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[Taranis] Telemetry serial interrupt fix

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[Taranis] CRC check on telemetry data
[all] Mixer bug on recursive channels
This commit is contained in:
bsongis@gmail.com
2013-07-17 12:34:00 +00:00
parent 7db61e7385
commit 19d1238ab6
9 changed files with 101 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/debug.cpp
-1
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@@ -36,7 +36,6 @@
#include "../opentx.h"
#include <stdarg.h>
#include "fifo.h"
#if !defined(SIMU)
src/gtests.cpp
+28
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@@ -466,6 +466,34 @@ TEST(Mixer, RecursiveAddChannel)
EXPECT_EQ(chans[1], 0);
}
TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.phaseData[1].swtch = SWSRC_ID1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].phases = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].phases = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
perMain();
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
perMain();
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
do { \
for (int i=1; i<=(duration); i++) { \
src/opentx.cpp
+13 -12
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@@ -2834,11 +2834,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
do {
// printf("[pass %d]\n", pass); fflush(stdout);
// TRACE("[pass %d]", pass);
bitfield_channels_t passDirtyChannels = 0;
for (uint8_t i = 0; i < MAX_MIXERS; i++) {
for (uint8_t i=0; i<MAX_MIXERS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal && pass==0) swOn[i].activeMix = 0;
@@ -2852,6 +2852,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
if (!(dirtyChannels & ((bitfield_channels_t)1 << md->destCh))) continue;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
if (i == 0 || md->destCh != (md-1)->destCh) {
chans[md->destCh] = 0;
}
//========== PHASE && SWITCH =====
bool mixCondition = (md->phases != 0 || md->swtch);
delayval_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch);
@@ -2873,7 +2878,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
else {
v = getValue(k);
if (k>=MIXSRC_CH1-1 && k<=MIXSRC_LAST_CH-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8;
@@ -2886,7 +2891,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
bool apply_offset_and_curve = true;
// ========== DELAYS ===============
//========== DELAYS ===============
delayval_t _swOn = swOn[i].now;
delayval_t _swPrev = swOn[i].prev;
bool swTog = (mixEnabled != _swOn);
@@ -2927,7 +2932,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int16_t offset = GET_GVAR(MD_OFFSET(md), GV_RANGELARGE_NEG, GV_RANGELARGE, s_perout_flight_phase);
if (offset) v += calc100toRESX_16Bits(offset);
//========== TRIMS ===============
//========== TRIMS ================
if (!(mode & e_perout_mode_notrims)) {
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
@@ -2976,13 +2981,13 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int32_t newValue = tact-rate/((int16_t)(100/SLOW_STEP)*md->speedDown);
if (newValue>currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
} //endif diff>0
}
act[i] = tact = currentValue;
// open.20.fsguruh: this implementation would save about 50 bytes code
} // endif tick10ms ; in case no time passed assign the old value, not the current value from source
v = (tact >> DEL_MULT_SHIFT);
} //endif diff
} //endif speed
}
}
//========== CURVES ===============
if (apply_offset_and_curve && md->curveParam && md->curveMode == MODE_CURVE) {
@@ -3004,10 +3009,6 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int32_t *ptr = &chans[md->destCh]; // Save calculating address several times
if (i == 0 || md->destCh != (md - 1)->destCh)
*ptr = 0;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
switch (md->mltpx) {
case MLTPX_REP:
*ptr = dv;
src/opentx.h
+1
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@@ -407,6 +407,7 @@ enum EnumKeys {
#endif
#if defined(CPUARM)
#include "fifo.h"
// This doesn't need protection on this processor
#define tmr10ms_t uint32_t
extern volatile tmr10ms_t g_tmr10ms;
src/targets/sky9x/bluetooth.cpp
-1
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@@ -35,7 +35,6 @@
*/
#include "../opentx.h"
#include "../fifo.h"
void btSetBaudrate(uint32_t index)
{
src/targets/taranis/pulses_driver.cpp
+2 -3
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@@ -466,7 +466,7 @@ static void init_pa7_dsm2()
TIM8->CR1 &= ~TIM_CR1_CEN ;
TIM8->ARR = 44000 ; // 22mS
TIM8->CCR2 = 30000 ; // Update time
TIM8->CCR2 = 40000 ; // Update time
TIM8->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
#if defined(REV3)
TIM8->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P ;
@@ -608,8 +608,7 @@ extern "C" void TIM8_UP_TIM13_IRQHandler()
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->ARR = *ppmStreamPtr[EXTERNAL_MODULE]++ ;
if (*ppmStreamPtr[EXTERNAL_MODULE] == 0)
{
if (*ppmStreamPtr[EXTERNAL_MODULE] == 0) {
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM8->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
src/targets/taranis/sport_driver.cpp
+18 -7
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@@ -36,6 +36,8 @@
#include "../opentx.h"
extern Fifo<512> telemetryFifo;
void sportInit(void)
{
USART_InitTypeDef USART_InitStructure;
@@ -85,16 +87,25 @@ void sportPutc(const char c)
GPIO_ResetBits(GPIO_PIN_SPORT_ON, PIN_SPORT_ON);
}
void processSerialData(uint8_t data);
#if !defined(SIMU)
#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
extern "C" void USART2_IRQHandler()
{
uint16_t data;
uint32_t status;
uint8_t data;
if (USART_GetFlagStatus(SPORT, USART_FLAG_RXNE) || USART_GetFlagStatus(SPORT, USART_FLAG_ORE)) {
data = USART_ReceiveData(SPORT);
processSerialData((uint8_t) data);
status = SPORT->SR;
while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
data = SPORT->DR;
if (!(status & USART_FLAG_ERRORS))
telemetryFifo.push(data);
status = SPORT->SR;
}
}
}
#endif
src/targets/taranis/uart_driver.cpp
-1
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@@ -72,7 +72,6 @@ void uartInit(uint32_t baudrate)
}
#if defined(DEBUG)
#include "../../fifo.h"
Fifo<512> debugTxFifo;
void debugPutc(const char c)
{
src/telemetry/frsky_sport.cpp
+39 -25
View File
@@ -125,11 +125,11 @@ uint8_t link_counter = 0;
FrskyData frskyData;
#if defined(DEBUG) && !defined(SIMU)
#include "../fifo.h"
extern FIL g_telemetryFile;
Fifo<512> debugTelemetryFifo;
#endif
Fifo<512> telemetryFifo;
void setBaroAltitude(int32_t baroAltitude)
{
// First received barometer altitude => Altitude offset
@@ -266,6 +266,19 @@ void processHubPacket(uint8_t id, uint16_t value)
}
}
bool checkSportPacket(uint8_t *packet)
{
short t_short =0;
for (int i=0; i<FRSKY_RX_PACKET_SIZE-1; i++) {
t_short += *packet++; //0-1FF
t_short += t_short >> 8; //0-100
t_short &= 0x00ff;
t_short += t_short >> 8; //0-0FF
t_short &= 0x00ff;
}
return packet[FRSKY_RX_PACKET_SIZE-1] == (uint8_t)t_short;
}
#define SPORT_DATA_U8(packet) (packet[4])
#define SPORT_DATA_S32(packet) (*((int32_t *)(packet+4)))
#define SPORT_DATA_U32(packet) (*((uint32_t *)(packet+4)))
@@ -277,6 +290,9 @@ void processSportPacket(uint8_t *packet)
uint8_t prim = packet[1];
uint16_t appId = *((uint16_t *)(packet+2));
if (!checkSportPacket(packet))
return;
switch (prim)
{
case DATA_FRAME:
@@ -404,10 +420,6 @@ void processSerialData(uint8_t data)
btPushByte(data);
#endif
#if defined(DEBUG) && !defined(SIMU)
debugTelemetryFifo.push(data);
#endif
if (data == START_STOP) {
dataState = STATE_DATA_IN_FRAME;
numPktBytes = 0;
@@ -489,7 +501,27 @@ inline bool alarmRaised(uint8_t channel, uint8_t idx)
void telemetryWakeup()
{
#if defined(PCBSKY9X)
#if defined(PCBTARANIS)
uint8_t data;
#if defined(DEBUG) && !defined(SIMU)
static tmr10ms_t lastTime = 0;
tmr10ms_t newTime = get_tmr10ms();
struct gtm utm;
gettime(&utm);
#endif
while (telemetryFifo.pop(data)) {
processSerialData(data);
#if defined(DEBUG) && !defined(SIMU)
if (lastTime != newTime) {
f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0: %02X", utm.tm_year+1900, utm.tm_mon+1, utm.tm_mday, utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100, data);
lastTime = newTime;
}
else {
f_printf(&g_telemetryFile, " %02X", data);
}
#endif
}
#elif defined(PCBSKY9X)
rxPdcUsart(processSerialData); // Receive serial data here
#endif
@@ -507,24 +539,6 @@ void telemetryWakeup()
varioWakeup();
#endif
#if defined(DEBUG) && !defined(SIMU)
static tmr10ms_t lastTime = 0;
tmr10ms_t newTime = get_tmr10ms();
uint8_t data;
struct gtm utm;
gettime(&utm);
while (debugTelemetryFifo.pop(data)) {
if (lastTime != newTime) {
f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0: %02X", utm.tm_year+1900, utm.tm_mon+1, utm.tm_mday, utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100, data);
lastTime = newTime;
}
else {
f_printf(&g_telemetryFile, " %02X", data);
}
}
#endif
static tmr10ms_t alarmsCheckTime = 0;
static uint8_t alarmsCheckStep = 0;