Merge pull request #50 from hydra/softserial-no-polling-and-two-ports
Add support for 2 softserial ports and avoid polling of software serial RX pins
This commit is contained in:
dongie
commit
0f84e41f4f
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@ -126,8 +126,9 @@ const clivalue_t valueTable[] = {
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{ "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
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{ "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 },
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{ "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
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{ "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 600, 19200 },
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{ "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },
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{ "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 1200, 19200 },
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{ "softserial_1_inverted", VAR_UINT8, &mcfg.softserial_1_inverted, 0, 1 },
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{ "softserial_2_inverted", VAR_UINT8, &mcfg.softserial_2_inverted, 0, 1 },
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{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
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{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 },
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{ "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
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@ -834,12 +835,12 @@ static void cliSave(char *cmdline)
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static void cliPrint(const char *str)
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{
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while (*str)
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uartWrite(core.mainport, *(str++));
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serialWrite(core.mainport, *(str++));
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}
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static void cliWrite(uint8_t ch)
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{
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uartWrite(core.mainport, ch);
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serialWrite(core.mainport, ch);
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}
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static void cliPrintVar(const clivalue_t *var, uint32_t full)
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
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config_t cfg; // profile config struct
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const char rcChannelLetters[] = "AERT1234";
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static const uint8_t EEPROM_CONF_VERSION = 58;
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static const uint8_t EEPROM_CONF_VERSION = 59;
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static uint32_t enabledSensors = 0;
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static void resetConf(void);
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@ -216,7 +216,8 @@ static void resetConf(void)
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// serial (USART1) baudrate
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mcfg.serial_baudrate = 115200;
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mcfg.softserial_baudrate = 19200;
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mcfg.softserial_inverted = 0;
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mcfg.softserial_1_inverted = 0;
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mcfg.softserial_2_inverted = 0;
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mcfg.looptime = 3500;
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mcfg.rssi_aux_channel = 0;
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@ -236,7 +236,7 @@ static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uin
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pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPD);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
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timerInConfig(timerHardwarePtr, 0xFFFF, PWM_TIMER_MHZ);
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timerConfigure(timerHardwarePtr, 0xFFFF, PWM_TIMER_MHZ);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, port, callback);
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return p;
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@ -3,14 +3,18 @@
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#define SOFT_SERIAL_TIMER_MHZ 3
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#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 4
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#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 5
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#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 6
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#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7
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#define RX_TOTAL_BITS 8
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#define RX_TOTAL_BITS 10
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#define TX_TOTAL_BITS 10
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#define MAX_SOFTSERIAL_PORTS 2
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
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void onSerialTimer(uint8_t portIndex, uint16_t capture);
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void onSerialRxPinChange(uint8_t portIndex, uint16_t capture);
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uint8_t readRxSignal(softSerial_t *softSerial)
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{
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@ -69,19 +73,17 @@ void serialInputPortConfig(const timerHardware_t *timerHardwarePtr)
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
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}
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#define TICKS_PER_BIT 3
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bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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{
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return timerPeriod > 0xFFFF;
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}
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void serialTimerConfig(const timerHardware_t *timerHardwarePtr, uint32_t baud, uint8_t reference, timerCCCallbackPtr callback)
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void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference, uint32_t baud)
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{
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uint32_t clock = SystemCoreClock;
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uint32_t timerPeriod;
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do {
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timerPeriod = clock / (baud * TICKS_PER_BIT);
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timerPeriod = clock / baud;
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if (isTimerPeriodTooLarge(timerPeriod)) {
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if (clock > 1) {
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clock = clock / 2;
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@ -93,8 +95,29 @@ void serialTimerConfig(const timerHardware_t *timerHardwarePtr, uint32_t baud, u
