From ca60468f12e57f7de641644cb288e556e590e33a Mon Sep 17 00:00:00 2001 From: Raphael Coeffic Date: Tue, 5 Nov 2019 15:23:25 +0100 Subject: [PATCH] sync external module (SBUS, DSM, MULTI) --- radio/src/pulses/dsm2.cpp | 6 ++-- radio/src/pulses/multi.cpp | 2 -- radio/src/pulses/pulses.h | 3 +- radio/src/pulses/sbus.cpp | 2 -- radio/src/targets/horus/extmodule_driver.cpp | 35 ++++++++++++++------ radio/src/tasks.cpp | 9 ++++- 6 files changed, 35 insertions(+), 22 deletions(-) diff --git a/radio/src/pulses/dsm2.cpp b/radio/src/pulses/dsm2.cpp index 3612f60db..34a10b3d6 100644 --- a/radio/src/pulses/dsm2.cpp +++ b/radio/src/pulses/dsm2.cpp @@ -76,7 +76,6 @@ void _send_1(uint8_t v) *extmodulePulsesData.dsm2.ptr++ = v - 1; extmodulePulsesData.dsm2.index += 1; - extmodulePulsesData.dsm2.rest -= v; } void sendByteDsm2(uint8_t b) // max 10 changes 0 10 10 10 10 1 @@ -101,9 +100,9 @@ void sendByteDsm2(uint8_t b) // max 10 changes 0 10 10 10 10 1 void putDsm2Flush() { if (extmodulePulsesData.dsm2.index & 1) - *extmodulePulsesData.dsm2.ptr++ = extmodulePulsesData.dsm2.rest; + *extmodulePulsesData.dsm2.ptr++ = 60000; else - *(extmodulePulsesData.dsm2.ptr - 1) = extmodulePulsesData.dsm2.rest; + *(extmodulePulsesData.dsm2.ptr - 1) = 60000; } #endif @@ -119,7 +118,6 @@ void setupPulsesDSM2() extmodulePulsesData.dsm2.serialBitCount = 0 ; #else extmodulePulsesData.dsm2.index = 0; - extmodulePulsesData.dsm2.rest = DSM2_PERIOD * 2000; #endif extmodulePulsesData.dsm2.ptr = extmodulePulsesData.dsm2.pulses; diff --git a/radio/src/pulses/multi.cpp b/radio/src/pulses/multi.cpp index 936da0948..24b8c115c 100644 --- a/radio/src/pulses/multi.cpp +++ b/radio/src/pulses/multi.cpp @@ -200,10 +200,8 @@ void setupPulsesMultiExternalModule() extmodulePulsesData.dsm2.serialByte = 0 ; extmodulePulsesData.dsm2.serialBitCount = 0 ; #else - extmodulePulsesData.dsm2.rest = getMultiSyncStatus(EXTERNAL_MODULE).getAdjustedRefreshRate(); extmodulePulsesData.dsm2.index = 0; #endif - extmodulePulsesData.dsm2.ptr = extmodulePulsesData.dsm2.pulses; setupPulsesMulti(EXTERNAL_MODULE); diff --git a/radio/src/pulses/pulses.h b/radio/src/pulses/pulses.h index 7d859c075..e79d89838 100644 --- a/radio/src/pulses/pulses.h +++ b/radio/src/pulses/pulses.h @@ -226,7 +226,6 @@ typedef Dsm2SerialPulsesData Dsm2PulsesData; PACK(struct Dsm2TimerPulsesData { pulse_duration_t pulses[MAX_PULSES_TRANSITIONS]; pulse_duration_t * ptr; - uint16_t rest; uint8_t index; }); typedef Dsm2TimerPulsesData Dsm2PulsesData; @@ -429,4 +428,4 @@ inline bool isModuleInBeepMode() return false; } -#endif // _PULSES_H_ \ No newline at end of file +#endif // _PULSES_H_ diff --git a/radio/src/pulses/sbus.cpp b/radio/src/pulses/sbus.cpp index a881730fc..e44abd642 100644 --- a/radio/src/pulses/sbus.cpp +++ b/radio/src/pulses/sbus.cpp @@ -55,7 +55,6 @@ static void _send_level(uint8_t v) *extmodulePulsesData.dsm2.ptr++ = v - 1; extmodulePulsesData.dsm2.index+=1; - extmodulePulsesData.dsm2.rest -=v; } void sendByteSbus(uint8_t b) // max 11 changes 0 10 10 10 10 P 1 @@ -113,7 +112,6 @@ void setupPulsesSbus() extmodulePulsesData.dsm2.serialByte = 0; extmodulePulsesData.dsm2.serialBitCount = 0; #else - extmodulePulsesData.dsm2.rest = SBUS_PERIOD_HALF_US; extmodulePulsesData.dsm2.index = 0; #endif diff --git a/radio/src/targets/horus/extmodule_driver.cpp b/radio/src/targets/horus/extmodule_driver.cpp index 0da9e46a5..46bbd0dd7 100644 --- a/radio/src/targets/horus/extmodule_driver.cpp +++ b/radio/src/targets/horus/extmodule_driver.cpp @@ -179,7 +179,7 @@ void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us, bool i EXTMODULE_TIMER->ARR = period_half_us; EXTMODULE_TIMER->CCR2 = period_half_us - 4000; EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag - EXTMODULE_TIMER->DIER |= TIM_DIER_UDE | TIM_DIER_CC2IE; + EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN; NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn); @@ -318,23 +318,36 @@ void extmoduleSendNextFrame() #if defined(DSM2) case PROTOCOL_CHANNELS_SBUS: -#if defined(PCBX10) || PCBREV >= 13 - EXTMODULE_TIMER->CCER = TIM_CCER_CC3E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC3P : 0); // reverse polarity for Sbus if needed -#else - EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1P : 0); // reverse polarity for Sbus if needed -#endif - // no break case PROTOCOL_CHANNELS_DSM2_LP45: case PROTOCOL_CHANNELS_DSM2_DSM2: case PROTOCOL_CHANNELS_DSM2_DSMX: case PROTOCOL_CHANNELS_MULTIMODULE: - EXTMODULE_TIMER->CCR2 = *(extmodulePulsesData.dsm2.ptr - 1) - 4000; // 2mS in advance + + if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) + return; + + if (PROTOCOL_CHANNELS_SBUS == moduleState[EXTERNAL_MODULE].protocol) { +#if defined(PCBX10) || PCBREV >= 13 + EXTMODULE_TIMER->CCER = TIM_CCER_CC3E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC3P : 0); // reverse polarity for Sbus if needed +#else + EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1P : 0); // reverse polarity for Sbus if needed +#endif + } + + // disable timer + EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN; + + // send DMA request EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA EXTMODULE_TIMER_DMA_STREAM->CR |= EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | EXTMODULE_TIMER_DMA_SIZE | DMA_SxCR_PL_0 | DMA_SxCR_PL_1; EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR); EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(extmodulePulsesData.dsm2.pulses); EXTMODULE_TIMER_DMA_STREAM->NDTR = extmodulePulsesData.dsm2.ptr - extmodulePulsesData.dsm2.pulses; EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA + + // re-init timer + EXTMODULE_TIMER->EGR = 1; + EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN; break; #endif @@ -390,13 +403,13 @@ extern "C" void EXTMODULE_TIMER_DMA_IRQHandler() DMA_ClearITPendingBit(EXTMODULE_TIMER_DMA_STREAM, EXTMODULE_TIMER_DMA_FLAG_TC); EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag - EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt + //EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt } extern "C" void EXTMODULE_TIMER_IRQHandler() { EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; - if (setupPulsesExternalModule()) - extmoduleSendNextFrame(); + // if (setupPulsesExternalModule()) + // extmoduleSendNextFrame(); } diff --git a/radio/src/tasks.cpp b/radio/src/tasks.cpp index 4f803e554..0a0ff3301 100644 --- a/radio/src/tasks.cpp +++ b/radio/src/tasks.cpp @@ -87,6 +87,12 @@ bool isModuleSynchronous(uint8_t module) #endif #if defined(INTMODULE_USART) || defined(EXTMODULE_USART) case PROTOCOL_CHANNELS_PXX1_SERIAL: +#endif +#if defined(DSM2) + case PROTOCOL_CHANNELS_SBUS: + case PROTOCOL_CHANNELS_DSM2_LP45: + case PROTOCOL_CHANNELS_DSM2_DSM2: + case PROTOCOL_CHANNELS_DSM2_DSMX: #endif return true; } @@ -108,7 +114,7 @@ void sendSynchronousPulses() } } -#define DEBUG_MIXER_SCHEDULER +//#define DEBUG_MIXER_SCHEDULER uint32_t nextMixerTime[NUM_MODULES]; @@ -194,6 +200,7 @@ TASK_FUNCTION(mixerTask) if (t0 > maxMixerDuration) maxMixerDuration = t0; + serialPrint("cnt = %d", EXTMODULE_TIMER->CNT); sendSynchronousPulses(); } }