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Code Issues Releases Activity

rcvr: Add GCS receiver driver for rcvr via telemetry

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This allows the GCS to emulate a receiver device via the
telemetry link.

Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.

Note: The expected values for the channels are in microseconds
      just like a PWM or PPM input device.  The channel values
      are validated against minimum/maximum pulse lengths just
      like normal receivers.
This commit is contained in:
Stacey Sheldon 2011-07-28 08:22:47 -04:00
parent 9a882811a2
commit 829b8b83f6
9 changed files with 159 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/CopterControl/Makefile
View File

@ -164,6 +164,7 @@ SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
# Cant use until i can automatically generate list of UAVObjects
@ -207,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_GCSRCVR
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF

20
flight/CopterControl/System/pios_board.c
View File

@ -856,6 +856,10 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
@ -1142,6 +1146,22 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_GCS:
#if defined(PIOS_INCLUDE_GCSRCVR)
PIOS_GCSRCVR_Init();
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < GCSRECEIVER_CHANNEL_NUMELEM && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_gcsrcvr_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
break;
}
/* Remap AFIO pin */

75
flight/PiOS/Common/pios_gcsrcvr.c Normal file
View File

@ -0,0 +1,75 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions
* @brief Code to read the channels within the GCS Receiver UAVObject
* @{
*
* @file pios_gcsrcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GCS Input functions (STM32 dependent)
* @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_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
static GCSReceiverData gcsreceiverdata;
/* Provide a RCVR driver */
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
.read = PIOS_GCSRCVR_Get,
};
static void gcsreceiver_updated(UAVObjEvent * ev)
{
if (ev->obj == GCSReceiverHandle()) {
GCSReceiverGet(&gcsreceiverdata);
}
}
void PIOS_GCSRCVR_Init(void)
{
/* Register uavobj callback */
GCSReceiverConnectCallback (gcsreceiver_updated);
}
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
}
return (gcsreceiverdata.Channel[channel]);
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}
* @}
*/

47
flight/PiOS/inc/pios_gcsrcvr_priv.h Normal file
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@ -0,0 +1,47 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GCSRCVR GCS Receiver Functions
* @brief PIOS interface to read from GCS receiver port
* @{
*
* @file pios_gcsrcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GCS receiver private functions
* @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_GCSRCVR_PRIV_H
#define PIOS_GCSRCVR_PRIV_H
#include <pios.h>
#include "gcsreceiver.h"
extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
extern void PIOS_GCSRCVR_Init(void);
#endif /* PIOS_GCSRCVR_PRIV_H */
/**
* @}
* @}
*/

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

@ -44,7 +44,7 @@ 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);
#endif /* PIOS_PWM_PRIV_H */
#endif /* PIOS_SPEKTRUM_PRIV_H */
/**
* @}

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -69,6 +69,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
$$UAVOBJECT_SYNTHETICS/hwsettings.h \
$$UAVOBJECT_SYNTHETICS/gcsreceiver.h \
$$UAVOBJECT_SYNTHETICS/attitudesettings.h
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
@ -118,4 +119,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
$$UAVOBJECT_SYNTHETICS/hwsettings.cpp \
$$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \
$$UAVOBJECT_SYNTHETICS/attitudesettings.cpp

10
shared/uavobjectdefinition/gcsreceiver.xml Normal file
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@ -0,0 +1,10 @@
<xml>
<object name="GCSReceiver" singleinstance="true" settings="false">
<description>A receiver channel group carried over the telemetry link.</description>
<field name="Channel" units="us" type="uint16" elements="6"/>
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="never" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="ManualControlSettings" singleinstance="true" settings="true">
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum,S.Bus" defaultvalue="PWM"/>
<field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum,S.Bus,GCS" defaultvalue="PWM"/>
<field name="Roll" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Pitch" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>