usart: make CC USART ports compile-time configurable

TODO: This should be dynamic in the future.
But for now define any compatile combination of:
   USE_I2C (shared with USART3)
   USE_TELEMETRY
   USE_GPS
   USE_SPEKTRUM
   USE_SBUS (USART1 only, it needs an invertor)
and optionally define PIOS_PORT_* to USART port numbers

Defaults are:

#define PIOS_PORT_TELEMETRY 1
#define PIOS_PORT_GPS       3
#define PIOS_PORT_SPEKTRUM  3
#define PIOS_PORT_SBUS      1

#define USE_TELEMETRY
#define USE_GPS

Telemetry, GPS and PWM input are enabled by default.

flight/CopterControl/System/inc/pios_config.h

@@ -30,11 +30,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 
-
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
@@ -45,17 +43,146 @@
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 
-#if defined(USE_SPEKTRUM)
+/*
-#define PIOS_INCLUDE_SPEKTRUM
+ * Serial port configuration.
-#elif defined(USE_SBUS)
+ * TODO: This should be dynamic in the future.
-#define PIOS_INCLUDE_SBUS
+ * But for now define any compatile combination of:
+ *   USE_I2C (shared with USART3)
+ *   USE_TELEMETRY
+ *   USE_GPS
+ *   USE_SPEKTRUM
+ *   USE_SBUS (USART1 only, it needs an invertor)
+ * and optionally define PIOS_PORT_* to USART port numbers
+ */
+
+/* Current defaults */
+#define USE_TELEMETRY
+#define USE_GPS
+
+/* Serial telemetry: USART1 or USART3 */
+#if !defined(PIOS_PORT_TELEMETRY)
+#define PIOS_PORT_TELEMETRY	1
+#endif
+
+/* GPS receiver: USART1 or USART3 */
+#if !defined(PIOS_PORT_GPS)
+#define PIOS_PORT_GPS		3
+#endif
+
+/* Spektrum satellite receiver: USART1 or USART3 */
+#if !defined(PIOS_PORT_SPEKTRUM)
+#define PIOS_PORT_SPEKTRUM	3
+#endif
+
+/* Futaba S.Bus receiver: USART1 only (needs invertor) */
+#if !defined(PIOS_PORT_SBUS)
+#define PIOS_PORT_SBUS		1
+#endif
+
+/*
+ * Define USART ports and check for conflicts.
+ * Make sure it does not conflict with each other and with I2C.
+ */
+#define USART_GPIO(port)	(((port) == 1) ? GPIOA : GPIOB)
+#define USART_RXIO(port)	(((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11)
+#define USART_TXIO(port)	(((port) == 1) ? GPIO_Pin_9  : GPIO_Pin_10)
+ 
+#if defined(USE_TELEMETRY)
+#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3)
+#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3)
+#endif
+#if (PIOS_PORT_TELEMETRY == 1)
+#define PIOS_USART_TELEMETRY	USART1
+#define PIOS_IRQH_TELEMETRY	USART1_IRQHandler
+#define PIOS_IRQC_TELEMETRY	USART1_IRQn
 #else
+#define PIOS_USART_TELEMETRY	USART3
+#define PIOS_IRQH_TELEMETRY	USART3_IRQHandler
+#define PIOS_IRQC_TELEMETRY	USART3_IRQn
+#endif
+#define PIOS_GPIO_TELEMETRY	USART_GPIO(PIOS_PORT_TELEMETRY)
+#define PIOS_RXIO_TELEMETRY	USART_RXIO(PIOS_PORT_TELEMETRY)
