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betaflight/mw-svn/Serial.cpp
timecop d262c6e66c imported STM32 multiwii port into baseflight dir 
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-02-16 09:39:58 +00:00

486 lines
15 KiB
C++
Executable file
Raw Blame History

// *******************************************************
// Interrupt driven UART transmitter - using a ring buffer
// *******************************************************
static uint8_t head, tail;
static uint8_t buf[256]; // 256 is choosen to avoid modulo operations on 8 bits pointers
void serialize16(int16_t a)
{
buf[head++] = a;
buf[head++] = a >> 8 & 0xff;
}
void serialize8(uint8_t a)
{
buf[head++] = a;
}
ISR_UART {
UDR0 = buf[tail++]; // Transmit next byte in the ring
if (tail == head) // Check if all data is transmitted
UCSR0B &= ~(1 << UDRIE0); // Disable transmitter UDRE interrupt
}
void UartSendData()
{ // Data transmission acivated when the ring is not empty
UCSR0B |= (1 << UDRIE0); // Enable transmitter UDRE interrupt
}
void serialCom()
{
int16_t a;
uint8_t i;
if (SerialAvailable(0)) {
switch (SerialRead(0)) {
#ifdef BTSERIAL
case 'K': //receive RC data from Bluetooth Serial adapter as a remote
rcData[THROTTLE] = (SerialRead(0) * 4) + 1000;
rcData[ROLL] = (SerialRead(0) * 4) + 1000;
rcData[PITCH] = (SerialRead(0) * 4) + 1000;
rcData[YAW] = (SerialRead(0) * 4) + 1000;
rcData[AUX1] = (SerialRead(0) * 4) + 1000;
break;
#endif
#ifdef LCD_TELEMETRY
case 'A': // button A press
case '1':
if (telemetry == 1)
telemetry = 0;
else {
telemetry = 1;
LCDclear();
}
break;
case 'B': // button B press
case '2':
if (telemetry == 2)
telemetry = 0;
else {
telemetry = 2;
LCDclear();
}
break;
case 'C': // button C press
case '3':
if (telemetry == 3)
telemetry = 0;
else {
telemetry = 3;
LCDclear();
#if defined(LOG_VALUES) && defined(DEBUG)
cycleTimeMax = 0; // reset min/max on transition on->off
cycleTimeMin = 65535;
#endif
}
break;
case 'D': // button D press
case '4':
if (telemetry == 4)
telemetry = 0;
else {
telemetry = 4;
LCDclear();
}
break;
case '5':
if (telemetry == 5)
telemetry = 0;
else {
telemetry = 5;
LCDclear();
}
break;
case '6':
if (telemetry == 6)
telemetry = 0;
else {
telemetry = 6;
LCDclear();
}
break;
case '7':
if (telemetry == 7)
telemetry = 0;
else {
telemetry = 7;
LCDclear();
}
break;
#if defined(LOG_VALUES) && defined(DEBUG)
case 'R':
//Reset logvalues
if (telemetry == 'R')
telemetry = 0;
else {
telemetry = 'R';
LCDclear();
}
break;
#endif
#ifdef DEBUG
case 'F':
{
if (telemetry == 'F')
telemetry = 0;
else {
telemetry = 'F';
LCDclear();
}
break;
}
#endif
case 'a': // button A release
case 'b': // button B release
case 'c': // button C release
case 'd': // button D release
break;
#endif
case 'M': // Multiwii @ arduino to GUI all data
serialize8('M');
serialize8(VERSION); // MultiWii Firmware version
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
for (i = 0; i < 3; i++)
serialize16(gyroData[i]);
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
