Software serial implementation. Compile with SOFTSERIAL_19200_LOOPBACK to test. Without the define the implementation will have no effect. Next step is to add a 'feature' to enable softserial and settings for the baud rate. Note, only READ is currently supported, write will come later. The highlevel api calls are used in main.c. Uart implementation needs cleanup to make serial port code generic, see uart files for details.
This commit is contained in:
Dominic Clifton
parent
fa7eecac18
commit
4d00f51ddc
1
Makefile
1
Makefile
|
|
@ -94,6 +94,7 @@ OLIMEXINO_SRC = drv_spi.c \
|
|||
drv_l3g4200d.c \
|
||||
drv_pwm.c \
|
||||
drv_timer.c \
|
||||
drv_softserial.c \
|
||||
$(COMMON_SRC)
|
||||
|
||||
# Search path for baseflight sources
|
||||
|
|
|
|||
|
|
@ -199,6 +199,7 @@ typedef struct baro_t
|
|||
#include "drv_pwm.h"
|
||||
#include "drv_timer.h"
|
||||
#include "drv_uart.h"
|
||||
#include "drv_softserial.h"
|
||||
#else
|
||||
|
||||
// AfroFlight32
|
||||
|
|
@ -217,6 +218,7 @@ typedef struct baro_t
|
|||
#include "drv_pwm.h"
|
||||
#include "drv_timer.h"
|
||||
#include "drv_uart.h"
|
||||
#include "drv_softserial.h"
|
||||
#include "drv_hcsr04.h"
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -137,17 +137,7 @@ static const uint8_t * const hardwareMaps[] = {
|
|||
airPPM,
|
||||
};
|
||||
|
||||
static void pwmTimeBase(TIM_TypeDef *tim, uint32_t period)
|
||||
{
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
|
||||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||||
TIM_TimeBaseStructure.TIM_Period = period - 1;
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 1000000) - 1; // all timers run at 1MHz
|
||||
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
|
||||
}
|
||||
#define PWM_TIMER_MHZ 1
|
||||
|
||||
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
|
||||
{
|
||||
|
|
@ -181,7 +171,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
|
|||
}
|
||||
}
|
||||
|
||||
static void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
|
||||
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
|
||||
{
|
||||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||||
|
||||
|
|
@ -208,7 +198,7 @@ static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
|
|||
static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)
|
||||
{
|
||||
pwmPortData_t *p = &pwmPorts[port];
|
||||
pwmTimeBase(timerHardware[port].tim, period);
|
||||
configTimeBase(timerHardware[port].tim, period, PWM_TIMER_MHZ);
|
||||
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
|
||||
pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
|
||||
// Needed only on TIM1
|
||||
|
|
@ -236,15 +226,15 @@ static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value
|
|||
static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uint8_t channel)
|
||||
{
|
||||
pwmPortData_t *p = &pwmPorts[port];
|
||||
pwmTimeBase(timerHardware[port].tim, 0xFFFF);
|
||||
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_IPD);
|
||||
pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
|
||||
TIM_Cmd(timerHardware[port].tim, ENABLE);
|
||||
timerNVICConfig(timerHardware[port].irq);
|
||||
const timerHardware_t *timerHardwarePtr = &(timerHardware[port]);
|
||||
|
||||
p->channel = channel;
|
||||
|
||||
configureTimerCaptureCompareInterrupt(&(timerHardware[port]), port, callback);
|
||||
pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPD);
|
||||
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
|
||||
|
||||
timerInConfig(timerHardwarePtr, 0xFFFF, PWM_TIMER_MHZ);
|
||||
configureTimerCaptureCompareInterrupt(timerHardwarePtr, port, callback);
|
||||
|
||||
return p;
|
||||
}
|
||||
|
|
@ -333,6 +323,12 @@ bool pwmInit(drv_pwm_config_t *init)
|
|||
if (init->useUART && (port == PWM3 || port == PWM4))
