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Bsongis/xlite pxx (#5856)

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Pulses refactoring
This commit is contained in:
Bertrand Songis 2018-04-29 22:55:29 +02:00 • committed by GitHub
parent 6ec64b227c
commit cfc02f67eb
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GPG key ID: 4AEE18F83AFDEB23
22 changed files with 209 additions and 217 deletions
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4
radio/src/datastructs.h
View file

@ -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 spare3;
uint8_t fast:1; // TODO: to be used later by external module (fast means serial @ high speed)
uint8_t spare2;
} pxx);
NOBACKUP(struct {
uint8_t spare1:6;

2
radio/src/myeeprom.h
View file

@ -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)

2
radio/src/opentx.h
View file

@ -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();

66
radio/src/pulses/dsm2_arm.cpp
View file

@ -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;

22
radio/src/pulses/multi_arm.cpp
View file

@ -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_CHAN_BITS 11
#define MULTI_CHANS 16
#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(1); // 1 byte data
uint8_t config = 0x1 | 0x2; // inversion + multi_telemetry
sendByteSbus(0x80); // Module Configuration
sendByteSbus(1); // 1 byte data
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 ;

27
radio/src/pulses/pulses_arm.cpp
View file

@ -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
case PROTO_SBUS:
init_sbusOut(port);
init_serial(port, MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000);
break;
#endif
case PROTO_SBUS:
init_serial(port, SBUS_BAUDRATE, SBUS_PERIOD_HALF_US);
break;
case PROTO_PPM:
init_ppm(port);

57
radio/src/pulses/pulses_arm.h
View file

@ -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
#if defined(INTMODULE_PULSES) || defined(EXTMODULE_PULSES)
#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 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;

13
radio/src/pulses/pxx_arm.cpp
View file

@ -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)

21
radio/src/pulses/sbus_arm.cpp
View file

@ -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.serialBitCount = 0 ;
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 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();

4
radio/src/targets/common/arm/stm32/intmodule_serial_driver.cpp
View file

@ -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->CCR2 = (2000 * MODULES_TIMER_PXX_PERIOD) - 2000; // Update time
INTMODULE_TIMER->ARR = PXX_PERIOD_HALF_US;
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

6
radio/src/targets/horus/board.h
View file

@ -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 disable_dsm2(uint32_t module_index);
void init_serial(uint32_t module_index, uint32_t baudrate, uint32_t period_half_us);
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);

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

@ -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->CCR2 = (2000 * CROSSFIRE_FRAME_PERIOD) - 1000;
EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_PERIOD);
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

20
radio/src/targets/horus/pulses_driver.cpp
View file

@ -29,9 +29,7 @@ void intmodulePxxStart(void);
void extmoduleNoneStart(void);
void extmodulePpmStart(void);
void extmodulePxxStart(void);
#if defined(DSM2)
void extmoduleDsm2Start(void);
#endif
void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
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) {

7
radio/src/targets/sky9x/board.h
View file

@ -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 disable_dsm2(uint32_t port);
void init_sbusOut(uint32_t module_index);
void disable_sbusOut(uint32_t module_index);
void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us);
void disable_serial(uint32_t port);
// SD driver
#if defined(SIMU)

31
radio/src/targets/sky9x/pulses_driver.cpp
View file

@ -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);
init_ssc(125);
if (baudrate == 125000) {
// 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)
{

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

@ -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

6
radio/src/targets/taranis/board.h
View file

@ -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 disable_dsm2( uint32_t module_index );
void init_serial( uint32_t module_index, uint32_t baudrate, uint32_t period );
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)

91
radio/src/targets/taranis/extmodule_driver.cpp
View file

@ -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->CCR2 = (2000 * MODULES_TIMER_PXX_PERIOD) - 2000; // Update time
EXTMODULE_TIMER->ARR = period_half_us;
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->CCR2 = (2000 * CROSSFIRE_FRAME_PERIOD) - 1000;
EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_PERIOD);
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;

21
radio/src/targets/taranis/pulses_driver.cpp
View file

@ -32,9 +32,7 @@ void intmodulePpmStart(void);
void extmoduleNoneStart(void);
void extmodulePpmStart(void);
void extmodulePxxStart(void);
#if defined(DSM2) || defined(MULTIMODULE)
void extmoduleDsm2Start(void);
#endif
void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
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) {

4
radio/src/tasks_arm.cpp
View file

@ -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);
}

6
radio/src/telemetry/crossfire.h
View file

@ -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

6
radio/util/build-firmware.py
View file

@ -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