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Code Issues Releases Activity

Added the RFM22B driver to the Revo to support an RFM22B radio on the external SPI port.

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This commit is contained in:
Brian Webb 2012-08-25 11:45:43 -07:00
parent fad32dcc29
commit 415b86879c
7 changed files with 275 additions and 24 deletions
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76
flight/Modules/Telemetry/telemetry.c
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@ -35,6 +35,10 @@
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "hwsettings.h"
#if defined(PIOS_PACKET_HANDLER)
#include "pipxstatus.h"
#include "packet_handler.h"
#endif
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -80,6 +84,10 @@ static void processObjEvent(UAVObjEvent * ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
static uint32_t getComPort();
#ifdef PIOS_PACKET_HANDLER
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
#endif
/**
* Initialise the telemetry module
@ -93,6 +101,13 @@ int32_t TelemetryStart(void)
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
// Register to receive data from the radio packet handler.
// This must be after the radio module is initialized.
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
PHRegisterDataHandler(PIOS_PACKET_HANDLER, receivePacketData);
#endif
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@ -247,6 +262,11 @@ static void processObjEvent(UAVObjEvent * ev)
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
#ifdef PIOS_PACKET_HANDLER
// Don't send PipXStatus objects over the radio link.
if ((ev->obj == PipXStatusHandle()) && (getComPort() == 0) && PIOS_PACKET_HANDLER)
return;
#endif
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
@ -322,19 +342,10 @@ static void telemetryTxPriTask(void *parameters)
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
{
inputPort = telemetryPort;
}
uint32_t inputPort = getComPort();
if (inputPort) {
// Block until data are available
@ -362,23 +373,17 @@ static void telemetryRxTask(void *parameters)
*/
static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort;
// Determine input port (USB takes priority over telemetry port)
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
outputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
{
outputPort = telemetryPort;
}
uint32_t outputPort = getComPort();
if (outputPort) {
return PIOS_COM_SendBuffer(outputPort, data, length);
} else {
return -1;
}
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
if (PHTransmitData(PIOS_PACKET_HANDLER, data, length))
return 0;
#endif
return -1;
}
/**
@ -564,6 +569,31 @@ static void updateSettings()
}
}
/**
* Determine input/output com port (USB takes priority over telemetry port)
*/
static uint32_t getComPort() {
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
return PIOS_COM_TELEM_USB;
else
#endif /* PIOS_INCLUDE_USB */
return telemetryPort;
}
#ifdef PIOS_PACKET_HANDLER
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
for (uint8_t i = 0; i < len; ++i)
UAVTalkProcessInputStream(uavTalkCon, buf[i]);
}
#endif
/**
* @}
* @}

33
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -32,6 +32,9 @@
#include <stdbool.h>
#define DEBUG_LEVEL 2
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
//------------------------
// Timers and Channels Used
//------------------------
@ -133,6 +136,26 @@ extern uint32_t pios_com_vcp_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
#endif /* PIOS_INCLUDE_RFM22B */
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY 4
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//------------------------
// TELEMETRY
@ -263,6 +286,16 @@ extern uint32_t pios_com_vcp_id;
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
//-------------------------
// RFM22
//-------------------------
#if defined(PIOS_INCLUDE_RFM22B)
extern uint32_t pios_rfm22b_id;
#define RFM22_EXT_INT_USE
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* STM3210E_INS_H_ */
/**
* @}

9
flight/Revolution/Makefile
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@ -57,6 +57,7 @@ MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry
MODULES += Radio
PYMODULES =
#FlightPlan
@ -72,6 +73,7 @@ PIOSINC = $(PIOS)/inc
OPMODULEDIR = ../Modules
FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc
RSCODEINC = $(FLIGHTLIB)/rscode
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
@ -141,6 +143,11 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/packet_handler.c
## The Reed-Solomon FEC library
SRC += $(FLIGHTLIB)/rscode/rs.c
SRC += $(FLIGHTLIB)/rscode/berlekamp.c
SRC += $(FLIGHTLIB)/rscode/galois.c
## PIOS Hardware (STM32F4xx)
include $(PIOS)/STM32F4xx/library.mk
@ -162,6 +169,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
include ./UAVObjects.inc
SRC += $(UAVOBJSRC)
@ -203,6 +211,7 @@ EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(RSCODEINC)
EXTRAINCDIRS += $(PIOSSTM32F4XX)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)

2
flight/Revolution/System/inc/pios_config.h
View File

@ -73,6 +73,8 @@
#define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_COM_AUXSBUS
#define PIOS_INCLUDE_COM_FLEXI
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_PACKET_HANDLER
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_GPS_NMEA_PARSER

2
flight/Revolution/UAVObjects.inc
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@ -91,6 +91,8 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += pipxsettings
UAVOBJSRCFILENAMES += pipxstatus
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

175
flight/board_hw_defs/revolution/board_hw_defs.c
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@ -447,6 +447,181 @@ void PIOS_SPI_flash_irq_handler(void)
}
#endif /* PIOS_FLASH_ON_ACCEL */
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
/* SPI3 Interface
* - Used for RFM22B radio
*/
void PIOS_SPI_rfm22b_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
static const struct pios_spi_cfg pios_spi_rfm22b_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
//.SPI_Mode = SPI_Mode_Slave,
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
//.SPI_NSS = SPI_NSS_Hard,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
//.SPI_CRCPolynomial = 7,
.SPI_CRCPolynomial = 0,
//.SPI_CPOL = SPI_CPOL_High,
.SPI_CPOL = SPI_CPOL_Low,
//.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_CPHA = SPI_CPHA_1Edge,
//.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case TX)
.flags = (DMA_IT_TCIF7),
//.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream7,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_rfm22b_id;
void PIOS_SPI_rfm22b_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
}
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = EXTI_Line0,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line0, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.spi_cfg = &pios_spi_rfm22b_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_OVERO_SPI)

2
shared/uavobjectdefinition/hwsettings.xml
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@ -18,7 +18,7 @@
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo,Radio" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>