mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 08:45:36 +03:00
Cleanup project structure. Update unit test Makefile to place object
files in obj/test
This commit is contained in:
Dominic Clifton
parent
fb9e3a2358
commit
d19a5e7046
330 changed files with 657 additions and 638 deletions
409
src/main/drivers/serial_softserial.c
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409
src/main/drivers/serial_softserial.c
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "system.h"
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#include "gpio.h"
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#include "timer.h"
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#include "serial.h"
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#include "serial_softserial.h"
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#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
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#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
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#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
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#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
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#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
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#endif
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#if defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3)
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#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 8 // PWM 9
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#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 9 // PWM 10
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#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 10 // PWM 11
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#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 11 // PWM 12
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#endif
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#define RX_TOTAL_BITS 10
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#define TX_TOTAL_BITS 10
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#define MAX_SOFTSERIAL_PORTS 2
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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void onSerialTimer(uint8_t portIndex, captureCompare_t capture);
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void onSerialRxPinChange(uint8_t portIndex, captureCompare_t capture);
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void setTxSignal(softSerial_t *softSerial, uint8_t state)
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{
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if (softSerial->port.inversion == SERIAL_INVERTED) {
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state = !state;
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}
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if (state) {
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digitalHi(softSerial->txTimerHardware->gpio, softSerial->txTimerHardware->pin);
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} else {
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digitalLo(softSerial->txTimerHardware->gpio, softSerial->txTimerHardware->pin);
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}
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}
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static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint16_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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void serialInputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
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}
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static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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{
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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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{
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uint32_t clock = SystemCoreClock;
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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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if (clock > 1) {
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clock = clock / 2;
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} else {
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// TODO unable to continue, unable to determine clock and timerPeriods for the given baud
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}
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}
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} while (isTimerPeriodTooLarge(timerPeriod));
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uint8_t mhz = SystemCoreClock / 1000000;
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timerConfigure(timerHardwarePtr, timerPeriod, mhz);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, onSerialTimer);
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}
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static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = channel;
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TIM_ICInitStructure.TIM_ICPolarity = polarity;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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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, serialInversion_e inversion)
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{
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// start bit is usually a FALLING signal
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serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, inversion == SERIAL_INVERTED ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, onSerialRxPinChange);
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}
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static void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_Out_PP);
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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 = SOFT_SERIAL_BUFFER_SIZE;
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softSerial->port.rxBuffer = softSerial->rxBuffer;
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softSerial->port.rxBufferTail = 0;
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softSerial->port.rxBufferHead = 0;
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softSerial->port.txBuffer = softSerial->txBuffer;
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softSerial->port.txBufferSize = SOFT_SERIAL_BUFFER_SIZE;
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softSerial->port.txBufferTail = 0;
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softSerial->port.txBufferHead = 0;
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}
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serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallbackPtr callback, uint32_t baud, serialInversion_e inversion)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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if (portIndex == SOFTSERIAL1) {
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softSerial->rxTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_TX_HARDWARE]);
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}
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if (portIndex == SOFTSERIAL2) {
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softSerial->rxTimerHardware = &(timerHardware[SOFT_SERIAL_2_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFT_SERIAL_2_TIMER_TX_HARDWARE]);
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}
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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.inversion = inversion;
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softSerial->port.callback = callback;
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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->transmissionErrors = 0;
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softSerial->receiveErrors = 0;
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softSerial->softSerialPortIndex = portIndex;
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serialOutputPortConfig(softSerial->txTimerHardware);
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serialInputPortConfig(softSerial->rxTimerHardware);
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setTxSignal(softSerial, ENABLE);
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delay(50);
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serialTimerTxConfig(softSerial->txTimerHardware, portIndex, baud);
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serialTimerRxConfig(softSerial->rxTimerHardware, portIndex, inversion);
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return &softSerial->port;
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}
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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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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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if (softSerial->port.txBufferTail >= softSerial->port.txBufferSize) {
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softSerial->port.txBufferTail = 0;
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}
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// build internal buffer, MSB = Stop Bit (1) + data bits (MSB to LSB) + start bit(0) LSB
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softSerial->internalTxBuffer = (1 << (TX_TOTAL_BITS - 1)) | (byteToSend << 1);
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softSerial->bitsLeftToTransmit = TX_TOTAL_BITS;
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softSerial->isTransmittingData = true;
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return;
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}
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if (softSerial->bitsLeftToTransmit) {
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mask = softSerial->internalTxBuffer & 1;
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softSerial->internalTxBuffer >>= 1;
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setTxSignal(softSerial, mask);
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softSerial->bitsLeftToTransmit--;
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return;
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}
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softSerial->isTransmittingData = false;
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}
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enum {
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TRAILING,
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LEADING
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};
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void applyChangedBits(softSerial_t *softSerial)
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{
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if (softSerial->rxEdge == TRAILING) {
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uint8_t bitToSet;
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for (bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex; bitToSet++) {
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softSerial->internalRxBuffer |= 1 << bitToSet;
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}
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}
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}
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void prepareForNextRxByte(softSerial_t *softSerial)
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{
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// prepare for next byte
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softSerial->rxBitIndex = 0;
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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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softSerial->port.inversion == SERIAL_INVERTED ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
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);
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}
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}
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#define STOP_BIT_MASK (1 << 0)
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#define START_BIT_MASK (1 << (RX_TOTAL_BITS - 1))
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void extractAndStoreRxByte(softSerial_t *softSerial)
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{
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if ((softSerial->port.mode & MODE_RX) == 0) {
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return;
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}
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uint8_t haveStartBit = (softSerial->internalRxBuffer & START_BIT_MASK) == 0;
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uint8_t haveStopBit = (softSerial->internalRxBuffer & STOP_BIT_MASK) == 1;
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if (!haveStartBit || !haveStopBit) {
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softSerial->receiveErrors++;
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return;
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}
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uint8_t rxByte = (softSerial->internalRxBuffer >> 1) & 0xFF;
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if (softSerial->port.callback) {
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softSerial->port.callback(rxByte);
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} else {
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softSerial->port.rxBuffer[softSerial->port.rxBufferHead] = rxByte;
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softSerial->port.rxBufferHead = (softSerial->port.rxBufferHead + 1) % softSerial->port.rxBufferSize;
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}
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}
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void processRxState(softSerial_t *softSerial)
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{
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if (softSerial->isSearchingForStartBit) {
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return;
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}
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softSerial->rxBitIndex++;
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if (softSerial->rxBitIndex == RX_TOTAL_BITS - 1) {
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applyChangedBits(softSerial);
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return;
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}
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if (softSerial->rxBitIndex == RX_TOTAL_BITS) {
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if (softSerial->rxEdge == TRAILING) {
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softSerial->internalRxBuffer |= STOP_BIT_MASK;
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}
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extractAndStoreRxByte(softSerial);
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prepareForNextRxByte(softSerial);
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}
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}
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void onSerialTimer(uint8_t portIndex, captureCompare_t capture)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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processTxState(softSerial);
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processRxState(softSerial);
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}
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void onSerialRxPinChange(uint8_t portIndex, captureCompare_t capture)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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if ((softSerial->port.mode & MODE_RX) == 0) {
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return;
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}
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if (softSerial->isSearchingForStartBit) {
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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, 0);
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if (softSerial->isTransmittingData) {
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softSerial->transmissionErrors++;
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}
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, softSerial->port.inversion == SERIAL_INVERTED ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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softSerial->rxEdge = LEADING;
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softSerial->rxBitIndex = 0;
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softSerial->rxLastLeadingEdgeAtBitIndex = 0;
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softSerial->internalRxBuffer = 0;
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softSerial->isSearchingForStartBit = false;
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return;
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}
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if (softSerial->rxEdge == LEADING) {
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softSerial->rxLastLeadingEdgeAtBitIndex = softSerial->rxBitIndex;
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}
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applyChangedBits(softSerial);
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if (softSerial->rxEdge == TRAILING) {
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softSerial->rxEdge = LEADING;
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, softSerial->port.inversion == SERIAL_INVERTED ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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} else {
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softSerial->rxEdge = TRAILING;
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, softSerial->port.inversion == SERIAL_INVERTED ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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}
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}
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uint8_t softSerialTotalBytesWaiting(serialPort_t *instance)
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{
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if ((instance->mode & MODE_RX) == 0) {
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return 0;
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}
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softSerial_t *s = (softSerial_t *)instance;
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return (s->port.rxBufferHead - s->port.rxBufferTail) & (s->port.txBufferSize - 1);
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}
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uint8_t softSerialReadByte(serialPort_t *instance)
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{
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uint8_t ch;
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if ((instance->mode & MODE_RX) == 0) {
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return 0;
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}
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if (softSerialTotalBytesWaiting(instance) == 0) {
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return 0;
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}
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ch = instance->rxBuffer[instance->rxBufferTail];
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instance->rxBufferTail = (instance->rxBufferTail + 1) % instance->rxBufferSize;
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return ch;
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}
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void softSerialWriteByte(serialPort_t *s, uint8_t ch)
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{
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if ((s->mode & MODE_TX) == 0) {
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return;
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}
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s->txBuffer[s->txBufferHead] = ch;
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s->txBufferHead = (s->txBufferHead + 1) % s->txBufferSize;
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}
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void softSerialSetBaudRate(serialPort_t *s, uint32_t baudRate)
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{
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softSerial_t *softSerial = (softSerial_t *)s;
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openSoftSerial(softSerial->softSerialPortIndex, s->callback, baudRate, softSerial->port.inversion);
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}
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void softSerialSetMode(serialPort_t *instance, portMode_t mode)
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{
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instance->mode = mode;
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}
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bool isSoftSerialTransmitBufferEmpty(serialPort_t *instance)
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{
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return instance->txBufferHead == instance->txBufferTail;
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}
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const struct serialPortVTable softSerialVTable[] = {
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{
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softSerialWriteByte,
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softSerialTotalBytesWaiting,
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softSerialReadByte,
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softSerialSetBaudRate,
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isSoftSerialTransmitBufferEmpty,
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softSerialSetMode,
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}
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};
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