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https://github.com/opentx/opentx.git
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Flash on Beep doesn't beep on Keys / Trims
TH% not inverted when throttle stick inverted Rotary Encoders as Mixer Sources on v4 board Pulses on ersky9x board port Telemetry on ersky9x board port
This commit is contained in:
bsongis
parent
b31b040903
commit
01d05d7d96
28 changed files with 1301 additions and 371 deletions
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@ -63,17 +63,17 @@ volatile uint32_t Tenms ;
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#ifdef REVB
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inline void init_soft_power()
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{
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register Pio *pioptr ;
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pioptr = PIOC ;
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// Configure RF_power (PC17) but not PPM-jack-in (PC22), neither need pullups
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register Pio *pioptr = PIOC ;
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// Configure RF_power (PC17)
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pioptr->PIO_PER = PIO_PC17 ; // Enable bit C17
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pioptr->PIO_ODR = PIO_PC17 ; // Set bit C17 as input
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pioptr->PIO_PUDR = PIO_PC17; // Disable pullup on bit C17
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pioptr->PIO_PPDER = PIO_PC17; // Enable pulldown on bit C17
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pioptr = PIOA ;
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pioptr->PIO_PER = PIO_PA8 ; // Enable bit A8 (Soft Power)
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pioptr->PIO_ODR = PIO_PA8 ; // Set bit A8 as input
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pioptr->PIO_PUER = PIO_PA8 ; // Enable PA8 pullup
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pioptr->PIO_PUER = PIO_PA8 ; // Enable PA8 pullup
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}
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// Returns non-zero if power is switched off
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@ -124,20 +124,6 @@ void soft_power_off()
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extern "C" void sam_boot( void ) ;
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void disable_ssc()
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{
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register Pio *pioptr ;
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register Ssc *sscptr ;
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// Revert back to pwm output
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pioptr = PIOA ;
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pioptr->PIO_PER = 0x00020000L ; // Assign A17 to PIO
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sscptr = SSC ;
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sscptr->SSC_CR = SSC_CR_TXDIS ;
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}
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// Prototype
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// Free pins (PA16 is stock buzzer)
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// PA23, PA24, PA25, PB7, PB13
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@ -236,9 +222,9 @@ inline void UART_Configure( uint32_t baudrate, uint32_t masterClock)
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/* Configure PIO */
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pioptr = PIOA ;
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pioptr->PIO_ABCDSR[0] &= ~0x00000600 ; // Peripheral A
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pioptr->PIO_ABCDSR[1] &= ~0x00000600 ; // Peripheral A
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pioptr->PIO_PDR = 0x00000600 ; // Assign to peripheral
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pioptr->PIO_ABCDSR[0] &= ~(PIO_PA9 | PIO_PA10) ; // Peripheral A
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pioptr->PIO_ABCDSR[1] &= ~(PIO_PA9 | PIO_PA10) ; // Peripheral A
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pioptr->PIO_PDR = (PIO_PA9 | PIO_PA10) ; // Assign to peripheral
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/* Configure PMC */
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PMC->PMC_PCER0 = 1 << CONSOLE_ID;
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@ -259,6 +245,7 @@ inline void UART_Configure( uint32_t baudrate, uint32_t masterClock)
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/* Enable receiver and transmitter */
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pUart->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
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}
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inline void UART3_Configure( uint32_t baudrate, uint32_t masterClock)
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@ -308,9 +295,9 @@ inline void UART2_Configure( uint32_t baudrate, uint32_t masterClock)
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/* Configure PIO */
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pioptr = PIOA ;
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pioptr->PIO_ABCDSR[0] &= ~0x00000060 ; // Peripheral A
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pioptr->PIO_ABCDSR[1] &= ~0x00000060 ; // Peripheral A
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pioptr->PIO_PDR = 0x00000060 ; // Assign to peripheral
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pioptr->PIO_ABCDSR[0] &= ~(PIO_PA5 | PIO_PA6) ; // Peripheral A
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pioptr->PIO_ABCDSR[1] &= ~(PIO_PA5 | PIO_PA6) ; // Peripheral A
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pioptr->PIO_PDR = (PIO_PA5 | PIO_PA6) ; // Assign to peripheral
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// /* Configure PMC */
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PMC->PMC_PCER0 = 1 << SECOND_ID;
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@ -320,7 +307,7 @@ inline void UART2_Configure( uint32_t baudrate, uint32_t masterClock)
