mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Various minor changes to do with switch modem mode on the fly but mainly PPM Input decoder (with error/noise detection) is now working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2992 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
cc1a53417d
commit
88b2d360a3
@ -370,6 +370,10 @@ void apiconfig_processInputPacket(void *buf, uint16_t len)
|
||||
|
||||
// ******
|
||||
|
||||
ph_deinit();
|
||||
stream_deinit();
|
||||
ppm_deinit();
|
||||
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_SERIAL, saved_settings.serial_baudrate);
|
||||
|
||||
switch (saved_settings.mode)
|
||||
|
||||
@ -68,6 +68,7 @@ void ph_set_AES128_key(const void *key);
|
||||
int ph_set_remote_serial_number(int connection_index, uint32_t sn);
|
||||
void ph_set_remote_encryption(int connection_index, bool enabled, const void *key);
|
||||
|
||||
void ph_deinit(void);
|
||||
void ph_init(uint32_t our_sn);
|
||||
|
||||
// *****************************************************************************
|
||||
|
||||
@ -40,6 +40,5 @@
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_PPM
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
@ -43,6 +43,11 @@
|
||||
#define PIOS_USB_PRODUCT_ID 0x4117
|
||||
#endif
|
||||
|
||||
//#ifdef PIOS_USB_PRODUCT_ID
|
||||
//#undef PIOS_USB_PRODUCT_ID
|
||||
//#endif
|
||||
//#define PIOS_USB_PRODUCT_ID 0x415C // PipXtreme PID
|
||||
|
||||
#ifndef PIOS_USB_VERSION_ID
|
||||
#define PIOS_USB_VERSION_ID 0x1201 /* v2.00 */
|
||||
#endif
|
||||
@ -76,4 +81,4 @@ extern int32_t PIOS_USB_CableConnected(void);
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
*/
|
||||
|
||||
@ -32,6 +32,7 @@
|
||||
|
||||
void ppm_1ms_tick(void);
|
||||
void ppm_process(void);
|
||||
void ppm_deinit(void);
|
||||
void ppm_init(uint32_t our_sn);
|
||||
|
||||
// *************************************************************
|
||||
|
||||
@ -576,7 +576,7 @@ enum { RX_SCAN_SPECTRUM = 0,
|
||||
// ************************************
|
||||
|
||||
typedef int16_t ( *t_rfm22_TxDataByteCallback ) (void);
|
||||
typedef bool ( *t_rfm22_RxDataByteCallback ) (uint8_t b);
|
||||
typedef bool ( *t_rfm22_RxDataCallback ) (void *data, uint8_t len);
|
||||
|
||||
// ************************************
|
||||
|
||||
@ -631,7 +631,7 @@ void rfm22_1ms_tick(void);
|
||||
void rfm22_process(void);
|
||||
|
||||
void rfm22_TxDataByte_SetCallback(t_rfm22_TxDataByteCallback new_function);
|
||||
void rfm22_RxDataByte_SetCallback(t_rfm22_RxDataByteCallback new_function);
|
||||
void rfm22_RxData_SetCallback(t_rfm22_RxDataCallback new_function);
|
||||
|
||||
int rfm22_init_scan_spectrum(uint32_t min_frequency_hz, uint32_t max_frequency_hz);
|
||||
int rfm22_init_tx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz);
|
||||
|
||||
@ -32,6 +32,7 @@
|
||||
|
||||
void stream_1ms_tick(void);
|
||||
void stream_process(void);
|
||||
void stream_deinit(void);
|
||||
void stream_init(uint32_t our_sn);
|
||||
|
||||
// *************************************************************
|
||||
|
||||
@ -532,6 +532,10 @@ int main()
|
||||
RF_CS_ENABLE;
|
||||
RF_CS_HIGH;
|
||||
|
||||
// PPM OUT low
|
||||
PPM_OUT_ENABLE;
|
||||
PPM_OUT_LOW;
|
||||
|
||||
// pin high
|
||||
SPARE1_ENABLE;
|
||||
SPARE1_HIGH;
|
||||
|
||||
@ -358,11 +358,11 @@ int16_t ph_TxDataByteCallback(void)
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
// we are being given a received byte
|
||||
// we are being given a block of received bytes
|
||||
//
|
||||
// return TRUE to continue current packet receive, otherwise return FALSe to halt current packet reception
|
||||
// return TRUE to continue current packet receive, otherwise return FALSE to halt current packet reception
|
||||
|
||||
bool ph_RxDataByteCallback(uint8_t b)
|
||||
bool ph_RxDataCallback(void *data, uint8_t len)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
@ -1627,86 +1627,98 @@ void ph_process(void)
|
||||
|
||||
// *****************************************************************************
|
||||
|
||||
void ph_init(uint32_t our_sn)
|
||||
void ph_disconnectAll(void)
|
||||
{
|
||||
our_serial_number = our_sn; // remember our own serial number
|
||||
for (int i = 0; i < PH_MAX_CONNECTIONS; i++)
|
||||
{
|
||||
random32 = updateCRC32(random32, 0xff);
|
||||
|
||||
fast_ping = false;
|
||||
t_connection *conn = &connection[i];
|
||||
|
||||
for (int i = 0; i < PH_MAX_CONNECTIONS; i++)
|
||||
{
|
||||
random32 = updateCRC32(random32, 0xff);
|
||||
conn->serial_number = 0;
|
||||
|
||||
t_connection *conn = &connection[i];
|
||||
conn->tx_sequence = 0;
|
||||
conn->tx_sequence_data_size = 0;
|
||||
|
||||
conn->serial_number = 0;
|
||||
conn->rx_sequence = 0;
|
||||
|
||||
conn->tx_sequence = 0;
|
||||
conn->tx_sequence_data_size = 0;
|
||||
fifoBuf_init(&conn->tx_fifo_buffer, conn->tx_buffer, PH_FIFO_BUFFER_SIZE);
|
||||
fifoBuf_init(&conn->rx_fifo_buffer, conn->rx_buffer, PH_FIFO_BUFFER_SIZE);
|
||||
|
||||
conn->rx_sequence = 0;
|
||||
conn->link_state = LINK_DISCONNECTED;
|
||||
|
||||
fifoBuf_init(&conn->tx_fifo_buffer, conn->tx_buffer, PH_FIFO_BUFFER_SIZE);
|
||||
fifoBuf_init(&conn->rx_fifo_buffer, conn->rx_buffer, PH_FIFO_BUFFER_SIZE);
|
||||
conn->tx_packet_timer = 0;
|
||||
|
||||
conn->link_state = LINK_DISCONNECTED;
|
||||
conn->tx_retry_time_slots = 5;
|
||||
conn->tx_retry_time_slot_len = 40;
|
||||
conn->tx_retry_time = conn->tx_retry_time_slot_len * 4 + (random32 % conn->tx_retry_time_slots) * conn->tx_retry_time_slot_len * 4;
|
||||
conn->tx_retry_counter = 0;
|
||||
|
||||
conn->tx_packet_timer = 0;
|
||||
conn->data_speed_timer = 0;
|
||||
conn->tx_data_speed_count = 0;
|
||||
conn->tx_data_speed = 0;
|
||||
conn->rx_data_speed_count = 0;
|
||||
conn->rx_data_speed = 0;
|
||||
|
||||
conn->tx_retry_time_slots = 5;
|
||||
conn->tx_retry_time_slot_len = 40;
|
||||
conn->tx_retry_time = conn->tx_retry_time_slot_len * 4 + (random32 % conn->tx_retry_time_slots) * conn->tx_retry_time_slot_len * 4;
|
||||
conn->tx_retry_counter = 0;
|
||||
conn->ping_time = 8000 + (random32 % 100) * 10;
|
||||
conn->fast_ping_time = 600 + (random32 % 50) * 10;
|
||||
conn->pinging = false;
|
||||
|
||||
conn->data_speed_timer = 0;
|
||||
conn->tx_data_speed_count = 0;
|
||||
conn->tx_data_speed = 0;
|
||||
conn->rx_data_speed_count = 0;
|
||||
conn->rx_data_speed = 0;
|
||||
conn->rx_not_ready_mode = false;
|
||||
|
||||
conn->ping_time = 8000 + (random32 % 100) * 10;
|
||||
conn->fast_ping_time = 600 + (random32 % 50) * 10;
|
||||
conn->pinging = false;
|
||||
conn->ready_to_send_timer = -1;
|
||||
|
||||
conn->rx_not_ready_mode = false;
|
||||
conn->not_ready_timer = -1;
|
||||
|
||||
conn->ready_to_send_timer = -1;
|
||||
conn->send_encrypted = false;
|
||||
|
||||
conn->not_ready_timer = -1;
|
||||
|
||||
conn->send_encrypted = false;
|
||||
|
||||
conn->rx_rssi_dBm = -200;
|
||||
conn->rx_afc_Hz = 0;
|
||||
}
|
||||
|
||||
// set the AES encryption key using the default AES key
|
||||
ph_set_AES128_key(default_aes_key);
|
||||
|
||||
// try too randomise the tx AES CBC bytes
|
||||
for (uint32_t j = 0, k = 0; j < 123 + (random32 & 1023); j++)
|
||||
{
|
||||
random32 = updateCRC32(random32, 0xff);
|
||||
enc_cbc[k] ^= random32 >> 3;
|
||||
if (++k >= sizeof(enc_cbc)) k = 0;
|
||||
}
|
||||
|
||||
// ******
|
||||
|
||||
rfm22_init_normal(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz, rfm22_freqHopSize());
|
||||
|
||||
rfm22_TxDataByte_SetCallback(ph_TxDataByteCallback);
|
||||
rfm22_RxDataByte_SetCallback(ph_RxDataByteCallback);
|
||||
|
||||
rfm22_setFreqCalibration(saved_settings.rf_xtal_cap);
|
||||
ph_setNominalCarrierFrequency(saved_settings.frequency_Hz);
|
||||
ph_setDatarate(saved_settings.max_rf_bandwidth);
|
||||
ph_setTxPower(saved_settings.max_tx_power);
|
||||
|
||||
ph_set_remote_encryption(0, saved_settings.aes_enable, (const void *)saved_settings.aes_key);
|
||||
ph_set_remote_serial_number(0, saved_settings.destination_id);
|
||||
|
||||
// ******
|
||||
conn->rx_rssi_dBm = -200;
|
||||
conn->rx_afc_Hz = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// *****************************************************************************
|
||||
|
||||
void ph_deinit(void)
|
||||
{
|
||||
ph_disconnectAll();
|
||||
}
|
||||
|
||||
void ph_init(uint32_t our_sn)
|
||||
{
|
||||
our_serial_number = our_sn; // remember our own serial number
|
||||
|
||||
fast_ping = false;
|
||||
|
||||
ph_disconnectAll();
|
||||
|
||||
// set the AES encryption key using the default AES key
|
||||
ph_set_AES128_key(default_aes_key);
|
||||
|
||||
// try too randomise the tx AES CBC bytes
|
||||
for (uint32_t j = 0, k = 0; j < 123 + (random32 & 1023); j++)
|
||||
{
|
||||
random32 = updateCRC32(random32, 0xff);
|
||||
enc_cbc[k] ^= random32 >> 3;
|
||||
if (++k >= sizeof(enc_cbc)) k = 0;
|
||||
}
|
||||
|
||||
// ******
|
||||
|
||||
rfm22_init_normal(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz, rfm22_freqHopSize());
|
||||
|
||||
rfm22_TxDataByte_SetCallback(ph_TxDataByteCallback);
|
||||
rfm22_RxData_SetCallback(ph_RxDataCallback);
|
||||
|
||||
rfm22_setFreqCalibration(saved_settings.rf_xtal_cap);
|
||||
ph_setNominalCarrierFrequency(saved_settings.frequency_Hz);
|
||||
ph_setDatarate(saved_settings.max_rf_bandwidth);
|
||||
ph_setTxPower(saved_settings.max_tx_power);
|
||||
|
||||
ph_set_remote_encryption(0, saved_settings.aes_enable, (const void *)saved_settings.aes_key);
|
||||
ph_set_remote_serial_number(0, saved_settings.destination_id);
|
||||
|
||||
// ******
|
||||
}
|
||||
|
||||
// *****************************************************************************
|
||||
|
||||
@ -23,7 +23,7 @@
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
//#include <string.h> // memmove
|
||||
#include <string.h> // memmove
|
||||
|
||||
#include "main.h"
|
||||
#include "rfm22b.h"
|
||||
@ -34,20 +34,268 @@
|
||||
#define PPM_DEBUG
|
||||
#endif
|
||||
|
||||
// *************************************************************
|
||||
|
||||
#define PPM_OUT_SYNC_PULSE_US 12000 // microseconds
|
||||
|
||||
#define PPM_IN_MIN_SYNC_PULSE_US 7000 // microseconds .. Pip's 6-chan TX goes down to 8.8ms
|
||||
#define PPM_IN_MAX_SYNC_PULSE_US 16000 // microseconds .. Pip's 6-chan TX goes up to 14.4ms
|
||||
|
||||
#define PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
|
||||
#define PPM_IN_MAX_CHANNEL_PULSE_US 2400 // microseconds
|
||||
|
||||
// *************************************************************
|
||||
|
||||
volatile bool ppm_initialising = true;
|
||||
|
||||
volatile uint32_t ppm_In_PrevFrames = 0;
|
||||
|
||||
volatile uint32_t ppm_In_LastValidFrameTimer = 0;
|
||||
volatile uint32_t ppm_In_Frames = 0;
|
||||
volatile uint32_t ppm_In_SyncPulseWidth = 0;
