OP-22 Flight/PiOS: Spektrum satellite protocol started

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@626 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -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

flight/OpenPilot/System/inc/pios_config.h

@@ -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

flight/OpenPilot/System/openpilot.c

@@ -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);

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -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

flight/PiOS/inc/pios_spektrum.h

@@ -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 */

flight/PiOS/pios.h

@@ -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>