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| US_CR_RXDIS | US_CR_TXDIS;
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// /* Configure mode */
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pUsart->US_MR = 0x000008C0 ; // NORMAL, No Parity
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pUsart->US_MR = 0x000008C0 ; // NORMAL, No Parity, 8 bit
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// /* Configure baudrate */
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// /* Asynchronous, no oversampling */
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@ -333,7 +320,7 @@ inline void UART2_Configure( uint32_t baudrate, uint32_t masterClock)
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pUsart->US_CR = US_CR_RXEN | US_CR_TXEN;
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}
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// Test, starts TIMER0 at full speed (MCK/2) for delay timing
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// Starts TIMER0 at full speed (MCK/2) for delay timing
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// @ 36MHz this is 18MHz
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// This was 6 MHz, we may need to slow it to TIMER_CLOCK2 (MCK/8=4.5 MHz)
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inline void start_timer0()
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@ -350,34 +337,29 @@ inline void start_timer0()
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ptc->TC_CHANNEL[0].TC_RC = 0xFFF0 ;
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ptc->TC_CHANNEL[0].TC_RA = 0 ;
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ptc->TC_CHANNEL[0].TC_CMR = 0x00008040 ; // 0000 0000 0000 0000 1000 0000 0100 0000, stop at regC
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ptc->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
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ptc->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
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}
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// Starts TIMER2 at 100Hz, commentd out drive of TIOA2 (A26, EXT2) out
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// TIMER2 at 200Hz, provides 5mS for sound and 10mS tick on interrupt
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// Starts TIMER2 at 200Hz, commentd out drive of TIOA2 (A26, EXT2)
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inline void start_timer2()
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{
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register Pio *pioptr ;
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register Tc *ptc ;
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register uint32_t timer ;
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// Enable peripheral clock TC0 = bit 23 thru TC5 = bit 28
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PMC->PMC_PCER0 |= 0x02000000L ; // Enable peripheral clock to TC2
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timer = Master_frequency / 12800 ; // MCK/128 and 100 Hz
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timer = Master_frequency / 12800 / 2; // MCK/128 and 200 Hz
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ptc = TC0 ; // Tc block 0 (TC0-2)
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ptc->TC_BCR = 0 ; // No sync
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ptc = TC0 ; // Tc block 0 (TC0-2)
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ptc->TC_BCR = 0 ; // No sync
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ptc->TC_BMR = 0 ;
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ptc->TC_CHANNEL[2].TC_CMR = 0x00008000 ; // Waveform mode
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ptc->TC_CHANNEL[2].TC_RC = timer ; // 10 Hz
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ptc->TC_CHANNEL[2].TC_CMR = 0x00008000 ; // Waveform mode
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ptc->TC_CHANNEL[2].TC_RC = timer ; // 10 Hz
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ptc->TC_CHANNEL[2].TC_RA = timer >> 1 ;
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ptc->TC_CHANNEL[2].TC_CMR = 0x0009C003 ; // 0000 0000 0000 1001 1100 0000 0000 0011
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// MCK/128, set @ RA, Clear @ RC waveform
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pioptr = PIOC ;
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pioptr->PIO_PER = 0x00080000L ; // Enable bits C19
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pioptr->PIO_OER = 0x00080000L ; // Set as output
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ptc->TC_CHANNEL[2].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
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ptc->TC_CHANNEL[2].TC_CMR = 0x0009C003 ; // 0000 0000 0000 1001 1100 0000 0000 0011
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ptc->TC_CHANNEL[2].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
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NVIC_EnableIRQ(TC2_IRQn) ;
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TC0->TC_CHANNEL[2].TC_IER = TC_IER0_CPCS ;
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@ -495,28 +477,23 @@ void end_ppm_capture()
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extern "C" void TC2_IRQHandler()
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{
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register uint32_t dummy;
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static uint32_t pre_scale ; // Used to get 10 Hz counter
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static uint32_t pre_scale ; // Used to get 10 Hz counter
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/* Clear status bit to acknowledge interrupt */
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dummy = TC0->TC_CHANNEL[2].TC_SR;
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(void) dummy ; // Discard value - prevents compiler warning
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(void) dummy ; // Discard value - prevents compiler warning
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/* TODO if ( Buzzer_count )
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{
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if ( --Buzzer_count == 0 )
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{
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buzzer_off() ;
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}
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} */
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sound_5ms() ;
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if ( ++pre_scale >= 10 )
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{
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// TODO needed? Timer2_count += 1 ;
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pre_scale = 0 ;
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}
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per10ms();
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// heartbeat |= HEART_TIMER10ms;
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if ( ++pre_scale >= 2 ) {
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Tenms |= 1 ; // 10 mS has passed
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if ( Buzzer_count ) {
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if ( --Buzzer_count == 0 )
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buzzer_off() ;
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}
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pre_scale = 0 ;
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per10ms();
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}
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}
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// Settings for mode register ADC_MR
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@ -581,10 +558,8 @@ void init_pwm()
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pioptr = PIOB ;
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pioptr->PIO_PER = 0x00000020L ; // Enable bit B5
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pioptr->PIO_ODR = 0x00000020L ; // set as input
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#endif
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#ifdef REVB
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pioptr = PIOB ;
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#else
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pioptr = PIOA ;
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pioptr->PIO_ABCDSR[0] &= ~PIO_PA16 ; // Peripheral C
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pioptr->PIO_ABCDSR[1] |= PIO_PA16 ; // Peripheral C
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pioptr->PIO_PDR = PIO_PA16 ; // Disable bit A16 Assign to peripheral
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@ -758,7 +733,6 @@ void board_init()
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eeprom_init();
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}
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#endif
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// keys:
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@ -821,73 +795,76 @@ uint32_t read_keys()
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return y ;
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}
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uint32_t read_trims()
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{
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uint32_t trims = 0;
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uint32_t trims;
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uint32_t trima;
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trims = 0;
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trima = PIOA->PIO_PDSR;
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// TRIM_LH_DOWN PA7 (PA23)
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#ifdef REVB
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if ( ( PIOA->PIO_PDSR & 0x00800000 ) == 0 )
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if ((trima & 0x00800000) == 0)
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#else
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if ((PIOA->PIO_PDSR & 0x0080) == 0)
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if ( ( trima & 0x0080 ) == 0 )
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#endif
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{
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{
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trims |= 1;
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}
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// TRIM_LV_DOWN PA27 (PA24)
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#ifdef REVB
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if ((trima & 0x01000000) == 0)
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#else
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if ( ( trima & 0x08000000 ) == 0 )
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#endif
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{
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trims |= 4;
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}
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// TRIM_RV_UP PA30 (PA1)
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#ifdef REVB
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if ((trima & 0x00000002) == 0)
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#else
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if ( ( trima & 0x40000000 ) == 0 )
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#endif
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{
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trims |= 0x20;
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}
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// TRIM_RH_DOWN PA29 (PA0)
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#ifdef REVB
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if ((trima & 0x00000001) == 0)
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#else
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if ( ( trima & 0x20000000 ) == 0 )
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#endif
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{
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trims |= 0x40;
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}
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// TRIM_LH_UP PB4
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if ((PIOB->PIO_PDSR & 0x10) == 0) {
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trims |= 2;
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}
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// TRIM_LV_DOWN PA27 (PA24)
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#ifdef REVB
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if ( ( PIOA->PIO_PDSR & 0x01000000 ) == 0 )
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#else
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if ((PIOA->PIO_PDSR & 0x08000000) == 0)
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#endif
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{
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trims |= 4;
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}
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trima = PIOC->PIO_PDSR;
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// TRIM_LV_UP PC28
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if ((PIOC->PIO_PDSR & 0x10000000) == 0) {
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if ((trima & 0x10000000) == 0) {
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trims |= 8;
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}
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// TRIM_RV_DOWN PC10
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if ((PIOC->PIO_PDSR & 0x00000400) == 0) {
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if ((trima & 0x00000400) == 0) {
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trims |= 0x10;
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}
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// TRIM_RV_UP PA30 (PA1)
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#ifdef REVB
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if ( ( PIOA->PIO_PDSR & 0x00000002 ) == 0 )
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#else
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if ((PIOA->PIO_PDSR & 0x40000000) == 0)
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#endif
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{
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trims |= 0x20;
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}
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// TRIM_RH_DOWN PA29 (PA0)
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#ifdef REVB
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if ( ( PIOA->PIO_PDSR & 0x00000001 ) == 0 )
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#else
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if ((PIOA->PIO_PDSR & 0x20000000) == 0)
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#endif
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{
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trims |= 0x40;
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}
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// TRIM_RH_UP PC9
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if ((PIOC->PIO_PDSR & 0x00000200) == 0) {
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if ((trima & 0x00000200) == 0) {
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trims |= 0x80;
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}
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return trims ;
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return trims;
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}
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uint8_t keyDown()
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@ -1012,12 +989,13 @@ void readKeysAndTrims()
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{
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register uint32_t i;
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/* Fix pulldown resistor on RF-POWER
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if (PIOC->PIO_ODSR & 0x00080000) {
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PIOC->PIO_CODR = 0x00200000L; // Set bit C19 OFF
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}
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else {
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PIOC->PIO_SODR = 0x00200000L; // Set bit C19 ON
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}
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} */
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uint8_t enuk = KEY_MENU;
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uint8_t in = ~read_keys();
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@ -1045,22 +1023,121 @@ void readKeysAndTrims()
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}
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}
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#define RX_UART_BUFFER_SIZE 32
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struct t_rxUartBuffer
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{
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uint8_t fifo[RX_UART_BUFFER_SIZE] ;
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uint8_t *outPtr ;
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} ;
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struct t_rxUartBuffer TelemetryInBuffer[2] ;
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uint32_t TelemetryActiveBuffer ;
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void startPdcUsartReceive()
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{
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register Usart *pUsart = SECOND_USART;
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TelemetryInBuffer[0].outPtr = TelemetryInBuffer[0].fifo ;
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TelemetryInBuffer[1].outPtr = TelemetryInBuffer[1].fifo ;
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pUsart->US_RPR = (uint32_t)TelemetryInBuffer[0].fifo ;
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pUsart->US_RNPR = (uint32_t)TelemetryInBuffer[1].fifo ;
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pUsart->US_RCR = RX_UART_BUFFER_SIZE ;
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pUsart->US_RNCR = RX_UART_BUFFER_SIZE ;
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pUsart->US_PTCR = US_PTCR_RXTEN ;
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TelemetryActiveBuffer = 0 ;
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}
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void endPdcUsartReceive()
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{
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register Usart *pUsart = SECOND_USART;
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pUsart->US_PTCR = US_PTCR_RXTDIS ;
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}
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void rxPdcUsart( void (*pChProcess)(uint8_t x) )
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{
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#if !defined(SIMU)
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register Usart *pUsart = SECOND_USART;
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uint8_t *ptr ;
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uint8_t *endPtr ;
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// uint32_t bufIndex ;
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// uint32_t i ;
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uint32_t j ;
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//Find out where the DMA has got to
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__disable_irq() ;
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pUsart->US_PTCR = US_PTCR_RXTDIS ; // Freeze DMA
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ptr = (uint8_t *)pUsart->US_RPR ;
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j = pUsart->US_RNCR ;
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pUsart->US_PTCR = US_PTCR_RXTEN ; // DMA active again
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__enable_irq() ;
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endPtr = ptr - 1 ;
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ptr = TelemetryInBuffer[TelemetryActiveBuffer].outPtr ;
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if ( j == 0 ) // First buf is full
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{
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endPtr = &TelemetryInBuffer[TelemetryActiveBuffer].fifo[RX_UART_BUFFER_SIZE-1] ; // last byte
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}
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while ( ptr <= endPtr )
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{
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(*pChProcess)(*ptr++) ;
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}
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TelemetryInBuffer[TelemetryActiveBuffer].outPtr = ptr ;
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if ( j == 0 ) // First buf is full
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{
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TelemetryInBuffer[TelemetryActiveBuffer].outPtr = TelemetryInBuffer[TelemetryActiveBuffer].fifo ;
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pUsart->US_RNPR = (uint32_t)TelemetryInBuffer[TelemetryActiveBuffer].fifo ;
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pUsart->US_RNCR = RX_UART_BUFFER_SIZE ;
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TelemetryActiveBuffer ^= 1 ; // Other buffer is active
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rxPdcUsart( pChProcess ) ; // Get any chars from second buffer
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}
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#endif
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}
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uint32_t txPdcUsart( uint8_t *buffer, uint32_t size )
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{
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register Usart *pUsart = SECOND_USART;
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if ( pUsart->US_TNCR == 0 )
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{
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pUsart->US_TNPR = (uint32_t)buffer ;
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pUsart->US_TNCR = size ;
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pUsart->US_PTCR = US_PTCR_TXTEN ;
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return 1 ;
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}
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return 0 ;
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}
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uint32_t txPdcPending()
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{
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register Usart *pUsart = SECOND_USART;
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uint32_t x ;
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__disable_irq() ;
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pUsart->US_PTCR = US_PTCR_TXTDIS ; // Freeze DMA
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x = pUsart->US_TNCR ; // Total
|
||||
x += pUsart->US_TCR ; // Still to send
|
||||
pUsart->US_PTCR = US_PTCR_TXTEN ; // DMA active again
|
||||
__enable_irq() ;
|
||||
|
||||
return x ;
|
||||
}
|
||||
|
||||
void usb_mode()
|
||||
{
|
||||
// This might be replaced by a software reset
|
||||
// Any interrupts that have been enabled must be disabled here
|
||||
// BEFORE calling sam_boot()
|
||||
// TODO endPdcUsartReceive() ; // Terminate any serial reception
|
||||
#ifdef REVB
|
||||
soft_power_off() ;
|
||||
#endif
|
||||
endPdcUsartReceive() ; // Terminate any serial reception
|
||||
// TODO in ersky9x soft_power_off() ; is called before endPdcUsartReceive
|
||||
end_ppm_capture() ;
|
||||
end_spi() ;
|
||||
end_sound() ;
|
||||
TC0->TC_CHANNEL[2].TC_IDR = TC_IDR0_CPCS ;
|
||||
NVIC_DisableIRQ(TC2_IRQn) ;
|
||||
// PWM->PWM_IDR1 = PWM_IDR1_CHID0 ;
|
||||
// TODO disable_main_ppm() ;
|
||||
disable_main_ppm() ;
|
||||
// PWM->PWM_IDR1 = PWM_IDR1_CHID3 ;
|
||||
// NVIC_DisableIRQ(PWM_IRQn) ;
|
||||
disable_ssc() ;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue