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Taranis - PXX/PPM for two modules, trainer input/output changes

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This commit is contained in:
michael.blandford@mypostoffice.co.uk
2013-04-14 14:44:29 +00:00
parent 452ac21f89
commit aa9ae51e21
5 changed files with 577 additions and 159 deletions
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src/pulses_arm.cpp
+173 -16
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@@ -51,8 +51,14 @@ uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
#else
uint16_t pxxStream[400] ; // Transisitions
#if defined(PCBTARANIS)
uint16_t pxx2Stream[400] ; // Transisitions
uint16_t *pxxStreamPtr[NUM_MODULES] ;
uint16_t PxxValue[NUM_MODULES] ;
#else
uint16_t *pxxStreamPtr ;
uint16_t PxxValue ;
#endif
#endif
// DSM2 control bits
@@ -67,7 +73,14 @@ uint8_t Serial_byte ;
uint8_t Serial_bit_count;
uint8_t Serial_byte_count ;
void setupPulses();
#if defined(PCBTARANIS)
#define MODULE_INDEX_PARAM uint32_t module_index
#else
#define MODULE_INDEX_PARAM
#endif
void setupPulses( MODULE_INDEX_PARAM ) ;
void setupPulsesDsm2(uint8_t chns);
void setupPulsesPXX();
@@ -77,7 +90,11 @@ void startPulses()
#if defined(PCBSKY9X)
init_main_ppm(3000, 1) ; // Default for now, initial period 1.5 mS, output on
#else
#if defined(PCBTARANIS)
init_ppm( 0 ) ;
#else
init_main_ppm();
#endif
#endif
}
@@ -141,8 +158,13 @@ void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts
*(ptr + 1) = 0;
#if defined(PCBTARANIS)
TIM1->CCR2 = rest - 1000 ; // Update time
TIM1->CCR1 = (g_model.ppmDelay*50+300)*2 ;
// THIS IS SPECIFIC TO EITHER THE INTERNAL OR EXTERNAL MODULE
// OTHER IS COMMENTED OUT. IF PPM IS NEEDED ON INTERNAL AS WELL AS EXTARNAL
// setupPulsesPPM() WILL NEED A "MODULE" PARAMETER
TIM8->CCR2 = rest - 1000 ; // Update time
TIM8->CCR1 = (g_model.ppmDelay*50+300)*2 ;
// TIM1->CCR2 = rest - 1000 ; // Update time
// TIM1->CCR3 = (g_model.ppmDelay*50+300)*2 ;
#endif
}
@@ -182,9 +204,80 @@ const uint16_t CRCTable[]=
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
#if defined(PCBTARANIS)
uint16_t PcmCrc[2] ;
uint8_t PcmOnesCount[2] ;
void crc( uint8_t data, uint32_t module_index )
{
// uint8_t i ;
PcmCrc[module_index]=(PcmCrc[module_index]<<8)^(CRCTable[((PcmCrc[module_index]>>8)^data) & 0xFF]);
}
void putPcmPart( uint8_t value, uint32_t module_index )
{
PxxValue[module_index] += 18 ; // Output 1 for this time
*pxxStreamPtr[module_index]++ = PxxValue[module_index] ;
PxxValue[module_index] += 14 ;
if ( value ) {
PxxValue[module_index] += 16 ;
}
*pxxStreamPtr[module_index]++ = PxxValue[module_index] ; // Output 0 for this time
}
void putPcmFlush( uint32_t module_index )
{
*pxxStreamPtr[module_index]++ = 18010 ; // Past the 18000 of the ARR
}
void putPcmBit( uint8_t bit, uint32_t module_index )
{
if ( bit )
{
PcmOnesCount[module_index] += 1 ;
putPcmPart( 1, module_index ) ;
}
else
{
PcmOnesCount[module_index] = 0 ;
putPcmPart( 0, module_index ) ;
}
