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Software serial implementation. Compile with SOFTSERIAL_19200_LOOPBACK to test. Without the define the implementation will have no effect. Next step is to add a 'feature' to enable softserial and settings for the baud rate. Note, only READ is currently supported, write will come later. The highlevel api calls are used in main.c. Uart implementation needs cleanup to make serial port code generic, see uart files for details.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@390 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-28 01:26:10 +00:00
parent fa7eecac18
commit 77a241bd5f
13 changed files with 466 additions and 162 deletions
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1
Makefile
View file

@ -94,6 +94,7 @@ OLIMEXINO_SRC = drv_spi.c \
drv_l3g4200d.c \ drv_l3g4200d.c \
drv_pwm.c \ drv_pwm.c \
drv_timer.c \ drv_timer.c \
drv_softserial.c \
$(COMMON_SRC) $(COMMON_SRC)
# Search path for baseflight sources # Search path for baseflight sources

15
baseflight.uvproj
View file

@ -652,6 +652,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>.\src\drv_timer.c</FilePath> <FilePath>.\src\drv_timer.c</FilePath>
</File> </File>
<File>
<FileName>drv_softserial.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_softserial.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -1478,6 +1483,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>.\src\drv_timer.c</FilePath> <FilePath>.\src\drv_timer.c</FilePath>
</File> </File>
<File>
<FileName>drv_softserial.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_softserial.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -2488,6 +2498,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>.\src\drv_timer.c</FilePath> <FilePath>.\src\drv_timer.c</FilePath>
</File> </File>
<File>
<FileName>drv_softserial.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_softserial.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

6
src/board.h
View file

@ -199,9 +199,10 @@ typedef struct baro_t
#include "drv_pwm.h" #include "drv_pwm.h"
#include "drv_timer.h" #include "drv_timer.h"
#include "drv_uart.h" #include "drv_uart.h"
#include "drv_softserial.h"
#else #else
// AfroFlight32 // AfroFlight32
#include "drv_adc.h" #include "drv_adc.h"
#include "drv_adxl345.h" #include "drv_adxl345.h"
#include "drv_bmp085.h" #include "drv_bmp085.h"
@ -217,7 +218,8 @@ typedef struct baro_t
#include "drv_pwm.h" #include "drv_pwm.h"
#include "drv_timer.h" #include "drv_timer.h"
#include "drv_uart.h" #include "drv_uart.h"
#include "drv_softserial.h"
#include "drv_hcsr04.h" #include "drv_hcsr04.h"
#endif #endif
#endif #endif