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} while (isTimerPeriodTooLarge(timerPeriod));
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uint8_t mhz = SystemCoreClock / 1000000;
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timerInConfig(timerHardwarePtr, timerPeriod, mhz);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback);
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timerConfigure(timerHardwarePtr, timerPeriod, mhz);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, onSerialTimer);
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}
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void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = channel;
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TIM_ICInitStructure.TIM_ICPolarity = polarity;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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{
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// start bit is a FALLING signal
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serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, onSerialRxPinChange);
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}
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void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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@ -102,18 +125,10 @@ void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_Out_PP);
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}
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void setupSoftSerial1(uint32_t baud, uint8_t inverted)
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void initialiseSoftSerial(softSerial_t *softSerial, uint8_t portIndex, uint32_t baud, uint8_t inverted)
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{
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int portIndex = 0;
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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softSerial->port.vTable = softSerialVTable;
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softSerial->port.mode = MODE_RXTX;
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softSerial->port.baudRate = baud;
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softSerial->isInverted = inverted;
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softSerial->rxTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_TX_HARDWARE]);
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softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE;
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softSerial->port.rxBuffer = softSerial->rxBuffer;
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@ -126,20 +141,56 @@ void setupSoftSerial1(uint32_t baud, uint8_t inverted)
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softSerial->port.txBufferHead = 0;
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softSerial->isTransmittingData = false;
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softSerial->isSearchingForStartBit = true;
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softSerial->isSearchingForStopBit = false;
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softSerial->rxBitIndex = 0;
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softSerial->timerRxCounter = 1;
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serialInputPortConfig(softSerial->rxTimerHardware);
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serialOutputPortConfig(softSerial->txTimerHardware);
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serialInputPortConfig(softSerial->rxTimerHardware);
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setTxSignal(softSerial, 1);
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setTxSignal(softSerial, ENABLE);
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delay(50);
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serialTimerConfig(softSerial->rxTimerHardware, baud, portIndex, onSerialTimer);
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serialTimerTxConfig(softSerial->txTimerHardware, portIndex, baud);
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serialTimerRxConfig(softSerial->rxTimerHardware, portIndex);
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}
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typedef struct softSerialConfiguration_s {
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uint32_t sharedBaudRate;
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bool primaryPortInitialised;
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} softSerialConfiguration_t;
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softSerialConfiguration_t softSerialConfiguration = {
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0,
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false
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};
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void setupSoftSerialPrimary(uint32_t baud, uint8_t inverted)
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{
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uint8_t portIndex = 0;
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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softSerial->rxTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_TX_HARDWARE]);
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initialiseSoftSerial(softSerial, portIndex, baud, inverted);
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softSerialConfiguration.sharedBaudRate = baud;
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softSerialConfiguration.primaryPortInitialised = true;
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}
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void setupSoftSerialSecondary(uint8_t inverted)
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{
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int portIndex = 1;
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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softSerial->rxTimerHardware = &(timerHardware[SOFT_SERIAL_2_TIMER_RX_HARDWARE]);
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softSerial->txTimerHardware = &(timerHardware[SOFT_SERIAL_2_TIMER_TX_HARDWARE]);
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initialiseSoftSerial(softSerial, portIndex, softSerialConfiguration.sharedBaudRate, inverted);
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}
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void updateBufferIndex(softSerial_t *softSerial)
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{
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if (softSerial->port.rxBufferTail >= softSerial->port.rxBufferSize - 1) {
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@ -151,81 +202,6 @@ void updateBufferIndex(softSerial_t *softSerial)
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/*********************************************/
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void searchForStartBit(softSerial_t *softSerial)
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{
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char rxSignal = readRxSignal(softSerial);
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if (rxSignal == 1) {
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// start bit not found
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softSerial->timerRxCounter = 1; // process on next timer event
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return;
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}
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// timer is aligned to falling signal of start bit.
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// three ticks per bit.
