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LibrePilot/flight/PiOS/STM32F10x/pios_usart.c

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Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USART USART Functions
* @brief PIOS interface for USART port
* @{
*
* @file pios_usart.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_USART)
#include <pios_usart_priv.h>
/* Provide a COM driver */
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail);
static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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const struct pios_com_driver pios_usart_com_driver = {
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
.set_baud = PIOS_USART_ChangeBaud,
.tx_start = PIOS_USART_TxStart,
.rx_start = PIOS_USART_RxStart,
.bind_tx_cb = PIOS_USART_RegisterTxCallback,
.bind_rx_cb = PIOS_USART_RegisterRxCallback,
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
};
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
enum pios_usart_dev_magic {
PIOS_USART_DEV_MAGIC = 0x11223344,
};
struct pios_usart_dev {
enum pios_usart_dev_magic magic;
const struct pios_usart_cfg * cfg;
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
};
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
{
return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
}
pios: allocate driver instance data from heap Allocate per-instance data for drivers from the heap rather than as static variables from the .data segment. This converts > 800 bytes of RAM from being always consumed as static data into being allocated from the heap only when a particular feature is enabled in the hwsettings object. A minimal config (no receivers, flexi port disabled, main port disabled) leaves 2448 bytes of free heap. That's our new baseline. Approximate RAM (heap) costs of enabling various features: + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers) + 108 PWM Rcvr + 152 PPM Rcvr + 112 Spektrum Rcvr + 24 S.Bus (Should be closer to 68 since driver is still using static memory) There are still some drivers that pre-allocate all of their memory as static data. It'll take some work to convert those over to dynamically allocating their instance data.
2011-09-01 04:35:03 +02:00
#if defined(PIOS_INCLUDE_FREERTOS)
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
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static struct pios_usart_dev * PIOS_USART_alloc(void)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev;
pios: allocate driver instance data from heap Allocate per-instance data for drivers from the heap rather than as static variables from the .data segment. This converts > 800 bytes of RAM from being always consumed as static data into being allocated from the heap only when a particular feature is enabled in the hwsettings object. A minimal config (no receivers, flexi port disabled, main port disabled) leaves 2448 bytes of free heap. That's our new baseline. Approximate RAM (heap) costs of enabling various features: + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers) + 108 PWM Rcvr + 152 PPM Rcvr + 112 Spektrum Rcvr + 24 S.Bus (Should be closer to 68 since driver is still using static memory) There are still some drivers that pre-allocate all of their memory as static data. It'll take some work to convert those over to dynamically allocating their instance data.
2011-09-01 04:35:03 +02:00
usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev));
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
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if (!usart_dev) return(NULL);
usart_dev->magic = PIOS_USART_DEV_MAGIC;
return(usart_dev);
}
#else
static struct pios_usart_dev pios_usart_devs[PIOS_USART_MAX_DEVS];
static uint8_t pios_usart_num_devs;
static struct pios_usart_dev * PIOS_USART_alloc(void)
{
struct pios_usart_dev * usart_dev;
if (pios_usart_num_devs >= PIOS_USART_MAX_DEVS) {
return (NULL);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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}
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
usart_dev = &pios_usart_devs[pios_usart_num_devs++];
usart_dev->magic = PIOS_USART_DEV_MAGIC;
return (usart_dev);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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}
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
#endif
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
/* Bind Interrupt Handlers
*
* Map all valid USART IRQs to the common interrupt handler
* and provide storage for a 32-bit device id IRQ to map
* each physical IRQ to a specific registered device instance.
*/
static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
static uint32_t PIOS_USART_1_id;
void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
static void PIOS_USART_1_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
}
static uint32_t PIOS_USART_2_id;
void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
static void PIOS_USART_2_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
}
static uint32_t PIOS_USART_3_id;
void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
static void PIOS_USART_3_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
}
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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/**
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
* Initialise a single USART device
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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*/
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
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{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
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PIOS_DEBUG_Assert(usart_id);
PIOS_DEBUG_Assert(cfg);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
usart_dev = (struct pios_usart_dev *) PIOS_USART_alloc();
if (!usart_dev) goto out_fail;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
/* Bind the configuration to the device instance */
usart_dev->cfg = cfg;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
/* Enable the USART Pins Software Remapping */
if (usart_dev->cfg->remap) {
GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
}
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
/* Initialize the USART Rx and Tx pins */
GPIO_Init(usart_dev->cfg->rx.gpio, &usart_dev->cfg->rx.init);
GPIO_Init(usart_dev->cfg->tx.gpio, &usart_dev->cfg->tx.init);
/* Enable USART clock */
switch ((uint32_t)usart_dev->cfg->regs) {
case (uint32_t)USART1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
break;
case (uint32_t)USART2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
break;
case (uint32_t)USART3:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
break;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
/* Configure the USART */
USART_Init(usart_dev->cfg->regs, &usart_dev->cfg->init);
*usart_id = (uint32_t)usart_dev;
/* Configure USART Interrupts */
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
switch ((uint32_t)usart_dev->cfg->regs) {
usart: fix lower usarts clobbering higher ones The break statements are clearly missing from this switch statement. This would lead to problems when using more than one USART on CC.
2011-07-22 06:30:49 +02:00
case (uint32_t)USART1:
PIOS_USART_1_id = (uint32_t)usart_dev;
break;
case (uint32_t)USART2:
PIOS_USART_2_id = (uint32_t)usart_dev;
break;
case (uint32_t)USART3:
PIOS_USART_3_id = (uint32_t)usart_dev;
break;
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
}
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
NVIC_Init(&usart_dev->cfg->irq.init);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
/* Enable USART */
USART_Cmd(usart_dev->cfg->regs, ENABLE);
return(0);
out_fail:
return(-1);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail)
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
PIOS_Assert(valid);
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
}
static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
}
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
/**
* Changes the baud rate of the USART peripheral without re-initialising.
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
* \param[in] usart_id USART name (GPS, TELEM, AUX)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
* \param[in] baud Requested baud rate
*/
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
bool valid = PIOS_USART_validate(usart_dev);
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
PIOS_Assert(valid);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
USART_InitTypeDef USART_InitStructure;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
/* Start with a copy of the default configuration for the peripheral */
USART_InitStructure = usart_dev->cfg->init;
/* Adjust the baud rate */
USART_InitStructure.USART_BaudRate = baud;
/* Write back the new configuration */
USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
}
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
bool valid = PIOS_USART_validate(usart_dev);
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
PIOS_Assert(valid);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
usart: ensure callbacks are bound in the correct order
2011-07-28 05:21:39 +02:00
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
usart_dev->rx_in_context = context;
usart: ensure callbacks are bound in the correct order
2011-07-28 05:21:39 +02:00
usart_dev->rx_in_cb = rx_in_cb;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
bool valid = PIOS_USART_validate(usart_dev);
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
PIOS_Assert(valid);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
usart: ensure callbacks are bound in the correct order
2011-07-28 05:21:39 +02:00
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
usart_dev->tx_out_context = context;
usart: ensure callbacks are bound in the correct order
2011-07-28 05:21:39 +02:00
usart_dev->tx_out_cb = tx_out_cb;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
{
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
hwinit: Convert COM and USART to dynamic init git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 23:19:43 +01:00
bool valid = PIOS_USART_validate(usart_dev);
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
PIOS_Assert(valid);
PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an error flag set git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 17:34:52 +01:00
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;
volatile uint8_t dr = usart_dev->cfg->regs->DR;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
/* Check if RXNE flag is set */
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
bool rx_need_yield = false;
PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an error flag set git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 17:34:52 +01:00
if (sr & USART_SR_RXNE) {
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
uint8_t byte = dr;
if (usart_dev->rx_in_cb) {
(void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
}
/* Check if TXE flag is set */
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
bool tx_need_yield = false;
PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an error flag set git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 17:34:52 +01:00
if (sr & USART_SR_TXE) {
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
if (usart_dev->tx_out_cb) {
uint8_t b;
uint16_t bytes_to_send;
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
if (bytes_to_send > 0) {
/* Send the byte we've been given */
usart_dev->cfg->regs->DR = b;
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
} else {
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
} else {
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
/* No bytes to send, disable TXE interrupt */
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield || tx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
}
#endif
/**
* @}
* @}
*/
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