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Code Issues Releases Activity

Receiver input working for both PPM/PWM mode for rm2

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This commit is contained in:
a*morale 2012-09-30 20:54:10 +02:00
parent 227aa98ebc
commit c2910d0ce0
2 changed files with 95 additions and 46 deletions
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23
flight/RevoMini/System/pios_board.c
View File

@ -341,10 +341,11 @@ void PIOS_Board_Init(void) {
PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg); PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_5_cfg); PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg); PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_10_cfg); PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_cfg); PIOS_TIM_InitClock(&tim_11_cfg);
PIOS_TIM_InitClock(&tim_12_cfg);
/* IAP System Setup */ /* IAP System Setup */
PIOS_IAP_Init(); PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount(); uint16_t boot_count = PIOS_IAP_ReadBootCount();
@ -470,7 +471,25 @@ void PIOS_Board_Init(void) {
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id); PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break; break;
case HWSETTINGS_CC_MAINPORT_SBUS: case HWSETTINGS_CC_MAINPORT_SBUS:
// TODO #if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break; break;
case HWSETTINGS_CC_MAINPORT_DSM2: case HWSETTINGS_CC_MAINPORT_DSM2:
case HWSETTINGS_CC_MAINPORT_DSMX10BIT: case HWSETTINGS_CC_MAINPORT_DSMX10BIT:

110
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -962,17 +962,21 @@ static const struct pios_tim_clock_cfg tim_11_cfg = {
}, },
}; };
// Set up timers that only have inputs on APB2 // Set up timers that only have inputs on APB1
static const TIM_TimeBaseInitTypeDef tim_1_time_base = { // TIM2,3,4,5,6,7,12,13,14
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, static const TIM_TimeBaseInitTypeDef tim_apb1_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1, .TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up, .TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF, .TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000, .TIM_RepetitionCounter = 0x0000,
}; };
// Set up timers that only have inputs on APB2 // Set up timers that only have inputs on APB2
static const TIM_TimeBaseInitTypeDef tim_4_time_base = { // TIM1,8,9,10,11
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1, static const TIM_TimeBaseInitTypeDef tim_apb2_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1, .TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up, .TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF, .TIM_Period = 0xFFFF,
@ -981,7 +985,7 @@ static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
static const struct pios_tim_clock_cfg tim_1_cfg = { static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1, .timer = TIM1,
.time_base_init = &tim_1_time_base, .time_base_init = &tim_apb2_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM1_CC_IRQn, .NVIC_IRQChannel = TIM1_CC_IRQn,
@ -994,7 +998,7 @@ static const struct pios_tim_clock_cfg tim_1_cfg = {
static const struct pios_tim_clock_cfg tim_4_cfg = { static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4, .timer = TIM4,
.time_base_init = &tim_4_time_base, .time_base_init = &tim_apb1_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannel = TIM4_IRQn,
@ -1004,6 +1008,32 @@ static const struct pios_tim_clock_cfg tim_4_cfg = {
}, },
}, },
}; };
static const struct pios_tim_clock_cfg tim_8_cfg = {
.timer = TIM8,
.time_base_init = &tim_apb2_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM8_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_12_cfg = {
.timer = TIM12,
.time_base_init = &tim_apb1_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
/** /**
* Pios servo configuration structures * Pios servo configuration structures
@ -1133,50 +1163,50 @@ const struct pios_servo_cfg pios_servo_cfg = {
#include <pios_pwm_priv.h> #include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
{ {
.timer = TIM1, .timer = TIM12,
.timer_chan = TIM_Channel_1, .timer_chan = TIM_Channel_1,
.pin = { .pin = {
.gpio = GPIOA, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_8, .GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP .GPIO_PuPd = GPIO_PuPd_UP
}, },
.pin_source = GPIO_PinSource8, .pin_source = GPIO_PinSource14,
}, },
.remap = GPIO_AF_TIM1, .remap = GPIO_AF_TIM12,
},
{
.timer = TIM12,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource15,
},
.remap = GPIO_AF_TIM12,
}, },
{ {
.timer = TIM8, .timer = TIM8,
.timer_chan = TIM_Channel_4, .timer_chan = TIM_Channel_1,
.pin = { .pin = {
.gpio = GPIOC, .gpio = GPIOC,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_9, .GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP .GPIO_PuPd = GPIO_PuPd_UP
}, },
.pin_source = GPIO_PinSource9, .pin_source = GPIO_PinSource6,
},
.remap = GPIO_AF_TIM8,
},
{
.timer = TIM8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
}, },
.remap = GPIO_AF_TIM8, .remap = GPIO_AF_TIM8,
}, },
@ -1198,35 +1228,35 @@ static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
}, },
{ {
.timer = TIM8, .timer = TIM8,
.timer_chan = TIM_Channel_1, .timer_chan = TIM_Channel_3,
.pin = { .pin = {
.gpio = GPIOC, .gpio = GPIOC,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_6, .GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP .GPIO_PuPd = GPIO_PuPd_UP
}, },
.pin_source = GPIO_PinSource6, .pin_source = GPIO_PinSource8,
}, },
.remap = GPIO_AF_TIM8, .remap = GPIO_AF_TIM8,
}, },
{ {
.timer = TIM12, .timer = TIM8,
.timer_chan = TIM_Channel_2, .timer_chan = TIM_Channel_4,
.pin = { .pin = {
.gpio = GPIOB, .gpio = GPIOC,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_15, .GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP .GPIO_PuPd = GPIO_PuPd_UP
}, },
.pin_source = GPIO_PinSource15, .pin_source = GPIO_PinSource9,
}, },
.remap = GPIO_AF_TIM12, .remap = GPIO_AF_TIM8,
}, },
}; };