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Code Issues Releases Activity

OP-22 Flight/PiOS: Spektrum satellite protocol started

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@626 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-05-15 18:22:03 +00:00 committed by sambas
parent 5991a93739
commit 26aecf720d
6 changed files with 326 additions and 2 deletions
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1
flight/OpenPilot/Makefile
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@ -154,6 +154,7 @@ SRC += $(PIOSSTM32F10X)/pios_i2c.c
SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_debug.c

1
flight/OpenPilot/System/inc/pios_config.h
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@ -35,6 +35,7 @@
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
//#define PIOS_INCLUDE_SPEKTRUM
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_SERVO

21
flight/OpenPilot/System/openpilot.c
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@ -112,8 +112,15 @@ void OpenPilotInit()
PIOS_Servo_Init();
PIOS_ADC_Init();
PIOS_GPIO_Init();
//PIOS_PPM_Init();
#if defined(PIOS_INCLUDE_SPEKTRUM)
PIOS_SPEKTRUM_Init();
#endif
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#endif
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
#endif
PIOS_USB_Init(0);
PIOS_I2C_Init();
@ -153,8 +160,18 @@ static void TaskTesting(void *pvParameters)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
*/
#if defined(PIOS_INCLUDE_SPEKTRUM)
int32_t len = PIOS_SPEKTRUM_RxBufferUsed(COM_USART3);
for(int32_t i = 0; i < len; i++) {
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "%c", PIOS_SPEKTRUM_RxBufferGet(USART_3));
}
#endif
#if defined(PIOS_INCLUDE_PWM)
PIOS_COM_SendFormattedStringNonBlocking(COM_USART2, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
#endif
#if defined(PIOS_INCLUDE_PPM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
#endif
/* This blocks the task until there is something on the buffer */
/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);

262
flight/PiOS/STM32F10x/pios_spektrum.c Normal file
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@ -0,0 +1,262 @@
/**
******************************************************************************
*
* @file pios_spektrum.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers.
* @see The GNU Public License (GPL) Version 3
* @defgroup PIOS_SPEKTRUM USART Functions
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if defined(PIOS_INCLUDE_PWM)
#error "Both PWM and SPEKTRUM input defined, choose only one"
#endif
/* Global Variables */
/* Local Variables, use pios_usart */
static uint8_t spektrum_buffer[PIOS_USART_RX_BUFFER_SIZE];
static volatile uint8_t spektrum_buffer_tail;
static volatile uint8_t spektrum_buffer_head;
static volatile uint8_t spektrum_buffer_size;
/**
* Initialise the onboard USARTs
*/
void PIOS_SPEKTRUM_Init(void)
{
#if (PIOS_SPEKTRUM_ENABLED)
/* Clear buffer counters */
spektrum_buffer_tail = spektrum_buffer_head = spektrum_buffer_size = 0;
/* Configure USART Pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
/* Configure and Init USARTs */
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx;
/* Configure the USART Interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
/* Enable the USART Pins Software Remapping */
PIOS_USART3_REMAP_FUNC;
/* Configure and Init USART Rx input with internal pull-ups */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
/* Enable USART clock */
PIOS_USART3_CLK_FUNC;
/* Enable USART Receive interrupt */
USART_InitStructure.USART_BaudRate = 115200;
USART_Init(PIOS_USART3_USART, &USART_InitStructure);
USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
//USART_ITConfig(PIOS_USART3_USART, USART_IT_TXE, ENABLE);
/* Configure the USART Interrupts */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART3_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART3_NVIC_PRIO;
NVIC_Init(&NVIC_InitStructure);
USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
/* Enable USART */
USART_Cmd(PIOS_USART3_USART, ENABLE);
#endif
}
/**
* Returns number of free bytes in receive buffer
* \param[in] USART USART name
* \return USART number of free bytes
* \return 1: USART available
* \return 0: USART not available
*/
int32_t PIOS_SPEKTRUM_RxBufferFree(USARTNumTypeDef usart)
{
if(usart >= PIOS_USART_NUM) {
return 0;
} else {
return PIOS_USART_RX_BUFFER_SIZE - spektrum_buffer_size;
}
}
/**
* Returns number of used bytes in receive buffer
* \param[in] USART USART name
* \return > 0: number of used bytes
* \return 0 if USART not available
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_SPEKTRUM_RxBufferUsed(USARTNumTypeDef usart)
{
if(usart >= PIOS_USART_NUM) {
return 0;
} else {
return spektrum_buffer_size;
}
}
/**
* Gets a byte from the receive buffer
* \param[in] USART USART name
* \return -1 if USART not available
* \return -2 if no new byte available
* \return >= 0: number of received bytes
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_SPEKTRUM_RxBufferGet(USARTNumTypeDef usart)
{
if(usart >= PIOS_USART_NUM) {
/* USART not available */
return -1;
}
if(!spektrum_buffer_size) {
/* nothing new in buffer */
return -2;
}
/* get byte - this operation should be atomic! */
PIOS_IRQ_Disable();
uint8_t b = spektrum_buffer[spektrum_buffer_tail];
if(++spektrum_buffer_tail >= PIOS_USART_RX_BUFFER_SIZE) {
spektrum_buffer_tail = 0;
}
--spektrum_buffer_size;
PIOS_IRQ_Enable();
/* Return received byte */
return b;
}
/**
* Returns the next byte of the receive buffer without taking it
* \param[in] USART USART name
* \return -1 if USART not available
* \return -2 if no new byte available
* \return >= 0: number of received bytes
* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_SPEKTRUM_RxBufferPeek(USARTNumTypeDef usart)
{
if(usart >= PIOS_USART_NUM) {
/* USART not available */
return -1;
}
if(!spektrum_buffer_size) {
/* Nothing new in buffer */
return -2;
}
/* Get byte - this operation should be atomic! */
PIOS_IRQ_Disable();
uint8_t b = spektrum_buffer[spektrum_buffer_tail];
PIOS_IRQ_Enable();
/* Return received byte */
return b;
}
/**
* puts a byte onto the receive buffer
* \param[in] USART USART name
* \param[in] b byte which should be put into Rx buffer
* \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, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_SPEKTRUM_RxBufferPut(USARTNumTypeDef usart, uint8_t b)
{
if(usart >= PIOS_USART_NUM) {
/* USART not available */
return -1;
}
if(spektrum_buffer_size >= PIOS_USART_RX_BUFFER_SIZE) {
/* Buffer full (retry) */
return -2;
}
/* Copy received byte into receive buffer */
/* This operation should be atomic! */
PIOS_IRQ_Disable();
spektrum_buffer[spektrum_buffer_head] = b;
if(++spektrum_buffer_head >= PIOS_USART_RX_BUFFER_SIZE) {
spektrum_buffer_head = 0;
}
++spektrum_buffer_size;
PIOS_IRQ_Enable();
/* No error */
return 0;
}
#if (PIOS_SPEKTRUM_ENABLED)
/* Interrupt handler for USART3 */
PIOS_USART3_IRQHANDLER_FUNC
{
/* check if RXNE flag is set */
if(PIOS_USART3_USART->SR & (1 << 5)) {
uint8_t b = PIOS_USART3_USART->DR;
if(PIOS_USART_RxBufferPut(USART_3, b) < 0) {
/* Here we could add some error handling */
}
}
if(PIOS_USART3_USART->SR & (1 << 7)) { // check if TXE flag is set
if(PIOS_USART_TxBufferUsed(USART_3) > 0) {
int b = PIOS_USART_TxBufferGet(USART_3);
if(b < 0) {
/* Here we could add some error handling */
PIOS_USART3_USART->DR = 0xff;
} else {
PIOS_USART3_USART->DR = b;
}
} else {
/* Disable TXE interrupt (TXEIE=0) */
PIOS_USART3_USART->CR1 &= ~(1 << 7);
}
}
}
#endif
#endif

42
flight/PiOS/inc/pios_spektrum.h Normal file
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@ -0,0 +1,42 @@
/**
******************************************************************************
*
* @file pios_spektrum.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief Spektrum satellite functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SPEKTRUM_H
#define PIOS_SPEKTRUM_H
/* Global Types */
/* Public Functions */
extern void PIOS_SPEKTRUM_Init(void);
extern int32_t PIOS_SPEKTRUM_RxBufferFree(USARTNumTypeDef uart);
extern int32_t PIOS_SPEKTRUM_RxBufferUsed(USARTNumTypeDef uart);
extern int32_t PIOS_SPEKTRUM_RxBufferGet(USARTNumTypeDef uart);
extern int32_t PIOS_SPEKTRUM_RxBufferPeek(USARTNumTypeDef uart);
extern int32_t PIOS_SPEKTRUM_RxBufferPut(USARTNumTypeDef uart, uint8_t b);
#endif /* PIOS_SPEKTRUM_H */

1
flight/PiOS/pios.h
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@ -75,6 +75,7 @@
#include <pios_spi.h>
#include <pios_ppm.h>
#include <pios_pwm.h>
#include <pios_spektrum.h>
#include <pios_usb.h>
#include <pios_usb_hid.h>
#include <pios_debug.h>