|
||||
continue;
|
||||
|
||||
#ifdef SOFTSERIAL_19200_LOOPBACK
|
||||
// skip softSerial ports
|
||||
if ((port == PWM5 || port == PWM6))
|
||||
continue;
|
||||
#endif
|
||||
|
||||
// skip ADC for powerMeter if configured
|
||||
if (init->adcChannel && (init->adcChannel == port))
|
||||
continue;
|
||||
|
|
|
|||
|
|
@ -36,6 +36,8 @@ enum {
|
|||
MAX_PORTS
|
||||
};
|
||||
|
||||
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
|
||||
|
||||
bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not
|
||||
void pwmWriteMotor(uint8_t index, uint16_t value);
|
||||
void pwmWriteServo(uint8_t index, uint16_t value);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,204 @@
|
|||
#include "board.h"
|
||||
|
||||
enum serialBitStatus {
|
||||
WAITING_FOR_START_BIT = -1, BIT_0, BIT_1, BIT_2, BIT_3, BIT_4, BIT_5, BIT_6, BIT_7, WAITING_FOR_STOP_BIT
|
||||
};
|
||||
|
||||
#define MAX_SOFTSERIAL_PORTS 2
|
||||
softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS];
|
||||
|
||||
|
||||
softSerial_t* lookupSoftSerial(uint8_t reference)
|
||||
{
|
||||
assert_param(reference >= 0 && reference <= MAX_SOFTSERIAL_PORTS);
|
||||
|
||||
return &(softSerialPorts[reference]);
|
||||
}
|
||||
|
||||
|
||||
void stopSerialTimer(softSerial_t *softSerial)
|
||||
{
|
||||
TIM_Cmd(softSerial->timerHardware->tim, DISABLE);
|
||||
TIM_SetCounter(softSerial->timerHardware->tim, 0);
|
||||
}
|
||||
|
||||
void startSerialTimer(softSerial_t *softSerial)
|
||||
{
|
||||
TIM_SetCounter(softSerial->timerHardware->tim, 0);
|
||||
TIM_Cmd(softSerial->timerHardware->tim, ENABLE);
|
||||
}
|
||||
|
||||
static void waitForFirstBit(softSerial_t *softSerial)
|
||||
{
|
||||
softSerial->state = BIT_0;
|
||||
startSerialTimer(softSerial);
|
||||
}
|
||||
|
||||
static void onSerialPinChange(uint8_t reference, uint16_t capture)
|
||||
{
|
||||
softSerial_t *softSerial = lookupSoftSerial(reference);
|
||||
if (softSerial->state == WAITING_FOR_START_BIT) {
|
||||
waitForFirstBit(softSerial);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t readSerialSignal(softSerial_t *softSerial)
|
||||
{
|
||||
return GPIO_ReadInputDataBit(softSerial->timerHardware->gpio, softSerial->timerHardware->pin);
|
||||
}
|
||||
|
||||
void mergeSignalWithCurrentByte(softSerial_t *softSerial, uint8_t serialSignal)
|
||||
{
|
||||
softSerial->rxBuffer[softSerial->port.rxBufferTail] |= (serialSignal << softSerial->state);
|
||||
}
|
||||
|
||||
inline void initialiseCurrentByteWithFirstSignal(softSerial_t *softSerial, uint8_t serialSignal)
|
||||
{
|
||||
softSerial->rxBuffer[softSerial->port.rxBufferTail] = serialSignal;
|
||||
}
|
||||
|
||||
inline void prepareForNextSignal(softSerial_t *softSerial) {
|
||||
softSerial->state++;
|
||||
}
|
||||
|
||||
void updateBufferIndex(softSerial_t *softSerial)
|
||||
{
|
||||
if (softSerial->port.rxBufferTail >= softSerial->port.rxBufferSize - 1)
|
||||
{
|
||||
softSerial->port.rxBufferTail = 0; //cycling the buffer
|
||||
} else {
|
||||
softSerial->port.rxBufferTail++;
|
||||
}
|
||||
}
|
||||
|
||||
void prepareForNextByte(softSerial_t *softSerial)
|
||||
{
|
||||
stopSerialTimer(softSerial);
|
||||
softSerial->state = WAITING_FOR_START_BIT;
|
||||
updateBufferIndex(softSerial);
|
||||
}
|
||||
|
||||
void onSerialTimer(uint8_t portIndex, uint16_t capture)
|
||||
{
|
||||
softSerial_t *softSerial = &(softSerialPorts[portIndex]);
|
||||
|
||||
uint8_t serialSignal = readSerialSignal(softSerial);
|
||||
|
||||
switch (softSerial->state) {
|
||||
case BIT_0:
|
||||
initialiseCurrentByteWithFirstSignal(softSerial, serialSignal);
|
||||
prepareForNextSignal(softSerial);
|
||||
break;
|
||||
|
||||
case BIT_1:
|
||||
case BIT_2:
|
||||
case BIT_3:
|
||||
case BIT_4:
|
||||
