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Code Issues Releases Activity

OP-22 Flight/PiOS: Spektrum reworked, input is mapped to old aux in receiver connector, works nicely with calibration plugin. Also bind works, just needs config flag to bind on powerup

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1189 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-08-01 10:34:07 +00:00 committed by sambas
parent c4a986ae1a
commit 7f6336d324
5 changed files with 93 additions and 63 deletions
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4
flight/OpenPilot/System/inc/pios_board.h
View File

@ -127,6 +127,10 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
#ifdef PIOS_INCLUDE_SPEKTRUM
#define PIOS_COM_SPEKTRUM 3
#endif
//-------------------------
// SPI
//

74
flight/OpenPilot/System/pios_board.c
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@ -50,7 +50,10 @@ void PIOS_Board_Init(void) {
/* Enable and mount the SDCard */
PIOS_SDCARD_Init();
PIOS_SDCARD_MountFS(0);
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
@ -64,9 +67,7 @@ void PIOS_Board_Init(void) {
PIOS_Servo_Init();
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_SPEKTRUM)
PIOS_SPEKTRUM_Init();
#endif
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#endif
@ -76,7 +77,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#endif
//PIOS_I2C_Init();
PIOS_I2C_Init();
WWDG_SetPrescaler(WWDG_Prescaler_8);
WWDG_SetWindowValue(0xff);
@ -437,6 +438,50 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
};
#endif
#ifdef PIOS_COM_SPEKTRUM
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
#endif
/*
* Board specific number of devices.
*/
@ -455,6 +500,12 @@ struct pios_usart_dev pios_usart_devs[] = {
.cfg = &pios_usart_aux_cfg,
},
#endif
#ifdef PIOS_COM_SPEKTRUM
#define PIOS_USART_AUX 2
{
.cfg = &pios_usart_spektrum_cfg,
},
#endif
};
uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
@ -476,6 +527,13 @@ void PIOS_USART_aux_irq_handler(void)
}
#endif
#ifdef PIOS_COM_SPEKTRUM
void PIOS_USART_spektrum_irq_handler(void)
{
SPEKTRUM_IRQHandler();
}
#endif
/*
* COM devices
*/
@ -507,6 +565,12 @@ struct pios_com_dev pios_com_devs[] = {
.driver = &pios_usart_com_driver,
},
#endif
#ifdef PIOS_COM_SPEKTRUM
{
.id = PIOS_USART_AUX,
.driver = &pios_usart_com_driver,
},
#endif
};
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);

2
flight/OpenPilot/Tests/test_BMP085.c
View File

@ -83,7 +83,7 @@ static void TaskTesting(void *pvParameters)
temp = PIOS_BMP085_GetTemperature();
pressure = PIOS_BMP085_GetPressure();
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%3u,%4u\r", temp, pressure);
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_TELEM_RF, "%3u,%4u\r", temp, pressure);
vTaskDelay(xDelay);
}

69
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -37,6 +37,9 @@
#if defined(PIOS_INCLUDE_PWM)
#error "Both PWM and SPEKTRUM input defined, choose only one"
#endif
#if defined(PIOS_COM_AUX)
#error "AUX com cannot be used with SPEKTRUM"
#endif
/* Global Variables */
@ -50,55 +53,11 @@ static uint16_t CaptureValue[12];
*/
void PIOS_SPEKTRUM_Init(void)
{
// need setting flag for bind on next powerup
if(1)
// TODO: need setting flag for bind on next powerup
if(0)
{
PIOS_SPEKTRUM_Bind();
}
/* Configure USART Pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
/* Configure and Init USARTs */
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx;
/* Configure the USART Interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
/* Enable the USART Pins Software Remapping */
PIOS_USART3_REMAP_FUNC;
/* Configure and Init USART Rx input with internal pull-ups */
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
/* Enable USART clock */
PIOS_USART3_CLK_FUNC;
/* Enable USART Receive interrupt */
USART_InitStructure.USART_BaudRate = 115200;
USART_Init(PIOS_USART3_USART, &USART_InitStructure);
USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
//USART_ITConfig(PIOS_USART3_USART, USART_IT_TXE, ENABLE);
/* Configure the USART Interrupts */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART3_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART3_NVIC_PRIO;
NVIC_Init(&NVIC_InitStructure);
USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
/* Enable USART */
USART_Cmd(PIOS_USART3_USART, ENABLE);
}
@ -125,6 +84,9 @@ int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
*/
uint8_t PIOS_SPEKTRUM_Bind(void)
{
#define PIOS_USART3_GPIO_PORT GPIOA
#define PIOS_USART3_RX_PIN GPIO_Pin_10
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
@ -132,7 +94,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
/* GPIO's Off */
/* powerup, RX line stay low for 75ms */
/* TODO: powerup, RX line stay low for 75ms */
/* system init takes longer!!! */
/* I have no idea how long the powerup init window for satellite is but works with this */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
@ -211,7 +173,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
}
if(bytecount==16)
{
//PIOS_COM_SendBufferNonBlocking(COM_DEBUG_USART,byte_array,16);
//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16);
bytecount=0;
sync=0;
}
@ -220,20 +182,19 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
}
/* Interrupt handler for USART3 */
PIOS_USART3_IRQHANDLER_FUNC
void SPEKTRUM_IRQHandler(void)
{
/* check if RXNE flag is set */
if(PIOS_USART3_USART->SR & (1 << 5)) {
uint8_t b = PIOS_USART3_USART->DR;
if(USART1->SR & (1 << 5)) {
uint8_t b = USART1->DR;
if(PIOS_SPEKTRUM_Decode(b) < 0) {
/* Here we could add some error handling */
}
}
if(PIOS_USART3_USART->SR & (1 << 7)) { // check if TXE flag is set
if(USART1->SR & (1 << 7)) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
PIOS_USART3_USART->CR1 &= ~(1 << 7);
USART1->CR1 &= ~(1 << 7);
}
}

1
flight/PiOS/inc/pios_spektrum.h
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@ -39,6 +39,7 @@ extern void PIOS_SPEKTRUM_Init(void);
extern uint8_t PIOS_SPEKTRUM_Bind(void);
extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
extern int16_t PIOS_SPEKTRUM_Get(int8_t Channel);
extern void SPEKTRUM_IRQHandler(void);
#endif /* PIOS_SPEKTRUM_H */