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Code Issues Releases Activity

Merge branch 'stac/refactor-usart-com' into camera_stabilization

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This commit is contained in:
James Cotton 2011-07-30 10:55:16 +09:00
commit 2e5a36a4db
41 changed files with 1102 additions and 719 deletions
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24
flight/AHRS/pios_board.c
View File

@ -54,7 +54,6 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -157,7 +156,6 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -217,7 +215,6 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -249,6 +246,9 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
#include <pios_com_priv.h>
#define PIOS_COM_AUX_TX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
@ -294,7 +294,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -304,7 +303,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -375,12 +373,16 @@ void PIOS_Board_Init(void) {
/* Communication system */
#if !defined(PIOS_ENABLE_DEBUG_PINS)
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id)) {
PIOS_DEBUG_Assert(0);
{
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
NULL, 0,
pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
#endif

8
flight/Bootloaders/AHRS/pios_board.c
View File

@ -55,7 +55,6 @@ static const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -133,11 +132,18 @@ void PIOS_SPI_op_irq_handler(void) {
#include "bl_fsm.h" /* lfsm_* */
static bool board_init_complete = false;
void PIOS_Board_Init() {
if (board_init_complete) {
return;
}
/* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0);
}
lfsm_attach(pios_spi_op_id);
lfsm_init();
board_init_complete = true;
}

3
flight/Bootloaders/CopterControl/Makefile
View File

@ -94,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
@ -139,7 +137,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c

43
flight/Bootloaders/CopterControl/main.c
View File

@ -28,7 +28,6 @@
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h"
#include "op_dfu.h"
#include "usb_lib.h"
#include "pios_iap.h"
@ -47,9 +46,9 @@ pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
@ -70,7 +69,6 @@ uint8_t processRX();
void jump_to_app();
#define BLUE LED1
#define LED_PWM_TIMER TIM1
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
@ -93,13 +91,17 @@ int main() {
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (TRUE) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == TRUE)
jump_to_app();
@ -107,19 +109,19 @@ int main() {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
period2 = 0;
break;
case uploading:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 25;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(BLUE);
period2 = 0;
@ -130,14 +132,14 @@ int main() {
period2 = 0;
break;
default://error
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 50;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
@ -145,16 +147,16 @@ int main() {
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_Off(BLUE);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
@ -195,10 +197,9 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
return TRUE;
}

41
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -31,10 +31,31 @@
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
static bool board_init_complete = false;
void PIOS_Board_Init(void) {
if (board_init_complete) {
return;
}
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -58,13 +84,20 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
board_init_complete = true;
}

12
flight/Bootloaders/OpenPilot/main.c
View File

@ -250,10 +250,9 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
if (ProgPort == Usb) {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
} else if (ProgPort == Serial) {
@ -279,7 +278,12 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) {
}
int16_t SSP_SerialRead(void) {
if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
uint8_t byte;
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) {
return byte;
} else {
return -1;
}
} else
return -1;
}

50
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -60,7 +60,6 @@ const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -157,7 +156,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
}, .irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -186,8 +184,35 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN];
static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -200,7 +225,11 @@ uint32_t pios_com_telem_usb_id;
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
static bool board_init_complete = false;
void PIOS_Board_Init(void) {
if (board_init_complete) {
return;
}
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -218,7 +247,9 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
pios_usart_telem_rf_id)) {
pios_usart_telem_rf_id,
pios_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer),
pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
@ -226,13 +257,16 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
@ -243,6 +277,8 @@ void PIOS_Board_Init(void) {
/* Bind the AHRS comms layer to the AHRS SPI link */
PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
board_init_complete = true;
}
/**

3
flight/Bootloaders/PipXtreme/Makefile
View File

@ -94,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
@ -138,7 +136,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c

45
flight/Bootloaders/PipXtreme/main.c
View File

@ -28,7 +28,6 @@
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h"
#include "op_dfu.h"
#include "usb_lib.h"
#include "pios_iap.h"
@ -47,9 +46,9 @@ pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
@ -71,7 +70,6 @@ void jump_to_app();
#define BLUE LED1
#define RED LED4
#define LED_PWM_TIMER TIM3
int main() {
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
@ -98,35 +96,37 @@ int main() {
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (TRUE) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == TRUE)
jump_to_app();
//pwm_period = 50; // *100 uS -> 5 mS
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
period2 = 0;
break;
case uploading:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 25;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
period2 = 0;
@ -137,14 +137,14 @@ int main() {
period2 = 0;
break;
default://error
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 50;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
@ -152,16 +152,16 @@ int main() {
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(RED);
else
PIOS_LED_Off(RED);
} else
PIOS_LED_Off(RED);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
@ -203,10 +203,9 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
return TRUE;
}

39
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -31,10 +31,31 @@
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
static bool board_init_complete = false;
void PIOS_Board_Init(void) {
if (board_init_complete) {
return;
}
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -58,13 +84,18 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
board_init_complete = true;
}

120
flight/CopterControl/System/pios_board.c
View File

@ -63,7 +63,6 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -156,7 +155,6 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -216,7 +214,6 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -253,7 +250,6 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -295,7 +291,6 @@ static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -332,7 +327,6 @@ static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -376,7 +370,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -425,7 +418,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -482,7 +474,6 @@ static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SBUS_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -531,6 +522,14 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_RTC)
@ -545,7 +544,6 @@ static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -666,7 +664,6 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM4_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -761,7 +758,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = 0,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -826,7 +822,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -836,7 +831,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -869,6 +863,21 @@ struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -924,7 +933,14 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
@ -933,12 +949,20 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
PIOS_SBUS_Init(&pios_sbus_cfg);
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_rcvr_id;
if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;
@ -949,7 +973,12 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
@ -958,13 +987,20 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_main_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
uint32_t pios_rcvr_id;
if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
@ -986,7 +1022,13 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
@ -999,7 +1041,11 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
@ -1008,13 +1054,20 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_flexi_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
uint32_t pios_rcvr_id;
if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
@ -1041,7 +1094,7 @@ void PIOS_Board_Init(void) {
PIOS_PWM_Init();
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
PIOS_Assert(0);
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
@ -1057,7 +1110,7 @@ void PIOS_Board_Init(void) {
PIOS_PPM_Init();
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
@ -1113,9 +1166,16 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */

27
flight/INS/pios_board.c
View File

@ -61,7 +61,6 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -175,7 +174,6 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -277,7 +275,6 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -321,7 +318,6 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -350,6 +346,21 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
#endif /* PIOS_COM_AUX */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#if 0
#define PIOS_COM_AUX_TX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#endif
#define PIOS_COM_GPS_RX_BUF_LEN 96
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
@ -393,7 +404,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.event = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -403,7 +413,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.error = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -461,7 +470,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.event = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -471,7 +479,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.error = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -525,7 +532,9 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
NULL, 0)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */

9
flight/Modules/GPS/GPS.c
View File

@ -200,8 +200,10 @@ static void gpsTask(void *parameters)
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
int res = GTOP_BIN_update_position(PIOS_COM_ReceiveBuffer(gpsPort), &numChecksumErrors, &numParsingErrors);
if (res >= 0)
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
{
numUpdates++;
@ -217,7 +219,8 @@ static void gpsTask(void *parameters)
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
char c = PIOS_COM_ReceiveBuffer(gpsPort);
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
// detect start while acquiring stream
if (!start_flag && (c == '$'))

51
flight/Modules/Telemetry/telemetry.c
View File

@ -309,7 +309,6 @@ static void telemetryTxPriTask(void *parameters)
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
int32_t len;
// Task loop
while (1) {
@ -323,14 +322,20 @@ static void telemetryRxTask(void *parameters)
inputPort = telemetryPort;
}
// Block until data are available
// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
len = PIOS_COM_ReceiveBufferUsed(inputPort);
for (int32_t n = 0; n < len; ++n) {
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
}
vTaskDelay(5); // <- remove when blocking calls are implemented
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
@ -354,7 +359,11 @@ static int32_t transmitData(uint8_t * data, int32_t length)
outputPort = telemetryPort;
}
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
if (outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
} else {
return -1;
}
}
/**
@ -510,20 +519,16 @@ static void updateSettings()
// Retrieve settings
TelemetrySettingsGet(&settings);
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
if (telemetryPort) {
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
}
}
/**

134
flight/OpenPilot/System/pios_board.c
View File

@ -64,7 +64,6 @@ static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -163,7 +162,6 @@ static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -263,7 +261,6 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -322,7 +319,6 @@ static const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -363,7 +359,6 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -404,7 +399,6 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -444,7 +438,6 @@ static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -461,7 +454,7 @@ void PIOS_RTC_IRQ_Handler (void)
#endif
#ifdef PIOS_COM_SPEKTRUM
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
@ -478,7 +471,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -505,12 +497,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
};
#include <pios_spektrum_priv.h>
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
}
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
@ -535,6 +521,14 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_COM */
/**
@ -710,7 +704,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -750,7 +743,6 @@ static const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.TIM_RepetitionCounter = 0x0000,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -790,7 +782,6 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
},
.remap = 0,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -851,7 +842,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -861,7 +851,6 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -979,6 +968,21 @@ struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -1045,22 +1049,37 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_Assert(0);
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_Assert(0);
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif
@ -1117,23 +1136,28 @@ void PIOS_Board_Init(void) {
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false);
{
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif
break;
@ -1144,15 +1168,21 @@ void PIOS_Board_Init(void) {
break;
}
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {

3
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -112,8 +112,6 @@ extern uint32_t pios_i2c_main_adapter_id;
// PIOS_USART
//-------------------------
#define PIOS_USART_MAX_DEVS 2
#define PIOS_USART_RX_BUFFER_SIZE 256
#define PIOS_USART_TX_BUFFER_SIZE 256
//-------------------------
// PIOS_COM
@ -121,6 +119,7 @@ extern uint32_t pios_i2c_main_adapter_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX

18
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -125,15 +125,12 @@ extern uint32_t pios_i2c_main_adapter_id;
//-------------------------
#define PIOS_USART_MAX_DEVS 2
#define PIOS_USART_RX_BUFFER_SIZE 256
#define PIOS_USART_TX_BUFFER_SIZE 256
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 4
#define PIOS_COM_MAX_DEVS 3
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
@ -147,16 +144,6 @@ extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#ifdef PIOS_INCLUDE_SPEKTRUM
extern uint32_t pios_com_spektrum_id;
#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
#endif
#ifdef PIOS_INCLUDE_SBUS
extern uint32_t pios_com_sbus_id;
#define PIOS_COM_SBUS (pios_com_sbus_id)
#endif
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
@ -265,10 +252,9 @@ extern uint32_t pios_com_sbus_id;
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
#define PIOS_USB_RX_BUFFER_SIZE 128
#define PIOS_USB_TX_BUFFER_SIZE 256
#endif /* STM32103CB_AHRS_H_ */

6
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -144,9 +144,6 @@ extern uint32_t pios_spi_port_id;
//-------------------------
#define PIOS_USART_MAX_DEVS 1
#define PIOS_USART_RX_BUFFER_SIZE 512
#define PIOS_USART_TX_BUFFER_SIZE 512
//-------------------------
// PIOS_COM
//
@ -396,12 +393,11 @@ extern uint32_t pios_com_telem_usb_id;
#if defined(PIOS_INCLUDE_USB_HID)
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY 8
#define PIOS_USB_RX_BUFFER_SIZE 512
#define PIOS_USB_TX_BUFFER_SIZE 512
#endif
// *****************************************************************

3
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -125,9 +125,6 @@ extern uint32_t pios_i2c_gyro_adapter_id;
//-------------------------
#define PIOS_USART_MAX_DEVS 2
#define PIOS_USART_RX_BUFFER_SIZE 256
#define PIOS_USART_TX_BUFFER_SIZE 256
//-------------------------
// PIOS_COM
//

