mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
rcvr: support multiple simultaneous receivers
Now also supports multiple instances of the Spektrum driver. These are configured as Spektrum1 and Spektrum2.
This commit is contained in:
Stacey Sheldon
parent
829b8b83f6
commit
06cdeb7b61
@ -863,8 +863,12 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
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#if defined(PIOS_INCLUDE_RCVR)
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#include "pios_rcvr_priv.h"
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struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
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uint32_t pios_rcvr_max_channel;
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
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* NOTE: No slot in this map for NONE.
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*/
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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#endif /* PIOS_INCLUDE_RCVR */
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#if defined(PIOS_INCLUDE_USB_HID)
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@ -984,7 +988,8 @@ void PIOS_Board_Init(void) {
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}
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#endif /* PIOS_INCLUDE_GPS */
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break;
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case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
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case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
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case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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{
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uint32_t pios_usart_spektrum_id;
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@ -996,6 +1001,16 @@ void PIOS_Board_Init(void) {
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
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PIOS_Assert(0);
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}
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uint32_t pios_spektrum_rcvr_id;
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
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PIOS_Assert(0);
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}
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
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} else {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
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}
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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@ -1046,7 +1061,8 @@ void PIOS_Board_Init(void) {
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}
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#endif /* PIOS_INCLUDE_GPS */
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break;
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case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
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case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
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case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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{
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uint32_t pios_usart_spektrum_id;
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@ -1058,6 +1074,16 @@ void PIOS_Board_Init(void) {
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
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PIOS_Assert(0);
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}
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uint32_t pios_spektrum_rcvr_id;
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
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PIOS_Assert(0);
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}
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if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
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} else {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
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}
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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@ -1074,96 +1100,44 @@ void PIOS_Board_Init(void) {
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break;
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}
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/* Configure the selected receiver */
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uint8_t manualcontrolsettings_inputmode;
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ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
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/* Configure the rcvr port */
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uint8_t hwsettings_rcvrport;
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HwSettingsRcvrPortGet(&hwsettings_rcvrport);
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switch (manualcontrolsettings_inputmode) {
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case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_RCVRPORT_DISABLED:
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break;
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case HWSETTINGS_RCVRPORT_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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PIOS_PWM_Init();
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uint32_t pios_pwm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
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#endif /* PIOS_INCLUDE_PWM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
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case HWSETTINGS_RCVRPORT_PPM:
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#if defined(PIOS_INCLUDE_PPM)
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PIOS_PPM_Init();
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uint32_t pios_ppm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
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#endif /* PIOS_INCLUDE_PPM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
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hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
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uint32_t pios_spektrum_rcvr_id;
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
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#if defined(PIOS_INCLUDE_SBUS)
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
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uint32_t pios_sbus_rcvr_id;
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if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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}
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#endif /* PIOS_INCLUDE_SBUS */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_GCS:
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#if defined(PIOS_INCLUDE_GCSRCVR)
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PIOS_GCSRCVR_Init();
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uint32_t pios_gcsrcvr_rcvr_id;
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if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < GCSRECEIVER_CHANNEL_NUMELEM && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_gcsrcvr_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif /* PIOS_INCLUDE_GCSRCVR */
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break;
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}
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#if defined(PIOS_INCLUDE_GCSRCVR)
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PIOS_GCSRCVR_Init();
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uint32_t pios_gcsrcvr_rcvr_id;
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if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
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#endif /* PIOS_INCLUDE_GCSRCVR */
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/* Remap AFIO pin */
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GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
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PIOS_Servo_Init();
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@ -141,7 +141,7 @@ static void manualControlTask(void *parameters)
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
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float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM];
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// Wait until next update
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vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
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@ -165,22 +165,28 @@ static void manualControlTask(void *parameters)
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if (!ManualControlCommandReadOnly(&cmd)) {
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// Read channel values in us
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for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
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if (pios_rcvr_channel_to_id_map[n].id) {
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cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
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pios_rcvr_channel_to_id_map[n].channel);
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} else {
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for (uint8_t n = 0;
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n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM;
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++n) {
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extern uint32_t pios_rcvr_group_map[];
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if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
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cmd.Channel[n] = -1;
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} else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) {
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cmd.Channel[n] = -2;
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} else {
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cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]],
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settings.ChannelNumber[n]);
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}
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scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
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}
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// Check settings, if error raise alarm
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if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
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settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
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settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
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settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
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settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
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if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
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settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
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settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
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settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
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settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
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ManualControlCommandSet(&cmd);
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@ -188,10 +194,10 @@ static void manualControlTask(void *parameters)
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}
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// decide if we have valid manual input or not
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bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
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validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
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validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
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validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
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bool valid_input_detected = validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) &&
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validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) &&
