mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
PIOS_USART now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@206 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
95d068884a
commit
fcf47bf1f6
@ -82,51 +82,57 @@
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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//-------------------------
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// GPS USART
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// PIOS_USART1 (TELEM)
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//-------------------------
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#define GPS_USART USART2
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#define GPS_GPIO_PORT GPIOA
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#define GPS_RX_PIN GPIO_Pin_3
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#define GPS_TX_PIN GPIO_Pin_2
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#define GPS_REMAP_FUNC { }
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#define GPS_IRQ_CHANNEL USART2_IRQn
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#define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define PIOS_USART1_ENABLED
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#define PIOS_USART1_USART USART2
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#define PIOS_USART1_GPIO_PORT GPIOA
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#define PIOS_USART1_RX_PIN GPIO_Pin_3
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#define PIOS_USART1_TX_PIN GPIO_Pin_2
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#define PIOS_USART1_REMAP_FUNC { }
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#define PIOS_USART1_IRQ_CHANNEL USART2_IRQn
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#define PIOS_USART1_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define PIOS_USART1_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define PIOS_USART1_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define PIOS_USART1_BAUDRATE 57600
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//-------------------------
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// Telemetry radio USART
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// PIOS_USART2 (GPS)
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//-------------------------
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#define TELEM_USART USART3
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#define TELEM_GPIO_PORT GPIOC
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#define TELEM_RX_PIN GPIO_Pin_11
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#define TELEM_TX_PIN GPIO_Pin_10
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#define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define TELEM_IRQ_CHANNEL USART3_IRQn
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#define TELEM_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define PIOS_USART2_ENABLED
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#define PIOS_USART2_USART USART3
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#define PIOS_USART2_GPIO_PORT GPIOC
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#define PIOS_USART2_RX_PIN GPIO_Pin_11
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#define PIOS_USART2_TX_PIN GPIO_Pin_10
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#define PIOS_USART2_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define PIOS_USART2_IRQ_CHANNEL USART3_IRQn
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#define PIOS_USART2_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define PIOS_USART2_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define PIOS_USART2_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define PIOS_USART2_BAUDRATE 57600
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//-------------------------
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// AUXSER USART (available instead of RX5/RX6)
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// PIOS_USART3 (AUX) (RX5/RX6)
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//-------------------------
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#define AUX_USART_USART USART1
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#define AUX_USART_GPIO_PORT GPIOA
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#define AUX_USART_RX_PIN GPIO_Pin_10
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#define AUX_USART_TX_PIN GPIO_Pin_9
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#define AUX_USART_REMAP_FUNC { }
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#define AUX_USART_IRQ_CHANNEL USART1_IRQn
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#define AUX_USART_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define AUX_USART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define AUX_USART_NVIC_PRIO IRQ_PRIO_HIGH
