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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/targets/horus/trainer_driver.cpp
+143 -50
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@@ -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