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First cut of configurable serial port functionality.
Currently port usage is hard-coded to the default port layout, cli commands are coming in a future commit. This decouples all code from the global 'serialPorts' structure which has been removed. Any code that needs to use a serial port can use findOpenSerialPort() and openSerialPort() and maintain it's own reference to the port. Ports can switch between functions. e.g. by default cli/msp/telemetry/gps passthrough all use USART1. Each port maintains it's current function. see begin/endSerialPortFunction. There are only certain combinations of serial port functions that are supported, these are listed in serialPortFunctionScenario_e. This commit also adds a few 'static' keywords to variables that should have been. There a a few other minor fixes and tweaks to various bits of code that this uncovered too.
This commit is contained in:
Dominic Clifton
parent
533a1f9e48
commit
1777d8feda
33 changed files with 787 additions and 394 deletions
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@ -5,7 +5,10 @@
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#include "platform.h"
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#include "drivers/system_common.h"
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#include "drivers/gpio_common.h"
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#include "drivers/timer_common.h"
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#include "drivers/serial_common.h"
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#include "drivers/serial_softserial.h"
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#include "drivers/serial_uart_common.h"
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#include "serial_cli.h"
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@ -13,26 +16,280 @@
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#include "serial_common.h"
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void mspInit(serialConfig_t *serialConfig);
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void cliInit(serialConfig_t *serialConfig);
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static serialConfig_t *serialConfig;
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serialPorts_t serialPorts;
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static serialPort_t *serialPorts[SERIAL_PORT_COUNT];
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static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, NULL, SCENARIO_MAIN_PORT, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_GPS_AND_TELEMETRY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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};
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#if 0 // example using softserial for telemetry, note that it is used because the scenario is more specific than telemetry on usart1
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static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, NULL, SCENARIO_MAIN_PORT, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_GPS_ONLY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_TELEMETRY_ONLY, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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};
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#endif
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const static serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE },
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{SERIAL_PORT_USART2, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE},
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{SERIAL_PORT_SOFTSERIAL1, 9600, 19200, SPF_IS_SOFTWARE_INVERTABLE},
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{SERIAL_PORT_SOFTSERIAL2, 9600, 19200, SPF_IS_SOFTWARE_INVERTABLE}
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};
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typedef struct functionConstraint_s {
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serialPortFunction_e function;
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uint8_t requiredSerialPortFeatures;
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} functionConstraint_t;
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const functionConstraint_t functionConstraints[] = {
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{ FUNCTION_CLI, SPF_NONE },
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{ FUNCTION_GPS, SPF_NONE },
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{ FUNCTION_GPS_PASSTHROUGH, SPF_NONE },
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{ FUNCTION_MSP, SPF_NONE },
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{ FUNCTION_SERIAL_RX, SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_CALLBACK },
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{ FUNCTION_TELEMETRY, SPF_NONE }
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};
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#define FUNCTION_CONSTRAINT_COUNT (sizeof(functionConstraints) / sizeof(functionConstraint_t))
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typedef struct serialPortSearchResult_s {
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bool found;
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serialPortIndex_e portIndex;
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serialPortFunction_t *portFunction;
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const serialPortConstraint_t *portConstraint;
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const functionConstraint_t *functionConstraint;
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} serialPortSearchResult_t;
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static serialPortIndex_e findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
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{
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serialPortIndex_e portIndex;
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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if (serialPortConstraints[portIndex].identifier == identifier) {
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return portIndex;
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}
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}
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return SERIAL_PORT_1; // FIXME use failureMode() ? - invalid identifier used.
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}
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static const functionConstraint_t *findFunctionConstraint(serialPortFunction_e function)
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{
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const functionConstraint_t *functionConstraint = NULL;
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uint8_t functionConstraintIndex;
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for (functionConstraintIndex = 0; functionConstraintIndex < FUNCTION_CONSTRAINT_COUNT; functionConstraintIndex++) {
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functionConstraint = &functionConstraints[functionConstraintIndex];
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if (functionConstraint->function == function) {
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return functionConstraint;
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}
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}
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return NULL;
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}
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static uint8_t countBits_uint32(uint32_t n) {
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uint8_t c; // c accumulates the total bits set in n
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for (c = 0; n; c++)
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n &= n - 1; // clear the least significant bit set
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return c;
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}
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static int serialPortFunctionMostSpecificFirstComparator(const void *aPtr, const void *bPtr)
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{
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serialPortFunction_t *a = (serialPortFunction_t *)aPtr;
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serialPortFunction_t *b = (serialPortFunction_t *)bPtr;
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return countBits_uint32(a->scenario) > countBits_uint32(b->scenario);
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}
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static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, uint8_t elements)
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{
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qsort(serialPortFunctions, elements, sizeof(serialPortFunction_t), serialPortFunctionMostSpecificFirstComparator);
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}
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/*
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* since this method, and other methods that use it, use a single instance of
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* searchPortSearchResult be sure to copy the data out of it before it gets overwritten by another caller.
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* If this becomes a problem perhaps change the implementation to use a destination argument.
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*/
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static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function)
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{
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static serialPortSearchResult_t serialPortSearchResult;
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serialPortSearchResult.found = false;
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const functionConstraint_t *functionConstraint = findFunctionConstraint(function);
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if (!functionConstraint) {
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return NULL;
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}
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sortSerialPortFunctions(serialPortFunctions, SERIAL_PORT_COUNT);
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uint8_t serialPortFunctionIndex;
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serialPortFunction_t *serialPortFunction;
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for (serialPortFunctionIndex = 0; serialPortFunctionIndex < SERIAL_PORT_COUNT; serialPortFunctionIndex++) {
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serialPortFunction = &serialPortFunctions[serialPortFunctionIndex];
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if (!(serialPortFunction->scenario & function)) {
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continue;
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}
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uint8_t serialPortIndex = findSerialPortIndexByIdentifier(serialPortFunction->identifier);
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const serialPortConstraint_t *serialPortConstraint = &serialPortConstraints[serialPortIndex];
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if (functionConstraint->requiredSerialPortFeatures != SPF_NONE) {
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if (!(serialPortConstraint->feature & functionConstraint->requiredSerialPortFeatures)) {
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continue;
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}
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}
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// TODO check speed and mode
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serialPortSearchResult.portIndex = serialPortIndex;
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serialPortSearchResult.portConstraint = serialPortConstraint;
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serialPortSearchResult.portFunction = serialPortFunction;
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serialPortSearchResult.functionConstraint = functionConstraint;
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serialPortSearchResult.found = true;
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break;
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}
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return &serialPortSearchResult;
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}
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bool canOpenSerialPort(uint16_t functionMask)
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{
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serialPortSearchResult_t *result = findSerialPort(functionMask);
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return result->found;
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}
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serialPortFunction_t *findSerialPortFunction(uint16_t functionMask)
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{
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serialPortIndex_e portIndex;
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// find exact match first
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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serialPortFunction_t *serialPortFunction = &serialPortFunctions[portIndex];
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if (serialPortFunction->scenario == functionMask) {
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return serialPortFunction;
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}
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}
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// find the first port that supports the function requested
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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serialPortFunction_t *serialPortFunction = &serialPortFunctions[portIndex];
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if (serialPortFunction->scenario & functionMask) {
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return serialPortFunction;
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}
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}
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return NULL;
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}
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/*
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* find a serial port that is:
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* a) open
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* b) matches the function mask exactly, or if an exact match is not found the first port that supports the function
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*/
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serialPort_t *findOpenSerialPort(uint16_t functionMask)
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{
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serialPortFunction_t *function = findSerialPortFunction(functionMask);
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if (!function) {
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return NULL;
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}
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return function->port;
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}
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serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion)
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{
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serialPort_t *serialPort = NULL;
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serialPortSearchResult_t *searchResult = findSerialPort(function);
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if (!searchResult->found) {
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return NULL;
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}
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serialPortIndex_e portIndex = searchResult->portIndex;
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const serialPortConstraint_t *serialPortConstraint = searchResult->portConstraint;
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serialPortIdentifier_e identifier = serialPortConstraint->identifier;
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switch(identifier) {
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case SERIAL_PORT_USART1:
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serialPort = uartOpen(USART1, callback, baudRate, mode, inversion);
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break;
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case SERIAL_PORT_USART2:
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serialPort = uartOpen(USART2, callback, baudRate, mode, inversion);
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break;
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case SERIAL_PORT_SOFTSERIAL1:
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serialPort = openSoftSerial1(baudRate, inversion);
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serialSetMode(serialPort, mode);
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break;
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case SERIAL_PORT_SOFTSERIAL2:
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serialPort = openSoftSerial2(baudRate, inversion);
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serialSetMode(serialPort, mode);
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break;
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}
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if (!serialPort) {
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return NULL;
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}
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serialPort->identifier = identifier;
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serialPorts[portIndex] = serialPort;
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serialPortFunction_t *serialPortFunction = searchResult->portFunction;
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serialPortFunction->port = serialPort;
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//serialPortFunction->identifier = identifier;
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beginSerialPortFunction(serialPort, function);
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return serialPort;
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}
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static serialPortFunction_t * findSerialPortFunctionByPort(serialPort_t *port)
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{
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serialPortFunction_t *serialPortFunction;
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uint8_t functionIndex;
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for (functionIndex = 0; functionIndex < SERIAL_PORT_COUNT; functionIndex++) {
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serialPortFunction = &serialPortFunctions[functionIndex];
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if (serialPortFunction->port == port) {
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return serialPortFunction;
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}
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}
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return NULL;
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}
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void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function)
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{
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serialPortFunction_t *serialPortFunction = findSerialPortFunctionByPort(port);
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serialPortFunction->currentFunction = function;
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}
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void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function)
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{
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serialPortFunction_t *serialPortFunction = findSerialPortFunctionByPort(port);
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serialPortFunction->currentFunction = FUNCTION_NONE;
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}
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void serialInit(serialConfig_t *initialSerialConfig)
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{
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serialConfig = initialSerialConfig;
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resetMainSerialPort();
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mspInit();
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}
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void resetMainSerialPort(void)
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{
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openMainSerialPort(serialConfig->port1_baudrate);
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}
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void openMainSerialPort(uint32_t baudrate)
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{
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serialPorts.mainport = uartOpen(USART1, NULL, baudrate, MODE_RXTX);
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mspInit(serialConfig);
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cliInit(serialConfig);
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}
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void handleSerial(void)
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@ -46,6 +303,13 @@ void handleSerial(void)
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mspProcess();
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}
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void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
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{
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while (!isSerialTransmitBufferEmpty(serialPort)) {
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delay(10);
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};
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}
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// evaluate all other incoming serial data
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void evaluateOtherData(uint8_t sr)
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{
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