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Moved PPM driver to synchronous mode (horus only)

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TODO: trainer output and taranis driver
This commit is contained in:
Raphael Coeffic
2022-03-20 16:22:13 +01:00
parent a955112160
commit 937e92ede7
7 changed files with 120 additions and 85 deletions
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radio/src/pulses/ppm.cpp
+26 -16
View File
@@ -22,40 +22,51 @@
#include "opentx.h"
template<class T>
void setupPulsesPPM(PpmPulsesData<T> * ppmPulsesData, uint8_t channelsStart, int8_t channelsCount, int8_t frameLength)
void setupPulsesPPM(PpmPulsesData<T> * ppmPulsesData, uint8_t channelsStart, int8_t channelsCount)
{
int16_t PPM_range = g_model.extendedLimits ? (512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2; // range of 0.7 .. 1.7msec
int16_t PPM_range = g_model.extendedLimits ?
// range of 0.7 .. 1.7msec
(512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2;
// Total frame length = 22.5msec
// 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
uint8_t firstCh = channelsStart;
uint8_t lastCh = min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
uint8_t lastCh =
min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
ppmPulsesData->ptr = ppmPulsesData->pulses;
int32_t rest = 22500u * 2;
rest += int32_t(frameLength) * 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;
*ppmPulsesData->ptr++ = v; /* as Pat MacKenzie suggests */
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);
*ppmPulsesData->ptr++ = v;
}
rest = limit<int32_t>(9000, rest, 65535); /* avoids that CCR2 is bigger than ARR which would cause reboot */
*ppmPulsesData->ptr++ = rest;
*ppmPulsesData->ptr = 0; // it's needed in case PPM is sent without DMA (we stop when we reach this 0)
// Set the final period to the max
// (a new transfer is issued before it expires)
*ppmPulsesData->ptr++ = 65535;
// it's needed in case PPM is sent without DMA
// (we stop when we reach this 0)
*ppmPulsesData->ptr = 0;
}
void setupPulsesPPMTrainer()
{
setupPulsesPPM<trainer_pulse_duration_t>(&trainerPulsesData.ppm, g_model.trainerData.channelsStart, g_model.trainerData.channelsCount, g_model.trainerData.frameLength);
setupPulsesPPM<trainer_pulse_duration_t>(
&trainerPulsesData.ppm, g_model.trainerData.channelsStart,
g_model.trainerData.channelsCount);
}
#if defined(PCBTARANIS) && defined(INTERNAL_MODULE_PPM)
void setupPulsesPPMInternalModule()
{
setupPulsesPPM(&intmodulePulsesData.ppm, g_model.moduleData[INTERNAL_MODULE].channelsStart, g_model.moduleData[INTERNAL_MODULE].channelsCount, g_model.moduleData[INTERNAL_MODULE].ppm.frameLength);
setupPulsesPPM(&intmodulePulsesData.ppm,
g_model.moduleData[INTERNAL_MODULE].channelsStart,
g_model.moduleData[INTERNAL_MODULE].channelsCount);
}
#endif
@@ -63,6 +74,5 @@ void setupPulsesPPMExternalModule()
{
setupPulsesPPM(&extmodulePulsesData.ppm,
g_model.moduleData[EXTERNAL_MODULE].channelsStart,
g_model.moduleData[EXTERNAL_MODULE].channelsCount,
g_model.moduleData[EXTERNAL_MODULE].ppm.frameLength);
g_model.moduleData[EXTERNAL_MODULE].channelsCount);
}
radio/src/pulses/pulses.cpp
+17 -10
View File
@@ -550,7 +550,9 @@ void enablePulsesExternalModule(uint8_t protocol)
#if defined(PPM)
case PROTOCOL_CHANNELS_PPM:
extmodulePpmStart();
extmodulePpmStart(
GET_MODULE_PPM_DELAY(EXTERNAL_MODULE),
GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE));
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
break;
#endif
@@ -664,15 +666,14 @@ void extmoduleSendNextFrame()
switch (moduleState[EXTERNAL_MODULE].protocol) {
// Note: this is called directly from the EXTMODULE_TIMER_IRQHandler()
// periodically (the only non-synchronous pulse driver
//
// case PROTOCOL_CHANNELS_PPM:
// extmoduleSendNextFramePpm(
// extmodulePulsesData.ppm.pulses,
// extmodulePulsesData.ppm.ptr - extmodulePulsesData.ppm.pulses,
// *(extmodulePulsesData.ppm.ptr - 1));
// break;
case PROTOCOL_CHANNELS_PPM:
extmoduleSendNextFramePpm(
extmodulePulsesData.ppm.pulses,
extmodulePulsesData.ppm.ptr - extmodulePulsesData.ppm.pulses,
GET_MODULE_PPM_DELAY(EXTERNAL_MODULE),
GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE));
mixerSchedulerSetPeriod(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
break;
#if defined(PXX1)
case PROTOCOL_CHANNELS_PXX1_PULSES:
@@ -702,6 +703,12 @@ void extmoduleSendNextFrame()
#if defined(SBUS) || defined(DSM2) || defined(MULTIMODULE)
case PROTOCOL_CHANNELS_SBUS:
extmoduleSendNextFrameSoftSerial100kbit(
extmodulePulsesData.dsm2.pulses,
extmodulePulsesData.dsm2.ptr - extmodulePulsesData.dsm2.pulses,
GET_SBUS_POLARITY(EXTERNAL_MODULE));
break;
case PROTOCOL_CHANNELS_DSM2_LP45:
case PROTOCOL_CHANNELS_DSM2_DSM2:
case PROTOCOL_CHANNELS_DSM2_DSMX:
radio/src/targets/common/arm/stm32/f4/CMakeLists.txt
+6 -1
View File
@@ -1,12 +1,17 @@
set(CPU_FAMILY STM32)
set(MCU cortex-m4)
set(FPU_FLAGS "-mfloat-abi=hard -mfpu=fpv4-sp-d16")
set(STM32LIB_DIR ${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries)
# StdPeriph library
set(STM32LIB_DIR ${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries)
include_directories(${STM32LIB_DIR}/STM32F4xx_StdPeriph_Driver/inc)
include_directories(${STM32LIB_DIR}/CMSIS/Device/ST/STM32F4xx/Include)
include_directories(${STM32LIB_DIR}/CMSIS/Include)
# STM32 HAL/LL library
#set(STM32CUBE_DIR ${THIRDPARTY_DIR}/STM32F4xx_HAL_Driver)
#include_directories(${STM32CUBE_DIR}/Inc)
add_definitions(-DSTM32F4)
set(STM32LIB_SRC
radio/src/targets/horus/CMakeLists.txt
+1 -1
View File
@@ -164,7 +164,7 @@ endif()
set(FIRMWARE_DEPENDENCIES datacopy)
add_definitions(-DPCBHORUS -DSTM32F429_439xx -DSDRAM -DCCMRAM -DCOLORLCD -DHARDWARE_KEYS)
add_definitions(-DPCBHORUS -DSTM32F429_439xx -DSTM32F429xx -DSDRAM -DCCMRAM -DCOLORLCD -DHARDWARE_KEYS)
add_definitions(-DEEPROM_VARIANT=0 -DAUDIO -DVOICE -DRTCLOCK)
add_definitions(-DGPS_USART_BAUDRATE=${INTERNAL_GPS_BAUDRATE})
add_definitions(-DPWR_BUTTON_${PWR_BUTTON})
radio/src/targets/horus/extmodule_driver.cpp
+61 -54
View File
@@ -19,7 +19,9 @@
* GNU General Public License for more details.
*/
#include "opentx.h"
#include "CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h"
#include "STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h"
#include "hal.h"
#include "extmodule_driver.h"
#include "timers_driver.h"
@@ -27,6 +29,30 @@
#include "pulses/crossfire.h"
#endif
// PPM delay in uS
#define DEFAULT_PPM_DELAY 300
static uint32_t (*getPPMDelayCb)() = nullptr;
static inline uint32_t getPPMDelay()
{
if (getPPMDelayCb)
return getPPMDelayCb();
return DEFAULT_PPM_DELAY;
}
// PPM polarity
#define DEFAULT_PPM_POLARITY (true)
static bool (*getPPMPolarityCb)() = nullptr;
static inline bool getPPMPolarity()
{
if (getPPMPolarityCb)
return getPPMPolarityCb();
return DEFAULT_PPM_POLARITY;
}
void extmoduleStop()
{
EXTERNAL_MODULE_OFF();
@@ -47,7 +73,7 @@ void extmoduleStop()
GPIO_Init(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
}
void extmodulePpmStart()
void extmodulePpmStart(uint16_t ppm_delay, bool polarity)
{
EXTERNAL_MODULE_ON();
@@ -68,25 +94,21 @@ void extmodulePpmStart()
// CCR1 register defines duration of pulse length and is constant
// AAR register defines duration of each pulse, it is
// updated after every pulse in Update interrupt handler.
// CCR2 register defines duration of no pulses (time between two pulse trains)
// it is calculated every round to have PPM period constant.
// CC2 interrupt is then used to setup new PPM values for the
// next PPM pulses train.
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop timer
EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
#if defined(PCBX10) || PCBREV >= 13
EXTMODULE_TIMER->CCR3 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE)*2;
EXTMODULE_TIMER->CCER = TIM_CCER_CC3E | (GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC3P : 0);
EXTMODULE_TIMER->CCR3 = ppm_delay * 2;
EXTMODULE_TIMER->CCER = TIM_CCER_CC3E | (polarity ? TIM_CCER_CC3P : 0);
EXTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0; // Force O/P high
EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE;
EXTMODULE_TIMER->EGR = 1; // Reloads register values now
EXTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2; // PWM mode 1
#else
EXTMODULE_TIMER->CCR1 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE)*2;
EXTMODULE_TIMER->CCR1 = ppm_delay * 2;
EXTMODULE_TIMER->CCER = TIM_CCER_CC1E |
(GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE) ?
(getPPMPolarity() ?
#if defined(PCBNV14)
0 : TIM_CCER_CC1P
#else
@@ -98,16 +120,13 @@ void extmodulePpmStart()
EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
#endif
EXTMODULE_TIMER->ARR = 45000;
EXTMODULE_TIMER->CCR2 = 40000; // The first frame will be sent in 20ms
EXTMODULE_TIMER->ARR = 65535; // start with max period
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
EXTMODULE_TIMER->DIER |= TIM_DIER_UDE | TIM_DIER_CC2IE; // Enable this interrupt
EXTMODULE_TIMER->DIER |= TIM_DIER_UDE /*| TIM_DIER_CC2IE*/; // Enable this interrupt
EXTMODULE_TIMER->CR1 = TIM_CR1_CEN; // Start timer
NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
}
#if defined(PXX1)
@@ -157,8 +176,6 @@ void extmodulePxx1PulsesStart()
NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
}
#endif
@@ -209,30 +226,32 @@ void extmoduleSerialStart()
NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
}
static void extmoduleSendNextFramePpm(void* pulses, uint16_t length,
uint16_t trailing_pulse)
void extmoduleSendNextFramePpm(void* pulses, uint16_t length,
uint16_t ppm_delay, bool polarity)
{
if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) return;
// disable timer
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
#if defined(PCBX10) || PCBREV >= 13
// Using timer channel 3
EXTMODULE_TIMER->CCR3 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE) * 2;
EXTMODULE_TIMER->CCR3 = ppm_delay * 2;
EXTMODULE_TIMER->CCER =
TIM_CCER_CC3E |
(GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC3P : 0);
TIM_CCER_CC3E | (polarity ? TIM_CCER_CC3P : 0);
#else
// Using timer channel 1
EXTMODULE_TIMER->CCR1 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE) * 2;
EXTMODULE_TIMER->CCER =
TIM_CCER_CC1E | (GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE) ?
EXTMODULE_TIMER->CCR1 = ppm_delay * 2;
EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | (polarity ?
#if defined(PCBNV14)
0
: TIM_CCER_CC1P
0
: TIM_CCER_CC1P
#else
TIM_CCER_CC1P
: 0
TIM_CCER_CC1P
: 0
#endif
);
);
#endif
EXTMODULE_TIMER->CCR2 = trailing_pulse - 4000; // 2mS in advance
EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
EXTMODULE_TIMER_DMA_STREAM->CR |=
EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC |
@@ -241,6 +260,10 @@ static void extmoduleSendNextFramePpm(void* pulses, uint16_t length,
EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(pulses);
EXTMODULE_TIMER_DMA_STREAM->NDTR = length;
EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
// re-init timer
EXTMODULE_TIMER->EGR = 1;
EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
}
#if defined(PXX1)
@@ -284,22 +307,23 @@ void extmoduleSendNextFrameAFHDS3(const void* dataPtr, uint16_t dataSize)
}
#endif
void extmoduleSendNextFrameSoftSerial100kbit(const void* pulses, uint16_t length)
void extmoduleSendNextFrameSoftSerial100kbit(const void* pulses, uint16_t length,
bool polarity)
{
if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) return;
if (PROTOCOL_CHANNELS_SBUS == moduleState[EXTERNAL_MODULE].protocol) {
//if (PROTOCOL_CHANNELS_SBUS == moduleState[EXTERNAL_MODULE].protocol) {
// reverse polarity for Sbus if needed
EXTMODULE_TIMER->CCER =
#if defined(PCBX10) || PCBREV >= 13
TIM_CCER_CC3E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC3P : 0)
TIM_CCER_CC3E | (polarity ? TIM_CCER_CC3P : 0)
#elif defined(PCBNV14)
TIM_CCER_CC1E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? 0 : TIM_CCER_CC1P)
TIM_CCER_CC1E | (polarity ? 0 : TIM_CCER_CC1P)
#else
TIM_CCER_CC1E | (GET_SBUS_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1P : 0)
TIM_CCER_CC1E | (polarity ? TIM_CCER_CC1P : 0)
#endif
; //
}
//}
// disable timer
EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
@@ -358,22 +382,5 @@ extern "C" void EXTMODULE_TIMER_DMA_IRQHandler()
DMA_ClearITPendingBit(EXTMODULE_TIMER_DMA_STREAM, EXTMODULE_TIMER_DMA_FLAG_TC);
switch (moduleState[EXTERNAL_MODULE].protocol) {
case PROTOCOL_CHANNELS_PPM:
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
break;
}
}
extern "C" void EXTMODULE_TIMER_IRQHandler()
{
EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
setupPulsesExternalModule();
extmoduleSendNextFramePpm(
extmodulePulsesData.ppm.pulses,
extmodulePulsesData.ppm.ptr - extmodulePulsesData.ppm.pulses,
*(extmodulePulsesData.ppm.ptr - 1));
}
radio/src/targets/horus/extmodule_driver.h
+7 -2
View File
@@ -24,7 +24,7 @@
#include <stdint.h>
void extmoduleStop();
void extmodulePpmStart();
void extmodulePpmStart(uint16_t ppm_delay, bool polarity);
#if defined(PXX1)
void extmodulePxx1PulsesStart();
@@ -38,7 +38,12 @@ void extmoduleSerialStart();
void extmoduleSendNextFrameAFHDS3(const void* dataPtr, uint16_t dataSize);
#endif
void extmoduleSendNextFrameSoftSerial100kbit(const void* pulses, uint16_t length);
void extmoduleSendNextFramePpm(void* pulses, uint16_t length,
uint16_t ppm_delay, bool polarity);
void extmoduleSendNextFrameSoftSerial100kbit(const void* pulses,
uint16_t length,
bool polarity = true);
// Bitbang serial
void extmoduleSendInvertedByte(uint8_t byte);
radio/src/tasks.cpp
+2 -1
View File
@@ -66,6 +66,7 @@ bool isForcePowerOffRequested()
return false;
}
// TODO: remove this!!!
bool isModuleSynchronous(uint8_t moduleIdx)
{
switch(moduleState[moduleIdx].protocol) {
@@ -83,7 +84,7 @@ bool isModuleSynchronous(uint8_t moduleIdx)
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
#endif
// case PROTOCOL_CHANNELS_PPM:
case PROTOCOL_CHANNELS_PPM:
case PROTOCOL_CHANNELS_PXX1_PULSES:
#if defined(DSM2)
case PROTOCOL_CHANNELS_SBUS: