rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

Added RFM22B (OPLink) receiver.

Browse Source
This commit is contained in:
Brian Webb 2012-12-13 21:07:19 -07:00
parent 6e929d7a92
commit 3a1803b7a1
14 changed files with 180 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
flight/Libraries/inc/packet_handler.h
View File

@ -33,6 +33,7 @@
#include <uavobjectmanager.h>
#include <gcsreceiver.h>
#include <oplinksettings.h>
#include <pios_rfm22b_rcvr.h>
// Public defines / macros
#define PHPacketSize(p) ((uint8_t*)(p->data) + p->header.data_size - (uint8_t*)p)
@ -75,7 +76,7 @@ typedef struct {
#define PH_PPM_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint16_t channels[GCSRECEIVER_CHANNEL_NUMELEM];
uint16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ecc[RS_ECC_NPARITY];
} PHPpmPacket, *PHPpmPacketHandle;

3
flight/Modules/ManualControl/manualcontrol.c
View File

@ -498,6 +498,9 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK:
group = RECEIVERACTIVITY_ACTIVEGROUP_OPLINK;
break;
default:
PIOS_Assert(0);
break;

1
flight/PiOS/Boards/STM32F4xx_RevoMini.h
View File

@ -214,6 +214,7 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 100
//-------------------------
// Receiver PPM input

8
flight/PiOS/Common/pios_rfm22b.c
View File

@ -1767,6 +1767,14 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
rfm22b_dev->ppm_fresh = true;
break;
}
default:
break;
}

99
flight/PiOS/Common/pios_rfm22b_rcvr.c Normal file
View File

@ -0,0 +1,99 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
#include "pios_rfm22b_priv.h"
/* Provide a RCVR driver */
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);
const struct pios_rcvr_driver pios_rfm22b_rcvr_driver = {
.read = PIOS_RFM22B_RCVR_Get,
};
int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
rfm22b_dev->ppm_supv_timer = 0;
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id))
PIOS_DEBUG_Assert(0);
return 0;
}
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM)
/* channel is out of range */
return -1;
return rfm22b_dev->ppm_channel[channel];
}
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625))
return;
rfm22b_dev->ppm_supv_timer = 0;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh)
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = 0;
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}
* @}
*/

6
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -36,6 +36,7 @@
#include <uavobjectmanager.h>
#include <oplinkstatus.h>
#include "pios_rfm22b.h"
#include "pios_rfm22b_rcvr.h"
// ************************************
@ -780,6 +781,11 @@ struct pios_rfm22b_dev {
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
uint8_t max_ack_delay;
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
};

40
flight/PiOS/inc/pios_rfm22b_rcvr.h Normal file
View File

@ -0,0 +1,40 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS RFM22B Receiver Input Functions
* @{
*
* @file pios_rfm22b_rcvr.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RFM22B Receiver Input 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_RFM22B_RCVR_H
#define PIOS_RFM22B_RCVR_MAX_CHANNELS 12
extern const struct pios_rcvr_driver pios_rfm22b_rcvr_driver;
extern int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id);
#define PIOS_RFM22B_RCVR_H
#endif /* PIOS_RFM22B_RCVR_H */

3
flight/PiOS/pios.h
View File

@ -174,6 +174,9 @@
#ifdef PIOS_INCLUDE_RFM22B_COM
#include <pios_rfm22b_com.h>
#endif
#ifdef PIOS_INCLUDE_RFM22B_RCVR
#include <pios_rfm22b_rcvr.h>
#endif
#endif
#include <pios_crc.h>

1
flight/RevoMini/Makefile
View File

@ -170,6 +170,7 @@ SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
SRC += $(PIOSCOMMON)/pios_rfm22b_rcvr.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_sbus.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c

3
flight/RevoMini/System/inc/pios_config.h
View File

@ -58,7 +58,8 @@
/* Variables related to the RFM22B functionality */
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RFM22B_RCVR
/* Select the sensors to include */
#define PIOS_INCLUDE_HMC5883
#define PIOS_HMC5883_HAS_GPIOS

13
flight/RevoMini/System/pios_board.c
View File

@ -616,15 +616,24 @@ void PIOS_Board_Init(void) {
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
#ifdef PIOS_INCLUDE_RFM22B_COM
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN))
PIOS_Assert(0);
}
#endif
#ifdef PIOS_INCLUDE_RFM22B_RCVR
if (PIOS_RFM22B_RCVR_Init(pios_rfm22b_id) != 0)
PIOS_Assert(0);
uint32_t pios_rfm22b_rcvr_id;
if (PIOS_RCVR_Init(&pios_rfm22b_rcvr_id, &pios_rfm22b_rcvr_driver, pios_rfm22b_id))
PIOS_Assert(0);
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_rfm22b_rcvr_id;
#endif
break;
}
}

3
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -109,6 +109,7 @@ void inputChannelForm::groupUpdated()
count = 8; // Need to make this 6 for CC
break;
case ManualControlSettings::CHANNELGROUPS_PPM:
case ManualControlSettings::CHANNELGROUPS_OPLINK:
case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
count = 12;
@ -117,7 +118,7 @@ void inputChannelForm::groupUpdated()
count = 18;
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = GCSReceiver::CHANNEL_NUMELEM;
count = 8;
break;
case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0;

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -3,7 +3,7 @@
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="ChannelGroups" units="Channel Group" type="enum"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None" defaultvalue="None"/>
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,OPLink,None" defaultvalue="None"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"

2
shared/uavobjectdefinition/receiveractivity.xml
View File

@ -2,7 +2,7 @@
<object name="ReceiverActivity" singleinstance="true" settings="false">
<description>Monitors which receiver channels have been active within the last second.</description>
<field name="ActiveGroup" units="Channel Group" type="enum" elements="1"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,OPLink,None"
defaultvalue="None"/>
<field name="ActiveChannel" units="channel" type="uint8" elements="1"
defaultvalue="255"/>