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Trainer / trainee on X-LiteS

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This commit is contained in:
Bertrand Songis
2019-03-05 16:58:12 +01:00
parent f0ebcb7d92
commit 6c78f93454
6 changed files with 111 additions and 43 deletions
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radio/src/targets/taranis/trainer_driver.cpp
+62 -18
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@@ -20,7 +20,9 @@
#include "opentx.h"
#if defined(HEARTBEAT_USART)
DMAFifo<32> heartbeatFifo __DMA (HEARTBEAT_DMA_Stream);
#endif
void trainerSendNextFrame();
@@ -39,7 +41,11 @@ void init_trainer_ppm()
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;
TRAINER_TIMER->PSC = TRAINER_TIMER_FREQ / 2000000 - 1; // 0.5uS
TRAINER_TIMER->ARR = 45000;
TRAINER_TIMER->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE; // PWM mode 1
#if defined(TRAINER_OUT_CCMR1)
TRAINER_TIMER->CCMR1 = TRAINER_OUT_CCMR1;
#elif defined(TRAINER_OUT_CCMR2)
TRAINER_TIMER->CCMR2 = TRAINER_OUT_CCMR2;
#endif
TRAINER_TIMER->BDTR = TIM_BDTR_MOE;
TRAINER_TIMER->EGR = 1;
TRAINER_TIMER->DIER |= TIM_DIER_UDE;
@@ -48,18 +54,23 @@ void init_trainer_ppm()
setupPulsesPPMTrainer();
trainerSendNextFrame();
#if defined(TRAINER_DMA_STREAM)
NVIC_EnableIRQ(TRAINER_DMA_IRQn);
NVIC_SetPriority(TRAINER_DMA_IRQn, 7);
#endif
NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
}
void stop_trainer_ppm()
{
#if defined(TRAINER_DMA_STREAM)
NVIC_DisableIRQ(TRAINER_DMA_IRQn);
NVIC_DisableIRQ(TRAINER_TIMER_IRQn);
TRAINER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
#endif
NVIC_DisableIRQ(TRAINER_TIMER_IRQn);
TRAINER_TIMER->DIER = 0;
TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
}
@@ -79,10 +90,14 @@ void init_trainer_capture()
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;
#if defined(TRAINER_IN_CCMR1)
TRAINER_TIMER->CCMR1 = TRAINER_IN_CCMR1;
#elif defined(TRAINER_IN_CCMR2)
TRAINER_TIMER->CCMR2 = TRAINER_IN_CCMR2;
#endif
TRAINER_TIMER->CCER = TRAINER_IN_CCER;
TRAINER_TIMER->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF; // Clear flags
TRAINER_TIMER->DIER |= TIM_DIER_CC3IE;
TRAINER_TIMER->DIER |= TRAINER_IN_INTERRUPT_ENABLE;
TRAINER_TIMER->CR1 = TIM_CR1_CEN;
NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
@@ -98,18 +113,26 @@ void stop_trainer_capture()
void trainerSendNextFrame()
{
TRAINER_TIMER->CCR4 = GET_TRAINER_PPM_DELAY() * 2;
TRAINER_TIMER->CCER = TIM_CCER_CC4E | (GET_TRAINER_PPM_POLARITY() ? 0 : TIM_CCER_CC4P);
TRAINER_TIMER->CCR1 = *(trainerPulsesData.ppm.ptr - 1) - 4000; // 2mS in advance
TRAINER_OUT_COUNTER_REGISTER = GET_TRAINER_PPM_DELAY() * 2;
TRAINER_TIMER->CCER = TRAINER_OUT_CCER | (GET_TRAINER_PPM_POLARITY() ? 0 : TRAINER_CCER_POLARYTY);
TRAINER_SETUP_REGISTER = *(trainerPulsesData.ppm.ptr - 1) - 4000; // 2mS in advance
#if defined(TRAINER_DMA_STREAM)
TRAINER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
TRAINER_DMA_STREAM->CR |= TRAINER_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;
TRAINER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&TRAINER_TIMER->ARR);
TRAINER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(trainerPulsesData.ppm.pulses);
TRAINER_DMA_STREAM->NDTR = trainerPulsesData.ppm.ptr - trainerPulsesData.ppm.pulses;
TRAINER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
#else
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
#endif
}
#if defined(TRAINER_DMA_STREAM)
extern "C" void TRAINER_DMA_IRQHandler()
{
if (!DMA_GetITStatus(TRAINER_DMA_STREAM, TRAINER_DMA_FLAG_TC))
@@ -117,9 +140,10 @@ extern "C" void TRAINER_DMA_IRQHandler()
DMA_ClearITPendingBit(TRAINER_DMA_STREAM, TRAINER_DMA_FLAG_TC);
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag
TRAINER_TIMER->DIER |= TIM_DIER_CC1IE; // Enable this interrupt
TRAINER_TIMER->SR &= ~TRAINER_OUT_INTERRUPT_FLAG; // Clear flag
TRAINER_TIMER->DIER |= TRAINER_OUT_INTERRUPT_ENABLE; // Enable this interrupt
}
#endif
extern "C" void TRAINER_TIMER_IRQHandler()
{
@@ -129,14 +153,15 @@ extern "C" void TRAINER_TIMER_IRQHandler()
bool doCapture = false;
// What mode? in or out?
if ((TRAINER_TIMER->DIER & TIM_DIER_CC3IE) && (TRAINER_TIMER->SR & TIM_SR_CC3IF)) {
if ((TRAINER_TIMER->DIER & TRAINER_IN_INTERRUPT_ENABLE) && (TRAINER_TIMER->SR & TRAINER_IN_INTERRUPT_FLAG)) {
// capture mode on trainer jack
capture = TRAINER_TIMER->CCR3;
capture = TRAINER_IN_COUNTER_REGISTER;
if (TRAINER_CONNECTED() && currentTrainerMode == TRAINER_MODE_MASTER_TRAINER_JACK) {
doCapture = true;
}
}
#if defined(TRAINER_MODULE_HEARTBEAT)
if ((TRAINER_TIMER->DIER & TIM_DIER_CC2IE) && (TRAINER_TIMER->SR & TIM_SR_CC2IF)) {
// capture mode on heartbeat pin (external module)
capture = TRAINER_TIMER->CCR2;
@@ -144,22 +169,36 @@ extern "C" void TRAINER_TIMER_IRQHandler()
doCapture = true;
}
}
#endif
if (doCapture) {
captureTrainerPulses(capture);
}
// PPM out compare interrupt
if ((TRAINER_TIMER->DIER & TIM_DIER_CC1IE) && (TRAINER_TIMER->SR & TIM_SR_CC1IF)) {
if ((TRAINER_TIMER->DIER & TRAINER_OUT_INTERRUPT_ENABLE) && (TRAINER_TIMER->SR & TRAINER_OUT_INTERRUPT_FLAG)) {
// compare interrupt
TRAINER_TIMER->DIER &= ~TIM_DIER_CC1IE; // stop this interrupt
TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag
TRAINER_TIMER->DIER &= ~TRAINER_OUT_INTERRUPT_ENABLE; // stop this interrupt
TRAINER_TIMER->SR &= ~TRAINER_OUT_INTERRUPT_FLAG; // Clear flag
setupPulsesPPMTrainer();
trainerSendNextFrame();
}
#if !defined(TRAINER_DMA_STREAM)
// 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++;
if (*trainerPulsesData.ppm.ptr == 0) {
TRAINER_TIMER->SR &= ~TRAINER_OUT_INTERRUPT_FLAG; // Clear this flag
TRAINER_TIMER->DIER |= TRAINER_OUT_INTERRUPT_ENABLE; // Enable this interrupt
}
}
#endif
}
void init_cppm_on_heartbeat_capture(void)
#if defined(TRAINER_MODULE_HEARTBEAT)
void init_cppm_on_heartbeat_capture()
{
EXTERNAL_MODULE_ON();
@@ -196,7 +235,9 @@ void stop_cppm_on_heartbeat_capture()
EXTERNAL_MODULE_OFF();
}
}
#endif
#if defined(HEARTBEAT_USART)
void init_sbus_on_heartbeat_capture()
{
EXTERNAL_MODULE_ON();
@@ -258,13 +299,16 @@ void stop_sbus_on_heartbeat_capture()
EXTERNAL_MODULE_OFF();
}
}
#endif
int sbusGetByte(uint8_t * byte)
{
switch (currentTrainerMode) {
#if defined(HEARTBEAT_USART)
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
return heartbeatFifo.pop(*byte);
#if !defined(PCBX7) && !defined(PCBX9E) && !defined(PCBX3)
#endif
#if !defined(PCBX7) && !defined(PCBX9E) && !defined(PCBX3) && !defined(PCBXLITE)
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
return serial2RxFifo.pop(*byte);
#endif