|
||||
volatile uint32_t ppm_In_LastFrameTime = 0;
|
||||
volatile uint8_t ppm_In_NoisyChannelCounter = 0;
|
||||
volatile int8_t ppm_In_ChannelsDetected = 0;
|
||||
volatile int8_t ppm_In_ChannelPulseIndex = -1;
|
||||
volatile uint32_t ppm_In_PreviousValue = 0;
|
||||
volatile uint32_t ppm_In_CurrentValue = 0;
|
||||
volatile uint32_t ppm_In_ChannelPulseWidthNew[PIOS_PPM_IN_MAX_INPUTS];
|
||||
volatile uint32_t ppm_In_ChannelPulseWidth[PIOS_PPM_IN_MAX_INPUTS];
|
||||
|
||||
// *************************************************************
|
||||
|
||||
// Initialise the ppm
|
||||
void ppm_In_Init(void)
|
||||
{
|
||||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||||
|
||||
// disable the timer
|
||||
TIM_Cmd(PIOS_PPM_IN_TIM, DISABLE);
|
||||
|
||||
ppm_In_PrevFrames = 0;
|
||||
ppm_In_NoisyChannelCounter = 0;
|
||||
ppm_In_LastValidFrameTimer = 0;
|
||||
ppm_In_Frames = 0;
|
||||
ppm_In_SyncPulseWidth = 0;
|
||||
ppm_In_LastFrameTime = 0;
|
||||
ppm_In_ChannelsDetected = 0;
|
||||
ppm_In_ChannelPulseIndex = -1;
|
||||
ppm_In_PreviousValue = 0;
|
||||
ppm_In_CurrentValue = 0;
|
||||
|
||||
for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS; i++)
|
||||
{
|
||||
ppm_In_ChannelPulseWidthNew[i] = 0;
|
||||
ppm_In_ChannelPulseWidth[i] = 0;
|
||||
}
|
||||
|
||||
// Setup RCC
|
||||
PIOS_PPM_IN_TIMER_RCC_FUNC;
|
||||
|
||||
// Enable timer interrupts
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_IN_TIM_IRQ;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
// Init PPM IN pin
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
GPIO_StructInit(&GPIO_InitStructure);
|
||||
GPIO_InitStructure.GPIO_Mode = PPM_IN_MODE;
|
||||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
||||
GPIO_InitStructure.GPIO_Pin = PPM_IN_PIN;
|
||||
GPIO_Init(PPM_IN_PORT, &GPIO_InitStructure);
|
||||
|
||||
// remap the pin to switch it to timer mode
|
||||
// GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, ENABLE);
|
||||
GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, ENABLE);
|
||||
// GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE);
|
||||
|
||||
// Configure timer for input capture
|
||||
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
|
||||
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
|
||||
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
||||
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
||||
TIM_ICInitStructure.TIM_Channel = PIOS_PPM_IN_TIM_CHANNEL;
|
||||
TIM_ICInit(PIOS_PPM_IN_TIM_PORT, &TIM_ICInitStructure);
|
||||
|
||||
// Configure timer clocks
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||||
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
||||
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
TIM_InternalClockConfig(PIOS_PPM_IN_TIM_PORT);
|
||||
TIM_TimeBaseInit(PIOS_PPM_IN_TIM_PORT, &TIM_TimeBaseStructure);
|
||||
|
||||
// Enable the Capture Compare Interrupt Request
|
||||
TIM_ITConfig(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR, ENABLE);
|
||||
|
||||
// Enable timer
|
||||
TIM_Cmd(PIOS_PPM_IN_TIM, ENABLE);
|
||||
|
||||
// Setup local variable which stays in this scope
|
||||
// Doing this here and using a local variable saves doing it in the ISR
|
||||
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
|
||||
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
||||
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
||||
}
|
||||
|
||||
// TIMER capture/compare interrupt
|
||||
void PIOS_PPM_IN_CC_IRQ_FUNC(void)
|
||||
{
|
||||
uint32_t pulse_width_us; // new pulse width in microseconds
|
||||
|
||||
