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Merged in mindnever/librepilot/LP-365_cleanup-com-port-setup-in-coptercontrol-pios_board_c (pull request #289)

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LP-365 replace com port boilerplate code with calls to PIOS_Board_configure_com()
This commit is contained in:
Alessio Morale 2016-07-23 16:39:57 +02:00
commit 5b8ea0fe0c
1 changed files with 83 additions and 225 deletions
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298
flight/targets/boards/coptercontrol/firmware/pios_board.c
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@ -94,6 +94,66 @@ uint32_t pios_usb_rctx_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id = 0;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size of -1 make the port rx only
* rx size of -1 make the port tx only
* having both tx and rx size of -1 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;
if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = 0, *tx_buffer = 0;
if (rx_buf_len > 0) {
rx_buffer = (uint8_t *)pios_malloc(rx_buf_len);
PIOS_Assert(rx_buffer);
}
if (tx_buf_len > 0) {
tx_buffer = (uint8_t *)pios_malloc(tx_buf_len);
PIOS_Assert(tx_buffer);
}
if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
rx_buffer, rx_buf_len,
tx_buffer, tx_buf_len)) {
PIOS_Assert(0);
}
}
static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg,
const struct pios_com_driver *usart_com_driver,
ManualControlSettingsChannelGroupsOptions channelgroup, uint8_t *bind)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, usart_com_driver,
pios_usart_dsm_id, *bind)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
}
/**
* Configuration for MPU6000 chip
*/
@ -319,6 +379,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
@ -435,22 +496,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_MAINPORT_SBUS:
@ -476,117 +522,30 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id,
&pios_dsm_main_cfg,
&pios_usart_com_driver,
pios_usart_dsm_id,
0)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
}
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind);
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, -1, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_CC_MAINPORT_MSP:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_msp_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_MSP_RX_BUF_LEN,
tx_buffer, PIOS_COM_MSP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_CC_MAINPORT_OSDHK:
{
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
NULL, 0,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, -1, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
}
@ -599,74 +558,18 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_CC_FLEXIPORT_MSP:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_msp_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_MSP_RX_BUF_LEN,
tx_buffer, PIOS_COM_MSP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_PPM:
@ -685,27 +588,8 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id,
&pios_dsm_flexi_cfg,
&pios_usart_com_driver,
pios_usart_dsm_id,
hwsettings_DSMxBind)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
}
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind);
#endif /* PIOS_INCLUDE_DSM */
break;
@ -780,20 +664,7 @@ void PIOS_Board_Init(void)
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, -1, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
@ -807,20 +678,7 @@ void PIOS_Board_Init(void)
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_CC_FLEXIPORT_OSDHK:
{
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
NULL, 0,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, -1, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
}