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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.
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.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@390 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61master
timecop@gmail.com
11 years ago
13 changed files with 466 additions and 162 deletions
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1Makefile
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15baseflight.uvproj
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6src/board.h
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124src/drv_pwm.c
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14src/drv_pwm.h
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203src/drv_softserial.c
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25src/drv_softserial.h
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121src/drv_timer.c
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2src/drv_timer.h
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20src/drv_uart.c
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61src/drv_uart.h
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20src/main.c
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16src/sensors.c
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#include "board.h" |
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enum serialBitStatus { |
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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 |
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}; |
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#define MAX_SOFTSERIAL_PORTS 2 |
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softSerial_t softSerialPorts[MAX_SOFTSERIAL_PORTS]; |
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softSerial_t* lookupSoftSerial(uint8_t reference) |
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{ |
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assert_param(reference >= 0 && reference <= MAX_SOFTSERIAL_PORTS); |
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return &(softSerialPorts[reference]); |
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} |
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void stopSerialTimer(softSerial_t *softSerial) |
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{ |
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TIM_Cmd(softSerial->timerHardware->tim, DISABLE); |
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TIM_SetCounter(softSerial->timerHardware->tim, 0); |
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} |
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void startSerialTimer(softSerial_t *softSerial) |
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{ |
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TIM_SetCounter(softSerial->timerHardware->tim, 0); |
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TIM_Cmd(softSerial->timerHardware->tim, ENABLE); |
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} |
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static void waitForFirstBit(softSerial_t *softSerial) |
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{ |
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softSerial->state = BIT_0; |
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startSerialTimer(softSerial); |
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} |
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static void onSerialPinChange(uint8_t reference, uint16_t capture) |
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{ |
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softSerial_t *softSerial = lookupSoftSerial(reference); |
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if (softSerial->state == WAITING_FOR_START_BIT) { |
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waitForFirstBit(softSerial); |
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} |
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} |
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uint8_t readSerialSignal(softSerial_t *softSerial) |
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{ |
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return GPIO_ReadInputDataBit(softSerial->timerHardware->gpio, softSerial->timerHardware->pin); |
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} |
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void mergeSignalWithCurrentByte(softSerial_t *softSerial, uint8_t serialSignal) |
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{ |
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softSerial->rxBuffer[softSerial->port.rxBufferTail] |= (serialSignal << softSerial->state); |
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} |
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inline void initialiseCurrentByteWithFirstSignal(softSerial_t *softSerial, uint8_t serialSignal) |
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{ |
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softSerial->rxBuffer[softSerial->port.rxBufferTail] = serialSignal; |
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} |
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inline void prepareForNextSignal(softSerial_t *softSerial) { |
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softSerial->state++; |
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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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{ |
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softSerial->port.rxBufferTail = 0; //cycling the buffer |
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} else { |
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softSerial->port.rxBufferTail++; |
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} |
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} |
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void prepareForNextByte(softSerial_t *softSerial) |
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{ |
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stopSerialTimer(softSerial); |
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softSerial->state = WAITING_FOR_START_BIT; |
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updateBufferIndex(softSerial); |
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} |
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void onSerialTimer(uint8_t portIndex, uint16_t capture) |
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{ |
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softSerial_t *softSerial = &(softSerialPorts[portIndex]); |
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uint8_t serialSignal = readSerialSignal(softSerial); |
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switch (softSerial->state) { |
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case BIT_0: |
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initialiseCurrentByteWithFirstSignal(softSerial, serialSignal); |
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prepareForNextSignal(softSerial); |
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break; |
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case BIT_1: |
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case BIT_2: |
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case BIT_3: |
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case BIT_4: |
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case BIT_5: |
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case BIT_6: |
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case BIT_7: |
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mergeSignalWithCurrentByte(softSerial, serialSignal); |
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prepareForNextSignal(softSerial); |
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break; |
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case WAITING_FOR_STOP_BIT: |
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prepareForNextByte(softSerial); |
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break; |
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} |
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} |
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#define SOFT_SERIAL_TIMER_MHZ 1 |
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#define SOFT_SERIAL_1_TIMER_HARDWARE 4 |
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static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode) |
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{ |
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gpio_config_t cfg; |
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cfg.pin = pin; |
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cfg.mode = mode; |
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cfg.speed = Speed_2MHz; |
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gpioInit(gpio, &cfg); |
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} |
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void serialInputPortConfig(const timerHardware_t *timerHardwarePtr, uint16_t baud, uint8_t reference, timerCCCallbackPtr callback) |
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{ |
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softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU); |
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling); |
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int oneBitPeriod = (SOFT_SERIAL_TIMER_MHZ * 1000000) / baud; |
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timerInConfig(timerHardwarePtr, oneBitPeriod, SOFT_SERIAL_TIMER_MHZ); |
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, reference, callback); |
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} |
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void setupSoftSerial1(uint32_t baud) |
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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->timerHardware = &(timerHardware[SOFT_SERIAL_1_TIMER_HARDWARE]); |
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softSerial->timerIndex = SOFT_SERIAL_1_TIMER_HARDWARE; |
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softSerial->state = WAITING_FOR_START_BIT; |
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softSerial->port.rxBufferSize = SOFT_SERIAL_BUFFER_SIZE; |
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softSerial->port.rxBuffer = softSerial->rxBuffer; |
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softSerial->port.rxBufferTail = 0; |
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softSerial->port.rxBufferHead = 0; |
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softSerial->port.txBuffer = 0; |
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softSerial->port.txBufferSize = 0; |
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softSerial->port.txBufferTail = 0; |
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softSerial->port.txBufferHead = 0; |
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softSerial->port.baudRate = baud; |
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softSerial->port.mode = MODE_RX; |
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// FIXME this uart specific initialisation doesn't belong really here |
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softSerial->port.txDMAChannel = 0; |
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softSerial->port.txDMAChannel = 0; |
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configureTimerChannelCallback(softSerial->timerHardware->tim, TIM_Channel_2, portIndex, onSerialTimer); |
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TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE); |
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stopSerialTimer(softSerial); |
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serialInputPortConfig(softSerial->timerHardware, baud, portIndex, onSerialPinChange); |
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} |
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bool serialAvailable(softSerial_t *softSerial) |
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{ |
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if (softSerial->port.rxBufferTail == softSerial->port.rxBufferHead) { |
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return 0; |
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} |
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int availableBytes; |
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if (softSerial->port.rxBufferTail > softSerial->port.rxBufferHead) { |
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availableBytes = softSerial->port.rxBufferTail - softSerial->port.rxBufferHead; |
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} else { |
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availableBytes = softSerial->port.rxBufferTail + softSerial->port.rxBufferSize - softSerial->port.rxBufferHead; |
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} |
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return availableBytes; |
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} |
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static void moveHeadToNextByte(softSerial_t *softSerial) |
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{ |
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if (softSerial->port.rxBufferHead < softSerial->port.rxBufferSize - 1) { |
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softSerial->port.rxBufferHead++; |
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} else { |
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softSerial->port.rxBufferHead = 0; |
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} |
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} |
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uint8_t serialReadByte(softSerial_t *softSerial) |
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{ |
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if (serialAvailable(softSerial) == 0) { |
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return 0; |
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} |
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char b = softSerial->port.rxBuffer[softSerial->port.rxBufferHead]; |
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moveHeadToNextByte(softSerial); |
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return b; |
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} |
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@ -0,0 +1,25 @@ |
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/* |
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* drv_softserial.h |
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* |
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* Created on: 23 Aug 2013 |
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* Author: Hydra |
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*/ |
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#pragma once |
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#define SOFT_SERIAL_BUFFER_SIZE 256 |
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typedef struct softSerial_s { |
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const timerHardware_t *timerHardware; |
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uint8_t timerIndex; |
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serialPort_t port; |
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volatile int state; |
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volatile uint8_t rxBuffer[SOFT_SERIAL_BUFFER_SIZE]; |
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} softSerial_t; |
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void setupSoftSerial1(uint32_t baud); |
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uint8_t serialReadByte(softSerial_t *softSerial); |
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bool serialAvailable(softSerial_t *softSerial); |
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extern timerHardware_t* serialTimerHardware; |
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extern softSerial_t softSerialPorts[]; |
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