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Code Issues Releases Activity

com: allow run-time allocation of buffers

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This commit is contained in:
Stacey Sheldon 2011-07-29 10:04:55 -04:00
parent 8b0415d905
commit c2fb0d8b43
16 changed files with 235 additions and 108 deletions
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19
flight/AHRS/pios_board.c
View File

@ -246,6 +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)
@ -370,12 +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

10
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -31,6 +31,12 @@
#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 */
// ***********************************************************************************
@ -83,7 +89,9 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id)) {
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 */

20
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -184,6 +184,18 @@ 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)
@ -235,7 +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 */
@ -246,7 +260,9 @@ void PIOS_Board_Init(void) {
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, pios_usb_hid_id)) {
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 */

10
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -31,6 +31,12 @@
#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 */
// ***********************************************************************************
@ -81,7 +87,9 @@ void PIOS_Board_Init(void) {
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, pios_usb_hid_id)) {
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 */

46
flight/CopterControl/System/pios_board.c
View File

@ -522,6 +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)
@ -926,7 +934,14 @@ 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);
}
}
@ -959,7 +974,12 @@ 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);
}
}
@ -1003,7 +1023,13 @@ 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);
}
}
@ -1016,7 +1042,11 @@ 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);
}
}
@ -1140,7 +1170,13 @@ void PIOS_Board_Init(void) {
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, pios_usb_hid_id)) {
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 */

19
flight/INS/pios_board.c
View File

@ -346,6 +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>
@ -517,7 +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 */

48
flight/Modules/Telemetry/telemetry.c
View File

@ -318,15 +318,19 @@ static void telemetryRxTask(void *parameters)
inputPort = telemetryPort;
}
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
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]);
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);
}
}
}
@ -351,7 +355,11 @@ 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;
}
}
/**
@ -507,20 +515,16 @@ 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);
}
}
/**

57
flight/OpenPilot/System/pios_board.c
View File

@ -454,7 +454,7 @@ void PIOS_RTC_IRQ_Handler (void)
#endif
#ifdef PIOS_COM_SPEKTRUM
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
@ -521,6 +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 */
/**
@ -1042,22 +1050,37 @@ 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
@ -1150,7 +1173,13 @@ void PIOS_Board_Init(void) {
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, pios_usb_hid_id)) {
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 */

2
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -119,8 +119,6 @@ extern uint32_t pios_i2c_main_adapter_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
#define PIOS_COM_RX_BUFFER_SIZE 256
#define PIOS_COM_TX_BUFFER_SIZE 256
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)

12
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -131,8 +131,6 @@ extern uint32_t pios_i2c_main_adapter_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 3
#define PIOS_COM_RX_BUFFER_SIZE 192
#define PIOS_COM_TX_BUFFER_SIZE 192
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
@ -146,16 +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

2
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -150,8 +150,6 @@ extern uint32_t pios_spi_port_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
#define PIOS_COM_RX_BUFFER_SIZE 512
#define PIOS_COM_TX_BUFFER_SIZE 512
extern uint32_t pios_com_serial_id;
#define PIOS_COM_SERIAL (pios_com_serial_id)

2
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -131,8 +131,6 @@ extern uint32_t pios_i2c_gyro_adapter_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
#define PIOS_COM_RX_BUFFER_SIZE 256
#define PIOS_COM_TX_BUFFER_SIZE 256
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)

12
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -145,8 +145,6 @@ extern uint32_t pios_i2c_main_adapter_id;
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 4
#define PIOS_COM_RX_BUFFER_SIZE 512
#define PIOS_COM_TX_BUFFER_SIZE 512
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
@ -163,16 +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
//-------------------------

62
flight/PiOS/Common/pios_com.c
View File

@ -55,12 +55,10 @@ struct pios_com_dev {
xSemaphoreHandle rx_sem;
#endif
// align to 32-bit to try and provide speed improvement;
uint8_t rx_buffer[PIOS_COM_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
bool has_rx;
bool has_tx;
// align to 32-bit to try and provide speed improvement;
uint8_t tx_buffer[PIOS_COM_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
t_fifo_buffer tx;
};
@ -110,12 +108,16 @@ static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield)
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, 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_Assert(com_id);
PIOS_Assert(driver);
PIOS_Assert(driver->bind_tx_cb);
PIOS_Assert(driver->bind_rx_cb);
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;
@ -125,24 +127,30 @@ int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver,
com_dev->driver = driver;
com_dev->lower_id = lower_id;
/* Clear buffer counters */
fifoBuf_init(&com_dev->rx, com_dev->rx_buffer, sizeof(com_dev->rx_buffer));
fifoBuf_init(&com_dev->tx, com_dev->tx_buffer, sizeof(com_dev->tx_buffer));
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)
/* Create semaphores before binding callbacks */
vSemaphoreCreateBinary(com_dev->rx_sem);
vSemaphoreCreateBinary(com_dev->tx_sem);
#endif
/* Bind our callbacks into the lower layer */
(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_RxInCallback, (uint32_t)com_dev);
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, (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));
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);
@ -188,6 +196,7 @@ static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t
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);
@ -213,6 +222,7 @@ static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t
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);
@ -273,6 +283,8 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
return -1;
}
PIOS_Assert(com_dev->has_tx);
if (len >= fifoBuf_getFree(&com_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -2;
@ -311,6 +323,8 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
return -1;
}
PIOS_Assert(com_dev->has_tx);
int32_t rc;
do {
rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len);
@ -442,6 +456,7 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
check_again:
PIOS_IRQ_Disable();
@ -487,6 +502,7 @@ int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
return (fifoBuf_getUsed(&com_dev->rx));
}

2
flight/PiOS/inc/pios_com.h
View File

@ -44,7 +44,7 @@ struct pios_com_driver {
};
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, 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);

20
flight/PipXtreme/pios_board.c
View File

@ -295,6 +295,18 @@ 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 */
// ***********************************************************************************
@ -341,7 +353,9 @@ 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);
}
@ -349,7 +363,9 @@ void PIOS_Board_Init(void) {
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, pios_usb_hid_id)) {
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 */