rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-02 19:29:15 +01:00
Code Issues Releases Activity

Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next

Browse Source 
Conflicts:
	shared/uavobjectdefinition/hwsettings.xml
This commit is contained in:
James Cotton 2011-08-24 11:37:30 -05:00
commit 5f7a9b513a
4 changed files with 26 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/CopterControl/System/pios_board.c
View File

@ -923,6 +923,8 @@ void PIOS_Board_Init(void) {
TaskMonitorInitialize(); TaskMonitorInitialize();
/* Configure the main IO port */ /* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
uint8_t hwsettings_cc_mainport; uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport); HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
@ -991,7 +993,7 @@ void PIOS_Board_Init(void) {
} }
uint32_t pios_spektrum_id; uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
} }
@ -1053,7 +1055,7 @@ void PIOS_Board_Init(void) {
} }
uint32_t pios_spektrum_id; uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
} }

33
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -8,7 +8,6 @@
* *
* @file pios_spektrum.c * @file pios_spektrum.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @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. (STM32 dependent) * @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
@ -59,7 +58,7 @@ uint8_t sync_of = 0;
uint16_t supv_timer=0; uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b); static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
@ -85,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
/** /**
* Bind and Initialise Spektrum satellite receiver * Bind and Initialise Spektrum satellite receiver
*/ */
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind) int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
{ {
// TODO: need setting flag for bind on next powerup // TODO: need setting flag for bind on next powerup
if (bind) { if (bind) {
PIOS_SPEKTRUM_Bind(cfg); PIOS_SPEKTRUM_Bind(cfg,bind);
} }
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0); (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
@ -121,9 +120,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
* \output true Successful bind * \output true Successful bind
* \output false Bind failed * \output false Bind failed
*/ */
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
{ {
#define BIND_PULSES 5 GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
/* just to limit bind pulses */
bind=(bind<=10)?bind:10;
GPIO_Init(cfg->bind.gpio, &cfg->bind.init); GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */ /* RX line, set high */
@ -132,7 +137,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */ /* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60); PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) { for (int i = 0; i < bind ; i++) {
/* RX line, drive low for 120us */ /* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120); PIOS_DELAY_WaituS(120);
@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
PIOS_DELAY_WaituS(120); PIOS_DELAY_WaituS(120);
} }
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */ /* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
return true; return true;
} }
@ -172,9 +178,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
CaptureValue[7]=b; CaptureValue[7]=b;
} }
#endif #endif
/* Known sync bytes, 0x01, 0x02, 0x12 */ /* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (bytecount == 2) { if (bytecount == 2) {
if (b == 0x01) { if ((b == 0x01) || (b == 0xb2)) {
datalength=0; // 10bit datalength=0; // 10bit
//frames=1; //frames=1;
sync = 1; sync = 1;
@ -234,17 +241,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
*@brief clears the channel values *@brief clears the channel values
*/ */
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) { static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
/* 125hz */ /* 625hz */
supv_timer++; supv_timer++;
if(supv_timer > 5) { if(supv_timer > 4) {
/* sync between frames */ /* sync between frames */
sync = 0; sync = 0;
bytecount = 0; bytecount = 0;
prev_byte = 0xFF; prev_byte = 0xFF;
frame_error = 0; frame_error = 0;
sync_of++; sync_of++;
/* watchdog activated after 100ms silence */ /* watchdog activated after 200ms silence */
if (sync_of > 12) { if (sync_of > 30) {
/* signal lost */ /* signal lost */
sync_of = 0; sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {

2
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -42,7 +42,7 @@ struct pios_spektrum_cfg {
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind); extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
#endif /* PIOS_PWM_PRIV_H */ #endif /* PIOS_PWM_PRIV_H */

1
shared/uavobjectdefinition/hwsettings.xml
View File

@ -4,6 +4,7 @@
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/> <field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/> <field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/> <field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>