+#define PIOS_TXIO_TELEMETRY	USART_TXIO(PIOS_PORT_TELEMETRY)
+#endif
+
+#if defined(USE_GPS)
+#if defined(USE_I2C) && (PIOS_PORT_GPS == 3)
+#error defined(USE_I2C) && (PIOS_PORT_GPS == 3)
+#endif
+#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS)
+#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS)
+#endif
+#if (PIOS_PORT_GPS == 1)
+#define PIOS_USART_GPS		USART1
+#define PIOS_IRQH_GPS		USART1_IRQHandler
+#define PIOS_IRQC_GPS		USART1_IRQn
+#else
+#define PIOS_USART_GPS		USART3
+#define PIOS_IRQH_GPS		USART3_IRQHandler
+#define PIOS_IRQC_GPS		USART3_IRQn
+#endif
+#define PIOS_GPIO_GPS		USART_GPIO(PIOS_PORT_GPS)
+#define PIOS_RXIO_GPS		USART_RXIO(PIOS_PORT_GPS)
+#define PIOS_TXIO_GPS		USART_TXIO(PIOS_PORT_GPS)
 #define PIOS_INCLUDE_GPS
+#endif
+
+#if defined(USE_SPEKTRUM)
+#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3)
+#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3)
+#endif
+#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY)
+#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY)
+#endif
+#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS)
+#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS)
+#endif
+#if defined(USE_SBUS)
+#error defined(USE_SPEKTRUM) && defined(USE_SBUS)
+#endif
+#if (PIOS_PORT_SPEKTRUM == 1)
+#define PIOS_USART_SPEKTRUM	USART1
+#define PIOS_IRQH_SPEKTRUM	USART1_IRQHandler
+#define PIOS_IRQC_SPEKTRUM	USART1_IRQn
+#else
+#define PIOS_USART_SPEKTRUM	USART3
+#define PIOS_IRQH_SPEKTRUM	USART3_IRQHandler
+#define PIOS_IRQC_SPEKTRUM	USART3_IRQn
+#endif
+#define PIOS_GPIO_SPEKTRUM	USART_GPIO(PIOS_PORT_SPEKTRUM)
+#define PIOS_RXIO_SPEKTRUM	USART_RXIO(PIOS_PORT_SPEKTRUM)
+#define PIOS_TXIO_SPEKTRUM	USART_TXIO(PIOS_PORT_SPEKTRUM)
+#define PIOS_INCLUDE_SPEKTRUM
+#endif
+
+#if defined(USE_SBUS)
+#if (PIOS_PORT_SBUS != 1)
+#error (PIOS_PORT_SBUS != 1)
+#endif
+#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY)
+#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY)
+#endif
+#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS)
+#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS)
+#endif
+#if defined(USE_SPEKTRUM)
+#error defined(USE_SPEKTRUM) && defined(USE_SBUS)
+#endif
+#define PIOS_USART_SBUS		USART1
+#define PIOS_IRQH_SBUS		USART1_IRQHandler
+#define PIOS_IRQC_SBUS		USART1_IRQn
+#define PIOS_GPIO_SBUS		USART_GPIO(PIOS_PORT_SBUS)
+#define PIOS_RXIO_SBUS		USART_RXIO(PIOS_PORT_SBUS)
+#define PIOS_TXIO_SBUS		USART_TXIO(PIOS_PORT_SBUS)
+#define PIOS_INCLUDE_SBUS
+#endif
+
+/* Receiver interfaces - only one allowed */
+#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS)
 //#define PIOS_INCLUDE_PPM
 #define PIOS_INCLUDE_PWM
 #endif
 
