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
+91
-74
@@ -19,56 +19,14 @@
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* GNU General Public License for more details.
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*/
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#include "sbus.h"
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#include "hal/module_port.h"
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#include "mixer_scheduler.h"
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#include "opentx.h"
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#define BITLEN_SBUS (10*2) // 100000 Baud => 10uS per bit
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/* The protocol reuse some the DSM2 definitions where they are identical */
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static void _send_level(uint8_t v)
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{
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/* Copied over from DSM, this looks doubious and in my logic analyzer
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output the low->high is about 2 ns late */
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if (extmodulePulsesData.dsm2.index & 1)
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v += 2;
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else
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v -= 2;
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*extmodulePulsesData.dsm2.ptr++ = v - 1;
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extmodulePulsesData.dsm2.index+=1;
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}
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void sendByteSbus(uint8_t b) // max 11 changes 0 10 10 10 10 P 1
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{
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bool lev = 0;
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uint8_t parity = 1;
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uint8_t len = BITLEN_SBUS; //max val: 10*20 < 256
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for (uint8_t i=0; i<=9; i++) { //8Bits + 1Parity + Stop=1
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bool nlev = b & 1; //lsb first
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parity = parity ^ (uint8_t)nlev;
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if (lev == nlev) {
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len += BITLEN_SBUS;
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}
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else {
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_send_level(len);
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len = BITLEN_SBUS;
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lev = nlev;
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}
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b = (b>>1) | 0x80; //shift in ones for stop bit and parity
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if (i==7)
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b = b ^ parity; // lowest bit is one from previous line
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}
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_send_level(len+ BITLEN_SBUS); // enlarge the last bit to be two stop bits long
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}
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#define SBUS_NORMAL_CHANS 16
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#define SBUS_CHAN_BITS 11
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#define SBUS_NORMAL_CHANS 16
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#define SBUS_CHAN_BITS 11
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/* Definitions from CleanFlight/BetaFlight */
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@@ -80,44 +38,39 @@ void sendByteSbus(uint8_t b) // max 11 changes 0 10 10 10 10 P 1
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#define SBUS_CHAN_CENTER 992
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inline int getChannelValue(uint8_t port, int channel)
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static inline void sendByte(uint8_t*& p_buf, uint8_t b)
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{
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int ch = g_model.moduleData[port].channelsStart+channel;
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*p_buf++ = b;
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}
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static inline int getChannelValue(uint8_t port, int channel)
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{
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int ch = g_model.moduleData[port].channelsStart + channel;
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// We will ignore 17 and 18th if that brings us over the limit
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if (ch > 31)
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return 0;
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return channelOutputs[ch] + 2 * PPM_CH_CENTER(ch) - 2*PPM_CENTER;
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if (ch > 31) return 0;
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return channelOutputs[ch] + 2 * PPM_CH_CENTER(ch) - 2 * PPM_CENTER;
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}
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static void sbusFlush()
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static void setupPulsesSbus(uint8_t module, uint8_t*& p_buf)
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{
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if (extmodulePulsesData.dsm2.index & 1)
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*extmodulePulsesData.dsm2.ptr++ = 255;
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else
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*(extmodulePulsesData.dsm2.ptr - 1) = 255;
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}
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void setupPulsesSbus()
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{
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extmodulePulsesData.dsm2.index = 0;
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extmodulePulsesData.dsm2.ptr = extmodulePulsesData.dsm2.pulses;
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// extmodulePulsesData.dsm2.index = 0;
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// extmodulePulsesData.dsm2.ptr = extmodulePulsesData.dsm2.pulses;
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// Sync Byte
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sendByteSbus(SBUS_FRAME_BEGIN_BYTE);
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sendByte(p_buf, SBUS_FRAME_BEGIN_BYTE);
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uint32_t bits = 0;
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uint8_t bitsavailable = 0;
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// byte 1-22, channels 0..2047, limits not really clear (B
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for (int i=0; i<SBUS_NORMAL_CHANS; i++) {
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int value = getChannelValue(EXTERNAL_MODULE, i);
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int value = getChannelValue(module, i);
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value = value*8/10 + SBUS_CHAN_CENTER;
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bits |= limit(0, value, 2047) << bitsavailable;
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bitsavailable += SBUS_CHAN_BITS;
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while (bitsavailable >= 8) {
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sendByteSbus((uint8_t) (bits & 0xff));
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sendByte(p_buf, (uint8_t) (bits & 0xff));
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bits >>= 8;
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bitsavailable -= 8;
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}
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@@ -125,15 +78,79 @@ void setupPulsesSbus()
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// flags
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uint8_t flags=0;
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if (getChannelValue(EXTERNAL_MODULE, 16) > 0)
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if (getChannelValue(module, 16) > 0)
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flags |= SBUS_FLAG_CHANNEL_17;
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if (getChannelValue(EXTERNAL_MODULE, 17) > 0)
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if (getChannelValue(module, 17) > 0)
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flags |= SBUS_FLAG_CHANNEL_18;
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sendByteSbus(flags);
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sendByte(p_buf, flags);
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// last byte, always 0x0
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sendByteSbus(0x00);
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sbusFlush();
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sendByte(p_buf, 0x00);
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}
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#define SBUS_BAUDRATE 100000
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const etx_serial_init sbusUartParams = {
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.baudrate = SBUS_BAUDRATE,
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.encoding = ETX_Encoding_8E2,
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.direction = ETX_Dir_TX,
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.polarity = ETX_Pol_Normal,
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};
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static void* sbusInit(uint8_t module)
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{
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#if defined(HARDWARE_INTERNAL_MODULE)
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// only external module supported
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if (module == INTERNAL_MODULE) return nullptr;
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#endif
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// auto mod_st = modulePortInitSerial(module, ETX_MOD_PORT_UART, &sbusUartParams);
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// TODO: check if inverter is there, or mandate it somehow...
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// if (!mod_st) {
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// -> SOFT_INV has 'setPolarity'
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auto mod_st = modulePortInitSerial(module, ETX_MOD_PORT_SOFT_INV, &sbusUartParams);
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if (!mod_st) return nullptr;
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// }
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mixerSchedulerSetPeriod(module, SBUS_PERIOD(module));
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return (void*)mod_st;
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}
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static void sbusDeInit(void* ctx)
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{
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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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static void sbusSendPulses(void* ctx, uint8_t* buffer, int16_t* channels, uint8_t nChannels)
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{
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// TODO:
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(void)channels;
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(void)nChannels;
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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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auto p_data = buffer;
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setupPulsesSbus(module, p_data);
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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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// TODO: check if the port has an inverter and use it instead
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drv->setPolarity(drv_ctx, GET_SBUS_POLARITY(module));
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drv->sendBuffer(drv_ctx, buffer, p_data - buffer);
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// SBUS_PERIOD is not a constant! It can be set from UI
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mixerSchedulerSetPeriod(module, SBUS_PERIOD(module));
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}
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const etx_proto_driver_t SBusDriver = {
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.protocol = PROTOCOL_CHANNELS_SBUS,
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.init = sbusInit,
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.deinit = sbusDeInit,
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.sendPulses = sbusSendPulses,
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.processData = nullptr,
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};
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