piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Pulses refactoring ... WIP

Browse Source
This commit is contained in:
Bertrand Songis
2018-10-09 07:57:58 +02:00
parent f798bbfcc7
commit 946f66b128
12 changed files with 536 additions and 586 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/pulses/pulses_arm.cpp
+2 -2
View File
@@ -221,8 +221,8 @@ void setupPulses(uint8_t port)
#if defined(PXX2)
case PROTO_PXX2:
if (telemetryProtocol == PROTOCOL_FRSKY_SPORT && !init_needed) {
createPXX2ChannelsFrame(port);
sportSendBuffer(modulePulsesData[port].pxx_uart.pulses, modulePulsesData[port].pxx_uart.ptr - modulePulsesData[port].pxx_uart.pulses);
modulePulsesData[port].pxx2.setupFrame(port);
sportSendBuffer(modulePulsesData[port].pxx2.getData(), modulePulsesData[port].pxx2.getSize());
}
scheduleNextMixerCalculation(port, PXX2_PERIOD);
break;
radio/src/pulses/pulses_arm.h
+9 -3
View File
@@ -54,8 +54,6 @@ template<class T> struct PpmPulsesData {
#define PXX_PERIOD 9/*ms*/
#endif
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
#if defined(PPM_PIN_SERIAL)
PACK(struct PxxSerialPulsesData {
uint8_t pulses[64];
@@ -125,13 +123,17 @@ PACK(struct PxxTimerPulsesData {
});
#endif
#if !defined(BOOT)
#include "pulses/pxx2.h"
#endif
#define CROSSFIRE_FRAME_MAXLEN 64
PACK(struct CrossfirePulsesData {
uint8_t pulses[CROSSFIRE_FRAME_MAXLEN];
});
union ModulePulsesData {
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART) || defined(PXX2)
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PxxUartPulsesData pxx_uart;
#endif
#if defined(PPM_PIN_SERIAL)
@@ -140,6 +142,10 @@ union ModulePulsesData {
PxxTimerPulsesData pxx;
#endif
#if defined(PXX2) && !defined(BOOT)
Pxx2Pulses pxx2;
#endif
#if defined(PPM_PIN_SERIAL)
Dsm2SerialPulsesData dsm2;
#else
radio/src/pulses/pxx.cpp
+230
View File
@@ -0,0 +1,230 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
#include "pulses/pxx.h"
const uint16_t PxxCrcMixin::CRCTable[] = {
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
template <class PxxTransport>
void StandardPxxPulses<PxxTransport>::setup8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels)
{
PxxTransport::initCrc();
// Sync
addHead();
// RX Number
PxxTransport::addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = PxxPulses<PxxTransport>::addFlag1(port);
// Flag2
PxxTransport::addByte(0);
// Channels
PxxPulses<PxxTransport>::addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
// Extra flags
PxxPulses<PxxTransport>::addExtraFlags();
// CRC
addCrc();
// Sync = HEAD
addHead();
// Tail
PxxTransport::addTail();
}
template <class PxxTransport>
void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
{
uint16_t pulseValue = 0;
uint16_t pulseValueLow = 0;
for (int8_t i=0; i<8; i++) {
if (sendFailsafe) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
}
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = (i < sendUpperChannels ? 2048 : 0);
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
}
else {
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < sentModuleChannels(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
if (i & 1) {
PxxTransport::addByte(pulseValueLow); // Low byte of channel
PxxTransport::addByte(((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
PxxTransport::addByte(pulseValue >> 4); // High byte of channel
}
else {
pulseValueLow = pulseValue;
}
}
}
template <class PxxTransport>
uint8_t PxxPulses<PxxTransport>::addFlag1(uint8_t port)
{
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
PxxTransport::addByte(flag1);
return flag1;
}
template <class PxxTransport>
void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
{
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
uint8_t extra_flags = 0;
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if(isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
PxxTransport::addByte(extra_flags);
}
template <class PxxTransport>
void StandardPxxPulses<PxxTransport>::setupFrame(uint8_t port)
{
PxxPulses<PxxTransport>::initFrame();
#if defined(PXX_FREQUENCY_HIGH)
setup8ChannelsFrame(port, 0);
if (sentModuleChannels(port) > 8) {
setup8ChannelsFrame(port, 8);
}
#else
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
setup8ChannelsFrame(port, sendUpperChannels);
#endif
}
radio/src/pulses/pxx.h
+221
View File
@@ -18,6 +18,227 @@
* GNU General Public License for more details.
*/
#ifndef _PULSES_PXX_H_
#define _PULSES_PXX_H_
#include <inttypes.h>
#define PXX_SEND_BIND 0x01
#define PXX_SEND_FAILSAFE (1 << 4)
#define PXX_SEND_RANGECHECK (1 << 5)
class PxxCrcMixin {
protected:
void initCrc()
{
crc = 0;
}
void addToCrc(uint8_t byte)
{
crc = (crc << 8) ^ (CRCTable[((crc >> 8) ^ byte) & 0xFF]);
}
uint8_t crc;
static const uint16_t CRCTable[];
};
class SerialPxxBitTransport {
protected:
uint8_t data[64];
uint8_t * ptr;
uint8_t byte;
uint8_t bits_count;
uint8_t padding[2];
void initFrame()
{
ptr = data;
byte = 0;
bits_count = 0;
}
void addSerialBit(uint8_t bit)
{
byte >>= 1;
if (bit & 1) {
byte |= 0x80;
}
if (++bits_count >= 8) {
*ptr++ = byte;
bits_count = 0;
}
}
// 8uS/bit 01 = 0, 001 = 1
void addPart(uint8_t value)
{
addSerialBit(0);
if (value) {
addSerialBit(0);
}
addSerialBit(1);
}
void addTail()
{
while (bits_count != 0) {
addSerialBit(1);
}
}
};
// TODO elsewhere !!!
#if defined(PCBX12S) && PCBREV < 13
#define pulse_duration_t uint32_t
#define trainer_pulse_duration_t uint16_t
#else
#define pulse_duration_t uint16_t
#define trainer_pulse_duration_t uint16_t
#endif
#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)
class PwmPxxBitTransport {
protected:
pulse_duration_t pulses[200];
pulse_duration_t * ptr;
uint16_t rest;
uint8_t padding[2];
void initFrame()
{
ptr = pulses;
rest = PXX_PERIOD_HALF_US;
}
void addPart(uint8_t value)
{
pulse_duration_t duration = value ? 47 : 31;
*ptr++ = duration;
rest -= duration + 1;
}
void addTail(uint8_t port)
{
// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
*(ptr - 1) += rest;
}
};
template <class BitTransport>
class StandardPxxTransport: public PxxCrcMixin, public BitTransport {
protected:
uint8_t ones_count;
uint8_t padding[3];
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
addByteWithoutCrc(byte);
};
void addByteWithoutCrc(uint8_t byte)
{
for (uint8_t i = 0; i < 8; i++) {
addBit(byte & 0x80);
byte <<= 1;
}
}
void addBit(uint8_t bit)
{
if (bit) {
BitTransport::addPart(1);
if (++ones_count == 5) {
ones_count = 0;
BitTransport::addPart(0); // Stuff a 0 bit in
}
}
else {
BitTransport::addPart(0);
ones_count = 0;
}
}
void initFrame()
{
ones_count = 0;
}
};
class UartPxxTransport: public PxxCrcMixin {
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
ptr = data;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
addWithByteStuffing(byte);
}
void addWithByteStuffing(uint8_t byte)
{
if (0x7E == byte) {
*ptr++ = 0x7D;
*ptr++ = 0x5E;
}
else if (0x7D == byte) {
*ptr++ = 0x7D;
*ptr++ = 0x5D;
}
else {
*ptr++ = byte;
}
}
void addTail()
{
// nothing
}
};
template <class PxxTransport>
class PxxPulses: public PxxTransport {
protected:
uint8_t addFlag1(uint8_t port);
void addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels);
void addExtraFlags(uint8_t port);
};
typedef PxxPulses<UartPxxTransport> UartPxxPulses;
template <class PxxTransport>
class StandardPxxPulses: public PxxPulses<PxxTransport>
{
public:
void setupFrame(uint8_t port);
protected:
void addHead()
{
// send 7E, do not CRC
PxxTransport::addByteWithoutCrc(0x7E);
}
void addCrc()
{
addByteWithoutCrc(PxxCrcMixin::crc >> 8);
