mirror of
https://github.com/betaflight/betaflight.git
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Softserial with monotimer and bidir
This commit is contained in:
jflyper
borisbstyle
parent
b2c32b84e3
commit
97b5dbc386
11 changed files with 450 additions and 100 deletions
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@ -25,8 +25,12 @@
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#include "build/build_config.h"
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#include "build/atomic.h"
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#include "build/debug.h"
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#include "common/utils.h"
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#include "config/config_master.h"
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#include "nvic.h"
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#include "system.h"
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#include "io.h"
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@ -44,21 +48,29 @@
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#define MAX_SOFTSERIAL_PORTS 1
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#endif
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typedef enum {
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TIMER_MODE_SINGLE,
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TIMER_MODE_DUAL,
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} timerMode_e;
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typedef struct softSerial_s {
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serialPort_t port;
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IO_t rxIO;
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IO_t txIO;
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const timerHardware_t *rxTimerHardware;
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volatile uint8_t rxBuffer[SOFTSERIAL_BUFFER_SIZE];
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const timerHardware_t *txTimerHardware;
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const timerHardware_t *timerHardware;
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const timerHardware_t *exTimerHardware;
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uint32_t ccEnableBit;
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volatile uint8_t rxBuffer[SOFTSERIAL_BUFFER_SIZE];
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volatile uint8_t txBuffer[SOFTSERIAL_BUFFER_SIZE];
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uint8_t isSearchingForStartBit;
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uint8_t rxBitIndex;
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uint8_t rxLastLeadingEdgeAtBitIndex;
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uint8_t rxEdge;
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uint8_t rxActive;
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uint8_t isTransmittingData;
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int8_t bitsLeftToTransmit;
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@ -70,23 +82,20 @@ typedef struct softSerial_s {
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uint16_t receiveErrors;
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uint8_t softSerialPortIndex;
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timerMode_e timerMode;
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timerCCHandlerRec_t timerCb;
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timerOvrHandlerRec_t overCb;
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timerCCHandlerRec_t edgeCb;
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} softSerial_t;
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extern timerHardware_t* serialTimerHardware;
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extern softSerial_t softSerialPorts[];
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static const struct serialPortVTable softSerialVTable; // Forward
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extern const struct serialPortVTable softSerialVTable[];
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static softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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void onSerialTimer(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialTimerOverflow(timerOvrHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void setTxSignal(softSerial_t *softSerial, uint8_t state)
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static void setTxSignal(softSerial_t *softSerial, uint8_t state)
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{
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if (softSerial->port.options & SERIAL_INVERTED) {
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state = !state;
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@ -99,20 +108,83 @@ void setTxSignal(softSerial_t *softSerial, uint8_t state)
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}
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}
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void serialInputPortConfig(ioTag_t pin, uint8_t portIndex)
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// XXX CCEnableBit: Compute CCxE bit.
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// XXX (Note: timer.c:timerChICPolarity() uses "TIM_CCER_CC1P << timHw->channel".)
