Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
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?
User | Revision | Line number | New 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 | } |