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Move AFHDS3 to new module interface

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This commit is contained in:
Raphael Coeffic
2022-08-11 12:15:46 +02:00
committed by Raphael Coeffic
parent 1a918bf072
commit db73e4cd87
5 changed files with 205 additions and 33 deletions
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radio/src/pulses/afhds3.cpp
+164 -4
View File
@@ -24,14 +24,27 @@
#include "../definitions.h"
#include <cstdio>
#include "pulses.h"
#include "telemetry/telemetry.h"
#include "mixer_scheduler.h"
#include "hal/module_driver.h"
#if defined(INTMODULE_USART)
#include "intmodule_serial_driver.h"
#endif
#if defined(EXTMODULE_USART) && defined(EXTMODULE_TX_INVERT_GPIO)
#include "extmodule_serial_driver.h"
#else
#include "extmodule_driver.h"
#endif
#define FAILSAFE_HOLD 1
#define FAILSAFE_CUSTOM 2
#define MAX_RETRIES_AFHDS3 5
extern void processFlySkySensor(const uint8_t * packet, uint8_t type);
extern void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us, bool inverted);
namespace afhds3
{
@@ -74,10 +87,15 @@ const uint8_t FrameAddress = DeviceAddress::TRANSMITTER | (DeviceAddress::MODULE
PulsesData* AFHDS3PulsesData[EXTERNAL_MODULE + 1] = { nullptr, nullptr };
//friends function that can access telemetry parsing method
void processTelemetryData(uint8_t module, uint8_t data, uint8_t* rxBuffer, uint8_t& rxBufferCount, uint8_t maxSize)
void processTelemetryData(uint8_t data, uint8_t module)
{
uint8_t* rxBuffer = getTelemetryRxBuffer(module);
uint8_t& rxBufferCount = getTelemetryRxBufferCount(module);
uint8_t maxSize = TELEMETRY_RX_PACKET_SIZE;
if (AFHDS3PulsesData[module]) {
AFHDS3PulsesData[module]->processTelemetryData(data, rxBuffer, rxBufferCount, maxSize);
AFHDS3PulsesData[module]->processTelemetryData(data, rxBuffer,
rxBufferCount, maxSize);
}
}
@@ -711,4 +729,146 @@ uint8_t PulsesData::setFailSafe(int16_t* target)
return (uint8_t) (MAX_CHANNELS);
}
#if defined(EXTMODULE_USART) && defined(EXTMODULE_TX_INVERT_GPIO)
static const etx_serial_init extmoduleUsartParams = {
.baudrate = AFHDS3_BAUDRATE,
.parity = ETX_Parity_None,
.stop_bits = ETX_StopBits_One,
.word_length = ETX_WordLength_8,
.rx_enable = true,
};
static void* initExternal(uint8_t module)
{
extmodulePulsesData.afhds3.init(module);
ExtmoduleSerialDriver.init(&extmoduleUsartParams);
mixerSchedulerSetPeriod(module, AFHDS3_COMMAND_TIMEOUT * 1000 /* us */);
EXTERNAL_MODULE_ON();
return nullptr;
}
static void deinitExternal(void* context)
{
EXTERNAL_MODULE_OFF();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, 0);
ExtmoduleSerialDriver.deinit(context);
}
static void sendPulsesExternal(void* context)
{
ExtmoduleSerialDriver.sendBuffer(context, extmodulePulsesData.afhds3.getData(),
extmodulePulsesData.afhds3.getSize());
}
#else // !defined(EXTMODULE_USART) || !defined(EXTMODULE_TX_INVERT_GPIO)
static void* initExternal(uint8_t module)
{
extmodulePulsesData.afhds3.init(module);
extmoduleSerialStart();
mixerSchedulerSetPeriod(module, AFHDS3_COMMAND_TIMEOUT * 1000 /* us */);
return nullptr;
}
static void deinitExternal(void* context)
{
(void)context;
extmoduleStop();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, 0);
}
static void sendPulsesExternal(void* context)
{
(void)context;
extmoduleSendNextFrameSoftSerial(extmodulePulsesData.afhds3.getData(),
extmodulePulsesData.afhds3.getSize(),
false);
}
#endif
static void setupPulsesExternal(void* context, int16_t* channels, uint8_t nChannels)
{
(void)context;
(void)channels;
(void)nChannels;
extmodulePulsesData.afhds3.setupFrame();
}
etx_module_driver_t externalDriver = {
.protocol = PROTOCOL_CHANNELS_AFHDS3,
.init = initExternal,
.deinit = deinitExternal,
.setupPulses = setupPulsesExternal,
.sendPulses = sendPulsesExternal
};
#if defined(INTERNAL_MODULE_AFHDS3)
static const etx_serial_init intmoduleUsartParams = {
.baudrate = 1500000,
.parity = ETX_Parity_None,
.stop_bits = ETX_StopBits_One,
.word_length = ETX_WordLength_8,
.rx_enable = true,
};
static void* initInternal(uint8_t module)
{
(void)module;
// serial port setup
intmodulePulsesData.afhds3.init(module);
void * ctx = IntmoduleSerialDriver.init(&intmoduleUsartParams);
mixerSchedulerSetPeriod(module, AFHDS3_COMMAND_TIMEOUT * 1000 /* us */);
INTERNAL_MODULE_ON();
return ctx;
}
static void deinitInternal(void* context)
{
(void)context;
INTERNAL_MODULE_OFF();
mixerSchedulerSetPeriod(INTERNAL_MODULE, 0);
intmoduleStop();
}
static void setupPulsesInternal(void* context, int16_t* channels, uint8_t nChannels)
{
(void)context;
(void)channels;
(void)nChannels;
intmodulePulsesData.afhds3.setupFrame();
}
static void sendPulsesInternal(void* context)
{
IntmoduleSerialDriver.sendBuffer(context, intmodulePulsesData.afhds3.getData(),
intmodulePulsesData.afhds3.getSize());
}
static int getByteInternal(void* context, uint8_t* data)
{
return IntmoduleSerialDriver.getByte(context, data);
}
etx_module_driver_t internalDriver = {
.protocol = PROTOCOL_CHANNELS_AFHDS3,
.init = initInternal,
.deinit = deinitInternal,
.setupPulses = setupPulsesInternal,
.sendPulses = sendPulsesInternal,
.getByte = getByteInternal,
};
#endif
}
radio/src/pulses/afhds3.h
+12 -2
View File
@@ -31,6 +31,8 @@
#include <cstring>
#include "fifo.h"
#include "hal/module_driver.h"
#define AFHDS_MAX_PULSES 72
//max number of transitions measured so far 290 + 10%
#define AFHDS_MAX_PULSES_TRANSITIONS 320
@@ -95,6 +97,7 @@ struct Data
void reset()
{
#if defined(EXTMODULE_USART) && defined(EXTMODULE_TX_INVERT_GPIO)
ptr = pulses;
#else
pulsesSize = 0;
#endif
@@ -472,7 +475,7 @@ struct CommandFifo
};
void processTelemetryData(uint8_t module, uint8_t byte, uint8_t* rxBuffer, uint8_t& rxBufferCount, uint8_t maxSize);
void processTelemetryData(uint8_t date, uint8_t module);
class PulsesData: public Data, CommandFifo
{
@@ -537,7 +540,7 @@ class PulsesData: public Data, CommandFifo
void processTelemetryData(uint8_t byte, uint8_t* rxBuffer, uint8_t& rxBufferCount, uint8_t maxSize);
//friendship declaration - use for passing telemetry
friend void processTelemetryData(uint8_t module, uint8_t byte, uint8_t* rxBuffer, uint8_t& rxBufferCount, uint8_t maxSize);
friend void processTelemetryData(uint8_t data, uint8_t module);
/**
* Returns max power that currently can be set - use it to validate before synchronization of settings
@@ -594,5 +597,12 @@ class PulsesData: public Data, CommandFifo
*/
ModuleVersion version;
};
extern etx_module_driver_t externalDriver;
#if defined(INTERNAL_MODULE_AFHDS3)
extern etx_module_driver_t internalDriver;
#endif
} /* Namespace ahfds3 */
radio/src/pulses/pulses.cpp
+9 -24
View File
@@ -23,7 +23,6 @@
#include "mixer_scheduler.h"
#include "heartbeat_driver.h"
#include "io/frsky_pxx2.h"
#include "pulses/pxx2.h"
#include "pulses/flysky.h"
@@ -430,6 +429,13 @@ static void enablePulsesInternalModule(uint8_t protocol)
break;
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
case PROTOCOL_CHANNELS_AFHDS3:
internalModuleContext = afhds3::internalDriver.init(INTERNAL_MODULE);
internalModuleDriver = &afhds3::internalDriver;
break;
#endif
default:
// internal module stopped, use default mixer period
mixerSchedulerSetPeriod(INTERNAL_MODULE, 0);
@@ -630,10 +636,8 @@ void enablePulsesExternalModule(uint8_t protocol)
#if defined(AFHDS3)
case PROTOCOL_CHANNELS_AFHDS3:
// convert to serial module interface
extmodulePulsesData.afhds3.init(EXTERNAL_MODULE);
extmoduleSerialStart();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, AFHDS3_COMMAND_TIMEOUT * 1000 /* us */);
externalModuleContext = afhds3::externalDriver.init(EXTERNAL_MODULE);
externalModuleDriver = &afhds3::externalDriver;
break;
#endif
@@ -710,12 +714,6 @@ bool setupPulsesExternalModule(uint8_t protocol)
return true;
#endif
#if defined(AFHDS3)
case PROTOCOL_CHANNELS_AFHDS3:
extmodulePulsesData.afhds3.setupFrame();
return true;
#endif
case PROTOCOL_CHANNELS_DSMP:
setupPulsesLemonDSMP();
return true;
@@ -750,19 +748,6 @@ void extmoduleSendNextFrame()
break;
#endif
#if defined(AFHDS3)
case PROTOCOL_CHANNELS_AFHDS3:
#if defined(EXTMODULE_USART) && defined(EXTMODULE_TX_INVERT_GPIO)
extmoduleSendBuffer(extmodulePulsesData.afhds3.getData(),
extmodulePulsesData.afhds3.getSize());
#else
extmoduleSendNextFrameSoftSerial(extmodulePulsesData.afhds3.getData(),
extmodulePulsesData.afhds3.getSize(),
false);
#endif
break;
#endif
#if defined(SBUS) || defined(DSM2) || defined(MULTIMODULE)
case PROTOCOL_CHANNELS_SBUS:
extmoduleSendNextFrameSoftSerial(
radio/src/pulses/pulses.h
+4
View File
@@ -172,6 +172,10 @@ union InternalModulePulsesData {
CrossfirePulsesData crossfire;
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
afhds3::PulsesData afhds3;
#endif
#if defined(INTERNAL_MODULE_PPM)
PpmPulsesData<pulse_duration_t> ppm;
#endif
radio/src/telemetry/telemetry.cpp
+16 -3
View File
@@ -218,7 +218,7 @@ void processTelemetryData(uint8_t data)
#if defined(AFHDS3)
if (telemetryProtocol == PROTOCOL_TELEMETRY_AFHDS3) {
afhds3::processTelemetryData(EXTERNAL_MODULE, data, telemetryRxBuffer, telemetryRxBufferCount, TELEMETRY_RX_PACKET_SIZE);
afhds3::processTelemetryData(data, EXTERNAL_MODULE);
return;
}
#endif
@@ -312,7 +312,7 @@ static void pollIntCrossfire()
}
#endif
#if defined(PCBNV14)
#if defined(INTERNAL_MODULE_AFHDS2A)
static void processFlySkyTelemetryData(uint8_t data, uint8_t idx)
{
(void)idx;
@@ -325,6 +325,13 @@ static void pollIntAFHDS2A()
}
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
static void pollIntAFHDS3()
{
pollIntTelemetry(afhds3::processTelemetryData);
}
#endif
static void pollExtTelemetry()
{
uint8_t data;
@@ -377,12 +384,18 @@ void telemetryWakeup()
pollIntCrossfire();
}
#endif
#if defined(PCBNV14)
#if defined(INTERNAL_MODULE_AFHDS2A)
//! moduleUpdateActive(INTERNAL_MODULE) &&
if (isModuleAFHDS2A(INTERNAL_MODULE)) {
pollIntAFHDS2A();
}
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
//! moduleUpdateActive(INTERNAL_MODULE) &&
if (isModuleAFHDS3(INTERNAL_MODULE)) {
pollIntAFHDS3();
}
#endif
// Poll external / S.PORT telemetry
// TODO: how to switch this OFF ???