radio/src/targets/sky9x/pulses_driver.cpp

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #include "opentx.h"
  22
  23 void setExternalModulePolarity()
  24 {
  25   Pwm * pwmptr = PWM;
  26   pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = GET_PPM_DELAY(EXTERNAL_MODULE) * 2; // Duty in half uS
  27   if (GET_PPM_POLARITY(EXTERNAL_MODULE))
  28     pwmptr->PWM_CH_NUM[3].PWM_CMR &= ~0x00000200;   // CPOL
  29   else
  30     pwmptr->PWM_CH_NUM[3].PWM_CMR |= 0x00000200;    // CPOL
  31 }
  32
  33 void setExtraModulePolarity()
  34 {
  35   Pwm * pwmptr = PWM;
  36   pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = GET_PPM_DELAY(EXTRA_MODULE) * 2; // Duty in half uS
  37   if (GET_PPM_POLARITY(EXTRA_MODULE))
  38     pwmptr->PWM_CH_NUM[1].PWM_CMR &= ~0x00000200;   // CPOL
  39   else
  40     pwmptr->PWM_CH_NUM[1].PWM_CMR |= 0x00000200;    // CPOL
  41 }
  42
  43 void module_output_active()
  44 {
  45   Pio *pioptr = PIOA;
  46   pioptr->PIO_ABCDSR[0] &= ~PIO_PA17;            // Peripheral C
  47   pioptr->PIO_ABCDSR[1] |= PIO_PA17;             // Peripheral C
  48   pioptr->PIO_PDR = PIO_PA17;                    // Disable bit A17 Assign to peripheral
  49 #if defined(REVX)
  50   if (g_model.moduleData[EXTERNAL_MODULE].ppm.outputType) {
  51     pioptr->PIO_MDDR = PIO_PA17;                 // Push Pull O/p in A17
  52   }
  53   else {
  54     pioptr->PIO_MDER = PIO_PA17;                 // Open Drain O/p in A17
  55   }
  56 #else
  57   pioptr->PIO_MDDR = PIO_PA17;                   // Push Pull O/p in A17
  58 #endif
  59   pioptr->PIO_PUER = PIO_PA17;                   // With pull up
  60 }
  61
  62 void init_main_ppm(uint32_t period, uint32_t out_enable)
  63 {
  64   Pwm * pwmptr;
  65
  66   setupPulsesPPMModule(EXTERNAL_MODULE);
  67
  68   if (out_enable) {
  69     module_output_active();
  70   }
  71
  72   pwmptr = PWM;
  73   // PWM3 for PPM output
  74   pwmptr->PWM_CH_NUM[3].PWM_CMR = 0x0004000B;                          // CLKA
  75   pwmptr->PWM_CH_NUM[3].PWM_CPDR = period;                             // Period in half uS
  76   pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period;                          // Period in half uS
  77   pwmptr->PWM_CH_NUM[3].PWM_CDTY = GET_PPM_DELAY(EXTERNAL_MODULE) * 2; // Duty in half uS
  78   pwmptr->PWM_ENA = PWM_ENA_CHID3;                                     // Enable channel 3
  79   pwmptr->PWM_IER1 = PWM_IER1_CHID3;
  80
  81   setExternalModulePolarity();
  82
  83   NVIC_SetPriority(PWM_IRQn, 3);
  84   NVIC_EnableIRQ(PWM_IRQn);
  85 }
  86
  87 void disable_main_ppm()
  88 {
  89   Pio * pioptr = PIOA;
  90   pioptr->PIO_PER = PIO_PA17;                                          // Assign A17 to PIO
  91   PWM->PWM_IDR1 = PWM_IDR1_CHID3;
  92 }
  93
  94 void init_second_ppm(uint32_t period)
  95 {
  96 #if !defined(REVA)
  97   // PWM1 for PPM2
  98   Pwm * pwmptr = PWM;
  99   configure_pins(PIO_PC15, PIN_PERIPHERAL | PIN_INPUT | PIN_PER_B | PIN_PORTC | PIN_NO_PULLUP);
 100   pwmptr->PWM_CH_NUM[1].PWM_CMR = 0x0000000B;                          // CLKB
 101   if (!GET_PPM_POLARITY(EXTRA_MODULE)) {
 102     pwmptr->PWM_CH_NUM[1].PWM_CMR |= 0x00000200;                       // CPOL
 103   }
 104   pwmptr->PWM_CH_NUM[1].PWM_CPDR = period;                             // Period
 105   pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = period;                          // Period
