Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

Methods/.svn/text-base/sb_aux.cpp.svn-base@1:1e3318a30ddd, 2011-02-25 (annotated)

Committer:
gke
Date:
Fri Feb 25 01:35:24 2011 +0000
Revision:
1:1e3318a30ddd
This version has broken I2C - posted for debugging involvement of Simon et al.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 1:1e3318a30ddd 1 /*
gke 1:1e3318a30ddd 2 Copyright (c) 2010 Andy Kirkham
gke 1:1e3318a30ddd 3
gke 1:1e3318a30ddd 4 Permission is hereby granted, free of charge, to any person obtaining a copy
gke 1:1e3318a30ddd 5 of this software and associated documentation files (the "Software"), to deal
gke 1:1e3318a30ddd 6 in the Software without restriction, including without limitation the rights
gke 1:1e3318a30ddd 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gke 1:1e3318a30ddd 8 copies of the Software, and to permit persons to whom the Software is
gke 1:1e3318a30ddd 9 furnished to do so, subject to the following conditions:
gke 1:1e3318a30ddd 10
gke 1:1e3318a30ddd 11 The above copyright notice and this permission notice shall be included in
gke 1:1e3318a30ddd 12 all copies or substantial portions of the Software.
gke 1:1e3318a30ddd 13
gke 1:1e3318a30ddd 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gke 1:1e3318a30ddd 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gke 1:1e3318a30ddd 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gke 1:1e3318a30ddd 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gke 1:1e3318a30ddd 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gke 1:1e3318a30ddd 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gke 1:1e3318a30ddd 20 THE SOFTWARE.
gke 1:1e3318a30ddd 21 */
gke 1:1e3318a30ddd 22
gke 1:1e3318a30ddd 23 #include "../SerialBuffered.h"
gke 1:1e3318a30ddd 24 #include "../sb_globals.h"
gke 1:1e3318a30ddd 25
gke 1:1e3318a30ddd 26 void SerialBuffered::format(int bits, int parity, int stopbits) {
gke 1:1e3318a30ddd 27 SET_REGISTER(SERIALBUFFERED_LCR, (bits | parity | stopbits) & 0x7F);
gke 1:1e3318a30ddd 28 }
gke 1:1e3318a30ddd 29
gke 1:1e3318a30ddd 30 void SerialBuffered::baud(int baud) {
gke 1:1e3318a30ddd 31 uint16_t rate = calculate_baud(baud, uart_number);
gke 1:1e3318a30ddd 32 SET_REGISTER(SERIALBUFFERED_LCR, GET_REGISTER(SERIALBUFFERED_LCR) | 0x80);
gke 1:1e3318a30ddd 33 SET_REGISTER(SERIALBUFFERED_DML, (rate >> 8) & 0xFF);
gke 1:1e3318a30ddd 34 SET_REGISTER(SERIALBUFFERED_DLL, (rate &0xFF));
gke 1:1e3318a30ddd 35 SET_REGISTER(SERIALBUFFERED_LCR, GET_REGISTER(SERIALBUFFERED_LCR) & 0x7F);
gke 1:1e3318a30ddd 36 }
gke 1:1e3318a30ddd 37
gke 1:1e3318a30ddd 38 uint16_t SerialBuffered::calculate_baud(int baud, int uart) {
gke 1:1e3318a30ddd 39 static int multipliers[4] = { 4, 1, 2, 8 };
gke 1:1e3318a30ddd 40 int clock = 0;
gke 1:1e3318a30ddd 41
gke 1:1e3318a30ddd 42 switch (uart) {
gke 1:1e3318a30ddd 43 case 0: clock = (LPC_SC->PCLKSEL0 >> 6) & 0x3; break;
gke 1:1e3318a30ddd 44 case 1: clock = (LPC_SC->PCLKSEL0 >> 8) & 0x3; break;
gke 1:1e3318a30ddd 45 case 2: clock = (LPC_SC->PCLKSEL1 >> 16) & 0x3; break;
gke 1:1e3318a30ddd 46 case 3: clock = (LPC_SC->PCLKSEL1 >> 18) & 0x3; break;
gke 1:1e3318a30ddd 47 }
gke 1:1e3318a30ddd 48
gke 1:1e3318a30ddd 49 return (uint16_t)(((SystemCoreClock / 16 / baud) * multipliers[clock]) & 0xFFFF);
gke 1:1e3318a30ddd 50 }
gke 1:1e3318a30ddd 51
gke 1:1e3318a30ddd 52 void SerialBuffered::set_tx_buffer_size(int buffer_size, char *buffer) {
gke 1:1e3318a30ddd 53 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) & (1UL << 2));
gke 1:1e3318a30ddd 54 SET_REGISTER(SERIALBUFFERED_FCR, (1UL << 2) | 1);
gke 1:1e3318a30ddd 55 _tx_buffer_size[uart_number] = buffer_size;
gke 1:1e3318a30ddd 56 if (_tx_buffer_used_malloc[uart_number] && _tx_buffer[uart_number]) {
gke 1:1e3318a30ddd 57 free(_tx_buffer[uart_number]);
gke 1:1e3318a30ddd 58 _tx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 59 }