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//#define PIOS_USART3_ENABLED
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#define PIOS_USART3_USART USART1
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#define PIOS_USART3_GPIO_PORT GPIOA
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#define PIOS_USART3_RX_PIN GPIO_Pin_10
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#define PIOS_USART3_TX_PIN GPIO_Pin_9
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#define PIOS_USART3_REMAP_FUNC { }
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#define PIOS_USART3_IRQ_CHANNEL USART1_IRQn
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#define PIOS_USART3_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define PIOS_USART3_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define PIOS_USART3_NVIC_PRIO IRQ_PRIO_HIGH
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#define PIOS_USART3_BAUDRATE 57600
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//-------------------------
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// USART Serial Ports
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// PIOS_USART
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//-------------------------
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#define USART_NUM 3
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#define USART_RX_BUFFER_SIZE 1024
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#define USART_TX_BUFFER_SIZE 256
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#define COM_DEBUG_PORT GPS
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#define PIOS_USART_NUM 3
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#define PIOS_USART_RX_BUFFER_SIZE 1024
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_DEBUG_PORT GPS
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//-------------------------
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// SPI
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@ -73,7 +73,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uin
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/* Branch depending on selected port */
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switch(port) {
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case COM_DEBUG_USART:
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return PIOS_USART_TxBufferPutMoreNonBlocking(COM_DEBUG_PORT, buffer, len);
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return PIOS_USART_TxBufferPutMoreNonBlocking(PIOS_COM_DEBUG_PORT, buffer, len);
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case COM_GPS_USART:
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return PIOS_USART_TxBufferPutMoreNonBlocking(GPS, buffer, len);
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case COM_TELEM_USART:
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@ -102,7 +102,7 @@ int32_t PIOS_COM_SendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len)
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/* Branch depending on selected port */
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switch(port) {
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case COM_DEBUG_USART:
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return PIOS_USART_TxBufferPutMore(COM_DEBUG_PORT, buffer, len);
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return PIOS_USART_TxBufferPutMore(PIOS_COM_DEBUG_PORT, buffer, len);
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case COM_GPS_USART:
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return PIOS_USART_TxBufferPutMore(GPS, buffer, len);
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case COM_TELEM_USART:
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@ -242,7 +242,7 @@ int32_t PIOS_COM_ReceiveHandler(void)
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int32_t status = -1;
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switch(intf++) {
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case COM_DEBUG_USART:
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status = PIOS_USART_RxBufferGet(COM_DEBUG_PORT);
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status = PIOS_USART_RxBufferGet(PIOS_COM_DEBUG_PORT);
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port = COM_DEBUG_USART;
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break;
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case COM_GPS_USART:
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@ -37,15 +37,15 @@
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extern SettingsTypeDef Settings;
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/* Local Variables */
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static uint8_t rx_buffer[USART_NUM][USART_RX_BUFFER_SIZE];
