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CC3D - Support USART3 instead of USART2. 

This has highlighted that the existing codebase is quite targeted
towards systems that use USART1 and 2.  Annoyingly the inverter is on
USART1 and the sbus code requires callbacks so still won't work yet.
This commit is contained in:
Dominic Clifton 2014-08-07 19:17:46 +01:00
parent 9906294cd8
commit b01724681a
9 changed files with 193 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/drivers/serial_uart.c
View File

@ -36,6 +36,7 @@
uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode);
uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode);
uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode);
static void uartReconfigure(uartPort_t *uartPort)
{
@ -76,8 +77,14 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
if (USARTx == USART1) {
s = serialUSART1(baudRate, mode);
#ifdef USE_USART2
} else if (USARTx == USART2) {
s = serialUSART2(baudRate, mode);
#endif
#ifdef USE_USART3
} else if (USARTx == USART3) {
s = serialUSART3(baudRate, mode);
#endif
} else {
return (serialPort_t *)s;
}

2
src/main/drivers/serial_uart.h
View File

@ -23,6 +23,8 @@
#define UART1_TX_BUFFER_SIZE 256
#define UART2_RX_BUFFER_SIZE 128
#define UART2_TX_BUFFER_SIZE 64
#define UART3_RX_BUFFER_SIZE 128
#define UART3_TX_BUFFER_SIZE 64
typedef struct {
serialPort_t port;

178
src/main/drivers/serial_uart_stm32f10x.c
View File

@ -34,11 +34,44 @@
#include "serial.h"
#include "serial_uart.h"
#ifdef USE_USART1
static uartPort_t uartPort1;
#endif
#ifdef USE_USART2
static uartPort_t uartPort2;
#endif
#ifdef USE_USART3
static uartPort_t uartPort3;
#endif
void uartStartTxDMA(uartPort_t *s);
void usartIrqCallback(uartPort_t *s)
{
uint16_t SR = s->USARTx->SR;
if (SR & USART_FLAG_RXNE) {
// If we registered a callback, pass crap there
if (s->port.callback) {
s->port.callback(s->USARTx->DR);
} else {
s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR;
s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
}
}
if (SR & USART_FLAG_TXE) {
if (s->port.txBufferTail != s->port.txBufferHead) {
s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail];
s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
} else {
USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
}
}
}
#ifdef USE_USART1
// USART1 - Telemetry (RX/TX by DMA)
uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode)
{
@ -91,6 +124,39 @@ uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode)
return s;
}
// USART1 Tx DMA Handler
void DMA1_Channel4_IRQHandler(void)
{
uartPort_t *s = &uartPort1;
DMA_ClearITPendingBit(DMA1_IT_TC4);
DMA_Cmd(s->txDMAChannel, DISABLE);
if (s->port.txBufferHead != s->port.txBufferTail)
uartStartTxDMA(s);
else
s->txDMAEmpty = true;
}
// USART1 Tx IRQ Handler
void USART1_IRQHandler(void)
{
uartPort_t *s = &uartPort1;
uint16_t SR = s->USARTx->SR;
if (SR & USART_FLAG_TXE) {
if (s->port.txBufferTail != s->port.txBufferHead) {
s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail];
s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
} else {
USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
}
}
}
#endif
#ifdef USE_USART2
// USART2 - GPS or Spektrum or ?? (RX + TX by IRQ)
uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode)
{
@ -140,58 +206,72 @@ uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode)
return s;
}
// Handlers
// USART1 Tx DMA Handler
void DMA1_Channel4_IRQHandler(void)
{
uartPort_t *s = &uartPort1;
DMA_ClearITPendingBit(DMA1_IT_TC4);
DMA_Cmd(s->txDMAChannel, DISABLE);
if (s->port.txBufferHead != s->port.txBufferTail)
uartStartTxDMA(s);
else
s->txDMAEmpty = true;
}
// USART1 Tx IRQ Handler
void USART1_IRQHandler(void)
{
uartPort_t *s = &uartPort1;
uint16_t SR = s->USARTx->SR;
if (SR & USART_FLAG_TXE) {
if (s->port.txBufferTail != s->port.txBufferHead) {
s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail];
s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
} else {
USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
}
}
}
// USART2 Rx/Tx IRQ Handler
void USART2_IRQHandler(void)
{
uartPort_t *s = &uartPort2;
uint16_t SR = s->USARTx->SR;
if (SR & USART_FLAG_RXNE) {
// If we registered a callback, pass crap there
if (s->port.callback) {
s->port.callback(s->USARTx->DR);
} else {
s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->DR;
s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
}
}
if (SR & USART_FLAG_TXE) {
if (s->port.txBufferTail != s->port.txBufferHead) {
s->USARTx->DR = s->port.txBuffer[s->port.txBufferTail];
s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
} else {
USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
}
}
usartIrqCallback(s);
}
#endif
#ifdef USE_USART3
// USART3
uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode)
{
uartPort_t *s;
static volatile uint8_t rx3Buffer[UART3_RX_BUFFER_SIZE];
static volatile uint8_t tx3Buffer[UART3_TX_BUFFER_SIZE];
gpio_config_t gpio;
NVIC_InitTypeDef NVIC_InitStructure;
s = &uartPort3;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBuffer = rx3Buffer;
s->port.txBuffer = tx3Buffer;
s->port.rxBufferSize = UART3_RX_BUFFER_SIZE;
s->port.txBufferSize = UART3_TX_BUFFER_SIZE;
s->USARTx = USART3;
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
#ifdef USART3_APB1_PERIPHERALS
RCC_APB1PeriphClockCmd(USART3_APB1_PERIPHERALS, ENABLE);
#endif
#ifdef USART3_APB2_PERIPHERALS
RCC_APB2PeriphClockCmd(USART3_APB2_PERIPHERALS, ENABLE);
#endif
gpio.speed = Speed_2MHz;
gpio.pin = USART3_TX_PIN;
gpio.mode = Mode_AF_PP;
if (mode & MODE_TX)
gpioInit(USART3_GPIO, &gpio);
gpio.pin = USART3_RX_PIN;
gpio.mode = Mode_IPU;
if (mode & MODE_RX)
gpioInit(USART3_GPIO, &gpio);
// RX/TX Interrupt
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
// USART2 Rx/Tx IRQ Handler
void USART3_IRQHandler(void)
{
uartPort_t *s = &uartPort3;
usartIrqCallback(s);
}
#endif