 106   pwmptr->PWM_CH_NUM[1].PWM_CDTY = GET_PPM_DELAY(EXTRA_MODULE)*2;      // Duty
 107   pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = GET_PPM_DELAY(EXTRA_MODULE)*2;   // Duty
 108   pwmptr->PWM_ENA = PWM_ENA_CHID1;                                     // Enable channel 1
 109   pwmptr->PWM_IER1 = PWM_IER1_CHID1;
 110 #endif
 111 }
 112
 113 void disable_second_ppm()
 114 {
 115 #if !defined(REVA)
 116   Pio * pioptr = PIOC;
 117   pioptr->PIO_PER = PIO_PC15;           // Assign C17 to PIO
 118   PWM->PWM_IDR1 = PWM_IDR1_CHID1;
 119 #endif
 120 }
 121
 122 void init_no_pulses(uint32_t port)
 123 {
 124   if (port == EXTERNAL_MODULE) {
 125     init_main_ppm(3000, 0);
 126   }
 127   else {
 128     // TODO
 129   }
 130 }
 131
 132 void disable_no_pulses(uint32_t port)
 133 {
 134   if (port == EXTERNAL_MODULE) {
 135     disable_ppm(EXTERNAL_MODULE);
 136   }
 137   else {
 138     // TODO
 139   }
 140 }
 141
 142 void init_ppm(uint32_t port)
 143 {
 144   if (port == EXTERNAL_MODULE) {
 145     init_main_ppm(3000, 1);
 146   }
 147   else {
 148     init_second_ppm(3000);
 149   }
 150 }
 151
 152 void disable_ppm(uint32_t port)
 153 {
 154   if (port == EXTERNAL_MODULE) {
 155     disable_main_ppm();
 156   }
 157   else {
 158     disable_second_ppm();
 159   }
 160 }
 161
 162 // Initialise the SSC to allow PXX output.
 163 // TD is on PA17, peripheral A
 164 void init_ssc(uint8_t baudrateDiv1000)
 165 {
 166   Ssc *sscptr;
 167
 168   PMC->PMC_PCER0 |= 0x00400000L;        // Enable peripheral clock to SSC
 169
 170   configure_pins(PIO_PA17, PIN_PERIPHERAL | PIN_INPUT | PIN_PER_A | PIN_PORTA);
 171
 172   sscptr = SSC;
 173   sscptr->SSC_THR = 0xFF;                    // Make the output high.
 174   sscptr->SSC_TFMR = 0x00000027;        //  0000 0000 0000 0000 0000 0000 1010 0111 (8 bit data, lsb)
 175   sscptr->SSC_CMR = Master_frequency / (1000 * baudrateDiv1000 * 2);
 176   sscptr->SSC_TCMR = 0;
 177   sscptr->SSC_CR = SSC_CR_TXEN;
 178
 179 #if defined(REVX)
 180   if (IS_MODULE_MULTIMODULE(EXTERNAL_MODULE)) {
 181     PIOA->PIO_MDDR = PIO_PA17;                 // Push Pull O/p in A17
 182   } else {
 183     PIOA->PIO_MDER = PIO_PA17;                                          // Open Drain O/p in A17
 184   }
 185 #else
 186   PIOA->PIO_MDDR = PIO_PA17;                                            // Push Pull O/p in A17
 187 #endif
 188 }
 189
 190 void disable_ssc()
 191 {
 192   Pio *pioptr;
 193   Ssc *sscptr;
 194
 195   // Revert back to pwm output
 196   pioptr = PIOA;
 197   pioptr->PIO_PER = PIO_PA17;           // Assign A17 to PIO
 198
 199   sscptr = SSC;
 200   sscptr->SSC_CR = SSC_CR_TXDIS;
 201 }
 202
 203 void init_pxx(uint32_t port)
 204 {
 205   if (port == EXTERNAL_MODULE) {
 206     init_main_ppm(2500 * 2, 0);
 207     init_ssc(125);                      // 8us per bit
 208   }
 209   else {
 210     // TODO
 211   }
 212 }
 213
 214 void disable_pxx(uint32_t port)
 215 {
 216   if (port == EXTERNAL_MODULE) {
 217     disable_ssc();
 218     disable_ppm(EXTERNAL_MODULE);
 219   }
 220   else {
 221     // TODO
 222   }
 223 }
 224
 225 void init_serial(uint32_t port, uint32_t baudrate, uint32_t period_half_us)
 226 {
 227   if (port == EXTERNAL_MODULE) {
 228     if (baudrate == 125000) {
 229       // TODO init_main_ppm could take the period as parameter?