if (booting || ppm_initialising)
|
||||
{ // just clear the interrupt
|
||||
if (TIM_GetITStatus(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
|
||||
{
|
||||
TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
|
||||
PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_IN_TIM_PORT);
|
||||
}
|
||||
TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
|
||||
return;
|
||||
}
|
||||
|
||||
// Do this as it's more efficient
|
||||
if (TIM_GetITStatus(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR) == SET)
|
||||
{
|
||||
ppm_In_PreviousValue = ppm_In_CurrentValue;
|
||||
ppm_In_CurrentValue = PIOS_PPM_IN_TIM_GETCAP_FUNC(PIOS_PPM_IN_TIM_PORT);
|
||||
}
|
||||
|
||||
// Clear TIMER Capture compare interrupt pending bit
|
||||
TIM_ClearITPendingBit(PIOS_PPM_IN_TIM_PORT, PIOS_PPM_IN_TIM_CCR);
|
||||
|
||||
// Capture computation
|
||||
if (ppm_In_CurrentValue > ppm_In_PreviousValue)
|
||||
pulse_width_us = (ppm_In_CurrentValue - ppm_In_PreviousValue);
|
||||
else
|
||||
pulse_width_us = ((0xFFFF - ppm_In_PreviousValue) + ppm_In_CurrentValue);
|
||||
|
||||
// ********
|
||||
|
||||
#ifdef PPM_DEBUG
|
||||
// DEBUG_PRINTF("ppm_in: %uus\r\n", pulse_width_us);
|
||||
#endif
|
||||
|
||||
if (pulse_width_us >= PPM_IN_MIN_SYNC_PULSE_US)
|
||||
{ // SYNC pulse
|
||||
|
||||
if (pulse_width_us <= PPM_IN_MAX_SYNC_PULSE_US)
|
||||
{ // SYNC pulse width is within accepted tolerance
|
||||
|
||||
if (ppm_In_ChannelPulseIndex > 0)
|
||||
{ // we found some channel PWM's in the PPM stream
|
||||
|
||||
if (ppm_In_ChannelsDetected > 0 && ppm_In_ChannelPulseIndex == ppm_In_ChannelsDetected)
|
||||
{ // detected same number of channels as in previous PPM frame .. save the new channel PWM values
|
||||
// if (ppm_In_NoisyChannelCounter <= 2) // only update channels if the channels are fairly noise free
|
||||
for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS; i++)
|
||||
ppm_In_ChannelPulseWidth[i] = ppm_In_ChannelPulseWidthNew[i];
|
||||
}
|
||||
ppm_In_ChannelsDetected = ppm_In_ChannelPulseIndex; // the number of channels we found in this frame
|
||||
|
||||
ppm_In_LastValidFrameTimer = 0; // reset timer
|
||||
|
||||
ppm_In_Frames++; // update frame counter
|
||||
}
|
||||
|
||||
ppm_In_NoisyChannelCounter = 0; // reset noisy channel detector
|
||||
ppm_In_ChannelPulseIndex = 0; // start of PPM frame
|
||||
ppm_In_LastFrameTime = 0; // reset timer
|
||||
}
|
||||
|
||||
ppm_In_SyncPulseWidth = pulse_width_us; // remember the length of this SYNC pulse
|
||||
}
|
||||
else
|
||||
if (ppm_In_SyncPulseWidth > 0 && ppm_In_ChannelPulseIndex >= 0)
|
||||
{ // CHANNEL pulse
|
||||
|
||||
if (pulse_width_us >= PPM_IN_MIN_CHANNEL_PULSE_US && pulse_width_us <= PPM_IN_MAX_CHANNEL_PULSE_US)
|
||||
{ // this new channel pulse is within the accepted tolerance range
|
||||
if (ppm_In_ChannelPulseIndex < PIOS_PPM_IN_MAX_INPUTS)
|
||||
{
|
||||
int32_t difference = (int32_t)pulse_width_us - ppm_In_ChannelPulseWidthNew[ppm_In_ChannelPulseIndex];
|
||||
if (abs(difference) >= 300)
|
||||
ppm_In_NoisyChannelCounter++; // possibly a noisy channel - or an RC switch was moved
|
||||
|
||||
ppm_In_ChannelPulseWidthNew[ppm_In_ChannelPulseIndex] = pulse_width_us; // save it
|
||||
}
|
||||
|
||||
if (ppm_In_ChannelPulseIndex < 127)
|
||||
ppm_In_ChannelPulseIndex++; // next channel
|
||||
|
||||
ppm_In_LastFrameTime = 0; // reset timer
|
||||
}
|
||||
else
|
||||
{ // bad/noisy channel pulse .. reset state to wait for next SYNC pulse
|
||||
ppm_In_Frames = 0;
|
||||
ppm_In_ChannelPulseIndex = -1;
|
||||
}
|
||||
}
|
||||
|
||||
// ********
|
