[stm32] add usb_tunnel, cleanup setup makefile

also replace usb_tunnel_0 and usb_tunnel_1 on lpc with one usb_tunnel target with configurable uart

conf/airframes/CDW/test/ChimuLisaFw.xml

@@ -160,8 +160,9 @@
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_1.1" />
-    <target name="usb_tunnel_0"     board="tiny_1.1" />
+    <target name="usb_tunnel"       board="tiny_1.1">
-    <target name="usb_tunnel_1"     board="tiny_1.1" />
+      <configure name="TUNNEL_PORT" value="UART0"/>
+    </target>
     <target name="setup_actuators"  board="tiny_1.1" />
   </firmware>
 

conf/airframes/examples/microjet.xml

@@ -212,8 +212,9 @@
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_1.1" />
-    <target name="usb_tunnel_0"     board="tiny_1.1" />
+    <target name="usb_tunnel"       board="tiny_1.1">
-    <target name="usb_tunnel_1"     board="tiny_1.1" />
+      <configure name="TUNNEL_PORT" value="UART0"/>
+    </target>
   </firmware>
 
 </airframe>

conf/airframes/examples/setup_lisam2.xml

@@ -6,6 +6,9 @@
 
   <firmware name="setup">
     <target name="tunnel"           board="lisa_m_2.0"/>
+    <target name="usb_tunnel"       board="lisa_m_2.0">
+      <configure name="TUNNEL_PORT" value="UART3"/>
+    </target>
     <target name="setup_actuators"  board="lisa_m_2.0">
       <subsystem name="actuators" type="pwm"/>
       <define name="SERVO_HZ" value="400"/>

conf/airframes/examples/twinjet.xml

@@ -31,8 +31,9 @@
 
   <firmware name="setup">
     <target name="tunnel"           board="twog_1.0" />
-    <target name="usb_tunnel_0"     board="twog_1.0" />
+    <target name="usb_tunnel"     board="twog_1.0">
-    <target name="usb_tunnel_1"     board="twog_1.0" />
+      <configure name="TUNNEL_PORT" value="UART0"/>
+    </target>
   </firmware>
 
   <modules>

conf/airframes/flixr_discovery.xml

@@ -55,7 +55,7 @@
 
   <firmware name="setup">
     <target name="tunnel"          board="twog_1.0" />
-    <target name="usb_tunnel_0"    board="twog_1.0" />
+    <target name="usb_tunnel"    board="twog_1.0"/>
   </firmware>
 
   <firmware name="test_progs">

conf/airframes/jsbsim.xml

@@ -216,11 +216,4 @@
     <load name="infrared_adc.xml"/>
   </modules>
 
-  <firmware name="setup">
-    <target name="tunnel"           board="tiny_2.1" />
-    <target name="usb_tunnel_0"     board="tiny_2.1" />
-    <target name="usb_tunnel_1"     board="tiny_2.1" />
-    <target name="setup_actuators"  board="tiny_2.1" />
-  </firmware>
-
 </airframe>

conf/airframes/usb_test.xml

@@ -21,8 +21,9 @@
 
   <firmware name="setup">
     <target name="tunnel"              board="tiny_2.11"/>
-    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+    <target name="usb_tunnel"          board="tiny_2.11">
-    <target name="usb_tunnel_1"        board="tiny_2.11"/>
+      <configure name="TUNNEL_PORT" value="UART0"/>
+    </target>
     <target name="setup_actuators"     board="tiny_2.11"/>
   </firmware>
 

conf/firmwares/setup.makefile

@@ -3,65 +3,110 @@
 #
 #
 
+SRC_ARCH=arch/$(ARCH)
+SRC_BOARD=boards/$(BOARD)
+SRC_SUBSYSTEMS=subsystems
+SRC_MODULES=modules
 
 CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
-#CFG_SETUP=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/setup
 
-SRC_ARCH=arch/$(ARCH)
 SRC_FIRMWARE=firmwares/setup
-SRC_LISA=lisa
-
-SETUP_INC = -I$(SRC_FIRMWARE)
-
-$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-
-# a test program to tunnel between both uart
-tunnel.CFLAGS += -DUSE_LED
-tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
-tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
-ifeq ($(ARCH), stm32)
-tunnel.ARCHDIR = $(ARCH)
-tunnel.CFLAGS += -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-tunnel.srcs   += $(SRC_ARCH)/mcu_periph/gpio_arch.c $(SRC_ARCH)/led_hw.c
-ifneq ($(SYS_TIME_LED),none)
-tunnel.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-endif
-tunnel.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-tunnel.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-endif
-
-
-# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
-
-# a configuration program to access both uart through usb
-ifeq ($(ARCH), lpc21)
-usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
-usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
-usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
-usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
-usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
-
-usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
-usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
-usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
-usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
-usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
-else
-ifeq ($(TARGET),usb_tunnel_0)
-$(error usb_tunnel_0 currently only implemented for the lpc21)
-else ifeq ($(TARGET),usb_tunnel_1)
-$(error usb_tunnel_1 currently only implemented for the lpc21)
-endif
-endif
-
-
 
+#
+# common setup
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
 PERIODIC_FREQUENCY ?= 512
 
+COMMON_SETUP_CFLAGS  = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
+COMMON_SETUP_CFLAGS += -DPERIPHERALS_AUTO_INIT
+COMMON_SETUP_SRCS    = mcu.c $(SRC_ARCH)/mcu_arch.c
+ifneq ($(SYS_TIME_LED),none)
+  COMMON_SETUP_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+COMMON_SETUP_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
+COMMON_SETUP_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+
+COMMON_SETUP_CFLAGS += -DUSE_LED
+
+ifeq ($(ARCH), lpc21)
+COMMON_SETUP_SRCS += $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCH), stm32)
+COMMON_SETUP_SRCS += $(SRC_ARCH)/led_hw.c
+COMMON_SETUP_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
+endif
+
+
+
+#
+# a test program to tunnel between both uart
+#
+tunnel.ARCHDIR = $(ARCH)
+tunnel.CFLAGS += $(COMMON_SETUP_CFLAGS)
+tunnel.srcs   += $(COMMON_SETUP_SRCS)
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
+#
+# usb tunnel
+#
+# a configuration program to access a uart through usb
+#
+# configuration:
+#    TUNNEL_PORT (defaults to GPS_PORT)
+#    TUNNEL_BAUD
+#
+usb_tunnel.ARCHDIR = $(ARCH)
+usb_tunnel.CFLAGS += $(COMMON_SETUP_CFLAGS)
+usb_tunnel.srcs   += $(COMMON_SETUP_SRCS)
+usb_tunnel.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+
+TUNNEL_PORT ?= GPS_PORT
+TUNNEL_PORT_LOWER=$(shell echo $(TUNNEL_PORT) | tr A-Z a-z)
+TUNNEL_PORT_UPPER=$(shell echo $(TUNNEL_PORT) | tr a-z A-Z)
+TUNNEL_BAUD ?= B115200
+
+usb_tunnel.CFLAGS += -DUSE_$(TUNNEL_PORT_UPPER) -D$(TUNNEL_PORT_UPPER)_BAUD=$(TUNNEL_BAUD)
+usb_tunnel.CFLAGS += -DUSB_TUNNEL_UART=$(TUNNEL_PORT_LOWER)
+usb_tunnel.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL
+usb_tunnel.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c
+
+ifeq ($(ARCH), lpc21)
+# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
+usb_tunnel.CFLAGS += -DUSE_USB_HIGH_PCLK
+usb_tunnel.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
+usb_tunnel.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
+else ifeq($(ARCH), stm32)
+else
+ifeq ($(TARGET),usb_tunnel)
+$(error usb_tunnel is only implemented for lpc21 and stm32)
+endif
+endif
+
+
+
+#
+# setup actuators
+#
+setup_actuators.ARCHDIR = $(ARCH)
+setup_actuators.CFLAGS += $(COMMON_SETUP_CFLAGS)
+setup_actuators.srcs   += $(COMMON_SETUP_SRCS)
+
+setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
+setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
+setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
+setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
+setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+
+setup_actuators.srcs   += subsystems/actuators.c
+setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c
+
 ifeq ($(TARGET), setup_actuators)
   ifeq ($(ACTUATORS),)
     $(error ACTUATORS not configured, if your board file has no default, configure in your airframe file)
@@ -69,38 +114,3 @@ ifeq ($(TARGET), setup_actuators)
     include $(CFG_SHARED)/$(ACTUATORS).makefile
   endif
 endif
-
-# a test program to setup actuators
-setup_actuators.CFLAGS += -DUSE_LED -DPERIPHERALS_AUTO_INIT
-setup_actuators.srcs   += mcu.c $(SRC_ARCH)/mcu_arch.c
-
-ifneq ($(SYS_TIME_LED),none)
-setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-endif
-setup_actuators.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
-setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
-setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
-setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-# we actually don't really use the generated periodic telemetry in this firmware,
-# but still needed to register e.g. the UART_ERRORS message #if DOWNLINK
-setup_actuators.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
-setup_actuators.srcs += subsystems/datalink/telemetry.c
-
-setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
-setup_actuators.srcs   += subsystems/actuators.c
-setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c
-
-ifeq ($(ARCH), lpc21)
-setup_actuators.srcs += $(SRC_ARCH)/armVIC.c
-else ifeq ($(ARCH), stm32)
-setup_actuators.ARCHDIR = $(ARCH)
-setup_actuators.CFLAGS += -I$(ARCH)
-setup_actuators.srcs   += $(SRC_ARCH)/led_hw.c
-setup_actuators.srcs   += $(SRC_ARCH)/mcu_periph/gpio_arch.c
-endif

sw/airborne/arch/lpc21/usb_tunnel.c

@@ -46,6 +46,8 @@
 #endif
 #endif
 
+INFO_VAR(USB_TUNNEL_UART)
+
 int main( void ) {
   unsigned char inc;
   unsigned int rx_time=0, tx_time=0;

sw/airborne/arch/stm32/usb_ser_hw.c

@@ -483,8 +483,8 @@ void VCOM_transmit_message()
  * USE_USB_LINE_CODING is not used in case of example1, example2 and telemetry
  */
 #ifdef USE_USB_LINE_CODING
-void VCOM_allow_linecoding(uint8_t mode) {}
+void VCOM_allow_linecoding(uint8_t mode __attribute__((unused))) {}
-void VCOM_set_linecoding(uint8_t mode) {}
+void VCOM_set_linecoding(uint8_t mode __attribute__((unused))) {}
 #endif
 
 /*

sw/airborne/arch/stm32/usb_tunnel.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2009  Martin Mueller
+ *               2014  Felix Ruess <felix.ruess@gmail.com
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/**
+ * @file usb_tunnel.c
+ *
+ * USB tunnel application.
+ *
+ * This creates a USB serial port that connects to one of the UARTs.
+ * This enables you to e.g. configure the gps receiver or the modem without removing it.
+ */
+
+#include "std.h"
+#include "mcu.h"
+#include "mcu_periph/sys_time.h"
+#include "led.h"
+#include "mcu_periph/uart.h"
+#include "mcu_periph/usb_serial.h"
+
+#ifndef USB_TUNNEL_UART
+#error USB_TUNNEL_UART not defined. Add <configure name="TUNNEL_PORT" value="UARTx"/>
+#endif
+
+INFO_VAR(USB_TUNNEL_UART)
+
+
+static void tunnel_event(void)
+{
+  static unsigned char inc;
+
+  if (uart_char_available(&USB_TUNNEL_UART) && VCOM_check_free_space(1)) {
+    inc = uart_getch(&USB_TUNNEL_UART);
+    VCOM_putchar(inc);
+  }
+  if (VCOM_check_available() && uart_check_free_space(&USB_TUNNEL_UART, 1)) {
+    inc = VCOM_getchar();
+    uart_transmit(&USB_TUNNEL_UART, inc);
+  }
+}
+
+int main(void)
+{
+  mcu_init();
+  sys_time_init();
+  led_init();
+
+  VCOM_allow_linecoding(1);
+
+  VCOM_init();
+
+  mcu_int_enable();
+
+  while(1) {
+    VCOM_event();
+    tunnel_event();
+  }
+
+  return 0;
+}