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[sky9x] PXX fixes

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[Taranis] DSM2 fixes
This commit is contained in:
bsongis@gmail.com
2013-06-21 18:28:59 +00:00
parent 7fef965b08
commit 9b0b2d078c
4 changed files with 126 additions and 65 deletions
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src/protocols/dsm2_arm.cpp
+73 -51
View File
@@ -36,11 +36,15 @@
#include "../opentx.h"
uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
uint8_t Serial_byte ;
uint8_t Serial_bit_count;
uint8_t Serial_byte_count ;
#if defined(PCBTARANIS)
uint8_t dsm2Stream[400]; // Likely more than we need
#else
uint8_t dsm2Stream[64]; // Likely more than we need
uint8_t dsm2SerialByte ;
uint8_t dsm2SerialBitCount;
#endif
uint8_t *dsm2StreamPtr;
// DSM2 control bits
#define DSM2_CHANS 6
@@ -52,43 +56,64 @@ uint8_t Serial_byte_count ;
#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit
void put_serial_bit(uint8_t bit)
#if defined(PCBTARANIS)
void _send_1(uint8_t v)
{
Serial_byte >>= 1 ;
if (bit & 1)
{
Serial_byte |= 0x80 ;
}
if (++Serial_bit_count >= 8)
{
*Pulses2MHzptr++ = Serial_byte ;
Serial_bit_count = 0 ;
Serial_byte_count += 1 ;
}
*dsm2StreamPtr++ = v;
}
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
put_serial_bit(0) ; // Start bit
for(uint8_t i=0; i<8; i++) // 8 data Bits
{
put_serial_bit(b & 1) ;
b >>= 1 ;
}
put_serial_bit(1) ; // Stop bit
put_serial_bit(1) ; // Stop bit
bool lev = 0;
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
for (uint8_t i=0; i<=8; i++) { //8Bits + Stop=1
bool nlev = b & 1; //lsb first
if (lev == nlev){
len += BITLEN_DSM2;
}
else {
_send_1(len -1);
len = BITLEN_DSM2;
lev = nlev;
}
b = (b>>1) | 0x80; //shift in stop bit
}
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
}
#if defined(PCBTARANIS)
// TODO should be in the driver
void putDsm2Flush()
{
*Pulses2MHzptr++ = 171 ; // Past the 44000 of the ARR
*Pulses2MHzptr++ = 234 ; // Past the 44000 of the ARR
*dsm2StreamPtr++ = 171; // Past the 44000 of the ARR
*dsm2StreamPtr++ = 234; // Past the 44000 of the ARR
}
#else
#define putDsm2Flush(...)
void putDsm2SerialBit(uint8_t bit)
{
dsm2SerialByte >>= 1;
if (bit & 1) {
dsm2SerialByte |= 0x80;
}
if (++dsm2SerialBitCount >= 8) {
*dsm2StreamPtr++ = dsm2SerialByte;
dsm2SerialBitCount = 0;
}
}
void sendByteDsm2(uint8_t b) // max 10changes 0 10 10 10 10 1
{
putDsm2SerialBit(0); // Start bit
for (uint8_t i=0; i<8; i++) { // 8 data Bits
putDsm2SerialBit(b & 1);
b >>= 1;
}
putDsm2SerialBit(1); // Stop bit
putDsm2SerialBit(1); // Stop bit
}
void putDsm2Flush()
{
for (int i=0; i<16; i++) {
putDsm2SerialBit(1); // 16 extra stop bits
}
}
#endif
// This is the data stream to send, prepare after 19.5 mS
@@ -97,16 +122,17 @@ void putDsm2Flush()
//static uint8_t *Dsm2_pulsePtr = pulses2MHz.pbyte ;
void setupPulsesDSM2(unsigned int port)
{
static uint8_t dsmDat[2+6*2]={0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
uint8_t counter ;
static uint8_t dsmDat[2+6*2]={0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
Serial_byte = 0 ;
Serial_bit_count = 0 ;
Serial_byte_count = 0 ;
Pulses2MHzptr = Bit_pulses ;
#if defined(PCBSKY9X)
dsm2SerialByte = 0 ;
dsm2SerialBitCount = 0 ;
#endif
dsm2StreamPtr = dsm2Stream;
// If more channels needed make sure the pulses union/array is large enough
if (dsmDat[0]&BAD_DATA) //first time through, setup header
if (dsmDat[0] & BAD_DATA) //first time through, setup header
{
switch(s_current_protocol[port])
{
@@ -122,25 +148,21 @@ void setupPulsesDSM2(unsigned int port)
}
}
if ((dsmDat[0] & BIND_BIT) && (!switchState(SW_DSM2_BIND)))
dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
if ((!(dsmDat[0] & BIND_BIT)) && s_rangecheck_mode)
dsmDat[0] |= RANGECHECK_BIT; // range check function
dsmDat[0] |= RANGECHECK_BIT; // range check function
else
dsmDat[0] &= ~RANGECHECK_BIT;
dsmDat[0] &= ~RANGECHECK_BIT;
dsmDat[1] = g_model.header.modelId; //DSM2 Header second byte for model match
for(uint8_t i=0; i<6; i++) {
uint16_t pulse = limit(0, ((channelOutputs[g_model.moduleData[port].channelsStart+i]*13)>>5)+512,1023);
for (int i=0; i<DSM2_CHANS; i++) {
uint16_t pulse = limit(0, ((channelOutputs[g_model.moduleData[port].channelsStart+i]*13)>>5)+512, 1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
dsmDat[3+2*i] = pulse & 0xff;
}
for (counter = 0 ; counter < 14 ; counter += 1)
{
sendByteDsm2(dsmDat[counter]);
}
for (counter = 0 ; counter < 16 ; counter += 1)
{
put_serial_bit(1) ; // 16 extra stop bits
for (int i=0; i<14; i++) {
sendByteDsm2(dsmDat[i]);
}
putDsm2Flush();
src/protocols/pulses_avr.cpp
+4 -4
View File
@@ -537,15 +537,15 @@ void setupPulsesDSM2()
s_bind_mode = false;
dsmDat[1] = g_model.header.modelId; // DSM2 Header second byte for model match
for (uint8_t i=0; i<DSM2_CHANS; i++)
{
uint16_t pulse = limit(0, ((channelOutputs[i]*13)>>5)+512,1023);
for (uint8_t i=0; i<DSM2_CHANS; i++) {
uint16_t pulse = limit(0, ((channelOutputs[i]*13)>>5)+512, 1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03); // encoded channel + upper 2 bits pulse width
dsmDat[3+2*i] = pulse & 0xff; // low byte
}
for (counter=0; counter<14; counter++)
for (counter=0; counter<14; counter++) {
sendByteDsm2(dsmDat[counter]);
}
pulses2MHzWPtr -= 1; //remove last stopbits and
src/protocols/pxx_arm.cpp
+43 -3
View File
@@ -37,8 +37,15 @@
#include "../opentx.h"
uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) };
uint16_t pxxStream[NUM_MODULES][400]; // Transitions
#if defined(PCBTARANIS)
uint16_t pxxStream[NUM_MODULES][400];
uint16_t *pxxStreamPtr[NUM_MODULES];
#else
uint8_t pxxStream[NUM_MODULES][64];
uint8_t *pxxStreamPtr[NUM_MODULES];
#endif
uint16_t PxxValue[NUM_MODULES];
uint16_t PcmCrc[NUM_MODULES];
uint8_t PcmOnesCount[NUM_MODULES];
@@ -84,6 +91,8 @@ void crc(uint8_t data, unsigned int port)
PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]);
}
#if defined(PCBTARANIS)
void putPcmPart(uint8_t value, unsigned int port)
{
PxxValue[port] += 18 ; // Output 1 for this time
@@ -95,13 +104,44 @@ void putPcmPart(uint8_t value, unsigned int port)
*pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time
}
#if defined(PCBTARANIS)
void putPcmFlush(unsigned int port)
{
*pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR
}
#else
#define putPcmFlush(...)
uint8_t pcmSerialByte[NUM_MODULES];
uint8_t pcmSerialBitCount[NUM_MODULES];
void putPcmSerialBit(uint8_t bit, unsigned int port)
{
pcmSerialByte[port] >>= 1;
if (bit & 1) {
pcmSerialByte[port] |= 0x80;
}
if (++pcmSerialBitCount[port] >= 8) {
*pxxStreamPtr[port]++ = pcmSerialByte[port];
pcmSerialBitCount[port] = 0;
}
}
// 8uS/bit 01 = 0, 001 = 1
void putPcmPart(uint8_t value, unsigned int port)
{
putPcmSerialBit(0, port);
if (value) {
putPcmSerialBit(0, port);
}
putPcmSerialBit(1, port);
}
void putPcmFlush(unsigned int port)
{
while (pcmSerialBitCount[port] != 0) {
putPcmSerialBit(1, port);
}
}
#endif
void putPcmBit(uint8_t bit, unsigned int port)
src/targets/sky9x/pulses_driver.cpp
+6 -7
View File
@@ -38,11 +38,10 @@
extern uint16_t ppmStream[NUM_MODULES][20];
volatile uint32_t ppmStreamIndex[NUM_MODULES] = { MODULES_INIT(0) }; // Modified in interrupt routine
extern uint16_t pxxStream[NUM_MODULES][400]; // Transitions
extern uint16_t *pxxStreamPtr[NUM_MODULES];
extern uint8_t Bit_pulses[64] ; // Likely more than we need
extern uint8_t Serial_byte_count ;
extern uint8_t pxxStream[NUM_MODULES][64]; // TODO not here, duplicated
extern uint8_t *pxxStreamPtr[NUM_MODULES]; // TODO not here, duplicated
extern uint8_t dsm2Stream[64]; // Likely more than we need
extern uint8_t *dsm2StreamPtr;
void init_main_ppm(uint32_t period, uint32_t out_enable)
{
@@ -192,8 +191,8 @@ extern "C" void PWM_IRQHandler(void)
else {
// Kick off serial output here
sscptr = SSC;
sscptr->SSC_TPR = CONVERT_PTR(Bit_pulses);
sscptr->SSC_TCR = Serial_byte_count;
sscptr->SSC_TPR = CONVERT_PTR(dsm2Stream);
sscptr->SSC_TCR = (uint8_t *)dsm2StreamPtr - (uint8_t *)dsm2Stream;
sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers
}
break;