chore: New module/serial API (#3055)
* WiP: new module interface * WiP: softserial timer DMA * WiP: setup() and send() in one step and remove methods specific to internal or external module * fixes and extra port config * horus targets * module ports have moved * T8 support (only internal module) * fix nv14 * stupid GCC.... * disable BT * remove nv14 telem driver * remove old aux serial driver * Move module buffers out of pulses.h * Soft serial fixes and PXX1 support * Fixed PPM module output * Fixed CLI * compilation fixes * Ported bluetooth and flysky gimbal to new serial driver * Re-enable soft-serial RX * fixes and cleanup * nv14 fixes * Fix flysky gimbals * Ghost module * 16 bytes of RAM * Remove getByte from module API * Ghost cleanup * fix: _half_duplex_input() must be called after usart init * WiP * more cleanup * Remove board specific settings from PXX1 / PXX2 drivers * A bit of PXX2 header cleanup * Add support for OVER8 and ONEBIT * Add some support for inverters (NV14 / EL18) * Support NV14 power fixes in generic board * Fix polarity handling * Fix RX DMA * Fix mixer not running * Add soft-serial polarity control * Quick fix for telemetry polling while module port is changed * Fix bootloader DEBUG * Fix MPM telemetry * Fix pulse start * DSM2 soft-serial fallback * DSMP async module restart * Fix CRSF LUA upstream * Remove global variable telemetryProtocol * Use HAL/LL constants * Fix various issue with AFHDS3 and NV14/EL18 internal module * Fixed S.PORT unit tests * fix: update widx after writing at current index * fix: init error condition * Fix: possible infinite loop in _find_port() * Add support for bidir S.PORT init * Add support for "getLastByte" in HW serial driver * PXX1: Add support for S.PORT based on IDLE callback * Fix rebase error * Fix softserial _rx_fifo_push() * Add softserial support for waitForTxCompleted() * Fix MPM flashing (internal / external) * Fixed external MPM * Activate RX DMA on internal module Seems to work with serial passthrough without issues, at least on the L3R PRO. * Fix softserial DMA on stdlcd F4 targets * Add softserial support for 32bit timers (mostly TIM2) * More precise soft-serial * Fix MPM update using inverters & HW uart * Raise S.PORT DMA/USART IRQ prio to achieve faster switching to input * Remove useless delays * Fix flashing external ELRS module * Added a retry mechanism for FrSky S.PORT update * Remove useless enableRx() * External FrSky modules are all flashed via S.PORT * Remove power management unit update This was only used on the first batch of X-lite.
This commit is contained in:
Raphael Coeffic
+156
-2
@@ -23,6 +23,8 @@
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#include "timers.h"
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#include "switches.h"
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uint8_t s_mixer_first_run_done = false;
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int8_t virtualInputsTrims[MAX_INPUTS];
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int16_t anas [MAX_INPUTS] = {0};
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int16_t trims[NUM_TRIMS] = {0};
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@@ -34,7 +36,6 @@ SwOn swOn [MAX_MIXERS]; // TODO better name later...
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uint8_t mixWarning;
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int16_t calibratedAnalogs[NUM_CALIBRATED_ANALOGS];
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int16_t channelOutputs[MAX_OUTPUT_CHANNELS] = {0};
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int16_t ex_chans[MAX_OUTPUT_CHANNELS] = {0}; // Outputs (before LIMITS) of the last perMain;
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@@ -455,6 +456,20 @@ getvalue_t getValue(mixsrc_t i, bool* valid)
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}
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}
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void evalTrims()
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{
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uint8_t phase = mixerCurrentFlightMode;
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for (uint8_t i=0; i<NUM_TRIMS; i++) {
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// do trim -> throttle trim if applicable
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int16_t trim = getTrimValue(phase, i);
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if (trimsCheckTimer > 0) {
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trim = 0;
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}
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trims[i] = trim*2;
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}
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}
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void evalInputs(uint8_t mode)
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{
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BeepANACenter anaCenter = 0;
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@@ -524,7 +539,8 @@ void evalInputs(uint8_t mode)
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if (mode == e_perout_mode_normal) {
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if (tmp==0 || (tmp==1 && (bpanaCenter & mask))) {
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anaCenter |= mask;
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if ((g_model.beepANACenter & mask) && !(bpanaCenter & mask) && s_mixer_first_run_done && !menuCalibrationState) {
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if ((g_model.beepANACenter & mask) && !(bpanaCenter & mask) &&
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s_mixer_first_run_done && !menuCalibrationState) {
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if (!IS_POT(i) || IS_POT_SLIDER_AVAILABLE(i)) {
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AUDIO_POT_MIDDLE(i);
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}
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@@ -625,6 +641,7 @@ int getSourceTrimValue(int source, int stickValue=0)
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}
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uint8_t mixerCurrentFlightMode;
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void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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{
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evalInputs(mode);
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@@ -1092,3 +1109,140 @@ void evalMixes(uint8_t tick10ms)
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}
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}
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}
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#if defined(THRTRACE)
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uint8_t s_traceBuf[MAXTRACE];
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uint16_t s_traceWr;
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uint8_t s_cnt_10s;
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uint16_t s_cnt_samples_thr_10s;
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uint16_t s_sum_samples_thr_10s;
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#endif
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void doMixerPeriodicUpdates()
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{
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static tmr10ms_t lastTMR = 0;
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tmr10ms_t tmr10ms = get_tmr10ms();
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uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
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// handle tick10ms overrun
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// correct overflow handling costs a lot of code; happens only each 11 min;
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// therefore forget the exact calculation and use only 1 instead; good compromise
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lastTMR = tmr10ms;
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DEBUG_TIMER_START(debugTimerMixes10ms);
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if (tick10ms) {
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/* Throttle trace */
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int16_t val;
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if (g_model.thrTraceSrc > NUM_POTS+NUM_SLIDERS) {
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uint8_t ch = g_model.thrTraceSrc-NUM_POTS-NUM_SLIDERS-1;
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val = channelOutputs[ch];
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LimitData * lim = limitAddress(ch);
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int16_t gModelMax = LIMIT_MAX_RESX(lim);
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int16_t gModelMin = LIMIT_MIN_RESX(lim);
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if (lim->revert)
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val = -val + gModelMax;
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else
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val = val - gModelMin;
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#if defined(PPM_LIMITS_SYMETRICAL)
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if (lim->symetrical) {
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val -= calc1000toRESX(lim->offset);
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}
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#endif
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gModelMax -= gModelMin; // we compare difference between Max and Mix for recaling needed; Max and Min are shifted to 0 by default
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// usually max is 1024 min is -1024 --> max-min = 2048 full range
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if (gModelMax != 0 && gModelMax != 2048)
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val = (int32_t) (val << 11) / (gModelMax); // rescaling only needed if Min, Max differs
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if (val < 0)
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val=0; // prevent val be negative, which would corrupt throttle trace and timers; could occur if safetyswitch is smaller than limits
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}
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else {
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val = RESX + calibratedAnalogs[g_model.thrTraceSrc == 0 ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1];
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}
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val >>= (RESX_SHIFT-6); // calibrate it (resolution increased by factor 4)
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evalTimers(val, tick10ms);
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static uint8_t s_cnt_100ms;
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static uint8_t s_cnt_1s;
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static uint8_t s_cnt_samples_thr_1s;
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static uint16_t s_sum_samples_thr_1s;
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s_cnt_samples_thr_1s++;
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s_sum_samples_thr_1s+=val;
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if ((s_cnt_100ms += tick10ms) >= 10) { // 0.1sec
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s_cnt_100ms -= 10;
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s_cnt_1s += 1;
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logicalSwitchesTimerTick();
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checkTrainerSignalWarning();
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if (s_cnt_1s >= 10) { // 1sec
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s_cnt_1s -= 10;
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sessionTimer += 1;
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inactivity.counter++;
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if ((((uint8_t)inactivity.counter) & 0x07) == 0x01 && g_eeGeneral.inactivityTimer && inactivity.counter > ((uint16_t)g_eeGeneral.inactivityTimer * 60))
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AUDIO_INACTIVITY();
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#if defined(AUDIO)
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if (mixWarning & 1) if ((sessionTimer&0x03)==0) AUDIO_MIX_WARNING(1);
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if (mixWarning & 2) if ((sessionTimer&0x03)==1) AUDIO_MIX_WARNING(2);
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if (mixWarning & 4) if ((sessionTimer&0x03)==2) AUDIO_MIX_WARNING(3);
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#endif
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val = s_sum_samples_thr_1s / s_cnt_samples_thr_1s;
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s_timeCum16ThrP += (val>>3); // s_timeCum16ThrP would overrun if we would store throttle value with higher accuracy; therefore stay with 16 steps
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if (val)
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s_timeCumThr += 1;
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s_sum_samples_thr_1s >>= 2; // correct better accuracy now, because trace graph can show this information; in case thrtrace is not active, the compile should remove this
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#if defined(THRTRACE)
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// throttle trace is done every 10 seconds; Tracebuffer is adjusted to screen size.
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// in case buffer runs out, it wraps around
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// resolution for y axis is only 32, therefore no higher value makes sense
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s_cnt_samples_thr_10s += s_cnt_samples_thr_1s;
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s_sum_samples_thr_10s += s_sum_samples_thr_1s;
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if (++s_cnt_10s >= 10) { // 10s
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s_cnt_10s -= 10;
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val = s_sum_samples_thr_10s / s_cnt_samples_thr_10s;
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s_sum_samples_thr_10s = 0;
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s_cnt_samples_thr_10s = 0;
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s_traceBuf[s_traceWr % MAXTRACE] = val;
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s_traceWr++;
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}
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#endif
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s_cnt_samples_thr_1s = 0;
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s_sum_samples_thr_1s = 0;
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}
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}
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#if defined(PXX) || defined(DSM2)
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static uint8_t countRangecheck = 0;
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for (uint8_t i = 0; i < NUM_MODULES; ++i) {
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if (isModuleBeeping(i)) {
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if (++countRangecheck >= 250) {
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countRangecheck = 0;
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AUDIO_PLAY(AU_SPECIAL_SOUND_CHEEP);
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}
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}
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}
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#endif
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checkTrims();
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}
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DEBUG_TIMER_STOP(debugTimerMixes10ms);
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s_mixer_first_run_done = true;
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}
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