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Code Issues Wiki Activity

draft mixer scheduler (WiP)

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This commit is contained in:
Raphael Coeffic 2019-10-19 23:08:51 +02:00 • committed by 3djc
parent 27fad646bd
commit fe6bd01afe
9 changed files with 135 additions and 80 deletions
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1
radio/src/pulses/pulses.cpp
View file

@ -317,7 +317,6 @@ 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);
intmoduleTimerStart(MULTIMODULE_PERIOD);
break;
#endif
default:

2
radio/src/rtos.h
View file

@ -230,6 +230,8 @@ template<int SIZE>
#define RTOS_CREATE_FLAG(flag) flag = CoCreateFlag(false, false)
#define RTOS_SET_FLAG(flag) (void)CoSetFlag(flag)
#define RTOS_CLEAR_FLAG(flag) (void)CoClearFlag(flag)
#define RTOS_WAIT_FLAG(flag,timeout) (void)CoWaitForSingleFlag(flag,timeout)
#ifdef __cplusplus
template<int SIZE>

37
radio/src/targets/common/arm/stm32/intmodule_serial_driver.cpp
View file

@ -39,12 +39,6 @@ void intmoduleStop()
USART_DeInit(INTMODULE_USART);
GPIO_ResetBits(INTMODULE_GPIO, INTMODULE_TX_GPIO_PIN | INTMODULE_RX_GPIO_PIN);
#if defined(INTERNAL_MODULE_MULTI)
// stop pulses timer
INTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE;
INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
#endif
}
void intmodulePxx1SerialStart()
@ -93,28 +87,6 @@ void intmoduleSerialStart(uint32_t baudrate, uint8_t rxEnable, uint16_t parity,
}
}
#if defined(INTERNAL_MODULE_MULTI)
void intmoduleTimerStart(uint32_t periodMs)
{
// Timer
INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
INTMODULE_TIMER->ARR = periodMs * 2000;
INTMODULE_TIMER->CCR2 = (periodMs - 1) * 2000;
INTMODULE_TIMER->CCER = TIM_CCER_CC3E;
INTMODULE_TIMER->CCMR2 = 0;
INTMODULE_TIMER->EGR = 1; // Restart
INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0; // Toggle CC1 o/p
INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
INTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
NVIC_EnableIRQ(INTMODULE_TIMER_IRQn);
NVIC_SetPriority(INTMODULE_TIMER_IRQn, 7);
}
#endif
#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
extern "C" void INTMODULE_USART_IRQHandler(void)
{
@ -187,12 +159,3 @@ void intmoduleSendNextFrame()
#endif
}
}
#if defined(INTERNAL_MODULE_MULTI)
extern "C" void INTMODULE_TIMER_IRQHandler()
{
INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // clear flag
setupPulsesInternalModule();
intmoduleSendNextFrame();
}
#endif

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

@ -190,6 +190,7 @@ set(TARGET_SRC
led_driver.cpp
extmodule_driver.cpp
trainer_driver.cpp
mixer_scheduler_driver.cpp
../common/arm/stm32/heartbeat_driver.cpp
../common/arm/stm32/timers_driver.cpp
../common/arm/stm32/intmodule_serial_driver.cpp

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

@ -98,6 +98,7 @@ void boardInit()
AUDIO_RCC_APB1Periph |
INTMODULE_RCC_APB1Periph |
EXTMODULE_RCC_APB1Periph |
MIXER_SCHEDULER_TIMER_RCC_APB1Periph |
GPS_RCC_APB1Periph |
BACKLIGHT_RCC_APB1Periph,
ENABLE);

11
radio/src/targets/horus/board.h
View file

@ -174,9 +174,6 @@ void init_intmodule_heartbeat();
void check_intmodule_heartbeat();
void intmoduleSerialStart(uint32_t baudrate, uint8_t rxEnable, uint16_t parity, uint16_t stopBits, uint16_t wordLength);
#if defined(INTERNAL_MODULE_MULTI)
void intmoduleTimerStart(uint32_t periodMs);
#endif
void intmoduleSendByte(uint8_t byte);
void intmoduleSendBuffer(const uint8_t * data, uint8_t size);
void intmoduleSendNextFrame();
@ -193,6 +190,14 @@ 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
{

9
radio/src/targets/horus/hal.h
View file

@ -365,7 +365,7 @@
// Telemetry
#define TELEMETRY_RCC_AHB1Periph (RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_DMA1)
#define TELEMETRY_RCC_APB1Periph RCC_APB1Periph_USART2
#define TELEMETRY_RCC_APB2Periph RCC_APB2Periph_TIM10
#define TELEMETRY_RCC_APB2Periph RCC_APB2Periph_TIM11
#define TELEMETRY_DIR_GPIO GPIOD
#define TELEMETRY_DIR_GPIO_PIN GPIO_Pin_4 // PD.04
#define TELEMETRY_GPIO GPIOD
@ -754,6 +754,13 @@
#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
// Bluetooth
#define STORAGE_BLUETOOTH
#define BT_RCC_APB2Periph RCC_APB2Periph_USART6

80
radio/src/targets/horus/mixer_scheduler_driver.cpp Normal file
View file

@ -0,0 +1,80 @@
/*
* 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.
*/
#include "opentx.h"
RTOS_FLAG_HANDLE mixerFlag;
void mixerSchedulerInit()
{
RTOS_CREATE_FLAG(mixerFlag);
}
void mixerSchedulerStart(uint16_t periodUs)
{
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->CCER = 0;
MIXER_SCHEDULER_TIMER->CCMR1 = 0;
MIXER_SCHEDULER_TIMER->ARR = 2 * periodUs - 1;
MIXER_SCHEDULER_TIMER->EGR = TIM_EGR_UG; // reset timer
NVIC_EnableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
NVIC_SetPriority(MIXER_SCHEDULER_TIMER_IRQn, 8);
MIXER_SCHEDULER_TIMER->SR &= TIM_SR_UIF; // clear interrupt flag
MIXER_SCHEDULER_TIMER->DIER |= TIM_DIER_UIE; // enable interrupt
MIXER_SCHEDULER_TIMER->CR1 |= TIM_CR1_CEN;
}
void mixerSchedulerStop()
{
MIXER_SCHEDULER_TIMER->CR1 &= ~TIM_CR1_CEN;
NVIC_DisableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
}
void mixerSchedulerEnableTrigger()
{
MIXER_SCHEDULER_TIMER->DIER |= TIM_DIER_UIE; // enable interrupt
}
void mixerSchedulerDisableTrigger()
{
MIXER_SCHEDULER_TIMER->DIER &= ~TIM_DIER_UIE; // disable interrupt
}
void mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
{
RTOS_CLEAR_FLAG(mixerFlag);
RTOS_WAIT_FLAG(mixerFlag, timeoutMs);
}
extern "C" void MIXER_SCHEDULER_TIMER_IRQHandler(void)
{
MIXER_SCHEDULER_TIMER->SR &= ~TIM_SR_UIF; // clear flag
mixerSchedulerDisableTrigger();
// trigger mixer start
CoEnterISR();
CoSchedLock();
isr_SetFlag(mixerFlag);
CoSchedUnlock();
CoExitISR();
}

73
radio/src/tasks.cpp
View file

@ -75,13 +75,21 @@ bool isForcePowerOffRequested()
bool isModuleSynchronous(uint8_t module)
{
uint8_t protocol = moduleState[module].protocol;
if (protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || protocol == PROTOCOL_CHANNELS_PXX2_LOWSPEED || protocol == PROTOCOL_CHANNELS_CROSSFIRE || protocol == PROTOCOL_CHANNELS_NONE)
return true;
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
if (protocol == PROTOCOL_CHANNELS_PXX1_SERIAL)
return true;
switch(moduleState[module].protocol) {
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
case PROTOCOL_CHANNELS_CROSSFIRE:
case PROTOCOL_CHANNELS_NONE:
#if defined(MULTIMODULE)
case PROTOCOL_CHANNELS_MULTIMODULE:
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
#endif
return true;
}
return false;
}
@ -100,13 +108,17 @@ void sendSynchronousPulses()
}
}
#define DEBUG_MIXER_SCHEDULER
uint32_t nextMixerTime[NUM_MODULES];
TASK_FUNCTION(mixerTask)
{
static uint32_t lastRunTime;
s_pulses_paused = true;
mixerSchedulerInit();
mixerSchedulerStart(6666); // 150 Hz
while (true) {
#if defined(PCBTARANIS) && defined(SBUS)
// SBUS trainer
@ -121,7 +133,22 @@ TASK_FUNCTION(mixerTask)
bluetooth.wakeup();
#endif
RTOS_WAIT_TICKS(1);
// TODO:
// - add trigger based on heartbeat driver
// run mixer at least every 10ms
mixerSchedulerWaitForTrigger(10);
#if defined(DEBUG_MIXER_SCHEDULER)
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
#endif
// TODO:
// - compute next trigger
// re-enable trigger
mixerSchedulerEnableTrigger();
#if defined(SIMU)
if (pwrCheck() == e_power_off) {
@ -133,36 +160,6 @@ TASK_FUNCTION(mixerTask)
}
#endif
uint32_t now = RTOS_GET_MS();
bool run = false;
if (now - lastRunTime >= 10) {
// run at least every 10ms
run = true;
}
#if defined(INTMODULE_USART) && defined(INTMODULE_HEARTBEAT)
if ((moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX1_SERIAL) && heartbeatCapture.valid && heartbeatCapture.timestamp > lastRunTime) {
run = true;
}
#endif
if (now == nextMixerTime[0]) {
run = true;
}
#if NUM_MODULES >= 2
if (now == nextMixerTime[1]) {
run = true;
}
#endif
if (!run) {
continue; // go back to sleep
}
lastRunTime = now;
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();