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Merge pull request #507 from paparazzi/omap_uart

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Omap uart cleanup
This commit is contained in:
Christophe De Wagter
2013-08-23 02:05:51 -07:00
parent c90cd6f335 4d9ff0c4d0
commit 8817bd54dc
10 changed files with 90 additions and 111 deletions
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conf/firmwares/rotorcraft.makefile
+3 -14
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@@ -108,6 +108,9 @@ ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
ap.srcs += mcu_periph/uart.c ap.srcs += mcu_periph/uart.c
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ifeq ($(ARCH), omap)
ap.srcs += $(SRC_ARCH)/serial_port.c
endif
# I2C is needed for speed controllers and barometers on lisa # I2C is needed for speed controllers and barometers on lisa
ifeq ($(TARGET), ap) ifeq ($(TARGET), ap)
@@ -291,17 +294,3 @@ ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_adapt.c
ap.srcs += $(SRC_FIRMWARE)/navigation.c ap.srcs += $(SRC_FIRMWARE)/navigation.c
ap.srcs += subsystems/navigation/common_flight_plan.c ap.srcs += subsystems/navigation/common_flight_plan.c
#
# FMS choice
#
# include booz2_fms_test_signal.makefile
# or
# include booz2_fms_datalink.makefile
# or
# nothing
#
ifeq ($(ARCH), omap)
SRC_FMS=fms
ap.CFLAGS += -I. -I$(SRC_FMS)
ap.srcs += $(SRC_FMS)/fms_serial_port.c
endif
sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
+11
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@@ -34,6 +34,17 @@
#include "LPC21xx.h" #include "LPC21xx.h"
#include BOARD_CONFIG #include BOARD_CONFIG
#define B1200 1200
#define B2400 2400
#define B4800 4800
#define B9600 9600
#define B19200 19200
#define B38400 38400
#define B57600 57600
#define B100000 100000
#define B115200 115200
#define B230400 230400
#define UART_8N1 (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO + ULCR_STOP_1) #define UART_8N1 (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO + ULCR_STOP_1)
#define UART_7N1 (uint8_t)(ULCR_CHAR_7 + ULCR_PAR_NO + ULCR_STOP_1) #define UART_7N1 (uint8_t)(ULCR_CHAR_7 + ULCR_PAR_NO + ULCR_STOP_1)
#define UART_8N2 (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO + ULCR_STOP_2) #define UART_8N2 (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO + ULCR_STOP_2)
sw/airborne/arch/omap/mcu_periph/uart_arch.c
+35 -56
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@@ -23,7 +23,6 @@
* omap uart handling * omap uart handling
*/ */
// FIXME: uart.h defines B9600 as 9600
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include <stdint.h> #include <stdint.h>
@@ -32,70 +31,50 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
// FIXME: fms_serial_port includes termios.h that with omap defines B9600 as 12 #include "serial_port.h"
// Include termios.h AFTER uart.h. This OVERWRITES (without warning) the paparazzi uart.h B9600
#include "fms/fms_serial_port.h"
// #define TRACE(fmt,args...) fprintf(stderr, fmt, args) // #define TRACE(fmt,args...) fprintf(stderr, fmt, args)
#define TRACE(fmt,args...) #define TRACE(fmt,args...)
// Convert the paparazzi B9600 which becomes 9600 to termios B9600 which becomes 12
// FIXME: not all possible baudrate are available yet.
speed_t baudconvert_drone(uint32_t baud);
speed_t baudconvert_drone(uint32_t baud)
{
if (baud <= 4800)
return B4800;
else if (baud <= 9600)
return B9600;
else if (baud <= 19200)
return B19200;
else if (baud <= 38400)
return B38400;
else if (baud <= 57600)
return B57600;
return B115200;
}
void uart_periph_set_baudrate(struct uart_periph* periph, uint32_t baud) {
void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) { struct SerialPort* port;
struct FmsSerialPort* fmssp;
// close serial port if already open // close serial port if already open
if (p->reg_addr != NULL) { if (periph->reg_addr != NULL) {
fmssp = (struct FmsSerialPort*)(p->reg_addr); port = (struct SerialPort*)(periph->reg_addr);
serial_port_close(fmssp); serial_port_close(port);
serial_port_free(fmssp); serial_port_free(port);
} }
// open serial port // open serial port
fmssp = serial_port_new(); port = serial_port_new();
// use register address to store SerialPort structure pointer... // use register address to store SerialPort structure pointer...
p->reg_addr = (void*)fmssp; periph->reg_addr = (void*)port;
//TODO: set device name in application and pass as argument //TODO: set device name in application and pass as argument
// FIXME: paparazzi baud is 9600 for B9600 while open_raw needs 12 for B9600 // FIXME: paparazzi baud is 9600 for B9600 while open_raw needs 12 for B9600
printf("opening %s on uart0 at %d (termios.h value=%d)\n",p->dev,baud,baudconvert_drone(baud)); printf("opening %s on uart0 at termios.h baud value=%d\n", periph->dev, baud);
int ret = serial_port_open_raw(fmssp,p->dev,baudconvert_drone(baud)); int ret = serial_port_open_raw(port,periph->dev, baud);
if (ret != 0) if (ret != 0)
{ {
TRACE("Error opening %s code %d\n",p->dev,ret); TRACE("Error opening %s code %d\n",periph->dev,ret);
} }
} }
void uart_transmit(struct uart_periph* p, uint8_t data ) { void uart_transmit(struct uart_periph* periph, uint8_t data) {
uint16_t temp = (p->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE; uint16_t temp = (periph->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE;
if (temp == p->tx_extract_idx) if (temp == periph->tx_extract_idx)
return; // no room return; // no room
// check if in process of sending data // check if in process of sending data
if (p->tx_running) { // yes, add to queue if (periph->tx_running) { // yes, add to queue
p->tx_buf[p->tx_insert_idx] = data; periph->tx_buf[periph->tx_insert_idx] = data;
p->tx_insert_idx = temp; periph->tx_insert_idx = temp;
} }
else { // no, set running flag and write to output register else { // no, set running flag and write to output register
p->tx_running = TRUE; periph->tx_running = TRUE;
struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr); struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
int ret = write((int)(fmssp->fd),&data,1); int ret = write((int)(port->fd), &data, 1);
if (ret < 1) if (ret < 1)
{ {
TRACE("w %x [%d]\n",data,ret); TRACE("w %x [%d]\n",data,ret);
@@ -105,35 +84,35 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
#include <errno.h> #include <errno.h>
static inline void uart_handler(struct uart_periph* p) { static inline void uart_handler(struct uart_periph* periph) {
unsigned char c='D'; unsigned char c='D';
if (p->reg_addr == NULL) return; // device not initialized ? if (periph->reg_addr == NULL) return; // device not initialized ?
struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr); struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
int fd = fmssp->fd; int fd = port->fd;
// check if more data to send // check if more data to send
if (p->tx_insert_idx != p->tx_extract_idx) { if (periph->tx_insert_idx != periph->tx_extract_idx) {
int ret = write(fd,&(p->tx_buf[p->tx_extract_idx]),1); int ret = write(fd, &(periph->tx_buf[periph->tx_extract_idx]), 1);
if (ret < 1) if (ret < 1)
{ {
TRACE("w %x [%d: %s]\n",p->tx_buf[p->tx_extract_idx],ret,strerror(errno)); TRACE("w %x [%d: %s]\n", periph->tx_buf[periph->tx_extract_idx], ret, strerror(errno));
} }
p->tx_extract_idx++; periph->tx_extract_idx++;
p->tx_extract_idx %= UART_TX_BUFFER_SIZE; periph->tx_extract_idx %= UART_TX_BUFFER_SIZE;
} }
else { else {
p->tx_running = FALSE; // clear running flag periph->tx_running = FALSE; // clear running flag
} }
if(read(fd,&c,1) > 0){ if(read(fd,&c,1) > 0){
//printf("r %x %c\n",c,c); //printf("r %x %c\n",c,c);
uint16_t temp = (p->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE; uint16_t temp = (periph->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
p->rx_buf[p->rx_insert_idx] = c; periph->rx_buf[periph->rx_insert_idx] = c;
// check for more room in queue // check for more room in queue
if (temp != p->rx_extract_idx) if (temp != periph->rx_extract_idx)
p->rx_insert_idx = temp; // update insert index periph->rx_insert_idx = temp; // update insert index
} }
} }
sw/airborne/arch/omap/mcu_periph/uart_arch.h
+3 -1
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@@ -27,7 +27,9 @@
#define UART_ARCH_H #define UART_ARCH_H
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "std.h"
// for definition of baud rates
#include <termios.h>
#define UART1_irq_handler usart1_irq_handler #define UART1_irq_handler usart1_irq_handler
#define UART2_irq_handler usart2_irq_handler #define UART2_irq_handler usart2_irq_handler
sw/airborne/fms/fms_serial_port.c → sw/airborne/arch/omap/serial_port.c
+9 -9
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@@ -1,4 +1,4 @@
#include "fms_serial_port.h" #include "serial_port.h"
#include <sys/types.h> #include <sys/types.h>
#include <sys/stat.h> #include <sys/stat.h>
@@ -13,17 +13,17 @@
#define TRACE(type,fmt,args...) #define TRACE(type,fmt,args...)
#define TRACE_ERROR 1 #define TRACE_ERROR 1
struct FmsSerialPort* serial_port_new(void) { struct SerialPort* serial_port_new(void) {
struct FmsSerialPort* me = malloc(sizeof(struct FmsSerialPort)); struct SerialPort* me = malloc(sizeof(struct SerialPort));
return me; return me;
} }
void serial_port_free(struct FmsSerialPort* me) { void serial_port_free(struct SerialPort* me) {
free(me); free(me);
} }
void serial_port_flush(struct FmsSerialPort* me) { void serial_port_flush(struct SerialPort* me) {
/* /*
* flush any input that might be on the port so we start fresh. * flush any input that might be on the port so we start fresh.
*/ */
@@ -33,7 +33,7 @@ void serial_port_flush(struct FmsSerialPort* me) {
} }
} }
void serial_port_flush_output(struct FmsSerialPort* me) { void serial_port_flush_output(struct SerialPort* me) {
/* /*
* flush any input that might be on the port so we start fresh. * flush any input that might be on the port so we start fresh.
*/ */
@@ -43,7 +43,7 @@ void serial_port_flush_output(struct FmsSerialPort* me) {
} }
} }
int serial_port_open_raw(struct FmsSerialPort* me, const char* device, speed_t speed) { int serial_port_open_raw(struct SerialPort* me, const char* device, speed_t speed) {
if ((me->fd = open(device, O_RDWR | O_NONBLOCK | O_NOCTTY)) < 0) { if ((me->fd = open(device, O_RDWR | O_NONBLOCK | O_NOCTTY)) < 0) {
TRACE(TRACE_ERROR,"%s, open failed: %s (%d)\n", device, strerror(errno), errno); TRACE(TRACE_ERROR,"%s, open failed: %s (%d)\n", device, strerror(errno), errno);
return -1; return -1;
@@ -78,7 +78,7 @@ int serial_port_open_raw(struct FmsSerialPort* me, const char* device, speed_t
return 0; return 0;
} }
int serial_port_open(struct FmsSerialPort* me, const char* device, int serial_port_open(struct SerialPort* me, const char* device,
void(*term_conf_callback)(struct termios*, speed_t*)) { void(*term_conf_callback)(struct termios*, speed_t*)) {
speed_t speed; speed_t speed;
@@ -108,7 +108,7 @@ int serial_port_open(struct FmsSerialPort* me, const char* device,
} }
void serial_port_close(struct FmsSerialPort* me) { void serial_port_close(struct SerialPort* me) {
/* if null pointer or file descriptor indicates error just bail */ /* if null pointer or file descriptor indicates error just bail */
if (!me || me->fd < 0) if (!me || me->fd < 0)
sw/airborne/fms/fms_serial_port.h → sw/airborne/arch/omap/serial_port.h
+11 -11
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@@ -20,24 +20,24 @@
* *
*/ */
#ifndef FMS_SERIAL_PORT_H #ifndef SERIAL_PORT_H
#define FMS_SERIAL_PORT_H #define SERIAL_PORT_H
#include <termios.h> #include <termios.h>
struct FmsSerialPort { struct SerialPort {
int fd; /* serial device fd */ int fd; /* serial device fd */
struct termios orig_termios; /* saved tty state structure */ struct termios orig_termios; /* saved tty state structure */
struct termios cur_termios; /* tty state structure */ struct termios cur_termios; /* tty state structure */
}; };
extern struct FmsSerialPort* serial_port_new(void); extern struct SerialPort* serial_port_new(void);
extern void serial_port_free(struct FmsSerialPort* me); extern void serial_port_free(struct SerialPort* me);
extern void serial_port_flush(struct FmsSerialPort* me); extern void serial_port_flush(struct SerialPort* me);
extern void serial_port_flush_output(struct FmsSerialPort* me); extern void serial_port_flush_output(struct SerialPort* me);
