mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
1002 lines
29 KiB
C
1002 lines
29 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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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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typedef enum {
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BAUDRATE_NORMAL = 19200,
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BAUDRATE_KISS = 38400,
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BAUDRATE_CASTLE = 18880
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} escBaudRate_e;
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#if defined(USE_ESCSERIAL)
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#include "build/build_config.h"
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#include "build/atomic.h"
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#include "common/utils.h"
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#include "nvic.h"
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#include "system.h"
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#include "io.h"
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#include "timer.h"
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#include "serial.h"
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#include "serial_escserial.h"
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#include "drivers/light_led.h"
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#include "drivers/pwm_output.h"
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#include "io/serial.h"
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#include "flight/mixer.h"
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#define RX_TOTAL_BITS 10
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#define TX_TOTAL_BITS 10
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#define MAX_ESCSERIAL_PORTS 1
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static serialPort_t *escPort = NULL;
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static serialPort_t *passPort = NULL;
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typedef struct escSerial_s {
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serialPort_t port;
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IO_t rxIO;
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IO_t txIO;
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const timerHardware_t *rxTimerHardware;
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volatile uint8_t rxBuffer[ESCSERIAL_BUFFER_SIZE];
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const timerHardware_t *txTimerHardware;
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volatile uint8_t txBuffer[ESCSERIAL_BUFFER_SIZE];
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uint8_t isSearchingForStartBit;
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uint8_t rxBitIndex;
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uint8_t rxLastLeadingEdgeAtBitIndex;
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uint8_t rxEdge;
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uint8_t isTransmittingData;
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uint8_t isReceivingData;
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int8_t bitsLeftToTransmit;
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uint16_t internalTxBuffer; // includes start and stop bits
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uint16_t internalRxBuffer; // includes start and stop bits
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uint16_t receiveTimeout;
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uint16_t transmissionErrors;
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uint16_t receiveErrors;
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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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extern const struct serialPortVTable escSerialVTable[];
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escSerial_t escSerialPorts[MAX_ESCSERIAL_PORTS];
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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 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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{
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if (!tag) {
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return;
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}
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IOInit(IOGetByTag(tag), OWNER_MOTOR, 0);
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IOConfigGPIO(IOGetByTag(tag), cfg);
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}
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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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#else
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_AF_PP_UP);
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#endif
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timerChClearCCFlag(timerHardwarePtr);
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timerChITConfig(timerHardwarePtr,ENABLE);
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}
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static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
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{
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return timerPeriod > 0xFFFF;
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}
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static void serialTimerTxConfigBL(const timerHardware_t *timerHardwarePtr, uint8_t reference, uint32_t baud)
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{
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uint32_t clock = SystemCoreClock/2;
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uint32_t timerPeriod;
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TIM_DeInit(timerHardwarePtr->tim);
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do {
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timerPeriod = clock / baud;
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if (isTimerPeriodTooLarge(timerPeriod)) {
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if (clock > 1) {
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clock = clock / 2; // this is wrong - mhz stays the same ... This will double baudrate until ok (but minimum baudrate is < 1200)
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} else {
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// TODO unable to continue, unable to determine clock and timerPeriods for the given baud
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}
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}
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} while (isTimerPeriodTooLarge(timerPeriod));
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uint8_t mhz = clock / 1000000;
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timerConfigure(timerHardwarePtr, timerPeriod, mhz);
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timerChCCHandlerInit(&escSerialPorts[reference].timerCb, onSerialTimerBL);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
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}
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static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8_t reference, portOptions_t options)
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{
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// start bit is usually a FALLING signal
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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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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 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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timerConfigure(timerHardwarePtr, timerPeriod, 1);
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timerChCCHandlerInit(&escSerialPorts[reference].timerCb, onSerialTimerEsc);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
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}
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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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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = channel;
