USARTv3: support IRQ callbacks

ArduPilot · Jan 28, 2025 · c6d0293 · c6d0293
1 parent 88b8460
commit c6d0293
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Showing 2 changed files with 30 additions and 22 deletions.
diff --git a/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.c b/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.c
@@ -1209,31 +1209,35 @@ size_t uart_lld_stop_receive(UARTDriver *uartp) {
  * @param[in] uartp     pointer to the @p UARTDriver object
  */
 void uart_lld_serve_interrupt(UARTDriver *uartp) {
-  uint32_t isr;
-  USART_TypeDef *u = uartp->usart;
-  uint32_t cr1 = u->CR1;
-
-  /* Reading and clearing status.*/
-  isr = u->ISR;
-  u->ICR = isr;
-
-  if (isr & (USART_ISR_LBDF | USART_ISR_ORE | USART_ISR_NE |
-             USART_ISR_FE   | USART_ISR_PE)) {
-    _uart_rx_error_isr_code(uartp, translate_errors(isr));
-  }
+  if (uartp->config->irq_cb == NULL) {
+    uint32_t isr;
+    USART_TypeDef *u = uartp->usart;
+    uint32_t cr1 = u->CR1;
+
+    /* Reading and clearing status.*/
+    isr = u->ISR;
+    u->ICR = isr;
+
+    if (isr & (USART_ISR_LBDF | USART_ISR_ORE | USART_ISR_NE |
+              USART_ISR_FE   | USART_ISR_PE)) {
+      _uart_rx_error_isr_code(uartp, translate_errors(isr));
+    }
 
-  if ((isr & USART_ISR_TC) && (cr1 & USART_CR1_TCIE)) {
-    /* TC interrupt disabled.*/
-    u->CR1 = cr1 & ~USART_CR1_TCIE;
+    if ((isr & USART_ISR_TC) && (cr1 & USART_CR1_TCIE)) {
+      /* TC interrupt disabled.*/
+      u->CR1 = cr1 & ~USART_CR1_TCIE;
 
-    /* End of transmission, a callback is generated.*/
-    _uart_tx2_isr_code(uartp);
-  }
+      /* End of transmission, a callback is generated.*/
+      _uart_tx2_isr_code(uartp);
+    }
 
-  /* Timeout interrupt sources are only checked if enabled in CR1.*/
-  if (((cr1 & USART_CR1_IDLEIE) && (isr & USART_ISR_IDLE)) ||
-      ((cr1 & USART_CR1_RTOIE) && (isr & USART_ISR_RTOF))) {
-    _uart_timeout_isr_code(uartp);
+    /* Timeout interrupt sources are only checked if enabled in CR1.*/
+    if (((cr1 & USART_CR1_IDLEIE) && (isr & USART_ISR_IDLE)) ||
+        ((cr1 & USART_CR1_RTOIE) && (isr & USART_ISR_RTOF))) {
+      _uart_timeout_isr_code(uartp);
+    }
+  } else {
+    uartp->config->irq_cb(uartp);
   }
 }
 

diff --git a/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.h b/os/hal/ports/STM32/LLD/USARTv3/hal_uart_lld.h
@@ -888,6 +888,10 @@ typedef struct hal_uart_config {
    */
   uartecb_t                 rxerr_cb;
   /* End of the mandatory fields.*/
+  /**
+   * @brief UART IRQ Global Handler
+   */
+  uartcb_t                  irq_cb;
   /**
    * @brief   Receiver timeout callback.
    * @details Handles both idle and timeout interrupts depending on configured