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merge branch master into osd-improvement-master

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This commit is contained in:
Evgeny Sychov 2016-07-09 20:19:25 -07:00
commit b909c70353
138 changed files with 1104 additions and 1533 deletions
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138
src/main/drivers/serial_uart_stm32f10x.c
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@ -29,34 +29,28 @@
#include <platform.h>
#include "system.h"
#include "gpio.h"
#include "io.h"
#include "nvic.h"
#include "dma.h"
#include "rcc.h"
#include "serial.h"
#include "serial_uart.h"
#include "serial_uart_impl.h"
#ifdef USE_USART1
#ifdef USE_UART1
static uartPort_t uartPort1;
#endif
#ifdef USE_USART2
#ifdef USE_UART2
static uartPort_t uartPort2;
#endif
#ifdef USE_USART3
#ifdef USE_UART3
static uartPort_t uartPort3;
#endif
// Using RX DMA disables the use of receive callbacks
#define USE_USART1_RX_DMA
#if defined(CC3D) // FIXME move board specific code to target.h files.
#undef USE_USART1_RX_DMA
#endif
void usartIrqCallback(uartPort_t *s)
void uartIrqCallback(uartPort_t *s)
{
uint16_t SR = s->USARTx->SR;
@ -83,12 +77,10 @@ void usartIrqCallback(uartPort_t *s)
}
}
#ifdef USE_USART1
// USART1 Tx DMA Handler
void USART1_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
void uart_tx_dma_IRQHandler(dmaChannelDescriptor_t* descriptor)
{
uartPort_t *s = &uartPort1;
uartPort_t *s = (uartPort_t*)(descriptor->userParam);
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
DMA_Cmd(descriptor->channel, DISABLE);
@ -98,64 +90,58 @@ void USART1_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
s->txDMAEmpty = true;
}
#ifdef USE_UART1
// USART1 - Telemetry (RX/TX by DMA)
uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode, portOptions_t options)
uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx1Buffer[UART1_RX_BUFFER_SIZE];
static volatile uint8_t tx1Buffer[UART1_TX_BUFFER_SIZE];
gpio_config_t gpio;
s = &uartPort1;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBuffer = rx1Buffer;
s->port.txBuffer = tx1Buffer;
s->port.rxBufferSize = UART1_RX_BUFFER_SIZE;
s->port.txBufferSize = UART1_TX_BUFFER_SIZE;
s->USARTx = USART1;
#ifdef USE_USART1_RX_DMA
#ifdef USE_UART1_RX_DMA
s->rxDMAChannel = DMA1_Channel5;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
#endif
s->txDMAChannel = DMA1_Channel4;
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_ClockCmd(RCC_APB2(USART1), ENABLE);
RCC_ClockCmd(RCC_AHB(DMA1), ENABLE);
// USART1_TX PA9
// USART1_RX PA10
gpio.speed = Speed_2MHz;
gpio.pin = Pin_9;
// UART1_TX PA9
// UART1_RX PA10
if (options & SERIAL_BIDIR) {
gpio.mode = Mode_AF_OD;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA9)), OWNER_SERIAL, RESOURCE_UART_TXRX, 1);
IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
gpio.mode = Mode_AF_PP;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA9)), OWNER_SERIAL, RESOURCE_UART_TX, 1);
IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), IOCFG_AF_PP);
}
if (mode & MODE_RX) {
gpio.pin = Pin_10;
gpio.mode = Mode_IPU;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA10)), OWNER_SERIAL, RESOURCE_UART_RX, 1);
IOConfigGPIO(IOGetByTag(IO_TAG(PA10)), IOCFG_IPU);
}
}
// DMA TX Interrupt
dmaSetHandler(DMA1_CH4_HANDLER, USART1_DMA_IRQHandler, NVIC_PRIO_SERIALUART1_TXDMA, 0);
dmaSetHandler(DMA1_CH4_HANDLER, uart_tx_dma_IRQHandler, NVIC_PRIO_SERIALUART1_TXDMA, &uartPort1);
