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Code Issues Releases Activity

LP-480 GPSplatinum pios_usart fixes. Bootloader now fits again.

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This commit is contained in:
Vladimir Zidar 2017-04-15 01:48:13 +02:00
parent 9eb1f3b5e5
commit 16020c1839
6 changed files with 65 additions and 32 deletions
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2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -184,7 +184,7 @@
/* Begin PBXLegacyTarget section */
6581071511DE809D0049FB12 /* OpenPilotOSX */ = {
isa = PBXLegacyTarget;
buildArgumentsString = ef_revolution;
buildArgumentsString = ef_gpsplatinum;
buildConfigurationList = 6581071A11DE80A30049FB12 /* Build configuration list for PBXLegacyTarget "OpenPilotOSX" */;
buildPhases = (
);

4
flight/pios/common/pios_com.c
View File

@ -119,12 +119,16 @@ int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, ui
PIOS_Assert(driver);
if ((rx_buffer_len > 0) && !rx_buffer) {
#if defined(PIOS_INCLUDE_FREERTOS)
rx_buffer = (uint8_t *)pios_malloc(rx_buffer_len);
#endif
PIOS_Assert(rx_buffer);
}
if ((tx_buffer_len > 0) && !tx_buffer) {
#if defined(PIOS_INCLUDE_FREERTOS)
tx_buffer = (uint8_t *)pios_malloc(tx_buffer_len);
#endif
PIOS_Assert(tx_buffer);
}

52
flight/pios/stm32f0x/pios_usart.c
View File

@ -38,7 +38,9 @@
#define PIOS_UART_TX_BUFFER 10
/* Provide a COM driver */
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
#ifndef BOOTLOADER
static void PIOS_USART_ChangeConfig(uint32_t usart_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_StopBits stop_bits, enum PIOS_COM_Parity parity, uint32_t baud_rate, enum PIOS_COM_Mode mode);
#endif
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);
@ -46,7 +48,9 @@ static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
const struct pios_com_driver pios_usart_com_driver = {
.set_baud = PIOS_USART_ChangeBaud,
#ifndef BOOTLOADER
.set_config = PIOS_USART_ChangeConfig,
#endif
.tx_start = PIOS_USART_TxStart,
.rx_start = PIOS_USART_RxStart,
.bind_tx_cb = PIOS_USART_RegisterTxCallback,
@ -71,6 +75,7 @@ struct pios_usart_dev {
uint8_t tx_buffer[PIOS_UART_TX_BUFFER];
uint8_t tx_len;
uint8_t tx_pos;
uint8_t irq_channel;
};
static struct pios_usart_dev *PIOS_USART_validate(uint32_t usart_id)
@ -138,13 +143,27 @@ static void PIOS_USART_2_irq_handler(void)
{
PIOS_USART_generic_irq_handler(PIOS_USART_2_id);
}
#if defined(STM32F072)
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);
}
#endif
static int32_t PIOS_USART_SetIrqPrio(struct pios_usart_dev *usart_dev, uint8_t irq_prio)
{
NVIC_InitTypeDef init = {
.NVIC_IRQChannel = usart_dev->irq_channel,
.NVIC_IRQChannelPriority = irq_prio,
.NVIC_IRQChannelCmd = ENABLE,
};
NVIC_Init(&init);
return 0;
}
/**
* Initialise a single USART device
@ -162,10 +181,10 @@ int32_t PIOS_USART_Init(uint32_t *usart_id, const struct pios_usart_cfg *cfg)
}
/* Bind the configuration to the device instance */
usart_dev->cfg = cfg;
usart_dev->cfg = cfg;
/* Copy the comm parameter structure */
usart_dev->init = cfg->init;
/* Initialize the comm parameter structure */
USART_StructInit(&usart_dev->init); // 9600 8n1
/* Enable the USART Pins Software Remapping */
if (usart_dev->cfg->remap) {
@ -182,22 +201,27 @@ int32_t PIOS_USART_Init(uint32_t *usart_id, const struct pios_usart_cfg *cfg)
case (uint32_t)USART1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
PIOS_USART_1_id = (uint32_t)usart_dev;
usart_dev->irq_channel = USART1_IRQn;
break;
case (uint32_t)USART2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
PIOS_USART_2_id = (uint32_t)usart_dev;
usart_dev->irq_channel = USART2_IRQn;
break;
#if defined(STM32F072)
case (uint32_t)USART3:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
PIOS_USART_3_id = (uint32_t)usart_dev;
usart_dev->irq_channel = USART3_4_IRQn;
break;
#endif
}
/* Configure the USART */
USART_Init(cfg->regs, (USART_InitTypeDef *)&usart_dev->init);
*usart_id = (uint32_t)usart_dev;
NVIC_Init((NVIC_InitTypeDef *)&cfg->irq.init);
PIOS_USART_SetIrqPrio(usart_dev, PIOS_IRQ_PRIO_MID);
USART_ITConfig(cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(cfg->regs, USART_IT_TXE, ENABLE);
USART_ITConfig(cfg->regs, USART_IT_ORE, DISABLE);
@ -238,7 +262,7 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
USART_Cmd(usart_dev->cfg->regs, ENABLE);
}
#ifndef BOOTLOADER
/**
* Changes configuration of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
@ -323,6 +347,7 @@ static void PIOS_USART_ChangeConfig(uint32_t usart_id,
*/
USART_Cmd(usart_dev->cfg->regs, ENABLE);
}
#endif /* BOOTLOADER */
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
{
@ -358,8 +383,8 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
/* Check if RXNE flag is set */
bool rx_need_yield = false;
if (USART_GetITStatus(usart_dev->cfg->regs, USART_IT_RXNE) != RESET) {
uint8_t byte = USART_ReceiveData(usart_dev->cfg->regs) & 0x00FF;
if (usart_dev->cfg->regs->ISR & USART_ISR_RXNE) {
uint8_t byte = usart_dev->cfg->regs->RDR & 0xFF;
if (usart_dev->rx_in_cb) {
uint16_t rc;
rc = (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
@ -372,7 +397,7 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
/* Check if TXE flag is set */
bool tx_need_yield = false;
if (USART_GetITStatus(usart_dev->cfg->regs, USART_IT_TXE) != RESET) {
if (usart_dev->cfg->regs->ISR & USART_ISR_TXE) {
if (usart_dev->tx_out_cb) {
if (!usart_dev->tx_len) {
usart_dev->tx_len = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, usart_dev->tx_buffer, PIOS_UART_TX_BUFFER, NULL, &tx_need_yield);
@ -380,19 +405,18 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
}
if (usart_dev->tx_len > 0) {
/* Send the byte we've been given */
USART_SendData(usart_dev->cfg->regs, usart_dev->tx_buffer[usart_dev->tx_pos++]);
usart_dev->cfg->regs->TDR = usart_dev->tx_buffer[usart_dev->tx_pos++];
usart_dev->tx_len--;
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
usart_dev->cfg->regs->CR1 &= ~(USART_CR1_TXEIE);
}
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
usart_dev->cfg->regs->CR1 &= ~(USART_CR1_TXEIE);
}
}
USART_ClearITPendingBit(usart_dev->cfg->regs, USART_IT_ORE);
USART_ClearITPendingBit(usart_dev->cfg->regs, USART_IT_TC);
usart_dev->cfg->regs->ICR = USART_ICR_ORECF | USART_ICR_TCCF;
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield || tx_need_yield) {
vPortYield();

34
flight/targets/boards/gpsplatinum/board_hw_defs.c
View File

@ -268,22 +268,22 @@ static const struct pios_hmc5x83_cfg pios_mag_cfg = {
static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_1,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
// .init = {
// .USART_BaudRate = 57600,
// .USART_WordLength = USART_WordLength_8b,
// .USART_Parity = USART_Parity_No,
// .USART_StopBits = USART_StopBits_1,
// .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
// .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
// },
// .irq = {
// .init = {
// .NVIC_IRQChannel = USART1_IRQn,
// .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
// .NVIC_IRQChannelCmd = ENABLE,
// },
// },
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
@ -292,7 +292,7 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
},
},
.tx = {
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,

3
flight/targets/boards/gpsplatinum/bootloader/pios_board.c
View File

@ -70,9 +70,12 @@ void setupCom()
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&PIOS_COM_TELEM_USB, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN,
tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
PIOS_Assert(0);
}
PIOS_COM_ChangeBaud(PIOS_COM_TELEM_USB, 57600);
}

2
flight/targets/boards/gpsplatinum/firmware/pios_board.c
View File

@ -114,6 +114,8 @@ void PIOS_Board_Init(void)
tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
PIOS_Assert(0);
}
PIOS_COM_ChangeBaud(pios_com_main_id, 57600);
}
#endif