if ( PcmOnesCount[module_index] >= 5 )
{
putPcmBit( 0, module_index ) ; // Stuff a 0 bit in
}
}
void putPcmByte( uint8_t byte, uint32_t module_index )
{
crc(byte, module_index);
for (uint8_t i=0; i<8; i++) {
putPcmBit(byte & 0x80, module_index);
byte <<= 1;
}
}
void putPcmHead( uint32_t module_index )
{
// send 7E, do not CRC
// 01111110
putPcmPart( 0, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 1, module_index ) ;
putPcmPart( 0, module_index ) ;
}
#else // Not Taranis
uint16_t PcmCrc ;
uint8_t PcmOnesCount ;
void crc( uint8_t data )
{
// uint8_t i ;
@@ -285,8 +378,9 @@ void putPcmHead()
putPcmPart( 1 ) ;
putPcmPart( 0 ) ;
}
#endif // Taranis
void setupPulsesPXX()
void setupPulsesPXX(MODULE_INDEX_PARAM)
{
uint16_t chan=0, chan_low=0;
@@ -296,10 +390,25 @@ void setupPulsesPXX()
Serial_byte_count = 0 ;
Pulses2MHzptr = Bit_pulses ;
#else
#if defined(PCBTARANIS)
pxxStreamPtr[module_index] = module_index ? pxx2Stream : pxxStream ;
PxxValue[module_index] = 0 ;
#else
pxxStreamPtr = pxxStream ;
PxxValue = 0 ;
#endif
#endif
#if defined(PCBTARANIS)
PcmCrc[module_index] = 0;
PcmOnesCount[module_index] = 0;
/* Sync */
putPcmHead(module_index);
/* Rx Number */
putPcmByte(g_model.modelId, module_index);
#else
PcmCrc = 0;
PcmOnesCount = 0;
@@ -308,41 +417,53 @@ void setupPulsesPXX()
/* Rx Number */
putPcmByte(g_model.modelId);
#endif
/* FLAG1 */
uint8_t flag1;
if (pxxFlag[0] & PXX_SEND_RXNUM) {
flag1 = (g_model.moduleData[0].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[0];
flag1 = (g_model.moduleData[module_index].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[module_index];
}
else {
flag1 = (g_model.moduleData[0].rfProtocol << 6) | pxxFlag[0];
flag1 = (g_model.moduleData[module_index].rfProtocol << 6) | pxxFlag[0];
#if defined(PCBTARANIS)
if (g_model.moduleData[0].failsafeMode != FAILSAFE_HOLD) {
if (g_model.moduleData[module_index].failsafeMode != FAILSAFE_HOLD) {
if (failsafeCounter-- == 0) {
failsafeCounter = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter == 0 && g_model.moduleData[0].channelsCount > 0) {
if (failsafeCounter == 0 && g_model.moduleData[module_index].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
#endif
}
#if defined(PCBTARANIS)
putPcmByte(flag1, module_index);
/* FLAG2 */
putPcmByte(0, module_index);
#else
putPcmByte(flag1);
/* FLAG2 */
putPcmByte(0);
#endif
/* PPM */
static uint32_t pass = 0;
uint32_t sendUpperChannels = 0;
if (pass++ & 0x01) {
#if defined(PCBTARANIS)
sendUpperChannels = g_model.moduleData[module_index].channelsCount;
#else
sendUpperChannels = g_model.moduleData[0].channelsCount;
#endif
}
for (uint32_t i=0; i<8; i++) {
#if defined(PCBTARANIS)
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[0].failsafeMode == FAILSAFE_NOPULSES) {
if (g_model.moduleData[module_index].failsafeMode == FAILSAFE_NOPULSES) {
if (i < sendUpperChannels)
chan = 3072;
else
@@ -350,11 +471,11 @@ void setupPulsesPXX()
}
else {
if (i < sendUpperChannels) {