||||
}
|
||||
|
||||
void ppm_In_Supervisor(void)
|
||||
{ // this gets called once every millisecond by an interrupt
|
||||
|
||||
if (booting || ppm_initialising)
|
||||
return;
|
||||
|
||||
if (ppm_In_LastValidFrameTimer < 0xffffffff)
|
||||
ppm_In_LastValidFrameTimer++;
|
||||
|
||||
if (ppm_In_LastFrameTime < 0xffffffff)
|
||||
ppm_In_LastFrameTime++;
|
||||
|
||||
if (ppm_In_LastFrameTime > ((PPM_IN_MAX_SYNC_PULSE_US * 2) / 1000) && ppm_In_SyncPulseWidth > 0)
|
||||
{ // no PPM frames detected for a while .. reset PPM state
|
||||
ppm_In_SyncPulseWidth = 0;
|
||||
ppm_In_ChannelsDetected = 0;
|
||||
ppm_In_ChannelPulseIndex = -1;
|
||||
ppm_In_NoisyChannelCounter = 0;
|
||||
ppm_In_Frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int32_t ppm_In_GetChannelPulseWidth(uint8_t channel)
|
||||
{
|
||||
if (booting || ppm_initialising)
|
||||
return -1;
|
||||
|
||||
// Return error if channel not available
|
||||
if (channel >= PIOS_PPM_IN_MAX_INPUTS || channel >= ppm_In_ChannelsDetected)
|
||||
return -2;
|
||||
|
||||
if (ppm_In_LastValidFrameTimer > (PPM_IN_MAX_SYNC_PULSE_US * 4) / 1000)
|
||||
return 0; // to long since last valid PPM frame
|
||||
|
||||
return ppm_In_ChannelPulseWidth[channel]; // return channel pulse width
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
// can be called from an interrupt if you wish
|
||||
// call this once every ms
|
||||
|
||||
void ppm_1ms_tick(void)
|
||||
{
|
||||
if (booting) return;
|
||||
if (booting || ppm_initialising)
|
||||
return;
|
||||
|
||||
if (saved_settings.mode == MODE_PPM_TX)
|
||||
{
|
||||
ppm_In_Supervisor();
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
||||
if (saved_settings.mode == MODE_PPM_RX)
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
@ -62,11 +310,11 @@ int16_t ppm_TxDataByteCallback(void)
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
// we are being given a received byte
|
||||
// we are being given a block of received bytes
|
||||
//
|
||||
// return TRUE to continue current packet receive, otherwise return FALSe to halt current packet reception
|
||||
// return TRUE to continue current packet receive, otherwise return FALSE to halt current packet reception
|
||||
|
||||
bool ppm_RxDataByteCallback(uint8_t b)
|
||||
bool ppm_RxDataCallback(void *data, uint8_t len)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
@ -76,33 +324,69 @@ bool ppm_RxDataByteCallback(uint8_t b)
|
||||
|
||||
void ppm_process(void)
|
||||
{
|
||||
if (booting) return;
|
||||
if (booting || ppm_initialising)
|
||||
return;
|
||||
|
||||
if (saved_settings.mode == MODE_PPM_TX)
|
||||
{
|
||||
if (ppm_In_Frames > 0 && ppm_In_Frames != ppm_In_PrevFrames)
|
||||
{ // we have a new PPM frame
|
||||
|
||||
ppm_In_PrevFrames = ppm_In_Frames;
|
||||
|
||||
#ifdef PPM_DEBUG
|
||||
DEBUG_PRINTF("\r\n");
|
||||
DEBUG_PRINTF("ppm_in: sync %u\r\n", ppm_In_SyncPulseWidth);
|
||||
#endif
|
||||
|
||||
for (int i = 0; i < PIOS_PPM_IN_MAX_INPUTS && i < ppm_In_ChannelsDetected; i++)
|
||||
{
|
||||
// int32_t pwm = ppm_In_GetChannelPulseWidth(i);
|
||||
|
||||
#ifdef PPM_DEBUG
|
||||
DEBUG_PRINTF("ppm_in: %u %u %4u\r\n", ppm_In_PrevFrames, i, ppm_In_GetChannelPulseWidth(i));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
||||
if (saved_settings.mode == MODE_PPM_RX)
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
|
||||
void ppm_deinit(void)
|
||||
{
|
||||
// disable the PPM timer
|
||||
TIM_Cmd(PIOS_PPM_IN_TIM, DISABLE);
|
||||
|
||||
}
|
||||
|
||||
void ppm_init(uint32_t our_sn)
|
||||
{
|
||||
ppm_initialising = true;
|
||||
|
||||
#if defined(PPM_DEBUG)
|
||||
DEBUG_PRINTF("\r\nPPM init\r\n");
|
||||
#endif
|
||||
|
||||
if (saved_settings.mode == MODE_PPM_TX)
|
||||
{
|
||||
ppm_In_Init();
|
||||
rfm22_init_tx_stream(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz);
|
||||
}
|
||||
else
|
||||
if (saved_settings.mode == MODE_PPM_RX)
|
||||
{
|
||||
rfm22_init_rx_stream(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz);
|
||||
}
|
||||
|
||||
rfm22_TxDataByte_SetCallback(ppm_TxDataByteCallback);
|
||||
rfm22_RxDataByte_SetCallback(ppm_RxDataByteCallback);
|
||||
rfm22_RxData_SetCallback(ppm_RxDataCallback);
|
||||
|
||||
rfm22_setFreqCalibration(saved_settings.rf_xtal_cap);
|
||||
rfm22_setNominalCarrierFrequency(saved_settings.frequency_Hz);
|
||||
@ -110,6 +394,8 @@ void ppm_init(uint32_t our_sn)
|
||||
rfm22_setTxPower(saved_settings.max_tx_power);
|
||||
|
||||
rfm22_setTxStream(); // TEST ONLY
|
||||
|
||||
ppm_initialising = false;
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
|
||||
@ -48,7 +48,7 @@
|
||||
#include "rfm22b.h"
|
||||
|
||||
#if defined(PIOS_COM_DEBUG)
|
||||
#define RFM22_DEBUG
|
||||
// #define RFM22_DEBUG
|
||||
// #define RFM22_INT_TIMEOUT_DEBUG
|
||||
#endif
|
||||
|
||||
@ -272,6 +272,11 @@ volatile uint8_t *tx_data_addr; // the address of the data we send in the t
|
||||
volatile uint16_t tx_data_rd; // the tx data read index
|
||||
volatile uint16_t tx_data_wr; // the tx data write index
|
||||
|
||||
//volatile uint8_t tx_fifo[FIFO_SIZE]; //
|
||||
|
||||
volatile uint8_t rx_fifo[FIFO_SIZE]; //
|
||||
volatile uint8_t rx_fifo_wr; //
|
||||
|
||||
int lookup_index;
|
||||
int ss_lookup_index;
|
||||
|
||||
@ -287,8 +292,8 @@ uint16_t timeout_ms = 20000; //
|
||||
uint16_t timeout_sync_ms = 3; //
|
||||
uint16_t timeout_data_ms = 20; //
|
||||
|
||||
t_rfm22_TxDataByteCallback tx_data_byte_callback_function;
|
||||
t_rfm22_RxDataByteCallback rx_data_byte_callback_function;
|
||||
t_rfm22_TxDataByteCallback tx_data_byte_callback_function = NULL;
|
||||
t_rfm22_RxDataCallback rx_data_callback_function = NULL;
|
||||
|
||||
// ************************************
|
||||
// SPI read/write
|
||||
@ -1084,22 +1089,27 @@ void rfm22_processRxInt(void)
|
||||
|
||||
// fetch the rx'ed data from the rf chips RX FIFO
|
||||
rfm22_startBurstRead(RFM22_fifo_access);
|
||||
for (register uint16_t i = RX_FIFO_HI_WATERMARK; i > 0; i--)
|
||||
{
|
||||
register uint8_t b = rfm22_burstRead(); // read a byte from the rf modules RX FIFO buffer
|
||||
|
||||
if (rx_data_byte_callback_function)
|
||||
{
|
||||
rx_data_byte_callback_function(b);
|
||||
}
|
||||
|
||||
if (wr < sizeof(rx_buffer))
|
||||
rx_buffer[wr++] = b; // save the byte into our rx buffer
|
||||
}
|
||||
rx_fifo_wr = 0;
|
||||
for (register uint8_t i = RX_FIFO_HI_WATERMARK; i > 0; i--)
|
||||
rx_fifo[rx_fifo_wr++] = rfm22_burstRead(); // read a byte from the rf modules RX FIFO buffer
|
||||
rfm22_endBurstRead();
|
||||
|
||||
uint16_t i = rx_fifo_wr;
|
||||
if (wr + i > sizeof(rx_buffer)) i = sizeof(rx_buffer) - wr;
|
||||
memcpy((void *)(rx_buffer + wr), (void *)rx_fifo, i); // save the new bytes into our rx buffer
|
||||
wr += i;
|
||||
|
||||
rx_buffer_wr = wr;
|
||||
|
||||
if (rx_data_callback_function)
|
||||
{ // pass the new data onto whoever wanted it
|
||||
if (!rx_data_callback_function((void *)rx_fifo, rx_fifo_wr))
|
||||
{
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(RFM22_DEBUG) && !defined(RFM22_EXT_INT_USE)
|
||||
// DEBUG_PRINTF(" r_data_%u/%u", rx_buffer_wr, len);
|
||||
// debug_outputted = true;
|
||||
@ -1161,22 +1171,28 @@ void rfm22_processRxInt(void)
|
||||
if (wr < len)
|
||||
{ // their must still be data in the RX FIFO we need to get
|
||||
|
||||
// fetch the rx'ed data from the rf chips RX FIFO
|
||||
rfm22_startBurstRead(RFM22_fifo_access);
|
||||
while (wr < len)
|
||||
{
|
||||
register uint8_t b = rfm22_burstRead();
|
||||
|
||||
if (rx_data_byte_callback_function)
|
||||
{
|
||||
rx_data_byte_callback_function(b);
|
||||
}
|
||||
|
||||
if (wr >= sizeof(rx_buffer)) break;
|
||||
rx_buffer[wr++] = b;
|
||||
}
|
||||
rx_fifo_wr = 0;
|
||||
for (register uint8_t i = len - wr; i > 0; i--)
|
||||
rx_fifo[rx_fifo_wr++] = rfm22_burstRead(); // read a byte from the rf modules RX FIFO buffer
|
||||
rfm22_endBurstRead();
|
||||
|
||||
uint16_t i = rx_fifo_wr;
|
||||
if (wr + i > sizeof(rx_buffer)) i = sizeof(rx_buffer) - wr;
|
||||
memcpy((void *)(rx_buffer + wr), (void *)rx_fifo, i); // save the new bytes into our rx buffer
|
||||
wr += i;
|
||||
|
||||
rx_buffer_wr = wr;
|
||||
|
||||
if (rx_data_callback_function)
|
||||
{ // pass the new data onto whoever wanted it
|
||||
if (!rx_data_callback_function((void *)rx_fifo, rx_fifo_wr))
|
||||
{
|
||||
// rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
|
||||
// return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // reset the receiver
|
||||
@ -1968,9 +1984,9 @@ void rfm22_TxDataByte_SetCallback(t_rfm22_TxDataByteCallback new_function)
|
||||
tx_data_byte_callback_function = new_function;
|
||||
}
|
||||
|
||||
void rfm22_RxDataByte_SetCallback(t_rfm22_RxDataByteCallback new_function)
|
||||
void rfm22_RxData_SetCallback(t_rfm22_RxDataCallback new_function)
|
||||
{
|
||||
rx_data_byte_callback_function = new_function;
|
||||
rx_data_callback_function = new_function;
|
||||
}
|
||||
|
||||
// ************************************
|
||||
@ -2055,7 +2071,7 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq
|
||||
rssi_dBm = -200;
|
||||
|
||||
tx_data_byte_callback_function = NULL;
|
||||
rx_data_byte_callback_function = NULL;
|
||||
rx_data_callback_function = NULL;
|
||||
|
||||
rx_buffer_current = 0;
|
||||
rx_buffer_wr = 0;
|
||||
|
||||
@ -65,11 +65,11 @@ int16_t stream_TxDataByteCallback(void)
|
||||
}
|
||||
|
||||
// *************************************************************
|
||||
// we are being given a received byte
|
||||
// we are being given a block of received bytes
|
||||
//
|
||||
// return TRUE to continue current packet receive, otherwise return FALSe to halt current packet reception
|
||||
// return TRUE to continue current packet receive, otherwise return FALSE to halt current packet reception
|
||||
|
||||
bool stream_RxDataByteCallback(uint8_t b)
|
||||
bool stream_RxDataCallback(void *data, uint8_t len)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
@ -92,6 +92,10 @@ void stream_process(void)
|
||||
|
||||
// *************************************************************
|
||||
|
||||
void stream_deinit(void)
|
||||
{
|
||||
}
|
||||
|
||||
void stream_init(uint32_t our_sn)
|
||||
{
|
||||
#if defined(STREAM_DEBUG)
|
||||
@ -105,7 +109,7 @@ void stream_init(uint32_t our_sn)
|
||||
rfm22_init_rx_stream(saved_settings.min_frequency_Hz, saved_settings.max_frequency_Hz);
|
||||
|
||||
rfm22_TxDataByte_SetCallback(stream_TxDataByteCallback);
|
||||
rfm22_RxDataByte_SetCallback(stream_RxDataByteCallback);
|
||||
rfm22_RxData_SetCallback(stream_RxDataCallback);
|
||||
|
||||
rfm22_setFreqCalibration(saved_settings.rf_xtal_cap);
|
||||
rfm22_setNominalCarrierFrequency(saved_settings.frequency_Hz);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user