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static uint32_t CCEnableBit(int channel)
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{
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IOInit(IOGetByTag(pin), OWNER_SERIAL_RX, RESOURCE_INDEX(portIndex) + RESOURCE_SOFT_OFFSET);
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#ifdef STM32F1
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IOConfigGPIO(IOGetByTag(pin), IOCFG_IPU);
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uint32_t bit;
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#if defined(STM32F7)
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switch (channel) {
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case TIM_CHANNEL_1:
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bit = TIM_CCER_CC1E;
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break;
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case TIM_CHANNEL_2:
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bit = TIM_CCER_CC2E;
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break;
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case TIM_CHANNEL_3:
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bit = TIM_CCER_CC3E;
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break;
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case TIM_CHANNEL_4:
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bit = TIM_CCER_CC4E;
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break;
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}
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#else
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IOConfigGPIO(IOGetByTag(pin), IOCFG_AF_PP_UP);
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switch (channel) {
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case TIM_Channel_1:
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bit = TIM_CCER_CC1E;
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break;
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case TIM_Channel_2:
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bit = TIM_CCER_CC2E;
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break;
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case TIM_Channel_3:
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bit = TIM_CCER_CC3E;
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break;
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case TIM_Channel_4:
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bit = TIM_CCER_CC4E;
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break;
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}
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#endif
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return bit;
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}
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static void serialOutputPortConfig(ioTag_t pin, uint8_t portIndex)
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static void serialInputPortActivate(softSerial_t *softSerial)
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{
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IOInit(IOGetByTag(pin), OWNER_SERIAL_TX, RESOURCE_INDEX(portIndex) + RESOURCE_SOFT_OFFSET);
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IOConfigGPIO(IOGetByTag(pin), IOCFG_OUT_PP);
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softSerial->rxActive = true;
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#ifdef STM32F1
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IOConfigGPIO(softSerial->rxIO, IOCFG_IPU);
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#else
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IOConfigGPIO(softSerial->rxIO, IOCFG_AF_PP_UP);
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#endif
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softSerial->isSearchingForStartBit = true;
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softSerial->rxBitIndex = 0;
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// Enable input capture
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softSerial->timerHardware->tim->CCER |= softSerial->ccEnableBit;
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}
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static void serialInputPortDeActivate(softSerial_t *softSerial)
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{
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// Disable input capture
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softSerial->timerHardware->tim->CCER &= ~softSerial->ccEnableBit;
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IOConfigGPIO(softSerial->rxIO, IOCFG_IN_FLOATING);
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softSerial->rxActive = false;
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}
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static void serialOutputPortActivate(softSerial_t *softSerial)
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{
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IOConfigGPIO(softSerial->txIO, IOCFG_OUT_PP);
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}
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static void serialOutputPortDeActivate(softSerial_t *softSerial)
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{
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IOConfigGPIO(softSerial->txIO, IOCFG_IN_FLOATING);
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}
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static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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@ -120,10 +192,12 @@ static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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return timerPeriod > 0xFFFF;
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}
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static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference, uint32_t baud)
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static void serialTimerConfigureTimebase(const timerHardware_t *timerHardwarePtr, uint32_t baud)
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{
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uint32_t clock = SystemCoreClock;
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uint32_t baseClock = SystemCoreClock / timerClockDivisor(timerHardwarePtr->tim);
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uint32_t clock = baseClock;
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uint32_t timerPeriod;
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do {
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timerPeriod = clock / baud;
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if (isTimerPeriodTooLarge(timerPeriod)) {
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@ -136,10 +210,9 @@ static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t
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}
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} while (isTimerPeriodTooLarge(timerPeriod));
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uint8_t mhz = SystemCoreClock / 1000000;
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uint8_t mhz = baseClock / 1000000;
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timerConfigure(timerHardwarePtr, timerPeriod, mhz);
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timerChCCHandlerInit(&softSerialPorts[reference].timerCb, onSerialTimer);
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timerChConfigCallbacks(timerHardwarePtr, &softSerialPorts[reference].timerCb, NULL);
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}
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static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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@ -156,14 +229,6 @@ static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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static void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference, portOptions_t options)
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{
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// start bit is usually a FALLING signal
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serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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timerChCCHandlerInit(&softSerialPorts[reference].edgeCb, onSerialRxPinChange);
