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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/targets/horus/extmodule_driver.cpp
+61 -54
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@@ -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));
}