addByteWithoutCrc(PxxCrcMixin::crc);
}
void setup8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels);
};
typedef StandardPxxPulses<StandardPxxTransport<PwmPxxBitTransport>> PwmPxxPxxPulses;
#endif
radio/src/pulses/pxx2.cpp
+16 -125
View File
@@ -19,23 +19,12 @@
*/
#include "opentx.h"
#include "pulses/pxx.h"
#include "pulses/pxx2.h"
void uartInitPcmArray(uint8_t port)
void Pxx2Pulses::setupFrame(uint8_t port)
{
modulePulsesData[port].pxx_uart.pcmCrc = 0;
modulePulsesData[port].pxx_uart.ptr = modulePulsesData[port].pxx_uart.pulses;
}
void putPXX2Byte(uint8_t port, uint8_t byte)
{
modulePulsesData[port].pxx_uart.pcmCrc = (modulePulsesData[port].pxx_uart.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx_uart.pcmCrc>>8) ^ byte) & 0xFF]);
*modulePulsesData[port].pxx_uart.ptr++ = byte;
}
void createPXX2ChannelsFrame(uint8_t port)
{
uint16_t pulseValue=0, pulseValueLow=0;
initFrame();
initCrc();
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
@@ -43,142 +32,44 @@ void createPXX2ChannelsFrame(uint8_t port)
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
uartInitPcmArray(port);
// Model ID
putPXX2Byte(port, g_model.header.modelId[port]);
addByte(g_model.header.modelId[port]);
// Flag1
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
putPXX2Byte(port, flag1);
uint8_t flag1 = addFlag1(port);
// Flag2
putPXX2Byte(port, 0);
addByte(0);
// Channels
for (int i=0; i<8; i++) {
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
}
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = (i < sendUpperChannels ? 2048 : 0);
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
}
else {
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < sentModuleChannels(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
if (i & 1) {
putPXX2Byte(port, pulseValueLow); // Low byte of channel
putPXX2Byte(port, ((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
putPXX2Byte(port, pulseValue >> 4); // High byte of channel
}
else {
pulseValueLow = pulseValue;
}
}
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
uint8_t extra_flags = 0;
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if (isModuleR9M_EUPLUS(port)) {
extra_flags |= (1 << 6);
}
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
putPXX2Byte(port, extra_flags);
// Extra flags
addExtraFlags(port);
// Flag3, reserved
putPXX2Byte(port, 0);
addByte(0);
#if defined(LUA)
if (outputTelemetryBufferTrigger != 0x00 && outputTelemetryBufferSize > 0) {
// CMD/Resp
putPXX2Byte(port, 1);
addByte(1);
// primID (1 byte) + dataID (2 bytes) + value (4 bytes)
for (uint8_t i=0; i<7; i++) {
putPXX2Byte(port, outputTelemetryBuffer[i]);
addByte(outputTelemetryBuffer[i]);
}
outputTelemetryBufferTrigger = 0x00;
outputTelemetryBufferSize = 0;
}
else {
// CMD/Resp
putPXX2Byte(port, 0);
addByte(0);
}
#else
// CMD/Resp
putPXX2Byte(port, 0);
addByte(0);
#endif
// CRC
putPXX2Byte(port, modulePulsesData[port].pxx_uart.pcmCrc); // TODO need to check the CRC chosen algorithm
addByte(crc); // TODO need to check the CRC chosen algorithm
}
radio/src/pulses/pxx2.h
+53 -1
View File
@@ -18,4 +18,56 @@
* GNU General Public License for more details.