#ifndef USE_USART1_RX_DMA
#ifndef USE_UART1_RX_DMA
// RX/TX Interrupt
NVIC_InitTypeDef NVIC_InitStructure;
@ -169,62 +155,57 @@ uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode, portOptions_t optio
return s;
}
// USART1 Rx/Tx IRQ Handler
void USART1_IRQHandler(void)
{
uartPort_t *s = &uartPort1;
usartIrqCallback(s);
uartIrqCallback(s);
}
#endif
#ifdef USE_USART2
#ifdef USE_UART2
// USART2 - GPS or Spektrum or ?? (RX + TX by IRQ)
uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode, portOptions_t options)
uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx2Buffer[UART2_RX_BUFFER_SIZE];
static volatile uint8_t tx2Buffer[UART2_TX_BUFFER_SIZE];
gpio_config_t gpio;
NVIC_InitTypeDef NVIC_InitStructure;
s = &uartPort2;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART2_RX_BUFFER_SIZE;
s->port.txBufferSize = UART2_TX_BUFFER_SIZE;
s->port.rxBuffer = rx2Buffer;
s->port.txBuffer = tx2Buffer;
s->USARTx = USART2;
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_ClockCmd(RCC_APB1(USART2), ENABLE);
RCC_ClockCmd(RCC_AHB(DMA1), ENABLE);
// USART2_TX PA2
// USART2_RX PA3
gpio.speed = Speed_2MHz;
gpio.pin = Pin_2;
// UART2_TX PA2
// UART2_RX PA3
if (options & SERIAL_BIDIR) {
gpio.mode = Mode_AF_OD;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL, RESOURCE_UART_TXRX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
gpio.mode = Mode_AF_PP;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL, RESOURCE_UART_TX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_PP);
}
if (mode & MODE_RX) {
gpio.pin = Pin_3;
gpio.mode = Mode_IPU;
gpioInit(GPIOA, &gpio);
IOInit(IOGetByTag(IO_TAG(PA3)), OWNER_SERIAL, RESOURCE_UART_RX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA3)), IOCFG_IPU);
}
}
@ -243,19 +224,19 @@ uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode, portOptions_t optio
void USART2_IRQHandler(void)
{
uartPort_t *s = &uartPort2;
usartIrqCallback(s);
uartIrqCallback(s);
}
#endif
#ifdef USE_USART3
#ifdef USE_UART3
// USART3
uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t options)
uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx3Buffer[UART3_RX_BUFFER_SIZE];
static volatile uint8_t tx3Buffer[UART3_TX_BUFFER_SIZE];
gpio_config_t gpio;
NVIC_InitTypeDef NVIC_InitStructure;
s = &uartPort3;
@ -273,29 +254,20 @@ uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t optio
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
#ifdef USART3_APB1_PERIPHERALS
RCC_APB1PeriphClockCmd(USART3_APB1_PERIPHERALS, ENABLE);
#endif
#ifdef USART3_APB2_PERIPHERALS
RCC_APB2PeriphClockCmd(USART3_APB2_PERIPHERALS, ENABLE);
#endif
RCC_ClockCmd(RCC_APB1(USART3), ENABLE);
gpio.speed = Speed_2MHz;
gpio.pin = USART3_TX_PIN;
if (options & SERIAL_BIDIR) {
gpio.mode = Mode_AF_OD;
gpioInit(USART3_GPIO, &gpio);
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TXRX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
gpio.mode = Mode_AF_PP;
gpioInit(USART3_GPIO, &gpio);
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_PP);
}
if (mode & MODE_RX) {
gpio.pin = USART3_RX_PIN;
gpio.mode = Mode_IPU;
gpioInit(USART3_GPIO, &gpio);
IOInit(IOGetByTag(IO_TAG(UART3_RX_PIN)), OWNER_SERIAL, RESOURCE_UART_RX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_RX_PIN)), IOCFG_IPU);
}
}
@ -313,6 +285,6 @@ uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t optio
void USART3_IRQHandler(void)
{
uartPort_t *s = &uartPort3;
usartIrqCallback(s);
uartIrqCallback(s);
}
#endif