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Compilation fixes

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This commit is contained in:
Bertrand Songis
2018-10-09 22:56:51 +02:00
parent 62dcd6ac5e
commit 67b145b22e
14 changed files with 72 additions and 88 deletions
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radio/src/pulses/pulses_arm.cpp
+15 -1
View File
@@ -122,6 +122,20 @@ uint8_t getRequiredProtocol(uint8_t port)
return required_protocol;
}
void setupPulsesPXX(uint8_t port)
{
#if defined(INTMODULE_USART) && defined(EXTMODULE_USART)
modulePulsesData[port].pxx_uart.setupFrame(port);
#elif !defined(INTMODULE_USART) && !defined(EXTMODULE_USART)
modulePulsesData[port].pxx.setupFrame(port);
#else
if (IS_UART_MODULE(port))
modulePulsesData[port].pxx_uart.setupFrame(port);
else
modulePulsesData[port].pxx.setupFrame(port);
#endif
}
void setupPulses(uint8_t port)
{
bool init_needed = false;
@@ -177,7 +191,7 @@ void setupPulses(uint8_t port)
// Set up output data here
switch (required_protocol) {
case PROTO_PXX:
modulePulsesData[port].pxx.setupFrame(port);
setupPulsesPXX(port);
scheduleNextMixerCalculation(port, PXX_PERIOD);
break;
radio/src/pulses/pulses_arm.h
+6 -58
View File
@@ -21,20 +21,15 @@
#ifndef _PULSES_ARM_H_
#define _PULSES_ARM_H_
#include "pulses/pxx2.h"
#include "pulses/pxx1.h"
#if NUM_MODULES == 2
#define MODULES_INIT(...) __VA_ARGS__, __VA_ARGS__
#else
#define MODULES_INIT(...) __VA_ARGS__
#endif
#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
extern uint8_t s_current_protocol[NUM_MODULES];
extern uint8_t s_pulses_paused;
extern uint16_t failsafeCounter[NUM_MODULES];
@@ -44,18 +39,6 @@ template<class T> struct PpmPulsesData {
T * ptr;
};
#if defined(PPM_PIN_SERIAL)
PACK(struct PxxSerialPulsesData {
uint8_t pulses[64];
uint8_t * ptr;
uint16_t pcmValue;
uint16_t pcmCrc;
uint32_t pcmOnesCount;
uint16_t serialByte;
uint16_t serialBitCount;
});
#endif
#if defined(PPM_PIN_SERIAL)
PACK(struct Dsm2SerialPulsesData {
uint8_t pulses[64];
@@ -74,15 +57,6 @@ PACK(struct Dsm2TimerPulsesData {
});
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART) || defined(PXX2)
PACK(struct PxxUartPulsesData {
uint8_t pulses[64];
uint8_t * ptr;
uint16_t pcmCrc;
uint16_t _alignment;
});
#endif
#define PPM_PERIOD_HALF_US(module) ((g_model.moduleData[module].ppm.frameLength * 5 + 225) * 200) /*half us*/
#define PPM_PERIOD(module) (PPM_PERIOD_HALF_US(module) / 2000) /*ms*/
#define DSM2_BAUDRATE 125000
@@ -93,48 +67,22 @@ PACK(struct PxxUartPulsesData {
#define MULTIMODULE_BAUDRATE 100000
#define MULTIMODULE_PERIOD 7 /*ms*/
#if !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
/* PXX uses 20 bytes (as of Rev 1.1 document) with 8 changes per byte + stop bit ~= 162 max pulses */
/* DSM2 uses 2 header + 12 channel bytes, with max 10 changes (8n2) per byte + 16 bits trailer ~= 156 max pulses */
/* Multimodule uses 3 bytes header + 22 channel bytes with max 11 changes per byte (8e2) + 16 bits trailer ~= 291 max pulses */
/* Multimodule reuses some of the DSM2 function and structs since the protocols are similar enough */
/* sbus is 1 byte header, 22 channel bytes (11bit * 16ch) + 1 byte flags */
#if defined(PXX_FREQUENCY_HIGH)
#error "Pulses array needs to be increased (PXX_FREQUENCY=HIGH)"
#endif
PACK(struct PxxTimerPulsesData {
pulse_duration_t pulses[200];
pulse_duration_t * ptr;
uint16_t rest;
uint16_t pcmCrc;
uint32_t pcmOnesCount;
});
#endif
#if !defined(BOOT)
#include "pulses/pxx2.h"
#include "pulses/pxx1.h"
#endif
#define CROSSFIRE_FRAME_MAXLEN 64
PACK(struct CrossfirePulsesData {
uint8_t pulses[CROSSFIRE_FRAME_MAXLEN];
});
union ModulePulsesData {
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART) && !defined(BOOT)
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
UartPxxPulses pxx_uart;
#endif
#if defined(BOOT)
#elif defined(PPM_PIN_SERIAL)
#if defined(PPM_PIN_SERIAL)
SerialPxxPulses pxx;
#elif !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
PwmPxxPulses pxx;
#endif
#if defined(PXX2) && !defined(BOOT)
#if defined(PXX2)
Pxx2Pulses pxx2;
#endif
radio/src/pulses/pxx.cpp
+2
View File
@@ -178,4 +178,6 @@ void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
}
template class PxxPulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class PxxPulses<StandardPxxTransport<SerialPxxBitTransport> >;
template class PxxPulses<Pxx2Transport>;
template class PxxPulses<UartPxxTransport>;
radio/src/pulses/pxx.h
+17 -4
View File
@@ -37,6 +37,17 @@
#define PXX_PERIOD 9/*ms*/
#endif
#if defined(PXX_FREQUENCY_HIGH) && (!defined(INTMODULE_USART) || !defined(EXTMODULE_USART))
/* PXX uses 20 bytes (as of Rev 1.1 document) with 8 changes per byte + stop bit ~= 162 max pulses */
/* DSM2 uses 2 header + 12 channel bytes, with max 10 changes (8n2) per byte + 16 bits trailer ~= 156 max pulses */
/* Multimodule uses 3 bytes header + 22 channel bytes with max 11 changes per byte (8e2) + 16 bits trailer ~= 291 max pulses */
/* Multimodule reuses some of the DSM2 function and structs since the protocols are similar enough */
/* sbus is 1 byte header, 22 channel bytes (11bit * 16ch) + 1 byte flags */
#error "Pulses array needs to be increased (PXX_FREQUENCY=HIGH)"
#endif
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
class PxxCrcMixin {
@@ -60,7 +71,6 @@ class SerialPxxBitTransport: public DataBuffer<uint8_t, 64> {
protected:
uint8_t byte;
uint8_t bits_count;
uint8_t padding[2];
void initFrame()
{
@@ -102,7 +112,6 @@ class SerialPxxBitTransport: public DataBuffer<uint8_t, 64> {
class PwmPxxBitTransport: public PulsesBuffer<pulse_duration_t, 200> {
protected:
uint16_t rest;
uint8_t padding[2];
void initFrame()
{
@@ -125,10 +134,9 @@ class PwmPxxBitTransport: public PulsesBuffer<pulse_duration_t, 200> {
};
template <class BitTransport>
class StandardPxxTransport: public PxxCrcMixin, public BitTransport {
class StandardPxxTransport: public BitTransport, public PxxCrcMixin {
protected:
uint8_t ones_count;
uint8_t padding[3];
void initFrame()
{
@@ -174,6 +182,11 @@ class UartPxxTransport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
addWithByteStuffing(byte);
}
void addByteWithoutCrc(uint8_t byte)
{
*ptr++ = byte;
}
void addWithByteStuffing(uint8_t byte)
{
if (0x7E == byte) {
radio/src/pulses/pxx1.cpp
+3 -1
View File
@@ -57,7 +57,7 @@ void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpper
template <class PxxTransport>
void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t port)
{
PxxPulses<PxxTransport>::initFrame();
PxxTransport::initBuffer();
#if defined(PXX_FREQUENCY_HIGH)
add8ChannelsFrame(port, 0);
@@ -75,3 +75,5 @@ void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t port)
}
template class Pxx1Pulses<StandardPxxTransport<PwmPxxBitTransport> >;
template class Pxx1Pulses<StandardPxxTransport<SerialPxxBitTransport> >;
template class Pxx1Pulses<UartPxxTransport>;
radio/src/pulses/pxx2.h
+1 -1
View File
@@ -47,7 +47,7 @@ class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
void initFrame()
{
ptr = data;
Pxx2Transport::initBuffer();
}
};
radio/src/targets/common/arm/CMakeLists.txt
+10 -1
View File
@@ -125,11 +125,20 @@ set(FIRMWARE_SRC
${COOS_DIR}/portable/GCC/port.c
${COOS_DIR}/portable/arch.c
)
set(PULSES_SRC
${PULSES_SRC}
pulses_arm.cpp
ppm_arm.cpp
pxx.cpp
pxx1.cpp
dsm2_arm.cpp
sbus_arm.cpp
)
)
if(PXX2)
set(PULSES_SRC
${PULSES_SRC}
pxx2.cpp
)
endif()
radio/src/targets/common/arm/stm32/CMakeLists.txt
-13
View File
@@ -102,16 +102,3 @@ set(PULSES_SRC
${PULSES_SRC}
crossfire.cpp
)
set(PULSES_SRC
${PULSES_SRC}
pxx1.cpp
)
if(PXX2)
set(PULSES_SRC
${PULSES_SRC}
pxx2.cpp
)
endif()
radio/src/targets/common/arm/stm32/intmodule_serial_driver.cpp
+2 -2
View File
@@ -130,8 +130,8 @@ void intmoduleSendNextFrame()
DMA_InitStructure.DMA_Channel = INTMODULE_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&INTMODULE_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx_uart.pulses);
DMA_InitStructure.DMA_BufferSize = modulePulsesData[INTERNAL_MODULE].pxx_uart.ptr - modulePulsesData[INTERNAL_MODULE].pxx_uart.pulses;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx_uart.getData());
DMA_InitStructure.DMA_BufferSize = modulePulsesData[INTERNAL_MODULE].pxx_uart.getSize();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
radio/src/targets/horus/board.h
+1
View File
@@ -197,6 +197,7 @@ void init_serial(uint32_t module_index, uint32_t baudrate, uint32_t period_half_
void disable_serial(uint32_t module_index);
void init_crossfire(uint32_t module_index);
void disable_crossfire(uint32_t module_index);
void disable_pxx2(uint32_t module_index);
// Trainer driver
void init_trainer_ppm(void);
radio/src/targets/horus/extmodule_driver.cpp
+3 -3
View File
@@ -259,7 +259,7 @@ void extmoduleSendNextFrame()
EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
}
else if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PXX) {
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_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
#if defined(PCBX10) || PCBREV >= 13
EXTMODULE_DMA_STREAM->CR |= EXTMODULE_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;
@@ -267,8 +267,8 @@ void extmoduleSendNextFrame()
EXTMODULE_DMA_STREAM->CR |= EXTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_1 | DMA_SxCR_MSIZE_1 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
#endif
EXTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.ptr - modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.getData());
EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.getSize();
EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
}
else if (IS_DSM2_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]) || IS_MULTIMODULE_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]) || IS_SBUS_PROTOCOL(s_current_protocol[EXTERNAL_MODULE])) {
radio/src/targets/horus/pulses_driver.cpp
+8
View File
@@ -107,3 +107,11 @@ void disable_crossfire(uint32_t port)
extmoduleStop();
}
}
void disable_pxx2(uint32_t port)
{
if (port == EXTERNAL_MODULE) {
extmoduleStop();
}
}
radio/src/targets/sky9x/pulses_driver.cpp
+2 -2
View File
@@ -278,8 +278,8 @@ extern "C" void PWM_IRQHandler(void)
else {
// Kick off serial output here
Ssc * sscptr = SSC;
sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
sscptr->SSC_TCR = (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.ptr - (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.getData());
sscptr->SSC_TCR = modulePulsesData[EXTERNAL_MODULE].pxx.getSize();
sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers
}
break;
radio/src/targets/taranis/extmodule_driver.cpp
+2 -2
View File
@@ -283,8 +283,8 @@ void extmoduleSendNextFrame()
DMA_InitStructure.DMA_Channel = EXTMODULE_USART_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&EXTMODULE_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx_uart.pulses);
DMA_InitStructure.DMA_BufferSize = modulePulsesData[EXTERNAL_MODULE].pxx_uart.ptr - modulePulsesData[EXTERNAL_MODULE].pxx_uart.pulses;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx_uart.getData());
DMA_InitStructure.DMA_BufferSize = modulePulsesData[EXTERNAL_MODULE].pxx_uart.getSize();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;