2010-09-27 09:28:45 +02:00
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_USART USART Functions
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* @brief PIOS interface for USART port
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* @{
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*
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* @file pios_usart.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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2013-03-15 19:25:30 +01:00
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#ifdef PIOS_INCLUDE_USART
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2010-09-27 09:28:45 +02:00
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#include <pios_usart_priv.h>
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/* Provide a COM driver */
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2011-02-12 23:19:43 +01:00
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static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
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2011-07-26 06:27:03 +02:00
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static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
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static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
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static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail);
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static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
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2011-02-12 23:19:43 +01:00
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2010-09-27 09:28:45 +02:00
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const struct pios_com_driver pios_usart_com_driver = {
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2011-07-26 06:27:03 +02:00
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.set_baud = PIOS_USART_ChangeBaud,
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.tx_start = PIOS_USART_TxStart,
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.rx_start = PIOS_USART_RxStart,
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.bind_tx_cb = PIOS_USART_RegisterTxCallback,
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.bind_rx_cb = PIOS_USART_RegisterRxCallback,
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2010-09-27 09:28:45 +02:00
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};
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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
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enum pios_usart_dev_magic {
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PIOS_USART_DEV_MAGIC = 0x11223344,
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};
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struct pios_usart_dev {
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enum pios_usart_dev_magic magic;
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const struct pios_usart_cfg * cfg;
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2011-07-26 06:27:03 +02:00
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pios_com_callback rx_in_cb;
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uint32_t rx_in_context;
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pios_com_callback tx_out_cb;
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uint32_t tx_out_context;
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2011-12-26 23:13:20 +01:00
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uint32_t rx_dropped;
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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
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};
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2011-02-12 23:19:43 +01:00
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static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
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{
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return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
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}
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2011-09-01 04:35:03 +02:00
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#if defined(PIOS_INCLUDE_FREERTOS)
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2011-02-12 23:19:43 +01:00
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static struct pios_usart_dev * PIOS_USART_alloc(void)
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2010-09-27 09:28:45 +02:00
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{
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2011-02-12 23:19:43 +01:00
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struct pios_usart_dev * usart_dev;
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2011-09-01 04:35:03 +02:00
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usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev));
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2011-02-12 23:19:43 +01:00
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if (!usart_dev) return(NULL);
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usart_dev->magic = PIOS_USART_DEV_MAGIC;
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return(usart_dev);
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}
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#else
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static struct pios_usart_dev pios_usart_devs[PIOS_USART_MAX_DEVS];
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static uint8_t pios_usart_num_devs;
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static struct pios_usart_dev * PIOS_USART_alloc(void)
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{
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struct pios_usart_dev * usart_dev;
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if (pios_usart_num_devs >= PIOS_USART_MAX_DEVS) {
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return (NULL);
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2010-09-27 09:28:45 +02:00
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}
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2011-02-12 23:19:43 +01:00
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usart_dev = &pios_usart_devs[pios_usart_num_devs++];
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usart_dev->magic = PIOS_USART_DEV_MAGIC;
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return (usart_dev);
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2010-09-27 09:28:45 +02:00
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}
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2011-02-12 23:19:43 +01:00
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#endif
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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
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/* Bind Interrupt Handlers
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*
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* Map all valid USART IRQs to the common interrupt handler
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* and provide storage for a 32-bit device id IRQ to map
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* each physical IRQ to a specific registered device instance.
