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Refactoring continued

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This commit is contained in:
bsongis
2018-10-09 12:47:22 +02:00
parent 946f66b128
commit 62dcd6ac5e
11 changed files with 246 additions and 160 deletions
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radio/src/pulses/pulses_arm.cpp
+1 -1
View File
@@ -177,7 +177,7 @@ void setupPulses(uint8_t port)
// Set up output data here
switch (required_protocol) {
case PROTO_PXX:
setupPulsesPXX(port);
modulePulsesData[port].pxx.setupFrame(port);
scheduleNextMixerCalculation(port, PXX_PERIOD);
break;
radio/src/pulses/pulses_arm.h
+7 -15
View File
@@ -44,16 +44,6 @@ 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
#if defined(PPM_PIN_SERIAL)
PACK(struct PxxSerialPulsesData {
uint8_t pulses[64];
@@ -125,6 +115,7 @@ PACK(struct PxxTimerPulsesData {
#if !defined(BOOT)
#include "pulses/pxx2.h"
#include "pulses/pxx1.h"
#endif
#define CROSSFIRE_FRAME_MAXLEN 64
@@ -133,13 +124,14 @@ PACK(struct CrossfirePulsesData {
});
union ModulePulsesData {
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PxxUartPulsesData pxx_uart;
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART) && !defined(BOOT)
UartPxxPulses pxx_uart;
#endif
#if defined(PPM_PIN_SERIAL)
PxxSerialPulsesData pxx;
#if defined(BOOT)
#elif defined(PPM_PIN_SERIAL)
SerialPxxPulses pxx;
#elif !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
PxxTimerPulsesData pxx;
PwmPxxPulses pxx;
#endif
#if defined(PXX2) && !defined(BOOT)
radio/src/pulses/pulses_common.h
+65
View File
@@ -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
+4 -53
View File
@@ -19,7 +19,8 @@
*/
#include "opentx.h"
#include "pulses/pxx.h"
#include "pulses/pxx1.h"
#include "pulses/pxx2.h"
const uint16_t PxxCrcMixin::CRCTable[] = {
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
@@ -56,39 +57,6 @@ const uint16_t PxxCrcMixin::CRCTable[] = {
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
template <class PxxTransport>
void StandardPxxPulses<PxxTransport>::setup8ChannelsFrame(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();
// CRC
addCrc();
// Sync = HEAD
addHead();
// Tail
PxxTransport::addTail();
}
template <class PxxTransport>
void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
{
@@ -209,22 +177,5 @@ void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
PxxTransport::addByte(extra_flags);
}
template <class PxxTransport>
void StandardPxxPulses<PxxTransport>::setupFrame(uint8_t port)
{
PxxPulses<PxxTransport>::initFrame();
#if defined(PXX_FREQUENCY_HIGH)
setup8ChannelsFrame(port, 0);
if (sentModuleChannels(port) > 8) {
setup8ChannelsFrame(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;
}
setup8ChannelsFrame(port, sendUpperChannels);
#endif
}
template class PxxPulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class PxxPulses<Pxx2Transport>;
radio/src/pulses/pxx.h
+26 -64
View File
@@ -21,12 +21,24 @@
#ifndef _PULSES_PXX_H_
#define _PULSES_PXX_H_
#include <inttypes.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
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
class PxxCrcMixin {
protected:
void initCrc()
@@ -43,18 +55,16 @@ class PxxCrcMixin {
static const uint16_t CRCTable[];
};
class SerialPxxBitTransport {
// Used by the Sky9x family boards
class SerialPxxBitTransport: public DataBuffer<uint8_t, 64> {
protected:
uint8_t data[64];
uint8_t * ptr;
uint8_t byte;
uint8_t bits_count;
uint8_t padding[2];
void initFrame()
{
ptr = data;
initBuffer();
byte = 0;
bits_count = 0;
}
@@ -89,28 +99,14 @@ class SerialPxxBitTransport {
}
};
// TODO elsewhere !!!
#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
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
class PwmPxxBitTransport {
class PwmPxxBitTransport: public PulsesBuffer<pulse_duration_t, 200> {
protected:
pulse_duration_t pulses[200];
pulse_duration_t * ptr;
uint16_t rest;
uint8_t padding[2];
void initFrame()
{
ptr = pulses;
initBuffer();
rest = PXX_PERIOD_HALF_US;
}
@@ -121,7 +117,7 @@ class PwmPxxBitTransport {
rest -= duration + 1;
}
void addTail(uint8_t port)
void addTail()
{
// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
*(ptr - 1) += rest;
@@ -134,6 +130,12 @@ class StandardPxxTransport: public PxxCrcMixin, public BitTransport {
uint8_t ones_count;
uint8_t padding[3];
void initFrame()
{
BitTransport::initBuffer();
ones_count = 0;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
@@ -162,23 +164,10 @@ class StandardPxxTransport: public PxxCrcMixin, public BitTransport {
ones_count = 0;
}
}
void initFrame()
{
ones_count = 0;
}
};
class UartPxxTransport: public PxxCrcMixin {
class UartPxxTransport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
ptr = data;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
@@ -214,31 +203,4 @@ class PxxPulses: public PxxTransport {
void addExtraFlags(uint8_t port);
};
typedef PxxPulses<UartPxxTransport> UartPxxPulses;
template <class PxxTransport>
class StandardPxxPulses: public PxxPulses<PxxTransport>
{
public:
void setupFrame(uint8_t port);
protected:
void addHead()
{
// send 7E, do not CRC
PxxTransport::addByteWithoutCrc(0x7E);
}
void addCrc()
{
addByteWithoutCrc(PxxCrcMixin::crc >> 8);
addByteWithoutCrc(PxxCrcMixin::crc);
}
void setup8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels);
};
typedef StandardPxxPulses<StandardPxxTransport<PwmPxxBitTransport>> PwmPxxPxxPulses;
#endif
radio/src/pulses/pxx1.cpp
+77
View File
@@ -0,0 +1,77 @@
/*
* 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)
{
PxxPulses<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> >;
radio/src/pulses/pxx1.h
+52
View File
@@ -0,0 +1,52 @@
/*
* 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.h
+2 -21
View File
@@ -21,18 +21,10 @@
#ifndef _PULSES_PXX2_H_
#define _PULSES_PXX2_H_
#include "pulses/pxx.h"
#include "./pxx.h"
class Pxx2Transport: public PxxCrcMixin {
class Pxx2Transport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
ptr = data;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
@@ -45,21 +37,10 @@ class Pxx2Transport: public PxxCrcMixin {
}
};
class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
public:
void setupFrame(uint8_t port);
const uint8_t * getData()
{
return data;
}
uint8_t getSize()
{
return ptr - data;
}
protected:
uint8_t data[64];
uint8_t * ptr;
radio/src/targets/common/arm/stm32/CMakeLists.txt
+6
View File
@@ -103,6 +103,12 @@ set(PULSES_SRC
crossfire.cpp
)
set(PULSES_SRC
${PULSES_SRC}
pxx1.cpp
)
if(PXX2)
set(PULSES_SRC
${PULSES_SRC}
radio/src/targets/taranis/extmodule_driver.cpp
+3 -3
View File
@@ -300,12 +300,12 @@ 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)