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https://github.com/betaflight/betaflight.git
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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@393 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
dominicc1974@gmail.com
parent
929bbc8c3f
commit
4c191270bf
41 changed files with 2000 additions and 2000 deletions
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@ -1,203 +1,203 @@
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#include "board.h"
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enum serialBitStatus {
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WAITING_FOR_START_BIT = -1, BIT_0, BIT_1, BIT_2, BIT_3, BIT_4, BIT_5, BIT_6, BIT_7, WAITING_FOR_STOP_BIT
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};
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#define MAX_SOFTSERIAL_PORTS 2
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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softSerial_t* lookupSoftSerial(uint8_t reference)
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{
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assert_param(reference >= 0 && reference <= MAX_SOFTSERIAL_PORTS);
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return &(softSerialPorts[reference]);
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}
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void stopSerialTimer(softSerial_t *softSerial)
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{
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TIM_Cmd(softSerial->timerHardware->tim, DISABLE);
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TIM_SetCounter(softSerial->timerHardware->tim, 0);
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}
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void startSerialTimer(softSerial_t *softSerial)
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{
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TIM_SetCounter(softSerial->timerHardware->tim, 0);
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TIM_Cmd(softSerial->timerHardware->tim, ENABLE);
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}
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static void waitForFirstBit(softSerial_t *softSerial)
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{
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softSerial->state = BIT_0;
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startSerialTimer(softSerial);
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}
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static void onSerialPinChange(uint8_t reference, uint16_t capture)
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{
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softSerial_t *softSerial = lookupSoftSerial(reference);
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if (softSerial->state == WAITING_FOR_START_BIT) {
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waitForFirstBit(softSerial);
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}
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}
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uint8_t readSerialSignal(softSerial_t *softSerial)
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{
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return GPIO_ReadInputDataBit(softSerial->timerHardware->gpio, softSerial->timerHardware->pin);
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}
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void mergeSignalWithCurrentByte(softSerial_t *softSerial, uint8_t serialSignal)
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{
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softSerial->rxBuffer[softSerial->port.rxBufferTail] |= (serialSignal << softSerial->state);
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}
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inline void initialiseCurrentByteWithFirstSignal(softSerial_t *softSerial, uint8_t serialSignal)
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{
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softSerial->rxBuffer[softSerial->port.rxBufferTail] = serialSignal;
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}
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inline void prepareForNextSignal(softSerial_t *softSerial) {
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softSerial->state++;
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}
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void updateBufferIndex(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferTail >= softSerial->port.rxBufferSize - 1)
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{
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softSerial->port.rxBufferTail = 0; //cycling the buffer
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} else {
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softSerial->port.rxBufferTail++;
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}
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}
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void prepareForNextByte(softSerial_t *softSerial)
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{
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stopSerialTimer(softSerial);
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softSerial->state = WAITING_FOR_START_BIT;
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updateBufferIndex(softSerial);
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}
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void onSerialTimer(uint8_t portIndex, uint16_t capture)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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uint8_t serialSignal = readSerialSignal(softSerial);
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switch (softSerial->state) {
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case BIT_0:
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initialiseCurrentByteWithFirstSignal(softSerial, serialSignal);
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prepareForNextSignal(softSerial);
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break;
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case BIT_1:
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case BIT_2:
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case BIT_3:
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case BIT_4:
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case BIT_5:
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case BIT_6:
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case BIT_7:
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mergeSignalWithCurrentByte(softSerial, serialSignal);
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prepareForNextSignal(softSerial);
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break;
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case WAITING_FOR_STOP_BIT:
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prepareForNextByte(softSerial);
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break;
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}
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}
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#define SOFT_SERIAL_TIMER_MHZ 1
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#define SOFT_SERIAL_1_TIMER_HARDWARE 4
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static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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void serialInputPortConfig(const timerHardware_t *timerHardwarePtr, uint16_t baud, uint8_t reference, timerCCCallbackPtr callback)
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{
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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int oneBitPeriod = (SOFT_SERIAL_TIMER_MHZ * 1000000) / baud;
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timerInConfig(timerHardwarePtr, oneBitPeriod, SOFT_SERIAL_TIMER_MHZ);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback);
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}
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void setupSoftSerial1(uint32_t baud)
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{
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int portIndex = 0;
