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
+57
-132
@@ -22,10 +22,7 @@
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#include "opentx.h"
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#include "mixer_scheduler.h"
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#include "hal/module_driver.h"
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#if defined(INTMODULE_USART)
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#include "intmodule_serial_driver.h"
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#endif
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#include "hal/module_port.h"
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#include "crossfire.h"
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#include "telemetry/crossfire.h"
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@@ -79,26 +76,25 @@ uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses)
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return buf - frame;
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}
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static void setupPulsesCrossfire(uint8_t idx, CrossfirePulsesData* p_data,
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static void setupPulsesCrossfire(uint8_t module, uint8_t*& p_buf,
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uint8_t endpoint, int16_t* channels,
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uint8_t nChannels)
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{
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#if defined(LUA)
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if (outputTelemetryBuffer.destination == endpoint) {
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memcpy(p_data->pulses, outputTelemetryBuffer.data,
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outputTelemetryBuffer.size);
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p_data->length = outputTelemetryBuffer.size;
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auto len = outputTelemetryBuffer.size;
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memcpy(p_buf, outputTelemetryBuffer.data, len);
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outputTelemetryBuffer.reset();
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p_buf += len;
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} else
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#endif
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{
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if (moduleState[idx].counter == CRSF_FRAME_MODELID) {
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p_data->length = createCrossfireModelIDFrame(idx, p_data->pulses);
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moduleState[idx].counter = CRSF_FRAME_MODELID_SENT;
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if (moduleState[module].counter == CRSF_FRAME_MODELID) {
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p_buf += createCrossfireModelIDFrame(module, p_buf);
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moduleState[module].counter = CRSF_FRAME_MODELID_SENT;
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} else {
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p_data->length = createCrossfireChannelsFrame(
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p_data->pulses,
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channels /*TODO: nChannels*/);
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/* TODO: nChannels */
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p_buf += createCrossfireChannelsFrame(p_buf, channels);
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}
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}
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}
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@@ -109,7 +105,7 @@ static void crossfireSetupMixerScheduler(uint8_t module)
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if (status.isValid()) {
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mixerSchedulerSetPeriod(module, status.getAdjustedRefreshRate());
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} else {
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mixerSchedulerSetPeriod(module, CROSSFIRE_PERIOD);
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mixerSchedulerSetPeriod(module, CROSSFIRE_PERIOD(module));
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}
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}
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@@ -120,59 +116,22 @@ static bool _checkFrameCRC(uint8_t* rxBuffer)
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return (crc == rxBuffer[len+1]);
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}
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struct CrossfireState {
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uint8_t module;
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CrossfirePulsesData* data;
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const etx_serial_driver_t* uart_drv;
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void* uart_ctx;
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uint8_t endpoint;
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void init(uint8_t _module, CrossfirePulsesData* _data,
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const etx_serial_driver_t* _drv, void* _ctx, uint8_t _endpoint)
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{
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module = _module;
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data = _data;
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uart_drv = _drv;
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uart_ctx = _ctx;
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endpoint = _endpoint;
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}
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void deinit() { uart_drv->deinit(uart_ctx); }
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};
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static CrossfireState crossfireState[NUM_MODULES];
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static void crossfireSetupPulses(void* context, int16_t* channels, uint8_t nChannels)
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static void crossfireSendPulses(void* ctx, uint8_t* buffer, int16_t* channels, uint8_t nChannels)
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{
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auto state = (CrossfireState*)context;
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crossfireSetupMixerScheduler(state->module);
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setupPulsesCrossfire(state->module, state->data, state->endpoint, channels, nChannels);
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}
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auto mod_st = (etx_module_state_t*)ctx;
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auto module = modulePortGetModule(mod_st);
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crossfireSetupMixerScheduler(module);
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static void crossfireSendPulses(void* context)
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{
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auto state = (CrossfireState*)context;
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auto data = state->data;
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uint8_t endpoint = 0;
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#if defined(HARDWARE_EXTERNAL_MODULE)
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if (module == EXTERNAL_MODULE) endpoint = TELEMETRY_ENDPOINT_SPORT;
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#endif
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auto p_buf = buffer;
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setupPulsesCrossfire(module, p_buf, endpoint, channels, nChannels);
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if (state->uart_drv) {
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auto drv = state->uart_drv;
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auto ctx = state->uart_ctx;
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drv->sendBuffer(ctx, data->pulses, data->length);
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} else {
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sportSendBuffer(data->pulses, data->length);
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}
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}
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static int crossfireGetByte(void* context, uint8_t* data)
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{
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auto state = (CrossfireState*)context;
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if (state->uart_drv) {
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auto drv = state->uart_drv;
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auto ctx = state->uart_ctx;
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return drv->getByte(ctx, data);
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} else {
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return sportGetByte(data);
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}
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auto drv = modulePortGetSerialDrv(mod_st->tx);
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auto drv_ctx = modulePortGetCtx(mod_st->tx);
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drv->sendBuffer(drv_ctx, buffer, p_buf - buffer);
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}
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static bool _lenIsSane(uint8_t len)
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@@ -210,7 +169,7 @@ static void _seekStart(uint8_t* buffer, uint8_t* len)
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*len = 0;
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}
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static void crossfireProcessData(void* context, uint8_t data, uint8_t* buffer, uint8_t* len)
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static void crossfireProcessData(void* ctx, uint8_t data, uint8_t* buffer, uint8_t* len)
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{
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if (*len == 0 && data != RADIO_ADDRESS && data != UART_SYNC) {
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TRACE("[XF] address 0x%02X error", data);
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@@ -233,16 +192,15 @@ static void crossfireProcessData(void* context, uint8_t data, uint8_t* buffer, u
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// rxBuffer[1] holds the packet length-2, check if the whole packet was received
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while (*len > 4 && (buffer[1]+2) == *len) {
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// TODO: module in context?
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if (_checkFrameCRC(buffer)) {
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#if defined(BLUETOOTH)
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#if defined(BLUETOOTH) // TODO: generic telemetry mirror to BT
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY &&
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bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
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bluetooth.write(buffer, *len);
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}
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#endif
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auto state = (CrossfireState*)context;
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processCrossfireTelemetryFrame(state->module);
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auto mod_st = (etx_module_state_t*)ctx;
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processCrossfireTelemetryFrame(modulePortGetModule(mod_st));
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*len = 0;
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}
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else {
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@@ -252,84 +210,51 @@ static void crossfireProcessData(void* context, uint8_t data, uint8_t* buffer, u
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}
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}
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#if defined(INTERNAL_MODULE_CRSF)
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static const etx_serial_init intmoduleCrossfireInitParams = {
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static const etx_serial_init crsfSerialParams = {
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.baudrate = 0,
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.parity = ETX_Parity_None,
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.stop_bits = ETX_StopBits_One,
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.word_length = ETX_WordLength_8,
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.rx_enable = true,
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.encoding = ETX_Encoding_8N1,
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.direction = ETX_Dir_TX_RX,
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.polarity = ETX_Pol_Normal,
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};
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static void* crossfireInitInternal(uint8_t module)
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static void* crossfireInit(uint8_t module)
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{
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// serial port setup
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etx_serial_init params(intmoduleCrossfireInitParams);
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params.baudrate = INT_CROSSFIRE_BAUDRATE;
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INTERNAL_MODULE_ON();
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etx_module_state_t* mod_st = nullptr;
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etx_serial_init params(crsfSerialParams);
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auto state = &crossfireState[module];
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state->init(module, &intmodulePulsesData.crossfire,
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&IntmoduleSerialDriver, IntmoduleSerialDriver.init(¶ms), 0);
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#if defined(INTERNAL_MODULE_CRSF)
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if (module == INTERNAL_MODULE) {
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return state;
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}
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static void crossfireDeInitInternal(void* context)
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{
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INTERNAL_MODULE_OFF();
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mixerSchedulerSetPeriod(INTERNAL_MODULE, 0);
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auto state = (CrossfireState*)context;
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state->deinit();
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}
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const etx_module_driver_t CrossfireInternalDriver = {
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.protocol = PROTOCOL_CHANNELS_CROSSFIRE,
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.init = crossfireInitInternal,
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.deinit = crossfireDeInitInternal,
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.setupPulses = crossfireSetupPulses,
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.sendPulses = crossfireSendPulses,
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.getByte = crossfireGetByte,
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.processData = crossfireProcessData,
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};
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params.baudrate = INT_CROSSFIRE_BAUDRATE;
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mod_st = modulePortInitSerial(module, ETX_MOD_PORT_UART, ¶ms);
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}
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#endif
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static void* crossfireInitExternal(uint8_t module)
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{
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// telemetryInit(PROTOCOL_TELEMETRY_CROSSFIRE);
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telemetryProtocol = PROTOCOL_TELEMETRY_CROSSFIRE;
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telemetryPortInit(EXT_CROSSFIRE_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
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#if defined(LUA)
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outputTelemetryBuffer.reset();
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#if defined(HARDWARE_EXTERNAL_MODULE)
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if (module == EXTERNAL_MODULE) {
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params.baudrate = EXT_CROSSFIRE_BAUDRATE;
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mod_st = modulePortInitSerial(module, ETX_MOD_PORT_SPORT, ¶ms);
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}
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#endif
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telemetryPortSetDirectionOutput();
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mixerSchedulerSetPeriod(module, CROSSFIRE_PERIOD);
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EXTERNAL_MODULE_ON();
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auto state = &crossfireState[module];
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state->init(module, &extmodulePulsesData.crossfire, nullptr, nullptr,
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TELEMETRY_ENDPOINT_SPORT);
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return state;
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if (mod_st) {
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mixerSchedulerSetPeriod(module, CROSSFIRE_PERIOD(module));
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}
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return (void*)mod_st;
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}
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static void crossfireDeInitExternal(void* context)
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static void crossfireDeInit(void* ctx)
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{
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(void)context;
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telemetryProtocol = 0xFF;
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EXTERNAL_MODULE_OFF();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, 0);
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auto mod_st = (etx_module_state_t*)ctx;
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modulePortDeInit(mod_st);
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}
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const etx_module_driver_t CrossfireExternalDriver = {
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const etx_proto_driver_t CrossfireDriver = {
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.protocol = PROTOCOL_CHANNELS_CROSSFIRE,
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.init = crossfireInitExternal,
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.deinit = crossfireDeInitExternal,
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.setupPulses = crossfireSetupPulses,
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.init = crossfireInit,
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.deinit = crossfireDeInit,
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.sendPulses = crossfireSendPulses,
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.getByte = crossfireGetByte,
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.processData = crossfireProcessData,
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};
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