mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[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
This commit is contained in:
Felix Ruess
@@ -160,8 +160,9 @@
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<firmware name="setup">
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<target name="tunnel" board="tiny_1.1" />
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<target name="usb_tunnel_0" board="tiny_1.1" />
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<target name="usb_tunnel_1" board="tiny_1.1" />
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<target name="usb_tunnel" board="tiny_1.1">
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<configure name="TUNNEL_PORT" value="UART0"/>
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</target>
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<target name="setup_actuators" board="tiny_1.1" />
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</firmware>
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@@ -212,8 +212,9 @@
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<firmware name="setup">
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<target name="tunnel" board="tiny_1.1" />
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<target name="usb_tunnel_0" board="tiny_1.1" />
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<target name="usb_tunnel_1" board="tiny_1.1" />
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<target name="usb_tunnel" board="tiny_1.1">
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<configure name="TUNNEL_PORT" value="UART0"/>
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</target>
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</firmware>
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</airframe>
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@@ -6,6 +6,9 @@
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<firmware name="setup">
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<target name="tunnel" board="lisa_m_2.0"/>
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<target name="usb_tunnel" board="lisa_m_2.0">
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<configure name="TUNNEL_PORT" value="UART3"/>
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</target>
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<target name="setup_actuators" board="lisa_m_2.0">
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<subsystem name="actuators" type="pwm"/>
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<define name="SERVO_HZ" value="400"/>
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@@ -31,8 +31,9 @@
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel_0" board="twog_1.0" />
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<target name="usb_tunnel_1" board="twog_1.0" />
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<target name="usb_tunnel" board="twog_1.0">
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<configure name="TUNNEL_PORT" value="UART0"/>
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</target>
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</firmware>
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<modules>
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@@ -55,7 +55,7 @@
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel_0" board="twog_1.0" />
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<target name="usb_tunnel" board="twog_1.0"/>
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</firmware>
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<firmware name="test_progs">
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@@ -216,11 +216,4 @@
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<load name="infrared_adc.xml"/>
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</modules>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.1" />
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<target name="usb_tunnel_0" board="tiny_2.1" />
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<target name="usb_tunnel_1" board="tiny_2.1" />
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<target name="setup_actuators" board="tiny_2.1" />
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</firmware>
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</airframe>
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@@ -21,8 +21,9 @@
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="usb_tunnel_0" board="tiny_2.11"/>
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<target name="usb_tunnel_1" board="tiny_2.11"/>
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<target name="usb_tunnel" board="tiny_2.11">
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<configure name="TUNNEL_PORT" value="UART0"/>
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</target>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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@@ -3,65 +3,110 @@
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#
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#
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SRC_ARCH=arch/$(ARCH)
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SRC_BOARD=boards/$(BOARD)
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SRC_SUBSYSTEMS=subsystems
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SRC_MODULES=modules
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CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
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#CFG_SETUP=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/setup
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SRC_ARCH=arch/$(ARCH)
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SRC_FIRMWARE=firmwares/setup
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SRC_LISA=lisa
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SETUP_INC = -I$(SRC_FIRMWARE)
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$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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# a test program to tunnel between both uart
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tunnel.CFLAGS += -DUSE_LED
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tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
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tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
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ifeq ($(ARCH), stm32)
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tunnel.ARCHDIR = $(ARCH)
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tunnel.CFLAGS += -I$(ARCH) -DPERIPHERALS_AUTO_INIT
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tunnel.srcs += $(SRC_ARCH)/mcu_periph/gpio_arch.c $(SRC_ARCH)/led_hw.c
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ifneq ($(SYS_TIME_LED),none)
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tunnel.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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tunnel.CFLAGS += -DPERIODIC_FREQUENCY='512.'
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tunnel.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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endif
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# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
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# a configuration program to access both uart through usb
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ifeq ($(ARCH), lpc21)
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usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
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usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
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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
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usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
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usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
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usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
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usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
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usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
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usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
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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
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usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
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usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
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usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
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usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
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else
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ifeq ($(TARGET),usb_tunnel_0)
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$(error usb_tunnel_0 currently only implemented for the lpc21)
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else ifeq ($(TARGET),usb_tunnel_1)
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$(error usb_tunnel_1 currently only implemented for the lpc21)
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endif
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endif
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#
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# common setup
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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PERIODIC_FREQUENCY ?= 512
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COMMON_SETUP_CFLAGS = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
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COMMON_SETUP_CFLAGS += -DPERIPHERALS_AUTO_INIT
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COMMON_SETUP_SRCS = mcu.c $(SRC_ARCH)/mcu_arch.c
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ifneq ($(SYS_TIME_LED),none)
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COMMON_SETUP_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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COMMON_SETUP_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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COMMON_SETUP_SRCS += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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COMMON_SETUP_CFLAGS += -DUSE_LED
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ifeq ($(ARCH), lpc21)
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COMMON_SETUP_SRCS += $(SRC_ARCH)/armVIC.c
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else ifeq ($(ARCH), stm32)
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COMMON_SETUP_SRCS += $(SRC_ARCH)/led_hw.c
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COMMON_SETUP_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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endif
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#
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# a test program to tunnel between both uart
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#
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tunnel.ARCHDIR = $(ARCH)
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tunnel.CFLAGS += $(COMMON_SETUP_CFLAGS)
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tunnel.srcs += $(COMMON_SETUP_SRCS)
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tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
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#
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# usb tunnel
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#
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# a configuration program to access a uart through usb
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#
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# configuration:
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# TUNNEL_PORT (defaults to GPS_PORT)
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# TUNNEL_BAUD
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#
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usb_tunnel.ARCHDIR = $(ARCH)
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usb_tunnel.CFLAGS += $(COMMON_SETUP_CFLAGS)
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usb_tunnel.srcs += $(COMMON_SETUP_SRCS)
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usb_tunnel.srcs += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
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TUNNEL_PORT ?= GPS_PORT
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TUNNEL_PORT_LOWER=$(shell echo $(TUNNEL_PORT) | tr A-Z a-z)
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TUNNEL_PORT_UPPER=$(shell echo $(TUNNEL_PORT) | tr a-z A-Z)
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TUNNEL_BAUD ?= B115200
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usb_tunnel.CFLAGS += -DUSE_$(TUNNEL_PORT_UPPER) -D$(TUNNEL_PORT_UPPER)_BAUD=$(TUNNEL_BAUD)
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usb_tunnel.CFLAGS += -DUSB_TUNNEL_UART=$(TUNNEL_PORT_LOWER)
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usb_tunnel.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL
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usb_tunnel.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c
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ifeq ($(ARCH), lpc21)
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# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
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usb_tunnel.CFLAGS += -DUSE_USB_HIGH_PCLK
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usb_tunnel.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
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usb_tunnel.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
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else ifeq($(ARCH), stm32)
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else
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ifeq ($(TARGET),usb_tunnel)
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$(error usb_tunnel is only implemented for lpc21 and stm32)
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endif
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endif
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#
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# setup actuators
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#
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setup_actuators.ARCHDIR = $(ARCH)
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setup_actuators.CFLAGS += $(COMMON_SETUP_CFLAGS)
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setup_actuators.srcs += $(COMMON_SETUP_SRCS)
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setup_actuators.srcs += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
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setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
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setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
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setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
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setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
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setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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setup_actuators.srcs += subsystems/actuators.c
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setup_actuators.srcs += $(SRC_FIRMWARE)/setup_actuators.c
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ifeq ($(TARGET), setup_actuators)
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ifeq ($(ACTUATORS),)
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$(error ACTUATORS not configured, if your board file has no default, configure in your airframe file)
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@@ -69,38 +114,3 @@ ifeq ($(TARGET), setup_actuators)
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include $(CFG_SHARED)/$(ACTUATORS).makefile
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endif
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endif
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# a test program to setup actuators
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setup_actuators.CFLAGS += -DUSE_LED -DPERIPHERALS_AUTO_INIT
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setup_actuators.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
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ifneq ($(SYS_TIME_LED),none)
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setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
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setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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setup_actuators.srcs += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
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SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
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setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
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setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
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setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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# we actually don't really use the generated periodic telemetry in this firmware,
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# but still needed to register e.g. the UART_ERRORS message #if DOWNLINK
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setup_actuators.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
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setup_actuators.srcs += subsystems/datalink/telemetry.c
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setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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setup_actuators.srcs += subsystems/actuators.c
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setup_actuators.srcs += $(SRC_FIRMWARE)/setup_actuators.c
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ifeq ($(ARCH), lpc21)
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setup_actuators.srcs += $(SRC_ARCH)/armVIC.c
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else ifeq ($(ARCH), stm32)
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setup_actuators.ARCHDIR = $(ARCH)
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setup_actuators.CFLAGS += -I$(ARCH)
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setup_actuators.srcs += $(SRC_ARCH)/led_hw.c
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setup_actuators.srcs += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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endif
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@@ -46,6 +46,8 @@
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#endif
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#endif
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INFO_VAR(USB_TUNNEL_UART)
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int main( void ) {
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unsigned char inc;
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unsigned int rx_time=0, tx_time=0;
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@@ -483,8 +483,8 @@ void VCOM_transmit_message()
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* USE_USB_LINE_CODING is not used in case of example1, example2 and telemetry
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*/
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#ifdef USE_USB_LINE_CODING
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void VCOM_allow_linecoding(uint8_t mode) {}
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void VCOM_set_linecoding(uint8_t mode) {}
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void VCOM_allow_linecoding(uint8_t mode __attribute__((unused))) {}
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void VCOM_set_linecoding(uint8_t mode __attribute__((unused))) {}
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#endif
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/*
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@@ -0,0 +1,79 @@
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/*
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* Copyright (C) 2009 Martin Mueller
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* 2014 Felix Ruess <felix.ruess@gmail.com
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/**
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* @file usb_tunnel.c
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*
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* USB tunnel application.
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*
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* This creates a USB serial port that connects to one of the UARTs.
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* This enables you to e.g. configure the gps receiver or the modem without removing it.
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*/
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#include "std.h"
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "led.h"
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#include "mcu_periph/uart.h"
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#include "mcu_periph/usb_serial.h"
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#ifndef USB_TUNNEL_UART
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#error USB_TUNNEL_UART not defined. Add <configure name="TUNNEL_PORT" value="UARTx"/>
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#endif
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INFO_VAR(USB_TUNNEL_UART)
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static void tunnel_event(void)
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{
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static unsigned char inc;
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if (uart_char_available(&USB_TUNNEL_UART) && VCOM_check_free_space(1)) {
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inc = uart_getch(&USB_TUNNEL_UART);
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VCOM_putchar(inc);
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}
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if (VCOM_check_available() && uart_check_free_space(&USB_TUNNEL_UART, 1)) {
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inc = VCOM_getchar();
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uart_transmit(&USB_TUNNEL_UART, inc);
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}
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}
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int main(void)
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{
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mcu_init();
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sys_time_init();
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led_init();
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VCOM_allow_linecoding(1);
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VCOM_init();
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mcu_int_enable();
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while(1) {
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VCOM_event();
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tunnel_event();
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}
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return 0;
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}
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Block a user