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more stm32 porting

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This commit is contained in:
Antoine Drouin
2009-07-15 14:39:59 +00:00
parent 38de015a69
commit 55f9400b91
11 changed files with 553 additions and 24 deletions
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conf/autopilot/stm32_test_progs.makefile
+116 -16
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@@ -55,22 +55,122 @@ test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_uart.srcs += $(SRC_ARCH)/uart_hw.c
#
# test telemetry
# test telemetry1
#
test_telemetry.ARCHDIR = $(ARCHI)
test_telemetry.TARGET = test_telemetry
test_telemetry.TARGETDIR = test_telemetry
test_telemetry.CFLAGS = -I$(SRC_FYA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_telemetry.srcs = $(SRC_FYA)/test_telemetry.c \
$(SRC_FYA)/exceptions.c \
test_telemetry1.ARCHDIR = $(ARCHI)
test_telemetry1.TARGET = test_telemetry1
test_telemetry1.TARGETDIR = test_telemetry1
test_telemetry1.CFLAGS = -I$(SRC_FYA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry1.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_telemetry1.srcs = $(SRC_FYA)/test_telemetry.c \
$(SRC_FYA)/exceptions.c \
$(SRC_FYA)/vector_table.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
test_telemetry.srcs += downlink.c pprz_transport.c
test_telemetry1.CFLAGS += -DUSE_LED
test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_telemetry1.srcs += downlink.c pprz_transport.c
#
# test telemetry2
#
test_telemetry2.ARCHDIR = $(ARCHI)
test_telemetry2.TARGET = test_telemetry2
test_telemetry2.TARGETDIR = test_telemetry2
test_telemetry2.CFLAGS = -I$(SRC_FYA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry2.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_telemetry2.srcs = $(SRC_FYA)/test_telemetry.c \
$(SRC_FYA)/exceptions.c \
$(SRC_FYA)/vector_table.c
test_telemetry2.CFLAGS += -DUSE_LED
test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_telemetry2.srcs += downlink.c pprz_transport.c
#
# test telemetry3
#
test_telemetry3.ARCHDIR = $(ARCHI)
test_telemetry3.TARGET = test_telemetry3
test_telemetry3.TARGETDIR = test_telemetry3
test_telemetry3.CFLAGS = -I$(SRC_FYA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry3.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_telemetry3.srcs = $(SRC_FYA)/test_telemetry.c \
$(SRC_FYA)/exceptions.c \
$(SRC_FYA)/vector_table.c
test_telemetry3.CFLAGS += -DUSE_LED
test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
test_telemetry3.srcs += downlink.c pprz_transport.c
#
# test datalink
#
test_datalink.ARCHDIR = $(ARCHI)
test_datalink.TARGET = test_datalink
test_datalink.TARGETDIR = test_datalink
test_datalink.CFLAGS = -I$(SRC_FYA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_datalink.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_datalink.srcs = $(SRC_FYA)/test_datalink.c \
$(SRC_FYA)/exceptions.c \
$(SRC_FYA)/vector_table.c
test_datalink.CFLAGS += -DUSE_LED
test_datalink.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_datalink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_datalink.srcs += downlink.c pprz_transport.c
test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
#
# test rc 2.4
#
SRC_BOOZ = booz
SRC_BOOZ_TEST = $(SRC_BOOZ)/test
test_rc_24.ARCHDIR = $(ARCHI)
test_rc_24.TARGET = test_rc_24
test_rc_24.TARGETDIR = test_rc_24
test_rc_24.CFLAGS += -I$(SRC_FYA) -I$(ARCHI) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
test_rc_24.CFLAGS += -DCONFIG=$(BOARD_CFG)
test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_FYA)/exceptions.c \
$(SRC_FYA)/vector_table.c
test_rc_24.CFLAGS += -DUSE_LED
test_rc_24.CFLAGS += -DUSE_SYS_TIME -DTIME_LED=1
test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_rc_24.srcs += downlink.c pprz_transport.c
test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
test_rc_24.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_spektrum.h\"
test_rc_24.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"booz_radio_control_spektrum_dx7se.h\"
test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200
test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart2
test_rc_24.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/booz_radio_control_spektrum.c \
# $(SRC_ARCH)/uart_hw.c
sw/airborne/booz/booz_radio_control.c
+3
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@@ -28,6 +28,9 @@
struct RadioControl radio_control;
void radio_control_init(void) {
uint8_t i;
for (i=0; i<RADIO_CONTROL_NB_CHANNEL; i++)
radio_control.values[i] = 0;
radio_control.status = RADIO_CONTROL_REALLY_LOST;
radio_control.time_since_last_frame = RADIO_CONTROL_REALLY_LOST_TIME;
radio_control.frame_rate = 0;
sw/airborne/booz/test/booz2_test_radio_control.c
+1 -1
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@@ -59,7 +59,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) {
RunOnceEvery(51, {LED_TOGGLE(2); DOWNLINK_SEND_TIME(&cpu_time_sec);});
RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(&cpu_time_sec);});
RunOnceEvery(10, {radio_control_periodic();});
sw/airborne/datalink.h
+1 -1
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@@ -50,7 +50,7 @@ EXTERN uint16_t datalink_time;
#define MSG_SIZE 128
EXTERN uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned));
void dl_parse_msg(void);
EXTERN void dl_parse_msg(void);
/** Should be called when chars are available in dl_buffer */
#if DATALINK == PPRZ
sw/airborne/fya/test_datalink.c
+78
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@@ -0,0 +1,78 @@
/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@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.