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*/
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static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
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static uint32_t PIOS_USART_1_id;
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void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
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static void PIOS_USART_1_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
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}
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static uint32_t PIOS_USART_2_id;
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void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
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static void PIOS_USART_2_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
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}
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static uint32_t PIOS_USART_3_id;
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void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
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static void PIOS_USART_3_irq_handler (void)
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{
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PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
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}
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2010-09-27 09:28:45 +02:00
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/**
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2011-02-12 23:19:43 +01:00
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* Initialise a single USART device
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2010-09-27 09:28:45 +02:00
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*/
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2011-02-12 23:19:43 +01:00
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int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
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2010-09-27 09:28:45 +02:00
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{
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2011-02-12 23:19:43 +01:00
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PIOS_DEBUG_Assert(usart_id);
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PIOS_DEBUG_Assert(cfg);
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2010-09-27 09:28:45 +02:00
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2011-02-12 23:19:43 +01:00
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struct pios_usart_dev * usart_dev;
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2010-09-27 09:28:45 +02:00
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2011-02-12 23:19:43 +01:00
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usart_dev = (struct pios_usart_dev *) PIOS_USART_alloc();
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if (!usart_dev) goto out_fail;
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2010-09-27 09:28:45 +02:00
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2011-02-12 23:19:43 +01:00
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/* Bind the configuration to the device instance */
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usart_dev->cfg = cfg;
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2010-09-27 09:28:45 +02:00
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2011-02-12 23:19:43 +01:00
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/* Enable the USART Pins Software Remapping */
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if (usart_dev->cfg->remap) {
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GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
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}
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2010-09-27 09:28:45 +02:00
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2011-02-12 23:19:43 +01:00
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/* Initialize the USART Rx and Tx pins */
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GPIO_Init(usart_dev->cfg->rx.gpio, &usart_dev->cfg->rx.init);
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GPIO_Init(usart_dev->cfg->tx.gpio, &usart_dev->cfg->tx.init);
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/* Enable USART clock */
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switch ((uint32_t)usart_dev->cfg->regs) {
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case (uint32_t)USART1:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
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break;
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case (uint32_t)USART2:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
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break;
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case (uint32_t)USART3:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
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break;
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2010-09-27 09:28:45 +02:00
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}
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2011-02-12 23:19:43 +01:00
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/* Configure the USART */
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USART_Init(usart_dev->cfg->regs, &usart_dev->cfg->init);
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*usart_id = (uint32_t)usart_dev;
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/* Configure USART Interrupts */
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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
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switch ((uint32_t)usart_dev->cfg->regs) {
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2011-07-22 06:30:49 +02:00
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case (uint32_t)USART1:
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PIOS_USART_1_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)USART2:
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PIOS_USART_2_id = (uint32_t)usart_dev;
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break;
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case (uint32_t)USART3:
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PIOS_USART_3_id = (uint32_t)usart_dev;
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break;
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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
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}
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2011-02-12 23:19:43 +01:00
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|
|
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);
|
2010-09-27 09:28:45 +02:00
|
|
|
}
|
|
|
|
|
|
2013-05-05 09:02:24 +02:00
|
|
|
static void PIOS_USART_RxStart(uint32_t usart_id, __attribute__((unused)) 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);
|
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
|
|
|
|
2011-07-26 06:27:03 +02:00
|
|
|
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
|
|
|
|
|
}
|
2013-05-05 09:02:24 +02:00
|
|
|
static void PIOS_USART_TxStart(uint32_t usart_id, __attribute__((unused)) uint16_t tx_bytes_avail)
|
2011-07-26 06:27:03 +02:00
|
|
|
{
|
|
|
|
|
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
|
|
|
|
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
|
|
|
}
|
|
|
|
|
|
2010-09-27 09:28:45 +02:00
|
|
|
/**
|
|
|
|
|
* Changes the baud rate of the USART peripheral without re-initialising.
|
2011-02-12 23:19:43 +01:00
|
|
|
* \param[in] usart_id USART name (GPS, TELEM, AUX)
|
2010-09-27 09:28:45 +02:00
|
|
|
* \param[in] baud Requested baud rate
|
|
|
|
|
*/
|
2011-02-12 23:19:43 +01:00
|
|
|
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
|
2010-09-27 09:28:45 +02:00
|
|
|
{
|
2011-02-12 23:19:43 +01:00
|
|
|
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
|
2010-09-27 09:28:45 +02:00
|
|
|
|
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);
|
2010-09-27 09:28:45 +02:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
USART_InitTypeDef USART_InitStructure;
|
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);
|
|
|
|
|
}
|
|
|
|
|
|
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)
|
2010-09-27 09:28:45 +02:00
|
|
|
{
|
2011-02-12 23:19:43 +01:00
|
|
|
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
|
2010-09-27 09:28:45 +02:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
bool valid = PIOS_USART_validate(usart_dev);
|
2011-07-26 06:27:03 +02:00
|
|
|
PIOS_Assert(valid);
|
2010-09-27 09:28:45 +02:00
|
|
|
|
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
|
|
|
|
|
*/
|
2011-07-26 06:27:03 +02:00
|
|
|
usart_dev->rx_in_context = context;
|
2011-07-28 05:21:39 +02:00
|
|
|
usart_dev->rx_in_cb = rx_in_cb;
|
2010-09-27 09:28:45 +02:00
|
|
|
}
|
|
|
|
|
|
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)
|
2010-09-27 09:28:45 +02:00
|
|
|
{
|
2011-02-12 23:19:43 +01:00
|
|
|
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
|
2010-09-27 09:28:45 +02:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
bool valid = PIOS_USART_validate(usart_dev);
|
2011-07-26 06:27:03 +02:00
|
|
|
PIOS_Assert(valid);
|
2010-09-27 09:28:45 +02:00
|
|
|
|
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
|
|
|
|
|
*/
|
2011-07-26 06:27:03 +02:00
|
|
|
usart_dev->tx_out_context = context;
|
2011-07-28 05:21:39 +02:00
|
|
|
usart_dev->tx_out_cb = tx_out_cb;
|
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)
|
2010-09-27 09:28:45 +02:00
|
|
|
{
|
2011-02-12 23:19:43 +01:00
|
|
|
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
|
2010-09-27 09:28:45 +02:00
|
|
|
|
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);
|
|
|
|
|
|
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;
|
2010-09-27 09:28:45 +02:00
|
|
|
|
|
|
|
|
/* Check if RXNE flag is set */
|
2011-07-26 06:27:03 +02:00
|
|
|
bool rx_need_yield = false;
|
2011-02-08 17:34:52 +01:00
|
|
|
if (sr & USART_SR_RXNE) {
|
2011-07-26 06:27:03 +02:00
|
|
|
uint8_t byte = dr;
|
|
|
|
|
if (usart_dev->rx_in_cb) {
|
2011-12-26 23:13:20 +01:00
|
|
|
uint16_t rc;
|
|
|
|
|
rc = (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
|
|
|
|
|
if (rc < 1) {
|
|
|
|
|
/* Lost bytes on rx */
|
|
|
|
|
usart_dev->rx_dropped += 1;
|
|
|
|
|
}
|
2010-09-27 09:28:45 +02:00
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/* Check if TXE flag is set */
|
2011-07-26 06:27:03 +02:00
|
|
|
bool tx_need_yield = false;
|
2011-02-08 17:34:52 +01:00
|
|
|
if (sr & USART_SR_TXE) {
|
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);
|
2010-09-27 09:28:45 +02:00
|
|
|
|
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;
|
2010-09-27 09:28:45 +02:00
|
|
|
} else {
|
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);
|
2010-09-27 09:28:45 +02:00
|
|
|
}
|
|
|
|
|
} else {
|
2011-07-26 06:27:03 +02:00
|
|
|
/* No bytes to send, disable TXE interrupt */
|
2010-09-27 09:28:45 +02:00
|
|
|
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
|
|
|
|
|
}
|
|
|
|
|
}
|
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 */
|
2010-09-27 09:28:45 +02:00
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}
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2013-03-15 19:25:30 +01:00
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#endif /* PIOS_INCLUDE_USART */
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2010-09-27 09:28:45 +02:00
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/**
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* @}
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* @}
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*/
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