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Bsongis/xlite pxx (#5856)
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Pulses refactoring
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@bsongis
bsongis committed Apr 29, 2018
1 parent 6ec64b2 commit cfc02f6
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Showing 22 changed files with 207 additions and 215 deletions.
4 changes: 2 additions & 2 deletions radio/src/datastructs.h
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Expand Up @@ -679,8 +679,8 @@ PACK(struct ModuleData {
uint8_t receiver_telem_off:1; // false = receiver telem enabled
uint8_t receiver_channel_9_16:1; // false = pwm out 1-8, true 9-16
uint8_t external_antenna:1; // false = internal antenna, true = external antenna
uint8_t spare2:1;
uint8_t spare3;
uint8_t fast:1; // TODO: to be used later by external module (fast means serial @ high speed)
uint8_t spare2;
} pxx);
NOBACKUP(struct {
uint8_t spare1:6;
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2 changes: 1 addition & 1 deletion radio/src/myeeprom.h
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Expand Up @@ -48,7 +48,7 @@
#endif

#define GET_PPM_POLARITY(idx) g_model.moduleData[idx].ppm.pulsePol
#define GET_SBUS_POLARITY(idx) g_model.moduleData[idx].sbus.noninverted
#define GET_SBUS_POLARITY(idx) g_model.moduleData[idx].sbus.noninverted
#define GET_PPM_DELAY(idx) (g_model.moduleData[idx].ppm.delay * 50 + 300)
#define SET_DEFAULT_PPM_FRAME_LENGTH(idx) g_model.moduleData[idx].ppm.frameLength = 4 * max((int8_t)0, g_model.moduleData[idx].channelsCount)

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2 changes: 1 addition & 1 deletion radio/src/opentx.h
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Expand Up @@ -702,7 +702,7 @@ extern uint8_t flightModeTransitionLast;
void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
void evalMixes(uint8_t tick10ms);
void doMixerCalculations();
void scheduleNextMixerCalculation(uint8_t module, uint16_t delay);
void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms);

#if defined(CPUARM)
void checkTrims();
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66 changes: 33 additions & 33 deletions radio/src/pulses/dsm2_arm.cpp
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Expand Up @@ -35,7 +35,38 @@ uint8_t dsm2BindTimer = DSM2_BIND_TIMEOUT;

#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit

#if !defined(PPM_PIN_SERIAL)
#if defined(PPM_PIN_SERIAL)
void putDsm2SerialBit(uint8_t bit)
{
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte >>= 1;
if (bit & 1) {
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte |= 0x80;
}
if (++modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount >= 8) {
*modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte;
modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0;
}
}

void sendByteDsm2(uint8_t b) // max 10changes 0 10 10 10 10 1
{
putDsm2SerialBit(0); // Start bit
for (uint8_t i=0; i<8; i++) { // 8 data Bits
putDsm2SerialBit(b & 1);
b >>= 1;
}

putDsm2SerialBit(1); // Stop bit
putDsm2SerialBit(1); // Stop bit
}

void putDsm2Flush()
{
for (int i=0; i<16; i++) {
putDsm2SerialBit(1); // 16 extra stop bits
}
}
#else
void _send_1(uint8_t v)
{
if (modulePulsesData[EXTERNAL_MODULE].dsm2.index & 1)
Expand Down Expand Up @@ -74,37 +105,6 @@ void putDsm2Flush()
else
*(modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - 1) = modulePulsesData[EXTERNAL_MODULE].dsm2.rest;
}
#else
void putDsm2SerialBit(uint8_t bit)
{
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte >>= 1;
if (bit & 1) {
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte |= 0x80;
}
if (++modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount >= 8) {
*modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte;
modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0;
}
}

void sendByteDsm2(uint8_t b) // max 10changes 0 10 10 10 10 1
{
putDsm2SerialBit(0); // Start bit
for (uint8_t i=0; i<8; i++) { // 8 data Bits
putDsm2SerialBit(b & 1);
b >>= 1;
}

putDsm2SerialBit(1); // Stop bit
putDsm2SerialBit(1); // Stop bit
}

void putDsm2Flush()
{
for (int i=0; i<16; i++) {
putDsm2SerialBit(1); // 16 extra stop bits
}
}
#endif

// This is the data stream to send, prepare after 19.5 mS
Expand All @@ -119,7 +119,7 @@ void setupPulsesDSM2(uint8_t port)
modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;
#else
modulePulsesData[EXTERNAL_MODULE].dsm2.index = 0;
modulePulsesData[EXTERNAL_MODULE].dsm2.rest = 44000;
modulePulsesData[EXTERNAL_MODULE].dsm2.rest = DSM2_PERIOD * 2000;
#endif

modulePulsesData[EXTERNAL_MODULE].dsm2.ptr = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
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22 changes: 9 additions & 13 deletions radio/src/pulses/multi_arm.cpp
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Expand Up @@ -24,31 +24,28 @@
// see https://github.com/pascallanger/DIY-Multiprotocol-TX-Module
// file Multiprotocol/multiprotocol.h



#define MULTI_SEND_BIND (1 << 7)
#define MULTI_SEND_RANGECHECK (1 << 5)
#define MULTI_SEND_AUTOBIND (1 << 6)


#define MULTI_CHANS 16
#define MULTI_CHAN_BITS 11
#define MULTI_CHANS 16
#define MULTI_CHAN_BITS 11

static void sendFrameProtocolHeader(uint8_t port, bool failsafe);

void sendChannels(uint8_t port);

static void sendSetupFrame()
{

// Old multi firmware will mark config messsages as invalid frame and throw them away
sendByteSbus('M');
sendByteSbus('P');
sendByteSbus(0x80); // Module Configuration
sendByteSbus(1); // 1 byte data
uint8_t config = 0x1 | 0x2; // inversion + multi_telemetry
sendByteSbus(0x80); // Module Configuration
sendByteSbus(1); // 1 byte data
uint8_t config = 0x01 | 0x02; // inversion + multi_telemetry
#if !defined(PPM_PIN_SERIAL)
config |= 0x04; //input synchronsisation
// TODO why PPM_PIN_SERIAL would change MULTI protocol?
config |= 0x04; // input synchronsisation
#endif

sendByteSbus(config);
Expand All @@ -68,7 +65,6 @@ static void sendFailsafeChannels(uint8_t port)
if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES)
failsafeValue = FAILSAFE_CHANNEL_NOPULSE;


if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 0;
}
Expand All @@ -87,13 +83,13 @@ static void sendFailsafeChannels(uint8_t port)
bits >>= 8;
bitsavailable -= 8;
}

}
}

void setupPulsesMultimodule(uint8_t port)
{
static int counter=0;
static int counter = 0;

#if defined(PPM_PIN_SERIAL)
modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 0 ;
modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;
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25 changes: 14 additions & 11 deletions radio/src/pulses/pulses_arm.cpp
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Expand Up @@ -136,7 +136,7 @@ void setupPulses(uint8_t port)
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
disable_dsm2(port);
disable_serial(port);
break;
#endif

Expand All @@ -150,7 +150,7 @@ void setupPulses(uint8_t port)
case PROTO_MULTIMODULE:
#endif
case PROTO_SBUS:
disable_sbusOut(port);
disable_serial(port);
break;

case PROTO_PPM:
Expand All @@ -168,19 +168,20 @@ void setupPulses(uint8_t port)
switch (required_protocol) {
case PROTO_PXX:
setupPulsesPXX(port);
scheduleNextMixerCalculation(port, MODULES_TIMER_PXX_PERIOD);
scheduleNextMixerCalculation(port, PXX_PERIOD);
break;

case PROTO_SBUS:
setupPulsesSbus(port);
scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].sbus.refreshRate)/2);
scheduleNextMixerCalculation(port, SBUS_PERIOD);
break;

#if defined(DSM2)
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
setupPulsesDSM2(port);
scheduleNextMixerCalculation(port, 11);
scheduleNextMixerCalculation(port, DSM2_PERIOD);
break;
#endif

Expand All @@ -203,14 +204,14 @@ void setupPulses(uint8_t port)
}
sportSendBuffer(crossfire, len);
}
scheduleNextMixerCalculation(port, CROSSFIRE_FRAME_PERIOD);
scheduleNextMixerCalculation(port, CROSSFIRE_PERIOD);
break;
#endif

#if defined(MULTIMODULE)
case PROTO_MULTIMODULE:
setupPulsesMultimodule(port);
scheduleNextMixerCalculation(port, 4);
scheduleNextMixerCalculation(port, MULTIMODULE_PERIOD);
break;
#endif

Expand All @@ -219,7 +220,7 @@ void setupPulses(uint8_t port)
case PROTO_NONE:
#endif
setupPulsesPPMModule(port);
scheduleNextMixerCalculation(port, (45+g_model.moduleData[port].ppm.frameLength)/2);
scheduleNextMixerCalculation(port, PPM_PERIOD(port));
break;

default:
Expand All @@ -236,7 +237,7 @@ void setupPulses(uint8_t port)
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
init_dsm2(port);
init_serial(port, DSM2_BAUDRATE, DSM2_PERIOD * 2000);
break;
#endif

Expand All @@ -248,12 +249,14 @@ void setupPulses(uint8_t port)

#if defined(MULTIMODULE)
case PROTO_MULTIMODULE:
init_serial(port, MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000);
break;
#endif

case PROTO_SBUS:
init_sbusOut(port);
init_serial(port, SBUS_BAUDRATE, SBUS_PERIOD_HALF_US);
break;


case PROTO_PPM:
init_ppm(port);
break;
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55 changes: 35 additions & 20 deletions radio/src/pulses/pulses_arm.h
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Expand Up @@ -47,13 +47,15 @@ template<class T> struct PpmPulsesData {
#if defined(PXX_FREQUENCY_HIGH)
#define EXTMODULE_USART_PXX_BAUDRATE 420000
#define INTMODULE_USART_PXX_BAUDRATE 450000
#define MODULES_TIMER_PXX_PERIOD 4 // 4ms
#define PXX_PERIOD 4/*ms*/
#else
#define EXTMODULE_USART_PXX_BAUDRATE 115200
#define INTMODULE_USART_PXX_BAUDRATE 115200
#define MODULES_TIMER_PXX_PERIOD 9 // 9ms
#define PXX_PERIOD 9/*ms*/
#endif

#define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000)

#if defined(PPM_PIN_SERIAL)
PACK(struct PxxSerialPulsesData {
uint8_t pulses[64];
Expand All @@ -64,14 +66,24 @@ PACK(struct PxxSerialPulsesData {
uint16_t serialByte;
uint16_t serialBitCount;
});
#endif

#if defined(PPM_PIN_SERIAL)
PACK(struct Dsm2SerialPulsesData {
uint8_t pulses[64];
uint8_t * ptr;
uint8_t serialByte ;
uint8_t serialBitCount;
uint16_t _alignment;
});
#else
#define MAX_PULSES_TRANSITIONS 300
PACK(struct Dsm2TimerPulsesData {
pulse_duration_t pulses[MAX_PULSES_TRANSITIONS];
pulse_duration_t * ptr;
uint16_t rest;
uint8_t index;
});
#endif

#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
Expand All @@ -83,9 +95,17 @@ PACK(struct PxxUartPulsesData {
});
#endif

#define MULTIMODULE_BAUDRATE 100000
#if defined(INTMODULE_PULSES) || defined(EXTMODULE_PULSES)

#define PPM_PERIOD_HALF_US(module) ((g_model.moduleData[module].ppm.frameLength * 5 + 225) * 200) /*half us*/
#define PPM_PERIOD(module) (PPM_PERIOD_HALF_US(module) / 2000) /*ms*/
#define DSM2_BAUDRATE 125000
#define DSM2_PERIOD 22 /*ms*/
#define SBUS_BAUDRATE 100000
#define SBUS_PERIOD_HALF_US ((g_model.moduleData[EXTERNAL_MODULE].sbus.refreshRate * 5 + 225) * 200) /*half us*/
#define SBUS_PERIOD (SBUS_PERIOD_HALF_US / 2000) /*ms*/
#define MULTIMODULE_BAUDRATE 100000
#define MULTIMODULE_PERIOD 7 /*ms*/

#if !defined(EXTMODULE_USART) || !defined(EXTMODULE_USART)
/* PXX uses 20 bytes (as of Rev 1.1 document) with 8 changes per byte + stop bit ~= 162 max pulses */
/* DSM2 uses 2 header + 12 channel bytes, with max 10 changes (8n2) per byte + 16 bits trailer ~= 156 max pulses */
/* Multimodule uses 3 bytes header + 22 channel bytes with max 11 changes per byte (8e2) + 16 bits trailer ~= 291 max pulses */
Expand All @@ -103,15 +123,6 @@ PACK(struct PxxTimerPulsesData {
uint16_t pcmCrc;
uint32_t pcmOnesCount;
});

#define MAX_PULSES_TRANSITIONS 300

PACK(struct Dsm2TimerPulsesData {
pulse_duration_t pulses[MAX_PULSES_TRANSITIONS];
pulse_duration_t * ptr;
uint16_t rest;
uint8_t index;
});
#endif

#define CROSSFIRE_FRAME_MAXLEN 64
Expand All @@ -121,17 +132,21 @@ PACK(struct CrossfirePulsesData {
});

union ModulePulsesData {
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PxxUartPulsesData pxx_uart;
#endif
#if defined(PPM_PIN_SERIAL)
PxxSerialPulsesData pxx;
Dsm2SerialPulsesData dsm2;
#endif
#if defined(INTMODULE_PULSES) || defined(EXTMODULE_PULSES)
#elif !defined(INTMODULE_USART) || !defined(EXTMODULE_USART)
PxxTimerPulsesData pxx;
Dsm2TimerPulsesData dsm2;
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
PxxUartPulsesData pxx_uart;

#if defined(PPM_PIN_SERIAL)
Dsm2SerialPulsesData dsm2;
#else
Dsm2TimerPulsesData dsm2;
#endif

PpmPulsesData<pulse_duration_t> ppm;
CrossfirePulsesData crossfire;
} __ALIGNED;
Expand Down

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