serialize16(EstAlt);
serialize16(heading); // compass
for (i = 0; i < 8; i++)
serialize16(servo[i]);
for (i = 0; i < 8; i++)
serialize16(motor[i]);
for (i = 0; i < 8; i++)
serialize16(rcData[i]);
serialize8(nunchuk | ACC << 1 | BARO << 2 | MAG << 3 | GPSPRESENT << 4);
serialize8(accMode | baroMode << 1 | magMode << 2 | (GPSModeHome | GPSModeHold) << 3);
#if defined(LOG_VALUES)
serialize16(cycleTimeMax);
cycleTimeMax = 0;
#else
serialize16(cycleTime);
#endif
for (i = 0; i < 2; i++)
serialize16(angle[i]);
serialize8(MULTITYPE);
for (i = 0; i < PIDITEMS; i++) {
serialize8(P8[i]);
serialize8(I8[i]);
serialize8(D8[i]);
}
serialize8(rcRate8);
serialize8(rcExpo8);
serialize8(rollPitchRate);
serialize8(yawRate);
serialize8(dynThrPID);
for (i = 0; i < CHECKBOXITEMS; i++) {
serialize8(activate1[i]);
serialize8(activate2[i]);
}
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome);
serialize8(GPS_numSat);
serialize8(GPS_fix);
serialize8(GPS_update);
serialize16(intPowerMeterSum);
serialize16(intPowerTrigger1);
serialize8(vbat);
serialize16(BaroAlt); // 4 variables are here for general monitoring purpose
serialize16(i2c_errors_count); // debug2
serialize16(debug3); // debug3
serialize16(debug4); // debug4
serialize8('M');
UartSendData();
break;
case 'O': // arduino to OSD data - contribution from MIS
serialize8('O');
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
for (i = 0; i < 3; i++)
serialize16(gyroData[i]);
serialize16(EstAlt * 10.0f);
serialize16(heading); // compass - 16 bytes
for (i = 0; i < 2; i++)
serialize16(angle[i]); //20
for (i = 0; i < 6; i++)
serialize16(motor[i]); //32
for (i = 0; i < 6; i++) {
serialize16(rcData[i]);
} //44
serialize8(nunchuk | ACC << 1 | BARO << 2 | MAG << 3);
serialize8(accMode | baroMode << 1 | magMode << 2);
serialize8(vbat); // Vbatt 47
serialize8(VERSION); // MultiWii Firmware version
serialize8('O'); //49
UartSendData();
break;
case 'W': //GUI write params to eeprom @ arduino
while (SerialAvailable(0) < (7 + 3 * PIDITEMS + 2 * CHECKBOXITEMS)) {
}
for (i = 0; i < PIDITEMS; i++) {
P8[i] = SerialRead(0);
I8[i] = SerialRead(0);
D8[i] = SerialRead(0);
}
rcRate8 = SerialRead(0);
rcExpo8 = SerialRead(0); //2
rollPitchRate = SerialRead(0);
yawRate = SerialRead(0); //4
dynThrPID = SerialRead(0); //5
for (i = 0; i < CHECKBOXITEMS; i++) {
activate1[i] = SerialRead(0);
activate2[i] = SerialRead(0);
}
#if defined(POWERMETER)
powerTrigger1 = (SerialRead(0) + 256 * SerialRead(0)) / PLEVELSCALE; // we rely on writeParams() to compute corresponding pAlarm value
#else
SerialRead(0);
SerialRead(0); //7 so we unload the two bytes
#endif
writeParams();
break;
case 'S': //GUI to arduino ACC calibration request
calibratingA = 400;
break;
case 'E': //GUI to arduino MAG calibration request
calibratingM = 1;
break;
}
}
}
#define SERIAL_RX_BUFFER_SIZE 64
#if defined(PROMINI)
uint8_t serialBufferRX[SERIAL_RX_BUFFER_SIZE][1];
volatile uint8_t serialHeadRX[1], serialTailRX[1];
#endif
#if defined(MEGA)
uint8_t serialBufferRX[SERIAL_RX_BUFFER_SIZE][4];
volatile uint8_t serialHeadRX[4], serialTailRX[4];
#endif
//#if defined(PROMINI)
//uint8_t serialBufferRX0[SERIAL_RX_BUFFER_SIZE];
//volatile uint8_t serialHeadRX0,serialTailRX0;
//#endif
//#if defined(MEGA)
//uint8_t serialBufferRX1[SERIAL_RX_BUFFER_SIZE];
//volatile uint8_t serialHeadRX1,serialTailRX1;
//uint8_t serialBufferRX2[SERIAL_RX_BUFFER_SIZE];
//volatile uint8_t serialHeadRX2,serialTailRX2;
//uint8_t serialBufferRX3[SERIAL_RX_BUFFER_SIZE];
//volatile uint8_t serialHeadRX3,serialTailRX3;
//#endif
void SerialOpen(uint8_t port, uint32_t baud)
{
uint8_t h = ((F_CPU / 4 / baud - 1) / 2) >> 8;
uint8_t l = ((F_CPU / 4 / baud - 1) / 2);
switch (port) {
case 0:
UCSR0A = (1 << U2X0);
UBRR0H = h;
UBRR0L = l;
UCSR0B |= (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0);
break;
#if defined(MEGA)
case 1:
UCSR1A = (1 << U2X1);
UBRR1H = h;
UBRR1L = l;
UCSR1B |= (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
break;
case 2:
UCSR2A = (1 << U2X2);
UBRR2H = h;
UBRR2L = l;
UCSR2B |= (1 << RXEN2) | (1 << TXEN2) | (1 << RXCIE2);
break;
case 3:
UCSR3A = (1 << U2X3);
UBRR3H = h;
UBRR3L = l;
UCSR3B |= (1 << RXEN3) | (1 << TXEN3) | (1 << RXCIE3);
break;
#endif
}
}
void SerialEnd(uint8_t port)
{
switch (port) {
case 0:
UCSR0B &= ~((1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0) | (1 << UDRIE0));
break;
#if defined(MEGA)
case 1:
UCSR1B &= ~((1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1));
break;
case 2:
UCSR2B &= ~((1 << RXEN2) | (1 << TXEN2) | (1 << RXCIE2));
break;
case 3:
UCSR3B &= ~((1 << RXEN3) | (1 << TXEN3) | (1 << RXCIE3));
break;
#endif
}
}
#if defined(PROMINI) && !(defined(SPEKTRUM))
SIGNAL(USART_RX_vect)
{
uint8_t d = UDR0;
uint8_t i = (serialHeadRX[0] + 1) % SERIAL_RX_BUFFER_SIZE;
if (i != serialTailRX[0]) {
serialBufferRX[serialHeadRX[0]][0] = d;
serialHeadRX[0] = i;
}
}
#endif
#if defined(MEGA)
SIGNAL(USART0_RX_vect)
{
uint8_t d = UDR0;
uint8_t i = (serialHeadRX[0] + 1) % SERIAL_RX_BUFFER_SIZE;
if (i != serialTailRX[0]) {
serialBufferRX[serialHeadRX[0]][0] = d;
serialHeadRX[0] = i;
}
}
#if !(defined(SPEKTRUM))
SIGNAL(USART1_RX_vect)
{
uint8_t d = UDR1;
uint8_t i = (serialHeadRX[1] + 1) % SERIAL_RX_BUFFER_SIZE;
if (i != serialTailRX[1]) {
serialBufferRX[serialHeadRX[1]][1] = d;
serialHeadRX[1] = i;
}
}
#endif
SIGNAL(USART2_RX_vect)
{
uint8_t d = UDR2;
uint8_t i = (serialHeadRX[2] + 1) % SERIAL_RX_BUFFER_SIZE;
if (i != serialTailRX[2]) {
serialBufferRX[serialHeadRX[2]][2] = d;
serialHeadRX[2] = i;
}
}
SIGNAL(USART3_RX_vect)
{
uint8_t d = UDR3;
uint8_t i = (serialHeadRX[3] + 1) % SERIAL_RX_BUFFER_SIZE;
if (i != serialTailRX[3]) {
serialBufferRX[serialHeadRX[3]][3] = d;
serialHeadRX[3] = i;
}
}
#endif
//#if defined(PROMINI) && !(defined(SPEKTRUM))
//SIGNAL(USART_RX_vect){
// uint8_t d = UDR0;
// uint8_t i = (serialHeadRX0 + 1) % SERIAL_RX_BUFFER_SIZE;
// if (i != serialTailRX0) {serialBufferRX0[serialHeadRX0] = d; serialHeadRX0 = i;}
//}
//#endif
//#if defined(MEGA)
//SIGNAL(USART0_RX_vect){
// uint8_t d = UDR0;
// uint8_t i = (serialHeadRX0 + 1) % SERIAL_RX_BUFFER_SIZE;
// if (i != serialTailRX0) {serialBufferRX0[serialHeadRX0] = d; serialHeadRX0 = i;}
//}
//#if !(defined(SPEKTRUM))
//SIGNAL(USART1_RX_vect){
// uint8_t d = UDR1;
// uint8_t i = (serialHeadRX1 + 1) % SERIAL_RX_BUFFER_SIZE;
// if (i != serialTailRX1) {serialBufferRX1[serialHeadRX1] = d; serialHeadRX1 = i;}
//}
//#endif
//SIGNAL(USART2_RX_vect){
// uint8_t d = UDR2;
// uint8_t i = (serialHeadRX2 + 1) % SERIAL_RX_BUFFER_SIZE;
// if (i != serialTailRX2) {serialBufferRX2[serialHeadRX2] = d; serialHeadRX2 = i;}
//}
//SIGNAL(USART3_RX_vect){
// uint8_t d = UDR3;
// uint8_t i = (serialHeadRX3 + 1) % SERIAL_RX_BUFFER_SIZE;
// if (i != serialTailRX3) {serialBufferRX3[serialHeadRX3] = d; serialHeadRX3 = i;}
//}
//#endif
uint8_t SerialRead(uint8_t port)
{
uint8_t c = serialBufferRX[serialTailRX[port]][port];
if ((serialHeadRX[port] != serialTailRX[port]))
serialTailRX[port] = (serialTailRX[port] + 1) % SERIAL_RX_BUFFER_SIZE;
return c;
}
//void SerialRead(uint8_t port,uint8_t c){
// switch (port) {
// case 0:
// uint8_t c = serialBufferRX0[serialTailRX0];
// if ((serialHeadRX0 != serialTailRX0)) serialTailRX0 = (serialTailRX0 + 1) % SERIAL_RX_BUFFER_SIZE;
// break;
// #if defined(MEGA)
// case 1:
// uint8_t c = serialBufferRX1[serialTailRX1];
// if ((serialHeadRX1 != serialTailRX1)) serialTailRX1 = (serialTailRX1 + 1) % SERIAL_RX_BUFFER_SIZE;
// break;
// case 2:
// uint8_t c = serialBufferRX2[serialTailRX2];
// if ((serialHeadRX2 != serialTailRX2)) serialTailRX2 = (serialTailRX2 + 1) % SERIAL_RX_BUFFER_SIZE;
// break;
// case 3:
// uint8_t c = serialBufferRX3[serialTailRX3];
// if ((serialHeadRX3 != serialTailRX3)) serialTailRX3 = (serialTailRX3 + 1) % SERIAL_RX_BUFFER_SIZE;
// break;
// #endif
// }
// return c;
//}
uint8_t SerialAvailable(uint8_t port)
{
return (SERIAL_RX_BUFFER_SIZE + serialHeadRX[port] - serialTailRX[port]) % SERIAL_RX_BUFFER_SIZE;
}
//void SerialAvailable(uint8_t port,uint8_t c){
// switch (port) {
// case 0: return (SERIAL_RX_BUFFER_SIZE + serialHeadRX0 - serialTailRX0) % SERIAL_RX_BUFFER_SIZE;
// #if defined(MEGA)
// case 1: return (SERIAL_RX_BUFFER_SIZE + serialHeadRX1 - serialTailRX1) % SERIAL_RX_BUFFER_SIZE;
// case 2: return (SERIAL_RX_BUFFER_SIZE + serialHeadRX2 - serialTailRX2) % SERIAL_RX_BUFFER_SIZE;
// case 3: return (SERIAL_RX_BUFFER_SIZE + serialHeadRX3 - serialTailRX3) % SERIAL_RX_BUFFER_SIZE;
// #endif
// }
//}
void SerialWrite(uint8_t port, uint8_t c)
{
switch (port) {
case 0:
serialize8(c);
UartSendData();
break; // Serial0 TX is driven via a buffer and a background intterupt
#if defined(MEGA)
case 1:
while (!(UCSR1A & (1 << UDRE1)));
UDR1 = c;
break; // Serial1 Serial2 and Serial3 TX are not driven via interrupts
case 2:
while (!(UCSR2A & (1 << UDRE2)));
UDR2 = c;
break;
case 3:
while (!(UCSR3A & (1 << UDRE3)));
UDR3 = c;
break;
#endif
}
}
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