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[Horus] Internal module and Telemetry now OK. Trainer modes (as Taranis) added

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This commit is contained in:
Bertrand Songis
2016-01-22 22:37:06 +01:00
parent a42b63ff34
commit 641b6a321a
11 changed files with 765 additions and 277 deletions
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radio/src/CMakeLists.txt
+1 -1
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@@ -60,7 +60,7 @@ if(PCB STREQUAL HORUS)
set(FIRMWARE_DEPENDENCIES ${FIRMWARE_DEPENDENCIES} horus_bitmaps)
set(LUA_EXPORT lua_export_horus)
set(FLAVOUR horus)
add_definitions(-DPCBHORUS -DCOLORLCD -DSTM32F429_439xx)
add_definitions(-DPCBHORUS -DCOLORLCD -DSTM32F429_439xx -DPPM_PIN_HW_SERIAL)
add_definitions(-DEEPROM_VARIANT=0 -DAUDIO -DVOICE -DRTCLOCK)
add_definitions(-DVIRTUALINPUTS -DLUAINPUTS -DXCURVES -DVARIO)
include_directories(${RADIO_SRC_DIRECTORY}/fonts/horus)
radio/src/Makefile
+1 -1
View File
@@ -1231,7 +1231,7 @@ ifeq ($(PCB), HORUS)
TRGT = arm-none-eabi-
MCU = cortex-m4
OPT = 2
CPPDEFS += -DHSE_VALUE=12000000 -DCOLORLCD -DSTM32F429_439xx
CPPDEFS += -DHSE_VALUE=12000000 -DCOLORLCD -DSTM32F429_439xx -DPPM_PIN_HW_SERIAL
BITMAPS += $(patsubst %.png,%.lbm,$(wildcard bitmaps/horus/*.png))
FONTS = fonts/horus/font_stdsize.lbm fonts/horus/font_tinsize.lbm fonts/horus/font_smlsize.lbm fonts/horus/font_midsize.lbm fonts/horus/font_dblsize.lbm fonts/horus/font_xxlsize.lbm
SDCARD = YES
radio/src/gui/horus/menu_model_setup.cpp
+1 -1
View File
@@ -531,7 +531,7 @@ bool menuModelSetup(evt_t event)
case ITEM_MODEL_TRAINER_MODE:
lcdDrawText(MENUS_MARGIN_LEFT, y, STR_MODE);
g_model.trainerMode = selectMenuItem(MODEL_SETUP_2ND_COLUMN, y, STR_VTRAINERMODES, g_model.trainerMode, TRAINER_MODE_MASTER, TRAINER_MODE_SLAVE, attr, event);
g_model.trainerMode = selectMenuItem(MODEL_SETUP_2ND_COLUMN, y, STR_VTRAINERMODES, g_model.trainerMode, 0, HAS_WIRELESS_TRAINER_HARDWARE() ? TRAINER_MODE_MASTER_BATTERY_COMPARTMENT : TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE, attr, event);
break;
case ITEM_MODEL_EXTERNAL_MODULE_LABEL:
radio/src/myeeprom.h
+15 -20
View File
@@ -453,8 +453,6 @@ enum UartModes {
#define LEN_SWITCH_NAME 3
#define LEN_ANA_NAME 3
#define LEN_BLUETOOTH_NAME 10
#define HAS_WIRELESS_TRAINER_HARDWARE() (g_eeGeneral.serial2Mode==UART_MODE_SBUS_TRAINER/* || g_eeGeneral.serial2Mode==UART_MODE_CPPM_TRAINER*/)
#if defined(REV9E)
#define BLUETOOTH_FIELDS \
uint8_t bluetoothEnable; \
@@ -519,19 +517,7 @@ enum PotsWarnMode {
POTS_WARN_AUTO
};
#if defined(PCBHORUS)
enum ModuleIndex {
INTERNAL_MODULE,
EXTERNAL_MODULE,
TRAINER_MODULE,
};
enum TrainerMode {
TRAINER_MODE_MASTER,
TRAINER_MODE_SLAVE
};
#define MODELDATA_BITMAP char bitmap[LEN_BITMAP_NAME];
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#elif defined(PCBFLAMENCO)
#if defined(PCBFLAMENCO)
enum ModuleIndex {
EXTERNAL_MODULE,
TRAINER_MODULE,
@@ -540,9 +526,7 @@ enum PotsWarnMode {
TRAINER_MODE_MASTER,
TRAINER_MODE_SLAVE
};
#define MODELDATA_BITMAP uint8_t bitmap;
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#elif defined(PCBTARANIS)
#elif defined(PCBTARANIS) || defined(PCBHORUS)
enum ModuleIndex {
INTERNAL_MODULE,
EXTERNAL_MODULE,
@@ -556,14 +540,25 @@ enum PotsWarnMode {
TRAINER_MODE_MASTER_BATTERY_COMPARTMENT,
};
#define IS_TRAINER_EXTERNAL_MODULE() (g_model.trainerMode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE || g_model.trainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE)
#define MODELDATA_BITMAP char bitmap[LEN_BITMAP_NAME];
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#define HAS_WIRELESS_TRAINER_HARDWARE() (g_eeGeneral.serial2Mode==UART_MODE_SBUS_TRAINER/* || g_eeGeneral.serial2Mode==UART_MODE_CPPM_TRAINER*/)
#elif defined(PCBSKY9X)
enum ModuleIndex {
EXTERNAL_MODULE,
EXTRA_MODULE,
TRAINER_MODULE
};
#endif
#if defined(PCBHORUS)
#define MODELDATA_BITMAP char bitmap[LEN_BITMAP_NAME];
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#elif defined(PCBFLAMENCO)
#define MODELDATA_BITMAP uint8_t bitmap;
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#elif defined(PCBTARANIS)
#define MODELDATA_BITMAP char bitmap[LEN_BITMAP_NAME];
#define MODELDATA_EXTRA uint8_t spare:3; uint8_t trainerMode:3; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; ScriptData scriptsData[MAX_SCRIPTS]; char inputNames[MAX_INPUTS][LEN_INPUT_NAME]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS];
#elif defined(PCBSKY9X)
#define MODELDATA_BITMAP
#define MODELDATA_EXTRA uint8_t spare:6; uint8_t potsWarnMode:2; ModuleData moduleData[NUM_MODULES+1]; uint8_t potsWarnEnabled; int8_t potsWarnPosition[NUM_POTS]; uint8_t rxBattAlarms[2];
#else
radio/src/targets/horus/board_horus.cpp
+24 -4
View File
@@ -124,9 +124,9 @@ void pinCheck(GPIO_TypeDef * gpio, uint32_t pin, uint32_t RCC_AHB1Periph)
void boardInit()
{
RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | LCD_RCC_AHB1Periph | AUDIO_RCC_AHB1Periph | KEYS_RCC_AHB1Periph_GPIO | ADC_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | AUDIO_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph, ENABLE);
RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | LCD_RCC_AHB1Periph | AUDIO_RCC_AHB1Periph | KEYS_RCC_AHB1Periph_GPIO | ADC_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | AUDIO_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph | INTMODULE_RCC_AHB1Periph | EXTMODULE_RCC_AHB1Periph, ENABLE);
RCC_APB1PeriphClockCmd(INTERRUPT_5MS_APB1Periph | TIMER_2MHz_APB1Periph | AUDIO_RCC_APB1Periph | SERIAL_RCC_APB1Periph | TELEMETRY_RCC_APB1Periph | AUDIO_RCC_APB1Periph, ENABLE);
RCC_APB2PeriphClockCmd(LCD_RCC_APB2Periph | ADC_RCC_APB2Periph | HAPTIC_RCC_APB2Periph, ENABLE);
RCC_APB2PeriphClockCmd(LCD_RCC_APB2Periph | ADC_RCC_APB2Periph | HAPTIC_RCC_APB2Periph | INTMODULE_RCC_APB2Periph | EXTMODULE_RCC_APB2Periph, ENABLE);
pwrInit();
ledInit();
@@ -211,12 +211,20 @@ void checkTrainerSettings()
uint8_t requiredTrainerMode = g_model.trainerMode;
if (requiredTrainerMode != currentTrainerMode) {
switch (currentTrainerMode) {
case TRAINER_MODE_MASTER:
case TRAINER_MODE_MASTER_TRAINER_JACK:
stop_trainer_capture();
break;
case TRAINER_MODE_SLAVE:
stop_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
stop_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
stop_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
serial2Stop();
}
currentTrainerMode = requiredTrainerMode;
@@ -224,10 +232,22 @@ void checkTrainerSettings()
case TRAINER_MODE_SLAVE:
init_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
init_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
init_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
if (g_eeGeneral.serial2Mode == UART_MODE_SBUS_TRAINER) {
serial2SbusInit();
break;
}
// no break
default:
// master is default
init_trainer_capture();
break;
}
}
}
}
radio/src/targets/horus/board_horus.h
+15 -8
View File
@@ -103,7 +103,8 @@ void configure_pins( uint32_t pins, uint16_t config );
extern uint16_t sessionTimer;
#define SLAVE_MODE() (g_model.trainerMode == TRAINER_MODE_SLAVE)
#define SLAVE_MODE() (g_model.trainerMode == TRAINER_MODE_SLAVE)
#define TRAINER_CONNECTED() (GPIO_ReadInputDataBit(TRAINER_GPIO_DETECT, TRAINER_GPIO_PIN_DETECT) == Bit_RESET)
#ifdef __cplusplus
extern "C" {
@@ -119,9 +120,9 @@ void delay_ms(uint16_t nb);
#if !defined(SIMU) || defined(SIMU_DISKIO)
uint32_t sdIsHC(void);
uint32_t sdGetSpeed(void);
#define SD_IS_HC() (sdIsHC())
#define SD_GET_SPEED() (sdGetSpeed())
#define SD_GET_FREE_BLOCKNR() (sdGetFreeSectors())
#define SD_IS_HC() (sdIsHC())
#define SD_GET_SPEED() (sdGetSpeed())
#define SD_GET_FREE_BLOCKNR() (sdGetFreeSectors())
#else
#define SD_IS_HC() (0)
#define SD_GET_SPEED() (0)
@@ -136,7 +137,7 @@ void delay_ms(uint16_t nb);
#define sdPoll10ms()
#define sdMountPoll()
uint32_t sdMounted(void);
#define SD_CARD_PRESENT() (~SD_PRESENT_GPIO->IDR & SD_PRESENT_GPIO_PIN)
#define SD_CARD_PRESENT() (~SD_PRESENT_GPIO->IDR & SD_PRESENT_GPIO_PIN)
#endif
// Flash Write driver
@@ -154,8 +155,12 @@ void SDRAM_WriteBuffer(uint32_t* pBuffer, uint32_t uwWriteAddress, uint32_t uwBu
void SDRAM_ReadBuffer(uint32_t* pBuffer, uint32_t uwReadAddress, uint32_t uwBufferSize);
// Pulses driver
#define EXTERNAL_MODULE_ON() GPIO_SetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN)
#define EXTERNAL_MODULE_OFF() GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN)
#define INTERNAL_MODULE_ON() GPIO_SetBits(INTMODULE_PWR_GPIO, INTMODULE_PWR_GPIO_PIN)
#define INTERNAL_MODULE_OFF() GPIO_ResetBits(INTMODULE_PWR_GPIO, INTMODULE_PWR_GPIO_PIN)
#define EXTERNAL_MODULE_ON() GPIO_SetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN)
#define EXTERNAL_MODULE_OFF() GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN)
#define IS_INTERNAL_MODULE_ON() (GPIO_ReadInputDataBit(INTMODULE_PWR_GPIO, INTMODULE_PWR_GPIO_PIN) == Bit_SET)
#define IS_EXTERNAL_MODULE_ON() (GPIO_ReadInputDataBit(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN) == Bit_SET)
void init_no_pulses(uint32_t port);
void disable_no_pulses(uint32_t port);
void init_ppm( uint32_t module_index );
@@ -287,7 +292,8 @@ int32_t getVolume(void);
// Telemetry driver
void telemetryPortInit(uint32_t baudrate);
void sportSendBuffer(uint8_t *buffer, uint32_t count);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
// Haptic driver
void hapticInit(void);
@@ -309,6 +315,7 @@ void serial2Stop(void);
void usbJoystickUpdate(void);
#endif
extern uint8_t currentTrainerMode;
void checkTrainerSettings(void);
#endif // _BOARD_HORUS_H_
radio/src/targets/horus/hal.h
+58 -13
View File
@@ -130,8 +130,8 @@
// Power
#define PWR_RCC_AHB1Periph RCC_AHB1Periph_GPIOJ
#define PWR_GPIO GPIOJ
#define PWR_GPIO_PIN_ON GPIO_Pin_1 // PJ.01
#define PWR_GPIO_PIN_SWITCH GPIO_Pin_0 // PJ.00
#define PWR_ON_GPIO_PIN GPIO_Pin_1 // PJ.01
#define PWR_SWITCH_GPIO_PIN GPIO_Pin_0 // PJ.00
// Led
#define LED_RCC_AHB1Periph RCC_AHB1Periph_GPIOI
@@ -155,10 +155,10 @@
#define TELEMETRY_RCC_AHB1Periph RCC_AHB1Periph_GPIOD
#define TELEMETRY_RCC_APB1Periph RCC_APB1Periph_USART2
#define TELEMETRY_GPIO_DIR GPIOD
#define TELEMETRY_GPIO_PIN_DIR GPIO_Pin_4 // PD.04
#define TELEMETRY_DIR_GPIO_PIN GPIO_Pin_4 // PD.04
#define TELEMETRY_GPIO GPIOD
#define TELEMETRY_GPIO_PIN_TX GPIO_Pin_5 // PD.05
#define TELEMETRY_GPIO_PIN_RX GPIO_Pin_6 // PD.06
#define TELEMETRY_TX_GPIO_PIN GPIO_Pin_5 // PD.05
#define TELEMETRY_RX_GPIO_PIN GPIO_Pin_6 // PD.06
#define TELEMETRY_GPIO_PinSource_TX GPIO_PinSource5
#define TELEMETRY_GPIO_PinSource_RX GPIO_PinSource6
#define TELEMETRY_GPIO_AF GPIO_AF_USART2
@@ -166,6 +166,16 @@
#define TELEMETRY_USART_IRQHandler USART2_IRQHandler
#define TELEMETRY_USART_IRQn USART2_IRQn
// Heartbeat
#define HEARTBEAT_RCC_AHB1Periph RCC_AHB1Periph_GPIOD
// #define HEARTBEAT_RCC_APB2Periph RCC_APB2Periph_USART3
#define HEARTBEAT_GPIO_PIN GPIO_Pin_12 // PD.12
// #define HEARTBEAT_GPIO_PinSource GPIO_PinSource12
// #define HEARTBEAT_GPIO_AF GPIO_AF_USART3
// #define HEARTBEAT_USART USART3
// #define HEARTBEAT_USART_IRQHandler USART3_IRQHandler
// #define HEARTBEAT_USART_IRQn USART3_IRQn
// USB
#define USB_RCC_AHB1Periph_GPIO RCC_AHB1Periph_GPIOA
#define USB_GPIO GPIOA
@@ -253,20 +263,38 @@
#define HAPTIC_GPIO_PinSource GPIO_PinSource2
// Internal Module
#define INTMODULE_RCC_AHB1Periph_GPIO (RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB)
#define INTMODULE_GPIO_PWR GPIOA
#define INTMODULE_GPIO_PIN_PWR GPIO_Pin_8 // PA.08
#define INTMODULE_GPIO GPIOB
#define INTMODULE_GPIO_PIN GPIO_Pin_6 // PB.06
#define INTMODULE_GPIO_PinSource GPIO_PinSource6
#define INTMODULE_RCC_AHB1Periph (RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB)
#define INTMODULE_RCC_APB2Periph (RCC_APB2Periph_TIM1 | RCC_APB2Periph_USART1)
#define INTMODULE_PWR_GPIO GPIOA
#define INTMODULE_PWR_GPIO_PIN GPIO_Pin_8 // PA.08
#define INTMODULE_TX_GPIO GPIOB
#define INTMODULE_TX_GPIO_PIN GPIO_Pin_6 // PB.06
#define INTMODULE_RX_GPIO GPIOB
#define INTMODULE_RX_GPIO_PIN GPIO_Pin_7 // PB.07
#define INTMODULE_TX_GPIO_PinSource GPIO_PinSource6
#define INTMODULE_RX_GPIO_PinSource GPIO_PinSource7
#define INTMODULE_USART USART1
#define INTMODULE_GPIO_AF GPIO_AF_USART1
#define INTMODULE_USART_IRQn USART1_IRQn
#define INTMODULE_DMA_STREAM DMA2_Stream7
#define INTMODULE_DMA_STREAM_IRQ DMA2_Stream7_IRQn
#define INTMODULE_DMA_CHANNEL DMA_Channel_4
#define INTMODULE_TIMER TIM1
#define INTMODULE_TIMER_IRQn TIM1_CC_IRQn
// External Module
#define EXTMODULE_RCC_AHB1Periph (RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB)
#define EXTMODULE_RCC_APB1Periph RCC_APB1Periph_TIM2
#define EXTMODULE_RCC_APB2Periph 0
#define EXTMODULE_PWR_GPIO GPIOB
#define EXTMODULE_PWR_GPIO_PIN GPIO_Pin_3 // PB.03
#define EXTMODULE_PWR_GPIO_PIN GPIO_Pin_3 // PB.03
#define EXTMODULE_PPM_GPIO GPIOA
#define EXTMODULE_PPM_GPIO_PIN GPIO_Pin_15 // PA.15
#define EXTMODULE_PPM_GPIO_PIN GPIO_Pin_15 // PA.15
#define EXTMODULE_PPM_GPIO_PinSource GPIO_PinSource15
#define EXTMODULE_TIMER TIM2
#define EXTMODULE_PPM_GPIO_AF GPIO_AF_TIM2
#define EXTMODULE_PPM_GPIO_PinSource GPIO_PinSource15
// #define EXTMODULE_TIMER_IRQn TIM2_CC_IRQn
// Trainer Port
#define TRAINER_RCC_AHB1Periph (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC)
@@ -291,4 +319,21 @@
#define TIMER_2MHz_APB1Periph RCC_APB1Periph_TIM7
#define TIMER_2MHz_TIMER TIM7
// Bluetooth
#define BT_USART USART6
#define BT_GPIO_AF GPIO_AF_USART6
#define BT_USART_IRQn USART6_IRQn
#define BT_RCC_AHB1Periph (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOG)
#define BT_GPIO_TXRX GPIOG
#define BT_GPIO_PIN_TX GPIO_Pin_14 // PG.14
#define BT_GPIO_PIN_RX GPIO_Pin_9 // PG.09
#define BT_GPIO_EN GPIOB
#define BT_GPIO_PIN_EN GPIO_Pin_10 // PB.10
#define BT_GPIO_BRTS GPIOG
#define BT_GPIO_PIN_BRTS GPIO_Pin_10 // PG.10
#define BT_GPIO_BCTS GPIOG
#define BT_GPIO_PIN_BCTS GPIO_Pin_11 // PG.11
#define BT_GPIO_PinSource_TX GPIO_PinSource14
#define BT_GPIO_PinSource_RX GPIO_PinSource9
#endif // _HAL_H_
radio/src/targets/horus/pulses_driver.cpp
+458 -150
View File
@@ -24,77 +24,385 @@ void setupPulses(unsigned int port);
void setupPulsesPPM(unsigned int port);
void setupPulsesPXX(unsigned int port);
static void intmodulePxxStart( void ) ;
static void intmodulePxxStop( void ) ;
static void extmodulePxxStart( void ) ;
static void extmodulePxxStop( void ) ;
#if defined(DSM2)
static void extmoduleDsm2Start( void ) ;
static void extmoduleDsm2Stop( void ) ;
#endif
static void extmodulePpmStart( void ) ;
static void extmodulePpmStop( void ) ;
static void intmoduleNoneStart( void ) ;
static void intmoduleNoneStop( void ) ;
static void extmoduleNoneStart( void ) ;
static void extmoduleNoneStop( void ) ;
static void extmoduleCrossfireStart( void ) ;
static void extmoduleCrossfireStop( void ) ;
void init_pxx(uint32_t port)
{
if (port == INTERNAL_MODULE)
intmodulePxxStart() ;
else
extmodulePxxStart() ;
}
void disable_pxx(uint32_t port)
{
if (port == INTERNAL_MODULE)
intmodulePxxStop() ;
else
extmodulePxxStop() ;
}
#if defined(DSM2)
void init_dsm2(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleDsm2Start();
}
}
void disable_dsm2(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleDsm2Stop();
}
}
#endif
void init_ppm(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmodulePpmStart();
}
}
void disable_ppm(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmodulePpmStop();
}
}
void set_external_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive)
{
TIM1->CCR2 = idleTime;
TIM1->CCR1 = delay;
#if 0
EXTMODULE_TIMER->CCR2 = idleTime;
EXTMODULE_TIMER->CCR1 = delay;
// we are using complementary output so logic has to be reversed here
TIM1->CCER = TIM_CCER_CC1NE | (positive ? 0 : TIM_CCER_CC1NP);
EXTMODULE_TIMER->CCER = TIM_CCER_CC1NE | (positive ? 0 : TIM_CCER_CC1NP);
#endif
}
void init_no_pulses(uint32_t port)
{
EXTERNAL_MODULE_OFF();
if (port == INTERNAL_MODULE)
intmoduleNoneStart();
else
extmoduleNoneStart();
}
// Timer1, channel 1
void disable_no_pulses(uint32_t port)
{
if (port == INTERNAL_MODULE)
intmoduleNoneStop();
else
extmoduleNoneStop();
}
void init_crossfire(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleCrossfireStart();
}
}
void disable_crossfire(uint32_t port)
{
if (port == EXTERNAL_MODULE)
extmoduleCrossfireStop();
}
static void intmoduleNoneStart()
{
INTERNAL_MODULE_OFF();
// Timer1, channel 3
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(EXTMODULE_RCC_AHB1Periph, ENABLE);
GPIO_InitStructure.GPIO_Pin = INTMODULE_TX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(INTMODULE_TX_GPIO, &GPIO_InitStructure);
GPIO_SetBits(INTMODULE_TX_GPIO, INTMODULE_TX_GPIO_PIN) ; // Set high
INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
INTMODULE_TIMER->ARR = 36000 ; // 18mS
INTMODULE_TIMER->CCR2 = 32000 ; // Update time
INTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
INTMODULE_TIMER->CCER = TIM_CCER_CC3E ;
INTMODULE_TIMER->CCMR2 = 0 ;
INTMODULE_TIMER->EGR = 1 ; // Restart
INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0 ; // Toggle CC1 o/p
INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
INTMODULE_TIMER->CR1 |= TIM_CR1_CEN ;
NVIC_EnableIRQ(INTMODULE_TIMER_IRQn) ;
NVIC_SetPriority(INTMODULE_TIMER_IRQn, 7);
}
static void intmoduleNoneStop()
{
NVIC_DisableIRQ(INTMODULE_TIMER_IRQn) ;
INTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ;
INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
}
#if !defined(SIMU)
extern "C" void DMA2_Stream7_IRQHandler(void)
{
if(DMA_GetITStatus(INTMODULE_DMA_STREAM, DMA_IT_TCIF7)) {
// TODO we could send the 8 next channels here (when needed)
DMA_ClearITPendingBit(INTMODULE_DMA_STREAM, DMA_IT_TCIF7);
}
}
extern "C" void TIM1_CC_IRQHandler()
{
INTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // stop this interrupt
INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // clear flag
setupPulses(INTERNAL_MODULE);
if (s_current_protocol[INTERNAL_MODULE] == PROTO_PXX) {
DMA_InitTypeDef DMA_InitStructure;
DMA_DeInit(INTMODULE_DMA_STREAM);
DMA_InitStructure.DMA_Channel = INTMODULE_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&INTMODULE_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)modulePulsesData[INTERNAL_MODULE].pxx.pulses;
DMA_InitStructure.DMA_BufferSize = (uint8_t *)modulePulsesData[INTERNAL_MODULE].pxx.ptr - (uint8_t *)modulePulsesData[INTERNAL_MODULE].pxx.pulses;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_MemoryDataSize_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(INTMODULE_DMA_STREAM, &DMA_InitStructure);
DMA_Cmd(INTMODULE_DMA_STREAM, ENABLE);
USART_DMACmd(INTMODULE_USART, USART_DMAReq_Tx, ENABLE);
// DMA_ITConfig(INTMODULE_DMA_STREAM, DMA_IT_TC, ENABLE);
}
INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE;
}
#endif
static void extmoduleNoneStart()
{
#if 0
if (!IS_TRAINER_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
GPIO_SetBits(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PIN) ; // Set high
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
TIM1->CR1 &= ~TIM_CR1_CEN ;
TIM1->ARR = 36000 ; // 18mS
TIM1->CCR2 = 32000 ; // Update time
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
EXTMODULE_TIMER->ARR = 36000 ; // 18mS
EXTMODULE_TIMER->CCR2 = 32000 ; // Update time
EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC3E ;
EXTMODULE_TIMER->CCMR2 = 0 ;
EXTMODULE_TIMER->EGR = 1 ; // Restart
TIM1->CCMR2 = 0 ;
TIM1->EGR = 1 ; // Restart
TIM1->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0 ; // Toggle CC1 o/p
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
TIM1->CR1 |= TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM1_CC_IRQn) ;
NVIC_SetPriority(TIM1_CC_IRQn, 7);
EXTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0 ; // Toggle CC1 o/p
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
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);
#endif
}
void disable_no_pulses(uint32_t port)
static void extmoduleNoneStop()
{
NVIC_DisableIRQ(TIM1_CC_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
#if 0
NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn) ;
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
#endif
}
void init_crossfire(uint32_t port)
{
}
void disable_crossfire(uint32_t port)
{
}
void init_pxx(uint32_t port)
static void extmoduleCrossfireStart()
{
#if 0
EXTERNAL_MODULE_ON();
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
GPIO_SetBits(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PIN); // Set high
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
EXTMODULE_TIMER->ARR = 5000 ; // 2.5mS
EXTMODULE_TIMER->CCR2 = 32000 ; // Update time
EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
EXTMODULE_TIMER->CCMR2 = 0 ;
EXTMODULE_TIMER->EGR = 1 ; // Restart
EXTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0 ; // Toggle CC1 o/p
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
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);
#endif
}
static void extmoduleCrossfireStop()
{
#if 0
NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn) ;
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
if (!IS_TRAINER_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
#endif
}
void intmodulePxxStart()
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
INTERNAL_MODULE_ON();
setupPulsesPXX(INTERNAL_MODULE) ; // TODO not here!
NVIC_InitStructure.NVIC_IRQChannel = INTMODULE_DMA_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);
#if 0
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIM_RF_PRIO;
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 );
// open heartbit ---------------------
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Connect EXTI Line12 to PD12 pin */
EXTI_InitTypeDef EXTI_InitStructure;
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOD, EXTI_PinSource12);
EXTI_InitStructure.EXTI_Line = EXTI_Line12;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;///////
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI15_10_Interrupt_Handler = EXTI15_10_IRQHandler_pxx;
#endif
// TX Pin
GPIO_PinAFConfig(INTMODULE_TX_GPIO, INTMODULE_TX_GPIO_PinSource, INTMODULE_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = INTMODULE_TX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(INTMODULE_TX_GPIO, &GPIO_InitStructure);
// RX Pin
GPIO_PinAFConfig(INTMODULE_RX_GPIO, INTMODULE_RX_GPIO_PinSource, INTMODULE_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = INTMODULE_RX_GPIO_PIN;
GPIO_Init(INTMODULE_RX_GPIO, &GPIO_InitStructure);
// UART config
USART_DeInit(INTMODULE_USART);
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(INTMODULE_USART, &USART_InitStructure);
USART_Cmd(INTMODULE_USART, ENABLE);
// open DMA------------------------------
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); // Enable DMA1 clock
// Timer
INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
INTMODULE_TIMER->ARR = 18000 ; // 9mS
INTMODULE_TIMER->CCR2 = 15000 ; // Update time
INTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
INTMODULE_TIMER->CCER = TIM_CCER_CC3E ;
INTMODULE_TIMER->CCER = TIM_CCER_CC3E ;
INTMODULE_TIMER->CCMR2 = 0 ;
INTMODULE_TIMER->EGR = 1 ; // Restart
INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0 ; // Toggle CC1 o/p
INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
INTMODULE_TIMER->CR1 |= TIM_CR1_CEN ;
NVIC_EnableIRQ(INTMODULE_TIMER_IRQn) ;
NVIC_SetPriority(INTMODULE_TIMER_IRQn, 7);
}
static void intmodulePxxStop()
{
INTERNAL_MODULE_OFF();
}
void extmodulePxxStart()
{
#if 0
EXTERNAL_MODULE_ON();
// Timer1, channel1
setupPulsesPXX(EXTERNAL_MODULE);
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(EXTMODULE_RCC_AHB1Periph, ENABLE);
GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, GPIO_AF_TIM1);
GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, EXTMODULE_PPM_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
@@ -102,172 +410,173 @@ void init_pxx(uint32_t port)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN ; // Enable DMA2 clock
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
EXTMODULE_TIMER->ARR = 18000 ; // 9mS
EXTMODULE_TIMER->CCR2 = 15000 ; // Update time
EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
EXTMODULE_TIMER->CCER = TIM_CCER_CC1NE ;
EXTMODULE_TIMER->CR2 = TIM_CR2_OIS1 ; // O/P idle high
EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE ; // Enable outputs
EXTMODULE_TIMER->CCR1 = modulePulsesData[EXTERNAL_MODULE].pxx.pulses[0];
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high
EXTMODULE_TIMER->EGR = 1 ; // Restart
TIM1->CR1 &= ~TIM_CR1_CEN ;
TIM1->ARR = 18000 ; // 9mS
TIM1->CCR2 = 15000 ; // Update time
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC1E ;
TIM1->CR2 = TIM_CR2_OIS1 ; // O/P idle high
TIM1->BDTR = TIM_BDTR_MOE ; // Enable outputs
TIM1->CCR1 = modulePulsesData[EXTERNAL_MODULE].pxx.pulses[0];
TIM1->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high
TIM1->EGR = 1 ; // Restart
TIM1->DIER |= TIM_DIER_CC1DE ; // Enable DMA on CC3 match
TIM1->DCR = 15 ; // TODO check // DMA to CC1
EXTMODULE_TIMER->DIER |= TIM_DIER_CC1DE ; // Enable DMA on CC1 match
EXTMODULE_TIMER->DCR = 13;
// Enable the DMA channel here, DMA2 stream 2, channel 7
DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA
DMA2->LIFCR = DMA_LIFCR_CTCIF2 | DMA_LIFCR_CHTIF2 | DMA_LIFCR_CTEIF2 | DMA_LIFCR_CDMEIF2 | DMA_LIFCR_CFEIF2 ; // Write ones to clear bits
DMA2_Stream2->CR = DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_2 | DMA_SxCR_PL_0 | DMA_SxCR_MSIZE_0
| DMA_SxCR_PSIZE_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_PFCTRL ;
DMA2_Stream2->PAR = CONVERT_PTR_UINT(&TIM1->DMAR);
DMA2_Stream2->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->DMAR);
DMA2_Stream2->M0AR = CONVERT_PTR_UINT(&modulePulsesData[EXTERNAL_MODULE].pxx.pulses[1]);
// DMA2_Stream2->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
// DMA2_Stream2->NDTR = 100 ;
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
TIM1->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0 ; // Toggle CC1 o/p
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
TIM1->CR1 |= TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM1_CC_IRQn);
NVIC_SetPriority(TIM1_CC_IRQn, 7);
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0 ; // Toggle CC1 o/p
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
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);
#endif
}
void disable_pxx(uint32_t port)
static void extmodulePxxStop()
{
#if 0
DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA
NVIC_DisableIRQ(TIM1_CC_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
EXTERNAL_MODULE_OFF();
NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn) ;
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
if (!IS_TRAINER_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
#endif
}
#if defined(DSM2)
void init_dsm2(uint32_t port)
static void extmoduleDsm2Start()
{
#if 0
EXTERNAL_MODULE_ON();
// Timer8
setupPulsesDSM2(EXTERNAL_MODULE);
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(EXTMODULE_RCC_AHB1Periph, ENABLE);
GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, GPIO_AF_TIM1);
GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, EXTMODULE_PPM_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN ; // Enable DMA2 clock
TIM1->CR1 &= ~TIM_CR1_CEN ;
TIM1->ARR = 44000 ; // 22mS
TIM1->CCR2 = 40000 ; // Update time
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC1NE | TIM_CCER_CC1NP ;
TIM1->CR2 = TIM_CR2_OIS1 ; // O/P idle high
TIM1->BDTR = TIM_BDTR_MOE ; // Enable outputs
TIM1->CCR1 = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[0];
TIM1->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high
TIM1->EGR = 1 ; // Restart
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
EXTMODULE_TIMER->ARR = 44000 ; // 22mS
EXTMODULE_TIMER->CCR2 = 40000 ; // Update time
EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
EXTMODULE_TIMER->CCER = TIM_CCER_CC1NE | TIM_CCER_CC1NP ;
EXTMODULE_TIMER->CR2 = TIM_CR2_OIS1 ; // O/P idle high
EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE ; // Enable outputs
EXTMODULE_TIMER->CCR1 = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[0];
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high
EXTMODULE_TIMER->EGR = 1 ; // Restart
// TIM1->SR &= ~TIM_SR_UIF ; // Clear flag
// TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM1->DIER |= TIM_DIER_CC1DE ; // Enable DMA on CC1 match
TIM1->DCR = 13 ; // DMA to CC1
EXTMODULE_TIMER->DIER |= TIM_DIER_CC1DE ; // Enable DMA on CC1 match
EXTMODULE_TIMER->DCR = 13 ; // DMA to CC1
// TIM1->CR1 = TIM_CR1_OPM ; // Just run once
// Enable the DMA channel here, DMA2 stream 2, channel 7
DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA
DMA2->LIFCR = DMA_LIFCR_CTCIF2 | DMA_LIFCR_CHTIF2 | DMA_LIFCR_CTEIF2 | DMA_LIFCR_CDMEIF2 | DMA_LIFCR_CFEIF2 ; // Write ones to clear bits
DMA2_Stream2->CR = DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_2 | DMA_SxCR_PL_0 | DMA_SxCR_MSIZE_0
| DMA_SxCR_PSIZE_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_PFCTRL ;
DMA2_Stream2->PAR = CONVERT_PTR_UINT(&TIM1->DMAR);
DMA2_Stream2->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->DMAR);
DMA2_Stream2->M0AR = CONVERT_PTR_UINT(&modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[1]);
// DMA2_Stream2->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
// DMA2_Stream2->NDTR = 100 ;
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
TIM1->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0 ; // Toggle CC1 o/p
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
TIM1->CR1 |= TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM1_CC_IRQn) ;
NVIC_SetPriority(TIM1_CC_IRQn, 7);
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0 ; // Toggle CC1 o/p
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
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);
#endif
}
void disable_dsm2(uint32_t port)
static void extmoduleDsm2Stop()
{
#if 0
DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA
NVIC_DisableIRQ(TIM1_CC_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
EXTERNAL_MODULE_OFF();
NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn) ;
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
if (!IS_TRAINER_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
#endif
}
#endif
// PPM output
// Timer 1, channel 1 on PA8 for prototype
// Pin is AF1 function for timer 1
void init_ppm(uint32_t port)
static void extmodulePpmStart()
{
#if 0
EXTERNAL_MODULE_ON();
configure_pins( EXTMODULE_PPM_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
// Timer1
modulePulsesData[EXTERNAL_MODULE].ppm.ptr = modulePulsesData[EXTERNAL_MODULE].ppm.pulses;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
configure_pins( EXTMODULE_PPM_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
TIM1->CR1 &= ~TIM_CR1_CEN ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
// setupPulsesPPM() is also configuring registers,
// so it has to be called after the peripheral is enabled
setupPulsesPPM(EXTERNAL_MODULE) ;
TIM1->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ;
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
EXTMODULE_TIMER->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ;
EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC3E ;
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE ;
EXTMODULE_TIMER->EGR = 1 ;
EXTMODULE_TIMER->DIER = TIM_DIER_UDE ;
TIM1->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
TIM1->BDTR = TIM_BDTR_MOE ;
TIM1->EGR = 1 ;
TIM1->DIER = TIM_DIER_UDE ;
EXTMODULE_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ;
EXTMODULE_TIMER->DIER |= TIM_DIER_UIE ;
TIM1->SR &= ~TIM_SR_UIF ; // Clear flag
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM1->DIER |= TIM_DIER_CC2IE ;
TIM1->DIER |= TIM_DIER_UIE ;
TIM1->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM1_CC_IRQn) ;
NVIC_SetPriority(TIM1_CC_IRQn, 7);
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn) ;
NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 7);
EXTMODULE_TIMER->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn) ;
NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn) ;
NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 7);
#endif
}
void disable_ppm(uint32_t port)
static void extmodulePpmStop()
{
NVIC_DisableIRQ(TIM1_CC_IRQn) ;
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE & ~TIM_DIER_UIE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
EXTERNAL_MODULE_OFF();
#if 0
NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn) ;
NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn) ;
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE & ~TIM_DIER_UIE ;
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ;
if (!IS_TRAINER_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
#endif
}
#if !defined(SIMU)
extern "C" void TIM1_CC_IRQHandler()
#if 0
extern "C" void TIM8_CC_IRQHandler()
{
TIM1->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupPulses(EXTERNAL_MODULE) ;
@@ -276,8 +585,8 @@ extern "C" void TIM1_CC_IRQHandler()
DMA2->LIFCR = DMA_LIFCR_CTCIF2 | DMA_LIFCR_CHTIF2 | DMA_LIFCR_CTEIF2 | DMA_LIFCR_CDMEIF2 | DMA_LIFCR_CFEIF2 ; // Write ones to clear bits
DMA2_Stream2->M0AR = CONVERT_PTR_UINT(&modulePulsesData[EXTERNAL_MODULE].pxx.pulses[1]);
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
TIM1->CCR1 = modulePulsesData[EXTERNAL_MODULE].pxx.pulses[0];
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
EXTMODULE_TIMER->CCR1 = modulePulsesData[EXTERNAL_MODULE].pxx.pulses[0];
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
#if defined(DSM2)
else if (s_current_protocol[EXTERNAL_MODULE] >= PROTO_DSM2_LP45 && s_current_protocol[EXTERNAL_MODULE] <= PROTO_DSM2_DSMX) {
@@ -285,29 +594,28 @@ extern "C" void TIM1_CC_IRQHandler()
DMA2->LIFCR = DMA_LIFCR_CTCIF2 | DMA_LIFCR_CHTIF2 | DMA_LIFCR_CTEIF2 | DMA_LIFCR_CDMEIF2 | DMA_LIFCR_CFEIF2 ; // Write ones to clear bits
DMA2_Stream2->M0AR = CONVERT_PTR_UINT(&modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[1]);
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
TIM1->CCR1 = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[0];
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
EXTMODULE_TIMER->CCR1 = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses[0];
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
#endif
else if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PPM) {
modulePulsesData[EXTERNAL_MODULE].ppm.ptr = modulePulsesData[EXTERNAL_MODULE].ppm.pulses;
TIM1->DIER |= TIM_DIER_UDE ;
TIM1->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM1->DIER |= TIM_DIER_UIE ; // Enable this interrupt
EXTMODULE_TIMER->DIER |= TIM_DIER_UDE ;
EXTMODULE_TIMER->SR &= ~TIM_SR_UIF ; // Clear this flag
EXTMODULE_TIMER->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
else {
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
extern "C" void TIM1_UP_TIM10_IRQHandler()
extern "C" void TIM8_UP_TIM13_IRQHandler()
{
TIM1->SR &= ~TIM_SR_UIF ; // Clear flag
EXTMODULE_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
TIM1->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ;
EXTMODULE_TIMER->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ;
if (*modulePulsesData[EXTERNAL_MODULE].ppm.ptr == 0) {
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear this flag
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
#endif
radio/src/targets/horus/pwr_driver.cpp
+16 -5
View File
@@ -24,14 +24,14 @@
void pwrInit()
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = PWR_GPIO_PIN_ON;
GPIO_InitStructure.GPIO_Pin = PWR_ON_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(PWR_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PWR_GPIO_PIN_SWITCH;
GPIO_InitStructure.GPIO_Pin = PWR_SWITCH_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_Init(PWR_GPIO, &GPIO_InitStructure);
@@ -44,12 +44,23 @@ void pwrInit()
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_Init(EXTMODULE_PWR_GPIO, &GPIO_InitStructure);
// TODO not here
GPIO_ResetBits(INTMODULE_PWR_GPIO, INTMODULE_PWR_GPIO_PIN);
GPIO_InitStructure.GPIO_Pin = INTMODULE_PWR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_Init(INTMODULE_PWR_GPIO, &GPIO_InitStructure);
GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN);
GPIO_InitStructure.GPIO_Pin = EXTMODULE_PWR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_Init(EXTMODULE_PWR_GPIO, &GPIO_InitStructure);
pwrOn();
}
void pwrOn()
{
GPIO_SetBits(PWR_GPIO, PWR_GPIO_PIN_ON);
GPIO_SetBits(PWR_GPIO, PWR_ON_GPIO_PIN);
}
void pwrOff()
@@ -67,10 +78,10 @@ void pwrOff()
// Shutdown the Haptic
hapticDone();
GPIO_ResetBits(PWR_GPIO, PWR_GPIO_PIN_ON);
GPIO_ResetBits(PWR_GPIO, PWR_ON_GPIO_PIN);
}
uint32_t pwrPressed()
{
return GPIO_ReadInputDataBit(PWR_GPIO, PWR_GPIO_PIN_SWITCH) == Bit_RESET;
return GPIO_ReadInputDataBit(PWR_GPIO, PWR_SWITCH_GPIO_PIN) == Bit_RESET;
}
radio/src/targets/horus/telemetry_driver.cpp
+33 -24
View File
@@ -1,25 +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.
*/
/*
* 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"
extern Fifo<512> telemetryFifo;
void telemetryPortInit(uint32_t baudrate)
{
if (baudrate == 0) {
@@ -33,18 +35,18 @@ void telemetryPortInit(uint32_t baudrate)
GPIO_PinAFConfig(TELEMETRY_GPIO, TELEMETRY_GPIO_PinSource_RX, TELEMETRY_GPIO_AF);
GPIO_PinAFConfig(TELEMETRY_GPIO, TELEMETRY_GPIO_PinSource_TX, TELEMETRY_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = TELEMETRY_GPIO_PIN_TX | TELEMETRY_GPIO_PIN_RX;
GPIO_InitStructure.GPIO_Pin = TELEMETRY_TX_GPIO_PIN | TELEMETRY_RX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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_GPIO_PIN_DIR;
GPIO_InitStructure.GPIO_Pin = TELEMETRY_DIR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(TELEMETRY_GPIO_DIR, &GPIO_InitStructure);
GPIO_ResetBits(TELEMETRY_GPIO_DIR, TELEMETRY_GPIO_PIN_DIR);
GPIO_ResetBits(TELEMETRY_GPIO_DIR, TELEMETRY_DIR_GPIO_PIN);
USART_InitStructure.USART_BaudRate = baudrate;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
@@ -67,11 +69,17 @@ struct SportTxBuffer
uint32_t count;
} sportTxBuffer;
void telemetryPortSetDirectionOutput()
{
TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN; // output enable
TELEMETRY_USART->CR1 &= ~USART_CR1_RE; // turn off receiver
}
void sportSendBuffer(uint8_t *buffer, uint32_t count)
{
sportTxBuffer.ptr = buffer ;
sportTxBuffer.count = count ;
TELEMETRY_USART->CR1 &= ~USART_CR1_RE ; // turn off receiver
telemetryPortSetDirectionOutput();
TELEMETRY_USART->CR1 |= USART_CR1_TXEIE ;
}
@@ -97,6 +105,7 @@ extern "C" void TELEMETRY_USART_IRQHandler()
if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ; // stop Complete interrupt
TELEMETRY_GPIO_DIR->BSRRH = TELEMETRY_DIR_GPIO_PIN ; // output disable
TELEMETRY_USART->CR1 |= USART_CR1_RE ;
while (status & (USART_FLAG_RXNE)) {
status = TELEMETRY_USART->DR;
radio/src/targets/horus/trainer_driver.cpp
+143 -50
View File
@@ -24,44 +24,41 @@ extern Fifo<32> sbusFifo;
#define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)
// Trainer PPM output PB4, Timer 3 channel 1
void init_trainer_ppm()
{
trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
configure_pins( TRAINER_GPIO_PIN_OUT, PIN_PERIPHERAL | PIN_PORTB | PIN_PER_2 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( TRAINER_GPIO_PIN_IN, PIN_PORTC | PIN_INPUT ) ;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ;
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ;
configure_pins(TRAINER_GPIO_PIN_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 | PIN_OS25);
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;
// setupTrainerPulses() is also configuring registers,
// so it has to be called after the peripheral is enabled
setupTrainerPulses() ;
setupTrainerPulses();
TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++ ;
TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TRAINER_TIMER->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
TRAINER_TIMER->BDTR = TIM_BDTR_MOE ;
TRAINER_TIMER->EGR = 1 ;
TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++;
TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
TRAINER_TIMER->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE; // PWM mode 1
TRAINER_TIMER->BDTR = TIM_BDTR_MOE;
TRAINER_TIMER->EGR = 1;
TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear flag
TRAINER_TIMER->DIER |= TIM_DIER_CC1IE ;
TRAINER_TIMER->DIER |= TIM_DIER_UIE ;
TRAINER_TIMER->SR &= ~TIM_SR_UIF; // Clear flag
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag
TRAINER_TIMER->DIER |= TIM_DIER_CC1IE;
TRAINER_TIMER->DIER |= TIM_DIER_UIE;
TRAINER_TIMER->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ;
TRAINER_TIMER->CR1 = TIM_CR1_CEN;
NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
}
// TODO - testing
void stop_trainer_ppm()
{
configure_pins( TRAINER_GPIO_PIN_OUT, PIN_INPUT | PIN_PORTB ) ; // Pin as input
TRAINER_TIMER->DIER = 0 ; // Stop Interrupt
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ; // Stop counter
NVIC_DisableIRQ(TRAINER_TIMER_IRQn) ; // Stop Interrupt
configure_pins( TRAINER_GPIO_PIN_OUT, PIN_INPUT | PIN_PORTC ); // Pin as input
TRAINER_TIMER->DIER = 0; // Stop Interrupt
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
NVIC_DisableIRQ(TRAINER_TIMER_IRQn); // Stop Interrupt
}
void set_trainer_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive)
@@ -76,7 +73,6 @@ void init_trainer_capture()
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
GPIO_InitStructure.GPIO_Pin = TRAINER_GPIO_PIN_IN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
@@ -85,43 +81,46 @@ void init_trainer_capture()
GPIO_Init(TRAINER_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(TRAINER_GPIO, TRAINER_GPIO_PinSource_IN, TRAINER_GPIO_AF);
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ;
TRAINER_TIMER->ARR = 0xFFFF ;
TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TRAINER_TIMER->CR2 = 0 ;
TRAINER_TIMER->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0 ;
TRAINER_TIMER->CCER = TIM_CCER_CC3E ;
TRAINER_TIMER->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF ; // Clear flags
TRAINER_TIMER->DIER |= TIM_DIER_CC3IE ;
TRAINER_TIMER->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ;
TRAINER_TIMER->ARR = 0xFFFF;
TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
TRAINER_TIMER->CR2 = 0;
TRAINER_TIMER->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0;
TRAINER_TIMER->CCER = TIM_CCER_CC3E;
TRAINER_TIMER->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF; // Clear flags
TRAINER_TIMER->DIER |= TIM_DIER_CC3IE;
TRAINER_TIMER->CR1 = TIM_CR1_CEN;
NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
}
void stop_trainer_capture()
{
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ; // Stop counter
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
TRAINER_TIMER->DIER = 0; // Stop Interrupt
NVIC_DisableIRQ(TRAINER_TIMER_IRQn) ; // Stop Interrupt
NVIC_DisableIRQ(TRAINER_TIMER_IRQn); // Stop Interrupt
}
#if !defined(SIMU)
extern "C" void TIM3_IRQHandler()
{
uint16_t capture = 0;
bool doCapture = false ;
bool doCapture = false;
// What mode? in or out?
if ( (TRAINER_TIMER->DIER & TIM_DIER_CC3IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC3IF ) ) {
// capture mode on trainer jack
capture = TRAINER_TIMER->CCR3 ;
doCapture = true;
capture = TRAINER_TIMER->CCR3;
if (TRAINER_CONNECTED() && currentTrainerMode == TRAINER_MODE_MASTER_TRAINER_JACK) {
doCapture = true;
}
}
if ( ( TRAINER_TIMER->DIER & TIM_DIER_CC2IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC2IF ) ) {
// capture mode on heartbeat pin (external module)
capture = TRAINER_TIMER->CCR2 ;
doCapture = true ;
capture = TRAINER_TIMER->CCR2;
if (currentTrainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE) {
doCapture = true;
}
}
if (doCapture) {
@@ -131,25 +130,119 @@ extern "C" void TIM3_IRQHandler()
// PPM out compare interrupt
if ( ( TRAINER_TIMER->DIER & TIM_DIER_CC1IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC1IF ) ) {
// compare interrupt
TRAINER_TIMER->DIER &= ~TIM_DIER_CC1IE ; // stop this interrupt
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear flag
TRAINER_TIMER->DIER &= ~TIM_DIER_CC1IE; // stop this interrupt
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag
setupTrainerPulses() ;
setupTrainerPulses();
trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;
TRAINER_TIMER->DIER |= TIM_DIER_UDE ;
TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear this flag
TRAINER_TIMER->DIER |= TIM_DIER_UIE ; // Enable this interrupt
TRAINER_TIMER->DIER |= TIM_DIER_UDE;
TRAINER_TIMER->SR &= ~TIM_SR_UIF; // Clear this flag
TRAINER_TIMER->DIER |= TIM_DIER_UIE; // Enable this interrupt
}
// PPM out update interrupt
if ( (TRAINER_TIMER->DIER & TIM_DIER_UIE) && ( TRAINER_TIMER->SR & TIM_SR_UIF ) ) {
TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++ ;
TRAINER_TIMER->SR &= ~TIM_SR_UIF; // Clear flag
TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++;
if ( *trainerPulsesData.ppm.ptr == 0 ) {
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear this flag
TRAINER_TIMER->DIER |= TIM_DIER_CC1IE ; // Enable this interrupt
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear this flag
TRAINER_TIMER->DIER |= TIM_DIER_CC1IE; // Enable this interrupt
}
}
}
#endif
void init_cppm_on_heartbeat_capture(void)
{
EXTERNAL_MODULE_ON();
configure_pins(HEARTBEAT_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2);
TRAINER_TIMER->ARR = 0xFFFF;
TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
TRAINER_TIMER->CR2 = 0;
TRAINER_TIMER->CCMR1 = TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_CC2S_0;
TRAINER_TIMER->CCER = TIM_CCER_CC2E;
TRAINER_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
TRAINER_TIMER->DIER |= TIM_DIER_CC2IE;
TRAINER_TIMER->CR1 = TIM_CR1_CEN;
NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
}
void stop_cppm_on_heartbeat_capture(void)
{
TRAINER_TIMER->DIER = 0;
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
NVIC_DisableIRQ(TRAINER_TIMER_IRQn); // Stop Interrupt
if (!IS_PULSES_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
}
void init_sbus_on_heartbeat_capture()
{
EXTERNAL_MODULE_ON();
#if 0
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_PinAFConfig(GPIOC, HEARTBEAT_GPIO_PinSource, HEARTBEAT_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = HEARTBEAT_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 100000;
USART_InitStructure.USART_WordLength = USART_WordLength_9b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_Even;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx;
USART_Init(HEARTBEAT_USART, &USART_InitStructure);
USART_Cmd(HEARTBEAT_USART, ENABLE);
USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, ENABLE);
NVIC_SetPriority(HEARTBEAT_USART_IRQn, 6);
NVIC_EnableIRQ(HEARTBEAT_USART_IRQn);
#endif
}
void stop_sbus_on_heartbeat_capture(void)
{
#if 0
configure_pins(HEARTBEAT_GPIO_PIN, PIN_INPUT | PIN_PORTC);
NVIC_DisableIRQ(HEARTBEAT_USART_IRQn);
#endif
if (!IS_PULSES_EXTERNAL_MODULE()) {
EXTERNAL_MODULE_OFF();
}
}
#if 0 // !defined(SIMU) && !defined(REV9E)
extern "C" void HEARTBEAT_USART_IRQHandler()
{
uint32_t status;
uint8_t data;
status = HEARTBEAT_USART->SR;
while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
data = HEARTBEAT_USART->DR;
if (!(status & USART_FLAG_ERRORS)) {
if (currentTrainerMode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE)
sbusFifo.push(data);
}
status = HEARTBEAT_USART->SR;
}
}
#endif