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[X9D] New 4 bits logo (thanks to Michael Byrne

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[X9D] Model COPY / MOVE operations fixed
[X9D] New navigation system
[X9D] Pulses driver
[X9D] Watch dog
[all] es translations
This commit is contained in:
bsongis
2013-02-04 19:43:27 +00:00
parent 3a1d0b1fd9
commit 04fb2bdc2b
20 changed files with 692 additions and 382 deletions
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src/pulses_arm.cpp
+92 -48
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@@ -38,11 +38,17 @@ uint8_t s_pulses_paused = 0;
uint8_t s_current_protocol = 255;
uint8_t pxxFlag = 0 ;
uint16_t Pulses[18] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0,0,0,0,0,0, 0 } ;
volatile uint32_t Pulses_index = 0 ; // Modified in interrupt routine
uint16_t ppmStream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
#if defined(PCBSKY9X)
volatile uint32_t Pulses_index = 0 ; // Modified in interrupt routine
uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
#else
uint16_t pxxStream[400] ; // Transisitions
uint16_t *pxxStreamPtr ;
uint16_t PxxValue ;
#endif
// DSM2 control bits
#define DSM2_CHANS 6
@@ -57,33 +63,34 @@ uint8_t Serial_bit_count;
uint8_t Serial_byte_count ;
void setupPulses();
void setupPulsesPPM();
void setupPulsesDsm2(uint8_t chns);
void setupPulsesPXX();
void startPulses()
{
// TODO a single call to setupPulses() should be ok!
#if defined(PCBSKY9X)
init_main_ppm(3000, 1) ; // Default for now, initial period 1.5 mS, output on
#else
init_main_ppm();
#endif
}
void setupPulsesPPM() // Don't enable interrupts through here
{
#if !defined(PCBX9D) && !defined(PCBACT)
#if defined(PCBSKY9X)
register Pwm *pwmptr = PWM;
#endif
// Now set up pulses
int16_t PPM_range = g_model.extendedLimits ? 640 * 2 : 512 * 2; //range of 0.7..1.7msec
uint32_t numCh = 8 + g_model.ppmNCH * 2; //Channels *2
//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t *ptr;
ptr = Pulses;
uint32_t p = 8 + g_model.ppmNCH * 2; //Channels *2
// Total frame length = 22.5msec
// each pulse is 0.7..1.7ms long with a 0.3ms stop tail
// The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t * ptr = ppmStream;
#if !defined(PCBX9D) && !defined(PCBACT)
#if defined(PCBSKY9X)
pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = (g_model.ppmDelay * 50 + 300) * 2; //Stoplen *2
if (g_model.pulsePol)
pwmptr->PWM_CH_NUM[3].PWM_CMR |= 0x00000200 ; // CPOL
@@ -93,28 +100,18 @@ void setupPulsesPPM() // Don't enable interrupts through here
uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
rest += (int32_t(g_model.ppmFrameLength)) * 1000;
for (uint32_t i = 0; i < p; i++) { //NUM_CHNOUT
for (uint32_t i = 0; i < numCh; i++) { //NUM_CHNOUT
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= (v);
rest -= v;
*ptr++ = v; /* as Pat MacKenzie suggests */
}
*ptr = rest;
*(ptr + 1) = 0;
}
void put_serial_bit( uint8_t bit )
{
Serial_byte >>= 1 ;
if ( bit & 1 )
{
Serial_byte |= 0x80 ;
}
if ( ++Serial_bit_count >= 8 )
{
*Pulses2MHzptr++ = Serial_byte ;
Serial_bit_count = 0 ;
Serial_byte_count += 1 ;
}
#if defined(PCBX9D)
TIM1->CCR2 = rest - 1000 ; // Update time
TIM1->CCR1 = (g_model.ppmDelay*50+300)*2 ;
#endif
}
const uint16_t CRCTable[]=
@@ -163,6 +160,22 @@ void crc( uint8_t data )
PcmCrc=(PcmCrc>>8)^(CRCTable[(PcmCrc^data) & 0xFF]);
}
#if defined(PCBSKY9X)
void put_serial_bit( uint8_t bit )
{
Serial_byte >>= 1 ;
if ( bit & 1 )
{
Serial_byte |= 0x80 ;
}
if ( ++Serial_bit_count >= 8 )
{
*Pulses2MHzptr++ = Serial_byte ;
Serial_bit_count = 0 ;
Serial_byte_count += 1 ;
}
}
// 8uS/bit 01 = 0, 001 = 1
void putPcmPart( uint8_t value )
{
@@ -181,6 +194,23 @@ void putPcmFlush()
put_serial_bit( 1 ) ; // Line idle level
}
}
#else
void putPcmPart( uint8_t value )
{
PxxValue += 18 ; // Output 1 for this time
*pxxStreamPtr++ = PxxValue ;
PxxValue += 14 ;
if ( value ) {
PxxValue += 16 ;
}
*pxxStreamPtr++ = PxxValue ; // Output 0 for this time
}
void putPcmFlush()
{
*pxxStreamPtr++ = 18010 ; // Past the 18000 of the ARR
}
#endif
void putPcmBit( uint8_t bit )
{
@@ -202,14 +232,11 @@ void putPcmBit( uint8_t bit )
void putPcmByte( uint8_t byte )
{
uint8_t i ;
crc(byte);
crc( byte ) ;
for ( i = 0 ; i < 8 ; i += 1 )
{
putPcmBit( byte & 0x80 ) ;
byte <<= 1 ;
for (uint8_t i=0; i<8; i++) {
putPcmBit(byte & 0x80);
byte <<= 1;
}
}
@@ -229,23 +256,27 @@ void putPcmHead()
void setupPulsesPXX()
{
uint8_t i ;
uint16_t chan ;
uint16_t chan_1 ;
#if defined(PCBSKY9X)
Serial_byte = 0 ;
Serial_bit_count = 0 ;
Serial_byte_count = 0 ;
Pulses2MHzptr = Bit_pulses ;
#else
pxxStreamPtr = pxxStream ;
PxxValue = 0 ;
#endif
PcmCrc = 0 ;
PcmOnesCount = 0 ;
putPcmHead( ) ; // sync byte
putPcmByte( g_model.ppmNCH ) ; // putPcmByte( g_model.rxnum ) ; //
putPcmByte( g_model.ppmNCH ) ; // TODO should be RX NUM ??? putPcmByte( g_model.rxnum ) ; //
putPcmByte( pxxFlag ) ; // First byte of flags
putPcmByte( 0 ) ; // Second byte of flags
pxxFlag = 0; // reset flag after send
for ( i = 0 ; i < 8 ; i += 2 ) // First 8 channels only
{ // Next 8 channels would have 2048 added
for (uint32_t i=0; i<8; i+=2) { // First 8 channels only // Next 8 channels would have 2048 added
chan = g_chans512[i] *3 / 4 + 2250 ;
chan_1 = g_chans512[i+1] *3 / 4 + 2250 ;
// if ( chan > 2047 )
@@ -267,6 +298,7 @@ void setupPulsesPXX()
putPcmFlush() ;
}
#if defined(DSM2)
#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
@@ -312,11 +344,7 @@ void setupPulsesDsm2(uint8_t chns)
break;
}
}
#if defined(PCBX9D) || defined(PCBACT)
// TODO
#else
if ((dsmDat[0] & BIND_BIT) && (!switchState(SW_TRN))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
#endif
// TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1, 0, 0)) dsmDat[0] |= RANGECHECK_BIT; // range check function
// else dsmDat[0] &= ~RANGECHECK_BIT;
@@ -337,8 +365,9 @@ void setupPulsesDsm2(uint8_t chns)
put_serial_bit( 1 ) ; // 16 extra stop bits
}
}
#endif
#if !defined(SIMU) && !defined(PCBX9D)
#if defined(PCBSKY9X) && !defined(SIMU)
extern "C" void PWM_IRQHandler(void)
{
register Pwm *pwmptr;
@@ -397,8 +426,8 @@ extern "C" void PWM_IRQHandler(void)
break;
default:
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = Pulses[Pulses_index++]; // Period in half uS
if (Pulses[Pulses_index] == 0) {
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[Pulses_index++]; // Period in half uS
if (ppmStream[Pulses_index] == 0) {
Pulses_index = 0;
setupPulses();
}
@@ -421,11 +450,13 @@ void setupPulses()
switch (s_current_protocol) { // stop existing protocol hardware
case PROTO_PXX:
disable_ssc();
disable_pxx();
break;
#if defined(DSM2)
case PROTO_DSM2:
disable_ssc();
break;
#endif
default:
disable_main_ppm();
break;
@@ -433,6 +464,16 @@ void setupPulses()
s_current_protocol = required_protocol;
#if defined(PCBX9D)
switch (required_protocol) {
case PROTO_PXX:
init_pxx();
break;
default:
init_main_ppm();
break;
}
#elif defined(PCBSKY9X)
switch (required_protocol) { // Start new protocol hardware here
case PROTO_PXX:
init_main_ppm(5000, 0); // Initial period 2.5 mS, output off
@@ -449,6 +490,7 @@ void setupPulses()
init_main_ppm(3000, 1); // Initial period 1.5 mS, output on
break;
}
#endif
}
// Set up output data here
@@ -456,9 +498,11 @@ void setupPulses()
case PROTO_PXX:
setupPulsesPXX();
break;
#if defined(DSM2)
case PROTO_DSM2:
setupPulsesDsm2(6);
break;
#endif
default:
setupPulsesPPM(); // Don't enable interrupts through here
break ;