gke 1:1e3318a30ddd 60 if (buffer == (char *)NULL) {
gke 1:1e3318a30ddd 61 _tx_buffer[uart_number] = (char *)malloc(buffer_size);
gke 1:1e3318a30ddd 62 _tx_buffer_used_malloc[uart_number] = true;
gke 1:1e3318a30ddd 63 }
gke 1:1e3318a30ddd 64 else {
gke 1:1e3318a30ddd 65 _tx_buffer[uart_number] = buffer;
gke 1:1e3318a30ddd 66 _tx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 67 }
gke 1:1e3318a30ddd 68 _tx_buffer_in[uart_number] = _tx_buffer_out[uart_number] = 0;
gke 1:1e3318a30ddd 69 _tx_buffer_full[uart_number] = false;
gke 1:1e3318a30ddd 70 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) | 0x2);
gke 1:1e3318a30ddd 71 }
gke 1:1e3318a30ddd 72
gke 1:1e3318a30ddd 73 void SerialBuffered::set_tx_buffer_size(int buffer_size) {
gke 1:1e3318a30ddd 74 set_tx_buffer_size(buffer_size, (char *)NULL);
gke 1:1e3318a30ddd 75 }
gke 1:1e3318a30ddd 76
gke 1:1e3318a30ddd 77 /**
gke 1:1e3318a30ddd 78 */
gke 1:1e3318a30ddd 79 void SerialBuffered::set_rx_buffer_size(int buffer_size, char *buffer) {
gke 1:1e3318a30ddd 80 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) & (1UL << 1));
gke 1:1e3318a30ddd 81 SET_REGISTER(SERIALBUFFERED_FCR, (1UL << 1) | 1);
gke 1:1e3318a30ddd 82 _rx_buffer_size[uart_number] = buffer_size;
gke 1:1e3318a30ddd 83 if (_rx_buffer_used_malloc[uart_number] && _rx_buffer[uart_number]) {
gke 1:1e3318a30ddd 84 free(_rx_buffer[uart_number]);
gke 1:1e3318a30ddd 85 _rx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 86 }
gke 1:1e3318a30ddd 87 if (buffer == (char *)NULL) {
gke 1:1e3318a30ddd 88 _rx_buffer[uart_number] = (char *)malloc(buffer_size);
gke 1:1e3318a30ddd 89 _rx_buffer_used_malloc[uart_number] = true;
gke 1:1e3318a30ddd 90 }
gke 1:1e3318a30ddd 91 else {
gke 1:1e3318a30ddd 92 _rx_buffer[uart_number] = buffer;
gke 1:1e3318a30ddd 93 _rx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 94 }
gke 1:1e3318a30ddd 95 _rx_buffer_in[uart_number] = _rx_buffer_out[uart_number] = 0;
gke 1:1e3318a30ddd 96 _rx_buffer_full[uart_number] = false;
gke 1:1e3318a30ddd 97 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) | 0x1);
gke 1:1e3318a30ddd 98 }
gke 1:1e3318a30ddd 99
gke 1:1e3318a30ddd 100 void SerialBuffered::set_rx_buffer_size(int buffer_size) {
gke 1:1e3318a30ddd 101 set_rx_buffer_size(buffer_size, (char *)NULL);
gke 1:1e3318a30ddd 102 }
gke 1:1e3318a30ddd 103
gke 1:1e3318a30ddd 104
gke 1:1e3318a30ddd 105 void SerialBuffered::reset_uart_tx(int uart_number) {
gke 1:1e3318a30ddd 106 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) & (1UL << 1));
gke 1:1e3318a30ddd 107 SET_REGISTER(SERIALBUFFERED_FCR, (1UL << 2) | 1);
gke 1:1e3318a30ddd 108 if (_tx_buffer_used_malloc[uart_number] && _tx_buffer[uart_number]) {
gke 1:1e3318a30ddd 109 free(_tx_buffer[uart_number]);
gke 1:1e3318a30ddd 110 _tx_buffer[uart_number] = (char *)NULL;
gke 1:1e3318a30ddd 111 _tx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 112 }
gke 1:1e3318a30ddd 113 _tx_buffer_in[uart_number] = _tx_buffer_out[uart_number] = 0;
gke 1:1e3318a30ddd 114 _tx_buffer_full[uart_number] = false;
gke 1:1e3318a30ddd 115 }
gke 1:1e3318a30ddd 116
gke 1:1e3318a30ddd 117 void SerialBuffered::reset_uart_rx(int uart_number) {
gke 1:1e3318a30ddd 118 SET_REGISTER(SERIALBUFFERED_IER, GET_REGISTER(SERIALBUFFERED_IER) & (1UL << 0));
gke 1:1e3318a30ddd 119 SET_REGISTER(SERIALBUFFERED_FCR, (1UL << 1) | 1);
gke 1:1e3318a30ddd 120 if (_rx_buffer_used_malloc[uart_number] && _rx_buffer[uart_number]) {
gke 1:1e3318a30ddd 121 free(_rx_buffer[uart_number]);
gke 1:1e3318a30ddd 122 _rx_buffer[uart_number] = (char *)NULL;
gke 1:1e3318a30ddd 123 _rx_buffer_used_malloc[uart_number] = false;
gke 1:1e3318a30ddd 124 }
gke 1:1e3318a30ddd 125 _rx_buffer_in[uart_number] = _rx_buffer_out[uart_number] = 0;
gke 1:1e3318a30ddd 126 _rx_buffer_full[uart_number] = false;
gke 1:1e3318a30ddd 127 }