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validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) &&
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validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
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// Implement hysteresis loop on connection status
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if (valid_input_detected && (++connected_count > 10)) {
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@ -218,28 +224,31 @@ static void manualControlTask(void *parameters)
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AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
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// Scale channels to -1 -> +1 range
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cmd.Roll = scaledChannel[settings.Roll];
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cmd.Pitch = scaledChannel[settings.Pitch];
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cmd.Yaw = scaledChannel[settings.Yaw];
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cmd.Throttle = scaledChannel[settings.Throttle];
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flightMode = scaledChannel[settings.FlightMode];
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cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
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cmd.Pitch = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH];
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cmd.Yaw = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW];
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cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
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flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
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AccessoryDesiredData accessory;
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// Set Accessory 0
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if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory0];
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if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
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MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
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accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
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if(AccessoryDesiredInstSet(0, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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// Set Accessory 1
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if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory1];
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if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] !=
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MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
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accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
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if(AccessoryDesiredInstSet(1, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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// Set Accsesory 2
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if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory2];
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// Set Accessory 2
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if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] !=
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MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
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accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
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if(AccessoryDesiredInstSet(2, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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@ -30,6 +30,7 @@
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#include <pios.h>
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#include <openpilot.h>
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#include <uavobjectsinit.h>
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#include <hwsettings.h>
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#include "manualcontrolsettings.h"
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//#define I2C_DEBUG_PIN 0
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@ -496,7 +497,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
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},
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};
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#include <pios_spektrum_priv.h>
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static const struct pios_spektrum_cfg pios_spektrum_cfg = {
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.bind = {
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.gpio = GPIOA,
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@ -964,8 +964,12 @@ static const struct stm32_gpio pios_debug_pins[] = {
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#if defined(PIOS_INCLUDE_RCVR)
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#include "pios_rcvr_priv.h"
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struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
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uint32_t pios_rcvr_max_channel;
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
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* NOTE: No slot in this map for NONE.
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*/
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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#endif /* PIOS_INCLUDE_RCVR */
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#if defined(PIOS_INCLUDE_USB_HID)
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@ -1047,126 +1051,125 @@ void PIOS_Board_Init(void) {
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/* Bind the AHRS comms layer to the AHRS SPI link */
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AhrsConnect(pios_spi_ahrs_id);
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/* Initialize the PiOS library */
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#if defined(PIOS_INCLUDE_COM)
|
||||
/* Configure the main IO port */
|
||||
uint8_t hwsettings_op_mainport;
|
||||
HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
|
||||
|
||||
switch (hwsettings_op_mainport) {
