Added PPM input to the PipXtreme. Also added configurable GCSReceiver timeout.

flight/Libraries/packet_handler.c

@@ -353,7 +353,7 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
 
 		if (!rx_error)
 
-			// Pass on the channels to the PPM handler.
+			// Pass on the channels to the status handler.
 			if(data->status_handler)
 				data->status_handler((PHStatusPacketHandle)p);
 

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -85,6 +85,7 @@ typedef struct {
 	xTaskHandle sendDataTaskHandle;
 	xTaskHandle radioStatusTaskHandle;
 	xTaskHandle transparentCommTaskHandle;
+	xTaskHandle ppmInputTaskHandle;
 
 	// The UAVTalk connection on the com side.
 	UAVTalkConnection inUAVTalkCon;
@@ -135,6 +136,7 @@ static void sendPacketTask(void *parameters);
 static void sendDataTask(void *parameters);
 static void transparentCommTask(void * parameters);
 static void radioStatusTask(void *parameters);
+static void ppmInputTask(void *parameters);
 static int32_t transmitData(uint8_t * data, int32_t length);
 static int32_t transmitPacket(PHPacketHandle packet);
 static void receiveData(uint8_t *buf, uint8_t len);
@@ -166,6 +168,8 @@ static int32_t RadioComBridgeStart(void)
 		xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->sendPacketTaskHandle));
 		xTaskCreate(sendDataTask, (signed char *)"SendDataTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->sendDataTaskHandle));
 		xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
+		if(PIOS_PPM_RECEIVER)
+			xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
 #ifdef PIOS_INCLUDE_WDG
 		PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
 		if(PIOS_COM_TRANS_COM)
@@ -173,6 +177,8 @@ static int32_t RadioComBridgeStart(void)
 		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
 		PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
 		//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
+		if(PIOS_PPM_RECEIVER)
+			PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
 #endif
 		return 0;
 	}
@@ -679,9 +685,6 @@ static void transparentCommTask(void * parameters)
 static void radioStatusTask(void *parameters)
 {
 	PHStatusPacket status_packet;
-	status_packet.header.destination_id = 0xffffffff;
-	status_packet.header.type = PACKET_TYPE_STATUS;
-	status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
 
 	while (1) {
 		PipXStatusData pipxStatus;
@@ -730,6 +733,9 @@ static void radioStatusTask(void *parameters)
 			if(cntr++ == RADIOSTATS_UPDATE_PERIOD_MS / STATS_UPDATE_PERIOD_MS)
 			{
 				// Queue the status message
+				status_packet.header.destination_id = 0xffffffff;
+				status_packet.header.type = PACKET_TYPE_STATUS;
+				status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
 				status_packet.header.source_id = pipxStatus.DeviceID;
 				status_packet.header.rssi = pipxStatus.RSSI;
 				status_packet.retries = data->comTxRetries;
@@ -747,6 +753,37 @@ static void radioStatusTask(void *parameters)
 	}
 }
 
+/**
+ * The PPM input task.
+ */
+static void ppmInputTask(void *parameters)
+{
+	PHPpmPacket ppm_packet;
+	PHPacketHandle pph = (PHPacketHandle)&ppm_packet;
+
+	while (1) {
+
+#ifdef PIOS_INCLUDE_WDG
+		// Update the watchdog timer.
+		PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
+#endif /* PIOS_INCLUDE_WDG */
+
+		// Send the PPM packet
+		for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
+			ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
+
+		// Send the packet.
+		ppm_packet.header.destination_id = data->destination_id;
+		ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
+		ppm_packet.header.type = PACKET_TYPE_PPM;
+		ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
+		xQueueSend(data->sendPacketQueue, &pph, MAX_PORT_DELAY);
+
+		// Delay until the next update period.
+		vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
+	}
+}
+
 /**
  * Transmit data buffer to the com port.
  * \param[in] buf Data buffer to send

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -215,6 +215,7 @@ extern uint32_t pios_com_telem_usb_id;
 //------------------------
 #define PIOS_RCVR_MAX_DEVS                      3
 #define PIOS_RCVR_MAX_CHANNELS			12
+#define PIOS_GCSRCVR_TIMEOUT_MS     100
 
 //-------------------------
 // Receiver PPM input

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -76,6 +76,7 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_WDG_SENDPACKET      0x0004
 #define PIOS_WDG_SENDDATA        0x0008
 #define PIOS_WDG_TRANSCOMM       0x0010
+#define PIOS_WDG_PPMINPUT        0x0020
 
 //------------------------
 // TELEMETRY
@@ -159,6 +160,7 @@ extern uint32_t pios_com_uavtalk_com_id;
 extern uint32_t pios_com_trans_com_id;
 extern uint32_t pios_com_debug_id;
 extern uint32_t pios_com_rfm22b_id;
+extern uint32_t pios_ppm_rcvr_id;
 #define PIOS_COM_USB_HID           (pios_com_telem_usb_id)
 #define PIOS_COM_TELEMETRY         (pios_com_telemetry_id)
 #define PIOS_COM_FLEXI             (pios_com_flexi_id)
@@ -168,6 +170,7 @@ extern uint32_t pios_com_rfm22b_id;
 #define PIOS_COM_DEBUG             (pios_com_debug_id)
 #define PIOS_COM_RADIO             (pios_com_rfm22b_id)
 #define PIOS_COM_TELEM_USB         PIOS_COM_USB_HID
+#define PIOS_PPM_RECEIVER          (pios_ppm_rcvr_id)
 
 #define DEBUG_LEVEL 2
 #if DEBUG_LEVEL > 0
@@ -221,18 +224,14 @@ extern uint32_t pios_com_rfm22b_id;
 //------------------------
 #define PIOS_RCVR_MAX_DEVS          3
 #define PIOS_RCVR_MAX_CHANNELS      12
+#define PIOS_GCSRCVR_TIMEOUT_MS     100
 
 //-------------------------
 // Receiver PPM input
 //-------------------------
 #define PIOS_PPM_MAX_DEVS     1
 #define PIOS_PPM_NUM_INPUTS   12
-
+#define PIOS_PPM_PACKET_UPDATE_PERIOD_MS 25
-//-------------------------
-// Receiver PWM input
-//-------------------------
-#define PIOS_PWM_MAX_DEVS    1
-#define PIOS_PWM_NUM_INPUTS   1
 
 //-------------------------
 // Servo outputs

flight/PiOS/Common/pios_gcsrcvr.c

@@ -152,10 +152,9 @@ static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id) {
 	}
 
 	/* 
-	 * RTC runs at 625Hz so divide down the base rate so
+	 * RTC runs at 625Hz.
-	 * that this loop runs at 25Hz.
 	 */
-	if(++(gcsrcvr_dev->supv_timer) < 25) {
+	if(++(gcsrcvr_dev->supv_timer) < (PIOS_GCSRCVR_TIMEOUT_MS * 1000 / 625)) {
 		return;
 	}
 	gcsrcvr_dev->supv_timer = 0;

flight/PipXtreme/System/inc/pios_config.h

@@ -44,7 +44,6 @@
 
 /* Supported receiver interfaces */
 #define PIOS_INCLUDE_PPM
-#define PIOS_INCLUDE_PWM
 
 /* Supported USART-based PIOS modules */
 #define PIOS_INCLUDE_SPI

flight/PipXtreme/System/pios_board.c

@@ -57,6 +57,7 @@ uint32_t pios_com_trans_com_id = 0;
 uint32_t pios_com_debug_id = 0;
 uint32_t pios_com_rfm22b_id = 0;
 uint32_t pios_rfm22b_id = 0;
+uint32_t pios_ppm_rcvr_id = 0;
 
 /**
  * PIOS_Board_Init()
@@ -243,9 +244,6 @@ void PIOS_Board_Init(void) {
 		}
 		break;
 	}
-	case PIPXSETTINGS_TELEMETRYCONFIG_PPM_IN:
-	case PIPXSETTINGS_TELEMETRYCONFIG_PPM_OUT:
-	case PIPXSETTINGS_TELEMETRYCONFIG_RSSI:
 	case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
 		break;
 	}
@@ -285,6 +283,16 @@ void PIOS_Board_Init(void) {
 		break;
 	}
 	case PIPXSETTINGS_FLEXICONFIG_PPM_IN:
+#if defined(PIOS_INCLUDE_PPM)
+	{
+			uint32_t pios_ppm_id;
+			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
+
+			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_PPM */
 	case PIPXSETTINGS_FLEXICONFIG_PPM_OUT:
 	case PIPXSETTINGS_FLEXICONFIG_RSSI:
 	case PIPXSETTINGS_FLEXICONFIG_DISABLED:

flight/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -236,6 +236,89 @@ void PIOS_ADC_handler() {
 
 #endif	/* PIOS_INCLUDE_ADC */
 
+#if defined(PIOS_INCLUDE_TIM)
+
+#include "pios_tim_priv.h"
+
+static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
+	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
+	.TIM_ClockDivision = TIM_CKD_DIV1,
+	.TIM_CounterMode = TIM_CounterMode_Up,
+	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
+	.TIM_RepetitionCounter = 0x0000,
+};
+
+static const struct pios_tim_clock_cfg tim_1_cfg = {
+	.timer = TIM1,
+	.time_base_init = &tim_1_2_3_4_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM1_CC_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_2_cfg = {
+	.timer = TIM2,
+	.time_base_init = &tim_1_2_3_4_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM2_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_3_cfg = {
+	.timer = TIM3,
+	.time_base_init = &tim_1_2_3_4_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_clock_cfg tim_4_cfg = {
+	.timer = TIM4,
+	.time_base_init = &tim_1_2_3_4_time_base,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = TIM4_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
+	//.timer = TIM2,
+	.timer = TIM4,
+	//.timer_chan = TIM_Channel_4,
+	.timer_chan = TIM_Channel_4,
+	.pin = {
+		.gpio = GPIOB,
+		.init = {
+			//.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Mode  = GPIO_Mode_IPD,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+		},
+	},
+	//.remap = GPIO_PartialRemap_TIM2,
+};
+
+#endif	/* PIOS_INCLUDE_TIM */
+
 #if defined(PIOS_INCLUDE_USART)
 
 #include <pios_usart_priv.h>
@@ -359,71 +442,29 @@ void PIOS_RTC_IRQ_Handler (void)
 
 #endif
 
-#if defined(PIOS_INCLUDE_TIM)
+/*
+ * PPM Inputs
+ */
+#if defined(PIOS_INCLUDE_PPM)
+#include <pios_ppm_priv.h>
 
-#include "pios_tim_priv.h"
+const struct pios_ppm_cfg pios_ppm_cfg = {
-
+	.tim_ic_init = {
-static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
-	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
-	.TIM_ClockDivision = TIM_CKD_DIV1,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
-	.TIM_CounterMode = TIM_CounterMode_Up,
+		.TIM_ICFilter = 0x0,
-	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
-	.TIM_RepetitionCounter = 0x0000,
-};
-
-static const struct pios_tim_clock_cfg tim_1_cfg = {
-	.timer = TIM1,
-	.time_base_init = &tim_1_2_3_4_time_base,
-	.irq = {
-		.init = {
-			.NVIC_IRQChannel                   = TIM1_CC_IRQn,
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
-		},
 	},
+	.channels = &pios_tim_ppm_flexi_port,
+	.num_channels = 1,
 };
 
-static const struct pios_tim_clock_cfg tim_2_cfg = {
+#endif	/* PIOS_INCLUDE_PPM */
-	.timer = TIM2,
-	.time_base_init = &tim_1_2_3_4_time_base,
-	.irq = {
-		.init = {
-			.NVIC_IRQChannel                   = TIM2_IRQn,
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
-		},
-	},
-};
 
-static const struct pios_tim_clock_cfg tim_3_cfg = {
+#if defined(PIOS_INCLUDE_RCVR)
-	.timer = TIM3,
+#include "pios_rcvr_priv.h"
-	.time_base_init = &tim_1_2_3_4_time_base,
-	.irq = {
-		.init = {
-			.NVIC_IRQChannel                   = TIM3_IRQn,
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
-		},
-	},
-};
 
-static const struct pios_tim_clock_cfg tim_4_cfg = {
+#endif /* PIOS_INCLUDE_RCVR */
-	.timer = TIM4,
-	.time_base_init = &tim_1_2_3_4_time_base,
-	.irq = {
-		.init = {
-			.NVIC_IRQChannel                   = TIM4_IRQn,
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
-		},
-	},
-};
-
-#endif	/* PIOS_INCLUDE_TIM */
 
 #if defined(PIOS_INCLUDE_USB)
 #include "pios_usb_priv.h"

shared/uavobjectdefinition/pipxsettings.xml

@@ -2,7 +2,7 @@
 	<object name="PipXSettings" singleinstance="true" settings="true">
 		<description>PipXtreme configurations options.</description>
 		<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
-		<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="UAVTalk"/>
+		<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,Debug" defaultvalue="UAVTalk"/>
 		<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
 		<field name="FlexiSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>