mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
PPM generator module now working (the modem can generate a nice precise PPM stream) - not yet done the RF streaming side of PPM though.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2995 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
61c8ea9185
commit
3e67bf19dc
@ -36,7 +36,10 @@
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// *************************************************************
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#define PPM_OUT_SYNC_PULSE_US 12000 // microseconds
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#define PPM_OUT_FRAME_PERIOD_US 20000 // microseconds
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#define PPM_OUT_HIGH_PULSE_US 480 // microseconds
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#define PPM_OUT_MIN_CHANNEL_PULSE_US 850 // microseconds
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#define PPM_OUT_MAX_CHANNEL_PULSE_US 2200 // microseconds
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#define PPM_IN_MIN_SYNC_PULSE_US 7000 // microseconds .. Pip's 6-chan TX goes down to 8.8ms
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#define PPM_IN_MAX_SYNC_PULSE_US 16000 // microseconds .. Pip's 6-chan TX goes up to 14.4ms
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@ -59,18 +62,23 @@ volatile int8_t ppm_In_ChannelsDetected = 0;
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volatile int8_t ppm_In_ChannelPulseIndex = -1;
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volatile uint32_t ppm_In_PreviousValue = 0;
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volatile uint32_t ppm_In_CurrentValue = 0;
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volatile uint32_t ppm_In_ChannelPulseWidthNew[PIOS_PPM_IN_MAX_INPUTS];
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volatile uint32_t ppm_In_ChannelPulseWidth[PIOS_PPM_IN_MAX_INPUTS];
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volatile uint32_t ppm_In_ChannelPulseWidthNew[PIOS_PPM_MAX_CHANNELS];
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volatile uint32_t ppm_In_ChannelPulseWidth[PIOS_PPM_MAX_CHANNELS];
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volatile uint16_t ppm_Out_ChannelPulseWidth[PIOS_PPM_MAX_CHANNELS];
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volatile uint16_t ppm_Out_SyncPulseWidth = PPM_OUT_FRAME_PERIOD_US;
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volatile int8_t ppm_Out_ChannelPulseIndex = -1;
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volatile uint8_t ppm_Out_ChannelsUsed = 0;
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// *************************************************************
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// Initialise the ppm
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// Initialise the PPM INPUT
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void ppm_In_Init(void)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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// disable the timer
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TIM_Cmd(PIOS_PPM_IN_TIM, DISABLE);
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TIM_Cmd(PIOS_PPM_TIM, DISABLE);
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ppm_In_PrevFrames = 0;
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ppm_In_NoisyChannelCounter = 0;
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@ -83,29 +91,29 @@ void ppm_In_Init(void)
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ppm_In_PreviousValue = 0;
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ppm_In_CurrentValue = 0;
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for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS; i++)
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for (int i = 0; i < PIOS_PPM_MAX_CHANNELS; i++)
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{
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ppm_In_ChannelPulseWidthNew[i] = 0;
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ppm_In_ChannelPulseWidth[i] = 0;
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}
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// Setup RCC
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PIOS_PPM_IN_TIMER_RCC_FUNC;
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PIOS_PPM_TIMER_EN_RCC_FUNC;
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// Enable timer interrupts
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_IN_TIM_IRQ;
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_TIM_IRQ;
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NVIC_Init(&NVIC_InitStructure);
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// Init PPM IN pin
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = PPM_IN_PIN;
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GPIO_InitStructure.GPIO_Mode = PPM_IN_MODE;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Pin = PPM_IN_PIN;
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GPIO_Init(PPM_IN_PORT, &GPIO_InitStructure);
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// remap the pin to switch it to timer mode
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@ -119,7 +127,7 @@ void ppm_In_Init(void)
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInitStructure.TIM_Channel = PIOS_PPM_IN_TIM_CHANNEL;
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TIM_ICInit(PIOS_PPM_IN_TIM_PORT, &TIM_ICInitStructure);
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TIM_ICInit(PIOS_PPM_TIM_PORT, &TIM_ICInitStructure);
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// Configure timer clocks
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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@ -128,47 +136,51 @@ void ppm_In_Init(void)
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_InternalClockConfig(PIOS_PPM_IN_TIM_PORT);
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TIM_TimeBaseInit(PIOS_PPM_IN_TIM_PORT, &TIM_TimeBaseStructure);
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TIM_InternalClockConfig(PIOS_PPM_TIM_PORT);
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TIM_TimeBaseInit(PIOS_PPM_TIM_PORT, &TIM_TimeBaseStructure);
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// Enable the Capture Compare Interrupt Request
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TIM_ITConfig(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR, ENABLE);
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TIM_ITConfig(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR, ENABLE);
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// Enable timer
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TIM_Cmd(PIOS_PPM_IN_TIM, ENABLE);
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TIM_Cmd(PIOS_PPM_TIM, ENABLE);
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// Setup local variable which stays in this scope
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// Doing this here and using a local variable saves doing it in the ISR
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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#ifdef PPM_DEBUG
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DEBUG_PRINTF("ppm_in: initialised\r\n");
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#endif
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}
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// TIMER capture/compare interrupt
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void PIOS_PPM_IN_CC_IRQ_FUNC(void)
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void PIOS_PPM_IN_CC_IRQ(void)
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{
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uint32_t pulse_width_us; // new pulse width in microseconds
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if (booting || ppm_initialising)
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{ // just clear the interrupt
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if (TIM_GetITStatus(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
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if (TIM_GetITStatus(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
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{
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TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_IN_TIM_PORT);
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_TIM_PORT);
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}
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TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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return;
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}
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// Do this as it's more efficient
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if (TIM_GetITStatus(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
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if (TIM_GetITStatus(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
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{
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ppm_In_PreviousValue = ppm_In_CurrentValue;
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ppm_In_CurrentValue = PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_IN_TIM_PORT);
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ppm_In_CurrentValue = PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_TIM_PORT);
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}
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// Clear TIMER Capture compare interrupt pending bit
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TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
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// Capture computation
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if (ppm_In_CurrentValue > ppm_In_PreviousValue)
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@ -194,7 +206,7 @@ void PIOS_PPM_IN_CC_IRQ_FUNC(void)
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if (ppm_In_ChannelsDetected > 0 && ppm_In_ChannelPulseIndex == ppm_In_ChannelsDetected)
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{ // detected same number of channels as in previous PPM frame .. save the new channel PWM values
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// if (ppm_In_NoisyChannelCounter <= 2) // only update channels if the channels are fairly noise free
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for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS; i++)
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for (int i = 0; i < PIOS_PPM_MAX_CHANNELS; i++)
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ppm_In_ChannelPulseWidth[i] = ppm_In_ChannelPulseWidthNew[i];
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}
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ppm_In_ChannelsDetected = ppm_In_ChannelPulseIndex; // the number of channels we found in this frame
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@ -217,7 +229,7 @@ void PIOS_PPM_IN_CC_IRQ_FUNC(void)
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if (pulse_width_us >= PPM_IN_MIN_CHANNEL_PULSE_US && pulse_width_us <= PPM_IN_MAX_CHANNEL_PULSE_US)
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{ // this new channel pulse is within the accepted tolerance range
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if (ppm_In_ChannelPulseIndex < PIOS_PPM_IN_MAX_INPUTS)
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if (ppm_In_ChannelPulseIndex < PIOS_PPM_MAX_CHANNELS)
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{
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int32_t difference = (int32_t)pulse_width_us - ppm_In_ChannelPulseWidthNew[ppm_In_ChannelPulseIndex];
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if (abs(difference) >= 300)
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@ -283,7 +295,7 @@ int32_t ppm_In_GetChannelPulseWidth(uint8_t channel)
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return -1;
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// Return error if channel not available
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if (channel >= PIOS_PPM_IN_MAX_INPUTS || channel >= ppm_In_ChannelsDetected)
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if (channel >= PIOS_PPM_MAX_CHANNELS || channel >= ppm_In_ChannelsDetected)
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return -2;
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if (ppm_In_LastValidFrameTimer > (PPM_IN_MAX_SYNC_PULSE_US * 4) / 1000)
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@ -292,6 +304,153 @@ int32_t ppm_In_GetChannelPulseWidth(uint8_t channel)
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return ppm_In_ChannelPulseWidth[channel]; // return channel pulse width
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}
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// *************************************************************
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// Initialise the PPM INPUT
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void ppm_Out_Init(void)
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{
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// disable the timer
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TIM_Cmd(PIOS_PPM_TIM, DISABLE);
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ppm_Out_SyncPulseWidth = PPM_OUT_FRAME_PERIOD_US;
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ppm_Out_ChannelPulseIndex = -1;
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ppm_Out_ChannelsUsed = 0;
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for (int i = 0; i < PIOS_PPM_MAX_CHANNELS; i++)
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ppm_Out_ChannelPulseWidth[i] = 1000;
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// ppm_Out_ChannelPulseWidth[i] = 1000 + i * 100; // TEST ONLY
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// ppm_Out_ChannelsUsed = 5; // TEST ONLY
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PIOS_PPM_TIMER_EN_RCC_FUNC;
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// Init PPM OUT pin
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = PPM_OUT_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(PPM_OUT_PORT, &GPIO_InitStructure);
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// remap the pin to switch it to timer mode
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// GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, ENABLE);
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// GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, ENABLE);
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GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE);
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// Enable timer interrupt
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_TIM_IRQ;
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NVIC_Init(&NVIC_InitStructure);
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// Time base configuration
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = ppm_Out_SyncPulseWidth - 1;
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_InternalClockConfig(PIOS_PPM_TIM_PORT);
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TIM_TimeBaseInit(PIOS_PPM_TIM_PORT, &TIM_TimeBaseStructure);
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// Set up for output compare function
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
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TIM_OCInitStructure.TIM_Pulse = PPM_OUT_HIGH_PULSE_US;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
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TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
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TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
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TIM_OC3Init(PIOS_PPM_TIM, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(PIOS_PPM_TIM, TIM_OCPreload_Enable);
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TIM_ARRPreloadConfig(PIOS_PPM_TIM, ENABLE);
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// TIMER Main Output Enable
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TIM_CtrlPWMOutputs(PIOS_PPM_TIM, ENABLE);
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// TIM IT enable
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TIM_ITConfig(PIOS_PPM_TIM, PIOS_PPM_OUT_TIM_CCR, ENABLE);
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// Enable clock to timer module
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TIM_Cmd(PIOS_PPM_TIM, ENABLE);
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#ifdef PPM_DEBUG
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DEBUG_PRINTF("ppm_out: initialised\r\n");
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#endif
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}
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// TIMER capture/compare interrupt
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void PIOS_PPM_OUT_CC_IRQ(void)
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{
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// clear the interrupt
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if (TIM_GetITStatus(PIOS_PPM_TIM_PORT, PIOS_PPM_OUT_TIM_CCR) == SET)
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{
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_OUT_TIM_CCR);
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PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_TIM_PORT);
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}
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_OUT_TIM_CCR);
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if (booting || ppm_initialising)
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return;
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// *************************
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// update the TIMER period (channel pulse width)
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if (ppm_Out_ChannelPulseIndex < 0)
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{ // SYNC PULSE
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TIM_SetAutoreload(PIOS_PPM_TIM, ppm_Out_SyncPulseWidth - 1); // sync pulse length
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ppm_Out_SyncPulseWidth = PPM_OUT_FRAME_PERIOD_US; // reset sync period
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if (ppm_Out_ChannelsUsed > 0)
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ppm_Out_ChannelPulseIndex = 0; // onto channel-1
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}
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else
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{ // CHANNEL PULSE
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uint16_t pulse_width = ppm_Out_ChannelPulseWidth[ppm_Out_ChannelPulseIndex];
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if (pulse_width < PPM_OUT_MIN_CHANNEL_PULSE_US) pulse_width = PPM_OUT_MIN_CHANNEL_PULSE_US;
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else
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if (pulse_width > PPM_OUT_MAX_CHANNEL_PULSE_US) pulse_width = PPM_OUT_MAX_CHANNEL_PULSE_US;
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TIM_SetAutoreload(PIOS_PPM_TIM, pulse_width - 1); // channel pulse width
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ppm_Out_SyncPulseWidth -= pulse_width; // maintain constant PPM frame period
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// TEST ONLY
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// pulse_width += 4;
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// if (pulse_width > 2000) pulse_width = 1000;
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// ppm_Out_ChannelPulseWidth[ppm_Out_ChannelPulseIndex] = pulse_width;
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ppm_Out_ChannelPulseIndex++;
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if (ppm_Out_ChannelPulseIndex >= ppm_Out_ChannelsUsed || ppm_Out_ChannelPulseIndex >= PIOS_PPM_MAX_CHANNELS)
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ppm_Out_ChannelPulseIndex = -1; // back to SYNC pulse
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}
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// *************************
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}
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void ppm_Out_Supervisor(void)
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{ // this gets called once every millisecond by an interrupt
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if (booting || ppm_initialising)
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return;
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}
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// *************************************************************
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// TIMER capture/compare interrupt
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void PIOS_PPM_CC_IRQ_FUNC(void)
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{
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if (saved_settings.mode == MODE_PPM_TX) PIOS_PPM_IN_CC_IRQ();
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else
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if (saved_settings.mode == MODE_PPM_RX) PIOS_PPM_OUT_CC_IRQ();
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}
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// *************************************************************
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// can be called from an interrupt if you wish
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// call this once every ms
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@ -309,6 +468,7 @@ void ppm_1ms_tick(void)
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if (saved_settings.mode == MODE_PPM_RX)
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{
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ppm_Out_Supervisor();
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return;
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}
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}
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@ -351,7 +511,7 @@ void ppm_process(void)
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DEBUG_PRINTF("ppm_in: sync %u\r\n", ppm_In_SyncPulseWidth);
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#endif
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for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS && i < ppm_In_ChannelsDetected; i++)
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for (int i = 0; i < PIOS_PPM_MAX_CHANNELS && i < ppm_In_ChannelsDetected; i++)
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{
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// int32_t pwm = ppm_In_GetChannelPulseWidth(i);
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@ -373,13 +533,31 @@ void ppm_process(void)
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void ppm_deinit(void)
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{
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// disable the PPM timer
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TIM_Cmd(PIOS_PPM_IN_TIM, DISABLE);
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ppm_initialising = true;
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// un-remap the PPM IN pin
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// GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, DISABLE);
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GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, DISABLE);
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// GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, DISABLE);
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// disable the PPM timer
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TIM_Cmd(PIOS_PPM_TIM, DISABLE);
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PIOS_PPM_TIMER_DIS_RCC_FUNC;
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// TIM IT disable
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TIM_ITConfig(PIOS_PPM_TIM, PIOS_PPM_IN_TIM_CCR | PIOS_PPM_OUT_TIM_CCR, DISABLE);
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// TIMER Main Output Disable
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TIM_CtrlPWMOutputs(PIOS_PPM_TIM, DISABLE);
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// un-remap the PPM pins
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GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, DISABLE);
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// Disable timer interrupt
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
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NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
|
||||
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_TIM_IRQ;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
ppm_initialising = false;
|
||||
}
|
||||
|
||||
void ppm_init(uint32_t our_sn)
|
||||
@ -398,6 +576,7 @@ void ppm_init(uint32_t our_sn)
|
||||
else
|
||||
if (saved_settings.mode == MODE_PPM_RX)
|
||||
{
|
||||
ppm_Out_Init();
|
||||
rfm22_init_rx_stream(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz);
|
||||
}
|
||||
|
||||
@ -409,7 +588,8 @@ void ppm_init(uint32_t our_sn)
|
||||
rfm22_setDatarate(saved_settings.max_rf_bandwidth, FALSE);
|
||||
rfm22_setTxPower(saved_settings.max_tx_power);
|
||||
|
||||
rfm22_setTxStream(); // TEST ONLY
|
||||
if (saved_settings.mode == MODE_PPM_TX)
|
||||
rfm22_setTxStream();
|
||||
|
||||
ppm_initialising = false;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user