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Code Issues Wiki Activity

PXX2 continued + simu segfault fix

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This commit is contained in:
Bertrand Songis 2019-02-05 13:03:02 +01:00
parent 9aa75b1056
commit 807bc8bc2e
8 changed files with 107 additions and 78 deletions
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50
radio/src/pulses/pxx.cpp
View file

@ -127,56 +127,6 @@ void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, ui
}
}
template <class PxxTransport>
uint8_t PxxPulses<PxxTransport>::addFlag1(uint8_t port)
{
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
PxxTransport::addByte(flag1);
return flag1;
}
template <class PxxTransport>
void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
{
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
uint8_t extra_flags = 0;
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if (isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
PxxTransport::addByte(extra_flags);
}
template class PxxPulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class PxxPulses<StandardPxxTransport<SerialPxxBitTransport> >;
template class PxxPulses<Pxx2Transport>;

2
radio/src/pulses/pxx.h
View file

@ -232,9 +232,7 @@ class UartPxxTransport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
template <class PxxTransport>
class PxxPulses: public PxxTransport {
protected:
uint8_t addFlag1(uint8_t port);
void addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels);
void addExtraFlags(uint8_t port);
};
#endif

54
radio/src/pulses/pxx1.cpp
View file

@ -21,6 +21,56 @@
#include "opentx.h"
#include "pulses/pxx1.h"
template <class PxxTransport>
uint8_t Pxx1Pulses<PxxTransport>::addFlag1(uint8_t port)
{
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
PxxTransport::addByte(flag1);
return flag1;
}
template <class PxxTransport>
void Pxx1Pulses<PxxTransport>::addExtraFlags(uint8_t port)
{
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
uint8_t extra_flags = 0;
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if (isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
PxxTransport::addByte(extra_flags);
}
template <class PxxTransport>
void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels)
{
@ -33,7 +83,7 @@ void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpper
PxxTransport::addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = PxxPulses<PxxTransport>::addFlag1(port);
uint8_t flag1 = addFlag1(port);
// Flag2
PxxTransport::addByte(0);
@ -42,7 +92,7 @@ void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpper
PxxPulses<PxxTransport>::addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
// Extra flags
PxxPulses<PxxTransport>::addExtraFlags(port);
addExtraFlags(port);
// CRC
addCrc();

3
radio/src/pulses/pxx1.h
View file

@ -42,6 +42,9 @@ class Pxx1Pulses: public PxxPulses<PxxTransport>
PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc);
}
uint8_t addFlag1(uint8_t port);
void addExtraFlags(uint8_t port);
void add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels);
};

32
radio/src/pulses/pxx2.cpp
View file

@ -21,29 +21,39 @@
#include "opentx.h"
#include "pulses/pxx2.h"
void Pxx2Pulses::setupFrame(uint8_t port)
uint8_t Pxx2Pulses::addFlag1(uint8_t module)
{
uint8_t flag1 = g_model.header.modelId[module] & 0x3F;
if (g_model.moduleData[module].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[module].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[module]-- == 0) {
failsafeCounter[module] = 1000;
flag1 |= PXX2_FLAG1_FAILSAFE;
}
}
Pxx2Transport::addByte(flag1);
return flag1;
}
void Pxx2Pulses::setupFrame(uint8_t module)
{
initFrame();
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
addFrameType(PXX2_TYPE_C_MODULE, PXX2_TYPE_ID_CHANNELS);
// Model ID
addByte(g_model.header.modelId[port]);
// TODO addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = addFlag1(port);
uint8_t flag1 = addFlag1(module);
// Flag2 = Extra flags
addExtraFlags(port);
// TODO addExtraFlags(module);
// Channels
addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
addChannels(module, flag1 & PXX2_FLAG1_FAILSAFE, 0);
addChannels(module, flag1 & PXX2_FLAG1_FAILSAFE, 1);
#if defined(LUA)
#if 0
if (outputTelemetryBufferTrigger != 0x7E && outputTelemetryBufferSize > 0) {
// primID (1 byte) + dataID (2 bytes) + value (4 bytes)
addByte(outputTelemetryBufferTrigger);

21
radio/src/pulses/pxx2.h
View file

@ -23,6 +23,19 @@
#include "./pxx.h"
#define PXX2_TYPE_C_MODULE 0x01
#define PXX2_TYPE_ID_REGISTER 0x01
#define PXX2_TYPE_ID_BIND 0x02
#define PXX2_TYPE_ID_CHANNELS 0x03
#define PXX2_TYPE_ID_SPORT 0xFE
#define PXX2_TYPE_C_POWER_METER 0x02
#define PXX2_TYPE_C_OTA 0xFE
#define PXX2_FLAG1_FAILSAFE (1 << 6)
// should not be used anymore
class SportCrcMixin {
protected:
@ -67,17 +80,19 @@ class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
// reserve 1 byte for LEN
Pxx2Transport::addByteWithoutCrc(0x00);
// TYPE_C + TYPE_ID
// TODO optimization ? Pxx2Transport::addByte(0x26); // This one is CRC-ed on purpose
}
void addFrameType(uint8_t type_c, uint8_t type_id)
{
// TYPE_C + TYPE_ID
// TODO optimization ? Pxx2Transport::addByte(0x26); // This one is CRC-ed on purpose
Pxx2Transport::addByte(type_c);
Pxx2Transport::addByte(type_id);
}
uint8_t addFlag1(uint8_t module);
void addCrc()
{
Pxx2Transport::addByteWithoutCrc(PxxCrcMixin::crc >> 8);

8
radio/src/targets/taranis/extmodule_driver.cpp
View file

@ -20,8 +20,6 @@
#include "opentx.h"
void extmoduleSendNextFrame();
void extmoduleStop()
{
NVIC_DisableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
@ -98,8 +96,6 @@ void extmodulePpmStart()
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
extmoduleSendNextFrame();
NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
@ -132,8 +128,6 @@ void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us)
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0;
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
extmoduleSendNextFrame();
NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
@ -232,8 +226,6 @@ void extmodulePxxStart()
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
extmoduleSendNextFrame();
NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);

11
radio/src/tasks.cpp
View file

@ -179,8 +179,19 @@ TASK_FUNCTION(mixerTask)
void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
{
// Schedule next mixer calculation time,
if (isProtocolSynchronous(s_current_protocol[module])) {
nextMixerTime[module] += period_ms / RTOS_MS_PER_TICK;
if (nextMixerTime[module] < RTOS_GET_TIME()) {
// we are late ... let's add some small delay
nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
}
}
else {
// for now assume mixer calculation takes 2 ms.
nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK) - 1 /* 1 tick in advance*/;
}
DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
}