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[Horus] Fixes #4205 (#4210)

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[Horus] Fixes #4205
This commit is contained in:
Bertrand Songis
2017-01-09 18:17:19 +01:00
committed by GitHub
parent dc51a95029
commit 58382d8aca
10 changed files with 97 additions and 84 deletions
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radio/src/io/frsky_sport.cpp
+1 -1
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@@ -176,7 +176,7 @@ const char * sportUpdatePowerOn(ModuleIndex module)
sportWaitState(SPORT_IDLE, 500); // Clear the fifo
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_8N1);
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_WITHOUT_DMA);
#if defined(PCBTARANIS) || defined(PCBHORUS)
if (module == INTERNAL_MODULE)
radio/src/targets/horus/board.cpp
-9
View File
@@ -87,15 +87,6 @@ void interrupt1ms()
DEBUG_TIMER_START(debugTimerRotEnc);
checkRotaryEncoder();
DEBUG_TIMER_STOP(debugTimerRotEnc);
#if defined(LUA)
if (telemetryProtocol == PROTOCOL_FRSKY_SPORT && outputTelemetryBufferTrigger && outputTelemetryBufferSize > 0) {
if (telemetryFifo.last(-2) == 0x7E && telemetryFifo.last(-1) == outputTelemetryBufferTrigger) {
outputTelemetryBufferTrigger = 0;
sportSendBuffer(outputTelemetryBuffer, outputTelemetryBufferSize);
}
}
#endif
}
extern "C" void INTERRUPT_1MS_IRQHandler()
radio/src/targets/horus/board.h
+3 -2
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@@ -400,10 +400,11 @@ int32_t getVolume(void);
#define VOLUME_LEVEL_DEF 12
// Telemetry driver
void telemetryPortInit(uint32_t baudrate, int mode);
#define TELEMETRY_FIFO_SIZE 512
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
int telemetryGetByte(uint8_t * byte);
uint8_t telemetryGetByte(uint8_t * byte);
// Haptic driver
void hapticInit(void);
radio/src/targets/horus/telemetry_driver.cpp
+68 -47
View File
@@ -20,9 +20,12 @@
#include "opentx.h"
DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
DMAFifo<TELEMETRY_FIFO_SIZE> telemetryDMAFifo __DMA (TELEMETRY_DMA_Stream_RX);
Fifo<uint8_t, TELEMETRY_FIFO_SIZE> telemetryNoDMAFifo;
uint8_t telemetryFifoMode;
uint32_t telemetryErrors = 0;
void telemetryPortInit(uint32_t baudrate, int mode)
void telemetryPortInit(uint32_t baudrate, uint8_t mode)
{
if (baudrate == 0) {
USART_DeInit(TELEMETRY_USART);
@@ -56,7 +59,7 @@ void telemetryPortInit(uint32_t baudrate, int mode)
GPIO_ResetBits(TELEMETRY_DIR_GPIO, TELEMETRY_DIR_GPIO_PIN);
USART_InitStructure.USART_BaudRate = baudrate;
if (mode == TELEMETRY_SERIAL_8E2) {
if (mode & TELEMETRY_SERIAL_8E2) {
USART_InitStructure.USART_WordLength = USART_WordLength_9b;
USART_InitStructure.USART_StopBits = USART_StopBits_2;
USART_InitStructure.USART_Parity = USART_Parity_Even;
@@ -69,34 +72,44 @@ void telemetryPortInit(uint32_t baudrate, int mode)
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(TELEMETRY_USART, &USART_InitStructure);
DMA_InitTypeDef DMA_InitStructure;
telemetryFifo.clear();
USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
telemetryFifoMode = mode;
DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryFifo.buffer());
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = telemetryFifo.size();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
USART_Cmd(TELEMETRY_USART, ENABLE);
DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
if (mode & TELEMETRY_SERIAL_WITHOUT_DMA) {
USART_Cmd(TELEMETRY_USART, ENABLE);
USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
}
else {
DMA_InitTypeDef DMA_InitStructure;
telemetryDMAFifo.clear();
USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryDMAFifo.buffer());
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = telemetryDMAFifo.size();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
USART_Cmd(TELEMETRY_USART, ENABLE);
DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
}
}
void telemetryPortSetDirectionOutput()
@@ -160,7 +173,7 @@ extern "C" void TELEMETRY_USART_IRQHandler(void)
{
DEBUG_INTERRUPT(INT_TELEM_USART);
uint32_t status = TELEMETRY_USART->SR;
if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE;
telemetryPortSetDirectionInput();
@@ -169,25 +182,33 @@ extern "C" void TELEMETRY_USART_IRQHandler(void)
status = TELEMETRY_USART->SR;
}
}
while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
uint8_t data = TELEMETRY_USART->DR;
if (status & USART_FLAG_ERRORS) {
telemetryErrors++;
}
else {
telemetryNoDMAFifo.push(data);
#if defined(LUA)
if (telemetryProtocol == PROTOCOL_FRSKY_SPORT) {
static uint8_t prevdata;
if (prevdata == 0x7E && outputTelemetryBufferSize > 0 && data == outputTelemetryBufferTrigger) {
sportSendBuffer(outputTelemetryBuffer, outputTelemetryBufferSize);
}
prevdata = data;
}
#endif
}
status = TELEMETRY_USART->SR;
}
}
// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
int telemetryGetByte(uint8_t * byte)
uint8_t telemetryGetByte(uint8_t * byte)
{
// TODO I am not sure it's possible to have this cable on Horus ...
#if 0
if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
if (serial2Mode == UART_MODE_TELEMETRY)
return serial2RxFifo.pop(*byte);
else
return 0;
}
else {
return telemetryFifo.pop(*byte);
}
#else
return telemetryFifo.pop(*byte);
#endif
if (telemetryFifoMode & TELEMETRY_SERIAL_WITHOUT_DMA)
return telemetryNoDMAFifo.pop(*byte);
else
return telemetryDMAFifo.pop(*byte);
}
radio/src/targets/sky9x/board.h
+1 -1
View File
@@ -376,7 +376,7 @@ void eepromStartWrite(uint8_t * buffer, size_t address, size_t size);
void debugPutc(const char c);
// Telemetry driver
void telemetryPortInit(uint32_t baudrate, int mode);
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
uint32_t telemetryTransmitPending();
void telemetryTransmitBuffer(uint8_t * buffer, uint32_t size);
void rxPdcUsart( void (*pChProcess)(uint8_t x) );
radio/src/targets/sky9x/telemetry_driver.cpp
+1 -1
View File
@@ -166,7 +166,7 @@ uint32_t telemetryTransmitPending()
return x ;
}
void telemetryPortInit(uint32_t baudrate, int mode)
void telemetryPortInit(uint32_t baudrate, uint8_t mode)
{
#if !defined(SIMU)
UART2_Configure(baudrate, Master_frequency, mode);
radio/src/targets/taranis/board.h
+2 -2
View File
@@ -457,10 +457,10 @@ uint8_t eepromIsTransferComplete();
void debugPutc(const char c);
// Telemetry driver
void telemetryPortInit(uint32_t baudrate, int mode);
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
int telemetryGetByte(uint8_t * byte);
uint8_t telemetryGetByte(uint8_t * byte);
extern uint32_t telemetryErrors;
// Audio driver
radio/src/targets/taranis/telemetry_driver.cpp
+5 -4
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@@ -23,7 +23,7 @@
Fifo<uint8_t, TELEMETRY_FIFO_SIZE> telemetryFifo;
uint32_t telemetryErrors = 0;
void telemetryPortInit(uint32_t baudrate, int mode)
void telemetryPortInit(uint32_t baudrate, uint8_t mode)
{
if (baudrate == 0) {
USART_DeInit(TELEMETRY_USART);
@@ -57,7 +57,7 @@ void telemetryPortInit(uint32_t baudrate, int mode)
GPIO_ResetBits(TELEMETRY_DIR_GPIO, TELEMETRY_DIR_GPIO_PIN);
USART_InitStructure.USART_BaudRate = baudrate;
if (mode == TELEMETRY_SERIAL_8E2) {
if (mode & TELEMETRY_SERIAL_8E2) {
USART_InitStructure.USART_WordLength = USART_WordLength_9b;
USART_InitStructure.USART_StopBits = USART_StopBits_2;
USART_InitStructure.USART_Parity = USART_Parity_Even;
@@ -70,6 +70,7 @@ void telemetryPortInit(uint32_t baudrate, int mode)
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(TELEMETRY_USART, &USART_InitStructure);
USART_Cmd(TELEMETRY_USART, ENABLE);
USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
@@ -169,14 +170,14 @@ extern "C" void TELEMETRY_USART_IRQHandler(void)
}
// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
int telemetryGetByte(uint8_t * byte)
uint8_t telemetryGetByte(uint8_t * byte)
{
#if defined(SERIAL2)
if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
if (serial2Mode == UART_MODE_TELEMETRY)
return serial2RxFifo.pop(*byte);
else
return 0;
return false;
}
else {
return telemetryFifo.pop(*byte);
radio/src/telemetry/telemetry.cpp
+13 -13
View File
@@ -104,12 +104,12 @@ void telemetryWakeup()
#if defined(STM32)
uint8_t data;
if (!telemetryFifo.isEmpty()) {
if (telemetryGetByte(&data)) {
LOG_TELEMETRY_WRITE_START();
}
while (telemetryFifo.pop(data)) {
processTelemetryData(data);
LOG_TELEMETRY_WRITE_BYTE(data);
do {
processTelemetryData(data);
LOG_TELEMETRY_WRITE_BYTE(data);
} while (telemetryGetByte(&data));
}
#elif defined(PCBSKY9X)
if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
@@ -416,18 +416,18 @@ void telemetryInit(uint8_t protocol) {
if (protocol == PROTOCOL_MULTIMODULE || protocol == PROTOCOL_FLYSKY_IBUS) {
// The DIY Multi module always speaks 100000 baud regardless of the telemetry protocol in use
telemetryPortInit(MULTIMODULE_BAUDRATE, TELEMETRY_SERIAL_8E2);
} else if (protocol == PROTOCOL_SPEKTRUM)
{
// Spektrum's own small race RX (SPM4648) uses 125000 8N1, use the same since there is no real standard
telemetryPortInit(125000, TELEMETRY_SERIAL_8N1);
}
else if (protocol == PROTOCOL_SPEKTRUM) {
// Spektrum's own small race RX (SPM4648) uses 125000 8N1, use the same since there is no real standard
telemetryPortInit(125000, TELEMETRY_SERIAL_DEFAULT);
} else
#endif
if (protocol == PROTOCOL_FRSKY_D) {
telemetryPortInit(FRSKY_D_BAUDRATE, TELEMETRY_SERIAL_8N1);
telemetryPortInit(FRSKY_D_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
}
#if defined(CROSSFIRE)
else if (protocol == PROTOCOL_PULSES_CROSSFIRE) {
telemetryPortInit(CROSSFIRE_BAUDRATE, TELEMETRY_SERIAL_8N1);
telemetryPortInit(CROSSFIRE_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
#if defined(LUA)
outputTelemetryBufferSize = 0;
outputTelemetryBufferTrigger = 0;
@@ -437,12 +437,12 @@ void telemetryInit(uint8_t protocol) {
#endif
#if defined(SERIAL2)
else if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
telemetryPortInit(0, TELEMETRY_SERIAL_8N1);
telemetryPortInit(0, TELEMETRY_SERIAL_DEFAULT);
serial2TelemetryInit(PROTOCOL_FRSKY_D_SECONDARY);
}
#endif
else {
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_8N1);
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_WITHOUT_DMA);
#if defined(LUA)
outputTelemetryBufferSize = 0;
outputTelemetryBufferTrigger = 0x7E;
radio/src/telemetry/telemetry.h
+3 -4
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@@ -66,10 +66,9 @@ extern uint8_t telemetryState;
#define TELEMETRY_TIMEOUT10ms 100 // 1 second
enum TelemetrySerialMode {
TELEMETRY_SERIAL_8N1,
TELEMETRY_SERIAL_8E2
};
#define TELEMETRY_SERIAL_DEFAULT 0
#define TELEMETRY_SERIAL_8E2 1
#define TELEMETRY_SERIAL_WITHOUT_DMA 2
#if defined(CROSSFIRE) || defined(MULTIMODULE)
#define TELEMETRY_RX_PACKET_SIZE 128