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softSerial->isSearchingForStartBit = false;
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softSerial->internalRxBuffer = 0;
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softSerial->timerRxCounter = TICKS_PER_BIT + 1; // align to middle of next bit
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softSerial->bitsLeftToReceive = RX_TOTAL_BITS;
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softSerial->rxBitSelectionMask = 1;
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}
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void searchForStopBit(softSerial_t *softSerial)
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{
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char rxSignal;
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softSerial->timerRxCounter = 1;
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rxSignal = readRxSignal(softSerial);
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if (rxSignal != 1) {
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// not found
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return;
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}
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softSerial->isSearchingForStopBit = false;
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softSerial->isSearchingForStartBit = true;
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softSerial->internalRxBuffer &= 0xFF;
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softSerial->port.rxBuffer[softSerial->port.rxBufferTail] = softSerial->internalRxBuffer;
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updateBufferIndex(softSerial);
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}
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void readDataBit(softSerial_t *softSerial)
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{
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softSerial->timerRxCounter = TICKS_PER_BIT; // keep aligned to middle of bit
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char rxSignal = readRxSignal(softSerial);
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if (rxSignal) {
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softSerial->internalRxBuffer |= softSerial->rxBitSelectionMask;
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}
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softSerial->rxBitSelectionMask <<= 1;
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if (--softSerial->bitsLeftToReceive <= 0) {
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softSerial->isSearchingForStopBit = true;
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softSerial->timerRxCounter = 2;
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}
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}
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void processRxState(softSerial_t *softSerial)
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{
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//digitalToggle(softSerial->txTimerHardware->gpio, softSerial->txTimerHardware->pin);
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if (--softSerial->timerRxCounter > 0) {
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return;
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}
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if (softSerial->isSearchingForStartBit) {
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searchForStartBit(softSerial);
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return;
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}
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if (softSerial->isSearchingForStopBit) {
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searchForStopBit(softSerial);
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return;
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}
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readDataBit(softSerial);
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}
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void processTxState(softSerial_t *softSerial)
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{
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char mask;
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@ -245,23 +221,69 @@ void processTxState(softSerial_t *softSerial)
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// build internal buffer, start bit(1) + data bits + stop bit(0)
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softSerial->internalTxBuffer = (1 << (TX_TOTAL_BITS - 1)) | (byteToSend << 1);
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softSerial->bitsLeftToTransmit = TX_TOTAL_BITS;
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// start immediately
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softSerial->timerTxCounter = 1;
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softSerial->isTransmittingData = true;
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return;
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}
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if (--softSerial->timerTxCounter <= 0) {
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mask = softSerial->internalTxBuffer & 1;
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softSerial->internalTxBuffer >>= 1;
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setTxSignal(softSerial, mask);
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softSerial->timerTxCounter = TICKS_PER_BIT;
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if (--softSerial->bitsLeftToTransmit <= 0) {
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softSerial->isTransmittingData = false;
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}
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}
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enum {
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FALLING,
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RISING
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};
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void applyChangedBits(softSerial_t *softSerial)
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{
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if (softSerial->rxPinMode == FALLING) {
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uint8_t bitToSet;
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for (bitToSet = softSerial->rxLastRiseAtBitIndex; bitToSet < softSerial->rxBitIndex ; bitToSet++) {
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softSerial->internalRxBuffer |= 1 << bitToSet;
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}
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}
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}
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void prepareForNextRxByte(softSerial_t *softSerial)
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{
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// prepare for next byte
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softSerial->rxBitIndex = 0;
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softSerial->isSearchingForStartBit = true;
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if (softSerial->rxPinMode == RISING) {
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softSerial->rxPinMode = FALLING;
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
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}
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}
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void extractAndStoreRxByte(softSerial_t *softSerial)
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{
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uint8_t rxByte = (softSerial->internalRxBuffer >> 1) & 0xFF;
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softSerial->port.rxBuffer[softSerial->port.rxBufferTail] = rxByte;
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updateBufferIndex(softSerial);
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}
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void processRxState(softSerial_t *softSerial)
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{
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if (softSerial->isSearchingForStartBit) {
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return;
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}
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softSerial->rxBitIndex++;
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if (softSerial->rxBitIndex == RX_TOTAL_BITS - 1) {
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applyChangedBits(softSerial);
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return;
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}
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if (softSerial->rxBitIndex == RX_TOTAL_BITS) {
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extractAndStoreRxByte(softSerial);
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prepareForNextRxByte(softSerial);
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}
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}
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@ -273,6 +295,36 @@ void onSerialTimer(uint8_t portIndex, uint16_t capture)
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processRxState(softSerial);
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}
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void onSerialRxPinChange(uint8_t portIndex, uint16_t capture)
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{
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softSerial_t *softSerial = &(softSerialPorts[portIndex]);
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if (softSerial->isSearchingForStartBit) {
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TIM_SetCounter(softSerial->rxTimerHardware->tim, 0); // synchronise bit counter
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
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softSerial->rxPinMode = RISING;
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softSerial->rxBitIndex = 0;
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softSerial->rxLastRiseAtBitIndex = 0;
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softSerial->internalRxBuffer = 0;
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softSerial->isSearchingForStartBit = false;
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return;
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}
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if (softSerial->rxPinMode == RISING) {
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softSerial->rxLastRiseAtBitIndex = softSerial->rxBitIndex;
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}
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applyChangedBits(softSerial);
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if (softSerial->rxPinMode == FALLING) {
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softSerial->rxPinMode = RISING;
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
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} else {
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softSerial->rxPinMode = FALLING;
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serialICConfig(softSerial->rxTimerHardware->tim, softSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
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}
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}
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uint8_t softSerialTotalBytesWaiting(serialPort_t *instance)
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{
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@ -18,16 +18,16 @@ typedef struct softSerial_s {
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const timerHardware_t *txTimerHardware;
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volatile uint8_t txBuffer[SOFT_SERIAL_BUFFER_SIZE];
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uint8_t isSearchingForStopBit;
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uint8_t rxBitSelectionMask;
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uint8_t isSearchingForStartBit;
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uint8_t rxBitIndex;
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uint8_t rxLastRiseAtBitIndex;
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uint8_t rxPinMode;
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uint8_t isTransmittingData;
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uint8_t timerRxCounter;
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uint8_t timerTxCounter;
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uint8_t bitsLeftToReceive;
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uint8_t bitsLeftToTransmit;
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uint16_t internalRxBuffer; // excluding start/stop bits
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uint16_t internalTxBuffer; // includes start and stop bits
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uint16_t internalRxBuffer; // includes start and stop bits
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uint8_t isInverted;
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} softSerial_t;
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@ -37,7 +37,8 @@ extern softSerial_t softSerialPorts[];
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extern const struct serialPortVTable softSerialVTable[];
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void setupSoftSerial1(uint32_t baud, uint8_t inverted);
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void setupSoftSerialPrimary(uint32_t baud, uint8_t inverted);
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void setupSoftSerialSecondary(uint8_t inverted);
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// serialPort API
|
||||
void softSerialWriteByte(serialPort_t *instance, uint8_t ch);
|
||||
|
|
|
|||
|
|
@ -134,7 +134,7 @@ void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwareP
|
|||
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
|
||||
}
|
||||
|
||||
void timerNVICConfig(uint8_t irq)
|
||||
void timerNVICConfigure(uint8_t irq)
|
||||
{
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
|
|
@ -162,11 +162,11 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
|
|||
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
|
||||
}
|
||||
|
||||
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz)
|
||||
void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz)
|
||||
{
|
||||
configTimeBase(timerHardwarePtr->tim, period, mhz);
|
||||
TIM_Cmd(timerHardwarePtr->tim, ENABLE);
|
||||
timerNVICConfig(timerHardwarePtr->irq);
|
||||
timerNVICConfigure(timerHardwarePtr->irq);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -14,8 +14,8 @@ typedef struct {
|
|||
extern const timerHardware_t timerHardware[];
|
||||
|
||||
void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);
|
||||
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz);
|
||||
void timerNVICConfig(uint8_t irq);
|
||||
void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz);
|
||||
void timerNVICConfigure(uint8_t irq);
|
||||
|
||||
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel);
|
||||
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback);
|
||||
|
|
|
|||
38
src/main.c
38
src/main.c
|
|
@ -30,8 +30,10 @@ int main(void)
|
|||
uint8_t i;
|
||||
drv_pwm_config_t pwm_params;
|
||||
drv_adc_config_t adc_params;
|
||||
serialPort_t* loopbackPort = NULL;
|
||||
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
serialPort_t* loopbackPort1 = NULL;
|
||||
serialPort_t* loopbackPort2 = NULL;
|
||||
#endif
|
||||
systemInit();
|
||||
#ifdef USE_LAME_PRINTF
|
||||
init_printf(NULL, _putc);
|
||||
|
|
@ -148,11 +150,19 @@ int main(void)
|
|||
serialInit(mcfg.serial_baudrate);
|
||||
|
||||
if (feature(FEATURE_SOFTSERIAL)) {
|
||||
setupSoftSerial1(mcfg.softserial_baudrate, mcfg.softserial_inverted);
|
||||
//mcfg.softserial_baudrate = 19200; // Uncomment to override config value
|
||||
|
||||
setupSoftSerialPrimary(mcfg.softserial_baudrate, mcfg.softserial_1_inverted);
|
||||
setupSoftSerialSecondary(mcfg.softserial_2_inverted);
|
||||
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
|
||||
serialPrint(loopbackPort, "LOOPBACK ENABLED\r\n");
|
||||
loopbackPort1 = (serialPort_t*)&(softSerialPorts[0]);
|
||||
serialPrint(loopbackPort1, "SOFTSERIAL 1 - LOOPBACK ENABLED\r\n");
|
||||
|
||||
loopbackPort2 = (serialPort_t*)&(softSerialPorts[1]);
|
||||
serialPrint(loopbackPort2, "SOFTSERIAL 2 - LOOPBACK ENABLED\r\n");
|
||||
#endif
|
||||
//core.mainport = (serialPort_t*)&(softSerialPorts[0]); // Uncomment to switch the main port to use softserial.
|
||||
}
|
||||
|
||||
if (feature(FEATURE_TELEMETRY))
|
||||
|
|
@ -169,11 +179,19 @@ int main(void)
|
|||
while (1) {
|
||||
loop();
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
if (loopbackPort) {
|
||||
while (serialTotalBytesWaiting(loopbackPort)) {
|
||||
|
||||
uint8_t b = serialRead(loopbackPort);
|
||||
serialWrite(loopbackPort, b);
|
||||
if (loopbackPort1) {
|
||||
while (serialTotalBytesWaiting(loopbackPort1)) {
|
||||
uint8_t b = serialRead(loopbackPort1);
|
||||
serialWrite(loopbackPort1, b);
|
||||
//serialWrite(core.mainport, 0x01);
|
||||
//serialWrite(core.mainport, b);
|
||||
};
|
||||
}
|
||||
if (loopbackPort2) {
|
||||
while (serialTotalBytesWaiting(loopbackPort2)) {
|
||||
uint8_t b = serialRead(loopbackPort2);
|
||||
serialWrite(loopbackPort1, b);
|
||||
//serialWrite(core.mainport, 0x02);
|
||||
//serialWrite(core.mainport, b);
|
||||
};
|
||||
}
|
||||
|
|
|
|||
5
src/mw.h
5
src/mw.h
|
|
@ -276,8 +276,9 @@ typedef struct master_t {
|
|||
|
||||
uint32_t serial_baudrate;
|
||||
|
||||
uint32_t softserial_baudrate;
|
||||
uint8_t softserial_inverted; // use inverted softserial input and output signals
|
||||
uint32_t softserial_baudrate; // shared by both soft serial ports
|
||||
uint8_t softserial_1_inverted; // use inverted softserial input and output signals on port 1
|
||||
uint8_t softserial_2_inverted; // use inverted softserial input and output signals on port 2
|
||||
|
||||
uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first)
|
||||
uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
|
||||
|
|
|
|||
Loading…
Reference in New Issue