267 lines
6.6 KiB
C++
267 lines
6.6 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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uint8_t s_pulses_paused = 0;
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uint8_t s_current_protocol[NUM_MODULES] = { MODULES_INIT(255) };
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uint16_t failsafeCounter[NUM_MODULES] = { MODULES_INIT(100) };
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uint8_t moduleFlag[NUM_MODULES] = { 0 };
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ModulePulsesData modulePulsesData[NUM_MODULES] __DMA;
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TrainerPulsesData trainerPulsesData __DMA;
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#if defined(CROSSFIRE)
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uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses);
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#endif
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uint8_t getRequiredProtocol(uint8_t port)
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{
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uint8_t required_protocol;
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switch (port) {
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#if defined(PCBTARANIS) || defined(PCBHORUS)
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case INTERNAL_MODULE:
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switch (g_model.moduleData[INTERNAL_MODULE].type) {
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#if defined(TARANIS_INTERNAL_PPM)
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case MODULE_TYPE_PPM:
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required_protocol = PROTO_PPM;
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break;
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#endif
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case MODULE_TYPE_XJT:
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required_protocol = PROTO_PXX;
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break;
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default:
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required_protocol = PROTO_NONE;
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break;
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}
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break;
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#endif
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default:
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port = EXTERNAL_MODULE; // ensure it's external module only
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switch (g_model.moduleData[EXTERNAL_MODULE].type) {
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case MODULE_TYPE_PPM:
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required_protocol = PROTO_PPM;
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break;
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case MODULE_TYPE_XJT:
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case MODULE_TYPE_R9M:
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required_protocol = PROTO_PXX;
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break;
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case MODULE_TYPE_SBUS:
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required_protocol = PROTO_SBUS;
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break;
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#if defined(MULTIMODULE)
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case MODULE_TYPE_MULTIMODULE:
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required_protocol = PROTO_MULTIMODULE;
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break;
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#endif
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#if defined(DSM2)
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case MODULE_TYPE_DSM2:
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required_protocol = limit<uint8_t>(PROTO_DSM2_LP45, PROTO_DSM2_LP45+g_model.moduleData[EXTERNAL_MODULE].rfProtocol, PROTO_DSM2_DSMX);
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// The module is set to OFF during one second before BIND start
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{
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static tmr10ms_t bindStartTime = 0;
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if (moduleFlag[EXTERNAL_MODULE] == MODULE_BIND) {
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if (bindStartTime == 0) bindStartTime = get_tmr10ms();
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if ((tmr10ms_t)(get_tmr10ms() - bindStartTime) < 100) {
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required_protocol = PROTO_NONE;
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break;
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}
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}
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else {
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bindStartTime = 0;
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}
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}
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break;
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#endif
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#if defined(CROSSFIRE)
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case MODULE_TYPE_CROSSFIRE:
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required_protocol = PROTO_CROSSFIRE;
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break;
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#endif
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default:
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required_protocol = PROTO_NONE;
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break;
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}
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break;
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}
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if (s_pulses_paused) {
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required_protocol = PROTO_NONE;
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}
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#if 0
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// will need an EEPROM conversion
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if (moduleFlag[port] == MODULE_OFF) {
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required_protocol = PROTO_NONE;
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}
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#endif
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return required_protocol;
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}
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void setupPulses(uint8_t port)
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{
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bool init_needed = false;
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uint8_t required_protocol = getRequiredProtocol(port);
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heartbeat |= (HEART_TIMER_PULSES << port);
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if (s_current_protocol[port] != required_protocol) {
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init_needed = true;
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switch (s_current_protocol[port]) { // stop existing protocol hardware
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case PROTO_PXX:
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disable_pxx(port);
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break;
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#if defined(DSM2)
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case PROTO_DSM2_LP45:
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case PROTO_DSM2_DSM2:
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case PROTO_DSM2_DSMX:
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disable_dsm2(port);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTO_CROSSFIRE:
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disable_crossfire(port);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTO_MULTIMODULE:
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#endif
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case PROTO_SBUS:
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disable_sbusOut(port);
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break;
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case PROTO_PPM:
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disable_ppm(port);
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break;
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default:
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disable_no_pulses(port);
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break;
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}
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s_current_protocol[port] = required_protocol;
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}
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// Set up output data here
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switch (required_protocol) {
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case PROTO_PXX:
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setupPulsesPXX(port);
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scheduleNextMixerCalculation(port, 9);
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break;
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case PROTO_SBUS:
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setupPulsesSbus(port);
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scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].sbus.refreshRate)/2);
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break;
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#if defined(DSM2)
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case PROTO_DSM2_LP45:
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case PROTO_DSM2_DSM2:
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case PROTO_DSM2_DSMX:
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setupPulsesDSM2(port);
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scheduleNextMixerCalculation(port, 11);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTO_CROSSFIRE:
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if (telemetryProtocol == PROTOCOL_PULSES_CROSSFIRE && !init_needed) {
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uint8_t * crossfire = modulePulsesData[port].crossfire.pulses;
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uint8_t len;
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#if defined(LUA)
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if (outputTelemetryBufferTrigger != 0x00 && outputTelemetryBufferSize > 0) {
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memcpy(crossfire, outputTelemetryBuffer, outputTelemetryBufferSize);
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len = outputTelemetryBufferSize;
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outputTelemetryBufferTrigger = 0x00;
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outputTelemetryBufferSize = 0;
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}
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else
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#endif
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{
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len = createCrossfireChannelsFrame(crossfire, &channelOutputs[g_model.moduleData[port].channelsStart]);
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}
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sportSendBuffer(crossfire, len);
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}
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scheduleNextMixerCalculation(port, CROSSFIRE_FRAME_PERIOD);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTO_MULTIMODULE:
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setupPulsesMultimodule(port);
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scheduleNextMixerCalculation(port, 4);
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break;
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#endif
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case PROTO_PPM:
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#if defined(PCBSKY9X)
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case PROTO_NONE:
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#endif
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setupPulsesPPMModule(port);
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scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].ppm.frameLength)/2);
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break;
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default:
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break;
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}
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if (init_needed) {
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switch (required_protocol) { // Start new protocol hardware here
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case PROTO_PXX:
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init_pxx(port);
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break;
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#if defined(DSM2)
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case PROTO_DSM2_LP45:
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case PROTO_DSM2_DSM2:
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case PROTO_DSM2_DSMX:
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init_dsm2(port);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTO_CROSSFIRE:
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init_crossfire(port);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTO_MULTIMODULE:
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#endif
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case PROTO_SBUS:
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init_sbusOut(port);
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break;
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case PROTO_PPM:
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init_ppm(port);
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break;
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default:
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init_no_pulses(port);
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break;
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}
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}
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}
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