35
src/main/io/serial.c
View File

@ -83,6 +83,22 @@ const static serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
#else
#ifdef CC3D
static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
{SERIAL_PORT_USART1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
{SERIAL_PORT_USART3, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
{SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
{SERIAL_PORT_SOFTSERIAL2, NULL, SCENARIO_UNUSED, FUNCTION_NONE}
};
static const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
{SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE },
{SERIAL_PORT_USART3, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE},
{SERIAL_PORT_SOFTSERIAL1, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE},
{SERIAL_PORT_SOFTSERIAL2, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE}
};
#else
static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = {
{SERIAL_PORT_USART1, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
{SERIAL_PORT_USART2, NULL, SCENARIO_UNUSED, FUNCTION_NONE},
@ -96,7 +112,7 @@ static const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = {
{SERIAL_PORT_SOFTSERIAL1, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE},
{SERIAL_PORT_SOFTSERIAL2, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE}
};
#endif
#endif
const functionConstraint_t functionConstraints[] = {
@ -459,11 +475,19 @@ void applySerialConfigToPortFunctions(serialConfig_t *serialConfig)
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL1)].scenario = serialPortScenarios[serialConfig->serial_port_4_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL2)].scenario = serialPortScenarios[serialConfig->serial_port_5_scenario];
#else
#ifdef CC3D
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART1)].scenario = serialPortScenarios[serialConfig->serial_port_1_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART3)].scenario = serialPortScenarios[serialConfig->serial_port_2_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL1)].scenario = serialPortScenarios[serialConfig->serial_port_3_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL2)].scenario = serialPortScenarios[serialConfig->serial_port_4_scenario];
#else
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART1)].scenario = serialPortScenarios[serialConfig->serial_port_1_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_USART2)].scenario = serialPortScenarios[serialConfig->serial_port_2_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL1)].scenario = serialPortScenarios[serialConfig->serial_port_3_scenario];
serialPortFunctions[lookupSerialPortFunctionIndexByIdentifier(SERIAL_PORT_SOFTSERIAL2)].scenario = serialPortScenarios[serialConfig->serial_port_4_scenario];
#endif
#endif
}
serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion)
@ -502,12 +526,21 @@ serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbac
serialPort = usbVcpOpen();
break;
#endif
#ifdef USE_USART1
case SERIAL_PORT_USART1:
serialPort = uartOpen(USART1, callback, baudRate, mode, inversion);
break;
#endif
#ifdef USE_USART2
case SERIAL_PORT_USART2:
serialPort = uartOpen(USART2, callback, baudRate, mode, inversion);
break;
#endif
#ifdef USE_USART3
case SERIAL_PORT_USART3:
serialPort = uartOpen(USART3, callback, baudRate, mode, inversion);
break;
#endif
#ifdef SOFT_SERIAL
case SERIAL_PORT_SOFTSERIAL1:
serialPort = openSoftSerial(SOFTSERIAL1, callback, baudRate, inversion);

2
src/main/io/serial.h
View File

@ -87,9 +87,11 @@ typedef enum {
SERIAL_PORT_3,
SERIAL_PORT_4
} serialPortIndex_e;
typedef enum {
SERIAL_PORT_USART1 = 0,
SERIAL_PORT_USART2,
SERIAL_PORT_USART3,
SERIAL_PORT_SOFTSERIAL1,
SERIAL_PORT_SOFTSERIAL2
} serialPortIdentifier_e;

10
src/main/target/CC3D/target.h
View File

@ -33,6 +33,16 @@
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67
#define USE_USART1
#define USE_USART3
#define USART3_RX_PIN Pin_11
#define USART3_TX_PIN Pin_10
#define USART3_GPIO GPIOB
#define USART3_APB1_PERIPHERALS RCC_APB1Periph_USART3
#define USART3_APB2_PERIPHERALS RCC_APB2Periph_GPIOB
#define SENSORS_SET (SENSOR_ACC)
#define GPS

3
src/main/target/CJMCU/target.h
View File

@ -37,6 +37,9 @@
#define BRUSHED_MOTORS
#define USE_USART1
#define USE_USART2
#define I2C_DEVICE (I2CDEV_1)
// #define SOFT_I2C // enable to test software i2c

3
src/main/target/NAZE/target.h
View File

@ -47,6 +47,9 @@
#define LED1
#define INVERTER
#define USE_USART1
#define USE_USART2
#define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c

3
src/main/target/OLIMEXINO/target.h
View File

@ -40,6 +40,9 @@
#define GYRO
#define MAG
#define USE_USART1
#define USE_USART2
#define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c