machine/stm32: fix UART transmission, baud rate, and interrupt handling

src/machine/machine_stm32_uart.go

@@ -76,13 +76,15 @@ func (uart *UART) handleInterrupt(interrupt.Interrupt) {
 		uart.Receive(byte((uart.rxReg.Get() & 0xFF)))
 	}
 
-	// Clear overrun error (ORE, bit 3) to prevent an interrupt storm.
-	if s&0x8 != 0 {
+	// Clear error flags (ORE=bit3, NE=bit2, FE=bit1, PE=bit0) to prevent
+	// an interrupt storm and ensure the USART can continue receiving.
+	if s&0xF != 0 {
 		if uart.errClearReg != nil {
-			// Newer USART peripherals: clear ORE via the ICR register.
-			uart.errClearReg.Set(0x8) // ORECF
+			// Newer USART peripherals (L0, L4, L5, G0, F7, U5, WL, etc.):
+			// clear all error flags via ICR (ORECF|NECF|FECF|PECF = bits 3:0).
+			uart.errClearReg.Set(s & 0xF)
 		} else if s&0x20 == 0 {
-			// Older USART (F1/F4): ORE is cleared by reading SR then DR.
+			// Older USART (F1/F4): errors are cleared by reading SR then DR.
 			// SR was already read above. If RXNE was set, DR was read in
 			// the Receive path. Otherwise do a dummy DR read to complete
 			// the clearing sequence.
@@ -91,20 +93,20 @@ func (uart *UART) handleInterrupt(interrupt.Interrupt) {
 	}
 }
 
-// SetBaudRate sets the communication speed for the UART. Defer to chip-specific
-// routines for calculation
-func (uart *UART) SetBaudRate(br uint32) {
-	divider := uart.getBaudRateDivisor(br)
-	uart.Bus.BRR.Set(divider)
-}
-
 // WriteByte writes a byte of data to the UART.
 func (uart *UART) writeByte(c byte) error {
-	uart.txReg.Set(uint32(c))
-
+	// Wait for the transmit data register to be empty before writing, so we
+	// don't overwrite a byte that hasn't moved to the shift register yet.
 	for !uart.statusReg.HasBits(uart.txEmptyFlag) {
 	}
+	uart.txReg.Set(uint32(c))
 	return nil
 }
 
-func (uart *UART) flush() {}
+// flush waits until the USART shift register has finished transmitting the
+// last byte (TC = Transmission Complete, bit 6). Without this, Write() returns
+// while the final byte is still clocking out on the wire.
+func (uart *UART) flush() {
+	for !uart.statusReg.HasBits(1 << 6) { // TC bit
+	}
+}

src/machine/machine_stm32_uart_setbaudrate.go

@@ -0,0 +1,13 @@
+//go:build stm32 && !stm32u585
+
+package machine
+
+// SetBaudRate sets the communication speed for the UART. Defers to
+// chip-specific getBaudRateDivisor for the divisor calculation.
+//
+// On STM32U585 this function is overridden in machine_stm32u585.go because
+// the U5 family requires UE=0 to write BRR.
+func (uart *UART) SetBaudRate(br uint32) {
+	divider := uart.getBaudRateDivisor(br)
+	uart.Bus.BRR.Set(divider)
+}

src/machine/machine_stm32u5.go

@@ -256,6 +256,7 @@ func enableAltFuncClock(bus unsafe.Pointer) {
 		stm32.RCC.APB1ENR2.SetBits(stm32.RCC_APB1ENR2_I2C4EN)
 	case unsafe.Pointer(stm32.USART1): // USART1 clock enable
 		stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_USART1EN)
+		_ = stm32.RCC.APB2ENR.Get() // readback: ensure clock is active before accessing USART1 registers
 	case unsafe.Pointer(stm32.USART2): // USART2 clock enable
 		stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_USART2EN)
 	case unsafe.Pointer(stm32.USART3): // USART3 clock enable

src/machine/machine_stm32u585.go

@@ -58,7 +58,16 @@ func (uart *UART) getBaudRateDivisor(baudRate uint32) uint32 {
 		// LPUART uses BRR = 256 * fclk / baud
 		return (256 * CPUFrequency()) / baudRate
 	}
-	return CPUFrequency() / baudRate
+	// USART requires BRR >= 16 for 16x oversampling (OVER8=0).
+	// A divisor below 16 is invalid per the STM32 reference manual and causes
+	// undefined hardware behaviour — in practice the receiver fires ORE/RXNE
+	// interrupts at an impossible rate, completely starving the CPU.
+	const minBRR = 16
+	divisor := CPUFrequency() / baudRate
+	if divisor < minBRR {
+		divisor = minBRR
+	}
+	return divisor
 }
 
 // Register names vary by ST processor, these are for STM U5
@@ -70,6 +79,24 @@ func (uart *UART) setRegisters() {
 	uart.errClearReg = &uart.Bus.ICR
 }
 
+// SetBaudRate overrides the shared implementation for STM32U5. On this
+// family the BRR register is read-only while UE=1 (USART enabled), so the
+// USART must be briefly disabled to change the baud rate. This matters when
+// the servo library (or any code) calls SetBaudRate after Configure has
+// already enabled the USART.
+func (uart *UART) SetBaudRate(br uint32) {
+	cr1 := uart.Bus.CR1.Get()
+	if cr1&stm32.USART_CR1_UE != 0 {
+		// Disable the USART so BRR becomes writable.
+		uart.Bus.CR1.Set(cr1 &^ stm32.USART_CR1_UE)
+	}
+	uart.Bus.BRR.Set(uart.getBaudRateDivisor(br))
+	if cr1&stm32.USART_CR1_UE != 0 {
+		// Restore CR1 exactly as it was (re-enables USART, TE, RE, etc.).
+		uart.Bus.CR1.Set(cr1)
+	}
+}
+
 //---------- SPI related types and code
 
 // SPI on the STM32U5 using the new SPIv2 peripheral