-
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI
 #define PIOS_INCLUDE_SYS

flight/CopterControl/System/pios_board.c

@@ -204,9 +204,9 @@ void PIOS_ADC_handler() {
  * Telemetry USART
  */
 void PIOS_USART_telem_irq_handler(void);
-void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
+void PIOS_IRQH_TELEMETRY() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
 const struct pios_usart_cfg pios_usart_telem_cfg = {
-  .regs  = USART1,
+  .regs  = PIOS_USART_TELEMETRY,
   .init = {
     #if defined (PIOS_COM_TELEM_BAUDRATE)
         .USART_BaudRate        = PIOS_COM_TELEM_BAUDRATE,
@@ -222,24 +222,24 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
   .irq = {
     .handler = PIOS_USART_telem_irq_handler,
     .init    = {
-      .NVIC_IRQChannel                   = USART1_IRQn,
+      .NVIC_IRQChannel                   = PIOS_IRQC_TELEMETRY,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
       .NVIC_IRQChannelSubPriority        = 0,
       .NVIC_IRQChannelCmd                = ENABLE,
     },
   },
   .rx   = {
-    .gpio = GPIOA,
+    .gpio = PIOS_GPIO_TELEMETRY,
     .init = {
-      .GPIO_Pin   = GPIO_Pin_10,
+      .GPIO_Pin   = PIOS_RXIO_TELEMETRY,
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_IPU,
     },
   },
   .tx   = {
-    .gpio = GPIOA,
+    .gpio = PIOS_GPIO_TELEMETRY,
     .init = {
-      .GPIO_Pin   = GPIO_Pin_9,
+      .GPIO_Pin   = PIOS_TXIO_TELEMETRY,
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_AF_PP,
     },
@@ -251,9 +251,9 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
  * GPS USART
  */
 void PIOS_USART_gps_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
+void PIOS_IRQH_GPS() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
 const struct pios_usart_cfg pios_usart_gps_cfg = {
-  .regs = USART3,
+  .regs = PIOS_USART_GPS,
   .init = {
     #if defined (PIOS_COM_GPS_BAUDRATE)
         .USART_BaudRate        = PIOS_COM_GPS_BAUDRATE,
@@ -269,24 +269,24 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
   .irq = {
     .handler = PIOS_USART_gps_irq_handler,
     .init    = {
-      .NVIC_IRQChannel                   = USART3_IRQn,
+      .NVIC_IRQChannel                   = PIOS_IRQC_GPS,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
       .NVIC_IRQChannelSubPriority        = 0,
       .NVIC_IRQChannelCmd                = ENABLE,
     },
   },
   .rx   = {
-    .gpio = GPIOB,
+    .gpio = PIOS_GPIO_GPS,
     .init = {
-      .GPIO_Pin   = GPIO_Pin_11,
+      .GPIO_Pin   = PIOS_RXIO_GPS,
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_IPU,
     },
   },
   .tx   = {
-    .gpio = GPIOB,
+    .gpio = PIOS_GPIO_GPS,
     .init = {
-      .GPIO_Pin   = GPIO_Pin_10,
+      .GPIO_Pin   = PIOS_TXIO_GPS,
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_AF_PP,
     },
@@ -299,9 +299,9 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
  * SPEKTRUM USART
  */
 void PIOS_USART_spektrum_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
+void PIOS_IRQH_SPEKTRUM() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
 const struct pios_usart_cfg pios_usart_spektrum_cfg = {
-	.regs = USART3,
+	.regs = PIOS_USART_SPEKTRUM,
 	.init = {
 	#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
 		.USART_BaudRate        = PIOS_COM_SPEKTRUM_BAUDRATE,
@@ -317,24 +317,24 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
 	.irq = {
 		.handler = PIOS_USART_spektrum_irq_handler,
 		.init = {
-			.NVIC_IRQChannel                   = USART3_IRQn,
+			.NVIC_IRQChannel                   = PIOS_IRQC_SPEKTRUM,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		  },
 	},
 	.rx = {
-		.gpio = GPIOB,
+		.gpio = PIOS_GPIO_SPEKTRUM,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Pin   = PIOS_RXIO_SPEKTRUM,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_IPU,
 		},
 	},
 	.tx = {
-		.gpio = GPIOB,
+		.gpio = PIOS_GPIO_SPEKTRUM,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Pin   = PIOS_TXIO_SPEKTRUM,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
 		},
@@ -365,8 +365,8 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = {
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.port = GPIOB,
+	.port = PIOS_GPIO_SPEKTRUM,
-	.pin = GPIO_Pin_11,
+	.pin = PIOS_RXIO_SPEKTRUM,
 };
 
 void PIOS_SUPV_irq_handler() {
@@ -388,9 +388,9 @@ void PIOS_SUPV_irq_handler() {
  * SBUS USART
  */
 void PIOS_USART_sbus_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler")));
+void PIOS_IRQH_SBUS() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler")));
 const struct pios_usart_cfg pios_usart_sbus_cfg = {
-	.regs = USART3,
+	.regs = PIOS_USART_SBUS,
 	.init = {
 	#if defined (PIOS_COM_SBUS_BAUDRATE)
 		.USART_BaudRate        = PIOS_COM_SBUS_BAUDRATE,
@@ -406,24 +406,24 @@ const struct pios_usart_cfg pios_usart_sbus_cfg = {
 	.irq = {
 		.handler = PIOS_USART_sbus_irq_handler,
 		.init = {
-			.NVIC_IRQChannel                   = USART3_IRQn,
+			.NVIC_IRQChannel                   = PIOS_IRQC_SBUS,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		  },
 	},
 	.rx = {
-		.gpio = GPIOB,
+		.gpio = PIOS_GPIO_SBUS,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Pin   = PIOS_RXIO_SBUS,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_IPU,
 		},
 	},
 	.tx = {
-		.gpio = GPIOB,
+		.gpio = PIOS_GPIO_SBUS,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Pin   = PIOS_TXIO_SBUS,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
 		},
@@ -454,8 +454,8 @@ const struct pios_sbus_cfg pios_sbus_cfg = {
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.port = GPIOB,
+	.port = PIOS_GPIO_SBUS,
-	.pin = GPIO_Pin_11,
+	.pin = PIOS_RXIO_SBUS,
 };
 
 void PIOS_SUPV_irq_handler() {