mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-21 15:25:36 +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
514
src/main/io/serial.c
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514
src/main/io/serial.c
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@ -0,0 +1,514 @@
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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 <string.h>
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#include "platform.h"
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#include "drivers/system.h"
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/serial.h"
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#include "drivers/serial_softserial.h"
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#include "drivers/serial_uart.h"
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#include "serial_cli.h"
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#include "serial_msp.h"
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#include "io/serial.h"
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#include "config/config.h"
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uint32_t getTelemetryProviderBaudRate(void);
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void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintToUpdate);
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void mspInit(serialConfig_t *serialConfig);
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void cliInit(serialConfig_t *serialConfig);
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// this exists so the user can reference scenarios by a number in the CLI instead of an unuser-friendly bitmask.
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const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUNT] = {
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SCENARIO_UNUSED,
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// common scenarios in order of importance
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SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH,
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SCENARIO_GPS_ONLY,
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SCENARIO_SERIAL_RX_ONLY,
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SCENARIO_TELEMETRY_ONLY,
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// other scenarios
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SCENARIO_MSP_CLI_GPS_PASTHROUGH,
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SCENARIO_CLI_ONLY,
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SCENARIO_GPS_PASSTHROUGH_ONLY,
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SCENARIO_MSP_ONLY
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};
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static serialConfig_t *serialConfig;
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static serialPort_t *serialPorts[SERIAL_PORT_COUNT];
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static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_USART2, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
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{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
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};
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const static serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
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{SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE },
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{SERIAL_PORT_USART2, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE},
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{SERIAL_PORT_SOFTSERIAL1, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE},
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{SERIAL_PORT_SOFTSERIAL2, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE}
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};
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const functionConstraint_t functionConstraints[] = {
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{ FUNCTION_CLI, 9600, 115200, NO_AUTOBAUD, SPF_NONE },
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{ FUNCTION_GPS, 9600, 115200, AUTOBAUD, SPF_NONE },
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{ FUNCTION_GPS_PASSTHROUGH, 9600, 115200, NO_AUTOBAUD, SPF_NONE },
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{ FUNCTION_MSP, 9600, 115200, NO_AUTOBAUD, SPF_NONE },
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{ FUNCTION_SERIAL_RX, 9600, 115200, NO_AUTOBAUD, SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_CALLBACK },
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{ FUNCTION_TELEMETRY, 9600, 19200, NO_AUTOBAUD, SPF_NONE }
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};
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#define FUNCTION_CONSTRAINT_COUNT (sizeof(functionConstraints) / sizeof(functionConstraint_t))
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typedef struct serialPortSearchResult_s {
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serialPortIndex_e portIndex;
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serialPortFunction_t *portFunction;
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const serialPortConstraint_t *portConstraint;
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const functionConstraint_t *functionConstraint;
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// private
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uint8_t startSerialPortFunctionIndex; // used by findNextSerialPort
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} serialPortSearchResult_t;
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static const serialPortFunctionList_t serialPortFunctionList = {
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4,
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serialPortFunctions
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};
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const serialPortFunctionList_t *getSerialPortFunctionList(void)
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{
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return &serialPortFunctionList;
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}
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uint8_t lookupScenarioIndex(serialPortFunctionScenario_e scenario) {
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uint8_t index;
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for (index = 0; index < SERIAL_PORT_SCENARIO_COUNT; index++) {
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if (serialPortScenarios[index] == scenario) {
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break;
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}
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}
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return index;
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}
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static serialPortIndex_e lookupSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
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{
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serialPortIndex_e portIndex;
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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if (serialPortConstraints[portIndex].identifier == identifier) {
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break;
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}
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}
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return portIndex;
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}
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static uint8_t lookupSerialPortFunctionIndexByIdentifier(serialPortIdentifier_e identifier)
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{
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uint8_t index;
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for (index = 0; index < SERIAL_PORT_COUNT; index++) {
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if (serialPortFunctions[index].identifier == identifier) {
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break;
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}
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}
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return index;
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}
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static const functionConstraint_t *findFunctionConstraint(serialPortFunction_e function)
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{
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const functionConstraint_t *functionConstraint = NULL;
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uint8_t functionConstraintIndex;
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for (functionConstraintIndex = 0; functionConstraintIndex < FUNCTION_CONSTRAINT_COUNT; functionConstraintIndex++) {
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functionConstraint = &functionConstraints[functionConstraintIndex];
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if (functionConstraint->function == function) {
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return functionConstraint;
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}
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}
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return NULL;
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}
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static uint8_t countBits_uint32(uint32_t n) {
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uint8_t c; // c accumulates the total bits set in n
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for (c = 0; n; c++)
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n &= n - 1; // clear the least significant bit set
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return c;
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}
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static int serialPortFunctionMostSpecificFirstComparator(const void *aPtr, const void *bPtr)
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{
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serialPortFunction_t *a = (serialPortFunction_t *)aPtr;
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serialPortFunction_t *b = (serialPortFunction_t *)bPtr;
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return countBits_uint32(a->scenario) > countBits_uint32(b->scenario);
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}
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static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, uint8_t elements)
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{
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qsort(serialPortFunctions, elements, sizeof(serialPortFunction_t), serialPortFunctionMostSpecificFirstComparator);
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}
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serialPortSearchResult_t *findNextSerialPort(serialPortFunction_e function, const functionConstraint_t *functionConstraint, serialPortSearchResult_t *resultBuffer)
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{
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uint8_t serialPortFunctionIndex;
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serialPortFunction_t *serialPortFunction;
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for (serialPortFunctionIndex = resultBuffer->startSerialPortFunctionIndex; serialPortFunctionIndex < SERIAL_PORT_COUNT; serialPortFunctionIndex++) {
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serialPortFunction = &serialPortFunctions[serialPortFunctionIndex];
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if (!(serialPortFunction->scenario & function)) {
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continue;
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}
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uint8_t serialPortIndex = lookupSerialPortIndexByIdentifier(serialPortFunction->identifier);
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const serialPortConstraint_t *serialPortConstraint = &serialPortConstraints[serialPortIndex];
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if (!feature(FEATURE_SOFTSERIAL) && (
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serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL1 ||
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serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL2
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)) {
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continue;
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}
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if (functionConstraint->requiredSerialPortFeatures != SPF_NONE) {
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if (!(serialPortConstraint->feature & functionConstraint->requiredSerialPortFeatures)) {
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continue;
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}
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}
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if (functionConstraint->minBaudRate < serialPortConstraint->minBaudRate || functionConstraint->maxBaudRate > serialPortConstraint->maxBaudRate) {
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continue;
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}
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resultBuffer->portIndex = serialPortIndex;
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resultBuffer->portConstraint = serialPortConstraint;
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resultBuffer->portFunction = serialPortFunction;
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resultBuffer->functionConstraint = functionConstraint;
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uint8_t nextStartIndex = serialPortFunctionIndex + 1;
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resultBuffer->startSerialPortFunctionIndex = nextStartIndex;
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return resultBuffer;
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}
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return NULL;
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}
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/*
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* since this method, and other methods that use it, use a single instance of
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* searchPortSearchResult be sure to copy the data out of it before it gets overwritten by another caller.
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* If this becomes a problem perhaps change the implementation to use a destination argument.
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*/
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static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function, const functionConstraint_t *functionConstraint)
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{
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static serialPortSearchResult_t serialPortSearchResult;
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memset(&serialPortSearchResult, 0, sizeof(serialPortSearchResult));
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// FIXME this only needs to be done once, after the config has been loaded.
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sortSerialPortFunctions(serialPortFunctions, SERIAL_PORT_COUNT);
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return findNextSerialPort(function, functionConstraint, &serialPortSearchResult);
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}
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static serialPortFunction_t *findSerialPortFunction(uint16_t functionMask)
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{
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serialPortIndex_e portIndex;
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// find exact match first
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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serialPortFunction_t *serialPortFunction = &serialPortFunctions[portIndex];
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if (serialPortFunction->scenario == functionMask) {
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return serialPortFunction;
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}
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}
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// find the first port that supports the function requested
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for (portIndex = 0; portIndex < SERIAL_PORT_COUNT; portIndex++) {
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serialPortFunction_t *serialPortFunction = &serialPortFunctions[portIndex];
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if (serialPortFunction->scenario & functionMask) {
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return serialPortFunction;
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}
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}
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return NULL;
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}
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/*
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* find a serial port that is:
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* a) open
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* b) matches the function mask exactly, or if an exact match is not found the first port that supports the function
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*/
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serialPort_t *findOpenSerialPort(uint16_t functionMask)
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{
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serialPortFunction_t *function = findSerialPortFunction(functionMask);
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if (!function) {
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return NULL;
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}
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return function->port;
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}
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static serialPortFunction_t * findSerialPortFunctionByPort(serialPort_t *port)
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{
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serialPortFunction_t *serialPortFunction;
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uint8_t functionIndex;
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for (functionIndex = 0; functionIndex < SERIAL_PORT_COUNT; functionIndex++) {
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serialPortFunction = &serialPortFunctions[functionIndex];
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if (serialPortFunction->port == port) {
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return serialPortFunction;
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}
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}
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return NULL;
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}
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void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function)
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{
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serialPortFunction_t *serialPortFunction = findSerialPortFunctionByPort(port);
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serialPortFunction->currentFunction = function;
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}
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void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function)
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{
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serialPortFunction_t *serialPortFunction = findSerialPortFunctionByPort(port);
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serialPortFunction->currentFunction = FUNCTION_NONE;
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}
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functionConstraint_t *getConfiguredFunctionConstraint(serialPortFunction_e function)
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{
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static functionConstraint_t configuredFunctionConstraint;
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const functionConstraint_t *functionConstraint;
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functionConstraint = findFunctionConstraint(function);
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if (!functionConstraint) {
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return NULL;
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}
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memcpy(&configuredFunctionConstraint, functionConstraint, sizeof(functionConstraint_t));
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switch(function) {
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case FUNCTION_MSP:
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configuredFunctionConstraint.maxBaudRate = serialConfig->msp_baudrate;
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break;
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case FUNCTION_CLI:
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configuredFunctionConstraint.minBaudRate = serialConfig->cli_baudrate;
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configuredFunctionConstraint.maxBaudRate = configuredFunctionConstraint.minBaudRate;
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break;
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case FUNCTION_GPS_PASSTHROUGH:
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configuredFunctionConstraint.minBaudRate = serialConfig->gps_passthrough_baudrate;
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configuredFunctionConstraint.maxBaudRate = configuredFunctionConstraint.minBaudRate;
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break;
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case FUNCTION_TELEMETRY:
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configuredFunctionConstraint.minBaudRate = getTelemetryProviderBaudRate();
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configuredFunctionConstraint.maxBaudRate = configuredFunctionConstraint.minBaudRate;
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break;
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case FUNCTION_SERIAL_RX:
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updateSerialRxFunctionConstraint(&configuredFunctionConstraint);
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break;
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case FUNCTION_GPS:
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configuredFunctionConstraint.maxBaudRate = serialConfig->gps_baudrate;
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break;
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default:
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break;
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}
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return &configuredFunctionConstraint;
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}
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bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
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{
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serialPortSearchResult_t *searchResult;
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functionConstraint_t *functionConstraint;
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serialConfig = serialConfigToCheck;
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functionConstraint = getConfiguredFunctionConstraint(FUNCTION_MSP);
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searchResult = findSerialPort(FUNCTION_MSP, functionConstraint);
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if (!searchResult) {
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return false;
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}
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functionConstraint = getConfiguredFunctionConstraint(FUNCTION_CLI);
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searchResult = findSerialPort(FUNCTION_CLI, functionConstraint);
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if (!searchResult) {
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return false;
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}
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functionConstraint = getConfiguredFunctionConstraint(FUNCTION_GPS);
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searchResult = findSerialPort(FUNCTION_GPS, functionConstraint);
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if (feature(FEATURE_GPS) && !searchResult) {
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return false;
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}
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functionConstraint = getConfiguredFunctionConstraint(FUNCTION_SERIAL_RX);
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searchResult = findSerialPort(FUNCTION_SERIAL_RX, functionConstraint);
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if (feature(FEATURE_RX_SERIAL) && !searchResult) {
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return false;
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}
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functionConstraint = getConfiguredFunctionConstraint(FUNCTION_TELEMETRY);
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searchResult = findSerialPort(FUNCTION_TELEMETRY, functionConstraint);
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if (feature(FEATURE_TELEMETRY) && !searchResult) {
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return false;
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}
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return true;
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}
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bool doesConfigurationUsePort(serialConfig_t *serialConfig, serialPortIdentifier_e portIdentifier)
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{
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serialPortSearchResult_t *searchResult;
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const functionConstraint_t *functionConstraint;
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serialPortFunction_e function;
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uint8_t index;
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for (index = 0; index < FUNCTION_CONSTRAINT_COUNT; index++) {
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function = functionConstraints[index].function;
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functionConstraint = findFunctionConstraint(function);
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searchResult = findSerialPort(function, functionConstraint);
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if (searchResult->portConstraint->identifier == portIdentifier) {
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return true;
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}
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}
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return false;
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}
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bool canOpenSerialPort(serialPortFunction_e function)
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{
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functionConstraint_t *functionConstraint = getConfiguredFunctionConstraint(function);
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serialPortSearchResult_t *result = findSerialPort(function, functionConstraint);
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return result != NULL;
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}
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bool isSerialPortFunctionShared(serialPortFunction_e functionToUse, uint16_t functionMask)
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{
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functionConstraint_t *functionConstraint = getConfiguredFunctionConstraint(functionToUse);
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serialPortSearchResult_t *result = findSerialPort(functionToUse, functionConstraint);
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if (!result) {
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return false;
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}
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return result->portFunction->scenario & functionMask;
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}
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void applySerialConfigToPortFunctions(serialConfig_t *serialConfig)
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{
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART1)].scenario = serialPortScenarios[serialConfig->serial_port_1_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART2)].scenario = serialPortScenarios[serialConfig->serial_port_2_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL1)].scenario = serialPortScenarios[serialConfig->serial_port_3_scenario];
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serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL2)].scenario = serialPortScenarios[serialConfig->serial_port_4_scenario];
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}
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serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion)
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{
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serialPort_t *serialPort = NULL;
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functionConstraint_t *initialFunctionConstraint = getConfiguredFunctionConstraint(function);
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functionConstraint_t updatedFunctionConstraint;
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memcpy(&updatedFunctionConstraint, initialFunctionConstraint, sizeof(updatedFunctionConstraint));
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if (initialFunctionConstraint->autoBaud == NO_AUTOBAUD) {
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updatedFunctionConstraint.minBaudRate = baudRate;
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updatedFunctionConstraint.maxBaudRate = baudRate;
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}
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functionConstraint_t *functionConstraint = &updatedFunctionConstraint;
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serialPortSearchResult_t *searchResult = findSerialPort(function, functionConstraint);
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while(searchResult && searchResult->portFunction->port) {
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// port is already open, find the next one
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searchResult = findNextSerialPort(function, functionConstraint, searchResult);
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}
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if (!searchResult) {
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return NULL;
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}
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serialPortIndex_e portIndex = searchResult->portIndex;
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const serialPortConstraint_t *serialPortConstraint = searchResult->portConstraint;
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serialPortIdentifier_e identifier = serialPortConstraint->identifier;
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switch(identifier) {
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case SERIAL_PORT_USART1:
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serialPort = uartOpen(USART1, callback, baudRate, mode, inversion);
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break;
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case SERIAL_PORT_USART2:
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serialPort = uartOpen(USART2, callback, baudRate, mode, inversion);
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break;
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case SERIAL_PORT_SOFTSERIAL1:
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serialPort = openSoftSerial(SOFTSERIAL1, callback, baudRate, inversion);
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serialSetMode(serialPort, mode);
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break;
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case SERIAL_PORT_SOFTSERIAL2:
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serialPort = openSoftSerial(SOFTSERIAL2, callback, baudRate, inversion);
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serialSetMode(serialPort, mode);
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break;
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}
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if (!serialPort) {
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return NULL;
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||||
}
|
||||
|
||||
serialPort->identifier = identifier;
|
||||
|
||||
serialPorts[portIndex] = serialPort;
|
||||
|
||||
serialPortFunction_t *serialPortFunction = searchResult->portFunction;
|
||||
|
||||
serialPortFunction->port = serialPort;
|
||||
//serialPortFunction->identifier = identifier;
|
||||
|
||||
beginSerialPortFunction(serialPort, function);
|
||||
|
||||
return serialPort;
|
||||
}
|
||||
|
||||
void serialInit(serialConfig_t *initialSerialConfig)
|
||||
{
|
||||
serialConfig = initialSerialConfig;
|
||||
applySerialConfigToPortFunctions(serialConfig);
|
||||
|
||||
mspInit(serialConfig);
|
||||
cliInit(serialConfig);
|
||||
}
|
||||
|
||||
void handleSerial(void)
|
||||
{
|
||||
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
|
||||
if (cliMode) {
|
||||
cliProcess();
|
||||
return;
|
||||
}
|
||||
|
||||
mspProcess();
|
||||
}
|
||||
|
||||
void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
|
||||
{
|
||||
while (!isSerialTransmitBufferEmpty(serialPort)) {
|
||||
delay(10);
|
||||
};
|
||||
}
|
||||
|
||||
// evaluate all other incoming serial data
|
||||
void evaluateOtherData(uint8_t sr)
|
||||
{
|
||||
if (sr == '#')
|
||||
cliProcess();
|
||||
else if (sr == serialConfig->reboot_character)
|
||||
systemReset(true); // reboot to bootloader
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue