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https://github.com/betaflight/betaflight.git
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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
225
src/main/drivers/serial_uart.c
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225
src/main/drivers/serial_uart.c
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/*
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* Authors:
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* Dominic Clifton - Serial port abstraction, Separation of common STM32 code for cleanflight, various cleanups.
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* Hamasaki/Timecop - Initial baseflight code
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "serial.h"
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#include "serial_uart.h"
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uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode);
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uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode);
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static void uartReconfigure(uartPort_t *uartPort)
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{
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USART_InitTypeDef USART_InitStructure;
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USART_InitStructure.USART_BaudRate = uartPort->port.baudRate;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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if (uartPort->port.mode & MODE_SBUS) {
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USART_InitStructure.USART_StopBits = USART_StopBits_2;
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USART_InitStructure.USART_Parity = USART_Parity_Even;
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} else {
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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}
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = 0;
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if (uartPort->port.mode & MODE_RX)
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USART_InitStructure.USART_Mode |= USART_Mode_Rx;
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if (uartPort->port.mode & MODE_TX)
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USART_InitStructure.USART_Mode |= USART_Mode_Tx;
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USART_Init(uartPort->USARTx, &USART_InitStructure);
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}
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serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion)
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{
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DMA_InitTypeDef DMA_InitStructure;
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uartPort_t *s = NULL;
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if (USARTx == USART1) {
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s = serialUSART1(baudRate, mode);
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} else if (USARTx == USART2) {
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s = serialUSART2(baudRate, mode);
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} else {
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return (serialPort_t *)s;
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}
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// common serial initialisation code should move to serialPort::init()
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s->port.rxBufferHead = s->port.rxBufferTail = 0;
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s->port.txBufferHead = s->port.txBufferTail = 0;
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// callback for IRQ-based RX ONLY
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s->port.callback = callback;
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s->port.mode = mode;
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s->port.baudRate = baudRate;
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#if 1 // FIXME use inversion on STM32F3
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s->port.inversion = SERIAL_NOT_INVERTED;
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#else
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s->port.inversion = inversion;
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#endif
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uartReconfigure(s);
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DMA_StructInit(&DMA_InitStructure);
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DMA_InitStructure.DMA_PeripheralBaseAddr = s->rxDMAPeripheralBaseAddr;
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DMA_InitStructure.DMA_Priority = DMA_Priority_Medium;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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// Receive DMA or IRQ
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if (mode & MODE_RX) {
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if (s->rxDMAChannel) {
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DMA_InitStructure.DMA_BufferSize = s->port.rxBufferSize;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)s->port.rxBuffer;
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DMA_DeInit(s->rxDMAChannel);
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DMA_Init(s->rxDMAChannel, &DMA_InitStructure);
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DMA_Cmd(s->rxDMAChannel, ENABLE);
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USART_DMACmd(s->USARTx, USART_DMAReq_Rx, ENABLE);
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s->rxDMAPos = DMA_GetCurrDataCounter(s->rxDMAChannel);
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} else {
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USART_ClearITPendingBit(s->USARTx, USART_IT_RXNE);
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USART_ITConfig(s->USARTx, USART_IT_RXNE, ENABLE);
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}
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}
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DMA_StructInit(&DMA_InitStructure);
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DMA_InitStructure.DMA_PeripheralBaseAddr = s->txDMAPeripheralBaseAddr;
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DMA_InitStructure.DMA_Priority = DMA_Priority_Medium;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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// Transmit DMA or IRQ
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if (mode & MODE_TX) {
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if (s->txDMAChannel) {
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DMA_InitStructure.DMA_BufferSize = s->port.txBufferSize;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
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DMA_DeInit(s->txDMAChannel);
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DMA_Init(s->txDMAChannel, &DMA_InitStructure);
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DMA_ITConfig(s->txDMAChannel, DMA_IT_TC, ENABLE);
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DMA_SetCurrDataCounter(s->txDMAChannel, 0);
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s->txDMAChannel->CNDTR = 0;
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USART_DMACmd(s->USARTx, USART_DMAReq_Tx, ENABLE);
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} else {
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USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE);
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}
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}
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USART_Cmd(s->USARTx, ENABLE);
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return (serialPort_t *)s;
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}
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void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
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{
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uartPort_t *uartPort = (uartPort_t *)instance;
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uartPort->port.baudRate = baudRate;
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#ifndef STM32F303xC // FIXME this doesnt seem to work, for now re-open the port from scratch, perhaps clearing some uart flags may help?
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uartReconfigure(uartPort);
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#else
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uartOpen(uartPort->USARTx, uartPort->port.callback, uartPort->port.baudRate, uartPort->port.mode, uartPort->port.inversion);
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#endif
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}
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void uartSetMode(serialPort_t *instance, portMode_t mode)
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{
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uartPort_t *uartPort = (uartPort_t *)instance;
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uartPort->port.mode = mode;
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#ifndef STM32F303xC // FIXME this doesnt seem to work, for now re-open the port from scratch, perhaps clearing some uart flags may help?
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uartReconfigure(uartPort);
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#else
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uartOpen(uartPort->USARTx, uartPort->port.callback, uartPort->port.baudRate, uartPort->port.mode, uartPort->port.inversion);
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#endif
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}
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void uartStartTxDMA(uartPort_t *s)
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{
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s->txDMAChannel->CMAR = (uint32_t)&s->port.txBuffer[s->port.txBufferTail];
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if (s->port.txBufferHead > s->port.txBufferTail) {
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s->txDMAChannel->CNDTR = s->port.txBufferHead - s->port.txBufferTail;
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s->port.txBufferTail = s->port.txBufferHead;
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} else {
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s->txDMAChannel->CNDTR = s->port.txBufferSize - s->port.txBufferTail;
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s->port.txBufferTail = 0;
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}
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s->txDMAEmpty = false;
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DMA_Cmd(s->txDMAChannel, ENABLE);
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}
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uint8_t uartTotalBytesWaiting(serialPort_t *instance)
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{
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uartPort_t *s = (uartPort_t*)instance;
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if (s->rxDMAChannel)
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return (s->rxDMAChannel->CNDTR - s->rxDMAPos) & (s->port.txBufferSize - 1);
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else {
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return (s->port.rxBufferHead - s->port.rxBufferTail) & (s->port.txBufferSize - 1);
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}
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}
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// BUGBUG TODO TODO FIXME - What is the bug?
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bool isUartTransmitBufferEmpty(serialPort_t *instance)
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{
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uartPort_t *s = (uartPort_t *)instance;
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if (s->txDMAChannel)
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return s->txDMAEmpty;
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else
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return s->port.txBufferTail == s->port.txBufferHead;
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}
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uint8_t uartRead(serialPort_t *instance)
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{
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uint8_t ch;
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uartPort_t *s = (uartPort_t *)instance;
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if (s->rxDMAChannel) {
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ch = s->port.rxBuffer[s->port.rxBufferSize - s->rxDMAPos];
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if (--s->rxDMAPos == 0)
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s->rxDMAPos = s->port.rxBufferSize;
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} else {
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ch = s->port.rxBuffer[s->port.rxBufferTail];
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s->port.rxBufferTail = (s->port.rxBufferTail + 1) % s->port.rxBufferSize;
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}
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return ch;
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}
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void uartWrite(serialPort_t *instance, uint8_t ch)
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{
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uartPort_t *s = (uartPort_t *)instance;
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s->port.txBuffer[s->port.txBufferHead] = ch;
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s->port.txBufferHead = (s->port.txBufferHead + 1) % s->port.txBufferSize;
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if (s->txDMAChannel) {
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if (!(s->txDMAChannel->CCR & 1))
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uartStartTxDMA(s);
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} else {
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USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE);
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}
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}
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const struct serialPortVTable uartVTable[] = {
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{
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uartWrite,
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uartTotalBytesWaiting,
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uartRead,
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uartSetBaudRate,
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isUartTransmitBufferEmpty,
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uartSetMode,
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}
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};
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