124
src/drv_pwm.c
View file

@ -1,4 +1,4 @@
#include "board.h" #include "board.h"
#define PULSE_1MS (1000) // 1ms pulse width #define PULSE_1MS (1000) // 1ms pulse width
@ -6,9 +6,9 @@
Configuration maps: Configuration maps:
1) multirotor PPM input 1) multirotor PPM input
PWM1 used for PPM PWM1 used for PPM
PWM5..8 used for motors PWM5..8 used for motors
PWM9..10 used for servo or else motors PWM9..10 used for servo or else motors
PWM11..14 used for motors PWM11..14 used for motors
2) multirotor PPM input with more servos 2) multirotor PPM input with more servos
@ -28,9 +28,9 @@
PWM11.14 used for servos PWM11.14 used for servos
4) airplane / flying wing with PPM 4) airplane / flying wing with PPM
PWM1 used for PPM PWM1 used for PPM
PWM5..8 used for servos PWM5..8 used for servos
PWM9 used for motor throttle +PWM10 for 2nd motor PWM9 used for motor throttle +PWM10 for 2nd motor
PWM11.14 used for servos PWM11.14 used for servos
*/ */
@ -38,9 +38,9 @@ typedef struct {
volatile uint16_t *ccr; volatile uint16_t *ccr;
uint16_t period; uint16_t period;
// for input only // for input only
uint8_t channel; uint8_t channel;
uint8_t state; uint8_t state;
uint16_t rise; uint16_t rise;
uint16_t fall; uint16_t fall;
uint16_t capture; uint16_t capture;
@ -134,27 +134,17 @@ static const uint8_t * const hardwareMaps[] = {
multiPWM, multiPWM,
multiPPM, multiPPM,
airPWM, airPWM,
airPPM, airPPM,
}; };
static void pwmTimeBase(TIM_TypeDef *tim, uint32_t period) #define PWM_TIMER_MHZ 1
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 1000000) - 1; // all timers run at 1MHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
}
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value) static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{ {
TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = value; TIM_OCInitStructure.TIM_Pulse = value;
@ -178,13 +168,13 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
TIM_OC4Init(tim, &TIM_OCInitStructure); TIM_OC4Init(tim, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable); TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
break; break;
} }
} }
static void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity) void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
{ {
TIM_ICInitTypeDef TIM_ICInitStructure; TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = channel; TIM_ICInitStructure.TIM_Channel = channel;
TIM_ICInitStructure.TIM_ICPolarity = polarity; TIM_ICInitStructure.TIM_ICPolarity = polarity;
@ -205,13 +195,13 @@ static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
gpioInit(gpio, &cfg); gpioInit(gpio, &cfg);
} }
static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value) static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)
{ {
pwmPortData_t *p = &pwmPorts[port]; pwmPortData_t *p = &pwmPorts[port];
pwmTimeBase(timerHardware[port].tim, period); configTimeBase(timerHardware[port].tim, period, PWM_TIMER_MHZ);
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP); pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value); pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
// Needed only on TIM1 // Needed only on TIM1
if (timerHardware[port].outputEnable) if (timerHardware[port].outputEnable)
TIM_CtrlPWMOutputs(timerHardware[port].tim, ENABLE); TIM_CtrlPWMOutputs(timerHardware[port].tim, ENABLE);
TIM_Cmd(timerHardware[port].tim, ENABLE); TIM_Cmd(timerHardware[port].tim, ENABLE);
@ -227,32 +217,32 @@ static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value
p->ccr = &timerHardware[port].tim->CCR3; p->ccr = &timerHardware[port].tim->CCR3;
break; break;
case TIM_Channel_4: case TIM_Channel_4:
p->ccr = &timerHardware[port].tim->CCR4; p->ccr = &timerHardware[port].tim->CCR4;
break; break;
} }
return p; return p;
} }
static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uint8_t channel) static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uint8_t channel)
{ {
pwmPortData_t *p = &pwmPorts[port]; pwmPortData_t *p = &pwmPorts[port];
pwmTimeBase(timerHardware[port].tim, 0xFFFF); const timerHardware_t *timerHardwarePtr = &(timerHardware[port]);
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_IPD);
pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
TIM_Cmd(timerHardware[port].tim, ENABLE);
timerNVICConfig(timerHardware[port].irq);
p->channel = channel; p->channel = channel;
configureTimerCaptureCompareInterrupt(&(timerHardware[port]), port, callback); pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPD);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerInConfig(timerHardwarePtr, 0xFFFF, PWM_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, port, callback);
return p; return p;
} }
static void ppmCallback(uint8_t port, uint16_t capture) static void ppmCallback(uint8_t port, uint16_t capture)
{ {
uint16_t diff; uint16_t diff;
static uint16_t now; static uint16_t now;
static uint16_t last = 0; static uint16_t last = 0;
static uint8_t chan = 0; static uint8_t chan = 0;
static uint8_t GoodPulses; static uint8_t GoodPulses;
@ -317,9 +307,9 @@ bool pwmInit(drv_pwm_config_t *init)
setup = hardwareMaps[i]; setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++) { for (i = 0; i < MAX_PORTS; i++) {
uint8_t port = setup[i] & 0x0F; uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0; uint8_t mask = setup[i] & 0xF0;
if (setup[i] == 0xFF) // terminator if (setup[i] == 0xFF) // terminator
break; break;
@ -328,14 +318,20 @@ bool pwmInit(drv_pwm_config_t *init)
if (port == PWM2) if (port == PWM2)
continue; continue;
#endif #endif
// skip UART ports for GPS // skip UART ports for GPS
if (init->useUART && (port == PWM3 || port == PWM4)) if (init->useUART && (port == PWM3 || port == PWM4))
continue; continue;
// skip ADC for powerMeter if configured #ifdef SOFTSERIAL_19200_LOOPBACK
if (init->adcChannel && (init->adcChannel == port)) // skip softSerial ports
continue; if ((port == PWM5 || port == PWM6))
continue;
#endif
// skip ADC for powerMeter if configured
if (init->adcChannel && (init->adcChannel == port))
continue;
// hacks to allow current functionality // hacks to allow current functionality
if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput) if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)

