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This commit is contained in:
Bertrand Songis
2016-07-28 22:26:40 +02:00
parent f88e904009
commit e3e0d970a5
16 changed files with 14 additions and 14 deletions
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radio/src/targets/common/arm/CMakeLists.txt
+131
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option(TIMERS "Timers count" 2)
option(CLI "Command Line Interface" OFF)
option(DEBUG "Debug mode" OFF)
option(LOG_TELEMETRY "Telemetry Logs on SD card" OFF)
option(TRACE_SD_CARD "Traces SD enabled" OFF)
option(TRACE_FATFS "Traces FatFS enabled" OFF)
option(TRACE_AUDIO "Traces audio enabled" OFF)
option(DEBUG_TRACE_BUFFER "Debug Trace Screen" OFF)
option(MULTIMODULE "DIY Multiprotocol TX Module (https://github.com/pascallanger/DIY-Multiprotocol-TX-Module)" OFF)
option(SUPPORT_D16_EU_ONLY "XJT module only supports D16-EU and LR12-EU" OFF) # TODO rename to XJT_EU_ONLY
option(DEBUG_INTERRUPTS "Count interrupts" OFF)
option(DEBUG_TASKS "Task switching statistics" OFF)
option(DEBUG_TIMERS "Time critical parts of the code" OFF)
if(TIMERS EQUAL 3)
add_definitions(-DTIMERS=3)
else()
add_definitions(-DTIMERS=2)
endif()
if(LOG_TELEMETRY)
add_definitions(-DLOG_TELEMETRY)
endif()
if(TRACE_SD_CARD)
add_definitions(-DTRACE_SD_CARD)
set(DEBUG ON)
set(DEBUG_TRACE_BUFFER ON)
endif()
if(TRACE_FATFS)
add_definitions(-DTRACE_FATFS)
set(DEBUG ON)
set(DEBUG_TRACE_BUFFER ON)
endif()
if(TRACE_AUDIO)
add_definitions(-DTRACE_AUDIO)
set(DEBUG ON)
set(DEBUG_TRACE_BUFFER ON)
endif()
if(DEBUG_TRACE_BUFFER)
add_definitions(-DDEBUG_TRACE_BUFFER)
endif()
if(DEBUG_INTERRUPTS)
add_definitions(-DDEBUG_INTERRUPTS)
set(DEBUG ON)
endif()
if(DEBUG_TASKS)
add_definitions(-DDEBUG_TASKS)
set(DEBUG ON)
endif()
if(DEBUG_TIMERS)
add_definitions(-DDEBUG_TIMERS)
set(DEBUG ON)
endif()
if(CLI)
add_definitions(-DCLI)
set(FIRMWARE_SRC ${FIRMWARE_SRC} cli.cpp)
set(SRC ${SRC} dump.cpp)
elseif(DEBUG)
set(SRC ${SRC} dump.cpp)
endif()
if(DEBUG)
add_definitions(-DDEBUG)
endif()
if(SUPPORT_D16_EU_ONLY)
add_definitions(-DMODULE_D16_EU_ONLY_SUPPORT)
endif()
if(HAPTIC)
add_definitions(-DHAPTIC)
set(SRC ${SRC} haptic.cpp)
set(TARGET_SRC ${TARGET_SRC} haptic_driver.cpp)
endif()
if(MULTIMODULE)
add_definitions(-DMULTIMODULE)
set(SRC ${SRC} pulses/multi_arm.cpp telemetry/spektrum.cpp)
endif()
add_definitions(-DCPUARM)
add_definitions(-DFRSKY -DFRSKY_SPORT -DFRSKY_HUB -DGPS -DPXX -DDSM2)
add_definitions(-DBOLD_FONT -DBATTGRAPH -DTHRTRACE)
include_directories(targets/${TARGET_DIR} ${THIRDPARTY_DIR})
include_directories(${COOS_DIR} ${COOS_DIR}/kernel ${COOS_DIR}/portable)
foreach(LANGUAGE ${TTS_LANGUAGES})
set(SRC ${SRC} translations/tts_${LANGUAGE}.cpp)
endforeach()
set(SRC
${SRC}
main_arm.cpp
tasks_arm.cpp
audio_arm.cpp
telemetry/telemetry.cpp
telemetry/telemetry_holders.cpp
telemetry/telemetry_sensors.cpp
telemetry/frsky.cpp
telemetry/frsky_d_arm.cpp
telemetry/frsky_sport.cpp
crc16.cpp
vario.cpp
)
set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
diskio.cpp
)
set(TARGET_SRC
${TARGET_SRC}
pulses_driver.cpp
keys_driver.cpp
adc_driver.cpp
trainer_driver.cpp
audio_driver.cpp
serial2_driver.cpp
telemetry_driver.cpp
)
set(FIRMWARE_SRC
${FIRMWARE_SRC}
${COOS_DIR}/kernel/core.c
${COOS_DIR}/kernel/hook.c
${COOS_DIR}/kernel/task.c
${COOS_DIR}/kernel/event.c
${COOS_DIR}/kernel/time.c
${COOS_DIR}/kernel/timer.c
${COOS_DIR}/kernel/flag.c
${COOS_DIR}/kernel/mutex.c
${COOS_DIR}/kernel/serviceReq.c
${COOS_DIR}/portable/GCC/port.c
${COOS_DIR}/portable/arch.c
)
set(PULSES_SRC
${PULSES_SRC}
pulses_arm.cpp
ppm_arm.cpp
pxx_arm.cpp
dsm2_arm.cpp
)
radio/src/targets/common/arm/stm32/CMakeLists.txt
+87
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set(LUA "NO" CACHE STRING "Lua scripts (YES/NO/NO_MODEL_SCRIPTS)")
set(USB "JOYSTICK" CACHE STRING "USB option (JOYSTICK/MASSSTORAGE/SERIAL)")
set(ARCH ARM)
set(STM32USB_DIR ${THIRDPARTY_DIR}/STM32_USB-Host-Device_Lib_V2.1.0/Libraries)
add_definitions(-DCPUSTM32)
add_definitions(-DSBUS -DCROSSFIRE)
include_directories(${STM32USB_DIR}/STM32_USB_OTG_Driver/inc)
include_directories(${STM32USB_DIR}/STM32_USB_Device_Library/Core/inc)
include_directories(${STM32USB_DIR}/STM32_USB_Device_Library/Class/msc/inc)
include_directories(${STM32USB_DIR}/STM32_USB_Device_Library/Class/hid/inc)
include_directories(${STM32USB_DIR}/STM32_USB_Device_Library/Class/cdc/inc)
set(STM32USB_SRC
STM32_USB_OTG_Driver/src/usb_core.c
STM32_USB_OTG_Driver/src/usb_dcd.c
STM32_USB_OTG_Driver/src/usb_dcd_int.c
STM32_USB_Device_Library/Core/src/usbd_core.c
STM32_USB_Device_Library/Core/src/usbd_ioreq.c
STM32_USB_Device_Library/Core/src/usbd_req.c
)
set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
usb_bsp.c
usbd_desc.c
usbd_usr.cpp
)
if(USB STREQUAL SERIAL)
add_definitions(-DUSB_SERIAL)
set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
usbd_cdc.cpp
)
set(STM32USB_SRC
${STM32USB_SRC}
STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
)
elseif(USB STREQUAL MASSSTORAGE)
add_definitions(-DUSB_MASS_STORAGE)
set(STM32USB_SRC
${STM32USB_SRC}
STM32_USB_Device_Library/Class/msc/src/usbd_msc_data.c
STM32_USB_Device_Library/Class/msc/src/usbd_msc_scsi.c
STM32_USB_Device_Library/Class/msc/src/usbd_msc_bot.c
STM32_USB_Device_Library/Class/msc/src/usbd_msc_core.c
)
set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
usbd_storage_msd.cpp
)
else()
add_definitions(-DUSB_JOYSTICK)
set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
usbd_hid_joystick.c
)
endif()
if(GVARS)
set(GUI_SRC
${GUI_SRC}
menu_model_gvars.cpp
)
endif()
set(FIRMWARE_SRC
${FIRMWARE_SRC}
serial.cpp
syscalls.c
)
foreach(FILE ${STM32LIB_SRC})
set(FIRMWARE_SRC
${FIRMWARE_SRC}
${STM32LIB_DIR}/${FILE}
)
endforeach()
foreach(FILE ${STM32USB_SRC})
set(FIRMWARE_SRC
${FIRMWARE_SRC}
${STM32USB_DIR}/${FILE}
)
endforeach()
set(SRC
${SRC}
sbus.cpp
telemetry/crossfire.cpp
)
set(PULSES_SRC
${PULSES_SRC}
crossfire.cpp
)
radio/src/targets/common/arm/stm32/f2/CMakeLists.txt
+22
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set(CPU_FAMILY STM32)
set(MCU cortex-m3)
set(STM32LIB_DIR ${THIRDPARTY_DIR}/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries)
include_directories(${STM32LIB_DIR}/STM32F2xx_StdPeriph_Driver/inc)
include_directories(${STM32LIB_DIR}/CMSIS/Device/ST/STM32F2xx/Include)
include_directories(${STM32LIB_DIR}/CMSIS/include)
set(STM32LIB_SRC
${STM32LIB_SRC}
CMSIS/Device/ST/STM32F2xx/Source/Templates/gcc_ride7/startup_stm32f2xx.s
STM32F2xx_StdPeriph_Driver/src/misc.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_gpio.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_dbgmcu.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_rcc.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_spi.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_i2c.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_dma.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_rtc.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_pwr.c
STM32F2xx_StdPeriph_Driver/src/stm32f2xx_usart.c
)
set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC} system_stm32f2xx.c)
radio/src/targets/common/arm/stm32/f4/CMakeLists.txt
+22
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set(CPU_FAMILY STM32)
set(MCU cortex-m4)
set(STM32LIB_DIR ${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.4.0/Libraries)
include_directories(${STM32LIB_DIR}/STM32F4xx_StdPeriph_Driver/inc)
include_directories(${STM32LIB_DIR}/CMSIS/Device/ST/STM32F4xx/Include)
include_directories(${STM32LIB_DIR}/CMSIS/include)
add_definitions(-DSTM32F4)
set(STM32LIB_SRC
${STM32LIB_SRC}
STM32F4xx_StdPeriph_Driver/src/misc.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
)
set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC} system_stm32f4xx.c)
radio/src/targets/common/avr/CMakeLists.txt
+113
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option(EXT "Telemetry protocol" OFF) # TODO rename this EXT option to TELEMETRY
option(AUDIO "Audio support" OFF)
option(VOICE "Voice support" OFF)
option(GRAPHICS "Additional graphics" ON)
option(BOLD "Bold font" ON)
option(BATTGRAPH "Battery graph" OFF)
option(HAPTIC "Haptic support" OFF)
set(TTS "EN" CACHE STRING "TTS language")
set(LCD "DEFAULT" CACHE STRING "LCD type (DEFAULT/ST7565P/ST7565R/ERC12864FSF/ST7920/KS108)")
set(DSM2 "NO" CACHE STRING "LCD type (NO/PPM/SERIAL)")
set(LUA NO)
set(PULSES_SRC pulses_avr.cpp)
set(SRC ${SRC} main_avr.cpp)
set(FIRMWARE_SRC ${FIRMWARE_SRC} targets/common/avr/adc_driver.cpp)
add_definitions(-DLCD_${LCD})
if(DSM2)
add_definitions(-DDSM2 -DDSM2_${DSM2})
endif()
if(SDCARD)
set(FIRMWARE_SRC ${FIRMWARE_SRC} targets/gruvin9x/diskio.cpp)
endif()
if(AUDIO)
add_definitions(-DAUDIO)
set(SRC ${SRC} audio_avr.cpp)
set(BUZZER OFF)
else()
set(BUZZER ON)
endif()
if(BUZZER)
add_definitions(-DBUZZER)
set(SRC ${SRC} buzzer.cpp)
endif()
if(VOICE)
add_definitions(-DVOICE)
set(TARGET_SRC ${TARGET_SRC} voice.cpp)
foreach(LANGUAGE ${TTS_LANGUAGES})
string(TOUPPER ${LANGUAGE} LANGUAGE_CAPITALIZED)
if(TTS STREQUAL ${LANGUAGE_CAPITALIZED})
add_definitions(-DTTS_${LANGUAGE_CAPITALIZED})
set(SRC ${SRC} translations/tts_${LANGUAGE}.cpp)
endif()
endforeach()
endif()
if(GRAPHICS)
add_definitions(-DGRAPHICS)
endif()
if(BOLD)
add_definitions(-DBOLD_FONT)
endif()
if(BATTGRAPH)
add_definitions(-DBATTGRAPH)
endif()
if(HAPTIC)
add_definitions(-DHAPTIC)
set(SRC ${SRC} haptic.cpp)
endif()
if(${EXT} STREQUAL OFF)
add_definitions(-DEXTSTD)
elseif(EXT STREQUAL ARDUPILOT)
add_definitions(-DARDUPILOT)
set(SRC ${SRC} telemetry/ardupilot.cpp)
