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merged multiwii GPS code from 1097. still no support for UBX, or GPS auto-config, soon.

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added interrupt pins from mag/mma/mpu for rev4 hardware. nothing done with them yet - candidates for EXTI use
added tx buffer to UART2 (gps) in preparation for auto-config


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@203 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-09-04 09:13:59 +00:00
parent 70db9006af
commit 80d7ba604b
12 changed files with 2769 additions and 2694 deletions
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49
src/drv_uart.c
View file

@ -9,7 +9,6 @@
// Receive buffer, circular DMA
volatile uint8_t rxBuffer[UART_BUFFER_SIZE];
uint32_t rxDMAPos = 0;
volatile uint8_t txBuffer[UART_BUFFER_SIZE];
uint32_t txBufferTail = 0;
uint32_t txBufferHead = 0;
@ -44,10 +43,8 @@ void uartInit(uint32_t speed)
DMA_InitTypeDef DMA_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// UART
// USART1_TX PA9
// USART1_RX PA10
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@ -153,8 +150,14 @@ void uartPrint(char *str)
/* -------------------------- UART2 (Spektrum, GPS) ----------------------------- */
uartReceiveCallbackPtr uart2Callback = NULL;
#define UART2_BUFFER_SIZE 64
void uart2Init(uint32_t speed, uartReceiveCallbackPtr func)
volatile uint8_t tx2Buffer[UART2_BUFFER_SIZE];
uint32_t tx2BufferTail = 0;
uint32_t tx2BufferHead = 0;
bool uart2RxOnly = false;
void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly)
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
@ -162,33 +165,65 @@ void uart2Init(uint32_t speed, uartReceiveCallbackPtr func)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
uart2RxOnly = rxOnly;
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// USART2_TX PA2
// USART2_RX PA3
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
if (!rxOnly)
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = speed;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_Mode = USART_Mode_Rx;
USART_InitStructure.USART_Mode = USART_Mode_Rx | (rxOnly ? 0 : USART_Mode_Tx);
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(USART2, &USART_InitStructure);
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
if (!rxOnly)
USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
USART_Cmd(USART2, ENABLE);
uart2Callback = func;
}
void uart2Write(uint8_t ch)
{
if (uart2RxOnly)
return;
tx2Buffer[tx2BufferHead] = ch;
tx2BufferHead = (tx2BufferHead + 1) % UART2_BUFFER_SIZE;
USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
}
void USART2_IRQHandler(void)
{
if (USART_GetITStatus(USART2, USART_IT_RXNE) == SET) {
uint16_t SR = USART2->SR;
if (SR & USART_IT_RXNE) {
if (uart2Callback)
uart2Callback(USART_ReceiveData(USART2));
}
if (SR & USART_FLAG_TXE) {
if (tx2BufferTail != tx2BufferHead) {
USART2->DR = tx2Buffer[tx2BufferTail];
tx2BufferTail = (tx2BufferTail + 1) % UART2_BUFFER_SIZE;
} else {
USART_ITConfig(USART2, USART_IT_TXE, DISABLE);
}
}
}