Merge pull request #507 from paparazzi/omap_uart

Omap uart cleanup

conf/firmwares/rotorcraft.makefile

@@ -108,6 +108,9 @@ ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
 
 ap.srcs += mcu_periph/uart.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
 ifeq ($(TARGET), ap)
@@ -291,17 +294,3 @@ ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_adapt.c
 ap.srcs += $(SRC_FIRMWARE)/navigation.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

@@ -34,6 +34,17 @@
 #include "LPC21xx.h"
 #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_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)

sw/airborne/arch/omap/mcu_periph/uart_arch.c

@@ -23,7 +23,6 @@
  * omap uart handling
  */
 
-// FIXME: uart.h defines B9600 as 9600
 #include "mcu_periph/uart.h"
 
 #include <stdint.h>
@@ -32,70 +31,50 @@
 #include <stdlib.h>
 #include <string.h>
 
-// FIXME: fms_serial_port includes termios.h that with omap defines B9600 as 12
-// Include termios.h AFTER uart.h. This OVERWRITES (without warning) the paparazzi uart.h B9600
-#include "fms/fms_serial_port.h"
+#include "serial_port.h"
 
 // #define TRACE(fmt,args...)    fprintf(stderr, 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* p, uint32_t baud) {
-  struct FmsSerialPort* fmssp;
+void uart_periph_set_baudrate(struct uart_periph* periph, uint32_t baud) {
+  struct SerialPort* port;
   // close serial port if already open
-  if (p->reg_addr != NULL) {
-    fmssp = (struct FmsSerialPort*)(p->reg_addr);
-    serial_port_close(fmssp);
-    serial_port_free(fmssp);
+  if (periph->reg_addr != NULL) {
+    port = (struct SerialPort*)(periph->reg_addr);
+    serial_port_close(port);
+    serial_port_free(port);
   }
   // open serial port
-  fmssp = serial_port_new();
+  port = serial_port_new();
   // 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
   // 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));
-  int ret = serial_port_open_raw(fmssp,p->dev,baudconvert_drone(baud));
+  printf("opening %s on uart0 at termios.h baud value=%d\n", periph->dev, baud);
+  int ret = serial_port_open_raw(port,periph->dev, baud);
   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 ) {
-  uint16_t temp = (p->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE;
+void uart_transmit(struct uart_periph* periph, uint8_t data) {
+  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
 
   // check if in process of sending data
-  if (p->tx_running) { // yes, add to queue
-    p->tx_buf[p->tx_insert_idx] = data;
-    p->tx_insert_idx = temp;
+  if (periph->tx_running) { // yes, add to queue
+    periph->tx_buf[periph->tx_insert_idx] = data;
+    periph->tx_insert_idx = temp;
   }
   else { // no, set running flag and write to output register
-    p->tx_running = TRUE;
-    struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr);
-    int ret = write((int)(fmssp->fd),&data,1);
+    periph->tx_running = TRUE;
+    struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
+    int ret = write((int)(port->fd), &data, 1);
     if (ret < 1)
     {
       TRACE("w %x [%d]\n",data,ret);
@@ -105,35 +84,35 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
 
 #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';
 
-  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);
-  int fd = fmssp->fd;
+  struct SerialPort* port = (struct SerialPort*)(periph->reg_addr);
+  int fd = port->fd;
 
   // check if more data to send
-  if (p->tx_insert_idx != p->tx_extract_idx) {
-    int ret = write(fd,&(p->tx_buf[p->tx_extract_idx]),1);
+  if (periph->tx_insert_idx != periph->tx_extract_idx) {
+    int ret = write(fd, &(periph->tx_buf[periph->tx_extract_idx]), 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++;
-    p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
+    periph->tx_extract_idx++;
+    periph->tx_extract_idx %= UART_TX_BUFFER_SIZE;
   }
   else {
-    p->tx_running = FALSE;   // clear running flag
+    periph->tx_running = FALSE;   // clear running flag
   }
 
   if(read(fd,&c,1) > 0){
     //printf("r %x %c\n",c,c);
-    uint16_t temp = (p->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
-    p->rx_buf[p->rx_insert_idx] = c;
+    uint16_t temp = (periph->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
+    periph->rx_buf[periph->rx_insert_idx] = c;
     // check for more room in queue
-    if (temp != p->rx_extract_idx)
-      p->rx_insert_idx = temp; // update insert index
+    if (temp != periph->rx_extract_idx)
+      periph->rx_insert_idx = temp; // update insert index
   }
 
 }

sw/airborne/arch/omap/mcu_periph/uart_arch.h

@@ -27,7 +27,9 @@
 #define UART_ARCH_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 UART2_irq_handler usart2_irq_handler

sw/airborne/arch/omap/serial_port.c

@@ -1,4 +1,4 @@
-#include "fms_serial_port.h"
+#include "serial_port.h"
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -13,17 +13,17 @@
 #define TRACE(type,fmt,args...)
 #define TRACE_ERROR 1
 
-struct FmsSerialPort* serial_port_new(void) {
-  struct FmsSerialPort* me = malloc(sizeof(struct FmsSerialPort));
+struct SerialPort* serial_port_new(void) {
+  struct SerialPort* me = malloc(sizeof(struct SerialPort));
   return me;
 }
 
-void serial_port_free(struct FmsSerialPort* me) {
+void serial_port_free(struct SerialPort* 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.
    */
@@ -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.
    */
@@ -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) {
     TRACE(TRACE_ERROR,"%s, open failed: %s (%d)\n", device, strerror(errno), errno);
     return -1;
@@ -78,7 +78,7 @@ int  serial_port_open_raw(struct FmsSerialPort* me, const char* device, speed_t
   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*)) {
 
   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 (!me || me->fd < 0)

sw/airborne/arch/omap/serial_port.h

@@ -20,24 +20,24 @@
  *
  */
 
-#ifndef FMS_SERIAL_PORT_H
-#define FMS_SERIAL_PORT_H
+#ifndef SERIAL_PORT_H
+#define SERIAL_PORT_H
 
 #include <termios.h>
 
-struct FmsSerialPort {
+struct SerialPort {
   int fd;                        /* serial device fd          */
   struct termios orig_termios;   /* saved tty state structure */
   struct termios cur_termios;    /* tty state structure       */
 };
 
-extern struct FmsSerialPort* serial_port_new(void);
-extern void serial_port_free(struct FmsSerialPort* me);
-extern void serial_port_flush(struct FmsSerialPort* me);
-extern void serial_port_flush_output(struct FmsSerialPort* me);
-extern int  serial_port_open_raw(struct FmsSerialPort* me, const char* device, speed_t speed);
-extern int  serial_port_open(struct FmsSerialPort* me, const char* device,
+extern struct SerialPort* serial_port_new(void);
+extern void serial_port_free(struct SerialPort* me);
+extern void serial_port_flush(struct SerialPort* me);
+extern void serial_port_flush_output(struct SerialPort* me);
+extern int  serial_port_open_raw(struct SerialPort* me, const char* device, speed_t speed);
+extern int  serial_port_open(struct SerialPort* me, const char* device,
 			     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

@@ -29,6 +29,16 @@
 #ifndef 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 */

sw/airborne/firmwares/beth/overo_test_uart.c

@@ -37,7 +37,7 @@
 
 #include "fms_periodic.h"
 #include "fms_debug.h"
-#include "fms_serial_port.h"
+#include "serial_port.h"
 
 #include "overo_gcs_com.h"
 #include "uart_hw.h"
@@ -57,7 +57,7 @@ void check_gps(void);
 uint8_t nav_utm_zone0 = 31;
 
 static uint16_t foo = 0;
-//struct FmsSerialPort* fmssp;
+//struct SerialPort* fmssp;
 //int spfd;
 uint8_t portnum;
 #ifdef GPS_CONFIGURE

sw/airborne/firmwares/beth/uart_hw.c

@@ -27,7 +27,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "fms_serial_port.h"
+#include "serial_port.h"
 
 
 #ifdef USE_UART0
@@ -39,7 +39,7 @@ volatile uint16_t uart0_tx_insert_idx, uart0_tx_extract_idx;
 volatile bool_t uart0_tx_running;
 uint8_t  uart0_tx_buffer[UART0_TX_BUFFER_SIZE];
 
-struct FmsSerialPort* fmssp0;
+struct SerialPort* fmssp0;
 int uart0_fd;
 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;
 uint8_t  uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
 
-struct FmsSerialPort* fmssp1;
+struct SerialPort* fmssp1;
 int uart1_fd;
 
 void uart1_init( void ) {

sw/airborne/mcu_periph/uart.h

@@ -36,20 +36,8 @@
 #define UART_DEV_NAME_SIZE 16
 
 /*
- * UART Baud rates
- * 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
+ * UART Baud rate defines in arch/x/mcu_periph/uart_arch.h
+ */
 
 #define UBITS_7 7
 #define UBITS_8 8