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timerChConfigCallbacks(timerHardwarePtr, &softSerialPorts[reference].edgeCb, NULL);
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}
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static void resetBuffers(softSerial_t *softSerial)
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{
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softSerial->port.rxBufferSize = SOFTSERIAL_BUFFER_SIZE;
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@ -177,71 +242,131 @@ static void resetBuffers(softSerial_t *softSerial)
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softSerial->port.txBufferHead = 0;
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}
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serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallbackPtr rxCallback, uint32_t baud, portOptions_t options)
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serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallbackPtr rxCallback, uint32_t baud, portMode_t mode, portOptions_t options)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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#ifdef USE_SOFTSERIAL1
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if (portIndex == SOFTSERIAL1) {
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softSerial->rxTimerHardware = &(timerHardware[SOFTSERIAL_1_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFTSERIAL_1_TIMER_TX_HARDWARE]);
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}
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#endif
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int pinCfgIndex = portIndex + RESOURCE_SOFT_OFFSET;
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#ifdef USE_SOFTSERIAL2
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if (portIndex == SOFTSERIAL2) {
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softSerial->rxTimerHardware = &(timerHardware[SOFTSERIAL_2_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFTSERIAL_2_TIMER_TX_HARDWARE]);
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}
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#endif
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ioTag_t tagRx = serialPinConfig()->ioTagRx[pinCfgIndex];
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ioTag_t tagTx = serialPinConfig()->ioTagTx[pinCfgIndex];
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softSerial->port.vTable = softSerialVTable;
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const timerHardware_t *timerRx = timerGetByTag(tagRx, TIM_USE_ANY);
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const timerHardware_t *timerTx = timerGetByTag(tagTx, TIM_USE_ANY);
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IO_t rxIO = IOGetByTag(tagRx);
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IO_t txIO = IOGetByTag(tagTx);
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if (options & SERIAL_BIDIR) {
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// If RX and TX pins are both assigned, we CAN use either with a timer.
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// However, for consistency with hardware UARTs, we only use TX pin,
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// and this pin must have a timer.
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if (!timerTx)
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return NULL;
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softSerial->timerHardware = timerTx;
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softSerial->txIO = txIO;
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softSerial->rxIO = txIO;
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IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(portIndex) + RESOURCE_SOFT_OFFSET);
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} else {
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if (mode & MODE_RX) {
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// Need a pin & a timer on RX
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if (!(tagRx && timerRx))
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return NULL;
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softSerial->rxIO = rxIO;
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softSerial->timerHardware = timerRx;
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IOInit(rxIO, OWNER_SERIAL_RX, RESOURCE_INDEX(portIndex) + RESOURCE_SOFT_OFFSET);
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}
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if (mode & MODE_TX) {
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// Need a pin on TX
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if (!tagTx)
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return NULL;
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softSerial->txIO = txIO;
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softSerial->exTimerHardware = timerTx;
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IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(portIndex) + RESOURCE_SOFT_OFFSET);
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}
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}
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softSerial->ccEnableBit = CCEnableBit(softSerial->timerHardware->channel);
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//debug[2] = softSerial->ccEnableBit;
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softSerial->port.vTable = &softSerialVTable;
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softSerial->port.baudRate = baud;
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softSerial->port.mode = MODE_RXTX;
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softSerial->port.mode = mode;
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softSerial->port.options = options;
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softSerial->port.rxCallback = rxCallback;
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resetBuffers(softSerial);
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softSerial->isTransmittingData = false;
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softSerial->isSearchingForStartBit = true;
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softSerial->rxBitIndex = 0;
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softSerial->softSerialPortIndex = portIndex;
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softSerial->transmissionErrors = 0;
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softSerial->receiveErrors = 0;
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softSerial->softSerialPortIndex = portIndex;
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softSerial->rxActive = false;
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softSerial->isTransmittingData = false;
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softSerial->txIO = IOGetByTag(softSerial->txTimerHardware->tag);
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serialOutputPortConfig(softSerial->txTimerHardware->tag, portIndex);
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// Configure master timer (on RX); time base and input capture
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softSerial->rxIO = IOGetByTag(softSerial->rxTimerHardware->tag);
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serialInputPortConfig(softSerial->rxTimerHardware->tag, portIndex);
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serialTimerConfigureTimebase(softSerial->timerHardware, baud);
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serialICConfig(softSerial->timerHardware->tim, softSerial->timerHardware->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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setTxSignal(softSerial, ENABLE);
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delay(50);
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// Initialize callbacks
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timerChCCHandlerInit(&softSerial->edgeCb, onSerialRxPinChange);
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timerChOvrHandlerInit(&softSerial->overCb, onSerialTimerOverflow);
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serialTimerTxConfig(softSerial->txTimerHardware, portIndex, baud);
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serialTimerRxConfig(softSerial->rxTimerHardware, portIndex, options);
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// Configure bit clock interrupt & handler.
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// If we have an extra timer (on TX), it is initialized and configured
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// for overflow interrupt.
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// Receiver input capture is configured when input is activated.
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if ((mode & MODE_TX) && softSerial->exTimerHardware && softSerial->exTimerHardware->tim != softSerial->timerHardware->tim) {
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softSerial->timerMode = TIMER_MODE_DUAL;
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serialTimerConfigureTimebase(softSerial->exTimerHardware, baud);
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timerChConfigCallbacks(softSerial->exTimerHardware, NULL, &softSerial->overCb);
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timerChConfigCallbacks(softSerial->timerHardware, &softSerial->edgeCb, NULL);
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} else {
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softSerial->timerMode = TIMER_MODE_SINGLE;
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timerChConfigCallbacks(softSerial->timerHardware, &softSerial->edgeCb, &softSerial->overCb);
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}
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if (!(options & SERIAL_BIDIR)) {
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serialOutputPortActivate(softSerial);
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setTxSignal(softSerial, ENABLE);
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}
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serialInputPortActivate(softSerial);
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return &softSerial->port;
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}
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/*********************************************/
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//
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// Serial engines
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//
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void processTxState(softSerial_t *softSerial)
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{
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uint8_t mask;
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if (!softSerial->isTransmittingData) {
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char byteToSend;
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if (isSoftSerialTransmitBufferEmpty((serialPort_t *)softSerial)) {
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// Transmit buffer empty.
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// Start listening if not already in if half-duplex
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if (!softSerial->rxActive && softSerial->port.options & SERIAL_BIDIR) {
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serialOutputPortDeActivate(softSerial);
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serialInputPortActivate(softSerial);
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}
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return;
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}
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// data to send
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byteToSend = softSerial->port.txBuffer[softSerial->port.txBufferTail++];
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char byteToSend = softSerial->port.txBuffer[softSerial->port.txBufferTail++];
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if (softSerial->port.txBufferTail >= softSerial->port.txBufferSize) {
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softSerial->port.txBufferTail = 0;
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}
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@ -251,6 +376,12 @@ void processTxState(softSerial_t *softSerial)
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softSerial->bitsLeftToTransmit = TX_TOTAL_BITS;
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softSerial->isTransmittingData = true;
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if (softSerial->rxActive && (softSerial->port.options & SERIAL_BIDIR)) {
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// Half-duplex: Deactivate receiver, activate transmitter
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serialInputPortDeActivate(softSerial);
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serialOutputPortActivate(softSerial);
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}
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return;
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}
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@ -288,9 +419,7 @@ void prepareForNextRxByte(softSerial_t *softSerial)
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softSerial->isSearchingForStartBit = true;
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if (softSerial->rxEdge == LEADING) {
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softSerial->rxEdge = TRAILING;
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serialICConfig(
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softSerial->rxTimerHardware->tim,
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softSerial->rxTimerHardware->channel,
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serialICConfig(softSerial->timerHardware->tim, softSerial->timerHardware->channel,
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(softSerial->port.options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
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);
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}
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@ -347,18 +476,24 @@ void processRxState(softSerial_t *softSerial)
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}
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}
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void onSerialTimer(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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void onSerialTimerOverflow(timerOvrHandlerRec_t *cbRec, captureCompare_t capture)
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{
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UNUSED(capture);
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softSerial_t *softSerial = container_of(cbRec, softSerial_t, timerCb);
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//debug[0]++;
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processTxState(softSerial);
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processRxState(softSerial);
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softSerial_t *softSerial = container_of(cbRec, softSerial_t, overCb);
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if (softSerial->port.mode & MODE_TX)
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processTxState(softSerial);
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if (softSerial->port.mode & MODE_RX)
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processRxState(softSerial);
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}
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void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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{
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UNUSED(capture);
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//debug[1]++;
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softSerial_t *softSerial = container_of(cbRec, softSerial_t, edgeCb);
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bool inverted = softSerial->port.options & SERIAL_INVERTED;
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@ -371,12 +506,12 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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// synchronise bit counter
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// FIXME this reduces functionality somewhat as receiving breaks concurrent transmission on all ports because
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// the next callback to the onSerialTimer will happen too early causing transmission errors.