16
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -139,9 +139,6 @@ extern uint32_t pios_i2c_main_adapter_id;
//-------------------------
#define PIOS_USART_MAX_DEVS 3
#define PIOS_USART_RX_BUFFER_SIZE 512
#define PIOS_USART_TX_BUFFER_SIZE 512
//-------------------------
// PIOS_COM
//
@ -164,16 +161,6 @@ extern uint32_t pios_com_aux_id;
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
#ifdef PIOS_INCLUDE_SPEKTRUM
extern uint32_t pios_com_spektrum_id;
#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
#endif
#ifdef PIOS_INCLUDE_SBUS
extern uint32_t pios_com_sbus_id;
#define PIOS_COM_SBUS (pios_com_sbus_id)
#endif
//-------------------------
// System Settings
//-------------------------
@ -309,12 +296,11 @@ extern uint32_t pios_com_sbus_id;
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
#define PIOS_USB_RX_BUFFER_SIZE 512
#define PIOS_USB_TX_BUFFER_SIZE 512
/**
* glue macros for file IO

252
flight/PiOS/Common/pios_com.c
View File

@ -34,8 +34,34 @@
#if defined(PIOS_INCLUDE_COM)
#include "fifo_buffer.h"
#include <pios_com_priv.h>
#if !defined(PIOS_INCLUDE_FREERTOS)
#include "pios_delay.h" /* PIOS_DELAY_WaitmS */
#endif
enum pios_com_dev_magic {
PIOS_COM_DEV_MAGIC = 0xaa55aa55,
};
struct pios_com_dev {
enum pios_com_dev_magic magic;
uint32_t lower_id;
const struct pios_com_driver * driver;
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreHandle tx_sem;
xSemaphoreHandle rx_sem;
#endif
bool has_rx;
bool has_tx;
t_fifo_buffer rx;
t_fifo_buffer tx;
};
static bool PIOS_COM_validate(struct pios_com_dev * com_dev)
{
return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
@ -70,6 +96,11 @@ static struct pios_com_dev * PIOS_COM_alloc(void)
}
#endif
static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield);
static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield);
/**
* Initialises COM layer
* \param[out] handle
@ -77,18 +108,48 @@ static struct pios_com_dev * PIOS_COM_alloc(void)
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, const uint32_t lower_id)
int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len)
{
PIOS_DEBUG_Assert(com_id);
PIOS_DEBUG_Assert(driver);
PIOS_Assert(com_id);
PIOS_Assert(driver);
bool has_rx = (rx_buffer && rx_buffer_len > 0);
bool has_tx = (tx_buffer && tx_buffer_len > 0);
PIOS_Assert(has_rx || has_tx);
PIOS_Assert(driver->bind_tx_cb || !has_tx);
PIOS_Assert(driver->bind_rx_cb || !has_rx);
struct pios_com_dev * com_dev;
com_dev = (struct pios_com_dev *) PIOS_COM_alloc();
if (!com_dev) goto out_fail;
com_dev->driver = driver;
com_dev->id = lower_id;
com_dev->driver = driver;
com_dev->lower_id = lower_id;
com_dev->has_rx = has_rx;
com_dev->has_tx = has_tx;
if (has_rx) {
fifoBuf_init(&com_dev->rx, rx_buffer, rx_buffer_len);
#if defined(PIOS_INCLUDE_FREERTOS)
vSemaphoreCreateBinary(com_dev->rx_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_RxInCallback, (uint32_t)com_dev);
if (com_dev->driver->rx_start) {
/* Start the receiver */
(com_dev->driver->rx_start)(com_dev->lower_id,
fifoBuf_getFree(&com_dev->rx));
}
}
if (has_tx) {
fifoBuf_init(&com_dev->tx, tx_buffer, tx_buffer_len);
#if defined(PIOS_INCLUDE_FREERTOS)
vSemaphoreCreateBinary(com_dev->tx_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, (uint32_t)com_dev);
}
*com_id = (uint32_t)com_dev;
return(0);
@ -97,6 +158,88 @@ out_fail:
return(-1);
}
static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield)
{
#if defined(PIOS_INCLUDE_FREERTOS)
static signed portBASE_TYPE xHigherPriorityTaskWoken;
xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken != pdFALSE) {
*need_yield = true;
} else {
*need_yield = false;
}
#else
*need_yield = false;
#endif
}
static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield)
{
#if defined(PIOS_INCLUDE_FREERTOS)
static signed portBASE_TYPE xHigherPriorityTaskWoken;
xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken != pdFALSE) {
*need_yield = true;
} else {
*need_yield = false;
}
#else
*need_yield = false;
#endif
}
static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_dev * com_dev = (struct pios_com_dev *)context;
bool valid = PIOS_COM_validate(com_dev);
PIOS_Assert(valid);
PIOS_Assert(com_dev->has_rx);
PIOS_IRQ_Disable();
uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->rx, buf, buf_len);
PIOS_IRQ_Enable();
if (bytes_into_fifo > 0) {
/* Data has been added to the buffer */
PIOS_COM_UnblockRx(com_dev, need_yield);
}
if (headroom) {
*headroom = fifoBuf_getFree(&com_dev->rx);
}
return (bytes_into_fifo);
}
static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_dev * com_dev = (struct pios_com_dev *)context;
bool valid = PIOS_COM_validate(com_dev);
PIOS_Assert(valid);
PIOS_Assert(buf);
PIOS_Assert(buf_len);
PIOS_Assert(com_dev->has_tx);
PIOS_IRQ_Disable();
uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->tx, buf, buf_len);
PIOS_IRQ_Enable();
if (bytes_from_fifo > 0) {
/* More space has been made in the buffer */
PIOS_COM_UnblockTx(com_dev, need_yield);
}
if (headroom) {
*headroom = fifoBuf_getUsed(&com_dev->tx);
}
return (bytes_from_fifo);
}
/**
* Change the port speed without re-initializing
* \param[in] port COM port
@ -115,7 +258,7 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
/* Invoke the driver function if it exists */
if (com_dev->driver->set_baud) {
com_dev->driver->set_baud(com_dev->id, baud);
com_dev->driver->set_baud(com_dev->lower_id, baud);
}
return 0;
@ -140,12 +283,26 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->tx_nb) {
return com_dev->driver->tx_nb(com_dev->id, buffer, len);
PIOS_Assert(com_dev->has_tx);
if (len >= fifoBuf_getFree(&com_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -2;
}
return 0;
PIOS_IRQ_Disable();
uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len);
PIOS_IRQ_Enable();
if (bytes_into_fifo > 0) {
/* More data has been put in the tx buffer, make sure the tx is started */
if (com_dev->driver->tx_start) {
com_dev->driver->tx_start(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
}
return (0);
}
/**
@ -166,12 +323,27 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
return -1;
}
/* Invoke the driver function if it exists */
if (com_dev->driver->tx) {
return com_dev->driver->tx(com_dev->id, buffer, len);
}
PIOS_Assert(com_dev->has_tx);
return 0;
int32_t rc;
do {
rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len);
#if defined(PIOS_INCLUDE_FREERTOS)
if (rc == -2) {
/* Make sure the transmitter is running while we wait */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) {
return -3;
}
}
#endif
} while (rc == -2);
return rc;
}
/**
@ -273,18 +445,47 @@ int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...)
* \param[in] port COM port
* \returns Byte from buffer
*/
uint8_t PIOS_COM_ReceiveBuffer(uint32_t com_id)
uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms)
{
PIOS_Assert(buf);
PIOS_Assert(buf_len);
struct pios_com_dev * com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
check_again:
PIOS_IRQ_Disable();
uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
PIOS_IRQ_Enable();
if (bytes_from_fifo == 0 && timeout_ms > 0) {
/* No more bytes in receive buffer */
/* Make sure the receiver is running while we wait */
if (com_dev->driver->rx_start) {
/* Notify the lower layer that there is now room in the rx buffer */
(com_dev->driver->rx_start)(com_dev->lower_id,
fifoBuf_getFree(&com_dev->rx));
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
/* Make sure we don't come back here again */
timeout_ms = 0;
goto check_again;
}
#else
PIOS_DELAY_WaitmS(1);
timeout_ms--;
goto check_again;
#endif
}
PIOS_DEBUG_Assert(com_dev->driver->rx);
return com_dev->driver->rx(com_dev->id);
/* Return received byte */
return (bytes_from_fifo);
}
/**
@ -298,16 +499,11 @@ int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
/* This is commented out so com_id=NULL can be used to disable telemetry */
//PIOS_DEBUG_Assert(0);
return 0;
PIOS_Assert(0);
}
if (!com_dev->driver->rx_avail) {
return 0;
}
return com_dev->driver->rx_avail(com_dev->id);
PIOS_Assert(com_dev->has_rx);
return (fifoBuf_getUsed(&com_dev->rx));
}
#endif

4
flight/PiOS/Common/pios_rcvr.c
View File

@ -56,7 +56,7 @@ static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, uint32_t lower_id)
{
PIOS_DEBUG_Assert(rcvr_id);
PIOS_DEBUG_Assert(driver);
@ -82,7 +82,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);

14
flight/PiOS/STM32F10x/pios_delay.c
View File

@ -116,7 +116,7 @@ int32_t PIOS_DELAY_WaituS(uint32_t uS)
* // Wait for 500 mS
* PIOS_DELAY_Wait_mS(500);
* \endcode
* \param[in] mS delay (1..65535 milliseconds)
* \param[in] mS delay
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaitmS(uint32_t mS)
@ -133,11 +133,21 @@ int32_t PIOS_DELAY_WaitmS(uint32_t mS)
* @brief Query the Delay timer for the current uS
* @return A microsecond value
*/
uint32_t PIOS_DELAY_GetuS()
uint32_t PIOS_DELAY_GetuS(void)
{
return DWT_CYCCNT / us_ticks;
}
/**
* @brief Calculate time in microseconds since a previous time
* @param[in] t previous time
* @return time in us since previous time t.
*/
uint32_t PIOS_DELAY_GetuSSince(uint32_t t)
{
return (PIOS_DELAY_GetuS() - t);
}
#endif
/**

2
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -35,7 +35,7 @@
#if defined(PIOS_INCLUDE_PWM)
/* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
.read = PIOS_PWM_Get,

54
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -132,10 +132,30 @@ static void process_byte(uint8_t b)
}
}
static uint16_t PIOS_SBUS_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
process_byte(buf[i]);
receive_timer = 0;
}
/* Always signal that we can accept another byte */
if (headroom) {
*headroom = SBUS_FRAME_LENGTH;
}
/* We never need a yield */
*need_yield = false;
/* Always indicate that all bytes were consumed */
return (buf_len);
}
/**
* Initialise S.Bus receiver interface
*/
void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id)
{
/* Enable inverter clock and enable the inverter */
(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
@ -144,9 +164,13 @@ void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
cfg->inv.init.GPIO_Pin,
cfg->gpio_inv_enable);
(driver->bind_rx_cb)(lower_id, PIOS_SBUS_RxInCallback, 0);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) {
PIOS_Assert(0);
}
return (0);
}
/**
@ -164,34 +188,6 @@ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
return channel_data[channel];
}
/**
* Interrupt handler for USART
*/
void PIOS_SBUS_irq_handler(uint32_t usart_id)
{
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* process received byte if one has arrived */
if (sr & USART_SR_RXNE) {
/* process byte and clear receive timer */
process_byte(b);
receive_timer = 0;
}
/* ignore TXE interrupts */
if (sr & USART_SR_TXE) {
/* disable TXE interrupt (TXEIE=0) */
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
}
/**
* Input data supervisor is called periodically and provides
* two functions: frame syncing and failsafe triggering.

53
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -60,20 +60,45 @@ uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_SPEKTRUM_Decode(buf[i]);
supv_timer = 0;
}
/* Always signal that we can accept another byte */
if (headroom) {
*headroom = 1;
}
/* We never need a yield */
*need_yield = false;
/* Always indicate that all bytes were consumed */
return (buf_len);
}
/**
* Bind and Initialise Spektrum satellite receiver
*/
void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
{
// TODO: need setting flag for bind on next powerup
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
}
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
PIOS_DEBUG_Assert(0);
}
return (0);
}
/**
@ -204,32 +229,6 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
return 0;
}
/* Custom interrupt handler for USART */
void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) {
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* check if RXNE flag is set */
if (sr & USART_SR_RXNE) {
if (PIOS_SPEKTRUM_Decode(b) < 0) {
/* Here we could add some error handling */
}
}
if (sr & USART_SR_TXE) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
/* byte arrived so clear "watchdog" timer */
supv_timer=0;
}
/**
*@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
*@brief clears the channel values

256
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -38,17 +38,17 @@
/* Provide a COM driver */
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id);
static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id);
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);
const struct pios_com_driver pios_usart_com_driver = {
.set_baud = PIOS_USART_ChangeBaud,
.tx_nb = PIOS_USART_TxBufferPutMoreNonBlocking,
.tx = PIOS_USART_TxBufferPutMore,
.rx = PIOS_USART_RxBufferGet,
.rx_avail = PIOS_USART_RxBufferUsed,
.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,
};
enum pios_usart_dev_magic {
@ -59,13 +59,10 @@ struct pios_usart_dev {
enum pios_usart_dev_magic magic;
const struct pios_usart_cfg * cfg;
// align to 32-bit to try and provide speed improvement;
uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
// align to 32-bit to try and provide speed improvement;
uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer tx;
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
};
static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
@ -147,10 +144,6 @@ 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;
/* Clear buffer counters */
fifoBuf_init(&usart_dev->rx, usart_dev->rx_buffer, sizeof(usart_dev->rx_buffer));
fifoBuf_init(&usart_dev->tx, usart_dev->tx_buffer, sizeof(usart_dev->tx_buffer));
/* Enable the USART Pins Software Remapping */
if (usart_dev->cfg->remap) {
GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
@ -203,17 +196,23 @@ out_fail:
return(-1);
}
const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id)
static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
if (!valid) {
return (NULL);
}
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;
return usart_dev->cfg;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
/**
@ -240,170 +239,34 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
}
/**
* Returns number of used bytes in receive buffer
* \param[in] USART USART name
* \return > 0: number of used bytes
* \return 0 if USART not available
*/
static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id)
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
return (fifoBuf_getUsed(&usart_dev->rx));
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usart_dev->rx_in_context = context;
usart_dev->rx_in_cb = rx_in_cb;
}
/**
* Gets a byte from the receive buffer
* \param[in] USART USART name
* \return -1 if no new byte available
* \return >= 0: actual byte received
*/
static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id)
static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
if (fifoBuf_getUsed(&usart_dev->rx) == 0) {
/* Nothing new in the buffer */
return -1;
}
/* get byte - this operation should be atomic! */
uint8_t b = fifoBuf_getByte(&usart_dev->rx);
/* Return received byte */
return b;
}
/**
* puts a byte onto the receive buffer
* \param[in] USART USART name
* \param[in] b byte which should be put into Rx buffer
* \return 0 if no error
* \return -1 if buffer full (retry)
*/
static int32_t PIOS_USART_RxBufferPut(uint32_t usart_id, uint8_t b)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (fifoBuf_getFree(&usart_dev->rx) < 1) {
/* Buffer full (retry) */
return -1;
}
/* Copy received byte into receive buffer */
/* This operation should be atomic! */
fifoBuf_putByte(&usart_dev->rx, b);
/* No error */
return 0;
}
/**
* returns number of used bytes in transmit buffer
* \param[in] USART USART name
* \return number of used bytes
* \return 0 if USART not available
*/
static int32_t PIOS_USART_TxBufferUsed(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
return (fifoBuf_getUsed(&usart_dev->tx));
}
/**
* gets a byte from the transmit buffer
* \param[in] USART USART name
* \return -1 if no new byte available
* \return >= 0: transmitted byte
*/
static int32_t PIOS_USART_TxBufferGet(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (fifoBuf_getUsed(&usart_dev->tx) == 0) {
/* Nothing new in the buffer */
return -1;
}
/* get byte - this operation should be atomic! */
PIOS_IRQ_Disable();
uint8_t b = fifoBuf_getByte(&usart_dev->tx);
PIOS_IRQ_Enable();
/* Return received byte */
return b;
}
/**
* puts more than one byte onto the transmit buffer (used for atomic sends)
* \param[in] USART USART name
* \param[in] *buffer pointer to buffer to be sent
* \param[in] len number of bytes to be sent
* \return 0 if no error
* \return -1 if buffer full or cannot get all requested bytes (retry)
*/
static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
if (len >= fifoBuf_getFree(&usart_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -1;
}
/* Copy bytes to be transmitted into transmit buffer */
/* This operation should be atomic! */
PIOS_IRQ_Disable();
uint16_t used = fifoBuf_getUsed(&usart_dev->tx);
fifoBuf_putData(&usart_dev->tx,buffer,len);
if (used == 0) {
/* enable sending when buffer was previously empty */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
}
PIOS_IRQ_Enable();
/* No error */
return 0;
}
/**
* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
* (blocking function)
* \param[in] USART USART name
* \param[in] *buffer pointer to buffer to be sent
* \param[in] len number of bytes to be sent
* \return 0 if no error
*/
static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
{
int32_t rc;
while ((rc = PIOS_USART_TxBufferPutMoreNonBlocking(usart_id, buffer, len)) == -1);
return rc;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usart_dev->tx_out_context = context;
usart_dev->tx_out_cb = tx_out_cb;
}
static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
@ -413,41 +276,46 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/* Call any user provided callback function instead of processing
* the interrupt ourselves.
*/
if (usart_dev->cfg->irq.handler) {
(usart_dev->cfg->irq.handler)(usart_id);
return;
}
/* 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;
/* Check if RXNE flag is set */
bool rx_need_yield = false;
if (sr & USART_SR_RXNE) {
if (PIOS_USART_RxBufferPut(usart_id, dr) < 0) {
/* Here we could add some error handling */
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);
}
}
/* Check if TXE flag is set */
bool tx_need_yield = false;
if (sr & USART_SR_TXE) {
if (PIOS_USART_TxBufferUsed(usart_id) > 0) {
int32_t b = PIOS_USART_TxBufferGet(usart_id);
if (usart_dev->tx_out_cb) {
uint8_t b;
uint16_t bytes_to_send;
if (b < 0) {
/* Here we could add some error handling */
usart_dev->cfg->regs->DR = 0xff;
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
if (bytes_to_send > 0) {
/* Send the byte we've been given */
usart_dev->cfg->regs->DR = b;
} else {
usart_dev->cfg->regs->DR = b & 0xff;
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
} else {
/* Disable TXE interrupt (TXEIE=0) */
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield || tx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
#endif