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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softSerial->timerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_HARDWARE]);
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softSerial->timerIndex = SOFT_SERIAL_1_TIMER_HARDWARE;
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softSerial->state = WAITING_FOR_START_BIT;
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softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE;
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softSerial->port.rxBuffer = softSerial->rxBuffer;
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softSerial->port.rxBufferTail = 0;
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softSerial->port.rxBufferHead = 0;
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softSerial->port.txBuffer = 0;
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softSerial->port.txBufferSize = 0;
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softSerial->port.txBufferTail = 0;
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softSerial->port.txBufferHead = 0;
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softSerial->port.baudRate = baud;
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softSerial->port.mode = MODE_RX;
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// FIXME this uart specific initialisation doesn't belong really here
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softSerial->port.txDMAChannel = 0;
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softSerial->port.txDMAChannel = 0;
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configureTimerChannelCallback(softSerial->timerHardware->tim, TIM_Channel_2, portIndex, onSerialTimer);
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TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
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stopSerialTimer(softSerial);
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serialInputPortConfig(softSerial->timerHardware, baud, portIndex, onSerialPinChange);
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}
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bool serialAvailable(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferTail == softSerial->port.rxBufferHead) {
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return 0;
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}
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int availableBytes;
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if (softSerial->port.rxBufferTail > softSerial->port.rxBufferHead) {
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availableBytes = softSerial->port.rxBufferTail - softSerial->port.rxBufferHead;
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} else {
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availableBytes = softSerial->port.rxBufferTail + softSerial->port.rxBufferSize - softSerial->port.rxBufferHead;
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}
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return availableBytes;
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}
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static void moveHeadToNextByte(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferHead < softSerial->port.rxBufferSize - 1) {
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softSerial->port.rxBufferHead++;
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} else {
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softSerial->port.rxBufferHead = 0;
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}
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}
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uint8_t serialReadByte(softSerial_t *softSerial)
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{
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if (serialAvailable(softSerial) == 0) {
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return 0;
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}
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char b = softSerial->port.rxBuffer[softSerial->port.rxBufferHead];
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moveHeadToNextByte(softSerial);
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return b;
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}
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#include "board.h"
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enum serialBitStatus {
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WAITING_FOR_START_BIT = -1, BIT_0, BIT_1, BIT_2, BIT_3, BIT_4, BIT_5, BIT_6, BIT_7, WAITING_FOR_STOP_BIT
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};
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#define MAX_SOFTSERIAL_PORTS 2
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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softSerial_t* lookupSoftSerial(uint8_t reference)
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{
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assert_param(reference >= 0 && reference <= MAX_SOFTSERIAL_PORTS);
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return &(softSerialPorts[reference]);
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}
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void stopSerialTimer(softSerial_t *softSerial)
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{
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TIM_Cmd(softSerial->timerHardware->tim, DISABLE);
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TIM_SetCounter(softSerial->timerHardware->tim, 0);
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}
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void startSerialTimer(softSerial_t *softSerial)
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{
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TIM_SetCounter(softSerial->timerHardware->tim, 0);
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TIM_Cmd(softSerial->timerHardware->tim, ENABLE);
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}
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static void waitForFirstBit(softSerial_t *softSerial)
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{
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softSerial->state = BIT_0;
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startSerialTimer(softSerial);
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}
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static void onSerialPinChange(uint8_t reference, uint16_t capture)
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{
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softSerial_t *softSerial = lookupSoftSerial(reference);
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if (softSerial->state == WAITING_FOR_START_BIT) {
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waitForFirstBit(softSerial);
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}
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}
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uint8_t readSerialSignal(softSerial_t *softSerial)
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{
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return GPIO_ReadInputDataBit(softSerial->timerHardware->gpio, softSerial->timerHardware->pin);
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}
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void mergeSignalWithCurrentByte(softSerial_t *softSerial, uint8_t serialSignal)
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{
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softSerial->rxBuffer[softSerial->port.rxBufferTail] |= (serialSignal << softSerial->state);
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}
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inline void initialiseCurrentByteWithFirstSignal(softSerial_t *softSerial, uint8_t serialSignal)
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{
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softSerial->rxBuffer[softSerial->port.rxBufferTail] = serialSignal;
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}
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inline void prepareForNextSignal(softSerial_t *softSerial) {
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softSerial->state++;
