Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge.

flight/CopterControl/Makefile

@@ -187,6 +187,7 @@ SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
+SRC += $(PIOSSTM32F10X)/pios_rtc.c
 SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 

flight/CopterControl/System/inc/pios_config.h

@@ -64,6 +64,7 @@
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_BL_HELPER
 

flight/CopterControl/System/pios_board.c

@@ -348,39 +348,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM2_IRQHandler();
+void RTC_IRQHandler();
-void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM2_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM2,
 	.port = GPIOB,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_11,
 };
 
-void PIOS_TIM2_irq_handler()
+void PIOS_SUPV_irq_handler() {
+	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
+		/* Call the right handler */
 		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 
@@ -441,14 +440,12 @@ const struct pios_servo_channel pios_servo_channels[] = {
 		.channel = TIM_Channel_1,
 		.pin = GPIO_Pin_4,
 	},  	
-#ifndef PIOS_INCLUDE_SPEKTRUM
 	{
 		.timer = TIM2,
 		.port = GPIOA,
 		.channel = TIM_Channel_3,
 		.pin = GPIO_Pin_2,
 	},	
-#endif
 };
 
 const struct pios_servo_cfg pios_servo_cfg = {

flight/OpenPilot/System/pios_board.c

@@ -504,39 +504,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM6_IRQHandler();
+void RTC_IRQHandler();
-void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps, atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM6_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM6,
 	.port = GPIOA,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_10,
 };
 
-void PIOS_TIM6_irq_handler()
+void PIOS_SUPV_irq_handler() {
+	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
-	PIOS_SPEKTRUM_irq_handler();
+		/* Call the right handler */
+		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_COM_SPEKTRUM */
 

flight/PiOS/STM32F10x/pios_rtc.c

@@ -34,7 +34,7 @@
 #if defined(PIOS_INCLUDE_RTC)
 
 #ifndef PIOS_RTC_PRESCALAR
-#define PIOS_RTC_PRESCALAR 0
+#define PIOS_RTC_PRESCALAR 100
 #endif
 
 void PIOS_RTC_Init()
@@ -48,6 +48,13 @@ void PIOS_RTC_Init()
 	RTC_WaitForLastTask();
 	RTC_WaitForSynchro();
 	RTC_WaitForLastTask();
+
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+	/* Enable the RTC Second interrupt */
+	RTC_ITConfig( RTC_IT_SEC, ENABLE );
+	/* Wait until last write operation on RTC registers has finished */
+	RTC_WaitForLastTask();
+#endif
 	RTC_SetPrescaler(PIOS_RTC_PRESCALAR);	// counting at 8e6 / 128
 	RTC_WaitForLastTask();
 	RTC_SetCounter(0);

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -44,26 +44,21 @@
 /**
  * @Note Framesyncing:
  * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
- * is never called if regularly getting bytes
+ * is never called if regularly getting bytes.
- 
+ * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms.
-/**
+ * Good for both 11ms and 22ms framecycles
- * Constants
  */
 
 /* Global Variables */
 
-/* Local Variables, use pios_usart */
+/* Local Variables */
 static uint16_t CaptureValue[12],CaptureValueTemp[12];
 static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
-
-
-#define MAX_UPDATE_DELAY_MS 100
-static uint32_t last_updated_time = 0;
-static uint32_t max_update_period = 0;
 uint8_t sync_of = 0;
+uint16_t supv_timer=0;
 
 /**
-* Initialise the onboard USARTs
+* Bind and Initialise Spektrum satellite receiver
 */
 void PIOS_SPEKTRUM_Init(void)
 {
@@ -72,8 +67,15 @@ void PIOS_SPEKTRUM_Init(void)
 		PIOS_SPEKTRUM_Bind();
 	}
 
-	last_updated_time = 0;
+	/* Init RTC supervisor timer interrupt */
-	max_update_period = MAX_UPDATE_DELAY_MS * 1000 * PIOS_RTC_Rate();
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+	/* Init RTC clock */
+	PIOS_RTC_Init();
 }
 
 /**
@@ -84,7 +86,6 @@ void PIOS_SPEKTRUM_Init(void)
 */
 int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
 {
-	if(PIOS_RTC_Counter() - last_updated_time
 	/* Return error if channel not available */
 	if (Channel >= 12) {
 		return -1;
@@ -223,8 +224,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 }
 
 /* Interrupt handler for USART */
-void SPEKTRUM_IRQHandler(uint32_t usart_id)
+void SPEKTRUM_IRQHandler(uint32_t usart_id) {
-{
 	/* by always reading DR after SR make sure to clear any error interrupts */
 	volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
 	volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
@@ -240,39 +240,35 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id)
 		/* Disable TXE interrupt (TXEIE=0) */
 		USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
 	}
-	/* clear "watchdog" timer */
+	/* byte arrived so clear "watchdog" timer */
-	TIM_SetCounter(pios_spektrum_cfg.timer, 0);
+	supv_timer=0;
 }
 
 /**
- *@brief This function is called when a spektrum word hasnt been decoded for too long
+ *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
+ *@brief clears the channel values
  */
-void PIOS_SPEKTRUM_timeout() {
+void PIOS_SPEKTRUM_irq_handler() {
-	for (int i = 0; i < 12; i++)
+	/* 125hz */
-	{
+	supv_timer++;
-		CaptureValue[i] = 0;
+	if(supv_timer > 5) {
-		CaptureValueTemp[i] = 0;
-	}
-}	
-	/* Clear timer interrupt pending bit */
-	TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
-
 		/* sync between frames */
 		sync = 0;
 		bytecount = 0;
 		prev_byte = 0xFF;
 		frame_error = 0;
 		sync_of++;
-	/* watchdog activated */
+		/* watchdog activated after 100ms silence */
 		if (sync_of > 12) {
 			/* signal lost */
 			sync_of = 0;
-		for (int i = 0; i < 12; i++)
+			for (int i = 0; i < 12; i++) {
-		{
 				CaptureValue[i] = 0;
 				CaptureValueTemp[i] = 0;
 			}
 		}
+		supv_timer = 0;
+	}
 }
 
 #endif

flight/PiOS/inc/pios_rtc.h

@@ -27,8 +27,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_SERVO_H
+#ifndef PIOS_RTC_H
-#define PIOS_SERVO_H
+#define PIOS_RTC_H
 
 /* Public Functions */
 extern void PIOS_RTC_Init();

flight/PiOS/inc/pios_spektrum_priv.h

@@ -37,13 +37,10 @@
 
 struct pios_spektrum_cfg {
 	const struct pios_usart_cfg * pios_usart_spektrum_cfg;
-	TIM_TimeBaseInitTypeDef tim_base_init;
 	GPIO_InitTypeDef gpio_init;
 	uint32_t remap;		/* GPIO_Remap_* */
 	struct stm32_irq irq;
-	TIM_TypeDef * timer;
 	GPIO_TypeDef * port;
-	uint16_t ccr;
 	uint16_t pin;
 };
 

flight/PiOS/pios.h

@@ -73,6 +73,7 @@
 #include <pios_irq.h>
 #include <pios_adc.h>
 #include <pios_servo.h>
+#include <pios_rtc.h>
 #include <pios_i2c.h>
 #include <pios_spi.h>
 #include <pios_ppm.h>