Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Refactor serial port configuration, stage 1.

Browse source 
Tested and working:
* multiple MSP ports at different baud rates.
* cli on any MSP port.
* GPS
* gps passthough on currently active cli port.

Example config used for testing:

feature SOFTSERIAL
feature GPS
feature RX_PPM
serial_port_1_functions = 1
serial_port_1_baudrate = 115200
serial_port_2_functions = 128
serial_port_2_baudrate = 115200
serial_port_3_functions = 1
serial_port_3_baudrate = 19200
serial_port_4_functions = 0
serial_port_4_baudrate = 0

Known broken:
* Telemetry and shared serial ports
* Telemetry when unarmed.

Probably broken:
* Blackbox on shared port.

Untested.
* Serial RX.
* Blackbox.
This commit is contained in:
Dominic Clifton 2015-02-12 01:28:53 +00:00
parent 519cc5f238
commit 5163bef0b2
31 changed files with 459 additions and 1247 deletions
Download patch file Download diff file Expand all files Collapse all files

45
src/main/io/gps.c
View file

@ -202,20 +202,12 @@ static void gpsSetState(uint8_t state)
gpsData.messageState = GPS_MESSAGE_STATE_IDLE;
}
// When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
{
serialConfig = initialSerialConfig;
gpsData.baudrateIndex = 0;
while (gpsInitData[gpsData.baudrateIndex].baudrate != serialConfig->gps_baudrate) {
gpsData.baudrateIndex++;
if (gpsData.baudrateIndex >= GPS_INIT_DATA_ENTRY_COUNT) {
gpsData.baudrateIndex = DEFAULT_BAUD_RATE_INDEX;
break;
}
}
gpsData.baudrateIndex = 0;
gpsData.errors = 0;
gpsData.timeouts = 0;
@ -228,13 +220,27 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
gpsData.lastMessage = millis();
serialPortConfig_t *gpsPortConfig = findSerialPortConfig(FUNCTION_GPS);
if (!gpsPortConfig) {
featureClear(FEATURE_GPS);
return;
}
while (gpsInitData[gpsData.baudrateIndex].baudrate != gpsPortConfig->baudrate) {
gpsData.baudrateIndex++;
if (gpsData.baudrateIndex >= GPS_INIT_DATA_ENTRY_COUNT) {
gpsData.baudrateIndex = DEFAULT_BAUD_RATE_INDEX;
break;
}
}
portMode_t mode = MODE_RXTX;
// only RX is needed for NMEA-style GPS
if (gpsConfig->provider == GPS_NMEA)
mode &= ~MODE_TX;
// no callback - buffer will be consumed in gpsThread()
gpsPort = openSerialPort(FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
gpsPort = openSerialPort(gpsPortConfig->identifier, FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
if (!gpsPort) {
featureClear(FEATURE_GPS);
return;
@ -258,7 +264,7 @@ void gpsInitNmea(void)
void gpsInitUblox(void)
{
uint32_t now;
// UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate
// UBX will run at the serial port's baudrate, it shouldn't be "autodetected". So here we force it to that rate
// Wait until GPS transmit buffer is empty
if (!isSerialTransmitBufferEmpty(gpsPort))
@ -959,20 +965,11 @@ static bool gpsNewFrameUBLOX(uint8_t data)
return parsed;
}
gpsEnablePassthroughResult_e gpsEnablePassthrough(void)
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
{
serialPort_t *gpsPassthroughPort = findOpenSerialPort(FUNCTION_GPS_PASSTHROUGH);
if (gpsPassthroughPort) {
waitForSerialPortToFinishTransmitting(gpsPort);
waitForSerialPortToFinishTransmitting(gpsPassthroughPort);
waitForSerialPortToFinishTransmitting(gpsPassthroughPort);
serialSetBaudRate(gpsPassthroughPort, serialConfig->gps_passthrough_baudrate);
} else {
gpsPassthroughPort = openSerialPort(FUNCTION_GPS_PASSTHROUGH, NULL, serialConfig->gps_passthrough_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
if (!gpsPassthroughPort) {
return GPS_PASSTHROUGH_NO_SERIAL_PORT;
}
}
serialSetBaudRate(gpsPort, serialConfig->gps_baudrate);
if(!(gpsPort->mode & MODE_TX))
serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
@ -1003,9 +1000,7 @@ gpsEnablePassthroughResult_e gpsEnablePassthrough(void)
updateDisplay();
}
#endif
}
return GPS_PASSTHROUGH_ENABLED;
}
void updateGpsIndicator(uint32_t currentTime)