14
src/drv_pwm.h
View file

@ -30,15 +30,17 @@ enum {
PWM9, PWM9,
PWM10, PWM10,
PWM11, PWM11,
PWM12, PWM12,
PWM13, PWM13,
PWM14, PWM14,
MAX_PORTS MAX_PORTS
}; };
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not
void pwmWriteMotor(uint8_t index, uint16_t value); void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmWriteServo(uint8_t index, uint16_t value); void pwmWriteServo(uint8_t index, uint16_t value);
uint16_t pwmRead(uint8_t channel); uint16_t pwmRead(uint8_t channel);
// void pwmWrite(uint8_t channel, uint16_t value); // void pwmWrite(uint8_t channel, uint16_t value);

203
src/drv_softserial.c Normal file
View file

@ -0,0 +1,203 @@
#include "board.h"
enum serialBitStatus {
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
};
#define MAX_SOFTSERIAL_PORTS 2
softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
softSerial_t* lookupSoftSerial(uint8_t reference)
{
assert_param(reference >= 0 && reference <= MAX_SOFTSERIAL_PORTS);
return &(softSerialPorts[reference]);
}
void stopSerialTimer(softSerial_t *softSerial)
{
TIM_Cmd(softSerial->timerHardware->tim, DISABLE);
TIM_SetCounter(softSerial->timerHardware->tim, 0);
}
void startSerialTimer(softSerial_t *softSerial)
{
TIM_SetCounter(softSerial->timerHardware->tim, 0);
TIM_Cmd(softSerial->timerHardware->tim, ENABLE);
}
static void waitForFirstBit(softSerial_t *softSerial)
{
softSerial->state = BIT_0;
startSerialTimer(softSerial);
}
static void onSerialPinChange(uint8_t reference, uint16_t capture)
{
softSerial_t *softSerial = lookupSoftSerial(reference);
if (softSerial->state == WAITING_FOR_START_BIT) {
waitForFirstBit(softSerial);
}
}
uint8_t readSerialSignal(softSerial_t *softSerial)
{
return GPIO_ReadInputDataBit(softSerial->timerHardware->gpio, softSerial->timerHardware->pin);
}
void mergeSignalWithCurrentByte(softSerial_t *softSerial, uint8_t serialSignal)
{
softSerial->rxBuffer[softSerial->port.rxBufferTail] |= (serialSignal << softSerial->state);
}
inline void initialiseCurrentByteWithFirstSignal(softSerial_t *softSerial, uint8_t serialSignal)
{
softSerial->rxBuffer[softSerial->port.rxBufferTail] = serialSignal;
}
inline void prepareForNextSignal(softSerial_t *softSerial) {
softSerial->state++;
}
void updateBufferIndex(softSerial_t *softSerial)
{
if (softSerial->port.rxBufferTail >= softSerial->port.rxBufferSize - 1)
{
softSerial->port.rxBufferTail = 0; //cycling the buffer
} else {
softSerial->port.rxBufferTail++;
}
}
void prepareForNextByte(softSerial_t *softSerial)
{
stopSerialTimer(softSerial);
softSerial->state = WAITING_FOR_START_BIT;
updateBufferIndex(softSerial);
}
void onSerialTimer(uint8_t portIndex, uint16_t capture)
{
softSerial_t *softSerial = &(softSerialPorts[portIndex]);
uint8_t serialSignal = readSerialSignal(softSerial);
switch (softSerial->state) {
case BIT_0:
initialiseCurrentByteWithFirstSignal(softSerial, serialSignal);
prepareForNextSignal(softSerial);
break;
case BIT_1:
case BIT_2:
case BIT_3:
case BIT_4:
case BIT_5:
case BIT_6:
case BIT_7:
mergeSignalWithCurrentByte(softSerial, serialSignal);
prepareForNextSignal(softSerial);
break;
case WAITING_FOR_STOP_BIT:
prepareForNextByte(softSerial);
break;
}
}
