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This commit is contained in:
Raphael Coeffic 2019-11-05 12:14:18 +01:00 • committed by 3djc
parent 1d47a0278e
commit bd97ae0b8e
15 changed files with 173 additions and 35 deletions
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33
radio/src/pulses/pulses.cpp
View file

@ -163,12 +163,14 @@ void enablePulsesExternalModule(uint8_t protocol)
#if defined(PXX1)
case PROTOCOL_CHANNELS_PXX1_PULSES:
extmodulePxx1PulsesStart();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
break;
#endif
#if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
extmodulePxx1SerialStart();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
break;
#endif
@ -176,41 +178,48 @@ void enablePulsesExternalModule(uint8_t protocol)
case PROTOCOL_CHANNELS_DSM2_LP45:
case PROTOCOL_CHANNELS_DSM2_DSM2:
case PROTOCOL_CHANNELS_DSM2_DSMX:
extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2000, false);
extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2, false);
mixerSchedulerSetPeriod(EXTERNAL_MODULE, DSM2_PERIOD);
break;
#endif
#if defined(CROSSFIRE)
case PROTOCOL_CHANNELS_CROSSFIRE:
EXTERNAL_MODULE_ON();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
break;
#endif
#if defined(PXX2) && defined(EXTMODULE_USART)
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
extmoduleInvertedSerialStart(PXX2_HIGHSPEED_BAUDRATE);
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_PERIOD);
break;
case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
extmoduleInvertedSerialStart(PXX2_LOWSPEED_BAUDRATE);
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_PERIOD);
break;
#endif
#if defined(MULTIMODULE)
case PROTOCOL_CHANNELS_MULTIMODULE:
extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000, true);
extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2, true);
mixerSchedulerSetPeriod(EXTERNAL_MODULE, 6666/*MULTIMODULE_PERIOD*/);
break;
#endif
#if defined(SBUS)
case PROTOCOL_CHANNELS_SBUS:
extmoduleSerialStart(SBUS_BAUDRATE, SBUS_PERIOD_HALF_US, false);
mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
break;
#endif
#if defined(PPM)
case PROTOCOL_CHANNELS_PPM:
extmodulePpmStart();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
break;
#endif
@ -295,12 +304,24 @@ static void enablePulsesInternalModule(uint8_t protocol)
#if defined(PXX1) && !defined(INTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_PULSES:
intmodulePxx1PulsesStart();
#if defined(INTMODULE_HEARTBEAT)
mixerSchedulerStop();
#else
mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
mixerSchedulerStart();
#endif
break;
#endif
#if defined(PXX1) && defined(INTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
intmodulePxx1SerialStart();
#if defined(INTMODULE_HEARTBEAT)
mixerSchedulerStop();
#else
mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
mixerSchedulerStart();
#endif
break;
#endif
@ -310,6 +331,13 @@ static void enablePulsesInternalModule(uint8_t protocol)
#if defined(HARDWARE_INTERNAL_MODULE) && defined(INTERNAL_MODULE_PXX2) && defined(ACCESS_LIB)
globalData.authenticationCount = 0;
#endif
#if defined(INTMODULE_HEARTBEAT)
mixerSchedulerStop();
#else
mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX2_PERIOD);
mixerSchedulerStart();
#endif
break;
#endif
@ -317,6 +345,7 @@ static void enablePulsesInternalModule(uint8_t protocol)
case PROTOCOL_CHANNELS_MULTIMODULE:
intmodulePulsesData.multi.initFrame();
intmoduleSerialStart(MULTIMODULE_BAUDRATE, true, USART_Parity_Even, USART_StopBits_2, USART_WordLength_9b);
mixerSchedulerSetPeriod(INTERNAL_MODULE, MULTIMODULE_PERIOD);
break;
#endif
default:

8
radio/src/pulses/pulses.h
View file

@ -232,14 +232,14 @@ typedef Dsm2TimerPulsesData Dsm2PulsesData;
#endif
#define PPM_PERIOD_HALF_US(module) ((g_model.moduleData[module].ppm.frameLength * 5 + 225) * 200) /*half us*/
#define PPM_PERIOD(module) (PPM_PERIOD_HALF_US(module) / 2000) /*ms*/
#define PPM_PERIOD(module) (PPM_PERIOD_HALF_US(module) / 2) /*us*/
#define DSM2_BAUDRATE 125000
#define DSM2_PERIOD 22 /*ms*/
#define DSM2_PERIOD 22000 /*us*/
#define SBUS_BAUDRATE 100000
#define SBUS_PERIOD_HALF_US ((g_model.moduleData[EXTERNAL_MODULE].sbus.refreshRate * 5 + 225) * 200) /*half us*/
#define SBUS_PERIOD (SBUS_PERIOD_HALF_US / 2000) /*ms*/
#define SBUS_PERIOD (SBUS_PERIOD_HALF_US / 2) /*us*/
#define MULTIMODULE_BAUDRATE 100000
#define MULTIMODULE_PERIOD 7 /*ms*/
#define MULTIMODULE_PERIOD 7000 /*us*/
#define CROSSFIRE_FRAME_MAXLEN 64
PACK(struct CrossfirePulsesData {

12
radio/src/pulses/pxx.h
View file

@ -29,20 +29,20 @@
#define PXX2_LOWSPEED_BAUDRATE 230400
#define PXX2_HIGHSPEED_BAUDRATE 450000
#define PXX2_PERIOD 4 // 4ms
#define PXX2_TOOLS_PERIOD 1 // 1ms
#define PXX2_PERIOD 4000/*us*/
#define PXX2_TOOLS_PERIOD 1000/*us*/
#define PXX2_FRAME_MAXLENGTH 64
#define PXX_PULSES_PERIOD 9/*ms*/
#define EXTMODULE_PXX1_SERIAL_PERIOD 4/*ms*/
#define PXX_PULSES_PERIOD 9000/*us*/
#define EXTMODULE_PXX1_SERIAL_PERIOD 4000/*us*/
#define EXTMODULE_PXX1_SERIAL_BAUDRATE 420000
#if defined(PXX_FREQUENCY_HIGH)
#define INTMODULE_PXX1_SERIAL_BAUDRATE 450000
#define INTMODULE_PXX1_SERIAL_PERIOD 4/*ms*/
#define INTMODULE_PXX1_SERIAL_PERIOD 4000/*us*/
#else
#define INTMODULE_PXX1_SERIAL_BAUDRATE 115200
#define INTMODULE_PXX1_SERIAL_PERIOD 9/*ms*/
#define INTMODULE_PXX1_SERIAL_PERIOD 9000/*us*/
#endif
// Used by the Sky9x family boards

21
radio/src/rtos.h
View file

@ -78,7 +78,8 @@ extern "C++" {
static inline void RTOS_CREATE_FLAG(uint32_t &flag)
{
flag = 0; // TODO: real flags (use semaphores?)
//TODO: use pthread condition
flag = 0;
}
static inline void RTOS_SET_FLAG(uint32_t &flag)
@ -86,6 +87,14 @@ extern "C++" {
flag = 1;
}
static inline void RTOS_CLEAR_FLAG(uint32_t &flag)
{
flag = 0;
}
//TODO: #define RTOS_WAIT_FLAG(flag, timeout)
#define RTOS_ISR_SET_FLAG RTOS_SET_FLAG
template<int SIZE>
class FakeTaskStack
{
@ -146,6 +155,7 @@ template<int SIZE>
{
return (uint32_t)(simuTimerMicros() / 1000);
}
#elif defined(RTOS_COOS)
#ifdef __cplusplus
extern "C" {
@ -233,6 +243,15 @@ template<int SIZE>
#define RTOS_CLEAR_FLAG(flag) (void)CoClearFlag(flag)
#define RTOS_WAIT_FLAG(flag,timeout) (void)CoWaitForSingleFlag(flag,timeout)
static inline void RTOS_ISR_SET_FLAG(RTOS_FLAG_HANDLE flag)
{
CoEnterISR();
CoSchedLock();
isr_SetFlag(flag);
CoSchedUnlock();
CoExitISR();
}
#ifdef __cplusplus
template<int SIZE>
class TaskStack

2
radio/src/targets/common/arm/stm32/board_common.h
View file

@ -148,4 +148,6 @@ void delay_ms(uint32_t ms);
GPIO_Init(GPIO, &GPIO_InitStructure); \
GPIO_SetBits(GPIO, KEYS_ ## GPIO ## _PINS)
#include "mixer_scheduler_driver.h"
#endif

5
radio/src/targets/common/arm/stm32/heartbeat_driver.cpp
View file

@ -65,6 +65,9 @@ void stop_intmodule_heartbeat()
EXTI_Init(&EXTI_InitStructure);
}
// from mixer_scheduler_driver
void mixerScheduleISRTrigger();
void check_intmodule_heartbeat()
{
if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
@ -75,6 +78,8 @@ void check_intmodule_heartbeat()
#endif
heartbeatCapture.count++;
EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
mixerScheduleISRTrigger();
}
}
#endif

51
radio/src/targets/horus/mixer_scheduler_driver.cpp → radio/src/targets/common/arm/stm32/mixer_scheduler_driver.cpp
View file

@ -20,20 +20,51 @@
#include "opentx.h"
#define MIXER_SCHEDULER_DEFAULT_PERIOD_US 4000u // 4ms
// Global trigger flag
RTOS_FLAG_HANDLE mixerFlag;
// Mixer schedule
struct MixerSchedule {
// period in us
volatile uint16_t period;
};
static MixerSchedule mixerSchedules[NUM_MODULES];
static inline uint32_t getSchedulePeriod()
{
if (mixerSchedules[INTERNAL_MODULE].period) {
return mixerSchedules[INTERNAL_MODULE].period;
}
else if (mixerSchedules[EXTERNAL_MODULE].period) {
return mixerSchedules[EXTERNAL_MODULE].period;
}
return MIXER_SCHEDULER_DEFAULT_PERIOD_US;
}
void mixerSchedulerInit()
{
RTOS_CREATE_FLAG(mixerFlag);
memset(mixerSchedules, 0, sizeof(mixerSchedules));
}
void mixerSchedulerStart(uint16_t periodUs)
void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs)
{
mixerSchedules[moduleIdx].period = periodUs;
}
// Start scheduler with default period
void mixerSchedulerStart()
{
MIXER_SCHEDULER_TIMER->CR1 = TIM_CR1_URS; // do not generate interrupt on soft update
MIXER_SCHEDULER_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
MIXER_SCHEDULER_TIMER->PSC = MIXER_SCHEDULER_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
MIXER_SCHEDULER_TIMER->CCER = 0;
MIXER_SCHEDULER_TIMER->CCMR1 = 0;
MIXER_SCHEDULER_TIMER->ARR = 2 * periodUs - 1;
MIXER_SCHEDULER_TIMER->ARR = 2 * getSchedulePeriod() - 1;
MIXER_SCHEDULER_TIMER->EGR = TIM_EGR_UG; // reset timer
NVIC_EnableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
@ -66,15 +97,19 @@ void mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
RTOS_WAIT_FLAG(mixerFlag, timeoutMs);
}
void mixerScheduleISRTrigger()
{
RTOS_ISR_SET_FLAG(mixerFlag);
}
extern "C" void MIXER_SCHEDULER_TIMER_IRQHandler(void)
{
MIXER_SCHEDULER_TIMER->SR &= ~TIM_SR_UIF; // clear flag
mixerSchedulerDisableTrigger();
// set next period
MIXER_SCHEDULER_TIMER->ARR = 2 * getSchedulePeriod() - 1;
// trigger mixer start
CoEnterISR();
CoSchedLock();
isr_SetFlag(mixerFlag);
CoSchedUnlock();
CoExitISR();
mixerScheduleISRTrigger();
}

45
radio/src/targets/common/arm/stm32/mixer_scheduler_driver.h Normal file
View file

@ -0,0 +1,45 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#ifndef _MIXER_SCHEDULER_DRIVER_H_
#define _MIXER_SCHEDULER_DRIVER_H_
// Call once to initialize the mixer scheduler
void mixerSchedulerInit();
// Configure and start the scheduler timer
void mixerSchedulerStart();
// Stop the scheduler timer
void mixerSchedulerStop();
// Set the scheduling period for a given module
void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs);
// Wait for the scheduler timer to trigger
void mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
// Enable the timer trigger
void mixerSchedulerEnableTrigger();
// Disable the timer trigger
void mixerSchedulerDisableTrigger();
#endif

2
radio/src/targets/horus/CMakeLists.txt
View file

@ -190,7 +190,7 @@ set(TARGET_SRC
led_driver.cpp
extmodule_driver.cpp
trainer_driver.cpp
mixer_scheduler_driver.cpp
../common/arm/stm32/mixer_scheduler_driver.cpp
../common/arm/stm32/heartbeat_driver.cpp
../common/arm/stm32/timers_driver.cpp
../common/arm/stm32/intmodule_serial_driver.cpp

8
radio/src/targets/horus/board.h
View file

@ -190,14 +190,6 @@ void stop_trainer_ppm();
void init_trainer_capture();
void stop_trainer_capture();
// Mixer scheduler driver
void mixerSchedulerInit();
void mixerSchedulerStart(uint16_t periodUs);
void mixerSchedulerStop();
void mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
void mixerSchedulerEnableTrigger();
void mixerSchedulerDisableTrigger();
// Keys driver
enum EnumKeys
{

1
radio/src/targets/taranis/CMakeLists.txt
View file

@ -373,6 +373,7 @@ set(TARGET_SRC
../common/arm/stm32/audio_dac_driver.cpp
../common/arm/stm32/adc_driver.cpp
../common/arm/stm32/heartbeat_driver.cpp
../common/arm/stm32/mixer_scheduler_driver.cpp
)
if(PCB STREQUAL XLITE OR PCB STREQUAL XLITES)

1
radio/src/targets/taranis/board.cpp
View file

@ -102,6 +102,7 @@ void boardInit()
AUX_SERIAL_RCC_APB1Periph |
INTMODULE_RCC_APB1Periph |
TRAINER_MODULE_RCC_APB1Periph |
MIXER_SCHEDULER_TIMER_RCC_APB1Periph |
BT_RCC_APB1Periph |
GYRO_RCC_APB1Periph,
ENABLE);

6
radio/src/targets/taranis/extmodule_driver.cpp
View file

@ -356,7 +356,7 @@ extern "C" void EXTMODULE_TIMER_CC_IRQHandler()
{
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
if (setupPulsesExternalModule()) {
extmoduleSendNextFrame();
}
}
// if (setupPulsesExternalModule()) {
// extmoduleSendNextFrame();
// }

7
radio/src/targets/taranis/hal.h
View file

@ -1970,4 +1970,11 @@
#define TIMER_2MHz_RCC_APB1Periph RCC_APB1Periph_TIM7
#define TIMER_2MHz_TIMER TIM7
// Mixer scheduler timer
#define MIXER_SCHEDULER_TIMER_RCC_APB1Periph RCC_APB1Periph_TIM13
#define MIXER_SCHEDULER_TIMER TIM13
#define MIXER_SCHEDULER_TIMER_FREQ (PERI1_FREQUENCY * TIMER_MULT_APB1)
#define MIXER_SCHEDULER_TIMER_IRQn TIM8_UP_TIM13_IRQn
#define MIXER_SCHEDULER_TIMER_IRQHandler TIM8_UP_TIM13_IRQHandler
#endif // _HAL_H_

4
radio/src/tasks.cpp
View file

@ -123,7 +123,7 @@ TASK_FUNCTION(mixerTask)
s_pulses_paused = true;
mixerSchedulerInit();
mixerSchedulerStart(6666); // 150 Hz
mixerSchedulerStart();
while (true) {
#if defined(PCBTARANIS) && defined(SBUS)
@ -206,6 +206,8 @@ TASK_FUNCTION(mixerTask)
}
}
//TODO: remove that one
void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
{
// Schedule next mixer calculation time,