extern int serial_port_open_raw(struct FmsSerialPort* me, const char* device, speed_t speed); extern int serial_port_open_raw(struct SerialPort* me, const char* device, speed_t speed);
extern int serial_port_open(struct FmsSerialPort* me, const char* device, extern int serial_port_open(struct SerialPort* me, const char* device,
void(*term_conf_callback)(struct termios*, speed_t*)); void(*term_conf_callback)(struct termios*, speed_t*));
extern void serial_port_close(struct FmsSerialPort* me); extern void serial_port_close(struct SerialPort* me);
#endif /* FMS_SERIAL_PORT_H */ #endif /* SERIAL_PORT_H */
sw/airborne/arch/stm32/mcu_periph/uart_arch.h
+11 -1
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@@ -29,6 +29,16 @@
#ifndef STM32_UART_ARCH_H #ifndef STM32_UART_ARCH_H
#define STM32_UART_ARCH_H #define STM32_UART_ARCH_H
#include "std.h" #define B1200 1200
#define B2400 2400
#define B4800 4800
#define B9600 9600
#define B19200 19200
#define B38400 38400
#define B57600 57600
#define B100000 100000
#define B115200 115200
#define B230400 230400
#define B921600 921600
#endif /* STM32_UART_ARCH_H */ #endif /* STM32_UART_ARCH_H */
sw/airborne/firmwares/beth/overo_test_uart.c
+2 -2
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@@ -37,7 +37,7 @@
#include "fms_periodic.h" #include "fms_periodic.h"
#include "fms_debug.h" #include "fms_debug.h"
#include "fms_serial_port.h" #include "serial_port.h"
#include "overo_gcs_com.h" #include "overo_gcs_com.h"
#include "uart_hw.h" #include "uart_hw.h"
@@ -57,7 +57,7 @@ void check_gps(void);
uint8_t nav_utm_zone0 = 31; uint8_t nav_utm_zone0 = 31;
static uint16_t foo = 0; static uint16_t foo = 0;
//struct FmsSerialPort* fmssp; //struct SerialPort* fmssp;
//int spfd; //int spfd;
uint8_t portnum; uint8_t portnum;
#ifdef GPS_CONFIGURE #ifdef GPS_CONFIGURE
sw/airborne/firmwares/beth/uart_hw.c
+3 -3
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@@ -27,7 +27,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "fms_serial_port.h" #include "serial_port.h"
#ifdef USE_UART0 #ifdef USE_UART0
@@ -39,7 +39,7 @@ volatile uint16_t uart0_tx_insert_idx, uart0_tx_extract_idx;
volatile bool_t uart0_tx_running; volatile bool_t uart0_tx_running;
uint8_t uart0_tx_buffer[UART0_TX_BUFFER_SIZE]; uint8_t uart0_tx_buffer[UART0_TX_BUFFER_SIZE];
struct FmsSerialPort* fmssp0; struct SerialPort* fmssp0;
int uart0_fd; int uart0_fd;
extern uint8_t portnum; extern uint8_t portnum;
@@ -165,7 +165,7 @@ volatile uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
volatile bool_t uart1_tx_running; volatile bool_t uart1_tx_running;
uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE]; uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
struct FmsSerialPort* fmssp1; struct SerialPort* fmssp1;
int uart1_fd; int uart1_fd;
void uart1_init( void ) { void uart1_init( void ) {
sw/airborne/mcu_periph/uart.h
+2 -14
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@@ -36,20 +36,8 @@
#define UART_DEV_NAME_SIZE 16 #define UART_DEV_NAME_SIZE 16
/* /*
* UART Baud rates * UART Baud rate defines in arch/x/mcu_periph/uart_arch.h
* defines because the stupid c preprocessor can't handle enums */
*/
#define B1200 1200
#define B2400 2400
#define B4800 4800
#define B9600 9600
#define B19200 19200
#define B38400 38400
#define B57600 57600
#define B100000 100000
#define B115200 115200
#define B230400 230400
#define B921600 921600
#define UBITS_7 7 #define UBITS_7 7
#define UBITS_8 8 #define UBITS_8 8