#define SOFT_SERIAL_TIMER_MHZ 1
#define SOFT_SERIAL_1_TIMER_HARDWARE 4
static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
{
gpio_config_t cfg;
cfg.pin = pin;
cfg.mode = mode;
cfg.speed = Speed_2MHz;
gpioInit(gpio, &cfg);
}
void serialInputPortConfig(const timerHardware_t *timerHardwarePtr, uint16_t baud, uint8_t reference, timerCCCallbackPtr callback)
{
softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
int oneBitPeriod = (SOFT_SERIAL_TIMER_MHZ * 1000000) / baud;
timerInConfig(timerHardwarePtr, oneBitPeriod, SOFT_SERIAL_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback);
}
void setupSoftSerial1(uint32_t baud)
{
int portIndex = 0;
softSerial_t *softSerial = &(softSerialPorts[portIndex]);
softSerial->timerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_HARDWARE]);
softSerial->timerIndex = SOFT_SERIAL_1_TIMER_HARDWARE;
softSerial->state = WAITING_FOR_START_BIT;
softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE;
softSerial->port.rxBuffer = softSerial->rxBuffer;
softSerial->port.rxBufferTail = 0;
softSerial->port.rxBufferHead = 0;
softSerial->port.txBuffer = 0;
softSerial->port.txBufferSize = 0;
softSerial->port.txBufferTail = 0;
softSerial->port.txBufferHead = 0;
softSerial->port.baudRate = baud;
softSerial->port.mode = MODE_RX;
// FIXME this uart specific initialisation doesn't belong really here
softSerial->port.txDMAChannel = 0;
softSerial->port.txDMAChannel = 0;
configureTimerChannelCallback(softSerial->timerHardware->tim, TIM_Channel_2, portIndex, onSerialTimer);
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
stopSerialTimer(softSerial);
serialInputPortConfig(softSerial->timerHardware, baud, portIndex, onSerialPinChange);
}
bool serialAvailable(softSerial_t *softSerial)
{
if (softSerial->port.rxBufferTail == softSerial->port.rxBufferHead) {
return 0;
}
int availableBytes;
if (softSerial->port.rxBufferTail > softSerial->port.rxBufferHead) {
availableBytes = softSerial->port.rxBufferTail - softSerial->port.rxBufferHead;
} else {
availableBytes = softSerial->port.rxBufferTail + softSerial->port.rxBufferSize - softSerial->port.rxBufferHead;
}
return availableBytes;
}
static void moveHeadToNextByte(softSerial_t *softSerial)
{
if (softSerial->port.rxBufferHead < softSerial->port.rxBufferSize - 1) {
softSerial->port.rxBufferHead++;
} else {
softSerial->port.rxBufferHead = 0;
}
}
uint8_t serialReadByte(softSerial_t *softSerial)
{
if (serialAvailable(softSerial) == 0) {
return 0;
}
char b = softSerial->port.rxBuffer[softSerial->port.rxBufferHead];
moveHeadToNextByte(softSerial);
return b;
}

25
src/drv_softserial.h Normal file
View file

@ -0,0 +1,25 @@
/*
* drv_softserial.h
*
* Created on: 23 Aug 2013
* Author: Hydra
*/
#pragma once
#define SOFT_SERIAL_BUFFER_SIZE 256
typedef struct softSerial_s {
const timerHardware_t *timerHardware;
uint8_t timerIndex;
serialPort_t port;
volatile int state;
volatile uint8_t rxBuffer[SOFT_SERIAL_BUFFER_SIZE];
} softSerial_t;
void setupSoftSerial1(uint32_t baud);
uint8_t serialReadByte(softSerial_t *softSerial);
bool serialAvailable(softSerial_t *softSerial);
extern timerHardware_t* serialTimerHardware;
extern softSerial_t softSerialPorts[];

121
src/drv_timer.c
View file

@ -71,9 +71,9 @@ static const uint8_t channels[CC_CHANNELS_PER_TIMER] = {
}; };
typedef struct timerConfig_s { typedef struct timerConfig_s {
timerCCCallbackPtr *callback;
uint8_t channel;
TIM_TypeDef *tim; TIM_TypeDef *tim;
uint8_t channel;
timerCCCallbackPtr *callback;
uint8_t reference; uint8_t reference;
} timerConfig_t; } timerConfig_t;
@ -97,7 +97,77 @@ static uint8_t lookupChannelIndex(const uint8_t channel)
return channelIndex; return channelIndex;
} }
static timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel) void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
{
assert_param(IS_TIM_CHANNEL(channel));
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
if (timerConfigIndex >= MAX_TIMERS * CC_CHANNELS_PER_TIMER) {
return;
}
timerConfig[timerConfigIndex].callback = callback;
timerConfig[timerConfigIndex].channel = channel;
timerConfig[timerConfigIndex].reference = reference;
}
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
{
switch (channel) {
case TIM_Channel_1:
TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
break;
}
}
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
{
configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
}
void timerNVICConfig(uint8_t irq)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void configTimeBase(TIM_TypeDef *tim, uint32_t period, uint8_t mhz)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
}
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint32_t period, uint8_t mhz)
{
configTimeBase(timerHardwarePtr->tim, period, mhz);
TIM_Cmd(timerHardwarePtr->tim, ENABLE);
timerNVICConfig(timerHardwarePtr->irq);
}
timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel)
{ {
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel); uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
return &(timerConfig[timerConfigIndex]); return &(timerConfig[timerConfigIndex]);
@ -128,6 +198,8 @@ static void timCCxHandler(TIM_TypeDef *tim)
timerConfig = findTimerConfig(tim, TIM_Channel_4); timerConfig = findTimerConfig(tim, TIM_Channel_4);
capture = TIM_GetCapture4(tim); capture = TIM_GetCapture4(tim);
} else {
return; // avoid uninitialised variable dereference
} }
if (!timerConfig->callback) { if (!timerConfig->callback) {
@ -155,46 +227,3 @@ void TIM4_IRQHandler(void)
{ {
timCCxHandler(TIM4); timCCxHandler(TIM4);
} }
void timerNVICConfig(uint8_t irq)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
{
switch (channel) {
case TIM_Channel_1:
TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
break;
}
}
void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
{
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
timerConfig[timerConfigIndex].callback = callback;
timerConfig[timerConfigIndex].channel = channel;
timerConfig[timerConfigIndex].reference = reference;
}
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
{
configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
}

2
src/drv_timer.h
View file

@ -13,6 +13,8 @@ typedef struct {
extern const timerHardware_t timerHardware[]; extern const timerHardware_t timerHardware[];
void configTimeBase(TIM_TypeDef *tim, uint32_t period, uint8_t mhz);
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint32_t period, uint8_t mhz);
void timerNVICConfig(uint8_t irq); void timerNVICConfig(uint8_t irq);
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel); void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel);

20
src/drv_uart.c
View file

@ -238,12 +238,20 @@ void uartWrite(serialPort_t *s, uint8_t ch)
uartStartTxDMA(s); uartStartTxDMA(s);
} else { } else {
USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE); USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE);
} }
} }
// Handlers void uartPrint(serialPort_t *s, const char *str)
{
// USART1 Tx DMA Handler uint8_t ch;
while ((ch = *(str++))) {
uartWrite(s, ch);
}
}
// Handlers
// USART1 Tx DMA Handler
void DMA1_Channel4_IRQHandler(void) void DMA1_Channel4_IRQHandler(void)
{ {
serialPort_t *s = &serialPort1; serialPort_t *s = &serialPort1;