371
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -36,76 +36,106 @@
#include "usb_lib.h"
#include "pios_usb_hid_desc.h"
#include "stm32f10x.h"
#include "fifo_buffer.h"
#include "pios_usb_hid_priv.h"
#if defined(PIOS_INCLUDE_USB_HID)
#if defined(PIOS_INCLUDE_FREERTOS)
#define USE_FREERTOS
#endif
static int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len);
static int32_t PIOS_USB_HID_TxBufferPutMore(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len);
static int32_t PIOS_USB_HID_RxBufferGet(uint32_t usbcom_id);
static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id);
static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail);
static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail);
static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context);
const struct pios_com_driver pios_usb_com_driver = {
.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
.tx = PIOS_USB_HID_TxBufferPutMore,
.rx = PIOS_USB_HID_RxBufferGet,
.rx_avail = PIOS_USB_HID_RxBufferUsed,
.tx_start = PIOS_USB_HID_TxStart,
.rx_start = PIOS_USB_HID_RxStart,
.bind_tx_cb = PIOS_USB_HID_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_HID_RegisterRxCallback,
};
// TODO: Eventually replace the transmit and receive buffers with bigger ring bufers
// so there isn't hte 64 byte cap in place by the USB interrupt packet definition
enum pios_usb_hid_dev_magic {
PIOS_USB_HID_DEV_MAGIC = 0xAABBCCDD,
};
struct pios_usb_hid_dev {
enum pios_usb_hid_dev_magic magic;
const struct pios_usb_hid_cfg * cfg;
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2];
uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2];
};
static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev)
{
return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void)
{
struct pios_usb_hid_dev * usb_hid_dev;
usb_hid_dev = (struct pios_usb_hid_dev *)malloc(sizeof(*usb_hid_dev));
if (!usb_hid_dev) return(NULL);
usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC;
return(usb_hid_dev);
}
#else
static struct pios_usb_hid_dev pios_usb_hid_devs[PIOS_USB_HID_MAX_DEVS];
static uint8_t pios_usb_hid_num_devs;
static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void)
{
struct pios_usb_hid_dev * usb_hid_dev;
if (pios_usb_hid_num_devs >= PIOS_USB_HID_MAX_DEVS) {
return (NULL);
}
usb_hid_dev = &pios_usb_hid_devs[pios_usb_hid_num_devs++];
usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC;
return (usb_hid_dev);
}
#endif
/* Rx/Tx status */
static uint8_t transfer_possible = 0;
static uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
static uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
uint8_t rx_pios_fifo_buf[PIOS_USB_RX_BUFFER_SIZE] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
t_fifo_buffer rx_pios_fifo_buffer;
uint8_t tx_pios_fifo_buf[PIOS_USB_TX_BUFFER_SIZE] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
t_fifo_buffer tx_pios_fifo_buffer;
#if defined(USE_FREERTOS)
xSemaphoreHandle pios_usb_tx_semaphore;
#endif
/**
* Initialises USB COM layer
* \param[in] mode currently only mode 0 supported
* \return < 0 if initialisation failed
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USB_HID_Init(uint32_t mode)
static uint32_t pios_usb_hid_id;
int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg)
{
/* Currently only mode 0 supported */
if (mode != 0) {
/* Unsupported mode */
return -1;
}
PIOS_Assert(usb_hid_id);
PIOS_Assert(cfg);
fifoBuf_init(&rx_pios_fifo_buffer, rx_pios_fifo_buf, sizeof(rx_pios_fifo_buf));
fifoBuf_init(&tx_pios_fifo_buffer, tx_pios_fifo_buf, sizeof(tx_pios_fifo_buf));
struct pios_usb_hid_dev * usb_hid_dev;
usb_hid_dev = (struct pios_usb_hid_dev *) PIOS_USB_HID_alloc();
if (!usb_hid_dev) goto out_fail;
/* Bind the configuration to the device instance */
usb_hid_dev->cfg = cfg;
PIOS_USB_HID_Reenumerate();
/* Create semaphore before enabling interrupts */
#if defined(USE_FREERTOS)
vSemaphoreCreateBinary(pios_usb_tx_semaphore);
#endif
/*
* This is a horrible hack to make this available to
* the interrupt callbacks. This should go away ASAP.
*/
pios_usb_hid_id = (uint32_t) usb_hid_dev;
/* Enable the USB Interrupts */
/* 2 bit for pre-emption priority, 2 bits for subpriority */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_Init(&usb_hid_dev->cfg->irq.init);
/* Select USBCLK source */
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
@ -122,7 +152,12 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
USB_Init();
USB_SIL_Init();
*usb_hid_id = (uint32_t) usb_hid_dev;
return 0; /* No error */
out_fail:
return(-1);
}
/**
@ -201,127 +236,118 @@ int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
}
void sendChunk()
static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev)
{
uint16_t bytes_to_tx;
uint32_t size = fifoBuf_getUsed(&tx_pios_fifo_buffer);
if ((size > 0) && (GetEPTxStatus(ENDP1) != EP_TX_VALID)) {
if (size > PIOS_USB_HID_DATA_LENGTH)
size = PIOS_USB_HID_DATA_LENGTH;
if (!usb_hid_dev->tx_out_cb) {
return;
}
bool need_yield = false;
#ifdef USB_HID
fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[1], size + 1);
tx_packet_buffer[0] = 1; /* report ID */
bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
&usb_hid_dev->tx_packet_buffer[1],
sizeof(usb_hid_dev->tx_packet_buffer)-1,
NULL,
&need_yield);
#else
fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[2], size);
tx_packet_buffer[0] = 1; /* report ID */
tx_packet_buffer[1] = size; /* valid data length */
bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
&usb_hid_dev->tx_packet_buffer[2],
sizeof(usb_hid_dev->tx_packet_buffer)-2,
NULL,
&need_yield);
#endif
UserToPMABufferCopy((uint8_t *) tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2);
SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH + 2);
/* Send Buffer */
SetEPTxValid(ENDP1);
if (bytes_to_tx == 0) {
return;
}
}
/* Always set type as report ID */
usb_hid_dev->tx_packet_buffer[0] = 1;
/**
* Puts more than one byte onto the transmit buffer (used for atomic sends)
* \param[in] *buffer pointer to buffer which should be transmitted
* \param[in] len number of bytes which should be transmitted
* \return 0 if no error
* \return -1 if port unavailable (disconnected)
* \return -2 if too many bytes to be send
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
static int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint32_t usbcom_id, const uint8_t * buffer, uint16_t len)
{
uint16_t ret;
if(!transfer_possible)
return -1;
if (len > fifoBuf_getFree(&tx_pios_fifo_buffer)) {
sendChunk(); /* Try and send what's in the buffer though */
return -2; /* Cannot send all requested bytes */
}
/* don't check returned bytes because it should always succeed */
/* after previous thread and no meaningful way to deal with the */
/* case it only buffers half the bytes */
#if defined(USE_FREERTOS)
if(!xSemaphoreTake(pios_usb_tx_semaphore,10 / portTICK_RATE_MS))
return -3;
#ifdef USB_HID
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 1);
#else
usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx;
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 2);
#endif
/* Is this correct? Why do we always send the whole buffer? */
SetEPTxCount((EP1_IN & 0x7F), sizeof(usb_hid_dev->tx_packet_buffer));
SetEPTxValid(ENDP1);
ret = fifoBuf_putData(&tx_pios_fifo_buffer, buffer, len);
#if defined(USE_FREERTOS)
xSemaphoreGive(pios_usb_tx_semaphore);
#endif
sendChunk();
return 0;
}
/**
* Puts more than one byte onto the transmit buffer (used for atomic sends)<br>
* (Blocking Function)
* \param[in] *buffer pointer to buffer which should be transmitted
* \param[in] len number of bytes which should be transmitted
* \return 0 if no error
* \return -1 if too many bytes to be send
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
static int32_t PIOS_USB_HID_TxBufferPutMore(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len)
{
if(len > (fifoBuf_getUsed(&tx_pios_fifo_buffer) + fifoBuf_getFree(&tx_pios_fifo_buffer)))
return -1;
uint32_t error;
while ((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(usbcom_id, buffer, len)) == -2) {
#if defined(PIOS_INCLUDE_FREERTOS)
taskYIELD();
#endif
if (need_yield) {
vPortYieldFromISR();
}
return error;
#endif /* PIOS_INCLUDE_FREERTOS */
}
/**
* Gets a byte from the receive buffer
* \return -1 if no new byte available
* \return >= 0: received byte
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
static int32_t PIOS_USB_HID_RxBufferGet(uint32_t usbcom_id)
{
uint8_t read;
static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) {
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
if(fifoBuf_getUsed(&rx_pios_fifo_buffer) == 0)
return -1;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
read = fifoBuf_getByte(&rx_pios_fifo_buffer);
if (!transfer_possible) {
return;
}
// If endpoint was stalled and there is now space make it valid
if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62)) {
PIOS_IRQ_Disable();
if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) &&
(rx_bytes_avail > PIOS_USB_HID_DATA_LENGTH)) {
SetEPRxStatus(ENDP1, EP_RX_VALID);
}
return read;
PIOS_IRQ_Enable();
}
/**
* Returns number of used bytes in receive buffer
* \return > 0: number of used bytes
* \return 0 nothing available
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id)
static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail)
{
return fifoBuf_getUsed(&rx_pios_fifo_buffer);
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
if (!transfer_possible) {
return;
}
if (GetEPTxStatus(ENDP1) == EP_TX_VALID) {
/* Endpoint is already transmitting */
return;
}
PIOS_USB_HID_SendReport(usb_hid_dev);
}
static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usb_hid_dev->rx_in_context = context;
usb_hid_dev->rx_in_cb = rx_in_cb;
}
static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usb_hid_dev->tx_out_context = context;
usb_hid_dev->tx_out_cb = tx_out_cb;
}
/**
@ -330,7 +356,16 @@ static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id)
*/
void PIOS_USB_HID_EP1_IN_Callback(void)
{
sendChunk();
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
if (!transfer_possible) {
return;
}
PIOS_USB_HID_SendReport(usb_hid_dev);
}
/**
@ -338,28 +373,58 @@ void PIOS_USB_HID_EP1_IN_Callback(void)
*/
void PIOS_USB_HID_EP1_OUT_Callback(void)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
uint32_t DataLength = 0;
/* Read received data (63 bytes) */
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(ENDP1 & 0x7F);
if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) {
DataLength = sizeof(usb_hid_dev->rx_packet_buffer);
}
/* Use the memory interface function to write to the selected endpoint */
PMAToUserBufferCopy((uint8_t *) &rx_packet_buffer[0], GetEPRxAddr(ENDP1 & 0x7F), DataLength);
PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
if (!usb_hid_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
SetEPRxStatus(ENDP1, EP_RX_NAK);
return;
}
/* The first byte is report ID (not checked), the second byte is the valid data length */
uint16_t headroom;
bool need_yield = false;
#ifdef USB_HID
fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[1],
sizeof(usb_hid_dev->rx_packet_buffer)-1,
&headroom,
&need_yield);
#else
fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[2], rx_packet_buffer[1]);
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[2],
usb_hid_dev->rx_packet_buffer[1],
&headroom,
&need_yield);
#endif
// Only reactivate endpoint if available space in buffer
if (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62) {
if (headroom > PIOS_USB_HID_DATA_LENGTH) {
/* We have room for a maximum length message */
SetEPRxStatus(ENDP1, EP_RX_VALID);
} else {
/* Not enough room left for a message, apply backpressure */
SetEPRxStatus(ENDP1, EP_RX_NAK);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
#endif

18
flight/PiOS/inc/pios_com.h
View File

@ -32,17 +32,19 @@
#ifndef PIOS_COM_H
#define PIOS_COM_H
typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
struct pios_com_driver {
void (*init)(uint32_t id);
void (*set_baud)(uint32_t id, uint32_t baud);
int32_t (*tx_nb)(uint32_t id, const uint8_t *buffer, uint16_t len);
int32_t (*tx)(uint32_t id, const uint8_t *buffer, uint16_t len);
int32_t (*rx)(uint32_t id);
int32_t (*rx_avail)(uint32_t id);
void (*init)(uint32_t id);
void (*set_baud)(uint32_t id, uint32_t baud);
void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
};
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, const uint32_t lower_id);
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
@ -52,7 +54,7 @@ extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint8_t PIOS_COM_ReceiveBuffer(uint32_t com_id);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
#endif /* PIOS_COM_H */

10
flight/PiOS/inc/pios_com_priv.h
View File

@ -34,16 +34,6 @@
#include <pios.h>
enum pios_com_dev_magic {
PIOS_COM_DEV_MAGIC = 0xaa55aa55,
};
struct pios_com_dev {
enum pios_com_dev_magic magic;
uint32_t id;
const struct pios_com_driver * driver;
};
extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id);
#endif /* PIOS_COM_PRIV_H */

1
flight/PiOS/inc/pios_delay.h
View File

@ -37,6 +37,7 @@ extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
extern uint32_t PIOS_DELAY_GetuS();
extern uint32_t PIOS_DELAY_GetuSSince(uint32_t t);
#endif /* PIOS_DELAY_H */

4
flight/PiOS/inc/pios_rcvr.h
View File

@ -39,8 +39,8 @@ struct pios_rcvr_channel_map {
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
};
/* Public Functions */

4
flight/PiOS/inc/pios_sbus_priv.h
View File

@ -75,11 +75,9 @@ struct pios_sbus_cfg {
BitAction gpio_inv_enable;
};
extern void PIOS_SBUS_irq_handler();
extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
extern void PIOS_SBUS_Init(const struct pios_sbus_cfg * cfg);
extern int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id);
#endif /* PIOS_SBUS_PRIV_H */

4
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -40,11 +40,9 @@ struct pios_spektrum_cfg {
uint32_t remap; /* GPIO_Remap_* */
};
extern void PIOS_SPEKTRUM_irq_handler();
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind);
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
#endif /* PIOS_PWM_PRIV_H */

1
flight/PiOS/inc/pios_stm32.h
View File

@ -32,7 +32,6 @@
#define PIOS_STM32_H
struct stm32_irq {
void (*handler) (uint32_t);
uint32_t flags;
NVIC_InitTypeDef init;
};

1
flight/PiOS/inc/pios_usb_hid.h
View File

@ -41,7 +41,6 @@
#define PIOS_USB_HID_DATA_LENGTH 62
/* Global functions */
extern int32_t PIOS_USB_HID_Init(uint32_t mode);
extern int32_t PIOS_USB_HID_Reenumerate();
extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected);
extern int32_t PIOS_USB_HID_CheckAvailable(uint8_t id);

49
flight/PiOS/inc/pios_usb_hid_priv.h Normal file
View File

@ -0,0 +1,49 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_HID USB_HID Functions
* @brief PIOS interface for USB_HID port
* @{
*
* @file pios_usb_hid_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief USB_HID private definitions.
* @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
*/
#ifndef PIOS_USB_HID_PRIV_H
#define PIOS_USB_HID_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
struct pios_usb_hid_cfg {
struct stm32_irq irq;
};
extern int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg);
#endif /* PIOS_USB_HID_PRIV_H */
/**
* @}
* @}
*/

8
flight/PipXtreme/api_config.c
View File

@ -794,7 +794,8 @@ void apiconfig_process(void)
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
uint8_t c;
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0);
bytes--;
}
}
@ -812,9 +813,12 @@ void apiconfig_process(void)
if (com_num > sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr)
com_num = sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr;
while (com_num > 0)
{ // fetch a byte from the comm-port RX buffer and save it into our RX buffer
apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(apiconfig_comm_port);
uint8_t c;
PIOS_COM_ReceiveBuffer(apiconfig_comm_port, &c, 1, 0);
apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = c;
com_num--;
}

45
flight/PipXtreme/pios_board.c
View File

@ -90,7 +90,6 @@ static const struct pios_spi_cfg pios_spi_port_cfg =
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq =
{
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -193,7 +192,6 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -259,7 +257,6 @@ static const struct pios_usart_cfg pios_usart_serial_cfg =
},
.irq =
{
.handler = NULL,
.init =
{
.NVIC_IRQChannel = USART1_IRQn,
@ -298,10 +295,37 @@ static const struct pios_usart_cfg pios_usart_serial_cfg =
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#define PIOS_COM_SERIAL_RX_BUF_LEN 192
#define PIOS_COM_SERIAL_TX_BUF_LEN 192
static uint8_t pios_com_serial_rx_buffer[PIOS_COM_SERIAL_RX_BUF_LEN];
static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_serial_id;
@ -329,18 +353,23 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id)) {
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
pios_com_serial_rx_buffer, sizeof(pios_com_serial_rx_buffer),
pios_com_serial_tx_buffer, sizeof(pios_com_serial_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
// ADC system
// PIOS_ADC_Init();

13
flight/PipXtreme/transparent_comms.c
View File

@ -91,7 +91,8 @@ void trans_process(void)
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
uint8_t c;
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0);
bytes--;
}
}
@ -134,8 +135,7 @@ void trans_process(void)
// copy data received down the comm-port into our temp buffer
register uint16_t bytes_saved = 0;
while (bytes_saved < com_num)
trans_temp_buffer1[bytes_saved++] = PIOS_COM_ReceiveBuffer(comm_port);
bytes_saved = PIOS_COM_ReceiveBuffer(comm_port, trans_temp_buffer1, com_num, 0);
// put the received comm-port data bytes into the RF packet handler TX buffer
if (bytes_saved > 0)
@ -147,8 +147,11 @@ void trans_process(void)
else
{ // empty the comm-ports rx buffer
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
while (com_num > 0)
PIOS_COM_ReceiveBuffer(comm_port);
while (com_num > 0) {
uint8_t c;
PIOS_COM_ReceiveBuffer(comm_port, &c, 1, 0);
com_num--;
}
}
// ********************

2
flight/Project/gdb/bl_coptercontrol
View File

@ -1,7 +1,7 @@
define connect
target remote localhost:3333
monitor cortex_m3 vector_catch all
file ./build/bl_coptercontrol/CopterControl_BL.elf
file ./build/bl_coptercontrol/bl_coptercontrol.elf
end
#monitor reset halt