*/
#include <stm32/rcc.h>
#include <stm32/gpio.h>
#include <stm32/flash.h>
#include <stm32/misc.h>
#define DATALINK_C
#include CONFIG
#include "init_hw.h"
#include "sys_time.h"
#include "downlink.h"
#include "datalink.h"
static inline void main_init( void );
static inline void main_periodic( void );
static inline void main_event( void );
int main(void) {
main_init();
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
}
static inline void main_periodic( void ) {
RunOnceEvery(10, {DOWNLINK_SEND_BOOT(&cpu_time_sec);});
}
static inline void main_event( void ) {
// DatalinkEvent();
}
void dl_parse_msg(void) {
uint8_t msg_id = dl_buffer[1];
switch (msg_id) {
case DL_PING:
{
DOWNLINK_SEND_PONG();
}
break;
}
}
sw/airborne/fya/test_telemetry.c
+1 -1
View File
@@ -51,7 +51,7 @@ static inline void main_init( void ) {
}
static inline void main_periodic( void ) {
RunOnceEvery(10, {DOWNLINK_SEND_TIME(&cpu_time_sec);});
RunOnceEvery(10, {DOWNLINK_SEND_BOOT(&cpu_time_sec);});
}
sw/airborne/fya/vector_table.c
+16 -3
View File
@@ -30,6 +30,20 @@
#define SYS_TICK_IRQ_HANDLER sys_tick_irq_handler
#endif
#ifndef USE_UART1
#define USART1_IRQ_HANDLER null_handler
#else
#include "uart.h"
#define USART1_IRQ_HANDLER usart1_irq_handler
#endif
#ifndef USE_UART2
#define USART2_IRQ_HANDLER null_handler
#else
#include "uart.h"
#define USART2_IRQ_HANDLER usart2_irq_handler
#endif
#ifndef USE_UART3
#define USART3_IRQ_HANDLER null_handler
#else
@@ -39,7 +53,6 @@
/* addresses defined in the linker script */
extern unsigned long _etext; /* end addr of .text section */
extern unsigned long _sidata; /* init values for .data section */
@@ -106,8 +119,8 @@ void (* const vector_table[])(void) = {
null_handler, /* i2c2_er_irq_handler */
null_handler, /* spi1_irq_handler */
null_handler, /* spi2_irq_handler */
null_handler, /* usart1_irq_handler */
null_handler, /* usart2_irq_handler */
USART1_IRQ_HANDLER, /* usart1_irq_handler */
USART2_IRQ_HANDLER, /* usart2_irq_handler */
USART3_IRQ_HANDLER, /* usart3_irq_handler */
null_handler, /* exti15_10_irq_handler */
null_handler, /* rtc_alarm_irq_handler */
sw/airborne/stm32/interrupt_hw.h
+36
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@@ -0,0 +1,36 @@
/*
* $Id: interrupt_hw.h 859 2006-05-03 21:32:23Z poine $
*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* 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 interrupt_hw.h
* \brief STM32 Low level interrupt handling
* Empty for now, just to match what we have on LPC
*/
#ifndef INTERRUPT_HW_H
#define INTERRUPT_HW_H
#define int_enable() {}
#define int_disable() {}
#endif /* INTERRUPT_HW_H */
sw/airborne/stm32/sys_time_hw.c
+2
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@@ -34,6 +34,8 @@ void sys_time_init( void ) {
/* Set SysTick handler */
NVIC_SetPriority(SysTick_IRQn, 0x0);
sys_time_period_elapsed = FALSE;
cpu_time_sec = 0;
cpu_time_ticks = 0;
}
sw/airborne/stm32/uart_hw.c
+247
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@@ -29,6 +29,253 @@
#include <stm32/gpio.h>
#include "std.h"
#ifdef USE_UART1
uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
volatile uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
volatile bool_t uart1_tx_running;
void uart1_init( void ) {
/* init RCC */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
/* Enable USART1 interrupts */
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = USART1_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* Init GPIOS */
GPIO_InitTypeDef gpio;
/* GPIOA: USART1 Tx push-pull */
gpio.GPIO_Pin = GPIO_Pin_9;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &gpio);
/* GPIOA: USART1 Rx pin as floating input */
gpio.GPIO_Pin = GPIO_Pin_10;
gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &gpio);
/* Configure USART1 */
USART_InitTypeDef usart;
usart.USART_BaudRate = UART1_BAUD;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
usart.USART_Parity = USART_Parity_No;
usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART1, &usart);
/* Enable USART1 Receive interrupts */
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
/* Enable the USART1 */
USART_Cmd(USART1, ENABLE);
// initialize the transmit data queue
uart1_tx_extract_idx = 0;
uart1_tx_insert_idx = 0;
uart1_tx_running = FALSE;
// initialize the receive data queue
uart1_rx_extract_idx = 0;
uart1_rx_insert_idx = 0;
}
void uart1_transmit( uint8_t data ) {
uint16_t temp = (uart1_tx_insert_idx + 1) % UART1_TX_BUFFER_SIZE;
if (temp == uart1_tx_extract_idx)
return; // no room
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
// check if in process of sending data
if (uart1_tx_running) { // yes, add to queue
uart1_tx_buffer[uart1_tx_insert_idx] = data;
uart1_tx_insert_idx = temp;
}
else { // no, set running flag and write to output register
uart1_tx_running = TRUE;
USART_SendData(USART1, data);
}
USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
}
bool_t uart1_check_free_space( uint8_t len) {
int16_t space = uart1_tx_extract_idx - uart1_tx_insert_idx;
if (space <= 0)
space += UART1_TX_BUFFER_SIZE;
return (uint16_t)(space - 1) >= len;
}
void usart1_irq_handler(void) {
if(USART_GetITStatus(USART1, USART_IT_TXE) != RESET){
// check if more data to send
if (uart1_tx_insert_idx != uart1_tx_extract_idx) {
USART_SendData(USART1,uart1_tx_buffer[uart1_tx_extract_idx]);
uart1_tx_extract_idx++;
uart1_tx_extract_idx %= UART1_TX_BUFFER_SIZE;
}
else {
uart1_tx_running = 0; // clear running flag
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
}
}
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET){
uint16_t temp = (uart1_rx_insert_idx + 1) % UART1_RX_BUFFER_SIZE;;
uart1_rx_buffer[uart1_rx_insert_idx] = USART_ReceiveData(USART1);
// check for more room in queue
if (temp != uart1_rx_extract_idx)
uart1_rx_insert_idx = temp; // update insert index
}
}
#endif /* USE_UART1 */
#ifdef USE_UART2
uint16_t uart2_rx_insert_idx, uart2_rx_extract_idx;
uint8_t uart2_rx_buffer[UART2_RX_BUFFER_SIZE];
uint8_t uart2_tx_buffer[UART2_TX_BUFFER_SIZE];
volatile uint16_t uart2_tx_insert_idx, uart2_tx_extract_idx;
volatile bool_t uart2_tx_running;
void uart2_init( void ) {
/* init RCC */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
/* Enable USART2 interrupts */
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = USART2_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* Init GPIOS */
GPIO_InitTypeDef gpio;
/* GPIOA: USART2 Tx push-pull */
gpio.GPIO_Pin = GPIO_Pin_2;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &gpio);
/* GPIOA: USART2 Rx pin as floating input */
gpio.GPIO_Pin = GPIO_Pin_3;
gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &gpio);
/* Configure USART2 */
USART_InitTypeDef usart;
usart.USART_BaudRate = UART2_BAUD;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
usart.USART_Parity = USART_Parity_No;
usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART2, &usart);
/* Enable USART2 Receive interrupts */
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
/* Enable the USART2 */
USART_Cmd(USART2, ENABLE);
// initialize the transmit data queue
uart2_tx_extract_idx = 0;
uart2_tx_insert_idx = 0;
uart2_tx_running = FALSE;
// initialize the receive data queue
uart2_rx_extract_idx = 0;
uart2_rx_insert_idx = 0;
}
void uart2_transmit( uint8_t data ) {
uint16_t temp = (uart2_tx_insert_idx + 1) % UART2_TX_BUFFER_SIZE;
if (temp == uart2_tx_extract_idx)
return; // no room
USART_ITConfig(USART2, USART_IT_TXE, DISABLE);
// check if in process of sending data
if (uart2_tx_running) { // yes, add to queue
uart2_tx_buffer[uart2_tx_insert_idx] = data;
uart2_tx_insert_idx = temp;
}
else { // no, set running flag and write to output register
uart2_tx_running = TRUE;
USART_SendData(USART2, data);
}
USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
}
bool_t uart2_check_free_space( uint8_t len) {
int16_t space = uart2_tx_extract_idx - uart2_tx_insert_idx;
if (space <= 0)
space += UART2_TX_BUFFER_SIZE;
return (uint16_t)(space - 1) >= len;
}
void usart2_irq_handler(void) {
if(USART_GetITStatus(USART2, USART_IT_TXE) != RESET){
// check if more data to send
if (uart2_tx_insert_idx != uart2_tx_extract_idx) {
USART_SendData(USART2,uart2_tx_buffer[uart2_tx_extract_idx]);
uart2_tx_extract_idx++;
uart2_tx_extract_idx %= UART2_TX_BUFFER_SIZE;
}
else {
uart2_tx_running = 0; // clear running flag
USART_ITConfig(USART2, USART_IT_TXE, DISABLE);
}
}
if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET){
uint16_t temp = (uart2_rx_insert_idx + 1) % UART2_RX_BUFFER_SIZE;;
uart2_rx_buffer[uart2_rx_insert_idx] = USART_ReceiveData(USART2);
// check for more room in queue
if (temp != uart2_rx_extract_idx)
uart2_rx_insert_idx = temp; // update insert index
}
}
#endif /* USE_UART2 */
#ifdef USE_UART3
uint16_t uart3_rx_insert_idx, uart3_rx_extract_idx;
sw/airborne/stm32/uart_hw.h
+52 -2
View File
@@ -31,10 +31,59 @@
#include "std.h"
#define B38400 38400
#define B57600 57600
#define B38400 38400
#define B57600 57600
#define B115200 115200
#ifdef USE_UART1
#define UART1_RX_BUFFER_SIZE 128
#define UART1_TX_BUFFER_SIZE 128
extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
extern uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
extern volatile uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
extern volatile bool_t uart1_tx_running;
extern void usart1_irq_handler(void);
#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
#define Uart1Getch() ({ \
uint8_t ret = uart1_rx_buffer[uart1_rx_extract_idx]; \
uart1_rx_extract_idx = (uart1_rx_extract_idx + 1)%UART1_RX_BUFFER_SIZE; \
ret; \
})
#endif /* USE_UART1 */
#ifdef USE_UART2
#define UART2_RX_BUFFER_SIZE 128
#define UART2_TX_BUFFER_SIZE 128
extern uint16_t uart2_rx_insert_idx, uart2_rx_extract_idx;
extern uint8_t uart2_rx_buffer[UART2_RX_BUFFER_SIZE];
extern uint8_t uart2_tx_buffer[UART2_TX_BUFFER_SIZE];
extern volatile uint16_t uart2_tx_insert_idx, uart2_tx_extract_idx;
extern volatile bool_t uart2_tx_running;
extern void usart2_irq_handler(void);
#define Uart2ChAvailable() (uart2_rx_insert_idx != uart2_rx_extract_idx)
#define Uart2Getch() ({ \
uint8_t ret = uart2_rx_buffer[uart2_rx_extract_idx]; \
uart2_rx_extract_idx = (uart2_rx_extract_idx + 1)%UART2_RX_BUFFER_SIZE; \
ret; \
})
#endif /* USE_UART2 */
#ifdef USE_UART3
#define UART3_RX_BUFFER_SIZE 128
#define UART3_TX_BUFFER_SIZE 128
@@ -45,6 +94,7 @@ extern volatile uint16_t uart3_tx_insert_idx, uart3_tx_extract_idx;
extern volatile bool_t uart3_tx_running;
extern void usart3_irq_handler(void);
#endif /* USE_UART3 */
#endif /* UART_HW_H */