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TIM_SetCounter(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->tim->ARR / 2);
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if (softSerial->isTransmittingData) {
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TIM_SetCounter(softSerial->timerHardware->tim, softSerial->timerHardware->tim->ARR / 2);
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if ((softSerial->timerMode != TIMER_MODE_DUAL) && softSerial->isTransmittingData) {
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softSerial->transmissionErrors++;
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}
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
serialICConfig(softSerial->timerHardware->tim, softSerial->timerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
softSerial->rxEdge = LEADING;
|
||||
|
||||
softSerial->rxBitIndex = 0;
|
||||
|
|
@ -394,13 +529,17 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|||
|
||||
if (softSerial->rxEdge == TRAILING) {
|
||||
softSerial->rxEdge = LEADING;
|
||||
serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
serialICConfig(softSerial->timerHardware->tim, softSerial->timerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
} else {
|
||||
softSerial->rxEdge = TRAILING;
|
||||
serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
serialICConfig(softSerial->timerHardware->tim, softSerial->timerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// Standard serial driver API
|
||||
//
|
||||
|
||||
uint32_t softSerialRxBytesWaiting(const serialPort_t *instance)
|
||||
{
|
||||
if ((instance->mode & MODE_RX) == 0) {
|
||||
|
|
@ -455,7 +594,10 @@ void softSerialWriteByte(serialPort_t *s, uint8_t ch)
|
|||
void softSerialSetBaudRate(serialPort_t *s, uint32_t baudRate)
|
||||
{
|
||||
softSerial_t *softSerial = (softSerial_t *)s;
|
||||
openSoftSerial(softSerial->softSerialPortIndex, s->rxCallback, baudRate, softSerial->port.options);
|
||||
|
||||
softSerial->port.baudRate = baudRate;
|
||||
|
||||
serialTimerConfigureTimebase(softSerial->timerHardware, baudRate);
|
||||
}
|
||||
|
||||
void softSerialSetMode(serialPort_t *instance, portMode_t mode)
|
||||
|
|
@ -468,19 +610,17 @@ bool isSoftSerialTransmitBufferEmpty(const serialPort_t *instance)
|
|||
return instance->txBufferHead == instance->txBufferTail;
|
||||
}
|
||||
|
||||
const struct serialPortVTable softSerialVTable[] = {
|
||||
{
|
||||
.serialWrite = softSerialWriteByte,
|
||||
.serialTotalRxWaiting = softSerialRxBytesWaiting,
|
||||
.serialTotalTxFree = softSerialTxBytesFree,
|
||||
.serialRead = softSerialReadByte,
|
||||
.serialSetBaudRate = softSerialSetBaudRate,
|
||||
.isSerialTransmitBufferEmpty = isSoftSerialTransmitBufferEmpty,
|
||||
.setMode = softSerialSetMode,
|
||||
.writeBuf = NULL,
|
||||
.beginWrite = NULL,
|
||||
.endWrite = NULL
|
||||
}
|
||||
static const struct serialPortVTable softSerialVTable = {
|
||||
.serialWrite = softSerialWriteByte,
|
||||
.serialTotalRxWaiting = softSerialRxBytesWaiting,
|
||||
.serialTotalTxFree = softSerialTxBytesFree,
|
||||
.serialRead = softSerialReadByte,
|
||||
.serialSetBaudRate = softSerialSetBaudRate,
|
||||
.isSerialTransmitBufferEmpty = isSoftSerialTransmitBufferEmpty,
|
||||
.setMode = softSerialSetMode,
|
||||
.writeBuf = NULL,
|
||||
.beginWrite = NULL,
|
||||
.endWrite = NULL
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue