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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/drivers/serial_usb_vcp.c
	src/main/flight/imu.c
	src/main/mw.c
	src/main/target/CC3D/target.h
This commit is contained in:
borisbstyle 2015-10-12 23:53:43 +02:00
commit 4b3ba927e9
50 changed files with 544 additions and 250 deletions
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40
src/main/drivers/serial_uart.c
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@ -211,7 +211,7 @@ void uartStartTxDMA(uartPort_t *s)
DMA_Cmd(s->txDMAChannel, ENABLE);
}
uint8_t uartTotalBytesWaiting(serialPort_t *instance)
uint8_t uartTotalRxBytesWaiting(serialPort_t *instance)
{
uartPort_t *s = (uartPort_t*)instance;
if (s->rxDMAChannel) {
@ -230,6 +230,41 @@ uint8_t uartTotalBytesWaiting(serialPort_t *instance)
}
}
uint8_t uartTotalTxBytesFree(serialPort_t *instance)
{
uartPort_t *s = (uartPort_t*)instance;
uint32_t bytesUsed;
if (s->port.txBufferHead >= s->port.txBufferTail) {
bytesUsed = s->port.txBufferHead - s->port.txBufferTail;
} else {
bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail;
}
if (s->txDMAChannel) {
/*
* When we queue up a DMA request, we advance the Tx buffer tail before the transfer finishes, so we must add
* the remaining size of that in-progress transfer here instead:
*/
bytesUsed += s->txDMAChannel->CNDTR;
/*
* If the Tx buffer is being written to very quickly, we might have advanced the head into the buffer
* space occupied by the current DMA transfer. In that case the "bytesUsed" total will actually end up larger
* than the total Tx buffer size, because we'll end up transmitting the same buffer region twice. (So we'll be
* transmitting a garbage mixture of old and new bytes).
*
* Be kind to callers and pretend like our buffer can only ever be 100% full.
*/
if (bytesUsed >= s->port.txBufferSize - 1) {
return 0;
}
}
return (s->port.txBufferSize - 1) - bytesUsed;
}
bool isUartTransmitBufferEmpty(serialPort_t *instance)
{
uartPort_t *s = (uartPort_t *)instance;
@ -281,7 +316,8 @@ void uartWrite(serialPort_t *instance, uint8_t ch)
const struct serialPortVTable uartVTable[] = {
{
uartWrite,
uartTotalBytesWaiting,
uartTotalRxBytesWaiting,
uartTotalTxBytesFree,
uartRead,
uartSetBaudRate,
isUartTransmitBufferEmpty,