61
src/drv_uart.h
View file

@ -12,33 +12,40 @@
typedef enum portmode_t { typedef enum portmode_t {
MODE_RX = 1, MODE_RX = 1,
MODE_TX = 2, MODE_TX = 2,
MODE_RXTX = 3 MODE_RXTX = 3
} portmode_t; } portmode_t;
typedef struct { // FIXME this is a uart_t really. Move the generic properties into a separate structure (serialPort_t) and update the code to use it
uint32_t baudRate; typedef struct {
uint32_t rxBufferSize; portmode_t mode;
uint32_t txBufferSize; uint32_t baudRate;
volatile uint8_t *rxBuffer;
volatile uint8_t *txBuffer; uint32_t rxBufferSize;
uint32_t rxDMAPos; uint32_t txBufferSize;
uint32_t rxBufferHead; volatile uint8_t *rxBuffer;
uint32_t rxBufferTail; volatile uint8_t *txBuffer;
uint32_t txBufferHead; uint32_t rxBufferHead;
uint32_t txBufferTail; uint32_t rxBufferTail;
uint32_t txBufferHead;
DMA_Channel_TypeDef *rxDMAChannel; uint32_t txBufferTail;
DMA_Channel_TypeDef *txDMAChannel;
uint32_t rxDMAIrq; // FIXME rename callback type so something more generic
uint32_t txDMAIrq; uartReceiveCallbackPtr callback;
bool txDMAEmpty;
USART_TypeDef *USARTx; // FIXME these are uart specific and do not belong in here
DMA_Channel_TypeDef *rxDMAChannel;
uartReceiveCallbackPtr callback; DMA_Channel_TypeDef *txDMAChannel;
portmode_t mode;
} serialPort_t; uint32_t rxDMAIrq;
uint32_t txDMAIrq;
serialPort_t *uartOpen(USART_TypeDef *USARTx, uartReceiveCallbackPtr callback, uint32_t baudRate, portmode_t mode);
uint32_t rxDMAPos;
bool txDMAEmpty;
USART_TypeDef *USARTx;
} serialPort_t;
serialPort_t *uartOpen(USART_TypeDef *USARTx, uartReceiveCallbackPtr callback, uint32_t baudRate, portmode_t mode);
void uartChangeBaud(serialPort_t *s, uint32_t baudRate); void uartChangeBaud(serialPort_t *s, uint32_t baudRate);
bool isUartAvailable(serialPort_t *s); bool isUartAvailable(serialPort_t *s);
bool isUartTransmitEmpty(serialPort_t *s); bool isUartTransmitEmpty(serialPort_t *s);

20
src/main.c
View file

@ -120,10 +120,17 @@ int main(void)
// Check battery type/voltage // Check battery type/voltage
if (feature(FEATURE_VBAT)) if (feature(FEATURE_VBAT))
batteryInit(); batteryInit();
#ifdef SOFTSERIAL_19200_LOOPBACK
serialInit(19200);
setupSoftSerial1(19200);
uartPrint(core.mainport, "LOOPBACK 19200 ENABLED");
#else
serialInit(mcfg.serial_baudrate);
#endif
serialInit(mcfg.serial_baudrate);
previousTime = micros(); previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL) if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400; calibratingA = 400;
@ -134,6 +141,13 @@ int main(void)
// loopy // loopy
while (1) { while (1) {
loop(); loop();
#ifdef SOFTSERIAL_19200_LOOPBACK
while (serialAvailable(&softSerialPorts[0])) {
uint8_t b = serialReadByte(&softSerialPorts[0]);
uartWrite(core.mainport, b);
};
#endif
} }
} }

16
src/sensors.c
View file

@ -64,14 +64,14 @@ retry:
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050; accHardware = ACC_MPU6050;
if (mcfg.acc_hardware == ACC_MPU6050) if (mcfg.acc_hardware == ACC_MPU6050)
break; break;
} }
; // fallthrough ; // fallthrough
case 3: // MMA8452 #ifndef OLIMEXINO
#ifndef OLIMEXINO case 3: // MMA8452
if (mma8452Detect(&acc)) { if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452; accHardware = ACC_MMA8452;
if (mcfg.acc_hardware == ACC_MMA8452) if (mcfg.acc_hardware == ACC_MMA8452)
break; break;
} }
#endif #endif