int main(void)
{
for (u32 i = 0; i < 600000; i++)
__asm__("nop");
led_setup();
rcc_clock_setup_hse_3v3(&hse_16_368MHz_in_65_472MHz_out_3v3);
usart_setup_common();
usart_tx_dma_setup();
/*printf("\n\nFirmware info - git: " GIT_VERSION ", built: " __DATE__ " " __TIME__ "\n");*/
/*printf("--- USART DMA TEST ---\n");*/
#define MAX_TX ((u32)(USART_TX_BUFFER_LEN*1.2))
u8 guard_below[30];
u8 buff_out[MAX_TX];
u8 guard_above[30];
u32 len;
for (u8 i=0; i<30; i++) {
guard_below[i] = 0;
guard_above[i] = 0;
}
for (u32 i=0; i<MAX_TX; i++)
buff_out[i] = (u8)i;
while(1) {
/* Random transmit length. */
len = (u32)rand() % MAX_TX;
while (len)
len -= usart_write_dma(buff_out, len);
/* Check the guards for buffer over/underrun. */
for (u8 i=0; i<30; i++) {
if (guard_below[i] != 0)
screaming_death();
if (guard_above[i] != 0)
screaming_death();
}
/* Introduce some timing jitter. */
for (u32 i = 0; i < ((u32)rand() % 10000); i++)
__asm__("nop");
}
while (1);
return 0;
}
/** Enable the USART peripherals.
* USART 6, 1 and 3 peripherals are configured
* (connected to the FTDI, UARTA and UARTB ports on the Piksi respectively).
*/
void usarts_enable(u32 ftdi_baud, u32 uarta_baud, u32 uartb_baud, bool do_preconfigure_hooks)
{
/* Ensure that the first time around, we do the preconfigure hooks */
if (!all_uarts_enabled && !do_preconfigure_hooks)
return;
/* First give everything a clock. */
/* Clock the USARTs. */
RCC_APB2ENR |= RCC_APB2ENR_USART1EN | RCC_APB2ENR_USART6EN;
RCC_APB1ENR |= RCC_APB1ENR_USART3EN;
/* GPIO pins corresponding to the USART. */
RCC_AHB1ENR |= RCC_AHB1ENR_IOPAEN | RCC_AHB1ENR_IOPCEN;
/* Assign the GPIO pins appropriately:
*
* USART TX RX Connection
* ----------------------------
* 6 PC6 PC7 FTDI
* 1 PA9 PA10 UARTA
* 3 PC10 PC11 UARTB
*/
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO6 | GPIO7);
gpio_set_af(GPIOC, GPIO_AF8, GPIO6 | GPIO7);
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO9 | GPIO10);
gpio_set_af(GPIOA, GPIO_AF7, GPIO9 | GPIO10);
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO10 | GPIO11);
gpio_set_af(GPIOC, GPIO_AF7, GPIO10 | GPIO11);
usart_set_parameters(USART6, ftdi_baud);
usart_set_parameters(USART1, uarta_baud);
usart_set_parameters(USART3, uartb_baud);
/* FTDI (USART6) TX - DMA2, stream 6, channel 5. */
usart_tx_dma_setup(&ftdi_state.tx, USART6, DMA2, 6, 5);
/* FTDI (USART6) RX - DMA2, stream 1, channel 5. */
usart_rx_dma_setup(&ftdi_state.rx, USART6, DMA2, 1, 5);
chBSemInit(&ftdi_state.claimed, FALSE);
ftdi_state.configured = true;
if (do_preconfigure_hooks) {
/* TODO: Should this really be here? */
if ((RCC_CSR & 0xFF000000) != RCC_CSR_PINRSTF) {
if (RCC_CSR & RCC_CSR_IWDGRSTF)
log_error("Piksi has reset due to a watchdog timeout.");
if (RCC_CSR & RCC_CSR_LPWRRSTF)
log_error("Low power reset detected.");
if (RCC_CSR & RCC_CSR_SFTRSTF)
log_info("Software reset detected.");
log_info("Reset reason: %02X", (unsigned int)(RCC_CSR >> 24));
}
log_info("Piksi Starting...");
RCC_CSR |= RCC_CSR_RMVF;
log_info("Firmware Version: " GIT_VERSION "");
log_info("Built: " __DATE__ " " __TIME__ "");
if (uarta_usart.configure_telemetry_radio_on_boot) {
radio_preconfigure_hook(USART1, uarta_baud, "UARTA");
}
if (uartb_usart.configure_telemetry_radio_on_boot) {
radio_preconfigure_hook(USART3, uartb_baud, "UARTB");
}
}
/* UARTA (USART1) TX - DMA2, stream 7, channel 4. */
usart_tx_dma_setup(&uarta_state.tx, USART1, DMA2, 7, 4);
/* UARTA (USART1) RX - DMA2, stream 2, channel 4. */
usart_rx_dma_setup(&uarta_state.rx, USART1, DMA2, 2, 4);
chBSemInit(&uarta_state.claimed, FALSE);
uarta_state.configured = true;
/* UARTB (USART3) TX - DMA1, stream 3, channel 4. */
usart_tx_dma_setup(&uartb_state.tx, USART3, DMA1, 3, 4);
/* UARTB (USART3) RX - DMA1, stream 1, channel 4. */
usart_rx_dma_setup(&uartb_state.rx, USART3, DMA1, 1, 4);
chBSemInit(&uartb_state.claimed, FALSE);
uartb_state.configured = true;
all_uarts_enabled = true;
}
