diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h index c4c592fe44..282ed75487 100755 --- a/src/drivers/boards/px4iov2/px4iov2_internal.h +++ b/src/drivers/boards/px4iov2/px4iov2_internal.h @@ -56,6 +56,12 @@ ******************************************************************************/ /* Configuration **************************************************************/ +/****************************************************************************** + * Serial + ******************************************************************************/ +#define SERIAL_BASE STM32_USART1_BASE +#define SERIAL_VECTOR STM32_IRQ_USART1 + /****************************************************************************** * GPIOS ******************************************************************************/ diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp index f91284c723..d0af2912a3 100644 --- a/src/drivers/px4io/interface_serial.cpp +++ b/src/drivers/px4io/interface_serial.cpp @@ -160,6 +160,8 @@ PX4IO_serial::PX4IO_serial(int port) : return; } + /* XXX need to configure the port here */ + /* need space for worst-case escapes + hx protocol overhead */ /* XXX this is kinda gross, but hx transmits a byte at a time */ _tx_buf = new uint8_t[HX_STREAM_MAX_FRAME]; @@ -257,7 +259,7 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n return -EIO; } else { /* copy back the result */ - memcpy(values, &_tx_buf[0], count); + memcpy(values, &_rx_buf[0], count); } out: sem_post(&_bus_semaphore); @@ -267,16 +269,12 @@ out: int PX4IO_serial::_wait_complete() { - /* prepare the stream for transmission */ + /* prepare the stream for transmission (also discards any received noise) */ hx_stream_reset(_stream); hx_stream_start(_stream, _tx_buf, _tx_size); - /* enable UART */ - _CR1() |= USART_CR1_RE | - USART_CR1_TE | - USART_CR1_TXEIE | - USART_CR1_RXNEIE | - USART_CR1_UE; + /* enable transmit-ready interrupt, which will start transmission */ + _CR1() |= USART_CR1_TXEIE; /* compute the deadline for a 5ms timeout */ struct timespec abstime; @@ -290,13 +288,6 @@ PX4IO_serial::_wait_complete() /* wait for the transaction to complete */ int ret = sem_timedwait(&_completion_semaphore, &abstime); - /* disable the UART */ - _CR1() &= ~(USART_CR1_RE | - USART_CR1_TE | - USART_CR1_TXEIE | - USART_CR1_RXNEIE | - USART_CR1_UE); - return ret; } @@ -317,7 +308,7 @@ PX4IO_serial::_do_interrupt() if (sr & USART_SR_TXE) { int c = hx_stream_send_next(_stream); if (c == -1) { - /* transmit (nearly) done, not interested in TX-ready interrupts now */ + /* no more bytes to send, not interested in interrupts now */ _CR1() &= ~USART_CR1_TXEIE; /* was this a tx-only operation? */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 2077e6244d..47bcb8ddfc 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -42,7 +42,12 @@ #include #include -#include +#ifdef CONFIG_ARCH_BOARD_PX4IO +# include +#endif +#ifdef CONFIG_ARCH_BOARD_PX4IOV2 +# include +#endif #include "protocol.h" diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index df7d6dcd35..42554456c3 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -44,6 +44,7 @@ #include #include +#include #include "px4io.h" #include "protocol.h" @@ -349,10 +350,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; +#ifdef POWER_RELAY1 POWER_RELAY1(value & (1 << 0) ? 1 : 0); +#endif +#ifdef POWER_RELAY2 POWER_RELAY2(value & (1 << 1) ? 1 : 0); +#endif +#ifdef POWER_ACC1 POWER_ACC1(value & (1 << 2) ? 1 : 0); +#endif +#ifdef POWER_ACC2 POWER_ACC2(value & (1 << 3) ? 1 : 0); +#endif break; case PX4IO_P_SETUP_SET_DEBUG: diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index bf9456e942..f691969c4b 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -46,36 +46,40 @@ #include #include +/* XXX might be able to prune these */ +#include +#include +#include +#include #include //#define DEBUG #include "px4io.h" -static uint8_t tx_buf[66]; /* XXX hardcoded magic number */ - static hx_stream_t if_stream; +static volatile bool sending = false; +static int serial_interrupt(int vector, void *context); static void serial_callback(void *arg, const void *data, unsigned length); +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(SERIAL_BASE + _x)) +#define rSR