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Merge pull request #6213 from opentx/bsongis/pxx2

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Pulses refactoring
This commit is contained in:
Bertrand Songis
2018-11-03 16:42:57 +01:00
committed by GitHub
parent 2ddc047ac8 9d93d88a66
commit 543021a300
27 changed files with 919 additions and 631 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/CMakeLists.txt
+6 -1
View File
@@ -47,6 +47,7 @@ option(FRSKY_STICKS "Reverse sticks for FrSky sticks" OFF)
option(NANO "Use nano newlib and binalloc")
option(NIGHTLY_BUILD_WARNING "Warn this is a nightly build" OFF)
option(MODULE_R9M_FLEX_FW "Add R9M options for non certified firmwwares" OFF)
option(PXX2 "Enable PXX v2 support" OFF)
# since we reset all default CMAKE compiler flags for firmware builds, provide an alternate way for user to specify additional flags.
set(FIRMWARE_C_FLAGS "" CACHE STRING "Additional flags for firmware target c compiler (note: all CMAKE_C_FLAGS[_*] are ignored for firmware/bootloader).")
@@ -313,7 +314,11 @@ if(NIGHTLY_BUILD_WARNING)
endif(NIGHTLY_BUILD_WARNING)
if(MODULE_R9M_FLEX_FW)
add_definitions(-DMODULE_R9M_FLEX_FW)
add_definitions(-DMODULE_R9M_FLEX_FW)
endif()
if(PXX2)
add_definitions(-DPXX2)
endif()
set(SRC
radio/src/io/pxx2.h
+27
View File
@@ -0,0 +1,27 @@
/*
* 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.
*/
#ifndef _IO_PXX2_H_
#define _IO_PXX2_H_
#define PXX2_BAUDRATE 230400
#define PXX2_PERIOD 4 // 4ms
#endif
radio/src/myeeprom.h
+7 -1
View File
@@ -342,10 +342,16 @@ enum Protocols {
#endif
PROTO_MULTIMODULE,
PROTO_SBUS,
PROTO_MAX,
PROTO_PXX2,
PROTO_NONE
};
#if defined(PXX2)
#define PROTO_PXX_EXTERNAL_MODULE PROTO_PXX2
#else
#define PROTO_PXX_EXTERNAL_MODULE PROTO_PXX
#endif
enum XJTRFProtocols {
RF_PROTO_OFF = -1,
RF_PROTO_X16,
radio/src/pulses/pulses_arm.cpp
+44 -4
View File
@@ -20,6 +20,11 @@
#include "opentx.h"
#if defined(PXX2)
#include "io/pxx2.h"
#include "pulses/pxx2.h"
#endif
uint8_t s_pulses_paused = 0;
uint8_t s_current_protocol[NUM_MODULES] = { MODULES_INIT(255) };
uint16_t failsafeCounter[NUM_MODULES] = { MODULES_INIT(100) };
@@ -56,14 +61,13 @@ uint8_t getRequiredProtocol(uint8_t port)
#endif
default:
port = EXTERNAL_MODULE; // ensure it's external module only
switch (g_model.moduleData[EXTERNAL_MODULE].type) {
case MODULE_TYPE_PPM:
required_protocol = PROTO_PPM;
break;
case MODULE_TYPE_XJT:
case MODULE_TYPE_R9M:
required_protocol = PROTO_PXX;
required_protocol = PROTO_PXX_EXTERNAL_MODULE; // either PXX or PXX2 depending on compilation options
break;
case MODULE_TYPE_SBUS:
required_protocol = PROTO_SBUS;
@@ -118,6 +122,20 @@ uint8_t getRequiredProtocol(uint8_t port)
return required_protocol;
}
void setupPulsesPXX(uint8_t port)
{
#if defined(INTMODULE_USART) && defined(EXTMODULE_USART)
modulePulsesData[port].pxx_uart.setupFrame(port);
#elif !defined(INTMODULE_USART) && !defined(EXTMODULE_USART)
modulePulsesData[port].pxx.setupFrame(port);
#else
if (IS_UART_MODULE(port))
modulePulsesData[port].pxx_uart.setupFrame(port);
else
modulePulsesData[port].pxx.setupFrame(port);
#endif
}
void setupPulses(uint8_t port)
{
bool init_needed = false;
@@ -142,7 +160,13 @@ void setupPulses(uint8_t port)
#if defined(CROSSFIRE)
case PROTO_CROSSFIRE:
disable_crossfire(port);
disable_module_timer(port);
break;
#endif
#if defined(PXX2)
case PROTO_PXX2:
disable_module_timer(port);
break;
#endif
@@ -208,6 +232,16 @@ void setupPulses(uint8_t port)
break;
#endif
#if defined(PXX2)
case PROTO_PXX2:
if (telemetryProtocol == PROTOCOL_FRSKY_SPORT && !init_needed) {
modulePulsesData[port].pxx2.setupFrame(port);
sportSendBuffer(modulePulsesData[port].pxx2.getData(), modulePulsesData[port].pxx2.getSize());
}
scheduleNextMixerCalculation(port, PXX2_PERIOD);
break;
#endif
#if defined(MULTIMODULE)
case PROTO_MULTIMODULE:
setupPulsesMultimodule(port);
@@ -243,7 +277,13 @@ void setupPulses(uint8_t port)
#if defined(CROSSFIRE)
case PROTO_CROSSFIRE:
init_crossfire(port);
init_module_timer(port, CROSSFIRE_PERIOD, true);
break;
#endif
#if defined(PXX2)
case PROTO_PXX2:
init_module_timer(port, PXX2_PERIOD, true);
break;
#endif
radio/src/pulses/pulses_arm.h
+10 -64
View File
@@ -21,20 +21,15 @@
#ifndef _PULSES_ARM_H_
#define _PULSES_ARM_H_
#include "pulses/pxx2.h"
#include "pulses/pxx1.h"
#if NUM_MODULES == 2
#define MODULES_INIT(...) __VA_ARGS__, __VA_ARGS__
#else
#define MODULES_INIT(...) __VA_ARGS__
#endif
#if defined(PCBX12S) && PCBREV < 13
#define pulse_duration_t uint32_t
#define trainer_pulse_duration_t uint16_t
#else
#define pulse_duration_t uint16_t
#define trainer_pulse_duration_t uint16_t
#endif
extern uint8_t s_current_protocol[NUM_MODULES];
extern uint8_t s_pulses_paused;
extern uint16_t failsafeCounter[NUM_MODULES];
@@ -44,30 +39,6 @@ template<class T> struct PpmPulsesData {
T * ptr;
};
#if defined(PXX_FREQUENCY_HIGH)
#define EXTMODULE_USART_PXX_BAUDRATE 420000
#define INTMODULE_USART_PXX_BAUDRATE 450000
#define PXX_PERIOD 4/*ms*/
#else
#define EXTMODULE_USART_PXX_BAUDRATE 115200
#define INTMODULE_USART_PXX_BAUDRATE 115200
#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];
uint8_t * ptr;
uint16_t pcmValue;
uint16_t pcmCrc;
uint32_t pcmOnesCount;
uint16_t serialByte;
uint16_t serialBitCount;
});
#endif
#if defined(PPM_PIN_SERIAL)
PACK(struct Dsm2SerialPulsesData {
uint8_t pulses[64];
@@ -86,15 +57,6 @@ PACK(struct Dsm2TimerPulsesData {
});
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PACK(struct PxxUartPulsesData {
uint8_t pulses[64];
uint8_t * ptr;
uint16_t pcmCrc;
uint16_t _alignment;
});
#endif
#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
@@ -105,26 +67,6 @@ PACK(struct PxxUartPulsesData {
#define MULTIMODULE_BAUDRATE 100000
#define MULTIMODULE_PERIOD 7 /*ms*/
#if !defined(INTMODULE_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 */
/* Multimodule reuses some of the DSM2 function and structs since the protocols are similar enough */
/* sbus is 1 byte header, 22 channel bytes (11bit * 16ch) + 1 byte flags */
#if defined(PXX_FREQUENCY_HIGH)
#error "Pulses array needs to be increased (PXX_FREQUENCY=HIGH)"
#endif
PACK(struct PxxTimerPulsesData {
pulse_duration_t pulses[200];
pulse_duration_t * ptr;
uint16_t rest;
uint16_t pcmCrc;
uint32_t pcmOnesCount;
});
#endif
#define CROSSFIRE_FRAME_MAXLEN 64
PACK(struct CrossfirePulsesData {
uint8_t pulses[CROSSFIRE_FRAME_MAXLEN];
@@ -132,12 +74,16 @@ PACK(struct CrossfirePulsesData {
union ModulePulsesData {
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PxxUartPulsesData pxx_uart;
UartPxxPulses pxx_uart;
#endif
#if defined(PPM_PIN_SERIAL)
PxxSerialPulsesData pxx;
SerialPxxPulses pxx;
#elif !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
PxxTimerPulsesData pxx;
PwmPxxPulses pxx;
#endif
#if defined(PXX2)
Pxx2Pulses pxx2;
#endif
#if defined(PPM_PIN_SERIAL)
radio/src/pulses/pulses_common.h
+65
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@@ -0,0 +1,65 @@
/*
* 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.
*/
#ifndef _PULSES_COMMON_H_
#define _PULSES_COMMON_H_
#include <inttypes.h>
#if defined(PCBX12S) && PCBREV < 13
#define pulse_duration_t uint32_t
#define trainer_pulse_duration_t uint16_t
#else
#define pulse_duration_t uint16_t
#define trainer_pulse_duration_t uint16_t
#endif
template <class T, int SIZE>
class DataBuffer {
public:
const T * getData()
{
return data;
}
uint8_t getSize()
{
return ptr - data;
}
protected:
T data[SIZE];
T * ptr;
void initBuffer()
{
ptr = data;
}
};
template <class T, int SIZE>
class PulsesBuffer: public DataBuffer<T, SIZE> {
public:
T getLast() {
return *(DataBuffer<T, SIZE>::ptr - 1);
};
};
#endif
radio/src/pulses/pxx.cpp
+183
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@@ -0,0 +1,183 @@
/*
* 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"
#include "pulses/pxx1.h"
#include "pulses/pxx2.h"
const uint16_t PxxCrcMixin::CRCTable[] = {
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
template <class PxxTransport>
void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
{
uint16_t pulseValue = 0;
uint16_t pulseValueLow = 0;
for (int8_t i=0; i<8; i++) {
if (sendFailsafe) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
}
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = (i < sendUpperChannels ? 2048 : 0);
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
}
else {
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < sentModuleChannels(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
if (i & 1) {
PxxTransport::addByte(pulseValueLow); // Low byte of channel
PxxTransport::addByte(((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
PxxTransport::addByte(pulseValue >> 4); // High byte of channel
}
else {
pulseValueLow = pulseValue;
}
}
}
template <class PxxTransport>
uint8_t PxxPulses<PxxTransport>::addFlag1(uint8_t port)
{
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
PxxTransport::addByte(flag1);
return flag1;
}
template <class PxxTransport>
void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
{
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
uint8_t extra_flags = 0;
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if(isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
PxxTransport::addByte(extra_flags);
}
template class PxxPulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class PxxPulses<StandardPxxTransport<SerialPxxBitTransport> >;
template class PxxPulses<Pxx2Transport>;
template class PxxPulses<UartPxxTransport>;
radio/src/pulses/pxx.h
+224
View File
@@ -0,0 +1,224 @@
/*
* 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.
*/
#ifndef _PULSES_PXX_H_
#define _PULSES_PXX_H_
#include "pulses_common.h"
#define PXX_SEND_BIND 0x01
#define PXX_SEND_FAILSAFE (1 << 4)
#define PXX_SEND_RANGECHECK (1 << 5)
#if defined(PXX_FREQUENCY_HIGH)
#define EXTMODULE_USART_PXX_BAUDRATE 420000
#define INTMODULE_USART_PXX_BAUDRATE 450000
#define PXX_PERIOD 4/*ms*/
#else
#define EXTMODULE_USART_PXX_BAUDRATE 115200
#define INTMODULE_USART_PXX_BAUDRATE 115200
#define PXX_PERIOD 9/*ms*/
#endif
#if defined(PXX_FREQUENCY_HIGH) && (!defined(INTMODULE_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 */
/* Multimodule reuses some of the DSM2 function and structs since the protocols are similar enough */
/* sbus is 1 byte header, 22 channel bytes (11bit * 16ch) + 1 byte flags */
#error "Pulses array needs to be increased (PXX_FREQUENCY=HIGH)"
#endif
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
class PxxCrcMixin {
protected:
void initCrc()
{
crc = 0;
}
void addToCrc(uint8_t byte)
{
crc = (crc << 8) ^ (CRCTable[((crc >> 8) ^ byte) & 0xFF]);
}
uint16_t crc;
static const uint16_t CRCTable[];
};
// Used by the Sky9x family boards
class SerialPxxBitTransport: public DataBuffer<uint8_t, 64> {
protected:
uint8_t byte;
uint8_t bits_count;
void initFrame()
{
initBuffer();
byte = 0;
bits_count = 0;
}
void addSerialBit(uint8_t bit)
{
byte >>= 1;
if (bit & 1) {
byte |= 0x80;
}
if (++bits_count >= 8) {
*ptr++ = byte;
bits_count = 0;
}
}
// 8uS/bit 01 = 0, 001 = 1
void addPart(uint8_t value)
{
addSerialBit(0);
if (value) {
addSerialBit(0);
}
addSerialBit(1);
}
void addTail()
{
while (bits_count != 0) {
addSerialBit(1);
}
}
};
class PwmPxxBitTransport: public PulsesBuffer<pulse_duration_t, 200> {
protected:
uint16_t rest;
void initFrame()
{
initBuffer();
rest = PXX_PERIOD_HALF_US;
}
void addPart(uint8_t value)
{
pulse_duration_t duration = value ? 47 : 31;
*ptr++ = duration;
rest -= duration + 1;
}
void addTail()
{
// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
*(ptr - 1) += rest;
}
};
template <class BitTransport>
class StandardPxxTransport: public BitTransport, public PxxCrcMixin {
protected:
uint8_t ones_count;
void initFrame()
{
BitTransport::initFrame();
ones_count = 0;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
addByteWithoutCrc(byte);
};
void addByteWithoutCrc(uint8_t byte)
{
for (uint8_t i = 0; i < 8; i++) {
addBit(byte & 0x80);
byte <<= 1;
}
}
void addBit(uint8_t bit)
{
if (bit) {
BitTransport::addPart(1);
if (++ones_count == 5) {
ones_count = 0;
BitTransport::addPart(0); // Stuff a 0 bit in
}
}
else {
BitTransport::addPart(0);
ones_count = 0;
}
}
};
class UartPxxTransport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
protected:
void initFrame()
{
initBuffer();
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
addWithByteStuffing(byte);
}
void addByteWithoutCrc(uint8_t byte)
{
*ptr++ = byte;
}
void addWithByteStuffing(uint8_t byte)
{
if (0x7E == byte) {
*ptr++ = 0x7D;
*ptr++ = 0x5E;
}
else if (0x7D == byte) {
*ptr++ = 0x7D;
*ptr++ = 0x5D;
}
else {
*ptr++ = byte;
}
}
void addTail()
{
// nothing
}
};
template <class PxxTransport>
class PxxPulses: public PxxTransport {
protected:
uint8_t addFlag1(uint8_t port);
void addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels);
void addExtraFlags(uint8_t port);
};
#endif
radio/src/pulses/pxx1.cpp
+79
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/*
* 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"
#include "pulses/pxx1.h"
template <class PxxTransport>
void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels)
{
PxxTransport::initCrc();
// Sync
addHead();
// RX Number
PxxTransport::addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = PxxPulses<PxxTransport>::addFlag1(port);
// Flag2
PxxTransport::addByte(0);
// Channels
PxxPulses<PxxTransport>::addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
// Extra flags
PxxPulses<PxxTransport>::addExtraFlags(port);
// CRC
addCrc();
// Sync = HEAD
addHead();
// Tail
PxxTransport::addTail();
}
template <class PxxTransport>
void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t port)
{
PxxTransport::initFrame();
#if defined(PXX_FREQUENCY_HIGH)
add8ChannelsFrame(port, 0);
if (sentModuleChannels(port) > 8) {
add8ChannelsFrame(port, 8);
}
#else
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
add8ChannelsFrame(port, sendUpperChannels);
#endif
}
template class Pxx1Pulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class Pxx1Pulses<StandardPxxTransport<SerialPxxBitTransport> >;
template class Pxx1Pulses<UartPxxTransport>;
radio/src/pulses/pxx1.h
+52
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/*
* 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.
*/
#ifndef _PULSES_PXX1_H_
#define _PULSES_PXX1_H_
#include "pxx.h"
template <class PxxTransport>
class Pxx1Pulses: public PxxPulses<PxxTransport>
{
public:
void setupFrame(uint8_t port);
protected:
void addHead()
{
// send 7E, do not CRC
PxxTransport::addByteWithoutCrc(0x7E);
}
void addCrc()
{
PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc >> 8);
PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc);
}
void add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels);
};
typedef Pxx1Pulses<UartPxxTransport> UartPxxPulses;
typedef Pxx1Pulses<StandardPxxTransport<PwmPxxBitTransport>> PwmPxxPulses;
typedef Pxx1Pulses<StandardPxxTransport<SerialPxxBitTransport>> SerialPxxPulses;
#endif
radio/src/pulses/pxx2.cpp
+75
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/*
* 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"
#include "pulses/pxx2.h"
void Pxx2Pulses::setupFrame(uint8_t port)
{
initFrame();
initCrc();
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
// Model ID
addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = addFlag1(port);
// Flag2
addByte(0);
// Channels
addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
// Extra flags
addExtraFlags(port);
// Flag3, reserved
addByte(0);
#if defined(LUA)
if (outputTelemetryBufferTrigger != 0x00 && outputTelemetryBufferSize > 0) {
// CMD/Resp
addByte(1);
// primID (1 byte) + dataID (2 bytes) + value (4 bytes)
for (uint8_t i=0; i<7; i++) {
addByte(outputTelemetryBuffer[i]);
}
outputTelemetryBufferTrigger = 0x00;
outputTelemetryBufferSize = 0;
}
else {
// CMD/Resp
addByte(0);
}
#else
// CMD/Resp
addByte(0);
#endif
// CRC
addByte(crc); // TODO need to check the CRC chosen algorithm
}
radio/src/pulses/pxx2.h
+72
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/*
* 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.
*/
#ifndef _PULSES_PXX2_H_
#define _PULSES_PXX2_H_
#include "./pxx.h"
class SportCrcMixin {
protected:
void initCrc()
{
crc = 0;
}
void addToCrc(uint8_t byte)
{
crc += byte; // 0-1FF
crc += crc >> 8; // 0-100
crc &= 0x00ff;
}
uint16_t crc;
};
class Pxx2Transport: public DataBuffer<uint8_t, 64>, public SportCrcMixin {
protected:
void addByte(uint8_t byte)
{
SportCrcMixin::addToCrc(byte);
*ptr++ = byte;
}
void addTail()
{
// nothing
}
};
class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
public:
void setupFrame(uint8_t port);
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
Pxx2Transport::initBuffer();
}
};
#endif
radio/src/pulses/pxx_arm.cpp
-453
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@@ -1,453 +0,0 @@
/*
* 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"
#define PXX_SEND_BIND 0x01
#define PXX_SEND_FAILSAFE (1 << 4)
#define PXX_SEND_RANGECHECK (1 << 5)
const uint16_t CRCTable[]=
{
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
inline void uartPutPcmPart(uint8_t port, uint8_t byte)
{
if (0x7E == byte) {
*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
*modulePulsesData[port].pxx_uart.ptr++ = 0x5E;
}
else if (0x7D == byte) {
*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
*modulePulsesData[port].pxx_uart.ptr++ = 0x5D;
}
else {
*modulePulsesData[port].pxx_uart.ptr++ = byte;
}
}
void uartPutPcmByte(uint8_t port, uint8_t byte)
{
modulePulsesData[port].pxx_uart.pcmCrc = (modulePulsesData[port].pxx_uart.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx_uart.pcmCrc>>8)^byte) & 0xFF]);
uartPutPcmPart(port, byte);
}
void uartInitPcmArray(uint8_t port)
{
modulePulsesData[port].pxx_uart.ptr = modulePulsesData[port].pxx_uart.pulses;
}
void uartInitPcmCrc(uint8_t port)
{
modulePulsesData[port].pxx_uart.pcmCrc = 0;
}
void uartPutPcmHead(uint8_t port)
{
// send 7E, do not CRC
*modulePulsesData[port].pxx_uart.ptr++ = 0x7E;
}
void uartPutPcmCrc(uint8_t port)
{
uint16_t pulseValue = modulePulsesData[port].pxx_uart.pcmCrc;
uartPutPcmByte(port, pulseValue >> 8);
uartPutPcmByte(port, pulseValue);
}
#endif
#if !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
#if defined(PPM_PIN_SERIAL)
void pxxPutPcmSerialBit(uint8_t port, uint8_t bit)
{
modulePulsesData[port].pxx.serialByte >>= 1;
if (bit & 1) {
modulePulsesData[port].pxx.serialByte |= 0x80;
}
if (++modulePulsesData[port].pxx.serialBitCount >= 8) {
*modulePulsesData[port].pxx.ptr++ = modulePulsesData[port].pxx.serialByte;
modulePulsesData[port].pxx.serialBitCount = 0;
}
}
// 8uS/bit 01 = 0, 001 = 1
void pxxPutPcmPart(uint8_t port, uint8_t value)
{
pxxPutPcmSerialBit(port, 0);
if (value) {
pxxPutPcmSerialBit(port, 0);
}
pxxPutPcmSerialBit(port, 1);
}
void pxxPutPcmTail(uint8_t port)
{
while (modulePulsesData[port].pxx.serialBitCount != 0) {
pxxPutPcmSerialBit(port, 1);
}
}
#else
void pxxPutPcmPart(uint8_t port, uint8_t value)
{
pulse_duration_t duration = value ? 47 : 31;
*modulePulsesData[port].pxx.ptr++ = duration;
modulePulsesData[port].pxx.rest -= duration + 1;
}
void pxxPutPcmTail(uint8_t port)
{
// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
*(modulePulsesData[port].pxx.ptr-1) += modulePulsesData[port].pxx.rest;
}
#endif
void pxxPutPcmBit(uint8_t port, uint8_t bit)
{
if (bit) {
pxxPutPcmPart(port, 1);
if (++modulePulsesData[port].pxx.pcmOnesCount == 5) {
modulePulsesData[port].pxx.pcmOnesCount = 0;
pxxPutPcmPart(port, 0); // Stuff a 0 bit in
}
}
else {
pxxPutPcmPart(port, 0);
modulePulsesData[port].pxx.pcmOnesCount = 0;
}
}
void pxxPutPcmByte(uint8_t port, uint8_t byte)
{
modulePulsesData[port].pxx.pcmCrc = (modulePulsesData[port].pxx.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx.pcmCrc>>8)^byte) & 0xFF]);
for (uint8_t i=0; i<8; i++) {
pxxPutPcmBit(port, byte & 0x80);
byte <<= 1;
}
}
void pxxInitPcmArray(uint8_t port)
{
modulePulsesData[port].pxx.ptr = modulePulsesData[port].pxx.pulses;
#if defined(PPM_PIN_SERIAL)
modulePulsesData[port].pxx.pcmValue = 0;
#else
modulePulsesData[port].pxx.rest = PXX_PERIOD_HALF_US;
#endif
modulePulsesData[port].pxx.pcmOnesCount = 0;
}
void pxxInitPcmCrc(uint8_t port)
{
modulePulsesData[port].pxx.pcmCrc = 0;
}
void pxxPutPcmHead(uint8_t port)
{
// send 7E, do not CRC
// 01111110
pxxPutPcmPart(port, 0);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 0);
}
void pxxPutPcmCrc(uint8_t port)
{
uint16_t pulseValue = modulePulsesData[port].pxx.pcmCrc;
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)
{
if (IS_UART_MODULE(port))
uartInitPcmArray(port);
else
pxxInitPcmArray(port);
}
inline void initPcmCrc(uint8_t port)
{
if (IS_UART_MODULE(port))
uartInitPcmCrc(port);
else
pxxInitPcmCrc(port);
}
inline void putPcmHead(uint8_t port)
{
if (IS_UART_MODULE(port))
uartPutPcmHead(port);
else
pxxPutPcmHead(port);
}
inline void putPcmByte(uint8_t port, uint8_t byte)
{
if (IS_UART_MODULE(port))
uartPutPcmByte(port, byte);
else
pxxPutPcmByte(port, byte);
}
inline void putPcmCrc(uint8_t port)
{
if (IS_UART_MODULE(port))
uartPutPcmCrc(port);
else
pxxPutPcmCrc(port);
}
inline void putPcmTail(uint8_t port)
{
if (!IS_UART_MODULE(port))
pxxPutPcmTail(port);
}
#else
inline void initPcmArray(uint8_t port)
{
pxxInitPcmArray(port);
}
inline void initPcmCrc(uint8_t port)
{
pxxInitPcmCrc(port);
}
inline void putPcmHead(uint8_t port)
{
pxxPutPcmHead(port);
}
inline void putPcmByte(uint8_t port, uint8_t byte)
{
pxxPutPcmByte(port, byte);
}
inline void putPcmCrc(uint8_t port)
{
pxxPutPcmCrc(port);
}
inline void putPcmTail(uint8_t port)
{
pxxPutPcmTail(port);
}
#endif
inline void setupFramePXX(uint8_t port, uint8_t sendUpperChannels)
{
uint16_t pulseValue=0, pulseValueLow=0;
initPcmCrc(port);
/* Sync */
putPcmHead(port);
/* Rx Number */
putPcmByte(port, g_model.header.modelId[port]);
/* FLAG1 */
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
putPcmByte(port, flag1);
/* FLAG2 */
putPcmByte(port, 0);
/* CHANNELS */
for (int i=0; i<8; i++) {
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
}
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = (i < sendUpperChannels ? 2048 : 0);
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
}
else {
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < sentModuleChannels(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
if (i & 1) {
putPcmByte(port, pulseValueLow); // Low byte of channel
putPcmByte(port, ((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
putPcmByte(port, pulseValue >> 4); // High byte of channel
}
else {
pulseValueLow = pulseValue;
}
}
uint8_t extra_flags = 0;
/* Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise) */
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if(isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
putPcmByte(port, extra_flags);
/* CRC */
putPcmCrc(port);
/* Sync */
putPcmHead(port);
putPcmTail(port);
}
void setupPulsesPXX(uint8_t port)
{
initPcmArray(port);
#if defined(PXX_FREQUENCY_HIGH)
setupFramePXX(port, 0);
if (sentModuleChannels(port) > 8) {
setupFramePXX(port, 8);
}
#else
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
setupFramePXX(port, sendUpperChannels);
#endif
}
radio/src/targets/common/arm/CMakeLists.txt
+11 -2
View File
@@ -125,11 +125,20 @@ set(FIRMWARE_SRC
${COOS_DIR}/portable/GCC/port.c
${COOS_DIR}/portable/arch.c
)
set(PULSES_SRC
${PULSES_SRC}
pulses_arm.cpp
ppm_arm.cpp
pxx_arm.cpp
pxx.cpp
pxx1.cpp
dsm2_arm.cpp
sbus_arm.cpp
)
)
if(PXX2)
set(PULSES_SRC
${PULSES_SRC}
pxx2.cpp
)
endif()
radio/src/targets/common/arm/stm32/CMakeLists.txt
+3
View File
@@ -9,6 +9,7 @@ option(USB_SERIAL "Enable USB serial (CDC)" OFF)
set(ARCH ARM)
set(STM32USB_DIR ${THIRDPARTY_DIR}/STM32_USB-Host-Device_Lib_V2.2.0/Libraries)
add_definitions(-DSTM32 -DLUA_INPUTS -DVARIO -DCROSSFIRE)
include_directories(${RADIO_SRC_DIRECTORY}/targets/common/arm/stm32)
include_directories(${STM32USB_DIR}/STM32_USB_OTG_Driver/inc)
include_directories(${STM32USB_DIR}/STM32_USB_Device_Library/Core/inc)
@@ -90,11 +91,13 @@ foreach(FILE ${STM32USB_SRC})
${STM32USB_DIR}/${FILE}
)
endforeach()
set(SRC
${SRC}
telemetry/crossfire.cpp
io/bootloader_flash.cpp
)
set(PULSES_SRC
${PULSES_SRC}
crossfire.cpp
radio/src/targets/common/arm/stm32/intmodule_serial_driver.cpp
+2 -2
View File
@@ -130,8 +130,8 @@ void intmoduleSendNextFrame()
DMA_InitStructure.DMA_Channel = INTMODULE_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&INTMODULE_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx_uart.pulses);
DMA_InitStructure.DMA_BufferSize = modulePulsesData[INTERNAL_MODULE].pxx_uart.ptr - modulePulsesData[INTERNAL_MODULE].pxx_uart.pulses;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx_uart.getData());
DMA_InitStructure.DMA_BufferSize = modulePulsesData[INTERNAL_MODULE].pxx_uart.getSize();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
radio/src/targets/horus/board.h
+3 -3
View File
@@ -195,8 +195,8 @@ void init_pxx(uint32_t module_index);
void disable_pxx(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_module_timer( uint32_t module_index, uint32_t period, uint8_t state);
void disable_module_timer( uint32_t module_index);
// Trainer driver
void init_trainer_ppm(void);
@@ -526,7 +526,7 @@ int32_t getVolume(void);
#define TELEMETRY_FIFO_SIZE 512
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
void sportSendBuffer(const uint8_t * buffer, uint32_t count);
uint8_t telemetryGetByte(uint8_t * byte);
extern uint32_t telemetryErrors;
radio/src/targets/horus/extmodule_driver.cpp
+11 -35
View File
@@ -34,9 +34,12 @@ void extmoduleStop()
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
}
void extmoduleNoneStart()
void extmoduleTimerStart(uint32_t period, uint8_t state)
{
EXTERNAL_MODULE_OFF();
if (state)
EXTERNAL_MODULE_ON();
else
EXTERNAL_MODULE_OFF();
GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
@@ -51,8 +54,8 @@ void extmoduleNoneStart()
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
EXTMODULE_TIMER->ARR = 36000; // 18mS
EXTMODULE_TIMER->CCR2 = 32000; // Update time
EXTMODULE_TIMER->ARR = (2000 * period);
EXTMODULE_TIMER->CCR2 = (2000 * period) - 1000;
EXTMODULE_TIMER->EGR = 1; // Restart
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
@@ -62,6 +65,7 @@ void extmoduleNoneStart()
NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
}
void extmodulePpmStart()
{
EXTERNAL_MODULE_ON();
@@ -209,34 +213,6 @@ void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us)
}
#endif
void extmoduleCrossfireStart()
{
EXTERNAL_MODULE_ON();
GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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);
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); // Set high
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
}
void extmoduleSendNextFrame()
{
if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PPM) {
@@ -259,7 +235,7 @@ void extmoduleSendNextFrame()
EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
}
else if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PXX) {
EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].pxx.ptr - 1) - 4000; // 2mS in advance
EXTMODULE_TIMER->CCR2 = modulePulsesData[EXTERNAL_MODULE].pxx.getLast() - 4000; // 2mS in advance
EXTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
#if defined(PCBX10) || PCBREV >= 13
EXTMODULE_DMA_STREAM->CR |= EXTMODULE_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;
@@ -267,8 +243,8 @@ void extmoduleSendNextFrame()
EXTMODULE_DMA_STREAM->CR |= EXTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_1 | DMA_SxCR_MSIZE_1 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
#endif
EXTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.ptr - modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.getData());
EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.getSize();
EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
}
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])) {
radio/src/targets/horus/pulses_driver.cpp
+6 -6
View File
@@ -26,18 +26,17 @@ void extmoduleStop(void);
void intmoduleNoneStart(void);
void intmodulePxxStart(void);
void extmoduleNoneStart(void);
void extmoduleTimerStart(uint32_t period, uint8_t state);
void extmodulePpmStart(void);
void extmodulePxxStart(void);
void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
void extmoduleCrossfireStart(void);
void init_no_pulses(uint32_t port)
{
if (port == INTERNAL_MODULE)
intmoduleNoneStart();
else
extmoduleNoneStart();
extmoduleTimerStart(18, false);
}
void disable_no_pulses(uint32_t port)
@@ -94,16 +93,17 @@ void disable_serial(uint32_t port)
}
#endif
void init_crossfire(uint32_t port)
void init_module_timer(uint32_t port, uint32_t period, uint8_t state)
{
if (port == EXTERNAL_MODULE) {
extmoduleCrossfireStart();
extmoduleTimerStart(period, state);
}
}
void disable_crossfire(uint32_t port)
void disable_module_timer(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleStop();
}
}
radio/src/targets/horus/telemetry_driver.cpp
+1 -1
View File
@@ -138,7 +138,7 @@ void telemetryPortSetDirectionInput()
TELEMETRY_USART->CR1 |= USART_CR1_RE; // turn on receiver
}
void sportSendBuffer(uint8_t * buffer, uint32_t count)
void sportSendBuffer(const uint8_t * buffer, uint32_t count)
{
telemetryPortSetDirectionOutput();
radio/src/targets/sky9x/pulses_driver.cpp
+2 -2
View File
@@ -278,8 +278,8 @@ extern "C" void PWM_IRQHandler(void)
else {
// Kick off serial output here
Ssc * sscptr = SSC;
sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
sscptr->SSC_TCR = (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.ptr - (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.getData());
sscptr->SSC_TCR = modulePulsesData[EXTERNAL_MODULE].pxx.getSize();
sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers
}
break;
radio/src/targets/taranis/board.h
+9 -9
View File
@@ -182,14 +182,14 @@ uint32_t isBootloaderStart(const uint8_t * buffer);
#endif
void init_no_pulses(uint32_t port);
void disable_no_pulses(uint32_t port);
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_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_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_serial( uint32_t module_index, uint32_t baudrate, uint32_t period);
void disable_serial( uint32_t module_index);
void init_module_timer( uint32_t module_index, uint32_t period, uint8_t state);
void disable_module_timer( uint32_t module_index);
// Trainer driver
#define SLAVE_MODE() (g_model.trainerMode == TRAINER_MODE_SLAVE)
@@ -565,7 +565,7 @@ void debugPutc(const char c);
// Telemetry driver
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
void sportSendBuffer(const uint8_t * buffer, uint32_t count);
uint8_t telemetryGetByte(uint8_t * byte);
extern uint32_t telemetryErrors;
radio/src/targets/taranis/extmodule_driver.cpp
+11 -38
View File
@@ -41,11 +41,12 @@ void extmoduleStop()
}
}
void extmoduleNoneStart()
void extmoduleTimerStart(uint32_t period, uint8_t state)
{
if (!IS_TRAINER_EXTERNAL_MODULE()) {
if (state)
EXTERNAL_MODULE_ON();
else if (!IS_TRAINER_EXTERNAL_MODULE())
EXTERNAL_MODULE_OFF();
}
GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
@@ -60,8 +61,8 @@ void extmoduleNoneStart()
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
EXTMODULE_TIMER->ARR = 36000; // 18mS
EXTMODULE_TIMER->CCR2 = 32000; // Update time
EXTMODULE_TIMER->ARR = (2000 * period);
EXTMODULE_TIMER->CCR2 = (2000 * period) - 1000;
EXTMODULE_TIMER->EGR = 1; // Restart
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
@@ -235,34 +236,6 @@ void extmodulePxxStart()
}
#endif
void extmoduleCrossfireStart()
{
EXTERNAL_MODULE_ON();
GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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);
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); // Set high
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
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
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
}
void extmoduleSendNextFrame()
{
if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PPM) {
@@ -283,8 +256,8 @@ void extmoduleSendNextFrame()
DMA_InitStructure.DMA_Channel = EXTMODULE_USART_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&EXTMODULE_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx_uart.pulses);
DMA_InitStructure.DMA_BufferSize = modulePulsesData[EXTERNAL_MODULE].pxx_uart.ptr - modulePulsesData[EXTERNAL_MODULE].pxx_uart.pulses;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx_uart.getData());
DMA_InitStructure.DMA_BufferSize = modulePulsesData[EXTERNAL_MODULE].pxx_uart.getSize();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
@@ -300,12 +273,12 @@ void extmoduleSendNextFrame()
USART_DMACmd(EXTMODULE_USART, USART_DMAReq_Tx, ENABLE);
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE;
#else
EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].pxx.ptr - 1) - 4000; // 2mS in advance
EXTMODULE_TIMER->CCR2 = modulePulsesData[EXTERNAL_MODULE].pxx.getLast() - 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;
EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
EXTMODULE_TIMER_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.ptr - modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.getData());
EXTMODULE_TIMER_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.getSize();
EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
#endif
}
radio/src/targets/taranis/intmodule_pulses_driver.cpp
+3 -3
View File
@@ -61,12 +61,12 @@ void intmoduleNoneStart()
void intmoduleSendNextFrame()
{
if (s_current_protocol[INTERNAL_MODULE] == PROTO_PXX) {
INTMODULE_TIMER->CCR2 = *(modulePulsesData[INTERNAL_MODULE].pxx.ptr - 1) - 4000; // 2mS in advance
INTMODULE_TIMER->CCR2 = modulePulsesData[INTERNAL_MODULE].pxx.getLast() - 4000; // 2mS in advance
INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
INTMODULE_DMA_STREAM->CR |= INTMODULE_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;
INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);
INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx.pulses);
INTMODULE_DMA_STREAM->NDTR = modulePulsesData[INTERNAL_MODULE].pxx.ptr - modulePulsesData[INTERNAL_MODULE].pxx.pulses;
INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx.getData());
INTMODULE_DMA_STREAM->NDTR = modulePulsesData[INTERNAL_MODULE].pxx.getSize();
INTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
}
#if defined(TARANIS_INTERNAL_PPM)
radio/src/targets/taranis/pulses_driver.cpp
+6 -6
View File
@@ -29,11 +29,11 @@ void intmodulePxxStart(void);
void intmodulePpmStart(void);
#endif
void extmoduleNoneStart(void);
void extmoduleTimerStart(uint32_t period, uint8_t state);
void extmodulePpmStart(void);
void extmodulePxxStart(void);
void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us);
void extmoduleCrossfireStart(void);
void init_pxx(uint32_t port)
{
@@ -96,7 +96,7 @@ void init_no_pulses(uint32_t port)
if (port == INTERNAL_MODULE)
intmoduleNoneStart();
else
extmoduleNoneStart();
extmoduleTimerStart(18, false);
}
void disable_no_pulses(uint32_t port)
@@ -107,14 +107,14 @@ void disable_no_pulses(uint32_t port)
extmoduleStop();
}
void init_crossfire(uint32_t port)
void init_module_timer(uint32_t port, uint32_t period, uint8_t state)
{
if (port == EXTERNAL_MODULE) {
extmoduleCrossfireStart();
extmoduleTimerStart(period, state);
}
}
void disable_crossfire(uint32_t port)
void disable_module_timer(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleStop();
radio/src/targets/taranis/telemetry_driver.cpp
+1 -1
View File
@@ -89,7 +89,7 @@ void telemetryPortSetDirectionInput()
TELEMETRY_USART->CR1 |= USART_CR1_RE; // turn on receiver
}
void sportSendBuffer(uint8_t * buffer, uint32_t count)
void sportSendBuffer(const uint8_t * buffer, uint32_t count)
{
telemetryPortSetDirectionOutput();
radio/src/telemetry/frsky.h
+6
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@@ -32,7 +32,13 @@ enum FrSkyDataState {
STATE_DATA_XOR,
};
#if defined(PXX2)
#include "io/pxx2.h"
#define FRSKY_SPORT_BAUDRATE PXX2_BAUDRATE
#else
#define FRSKY_SPORT_BAUDRATE 57600
#endif
#define FRSKY_D_BAUDRATE 9600
#define FRSKY_SPORT_PACKET_SIZE 9