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
|
|
@ -17,6 +17,7 @@
|
|||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
|
|
@ -25,6 +26,13 @@ typedef enum {
|
|||
BAUDRATE_KISS = 38400
|
||||
} escBaudRate_e;
|
||||
|
||||
typedef enum {
|
||||
PROTOCOL_SIMONK = 0,
|
||||
PROTOCOL_BLHELI = 1,
|
||||
PROTOCOL_KISS = 2,
|
||||
PROTOCOL_KISSALL = 3
|
||||
} escProtocol_e;
|
||||
|
||||
#if defined(USE_ESCSERIAL)
|
||||
|
||||
#include "build/build_config.h"
|
||||
|
|
@ -80,11 +88,19 @@ typedef struct escSerial_s {
|
|||
|
||||
uint8_t escSerialPortIndex;
|
||||
uint8_t mode;
|
||||
uint8_t outputCount;
|
||||
|
||||
timerCCHandlerRec_t timerCb;
|
||||
timerCCHandlerRec_t edgeCb;
|
||||
} escSerial_t;
|
||||
|
||||
typedef struct {
|
||||
IO_t io;
|
||||
uint8_t inverted;
|
||||
} escOutputs_t;
|
||||
|
||||
escOutputs_t escOutputs[MAX_SUPPORTED_MOTORS];
|
||||
|
||||
extern timerHardware_t* serialTimerHardware;
|
||||
extern escSerial_t escSerialPorts[];
|
||||
|
||||
|
|
@ -97,14 +113,36 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
|
|||
void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
|
||||
void onSerialTimerBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
|
||||
void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
|
||||
static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
|
||||
static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
|
||||
|
||||
void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
|
||||
{
|
||||
if (state) {
|
||||
IOHi(escSerial->txIO);
|
||||
} else {
|
||||
IOLo(escSerial->txIO);
|
||||
if((escSerial->mode = PROTOCOL_KISSALL))
|
||||
{
|
||||
for (volatile uint8_t i = 0; i < escSerial->outputCount; i++) {
|
||||
uint8_t state_temp = state;
|
||||
if(escOutputs[i].inverted) {
|
||||
state_temp ^= ENABLE;
|
||||
}
|
||||
|
||||
if (state_temp) {
|
||||
IOHi(escOutputs[i].io);
|
||||
} else {
|
||||
IOLo(escOutputs[i].io);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(escSerial->rxTimerHardware->output & TIMER_OUTPUT_INVERTED) {
|
||||
state ^= ENABLE;
|
||||
}
|
||||
|
||||
if (state) {
|
||||
IOHi(escSerial->txIO);
|
||||
} else {
|
||||
IOLo(escSerial->txIO);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -118,7 +156,7 @@ static void escSerialGPIOConfig(ioTag_t tag, ioConfig_t cfg)
|
|||
IOConfigGPIO(IOGetByTag(tag), cfg);
|
||||
}
|
||||
|
||||
void serialInputPortConfigEsc(const timerHardware_t *timerHardwarePtr)
|
||||
void escSerialInputPortConfig(const timerHardware_t *timerHardwarePtr)
|
||||
{
|
||||
#ifdef STM32F10X
|
||||
escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_IPU);
|
||||
|
|
@ -164,12 +202,12 @@ static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8
|
|||
uint8_t mhz = SystemCoreClock / 2000000;
|
||||
TIM_DeInit(timerHardwarePtr->tim);
|
||||
timerConfigure(timerHardwarePtr, 0xFFFF, mhz);
|
||||
serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeBL);
|
||||
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
|
||||
}
|
||||
|
||||
static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
|
||||
static void escSerialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
|
||||
{
|
||||
uint32_t timerPeriod=34;
|
||||
TIM_DeInit(timerHardwarePtr->tim);
|
||||
|
|
@ -178,7 +216,7 @@ static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t
|
|||
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
|
||||
}
|
||||
|
||||
static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
|
||||
static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
|
||||
{
|
||||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||||
|
||||
|
|
@ -192,17 +230,17 @@ static void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
|
|||
TIM_ICInit(tim, &TIM_ICInitStructure);
|
||||
}
|
||||
|
||||
static void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
|
||||
static void escSerialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
|
||||
{
|
||||
// start bit is usually a FALLING signal
|
||||
TIM_DeInit(timerHardwarePtr->tim);
|
||||
timerConfigure(timerHardwarePtr, 0xFFFF, 1);
|
||||
serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
|
||||
escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
|
||||
timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeEsc);
|
||||
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
|
||||
}
|
||||
|
||||
static void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
|
||||
static void escSerialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
|
||||
{
|
||||
escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_OUT_PP);
|
||||
timerChITConfig(timerHardwarePtr,DISABLE);
|
||||
|
|
@ -225,7 +263,11 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
|
|||
{
|
||||
escSerial_t *escSerial = &(escSerialPorts[portIndex]);
|
||||
|
||||
escSerial->rxTimerHardware = &(timerHardware[output]);
|
||||
if(mode != PROTOCOL_KISSALL){
|
||||
escSerial->rxTimerHardware = &(timerHardware[output]);
|
||||
}
|
||||
|
||||
escSerial->mode = mode;
|
||||
escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
|
||||
|
||||
escSerial->port.vTable = escSerialVTable;
|
||||
|
|
@ -247,30 +289,56 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
|
|||
|
||||
escSerial->escSerialPortIndex = portIndex;
|
||||
|
||||
escSerial->txIO = IOGetByTag(escSerial->rxTimerHardware->tag);
|
||||
serialInputPortConfigEsc(escSerial->rxTimerHardware);
|
||||
|
||||
setTxSignalEsc(escSerial, ENABLE);
|
||||
if(mode != PROTOCOL_KISSALL)
|
||||
{
|
||||
escSerial->txIO = IOGetByTag(escSerial->rxTimerHardware->tag);
|
||||
escSerialInputPortConfig(escSerial->rxTimerHardware);
|
||||
setTxSignalEsc(escSerial, ENABLE);
|
||||
}
|
||||
delay(50);
|
||||
|
||||
if(mode==0){
|
||||
serialTimerTxConfig(escSerial->txTimerHardware, portIndex);
|
||||
serialTimerRxConfig(escSerial->rxTimerHardware, portIndex);
|
||||
if(mode==PROTOCOL_SIMONK){
|
||||
escSerialTimerTxConfig(escSerial->txTimerHardware, portIndex);
|
||||
escSerialTimerRxConfig(escSerial->rxTimerHardware, portIndex);
|
||||
}
|
||||
else if(mode==1){
|
||||
else if(mode==PROTOCOL_BLHELI){
|
||||
serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
|
||||
serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options);
|
||||
}
|
||||
else if(mode==2) {
|
||||
serialOutputPortConfig(escSerial->rxTimerHardware); // rx is the pin used
|
||||
else if(mode==PROTOCOL_KISS) {
|
||||
escSerialOutputPortConfig(escSerial->rxTimerHardware); // rx is the pin used
|
||||
serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
|
||||
}
|
||||
else if(mode==PROTOCOL_KISSALL) {
|
||||
escSerial->outputCount = 0;
|
||||
memset(&escOutputs, 0, sizeof(escOutputs));
|
||||
pwmOutputPort_t *pwmMotors = pwmGetMotors();
|
||||
for (volatile uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
|
||||
if (pwmMotors[i].enabled) {
|
||||
if (pwmMotors[i].io != IO_NONE) {
|
||||
for (volatile uint8_t j = 0; j < USABLE_TIMER_CHANNEL_COUNT; j++) {
|
||||
if(pwmMotors[i].io == IOGetByTag(timerHardware[j].tag))
|
||||
{
|
||||
escSerialOutputPortConfig(&timerHardware[j]);
|
||||
if(timerHardware[j].output & TIMER_OUTPUT_INVERTED) {
|
||||
escOutputs[escSerial->outputCount].inverted = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
escOutputs[escSerial->outputCount].io = pwmMotors[i].io;
|
||||
escSerial->outputCount++;
|
||||
}
|
||||
}
|
||||
}
|
||||
setTxSignalEsc(escSerial, ENABLE);
|
||||
serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
|
||||
}
|
||||
escSerial->mode = mode;
|
||||
return &escSerial->port;
|
||||
}
|
||||
|
||||
|
||||
void serialInputPortDeConfig(const timerHardware_t *timerHardwarePtr)
|
||||
void escSerialInputPortDeConfig(const timerHardware_t *timerHardwarePtr)
|
||||
{
|
||||
timerChClearCCFlag(timerHardwarePtr);
|
||||
timerChITConfig(timerHardwarePtr,DISABLE);
|
||||
|
|
@ -284,7 +352,7 @@ void closeEscSerial(escSerialPortIndex_e portIndex, uint16_t output)
|
|||
|
||||
escSerial->rxTimerHardware = &(timerHardware[output]);
|
||||
escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
|
||||
serialInputPortDeConfig(escSerial->rxTimerHardware);
|
||||
escSerialInputPortDeConfig(escSerial->rxTimerHardware);
|
||||
timerChConfigCallbacks(escSerial->txTimerHardware,NULL,NULL);
|
||||
timerChConfigCallbacks(escSerial->rxTimerHardware,NULL,NULL);
|
||||
TIM_DeInit(escSerial->txTimerHardware->tim);
|
||||
|
|
@ -339,7 +407,7 @@ reload:
|
|||
escSerial->isTransmittingData = true;
|
||||
|
||||
//set output
|
||||
serialOutputPortConfig(escSerial->rxTimerHardware);
|
||||
escSerialOutputPortConfig(escSerial->rxTimerHardware);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -383,7 +451,7 @@ reload:
|
|||
|
||||
if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
|
||||
escSerial->isTransmittingData = false;
|
||||
serialInputPortConfigEsc(escSerial->rxTimerHardware);
|
||||
escSerialInputPortConfig(escSerial->rxTimerHardware);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -417,7 +485,9 @@ void processTxStateBL(escSerial_t *escSerial)
|
|||
|
||||
|
||||
//set output
|
||||
serialOutputPortConfig(escSerial->rxTimerHardware);
|
||||
if(escSerial->mode==PROTOCOL_BLHELI) {
|
||||
escSerialOutputPortConfig(escSerial->rxTimerHardware);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -432,9 +502,9 @@ void processTxStateBL(escSerial_t *escSerial)
|
|||
|
||||
escSerial->isTransmittingData = false;
|
||||
if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
|
||||
if(escSerial->mode==1)
|
||||
if(escSerial->mode==PROTOCOL_BLHELI)
|
||||
{
|
||||
serialInputPortConfigEsc(escSerial->rxTimerHardware);
|
||||
escSerialInputPortConfig(escSerial->rxTimerHardware);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -463,7 +533,7 @@ void prepareForNextRxByteBL(escSerial_t *escSerial)
|
|||
escSerial->isSearchingForStartBit = true;
|
||||
if (escSerial->rxEdge == LEADING) {
|
||||
escSerial->rxEdge = TRAILING;
|
||||
serialICConfig(
|
||||
escSerialICConfig(
|
||||
escSerial->rxTimerHardware->tim,
|
||||
escSerial->rxTimerHardware->channel,
|
||||
(escSerial->port.options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
|
||||
|
|
@ -551,7 +621,7 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|||
escSerial->transmissionErrors++;
|
||||
}
|
||||
|
||||
serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
escSerial->rxEdge = LEADING;
|
||||
|
||||
escSerial->rxBitIndex = 0;
|
||||
|
|
@ -569,10 +639,10 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|||
|
||||
if (escSerial->rxEdge == TRAILING) {
|
||||
escSerial->rxEdge = LEADING;
|
||||
serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
||||
} else {
|
||||
escSerial->rxEdge = TRAILING;
|
||||
serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
||||
}
|
||||
}
|
||||
/*-------------------------BL*/
|
||||
|
|
@ -605,7 +675,7 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|||
{
|
||||
escSerial->isReceivingData=0;
|
||||
escSerial->receiveTimeout=0;
|
||||
serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
|
||||
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -655,7 +725,7 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture
|
|||
bits=1;
|
||||
escSerial->internalRxBuffer = 0x80;
|
||||
|
||||
serialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
|
||||
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
|
||||
}
|
||||
}
|
||||
escSerial->receiveTimeout = 0;
|
||||
|
|
@ -763,7 +833,7 @@ void escSerialInitialize()
|
|||
|
||||
for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
|
||||
// set outputs to pullup
|
||||
if(timerHardware[i].output==1)
|
||||
if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
|
||||
{
|
||||
escSerialGPIOConfig(timerHardware[i].tag, IOCFG_IPU); //GPIO_Mode_IPU
|
||||
}
|
||||
|
|
@ -844,27 +914,34 @@ static bool ProcessExitCommand(uint8_t c)
|
|||
void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uint8_t mode)
|
||||
{
|
||||
bool exitEsc = false;
|
||||
uint8_t motor_output = 0;
|
||||
LED0_OFF;
|
||||
LED1_OFF;
|
||||
//StopPwmAllMotors();
|
||||
pwmDisableMotors();
|
||||
passPort = escPassthroughPort;
|
||||
|
||||
uint8_t first_output = 0;
|
||||
for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
|
||||
if(timerHardware[i].output==1)
|
||||
{
|
||||
first_output=i;
|
||||
break;
|
||||
}
|
||||
uint32_t escBaudrate = (mode == PROTOCOL_KISS) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
|
||||
|
||||
if((mode == PROTOCOL_KISS) && (output == 255)){
|
||||
motor_output = 255;
|
||||
mode = PROTOCOL_KISSALL;
|
||||
}
|
||||
else {
|
||||
uint8_t first_output = 0;
|
||||
for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
|
||||
if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
|
||||
{
|
||||
first_output=i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//doesn't work with messy timertable
|
||||
uint8_t motor_output=first_output+output-1;
|
||||
if(motor_output >=USABLE_TIMER_CHANNEL_COUNT)
|
||||
return;
|
||||
|
||||
uint32_t escBaudrate = (mode == 2) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
|
||||
//doesn't work with messy timertable
|
||||
motor_output=first_output+output-1;
|
||||
if(motor_output >=USABLE_TIMER_CHANNEL_COUNT)
|
||||
return;
|
||||
}
|
||||
|
||||
escPort = openEscSerial(ESCSERIAL1, NULL, motor_output, escBaudrate, 0, mode);
|
||||
uint8_t ch;
|
||||
|
|
@ -898,7 +975,7 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
|
|||
closeEscSerial(ESCSERIAL1, output);
|
||||
return;
|
||||
}
|
||||
if(mode==1){
|
||||
if(mode==PROTOCOL_BLHELI){
|
||||
serialWrite(escPassthroughPort, ch); // blheli loopback
|
||||
}
|
||||
serialWrite(escPort, ch);
|
||||
|
|
|
|||
|
|
@ -3000,12 +3000,18 @@ static void cliEscPassthrough(char *cmdline)
|
|||
break;
|
||||
case 1:
|
||||
index = atoi(pch);
|
||||
if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
|
||||
printf("passthru at pwm output %d enabled\r\n", index);
|
||||
if(mode == 2 && index == 255)
|
||||
{
|
||||
printf("passthru on all pwm outputs enabled\r\n");
|
||||
}
|
||||
else {
|
||||
printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
|
||||
return;
|
||||
else{
|
||||
if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
|
||||
printf("passthru at pwm output %d enabled\r\n", index);
|
||||
}
|
||||
else {
|
||||
printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
|
||||
return;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue