STATIC mp_obj_t pyb_uart_init_helper(pyb_uart_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// parse args
mp_arg_val_t vals[PYB_UART_INIT_NUM_ARGS];
mp_arg_parse_all(n_args, args, kw_args, PYB_UART_INIT_NUM_ARGS, pyb_uart_init_args, vals);
// set the UART configuration values
memset(&self->uart, 0, sizeof(self->uart));
UART_InitTypeDef *init = &self->uart.Init;
init->BaudRate = vals[0].u_int;
init->WordLength = vals[1].u_int == 8 ? UART_WORDLENGTH_8B : UART_WORDLENGTH_9B;
switch (vals[2].u_int) {
case 1:
init->StopBits = UART_STOPBITS_1;
break;
default:
init->StopBits = UART_STOPBITS_2;
break;
}
if (vals[3].u_obj == mp_const_none) {
init->Parity = UART_PARITY_NONE;
} else {
machine_int_t parity = mp_obj_get_int(vals[3].u_obj);
init->Parity = (parity & 1) ? UART_PARITY_ODD : UART_PARITY_EVEN;
}
init->Mode = UART_MODE_TX_RX;
init->HwFlowCtl = UART_HWCONTROL_NONE;
init->OverSampling = UART_OVERSAMPLING_16;
// init UART (if it fails, it's because the port doesn't exist)
if (!uart_init2(self)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "UART port %d does not exist", self->uart_id));
}
return mp_const_none;
}
bool uart_init(pyb_uart_obj_t *uart_obj, uint32_t baudrate) {
UART_HandleTypeDef *uh = &uart_obj->uart;
memset(uh, 0, sizeof(*uh));
uh->Init.BaudRate = baudrate;
uh->Init.WordLength = UART_WORDLENGTH_8B;
uh->Init.StopBits = UART_STOPBITS_1;
uh->Init.Parity = UART_PARITY_NONE;
uh->Init.Mode = UART_MODE_TX_RX;
uh->Init.HwFlowCtl = UART_HWCONTROL_NONE;
uh->Init.OverSampling = UART_OVERSAMPLING_16;
return uart_init2(uart_obj);
}
STATIC mp_obj_t pyb_uart_init_helper(pyb_uart_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
bool success;
// parse args
mp_arg_val_t args[MP_ARRAY_SIZE(pyb_uart_init_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(pyb_uart_init_args), pyb_uart_init_args, args);
// set the UART configuration values
if (n_args > 1) {
self->baudrate = args[0].u_int;
switch (args[1].u_int) {
case 5:
self->config = UART_CONFIG_WLEN_5;
break;
case 6:
self->config = UART_CONFIG_WLEN_6;
break;
case 7:
self->config = UART_CONFIG_WLEN_7;
break;
case 8:
self->config = UART_CONFIG_WLEN_8;
break;
default:
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments));
break;
}
// Parity
if (args[2].u_obj == mp_const_none) {
self->config |= UART_CONFIG_PAR_NONE;
} else {
self->config |= ((mp_obj_get_int(args[2].u_obj) & 1) ? UART_CONFIG_PAR_ODD : UART_CONFIG_PAR_EVEN);
}
// Stop bits
self->config |= (args[3].u_int == 1 ? UART_CONFIG_STOP_ONE : UART_CONFIG_STOP_TWO);
// Flow control
self->flowcontrol = args[4].u_int;
success = uart_init2(self);
} else {
success = uart_init(self, args[0].u_int);
}
// init UART (if it fails, something weird happened)
if (!success) {
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, mpexception_os_operation_failed));
}
// set timeouts
self->timeout = args[5].u_int;
self->timeout_char = args[6].u_int;
// setup the read buffer
m_del(byte, self->read_buf, self->read_buf_len);
self->read_buf_head = 0;
self->read_buf_tail = 0;
if (args[7].u_int <= 0) {
// no read buffer
self->read_buf_len = 0;
self->read_buf = NULL;
MAP_UARTIntDisable(self->reg, UART_INT_RX | UART_INT_RT);
} else {
// read buffer using interrupts
self->read_buf_len = args[7].u_int;
self->read_buf = m_new(byte, args[7].u_int);
}
return mp_const_none;
}
bool uart_init(pyb_uart_obj_t *self, uint baudrate) {
self->baudrate = baudrate;
self->config = UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE;
self->flowcontrol = UART_FLOWCONTROL_NONE;
return uart_init2(self);
}
int main(void) {
extern int __C30_UART; __C30_UART = 2;
unsigned char i;
unsigned char in_config = 0;
char c;
/* generic hw init */
hw_init();
/* real time clock init */
clock_init();
/* adc init */
adc_init();
/* init uart2 */
uart_init2(UART_PORT_TELEMETRY);
/* init video driver */
init_video();
/* try to load config from flash */
load_config();
/* video driver config */
video_apply_config(&config.video);
/* init widgets */
widgets_init();
/* enable all interrupts */
SRbits.IPL = 0;
CORCONbits.IPL3 = 1;
/* TODO: rework config entry */
/* check for config entry */
for (i = 0; i < 8; i++) {
while (uart_getc2(&c) == 0) {
widgets_process();
render_process();
ClrWdt();
}
if (c != '!')
break;
}
if (i == 8) {
in_config = 1;
while (in_config) {
in_config = config_osd();
widgets_process();
render_process();
ClrWdt();
}
}
/* re-build tab list */
build_tab_list();
uart_set_baudrate2(config.baudrate);
init_home_process();
init_flight_stats_process();
for (;;) {
mavlink_process();
widgets_process();
render_process();
clock_process();
ClrWdt();
}
return 0;
}
