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[Horus / Taranis] S.PORT telemetry now uses the DMA. I think the buffer could be reduced, 512bytes seems really big

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This commit is contained in:
Bertrand Songis
2016-03-18 21:49:06 +01:00
parent e810367284
commit 5cb6884ab3
20 changed files with 492 additions and 252 deletions
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radio/src/targets/taranis/telemetry_driver.cpp
+78 -52
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@@ -2,7 +2,7 @@
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
@@ -18,9 +18,9 @@
* GNU General Public License for more details.
*/
#include "../../opentx.h"
#include "opentx.h"
extern Fifo<uint8_t, 512> telemetryFifo;
DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
void telemetryPortInit(uint32_t baudrate)
{
@@ -29,6 +29,13 @@ void telemetryPortInit(uint32_t baudrate)
return;
}
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
@@ -41,7 +48,7 @@ void telemetryPortInit(uint32_t baudrate)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(TELEMETRY_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = TELEMETRY_DIR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
@@ -54,21 +61,34 @@ void telemetryPortInit(uint32_t baudrate)
USART_InitStructure.USART_Parity = USART_Parity_No;
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);
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);
USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
}
struct SportTxBuffer
{
uint8_t *ptr;
uint32_t count;
} sportTxBuffer;
void telemetryPortSetDirectionOutput()
{
TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN; // output enable
@@ -83,47 +103,53 @@ void telemetryPortSetDirectionInput()
void sportSendBuffer(uint8_t * buffer, uint32_t count)
{
sportTxBuffer.ptr = buffer;
sportTxBuffer.count = count;
telemetryPortSetDirectionOutput();
TELEMETRY_USART->CR1 |= USART_CR1_TXEIE;
DMA_InitTypeDef DMA_InitStructure;
DMA_DeInit(TELEMETRY_DMA_Stream_TX);
DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
DMA_InitStructure.DMA_BufferSize = count;
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_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
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_TX, &DMA_InitStructure);
DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
// enable interrupt and set it's priority
NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
}
#if !defined(SIMU)
#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
extern "C" void TELEMETRY_USART_IRQHandler()
extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
{
uint32_t status;
uint8_t data;
status = TELEMETRY_USART->SR;
if (status & USART_SR_TXE) {
if (sportTxBuffer.count) {
TELEMETRY_USART->DR = *sportTxBuffer.ptr++;
if (--sportTxBuffer.count == 0) {
TELEMETRY_USART->CR1 &= ~USART_CR1_TXEIE; // stop Tx interrupt
TELEMETRY_USART->CR1 |= USART_CR1_TCIE; // enable complete interrupt
}
}
}
if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ; // stop Complete interrupt
if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
telemetryPortSetDirectionInput();
while (status & (USART_FLAG_RXNE)) {
status = TELEMETRY_USART->DR;
status = TELEMETRY_USART->SR;
}
}
while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
data = TELEMETRY_USART->DR;
if (!(status & USART_FLAG_ERRORS)) {
telemetryFifo.push(data);
}
status = TELEMETRY_USART->SR;
}
}
#endif
// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
int telemetryGetByte(uint8_t * byte)
{
if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
if (serial2Mode == UART_MODE_TELEMETRY)
return serial2RxFifo.pop(*byte);
else
return 0;
}
else {
return telemetryFifo.pop(*byte);
}
}