[paparazzi-commits] [5768] Adding stub include files and uart functions to permit uart coms on overo.

[Paul Cox]

Revision: 5768
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5768
Author:   paulcox
Date:     2010-08-31 15:26:05 +0000 (Tue, 31 Aug 2010)
Log Message:
-----------
Adding stub include files and uart functions to permit uart coms on overo.

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/beth.xml

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/beth/gps_hw.h
    paparazzi3/trunk/sw/airborne/beth/sys_time_hw.h
    paparazzi3/trunk/sw/airborne/beth/uart_hw.c
    paparazzi3/trunk/sw/airborne/beth/uart_hw.h

Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml      2010-08-31 15:20:48 UTC 
(rev 5767)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml      2010-08-31 15:26:05 UTC 
(rev 5768)
@@ -251,7 +251,7 @@
 SRC_FMS=fms
 
 overo_test_uart.ARCHDIR = omap
-overo_test_uart.CFLAGS = -I. -I$(SRC_FMS)
+overo_test_uart.CFLAGS = -I. -I$(SRC_FMS) -I$(SRC_BETH)
 overo_test_uart.srcs  = $(SRC_BETH)/overo_test_uart.c
 
 overo_test_uart.CFLAGS  += -DFMS_PERIODIC_FREQ=500
@@ -265,7 +265,7 @@
 overo_test_uart.srcs    += $(SRC_BETH)/overo_gcs_com.c
 overo_test_uart.CFLAGS  += -DUBX -DGPS -DUSE_UART0 -DUART0_BAUD=B38400 
-DGPS_LINK=Uart0 -DGPS_USE_LATLONG
 #overo_test_uart.CFLAGS  += -DUBX -DGPS -DUSE_UART1 -DUART1_BAUD=B9600 
-DGPS_LINK=Uart1 -DGPS_USE_LATLONG
-overo_test_uart.srcs    += gps_ubx.c gps.c latlong.c $(SRC_FMS)/uart_hw.c
+overo_test_uart.srcs    += gps_ubx.c gps.c latlong.c $(SRC_BETH)/uart_hw.c
 
 #
 # Overo twisting

Added: paparazzi3/trunk/sw/airborne/beth/gps_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/gps_hw.h                          (rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/gps_hw.h  2010-08-31 15:26:05 UTC (rev 
5768)
@@ -0,0 +1,4 @@
+#ifndef GPS_HW_H
+#define GPS_HW_H
+
+#endif /* GPS_HW_H */

Added: paparazzi3/trunk/sw/airborne/beth/sys_time_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/sys_time_hw.h                             
(rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/sys_time_hw.h     2010-08-31 15:26:05 UTC 
(rev 5768)
@@ -0,0 +1,4 @@
+#ifndef SYS_TIME_HW_H
+#define SYS_TIME_HW_H
+
+#endif /* SYS_TIME_HW_H */

Added: paparazzi3/trunk/sw/airborne/beth/uart_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/uart_hw.c                         (rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/uart_hw.c 2010-08-31 15:26:05 UTC (rev 
5768)
@@ -0,0 +1,219 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * 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 "uart.h"
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "fms_serial_port.h"
+
+#ifdef USE_UART0 
+
+volatile uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
+uint8_t  uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
+
+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;
+int uart0_fd;
+extern uint8_t portnum;
+
+void uart0_init( void ) {
+
+  fmssp0 = serial_port_new();
+//TODO: set device name in application and pass as argument
+  if (portnum == 0) {
+    serial_port_open_raw(fmssp0,"/dev/ttyUSB0",UART0_BAUD);
+  }
+  if (portnum == 1) {
+    serial_port_open_raw(fmssp0,"/dev/ttyUSB1",UART0_BAUD);
+  }
+  uart0_fd = (int)fmssp0->fd;
+  
+  // initialize the transmit data queue
+  uart0_tx_extract_idx = 0;
+  uart0_tx_insert_idx = 0;
+  uart0_tx_running = FALSE;
+
+  // initialize the receive data queue
+  uart0_rx_extract_idx = 0;
+  uart0_rx_insert_idx = 0;
+
+}
+
+void uart0_transmit( uint8_t data ) {
+
+  uint16_t temp = (uart0_tx_insert_idx + 1) % UART0_TX_BUFFER_SIZE;
+
+  if (temp == uart0_tx_extract_idx)
+    return;                          // no room
+
+  // check if in process of sending data
+  if (uart0_tx_running) { // yes, add to queue
+    uart0_tx_buffer[uart0_tx_insert_idx] = data;
+    uart0_tx_insert_idx = temp;
+  }
+  else { // no, set running flag and write to output register
+    uart0_tx_running = TRUE;
+    write(uart0_fd,&data,1);
+  }
+
+}
+
+bool_t uart0_check_free_space( uint8_t len) {
+  int16_t space = uart0_tx_extract_idx - uart0_tx_insert_idx;
+  if (space <= 0)
+    space += UART0_TX_BUFFER_SIZE;
+  return (uint16_t)(space - 1) >= len;
+}
+
+void uart0_handler(void) {
+  unsigned char c='D';
+  
+    // check if more data to send
+    if (uart0_tx_insert_idx != uart0_tx_extract_idx) {
+      write(uart0_fd,&uart0_tx_buffer[uart0_tx_extract_idx],1);
+      uart0_tx_extract_idx++;
+      uart0_tx_extract_idx %= UART0_TX_BUFFER_SIZE;
+    }
+    else {
+      uart0_tx_running = FALSE;   // clear running flag
+//      USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
+    }
+
+  if(read(uart0_fd,&c,1) > 0){
+    uint16_t temp = (uart0_rx_insert_idx + 1) % UART0_RX_BUFFER_SIZE;
+    uart0_rx_buffer[uart0_rx_insert_idx] = c;    
+    // check for more room in queue
+    if (temp != uart0_rx_extract_idx)
+      uart0_rx_insert_idx = temp; // update insert index
+  }
+
+}
+
+#endif /* USE_UART0 */
+
+#ifdef USE_UART1 
+
+volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
+uint8_t  uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
+
+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;
+int uart1_fd;
+
+void uart1_init( void ) {
+
+  fmssp1 = serial_port_new();
+
+  serial_port_open_raw(fmssp1,"/dev/ttyUSB1",UART1_BAUD);
+  
+  uart1_fd = (int)fmssp1->fd;
+  
+  // 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
+
+  // 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;
+    write(uart1_fd,&data,1);
+  }
+
+}
+
+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 uart1_handler(void) {
+   unsigned char c='D';
+    
+    // check if more data to send
+    if (uart1_tx_insert_idx != uart1_tx_extract_idx) {
+      write(uart1_fd,&uart1_tx_buffer[uart1_tx_extract_idx],1);
+      uart1_tx_extract_idx++;
+      uart1_tx_extract_idx %= UART1_TX_BUFFER_SIZE;
+    }
+    else {
+      uart1_tx_running = FALSE;   // clear running flag
+//      USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
+    }
+
+  if(read(uart1_fd,&c,1) > 0){
+    uint16_t temp = (uart1_rx_insert_idx + 1) % UART1_RX_BUFFER_SIZE;;
+    uart1_rx_buffer[uart1_rx_insert_idx] = c;    
+    // check for more room in queue
+    if (temp != uart1_rx_extract_idx)
+      uart1_rx_insert_idx = temp; // update insert index
+  }
+
+}
+
+#endif /* USE_UART1 */
+
+void uart_init( void )
+{
+#ifdef USE_UART0 
+  uart0_init();
+#endif
+#ifdef USE_UART1 
+  uart1_init();
+#endif
+#ifdef USE_UART2 
+  uart2_init();
+#endif
+#ifdef USE_UART3 
+  uart3_init();
+#endif
+}

Added: paparazzi3/trunk/sw/airborne/beth/uart_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/uart_hw.h                         (rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/uart_hw.h 2010-08-31 15:26:05 UTC (rev 
5768)
@@ -0,0 +1,103 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * 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. 
+ */
+
+/*
+ *\brief STM32 usart functions 
+ *
+ */
+
+#ifndef UART_HW_H
+#define UART_HW_H
+
+#include "std.h"
+/*
+#define B9600     9600
+#define B38400   38400
+#define B57600   57600
+#define B115200 115200
+*/
+
+#define Uart1_init uart1_init()
+#define Uart2_init uart2_init()
+#define Uart3_init uart3_init()
+#define Uart5_init uart5_init()
+
+#define UART1_irq_handler usart1_irq_handler
+#define UART2_irq_handler usart2_irq_handler
+#define UART3_irq_handler usart3_irq_handler
+#define UART5_irq_handler usart5_irq_handler 
+
+#if defined USE_UART0 || OVERRIDE_UART0_IRQ_HANDLER
+extern void uart0_handler(void);
+#endif
+
+
+#ifdef USE_UART0
+#define UART0_RX_BUFFER_SIZE 128
+#define UART0_TX_BUFFER_SIZE 128
+
+extern volatile uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
+extern uint8_t  uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
+
+extern volatile uint16_t uart0_tx_insert_idx, uart0_tx_extract_idx;
+extern volatile bool_t   uart0_tx_running;
+extern uint8_t  uart0_tx_buffer[UART0_TX_BUFFER_SIZE];
+
+#define Uart0ChAvailable() (uart0_rx_insert_idx != uart0_rx_extract_idx)
+#define Uart0Getch() ({                                                        
\
+      uint8_t ret = uart0_rx_buffer[uart0_rx_extract_idx];             \
+      uart0_rx_extract_idx = (uart0_rx_extract_idx + 1)%UART0_RX_BUFFER_SIZE; \
+      ret;                                                             \
+    })
+
+#endif /* USE_UART0 */
+
+#if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
+extern void uart1_handler(void);
+#endif
+
+
+#ifdef USE_UART1
+#define UART1_RX_BUFFER_SIZE 128
+#define UART1_TX_BUFFER_SIZE 128
+
+extern volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
+extern uint8_t  uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
+
+extern volatile uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
+extern volatile bool_t   uart1_tx_running;
+extern uint8_t  uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
+
+#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 */
+
+
+void uart_init( void );
+
+#endif /* UART_HW_H */