From 5a1cb21ad538876b23d8f06c90b8abb574df8b2e Mon Sep 17 00:00:00 2001 From: 4712 <4712@outlook.de> Date: Fri, 8 Apr 2016 18:47:18 +0200 Subject: [PATCH] 4way-if cleanup removed superseded 1wire-uart and 1wire-vcp --- Makefile | 2 - src/main/io/serial_1wire.c | 227 ------------------ src/main/io/serial_1wire.h | 37 --- src/main/io/serial_1wire.h~HEAD | 37 --- ...h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 | 36 --- src/main/io/serial_1wire_vcp.c | 224 ----------------- src/main/io/serial_1wire_vcp.h | 42 ---- src/main/io/serial_4way.c | 227 ++++++++++++------ src/main/io/serial_4way.h | 75 +++--- src/main/io/serial_4way_avrootloader.c | 87 ++++--- src/main/io/serial_4way_avrootloader.h | 17 +- src/main/io/serial_4way_stk500v2.c | 131 +++++----- src/main/io/serial_4way_stk500v2.h | 14 +- src/main/io/serial_msp.c | 121 +--------- src/main/io/serial_msp.h | 1 - src/main/target/CC3D/target.h | 21 +- src/main/target/COLIBRI_RACE/target.h | 18 +- src/main/target/LUX_RACE/target.h | 19 +- src/main/target/MOTOLAB/target.h | 18 +- src/main/target/NAZE/target.h | 20 +- src/main/target/PORT103R/target.h | 18 +- src/main/target/RMDO/target.h | 18 +- src/main/target/SPARKY/target.h | 18 +- src/main/target/SPRACINGF3/target.h | 18 +- src/main/target/SPRACINGF3EVO/target.h | 16 +- src/main/target/SPRACINGF3MINI/target.h | 18 +- src/main/target/STM32F3DISCOVERY/target.h | 20 +- 27 files changed, 312 insertions(+), 1188 deletions(-) delete mode 100644 src/main/io/serial_1wire.c delete mode 100644 src/main/io/serial_1wire.h delete mode 100644 src/main/io/serial_1wire.h~HEAD delete mode 100644 src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 delete mode 100644 src/main/io/serial_1wire_vcp.c delete mode 100644 src/main/io/serial_1wire_vcp.h diff --git a/Makefile b/Makefile index a20beb44a..a8de88e93 100644 --- a/Makefile +++ b/Makefile @@ -303,8 +303,6 @@ COMMON_SRC = build_config.c \ io/rc_controls.c \ io/rc_curves.c \ io/serial.c \ - io/serial_1wire.c \ - io/serial_1wire_vcp.c \ io/serial_4way.c \ io/serial_4way_avrootloader.c \ io/serial_4way_stk500v2.c \ diff --git a/src/main/io/serial_1wire.c b/src/main/io/serial_1wire.c deleted file mode 100644 index 6b0a5e89a..000000000 --- a/src/main/io/serial_1wire.c +++ /dev/null @@ -1,227 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c - * by Nathan Tsoi - * Several updates by 4712 in order to optimize interaction with BLHeliSuite - */ - -#include -#include -#include -#include -#include "platform.h" - -#ifdef USE_SERIAL_1WIRE -#include "drivers/gpio.h" -#include "drivers/light_led.h" -#include "drivers/system.h" -#include "io/serial_1wire.h" -#include "io/beeper.h" -#include "drivers/pwm_mapping.h" -#include "drivers/pwm_output.h" -#include "flight/mixer.h" - -uint8_t escCount; // we detect the hardware dynamically - -static escHardware_t escHardware[MAX_PWM_MOTORS]; - -static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) { - gpio_config_t cfg; - cfg.pin = pin; - cfg.mode = mode; - cfg.speed = Speed_2MHz; - gpioInit(gpio, &cfg); -} - -static uint32_t GetPinPos(uint32_t pin) { - uint32_t pinPos; - for (pinPos = 0; pinPos < 16; pinPos++) { - uint32_t pinMask = (0x1 << pinPos); - if (pin & pinMask) { - return pinPos; - } - } - return 0; -} - -void usb1WireInitialize() -{ - escCount = 0; - pwmDisableMotors(); - memset(&escHardware,0,sizeof(escHardware)); - pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration(); - for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) { - if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) { - if(motor[pwmOutputConfiguration->portConfigurations[i].index] > 0) { - escHardware[escCount].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio; - escHardware[escCount].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin; - escHardware[escCount].pinpos = GetPinPos(escHardware[escCount].pin); - gpio_set_mode(escHardware[escCount].gpio,escHardware[escCount].pin, Mode_IPU); //GPIO_Mode_IPU - escCount++; - } - } - } -} - -void usb1WireDeInitialize(void){ - for (uint8_t selected_esc = 0; selected_esc < (escCount); selected_esc++) { - gpio_set_mode(escHardware[selected_esc].gpio,escHardware[selected_esc].pin, Mode_AF_PP); //GPIO_Mode_IPU - } - escCount = 0; - pwmEnableMotors(); -} - -#ifdef STM32F10X -static volatile uint32_t in_cr_mask, out_cr_mask; - -static __IO uint32_t *cr; -static void gpio_prep_vars(uint32_t escIndex) -{ - GPIO_TypeDef *gpio = escHardware[escIndex].gpio; - uint32_t pinpos = escHardware[escIndex].pinpos; - // mask out extra bits from pinmode, leaving just CNF+MODE - uint32_t inmode = Mode_IPU & 0x0F; - uint32_t outmode = (Mode_Out_PP & 0x0F) | Speed_10MHz; - // reference CRL or CRH, depending whether pin number is 0..7 or 8..15 - cr = &gpio->CRL + (pinpos / 8); - // offset to CNF and MODE portions of CRx register - uint32_t shift = (pinpos % 8) * 4; - // Read out current CRx value - in_cr_mask = out_cr_mask = *cr; - // Mask out 4 bits - in_cr_mask &= ~(0xF << shift); - out_cr_mask &= ~(0xF << shift); - // save current pinmode - in_cr_mask |= inmode << shift; - out_cr_mask |= outmode << shift; -} - -static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) { - // reference CRL or CRH, depending whether pin number is 0..7 or 8..15 - if (mode == Mode_IPU) { - *cr = in_cr_mask; - escHardware[escIndex].gpio->ODR |= escHardware[escIndex].pin; - } - else { - *cr = out_cr_mask; - } -} -#endif - -#define ESC_HI(escIndex) ((escHardware[escIndex].gpio->IDR & escHardware[escIndex].pin) != (uint32_t)Bit_RESET) -#define RX_HI ((S1W_RX_GPIO->IDR & S1W_RX_PIN) != (uint32_t)Bit_RESET) -#define ESC_SET_HI(escIndex) escHardware[escIndex].gpio->BSRR = escHardware[escIndex].pin -#define ESC_SET_LO(escIndex) escHardware[escIndex].gpio->BRR = escHardware[escIndex].pin -#define TX_SET_HIGH S1W_TX_GPIO->BSRR = S1W_TX_PIN -#define TX_SET_LO S1W_TX_GPIO->BRR = S1W_TX_PIN - -#ifdef STM32F303xC -#define ESC_INPUT(escIndex) escHardware[escIndex].gpio->MODER &= ~(GPIO_MODER_MODER0 << (escHardware[escIndex].pinpos * 2)) -#define ESC_OUTPUT(escIndex) escHardware[escIndex].gpio->MODER |= GPIO_Mode_OUT << (escHardware[escIndex].pinpos * 2) -#endif - -#ifdef STM32F10X -#define ESC_INPUT(escIndex) gpioSetOne(escIndex, Mode_IPU) -#define ESC_OUTPUT(escIndex) gpioSetOne(escIndex, Mode_Out_PP) -#endif - -#define RX_LED_OFF LED0_OFF -#define RX_LED_ON LED0_ON -#define TX_LED_OFF LED1_OFF -#define TX_LED_ON LED1_ON - -// This method translates 2 wires (a tx and rx line) to 1 wire, by letting the -// RX line control when data should be read or written from the single line -void usb1WirePassthrough(uint8_t escIndex) -{ -#ifdef BEEPER - // fix for buzzer often starts beeping continuously when the ESCs are read - // switch beeper silent here - beeperSilence(); -#endif - - // disable all interrupts - __disable_irq(); - - // prepare MSP UART port for direct pin access - // reset all the pins - GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN); - GPIO_ResetBits(S1W_TX_GPIO, S1W_TX_PIN); - // configure gpio - //gpio_set_mode(S1W_RX_GPIO, S1W_RX_PIN, Mode_IPU); - gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_Out_PP); - -#ifdef STM32F10X - // reset our gpio register pointers and bitmask values - gpio_prep_vars(escIndex); -#endif - - ESC_OUTPUT(escIndex); - ESC_SET_HI(escIndex); - TX_SET_HIGH; - // Wait for programmer to go from 1 -> 0 indicating incoming data - while(RX_HI); - - while(1) { - // A new iteration on this loop starts when we have data from the