|
||||
case HWSETTINGS_OP_MAINPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_OP_MAINPORT_TELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
||||
{
|
||||
uint32_t pios_usart_telem_rf_id;
|
||||
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
{
|
||||
uint32_t pios_usart_telem_rf_id;
|
||||
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
||||
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
||||
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
||||
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
||||
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
{
|
||||
uint32_t pios_usart_gps_id;
|
||||
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||
NULL, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* Configure the flexi port */
|
||||
uint8_t hwsettings_op_flexiport;
|
||||
HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport);
|
||||
|
||||
switch (hwsettings_op_flexiport) {
|
||||
case HWSETTINGS_OP_FLEXIPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_OP_FLEXIPORT_GPS:
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
{
|
||||
uint32_t pios_usart_gps_id;
|
||||
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||
NULL, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
PIOS_Servo_Init();
|
||||
PIOS_ADC_Init();
|
||||
PIOS_GPIO_Init();
|
||||
|
||||
/* Configure the selected receiver */
|
||||
uint8_t manualcontrolsettings_inputmode;
|
||||
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
|
||||
/* Configure the aux port */
|
||||
uint8_t hwsettings_op_auxport;
|
||||
HwSettingsOP_AuxPortGet(&hwsettings_op_auxport);
|
||||
|
||||
switch (manualcontrolsettings_inputmode) {
|
||||
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
|
||||
#error More receiver inputs than available devices
|
||||
#endif
|
||||
PIOS_PWM_Init();
|
||||
uint32_t pios_pwm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
for (uint8_t i = 0;
|
||||
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
|
||||
i++) {
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
|
||||
pios_rcvr_max_channel++;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_PWM */
|
||||
break;
|
||||
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
|
||||
#error More receiver inputs than available devices
|
||||
#endif
|
||||
PIOS_PPM_Init();
|
||||
uint32_t pios_ppm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
for (uint8_t i = 0;
|
||||
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
|
||||
i++) {
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
|
||||
pios_rcvr_max_channel++;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_PPM */
|
||||
break;
|
||||
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
|
||||
switch (hwsettings_op_auxport) {
|
||||
case HWSETTINGS_OP_AUXPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_OP_AUXPORT_DEBUG:
|
||||
/* Not supported yet */
|
||||
break;
|
||||
case HWSETTINGS_OP_AUXPORT_SPEKTRUM1:
|
||||
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
||||
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
|
||||
#error More receiver inputs than available devices
|
||||
#endif
|
||||
{
|
||||
uint32_t pios_usart_spektrum_id;
|
||||
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_spektrum_id;
|
||||
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_spektrum_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
for (uint8_t i = 0;
|
||||
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
|
||||
i++) {
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
|
||||
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
|
||||
pios_rcvr_max_channel++;
|
||||
}
|
||||
{
|
||||
uint32_t pios_usart_spektrum_id;
|
||||
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_spektrum_id;
|
||||
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_spektrum_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
#error SBUS NOT ON OP YET
|
||||
#endif /* PIOS_INCLUDE_SBUS */
|
||||
break;
|
||||
break;
|
||||
}
|
||||
|
||||
/* Configure the rcvr port */
|
||||
uint8_t hwsettings_rcvrport;
|
||||
HwSettingsRcvrPortGet(&hwsettings_rcvrport);
|
||||
|
||||
switch (hwsettings_rcvrport) {
|
||||
case HWSETTINGS_RCVRPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_RCVRPORT_PWM:
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
PIOS_PWM_Init();
|
||||
uint32_t pios_pwm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
|
||||
#endif /* PIOS_INCLUDE_PWM */
|
||||
break;
|
||||
case HWSETTINGS_RCVRPORT_PPM:
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
PIOS_PPM_Init();
|
||||
uint32_t pios_ppm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
|
||||
#endif /* PIOS_INCLUDE_PPM */
|
||||
break;
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
|
||||
@ -69,6 +69,7 @@ UAVOBJSRCFILENAMES += velocityactual
|
||||
UAVOBJSRCFILENAMES += velocitydesired
|
||||
UAVOBJSRCFILENAMES += watchdogstatus
|
||||
UAVOBJSRCFILENAMES += flightstatus
|
||||
UAVOBJSRCFILENAMES += hwsettings
|
||||
|
||||
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
|
||||
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
|
||||
|
||||
@ -206,7 +206,7 @@ extern uint32_t pios_com_telem_usb_id;
|
||||
// PIOS_RCVR
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_RCVR_MAX_DEVS 1
|
||||
#define PIOS_RCVR_MAX_DEVS 3
|
||||
#define PIOS_RCVR_MAX_CHANNELS 12
|
||||
|
||||
//-------------------------
|
||||
@ -222,6 +222,7 @@ extern uint32_t pios_com_telem_usb_id;
|
||||
//-------------------------
|
||||
// Receiver SPEKTRUM input
|
||||
//-------------------------
|
||||
#define PIOS_SPEKTRUM_MAX_DEVS 2
|
||||
#define PIOS_SPEKTRUM_NUM_INPUTS 12
|
||||
|
||||
//-------------------------
|
||||
|
||||
@ -195,6 +195,7 @@ extern uint32_t pios_com_aux_id;
|
||||
//-------------------------
|
||||
// Receiver SPEKTRUM input
|
||||
//-------------------------
|
||||
#define PIOS_SPEKTRUM_MAX_DEVS 1
|
||||
#define PIOS_SPEKTRUM_NUM_INPUTS 12
|
||||
|
||||
//-------------------------
|
||||
|
||||
@ -31,10 +31,11 @@
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
#include "pios_spektrum_priv.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
||||
|
||||
#include "pios_spektrum_priv.h"
|
||||
|
||||
/**
|
||||
* @Note Framesyncing:
|
||||
* The code resets the watchdog timer whenever a single byte is received, so what watchdog code
|
||||
@ -52,22 +53,80 @@ const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
|
||||
.read = PIOS_SPEKTRUM_Get,
|
||||
};
|
||||
|
||||
/* Local Variables */
|
||||
static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
|
||||
static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
|
||||
uint8_t sync_of = 0;
|
||||
uint16_t supv_timer=0;
|
||||
enum pios_spektrum_dev_magic {
|
||||
PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9,
|
||||
};
|
||||
|
||||
struct pios_spektrum_fsm {
|
||||
uint16_t channel;
|
||||
uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS];
|
||||
uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
|
||||
uint8_t prev_byte;
|
||||
uint8_t sync;
|
||||
uint8_t bytecount;
|
||||
uint8_t datalength;
|
||||
uint8_t frame_error;
|
||||
uint8_t sync_of;
|
||||
};
|
||||
|
||||
struct pios_spektrum_dev {
|
||||
enum pios_spektrum_dev_magic magic;
|
||||
const struct pios_spektrum_cfg * cfg;
|
||||
|
||||
struct pios_spektrum_fsm fsm;
|
||||
|
||||
uint16_t supv_timer;
|
||||
};
|
||||
|
||||
static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev)
|
||||
{
|
||||
return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_FREERTOS) && 0
|
||||
static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
|
||||
{
|
||||
struct pios_spektrum_dev * spektrum_dev;
|
||||
|
||||
spektrum_dev = (struct pios_spektrum_dev *)malloc(sizeof(*spektrum_dev));
|
||||
if (!spektrum_dev) return(NULL);
|
||||
|
||||
spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
|
||||
return(spektrum_dev);
|
||||
}
|
||||
#else
|
||||
static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS];
|
||||
static uint8_t pios_spektrum_num_devs;
|
||||
static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
|
||||
{
|
||||
struct pios_spektrum_dev * spektrum_dev;
|
||||
|
||||
if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) {
|
||||
return (NULL);
|
||||
}
|
||||
|
||||
spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++];
|
||||
spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
|
||||
|
||||
return (spektrum_dev);
|
||||
}
|
||||
#endif
|
||||
|
||||
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
|
||||
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
|
||||
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
|
||||
static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b);
|
||||
|
||||
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
|
||||
{
|
||||
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context;
|
||||
|
||||
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
|
||||
PIOS_Assert(valid);
|
||||
|
||||
/* process byte(s) and clear receive timer */
|
||||
for (uint8_t i = 0; i < buf_len; i++) {
|
||||
PIOS_SPEKTRUM_Decode(buf[i]);
|
||||
supv_timer = 0;
|
||||
PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]);
|
||||
spektrum_dev->supv_timer = 0;
|
||||
}
|
||||
|
||||
/* Always signal that we can accept another byte */
|
||||
@ -82,23 +141,118 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
|
||||
return (buf_len);
|
||||
}
|
||||
|
||||
static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm)
|
||||
{
|
||||
fsm->channel = 0;
|
||||
fsm->prev_byte = 0xFF;
|
||||
fsm->sync = 0;
|
||||
fsm->bytecount = 0;
|
||||
fsm->datalength = 0;
|
||||
fsm->frame_error = 0;
|
||||
fsm->sync_of = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Decodes a byte
|
||||
* \param[in] b byte which should be spektrum decoded
|
||||
* \return 0 if no error
|
||||
* \return -1 if USART not available
|
||||
* \return -2 if buffer full (retry)
|
||||
*/
|
||||
static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b)
|
||||
{
|
||||
fsm->bytecount++;
|
||||
if (fsm->sync == 0) {
|
||||
/* Known sync bytes, 0x01, 0x02, 0x12 */
|
||||
if (fsm->bytecount == 2) {
|
||||
if (b == 0x01) {
|
||||
fsm->datalength=0; // 10bit
|
||||
fsm->sync = 1;
|
||||
fsm->bytecount = 2;
|
||||
}
|
||||
else if(b == 0x02) {
|
||||
fsm->datalength=0; // 10bit
|
||||
fsm->sync = 1;
|
||||
fsm->bytecount = 2;
|
||||
}
|
||||
else if(b == 0x12) {
|
||||
fsm->datalength=1; // 11bit
|
||||
fsm->sync = 1;
|
||||
fsm->bytecount = 2;
|
||||
}
|
||||
else
|
||||
{
|
||||
fsm->bytecount = 0;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if ((fsm->bytecount % 2) == 0) {
|
||||
uint16_t data;
|
||||
uint8_t channeln;
|
||||
|
||||
fsm->channel = (fsm->prev_byte << 8) + b;
|
||||
channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F;
|
||||
data = fsm->channel & (0x03FF+(0x0400*fsm->datalength));
|
||||
if(channeln==0 && data<10) // discard frame if throttle misbehaves
|
||||
{
|
||||
fsm->frame_error=1;
|
||||
}
|
||||
if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error)
|
||||
fsm->CaptureValueTemp[channeln] = data;
|
||||
}
|
||||
}
|
||||
if (fsm->bytecount == 16) {
|
||||
fsm->bytecount = 0;
|
||||
fsm->sync = 0;
|
||||
fsm->sync_of = 0;
|
||||
if (!fsm->frame_error)
|
||||
{
|
||||
for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
|
||||
{
|
||||
fsm->CaptureValue[i] = fsm->CaptureValueTemp[i];
|
||||
}
|
||||
}
|
||||
fsm->frame_error=0;
|
||||
}
|
||||
fsm->prev_byte = b;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Bind and Initialise Spektrum satellite receiver
|
||||
*/
|
||||
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
|
||||
{
|
||||
// TODO: need setting flag for bind on next powerup
|
||||
PIOS_DEBUG_Assert(spektrum_id);
|
||||
PIOS_DEBUG_Assert(cfg);
|
||||
PIOS_DEBUG_Assert(driver);
|
||||
|
||||
struct pios_spektrum_dev * spektrum_dev;
|
||||
|
||||
spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc();
|
||||
if (!spektrum_dev) goto out_fail;
|
||||
|
||||
/* Bind the configuration to the device instance */
|
||||
spektrum_dev->cfg = cfg;
|
||||
|
||||
if (bind) {
|
||||
PIOS_SPEKTRUM_Bind(cfg);
|
||||
}
|
||||
|
||||
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
|
||||
PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm));
|
||||
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
|
||||
*spektrum_id = (uint32_t)spektrum_dev;
|
||||
|
||||
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id);
|
||||
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
return (0);
|
||||
|
||||
out_fail:
|
||||
return(-1);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -109,11 +263,16 @@ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cf
|
||||
*/
|
||||
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
|
||||
{
|
||||
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
|
||||
|
||||
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
|
||||
PIOS_Assert(valid);
|
||||
|
||||
/* Return error if channel not available */
|
||||
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
|
||||
return -1;
|
||||
}
|
||||
return CaptureValue[channel];
|
||||
return spektrum_dev->fsm.CaptureValue[channel];
|
||||
}
|
||||
|
||||
/**
|
||||
@ -145,114 +304,38 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Decodes a byte
|
||||
* \param[in] b byte which should be spektrum decoded
|
||||
* \return 0 if no error
|
||||
* \return -1 if USART not available
|
||||
* \return -2 if buffer full (retry)
|
||||
* \note Applications shouldn't call these functions directly
|
||||
*/
|
||||
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
|
||||
{
|
||||
static uint16_t channel = 0; /*, sync_word = 0;*/
|
||||
uint8_t channeln = 0, frame = 0;
|
||||
uint16_t data = 0;
|
||||
byte_array[bytecount] = b;
|
||||
bytecount++;
|
||||
if (sync == 0) {
|
||||
//sync_word = (prev_byte << 8) + b;
|
||||
#if 0
|
||||
/* maybe create object to show this data */
|
||||
if(bytecount==1)
|
||||
{
|
||||
/* record losscounter into channel8 */
|
||||
CaptureValueTemp[7]=b;
|
||||
/* instant write */
|
||||
CaptureValue[7]=b;
|
||||
}
|
||||
#endif
|
||||
/* Known sync bytes, 0x01, 0x02, 0x12 */
|
||||
if (bytecount == 2) {
|
||||
if (b == 0x01) {
|
||||
datalength=0; // 10bit
|
||||
//frames=1;
|
||||
sync = 1;
|
||||
bytecount = 2;
|
||||
}
|
||||
else if(b == 0x02) {
|
||||
datalength=0; // 10bit
|
||||
//frames=2;
|
||||
sync = 1;
|
||||
bytecount = 2;
|
||||
}
|
||||
else if(b == 0x12) {
|
||||
datalength=1; // 11bit
|
||||
//frames=2;
|
||||
sync = 1;
|
||||
bytecount = 2;
|
||||
}
|
||||
else
|
||||
{
|
||||
bytecount = 0;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if ((bytecount % 2) == 0) {
|
||||
channel = (prev_byte << 8) + b;
|
||||
frame = channel >> 15;
|
||||
channeln = (channel >> (10+datalength)) & 0x0F;
|
||||
data = channel & (0x03FF+(0x0400*datalength));
|
||||
if(channeln==0 && data<10) // discard frame if throttle misbehaves
|
||||
{
|
||||
frame_error=1;
|
||||
}
|
||||
if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
|
||||
CaptureValueTemp[channeln] = data;
|
||||
}
|
||||
}
|
||||
if (bytecount == 16) {
|
||||
//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
|
||||
bytecount = 0;
|
||||
sync = 0;
|
||||
sync_of = 0;
|
||||
if (!frame_error)
|
||||
{
|
||||
for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
|
||||
{
|
||||
CaptureValue[i] = CaptureValueTemp[i];
|
||||
}
|
||||
}
|
||||
frame_error=0;
|
||||
}
|
||||
prev_byte = b;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
*@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
|
||||
*@brief clears the channel values
|
||||
*/
|
||||
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
|
||||
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
|
||||
{
|
||||
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id;
|
||||
|
||||
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
|
||||
PIOS_Assert(valid);
|
||||
|
||||
/* 125hz */
|
||||
supv_timer++;
|
||||
if(supv_timer > 5) {
|
||||
spektrum_dev->supv_timer++;
|
||||
if(spektrum_dev->supv_timer > 5) {
|
||||
/* sync between frames */
|
||||
sync = 0;
|
||||
bytecount = 0;
|
||||
prev_byte = 0xFF;
|
||||
frame_error = 0;
|
||||
sync_of++;
|
||||
struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm);
|
||||
|
||||
fsm->sync = 0;
|
||||
fsm->bytecount = 0;
|
||||
fsm->prev_byte = 0xFF;
|
||||
fsm->frame_error = 0;
|
||||
fsm->sync_of++;
|
||||
/* watchdog activated after 100ms silence */
|
||||
if (sync_of > 12) {
|
||||
if (fsm->sync_of > 12) {
|
||||
/* signal lost */
|
||||
sync_of = 0;
|
||||
fsm->sync_of = 0;
|
||||
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
|
||||
CaptureValue[i] = 0;
|
||||
CaptureValueTemp[i] = 0;
|
||||
fsm->CaptureValue[i] = 0;
|
||||
fsm->CaptureValueTemp[i] = 0;
|
||||
}
|
||||
}
|
||||
supv_timer = 0;
|
||||
spektrum_dev->supv_timer = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -31,13 +31,6 @@
|
||||
#ifndef PIOS_RCVR_H
|
||||
#define PIOS_RCVR_H
|
||||
|
||||
struct pios_rcvr_channel_map {
|
||||
uint32_t id;
|
||||
uint8_t channel;
|
||||
};
|
||||
|
||||
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
|
||||
|
||||
struct pios_rcvr_driver {
|
||||
void (*init)(uint32_t id);
|
||||
int32_t (*read)(uint32_t id, uint8_t channel);
|
||||
|
||||
@ -1,8 +1,14 @@
|
||||
<xml>
|
||||
<object name="HwSettings" singleinstance="true" settings="true">
|
||||
<description>Selection of optional hardware configurations.</description>
|
||||
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
|
||||
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum1,Spektrum2,ComAux,I2C" defaultvalue="Disabled"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum1,Spektrum2,ComAux" defaultvalue="Telemetry"/>
|
||||
|
||||
<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
|
||||
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
|
||||
<field name="OP_AuxPort" units="function" type="enum" elements="1" options="Disabled,Debug,Spektrum1" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM" defaultvalue="PWM"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -1,15 +1,18 @@
|
||||
<xml>
|
||||
<object name="ManualControlSettings" singleinstance="true" settings="true">
|
||||
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
|
||||
<field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum,S.Bus,GCS" defaultvalue="PWM"/>
|
||||
<field name="Roll" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Pitch" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="ChannelGroups" units="Channel Group" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"
|
||||
options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
|
||||
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="255"
|
||||
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
|
||||
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
|
||||
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
|
||||
<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
|
||||
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
|
||||
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
|
||||
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
|
||||
|
||||
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
|
||||
|
||||
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
|
||||
@ -20,9 +23,6 @@
|
||||
<!-- Note these options values should be identical to those defined in FlightMode -->
|
||||
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
|
||||
|
||||
<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
|
||||
<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
|
||||
<field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
|
||||
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user