Arne SchwabeandBertrand Songis
fd782538d8
* Implement SBUS output for external module bay. * Bugfixes and Companion support
291 lines
8.4 KiB
C++
291 lines
8.4 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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void intmoduleStop(void);
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void extmoduleStop(void);
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void intmoduleNoneStart(void);
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void intmodulePxxStart(void);
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#if defined(TARANIS_INTERNAL_PPM)
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void intmodulePpmStart(void);
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#endif
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void extmoduleNoneStart(void);
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void extmodulePpmStart(void);
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void extmodulePxxStart(void);
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#if defined(DSM2) || defined(MULTIMODULE)
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void extmoduleDsm2Start(void);
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#endif
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void extmoduleCrossfireStart(void);
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void intmoduleSendNextFrame();
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void init_pxx(uint32_t port)
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{
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if (port == INTERNAL_MODULE)
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intmodulePxxStart();
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else
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extmodulePxxStart();
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}
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void disable_pxx(uint32_t port)
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{
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if (port == INTERNAL_MODULE)
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intmoduleStop();
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else
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extmoduleStop();
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}
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#if defined(DSM2)
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void init_dsm2(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmoduleDsm2Start();
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}
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}
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void disable_dsm2(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmoduleStop();
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}
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}
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#endif
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void init_sbusOut(uint32_t port)
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{
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init_dsm2(port);
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}
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void disable_sbusOut(uint32_t port)
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{
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disable_dsm2(port);
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}
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void init_ppm(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmodulePpmStart();
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}
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#if defined(TARANIS_INTERNAL_PPM)
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else if (port == INTERNAL_MODULE) {
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intmodulePpmStart();
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}
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#endif
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}
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void disable_ppm(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmoduleStop();
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}
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#if defined(TARANIS_INTERNAL_PPM)
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else if (port == INTERNAL_MODULE) {
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intmoduleStop();
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}
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#endif
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}
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void init_no_pulses(uint32_t port)
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{
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if (port == INTERNAL_MODULE)
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intmoduleNoneStart();
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else
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extmoduleNoneStart();
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}
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void disable_no_pulses(uint32_t port)
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{
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if (port == INTERNAL_MODULE)
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intmoduleStop();
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else
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extmoduleStop();
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}
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void init_crossfire(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmoduleCrossfireStart();
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}
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}
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void disable_crossfire(uint32_t port)
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{
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if (port == EXTERNAL_MODULE) {
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extmoduleStop();
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}
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}
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void intmoduleStop()
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{
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INTERNAL_MODULE_OFF();
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NVIC_DisableIRQ(INTMODULE_DMA_IRQn);
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NVIC_DisableIRQ(INTMODULE_TIMER_CC_IRQn);
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_TIMER->DIER &= ~(TIM_DIER_CC2IE | TIM_DIER_UDE);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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}
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void intmoduleNoneStart()
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{
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INTERNAL_MODULE_OFF();
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = INTMODULE_PPM_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(INTMODULE_PPM_GPIO, &GPIO_InitStructure);
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GPIO_SetBits(INTMODULE_PPM_GPIO, INTMODULE_PPM_GPIO_PIN); // Set high
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
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INTMODULE_TIMER->ARR = 36000; // 18mS
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INTMODULE_TIMER->CCR2 = 32000; // Update time
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INTMODULE_TIMER->EGR = 1; // Restart
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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INTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(INTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(INTMODULE_TIMER_CC_IRQn, 7);
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}
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void intmodulePxxStart()
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{
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INTERNAL_MODULE_ON();
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GPIO_PinAFConfig(INTMODULE_PPM_GPIO, INTMODULE_PPM_GPIO_PinSource, INTMODULE_PPM_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = INTMODULE_PPM_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(INTMODULE_PPM_GPIO, &GPIO_InitStructure);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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INTMODULE_TIMER->ARR = 18000;
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INTMODULE_TIMER->CCER = TIM_CCER_CC3E | TIM_CCER_CC3NE;
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INTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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INTMODULE_TIMER->CCR3 = 16;
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_0; // Force O/P high
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INTMODULE_TIMER->EGR = 1; // Restart
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INTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2;
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INTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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intmoduleSendNextFrame();
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NVIC_EnableIRQ(INTMODULE_DMA_IRQn);
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NVIC_SetPriority(INTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(INTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(INTMODULE_TIMER_CC_IRQn, 7);
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}
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#if defined(TARANIS_INTERNAL_PPM)
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void intmodulePpmStart()
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{
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INTERNAL_MODULE_ON();
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GPIO_PinAFConfig(INTMODULE_PPM_GPIO, INTMODULE_PPM_GPIO_PinSource, INTMODULE_PPM_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = INTMODULE_PPM_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(INTMODULE_PPM_GPIO, &GPIO_InitStructure);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
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INTMODULE_TIMER->ARR = 45000;
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2; // PWM mode 1
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INTMODULE_TIMER->BDTR = TIM_BDTR_MOE;
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INTMODULE_TIMER->EGR = 1;
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INTMODULE_TIMER->DIER = TIM_DIER_UDE;
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INTMODULE_TIMER->CR1 = TIM_CR1_CEN;
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intmoduleSendNextFrame();
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NVIC_EnableIRQ(INTMODULE_DMA_IRQn);
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NVIC_SetPriority(INTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(INTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(INTMODULE_TIMER_CC_IRQn, 7);
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}
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#endif // defined(TARANIS_INTERNAL_PPM)
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void intmoduleSendNextFrame()
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{
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if (s_current_protocol[INTERNAL_MODULE] == PROTO_PXX) {
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INTMODULE_TIMER->CCR2 = *(modulePulsesData[INTERNAL_MODULE].pxx.ptr - 1) - 4000; // 2mS in advance
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_DMA_STREAM->CR |= INTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);
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INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].pxx.pulses);
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INTMODULE_DMA_STREAM->NDTR = modulePulsesData[INTERNAL_MODULE].pxx.ptr - modulePulsesData[INTERNAL_MODULE].pxx.pulses;
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INTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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#if defined(TARANIS_INTERNAL_PPM)
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else if (s_current_protocol[INTERNAL_MODULE] == PROTO_PPM) {
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INTMODULE_TIMER->CCR3 = GET_PPM_DELAY(INTERNAL_MODULE)*2;
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INTMODULE_TIMER->CCER = TIM_CCER_CC3E | (GET_PPM_POLARITY(INTERNAL_MODULE) ? 0 : TIM_CCER_CC3P);
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INTMODULE_TIMER->CCR2 = *(modulePulsesData[INTERNAL_MODULE].ppm.ptr - 1) - 4000; // 2mS in advance
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_DMA_STREAM->CR |= INTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);
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INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[INTERNAL_MODULE].ppm.pulses);
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INTMODULE_DMA_STREAM->NDTR = modulePulsesData[INTERNAL_MODULE].ppm.ptr - modulePulsesData[INTERNAL_MODULE].ppm.pulses;
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INTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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#endif
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else {
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE;
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}
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}
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extern "C" void INTMODULE_DMA_IRQHandler()
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{
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if (!DMA_GetITStatus(INTMODULE_DMA_STREAM, INTMODULE_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(INTMODULE_DMA_STREAM, INTMODULE_DMA_FLAG_TC);
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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}
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extern "C" void INTMODULE_TIMER_CC_IRQHandler()
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{
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INTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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setupPulses(INTERNAL_MODULE);
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intmoduleSendNextFrame();
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}
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