Code for telemetry splitted

2014-05-13 22:31:51 +02:00
parent 216ecc636a
commit c13d71c620
5 changed files with 202 additions and 192 deletions
@@ -0,0 +1,190 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * 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"
+
+#define RX_UART_BUFFER_SIZE     32
+
+struct t_rxUartBuffer
+{
+  uint8_t fifo[RX_UART_BUFFER_SIZE] ;
+  uint8_t *outPtr ;
+};
+
+struct t_rxUartBuffer TelemetryInBuffer[2] ;
+uint32_t TelemetryActiveBuffer;
+uint16_t DsmRxTimeout;
+
+// USART0 configuration
+// Work in Progress, UNTESTED
+// Uses PA5 and PA6 (RXD and TXD)
+void UART2_Configure(uint32_t baudrate, uint32_t masterClock)
+{
+  register Usart *pUsart = SECOND_USART;
+
+  // Configure PIO
+  configure_pins( (PIO_PA5 | PIO_PA6), PIN_PERIPHERAL | PIN_INPUT | PIN_PER_A | PIN_PORTA | PIN_NO_PULLUP ) ;
+
+  // Configure PMC
+  PMC->PMC_PCER0 = 1 << SECOND_ID;
+
+  // Reset and disable receiver & transmitter */
+  pUsart->US_CR = US_CR_RSTRX | US_CR_RSTTX | US_CR_RXDIS | US_CR_TXDIS;
+
+  // Configure mode
+  pUsart->US_MR =  0x000008C0 ;  // NORMAL, No Parity, 8 bit
+
+  // Configure baudrate
+  // Asynchronous, no oversampling
+  pUsart->US_BRGR = (masterClock / baudrate) / 16;
+
+  // Disable PDC channel
+  pUsart->US_PTCR = US_PTCR_RXTDIS | US_PTCR_TXTDIS;
+
+  // Enable receiver and transmitter
+  pUsart->US_CR = US_CR_RXEN | US_CR_TXEN;
+}
+
+void UART2_timeout_enable()
+{
+  register Usart *pUsart = SECOND_USART;
+  pUsart->US_CR = US_CR_STTTO ;
+  pUsart->US_RTOR = 115 ;               // Bits @ 115200 ~= 1mS
+  pUsart->US_IER = US_IER_TIMEOUT ;
+  DsmRxTimeout = 0 ;
+  NVIC_EnableIRQ(USART0_IRQn);
+}
+
+void UART2_timeout_disable()
+{
+  register Usart *pUsart = SECOND_USART;
+  pUsart->US_RTOR = 0 ;
+  pUsart->US_IDR = US_IDR_TIMEOUT ;
+  NVIC_DisableIRQ(USART0_IRQn);
+}
+
+extern "C" void USART0_IRQHandler()
+{
+  register Usart *pUsart = SECOND_USART;
+  pUsart->US_CR = US_CR_STTTO ;         // Clears timeout bit
+  DsmRxTimeout = 1;
+}
+
+void startPdcUsartReceive()
+{
+  register Usart *pUsart = SECOND_USART;
+
+  TelemetryInBuffer[0].outPtr = TelemetryInBuffer[0].fifo ;
+  TelemetryInBuffer[1].outPtr = TelemetryInBuffer[1].fifo ;
+#ifndef SIMU
+  // TODO because of the 64bits cast ...
+  pUsart->US_RPR = (uint32_t)TelemetryInBuffer[0].fifo ;
+  pUsart->US_RNPR = (uint32_t)TelemetryInBuffer[1].fifo ;
+#endif
+  pUsart->US_RCR = RX_UART_BUFFER_SIZE ;
+  pUsart->US_RNCR = RX_UART_BUFFER_SIZE ;
+  pUsart->US_PTCR = US_PTCR_RXTEN ;
+  TelemetryActiveBuffer = 0 ;
+}
+
+void rxPdcUsart( void (*pChProcess)(uint8_t x) )
+{
+#if !defined(SIMU)
+  register Usart *pUsart = SECOND_USART;
+  uint8_t *ptr ;
+  uint8_t *endPtr ;
+  uint32_t j ;
+
+  // Find out where the DMA has got to
+  __disable_irq() ;
+  pUsart->US_PTCR = US_PTCR_RXTDIS ;              // Freeze DMA
+  ptr = (uint8_t *)pUsart->US_RPR ;
+  j = pUsart->US_RNCR ;
+  pUsart->US_PTCR = US_PTCR_RXTEN ;                       // DMA active again
+  __enable_irq() ;
+
+  endPtr = ptr - 1 ;
+  ptr = TelemetryInBuffer[TelemetryActiveBuffer].outPtr ;
+  if ( j == 0 )           // First buf is full
+  {
+    endPtr = &TelemetryInBuffer[TelemetryActiveBuffer].fifo[RX_UART_BUFFER_SIZE-1] ;                // last byte
+  }
+  while ( ptr <= endPtr )
+  {
+    (*pChProcess)(*ptr++) ;
+  }
+  TelemetryInBuffer[TelemetryActiveBuffer].outPtr = ptr ;
+  if ( j == 0 )           // First buf is full
+  {
+    TelemetryInBuffer[TelemetryActiveBuffer].outPtr = TelemetryInBuffer[TelemetryActiveBuffer].fifo ;
+    pUsart->US_RNPR = (uint32_t)TelemetryInBuffer[TelemetryActiveBuffer].fifo ;
+    pUsart->US_RNCR = RX_UART_BUFFER_SIZE ;
+    TelemetryActiveBuffer ^= 1 ;            // Other buffer is active
+    rxPdcUsart( pChProcess ) ;                      // Get any chars from second buffer
+  }
+#endif
+}
+
+uint32_t txPdcUsart( uint8_t *buffer, uint32_t size )
+{
+  register Usart *pUsart = SECOND_USART;
+
+  if ( pUsart->US_TNCR == 0 )
+  {
+#ifndef SIMU
+    pUsart->US_TNPR = (uint32_t)buffer ;
+#endif
+    pUsart->US_TNCR = size ;
+    pUsart->US_PTCR = US_PTCR_TXTEN ;
+    return 1 ;
+  }
+  return 0 ;
+}
+
+uint32_t txPdcPending()
+{
+  register Usart *pUsart = SECOND_USART;
+  uint32_t x ;
+
+  __disable_irq() ;
+  pUsart->US_PTCR = US_PTCR_TXTDIS ;              // Freeze DMA
+  x = pUsart->US_TNCR ;                           // Total
+  x += pUsart->US_TCR ;                           // Still to send
+  pUsart->US_PTCR = US_PTCR_TXTEN ;               // DMA active again
+  __enable_irq() ;
+
+  return x ;
+}