elseif(EXT STREQUAL NMEA)
add_definitions(-DNMEA)
set(SRC ${SRC} telemetry/nmea.cpp)
elseif(EXT STREQUAL JETI)
add_definitions(-DJETI)
set(SRC ${SRC} telemetry/jeti.cpp)
elseif(EXT STREQUAL MAVLINK)
add_definitions(-DMAVLINK)
include_directories(${THIRDPARTY_DIR} gui/${GUI_DIR} targets/common/avr)
set(SRC ${SRC} telemetry/mavlink.cpp targets/common/avr/serial_driver.cpp)
set(GUI_SRC ${GUI_SRC} view_mavlink.cpp)
math(EXPR EEPROM_VARIANT ${EEPROM_VARIANT}+${MAVLINK_VARIANT})
elseif(EXT STREQUAL TELEMETREZ)
add_definitions(-DTELEMETREZ)
set(SRC ${SRC} telemetry/jeti.cpp)
elseif(EXT STREQUAL FRSKY_SPORT)
add_definitions(-DFRSKY_SPORT)
set(SRC ${SRC} crc16.cpp telemetry/frsky_sport.cpp)
endif()
if(EXT STREQUAL FRSKY OR EXT STREQUAL FRSKY_SPORT OR EXT STREQUAL TELEMETREZ)
option(FRSKY_HUB "FrSky Hub support" ON)
option(WS_HOW_HIGH "Winged Shadow sensors support" ON)
option(GAUGES "Telemetry gauges" OFF)
option(GPS "GPS support" ON)
option(VARIO "Vario support" ON)
add_definitions(-DFRSKY)
set(SRC ${SRC} telemetry/telemetry.cpp telemetry/telemetry_holders.cpp telemetry/frsky.cpp telemetry/frsky_d.cpp)
set(FIRMWARE_SRC ${FIRMWARE_SRC} targets/common/avr/telemetry_driver.cpp)
set(GUI_SRC ${GUI_SRC} view_telemetry.cpp)
if(FRSKY_HUB)
add_definitions(-DFRSKY_HUB)
endif()
if(WS_HOW_HIGH)
add_definitions(-DWS_HOW_HIGH)
endif()
if(GAUGES)
add_definitions(-DGAUGES)
endif()
if(GPS)
add_definitions(-DGPS)
endif()
if(VARIO)
add_definitions(-DVARIO)
set(SRC ${SRC} vario.cpp)
endif()
math(EXPR EEPROM_VARIANT ${EEPROM_VARIANT}+${FRSKY_VARIANT})
endif()
add_definitions(-DTIMERS=2)
if(EEPROM_VARIANT_NEEDED)
add_definitions(-DEEPROM_VARIANT=${EEPROM_VARIANT})
endif()
radio/src/targets/common/avr/adc_driver.cpp
+100
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@@ -0,0 +1,100 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#include "../../opentx.h"
#define ADC_VREF_TYPE (1 << REFS0) // AVCC with external capacitor at AREF pin
void adcInit()
{
ADMUX = ADC_VREF_TYPE;
ADCSRA = 0x85; // ADC enabled, pre-scaler division=32 (no interrupt, no auto-triggering)
#if defined(CPUM2560)
ADCSRB = (1 << MUX5);
#endif
}
void adcPrepareBandgap()
{
// #if structure identical to the one in getADC_bandgap()
#if defined(PCBGRUVIN9X)
// For PCB V4, use our own 1.2V, external reference (connected to ADC3)
ADCSRB &= ~(1<<MUX5);
ADMUX = 0x03|ADC_VREF_TYPE; // Switch MUX to internal reference
#elif defined(PCBMEGA2560)
#else
ADMUX = 0x1E|ADC_VREF_TYPE; // Switch MUX to internal reference
#endif
}
void getADC()
{
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
uint16_t temp_ana;
ADMUX = adc_input|ADC_VREF_TYPE;
ADCSRA |= 1 << ADSC; // Start the AD conversion
while (ADCSRA & (1 << ADSC)); // Wait for the AD conversion to complete
temp_ana = ADC;
ADCSRA |= 1 << ADSC; // Start the second AD conversion
while (ADCSRA & (1 << ADSC)); // Wait for the AD conversion to complete
temp_ana += ADC;
s_anaFilt[adc_input] = temp_ana;
}
#if defined(TELEMETRY_MOD_14051) || defined(TELEMETRY_MOD_14051_SWAPPED)
processMultiplexAna();
#endif
}
void getADC_bandgap()
{
#if defined(PCBGRUVIN9X)
static uint8_t s_bgCheck = 0;
static uint16_t s_bgSum = 0;
ADCSRA |= (1 << ADSC); // request sample
s_bgCheck += 32;
while ((ADCSRA & (1 << ADIF))==0); // wait for sample
ADCSRA |= (1 << ADIF);
if (s_bgCheck == 0) { // 8x over-sample (256/32=8)
BandGap = s_bgSum+ADC;
s_bgSum = 0;
}
else {
s_bgSum += ADC;
}
ADCSRB |= (1 << MUX5);
#elif defined(PCBMEGA2560)
BandGap = 2000;
#else
/*
MCUCR|=0x28; // enable Sleep (bit5) enable ADC Noise Reduction (bit2)
asm volatile(" sleep \n\t"); // if _SLEEP() is not defined use this
// ADCSRA|=0x40;
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10; // take sample clear flag?
BandGap=ADC;
MCUCR&=0x08; // disable sleep
*/
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
BandGap = ADC;
#endif
}
radio/src/targets/common/avr/board_avr.h
+117
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@@ -0,0 +1,117 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
// ADC driver
enum Analogs {
STICK1,
STICK2,
STICK3,
STICK4,
POT1,
POT2,
POT3,
POT_LAST = POT3,
#if defined(TELEMETRY_MOD_14051) || defined(TELEMETRY_MOD_14051_SWAPPED)
// When the mod is applied, ADC7 is connected to 14051's X pin and TX_VOLTAGE
// is connected to 14051's X0 pin (one of the multiplexed inputs). TX_VOLTAGE
// value is filled in by processMultiplexAna().
// This shifts TX_VOLTAGE from 7 to 8 and makes X14051 take the 7th position
// corresponding to ADC7.
X14051,
#endif
TX_VOLTAGE,
NUMBER_ANALOG
};
void adcInit();
void adcPrepareBandgap();
void getADC();
void getADC_bandgap();
// USART driver (static register dispatcher)
#define RXD_DDR1 DDRD
#define RXD_DDR_PIN1 DDD2
#define RXD_PORT1 PORTD
#define RXD_PORT_PIN1 PORTD2
#define RXD_DDR0 DDRE
#define RXD_DDR_PIN0 DDE0
#define RXD_PORT0 PORTE
#define RXD_PORT_PIN0 PORTE0
#define _DOR_N(usart_no) DOR ## usart_no
#define _FE_N(usart_no) FE ## usart_no
#define _RXCIE_N(usart_no) RXCIE ## usart_no
#define _RXC_N(usart_no) RXC ## usart_no
#define _RXD_DDR_N(usart_no) RXD_DDR ## usart_no
#define _RXD_DDR_PIN_N(usart_no) RXD_DDR ## usart_no
#define _RXD_PORT_N(usart_no) RXD_DDR ## usart_no
#define _RXD_PORT_PIN_N(usart_no) RXD_DDR ## usart_no
#define _RXEN_N(usart_no) RXEN ## usart_no
#define _TXCIE_N(usart_no) TXCIE ## usart_no
#define _TXEN_N(usart_no) TXEN ## usart_no
#define _U2X_N(usart_no) U2X ## usart_no
#define _UBRRH_N(usart_no) UBRR ## usart_no ## H
#define _UBRRL_N(usart_no) UBRR ## usart_no ## L
#define _UCSRA_N(usart_no) UCSR ## usart_no ## A
#define _UCSRB_N(usart_no) UCSR ## usart_no ## B
#define _UCSRC_N(usart_no) UCSR ## usart_no ## C
#define _UCSZ0_N(usart_no) UCSZ ## usart_no ## 0
#define _UCSZ1_N(usart_no) UCSZ ## usart_no ## 1
#define _UCSZ2_N(usart_no) UCSZ ## usart_no ## 2
#define _UDRIE_N(usart_no) UDRIE ## usart_no
#define _UDR_N(usart_no) UDR ## usart_no
#define _UPE_N(usart_no) UPE ## usart_no
#define _USART_RX_vect_N(usart_no) USART ## usart_no ## _RX_vect
#define _USART_UDRE_vect_N(usart_no) USART ## usart_no ## _UDRE_vect
#define DOR_N(usart_no) _DOR_N(usart_no)
#define FE_N(usart_no) _FE_N(usart_no)
#define RXCIE_N(usart_no) _RXCIE_N(usart_no)
#define RXC_N(usart_no) _RXC_N(usart_no)
#define RXD_DDR_N(usart_no) _RXD_DDR_N(usart_no)
#define RXD_DDR_PIN_N(usart_no) _RXD_DDR_PIN_N(usart_no)
#define RXD_PORT_N(usart_no) _RXD_PORT_N(usart_no)
#define RXD_PORT_PIN_N(usart_no) _RXD_PORT_PIN_N(usart_no)
#define RXEN_N(usart_no) _RXEN_N(usart_no)
#define TXCIE_N(usart_no) _TXCIE_N(usart_no)
#define TXEN_N(usart_no) _TXEN_N(usart_no)
#define U2X_N(usart_no) _U2X_N(usart_no)
#define UBRRH_N(usart_no) _UBRRH_N(usart_no)
#define UBRRL_N(usart_no) _UBRRL_N(usart_no)
#define UCSRA_N(usart_no) _UCSRA_N(usart_no)
#define UCSRB_N(usart_no) _UCSRB_N(usart_no)
#define UCSRC_N(usart_no) _UCSRC_N(usart_no)
#define UCSZ0_N(usart_no) _UCSZ0_N(usart_no)
#define UCSZ1_N(usart_no) _UCSZ1_N(usart_no)
#define UCSZ2_N(usart_no) _UCSZ2_N(usart_no)
#define UDRIE_N(usart_no) _UDRIE_N(usart_no)
#define UDR_N(usart_no) _UDR_N(usart_no)
#define UPE_N(usart_no) _UPE_N(usart_no)
#define USART_RX_vect_N(usart_no) _USART_RX_vect_N(usart_no)
#define USART_UDRE_vect_N(usart_no) _USART_UDRE_vect_N(usart_no)
// Telemetry driver
#if defined(TELEMETRY_MOD_14051_SWAPPED)
#define TLM_USART 1
#else
#define TLM_USART 0
#endif
void telemetryPortInit();
void telemetryTransmitBuffer();
radio/src/targets/common/avr/serial_driver.cpp
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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#include "serial_driver.h"
#include "opentx.h"
/*
Receive serial (RS-232) characters, detecting and storing each Fr-Sky
0x7e-framed packet as it arrives. When a complete packet has been
received, process its data into storage variables. NOTE: This is an
interrupt routine and should not get too lengthy. I originally had
the buffer being checked in the perMain function (because per10ms
isn't quite often enough for data streaming at 9600baud) but alas
that scheme lost packets also. So each packet is parsed as it arrives,
directly at the ISR function (through a call to frskyProcessPacket).
If this proves a problem in the future, then I'll just have to implement
a second buffer to receive data while one buffer is being processed (slowly).
*/
#ifndef SIMU
ISR (USART0_RX_vect)
{
uint8_t iostat; //USART control and Status Register 0 A
// uint8_t rh; //USART control and Status Register 0 B
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
sei();
iostat = UCSR0A; //USART control and Status Register 0 A
uint8_t byte = UDR0;
/*
bit 7 6 5 4 3 2 1 0
RxC0 TxC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0
RxC0: Receive complete
TXC0: Transmit Complete
UDRE0: USART Data Register Empty
FE0: Frame Error
DOR0: Data OverRun
UPE0: USART Parity Error
U2X0: Double Tx Speed
MPCM0: MultiProcessor Comms Mode
*/
if (iostat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0))) {
byte = 0;
}
//rh = UCSR0B; //USART control and Status Register 0 B
#ifdef MAVLINK
(RXHandler)(byte);
#endif
cli();
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
#endif
inline void SERIAL_EnableRXD(void) {
UCSR0B |= (1 << RXEN0); // enable RX
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
#if 0
void SERIAL_DisableRXD(void) {
UCSR0B &= ~(1 << RXEN0); // disable RX
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
}
#endif
/*
USART0 (transmit) Data Register Emtpy ISR
Usef to transmit FrSky data packets, which are buffered in frskyTXBuffer.
*/
uint8_t serialTxBuffer[MAX_TX_BUFFER]; // 32 characters
uint8_t serialTxBufferCount = 0;
uint8_t * ptrTxISR = 0;
serial_tx_state_t serialTxState = TX_STATE_EMPTY;
#ifndef SIMU
ISR(USART0_UDRE_vect)
{
if (serialTxBufferCount > 0) {
UDR0 = *ptrTxISR++;
serialTxBufferCount--;
} else {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
serialTxState = TX_STATE_EMPTY;
}
}
#endif
void SERIAL_start_uart_send() {
ptrTxISR = serialTxBuffer;
serialTxBufferCount = 0;
}
void SERIAL_end_uart_send() {
ptrTxISR = serialTxBuffer;
//UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
serialTxState = TX_STATE_READY;
}
void SERIAL_send_uart_bytes(const uint8_t * buf, uint16_t len) {
while (len--) {
*ptrTxISR++ = *buf++;
serialTxBufferCount++;
}
}
#if 0
void SERIAL_transmitBuffer(uint8_t len) {
serialTxBufferCount = len;
ptrTxISR = serialTxBuffer;
//UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
serialTxState = TX_STATE_READY;
}
#endif
void SERIAL_startTX(void) {
if (serialTxState == TX_STATE_READY) {
serialTxState = TX_STATE_BUSY;
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
}
}
static void uart_4800(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 4800
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_9600(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 9600
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_14400(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 14400
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_19200(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 19200
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_38400(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 38400
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_57600(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 57600
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_76800(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 76800
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
inline void SERIAL_EnableTXD(void) {
//UCSR0B |= (1 << TXEN0); // enable TX
UCSR0B |= (1 << TXEN0) | (1 << UDRIE0); // enable TX and TX interrupt
}
#if 0
void SERIAL_DisableTXD(void) {
UCSR0B &= ~(1 << TXEN0); // disable TX
UCSR0B &= ~(1 << UDRIE0); // disable Interrupt
}
#endif
void SERIAL_Init(void) {
DDRE &= ~(1 << DDE0); // set RXD0 pin as input
PORTE &= ~(1 << PORTE0); // disable pullup on RXD0 pin
switch (g_eeGeneral.mavbaud) {
case BAUD_4800:
uart_4800();
break;
case BAUD_9600:
uart_9600();
break;
case BAUD_14400:
uart_14400();
break;
case BAUD_19200:
uart_19200();
break;
case BAUD_38400:
uart_38400();
break;
case BAUD_57600:
uart_57600();
break;
case BAUD_76800:
uart_76800();
break;
}
// UCSR0A &= ~(1 << U2X0); // disable double speed operation
// set 8N1
UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02);
UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00);
while (UCSR0A & (1 << RXC0))
UDR0; // flush receive buffer
SERIAL_EnableTXD();
SERIAL_EnableRXD();
}
radio/src/targets/common/avr/serial_driver.h
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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#ifndef _SERIAL_DRIVER_H_
#define _SERIAL_DRIVER_H_
#include <inttypes.h>
typedef enum serial_tx_state_ {
TX_STATE_EMPTY = 0, //
TX_STATE_READY, //
TX_STATE_BUSY
} serial_tx_state_t;
extern serial_tx_state_t serialTxState;
//! \brief Baudrate selection.
enum SERIAL_BAUDS {
BAUD_4800 = 0,
BAUD_9600,
BAUD_14400,
BAUD_19200,
BAUD_38400,
BAUD_57600,
BAUD_76800
};
//! \brief Definition of baudrate settings item choices.
typedef void (*SerialFuncP)(uint8_t event);
extern SerialFuncP RXHandler;
#define MAX_TX_BUFFER 32
//#if 0
extern uint8_t serialTxBuffer[MAX_TX_BUFFER]; // 32 characters
extern uint8_t serialTxBufferCount;
extern uint8_t * ptrTxISR;
//#endif
void SERIAL_Init(void);
//void SERIAL_transmitBuffer(uint8_t len);
extern void SERIAL_start_uart_send();
extern void SERIAL_end_uart_send();
extern void SERIAL_send_uart_bytes(uint8_t * buf, uint16_t len);
void SERIAL_startTX(void);
#define IS_TX_BUSY (serialTxState!=TX_STATE_EMPTY)
#endif // _SERIAL_DRIVER_H_
radio/src/targets/common/avr/telemetry_driver.cpp
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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#include "opentx.h"
#if defined(FRSKY)
void telemetryEnableTx(void)
{
UCSRB_N(TLM_USART) |= (1 << TXEN_N(TLM_USART)); // enable TX
}
void telemetryEnableRx(void)
{
UCSRB_N(TLM_USART) |= (1 << RXEN_N(TLM_USART)); // enable RX
UCSRB_N(TLM_USART) |= (1 << RXCIE_N(TLM_USART)); // enable Interrupt
}
ISR(USART_RX_vect_N(TLM_USART))
{
uint8_t stat;
uint8_t data;
UCSRB_N(TLM_USART) &= ~(1 << RXCIE_N(TLM_USART)); // disable Interrupt
sei();
stat = UCSRA_N(TLM_USART); // USART control and Status Register 0/1 A
/*
bit 7 6 5 4 3 2 1 0
RxC0 TxC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0
RxC0: Receive complete
TXC0: Transmit Complete
UDRE0: USART Data Register Empty
FE0: Frame Error
DOR0: Data OverRun
UPE0: USART Parity Error
U2X0: Double Tx Speed
PCM0: MultiProcessor Comms Mode
*/
// rh = UCSRB_N(TLM_USART); //USART control and Status Register 0/1 B
/*
bit 7 6 5 4 3 2 1 0
RXCIE0 TxCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80
RxCIE0: Receive Complete int enable
TXCIE0: Transmit Complete int enable
UDRIE0: USART Data Register Empty int enable
RXEN0: Rx Enable
TXEN0: Tx Enable
UCSZ02: Character Size bit 2
RXB80: Rx data bit 8
TXB80: Tx data bit 8
*/
data = UDR_N(TLM_USART); // USART data register 0
if (stat & ((1 << FE_N(TLM_USART)) | (1 << DOR_N(TLM_USART)) | (1 << UPE_N(TLM_USART)))) {
// discard buffer and start fresh on any comms error
telemetryRxBufferCount = 0;
}
else {
processFrskyTelemetryData(data);
}
cli() ;
UCSRB_N(TLM_USART) |= (1 << RXCIE_N(TLM_USART)); // enable Interrupt
}
void telemetryPortInit()
{
#if !defined(SIMU)
RXD_DDR_N(TLM_USART) &= ~(1 << RXD_DDR_PIN_N(TLM_USART)); // set RXD pin as input
RXD_PORT_N(TLM_USART) &= ~(1 << RXD_PORT_PIN_N(TLM_USART)); // disable pullup on RXD pin
#undef BAUD
#define BAUD 9600
#include <util/setbaud.h>
UBRRH_N(TLM_USART) = UBRRH_VALUE;
UBRRL_N(TLM_USART) = UBRRL_VALUE;
UCSRA_N(TLM_USART) &= ~(1 << U2X_N(TLM_USART)); // disable double speed operation.
// set 8N1
UCSRB_N(TLM_USART) = 0 | (0 << RXCIE_N(TLM_USART)) | (0 << TXCIE_N(TLM_USART)) | (0 << UDRIE_N(TLM_USART)) | (0 << RXEN_N(TLM_USART)) | (0 << TXEN_N(TLM_USART)) | (0 << UCSZ2_N(TLM_USART));
UCSRC_N(TLM_USART) = 0 | (1 << UCSZ1_N(TLM_USART)) | (1 << UCSZ0_N(TLM_USART));
while (UCSRA_N(TLM_USART) & (1 << RXC_N(TLM_USART))) UDR_N(TLM_USART); // flush receive buffer
// These should be running right from power up on a FrSky enabled '9X.
telemetryEnableTx(); // enable FrSky-Telemetry emission
frskyTxBufferCount = 0; // TODO not driver code
telemetryEnableRx(); // enable FrSky-Telemetry reception
#endif
}
void telemetryTransmitBuffer()
{
UCSRB_N(TLM_USART) |= (1 << UDRIE_N(TLM_USART)); // enable UDRE1 interrupt
}
#endif