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static volatile uint8_t rx_buffer_tail[USART_NUM];
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static volatile uint8_t rx_buffer_head[USART_NUM];
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static volatile uint8_t rx_buffer_size[USART_NUM];
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static uint8_t rx_buffer[PIOS_USART_NUM][PIOS_USART_RX_BUFFER_SIZE];
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static volatile uint8_t rx_buffer_tail[PIOS_USART_NUM];
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static volatile uint8_t rx_buffer_head[PIOS_USART_NUM];
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static volatile uint8_t rx_buffer_size[PIOS_USART_NUM];
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static uint8_t tx_buffer[USART_NUM][USART_TX_BUFFER_SIZE];
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static volatile uint8_t tx_buffer_tail[USART_NUM];
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static volatile uint8_t tx_buffer_head[USART_NUM];
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static volatile uint8_t tx_buffer_size[USART_NUM];
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static uint8_t tx_buffer[PIOS_USART_NUM][PIOS_USART_TX_BUFFER_SIZE];
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static volatile uint8_t tx_buffer_tail[PIOS_USART_NUM];
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static volatile uint8_t tx_buffer_head[PIOS_USART_NUM];
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static volatile uint8_t tx_buffer_size[PIOS_USART_NUM];
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/**
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@ -53,110 +53,131 @@ static volatile uint8_t tx_buffer_size[USART_NUM];
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*/
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void PIOS_USART_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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/* Enable the USART Pins Software Remapping */
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GPS_REMAP_FUNC;
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TELEM_REMAP_FUNC;
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/* Clear buffer counters */
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uint8_t i;
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for(i = 0; i < PIOS_USART_NUM; ++i) {
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rx_buffer_tail[i] = rx_buffer_head[i] = rx_buffer_size[i] = 0;
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tx_buffer_tail[i] = tx_buffer_head[i] = tx_buffer_size[i] = 0;
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}
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/* Configure USART Pins */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
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/* Configure and Init USART_GPS Tx as alternate function open-drain */
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GPIO_InitStructure.GPIO_Pin = GPS_TX_PIN;
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GPIO_Init(GPS_GPIO_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = TELEM_TX_PIN;
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GPIO_Init(TELEM_GPIO_PORT, &GPIO_InitStructure);
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/* Configure and Init USART Rx input with internal pull-ups */
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = GPS_RX_PIN;
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GPIO_Init(GPS_GPIO_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = TELEM_RX_PIN;
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GPIO_Init(TELEM_GPIO_PORT, &GPIO_InitStructure);
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/* Enable USART clocks */
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GPS_CLK_FUNC;
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TELEM_CLK_FUNC;
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/* Configure and Init USARTs */
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USART_InitTypeDef USART_InitStructure;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
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USART_InitStructure.USART_BaudRate = Settings.GPS.Baudrate;
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USART_Init(GPS_USART, &USART_InitStructure);
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USART_InitStructure.USART_BaudRate = Settings.Telem.Baudrate;
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USART_Init(TELEM_USART, &USART_InitStructure);
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/* Enable USART Receive and Transmit interrupts */
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USART_ITConfig(GPS_USART, USART_IT_RXNE, ENABLE);
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USART_ITConfig(GPS_USART, USART_IT_TXE, ENABLE);
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USART_ITConfig(TELEM_USART, USART_IT_RXNE, ENABLE);
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USART_ITConfig(TELEM_USART, USART_IT_TXE, ENABLE);
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/* Configure the USART Interrupts */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = GPS_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = GPS_NVIC_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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#ifdef PIOS_USART1_ENABLED
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/* Enable the USART Pins Software Remapping */
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PIOS_USART1_REMAP_FUNC;
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/* Configure and Init USART Tx as alternate function open-drain */
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GPIO_InitStructure.GPIO_Pin = PIOS_USART1_TX_PIN;
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GPIO_Init(PIOS_USART1_GPIO_PORT, &GPIO_InitStructure);
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/* Configure and Init USART Rx input with internal pull-ups */
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = PIOS_USART1_RX_PIN;
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GPIO_Init(PIOS_USART1_GPIO_PORT, &GPIO_InitStructure);
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/* Enable USART clock */
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PIOS_USART1_CLK_FUNC;
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/* Enable USART Receive and Transmit interrupts */
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USART_InitStructure.USART_BaudRate = PIOS_USART1_BAUDRATE;
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USART_Init(PIOS_USART1_USART, &USART_InitStructure);
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USART_ITConfig(PIOS_USART1_USART, USART_IT_RXNE, ENABLE);
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USART_ITConfig(PIOS_USART1_USART, USART_IT_TXE, ENABLE);
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/* Configure the USART Interrupts */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART1_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART1_NVIC_PRIO;
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NVIC_Init(&NVIC_InitStructure);
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USART_ITConfig(GPS_USART, USART_IT_RXNE, ENABLE);
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NVIC_InitStructure.NVIC_IRQChannel = TELEM_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TELEM_NVIC_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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USART_ITConfig(PIOS_USART1_USART, USART_IT_RXNE, ENABLE);
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/* Enable USART */
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USART_Cmd(PIOS_USART1_USART, ENABLE);
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#endif
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#ifdef PIOS_USART2_ENABLED
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/* Enable the USART Pins Software Remapping */
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PIOS_USART2_REMAP_FUNC;
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/* Configure and Init USART Tx as alternate function open-drain */
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GPIO_InitStructure.GPIO_Pin = PIOS_USART2_TX_PIN;
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GPIO_Init(PIOS_USART2_GPIO_PORT, &GPIO_InitStructure);
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/* Configure and Init USART Rx input with internal pull-ups */
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = PIOS_USART2_RX_PIN;
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GPIO_Init(PIOS_USART2_GPIO_PORT, &GPIO_InitStructure);
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/* Enable USART clock */
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PIOS_USART2_CLK_FUNC;
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/* Enable USART Receive and Transmit interrupts */
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USART_InitStructure.USART_BaudRate = PIOS_USART2_BAUDRATE;
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USART_Init(PIOS_USART2_USART, &USART_InitStructure);
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USART_ITConfig(PIOS_USART2_USART, USART_IT_RXNE, ENABLE);
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USART_ITConfig(PIOS_USART2_USART, USART_IT_TXE, ENABLE);
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/* Configure the USART Interrupts */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART2_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART2_NVIC_PRIO;
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NVIC_Init(&NVIC_InitStructure);
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USART_ITConfig(TELEM_USART, USART_IT_RXNE, ENABLE);
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/* Clear buffer counters */
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int i;
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for(i=0; i<USART_NUM; ++i) {
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rx_buffer_tail[i] = rx_buffer_head[i] = rx_buffer_size[i] = 0;
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tx_buffer_tail[i] = tx_buffer_head[i] = tx_buffer_size[i] = 0;
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}
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/* Enable USARTs */
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USART_Cmd(GPS_USART, ENABLE);
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USART_Cmd(TELEM_USART, ENABLE);
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USART_ITConfig(PIOS_USART2_USART, USART_IT_RXNE, ENABLE);
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/* Enable USART */
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USART_Cmd(PIOS_USART2_USART, ENABLE);
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#endif
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#ifdef PIOS_USART3_ENABLED
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/* Enable the USART Pins Software Remapping */
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PIOS_USART3_REMAP_FUNC;
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/* Configure and Init USART Tx as alternate function open-drain */
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GPIO_InitStructure.GPIO_Pin = PIOS_USART3_TX_PIN;
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GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
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/* Configure and Init USART Rx input with internal pull-ups */
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
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GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
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/* Enable USART clock */
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PIOS_USART3_CLK_FUNC;
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/* Enable USART Receive and Transmit interrupts */
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USART_InitStructure.USART_BaudRate = PIOS_USART3_BAUDRATE;
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USART_Init(PIOS_USART3_USART, &USART_InitStructure);
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USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
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USART_ITConfig(PIOS_USART3_USART, USART_IT_TXE, ENABLE);
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/* Configure the USART Interrupts */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART3_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART3_NVIC_PRIO;
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NVIC_Init(&NVIC_InitStructure);
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USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
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/* Enable USART */
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USART_Cmd(PIOS_USART3_USART, ENABLE);
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#endif
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}
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/**
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* Enables AUX USART at the expense of servo inputs
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*/
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void PIOS_USART_EnableAux(void)
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{
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//Implement after servo inputs are implemented
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}
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/**
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* Disables AUX USART reclaims two servo inputs
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*/
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void PIOS_USART_DisableAux(void)
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{
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//Implement after servo inputs are implemented
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}
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/**
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* Changes the baud rate of the USART peripherial without re-initialising.
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* Changes the baud rate of the USART peripheral without re-initialising.
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* \param[in] USARTx USART name (GPS, TELEM, AUX)
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* \param[in] Baud Requested baud rate
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*/
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@ -193,30 +214,30 @@ void PIOS_USART_ChangeBaud(USART_TypeDef* USARTx, uint32_t Baud)
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/**
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* Returns number of free bytes in receive buffer
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* \param[in] USART USART name (GPS, TELEM, AUX)
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* \param[in] USART USART name
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* \return USART number of free bytes
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* \return 1: USART available
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* \return 0: USART not available
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*/
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int32_t PIOS_USART_RxBufferFree(USARTNumTypeDef usart)
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{
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if(usart >= USART_NUM) {
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if(usart >= PIOS_USART_NUM) {
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return 0;
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} else {
|
||||
return USART_RX_BUFFER_SIZE - rx_buffer_size[usart];
|
||||
return PIOS_USART_RX_BUFFER_SIZE - rx_buffer_size[usart];
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns number of used bytes in receive buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return > 0: number of used bytes
|
||||
* \return 0 if USART not available
|
||||
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
|
||||
*/
|
||||
int32_t PIOS_USART_RxBufferUsed(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
return 0;
|
||||
} else {
|
||||
return rx_buffer_size[usart];
|
||||
@ -225,7 +246,7 @@ int32_t PIOS_USART_RxBufferUsed(USARTNumTypeDef usart)
|
||||
|
||||
/**
|
||||
* Gets a byte from the receive buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return -1 if USART not available
|
||||
* \return -2 if no new byte available
|
||||
* \return >= 0: number of received bytes
|
||||
@ -233,7 +254,7 @@ int32_t PIOS_USART_RxBufferUsed(USARTNumTypeDef usart)
|
||||
*/
|
||||
int32_t PIOS_USART_RxBufferGet(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
/* USART not available */
|
||||
return -1;
|
||||
}
|
||||
@ -245,7 +266,7 @@ int32_t PIOS_USART_RxBufferGet(USARTNumTypeDef usart)
|
||||
/* get byte - this operation should be atomic! */
|
||||
PIOS_IRQ_Disable();
|
||||
uint8_t b = rx_buffer[usart][rx_buffer_tail[usart]];
|
||||
if(++rx_buffer_tail[usart] >= USART_RX_BUFFER_SIZE) {
|
||||
if(++rx_buffer_tail[usart] >= PIOS_USART_RX_BUFFER_SIZE) {
|
||||
rx_buffer_tail[usart] = 0;
|
||||
}
|
||||
--rx_buffer_size[usart];
|
||||
@ -257,7 +278,7 @@ int32_t PIOS_USART_RxBufferGet(USARTNumTypeDef usart)
|
||||
|
||||
/**
|
||||
* Returns the next byte of the receive buffer without taking it
|
||||
* \param[in] usart USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return -1 if USART not available
|
||||
* \return -2 if no new byte available
|
||||
* \return >= 0: number of received bytes
|
||||
@ -265,7 +286,7 @@ int32_t PIOS_USART_RxBufferGet(USARTNumTypeDef usart)
|
||||
*/
|
||||
int32_t PIOS_USART_RxBufferPeek(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
/* USART not available */
|
||||
return -1;
|
||||
}
|
||||
@ -286,7 +307,7 @@ int32_t PIOS_USART_RxBufferPeek(USARTNumTypeDef usart)
|
||||
|
||||
/**
|
||||
* puts a byte onto the receive buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \param[in] b byte which should be put into Rx buffer
|
||||
* \return 0 if no error
|
||||
* \return -1 if USART not available
|
||||
@ -295,12 +316,12 @@ int32_t PIOS_USART_RxBufferPeek(USARTNumTypeDef usart)
|
||||
*/
|
||||
int32_t PIOS_USART_RxBufferPut(USARTNumTypeDef usart, uint8_t b)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
/* USART not available */
|
||||
return -1;
|
||||
}
|
||||
|
||||
if(rx_buffer_size[usart] >= USART_RX_BUFFER_SIZE) {
|
||||
if(rx_buffer_size[usart] >= PIOS_USART_RX_BUFFER_SIZE) {
|
||||
/* Buffer full (retry) */
|
||||
return -2;
|
||||
}
|
||||
@ -309,7 +330,7 @@ int32_t PIOS_USART_RxBufferPut(USARTNumTypeDef usart, uint8_t b)
|
||||
/* This operation should be atomic! */
|
||||
PIOS_IRQ_Disable();
|
||||
rx_buffer[usart][rx_buffer_head[usart]] = b;
|
||||
if(++rx_buffer_head[usart] >= USART_RX_BUFFER_SIZE) {
|
||||
if(++rx_buffer_head[usart] >= PIOS_USART_RX_BUFFER_SIZE) {
|
||||
rx_buffer_head[usart] = 0;
|
||||
}
|
||||
++rx_buffer_size[usart];
|
||||
@ -322,30 +343,30 @@ int32_t PIOS_USART_RxBufferPut(USARTNumTypeDef usart, uint8_t b)
|
||||
|
||||
/**
|
||||
* returns number of free bytes in transmit buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return number of free bytes
|
||||
* \return 0 if USART not available
|
||||
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
|
||||
*/
|
||||
int32_t PIOS_USART_TxBufferFree(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
return 0;
|
||||
} else {
|
||||
return USART_TX_BUFFER_SIZE - tx_buffer_size[usart];
|
||||
return PIOS_USART_TX_BUFFER_SIZE - tx_buffer_size[usart];
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* returns number of used bytes in transmit buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return number of used bytes
|
||||
* \return 0 if USART not available
|
||||
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
|
||||
*/
|
||||
int32_t PIOS_USART_TxBufferUsed(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
return 0;
|
||||
} else {
|
||||
return tx_buffer_size[usart];
|
||||
@ -354,7 +375,7 @@ int32_t PIOS_USART_TxBufferUsed(USARTNumTypeDef usart)
|
||||
|
||||
/**
|
||||
* gets a byte from the transmit buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \return -1 if USART not available
|
||||
* \return -2 if no new byte available
|
||||
* \return >= 0: transmitted byte
|
||||
@ -362,7 +383,7 @@ int32_t PIOS_USART_TxBufferUsed(USARTNumTypeDef usart)
|
||||
*/
|
||||
int32_t PIOS_USART_TxBufferGet(USARTNumTypeDef usart)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
/* USART not available */
|
||||
return -1;
|
||||
}
|
||||
@ -375,7 +396,7 @@ int32_t PIOS_USART_TxBufferGet(USARTNumTypeDef usart)
|
||||
/* Get byte - this operation should be atomic! */
|
||||
PIOS_IRQ_Disable();
|
||||
uint8_t b = tx_buffer[usart][tx_buffer_tail[usart]];
|
||||
if(++tx_buffer_tail[usart] >= USART_TX_BUFFER_SIZE) {
|
||||
if(++tx_buffer_tail[usart] >= PIOS_USART_TX_BUFFER_SIZE) {
|
||||
tx_buffer_tail[usart] = 0;
|
||||
}
|
||||
--tx_buffer_size[usart];
|
||||
@ -387,7 +408,7 @@ int32_t PIOS_USART_TxBufferGet(USARTNumTypeDef usart)
|
||||
|
||||
/**
|
||||
* puts more than one byte onto the transmit buffer (used for atomic sends)
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \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
|
||||
@ -398,12 +419,12 @@ int32_t PIOS_USART_TxBufferGet(USARTNumTypeDef usart)
|
||||
*/
|
||||
int32_t PIOS_USART_TxBufferPutMoreNonBlocking(USARTNumTypeDef usart, uint8_t *buffer, uint16_t len)
|
||||
{
|
||||
if(usart >= USART_NUM) {
|
||||
if(usart >= PIOS_USART_NUM) {
|
||||
/* USART not available */
|
||||
return -1;
|
||||
}
|
||||
|
||||
if((tx_buffer_size[usart]+len) >= USART_TX_BUFFER_SIZE) {
|
||||
if((tx_buffer_size[usart]+len) >= PIOS_USART_TX_BUFFER_SIZE) {
|
||||
/* Buffer full or cannot get all requested bytes (retry) */
|
||||
return -2;
|
||||
}
|
||||
@ -416,7 +437,7 @@ int32_t PIOS_USART_TxBufferPutMoreNonBlocking(USARTNumTypeDef usart, uint8_t *bu
|
||||
for(i = 0; i < len; ++i) {
|
||||
tx_buffer[usart][tx_buffer_head[usart]] = *buffer++;
|
||||
|
||||
if(++tx_buffer_head[usart] >= USART_TX_BUFFER_SIZE) {
|
||||
if(++tx_buffer_head[usart] >= PIOS_USART_TX_BUFFER_SIZE) {
|
||||
tx_buffer_head[usart] = 0;
|
||||
}
|
||||
|
||||
@ -424,11 +445,11 @@ int32_t PIOS_USART_TxBufferPutMoreNonBlocking(USARTNumTypeDef usart, uint8_t *bu
|
||||
if(++tx_buffer_size[usart] == 1) {
|
||||
switch(usart) {
|
||||
/* Enable TXE interrupt (TXEIE=1) */
|
||||
case 0: GPS_USART->CR1 |= (1 << 7); break;
|
||||
case 0: PIOS_USART1_USART->CR1 |= (1 << 7); break;
|
||||
/* Enable TXE interrupt (TXEIE=1) */
|
||||
case 1: TELEM_USART->CR1 |= (1 << 7); break;
|
||||
case 1: PIOS_USART2_USART->CR1 |= (1 << 7); break;
|
||||
/* Enable TXE interrupt (TXEIE=1) */
|
||||
case 2: AUX_USART_USART->CR1 |= (1 << 7); break;
|
||||
case 2: PIOS_USART3_USART->CR1 |= (1 << 7); break;
|
||||
/* USART not supported by routine (yet) */
|
||||
default: PIOS_IRQ_Enable(); return -3;
|
||||
}
|
||||
@ -444,7 +465,7 @@ int32_t PIOS_USART_TxBufferPutMoreNonBlocking(USARTNumTypeDef usart, uint8_t *bu
|
||||
/**
|
||||
* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
|
||||
* (blocking function)
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \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
|
||||
@ -463,7 +484,7 @@ int32_t PIOS_USART_TxBufferPutMore(USARTNumTypeDef usart, uint8_t *buffer, uint1
|
||||
|
||||
/**
|
||||
* puts a byte onto the transmit buffer
|
||||
* \param[in] USART USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \param[in] b byte which should be put into Tx buffer
|
||||
* \return 0 if no error
|
||||
* \return -1 if USART not available
|
||||
@ -481,7 +502,7 @@ int32_t PIOS_USART_TxBufferPut_NonBlocking(USARTNumTypeDef usart, uint8_t b)
|
||||
/**
|
||||
* puts a byte onto the transmit buffer<BR>
|
||||
* (blocking function)
|
||||
* \param[in] usart USART name (GPS, TELEM, AUX)
|
||||
* \param[in] USART USART name
|
||||
* \param[in] b byte which should be put into Tx buffer
|
||||
* \return 0 if no error
|
||||
* \return -1 if USART not available
|
||||
@ -498,11 +519,11 @@ int32_t PIOS_USART_TxBufferPut(USARTNumTypeDef usart, uint8_t b)
|
||||
}
|
||||
|
||||
/* Interrupt handler for GPS USART */
|
||||
GPS_IRQHANDLER_FUNC
|
||||
PIOS_USART1_IRQHANDLER_FUNC
|
||||
{
|
||||
/* Check if RXNE flag is set */
|
||||
if(GPS_USART->SR & (1 << 5)) {
|
||||
uint8_t b = GPS_USART->DR;
|
||||
if(PIOS_USART1_USART->SR & (1 << 5)) {
|
||||
uint8_t b = PIOS_USART1_USART->DR;
|
||||
|
||||
if(PIOS_USART_RxBufferPut(GPS, b) < 0) {
|
||||
/* Here we could add some error handling */
|
||||
@ -510,28 +531,28 @@ GPS_IRQHANDLER_FUNC
|
||||
}
|
||||
|
||||
/* Check if TXE flag is set */
|
||||
if(GPS_USART->SR & (1 << 7)) {
|
||||
if(PIOS_USART1_USART->SR & (1 << 7)) {
|
||||
if(PIOS_USART_TxBufferUsed(GPS) > 0) {
|
||||
int b = PIOS_USART_TxBufferGet(GPS);
|
||||
if( b < 0 ) {
|
||||
/* Here we could add some error handling */
|
||||
GPS_USART->DR = 0xff;
|
||||
PIOS_USART1_USART->DR = 0xff;
|
||||
} else {
|
||||
GPS_USART->DR = b;
|
||||
PIOS_USART1_USART->DR = b;
|
||||
}
|
||||
} else {
|
||||
/* Disable TXE interrupt (TXEIE=0) */
|
||||
GPS_USART->CR1 &= ~(1 << 7);
|
||||
PIOS_USART1_USART->CR1 &= ~(1 << 7);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Interrupt handler for TELEM USART */
|
||||
TELEM_IRQHANDLER_FUNC
|
||||
PIOS_USART2_IRQHANDLER_FUNC
|
||||
{
|
||||
/* check if RXNE flag is set */
|
||||
if(TELEM_USART->SR & (1 << 5)) {
|
||||
uint8_t b = TELEM_USART->DR;
|
||||
if(PIOS_USART2_USART->SR & (1 << 5)) {
|
||||
uint8_t b = PIOS_USART2_USART->DR;
|
||||
|
||||
if(PIOS_USART_RxBufferPut(TELEM, b) < 0) {
|
||||
/* Here we could add some error handling */
|
||||
@ -539,46 +560,46 @@ TELEM_IRQHANDLER_FUNC
|
||||
}
|
||||
|
||||
/* Check if TXE flag is set */
|
||||
if(TELEM_USART->SR & (1 << 7)) {
|
||||
if(PIOS_USART2_USART->SR & (1 << 7)) {
|
||||
if(PIOS_USART_TxBufferUsed(TELEM) > 0) {
|
||||
int b = PIOS_USART_TxBufferGet(TELEM);
|
||||
if(b < 0) {
|
||||
/* Here we could add some error handling */
|
||||
TELEM_USART->DR = 0xff;
|
||||
PIOS_USART2_USART->DR = 0xff;
|
||||
} else {
|
||||
TELEM_USART->DR = b;
|
||||
PIOS_USART2_USART->DR = b;
|
||||
}
|
||||
} else {
|
||||
/* Disable TXE interrupt (TXEIE=0) */
|
||||
TELEM_USART->CR1 &= ~(1 << 7);
|
||||
PIOS_USART2_USART->CR1 &= ~(1 << 7);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Interrupt handler for AUX USART */
|
||||
AUX_USART_IRQHANDLER_FUNC
|
||||
PIOS_USART3_IRQHANDLER_FUNC
|
||||
{
|
||||
/* check if RXNE flag is set */
|
||||
if(AUX_USART_USART->SR & (1 << 5)) {
|
||||
uint8_t b = AUX_USART_USART->DR;
|
||||
if(PIOS_USART3_USART->SR & (1 << 5)) {
|
||||
uint8_t b = PIOS_USART3_USART->DR;
|
||||
|
||||
if(PIOS_USART_RxBufferPut(AUX, b) < 0) {
|
||||
/* Here we could add some error handling */
|
||||
}
|
||||
}
|
||||
|
||||
if(AUX_USART_USART->SR & (1 << 7)) { // check if TXE flag is set
|
||||
if(PIOS_USART3_USART->SR & (1 << 7)) { // check if TXE flag is set
|
||||
if(PIOS_USART_TxBufferUsed(AUX) > 0) {
|
||||
int b = PIOS_USART_TxBufferGet(AUX);
|
||||
if(b < 0) {
|
||||
/* Here we could add some error handling */
|
||||
AUX_USART_USART->DR = 0xff;
|
||||
PIOS_USART3_USART->DR = 0xff;
|
||||
} else {
|
||||
AUX_USART_USART->DR = b;
|
||||
PIOS_USART3_USART->DR = b;
|
||||
}
|
||||
} else {
|
||||
/* Disable TXE interrupt (TXEIE=0) */
|
||||
AUX_USART_USART->CR1 &= ~(1 << 7);
|
||||
PIOS_USART3_USART->CR1 &= ~(1 << 7);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -29,13 +29,11 @@
|
||||
|
||||
|
||||
/* Global Types */
|
||||
typedef enum {GPS = 0, TELEM = 1, AUX = 2} USARTNumTypeDef;
|
||||
typedef enum {GPS = 0, TELEM = 1, AUX = 2} USARTNumTypeDef; //TODO: Make this non-application specific
|
||||
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_USART_Init(void);
|
||||
extern void PIOS_USART_EnableAux(void);
|
||||
extern void PIOS_USART_DisableAux(void);
|
||||
extern void PIOS_USART_ChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
|
||||
|
||||
extern int32_t PIOS_USART_RxBufferFree(USARTNumTypeDef uart);
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
|
||||
/* PIOS Compile Time Configuration */
|
||||
#include "pios_config.h"
|
||||
#include "pios_board.h"
|
||||
|
||||
/* C Lib Includes */
|
||||
#include <stdio.h>
|
||||
@ -53,7 +54,6 @@
|
||||
#include <msd.h>
|
||||
|
||||
/* PIOS Hardware Includes (STM32F10x) */
|
||||
#include <pios_board.h>
|
||||
#include <pios_sys.h>
|
||||
#include <pios_delay.h>
|
||||
#include <pios_led.h>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user