Bsongis/xlite pxx (#5856)

Pulses refactoring

radio/src/datastructs.h

@@ -679,8 +679,8 @@ PACK(struct ModuleData {
       uint8_t receiver_telem_off:1;     // false = receiver telem enabled
       uint8_t receiver_channel_9_16:1;  // false = pwm out 1-8, true 9-16
       uint8_t external_antenna:1;       // false = internal antenna, true = external antenna
-      uint8_t spare2:1;
+      uint8_t fast:1;                   // TODO: to be used later by external module (fast means serial @ high speed)
-      uint8_t spare3;
+      uint8_t spare2;
     } pxx);
     NOBACKUP(struct {
       uint8_t spare1:6;

radio/src/myeeprom.h

@@ -48,7 +48,7 @@
 #endif
 
 #define GET_PPM_POLARITY(idx)             g_model.moduleData[idx].ppm.pulsePol
-#define GET_SBUS_POLARITY(idx)             g_model.moduleData[idx].sbus.noninverted
+#define GET_SBUS_POLARITY(idx)            g_model.moduleData[idx].sbus.noninverted
 #define GET_PPM_DELAY(idx)                (g_model.moduleData[idx].ppm.delay * 50 + 300)
 #define SET_DEFAULT_PPM_FRAME_LENGTH(idx) g_model.moduleData[idx].ppm.frameLength = 4 * max((int8_t)0, g_model.moduleData[idx].channelsCount)
 

radio/src/opentx.h

@@ -702,7 +702,7 @@ extern uint8_t flightModeTransitionLast;
 void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
 void evalMixes(uint8_t tick10ms);
 void doMixerCalculations();
-void scheduleNextMixerCalculation(uint8_t module, uint16_t delay);
+void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms);
 
 #if defined(CPUARM)
   void checkTrims();

radio/src/pulses/dsm2_arm.cpp

@@ -35,7 +35,38 @@ uint8_t  dsm2BindTimer = DSM2_BIND_TIMEOUT;
 
 #define BITLEN_DSM2          (8*2) //125000 Baud => 8uS per bit
 
-#if !defined(PPM_PIN_SERIAL)
+#if defined(PPM_PIN_SERIAL)
+void putDsm2SerialBit(uint8_t bit)
+{
+  modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte >>= 1;
+  if (bit & 1) {
+    modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte |= 0x80;
+  }
+  if (++modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount >= 8) {
+    *modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte;
+    modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0;
+  }
+}
+
+void sendByteDsm2(uint8_t b)     // max 10changes 0 10 10 10 10 1
+{
+  putDsm2SerialBit(0);           // Start bit
+  for (uint8_t i=0; i<8; i++) {  // 8 data Bits
+    putDsm2SerialBit(b & 1);
+    b >>= 1;
+  }
+
+  putDsm2SerialBit(1);           // Stop bit
+  putDsm2SerialBit(1);           // Stop bit
+}
+
+void putDsm2Flush()
+{
+  for (int i=0; i<16; i++) {
+    putDsm2SerialBit(1);         // 16 extra stop bits
+  }
+}
+#else
 void _send_1(uint8_t v)
 {
   if (modulePulsesData[EXTERNAL_MODULE].dsm2.index & 1)
@@ -74,37 +105,6 @@ void putDsm2Flush()
   else
     *(modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - 1) = modulePulsesData[EXTERNAL_MODULE].dsm2.rest;      
 }
-#else
-void putDsm2SerialBit(uint8_t bit)
-{
-  modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte >>= 1;
-  if (bit & 1) {
-    modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte |= 0x80;
-  }
-  if (++modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount >= 8) {
-    *modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte;
-    modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0;
-  }
-}
-
-void sendByteDsm2(uint8_t b)     // max 10changes 0 10 10 10 10 1
-{
-  putDsm2SerialBit(0);           // Start bit
-  for (uint8_t i=0; i<8; i++) {  // 8 data Bits
-    putDsm2SerialBit(b & 1);
-    b >>= 1;
-  }
-
-  putDsm2SerialBit(1);           // Stop bit
-  putDsm2SerialBit(1);           // Stop bit
-}
-
-void putDsm2Flush()
-{
-  for (int i=0; i<16; i++) {
-    putDsm2SerialBit(1);         // 16 extra stop bits
-  }
-}
 #endif
 
 // This is the data stream to send, prepare after 19.5 mS
@@ -119,7 +119,7 @@ void setupPulsesDSM2(uint8_t port)
   modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;
 #else
   modulePulsesData[EXTERNAL_MODULE].dsm2.index = 0;
-  modulePulsesData[EXTERNAL_MODULE].dsm2.rest = 44000;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.rest = DSM2_PERIOD * 2000;
 #endif
 
   modulePulsesData[EXTERNAL_MODULE].dsm2.ptr = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;

radio/src/pulses/multi_arm.cpp

@@ -24,15 +24,12 @@
 // see https://github.com/pascallanger/DIY-Multiprotocol-TX-Module
 // file Multiprotocol/multiprotocol.h
 
-
-
 #define MULTI_SEND_BIND                     (1 << 7)
 #define MULTI_SEND_RANGECHECK               (1 << 5)
 #define MULTI_SEND_AUTOBIND                 (1 << 6)
 
-
+#define MULTI_CHANS                         16
-#define MULTI_CHANS           16
+#define MULTI_CHAN_BITS                     11
-#define MULTI_CHAN_BITS       11
 
 static void sendFrameProtocolHeader(uint8_t port, bool failsafe);
 
@@ -40,15 +37,15 @@ void sendChannels(uint8_t port);
 
 static void sendSetupFrame()
 {
-
   // Old multi firmware will mark config messsages as invalid frame and throw them away
   sendByteSbus('M');
   sendByteSbus('P');
-  sendByteSbus(0x80);         // Module Configuration
+  sendByteSbus(0x80);           // Module Configuration
-  sendByteSbus(1);         // 1 byte data
+  sendByteSbus(1);              // 1 byte data
-  uint8_t config = 0x1 | 0x2; // inversion + multi_telemetry
+  uint8_t config = 0x01 | 0x02; // inversion + multi_telemetry
 #if !defined(PPM_PIN_SERIAL)
-  config |= 0x04;             //input synchronsisation
+  // TODO why PPM_PIN_SERIAL would change MULTI protocol?
+  config |= 0x04;               // input synchronsisation
 #endif
 
   sendByteSbus(config);
@@ -68,7 +65,6 @@ static void sendFailsafeChannels(uint8_t port)
     if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES)
       failsafeValue = FAILSAFE_CHANNEL_NOPULSE;
 
-
     if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
       pulseValue = 0;
     }
@@ -87,13 +83,13 @@ static void sendFailsafeChannels(uint8_t port)
       bits >>= 8;
       bitsavailable -= 8;
     }
-
   }
 }
 
 void setupPulsesMultimodule(uint8_t port)
 {
-  static int counter=0;
+  static int counter = 0;
+
 #if defined(PPM_PIN_SERIAL)
   modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 0 ;
   modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;

radio/src/pulses/pulses_arm.cpp

@@ -136,7 +136,7 @@ void setupPulses(uint8_t port)
       case PROTO_DSM2_LP45:
       case PROTO_DSM2_DSM2:
       case PROTO_DSM2_DSMX:
-        disable_dsm2(port);
+        disable_serial(port);
         break;
 #endif
 
@@ -150,7 +150,7 @@ void setupPulses(uint8_t port)
       case PROTO_MULTIMODULE:
 #endif
       case PROTO_SBUS:
-        disable_sbusOut(port);
+        disable_serial(port);
         break;
 
       case PROTO_PPM:
@@ -168,11 +168,12 @@ void setupPulses(uint8_t port)
   switch (required_protocol) {
     case PROTO_PXX:
       setupPulsesPXX(port);
-      scheduleNextMixerCalculation(port, MODULES_TIMER_PXX_PERIOD);
+      scheduleNextMixerCalculation(port, PXX_PERIOD);
       break;
+
     case PROTO_SBUS:
       setupPulsesSbus(port);
-      scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].sbus.refreshRate)/2);
+      scheduleNextMixerCalculation(port, SBUS_PERIOD);
       break;
 
 #if defined(DSM2)
@@ -180,7 +181,7 @@ void setupPulses(uint8_t port)
     case PROTO_DSM2_DSM2:
     case PROTO_DSM2_DSMX:
       setupPulsesDSM2(port);
-      scheduleNextMixerCalculation(port, 11);
+      scheduleNextMixerCalculation(port, DSM2_PERIOD);
       break;
 #endif
 
@@ -203,14 +204,14 @@ void setupPulses(uint8_t port)
         }
         sportSendBuffer(crossfire, len);
       }
-      scheduleNextMixerCalculation(port, CROSSFIRE_FRAME_PERIOD);
+      scheduleNextMixerCalculation(port, CROSSFIRE_PERIOD);
       break;
 #endif
 
 #if defined(MULTIMODULE)
     case PROTO_MULTIMODULE:
       setupPulsesMultimodule(port);
-      scheduleNextMixerCalculation(port, 4);
+      scheduleNextMixerCalculation(port, MULTIMODULE_PERIOD);
       break;
 #endif
 
@@ -219,7 +220,7 @@ void setupPulses(uint8_t port)
     case PROTO_NONE:
 #endif
       setupPulsesPPMModule(port);
-      scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].ppm.frameLength)/2);
+      scheduleNextMixerCalculation(port, PPM_PERIOD(port));
       break;
 
     default:
@@ -236,7 +237,7 @@ void setupPulses(uint8_t port)
       case PROTO_DSM2_LP45:
       case PROTO_DSM2_DSM2:
       case PROTO_DSM2_DSMX:
-        init_dsm2(port);
+        init_serial(port, DSM2_BAUDRATE, DSM2_PERIOD * 2000);
         break;
 #endif
 
@@ -248,11 +249,13 @@ void setupPulses(uint8_t port)
 
 #if defined(MULTIMODULE)
       case PROTO_MULTIMODULE:
-#endif
+        init_serial(port, MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000);
-      case PROTO_SBUS:
-        init_sbusOut(port);
         break;
+#endif
 
+      case PROTO_SBUS:
+        init_serial(port, SBUS_BAUDRATE, SBUS_PERIOD_HALF_US);
+        break;
 
       case PROTO_PPM:
         init_ppm(port);

radio/src/pulses/pulses_arm.h

@@ -47,13 +47,15 @@ template<class T> struct PpmPulsesData {
 #if defined(PXX_FREQUENCY_HIGH)
 #define EXTMODULE_USART_PXX_BAUDRATE  420000
 #define INTMODULE_USART_PXX_BAUDRATE  450000
-#define MODULES_TIMER_PXX_PERIOD      4 // 4ms
+#define PXX_PERIOD                    4/*ms*/
 #else
 #define EXTMODULE_USART_PXX_BAUDRATE  115200
 #define INTMODULE_USART_PXX_BAUDRATE  115200
-#define MODULES_TIMER_PXX_PERIOD      9 // 9ms
+#define PXX_PERIOD                    9/*ms*/
 #endif
 
+#define PXX_PERIOD_HALF_US            (PXX_PERIOD * 2000)
+
 #if defined(PPM_PIN_SERIAL)
 PACK(struct PxxSerialPulsesData {
   uint8_t  pulses[64];
@@ -64,7 +66,9 @@ PACK(struct PxxSerialPulsesData {
   uint16_t serialByte;
   uint16_t serialBitCount;
 });
+#endif
 
+#if defined(PPM_PIN_SERIAL)
 PACK(struct Dsm2SerialPulsesData {
   uint8_t  pulses[64];
   uint8_t * ptr;
@@ -72,6 +76,14 @@ PACK(struct Dsm2SerialPulsesData {
   uint8_t  serialBitCount;
   uint16_t _alignment;
 });
+#else
+#define MAX_PULSES_TRANSITIONS 300
+PACK(struct Dsm2TimerPulsesData {
+  pulse_duration_t pulses[MAX_PULSES_TRANSITIONS];
+  pulse_duration_t * ptr;
+  uint16_t rest;
+  uint8_t index;
+});
 #endif
 
 #if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
@@ -83,9 +95,17 @@ PACK(struct PxxUartPulsesData {
 });
 #endif
 
-#define MULTIMODULE_BAUDRATE 100000
+#define PPM_PERIOD_HALF_US(module)   ((g_model.moduleData[module].ppm.frameLength * 5 + 225) * 200) /*half us*/
-#if defined(INTMODULE_PULSES) || defined(EXTMODULE_PULSES)
+#define PPM_PERIOD(module)           (PPM_PERIOD_HALF_US(module) / 2000) /*ms*/
+#define DSM2_BAUDRATE                125000
+#define DSM2_PERIOD                  22 /*ms*/
+#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 MULTIMODULE_BAUDRATE         100000
+#define MULTIMODULE_PERIOD           7 /*ms*/
 
+#if !defined(EXTMODULE_USART) || !defined(EXTMODULE_USART)
 /* PXX uses 20 bytes (as of Rev 1.1 document) with 8 changes per byte + stop bit ~= 162 max pulses */
 /* DSM2 uses 2 header + 12 channel bytes, with max 10 changes (8n2) per byte + 16 bits trailer ~= 156 max pulses */
 /* Multimodule uses 3 bytes header + 22 channel bytes with max 11 changes per byte (8e2) + 16 bits trailer ~= 291 max pulses */
@@ -103,15 +123,6 @@ PACK(struct PxxTimerPulsesData {
   uint16_t pcmCrc;
   uint32_t pcmOnesCount;
 });
-
-#define MAX_PULSES_TRANSITIONS 300
-
-PACK(struct Dsm2TimerPulsesData {
-  pulse_duration_t pulses[MAX_PULSES_TRANSITIONS];
-  pulse_duration_t * ptr;
-  uint16_t rest;
-  uint8_t index;
-});
 #endif
 
 #define CROSSFIRE_FRAME_MAXLEN         64
@@ -121,17 +132,21 @@ PACK(struct CrossfirePulsesData {
 });
 
 union ModulePulsesData {
-#if defined(PPM_PIN_SERIAL)
-  PxxSerialPulsesData pxx;
-  Dsm2SerialPulsesData dsm2;
-#endif
-#if defined(INTMODULE_PULSES) || defined(EXTMODULE_PULSES)
-  PxxTimerPulsesData pxx;
-  Dsm2TimerPulsesData dsm2;
-#endif
 #if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
   PxxUartPulsesData pxx_uart;
 #endif
+#if defined(PPM_PIN_SERIAL)
+  PxxSerialPulsesData pxx;
+#elif !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
+  PxxTimerPulsesData pxx;
+#endif
+
+#if defined(PPM_PIN_SERIAL)
+  Dsm2SerialPulsesData dsm2;
+#else
+  Dsm2TimerPulsesData dsm2;
+#endif
+
   PpmPulsesData<pulse_duration_t> ppm;
   CrossfirePulsesData crossfire;
 } __ALIGNED;

radio/src/pulses/pxx_arm.cpp

@@ -106,6 +106,8 @@ void uartPutPcmCrc(uint8_t port)
 }
 #endif
 
+#if !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
+
 #if defined(PPM_PIN_SERIAL)
 void pxxPutPcmSerialBit(uint8_t port, uint8_t bit)
 {
@@ -180,7 +182,7 @@ void pxxInitPcmArray(uint8_t port)
 #if defined(PPM_PIN_SERIAL)
   modulePulsesData[port].pxx.pcmValue = 0;
 #else
-  modulePulsesData[port].pxx.rest = 18000;
+  modulePulsesData[port].pxx.rest = PXX_PERIOD_HALF_US;
 #endif
 
   modulePulsesData[port].pxx.pcmOnesCount = 0;
@@ -211,6 +213,15 @@ void pxxPutPcmCrc(uint8_t port)
   pxxPutPcmByte(port, pulseValue >> 8);
   pxxPutPcmByte(port, pulseValue);
 }
+#else
+  // those functions should not be used, a link error will occur if wrong
+  void pxxInitPcmArray(uint8_t port);
+  void pxxInitPcmCrc(uint8_t port);
+  void pxxPutPcmByte(uint8_t port, uint8_t byte);
+  void pxxPutPcmHead(uint8_t port);
+  void pxxPutPcmTail(uint8_t port);
+  void pxxPutPcmCrc(uint8_t port);
+#endif
 
 #if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
 inline void initPcmArray(uint8_t port)

radio/src/pulses/sbus_arm.cpp

@@ -21,7 +21,7 @@
 #include "opentx.h"
 
 
-#define BITLEN_SBUS          (10*2) //100000 Baud => 10uS per bit
+#define BITLEN_SBUS          (10*2) // 100000 Baud => 10uS per bit
 
 
 /* The protocol reuse some the DSM2 definitions where they are identical */
@@ -84,8 +84,6 @@ void sendByteSbus(uint8_t b) //max 11 changes 0 10 10 10 10 P 1
 #endif
 
 
-
-
 #define SBUS_NORMAL_CHANS           16
 #define SBUS_CHAN_BITS       11
 
@@ -100,27 +98,27 @@ void sendByteSbus(uint8_t b) //max 11 changes 0 10 10 10 10 P 1
 
 #define SBUS_CHAN_CENTER            992
 
-inline int  getChannelValue(uint8_t port, int channel) {
+inline int getChannelValue(uint8_t port, int channel)
+{
   int ch = g_model.moduleData[port].channelsStart+channel;
   // We will ignore 17 and 18th if that brings us over the limit
   if (ch > 31)
     return 0;
-  return channelOutputs[ch] + 2*PPM_CH_CENTER(ch) - 2*PPM_CENTER;
+  return channelOutputs[ch] + 2 * PPM_CH_CENTER(ch) - 2*PPM_CENTER;
 }
 
 void setupPulsesSbus(uint8_t port)
 {
 #if defined(PPM_PIN_SERIAL)
-  modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 0 ;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 0;
-  modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0;
 #else
-  modulePulsesData[EXTERNAL_MODULE].dsm2.rest =  (g_model.moduleData[EXTERNAL_MODULE].sbus.refreshRate * 5 + 225)*200 ;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.rest = SBUS_PERIOD_HALF_US;
   modulePulsesData[EXTERNAL_MODULE].dsm2.index = 0;
 #endif
 
   modulePulsesData[EXTERNAL_MODULE].dsm2.ptr = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
 
-
   // Sync Byte
   sendByteSbus(SBUS_FRAME_BEGIN_BYTE);
 
@@ -140,7 +138,8 @@ void setupPulsesSbus(uint8_t port)
       bitsavailable -= 8;
     }
   }
-  // Flags
+
+  // flags
   uint8_t flags=0;
   if (getChannelValue(port, 16) > 0)
     flags |=SBUS_FLAG_CHANNEL_17;
@@ -149,7 +148,7 @@ void setupPulsesSbus(uint8_t port)
 
   sendByteSbus(flags);
 
-  // Last byte, always 0x0
+  // last byte, always 0x0
   sendByteSbus(0x0);
 
   putDsm2Flush();

radio/src/targets/common/arm/stm32/intmodule_serial_driver.cpp

@@ -98,8 +98,8 @@ void intmodulePxxStart()
   // Timer
   INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
-  INTMODULE_TIMER->ARR = 2000 * MODULES_TIMER_PXX_PERIOD;
+  INTMODULE_TIMER->ARR = PXX_PERIOD_HALF_US;
-  INTMODULE_TIMER->CCR2 = (2000 * MODULES_TIMER_PXX_PERIOD) - 2000; // Update time
+  INTMODULE_TIMER->CCR2 = PXX_PERIOD_HALF_US - 2000; // Update time
   INTMODULE_TIMER->CCER = TIM_CCER_CC3E;
   INTMODULE_TIMER->CCMR2 = 0;
   INTMODULE_TIMER->EGR = 1; // Restart

radio/src/targets/horus/board.h

@@ -196,12 +196,10 @@ void init_ppm(uint32_t module_index);
 void disable_ppm(uint32_t module_index);
 void init_pxx(uint32_t module_index);
 void disable_pxx(uint32_t module_index);
-void init_dsm2(uint32_t module_index);
+void init_serial(uint32_t module_index, uint32_t baudrate, uint32_t period_half_us);
-void disable_dsm2(uint32_t module_index);
+void disable_serial(uint32_t module_index);
 void init_crossfire(uint32_t module_index);
 void disable_crossfire(uint32_t module_index);
-void init_sbusOut(uint32_t module_index);
-void disable_sbusOut(uint32_t module_index);
 
 // Trainer driver
 void init_trainer_ppm(void);

radio/src/targets/horus/extmodule_driver.cpp

@@ -162,7 +162,7 @@ void extmodulePxxStart()
 }
 
 #if defined(DSM2)
-void extmoduleDsm2Start()
+void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us)
 {
   EXTERNAL_MODULE_ON();
 
@@ -178,7 +178,7 @@ void extmoduleDsm2Start()
 
   EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
-  EXTMODULE_TIMER->ARR = 44000; // 22mS
+  EXTMODULE_TIMER->ARR = period_half_us;
   
 #if defined(PCBX10) || PCBREV >= 13
   EXTMODULE_TIMER->CCER = TIM_CCER_CC3E | TIM_CCER_CC3P;
@@ -226,8 +226,8 @@ void extmoduleCrossfireStart()
 
   EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
-  EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_FRAME_PERIOD);
+  EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_PERIOD);
-  EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_FRAME_PERIOD) - 1000;
+  EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_PERIOD) - 1000;
   EXTMODULE_TIMER->EGR = 1; // Restart
   EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
   EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt

radio/src/targets/horus/pulses_driver.cpp

@@ -29,9 +29,7 @@ void intmodulePxxStart(void);
 void extmoduleNoneStart(void);
 void extmodulePpmStart(void);
 void extmodulePxxStart(void);
-#if defined(DSM2)
+void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
-void extmoduleDsm2Start(void);
-#endif
 void extmoduleCrossfireStart(void);
 
 void init_no_pulses(uint32_t port)
@@ -81,14 +79,14 @@ void disable_pxx(uint32_t port)
 }
 
 #if defined(DSM2)
-void init_dsm2(uint32_t port)
+void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us)
 {
   if (port == EXTERNAL_MODULE) {
-    extmoduleDsm2Start();
+    extmoduleSerialStart(baudrate, period_half_us);
   }
 }
 
-void disable_dsm2(uint32_t port)
+void disable_serial(uint32_t port)
 {
   if (port == EXTERNAL_MODULE) {
     extmoduleStop();
@@ -96,16 +94,6 @@ void disable_dsm2(uint32_t port)
 }
 #endif
 
-void init_sbusOut(uint32_t port)
-{
-  init_dsm2(port);
-}
-
-void disable_sbusOut(uint32_t port)
-{
-  disable_dsm2(port);
-}
-
 void init_crossfire(uint32_t port)
 {
   if (port == EXTERNAL_MODULE) {

radio/src/targets/sky9x/board.h

@@ -262,11 +262,8 @@ void init_ppm(uint32_t port);
 void disable_ppm(uint32_t port);
 void init_pxx(uint32_t port);
 void disable_pxx(uint32_t port);
-void init_dsm2(uint32_t port);
+void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us);
-void disable_dsm2(uint32_t port);
+void disable_serial(uint32_t port);
-
-void init_sbusOut(uint32_t module_index);
-void disable_sbusOut(uint32_t module_index);
 
 // SD driver
 #if defined(SIMU)

radio/src/targets/sky9x/pulses_driver.cpp

@@ -222,18 +222,25 @@ void disable_pxx(uint32_t port)
   }
 }
 
-void init_dsm2(uint32_t port)
+void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us)
 {
   if (port == EXTERNAL_MODULE) {
-    init_main_ppm(2500 * 2, 0);
+    if (baudrate == 125000) {
-    init_ssc(125);
+      // TODO init_main_ppm could take the period as parameter?
+      init_main_ppm(2500 * 2, 0);
+      init_ssc(125);
+    }
+    else {
+      init_main_ppm(3500 * 2, 0);
+      init_ssc(100);
+    }
     }
   else {
     // TODO
   }
 }
 
-void disable_dsm2(uint32_t port)
+void disable_serial(uint32_t port)
 {
   if (port == EXTERNAL_MODULE) {
     disable_ssc();
@@ -244,22 +251,6 @@ void disable_dsm2(uint32_t port)
   }
 }
 
-void init_sbusOut(uint32_t port)
-{
-  if (port == EXTERNAL_MODULE) {
-    init_main_ppm(3500 * 2, 0);
-    init_ssc(100);
-  }
-  else {
-    // TODO
-  }
-}
-
-void disable_sbusOut(uint32_t port)
-{
-  disable_dsm2(port);
-}
-
 #if !defined(SIMU)
 extern "C" void PWM_IRQHandler(void)
 {

radio/src/targets/taranis/CMakeLists.txt

@@ -76,7 +76,7 @@ elseif(PCB STREQUAL X7)
   set(LCD_DRIVER lcd_driver_spi.cpp)
   set(GVAR_SCREEN model_gvars.cpp)
 elseif(PCB STREQUAL XLITE)
-  option(PXX_FREQUENCY "PXX Frequency (LOW / HIGH)" HIGH)
+  set(PXX_FREQUENCY "HIGH" CACHE STRING "PXX frequency (LOW / HIGH)")
   set(PWR_BUTTON "PRESS" CACHE STRING "Pwr button type (PRESS/SWITCH)")
   set(CPU_TYPE STM32F2)
   set(CPU_TYPE_FULL STM32F205xE)  # for size report

radio/src/targets/taranis/board.h

@@ -189,12 +189,10 @@ void init_ppm( uint32_t module_index );
 void disable_ppm( uint32_t module_index );
 void init_pxx( uint32_t module_index );
 void disable_pxx( uint32_t module_index );
-void init_dsm2( uint32_t module_index );
+void init_serial( uint32_t module_index, uint32_t baudrate, uint32_t period );
-void disable_dsm2( uint32_t module_index );
+void disable_serial( uint32_t module_index );
 void init_crossfire( uint32_t module_index );
 void disable_crossfire( uint32_t module_index );
-void init_sbusOut(uint32_t module_index);
-void disable_sbusOut(uint32_t module_index);
 
 // Trainer driver
 #define SLAVE_MODE()                    (g_model.trainerMode == TRAINER_MODE_SLAVE)

radio/src/targets/taranis/extmodule_driver.cpp

@@ -105,8 +105,42 @@ void extmodulePpmStart()
   NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
 }
 
+void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us)
+{
+  EXTERNAL_MODULE_ON();
+
+  GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, EXTMODULE_TIMER_TX_GPIO_AF);
+
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_GPIO_PIN;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+  GPIO_Init(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
+
+  EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
+  EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
+  EXTMODULE_TIMER->ARR = period_half_us;
+  EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | EXTMODULE_TIMER_OUTPUT_POLARITY;
+  EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
+  EXTMODULE_TIMER->CCR1 = 0;
+  EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
+  EXTMODULE_TIMER->EGR = 1; // Restart
+  EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
+  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);
+  NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
+}
+
 #if defined(EXTMODULE_USART)
-void extmodulePxxStart()
+void extmoduleInvertedSerialStart(uint32_t baudrate, uint32_t period_half_us)
 {
   EXTERNAL_MODULE_ON();
 
@@ -138,7 +172,7 @@ void extmodulePxxStart()
   // UART config
   USART_DeInit(EXTMODULE_USART);
   USART_InitTypeDef USART_InitStructure;
-  USART_InitStructure.USART_BaudRate = EXTMODULE_USART_PXX_BAUDRATE;
+  USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
@@ -150,8 +184,8 @@ void extmodulePxxStart()
   // Timer
   EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
-  EXTMODULE_TIMER->ARR = 2000 * MODULES_TIMER_PXX_PERIOD;
+  EXTMODULE_TIMER->ARR = period_half_us;
-  EXTMODULE_TIMER->CCR2 = (2000 * MODULES_TIMER_PXX_PERIOD) - 2000; // Update time
+  EXTMODULE_TIMER->CCR2 = period_half_us - 2000; // Update time
   EXTMODULE_TIMER->EGR = 1; // Restart
   EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
   EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
@@ -160,6 +194,11 @@ void extmodulePxxStart()
   NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
   NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
 }
+
+void extmodulePxxStart()
+{
+  extmoduleInvertedSerialStart(EXTMODULE_USART_PXX_BAUDRATE, PXX_PERIOD_HALF_US);
+}
 #else
 void extmodulePxxStart()
 {
@@ -177,7 +216,7 @@ void extmodulePxxStart()
 
   EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
-  EXTMODULE_TIMER->ARR = 18000;
+  EXTMODULE_TIMER->ARR = PXX_PERIOD_HALF_US;
   EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | EXTMODULE_TIMER_OUTPUT_POLARITY; // polarity, default low
   EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
   EXTMODULE_TIMER->CCR1 = 18;
@@ -196,42 +235,6 @@ void extmodulePxxStart()
 }
 #endif
 
-#if defined(DSM2) || defined(MULTIMODULE)
-void extmoduleDsm2Start()
-{
-  EXTERNAL_MODULE_ON();
-
-  GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, EXTMODULE_TIMER_TX_GPIO_AF);
-
-  GPIO_InitTypeDef GPIO_InitStructure;
-  GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_GPIO_PIN;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-  GPIO_Init(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
-
-  EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
-  EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
-  EXTMODULE_TIMER->ARR = 44000; // 22mS
-  EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | EXTMODULE_TIMER_OUTPUT_POLARITY;
-  EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
-  EXTMODULE_TIMER->CCR1 = 0;
-  EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
-  EXTMODULE_TIMER->EGR = 1; // Restart
-  EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
-  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);
-  NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
-}
-#endif
-
 void extmoduleCrossfireStart()
 {
   EXTERNAL_MODULE_ON();
@@ -249,8 +252,8 @@ void extmoduleCrossfireStart()
 
   EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
   EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
-  EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_FRAME_PERIOD);
+  EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_PERIOD);
-  EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_FRAME_PERIOD) - 1000;
+  EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_PERIOD) - 1000;
   EXTMODULE_TIMER->EGR = 1; // Restart
   EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
   EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
@@ -308,7 +311,7 @@ void extmoduleSendNextFrame()
   }
   else if (IS_DSM2_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]) || IS_MULTIMODULE_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]) || IS_SBUS_PROTOCOL(s_current_protocol[EXTERNAL_MODULE])) {
     if (IS_SBUS_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]))
-      EXTMODULE_TIMER->CCER = TIM_CCER_CC1NE | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1NP : 0); // reverse polarity for Sbus if needed
+      EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? EXTMODULE_TIMER_OUTPUT_POLARITY : 0); // reverse polarity for Sbus if needed
     EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - 1) - 4000; // 2mS in advance
     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 | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;

radio/src/targets/taranis/pulses_driver.cpp

@@ -32,9 +32,7 @@ void intmodulePpmStart(void);
 void extmoduleNoneStart(void);
 void extmodulePpmStart(void);
 void extmodulePxxStart(void);
-#if defined(DSM2) || defined(MULTIMODULE)
+void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
-void extmoduleDsm2Start(void);
-#endif
 void extmoduleCrossfireStart(void);
 
 void init_pxx(uint32_t port)
@@ -54,14 +52,14 @@ void disable_pxx(uint32_t port)
 }
 
 #if defined(DSM2)
-void init_dsm2(uint32_t port)
+void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us)
 {
   if (port == EXTERNAL_MODULE) {
-    extmoduleDsm2Start();
+    extmoduleSerialStart(baudrate, period_half_us);
   }
 }
 
-void disable_dsm2(uint32_t port)
+void disable_serial(uint32_t port)
 {
   if (port == EXTERNAL_MODULE) {
     extmoduleStop();
@@ -69,17 +67,6 @@ void disable_dsm2(uint32_t port)
 }
 #endif
 
-void init_sbusOut(uint32_t port)
-{
-  init_dsm2(port);
-}
-
-void disable_sbusOut(uint32_t port)
-{
-  disable_dsm2(port);
-}
-
-
 void init_ppm(uint32_t port)
 {
   if (port == EXTERNAL_MODULE) {

radio/src/tasks_arm.cpp

@@ -192,11 +192,11 @@ void mixerTask(void * pdata)
   }
 }
 
-void scheduleNextMixerCalculation(uint8_t module, uint16_t delay)
+void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
 {
   // Schedule next mixer calculation time,
   // for now assume mixer calculation takes 2 ms.
-  nextMixerTime[module] = (uint32_t)CoGetOSTime() + (delay)/2 - 1/*2ms*/;
+  nextMixerTime[module] = (uint32_t)CoGetOSTime() + period_ms / 2 - 1/*2ms*/;
   DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
 }
 

radio/src/telemetry/crossfire.h

@@ -82,15 +82,15 @@ const uint32_t CROSSFIRE_BAUDRATES[] = {
   400000,
   115200,
 };
-const uint8_t CROSSFIRE_FRAME_PERIODS[] = {
+const uint8_t CROSSFIRE_PERIODS[] = {
   4,
   16,
 };
 #define CROSSFIRE_BAUDRATE             CROSSFIRE_BAUDRATES[g_eeGeneral.telemetryBaudrate]
-#define CROSSFIRE_FRAME_PERIOD         CROSSFIRE_FRAME_PERIODS[g_eeGeneral.telemetryBaudrate]
+#define CROSSFIRE_PERIOD         CROSSFIRE_PERIODS[g_eeGeneral.telemetryBaudrate]
 #else
 #define CROSSFIRE_BAUDRATE             400000
-#define CROSSFIRE_FRAME_PERIOD         4 // 4ms
+#define CROSSFIRE_PERIOD         4 // 4ms
 #endif
 
 

radio/util/build-firmware.py

@@ -106,6 +106,12 @@ elif options[optcount] == "x7":
     maxsize = 65536 * 8
     board = BOARD_TARANIS
     board_family = BOARD_FAMILY_ARM
+elif options[optcount] == "xlite":
+    command_options["PCB"] = "XLITE"
+    firmware_options = options_taranisplus
+    maxsize = 65536 * 8
+    board = BOARD_TARANIS
+    board_family = BOARD_FAMILY_ARM
 elif options[optcount] == "x9d":
     command_options["PCB"] = "X9D"
     firmware_options = options_taranis