*/
void createPXX2ChannelsFrame(uint8_t port);
#ifndef _PULSES_PXX2_H_
#define _PULSES_PXX2_H_
#include "pulses/pxx.h"
class Pxx2Transport: public PxxCrcMixin {
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
ptr = data;
}
void addByte(uint8_t byte)
{
PxxCrcMixin::addToCrc(byte);
*ptr++ = byte;
}
void addTail()
{
// nothing
}
};
class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
public:
void setupFrame(uint8_t port);
const uint8_t * getData()
{
return data;
}
uint8_t getSize()
{
return ptr - data;
}
protected:
uint8_t data[64];
uint8_t * ptr;
void initFrame()
{
ptr = data;
}
};
#endif
radio/src/pulses/pxx_arm.cpp
-450
View File
@@ -1,450 +0,0 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
#include "pulses/pxx.h"
const uint16_t CRCTable[]=
{
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
inline void uartPutPcmPart(uint8_t port, uint8_t byte)
{
if (0x7E == byte) {
*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
*modulePulsesData[port].pxx_uart.ptr++ = 0x5E;
}
else if (0x7D == byte) {
*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
*modulePulsesData[port].pxx_uart.ptr++ = 0x5D;
}
else {
*modulePulsesData[port].pxx_uart.ptr++ = byte;
}
}
void uartPutPcmByte(uint8_t port, uint8_t byte)
{
modulePulsesData[port].pxx_uart.pcmCrc = (modulePulsesData[port].pxx_uart.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx_uart.pcmCrc>>8)^byte) & 0xFF]);
uartPutPcmPart(port, byte);
}
void uartInitPcmArray(uint8_t port)
{
modulePulsesData[port].pxx_uart.ptr = modulePulsesData[port].pxx_uart.pulses;
}
void uartInitPcmCrc(uint8_t port)
{
modulePulsesData[port].pxx_uart.pcmCrc = 0;
}
void uartPutPcmHead(uint8_t port)
{
// send 7E, do not CRC
*modulePulsesData[port].pxx_uart.ptr++ = 0x7E;
}
void uartPutPcmCrc(uint8_t port)
{
uint16_t pulseValue = modulePulsesData[port].pxx_uart.pcmCrc;
uartPutPcmByte(port, pulseValue >> 8);
uartPutPcmByte(port, pulseValue);
}
#endif
#if !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
#if defined(PPM_PIN_SERIAL)
void pxxPutPcmSerialBit(uint8_t port, uint8_t bit)
{
modulePulsesData[port].pxx.serialByte >>= 1;
if (bit & 1) {
modulePulsesData[port].pxx.serialByte |= 0x80;
}
if (++modulePulsesData[port].pxx.serialBitCount >= 8) {
*modulePulsesData[port].pxx.ptr++ = modulePulsesData[port].pxx.serialByte;
modulePulsesData[port].pxx.serialBitCount = 0;
}
}
// 8uS/bit 01 = 0, 001 = 1
void pxxPutPcmPart(uint8_t port, uint8_t value)
{
pxxPutPcmSerialBit(port, 0);
if (value) {
pxxPutPcmSerialBit(port, 0);
}
pxxPutPcmSerialBit(port, 1);
}
void pxxPutPcmTail(uint8_t port)
{
while (modulePulsesData[port].pxx.serialBitCount != 0) {
pxxPutPcmSerialBit(port, 1);
}
}
#else
void pxxPutPcmPart(uint8_t port, uint8_t value)
{
pulse_duration_t duration = value ? 47 : 31;
*modulePulsesData[port].pxx.ptr++ = duration;
modulePulsesData[port].pxx.rest -= duration + 1;
}
void pxxPutPcmTail(uint8_t port)
{
// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
*(modulePulsesData[port].pxx.ptr-1) += modulePulsesData[port].pxx.rest;
}
#endif
void pxxPutPcmBit(uint8_t port, uint8_t bit)
{
if (bit) {
pxxPutPcmPart(port, 1);
if (++modulePulsesData[port].pxx.pcmOnesCount == 5) {
modulePulsesData[port].pxx.pcmOnesCount = 0;
pxxPutPcmPart(port, 0); // Stuff a 0 bit in
}
}
else {
pxxPutPcmPart(port, 0);
modulePulsesData[port].pxx.pcmOnesCount = 0;
}
}
void pxxPutPcmByte(uint8_t port, uint8_t byte)
{
modulePulsesData[port].pxx.pcmCrc = (modulePulsesData[port].pxx.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx.pcmCrc>>8)^byte) & 0xFF]);
for (uint8_t i=0; i<8; i++) {
pxxPutPcmBit(port, byte & 0x80);
byte <<= 1;
}
}
void pxxInitPcmArray(uint8_t port)
{
modulePulsesData[port].pxx.ptr = modulePulsesData[port].pxx.pulses;
#if defined(PPM_PIN_SERIAL)
modulePulsesData[port].pxx.pcmValue = 0;
#else
modulePulsesData[port].pxx.rest = PXX_PERIOD_HALF_US;
#endif
modulePulsesData[port].pxx.pcmOnesCount = 0;
}
void pxxInitPcmCrc(uint8_t port)
{
modulePulsesData[port].pxx.pcmCrc = 0;
}
void pxxPutPcmHead(uint8_t port)
{
// send 7E, do not CRC
// 01111110
pxxPutPcmPart(port, 0);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 1);
pxxPutPcmPart(port, 0);
}
void pxxPutPcmCrc(uint8_t port)
{
uint16_t pulseValue = modulePulsesData[port].pxx.pcmCrc;
pxxPutPcmByte(port, pulseValue >> 8);
pxxPutPcmByte(port, pulseValue);
}
#else
// those functions should not be used, a link error will occur if wrong
void pxxInitPcmArray(uint8_t port);
void pxxInitPcmCrc(uint8_t port);
void pxxPutPcmByte(uint8_t port, uint8_t byte);
void pxxPutPcmHead(uint8_t port);
void pxxPutPcmTail(uint8_t port);
void pxxPutPcmCrc(uint8_t port);
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
inline void initPcmArray(uint8_t port)
{
if (IS_UART_MODULE(port))
uartInitPcmArray(port);
else
pxxInitPcmArray(port);
}
inline void initPcmCrc(uint8_t port)
{
if (IS_UART_MODULE(port))
uartInitPcmCrc(port);
else
pxxInitPcmCrc(port);
}
inline void putPcmHead(uint8_t port)
{
if (IS_UART_MODULE(port))
uartPutPcmHead(port);
else
pxxPutPcmHead(port);
}
inline void putPcmByte(uint8_t port, uint8_t byte)
{
if (IS_UART_MODULE(port))
uartPutPcmByte(port, byte);
else
pxxPutPcmByte(port, byte);
}
inline void putPcmCrc(uint8_t port)
{
if (IS_UART_MODULE(port))
uartPutPcmCrc(port);
else
pxxPutPcmCrc(port);
}
inline void putPcmTail(uint8_t port)
{
if (!IS_UART_MODULE(port))
pxxPutPcmTail(port);
}
#else
inline void initPcmArray(uint8_t port)
{
pxxInitPcmArray(port);
}
inline void initPcmCrc(uint8_t port)
{
pxxInitPcmCrc(port);
}
inline void putPcmHead(uint8_t port)
{
pxxPutPcmHead(port);
}
inline void putPcmByte(uint8_t port, uint8_t byte)
{
pxxPutPcmByte(port, byte);
}
inline void putPcmCrc(uint8_t port)
{
pxxPutPcmCrc(port);
}
inline void putPcmTail(uint8_t port)
{
pxxPutPcmTail(port);
}
#endif
inline void setupFramePXX(uint8_t port, uint8_t sendUpperChannels)
{
uint16_t pulseValue=0, pulseValueLow=0;
initPcmCrc(port);
/* Sync */
putPcmHead(port);
/* Rx Number */
putPcmByte(port, g_model.header.modelId[port]);
/* FLAG1 */
uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
if (moduleFlag[port] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[port] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
putPcmByte(port, flag1);
/* FLAG2 */
putPcmByte(port, 0);
/* CHANNELS */
for (int i=0; i<8; i++) {
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
}
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = (i < sendUpperChannels ? 2048 : 0);
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
}
else {
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < sentModuleChannels(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
if (i & 1) {
putPcmByte(port, pulseValueLow); // Low byte of channel
putPcmByte(port, ((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
putPcmByte(port, pulseValue >> 4); // High byte of channel
}
else {
pulseValueLow = pulseValue;
}
}
uint8_t extra_flags = 0;
/* Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise) */
#if defined(PCBHORUS) || defined(PCBXLITE)
if (port == INTERNAL_MODULE) {
extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
}
#endif
extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
if (isModuleR9M(port)) {
extra_flags |= (min(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
if(isModuleR9M_EUPLUS(port))
extra_flags |= (1 << 6);
}
// Disable S.PORT if internal module is active
if (IS_TELEMETRY_INTERNAL_MODULE()) {
extra_flags |= (1 << 5);
}
putPcmByte(port, extra_flags);
/* CRC */
putPcmCrc(port);
/* Sync */
putPcmHead(port);
putPcmTail(port);
}
void setupPulsesPXX(uint8_t port)
{
initPcmArray(port);
#if defined(PXX_FREQUENCY_HIGH)
setupFramePXX(port, 0);
if (sentModuleChannels(port) > 8) {
setupFramePXX(port, 8);
}
#else
static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint8_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
setupFramePXX(port, sendUpperChannels);
#endif
}
radio/src/targets/common/arm/CMakeLists.txt
+1 -1
View File
@@ -129,7 +129,7 @@ set(PULSES_SRC
${PULSES_SRC}
pulses_arm.cpp
ppm_arm.cpp
pxx_arm.cpp
pxx.cpp
dsm2_arm.cpp
sbus_arm.cpp
)
radio/src/targets/horus/board.h
+1 -1
View File
@@ -526,7 +526,7 @@ int32_t getVolume(void);
#define TELEMETRY_FIFO_SIZE 512
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
void sportSendBuffer(const uint8_t * buffer, uint32_t count);
uint8_t telemetryGetByte(uint8_t * byte);
extern uint32_t telemetryErrors;
radio/src/targets/horus/telemetry_driver.cpp
+1 -1
View File
@@ -138,7 +138,7 @@ void telemetryPortSetDirectionInput()
TELEMETRY_USART->CR1 |= USART_CR1_RE; // turn on receiver
}
void sportSendBuffer(uint8_t * buffer, uint32_t count)
void sportSendBuffer(const uint8_t * buffer, uint32_t count)
{
telemetryPortSetDirectionOutput();
radio/src/targets/taranis/board.h
+1 -1
View File
@@ -567,7 +567,7 @@ void debugPutc(const char c);
// Telemetry driver
void telemetryPortInit(uint32_t baudrate, uint8_t mode);
void telemetryPortSetDirectionOutput(void);
void sportSendBuffer(uint8_t * buffer, uint32_t count);
void sportSendBuffer(const uint8_t * buffer, uint32_t count);
uint8_t telemetryGetByte(uint8_t * byte);
extern uint32_t telemetryErrors;
radio/src/targets/taranis/telemetry_driver.cpp
+1 -1
View File
@@ -89,7 +89,7 @@ void telemetryPortSetDirectionInput()
TELEMETRY_USART->CR1 |= USART_CR1_RE; // turn on receiver
}
void sportSendBuffer(uint8_t * buffer, uint32_t count)
void sportSendBuffer(const uint8_t * buffer, uint32_t count)
{
telemetryPortSetDirectionOutput();