From 51d28e19aa12eb0f23adffa7ba37dedc540cee97 Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Thu, 22 May 2014 12:41:07 +0100 Subject: [PATCH] Update serial port code so that it's possible to open more than one port per function. Note: a future commit will enable MSP to work on additional ports in order to support simultaneous combinations of Serial/Bluetooth configuration, OSD, RX_MSP on otherwise unused ports. --- obj/cleanflight_STM32F3DISCOVERY.hex | 4934 -------------------------- src/build_config.h | 1 + src/serial_common.c | 77 +- src/serial_common.h | 7 + src/serial_msp.c | 45 +- 5 files changed, 107 insertions(+), 4957 deletions(-) delete mode 100644 obj/cleanflight_STM32F3DISCOVERY.hex diff --git a/obj/cleanflight_STM32F3DISCOVERY.hex b/obj/cleanflight_STM32F3DISCOVERY.hex deleted file mode 100644 index a4ef8cb9d..000000000 --- a/obj/cleanflight_STM32F3DISCOVERY.hex +++ /dev/null @@ -1,4934 +0,0 @@ -:020000040800F2 -:1000000000A000204510000891100008CD4800080D -:1000100091100008911000089110000800000000E5 -:100020000000000000000000000000009110000827 -:10003000911000080000000091100008D15700083E -:10004000911000089110000891100008911000080C -:1000500091100008911000089110000891100008FC 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-:1032E80000000000000000000000000000000000D6 -:1032F80000000000000000000000000000000000C6 -:1033080000000000000000000000000000000000B5 -:1033180000000000000000000000000000000000A5 -:103328000000000000000000000000000000000095 -:103338000000000000000000000000000000000085 -:103348000000000000000000000000000000000075 -:103358000000000000000000000000000000000065 -:103368000000000000000000000000000000000055 -:103378000000000000000000000000000000000045 -:103388000000000000000000000000000000000035 -:103398000000000000000000000000000000000025 -:1033A8000000000000000000000000000000000015 -:1033B8000000000000000000000000000000000005 -:1033C80000000000000000000000000000000000F5 -:1033D80000000000000000000000000000000000E5 -:0433E800A801002018 -:0400000508000000EF -:00000001FF diff --git a/src/build_config.h b/src/build_config.h index 6e46ee4cc..eb120c7c2 100644 --- a/src/build_config.h +++ b/src/build_config.h @@ -1,5 +1,6 @@ #pragma once +#define UNUSED(x) (void)(x) #define BUILD_BUG_ON(condition) ((void)sizeof(char[1 - 2*!!(condition)])) //#define SOFT_I2C // enable to test software i2c diff --git a/src/serial_common.c b/src/serial_common.c index e41e965c2..0d055f4ee 100644 --- a/src/serial_common.c +++ b/src/serial_common.c @@ -73,8 +73,21 @@ typedef struct serialPortSearchResult_s { serialPortFunction_t *portFunction; const serialPortConstraint_t *portConstraint; const functionConstraint_t *functionConstraint; + + // private + uint8_t startSerialPortFunctionIndex; // used by findNextSerialPort } serialPortSearchResult_t; +static serialPortFunctionList_t serialPortFunctionList = { + 4, + serialPortFunctions +}; + +serialPortFunctionList_t *getSerialPortFunctionList(void) +{ + return &serialPortFunctionList; +} + uint8_t lookupScenarioIndex(serialPortFunctionScenario_e scenario) { uint8_t index; for (index = 0; index < SERIAL_PORT_SCENARIO_COUNT; index++) { @@ -140,20 +153,11 @@ static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, u qsort(serialPortFunctions, elements, sizeof(serialPortFunction_t), serialPortFunctionMostSpecificFirstComparator); } -/* - * since this method, and other methods that use it, use a single instance of - * searchPortSearchResult be sure to copy the data out of it before it gets overwritten by another caller. - * If this becomes a problem perhaps change the implementation to use a destination argument. - */ -static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function, const functionConstraint_t *functionConstraint) +serialPortSearchResult_t *findNextSerialPort(serialPortFunction_e function, const functionConstraint_t *functionConstraint, serialPortSearchResult_t *resultBuffer) { - static serialPortSearchResult_t serialPortSearchResult; - - sortSerialPortFunctions(serialPortFunctions, SERIAL_PORT_COUNT); - uint8_t serialPortFunctionIndex; serialPortFunction_t *serialPortFunction; - for (serialPortFunctionIndex = 0; serialPortFunctionIndex < SERIAL_PORT_COUNT; serialPortFunctionIndex++) { + for (serialPortFunctionIndex = resultBuffer->startSerialPortFunctionIndex; serialPortFunctionIndex < SERIAL_PORT_COUNT; serialPortFunctionIndex++) { serialPortFunction = &serialPortFunctions[serialPortFunctionIndex]; if (!