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[module_index].channelsStart+i) - PPM_CENTER + (g_model.moduleData[module_index].failsafeChannels[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
if (chan == 3072) chan = 3073;
}
else {
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[g_model.moduleData[0].channelsStart+i] * 512 / 682) + 1024, 2047);
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[module_index].channelsStart+i) - PPM_CENTER + (g_model.moduleData[module_index].failsafeChannels[g_model.moduleData[0].channelsStart+i] * 512 / 682) + 1024, 2047);
if (chan == 1024) chan = 1025;
}
}
@@ -369,9 +490,15 @@ void setupPulsesPXX()
}
if (i & 1) {
#if defined(PCBTARANIS)
putPcmByte(chan_low, module_index); // Low byte of channel
putPcmByte( ( ( chan_low >> 8 ) & 0x0F ) | ( chan << 4), module_index ) ; // 4 bits each from 2 channels
putPcmByte(chan >> 4, module_index); // High byte of channel
#else
putPcmByte(chan_low); // Low byte of channel
putPcmByte( ( ( chan_low >> 8 ) & 0x0F ) | ( chan << 4) ) ; // 4 bits each from 2 channels
putPcmByte(chan >> 4); // High byte of channel
#endif
}
else {
chan_low = chan;
@@ -379,6 +506,17 @@ void setupPulsesPXX()
}
/* CRC16 */
#if defined(PCBTARANIS)
putPcmByte(0, module_index);
chan = PcmCrc[module_index];
putPcmByte(chan>>8, module_index);
putPcmByte(chan, module_index);
/* Sync */
putPcmHead(module_index);
putPcmFlush(module_index);
#else
putPcmByte(0);
chan = PcmCrc;
putPcmByte(chan>>8);
@@ -388,6 +526,7 @@ void setupPulsesPXX()
putPcmHead();
putPcmFlush();
#endif
}
#if defined(DSM2)
@@ -542,12 +681,16 @@ extern "C" void PWM_IRQHandler(void)
}
#endif
void setupPulses()
void setupPulses(MODULE_INDEX_PARAM)
{
heartbeat |= HEART_TIMER_PULSES;
#if defined(PCBTARANIS)
uint8_t required_protocol = (g_model.moduleData[0].rfProtocol == RF_PROTO_OFF ? PROTO_NONE : PROTO_PXX);
if ( module_index )
{
module_index = 1 ; // Ensure is 0 or 1 only
}
uint8_t required_protocol = (g_model.moduleData[module_index].rfProtocol == RF_PROTO_OFF ? PROTO_NONE : PROTO_PXX);
#else
uint8_t required_protocol = g_model.protocol;
#endif
@@ -559,7 +702,11 @@ void setupPulses()
switch (s_current_protocol) { // stop existing protocol hardware
case PROTO_PXX:
#if defined(PCBTARANIS)
disable_pxx(module_index);
#else
disable_pxx();
#endif
break;
#if defined(DSM2)
case PROTO_DSM2_LP45:
@@ -569,7 +716,11 @@ void setupPulses()
break;
#endif
default:
disable_main_ppm();
#if defined(PCBTARANIS)
disable_ppm(module_index);
#else
disable_ppm();
#endif
break;
}
@@ -578,10 +729,12 @@ void setupPulses()
#if defined(PCBTARANIS)
switch (required_protocol) {
case PROTO_PXX:
init_pxx();
init_pxx(0);
// init_pxx(module_index);
break;
default:
init_main_ppm();
init_ppm(0);
// init_ppm(module_index);
break;
}
#elif defined(PCBSKY9X)
@@ -609,7 +762,11 @@ void setupPulses()
// Set up output data here
switch (required_protocol) {
case PROTO_PXX:
#if defined(PCBTARANIS)
setupPulsesPXX(module_index);
#else
setupPulsesPXX();
#endif
break;
#if defined(DSM2)
case PROTO_DSM2_LP45: