mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
escprog inverted output support
multiport test, usage "escprog ki 255"
This commit is contained in:
Sami Korhonen
parent
9124c496b6
commit
d2981cd704
2 changed files with 140 additions and 57 deletions
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@ -17,6 +17,7 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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@ -25,6 +26,13 @@ typedef enum {
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BAUDRATE_KISS = 38400
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} escBaudRate_e;
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typedef enum {
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PROTOCOL_SIMONK = 0,
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PROTOCOL_BLHELI = 1,
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PROTOCOL_KISS = 2,
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PROTOCOL_KISSALL = 3
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} escProtocol_e;
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#if defined(USE_ESCSERIAL)
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#include "build/build_config.h"
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@ -80,11 +88,19 @@ typedef struct escSerial_s {
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uint8_t escSerialPortIndex;
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uint8_t mode;
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uint8_t outputCount;
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timerCCHandlerRec_t timerCb;
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timerCCHandlerRec_t edgeCb;
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} escSerial_t;
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typedef struct {
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IO_t io;
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uint8_t inverted;
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} escOutputs_t;
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escOutputs_t escOutputs[MAX_SUPPORTED_MOTORS];
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extern timerHardware_t* serialTimerHardware;
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extern escSerial_t escSerialPorts[];
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@ -97,15 +113,37 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialTimerBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
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static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
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void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
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{
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if((escSerial->mode = PROTOCOL_KISSALL))
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{
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for (volatile uint8_t i = 0; i < escSerial->outputCount; i++) {
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uint8_t state_temp = state;
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if(escOutputs[i].inverted) {
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state_temp ^= ENABLE;
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}
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if (state_temp) {
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IOHi(escOutputs[i].io);
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} else {
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IOLo(escOutputs[i].io);
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}
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}
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}
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else
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{
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if(escSerial->rxTimerHardware->output & TIMER_OUTPUT_INVERTED) {
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state ^= ENABLE;
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}
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if (state) {
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IOHi(escSerial->txIO);
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} else {
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IOLo(escSerial->txIO);
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}
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}
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}
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static void escSerialGPIOConfig(ioTag_t tag, ioConfig_t cfg)
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@ -118,7 +156,7 @@ static void escSerialGPIOConfig(ioTag_t tag, ioConfig_t cfg)
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IOConfigGPIO(IOGetByTag(tag), cfg);
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}
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void serialInputPortConfigEsc(const timerHardware_t *timerHardwarePtr)
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void escSerialInputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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#ifdef STM32F10X
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_IPU);
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@ -164,12 +202,12 @@ static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8
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uint8_t mhz = SystemCoreClock / 2000000;
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TIM_DeInit(timerHardwarePtr->tim);
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timerConfigure(timerHardwarePtr, 0xFFFF, mhz);
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serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeBL);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
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}
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static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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static void escSerialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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{
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uint32_t timerPeriod=34;
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TIM_DeInit(timerHardwarePtr->tim);
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@ -178,7 +216,7 @@ static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
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}
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static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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@ -192,17 +230,17 @@ static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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static void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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static void escSerialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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{
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// start bit is usually a FALLING signal
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TIM_DeInit(timerHardwarePtr->tim);
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timerConfigure(timerHardwarePtr, 0xFFFF, 1);
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serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeEsc);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
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}
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static void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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static void escSerialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_OUT_PP);
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timerChITConfig(timerHardwarePtr,DISABLE);
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@ -225,7 +263,11 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
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{
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escSerial_t *escSerial = &(escSerialPorts[portIndex]);
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if(mode != PROTOCOL_KISSALL){
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escSerial->rxTimerHardware = &(timerHardware[output]);
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}
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escSerial->mode = mode;
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escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
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escSerial->port.vTable = escSerialVTable;
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@ -247,30 +289,56 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
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escSerial->escSerialPortIndex = portIndex;
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if(mode != PROTOCOL_KISSALL)
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{
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escSerial->txIO = IOGetByTag(escSerial->rxTimerHardware->tag);
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serialInputPortConfigEsc(escSerial->rxTimerHardware);
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escSerialInputPortConfig(escSerial->rxTimerHardware);
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setTxSignalEsc(escSerial, ENABLE);
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}
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delay(50);
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if(mode==0){
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serialTimerTxConfig(escSerial->txTimerHardware, portIndex);
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serialTimerRxConfig(escSerial->rxTimerHardware, portIndex);
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if(mode==PROTOCOL_SIMONK){
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escSerialTimerTxConfig(escSerial->txTimerHardware, portIndex);
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escSerialTimerRxConfig(escSerial->rxTimerHardware, portIndex);
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}
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else if(mode==1){
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else if(mode==PROTOCOL_BLHELI){
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serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
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serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options);
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}
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else if(mode==2) {
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serialOutputPortConfig(escSerial->rxTimerHardware); // rx is the pin used
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else if(mode==PROTOCOL_KISS) {
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escSerialOutputPortConfig(escSerial->rxTimerHardware); // rx is the pin used
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serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
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}
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else if(mode==PROTOCOL_KISSALL) {
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escSerial->outputCount = 0;
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memset(&escOutputs, 0, sizeof(escOutputs));
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pwmOutputPort_t *pwmMotors = pwmGetMotors();
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for (volatile uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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if (pwmMotors[i].enabled) {
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if (pwmMotors[i].io != IO_NONE) {
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for (volatile uint8_t j = 0; j < USABLE_TIMER_CHANNEL_COUNT; j++) {
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if(pwmMotors[i].io == IOGetByTag(timerHardware[j].tag))
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{
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escSerialOutputPortConfig(&timerHardware[j]);
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if(timerHardware[j].output & TIMER_OUTPUT_INVERTED) {
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escOutputs[escSerial->outputCount].inverted = 1;
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}
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break;
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}
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}
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escOutputs[escSerial->outputCount].io = pwmMotors[i].io;
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escSerial->outputCount++;
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}
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}
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}
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setTxSignalEsc(escSerial, ENABLE);
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serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
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}
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escSerial->mode = mode;
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return &escSerial->port;
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}
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void serialInputPortDeConfig(const timerHardware_t *timerHardwarePtr)
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void escSerialInputPortDeConfig(const timerHardware_t *timerHardwarePtr)
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{
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timerChClearCCFlag(timerHardwarePtr);
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timerChITConfig(timerHardwarePtr,DISABLE);
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@ -284,7 +352,7 @@ void closeEscSerial(escSerialPortIndex_e portIndex, uint16_t output)
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escSerial->rxTimerHardware = &(timerHardware[output]);
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escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
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serialInputPortDeConfig(escSerial->rxTimerHardware);
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escSerialInputPortDeConfig(escSerial->rxTimerHardware);
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timerChConfigCallbacks(escSerial->txTimerHardware,NULL,NULL);
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timerChConfigCallbacks(escSerial->rxTimerHardware,NULL,NULL);
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TIM_DeInit(escSerial->txTimerHardware->tim);
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@ -339,7 +407,7 @@ reload:
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escSerial->isTransmittingData = true;
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//set output
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serialOutputPortConfig(escSerial->rxTimerHardware);
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escSerialOutputPortConfig(escSerial->rxTimerHardware);
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return;
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}
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@ -383,7 +451,7 @@ reload:
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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escSerial->isTransmittingData = false;
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serialInputPortConfigEsc(escSerial->rxTimerHardware);
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escSerialInputPortConfig(escSerial->rxTimerHardware);
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}
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}
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@ -417,7 +485,9 @@ void processTxStateBL(escSerial_t *escSerial)
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//set output
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serialOutputPortConfig(escSerial->rxTimerHardware);
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if(escSerial->mode==PROTOCOL_BLHELI) {
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escSerialOutputPortConfig(escSerial->rxTimerHardware);
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}
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return;
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}
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@ -432,9 +502,9 @@ void processTxStateBL(escSerial_t *escSerial)
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escSerial->isTransmittingData = false;
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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if(escSerial->mode==1)
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if(escSerial->mode==PROTOCOL_BLHELI)
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{
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serialInputPortConfigEsc(escSerial->rxTimerHardware);
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escSerialInputPortConfig(escSerial->rxTimerHardware);
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}
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}
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}
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@ -463,7 +533,7 @@ void prepareForNextRxByteBL(escSerial_t *escSerial)
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escSerial->isSearchingForStartBit = true;
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if (escSerial->rxEdge == LEADING) {
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escSerial->rxEdge = TRAILING;
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serialICConfig(
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escSerialICConfig(
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escSerial->rxTimerHardware->tim,
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escSerial->rxTimerHardware->channel,
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(escSerial->port.options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
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@ -551,7 +621,7 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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escSerial->transmissionErrors++;
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}
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serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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escSerial->rxEdge = LEADING;
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escSerial->rxBitIndex = 0;
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@ -569,10 +639,10 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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if (escSerial->rxEdge == TRAILING) {
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escSerial->rxEdge = LEADING;
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serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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} else {
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escSerial->rxEdge = TRAILING;
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serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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}
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}
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/*-------------------------BL*/
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@ -605,7 +675,7 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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{
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escSerial->isReceivingData=0;
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escSerial->receiveTimeout=0;
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serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
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}
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}
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@ -655,7 +725,7 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture
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bits=1;
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escSerial->internalRxBuffer = 0x80;
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serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
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}
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}
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escSerial->receiveTimeout = 0;
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@ -763,7 +833,7 @@ void escSerialInitialize()
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for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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// set outputs to pullup
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if(timerHardware[i].output==1)
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if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
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{
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escSerialGPIOConfig(timerHardware[i].tag, IOCFG_IPU); //GPIO_Mode_IPU
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}
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@ -844,15 +914,23 @@ static bool ProcessExitCommand(uint8_t c)
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void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uint8_t mode)
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{
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bool exitEsc = false;
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uint8_t motor_output = 0;
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LED0_OFF;
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LED1_OFF;
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//StopPwmAllMotors();
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pwmDisableMotors();
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passPort = escPassthroughPort;
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uint32_t escBaudrate = (mode == PROTOCOL_KISS) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
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if((mode == PROTOCOL_KISS) && (output == 255)){
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motor_output = 255;
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mode = PROTOCOL_KISSALL;
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}
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else {
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uint8_t first_output = 0;
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for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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if(timerHardware[i].output==1)
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if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
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{
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first_output=i;
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break;
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@ -860,11 +938,10 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
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}
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//doesn't work with messy timertable
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uint8_t motor_output=first_output+output-1;
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motor_output=first_output+output-1;
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if(motor_output >=USABLE_TIMER_CHANNEL_COUNT)
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return;
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uint32_t escBaudrate = (mode == 2) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
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}
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escPort = openEscSerial(ESCSERIAL1, NULL, motor_output, escBaudrate, 0, mode);
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uint8_t ch;
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@ -898,7 +975,7 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
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closeEscSerial(ESCSERIAL1, output);
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return;
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}
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if(mode==1){
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if(mode==PROTOCOL_BLHELI){
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serialWrite(escPassthroughPort, ch); // blheli loopback
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}
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serialWrite(escPort, ch);
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@ -3000,6 +3000,11 @@ static void cliEscPassthrough(char *cmdline)
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break;
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case 1:
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index = atoi(pch);
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if(mode == 2 && index == 255)
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{
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printf("passthru on all pwm outputs enabled\r\n");
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}
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else{
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if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
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printf("passthru at pwm output %d enabled\r\n", index);
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}
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@ -3007,6 +3012,7 @@ static void cliEscPassthrough(char *cmdline)
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printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
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return;
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}
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}
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break;
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}
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i++;
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