(serialPortFunction->scenario & function)) { @@ -180,16 +184,38 @@ static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function, c continue; } - serialPortSearchResult.portIndex = serialPortIndex; - serialPortSearchResult.portConstraint = serialPortConstraint; - serialPortSearchResult.portFunction = serialPortFunction; - serialPortSearchResult.functionConstraint = functionConstraint; - return &serialPortSearchResult; + resultBuffer->portIndex = serialPortIndex; + resultBuffer->portConstraint = serialPortConstraint; + resultBuffer->portFunction = serialPortFunction; + resultBuffer->functionConstraint = functionConstraint; + + uint8_t nextStartIndex = serialPortFunctionIndex + 1; + resultBuffer->startSerialPortFunctionIndex = nextStartIndex; + + return resultBuffer; } return NULL; } +/* + * since this method, and other methods that use it, use a single instance of + * searchPortSearchResult be sure to copy the data out of it before it gets overwritten by another caller. + * If this becomes a problem perhaps change the implementation to use a destination argument. + */ +static serialPortSearchResult_t *findSerialPort(serialPortFunction_e function, const functionConstraint_t *functionConstraint) +{ + static serialPortSearchResult_t serialPortSearchResult; + + memset(&serialPortSearchResult, 0, sizeof(serialPortSearchResult)); + + // FIXME this only needs to be done once, after the config has been loaded. + sortSerialPortFunctions(serialPortFunctions, SERIAL_PORT_COUNT); + + return findNextSerialPort(function, functionConstraint, &serialPortSearchResult); +} + + static serialPortFunction_t *findSerialPortFunction(uint16_t functionMask) { serialPortIndex_e portIndex; @@ -271,8 +297,7 @@ functionConstraint_t *getConfiguredFunctionConstraint(serialPortFunction_e funct switch(function) { case FUNCTION_MSP: - configuredFunctionConstraint.minBaudRate = serialConfig->msp_baudrate; - configuredFunctionConstraint.maxBaudRate = configuredFunctionConstraint.minBaudRate; + configuredFunctionConstraint.maxBaudRate = serialConfig->msp_baudrate; break; case FUNCTION_CLI: @@ -388,13 +413,27 @@ serialPort_t *openSerialPort(serialPortFunction_e function, serialReceiveCallbac { serialPort_t *serialPort = NULL; - functionConstraint_t *functionConstraint = getConfiguredFunctionConstraint(function); + functionConstraint_t *initialFunctionConstraint = getConfiguredFunctionConstraint(function); + + functionConstraint_t updatedFunctionConstraint; + memcpy(&updatedFunctionConstraint, initialFunctionConstraint, sizeof(updatedFunctionConstraint)); + if (initialFunctionConstraint->autoBaud == NO_AUTOBAUD) { + updatedFunctionConstraint.minBaudRate = baudRate; + updatedFunctionConstraint.maxBaudRate = baudRate; + } + functionConstraint_t *functionConstraint = &updatedFunctionConstraint; serialPortSearchResult_t *searchResult = findSerialPort(function, functionConstraint); + while(searchResult && searchResult->portFunction->port) { + // port is already open, find the next one + searchResult = findNextSerialPort(function, functionConstraint, searchResult); + } + if (!searchResult) { return NULL; } + serialPortIndex_e portIndex = searchResult->portIndex; const serialPortConstraint_t *serialPortConstraint = searchResult->portConstraint; diff --git a/src/serial_common.h b/src/serial_common.h index 3f2a407d3..c69d10e83 100644 --- a/src/serial_common.h +++ b/src/serial_common.h @@ -78,6 +78,11 @@ typedef struct serialPortFunction_s { serialPortFunction_e currentFunction; } serialPortFunction_t; +typedef struct serialPortFunctionList_s { + uint8_t serialPortCount; + serialPortFunction_t *functions; +} serialPortFunctionList_t; + typedef struct serialConfig_s { uint8_t serial_port_1_scenario; uint8_t serial_port_2_scenario; @@ -109,5 +114,7 @@ bool isSerialConfigValid(serialConfig_t *serialConfig); bool doesConfigurationUsePort(serialConfig_t *serialConfig, serialPortIdentifier_e portIdentifier); bool isSerialPortFunctionShared(serialPortFunction_e functionToUse, uint16_t functionMask); +serialPortFunctionList_t *getSerialPortFunctionList(void); + void evaluateOtherData(uint8_t sr); void handleSerial(void); diff --git a/src/serial_msp.c b/src/serial_msp.c index 91b8e08b7..ed4c28965 100755 --- a/src/serial_msp.c +++ b/src/serial_msp.c @@ -2,6 +2,8 @@ #include #include +#include "build_config.h" + #include "platform.h" #include "common/axis.h" @@ -277,6 +279,44 @@ reset: } } +// This rate is chosen since softserial supports it. +#define MSP_FALLBACK_BAUDRATE 19200 + +static void openAllMSPSerialPorts(serialConfig_t *serialConfig) +{ + serialPort_t *port; + + mspPort = NULL; // XXX delete this when adding support for MSP on more than one port. + do { + + uint32_t baudRate = serialConfig->msp_baudrate; + + bool triedFallbackRate = false; + do { + + port = openSerialPort(FUNCTION_MSP, NULL, baudRate, MODE_RXTX, SERIAL_NOT_INVERTED); + if (!port) { + if (triedFallbackRate) { + break; + } + + baudRate = MSP_FALLBACK_BAUDRATE; + triedFallbackRate = true; + } + } while (!port); + + // XXX delete this when adding support for MSP on more than one port. + if (port) { + mspPort = port; // just use the last one opened for now, the least specific serial port scenario will in for now + } + + } while (port); + + // XXX this function might help with adding support for MSP on more than one port, if not delete it. + serialPortFunctionList_t *serialPortFunctionList = getSerialPortFunctionList(); + UNUSED(serialPortFunctionList); +} + void mspInit(serialConfig_t *serialConfig) { int idx; @@ -316,10 +356,7 @@ void mspInit(serialConfig_t *serialConfig) availableBoxes[idx++] = BOXTELEMETRY; numberBoxItems = idx; - mspPort = findOpenSerialPort(FUNCTION_MSP); - if (!mspPort) { - mspPort = openSerialPort(FUNCTION_MSP, NULL, serialConfig->msp_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED); - } + openAllMSPSerialPorts(serialConfig); } static void evaluateCommand(void)