programmer (read_programmer goes low) - // Setup escIndex pin to send data, pullup is the default - ESC_OUTPUT(escIndex); - // Write the first bit - ESC_SET_LO(escIndex); - // Echo on the programmer tx line - TX_SET_LO; - //set LEDs - RX_LED_OFF; - TX_LED_ON; - // Wait for programmer to go 0 -> 1 - uint32_t ct=3333; - while(!RX_HI) { - if (ct > 0) ct--; // count down until 0; - // check for low time ->ct=3333 ~600uS //byte LO time for 0 @ 19200 baud -> 9*52 uS => 468.75uS - // App must send a 0 at 9600 baud (or lower) which has a LO time of at 104uS (or more) > 0 = 937.5uS LO - // BLHeliSuite will use 4800 baud - } - // Programmer is high, end of bit - // At first Echo to the esc, which helps to charge input capacities at ESC - ESC_SET_HI(escIndex); - // Listen to the escIndex, input mode, pullup resistor is on - gpio_set_mode(escHardware[escIndex].gpio, escHardware[escIndex].pin, Mode_IPU); - TX_LED_OFF; - if (ct==0) break; //we reached zero - // Listen to the escIndex while there is no data from the programmer - while (RX_HI) { - if (ESC_HI(escIndex)) { - TX_SET_HIGH; - RX_LED_OFF; - } - else { - TX_SET_LO; - RX_LED_ON; - } - } - } - - // we get here in case ct reached zero - TX_SET_HIGH; - RX_LED_OFF; - // reactivate serial port - gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_AF_PP); - // Enable all irq (for Hardware UART) - __enable_irq(); - return; -} -#endif diff --git a/src/main/io/serial_1wire.h b/src/main/io/serial_1wire.h deleted file mode 100644 index 594cdd43a..000000000 --- a/src/main/io/serial_1wire.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c - * by Nathan Tsoi - */ - -#pragma once - -#ifdef USE_SERIAL_1WIRE - -extern uint8_t escCount; - -typedef struct { - GPIO_TypeDef* gpio; - uint16_t pinpos; - uint16_t pin; -} escHardware_t; - - -void usb1WireInitialize(); -void usb1WirePassthrough(uint8_t escIndex); -void usb1WireDeInitialize(void); -#endif diff --git a/src/main/io/serial_1wire.h~HEAD b/src/main/io/serial_1wire.h~HEAD deleted file mode 100644 index 594cdd43a..000000000 --- a/src/main/io/serial_1wire.h~HEAD +++ /dev/null @@ -1,37 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c - * by Nathan Tsoi - */ - -#pragma once - -#ifdef USE_SERIAL_1WIRE - -extern uint8_t escCount; - -typedef struct { - GPIO_TypeDef* gpio; - uint16_t pinpos; - uint16_t pin; -} escHardware_t; - - -void usb1WireInitialize(); -void usb1WirePassthrough(uint8_t escIndex); -void usb1WireDeInitialize(void); -#endif diff --git a/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 b/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 deleted file mode 100644 index 1e560ed93..000000000 --- a/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 +++ /dev/null @@ -1,36 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c - * by Nathan Tsoi - */ - -#pragma once - -#ifdef USE_SERIAL_1WIRE - -extern uint8_t escCount; - -typedef struct { - GPIO_TypeDef* gpio; - uint16_t pinpos; - uint16_t pin; -} escHardware_t; - - -void usb1WireInitialize(); -void usb1WirePassthrough(uint8_t escIndex); -#endif diff --git a/src/main/io/serial_1wire_vcp.c b/src/main/io/serial_1wire_vcp.c deleted file mode 100644 index 6e350f769..000000000 --- a/src/main/io/serial_1wire_vcp.c +++ /dev/null @@ -1,224 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Author 4712 - */ - -#include -#include -#include -#include -#include "platform.h" - -#ifdef USE_SERIAL_1WIRE_VCP -#include "drivers/gpio.h" -#include "drivers/light_led.h" -#include "drivers/system.h" -#include "io/serial_1wire_vcp.h" -#include "io/beeper.h" -#include "drivers/pwm_mapping.h" -#include "drivers/pwm_output.h" -#include "flight/mixer.h" -#include "io/serial_msp.h" -#include "drivers/buf_writer.h" -#include "drivers/serial_usb_vcp.h" - -uint8_t escCount; - -static escHardware_t escHardware[MAX_PWM_MOTORS]; - -static uint32_t GetPinPos(uint32_t pin) { - uint32_t pinPos; - for (pinPos = 0; pinPos < 16; pinPos++) { - uint32_t pinMask = (0x1 << pinPos); - if (pin & pinMask) { - return pinPos; - } - } - return 0; -} -static uint8_t selected_esc; - -#define ESC_IS_HI digitalIn(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) != Bit_RESET -#define ESC_IS_LO digitalIn(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) == Bit_RESET -#define ESC_SET_HI digitalHi(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) -#define ESC_SET_LO digitalLo(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) - -#define ESC_INPUT gpioInit(escHardware[selected_esc].gpio, &escHardware[selected_esc].gpio_config_INPUT) -#define ESC_OUTPUT gpioInit(escHardware[selected_esc].gpio, &escHardware[selected_esc].gpio_config_OUTPUT) - -void usb1WireInitializeVcp(void) -{ - pwmDisableMotors(); - selected_esc = 0; - memset(&escHardware, 0, sizeof(escHardware)); - pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration(); - for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) { - if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) { - if(motor[pwmOutputConfiguration->portConfigurations[i].index] > 0) { - escHardware[selected_esc].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio; - escHardware[selected_esc].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin; - escHardware[selected_esc].pinpos = GetPinPos(escHardware[selected_esc].pin); - escHardware[selected_esc].gpio_config_INPUT.pin = escHardware[selected_esc].pin; - escHardware[selected_esc].gpio_config_INPUT.speed = Speed_2MHz; // see pwmOutConfig() - escHardware[selected_esc].gpio_config_INPUT.mode = Mode_IPU; - escHardware[selected_esc].gpio_config_OUTPUT = escHardware[selected_esc].gpio_config_INPUT; - escHardware[selected_esc].gpio_config_OUTPUT.mode = Mode_Out_PP; - ESC_INPUT; - ESC_SET_HI; - selected_esc++; - } - } - } - escCount = selected_esc; - selected_esc = 0; -} - -void usb1WireDeInitializeVcp(void){ - for (selected_esc = 0; selected_esc < (escCount); selected_esc++) { - escHardware[selected_esc].gpio_config_OUTPUT.mode = Mode_AF_PP; // see pwmOutConfig() - ESC_OUTPUT; - ESC_SET_LO; - } - escCount = 0; - pwmEnableMotors(); -} - -#define START_BIT_TIMEOUT_MS 2 - -#define BIT_TIME (52) //52uS -#define BIT_TIME_HALVE (BIT_TIME >> 1) //26uS -#define START_BIT_TIME (BIT_TIME_HALVE + 1) -#define STOP_BIT_TIME ((BIT_TIME * 9) + BIT_TIME_HALVE) - -static void suart_putc_(uint8_t *tx_b) -{ - // shift out stopbit first - uint16_t bitmask = (*tx_b << 2) | 1 | (1 << 10); - uint32_t btime = micros(); - while(1) { - if(bitmask & 1) { - ESC_SET_HI; // 1 - } else { - ESC_SET_LO; // 0 - } - btime = btime + BIT_TIME; - bitmask = (bitmask >> 1); - if (bitmask == 0) break; // stopbit shifted out - but don't wait - while (micros() < btime); - } -} - -static uint8_t suart_getc_(uint8_t *bt) -{ - uint32_t btime; - uint32_t start_time; - - uint32_t wait_time = millis() + START_BIT_TIMEOUT_MS; - while (ESC_IS_HI) { - // check for startbit begin - if (millis() >= wait_time) { - return 0; - } - } - // start bit - start_time = micros(); - btime = start_time + START_BIT_TIME; - uint16_t bitmask = 0; - uint8_t bit = 0; - while (micros() < btime); - while(1) { - if (ESC_IS_HI) { - bitmask |= (1 << bit); - } - btime = btime + BIT_TIME; - bit++; - if (bit == 10) break; - while (micros() < btime); - } - // check start bit and stop bit - if ((bitmask & 1) || (!(bitmask & (1 << 9)))) { - return 0; - } - *bt = bitmask >> 1; - return 1; -} -#define USE_TXRX_LED - -#ifdef USE_TXRX_LED -#define RX_LED_OFF LED0_OFF -#define RX_LED_ON LED0_ON -#ifdef LED1 -#define TX_LED_OFF LED1_OFF -#define TX_LED_ON LED1_ON -#else -#define TX_LED_OFF LED0_OFF -#define TX_LED_ON LED0_ON -#endif -#else -#define RX_LED_OFF -#define RX_LED_ON -#define TX_LED_OFF -#define TX_LED_ON -#endif - -// This method translates 2 wires (a tx and rx line) to 1 wire, by letting the -// RX line control when data should be read or written from the single line -void usb1WirePassthroughVcp(mspPort_t *mspPort, bufWriter_t *bufwriter, uint8_t escIndex) -{ -#ifdef BEEPER - // fix for buzzer often starts beeping continuously when the ESCs are read - // switch beeper silent here - // TODO (4712) do we need beeperSilence()? - // beeperSilence(); -#endif - - selected_esc = escIndex; - // TODO (4712) check all possible baud rate ok? - // uint32_t baudrate = serialGetBaudRate(mspPort->port); - // serialSetBaudRate(mspPort->port, 19200); - - while(usbVcpGetBaudRate(mspPort->port) != 4800) { - // esc line is in Mode_IPU by default - static uint8_t bt; - - if (suart_getc_(&bt)) { - RX_LED_ON; - serialBeginWrite(mspPort->port); - bufWriterAppend(bufwriter, bt); - while (suart_getc_(&bt)){ - bufWriterAppend(bufwriter, bt); - } - serialEndWrite(mspPort->port); - bufWriterFlush(bufwriter); - RX_LED_OFF; - } - if (serialRxBytesWaiting(mspPort->port)) { - ESC_OUTPUT; - TX_LED_ON; - do { - bt = serialRead(mspPort->port); - suart_putc_(&bt); - } while(serialRxBytesWaiting(mspPort->port)); - ESC_INPUT; - TX_LED_OFF; - } - } - // serialSetBaudRate(mspPort->port, baudrate); - return; -} -#endif - diff --git a/src/main/io/serial_1wire_vcp.h b/src/main/io/serial_1wire_vcp.h deleted file mode 100644 index 0f4a6a3dc..000000000 --- a/src/main/io/serial_1wire_vcp.h +++ /dev/null @@ -1,42 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight 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. - * - * Cleanflight 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 Cleanflight. If not, see . - * - * Author 4712 - */ -#pragma once - -#include "platform.h" -#ifdef USE_SERIAL_1WIRE_VCP -#include "drivers/serial.h" -#include "drivers/buf_writer.h" -#include "drivers/pwm_mapping.h" -#include "io/serial_msp.h" - -extern uint8_t escCount; - -typedef struct { - GPIO_TypeDef* gpio; - uint16_t pinpos; - uint16_t pin; - gpio_config_t gpio_config_INPUT; - gpio_config_t gpio_config_OUTPUT; -} escHardware_t; - -void usb1WireInitializeVcp(void); -void usb1WireDeInitializeVcp(void); -void usb1WirePassthroughVcp(mspPort_t *mspPort, bufWriter_t *bufwriter, uint8_t escIndex); -#endif - diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c index 0e7fc889f..5f0dfb466 100644 --- a/src/main/io/serial_4way.c +++ b/src/main/io/serial_4way.c @@ -15,20 +15,29 @@ * along with Cleanflight. If not, see . * Author: 4712 */ -#include "platform.h" -#if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) + #include #include #include #include #include -#include "drivers/system.h" + +#include "platform.h" +#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE +#include "drivers/serial.h" +#include "drivers/buf_writer.h" +#include "drivers/gpio.h" +#include "drivers/timer.h" +#include "drivers/pwm_mapping.h" #include "drivers/pwm_output.h" +#include "drivers/light_led.h" +#include "drivers/system.h" +#include "drivers/buf_writer.h" #include "flight/mixer.h" #include "io/beeper.h" -#include "io/serial_4way.h" #include "io/serial_msp.h" -#include "drivers/buf_writer.h" +#include "io/serial_msp.h" +#include "io/serial_4way.h" #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER #include "io/serial_4way_avrootloader.h" @@ -37,11 +46,30 @@ #include "io/serial_4way_stk500v2.h" #endif +#define USE_TXRX_LED + +#ifdef USE_TXRX_LED +#define RX_LED_OFF LED0_OFF +#define RX_LED_ON LED0_ON +#ifdef LED1 +#define TX_LED_OFF LED1_OFF +#define TX_LED_ON LED1_ON +#else +#define TX_LED_OFF LED0_OFF +#define TX_LED_ON LED0_ON +#endif +#else +#define RX_LED_OFF +#define RX_LED_ON +#define TX_LED_OFF +#define TX_LED_ON +#endif + #define SERIAL_4WAY_INTERFACE_NAME_STR "m4wFCIntf" // *** change to adapt Revision #define SERIAL_4WAY_VER_MAIN 14 #define SERIAL_4WAY_VER_SUB_1 (uint8_t) 4 -#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 03 +#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 04 #define SERIAL_4WAY_PROTOCOL_VER 106 // *** end @@ -50,7 +78,6 @@ #error "beware of SERIAL_4WAY_VER_SUB_1 is uint8_t" #endif - #define SERIAL_4WAY_VERSION (uint16_t) ((SERIAL_4WAY_VER_MAIN * 1000) + (SERIAL_4WAY_VER_SUB_1 * 100) + SERIAL_4WAY_VER_SUB_2) #define SERIAL_4WAY_VERSION_HI (uint8_t) (SERIAL_4WAY_VERSION / 100) @@ -58,6 +85,48 @@ static uint8_t escCount; +escHardware_t escHardware[MAX_PWM_MOTORS]; + +uint8_t selected_esc; + +uint8_32_u DeviceInfo; + +#define DeviceInfoSize 4 + +inline bool isMcuConnected(void) +{ + return (DeviceInfo.bytes[0] > 0); +} + +inline bool isEscHi(uint8_t selEsc) +{ + return (digitalIn(escHardware[selEsc].gpio, escHardware[selEsc].pin) != Bit_RESET); +} +inline bool isEscLo(uint8_t selEsc) +{ + return (digitalIn(escHardware[selEsc].gpio, escHardware[selEsc].pin) == Bit_RESET); +} + +inline void setEscHi(uint8_t selEsc) +{ + digitalHi(escHardware[selEsc].gpio, escHardware[selEsc].pin); +} + +inline void setEscLo(uint8_t selEsc) +{ + digitalLo(escHardware[selEsc].gpio, escHardware[selEsc].pin); +} + +inline void setEscInput(uint8_t selEsc) +{ + gpioInit(escHardware[selEsc].gpio, &escHardware[selEsc].gpio_config_INPUT); +} + +inline void setEscOutput(uint8_t selEsc) +{ + gpioInit(escHardware[selEsc].gpio, &escHardware[selEsc].gpio_config_OUTPUT); +} + static uint32_t GetPinPos(uint32_t pin) { uint32_t pinPos; @@ -74,38 +143,37 @@ uint8_t Initialize4WayInterface(void) { // StopPwmAllMotors(); pwmDisableMotors(); - selected_esc = 0; + escCount = 0; memset(&escHardware, 0, sizeof(escHardware)); pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration(); for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) { if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) { if(motor[pwmOutputConfiguration->portConfigurations[i].index] > 0) { - escHardware[selected_esc].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio; - escHardware[selected_esc].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin; - escHardware[selected_esc].pinpos = GetPinPos(escHardware[selected_esc].pin); - escHardware[selected_esc].gpio_config_INPUT.pin = escHardware[selected_esc].pin; - escHardware[selected_esc].gpio_config_INPUT.speed = Speed_2MHz; // see pwmOutConfig() - escHardware[selected_esc].gpio_config_INPUT.mode = Mode_IPU; - escHardware[selected_esc].gpio_config_OUTPUT = escHardware[selected_esc].gpio_config_INPUT; - escHardware[selected_esc].gpio_config_OUTPUT.mode = Mode_Out_PP; - ESC_INPUT; - ESC_SET_HI; - selected_esc++; + escHardware[escCount].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio; + escHardware[escCount].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin; + escHardware[escCount].pinpos = GetPinPos(escHardware[escCount].pin); + escHardware[escCount].gpio_config_INPUT.pin = escHardware[escCount].pin; + escHardware[escCount].gpio_config_INPUT.speed = Speed_2MHz; // see pwmOutConfig() + escHardware[escCount].gpio_config_INPUT.mode = Mode_IPU; + escHardware[escCount].gpio_config_OUTPUT = escHardware[escCount].gpio_config_INPUT; + escHardware[escCount].gpio_config_OUTPUT.mode = Mode_Out_PP; + setEscInput(escCount); + setEscHi(escCount); + escCount++; } } } - escCount = selected_esc; return escCount; } void DeInitialize4WayInterface(void) { - for (selected_esc = 0; selected_esc < (escCount); selected_esc++) { - escHardware[selected_esc].gpio_config_OUTPUT.mode = Mode_AF_PP; // see pwmOutConfig() - ESC_OUTPUT; - ESC_SET_LO; + while (escCount > 0) { + escCount--; + escHardware[escCount].gpio_config_OUTPUT.mode = Mode_AF_PP; // see pwmOutConfig() + setEscOutput(escCount); + setEscLo(escCount); } - escCount = 0; pwmEnableMotors(); } @@ -265,25 +333,25 @@ uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data) { // * End copyright -#define ATMEL_DEVICE_MATCH ((DeviceInfo.words[0] == 0x9307) || (DeviceInfo.words[0] == 0x930A) || \ - (DeviceInfo.words[0] == 0x930F) || (DeviceInfo.words[0] == 0x940B)) +#define ATMEL_DEVICE_MATCH ((pDeviceInfo->words[0] == 0x9307) || (pDeviceInfo->words[0] == 0x930A) || \ + (pDeviceInfo->words[0] == 0x930F) || (pDeviceInfo->words[0] == 0x940B)) -#define SILABS_DEVICE_MATCH ((DeviceInfo.words[0] == 0xF310)||(DeviceInfo.words[0] ==0xF330) || \ - (DeviceInfo.words[0] == 0xF410) || (DeviceInfo.words[0] == 0xF390) || \ - (DeviceInfo.words[0] == 0xF850) || (DeviceInfo.words[0] == 0xE8B1) || \ - (DeviceInfo.words[0] == 0xE8B2)) +#define SILABS_DEVICE_MATCH ((pDeviceInfo->words[0] == 0xF310)||(pDeviceInfo->words[0] ==0xF330) || \ + (pDeviceInfo->words[0] == 0xF410) || (pDeviceInfo->words[0] == 0xF390) || \ + (pDeviceInfo->words[0] == 0xF850) || (pDeviceInfo->words[0] == 0xE8B1) || \ + (pDeviceInfo->words[0] == 0xE8B2)) static uint8_t CurrentInterfaceMode; -static uint8_t Connect(void) +static uint8_t Connect(uint8_32_u *pDeviceInfo) { for (uint8_t I = 0; I < 3; ++I) { #if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) - if (Stk_ConnectEx() && ATMEL_DEVICE_MATCH) { + if (Stk_ConnectEx(pDeviceInfo) && ATMEL_DEVICE_MATCH) { CurrentInterfaceMode = imSK; return 1; } else { - if (BL_ConnectEx()) { + if (BL_ConnectEx(pDeviceInfo)) { if SILABS_DEVICE_MATCH { CurrentInterfaceMode = imSIL_BLB; return 1; @@ -294,7 +362,7 @@ static uint8_t Connect(void) } } #elif defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) - if (BL_ConnectEx()) { + if (BL_ConnectEx(pDeviceInfo)) { if SILABS_DEVICE_MATCH { CurrentInterfaceMode = imSIL_BLB; return 1; @@ -304,7 +372,7 @@ static uint8_t Connect(void) } } #elif defined(USE_SERIAL_4WAY_SK_BOOTLOADER) - if (Stk_ConnectEx()) { + if (Stk_ConnectEx(pDeviceInfo)) { CurrentInterfaceMode = imSK; if ATMEL_DEVICE_MATCH return 1; } @@ -322,7 +390,7 @@ static uint8_t ReadByte(void) { return serialRead(_mspPort->port); } -static union uint8_16u CRC_in; +static uint8_16_u CRC_in; static uint8_t ReadByteCrc(void) { uint8_t b = ReadByte(); CRC_in.word = _crc_xmodem_update(CRC_in.word, b); @@ -332,7 +400,7 @@ static void WriteByte(uint8_t b){ bufWriterAppend(_writer, b); } -static union uint8_16u CRCout; +static uint8_16_u CRCout; static void WriteByteCrc(uint8_t b){ WriteByte(b); CRCout.word = _crc_xmodem_update(CRCout.word, b); @@ -345,11 +413,12 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { uint8_t I_PARAM_LEN; uint8_t CMD; uint8_t ACK_OUT; - union uint8_16u CRC_check; - union uint8_16u Dummy; + uint8_16_u CRC_check; + uint8_16_u Dummy; uint8_t O_PARAM_LEN; uint8_t *O_PARAM; uint8_t *InBuff; + ioMem_t ioMem; _mspPort = mspPort; _writer = bufwriter; @@ -375,8 +444,8 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { O_PARAM = &Dummy.bytes[0]; O_PARAM_LEN = 1; CMD = ReadByteCrc(); - D_FLASH_ADDR_H = ReadByteCrc(); - D_FLASH_ADDR_L = ReadByteCrc(); + ioMem.D_FLASH_ADDR_H = ReadByteCrc(); + ioMem.D_FLASH_ADDR_L = ReadByteCrc(); I_PARAM_LEN = ReadByteCrc(); InBuff = ParamBuf; @@ -400,15 +469,15 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { if (ACK_OUT == ACK_OK) { - // D_FLASH_ADDR_H=Adress_H; - // D_FLASH_ADDR_L=Adress_L; - D_PTR_I = ParamBuf; + // wtf.D_FLASH_ADDR_H=Adress_H; + // wtf.D_FLASH_ADDR_L=Adress_L; + ioMem.D_PTR_I = ParamBuf; switch(CMD) { // ******* Interface related stuff ******* case cmd_InterfaceTestAlive: { - if (IsMcuConnected){ + if (isMcuConnected()){ switch(CurrentInterfaceMode) { #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER @@ -499,7 +568,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER case imATM_BLB: { - BL_SendCMDRunRestartBootloader(); + BL_SendCMDRunRestartBootloader(&DeviceInfo); break; } #endif @@ -526,7 +595,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { } O_PARAM_LEN = DeviceInfoSize; //4 O_PARAM = (uint8_t *)&DeviceInfo; - if(Connect()) { + if(Connect(&DeviceInfo)) { DeviceInfo.bytes[INTF_MODE_IDX] = CurrentInterfaceMode; } else { SET_DISCONNECTED; @@ -561,9 +630,9 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { { Dummy.bytes[0] = ParamBuf[0]; //Address = Page * 512 - D_FLASH_ADDR_H = (Dummy.bytes[0] << 1); - D_FLASH_ADDR_L = 0; - if (!BL_PageErase()) ACK_OUT = ACK_D_GENERAL_ERROR; + ioMem.D_FLASH_ADDR_H = (Dummy.bytes[0] << 1); + ioMem.D_FLASH_ADDR_L = 0; + if (!BL_PageErase(&ioMem)) ACK_OUT = ACK_D_GENERAL_ERROR; break; } default: @@ -576,11 +645,11 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { //*** Device Memory Read Ops *** case cmd_DeviceRead: { - D_NUM_BYTES = ParamBuf[0]; + ioMem.D_NUM_BYTES = ParamBuf[0]; /* - D_FLASH_ADDR_H=Adress_H; - D_FLASH_ADDR_L=Adress_L; - D_PTR_I = BUF_I; + wtf.D_FLASH_ADDR_H=Adress_H; + wtf.D_FLASH_ADDR_L=Adress_L; + wtf.D_PTR_I = BUF_I; */ switch(CurrentInterfaceMode) { @@ -588,7 +657,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { case imSIL_BLB: case imATM_BLB: { - if(!BL_ReadFlash(CurrentInterfaceMode)) + if(!BL_ReadFlash(CurrentInterfaceMode, &ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -598,7 +667,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case imSK: { - if(!Stk_ReadFlash()) + if(!Stk_ReadFlash(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -610,7 +679,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { } if (ACK_OUT == ACK_OK) { - O_PARAM_LEN = D_NUM_BYTES; + O_PARAM_LEN = ioMem.D_NUM_BYTES; O_PARAM = (uint8_t *)&ParamBuf; } break; @@ -618,18 +687,18 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { case cmd_DeviceReadEEprom: { - D_NUM_BYTES = ParamBuf[0]; + ioMem.D_NUM_BYTES = ParamBuf[0]; /* - D_FLASH_ADDR_H = Adress_H; - D_FLASH_ADDR_L = Adress_L; - D_PTR_I = BUF_I; + wtf.D_FLASH_ADDR_H = Adress_H; + wtf.D_FLASH_ADDR_L = Adress_L; + wtf.D_PTR_I = BUF_I; */ switch (CurrentInterfaceMode) { #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER case imATM_BLB: { - if (!BL_ReadEEprom()) + if (!BL_ReadEEprom(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -639,7 +708,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case imSK: { - if (!Stk_ReadEEprom()) + if (!Stk_ReadEEprom(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -651,7 +720,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { } if(ACK_OUT == ACK_OK) { - O_PARAM_LEN = D_NUM_BYTES; + O_PARAM_LEN = ioMem.D_NUM_BYTES; O_PARAM = (uint8_t *)&ParamBuf; } break; @@ -660,11 +729,11 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { //*** Device Memory Write Ops *** case cmd_DeviceWrite: { - D_NUM_BYTES = I_PARAM_LEN; + ioMem.D_NUM_BYTES = I_PARAM_LEN; /* - D_FLASH_ADDR_H=Adress_H; - D_FLASH_ADDR_L=Adress_L; - D_PTR_I = BUF_I; + wtf.D_FLASH_ADDR_H=Adress_H; + wtf.D_FLASH_ADDR_L=Adress_L; + wtf.D_PTR_I = BUF_I; */ switch (CurrentInterfaceMode) { @@ -672,7 +741,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { case imSIL_BLB: case imATM_BLB: { - if (!BL_WriteFlash()) { + if (!BL_WriteFlash(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } break; @@ -681,7 +750,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case imSK: { - if (!Stk_WriteFlash()) + if (!Stk_WriteFlash(&ioMem)) { ACK_OUT = ACK_D_GENERAL_ERROR; } @@ -694,12 +763,12 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { case cmd_DeviceWriteEEprom: { - D_NUM_BYTES = I_PARAM_LEN; + ioMem.D_NUM_BYTES = I_PARAM_LEN; ACK_OUT = ACK_D_GENERAL_ERROR; /* - D_FLASH_ADDR_H=Adress_H; - D_FLASH_ADDR_L=Adress_L; - D_PTR_I = BUF_I; + wtf.D_FLASH_ADDR_H=Adress_H; + wtf.D_FLASH_ADDR_L=Adress_L; + wtf.D_PTR_I = BUF_I; */ switch (CurrentInterfaceMode) { @@ -711,7 +780,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { } case imATM_BLB: { - if (BL_WriteEEprom()) + if (BL_WriteEEprom(&ioMem)) { ACK_OUT = ACK_OK; } @@ -721,7 +790,7 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER case imSK: { - if (Stk_WriteEEprom()) + if (Stk_WriteEEprom(&ioMem)) { ACK_OUT = ACK_OK; } @@ -744,8 +813,8 @@ void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter) { serialBeginWrite(_mspPort->port); WriteByteCrc(cmd_Remote_Escape); WriteByteCrc(CMD); - WriteByteCrc(D_FLASH_ADDR_H); - WriteByteCrc(D_FLASH_ADDR_L); + WriteByteCrc(ioMem.D_FLASH_ADDR_H); + WriteByteCrc(ioMem.D_FLASH_ADDR_L); WriteByteCrc(O_PARAM_LEN); i=O_PARAM_LEN; diff --git a/src/main/io/serial_4way.h b/src/main/io/serial_4way.h index 853b120a2..1a350e682 100644 --- a/src/main/io/serial_4way.h +++ b/src/main/io/serial_4way.h @@ -16,27 +16,14 @@ * Author: 4712 */ -#include -#if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#include "drivers/serial.h" -#include "drivers/buf_writer.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" -#include "drivers/pwm_mapping.h" -#include "drivers/light_led.h" -#include "io/serial_msp.h" - +#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER +#define USE_SERIAL_4WAY_SK_BOOTLOADER #define imC2 0 #define imSIL_BLB 1 #define imATM_BLB 2 #define imSK 3 -#define RX_LED_OFF LED0_OFF -#define RX_LED_ON LED0_ON -#define TX_LED_OFF LED1_OFF -#define TX_LED_ON LED1_ON - typedef struct { GPIO_TypeDef* gpio; uint16_t pinpos; @@ -45,51 +32,45 @@ typedef struct { gpio_config_t gpio_config_OUTPUT; } escHardware_t; -uint8_t selected_esc; +extern uint8_t selected_esc; -escHardware_t escHardware[MAX_PWM_MOTORS]; +bool isEscHi(uint8_t selEsc); +bool isEscLo(uint8_t selEsc); +void setEscHi(uint8_t selEsc); +void setEscLo(uint8_t selEsc); +void setEscInput(uint8_t selEsc); +void setEscOutput(uint8_t selEsc); -#define ESC_IS_HI digitalIn(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) != Bit_RESET -#define ESC_IS_LO digitalIn(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) == Bit_RESET -#define ESC_SET_HI digitalHi(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) -#define ESC_SET_LO digitalLo(escHardware[selected_esc].gpio, escHardware[selected_esc].pin) +#define ESC_IS_HI isEscHi(selected_esc) +#define ESC_IS_LO isEscLo(selected_esc) +#define ESC_SET_HI setEscHi(selected_esc) +#define ESC_SET_LO setEscLo(selected_esc) +#define ESC_INPUT setEscInput(selected_esc) +#define ESC_OUTPUT setEscOutput(selected_esc) -#define ESC_INPUT gpioInit(escHardware[selected_esc].gpio, &escHardware[selected_esc].gpio_config_INPUT) -#define ESC_OUTPUT gpioInit(escHardware[selected_esc].gpio, &escHardware[selected_esc].gpio_config_OUTPUT) +typedef struct ioMem_s { + uint8_t D_NUM_BYTES; + uint8_t D_FLASH_ADDR_H; + uint8_t D_FLASH_ADDR_L; + uint8_t *D_PTR_I; +} ioMem_t; +extern ioMem_t ioMem; - -void delay_us(uint32_t delay); - -union __attribute__ ((packed)) uint8_16u -{ +typedef union __attribute__ ((packed)) { uint8_t bytes[2]; uint16_t word; -}; +} uint8_16_u; -union __attribute__ ((packed)) uint8_32u -{ +typedef union __attribute__ ((packed)) { uint8_t bytes[4]; uint16_t words[2]; uint32_t dword; -}; +} uint8_32_u; -//----------------------------------------------------------------------------------- -// Global VARIABLES -//----------------------------------------------------------------------------------- -uint8_t D_NUM_BYTES; -uint8_t D_FLASH_ADDR_H; -uint8_t D_FLASH_ADDR_L; -uint8_t *D_PTR_I; - -#define DeviceInfoSize 4 - -union uint8_32u DeviceInfo; - -#define IsMcuConnected (DeviceInfo.bytes[0] > 0) +//extern uint8_32_u DeviceInfo; +bool isMcuConnected(void); uint8_t Initialize4WayInterface(void); void Process4WayInterface(mspPort_t *mspPort, bufWriter_t *bufwriter); void DeInitialize4WayInterface(void); - -#endif diff --git a/src/main/io/serial_4way_avrootloader.c b/src/main/io/serial_4way_avrootloader.c index 9aca1fb2e..a44048b70 100644 --- a/src/main/io/serial_4way_avrootloader.c +++ b/src/main/io/serial_4way_avrootloader.c @@ -22,12 +22,20 @@ #include #include #include -#include +#include "platform.h" -#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER +#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE #include "drivers/system.h" -#include "io/serial_4way_avrootloader.h" +#include "drivers/serial.h" +#include "drivers/buf_writer.h" +#include "drivers/pwm_mapping.h" +#include "drivers/gpio.h" +#include "io/serial.h" +#include "io/serial_msp.h" #include "io/serial_4way.h" +#include "io/serial_4way_avrootloader.h" +#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER + // Bootloader commands // RunCmd @@ -62,7 +70,7 @@ #define BIT_TIME (52) //52uS #define BIT_TIME_HALVE (BIT_TIME >> 1) //26uS -#define START_BIT_TIME (BIT_TIME_HALVE)// + 1) +#define START_BIT_TIME (BIT_TIME_HALVE + 1) //#define STOP_BIT_TIME ((BIT_TIME * 9) + BIT_TIME_HALVE) static uint8_t suart_getc_(uint8_t *bt) @@ -120,8 +128,8 @@ static void suart_putc_(uint8_t *tx_b) } } -static union uint8_16u CRC_16; -static union uint8_16u LastCRC_16; +static uint8_16_u CRC_16; +static uint8_16_u LastCRC_16; static void ByteCrc(uint8_t *bt) { @@ -151,7 +159,7 @@ static uint8_t BL_ReadBuf(uint8_t *pstring, uint8_t len) len--; } while(len > 0); - if(IsMcuConnected) { + if(isMcuConnected()) { //With CRC read 3 more if(!suart_getc_(&LastCRC_16.bytes[0])) goto timeout; if(!suart_getc_(&LastCRC_16.bytes[1])) goto timeout; @@ -177,14 +185,14 @@ static void BL_SendBuf(uint8_t *pstring, uint8_t len) len--; } while (len > 0); - if (IsMcuConnected) { + if (isMcuConnected()) { suart_putc_(&CRC_16.bytes[0]); suart_putc_(&CRC_16.bytes[1]); } ESC_INPUT; } -uint8_t BL_ConnectEx(void) +uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo) { #define BootMsgLen 4 #define DevSignHi (BootMsgLen) @@ -213,9 +221,9 @@ uint8_t BL_ConnectEx(void) } //only 2 bytes used $1E9307 -> 0x9307 - DeviceInfo.bytes[2] = BootInfo[BootMsgLen - 1]; - DeviceInfo.bytes[1] = BootInfo[DevSignHi]; - DeviceInfo.bytes[0] = BootInfo[DevSignLo]; + pDeviceInfo->bytes[2] = BootInfo[BootMsgLen - 1]; + pDeviceInfo->bytes[1] = BootInfo[DevSignHi]; + pDeviceInfo->bytes[0] = BootInfo[DevSignLo]; return (1); } @@ -238,50 +246,50 @@ uint8_t BL_SendCMDKeepAlive(void) return 1; } -void BL_SendCMDRunRestartBootloader(void) +void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo) { uint8_t sCMD[] = {RestartBootloader, 0}; - DeviceInfo.bytes[0] = 1; + pDeviceInfo->bytes[0] = 1; BL_SendBuf(sCMD, 2); //sends simply 4 x 0x00 (CRC =00) return; } -static uint8_t BL_SendCMDSetAddress(void) //supports only 16 bit Adr +static uint8_t BL_SendCMDSetAddress(ioMem_t *pMem) //supports only 16 bit Adr { // skip if adr == 0xFFFF - if((D_FLASH_ADDR_H == 0xFF) && (D_FLASH_ADDR_L == 0xFF)) return 1; - uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, D_FLASH_ADDR_H, D_FLASH_ADDR_L }; + if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; + uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->D_FLASH_ADDR_H, pMem->D_FLASH_ADDR_L }; BL_SendBuf(sCMD, 4); return (BL_GetACK(2) == brSUCCESS); } -static uint8_t BL_SendCMDSetBuffer(void) +static uint8_t BL_SendCMDSetBuffer(ioMem_t *pMem) { - uint8_t sCMD[] = {CMD_SET_BUFFER, 0, 0, D_NUM_BYTES}; - if (D_NUM_BYTES == 0) { + uint8_t sCMD[] = {CMD_SET_BUFFER, 0, 0, pMem->D_NUM_BYTES}; + if (pMem->D_NUM_BYTES == 0) { // set high byte sCMD[2] = 1; } BL_SendBuf(sCMD, 4); if (BL_GetACK(2) != brNONE) return 0; - BL_SendBuf(D_PTR_I, D_NUM_BYTES); + BL_SendBuf(pMem->D_PTR_I, pMem->D_NUM_BYTES); return (BL_GetACK(40) == brSUCCESS); } -static uint8_t BL_ReadA(uint8_t cmd) +static uint8_t BL_ReadA(uint8_t cmd, ioMem_t *pMem) { - if (BL_SendCMDSetAddress()) { - uint8_t sCMD[] = {cmd, D_NUM_BYTES}; + if (BL_SendCMDSetAddress(pMem)) { + uint8_t sCMD[] = {cmd, pMem->D_NUM_BYTES}; BL_SendBuf(sCMD, 2); - return (BL_ReadBuf(D_PTR_I, D_NUM_BYTES )); + return (BL_ReadBuf(pMem->D_PTR_I, pMem->D_NUM_BYTES )); } return 0; } -static uint8_t BL_WriteA(uint8_t cmd, uint32_t timeout) +static uint8_t BL_WriteA(uint8_t cmd, ioMem_t *pMem, uint32_t timeout) { - if (BL_SendCMDSetAddress()) { - if (!BL_SendCMDSetBuffer()) return 0; + if (BL_SendCMDSetAddress(pMem)) { + if (!BL_SendCMDSetBuffer(pMem)) return 0; uint8_t sCMD[] = {cmd, 0x01}; BL_SendBuf(sCMD, 2); return (BL_GetACK(timeout) == brSUCCESS); @@ -290,24 +298,24 @@ static uint8_t BL_WriteA(uint8_t cmd, uint32_t timeout) } -uint8_t BL_ReadFlash(uint8_t interface_mode) +uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem) { if(interface_mode == imATM_BLB) { - return BL_ReadA(CMD_READ_FLASH_ATM); + return BL_ReadA(CMD_READ_FLASH_ATM, pMem); } else { - return BL_ReadA(CMD_READ_FLASH_SIL); + return BL_ReadA(CMD_READ_FLASH_SIL, pMem); } } -uint8_t BL_ReadEEprom(void) +uint8_t BL_ReadEEprom(ioMem_t *pMem) { - return BL_ReadA(CMD_READ_EEPROM); + return BL_ReadA(CMD_READ_EEPROM, pMem); } -uint8_t BL_PageErase(void) +uint8_t BL_PageErase(ioMem_t *pMem) { - if (BL_SendCMDSetAddress()) { + if (BL_SendCMDSetAddress(pMem)) { uint8_t sCMD[] = {CMD_ERASE_FLASH, 0x01}; BL_SendBuf(sCMD, 2); return (BL_GetACK((40 / START_BIT_TIMEOUT_MS)) == brSUCCESS); @@ -315,14 +323,15 @@ uint8_t BL_PageErase(void) return 0; } -uint8_t BL_WriteEEprom(void) +uint8_t BL_WriteEEprom(ioMem_t *pMem) { - return BL_WriteA(CMD_PROG_EEPROM, (3000 / START_BIT_TIMEOUT_MS)); + return BL_WriteA(CMD_PROG_EEPROM, pMem, (3000 / START_BIT_TIMEOUT_MS)); } -uint8_t BL_WriteFlash(void) +uint8_t BL_WriteFlash(ioMem_t *pMem) { - return BL_WriteA(CMD_PROG_FLASH, (40 / START_BIT_TIMEOUT_MS)); + return BL_WriteA(CMD_PROG_FLASH, pMem, (40 / START_BIT_TIMEOUT_MS)); } #endif +#endif diff --git a/src/main/io/serial_4way_avrootloader.h b/src/main/io/serial_4way_avrootloader.h index 2f13e1bb7..39cfaaa3d 100644 --- a/src/main/io/serial_4way_avrootloader.h +++ b/src/main/io/serial_4way_avrootloader.h @@ -20,15 +20,12 @@ #pragma once -#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) - void BL_SendBootInit(void); -uint8_t BL_ConnectEx(void); +uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo); uint8_t BL_SendCMDKeepAlive(void); -uint8_t BL_PageErase(void); -uint8_t BL_ReadEEprom(void); -uint8_t BL_WriteEEprom(void); -uint8_t BL_WriteFlash(void); -uint8_t BL_ReadFlash(uint8_t interface_mode); -void BL_SendCMDRunRestartBootloader(void); -#endif +uint8_t BL_PageErase(ioMem_t *pMem); +uint8_t BL_ReadEEprom(ioMem_t *pMem); +uint8_t BL_WriteEEprom(ioMem_t *pMem); +uint8_t BL_WriteFlash(ioMem_t *pMem); +uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem); +void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo); diff --git a/src/main/io/serial_4way_stk500v2.c b/src/main/io/serial_4way_stk500v2.c index 2bd0c6f7c..f6e21d580 100644 --- a/src/main/io/serial_4way_stk500v2.c +++ b/src/main/io/serial_4way_stk500v2.c @@ -17,16 +17,24 @@ * have a look at https://github.com/sim-/tgy/blob/master/boot.inc * for info about the stk500v2 implementation */ -#include -#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER #include #include #include #include + +#include "platform.h" +#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE +#include "drivers/gpio.h" +#include "drivers/buf_writer.h" +#include "drivers/pwm_mapping.h" +#include "drivers/serial.h" +#include "config/config.h" +#include "io/serial.h" +#include "io/serial_msp.h" +#include "io/serial_4way.h" #include "io/serial_4way_stk500v2.h" #include "drivers/system.h" -#include "io/serial_4way.h" -#include "config/config.h" +#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER #define BIT_LO_US (32) //32uS #define BIT_HI_US (2*BIT_LO_US) @@ -78,18 +86,14 @@ static uint8_t ckSumOut; static void StkSendByte(uint8_t dat) { ckSumOut ^= dat; - for (uint8_t i = 0; i < 8; i++) - { - if (dat & 0x01) - { + for (uint8_t i = 0; i < 8; i++) { + if (dat & 0x01) { // 1-bits are encoded as 64.0us high, 72.8us low (135.8us total). ESC_SET_HI; delay_us(BIT_HI_US); ESC_SET_LO; delay_us(BIT_HI_US); - } - else - { + } else { // 0-bits are encoded as 27.8us high, 34.5us low, 34.4us high, 37.9 low (134.6us total) ESC_SET_HI; delay_us(BIT_LO_US); @@ -111,7 +115,7 @@ static void StkSendPacketHeader(void) StkSendByte(0xFF); StkSendByte(0xFF); StkSendByte(0x7F); - ckSumOut=0; + ckSumOut = 0; StkSendByte(MESSAGE_START); StkSendByte(++SeqNumber); } @@ -134,15 +138,15 @@ static int8_t ReadBit(void) WaitPinLo; WaitPinHi; LastBitTime = micros() - btimer; - if (LastBitTime <= HiLoTsh) - { + if (LastBitTime <= HiLoTsh) { timeout_timer = timeout_timer + STK_BIT_TIMEOUT; WaitPinLo; WaitPinHi; //lo-bit return 0; + } else { + return 1; } - else return 1; timeout: return -1; } @@ -150,8 +154,7 @@ timeout: static uint8_t ReadByte(uint8_t *bt) { *bt = 0; - for (uint8_t i = 0; i < 8; i++) - { + for (uint8_t i = 0; i < 8; i++) { int8_t bit = ReadBit(); if (bit == -1) goto timeout; if (bit == 1) { @@ -164,8 +167,6 @@ timeout: return 0; } - - static uint8_t StkReadLeader(void) { @@ -175,32 +176,24 @@ static uint8_t StkReadLeader(void) // Wait for the first bit uint32_t waitcycl; //250uS each - if((StkCmd == CMD_PROGRAM_EEPROM_ISP) || (StkCmd == CMD_CHIP_ERASE_ISP)) - { + if((StkCmd == CMD_PROGRAM_EEPROM_ISP) || (StkCmd == CMD_CHIP_ERASE_ISP)) { waitcycl = STK_WAITCYLCES_EXT; - } - else if(StkCmd == CMD_SIGN_ON) - { + } else if(StkCmd == CMD_SIGN_ON) { waitcycl = STK_WAITCYLCES_START; - } - else - { + } else { waitcycl= STK_WAITCYLCES; } - for ( ; waitcycl >0 ; waitcycl--) - { + for ( ; waitcycl >0 ; waitcycl--) { //check is not timeout if (ReadBit() >- 1) break; } //Skip the first bits - if (waitcycl == 0) - { + if (waitcycl == 0){ goto timeout; } - for (uint8_t i = 0; i < 10; i++) - { + for (uint8_t i = 0; i < 10; i++) { if (ReadBit() == -1) goto timeout; } @@ -209,8 +202,7 @@ static uint8_t StkReadLeader(void) // Read until we get a 0 bit int8_t bit; - do - { + do { bit = ReadBit(); if (bit == -1) goto timeout; } while (bit > 0); @@ -222,7 +214,7 @@ timeout: static uint8_t StkRcvPacket(uint8_t *pstring) { uint8_t bt = 0; - union uint8_16u Len; + uint8_16_u Len; IRQ_OFF; if (!StkReadLeader()) goto Err; @@ -275,11 +267,11 @@ static uint8_t _CMD_SPI_MULTI_EX(volatile uint8_t * ResByte,uint8_t Cmd,uint8_t return 0; } -static uint8_t _CMD_LOAD_ADDRESS(void) +static uint8_t _CMD_LOAD_ADDRESS(ioMem_t *pMem) { // ignore 0xFFFF // assume address is set before and we read or write the immediately following package - if((D_FLASH_ADDR_H == 0xFF) && (D_FLASH_ADDR_L == 0xFF)) return 