/* * This file is part of Cleanflight. * * Cleanflight is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * Cleanflight is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with Cleanflight. If not, see . */ /* * Authors: * Dominic Clifton/Hydra - Various cleanups for Cleanflight * Bill Nesbitt - Code from AutoQuad * Hamasaki/Timecop - Initial baseflight code */ #include #include #include #include "platform.h" #include "system.h" #include "gpio.h" #include "serial.h" #include "serial_uart.h" static uartPort_t uartPort1; static uartPort_t uartPort2; void uartStartTxDMA(uartPort_t *s); // USART1 - Telemetry (RX/TX by DMA) uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode) { 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; NVIC_InitTypeDef NVIC_InitStructure; 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; s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR; s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR; s->rxDMAChannel = DMA1_Channel5; s->txDMAChannel = DMA1_Channel4; RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1_TX PA9 // USART1_RX PA10 gpio.speed = Speed_2MHz; gpio.pin = Pin_9; gpio.mode = Mode_AF_PP; if (mode & MODE_TX) gpioInit(GPIOA, &gpio); gpio.pin = Pin_10; gpio.mode = Mode_IPU; if (mode & MODE_RX) gpioInit(GPIOA, &gpio); // DMA TX Interrupt NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel4_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); return s; } // USART2 - GPS or Spektrum or ?? (RX + TX by IRQ) uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode) { 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); // USART2_TX PA2 // USART2_RX PA3 gpio.speed = Speed_2MHz; gpio.pin = Pin_2; gpio.mode = Mode_AF_PP; if (mode & MODE_TX) gpioInit(GPIOA, &gpio); gpio.pin = Pin_3; gpio.mode = Mode_IPU; if (mode & MODE_RX) gpioInit(GPIOA, &gpio); // RX/TX Interrupt NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); return s; } // Handlers // USART1 Tx DMA Handler void DMA1_Channel4_IRQHandler(void) { uartPort_t *s = &uartPort1; DMA_ClearITPendingBit(DMA1_IT_TC4); DMA_Cmd(s->txDMAChannel, DISABLE); if (s->port.txBufferHead != s->port.txBufferTail) uartStartTxDMA(s); else s->txDMAEmpty = true; } // USART1 Tx IRQ Handler void USART1_IRQHandler(void) { uartPort_t *s = &uartPort1; uint16_t SR = s->USARTx->SR; if (SR & USART_FLAG_TXE) { if (s->port.txBufferTail != s->port.txBufferHead) { s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail]; s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize; } else { USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE); } } } // USART2 Rx/Tx IRQ Handler void USART2_IRQHandler(void) { uartPort_t *s = &uartPort2; uint16_t SR = s->USARTx->SR; if (SR & USART_FLAG_RXNE) { // If we registered a callback, pass crap there if (s->port.callback) { s->port.callback(s->USARTx->DR); } else { s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR; s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize; } } if (SR & USART_FLAG_TXE) { if (s->port.txBufferTail != s->port.txBufferHead) { s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail]; s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize; } else { USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE); } } }