379 lines
14 KiB
C++
379 lines
14 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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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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#include "flyskyHallStick_driver.h"
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#include "fifo.h"
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#include "dmafifo.h"
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DMAFifo<HALLSTICK_BUFF_SIZE> hallDMAFifo __DMA (FLYSKY_HALL_DMA_Stream_RX);
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Fifo<uint8_t, HALLSTICK_BUFF_SIZE> hallStickTxFifo;
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unsigned char HallCmd[264] __DMA;
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STRUCT_HALL HallProtocol = { 0 };
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STRUCT_HALL HallProtocolTx = { 0 };
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signed short hall_raw_values[FLYSKY_HALL_CHANNEL_COUNT];
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unsigned short hall_adc_values[FLYSKY_HALL_CHANNEL_COUNT];
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/* crc16 implementation according to CCITT standards */
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const unsigned short CRC16Table[256]= {
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0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
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0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
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0x1231,0x0210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
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0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
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0x2462,0x3443,0x0420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
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0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
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0x3653,0x2672,0x1611,0x0630,0x76d7,0x66f6,0x5695,0x46b4,
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0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
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0x48c4,0x58e5,0x6886,0x78a7,0x0840,0x1861,0x2802,0x3823,
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0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
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0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0x0a50,0x3a33,0x2a12,
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0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
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0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0x0c60,0x1c41,
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0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
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0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0x0e70,
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0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
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0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
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0x1080,0x00a1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
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0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
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0x02b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
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0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
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0x34e2,0x24c3,0x14a0,0x0481,0x7466,0x6447,0x5424,0x4405,
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0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
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0x26d3,0x36f2,0x0691,0x16b0,0x6657,0x7676,0x4615,0x5634,
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0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
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0x5844,0x4865,0x7806,0x6827,0x18c0,0x08e1,0x3882,0x28a3,
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0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
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0x4a75,0x5a54,0x6a37,0x7a16,0x0af1,0x1ad0,0x2ab3,0x3a92,
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0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
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0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0x0cc1,
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0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
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0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
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};
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//const uint8_t sticks_mapping[4] = { 0 /*STICK1*/, 1/*STICK2*/, 2/*STICK3*/, 3 /*STICK4*/};
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unsigned short calc_crc16(void *pBuffer,unsigned char BufferSize)
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{
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unsigned short crc16;
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crc16 = 0xffff;
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while (BufferSize)
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{
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crc16 = (crc16 << 8) ^ CRC16Table[((crc16>>8) ^ (*(unsigned char *)pBuffer)) & 0x00ff];
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pBuffer = (void *)((unsigned char *)pBuffer + 1);
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BufferSize--;
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}
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return crc16;
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}
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uint16_t get_flysky_hall_adc_value(uint8_t ch)
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{
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if (ch >= FLYSKY_HALL_CHANNEL_COUNT)
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{
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return 0;
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}
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return 2*FLYSKY_OFFSET_VALUE - hall_adc_values[ch];
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}
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void HallSendBuffer(uint8_t * buffer, uint32_t count)
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{
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for(uint32_t idx = 0; buffer != HallCmd && idx < count; idx++)
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{
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HallCmd[idx] = buffer[idx];
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}
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DMA_InitTypeDef DMA_InitStructure;
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DMA_DeInit(FLYSKY_HALL_DMA_Stream_TX);
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DMA_InitStructure.DMA_Channel = FLYSKY_HALL_DMA_Channel;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&FLYSKY_HALL_SERIAL_USART->DR);
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(HallCmd);
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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(FLYSKY_HALL_DMA_Stream_TX, &DMA_InitStructure);
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DMA_Cmd(FLYSKY_HALL_DMA_Stream_TX, ENABLE);
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USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Tx, ENABLE);
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DMA_ITConfig(FLYSKY_HALL_DMA_Stream_TX, DMA_IT_TC, ENABLE);
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/* enable interrupt and set it's priority */
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NVIC_EnableIRQ(FLYSKY_HALL_SERIAL_TX_DMA_Stream_IRQn);
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NVIC_SetPriority(FLYSKY_HALL_SERIAL_TX_DMA_Stream_IRQn, 7);
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}
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extern "C" void FLYSKY_HALL_TX_DMA_Stream_IRQHandler(void)
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{
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DEBUG_INTERRUPT(INT_TELEM_DMA);
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if (DMA_GetITStatus(FLYSKY_HALL_DMA_Stream_TX, FLYSKY_HALL_DMA_TX_FLAG_TC))
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{
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DMA_ClearITPendingBit(FLYSKY_HALL_DMA_Stream_TX, FLYSKY_HALL_DMA_TX_FLAG_TC);
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FLYSKY_HALL_SERIAL_USART->CR1 |= USART_CR1_TCIE;
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}
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}
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uint8_t HallGetByte(uint8_t * byte)
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{
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return hallDMAFifo.pop(*byte);
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}
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void reset_hall_stick( void )
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{
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unsigned short crc16 = 0xffff;
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HallCmd[0] = FLYSKY_HALL_PROTOLO_HEAD;
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HallCmd[1] = 0xD1;
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HallCmd[2] = 0x01;
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HallCmd[3] = 0x01;
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crc16 = calc_crc16(HallCmd, 4);
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HallCmd[4] = crc16 & 0xff;
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HallCmd[5] = crc16 >>8 & 0xff;
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HallSendBuffer( HallCmd, 6);
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}
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void flysky_hall_stick_check_init()
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{
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USART_InitTypeDef USART_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_PinAFConfig(FLYSKY_HALL_SERIAL_GPIO, FLYSKY_HALL_SERIAL_RX_GPIO_PinSource, FLYSKY_HALL_SERIAL_GPIO_AF);
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GPIO_InitStructure.GPIO_Pin = FLYSKY_HALL_SERIAL_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(FLYSKY_HALL_SERIAL_GPIO, &GPIO_InitStructure);
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USART_InitStructure.USART_BaudRate = FLYSKY_HALL_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_Rx;
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USART_Init(FLYSKY_HALL_SERIAL_USART, &USART_InitStructure);
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DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, DISABLE);
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USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, DISABLE);
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DMA_DeInit(FLYSKY_HALL_DMA_Stream_RX);
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DMA_InitTypeDef DMA_InitStructure;
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hallDMAFifo.clear();
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USART_ITConfig(FLYSKY_HALL_SERIAL_USART, USART_IT_RXNE, DISABLE);
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DMA_InitStructure.DMA_Channel = FLYSKY_HALL_DMA_Channel;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&FLYSKY_HALL_SERIAL_USART->DR);
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(hallDMAFifo.buffer());
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = hallDMAFifo.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(FLYSKY_HALL_DMA_Stream_RX, &DMA_InitStructure);
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USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, ENABLE);
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USART_Cmd(FLYSKY_HALL_SERIAL_USART, ENABLE);
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DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, ENABLE);
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}
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void flysky_hall_stick_init()
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{
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USART_DeInit(FLYSKY_HALL_SERIAL_USART);
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USART_InitTypeDef USART_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_PinAFConfig(FLYSKY_HALL_SERIAL_GPIO, FLYSKY_HALL_SERIAL_RX_GPIO_PinSource, FLYSKY_HALL_SERIAL_GPIO_AF);
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GPIO_PinAFConfig(FLYSKY_HALL_SERIAL_GPIO, FLYSKY_HALL_SERIAL_TX_GPIO_PinSource, FLYSKY_HALL_SERIAL_GPIO_AF);
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GPIO_InitStructure.GPIO_Pin = FLYSKY_HALL_SERIAL_TX_GPIO_PIN | FLYSKY_HALL_SERIAL_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(FLYSKY_HALL_SERIAL_GPIO, &GPIO_InitStructure);
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USART_InitStructure.USART_BaudRate = FLYSKY_HALL_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(FLYSKY_HALL_SERIAL_USART, &USART_InitStructure);
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DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, DISABLE);
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USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, DISABLE);
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DMA_DeInit(FLYSKY_HALL_DMA_Stream_RX);
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DMA_InitTypeDef DMA_InitStructure;
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hallDMAFifo.clear();
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USART_ITConfig(FLYSKY_HALL_SERIAL_USART, USART_IT_RXNE, DISABLE);
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USART_ITConfig(FLYSKY_HALL_SERIAL_USART, USART_IT_TXE, DISABLE);
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DMA_InitStructure.DMA_Channel = FLYSKY_HALL_DMA_Channel;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&FLYSKY_HALL_SERIAL_USART->DR);
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(hallDMAFifo.buffer());
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = hallDMAFifo.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(FLYSKY_HALL_DMA_Stream_RX, &DMA_InitStructure);
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USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, ENABLE);
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USART_Cmd(FLYSKY_HALL_SERIAL_USART, ENABLE);
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DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, ENABLE);
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reset_hall_stick();
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}
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static int parse_ps_state = 0;
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void Parse_Character(STRUCT_HALL *hallBuffer, unsigned char ch)
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{
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if (parse_ps_state != 0) return;
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parse_ps_state = 1;
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switch (hallBuffer->status) {
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case GET_START: {
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if (FLYSKY_HALL_PROTOLO_HEAD == ch) {
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hallBuffer->head = FLYSKY_HALL_PROTOLO_HEAD;
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hallBuffer->status = GET_ID;
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hallBuffer->msg_OK = 0;
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}
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break;
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}
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case GET_ID: {
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hallBuffer->hallID.ID = ch;
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hallBuffer->status = GET_LENGTH;
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break;
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}
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case GET_LENGTH: {
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hallBuffer->length = ch;
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hallBuffer->dataIndex = 0;
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hallBuffer->status = GET_DATA;
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if (0 == hallBuffer->length) {
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hallBuffer->status = GET_CHECKSUM;
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hallBuffer->checkSum = 0;
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}
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break;
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}
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case GET_DATA: {
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hallBuffer->data[hallBuffer->dataIndex++] = ch;
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if (hallBuffer->dataIndex >= hallBuffer->length) {
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hallBuffer->checkSum = 0;
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hallBuffer->dataIndex = 0;
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hallBuffer->status = GET_STATE;
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}
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break;
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}
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case GET_STATE: {
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hallBuffer->checkSum = 0;
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hallBuffer->dataIndex = 0;
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hallBuffer->status = GET_CHECKSUM;
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}
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case GET_CHECKSUM: {
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hallBuffer->checkSum |= ch << ((hallBuffer->dataIndex++) * 8);
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if (hallBuffer->dataIndex >= 2) {
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hallBuffer->dataIndex = 0;
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hallBuffer->status = CHECKSUM;
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} else {
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break;
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}
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}
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case CHECKSUM: {
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if (hallBuffer->checkSum ==
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calc_crc16((void *)&hallBuffer->head, hallBuffer->length + 3)) {
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hallBuffer->msg_OK = 1;
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goto Label_restart;
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} else {
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goto Label_error;
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}
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}
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}
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goto exit;
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Label_error:
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Label_restart:
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hallBuffer->status = GET_START;
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exit:
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parse_ps_state = 0;
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return;
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}
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/* Run it in 1ms timer routine */
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void flysky_hall_stick_loop(void)
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{
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uint8_t byte;
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while(HallGetByte(&byte))
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{
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HallProtocol.index++;
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Parse_Character(&HallProtocol, byte);
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if ( HallProtocol.msg_OK )
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{
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HallProtocol.msg_OK = 0;
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HallProtocol.stickState = HallProtocol.data[HallProtocol.length - 1];
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switch ( HallProtocol.hallID.hall_Id.receiverID )
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{
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case TRANSFER_DIR_TXMCU:
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if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_VALUES) {
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memcpy(hall_raw_values, HallProtocol.data, sizeof(hall_raw_values));
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for ( uint8_t channel = 0; channel < 4; channel++ )
|
|
{
|
|
hall_adc_values[channel] = FLYSKY_OFFSET_VALUE + hall_raw_values[channel];
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
globalData.flyskygimbals = true;
|
|
}
|
|
}
|
|
}
|