1; + if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1; StkCmd = CMD_LOAD_ADDRESS; StkSendPacketHeader(); StkSendByte(0); // hi byte Msg len @@ -288,16 +280,16 @@ static uint8_t _CMD_LOAD_ADDRESS(void) StkSendByte(CMD_LOAD_ADDRESS); StkSendByte(0); StkSendByte(0); - StkSendByte(D_FLASH_ADDR_H); - StkSendByte(D_FLASH_ADDR_L); + StkSendByte(pMem->D_FLASH_ADDR_H); + StkSendByte(pMem->D_FLASH_ADDR_L); StkSendPacketFooter(); return (StkRcvPacket((void *)StkInBuf)); } -static uint8_t _CMD_READ_MEM_ISP() +static uint8_t _CMD_READ_MEM_ISP(ioMem_t *pMem) { uint8_t LenHi; - if (D_NUM_BYTES>0) { + if (pMem->D_NUM_BYTES>0) { LenHi=0; } else { LenHi=1; @@ -308,23 +300,23 @@ static uint8_t _CMD_READ_MEM_ISP() StkSendByte(TOKEN); StkSendByte(StkCmd); StkSendByte(LenHi); - StkSendByte(D_NUM_BYTES); + StkSendByte(pMem->D_NUM_BYTES); StkSendByte(CmdFlashEepromRead); StkSendPacketFooter(); - return (StkRcvPacket(D_PTR_I)); + return (StkRcvPacket(pMem->D_PTR_I)); } -static uint8_t _CMD_PROGRAM_MEM_ISP(void) +static uint8_t _CMD_PROGRAM_MEM_ISP(ioMem_t *pMem) { - union uint8_16u Len; - uint8_t LenLo=D_NUM_BYTES; + uint8_16_u Len; + uint8_t LenLo = pMem->D_NUM_BYTES; uint8_t LenHi; if (LenLo) { - LenHi=0; - Len.word=LenLo+10; + LenHi = 0; + Len.word = LenLo + 10; } else { - LenHi=1; - Len.word=256+10; + LenHi = 1; + Len.word = 256 + 10; } StkSendPacketHeader(); StkSendByte(Len.bytes[1]); // high byte Msg len @@ -341,8 +333,8 @@ static uint8_t _CMD_PROGRAM_MEM_ISP(void) StkSendByte(0); // poll1 StkSendByte(0); // poll2 do { - StkSendByte(*D_PTR_I); - D_PTR_I++; + StkSendByte(*pMem->D_PTR_I); + pMem->D_PTR_I++; LenLo--; } while (LenLo); StkSendPacketFooter(); @@ -361,11 +353,11 @@ uint8_t Stk_SignOn(void) return (StkRcvPacket((void *) StkInBuf)); } -uint8_t Stk_ConnectEx(void) +uint8_t Stk_ConnectEx(uint8_32_u *pDeviceInfo) { if (Stk_SignOn()) { - if (_CMD_SPI_MULTI_EX(&DeviceInfo.bytes[1],signature_r,0,1)) { - if (_CMD_SPI_MULTI_EX(&DeviceInfo.bytes[0],signature_r,0,2)) { + if (_CMD_SPI_MULTI_EX(&pDeviceInfo->bytes[1], signature_r,0,1)) { + if (_CMD_SPI_MULTI_EX(&pDeviceInfo->bytes[0], signature_r,0,2)) { return 1; } } @@ -388,43 +380,44 @@ uint8_t Stk_Chip_Erase(void) StkSendByte(0x13); StkSendByte(0x76); StkSendPacketFooter(); - return (StkRcvPacket((void *)StkInBuf)); + return (StkRcvPacket(StkInBuf)); } -uint8_t Stk_ReadFlash(void) +uint8_t Stk_ReadFlash(ioMem_t *pMem) { - if (_CMD_LOAD_ADDRESS()) { + if (_CMD_LOAD_ADDRESS(pMem)) { StkCmd = CMD_READ_FLASH_ISP; - return (_CMD_READ_MEM_ISP()); + return (_CMD_READ_MEM_ISP(pMem)); } return 0; } -uint8_t Stk_ReadEEprom(void) +uint8_t Stk_ReadEEprom(ioMem_t *pMem) { - if (_CMD_LOAD_ADDRESS()) { + if (_CMD_LOAD_ADDRESS(pMem)) { StkCmd = CMD_READ_EEPROM_ISP; - return (_CMD_READ_MEM_ISP()); + return (_CMD_READ_MEM_ISP(pMem)); } return 0; } -uint8_t Stk_WriteFlash(void) +uint8_t Stk_WriteFlash(ioMem_t *pMem) { - if (_CMD_LOAD_ADDRESS()) { + if (_CMD_LOAD_ADDRESS(pMem)) { StkCmd = CMD_PROGRAM_FLASH_ISP; - return (_CMD_PROGRAM_MEM_ISP()); + return (_CMD_PROGRAM_MEM_ISP(pMem)); } return 0; } -uint8_t Stk_WriteEEprom(void) +uint8_t Stk_WriteEEprom(ioMem_t *pMem) { - if (_CMD_LOAD_ADDRESS()) { + if (_CMD_LOAD_ADDRESS(pMem)) { StkCmd = CMD_PROGRAM_EEPROM_ISP; - return (_CMD_PROGRAM_MEM_ISP()); + return (_CMD_PROGRAM_MEM_ISP(pMem)); } return 0; } #endif +#endif diff --git a/src/main/io/serial_4way_stk500v2.h b/src/main/io/serial_4way_stk500v2.h index f24b60ae7..80ca89826 100644 --- a/src/main/io/serial_4way_stk500v2.h +++ b/src/main/io/serial_4way_stk500v2.h @@ -15,17 +15,13 @@ * along with Cleanflight. If not, see . * Author: 4712 */ -#include -#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER - #pragma once uint8_t Stk_SignOn(void); -uint8_t Stk_ConnectEx(void); -uint8_t Stk_ReadEEprom(void); -uint8_t Stk_WriteEEprom(void); -uint8_t Stk_ReadFlash(void); -uint8_t Stk_WriteFlash(void); +uint8_t Stk_ConnectEx(uint8_32_u *pDeviceInfo); +uint8_t Stk_ReadEEprom(ioMem_t *pMem); +uint8_t Stk_WriteEEprom(ioMem_t *pMem); +uint8_t Stk_ReadFlash(ioMem_t *pMem); +uint8_t Stk_WriteFlash(ioMem_t *pMem); uint8_t Stk_Chip_Erase(void); -#endif diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index 85931b023..65a9a0666 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -92,14 +92,7 @@ #include "serial_msp.h" -#ifdef USE_SERIAL_1WIRE -#include "io/serial_1wire.h" -#endif - -#ifdef USE_SERIAL_1WIRE_VCP -#include "io/serial_1wire_vcp.h" -#endif -#if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) +#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE #include "io/serial_4way.h" #endif @@ -1745,117 +1738,7 @@ static bool processInCommand(void) isRebootScheduled = true; break; -#ifdef USE_SERIAL_1WIRE - case MSP_SET_1WIRE: - // get channel number - i = read8(); - // we do not give any data back, assume channel number is transmitted OK - if (i == 0xFF) { - // 0xFF -> preinitialize the Passthrough - // switch all motor lines HI - usb1WireInitialize(); - // reply the count of ESC found - headSerialReply(2); - serialize8(escCount); - serialize8(currentPort->port->identifier); - // and come back right afterwards - // rem: App: Wait at least appx. 500 ms for BLHeli to jump into - // bootloader mode before try to connect any ESC - - return true; - } else if (i < escCount) { - // Check for channel number 0..ESC_COUNT-1 - // because we do not come back after calling usb1WirePassthrough - // proceed with a success reply first - headSerialReply(0); - tailSerialReply(); - // flush the transmit buffer - bufWriterFlush(writer); - // wait for all data to send - waitForSerialPortToFinishTransmitting(currentPort->port); - // Start to activate here - // motor 1 => index 0 - - // search currentPort portIndex - /* next lines seems to be unnecessary, because the currentPort always point to the same mspPorts[portIndex] - uint8_t portIndex; - for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) { - if (currentPort == &mspPorts[portIndex]) { - break; - } - } - */ - // *mspReleasePortIfAllocated(mspSerialPort); // CloseSerialPort also marks currentPort as UNUSED_PORT - usb1WirePassthrough(i); - // Wait a bit more to let App read the 0 byte and/or switch baudrate - // 2ms will most likely do the job, but give some grace time - delay(10); - // rebuild/refill currentPort structure, does openSerialPort if marked UNUSED_PORT - used ports are skiped - // *mspAllocateSerialPorts(&masterConfig.serialConfig); - /* restore currentPort and mspSerialPort - setCurrentPort(&mspPorts[portIndex]); // not needed same index will be restored - */ - // former used MSP uart is active again - // restore MSP_SET_1WIRE as current command for correct headSerialReply(0) - //currentPort->cmdMSP = MSP_SET_1WIRE; - } else if (i == 0xFE) { - usb1WireDeInitialize(); - } else { - // ESC channel higher than max. allowed - headSerialError(0); - } - // proceed as usual with MSP commands - // and wait to switch to next channel - // rem: App needs to call MSP_BOOT to deinitialize Passthrough - break; -#endif - -#ifdef USE_SERIAL_1WIRE_VCP - case MSP_SET_1WIRE: - // get channel number - i = read8(); - // we do not give any data back, assume channel number is transmitted OK - if (i == 0xFF) { - // 0xFF -> preinitialize the Passthrough - // switch all motor lines HI - usb1WireInitializeVcp(); - // reply the count of ESC found - headSerialReply(2); - serialize8(escCount); - serialize8(currentPort->port->identifier); - // and come back right afterwards - // rem: App: Wait at least appx. 500 ms for BLHeli to jump into - // bootloader mode before try to connect any ESC - - return true; - } else if (i < escCount) { - // Check for channel number 0..ESC_COUNT-1 - // because we do not come back after calling usb1WirePassthrough - // proceed with a success reply first - headSerialReply(0); - tailSerialReply(); - // flush the transmit buffer - bufWriterFlush(writer); - // wait for all data to send - waitForSerialPortToFinishTransmitting(currentPort->port); - // Start to activate here - // motor 1 => index 0 - usb1WirePassthroughVcp(currentPort, writer, i); - // Wait a bit more to let App switch baudrate - delay(10); - // former used MSP uart is still active - // proceed as usual with MSP commands - // and wait to switch to next channel - // rem: App needs to call MSP_SET_1WIRE(0xFE) to deinitialize Passthrough - } else if (i == 0xFE) { - usb1WireDeInitializeVcp(); - } else { - // ESC channel higher than max. allowed - headSerialError(0); - } - break; -#endif -#if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) +#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE case MSP_SET_4WAY_IF: // get channel number // switch all motor lines HI diff --git a/src/main/io/serial_msp.h b/src/main/io/serial_msp.h index c493e37f1..c1041cf61 100644 --- a/src/main/io/serial_msp.h +++ b/src/main/io/serial_msp.h @@ -254,7 +254,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; #define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values #define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration #define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration -#define MSP_SET_1WIRE 243 //in message Sets 1Wire paththrough #define MSP_SET_4WAY_IF 245 //in message Sets 4way interface // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 2 MSP ports. diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index c3639e4d9..caf6e7b88 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -124,27 +124,8 @@ #define USE_SERVOS #define USE_CLI -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER +#define USE_SERIAL_4WAY_BLHELI_INTERFACE -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -// FlexPort (pin 21/22, TX/RX respectively): -// Note, FlexPort has 10k pullups on both TX and RX -// JST Pin3 TX - connect to external UART/USB RX -#define S1W_TX_GPIO GPIOB -#define S1W_TX_PIN GPIO_Pin_10 -// JST Pin4 RX - connect to external UART/USB TX -#define S1W_RX_GPIO GPIOB -#define S1W_RX_PIN GPIO_Pin_11 -#endif #undef DISPLAY #undef SONAR diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h index c618dd14a..4b9f5c634 100755 --- a/src/main/target/COLIBRI_RACE/target.h +++ b/src/main/target/COLIBRI_RACE/target.h @@ -181,20 +181,4 @@ #define USE_SERVOS #define USE_CLI -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOB -#define S1W_TX_PIN GPIO_Pin_10 -#define S1W_RX_GPIO GPIOB -#define S1W_RX_PIN GPIO_Pin_11 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h index 3b19243aa..a3b370df7 100644 --- a/src/main/target/LUX_RACE/target.h +++ b/src/main/target/LUX_RACE/target.h @@ -162,21 +162,4 @@ #define BIND_PORT GPIOC #define BIND_PIN Pin_5 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -// Untested -#define S1W_TX_GPIO GPIOB -#define S1W_TX_PIN GPIO_Pin_10 -#define S1W_RX_GPIO GPIOB -#define S1W_RX_PIN GPIO_Pin_11 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h index a7961aa4c..9f168587f 100644 --- a/src/main/target/MOTOLAB/target.h +++ b/src/main/target/MOTOLAB/target.h @@ -188,20 +188,4 @@ #define BIND_PORT GPIOB #define BIND_PIN Pin_4 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOB -#define S1W_TX_PIN GPIO_Pin_6 -#define S1W_RX_GPIO GPIOB -#define S1W_RX_PIN GPIO_Pin_7 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index 239d03c66..944206a98 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -188,25 +188,7 @@ #define BIND_PORT GPIOA #define BIND_PIN Pin_3 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -// STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX -#define S1W_TX_GPIO GPIOA -#define S1W_TX_PIN GPIO_Pin_9 -// STM32F103CBT6-LQFP48 Pin31 (PA10) RX - PC1 to onboard CP2102 TX -#define S1W_RX_GPIO GPIOA -#define S1W_RX_PIN GPIO_Pin_10 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE // alternative defaults for AlienWii32 F1 target #ifdef ALIENWII32 diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h index 7ed70db57..4f58065da 100644 --- a/src/main/target/PORT103R/target.h +++ b/src/main/target/PORT103R/target.h @@ -157,20 +157,4 @@ #define USE_SERVOS #define USE_CLI -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOA -#define S1W_TX_PIN GPIO_Pin_9 -#define S1W_RX_GPIO GPIOA -#define S1W_RX_PIN GPIO_Pin_10 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h index b17efe35e..b9f201ab1 100644 --- a/src/main/target/RMDO/target.h +++ b/src/main/target/RMDO/target.h @@ -154,20 +154,4 @@ #define BIND_PORT GPIOB #define BIND_PIN Pin_11 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOA -#define S1W_TX_PIN GPIO_Pin_9 -#define S1W_RX_GPIO GPIOA -#define S1W_RX_PIN GPIO_Pin_10 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h index 7f85e4d73..8ff56c86c 100644 --- a/src/main/target/SPARKY/target.h +++ b/src/main/target/SPARKY/target.h @@ -163,23 +163,7 @@ #define WS2811_IRQ DMA1_Channel7_IRQn #endif -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOB -#define S1W_TX_PIN GPIO_Pin_6 -#define S1W_RX_GPIO GPIOB -#define S1W_RX_PIN GPIO_Pin_7 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE #define SPEKTRUM_BIND // USART2, PA3 diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index 29c2d216b..c5a0e5265 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -163,20 +163,4 @@ #define BIND_PORT GPIOB #define BIND_PIN Pin_11 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO GPIOA -#define S1W_TX_PIN GPIO_Pin_9 -#define S1W_RX_GPIO GPIOA -#define S1W_RX_PIN GPIO_Pin_10 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index 6e511e3ab..27c094834 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -222,18 +222,4 @@ #define BIND_PORT GPIOB #define BIND_PIN Pin_11 -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#define S1W_TX_GPIO UART1_GPIO -#define S1W_TX_PIN UART1_TX_PIN -#define S1W_RX_GPIO UART1_GPIO -#define S1W_RX_PIN UART1_RX_PIN +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h index e9780b134..5459d4f9a 100644 --- a/src/main/target/SPRACINGF3MINI/target.h +++ b/src/main/target/SPRACINGF3MINI/target.h @@ -232,20 +232,4 @@ #define BINDPLUG_PORT BUTTON_B_PORT #define BINDPLUG_PIN BUTTON_B_PIN -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -#define S1W_TX_GPIO UART1_GPIO -#define S1W_TX_PIN UART1_TX_PIN -#define S1W_RX_GPIO UART1_GPIO -#define S1W_RX_PIN UART1_RX_PIN -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h index e474ef073..8a812d879 100644 --- a/src/main/target/STM32F3DISCOVERY/target.h +++ b/src/main/target/STM32F3DISCOVERY/target.h @@ -162,22 +162,4 @@ #define USE_SERVOS #define USE_CLI -#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER -#define USE_SERIAL_4WAY_SK_BOOTLOADER - -#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) -#ifdef USE_VCP -#define USE_SERIAL_1WIRE_VCP -#else -#define USE_SERIAL_1WIRE -#endif -#endif - -#ifdef USE_SERIAL_1WIRE -// STM32F3DISCOVERY TX - PD5 connects to UART RX -#define S1W_TX_GPIO GPIOD -#define S1W_TX_PIN GPIO_Pin_5 -// STM32F3DISCOVERY RX - PD6 connects to UART TX -#define S1W_RX_GPIO GPIOD -#define S1W_RX_PIN GPIO_Pin_6 -#endif +#define USE_SERIAL_4WAY_BLHELI_INTERFACE