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TIM_ICInitStructure.TIM_ICPolarity = polarity;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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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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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 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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}
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static void resetBuffers(escSerial_t *escSerial)
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{
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escSerial->port.rxBufferSize = ESCSERIAL_BUFFER_SIZE;
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escSerial->port.rxBuffer = escSerial->rxBuffer;
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escSerial->port.rxBufferTail = 0;
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escSerial->port.rxBufferHead = 0;
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escSerial->port.txBuffer = escSerial->txBuffer;
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escSerial->port.txBufferSize = ESCSERIAL_BUFFER_SIZE;
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escSerial->port.txBufferTail = 0;
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escSerial->port.txBufferHead = 0;
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}
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serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbackPtr callback, uint16_t output, uint32_t baud, portOptions_t options, uint8_t mode)
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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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escSerial->port.baudRate = baud;
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escSerial->port.mode = MODE_RXTX;
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escSerial->port.options = options;
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escSerial->port.rxCallback = callback;
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resetBuffers(escSerial);
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escSerial->isTransmittingData = false;
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escSerial->isSearchingForStartBit = true;
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escSerial->rxBitIndex = 0;
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escSerial->transmissionErrors = 0;
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escSerial->receiveErrors = 0;
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escSerial->receiveTimeout = 0;
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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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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==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==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==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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else if(mode == PROTOCOL_CASTLE){
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escSerialOutputPortConfig(escSerial->rxTimerHardware);
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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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return &escSerial->port;
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}
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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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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_IPU);
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}
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void closeEscSerial(escSerialPortIndex_e portIndex, uint16_t output)
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{
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escSerial_t *escSerial = &(escSerialPorts[portIndex]);
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escSerial->rxTimerHardware = &(timerHardware[output]);
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escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
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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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TIM_DeInit(escSerial->rxTimerHardware->tim);
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}
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/*********************************************/
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void processTxStateEsc(escSerial_t *escSerial)
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{
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uint8_t mask;
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static uint8_t bitq=0, transmitStart=0;
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if (escSerial->isReceivingData) {
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return;
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}
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if(transmitStart==0)
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{
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setTxSignalEsc(escSerial, 1);
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}
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if (!escSerial->isTransmittingData) {
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char byteToSend;
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reload:
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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// canreceive
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transmitStart=0;
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return;
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}
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if(transmitStart<3)
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{
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if(transmitStart==0)
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byteToSend = 0xff;
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if(transmitStart==1)
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byteToSend = 0xff;
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if(transmitStart==2)
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byteToSend = 0x7f;
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transmitStart++;
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}
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else{
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// data to send
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byteToSend = escSerial->port.txBuffer[escSerial->port.txBufferTail++];
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if (escSerial->port.txBufferTail >= escSerial->port.txBufferSize) {
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escSerial->port.txBufferTail = 0;
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}
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}
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// build internal buffer, data bits (MSB to LSB)
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escSerial->internalTxBuffer = byteToSend;
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escSerial->bitsLeftToTransmit = 8;
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escSerial->isTransmittingData = true;
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//set output
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escSerialOutputPortConfig(escSerial->rxTimerHardware);
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return;
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}
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if (escSerial->bitsLeftToTransmit) {
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mask = escSerial->internalTxBuffer & 1;
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if(mask)
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{
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if(bitq==0 || bitq==1)
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{
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setTxSignalEsc(escSerial, 1);
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}
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if(bitq==2 || bitq==3)
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{
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setTxSignalEsc(escSerial, 0);
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}
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}
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else
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{
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if(bitq==0 || bitq==2)
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{
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setTxSignalEsc(escSerial, 1);
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}
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if(bitq==1 ||bitq==3)
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{
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setTxSignalEsc(escSerial, 0);
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}
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}
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bitq++;
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if(bitq>3)
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{
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escSerial->internalTxBuffer >>= 1;
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escSerial->bitsLeftToTransmit--;
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bitq=0;
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if(escSerial->bitsLeftToTransmit==0)
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{
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goto reload;
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}
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}
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return;
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}
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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escSerial->isTransmittingData = false;
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escSerialInputPortConfig(escSerial->rxTimerHardware);
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}
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}
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/*-----------------------BL*/
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/*********************************************/
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void processTxStateBL(escSerial_t *escSerial)
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{
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uint8_t mask;
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if (escSerial->isReceivingData) {
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return;
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}
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if (!escSerial->isTransmittingData) {
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char byteToSend;
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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// canreceive
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return;
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}
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// data to send
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byteToSend = escSerial->port.txBuffer[escSerial->port.txBufferTail++];
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if (escSerial->port.txBufferTail >= escSerial->port.txBufferSize) {
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escSerial->port.txBufferTail = 0;
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}
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// build internal buffer, MSB = Stop Bit (1) + data bits (MSB to LSB) + start bit(0) LSB
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escSerial->internalTxBuffer = (1 << (TX_TOTAL_BITS - 1)) | (byteToSend << 1);
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escSerial->bitsLeftToTransmit = TX_TOTAL_BITS;
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escSerial->isTransmittingData = true;
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//set output
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if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) {
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escSerialOutputPortConfig(escSerial->rxTimerHardware);
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}
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return;
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}
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if (escSerial->bitsLeftToTransmit) {
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mask = escSerial->internalTxBuffer & 1;
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escSerial->internalTxBuffer >>= 1;
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setTxSignalEsc(escSerial, mask);
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escSerial->bitsLeftToTransmit--;
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return;
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}
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escSerial->isTransmittingData = false;
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if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
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if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE)
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{
|
|
escSerialInputPortConfig(escSerial->rxTimerHardware);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
enum {
|
|
TRAILING,
|
|
LEADING
|
|
};
|
|
|
|
void applyChangedBitsBL(escSerial_t *escSerial)
|
|
{
|
|
if (escSerial->rxEdge == TRAILING) {
|
|
uint8_t bitToSet;
|
|
for (bitToSet = escSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < escSerial->rxBitIndex; bitToSet++) {
|
|
escSerial->internalRxBuffer |= 1 << bitToSet;
|
|
}
|
|
}
|
|
}
|
|
|
|
void prepareForNextRxByteBL(escSerial_t *escSerial)
|
|
{
|
|
// prepare for next byte
|
|
escSerial->rxBitIndex = 0;
|
|
escSerial->isSearchingForStartBit = true;
|
|
if (escSerial->rxEdge == LEADING) {
|
|
escSerial->rxEdge = TRAILING;
|
|
escSerialICConfig(
|
|
escSerial->rxTimerHardware->tim,
|
|
escSerial->rxTimerHardware->channel,
|
|
(escSerial->port.options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
|
|
);
|
|
}
|
|
}
|
|
|
|
#define STOP_BIT_MASK (1 << 0)
|
|
#define START_BIT_MASK (1 << (RX_TOTAL_BITS - 1))
|
|
|
|
void extractAndStoreRxByteBL(escSerial_t *escSerial)
|
|
{
|
|
if ((escSerial->port.mode & MODE_RX) == 0) {
|
|
return;
|
|
}
|
|
|
|
uint8_t haveStartBit = (escSerial->internalRxBuffer & START_BIT_MASK) == 0;
|
|
uint8_t haveStopBit = (escSerial->internalRxBuffer & STOP_BIT_MASK) == 1;
|
|
|
|
if (!haveStartBit || !haveStopBit) {
|
|
escSerial->receiveErrors++;
|
|
return;
|
|
}
|
|
|
|
uint8_t rxByte = (escSerial->internalRxBuffer >> 1) & 0xFF;
|
|
|
|
if (escSerial->port.rxCallback) {
|
|
escSerial->port.rxCallback(rxByte);
|
|
} else {
|
|
escSerial->port.rxBuffer[escSerial->port.rxBufferHead] = rxByte;
|
|
escSerial->port.rxBufferHead = (escSerial->port.rxBufferHead + 1) % escSerial->port.rxBufferSize;
|
|
}
|
|
}
|
|
|
|
void processRxStateBL(escSerial_t *escSerial)
|
|
{
|
|
if (escSerial->isSearchingForStartBit) {
|
|
return;
|
|
}
|
|
|
|
escSerial->rxBitIndex++;
|
|
|
|
if (escSerial->rxBitIndex == RX_TOTAL_BITS - 1) {
|
|
applyChangedBitsBL(escSerial);
|
|
return;
|
|
}
|
|
|
|
if (escSerial->rxBitIndex == RX_TOTAL_BITS) {
|
|
|
|
if (escSerial->rxEdge == TRAILING) {
|
|
escSerial->internalRxBuffer |= STOP_BIT_MASK;
|
|
}
|
|
|
|
extractAndStoreRxByteBL(escSerial);
|
|
prepareForNextRxByteBL(escSerial);
|
|
}
|
|
}
|
|
|
|
void onSerialTimerBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|
{
|
|
UNUSED(capture);
|
|
escSerial_t *escSerial = container_of(cbRec, escSerial_t, timerCb);
|
|
|
|
processTxStateBL(escSerial);
|
|
processRxStateBL(escSerial);
|
|
}
|
|
|
|
void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|
{
|
|
UNUSED(capture);
|
|
|
|
escSerial_t *escSerial = container_of(cbRec, escSerial_t, edgeCb);
|
|
bool inverted = escSerial->port.options & SERIAL_INVERTED;
|
|
|
|
if ((escSerial->port.mode & MODE_RX) == 0) {
|
|
return;
|
|
}
|
|
|
|
if (escSerial->isSearchingForStartBit) {
|
|
// synchronise bit counter
|
|
// FIXME this reduces functionality somewhat as receiving breaks concurrent transmission on all ports because
|
|
// the next callback to the onSerialTimer will happen too early causing transmission errors.
|
|
TIM_SetCounter(escSerial->txTimerHardware->tim, escSerial->txTimerHardware->tim->ARR / 2);
|
|
if (escSerial->isTransmittingData) {
|
|
escSerial->transmissionErrors++;
|
|
}
|
|
|
|
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
|
escSerial->rxEdge = LEADING;
|
|
|
|
escSerial->rxBitIndex = 0;
|
|
escSerial->rxLastLeadingEdgeAtBitIndex = 0;
|
|
escSerial->internalRxBuffer = 0;
|
|
escSerial->isSearchingForStartBit = false;
|
|
return;
|
|
}
|
|
|
|
if (escSerial->rxEdge == LEADING) {
|
|
escSerial->rxLastLeadingEdgeAtBitIndex = escSerial->rxBitIndex;
|
|
}
|
|
|
|
applyChangedBitsBL(escSerial);
|
|
|
|
if (escSerial->rxEdge == TRAILING) {
|
|
escSerial->rxEdge = LEADING;
|
|
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
|
|
} else {
|
|
escSerial->rxEdge = TRAILING;
|
|
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
|
|
}
|
|
}
|
|
/*-------------------------BL*/
|
|
|
|
void extractAndStoreRxByteEsc(escSerial_t *escSerial)
|
|
{
|
|
if ((escSerial->port.mode & MODE_RX) == 0) {
|
|
return;
|
|
}
|
|
|
|
uint8_t rxByte = (escSerial->internalRxBuffer) & 0xFF;
|
|
|
|
if (escSerial->port.rxCallback) {
|
|
escSerial->port.rxCallback(rxByte);
|
|
} else {
|
|
escSerial->port.rxBuffer[escSerial->port.rxBufferHead] = rxByte;
|
|
escSerial->port.rxBufferHead = (escSerial->port.rxBufferHead + 1) % escSerial->port.rxBufferSize;
|
|
}
|
|
}
|
|
|
|
void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|
{
|
|
UNUSED(capture);
|
|
escSerial_t *escSerial = container_of(cbRec, escSerial_t, timerCb);
|
|
|
|
if(escSerial->isReceivingData)
|
|
{
|
|
escSerial->receiveTimeout++;
|
|
if(escSerial->receiveTimeout>8)
|
|
{
|
|
escSerial->isReceivingData=0;
|
|
escSerial->receiveTimeout=0;
|
|
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
|
|
}
|
|
}
|
|
|
|
|
|
processTxStateEsc(escSerial);
|
|
}
|
|
|
|
void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
|
|
{
|
|
UNUSED(capture);
|
|
static uint8_t zerofirst=0;
|
|
static uint8_t bits=0;
|
|
static uint16_t bytes=0;
|
|
|
|
escSerial_t *escSerial = container_of(cbRec, escSerial_t, edgeCb);
|
|
|
|
//clear timer
|
|
TIM_SetCounter(escSerial->rxTimerHardware->tim,0);
|
|
|
|
if(capture > 40 && capture < 90)
|
|
{
|
|
zerofirst++;
|
|
if(zerofirst>1)
|
|
{
|
|
zerofirst=0;
|
|
escSerial->internalRxBuffer = escSerial->internalRxBuffer>>1;
|
|
bits++;
|
|
}
|
|
}
|
|
else if(capture>90 && capture < 200)
|
|
{
|
|
zerofirst=0;
|
|
escSerial->internalRxBuffer = escSerial->internalRxBuffer>>1;
|
|
escSerial->internalRxBuffer |= 0x80;
|
|
bits++;
|
|
}
|
|
else
|
|
{
|
|
if(!escSerial->isReceivingData)
|
|
{
|
|
//start
|
|
//lets reset
|
|
|
|
escSerial->isReceivingData = 1;
|
|
zerofirst=0;
|
|
bytes=0;
|
|
bits=1;
|
|
escSerial->internalRxBuffer = 0x80;
|
|
|
|
escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
|
|
}
|
|
}
|
|
escSerial->receiveTimeout = 0;
|
|
|
|
if(bits==8)
|
|
{
|
|
bits=0;
|
|
bytes++;
|
|
if(bytes>3)
|
|
{
|
|
extractAndStoreRxByteEsc(escSerial);
|
|
}
|
|
escSerial->internalRxBuffer=0;
|
|
}
|
|
|
|
}
|
|
|
|
uint32_t escSerialTotalBytesWaiting(const serialPort_t *instance)
|
|
{
|
|
if ((instance->mode & MODE_RX) == 0) {
|
|
return 0;
|
|
}
|
|
|
|
escSerial_t *s = (escSerial_t *)instance;
|
|
|
|
return (s->port.rxBufferHead - s->port.rxBufferTail) & (s->port.rxBufferSize - 1);
|
|
}
|
|
|
|
uint8_t escSerialReadByte(serialPort_t *instance)
|
|
{
|
|
uint8_t ch;
|
|
|
|
if ((instance->mode & MODE_RX) == 0) {
|
|
return 0;
|
|
}
|
|
|
|
if (escSerialTotalBytesWaiting(instance) == 0) {
|
|
return 0;
|
|
}
|
|
|
|
ch = instance->rxBuffer[instance->rxBufferTail];
|
|
instance->rxBufferTail = (instance->rxBufferTail + 1) % instance->rxBufferSize;
|
|
return ch;
|
|
}
|
|
|
|
void escSerialWriteByte(serialPort_t *s, uint8_t ch)
|
|
{
|
|
if ((s->mode & MODE_TX) == 0) {
|
|
return;
|
|
}
|
|
|
|
s->txBuffer[s->txBufferHead] = ch;
|
|
s->txBufferHead = (s->txBufferHead + 1) % s->txBufferSize;
|
|
}
|
|
|
|
void escSerialSetBaudRate(serialPort_t *s, uint32_t baudRate)
|
|
{
|
|
UNUSED(s);
|
|
UNUSED(baudRate);
|
|
}
|
|
|
|
void escSerialSetMode(serialPort_t *instance, portMode_t mode)
|
|
{
|
|
instance->mode = mode;
|
|
}
|
|
|
|
bool isEscSerialTransmitBufferEmpty(const serialPort_t *instance)
|
|
{
|
|
// start listening
|
|
return instance->txBufferHead == instance->txBufferTail;
|
|
}
|
|
|
|
uint32_t escSerialTxBytesFree(const serialPort_t *instance)
|
|
{
|
|
if ((instance->mode & MODE_TX) == 0) {
|
|
return 0;
|
|
}
|
|
|
|
escSerial_t *s = (escSerial_t *)instance;
|
|
|
|
uint8_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
|
|
|
|
return (s->port.txBufferSize - 1) - bytesUsed;
|
|
}
|
|
|
|
const struct serialPortVTable escSerialVTable[] = {
|
|
{
|
|
.serialWrite = escSerialWriteByte,
|
|
.serialTotalRxWaiting = escSerialTotalBytesWaiting,
|
|
.serialTotalTxFree = escSerialTxBytesFree,
|
|
.serialRead = escSerialReadByte,
|
|
.serialSetBaudRate = escSerialSetBaudRate,
|
|
.isSerialTransmitBufferEmpty = isEscSerialTransmitBufferEmpty,
|
|
.setMode = escSerialSetMode,
|
|
.writeBuf = NULL,
|
|
.beginWrite = NULL,
|
|
.endWrite = NULL
|
|
}
|
|
};
|
|
|
|
void escSerialInitialize()
|
|
{
|
|
//StopPwmAllMotors();
|
|
pwmDisableMotors();
|
|
|
|
for (volatile uint8_t i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
|
|
// set outputs to pullup
|
|
if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
|
|
{
|
|
escSerialGPIOConfig(timerHardware[i].tag, IOCFG_IPU); //GPIO_Mode_IPU
|
|
}
|
|
}
|
|
}
|
|
|
|
typedef enum {
|
|
IDLE,
|
|
HEADER_START,
|
|
HEADER_M,
|
|
HEADER_ARROW,
|
|
HEADER_SIZE,
|
|
HEADER_CMD,
|
|
COMMAND_RECEIVED
|
|
} mspState_e;
|
|
|
|
typedef struct mspPort_s {
|
|
uint8_t offset;
|
|
uint8_t dataSize;
|
|
uint8_t checksum;
|
|
uint8_t indRX;
|
|
uint8_t inBuf[10];
|
|
mspState_e c_state;
|
|
uint8_t cmdMSP;
|
|
} mspPort_t;
|
|
|
|
static mspPort_t currentPort;
|
|
|
|
static bool ProcessExitCommand(uint8_t c)
|
|
{
|
|
if (currentPort.c_state == IDLE) {
|
|
if (c == '$') {
|
|
currentPort.c_state = HEADER_START;
|
|
} else {
|
|
return false;
|
|
}
|
|
} else if (currentPort.c_state == HEADER_START) {
|
|
currentPort.c_state = (c == 'M') ? HEADER_M : IDLE;
|
|
} else if (currentPort.c_state == HEADER_M) {
|
|
currentPort.c_state = (c == '<') ? HEADER_ARROW : IDLE;
|
|
} else if (currentPort.c_state == HEADER_ARROW) {
|
|
if (c > 10) {
|
|
currentPort.c_state = IDLE;
|
|
|
|
} else {
|
|
currentPort.dataSize = c;
|
|
currentPort.offset = 0;
|
|
currentPort.checksum = 0;
|
|
currentPort.indRX = 0;
|
|
currentPort.checksum ^= c;
|
|
currentPort.c_state = HEADER_SIZE;
|
|
}
|
|
} else if (currentPort.c_state == HEADER_SIZE) {
|
|
currentPort.cmdMSP = c;
|
|
currentPort.checksum ^= c;
|
|
currentPort.c_state = HEADER_CMD;
|
|
} else if (currentPort.c_state == HEADER_CMD && currentPort.offset < currentPort.dataSize) {
|
|
currentPort.checksum ^= c;
|
|
currentPort.inBuf[currentPort.offset++] = c;
|
|
} else if (currentPort.c_state == HEADER_CMD && currentPort.offset >= currentPort.dataSize) {
|
|
if (currentPort.checksum == c) {
|
|
currentPort.c_state = COMMAND_RECEIVED;
|
|
|
|
if((currentPort.cmdMSP == 0xF4) && (currentPort.dataSize==0))
|
|
{
|
|
currentPort.c_state = IDLE;
|
|
return true;
|
|
}
|
|
} else {
|
|
currentPort.c_state = IDLE;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
// mode 0=sk, 1=bl, 2=ki output=timerHardware PWM channel.
|
|
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;
|
|
|
|
uint32_t escBaudrate;
|
|
switch (mode) {
|
|
case PROTOCOL_KISS:
|
|
escBaudrate = BAUDRATE_KISS;
|
|
break;
|
|
case PROTOCOL_CASTLE:
|
|
escBaudrate = BAUDRATE_CASTLE;
|
|
break;
|
|
default:
|
|
escBaudrate = BAUDRATE_NORMAL;
|
|
break;
|
|
}
|
|
|
|
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
|
|
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;
|
|
while(1) {
|
|
if(mode!=2)
|
|
{
|
|
if (serialRxBytesWaiting(escPort)) {
|
|
LED0_ON;
|
|
while(serialRxBytesWaiting(escPort))
|
|
{
|
|
ch = serialRead(escPort);
|
|
serialWrite(escPassthroughPort, ch);
|
|
}
|
|
LED0_OFF;
|
|
}
|
|
}
|
|
if (serialRxBytesWaiting(escPassthroughPort)) {
|
|
LED1_ON;
|
|
while(serialRxBytesWaiting(escPassthroughPort))
|
|
{
|
|
ch = serialRead(escPassthroughPort);
|
|
exitEsc = ProcessExitCommand(ch);
|
|
if(exitEsc)
|
|
{
|
|
serialWrite(escPassthroughPort, 0x24);
|
|
serialWrite(escPassthroughPort, 0x4D);
|
|
serialWrite(escPassthroughPort, 0x3E);
|
|
serialWrite(escPassthroughPort, 0x00);
|
|
serialWrite(escPassthroughPort, 0xF4);
|
|
serialWrite(escPassthroughPort, 0xF4);
|
|
closeEscSerial(ESCSERIAL1, output);
|
|
return;
|
|
}
|
|
if(mode==PROTOCOL_BLHELI){
|
|
serialWrite(escPassthroughPort, ch); // blheli loopback
|
|
}
|
|
serialWrite(escPort, ch);
|
|
}
|
|
LED1_OFF;
|
|
}
|
|
if(mode != PROTOCOL_CASTLE){
|
|
delay(5);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
#endif
|