case BIT_5:
|
||||
case BIT_6:
|
||||
case BIT_7:
|
||||
mergeSignalWithCurrentByte(softSerial, serialSignal);
|
||||
|
||||
prepareForNextSignal(softSerial);
|
||||
break;
|
||||
|
||||
case WAITING_FOR_STOP_BIT:
|
||||
prepareForNextByte(softSerial);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#define SOFT_SERIAL_TIMER_MHZ 1
|
||||
#define SOFT_SERIAL_1_TIMER_HARDWARE 4
|
||||
|
||||
static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
|
||||
{
|
||||
gpio_config_t cfg;
|
||||
|
||||
cfg.pin = pin;
|
||||
cfg.mode = mode;
|
||||
cfg.speed = Speed_2MHz;
|
||||
gpioInit(gpio, &cfg);
|
||||
}
|
||||
|
||||
void serialInputPortConfig(const timerHardware_t *timerHardwarePtr, uint16_t baud, uint8_t reference, timerCCCallbackPtr callback)
|
||||
{
|
||||
softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
|
||||
|
||||
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
|
||||
|
||||
int oneBitPeriod = (SOFT_SERIAL_TIMER_MHZ * 1000000) / baud;
|
||||
|
||||
timerInConfig(timerHardwarePtr, oneBitPeriod, SOFT_SERIAL_TIMER_MHZ);
|
||||
configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback);
|
||||
}
|
||||
|
||||
void setupSoftSerial1(uint32_t baud)
|
||||
{
|
||||
int portIndex = 0;
|
||||
softSerial_t *softSerial = &(softSerialPorts[portIndex]);
|
||||
|
||||
softSerial->timerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_HARDWARE]);
|
||||
softSerial->timerIndex = SOFT_SERIAL_1_TIMER_HARDWARE;
|
||||
softSerial->state = WAITING_FOR_START_BIT;
|
||||
|
||||
softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE;
|
||||
softSerial->port.rxBuffer = softSerial->rxBuffer;
|
||||
softSerial->port.rxBufferTail = 0;
|
||||
softSerial->port.rxBufferHead = 0;
|
||||
|
||||
softSerial->port.txBuffer = 0;
|
||||
softSerial->port.txBufferSize = 0;
|
||||
softSerial->port.txBufferTail = 0;
|
||||
softSerial->port.txBufferHead = 0;
|
||||
|
||||
softSerial->port.baudRate = baud;
|
||||
softSerial->port.mode = MODE_RX;
|
||||
|
||||
// FIXME this uart specific initialisation doesn't belong really here
|
||||
softSerial->port.txDMAChannel = 0;
|
||||
softSerial->port.txDMAChannel = 0;
|
||||
|
||||
configureTimerChannelCallback(softSerial->timerHardware->tim, TIM_Channel_2, portIndex, onSerialTimer);
|
||||
|
||||
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
|
||||
stopSerialTimer(softSerial);
|
||||
|
||||
serialInputPortConfig(softSerial->timerHardware, baud, portIndex, onSerialPinChange);
|
||||
}
|
||||
|
||||
bool serialAvailable(softSerial_t *softSerial)
|
||||
{
|
||||
if (softSerial->port.rxBufferTail == softSerial->port.rxBufferHead) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int availableBytes;
|
||||
if (softSerial->port.rxBufferTail > softSerial->port.rxBufferHead) {
|
||||
availableBytes = softSerial->port.rxBufferTail - softSerial->port.rxBufferHead;
|
||||
} else {
|
||||
availableBytes = softSerial->port.rxBufferTail + softSerial->port.rxBufferSize - softSerial->port.rxBufferHead;
|
||||
}
|
||||
return availableBytes;
|
||||
}
|
||||
|
||||
static void moveHeadToNextByte(softSerial_t *softSerial)
|
||||
{
|
||||
if (softSerial->port.rxBufferHead < softSerial->port.rxBufferSize - 1) {
|
||||
softSerial->port.rxBufferHead++;
|
||||
} else {
|
||||
softSerial->port.rxBufferHead = 0;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t serialReadByte(softSerial_t *softSerial)
|
||||
{
|
||||
if (serialAvailable(softSerial) == 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
char b = softSerial->port.rxBuffer[softSerial->port.rxBufferHead];
|
||||
|
||||
moveHeadToNextByte(softSerial);
|
||||
return b;
|
||||
}
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
/*
|
||||
* drv_softserial.h
|
||||
*
|
||||
* Created on: 23 Aug 2013
|
||||
* Author: Hydra
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define SOFT_SERIAL_BUFFER_SIZE 256
|
||||
|
||||
typedef struct softSerial_s {
|
||||
const timerHardware_t *timerHardware;
|
||||
uint8_t timerIndex;
|
||||
serialPort_t port;
|
||||
volatile int state;
|
||||
volatile uint8_t rxBuffer[SOFT_SERIAL_BUFFER_SIZE];
|
||||
} softSerial_t;
|
||||
void setupSoftSerial1(uint32_t baud);
|
||||
|
||||
uint8_t serialReadByte(softSerial_t *softSerial);
|
||||
bool serialAvailable(softSerial_t *softSerial);
|
||||
|
||||
extern timerHardware_t* serialTimerHardware;
|
||||
extern softSerial_t softSerialPorts[];
|
||||
121
src/drv_timer.c
121
src/drv_timer.c
|
|
@ -71,9 +71,9 @@ static const uint8_t channels[CC_CHANNELS_PER_TIMER] = {
|
|||
};
|
||||
|
||||
typedef struct timerConfig_s {
|
||||
timerCCCallbackPtr *callback;
|
||||
uint8_t channel;
|
||||
TIM_TypeDef *tim;
|
||||
uint8_t channel;
|
||||
timerCCCallbackPtr *callback;
|
||||
uint8_t reference;
|
||||
} timerConfig_t;
|
||||
|
||||
|
|
@ -97,7 +97,77 @@ static uint8_t lookupChannelIndex(const uint8_t channel)
|
|||
return channelIndex;
|
||||
}
|
||||
|
||||
static timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel)
|
||||
void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
|
||||
{
|
||||
assert_param(IS_TIM_CHANNEL(channel));
|
||||
|
||||
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
|
||||
|
||||
if (timerConfigIndex >= MAX_TIMERS * CC_CHANNELS_PER_TIMER) {
|
||||
return;
|
||||
}
|
||||
|
||||
timerConfig[timerConfigIndex].callback = callback;
|
||||
timerConfig[timerConfigIndex].channel = channel;
|
||||
timerConfig[timerConfigIndex].reference = reference;
|
||||
}
|
||||
|
||||
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
|
||||
{
|
||||
switch (channel) {
|
||||
case TIM_Channel_1:
|
||||
TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
|
||||
{
|
||||
configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
|
||||
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
|
||||
}
|
||||
|
||||
void timerNVICConfig(uint8_t irq)
|
||||
{
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
NVIC_InitStructure.NVIC_IRQChannel = irq;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
}
|
||||
|
||||
void configTimeBase(TIM_TypeDef *tim, uint32_t period, uint8_t mhz)
|
||||
{
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
|
||||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||||
TIM_TimeBaseStructure.TIM_Period = period - 1;
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
|
||||
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
|
||||
}
|
||||
|
||||
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint32_t period, uint8_t mhz)
|
||||
{
|
||||
configTimeBase(timerHardwarePtr->tim, period, mhz);
|
||||
TIM_Cmd(timerHardwarePtr->tim, ENABLE);
|
||||
timerNVICConfig(timerHardwarePtr->irq);
|
||||
}
|
||||
|
||||
|
||||
timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel)
|
||||
{
|
||||
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
|
||||
return &(timerConfig[timerConfigIndex]);
|
||||
|
|
@ -128,6 +198,8 @@ static void timCCxHandler(TIM_TypeDef *tim)
|
|||
|
||||
timerConfig = findTimerConfig(tim, TIM_Channel_4);
|
||||
capture = TIM_GetCapture4(tim);
|
||||
} else {
|
||||
return; // avoid uninitialised variable dereference
|
||||
}
|
||||
|
||||
if (!timerConfig->callback) {
|
||||
|
|
@ -155,46 +227,3 @@ void TIM4_IRQHandler(void)
|
|||
{
|
||||
timCCxHandler(TIM4);
|
||||
}
|
||||
|
||||
void timerNVICConfig(uint8_t irq)
|
||||
{
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
NVIC_InitStructure.NVIC_IRQChannel = irq;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
}
|
||||
|
||||
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
|
||||
{
|
||||
switch (channel) {
|
||||
case TIM_Channel_1:
|
||||
TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
|
||||
{
|
||||
uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
|
||||
timerConfig[timerConfigIndex].callback = callback;
|
||||
timerConfig[timerConfigIndex].channel = channel;
|
||||
timerConfig[timerConfigIndex].reference = reference;
|
||||
}
|
||||
|
||||
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
|
||||
{
|
||||
configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
|
||||
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -13,6 +13,8 @@ typedef struct {
|
|||
|
||||
extern const timerHardware_t timerHardware[];
|
||||
|
||||
void configTimeBase(TIM_TypeDef *tim, uint32_t period, uint8_t mhz);
|
||||
void timerInConfig(const timerHardware_t *timerHardwarePtr, uint32_t period, uint8_t mhz);
|
||||
void timerNVICConfig(uint8_t irq);
|
||||
|
||||
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel);
|
||||
|
|
|
|||
|
|
@ -241,6 +241,14 @@ void uartWrite(serialPort_t *s, uint8_t ch)
|
|||
}
|
||||
}
|
||||
|
||||
void uartPrint(serialPort_t *s, const char *str)
|
||||
{
|
||||
uint8_t ch;
|
||||
while ((ch = *(str++))) {
|
||||
uartWrite(s, ch);
|
||||
}
|
||||
}
|
||||
|
||||
// Handlers
|
||||
|
||||
// USART1 Tx DMA Handler
|
||||
|
|
|
|||
|
|
@ -15,27 +15,34 @@ typedef enum portmode_t {
|
|||
MODE_RXTX = 3
|
||||
} portmode_t;
|
||||
|
||||
// FIXME this is a uart_t really. Move the generic properties into a separate structure (serialPort_t) and update the code to use it
|
||||
typedef struct {
|
||||
portmode_t mode;
|
||||
uint32_t baudRate;
|
||||
|
||||
uint32_t rxBufferSize;
|
||||
uint32_t txBufferSize;
|
||||
volatile uint8_t *rxBuffer;
|
||||
volatile uint8_t *txBuffer;
|
||||
uint32_t rxDMAPos;
|
||||
uint32_t rxBufferHead;
|
||||
uint32_t rxBufferTail;
|
||||
uint32_t txBufferHead;
|
||||
uint32_t txBufferTail;
|
||||
|
||||
// FIXME rename callback type so something more generic
|
||||
uartReceiveCallbackPtr callback;
|
||||
|
||||
// FIXME these are uart specific and do not belong in here
|
||||
DMA_Channel_TypeDef *rxDMAChannel;
|
||||
DMA_Channel_TypeDef *txDMAChannel;
|
||||
|
||||
uint32_t rxDMAIrq;
|
||||
uint32_t txDMAIrq;
|
||||
bool txDMAEmpty;
|
||||
USART_TypeDef *USARTx;
|
||||
|
||||
uartReceiveCallbackPtr callback;
|
||||
portmode_t mode;
|
||||
uint32_t rxDMAPos;
|
||||
bool txDMAEmpty;
|
||||
|
||||
USART_TypeDef *USARTx;
|
||||
} serialPort_t;
|
||||
|
||||
serialPort_t *uartOpen(USART_TypeDef *USARTx, uartReceiveCallbackPtr callback, uint32_t baudRate, portmode_t mode);
|
||||
|
|
|
|||
14
src/main.c
14
src/main.c
|
|
@ -122,7 +122,14 @@ int main(void)
|
|||
if (feature(FEATURE_VBAT))
|
||||
batteryInit();
|
||||
|
||||
#ifdef SOFTSERIAL_19200_LOOPBACK
|
||||
|
||||
serialInit(19200);
|
||||
setupSoftSerial1(19200);
|
||||
uartPrint(core.mainport, "LOOPBACK 19200 ENABLED");
|
||||
#else
|
||||
serialInit(mcfg.serial_baudrate);
|
||||
#endif
|
||||
|
||||
previousTime = micros();
|
||||
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
|
||||
|
|
@ -134,6 +141,13 @@ int main(void)
|
|||
// loopy
|
||||
while (1) {
|
||||
loop();
|
||||
#ifdef SOFTSERIAL_19200_LOOPBACK
|
||||
while (serialAvailable(&softSerialPorts[0])) {
|
||||
|
||||
uint8_t b = serialReadByte(&softSerialPorts[0]);
|
||||
uartWrite(core.mainport, b);
|
||||
};
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -67,8 +67,8 @@ retry:
|
|||
break;
|
||||
}
|
||||
; // fallthrough
|
||||
case 3: // MMA8452
|
||||
#ifndef OLIMEXINO
|
||||
case 3: // MMA8452
|
||||
if (mma8452Detect(&acc)) {
|
||||
accHardware = ACC_MMA8452;
|
||||
if (mcfg.acc_hardware == ACC_MMA8452)
|
||||
|
|
|
|||
Loading…
Reference in New Issue