AP_HAL_FLYMAPLE: UARTDriver now uses the new libmaple tx ring buffers
This requires the libmaple fork at https://github.com/mikemccauley/libmaple.git which includes low level support for buffered usart transmits
This commit is contained in:
Mike McCauley
Andrew Tridgell
parent
11317dcec4
commit
84edbb335a
@ -120,162 +120,6 @@ arm-none-eabi-g++ toolchain, version 4.4.1
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on OpenSuSE 12.3
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Mission Planner 1.2.78
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You need a number of additional resources to build ArduPlaneardupilot tree, the changes have been #ifdefed for
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Flymaple:
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- libraries/AP_Compass/AP_Compass_HMC5843.cpp
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- libraries/AP_Compass/Compass.h
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- libraries/AP_Baro/AP_Baro_BMP085.cpp
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Minor changes to raw data fetches to make them 32bit compatible. Should not
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affect other platforms.
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Some other minor edits to eliminate compiler warnings
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These changes have now all been included in the ardupilot mainline code.
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Resource usage
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Resources on the Flymaple board have been allocated by the HAL:
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Pins
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0 AP GPS on Flymaple Serial2 Rx in. This is where you connect the
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GPS. 3.3V only, NOT 5V tolerant
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1 AP GPS on Flymaple Serial2 Tx out. This is where you connect the GPS.
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3.3V
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5 I2C SCL. Do not use for GPIO.
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6 Receiver PPM in
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7 Console and Mavlink on Flymaple Serial1 Rx in. Also on connector
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"COM1". 5V tolerant.
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8 Console and Mavlink on Flymaple Serial1 Tx out. Also on connector
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"COM1". 3.3V
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9 I2C SDA. Do not use for GPIO
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15 3.3V board VCC analog in. Connect to 3.3V pin.
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16 Airspeed analog in (if available). 3.3V, NOT 5V tolerant.
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19 Battery current analog in (if available). 3.3V, NOT 5V tolerant.
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20 Battery voltage analog in (on-board divider connected to board VIN)
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29 Telemetry Tx to radio on Serial3 on connector labelled "GPS". 3.3V
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30 Telemetry Rx from radio on Serial3 on connector labelled "GPS". 5V tolerant.
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Timers
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SysTick 1000Hz normal timers
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1 CH1 RCInput
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2 CH1 1000Hz Failsafe timer
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3 CH1-4, 4 CH1-2 RCOut
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8 not used by AP
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The I2CDriver on Flymaple uses the libmaple i2c low level hardware I2C
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library, configuredfor high speed (400kHz).
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As at 2013-10-03, there is a bug in the libmaple git master code, that causes
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a crash in the I2C interrupt handler. Therfore it is necessary to use the
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patched version of libmaple referred to below.
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At 400kHz I2C speed, it takes 500us to read both the 6 byte accelerometer
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buffer and the the 6 byte gyro buffer.
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The SerialUSB (USB connection) to Flymaple is not used by AP. It can be used for
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debugging inside AP_HAL_FLYMAPLE, using SerialUSB.println().
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Sensor configuration
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The sensors are configured so:
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ADXL345 Accelerometer
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8g full scale, full resolution mode, 800Hz bandwidth, read at 1kHz sample rate
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per sec
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ITG3205 Gyro
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2000 degrees/sec, 256Hz LPF, 8kHz internal sample rate, read at 1kHz sample rate
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The gyro and accelerometers are sampled at about 800Hz in
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AP_InertialSensor_Flymaple.cpp, with the samples passed through a software
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2-pole low pass filter, to produce filtered data for the main loop.
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Installation on Linux
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Tested with:
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libmaple patched library based on https://github.com/leaflabs/libmaple http://leaflabs.com/docs/unix-toolchain.html
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arm-none-eabi-g++ toolchain, version 4.4.1
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on OpenSuSE 12.3
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Mission Planner 1.2.78
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You need a number of additional resources to build ArduPlanardupilot tree, the changes have been #ifdefed for
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Flymaple:
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- libraries/AP_Compass/AP_Compass_HMC5843.cpp
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- libraries/AP_Compass/Compass.h
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- libraries/AP_Baro/AP_Baro_BMP085.cpp
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Minor changes to raw data fetches to make them 32bit compatible. Should not
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affect other platforms.
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Some other minor edits to eliminate compiler warnings
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These changes have now all been included in the ardupilot mainline code.
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Resource usage
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Resources on the Flymaple board have been allocated by the HAL:
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Pins
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0 AP GPS on Flymaple Serial2 Rx in. This is where you connect the
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GPS. 3.3V only, NOT 5V tolerant
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1 AP GPS on Flymaple Serial2 Tx out. This is where you connect the GPS.
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3.3V
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5 I2C SCL. Do not use for GPIO.
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6 Receiver PPM in
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7 Console and Mavlink on Flymaple Serial1 Rx in. Also on connector
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"COM1". 5V tolerant.
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8 Console and Mavlink on Flymaple Serial1 Tx out. Also on connector
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"COM1". 3.3V
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9 I2C SDA. Do not use for GPIO
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15 3.3V board VCC analog in. Connect to 3.3V pin.
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16 Airspeed analog in (if available). 3.3V, NOT 5V tolerant.
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19 Battery current analog in (if available). 3.3V, NOT 5V tolerant.
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20 Battery voltage analog in (on-board divider connected to board VIN)
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29 Telemetry Tx to radio on Serial3 on connector labelled "GPS". 3.3V
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30 Telemetry Rx from radio on Serial3 on connector labelled "GPS". 5V tolerant.
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Timers
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SysTick 1000Hz normal timers
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1 CH1 RCInput
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2 CH1 1000Hz Failsafe timer
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3 CH1-4, 4 CH1-2 RCOut
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8 not used by AP
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The I2CDriver on Flymaple uses the libmaple i2c low level hardware I2C
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library, configuredfor high speed (400kHz).
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As at 2013-10-03, there is a bug in the libmaple git master code, that causes
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a crash in the I2C interrupt handler. Therfore it is necessary to use the
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patched version of libmaple referred to below.
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At 400kHz I2C speed, it takes 500us to read both the 6 byte accelerometer
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buffer and the the 6 byte gyro buffer.
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The SerialUSB (USB connection) to Flymaple is not used by AP. It can be used for
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debugging inside AP_HAL_FLYMAPLE, using SerialUSB.println().
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Sensor configuration
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The sensors are configured so:
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ADXL345 Accelerometer
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8g full scale, full resolution mode, 800Hz bandwidth, read at 1kHz sample rate
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per sec
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ITG3205 Gyro
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2000 degrees/sec, 256Hz LPF, 8kHz internal sample rate, read at 1kHz sample rate
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The gyro and accelerometers are sampled at about 800Hz in
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AP_InertialSensor_Flymaple.cpp, with the samples passed through a software
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2-pole low pass filter, to produce filtered data for the main loop.
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Installation on Linux
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Tested with:
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libmaple patched library based on https://github.com/leaflabs/libmaple http://leaflabs.com/docs/unix-toolchain.html
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arm-none-eabi-g++ toolchain, version 4.4.1
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on OpenSuSE 12.3
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Mission Planner 1.2.78
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You need a number of additional resources to build ardupilot for Flymaple. I
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have assumed that you will install them in your home directory, but they can really
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go anywhere provided you make the appropriate changes to PATH and config.mk
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@ -315,6 +159,17 @@ cd ArduPlane
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make flymaple
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make upload
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Libmaple fork
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Correct compilation and operation of the Flymaple port depends on
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using the fork of libmaple from https://github.com/mikemccauley/libmaple.git
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The changes relative to the libmaple master are:
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- Add LIBMAPLE_VERSION_MAJOR and LIBMAPLE_VERSION_MINOR for version detection
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- Add TX ring buffer and interrupt handler to usart.c
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- Fix a bug in I2C interrupt handler that would crash in master mode
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Interrupt disabling on ARM
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On AVR, ISRs run by default with the global interrupt enable flag disabled,
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@ -14,6 +14,8 @@
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*/
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/*
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Flymaple port by Mike McCauley
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CAUTION: correct compilation and operation of this code depends on
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using the fork of libmaple from https://github.com/mikemccauley/libmaple.git
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*/
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#include <AP_HAL.h>
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@ -33,20 +35,24 @@ extern const AP_HAL::HAL& hal;
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FLYMAPLEUARTDriver::FLYMAPLEUARTDriver(HardwareSerial* hws):
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_hws(hws),
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_txBuf(NULL),
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_txBufSize(63) // libmaple usart default driver buffer of 63
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_txBufSize(63), // libmaple usart default driver buffer of 63
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_rxBuf(NULL),
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_rxBufSize(63) // libmaple usart default driver buffer of 63
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{}
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void FLYMAPLEUARTDriver::begin(uint32_t b)
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{
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_hws->begin(b);
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if (_txBuf)
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rb_init(_hws->c_dev()->rb, _txBufSize, _txBuf); // Get the ring buffer size we want
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rb_init(_hws->c_dev()->tx_rb, _txBufSize, _txBuf); // Get the TX ring buffer size we want
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if (_rxBuf)
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rb_init(_hws->c_dev()->rb, _rxBufSize, _rxBuf); // Get the RX ring buffer size we want
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}
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void FLYMAPLEUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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{
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// Our private buffer can only grow, never shrink
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// txS == 0 means no change to buffer size
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// Our private buffers can only grow, never shrink
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// rxS == 0 or txS == 0 means no change to buffer size
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if (txS && (txS > _txBufSize))
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{
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if (_txBuf)
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@ -54,9 +60,18 @@ void FLYMAPLEUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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_txBuf = (uint8_t*)malloc(txS);
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_txBufSize = txS;
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}
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if (rxS && (rxS > _rxBufSize))
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{
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if (_rxBuf)
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free(_rxBuf); // CAUTION: old contents lost
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_rxBuf = (uint8_t*)malloc(rxS);
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_rxBufSize = rxS;
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}
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begin(b); // libmaple internal ring buffer reinitialised to defaults here
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if (_txBuf)
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rb_init(_hws->c_dev()->rb, _txBufSize, _txBuf); // Get the ring buffer size we want
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rb_init(_hws->c_dev()->tx_rb, _txBufSize, _txBuf); // Get the TX ring buffer size we want
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if (_rxBuf)
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rb_init(_hws->c_dev()->rb, _rxBufSize, _rxBuf); // Get the RX ring buffer size we want
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}
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void FLYMAPLEUARTDriver::end()
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@ -86,9 +101,8 @@ int16_t FLYMAPLEUARTDriver::available()
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int16_t FLYMAPLEUARTDriver::txspace()
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{
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// Get available space from guts of HardwareSerial
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// CAUTION: dependent on implmentation of HardwareSerial
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return _hws->c_dev()->rb->size - rb_full_count(_hws->c_dev()->rb);
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// Mikems fork of libmaple includes usart TX buffering
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return _hws->c_dev()->tx_rb->size - rb_full_count(_hws->c_dev()->tx_rb);
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}
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int16_t FLYMAPLEUARTDriver::read()
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@ -99,7 +113,7 @@ int16_t FLYMAPLEUARTDriver::read()
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/* FLYMAPLE implementations of Print virtual methods */
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size_t FLYMAPLEUARTDriver::write(uint8_t c)
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{
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_hws->write(c);
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_hws->write(c);
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return 1;
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}
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@ -47,7 +47,9 @@ public:
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private:
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HardwareSerial* _hws;
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uint8_t* _txBuf; // If need more than libmaple usart driver buffer of 63
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uint16_t _txBufSize; // Allocated space in _txBuf
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uint16_t _txBufSize; // Allocated space in _rxBuf
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uint8_t* _rxBuf; // If need more than libmaple usart driver buffer of 63
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uint16_t _rxBufSize; // Allocated space in _rxBuf
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};
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#endif // __AP_HAL_FLYMAPLE_UARTDRIVER_H__
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