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}
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void updateBufferIndex(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferTail >= softSerial->port.rxBufferSize - 1)
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{
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softSerial->port.rxBufferTail = 0; //cycling the buffer
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} else {
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softSerial->port.rxBufferTail++;
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}
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}
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void prepareForNextByte(softSerial_t *softSerial)
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{
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stopSerialTimer(softSerial);
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softSerial->state = WAITING_FOR_START_BIT;
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updateBufferIndex(softSerial);
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}
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void onSerialTimer(uint8_t portIndex, uint16_t capture)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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uint8_t serialSignal = readSerialSignal(softSerial);
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switch (softSerial->state) {
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case BIT_0:
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initialiseCurrentByteWithFirstSignal(softSerial, serialSignal);
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prepareForNextSignal(softSerial);
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break;
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case BIT_1:
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case BIT_2:
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case BIT_3:
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case BIT_4:
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case BIT_5:
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case BIT_6:
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case BIT_7:
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mergeSignalWithCurrentByte(softSerial, serialSignal);
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prepareForNextSignal(softSerial);
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break;
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case WAITING_FOR_STOP_BIT:
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prepareForNextByte(softSerial);
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break;
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}
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}
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#define SOFT_SERIAL_TIMER_MHZ 1
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#define SOFT_SERIAL_1_TIMER_HARDWARE 4
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static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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void serialInputPortConfig(const timerHardware_t *timerHardwarePtr, uint16_t baud, uint8_t reference, timerCCCallbackPtr callback)
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{
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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int oneBitPeriod = (SOFT_SERIAL_TIMER_MHZ * 1000000) / baud;
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timerInConfig(timerHardwarePtr, oneBitPeriod, SOFT_SERIAL_TIMER_MHZ);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback);
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}
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void setupSoftSerial1(uint32_t baud)
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{
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int portIndex = 0;
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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softSerial->timerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_HARDWARE]);
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softSerial->timerIndex = SOFT_SERIAL_1_TIMER_HARDWARE;
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softSerial->state = WAITING_FOR_START_BIT;
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softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE;
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softSerial->port.rxBuffer = softSerial->rxBuffer;
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softSerial->port.rxBufferTail = 0;
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softSerial->port.rxBufferHead = 0;
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softSerial->port.txBuffer = 0;
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softSerial->port.txBufferSize = 0;
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softSerial->port.txBufferTail = 0;
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softSerial->port.txBufferHead = 0;
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softSerial->port.baudRate = baud;
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softSerial->port.mode = MODE_RX;
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// FIXME this uart specific initialisation doesn't belong really here
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softSerial->port.txDMAChannel = 0;
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softSerial->port.txDMAChannel = 0;
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configureTimerChannelCallback(softSerial->timerHardware->tim, TIM_Channel_2, portIndex, onSerialTimer);
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TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
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stopSerialTimer(softSerial);
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serialInputPortConfig(softSerial->timerHardware, baud, portIndex, onSerialPinChange);
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}
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bool serialAvailable(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferTail == softSerial->port.rxBufferHead) {
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return 0;
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}
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int availableBytes;
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if (softSerial->port.rxBufferTail > softSerial->port.rxBufferHead) {
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availableBytes = softSerial->port.rxBufferTail - softSerial->port.rxBufferHead;
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} else {
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availableBytes = softSerial->port.rxBufferTail + softSerial->port.rxBufferSize - softSerial->port.rxBufferHead;
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}
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return availableBytes;
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}
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static void moveHeadToNextByte(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferHead < softSerial->port.rxBufferSize - 1) {
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softSerial->port.rxBufferHead++;
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} else {
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softSerial->port.rxBufferHead = 0;
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}
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}
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uint8_t serialReadByte(softSerial_t *softSerial)
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{
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if (serialAvailable(softSerial) == 0) {
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return 0;
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}
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char b = softSerial->port.rxBuffer[softSerial->port.rxBufferHead];
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moveHeadToNextByte(softSerial);
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return b;
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}
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