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WiP: refactor serial ports

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This commit is contained in:
Raphael Coeffic
2022-03-20 16:22:12 +01:00
parent 87a3d2f9e7
commit f733810c79
27 changed files with 601 additions and 199 deletions
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radio/src/pulses/pulses.cpp
+40 -82
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@@ -33,6 +33,10 @@
#include "intmodule_pulses_driver.h"
#endif
#if defined(CROSSFIRE)
#include "pulses/crossfire.h"
#endif
uint8_t s_pulses_paused = 0;
ModuleState moduleState[NUM_MODULES];
InternalModulePulsesData intmodulePulsesData __DMA;
@@ -304,7 +308,8 @@ void enablePulsesExternalModule(uint8_t protocol)
#if defined(CROSSFIRE)
case PROTOCOL_CHANNELS_CROSSFIRE:
EXTERNAL_MODULE_ON();
mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
if (CrossfireModuleDriver.init)
CrossfireModuleDriver.init(EXTERNAL_MODULE);
break;
#endif
@@ -409,15 +414,14 @@ bool setupPulsesExternalModule(uint8_t protocol)
#if defined(CROSSFIRE)
case PROTOCOL_CHANNELS_CROSSFIRE:
{
ModuleSyncStatus& status = getModuleSyncStatus(EXTERNAL_MODULE);
if (status.isValid())
mixerSchedulerSetPeriod(EXTERNAL_MODULE, status.getAdjustedRefreshRate());
else
mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
setupPulsesCrossfire(EXTERNAL_MODULE);
if (CrossfireModuleDriver.setupPulses) {
int16_t* channels =
&channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart];
uint8_t nChannels = 16; // TODO: MAX_CHANNELS - channelsStart
CrossfireModuleDriver.setupPulses((void*)EXTERNAL_MODULE, channels,
nChannels);
}
return true;
}
#endif
#if defined(GHOST)
@@ -466,25 +470,6 @@ bool setupPulsesExternalModule(uint8_t protocol)
#if defined(HARDWARE_INTERNAL_MODULE)
#if defined(INTERNAL_MODULE_CRSF)
static void intmoduleCRSF_rx(uint8_t data)
{
intmoduleFifo.push(data);
#if !defined(SIMU)
// wakeup mixer when rx buffer is quarter full (16 bytes)
if (intmoduleFifo.size() >= 16) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xTaskNotifyFromISR(mixerTaskId.rtos_handle, 0, eNoAction,
&xHigherPriorityTaskWoken);
// might effect a context switch on ISR exit
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
#endif
}
#endif
static void enablePulsesInternalModule(uint8_t protocol)
{
// start new protocol hardware here
@@ -512,12 +497,8 @@ static void enablePulsesInternalModule(uint8_t protocol)
#if defined(PXX2)
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED: {
etx_serial_init params;
params.baudrate = PXX2_HIGHSPEED_BAUDRATE;
params.rx_enable = true;
intmoduleFifo.clear();
intmoduleSerialStart(&params);
IntmoduleSerialDriver.init(&pxx2SerialInitParams)
resetAccessAuthenticationCount();
#if defined(INTMODULE_HEARTBEAT)
@@ -529,19 +510,11 @@ static void enablePulsesInternalModule(uint8_t protocol)
#endif
#if defined(INTERNAL_MODULE_MULTI)
case PROTOCOL_CHANNELS_MULTIMODULE: {
case PROTOCOL_CHANNELS_MULTIMODULE:
// serial port setup
etx_serial_init params;
params.baudrate = MULTIMODULE_BAUDRATE;
params.rx_enable = true;
params.parity = USART_Parity_Even;
params.stop_bits = USART_StopBits_2;
params.word_length = USART_WordLength_9b;
intmodulePulsesData.multi.initFrame();
intmoduleFifo.clear();
intmoduleSerialStart(&params);
IntmoduleSerialDriver.init(&multiSerialInitParams);
// mixer setup
mixerSchedulerSetPeriod(INTERNAL_MODULE, MULTIMODULE_PERIOD);
@@ -555,26 +528,16 @@ static void enablePulsesInternalModule(uint8_t protocol)
MultiRfProtocols::instance(INTERNAL_MODULE)->triggerScan();
TRACE("counter = %d", moduleState[INTERNAL_MODULE].counter);
#endif
} break;
break;
#endif
#if defined(INTERNAL_MODULE_CRSF)
case PROTOCOL_CHANNELS_CROSSFIRE: {
// serial port setup
etx_serial_init params;
params.baudrate = CROSSFIRE_BAUDRATE;
params.rx_enable = true;
// wakeup mixer when rx buffer is quarter full (16 bytes)
params.on_receive = intmoduleCRSF_rx;
intmoduleFifo.clear();
intmoduleSerialStart(&params);
// mixer setup
mixerSchedulerSetPeriod(INTERNAL_MODULE, CROSSFIRE_PERIOD);
} break;
case PROTOCOL_CHANNELS_CROSSFIRE:
if (CrossfireModuleDriver.init) {
// TODO: save context
CrossfireModuleDriver.init(INTERNAL_MODULE);
}
break;
#endif
#if defined(INTERNAL_MODULE_PPM)
@@ -585,20 +548,15 @@ static void enablePulsesInternalModule(uint8_t protocol)
#endif
#if defined(AFHDS2)
case PROTOCOL_CHANNELS_AFHDS2A: {
case PROTOCOL_CHANNELS_AFHDS2A:
// serial port setup
etx_serial_init params;
params.baudrate = INTMODULE_USART_AFHDS2_BAUDRATE;
params.rx_enable = true;
resetPulsesAFHDS2();
intmoduleFifo.clear();
intmoduleSerialStart(&params);
IntmoduleSerialDriver.init(&afhds2SerialInitParams)
// mixer setup
mixerSchedulerSetPeriod(INTERNAL_MODULE, AFHDS2_PERIOD);
} break;
break;
#endif
default:
@@ -645,15 +603,14 @@ bool setupPulsesInternalModule(uint8_t protocol)
#if defined(INTERNAL_MODULE_CRSF)
case PROTOCOL_CHANNELS_CROSSFIRE:
{
ModuleSyncStatus& status = getModuleSyncStatus(INTERNAL_MODULE);
if (status.isValid())
mixerSchedulerSetPeriod(INTERNAL_MODULE, status.getAdjustedRefreshRate());
else
mixerSchedulerSetPeriod(INTERNAL_MODULE, CROSSFIRE_PERIOD);
setupPulsesCrossfire(INTERNAL_MODULE);
if (CrossfireModuleDriver.setupPulses) {
int16_t* channels =
&channelOutputs[g_model.moduleData[INTERNAL_MODULE].channelsStart];
uint8_t nChannels = 16; // TODO: MAX_CHANNELS - channelsStart
CrossfireModuleDriver.setupPulses((void*)INTERNAL_MODULE, channels,
nChannels);
}
return true;
}
#endif
#if defined(INTERNAL_MODULE_MULTI)
@@ -711,8 +668,8 @@ void intmoduleSendNextFrame()
#if defined(PXX1)
#if defined(INTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
intmoduleSendBuffer(intmodulePulsesData.pxx_uart.getData(),
intmodulePulsesData.pxx_uart.getSize());
IntmoduleSerialDriver.sendBuffer(intmodulePulsesData.pxx_uart.getData(),
intmodulePulsesData.pxx_uart.getSize());
break;
#else
case PROTOCOL_CHANNELS_PXX1_PULSES:
@@ -724,15 +681,16 @@ void intmoduleSendNextFrame()
#if defined(INTERNAL_MODULE_MULTI)
case PROTOCOL_CHANNELS_MULTIMODULE:
intmoduleSendBuffer(intmodulePulsesData.multi.getData(),
intmodulePulsesData.multi.getSize());
IntmoduleSerialDriver.sendBuffer(intmodulePulsesData.multi.getData(),
intmodulePulsesData.multi.getSize());
break;
#endif
#if defined(INTERNAL_MODULE_CRSF)
case PROTOCOL_CHANNELS_CROSSFIRE:
intmoduleSendBuffer(intmodulePulsesData.crossfire.pulses,
intmodulePulsesData.crossfire.length);
if (CrossfireModuleDriver.sendPulses) {
CrossfireModuleDriver.sendPulses((void*)INTERNAL_MODULE);
}
break;
#endif