Bertrand Songis
7ef9992349
* [Horus] PXX and DSM2 in external module * [Taranis] Pulses driver refactoring (uses DMA also for PPM in external module and saves 800bytes RAM) * Cosmetics (Pulses driver splitted)
164 lines
6.5 KiB
C++
164 lines
6.5 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
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void telemetryPortInit(uint32_t baudrate)
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{
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if (baudrate == 0) {
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USART_DeInit(TELEMETRY_USART);
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return;
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}
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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USART_InitTypeDef USART_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_PinAFConfig(TELEMETRY_GPIO, TELEMETRY_GPIO_PinSource_RX, TELEMETRY_GPIO_AF);
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GPIO_PinAFConfig(TELEMETRY_GPIO, TELEMETRY_GPIO_PinSource_TX, TELEMETRY_GPIO_AF);
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GPIO_InitStructure.GPIO_Pin = TELEMETRY_TX_GPIO_PIN | TELEMETRY_RX_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_Init(TELEMETRY_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = TELEMETRY_DIR_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(TELEMETRY_GPIO_DIR, &GPIO_InitStructure);
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GPIO_ResetBits(TELEMETRY_GPIO_DIR, TELEMETRY_DIR_GPIO_PIN);
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USART_InitStructure.USART_BaudRate = baudrate;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
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USART_Init(TELEMETRY_USART, &USART_InitStructure);
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DMA_InitTypeDef DMA_InitStructure;
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telemetryFifo.clear();
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USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
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USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
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DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryFifo.buffer());
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = telemetryFifo.size();
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
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USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
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USART_Cmd(TELEMETRY_USART, ENABLE);
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DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
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}
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void telemetryPortSetDirectionOutput()
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{
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TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN; // output enable
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TELEMETRY_USART->CR1 &= ~USART_CR1_RE; // turn off receiver
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}
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void telemetryPortSetDirectionInput()
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{
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TELEMETRY_GPIO_DIR->BSRRH = TELEMETRY_DIR_GPIO_PIN; // output disable
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TELEMETRY_USART->CR1 |= USART_CR1_RE; // turn on receiver
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}
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void sportSendBuffer(uint8_t * buffer, uint32_t count)
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{
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telemetryPortSetDirectionOutput();
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DMA_InitTypeDef DMA_InitStructure;
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DMA_DeInit(TELEMETRY_DMA_Stream_TX);
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DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
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DMA_InitStructure.DMA_BufferSize = count;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
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DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(TELEMETRY_DMA_Stream_TX, &DMA_InitStructure);
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DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
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USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
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DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
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// enable interrupt and set it's priority
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NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
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NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
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}
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extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
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{
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DEBUG_INTERRUPT(INT_TELEM_DMA);
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if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
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DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
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telemetryPortSetDirectionInput();
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}
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}
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// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
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int telemetryGetByte(uint8_t * byte)
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{
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// TODO I am not sure it's possible to have this cable on Horus ...
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#if 0
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if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
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if (serial2Mode == UART_MODE_TELEMETRY)
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return serial2RxFifo.pop(*byte);
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else
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return 0;
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}
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else {
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return telemetryFifo.pop(*byte);
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}
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#else
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return telemetryFifo.pop(*byte);
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#endif
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}
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