------------------------------
 
 Listener listeners[] =

diff --git a/examples/nucleo_g071rb/amnb/project.xml b/examples/nucleo_g071rb/amnb/project.xml
@@ -2,9 +2,6 @@
   <extends>modm:nucleo-g071rb</extends>
   <options>
     <option name="modm:build:build.path">../../../build/nucleo_g071rb/amnb</option>
-    <option name="modm:platform:uart:1: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>

diff --git a/examples/stm32f072_discovery/can/main.cpp b/examples/stm32f072_discovery/can/main.cpp
@@ -23,6 +23,7 @@
  */
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f072_discovery/hard_fault/main.cpp b/examples/stm32f072_discovery/hard_fault/main.cpp
@@ -18,6 +18,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f072_discovery/stusb4500/main.cpp b/examples/stm32f072_discovery/stusb4500/main.cpp
@@ -13,6 +13,7 @@
 #include <modm/debug/logger.hpp>
 #include <modm/driver/usb/stusb4500.hpp>
 
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::INFO

diff --git a/examples/stm32f072_discovery/tmp102/main.cpp b/examples/stm32f072_discovery/tmp102/main.cpp
@@ -18,6 +18,7 @@
 
 #include <modm/io/iostream.hpp>
 
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > device;
 modm::IOStream stream(device);
 

diff --git a/examples/stm32f072_discovery/uart/main.cpp b/examples/stm32f072_discovery/uart/main.cpp
@@ -29,6 +29,7 @@ main()
 	Board::LedUp::set();
 
 	// Enable USART 1
+    using Usart1 = BufferedUart<UsartHal1>;
 	Usart1::connect<GpioOutputA9::Tx>();
 	Usart1::initialize<Board::SystemClock, 9600_Bd>();
 

diff --git a/examples/stm32f0_discovery/logger/main.cpp b/examples/stm32f0_discovery/logger/main.cpp
@@ -18,6 +18,7 @@
 #define MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart1 = BufferedUart<UsartHal1, UartTxBuffer<1024>>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f0_discovery/logger/project.xml b/examples/stm32f0_discovery/logger/project.xml
@@ -2,7 +2,6 @@
   <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">1Ki</option>
   </options>
   <modules>
     <module>modm:debug</module>

diff --git a/examples/stm32f1_discovery/logger/main.cpp b/examples/stm32f1_discovery/logger/main.cpp
@@ -22,6 +22,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f3_discovery/adc/continous/main.cpp b/examples/stm32f3_discovery/adc/continous/main.cpp
@@ -24,6 +24,7 @@ typedef GpioInputC2  Adc2In;
 typedef GpioInputB13 Adc3In;
 typedef GpioInputB12 Adc4In;
 
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/stm32f3_discovery/adc/interrupt/main.cpp b/examples/stm32f3_discovery/adc/interrupt/main.cpp
@@ -21,6 +21,7 @@
 
 typedef GpioInputB12 AdcIn0;
 
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/stm32f3_discovery/adc/simple/main.cpp b/examples/stm32f3_discovery/adc/simple/main.cpp
@@ -21,6 +21,7 @@
 
 typedef GpioInputB12 AdcIn0;
 
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/stm32f3_discovery/can/main.cpp b/examples/stm32f3_discovery/can/main.cpp
@@ -24,6 +24,7 @@
  */
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f3_discovery/comp/main.cpp b/examples/stm32f3_discovery/comp/main.cpp
@@ -19,6 +19,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f3_discovery/uart/logger/main.cpp b/examples/stm32f3_discovery/uart/logger/main.cpp
@@ -21,6 +21,7 @@
 #define	MODM_LOG_LEVEL modm::log::INFO
 
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f401_discovery/uart/main.cpp b/examples/stm32f401_discovery/uart/main.cpp
@@ -30,6 +30,7 @@ main()
 	Board::LedRed::set();
 
 	// Enable USART 2
+    using Usart2 = BufferedUart<UsartHal2>;
 	Usart2::connect<GpioA2::Tx>();
 	Usart2::initialize<Board::SystemClock, 9600_Bd>();
 

diff --git a/examples/stm32f407vet6_devebox/flash/main.cpp b/examples/stm32f407vet6_devebox/flash/main.cpp
@@ -17,6 +17,7 @@
 
 using namespace Board;
 
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f407vet6_devebox/logger/main.cpp b/examples/stm32f407vet6_devebox/logger/main.cpp
@@ -14,6 +14,7 @@
 
 using namespace Board;
 
+using Usart1 = BufferedUart<UsartHal1>;
 modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
 
 // Set all four logger streams to use the UART

diff --git a/examples/stm32f469_discovery/can/project.xml b/examples/stm32f469_discovery/can/project.xml
@@ -8,7 +8,6 @@
     <module>modm:platform:can:1</module>
     <module>modm:platform:can:2</module>
     <module>modm:platform:gpio</module>
-    <module>modm:platform:uart:3</module>
     <module>modm:processing:timer</module>
     <module>modm:build:scons</module>
   </modules>

diff --git a/examples/stm32f4_discovery/adc/interrupt/main.cpp b/examples/stm32f4_discovery/adc/interrupt/main.cpp
@@ -21,6 +21,7 @@
 
 typedef GpioInputA7 AdcIn;
 
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);
 

diff --git a/examples/stm32f4_discovery/adc/oversample/main.cpp b/examples/stm32f4_discovery/adc/oversample/main.cpp
@@ -23,6 +23,7 @@ typedef GpioInputA7 AdcIn0;
 typedef GpioInputA4 AdcIn1;
 typedef GpioInputA2 AdcIn2;
 
+using Usart2 = BufferedUart<UsartHal2>;
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 modm::log::Logger modm::log::info(loggerDevice);