uartscmds: Add runtime UART configuration commands

src/Kconfig

@@ -96,6 +96,9 @@ config HAVE_GPIO_SPI
 config HAVE_GPIO_I2C
     bool
     default n
+config HAVE_GPIO_UART
+    bool
+    default n
 config HAVE_GPIO_HARD_PWM
     bool
     default n

src/Makefile

@@ -6,6 +6,7 @@ src-$(CONFIG_HAVE_GPIO) += initial_pins.c gpiocmds.c stepper.c endstop.c \
 src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c
 src-$(CONFIG_HAVE_GPIO_SPI) += spicmds.c thermocouple.c
 src-$(CONFIG_HAVE_GPIO_I2C) += i2ccmds.c
+src-$(CONFIG_HAVE_GPIO_UART) += uartcmds.c
 src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
 bb-src-$(CONFIG_HAVE_GPIO_SPI) := spi_software.c sensor_adxl345.c sensor_angle.c
 src-$(CONFIG_HAVE_GPIO_BITBANGING) += $(bb-src-y) lcd_st7920.c lcd_hd44780.c \

src/atsam/Kconfig

@@ -9,6 +9,7 @@ config ATSAM_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_I2C
     select HAVE_GPIO_SPI
+    select HAVE_GPIO_UART
     select HAVE_GPIO_HARD_PWM if !MACH_SAME70
     select HAVE_GPIO_BITBANGING
     select HAVE_STRICT_TIMING

src/atsamd/Kconfig

@@ -9,6 +9,7 @@ config ATSAMD_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_I2C
     select HAVE_GPIO_SPI
+    select HAVE_GPIO_UART
     select HAVE_GPIO_HARD_PWM if MACH_SAMD21
     select HAVE_GPIO_BITBANGING
     select HAVE_STRICT_TIMING

src/avr/Kconfig

@@ -9,6 +9,7 @@ config AVR_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_SPI
     select HAVE_GPIO_I2C
+    select HAVE_GPIO_UART
     select HAVE_GPIO_HARD_PWM
     select HAVE_GPIO_BITBANGING if !MACH_atmega168
     select HAVE_STRICT_TIMING

src/lpc176x/Kconfig

@@ -9,6 +9,7 @@ config LPC_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_I2C
     select HAVE_GPIO_SPI
+    select HAVE_GPIO_UART
     select HAVE_GPIO_BITBANGING
     select HAVE_STRICT_TIMING
     select HAVE_CHIPID

src/rp2040/Kconfig

@@ -8,6 +8,7 @@ config RP2040_SELECT
     select HAVE_GPIO
     select HAVE_GPIO_ADC
     select HAVE_GPIO_SPI
+    select HAVE_GPIO_UART
     select HAVE_GPIO_I2C
     select HAVE_GPIO_BITBANGING
     select HAVE_STRICT_TIMING

src/stm32/Kconfig

@@ -7,6 +7,7 @@ config STM32_SELECT
     default y
     select HAVE_GPIO
     select HAVE_GPIO_ADC
+    select HAVE_GPIO_UART if !MACH_STM32F031
     select HAVE_GPIO_I2C if !(MACH_STM32F031 || MACH_STM32H7)
     select HAVE_GPIO_SPI if !MACH_STM32F031
     select HAVE_GPIO_HARD_PWM if MACH_STM32F1 || MACH_STM32F4 || MACH_STM32H7

src/uartcmds.c

@@ -0,0 +1,118 @@
+// Commands for sending messages on a UART bus
+//
+// Copyright (C) 2021  Desuuuu <contact@desuuuu.com>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <string.h> // memcpy
+#include "basecmd.h" // oid_alloc
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // DECL_SHUTDOWN
+#include "board/serial_irq.h" //serial_prepare/send
+
+struct uartdev_s {
+    uint8_t id, rx_buf, tx_buf, ready;
+    uint16_t rx_interval;
+};
+
+int_fast8_t uart_process(uint8_t id, uint8_t* data, uint_fast8_t len
+                         , uint_fast8_t *pop_count);
+
+void
+command_config_uart(uint32_t *args)
+{
+    struct uartdev_s *uart = oid_alloc(args[0], command_config_uart,
+                                       sizeof(*uart));
+    uart->rx_buf = args[1];
+    uart->tx_buf = args[2];
+    uart->rx_interval = args[3];
+    uart->ready = 0;
+}
+DECL_COMMAND(command_config_uart,
+             "config_uart oid=%c rx_buffer=%c tx_buffer=%c rx_interval=%hu");
+
+struct uartdev_s *
+uartdev_oid_lookup(uint8_t oid)
+{
+    return oid_lookup(oid, command_config_uart);
+}
+
+void
+command_uart_set_bus(uint32_t *args)
+{
+    struct uartdev_s *uart = uartdev_oid_lookup(args[0]);
+    if (uart->ready)
+        shutdown("Invalid UART config");
+    uart->ready = 1;
+    uart->id = serial_prepare(args[1], args[2], uart->rx_buf, uart->tx_buf,
+                              uart->rx_interval, &uart_process);
+}
+DECL_COMMAND(command_uart_set_bus, "uart_set_bus oid=%c uart_bus=%c baud=%u");
+
+void
+command_uart_send(uint32_t *args)
+{
+    struct uartdev_s *uart = uartdev_oid_lookup(args[0]);
+    if (!uart->ready)
+        return;
+    uint8_t data_len = args[1];
+    uint8_t *data = command_decode_ptr(args[2]);
+    serial_send(uart->id, data, data_len);
+}
+DECL_COMMAND(command_uart_send, "uart_send oid=%c data=%*s");
+
+int_fast8_t
+uart_process(uint8_t id, uint8_t* data, uint_fast8_t len
+             , uint_fast8_t *pop_count)
+{
+    uint8_t oid;
+    struct uartdev_s *uart;
+    foreach_oid(oid, uart, command_config_uart) {
+        if (uart->id != id)
+            continue;
+        if (!sendf("uart_receive oid=%c data=%*s", oid, len, data))
+            return 0;
+        break;
+    }
+    *pop_count = len;
+    return 1;
+}
+
+/****************************************************************
+ * Shutdown handling
+ ****************************************************************/
+
+struct uartdev_shutdown_s {
+    struct uartdev_s *uart;
+    uint8_t shutdown_msg_len;
+    uint8_t shutdown_msg[];
+};
+
+void
+command_config_uart_shutdown(uint32_t *args)
+{
+    struct uartdev_s *uart = uartdev_oid_lookup(args[1]);
+    uint8_t shutdown_msg_len = args[2];
+    struct uartdev_shutdown_s *sd = oid_alloc(
+        args[0], command_config_uart_shutdown,
+        sizeof(*sd) + shutdown_msg_len);
+    sd->uart = uart;
+    sd->shutdown_msg_len = shutdown_msg_len;
+    uint8_t *shutdown_msg = command_decode_ptr(args[3]);
+    memcpy(sd->shutdown_msg, shutdown_msg, shutdown_msg_len);
+}
+DECL_COMMAND(command_config_uart_shutdown,
+             "config_uart_shutdown oid=%c uart_oid=%c shutdown_msg=%*s");
+
+void
+uartdev_shutdown(void)
+{
+    uint8_t oid;
+    struct uartdev_shutdown_s *sd;
+    foreach_oid(oid, sd, command_config_uart_shutdown) {
+        if (!sd->uart->ready)
+            continue;
+        serial_send(sd->uart->id, sd->shutdown_msg, sd->shutdown_msg_len);
+    }
+}
+DECL_SHUTDOWN(uartdev_shutdown);