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[Taranis] Pulses for final hardware

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This commit is contained in:
bernet.andre@gmail.com
2013-04-29 19:55:38 +00:00
parent 240c6223fe
commit 68c28187a8
15 changed files with 428 additions and 610 deletions
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src/eeprom_conversions.cpp
+5 -3
View File
@@ -122,6 +122,8 @@ PACK(typedef struct {
bool eeConvert()
{
return false;
if (g_eeGeneral.version == 212) {
g_eeGeneral.optrexDisplay = 0;
g_eeGeneral.backlightBright = 0;
@@ -167,10 +169,10 @@ bool eeConvert()
g_model.ppmNCH = oldModel.ppmNCH;
g_model.trimInc = oldModel.trimInc;
g_model.disableThrottleWarning = oldModel.disableThrottleWarning;
g_model.pulsePol = oldModel.pulsePol;
g_model.moduleData[0].ppmPulsePol = oldModel.pulsePol;
g_model.extendedLimits = oldModel.extendedLimits;
g_model.extendedTrims = oldModel.extendedTrims;
g_model.ppmDelay = oldModel.ppmDelay;
g_model.moduleData[0].ppmDelay = oldModel.ppmDelay;
g_model.beepANACenter = oldModel.beepANACenter;
for (uint8_t i=0; i<64; i++) {
g_model.mixData[i].destCh = oldModel.mixData[i].destCh;
@@ -218,7 +220,7 @@ bool eeConvert()
memcpy(g_model.phaseData[i].trim, oldModel.phaseData[i].trim, 4*sizeof(int16_t));
memcpy(g_model.phaseData[i].rotaryEncoders, oldModel.phaseData[i].rotaryEncoders, 1*sizeof(int16_t));
}
g_model.ppmFrameLength = oldModel.ppmFrameLength;
g_model.moduleData[0].ppmFrameLength = oldModel.ppmFrameLength;
g_model.thrTraceSrc = oldModel.thrTraceSrc;
g_model.header.modelId = oldModel.modelId;
g_model.switchWarningStates = oldModel.switchWarningStates;
src/menu_model.cpp
+56 -23
View File
@@ -675,7 +675,7 @@ void menuModelFailsafe(uint8_t event)
eeDirty(EE_MODEL);
s_editMode = 0;
AUDIO_WARNING1();
SEND_FAILSAFE_NOW();
SEND_FAILSAFE_NOW(g_moduleIdx);
killEvents(event);
}
@@ -903,8 +903,8 @@ void menuModelSetup(uint8_t event)
#if defined(PCBTARANIS)
if (event == EVT_KEY_LONG(KEY_EXIT)) {
pxxFlag[0] = 0;
pxxFlag[1] = 0;
pxxFlag[INTERNAL_MODULE] = 0;
pxxFlag[EXTERNAL_MODULE] = 0;
}
#endif
@@ -1161,13 +1161,14 @@ void menuModelSetup(uint8_t event)
if (checkIncDec_Ret) {
g_model.moduleData[0].channelsStart = 0;
g_model.moduleData[0].channelsCount = MAX_PORT1_CHANNELS();
setupPulses(INTERNAL_MODULE);
}
}
break;
case ITEM_MODEL_EXTERNAL_MODULE_MODE:
lcd_putsLeft(y, PSTR(INDENT "Module"));
lcd_putsiAtt(MODEL_SETUP_2ND_COLUMN, y, PSTR("\004""---\0""PPM\0""XJT\0""DJT\0""DSM2"), g_model.externalModule, m_posHorz==0 ? attr : 0);
lcd_putsiAtt(MODEL_SETUP_2ND_COLUMN, y, PSTR("\004""OFF\0""PPM\0""XJT\0""DJT\0""DSM2"), g_model.externalModule, m_posHorz==0 ? attr : 0);
if (g_model.externalModule == MODULE_TYPE_XJT)
lcd_putsiAtt(MODEL_SETUP_2ND_COLUMN+5*FW, y, PSTR("\004""OFF\0""X16\0""D8\0 ""LR12"), 1+g_model.moduleData[1].rfProtocol, m_posHorz==1 ? attr : 0);
if (attr && (editMode>0 || p1valdiff)) {
@@ -1176,7 +1177,11 @@ void menuModelSetup(uint8_t event)
CHECK_INCDEC_MODELVAR(event, g_model.externalModule, MODULE_TYPE_NONE, MODULE_TYPE_LAST);
if (checkIncDec_Ret) {
g_model.moduleData[1].channelsStart = 0;
g_model.moduleData[1].channelsCount = MAX_PORT2_CHANNELS();
if (g_model.externalModule == MODULE_TYPE_PPM)
g_model.moduleData[1].channelsCount = 0;
else
g_model.moduleData[1].channelsCount = MAX_PORT2_CHANNELS();
setupPulses(EXTERNAL_MODULE);
}
break;
case 1:
@@ -1208,7 +1213,9 @@ void menuModelSetup(uint8_t event)
CHECK_INCDEC_MODELVAR_ZERO(event, moduleData.channelsStart, 32-8-moduleData.channelsCount);
break;
case 1:
CHECK_INCDEC_MODELVAR_ZERO(event, moduleData.channelsCount, min<int8_t>(MAX_CHANNELS(moduleIdx), 32-moduleData.channelsStart-8));
CHECK_INCDEC_MODELVAR_ZERO(event, moduleData.channelsCount, min<int8_t>(MAX_CHANNELS(moduleIdx), 32-8-moduleData.channelsStart));
if ((k == ITEM_MODEL_EXTERNAL_MODULE_CHANNELS && g_model.externalModule == MODULE_TYPE_PPM) || (k == ITEM_MODEL_TRAINER_CHANNELS))
moduleData.ppmFrameLength = moduleData.channelsCount * 4;
break;
}
}
@@ -1291,7 +1298,7 @@ void menuModelSetup(uint8_t event)
if (m_posHorz==0) {
if (editMode>0 || p1valdiff) {
CHECK_INCDEC_MODELVAR_ZERO(event, moduleData.failsafeMode, FAILSAFE_LAST);
if (checkIncDec_Ret) SEND_FAILSAFE_NOW();
if (checkIncDec_Ret) SEND_FAILSAFE_NOW(moduleIdx);
}
}
else if (m_posHorz==1) {
@@ -1314,7 +1321,7 @@ void menuModelSetup(uint8_t event)
break;
case ITEM_MODEL_TRAINER_MODE:
g_model.trainerMode = selectMenuItem(MODEL_SETUP_2ND_COLUMN, y, STR_MODE, PSTR("\006MasterSlave"), g_model.trainerMode, 0, 1, attr, event); break;
g_model.trainerMode = selectMenuItem(MODEL_SETUP_2ND_COLUMN, y, STR_MODE, PSTR("\006MasterSlave"), g_model.trainerMode, 0, 1, attr, event);
break;
#else
@@ -1330,9 +1337,9 @@ void menuModelSetup(uint8_t event)
#if defined(PCBSKY9X)
lcd_putsAtt(MODEL_SETUP_2ND_COLUMN+4*FW+3, y, STR_CH, m_posHorz==1 ? attr : 0);
lcd_outdezAtt(lcdLastPos, y, g_model.ppmSCH+1, LEFT | (m_posHorz==1 ? attr : 0));
lcd_outdezAtt(lcdLastPos, y, g_model.moduleData[0].channelsStart+1, LEFT | (m_posHorz==1 ? attr : 0));
lcd_putc(lcdLastPos, y, '-');
lcd_outdezAtt(lcdLastPos + FW+1, y, g_model.ppmSCH+NUM_PORT1_CHANNELS(), LEFT | (m_posHorz==2 ? attr : 0));
lcd_outdezAtt(lcdLastPos + FW+1, y, g_model.moduleData[0].channelsStart+NUM_PORT1_CHANNELS(), LEFT | (m_posHorz==2 ? attr : 0));
#else
if (IS_PPM_PROTOCOL(protocol)) {
lcd_putsiAtt(MODEL_SETUP_2ND_COLUMN+7*FW, y, STR_NCHANNELS, g_model.ppmNCH+2, m_posHorz!=0 ? attr : 0);
@@ -1353,8 +1360,8 @@ void menuModelSetup(uint8_t event)
break;
case 1:
#if defined(PCBSKY9X)
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.ppmSCH, 32-8-(g_model.ppmNCH*2));
g_model.ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.moduleData[0].channelsStart, 32-8-g_model.moduleData[0].channelsCount);
g_model.moduleData[0].ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
#else
CHECK_INCDEC_MODELVAR(event, g_model.ppmNCH, -2, 4);
g_model.ppmFrameLength = g_model.ppmNCH * 8;
@@ -1363,8 +1370,8 @@ void menuModelSetup(uint8_t event)
#if defined(PCBSKY9X)
case 2:
if (IS_PPM_PROTOCOL(protocol)) {
CHECK_INCDEC_MODELVAR(event, g_model.ppmNCH, -2, min<int8_t>(4, (32-g_model.ppmSCH)/2-4));
g_model.ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
CHECK_INCDEC_MODELVAR(event, g_model.moduleData[0].channelsCount, -4, min<int8_t>(8, 32-8-g_model.moduleData[0].channelsStart));
g_model.moduleData[0].ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
}
else
REPEAT_LAST_CURSOR_MOVE();
@@ -1386,17 +1393,41 @@ void menuModelSetup(uint8_t event)
switch (m_posHorz) {
case 0:
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.ppm2SCH, 32-8-(g_model.ppm2NCH*2));
g_model.ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
g_model.moduleData[1].ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
break;
case 1:
CHECK_INCDEC_MODELVAR(event, g_model.ppm2NCH, -2, min<int8_t>(4, (32-g_model.ppm2SCH)/2-4));
g_model.ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
g_model.moduleData[1].ppmFrameLength = NUM_PORT1_CHANNELS()>NUM_PORT2_CHANNELS() ? 4*(NUM_PORT1_CHANNELS()-8) : 4*(NUM_PORT2_CHANNELS()-8);
break;
}
}
break;
#endif
#if defined(PCBSKY9X)
case ITEM_MODEL_PROTOCOL_PARAMS:
if (IS_PPM_PROTOCOL(protocol)) {
lcd_putsLeft(y, STR_PPMFRAME);
lcd_puts(MODEL_SETUP_2ND_COLUMN+3*FW, y, STR_MS);
lcd_outdezAtt(MODEL_SETUP_2ND_COLUMN, y, (int16_t)g_model.moduleData[0].ppmFrameLength*5 + 225, (m_posHorz<=0 ? attr : 0) | PREC1|LEFT);
lcd_putc(MODEL_SETUP_2ND_COLUMN+8*FW+2, y, 'u');
lcd_outdezAtt(MODEL_SETUP_2ND_COLUMN+8*FW+2, y, (g_model.moduleData[0].ppmDelay*50)+300, (m_posHorz < 0 || m_posHorz==1) ? attr : 0);
lcd_putcAtt(MODEL_SETUP_2ND_COLUMN+10*FW, y, g_model.moduleData[0].ppmPulsePol ? '+' : '-', (m_posHorz < 0 || m_posHorz==2) ? attr : 0);
if (attr && (editMode>0 || p1valdiff)) {
switch (m_posHorz) {
case 0:
CHECK_INCDEC_MODELVAR(event, g_model.moduleData[0].ppmFrameLength, -20, 35);
break;
case 1:
CHECK_INCDEC_MODELVAR(event, g_model.moduleData[0].ppmDelay, -4, 10);
break;
case 2:
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.moduleData[0].ppmPulsePol, 1);
break;
}
}
}
#else
case ITEM_MODEL_PROTOCOL_PARAMS:
if (IS_PPM_PROTOCOL(protocol)) {
lcd_putsLeft(y, STR_PPMFRAME);
@@ -1405,7 +1436,6 @@ void menuModelSetup(uint8_t event)
lcd_putc(MODEL_SETUP_2ND_COLUMN+8*FW+2, y, 'u');
lcd_outdezAtt(MODEL_SETUP_2ND_COLUMN+8*FW+2, y, (g_model.ppmDelay*50)+300, (m_posHorz < 0 || m_posHorz==1) ? attr : 0);
lcd_putcAtt(MODEL_SETUP_2ND_COLUMN+10*FW, y, g_model.pulsePol ? '+' : '-', (m_posHorz < 0 || m_posHorz==2) ? attr : 0);
if (attr && (editMode>0 || p1valdiff)) {
switch (m_posHorz) {
case 0:
@@ -1420,6 +1450,7 @@ void menuModelSetup(uint8_t event)
}
}
}
#endif
#if defined(DSM2) || defined(PXX)
else if (IS_DSM2_PROTOCOL(protocol) || IS_PXX_PROTOCOL(protocol)) {
if (attr && m_posHorz > 1) {
@@ -1468,7 +1499,7 @@ void menuModelSetup(uint8_t event)
}
#if defined(PCBTARANIS)
if (pxxFlag[0] == PXX_SEND_RANGECHECK || pxxFlag[1] == PXX_SEND_RANGECHECK) {
if (pxxFlag[INTERNAL_MODULE] == PXX_SEND_RANGECHECK || pxxFlag[EXTERNAL_MODULE] == PXX_SEND_RANGECHECK) {
displayPopup("RSSI: ");
lcd_outdezAtt(16+4*FW, 5*FH, frskyData.rssi[0].value, BOLD);
}
@@ -2219,11 +2250,13 @@ void menuModelCurveOne(uint8_t event)
pointsOfs = 0;
break;
case EVT_KEY_LONG(KEY_ENTER):
killEvents(event);
MENU_ADD_ITEM(STR_CURVE_PRESET);
MENU_ADD_ITEM(STR_CURVE_MIRROR);
MENU_ADD_ITEM(STR_CURVE_CLEAR);
menuHandler = onCurveOneMenu;
if (m_posVert > 1) {
killEvents(event);
MENU_ADD_ITEM(STR_CURVE_PRESET);
MENU_ADD_ITEM(STR_CURVE_MIRROR);
MENU_ADD_ITEM(STR_CURVE_CLEAR);
menuHandler = onCurveOneMenu;
}
break;
}
src/myeeprom.h
+6 -1
View File
@@ -123,7 +123,7 @@
#define CURVTYPE int8_t
#endif
#if defined(PCBTARANIS)
#if defined(PCBTARANIS) || defined(PCBSKY9X)
#define NUM_MODULES 2
#else
#define NUM_MODULES 1
@@ -228,6 +228,11 @@ PACK(typedef struct t_ModuleData {
}) ModuleData;
#if defined(PCBTARANIS)
enum ModuleIndex {
INTERNAL_MODULE,
EXTERNAL_MODULE,
TRAINER_MODULE
};
#define MODELDATA_BITMAP char bitmap[LEN_BITMAP_NAME];
#define MODELDATA_EXTRA uint8_t externalModule; uint8_t trainerMode; ModuleData moduleData[NUM_MODULES+1]; char curveNames[MAX_CURVES][6];
#define LIMITDATA_EXTRA char name[6];
src/opentx.cpp
+13 -3
View File
@@ -300,7 +300,7 @@ void per10ms()
sdPoll10ms();
#endif
heartbeat |= HEART_TIMER10ms;
heartbeat |= HEART_TIMER_10MS;
}
PhaseData *phaseaddress(uint8_t idx)
@@ -4160,7 +4160,17 @@ void mixerTask(void * pdata)
CoLeaveMutexSection(mixerMutex);
if (tick10ms) checkTrims();
if (heartbeat == HEART_TIMER_PULSES+HEART_TIMER10ms) {
uint8_t heartbeatCheck = HEART_TIMER_10MS;
#if defined(PCBTARANIS)
if (g_model.moduleData[0].rfProtocol != RF_PROTO_OFF)
heartbeatCheck |= HEART_TIMER_PULSES;
if (g_model.externalModule != MODULE_TYPE_NONE)
heartbeatCheck |= HEART_TIMER_PULSES << 1;
#else
uint8_t heartbeatCheck = HEART_TIMER_10MS + HEART_TIMER_PULSES;
#endif
if ((heartbeat & heartbeatCheck) == heartbeatCheck) {
wdt_reset();
heartbeat = 0;
}
@@ -4355,7 +4365,7 @@ int main(void)
perMain();
if (heartbeat == HEART_TIMER_PULSES+HEART_TIMER10ms) {
if (heartbeat == HEART_TIMER_PULSES+HEART_TIMER_10MS) {
wdt_reset();
heartbeat = 0;
}
src/opentx.h
+5 -6
View File
@@ -465,9 +465,9 @@ enum EnumKeys {
#define MAX_PORT2_CHANNELS() ((g_model.externalModule == MODULE_TYPE_XJT) ? maxChannelsXJT[1+g_model.moduleData[1].rfProtocol] : maxChannelsModules[g_model.externalModule])
#define MAX_TRAINER_CHANNELS() (8)
#define MAX_CHANNELS(idx) (idx==0 ? MAX_PORT1_CHANNELS() : (idx==1 ? MAX_PORT2_CHANNELS() : MAX_TRAINER_CHANNELS()))
#else
#define NUM_PORT1_CHANNELS() (IS_PXX_PROTOCOL(g_model.protocol) ? 8 : (IS_DSM2_PROTOCOL(g_model.protocol) ? 6 : (8+(g_model.ppmNCH*2))))
#define NUM_PORT2_CHANNELS() (8+(g_model.ppm2NCH*2))
#elif defined(PCBSKY9X)
#define NUM_PORT1_CHANNELS() (IS_PXX_PROTOCOL(g_model.protocol) ? 8 : (IS_DSM2_PROTOCOL(g_model.protocol) ? 6 : (8+g_model.moduleData[0].channelsCount)))
#define NUM_PORT2_CHANNELS() (8+g_model.moduleData[1].channelsCount)
#endif
#include "lcd.h"
@@ -658,9 +658,8 @@ enum CswFunctions {
#define NAVIGATION_RE_IDX() 0
#endif
#define HEART_TIMER_PULSES 1
#define HEART_TIMER10ms 2
#define HEART_TIMER_10MS 1
#define HEART_TIMER_PULSES 2 // when multiple modules this is the first one
extern uint8_t heartbeat;
#define MAX_ALERT_TIME 60
src/pulses_arm.cpp
+165 -347
View File
@@ -36,29 +36,34 @@
#include "opentx.h"
uint8_t s_pulses_paused = 0;
uint8_t s_current_protocol = 255;
uint32_t failsafeCounter = 100;
uint8_t pxxFlag[NUM_MODULES] = { 0 };
uint16_t ppmStream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
uint16_t ppm2Stream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
#if defined(PCBSKY9X)
volatile uint32_t ppmStreamIndex = 0 ; // Modified in interrupt routine
volatile uint32_t ppm2StreamIndex = 0 ; // Modified in interrupt routine
uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
#if NUM_MODULES == 2
#define MODULES_INIT(x) x, x
#else
uint16_t pxxStream[400] ; // Transisitions
#if defined(PCBTARANIS)
uint16_t pxx2Stream[400] ; // Transisitions
#define MODULES_INIT(x) x
#endif
uint8_t s_pulses_paused = 0;
uint8_t s_current_protocol[NUM_MODULES] = { MODULES_INIT(255) };
uint32_t failsafeCounter[NUM_MODULES] = { MODULES_INIT(100) };
uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) };
uint16_t pxxStream[NUM_MODULES][400] ; // Transitions
uint16_t *pxxStreamPtr[NUM_MODULES] ;
uint16_t PxxValue[NUM_MODULES] ;
#else
uint16_t *pxxStreamPtr ;
uint16_t PxxValue ;
#endif
uint16_t PcmCrc[NUM_MODULES] ;
uint8_t PcmOnesCount[NUM_MODULES] ;
#if NUM_MODULES == 2
uint16_t ppmStream[NUM_MODULES][20] = { { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
{ 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } };
#else
uint16_t ppmStream[NUM_MODULES][20] = { { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } };
#endif
#if defined(PCBSKY9X)
volatile uint32_t ppmStreamIndex[NUM_MODULES] = { MODULES_INIT(0) }; // Modified in interrupt routine
uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
#endif
// DSM2 control bits
@@ -73,38 +78,7 @@ uint8_t Serial_byte ;
uint8_t Serial_bit_count;
uint8_t Serial_byte_count ;
#if defined(PCBTARANIS)
#define MODULE_INDEX_PARAM uint32_t module_index
#else
#define MODULE_INDEX_PARAM
#endif
void setupPulses( MODULE_INDEX_PARAM ) ;
void setupPulsesDsm2(uint8_t chns);
void setupPulsesPXX();
void startPulses()
{
// TODO a single call to setupPulses() should be ok!
#if defined(PCBSKY9X)
init_main_ppm(3000, 1) ; // Default for now, initial period 1.5 mS, output on
#else
#if defined(PCBTARANIS)
init_ppm( 0 ) ;
#else
init_main_ppm();
#endif
#endif
}
#if defined(PCBSKY9X)
#define PPM_PORT_PARAM uint32_t ppmPort
#else
#define PPM_PORT_PARAM
#endif
void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts through here
void setupPulsesPPM(unsigned int port) // Don't enable interrupts through here
{
#if defined(PCBSKY9X)
register Pwm *pwmptr = PWM;
@@ -116,38 +90,30 @@ void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts
// each pulse is 0.7..1.7ms long with a 0.3ms stop tail
// The pulse ISR is 2mhz that's why everything is multiplied by 2
uint32_t firstCh = g_model.moduleData[port].channelsStart;
uint32_t lastCh = min<unsigned int>(NUM_CHNOUT, firstCh + 8 + g_model.moduleData[port].channelsCount);
#if defined(PCBSKY9X)
uint32_t pwmCh;
uint16_t * ptr;
uint32_t firstCh, lastCh;
if (ppmPort == 0) {
if (port == 0) {
pwmCh = 3;
ptr = ppmStream;
firstCh = g_model.ppmSCH;
lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + 8 + (g_model.ppmNCH * 2));
}
else {
pwmCh = 1;
ptr = ppm2Stream;
firstCh = g_model.ppm2SCH;
lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + NUM_PORT2_CHANNELS());
}
#else
#define firstCh 0
uint32_t lastCh = NUM_CHANNELS(0);
uint16_t * ptr = ppmStream;
#endif
uint16_t * ptr = ppmStream[port];
#if defined(PCBSKY9X)
pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.ppmDelay * 50 + 300) * 2; //Stoplen *2
if (g_model.pulsePol)
pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.moduleData[port].ppmDelay * 50 + 300) * 2; //Stoplen *2
if (g_model.moduleData[port].ppmPulsePol)
pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR |= 0x00000200 ; // CPOL
else
pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR &= ~0x00000200 ; // CPOL
#endif
uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
rest += (int32_t(g_model.ppmFrameLength)) * 1000;
rest += (int32_t(g_model.moduleData[port].ppmFrameLength)) * 1000;
for (uint32_t i=firstCh; i<lastCh; i++) {
int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= v;
@@ -158,13 +124,14 @@ void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts
*(ptr + 1) = 0;
#if defined(PCBTARANIS)
// THIS IS SPECIFIC TO EITHER THE INTERNAL OR EXTERNAL MODULE
// OTHER IS COMMENTED OUT. IF PPM IS NEEDED ON INTERNAL AS WELL AS EXTARNAL
// setupPulsesPPM() WILL NEED A "MODULE" PARAMETER
TIM8->CCR2 = rest - 1000 ; // Update time
TIM8->CCR1 = (g_model.ppmDelay*50+300)*2 ;
// TIM1->CCR2 = rest - 1000 ; // Update time
// TIM1->CCR3 = (g_model.ppmDelay*50+300)*2 ;
if (port == EXTERNAL_MODULE) {
TIM8->CCR2 = rest - 1000; // Update time
TIM8->CCR1 = (g_model.moduleData[port].ppmDelay*50+300)*2;
}
else {
TIM1->CCR2 = rest - 1000; // Update time
TIM1->CCR3 = (g_model.moduleData[port].ppmDelay*50+300)*2;
}
#endif
}
@@ -204,276 +171,137 @@ const uint16_t CRCTable[]=
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
#if defined(PCBTARANIS)
uint16_t PcmCrc[2] ;
uint8_t PcmOnesCount[2] ;
void crc( uint8_t data, uint32_t module_index )
void crc(uint8_t data, unsigned int port)
{
// uint8_t i ;
PcmCrc[module_index]=(PcmCrc[module_index]<<8)^(CRCTable[((PcmCrc[module_index]>>8)^data) & 0xFF]);
PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]);
}
void putPcmPart( uint8_t value, uint32_t module_index )
void putPcmPart(uint8_t value, unsigned int port)
{
PxxValue[module_index] += 18 ; // Output 1 for this time
*pxxStreamPtr[module_index]++ = PxxValue[module_index] ;
PxxValue[module_index] += 14 ;
if ( value ) {
PxxValue[module_index] += 16 ;
PxxValue[port] += 18 ; // Output 1 for this time
*pxxStreamPtr[port]++ = PxxValue[port] ;
PxxValue[port] += 14 ;
if (value) {
PxxValue[port] += 16 ;
}
*pxxStreamPtr[module_index]++ = PxxValue[module_index] ; // Output 0 for this time
*pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time
}
void putPcmFlush( uint32_t module_index )
void putPcmFlush(unsigned int port)
{
*pxxStreamPtr[module_index]++ = 18010 ; // Past the 18000 of the ARR
*pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR
}
void putPcmBit( uint8_t bit, uint32_t module_index )
void putPcmBit(uint8_t bit, unsigned int port)
{
if ( bit )
if (bit)
{
PcmOnesCount[module_index] += 1 ;
putPcmPart( 1, module_index ) ;
PcmOnesCount[port] += 1 ;
putPcmPart(1, port);
}
else
{
PcmOnesCount[module_index] = 0 ;
putPcmPart( 0, module_index ) ;
PcmOnesCount[port] = 0 ;
putPcmPart(0, port);
}
if ( PcmOnesCount[module_index] >= 5 )
if (PcmOnesCount[port] >= 5)
{
putPcmBit( 0, module_index ) ; // Stuff a 0 bit in
putPcmBit(0, port); // Stuff a 0 bit in
}
}
void putPcmByte( uint8_t byte, uint32_t module_index )
void putPcmByte(uint8_t byte, unsigned int port)
{
crc(byte, module_index);
crc(byte, port);
for (uint8_t i=0; i<8; i++) {
putPcmBit(byte & 0x80, module_index);
putPcmBit(byte & 0x80, port);
byte <<= 1;
}
}
void putPcmHead( uint32_t module_index )
void putPcmHead(unsigned int port)
{
// send 7E, do not CRC
// 01111110
putPcmPart( 0, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 0, module_index ) ;
}
#else // Not Taranis
uint16_t PcmCrc ;
uint8_t PcmOnesCount ;
void crc( uint8_t data )
{
// uint8_t i ;
PcmCrc=(PcmCrc<<8)^(CRCTable[((PcmCrc>>8)^data) & 0xFF]);
putPcmPart(0, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(0, port);
}
#if defined(PCBSKY9X)
void put_serial_bit( uint8_t bit )
void put_serial_bit(uint8_t bit)
{
Serial_byte >>= 1 ;
if ( bit & 1 )
if (bit & 1)
{
Serial_byte |= 0x80 ;
}
if ( ++Serial_bit_count >= 8 )
if (++Serial_bit_count >= 8)
{
*Pulses2MHzptr++ = Serial_byte ;
Serial_bit_count = 0 ;
Serial_byte_count += 1 ;
}
}
// 8uS/bit 01 = 0, 001 = 1
void putPcmPart( uint8_t value )
{
put_serial_bit( 0 ) ;
if ( value )
{
put_serial_bit( 0 ) ;
}
put_serial_bit( 1 ) ;
}
void putPcmFlush()
{
while ( Serial_bit_count != 0 )
{
put_serial_bit( 1 ) ; // Line idle level
}
}
#else
void putPcmPart( uint8_t value )
{
PxxValue += 18 ; // Output 1 for this time
*pxxStreamPtr++ = PxxValue ;
PxxValue += 14 ;
if ( value ) {
PxxValue += 16 ;
}
*pxxStreamPtr++ = PxxValue ; // Output 0 for this time
}
void putPcmFlush()
{
*pxxStreamPtr++ = 18010 ; // Past the 18000 of the ARR
}
#endif
void putPcmBit( uint8_t bit )
{
if ( bit )
{
PcmOnesCount += 1 ;
putPcmPart( 1 ) ;
}
else
{
PcmOnesCount = 0 ;
putPcmPart( 0 ) ;
}
if ( PcmOnesCount >= 5 )
{
putPcmBit( 0 ) ; // Stuff a 0 bit in
}
}
void putPcmByte( uint8_t byte )
{
crc(byte);
for (uint8_t i=0; i<8; i++) {
putPcmBit(byte & 0x80);
byte <<= 1;
}
}
void putPcmHead()
{
// send 7E, do not CRC
// 01111110
putPcmPart( 0 ) ;
putPcmPart( 1 ) ;
putPcmPart( 1 ) ;
putPcmPart( 1 ) ;
putPcmPart( 1 ) ;
putPcmPart( 1 ) ;
putPcmPart( 1 ) ;
putPcmPart( 0 ) ;
}
#endif // Taranis
void setupPulsesPXX(MODULE_INDEX_PARAM)
void setupPulsesPXX(unsigned int port)
{
uint16_t chan=0, chan_low=0;
#if defined(PCBSKY9X)
Serial_byte = 0 ;
Serial_bit_count = 0 ;
Serial_byte_count = 0 ;
Pulses2MHzptr = Bit_pulses ;
#else
#if defined(PCBTARANIS)
pxxStreamPtr[module_index] = module_index ? pxx2Stream : pxxStream ;
PxxValue[module_index] = 0 ;
#else
pxxStreamPtr = pxxStream ;
PxxValue = 0 ;
#endif
#endif
#if defined(PCBTARANIS)
PcmCrc[module_index] = 0;
PcmOnesCount[module_index] = 0;
/* Sync */
putPcmHead(module_index);
/* Rx Number */
putPcmByte(g_model.header.modelId, module_index);
#else
PcmCrc = 0;
PcmOnesCount = 0;
/* Sync */
putPcmHead();
/* Rx Number */
putPcmByte(g_model.header.modelId);
pxxStreamPtr[port] = pxxStream[port];
PxxValue[port] = 0 ;
#endif
PcmCrc[port] = 0;
PcmOnesCount[port] = 0;
/* Sync */
putPcmHead(port);
/* Rx Number */
putPcmByte(g_model.header.modelId, port);
/* FLAG1 */
uint8_t flag1;
if (pxxFlag[0] & PXX_SEND_RXNUM) {
#if defined(PCBTARANIS)
flag1 = (g_model.moduleData[module_index].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[module_index];
if (pxxFlag[port] & PXX_SEND_RXNUM) {
flag1 = (g_model.moduleData[port].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[port];
}
else {
flag1 = (g_model.moduleData[module_index].rfProtocol << 6) | pxxFlag[0];
#else
flag1 = (g_model.moduleData[0].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[0];
}
else {
flag1 = (g_model.moduleData[0].rfProtocol << 6) | pxxFlag[0];
#endif
flag1 = (g_model.moduleData[port].rfProtocol << 6) | pxxFlag[port];
#if defined(PCBTARANIS)
if (g_model.moduleData[module_index].failsafeMode != FAILSAFE_HOLD) {
if (failsafeCounter-- == 0) {
failsafeCounter = 1000;
if (g_model.moduleData[port].failsafeMode != FAILSAFE_HOLD) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter == 0 && g_model.moduleData[module_index].channelsCount > 0) {
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
#endif
}
#if defined(PCBTARANIS)
putPcmByte(flag1, module_index);
putPcmByte(flag1, port);
/* FLAG2 */
putPcmByte(0, module_index);
#else
putPcmByte(flag1);
/* FLAG2 */
putPcmByte(0);
#endif
putPcmByte(0, port);
/* PPM */
static uint32_t pass = 0;
uint32_t sendUpperChannels = 0;
if (pass++ & 0x01) {
#if defined(PCBTARANIS)
sendUpperChannels = g_model.moduleData[module_index].channelsCount;
#else
sendUpperChannels = g_model.moduleData[0].channelsCount;
#endif
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
for (uint32_t i=0; i<8; i++) {
#if defined(PCBTARANIS)
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[module_index].failsafeMode == FAILSAFE_NOPULSES) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
if (i < sendUpperChannels)
chan = 3072;
else
@@ -481,18 +309,16 @@ void setupPulsesPXX(MODULE_INDEX_PARAM)
}
else {
if (i < sendUpperChannels) {
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[module_index].channelsStart+i) - PPM_CENTER + (g_model.moduleData[module_index].failsafeChannels[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4095);
if (chan == 3072) chan = 3073;
}
else {
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[module_index].channelsStart+i) - PPM_CENTER + (g_model.moduleData[module_index].failsafeChannels[g_model.moduleData[0].channelsStart+i] * 512 / 682) + 1024, 2047);
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2047);
if (chan == 1024) chan = 1025;
}
}
}
else
#endif
{
else {
if (i < sendUpperChannels)
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
else
@@ -500,15 +326,9 @@ void setupPulsesPXX(MODULE_INDEX_PARAM)
}
if (i & 1) {
#if defined(PCBTARANIS)
putPcmByte(chan_low, module_index); // Low byte of channel
putPcmByte( ( ( chan_low >> 8 ) & 0x0F ) | ( chan << 4), module_index ) ; // 4 bits each from 2 channels
putPcmByte(chan >> 4, module_index); // High byte of channel
#else
putPcmByte(chan_low); // Low byte of channel
putPcmByte( ( ( chan_low >> 8 ) & 0x0F ) | ( chan << 4) ) ; // 4 bits each from 2 channels
putPcmByte(chan >> 4); // High byte of channel
#endif
putPcmByte(chan_low, port); // Low byte of channel
putPcmByte(((chan_low >> 8) & 0x0F) | (chan << 4), port); // 4 bits each from 2 channels
putPcmByte(chan >> 4, port); // High byte of channel
}
else {
chan_low = chan;
@@ -516,42 +336,30 @@ void setupPulsesPXX(MODULE_INDEX_PARAM)
}
/* CRC16 */
#if defined(PCBTARANIS)
putPcmByte(0, module_index);
chan = PcmCrc[module_index];
putPcmByte(chan>>8, module_index);
putPcmByte(chan, module_index);
putPcmByte(0, port);
chan = PcmCrc[port];
putPcmByte(chan>>8, port);
putPcmByte(chan, port);
/* Sync */
putPcmHead(module_index);
putPcmHead(port);
putPcmFlush(module_index);
#else
putPcmByte(0);
chan = PcmCrc;
putPcmByte(chan>>8);
putPcmByte(chan);
/* Sync */
putPcmHead();
putPcmFlush();
#endif
putPcmFlush(port);
}
#if defined(DSM2)
#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
put_serial_bit( 0 ) ; // Start bit
for( uint8_t i=0; i<8; i++) // 8 data Bits
put_serial_bit(0) ; // Start bit
for(uint8_t i=0; i<8; i++) // 8 data Bits
{
put_serial_bit( b & 1 ) ;
put_serial_bit(b & 1) ;
b >>= 1 ;
}
put_serial_bit( 1 ) ; // Stop bit
put_serial_bit( 1 ) ; // Stop bit
put_serial_bit(1) ; // Stop bit
put_serial_bit(1) ; // Stop bit
}
// This is the data stream to send, prepare after 19.5 mS
@@ -572,7 +380,7 @@ void setupPulsesDsm2(uint8_t chns)
// If more channels needed make sure the pulses union/array is large enough
if (dsmDat[0]&BAD_DATA) //first time through, setup header
{
switch(s_current_protocol)
switch(s_current_protocol[0])
{
case PROTO_DSM2_LP45:
dsmDat[0]= 0x80;
@@ -597,13 +405,13 @@ void setupPulsesDsm2(uint8_t chns)
dsmDat[3+2*i] = pulse & 0xff;
}
for ( counter = 0 ; counter < 14 ; counter += 1 )
for (counter = 0 ; counter < 14 ; counter += 1)
{
sendByteDsm2(dsmDat[counter]);
}
for ( counter = 0 ; counter < 16 ; counter += 1 )
for (counter = 0 ; counter < 16 ; counter += 1)
{
put_serial_bit( 1 ) ; // 16 extra stop bits
put_serial_bit(1) ; // 16 extra stop bits
}
}
#endif
@@ -619,7 +427,7 @@ extern "C" void PWM_IRQHandler(void)
pwmptr = PWM;
reason = pwmptr->PWM_ISR1 ;
if (reason & PWM_ISR1_CHID3) {
switch (s_current_protocol) // Use the current, don't switch until set_up_pulses
switch (s_current_protocol[0]) // Use the current, don't switch until set_up_pulses
{
case PROTO_PXX:
// Alternate periods of 15.5mS and 2.5 mS
@@ -632,10 +440,9 @@ extern "C" void PWM_IRQHandler(void)
}
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
if (period != 5000) { // 2.5 mS
setupPulses();
setupPulses(INTERNAL_MODULE);
}
else {
// Kick off serial output here
sscptr = SSC;
sscptr->SSC_TPR = (uint32_t) Bit_pulses;
@@ -659,7 +466,7 @@ extern "C" void PWM_IRQHandler(void)
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
if (period != 5000) // 2.5 mS
{
setupPulses();
setupPulses(0);
}
else {
// Kick off serial output here
@@ -671,10 +478,10 @@ extern "C" void PWM_IRQHandler(void)
break;
default:
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[ppmStreamIndex++]; // Period in half uS
if (ppmStream[ppmStreamIndex] == 0) {
ppmStreamIndex = 0;
setupPulses();
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[0][ppmStreamIndex[0]++]; // Period in half uS
if (ppmStream[0][ppmStreamIndex[0]] == 0) {
ppmStreamIndex[0] = 0;
setupPulses(0);
}
break;
@@ -682,25 +489,38 @@ extern "C" void PWM_IRQHandler(void)
}
if (reason & PWM_ISR1_CHID1) {
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = ppm2Stream[ppm2StreamIndex++] ; // Period in half uS
if (ppm2Stream[ppm2StreamIndex] == 0) {
ppm2StreamIndex = 0 ;
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = ppmStream[1][ppmStreamIndex[1]++] ; // Period in half uS
if (ppmStream[1][ppmStreamIndex[1]] == 0) {
ppmStreamIndex[1] = 0 ;
setupPulsesPPM(1) ;
}
}
}
#endif
void setupPulses(MODULE_INDEX_PARAM)
void setupPulses(unsigned int port)
{
heartbeat |= HEART_TIMER_PULSES;
heartbeat |= (HEART_TIMER_PULSES << port);
#if defined(PCBTARANIS)
if ( module_index )
{
module_index = 1 ; // Ensure is 0 or 1 only
}
uint8_t required_protocol = (g_model.moduleData[module_index].rfProtocol == RF_PROTO_OFF ? PROTO_NONE : PROTO_PXX);
if (port) port = 1; // Ensure is 0 or 1 only
uint8_t required_protocol;
if (port == INTERNAL_MODULE)
required_protocol = g_model.moduleData[INTERNAL_MODULE].rfProtocol == RF_PROTO_OFF ? PROTO_NONE : PROTO_PXX;
else {
switch (g_model.externalModule) {
case MODULE_TYPE_PPM:
required_protocol = PROTO_PPM;
break;
case MODULE_TYPE_XJT:
case MODULE_TYPE_DJT:
required_protocol = PROTO_PXX;
break;
default:
required_protocol = PROTO_NONE;
}
}
#else
uint8_t required_protocol = g_model.protocol;
#endif
@@ -708,12 +528,12 @@ void setupPulses(MODULE_INDEX_PARAM)
if (s_pulses_paused)
required_protocol = PROTO_NONE;
if (s_current_protocol != required_protocol) {
if (s_current_protocol[port] != required_protocol) {
switch (s_current_protocol) { // stop existing protocol hardware
switch (s_current_protocol[port]) { // stop existing protocol hardware
case PROTO_PXX:
#if defined(PCBTARANIS)
disable_pxx(module_index);
disable_pxx(port);
#else
disable_pxx();
#endif
@@ -727,24 +547,22 @@ void setupPulses(MODULE_INDEX_PARAM)
#endif
default:
#if defined(PCBTARANIS)
disable_ppm(module_index);
disable_ppm(port);
#else
disable_main_ppm();
#endif
break;
}
s_current_protocol = required_protocol;
s_current_protocol[port] = required_protocol;
#if defined(PCBTARANIS)
switch (required_protocol) {
case PROTO_PXX:
init_pxx(0);
// init_pxx(module_index);
init_pxx(port);
break;
default:
init_ppm(0);
// init_ppm(module_index);
case PROTO_PPM:
init_ppm(port);
break;
}
#elif defined(PCBSKY9X)
@@ -772,11 +590,7 @@ void setupPulses(MODULE_INDEX_PARAM)
// Set up output data here
switch (required_protocol) {
case PROTO_PXX:
#if defined(PCBTARANIS)
setupPulsesPXX(module_index);
#else
setupPulsesPXX();
#endif
setupPulsesPXX(port);
break;
#if defined(DSM2)
case PROTO_DSM2_LP45:
@@ -785,8 +599,12 @@ void setupPulses(MODULE_INDEX_PARAM)
setupPulsesDsm2(6);
break;
#endif
#if defined(PCBTARANIS)
case PROTO_PPM:
#else
default:
setupPulsesPPM(); // Don't enable interrupts through here
#endif
setupPulsesPPM(port); // Don't enable interrupts through here
break ;
}
}
src/pulses_arm.h
+25 -6
View File
@@ -37,16 +37,35 @@
#ifndef pulses_arm_h
#define pulses_arm_h
extern uint8_t s_current_protocol;
extern uint8_t s_current_protocol[NUM_MODULES];
extern uint8_t s_pulses_paused;
extern uint32_t failsafeCounter;
extern uint32_t failsafeCounter[NUM_MODULES];
void startPulses();
inline bool pulsesStarted() { return s_current_protocol != 255; }
void setupPulses(unsigned int port);
void setupPulsesDsm2(uint8_t chns);
void setupPulsesPXX(unsigned int port);
void setupPulsesPPM(unsigned int port);
inline void startPulses()
{
#if defined(PCBTARANIS)
setupPulses(INTERNAL_MODULE);
setupPulses(EXTERNAL_MODULE);
#else
setupPulses(0);
#endif
}
inline bool pulsesStarted() { return s_current_protocol[0] != 255; }
inline void pausePulses() { s_pulses_paused = true; }
inline void resumePulses() { s_pulses_paused = false; }
#define SEND_FAILSAFE_NOW() failsafeCounter = 1
#define SEND_FAILSAFE_1S() failsafeCounter = 100
#define SEND_FAILSAFE_NOW(idx) failsafeCounter[idx] = 1
inline void SEND_FAILSAFE_1S()
{
for (int i=0; i<NUM_MODULES; i++)
failsafeCounter[i] = 100;
}
#endif
src/simpgmspace.cpp
+2 -2
View File
@@ -270,7 +270,7 @@ void *main_thread(void *)
try {
#endif
s_current_protocol = 255;
s_current_protocol[0] = 255;
g_menuStackPtr = 0;
g_menuStack[0] = menuMainView;
@@ -289,7 +289,7 @@ void *main_thread(void *)
#endif
}
s_current_protocol = 0;
s_current_protocol[0] = 0;
while (main_thread_running) {
perMain();
src/sky9x/board_sky9x.h
+1 -2
View File
@@ -168,8 +168,7 @@ void disable_ppm2();
void init_ssc();
void disable_ssc();
#define disable_pxx() disable_ssc()
// TODO illogical in the driver :(
void setupPulsesPPM(uint32_t ppmPort=0);
void setupPulsesPPM(unsigned int port);
// SD driver
#if !defined(SIMU)
src/sky9x/pulses_driver.cpp
+6 -6
View File
@@ -54,12 +54,12 @@ void init_main_ppm( uint32_t period, uint32_t out_enable )
pwmptr = PWM ;
// PWM3 for PPM output
pwmptr->PWM_CH_NUM[3].PWM_CMR = 0x0000000B ; // CLKA
if (g_model.pulsePol)
if (g_model.moduleData[0].ppmPulsePol)
pwmptr->PWM_CH_NUM[3].PWM_CMR |= 0x00000200 ; // CPOL
pwmptr->PWM_CH_NUM[3].PWM_CPDR = period ; // Period in half uS
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period ; // Period in half uS
pwmptr->PWM_CH_NUM[3].PWM_CDTY = g_model.ppmDelay*100+600; // Duty in half uS
pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = g_model.ppmDelay*100+600; // Duty in half uS
pwmptr->PWM_CH_NUM[3].PWM_CDTY = g_model.moduleData[0].ppmDelay*100+600; // Duty in half uS
pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = g_model.moduleData[0].ppmDelay*100+600; // Duty in half uS
pwmptr->PWM_ENA = PWM_ENA_CHID3 ; // Enable channel 3
pwmptr->PWM_IER1 = PWM_IER1_CHID3 ;
@@ -70,12 +70,12 @@ void init_main_ppm( uint32_t period, uint32_t out_enable )
#if !defined(REVA)
// PWM1 for PPM2
pwmptr->PWM_CH_NUM[1].PWM_CMR = 0x0000000B ; // CLKB
if (g_model.pulsePol)
if (g_model.moduleData[0].ppmPulsePol)
pwmptr->PWM_CH_NUM[1].PWM_CMR |= 0x00000200 ; // CPOL
pwmptr->PWM_CH_NUM[1].PWM_CPDR = period ; // Period
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = period ; // Period
pwmptr->PWM_CH_NUM[1].PWM_CDTY = g_model.ppmDelay*100+600 ; // Duty
pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = g_model.ppmDelay*100+600 ; // Duty
pwmptr->PWM_CH_NUM[1].PWM_CDTY = g_model.moduleData[0].ppmDelay*100+600 ; // Duty
pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = g_model.moduleData[0].ppmDelay*100+600 ; // Duty
pwmptr->PWM_ENA = PWM_ENA_CHID1 ; // Enable channel 1
#endif
src/taranis/board_taranis.cpp
+2 -16
View File
@@ -210,25 +210,11 @@ void boardInit()
#if defined(DEBUG)
uartInit(DEBUG_UART_BAUDRATE);
#endif
// TODO init_ppm() ;
init_trainer_capture() ;
init5msTimer();
__enable_irq() ;
init_trainer_capture(); init5msTimer();
__enable_irq();
eepromInit();
sportInit();
usbInit();
//Temporary: Configure second PPM pin as input (done after USB init in case the lib already initialises USB_ID)
// GPIO_InitTypeDef GPIO_InitStructure;
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIO_EXTPPM, ENABLE);
// GPIO_InitStructure.GPIO_Pin = PIN_EXTPPM_OUT;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(GPIO_EXTPPM, &GPIO_InitStructure);
}
#endif
src/taranis/board_taranis.h
+1 -1
View File
@@ -123,7 +123,7 @@ void disable_pxx( uint32_t module_index );
void init_trainer_ppm();
void stop_trainer_ppm();
void init_trainer_capture();
void stop_trainer_ppm() ;
void stop_trainer_capture();
// Keys driver
void keysInit();
src/taranis/hal.h
+6 -7
View File
@@ -178,14 +178,14 @@
// #define PIN_OS100 0x6000
// Cppm
#define RCC_AHB1Periph_GPIOCPPM RCC_AHB1Periph_GPIOA
#define PIN_CPPM_OUT GPIO_Pin_7 //PA.07
#define GPIOCPPM GPIOA
#define GPIO_PinSource_CPPM GPIO_PinSource7
#define RCC_AHB1Periph_GPIO_INTPPM RCC_AHB1Periph_GPIOA
#define PIN_INTPPM_OUT GPIO_Pin_10 //PA.10
#define GPIO_INTPPM GPIOA
#define GPIO_PinSource_INTPPM GPIO_PinSource10
#define RCC_AHB1Periph_GPIO_EXTPPM RCC_AHB1Periph_GPIOA
#define PIN_EXTPPM_OUT GPIO_Pin_10 //PA.10
#define PIN_EXTPPM_OUT GPIO_Pin_7 //PA.07
#define GPIO_EXTPPM GPIOA
#define GPIO_PinSource_EXTPPM GPIO_PinSource10
#define GPIO_PinSource_EXTPPM GPIO_PinSource7
// Heart Beat
#define PIN_HEART_BEAT GPIO_Pin_7 //PC.07
@@ -216,7 +216,6 @@
// USB_OTG
#define PIN_FS_VBUS GPIO_Pin_9 //PA.09
#define PIN_FS_ID GPIO_Pin_10 //PA.10
#define PIN_FS_DM GPIO_Pin_11 //PA.11
#define PIN_FS_DP GPIO_Pin_12 //PA.12
src/taranis/pulses_driver.cpp
+84 -137
View File
@@ -36,24 +36,15 @@
#include "../opentx.h"
#define EXTERNAL_TEST 0
// CURRENTLY EXPECTS ONLY PXX ON THE INTERNAL SIGNAL, PPM ALLOWED ON THE EXTERNAL SIGNAL
// TODO not here!
void setupPulses( uint32_t module );
void setupPulsesPPM() ;
void setupPulsesPXX( uint32_t module );
void setupPulses(unsigned int port);
void setupPulsesPPM(unsigned int port);
void setupPulsesPXX(unsigned int port);
uint16_t *ppmStreamPtr;
uint16_t *ppm2StreamPtr;
extern uint16_t ppmStream[20];
extern uint16_t ppm2Stream[20];
extern uint16_t pxxStream[400] ;
extern uint16_t pxx2Stream[400] ;
#define INT_MODULE 0
#define EXT_MODULE 0
uint16_t *ppmStreamPtr[NUM_MODULES];
extern uint16_t ppmStream[NUM_MODULES][20];
extern uint16_t pxxStream[NUM_MODULES][400] ;
static void init_pa10_pxx( void ) ;
static void disable_pa10_pxx( void ) ;
@@ -64,75 +55,58 @@ static void disable_pa7_pxx( void ) ;
static void init_pa7_ppm( void ) ;
static void disable_pa7_ppm( void ) ;
void init_pxx( uint32_t module_index )
void init_pxx(uint32_t port)
{
if ( module_index )
{
init_pa10_pxx() ;
}
else
{
init_pa7_pxx() ;
}
if (port == INTERNAL_MODULE)
init_pa10_pxx() ;
else
init_pa7_pxx() ;
}
void disable_pxx( uint32_t module_index )
void disable_pxx(uint32_t port)
{
if ( module_index )
{
disable_pa10_pxx() ;
}
else
{
disable_pa7_pxx() ;
}
if (port == INTERNAL_MODULE)
disable_pa10_pxx() ;
else
disable_pa7_pxx() ;
}
void init_ppm( uint32_t module_index )
void init_ppm(uint32_t port)
{
if ( module_index )
{
init_pa10_ppm() ;
}
else
{
init_pa7_ppm() ;
}
if (port == INTERNAL_MODULE)
init_pa10_ppm();
else
init_pa7_ppm();
}
void disable_ppm( uint32_t module_index )
void disable_ppm(uint32_t port)
{
if ( module_index )
{
disable_pa10_ppm() ;
}
else
{
disable_pa7_ppm() ;
}
if (port == INTERNAL_MODULE)
disable_pa10_ppm();
else
disable_pa7_ppm();
}
static void init_pa10_pxx()
{
EXTERNAL_RF_ON();
INTERNAL_RF_ON();
// Timer1, channel 3
setupPulsesPXX(EXT_MODULE) ; // TODO not here!
setupPulsesPXX(INTERNAL_MODULE) ; // TODO not here!
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
// RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
GPIO_InitTypeDef GPIO_InitStructure;
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOCPPM, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIO_INTPPM, ENABLE);
GPIO_PinAFConfig(GPIO_EXTPPM, GPIO_PinSource_EXTPPM, GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = PIN_EXTPPM_OUT;
GPIO_PinAFConfig(GPIO_INTPPM, GPIO_PinSource_INTPPM, GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = PIN_INTPPM_OUT;
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(GPIOCPPM, &GPIO_InitStructure);
GPIO_Init(GPIO_INTPPM, &GPIO_InitStructure);
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN ; // Enable DMA2 clock
TIM1->CR1 &= ~TIM_CR1_CEN ;
@@ -140,11 +114,11 @@ static void init_pa10_pxx()
TIM1->CCR2 = 15000 ; // Update time
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC3E ;
TIM1->CCER = TIM_CCER_CC3E ;
TIM1->CR2 = TIM_CR2_OIS3 ; // O/P idle high
TIM1->CR2 = TIM_CR2_OIS3 ; // O/P idle high
TIM1->BDTR = TIM_BDTR_MOE ; // Enable outputs
TIM1->CCR3 = pxxStream[0] ;
TIM1->CCR3 = pxxStream[INTERNAL_MODULE][0];
TIM1->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_0 ; // Force O/P high
TIM1->EGR = 1 ; // Restart
@@ -154,13 +128,13 @@ static void init_pa10_pxx()
TIM1->DCR = 15 ; // DMA to CC1
// TIM1->CR1 = TIM_CR1_OPM ; // Just run once
// Enable the DMA channel here, DMA2 stream 6, channel 6
// Enable the DMA channel here, DMA2 stream 6, channel 6
DMA2_Stream6->CR &= ~DMA_SxCR_EN ; // Disable DMA
DMA2->HIFCR = DMA_HIFCR_CTCIF6 | DMA_HIFCR_CHTIF6 | DMA_HIFCR_CTEIF6 | DMA_HIFCR_CDMEIF6 | DMA_HIFCR_CFEIF6 ; // Write ones to clear bits
DMA2_Stream6->CR = 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_Stream6->PAR = CONVERT_PTR(&TIM1->DMAR);
DMA2_Stream6->M0AR = CONVERT_PTR(&pxxStream[1]);
DMA2_Stream6->M0AR = CONVERT_PTR(&pxxStream[INTERNAL_MODULE][1]);
// DMA2_Stream2->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
// DMA2_Stream2->NDTR = 100 ;
DMA2_Stream6->CR |= DMA_SxCR_EN ; // Enable DMA
@@ -179,7 +153,7 @@ static void disable_pa10_pxx()
NVIC_DisableIRQ(TIM1_CC_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
EXTERNAL_RF_OFF();
INTERNAL_RF_OFF();
}
// PPM output
@@ -187,26 +161,27 @@ static void disable_pa10_pxx()
// Pin is AF1 function for timer 1
static void init_pa10_ppm()
{
EXTERNAL_RF_ON();
INTERNAL_RF_ON();
// Timer1
setupPulsesPPM() ;
ppmStreamPtr = ppmStream ;
setupPulsesPPM(INTERNAL_MODULE) ;
ppmStreamPtr[INTERNAL_MODULE] = ppmStream[INTERNAL_MODULE];
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
//RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIO_INTPPM, ENABLE);
configure_pins( PIN_EXTPPM_OUT, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_1 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( PIN_INTPPM_OUT, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_1 | PIN_OS25 | PIN_PUSHPULL ) ;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN ; // Enable clock
TIM1->CR1 &= ~TIM_CR1_CEN ;
TIM1->ARR = *ppmStreamPtr++ ;
TIM1->ARR = *ppmStreamPtr[INTERNAL_MODULE]++ ;
TIM1->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM1->CCER = TIM_CCER_CC3E ;
TIM1->CCER = TIM_CCER_CC3E ;
TIM1->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 ; // PWM mode 1
TIM1->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 ; // PWM mode 1
TIM1->CCMR1 = TIM_CCMR1_OC2PE ; // PWM mode 1
TIM1->CCR3 = 600 ; // 300 uS pulse ?? (g_model.ppmDelay*50+300)*2 ??
TIM1->CCR3 = (g_model.moduleData[INTERNAL_MODULE].ppmDelay*50+300)*2;
TIM1->BDTR = TIM_BDTR_MOE ;
TIM1->EGR = 1 ;
TIM1->DIER = TIM_DIER_UDE ;
@@ -227,18 +202,8 @@ static void disable_pa10_ppm()
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn) ;
TIM1->DIER &= ~TIM_DIER_CC2IE & ~TIM_DIER_UIE ;
TIM1->CR1 &= ~TIM_CR1_CEN ;
// Make pin an input
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIO_EXTPPM, ENABLE);
GPIO_InitStructure.GPIO_Pin = PIN_EXTPPM_OUT;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIO_EXTPPM, &GPIO_InitStructure);
EXTERNAL_RF_OFF();
INTERNAL_RF_OFF();
}
extern "C" void TIM1_CC_IRQHandler()
@@ -246,18 +211,18 @@ extern "C" void TIM1_CC_IRQHandler()
TIM1->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupPulses(1) ;
setupPulses(INTERNAL_MODULE) ;
if (s_current_protocol == PROTO_PXX) {
if (s_current_protocol[INTERNAL_MODULE] == PROTO_PXX) {
DMA2_Stream6->CR &= ~DMA_SxCR_EN ; // Disable DMA
DMA2->HIFCR = DMA_HIFCR_CTCIF6 | DMA_HIFCR_CHTIF6 | DMA_HIFCR_CTEIF6 | DMA_HIFCR_CDMEIF6 | DMA_HIFCR_CFEIF6 ; // Write ones to clear bits
DMA2_Stream6->M0AR = CONVERT_PTR(&pxxStream[1]);
DMA2->HIFCR = DMA_HIFCR_CTCIF6 | DMA_HIFCR_CHTIF6 | DMA_HIFCR_CTEIF6 | DMA_HIFCR_CDMEIF6 | DMA_HIFCR_CFEIF6 ; // Write ones to clear bits
DMA2_Stream6->M0AR = CONVERT_PTR(&pxxStream[INTERNAL_MODULE][1]);
DMA2_Stream6->CR |= DMA_SxCR_EN ; // Enable DMA
TIM1->CCR3 = pxxStream[0] ;
TIM1->CCR3 = pxxStream[INTERNAL_MODULE][0];
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
else {
ppmStreamPtr = ppmStream ;
ppmStreamPtr[INTERNAL_MODULE] = ppmStream[INTERNAL_MODULE];
TIM1->DIER |= TIM_DIER_UDE ;
TIM1->SR &= ~TIM_SR_UIF ; // Clear this flag
@@ -269,40 +234,34 @@ extern "C" void TIM1_UP_TIM10_IRQHandler()
{
TIM1->SR &= ~TIM_SR_UIF ; // Clear flag
TIM1->ARR = *ppmStreamPtr++ ;
if ( *ppmStreamPtr == 0 )
TIM1->ARR = *ppmStreamPtr[INTERNAL_MODULE]++ ;
if ( *ppmStreamPtr[INTERNAL_MODULE] == 0 )
{
TIM1->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM1->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
static void init_pa7_pxx()
{
#if EXTERNAL_TEST
init_pa10_pxx() ;
return ;
#endif
INTERNAL_RF_ON();
EXTERNAL_RF_ON();
// Timer8
setupPulsesPXX(INT_MODULE) ; // TODO not here!
setupPulsesPXX(EXTERNAL_MODULE);
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
#if defined(REV3)
configure_pins( PIN_CPPM_OUT, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_1 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( PIN_INTPPM_OUT, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_1 | PIN_OS25 | PIN_PUSHPULL ) ;
#else
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOCPPM, ENABLE);
GPIO_PinAFConfig(GPIOCPPM, GPIO_PinSource_CPPM, GPIO_AF_TIM8);
GPIO_InitStructure.GPIO_Pin = PIN_CPPM_OUT;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIO_EXTPPM, ENABLE);
GPIO_PinAFConfig(GPIO_EXTPPM, GPIO_PinSource_EXTPPM, GPIO_AF_TIM8);
GPIO_InitStructure.GPIO_Pin = PIN_EXTPPM_OUT;
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(GPIOCPPM, &GPIO_InitStructure);
GPIO_Init(GPIO_EXTPPM, &GPIO_InitStructure);
#endif
RCC->APB2ENR |= RCC_APB2ENR_TIM8EN ; // Enable clock
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN ; // Enable DMA2 clock
@@ -318,7 +277,7 @@ static void init_pa7_pxx()
#endif
TIM8->CR2 = TIM_CR2_OIS1 ; // O/P idle high
TIM8->BDTR = TIM_BDTR_MOE ; // Enable outputs
TIM8->CCR1 = pxxStream[0] ;
TIM8->CCR1 = pxxStream[EXTERNAL_MODULE][0] ;
TIM8->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high
TIM8->EGR = 1 ; // Restart
@@ -334,7 +293,7 @@ static void init_pa7_pxx()
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(&TIM8->DMAR);
DMA2_Stream2->M0AR = CONVERT_PTR(&pxxStream[1]);
DMA2_Stream2->M0AR = CONVERT_PTR(&pxxStream[EXTERNAL_MODULE][1]);
// DMA2_Stream2->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
// DMA2_Stream2->NDTR = 100 ;
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
@@ -349,15 +308,11 @@ static void init_pa7_pxx()
static void disable_pa7_pxx()
{
#if EXTERNAL_TEST
disable_pa10_pxx() ;
return ;
#endif
DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA
NVIC_DisableIRQ(TIM8_CC_IRQn) ;
TIM8->DIER &= ~TIM_DIER_CC2IE ;
TIM8->CR1 &= ~TIM_CR1_CEN ;
INTERNAL_RF_OFF();
EXTERNAL_RF_OFF();
}
// PPM output
@@ -365,26 +320,22 @@ static void disable_pa7_pxx()
// Pin is AF1 function for timer 1
static void init_pa7_ppm()
{
#if EXTERNAL_TEST
init_pa10_ppm() ;
return ;
#endif
INTERNAL_RF_ON();
EXTERNAL_RF_ON();
// Timer1
setupPulsesPPM() ;
ppmStreamPtr = ppmStream ;
setupPulsesPPM(EXTERNAL_MODULE) ;
ppmStreamPtr[EXTERNAL_MODULE] = ppmStream[EXTERNAL_MODULE];
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ; // Enable portA clock
#if defined(REV3)
configure_pins( 0x0100, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_1 | PIN_OS25 | PIN_PUSHPULL ) ;
#else
configure_pins( 0x0080, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( PIN_EXTPPM_OUT, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
#endif
RCC->APB2ENR |= RCC_APB2ENR_TIM8EN ; // Enable clock
TIM8->CR1 &= ~TIM_CR1_CEN ;
TIM8->ARR = *ppmStreamPtr++ ;
TIM8->ARR = *ppmStreamPtr[EXTERNAL_MODULE]++ ;
TIM8->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
#if defined(REV3)
TIM8->CCER = TIM_CCER_CC1E ;
@@ -392,7 +343,7 @@ static void init_pa7_ppm()
TIM8->CCER = TIM_CCER_CC1NE | TIM_CCER_CC1NP ;
#endif
TIM8->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE ; // PWM mode 1
TIM8->CCR1 = 600 ; // 300 uS pulse ?? (g_model.ppmDelay*50+300)*2 ??
TIM8->CCR1 = (g_model.moduleData[EXTERNAL_MODULE].ppmDelay*50+300)*2;
TIM8->BDTR = TIM_BDTR_MOE ;
TIM8->EGR = 1 ;
TIM8->DIER = TIM_DIER_UDE ;
@@ -409,15 +360,11 @@ static void init_pa7_ppm()
static void disable_pa7_ppm()
{
#if EXTERNAL_TEST
disable_pa10_ppm() ;
return ;
#endif
NVIC_DisableIRQ(TIM8_CC_IRQn) ;
NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn) ;
TIM8->DIER &= ~TIM_DIER_CC2IE & ~TIM_DIER_UIE ;
TIM8->CR1 &= ~TIM_CR1_CEN ;
INTERNAL_RF_OFF();
EXTERNAL_RF_OFF();
}
extern "C" void TIM8_CC_IRQHandler()
@@ -425,18 +372,18 @@ extern "C" void TIM8_CC_IRQHandler()
TIM8->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupPulses(INT_MODULE) ;
setupPulses(EXTERNAL_MODULE) ;
if (s_current_protocol == PROTO_PXX) {
if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PXX) {
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->M0AR = CONVERT_PTR(&pxxStream[1]);
DMA2_Stream2->M0AR = CONVERT_PTR(&pxxStream[EXTERNAL_MODULE][1]);
DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA
TIM8->CCR1 = pxxStream[0] ;
TIM8->CCR1 = pxxStream[EXTERNAL_MODULE][0] ;
TIM8->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
else {
ppmStreamPtr = ppmStream ;
ppmStreamPtr[EXTERNAL_MODULE] = ppmStream[EXTERNAL_MODULE];
TIM8->DIER |= TIM_DIER_UDE ;
TIM8->SR &= ~TIM_SR_UIF ; // Clear this flag
@@ -448,8 +395,8 @@ extern "C" void TIM8_UP_TIM13_IRQHandler()
{
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->ARR = *ppmStreamPtr++ ;
if ( *ppmStreamPtr == 0 )
TIM8->ARR = *ppmStreamPtr[EXTERNAL_MODULE]++ ;
if (*ppmStreamPtr[EXTERNAL_MODULE] == 0)
{
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM8->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
src/taranis/trainer_driver.cpp
+51 -50
View File
@@ -52,28 +52,32 @@ uint16_t TrainerPpmStream[20] =
uint16_t * TrainerPulsePtr;
// TODO remove duplicated code
void setupTrainerPulses()
{
int16_t PPM_range = g_model.extendedLimits ? 640 * 2 : 512 * 2; //range of 0.7..1.7msec
uint16_t *ptr ;
uint32_t p = NUM_CHANNELS(0);
uint32_t firstCh = g_model.moduleData[TRAINER_MODULE].channelsStart;
uint32_t lastCh = min<unsigned int>(NUM_CHNOUT, firstCh + 8 + g_model.moduleData[TRAINER_MODULE].channelsCount);
ptr = TrainerPpmStream ;
uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
rest += int32_t(g_model.ppmFrameLength) * 1000;
rest += int32_t(g_model.moduleData[TRAINER_MODULE].ppmFrameLength) * 1000;
for (uint32_t i = 0 ; i < p ; i += 1 ) {
for (uint32_t i=firstCh; i<lastCh; i++) {
uint32_t pulse = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= pulse ;
*ptr++ = pulse ;
}
rest = (rest > 65535) ? 65535 : rest;
*ptr++ = rest ;
*ptr = 0 ;
TIM3->CCR2 = rest - 1000 ; // Update time
TIM3->CCR4 = (g_model.ppmDelay*50+300)*2 ;
TIM3->CCR4 = (g_model.moduleData[TRAINER_MODULE].ppmDelay*50+300)*2 ;
}
// Trainer PPM oputput PC9, Timer 3 channel 4, (Alternate Function 2)
@@ -148,57 +152,54 @@ extern "C" void TIM3_IRQHandler()
uint16_t val ;
// What mode? in or out?
if ( (TIM3->DIER & TIM_DIER_CC3IE ) && ( TIM3->SR & TIM_SR_CC3IF ) )
{
// capture mode
capture = TIM3->CCR3 ;
if ( (TIM3->DIER & TIM_DIER_CC3IE ) && ( TIM3->SR & TIM_SR_CC3IF ) ) {
// capture mode
capture = TIM3->CCR3 ;
val = (uint16_t)(capture - lastCapt) / 2 ;
lastCapt = capture;
val = (uint16_t)(capture - lastCapt) / 2 ;
lastCapt = capture;
// We prcoess g_ppmInsright here to make servo movement as smooth as possible
// while under trainee control
if ((val>4000) && (val < 19000)) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
}
else {
if(ppmInState && (ppmInState<=8)) {
if ((val>800) && (val<2200)) {
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
}
// PPM out compare interrupt
if ( ( TIM3->DIER & TIM_DIER_CC2IE ) && ( TIM3->SR & TIM_SR_CC2IF ) )
{ // compare interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM3->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
// We prcoess g_ppmInsright here to make servo movement as smooth as possible
// while under trainee control
if ((val>4000) && (val < 19000)) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
}
else {
if(ppmInState && (ppmInState<=8)) {
if ((val>800) && (val<2200)) {
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
}
setupTrainerPulses() ;
// PPM out compare interrupt
if ( ( TIM3->DIER & TIM_DIER_CC2IE ) && ( TIM3->SR & TIM_SR_CC2IF ) )
{ // compare interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM3->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TrainerPulsePtr = TrainerPpmStream ;
TIM3->DIER |= TIM_DIER_UDE ;
setupTrainerPulses() ;
TIM3->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM3->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
// PPM out update interrupt
if ( (TIM3->DIER & TIM_DIER_UIE) && ( TIM3->SR & TIM_SR_UIF ) )
{
TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
TrainerPulsePtr = TrainerPpmStream ;
TIM3->DIER |= TIM_DIER_UDE ;
TIM3->ARR = *TrainerPulsePtr++ ;
if ( *TrainerPulsePtr == 0 )
{
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM3->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
TIM3->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM3->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
// PPM out update interrupt
if ( (TIM3->DIER & TIM_DIER_UIE) && ( TIM3->SR & TIM_SR_UIF ) ) {
TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
TIM3->ARR = *TrainerPulsePtr++ ;
if ( *TrainerPulsePtr == 0 ) {
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM3->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
}