 230       init_main_ppm(2500 * 2, 0);
 231       init_ssc(125);
 232     }
 233     else {
 234       init_main_ppm(3500 * 2, 0);
 235       init_ssc(100);
 236     }
 237     }
 238   else {
 239     // TODO
 240   }
 241 }
 242
 243 void disable_serial(uint32_t port)
 244 {
 245   if (port == EXTERNAL_MODULE) {
 246     disable_ssc();
 247     disable_ppm(EXTERNAL_MODULE);
 248   }
 249   else {
 250     // TODO
 251   }
 252 }
 253
 254 #if !defined(SIMU)
 255 extern "C" void PWM_IRQHandler(void)
 256 {
 257   Pwm * pwmptr = PWM;
 258   uint32_t reason = pwmptr->PWM_ISR1;
 259   uint32_t period;
 260
 261   if (reason & PWM_ISR1_CHID3) {
 262     // Use the current protocol, don't switch until set_up_pulses
 263     switch (s_current_protocol[EXTERNAL_MODULE]) {
 264       case PROTO_PXX:
 265         // Alternate periods of 6.5mS and 2.5 mS
 266         period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
 267         if (period == 2500 * 2) {
 268           period = 6500 * 2;
 269         }
 270         else {
 271           period = 2500 * 2;
 272         }
 273         pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
 274         if (period != 2500 * 2) {
 275           setupPulses(EXTERNAL_MODULE);
 276           setExternalModulePolarity();
 277         }
 278         else {
 279           // Kick off serial output here
 280           Ssc * sscptr = SSC;
 281           sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
 282           sscptr->SSC_TCR = (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.ptr - (uint8_t *)modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
 283           sscptr->SSC_PTCR = SSC_PTCR_TXTEN;        // Start transfers
 284         }
 285         break;
 286
 287       case PROTO_DSM2_LP45:
 288       case PROTO_DSM2_DSM2:
 289       case PROTO_DSM2_DSMX:
 290         // Alternate periods of 19.5mS and 2.5 mS
 291         period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
 292         if (period == 2500 * 2) {
 293           period = 19500 * 2;
 294         }
 295         else {
 296           period = 2500 * 2;
 297         }
 298         pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
 299         if (period != 2500 * 2) {
 300           setupPulses(EXTERNAL_MODULE);
 301         }
 302         else {
 303           // Kick off serial output here
 304           Ssc * sscptr = SSC;
 305           sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].dsm2.pulses);
 306           sscptr->SSC_TCR = (uint8_t *)modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - (uint8_t *)modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
 307           sscptr->SSC_PTCR = SSC_PTCR_TXTEN;        // Start transfers
 308         }
 309         break;
 310
 311 #if defined(MULTIMODULE)
 312       case PROTO_MULTIMODULE:
 313 #endif
 314       case PROTO_SBUS:
 315         // Todo: how to do inverted polarity on this platform?
 316         // Alternate periods of 5.5mS and 3.5 mS
 317         period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
 318         if (period == 3500 * 2) {
 319           period = 5500 * 2;
 320         }
 321         else {
 322           period = 3500 * 2;
 323         }
 324         pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
 325         if (period != 3500 * 2) {
 326           setupPulses(EXTERNAL_MODULE);
 327         }
 328         else {
 329           // Kick off serial output here
 330           Ssc * sscptr = SSC;
 331           sscptr->SSC_TPR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].dsm2.pulses);
 332           sscptr->SSC_TCR = (uint8_t *)modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - (uint8_t *)modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
 333           sscptr->SSC_PTCR = SSC_PTCR_TXTEN;        // Start transfers
 334         }
 335         break;
 336
 337       default:
 338         pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++;
 339         if (*modulePulsesData[EXTERNAL_MODULE].ppm.ptr == 0) {
 340           setExternalModulePolarity();
 341           setupPulses(EXTERNAL_MODULE);
 342         }
 343         break;
 344
 345     }
 346   }
 347
 348 #if !defined(REVA)
 349   if (reason & PWM_ISR1_CHID1) {
 350     pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = *modulePulsesData[EXTRA_MODULE].ppm.ptr++;
 351     if (*modulePulsesData[EXTRA_MODULE].ppm.ptr == 0) {
 352       setupPulsesPPMModule(EXTRA_MODULE);
 353       setExtraModulePolarity();
 354     }
 355   }
 356 #endif
 357 }
 358 #endif