REG(STM32_USART_SR_OFFSET) +#define rDR REG(STM32_USART_DR_OFFSET) +#define rBRR REG(STM32_USART_BRR_OFFSET) +#define rCR1 REG(STM32_USART_CR1_OFFSET) +#define rCR2 REG(STM32_USART_CR2_OFFSET) +#define rCR3 REG(STM32_USART_CR3_OFFSET) +#define rGTPR REG(STM32_USART_GTPR_OFFSET) + void interface_init(void) { - int fd = open("/dev/ttyS1", O_RDWR, O_NONBLOCK); - if (fd < 0) { - debug("serial fail"); - return; - } + /* XXX do serial port init here */ - /* configure serial port - XXX increase port speed? */ - struct termios t; - tcgetattr(fd, &t); - cfsetspeed(&t, 115200); - t.c_cflag &= ~(CSTOPB | PARENB); - tcsetattr(fd, TCSANOW, &t); - - /* allocate the HX stream we'll use for communication */ - if_stream = hx_stream_init(fd, serial_callback, NULL); + irq_attach(SERIAL_VECTOR, serial_interrupt); + if_stream = hx_stream_init(-1, serial_callback, NULL); /* XXX add stream stats counters? */ @@ -85,8 +89,31 @@ interface_init(void) void interface_tick() { - /* process incoming bytes */ - hx_stream_rx(if_stream); + /* XXX nothing interesting to do here */ +} + +static int +serial_interrupt(int vector, void *context) +{ + uint32_t sr = rSR; + + if (sr & USART_SR_TXE) { + int c = hx_stream_send_next(if_stream); + if (c == -1) { + /* no more bytes to send, not interested in interrupts now */ + rCR1 &= ~USART_CR1_TXEIE; + sending = false; + } else { + rDR = c; + } + } + + if (sr & USART_SR_RXNE) { + uint8_t c = rDR; + + hx_stream_rx(if_stream, c); + } + return 0; } static void @@ -98,36 +125,40 @@ serial_callback(void *arg, const void *data, unsigned length) if (length < 2) return; - /* it's a write operation, pass it to the register API */ - if (message[0] & PX4IO_PAGE_WRITE) { - registers_set(message[0] & ~PX4IO_PAGE_WRITE, message[1], - (const uint16_t *)&message[2], - (length - 2) / 2); - + /* we got a new request while we were still sending the last reply - not supported */ + if (sending) return; + + /* reads are page / offset / length */ + if (length == 3) { + uint16_t *registers; + unsigned count; + + /* get registers for response, send an empty reply on error */ + if (registers_get(message[0], message[1], ®isters, &count) < 0) + count = 0; + + /* constrain count to requested size or message limit */ + if (count > message[2]) + count = message[2]; + if (count > HX_STREAM_MAX_FRAME) + count = HX_STREAM_MAX_FRAME; + + /* start sending the reply */ + sending = true; + hx_stream_reset(if_stream); + hx_stream_start(if_stream, registers, count * 2 + 2); + + /* enable the TX-ready interrupt */ + rCR1 |= USART_CR1_TXEIE; + return; + + } else { + + /* it's a write operation, pass it to the register API */ + registers_set(message[0], + message[1], + (const uint16_t *)&message[2], + (length - 2) / 2); } - - /* it's a read - must contain length byte */ - if (length != 3) - return; - uint16_t *registers; - unsigned count; - - tx_buf[0] = message[0]; - tx_buf[1] = message[1]; - - /* get registers for response, send an empty reply on error */ - if (registers_get(message[0], message[1], ®isters, &count) < 0) - count = 0; - - /* fill buffer with message, limited by length */ -#define TX_MAX ((sizeof(tx_buf) - 2) / 2) - if (count > TX_MAX) - count = TX_MAX; - if (count > message[2]) - count = message[2]; - memcpy(&tx_buf[2], registers, count * 2); - - /* try to send the message */ - hx_stream_send(if_stream, tx_buf, count * 2 + 2); } \ No newline at end of file diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c index fdc3edac75..8e9c2bfcf6 100644 --- a/src/modules/systemlib/hx_stream.c +++ b/src/modules/systemlib/hx_stream.c @@ -96,20 +96,6 @@ hx_tx_raw(hx_stream_t stream, uint8_t c) stream->tx_error = true; } -static void -hx_tx_byte(hx_stream_t stream, uint8_t c) -{ - switch (c) { - case FBO: - case CEO: - hx_tx_raw(stream, CEO); - c ^= 0x20; - break; - } - - hx_tx_raw(stream, c); -} - static int hx_rx_frame(hx_stream_t stream) { @@ -281,12 +267,12 @@ hx_stream_send(hx_stream_t stream, { int result; - result = hx_start(stream, data, count); + result = hx_stream_start(stream, data, count); if (result != OK) return result; int c; - while ((c = hx_send_next(stream)) >= 0) + while ((c = hx_stream_send_next(stream)) >= 0) hx_tx_raw(stream, c); /* check for transmit error */