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Code Issues Releases Activity

LP-196 Fixed bug in Ex.Bus decoder and changed baud rate for UART to 125 kbaud.

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This commit is contained in:
unknown 2016-01-03 18:27:14 +01:00
parent e07ded404e
commit d00c169dbb
4 changed files with 221 additions and 219 deletions
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428
flight/pios/common/pios_exbus.c
View File

@ -57,104 +57,104 @@
/* Forward Declarations */
static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel);
static uint16_t PIOS_EXBUS_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield);
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield);
static void PIOS_EXBUS_Supervisor(uint32_t exbus_id);
static uint16_t PIOS_EXBUS_CRC_Update(uint16_t crc, uint8_t data);
/* Local Variables */
const struct pios_rcvr_driver pios_exbus_rcvr_driver = {
.read = PIOS_EXBUS_Get,
.read = PIOS_EXBUS_Get,
};
enum pios_exbus_dev_magic {
PIOS_EXBUS_DEV_MAGIC = 0x485355FF,
PIOS_EXBUS_DEV_MAGIC = 0x485355FF,
};
enum pios_exbus_frame_state {
EXBUS_STATE_SYNC,
EXBUS_STATE_REQ,
EXBUS_STATE_LEN,
EXBUS_STATE_PACKET_ID,
EXBUS_STATE_DATA_ID,
EXBUS_STATE_SUBLEN,
EXBUS_STATE_DATA
EXBUS_STATE_SYNC,
EXBUS_STATE_REQ,
EXBUS_STATE_LEN,
EXBUS_STATE_PACKET_ID,
EXBUS_STATE_DATA_ID,
EXBUS_STATE_SUBLEN,
EXBUS_STATE_DATA
};
struct pios_exbus_state {
uint16_t channel_data[PIOS_EXBUS_NUM_INPUTS];
uint8_t received_data[EXBUS_MAX_FRAME_LENGTH];
uint8_t receive_timer;
uint8_t failsafe_timer;
uint8_t tx_connected;
uint8_t byte_count;
uint8_t frame_length;
uint16_t crc;
bool frame_found;
uint16_t channel_data[PIOS_EXBUS_NUM_INPUTS];
uint8_t received_data[EXBUS_MAX_FRAME_LENGTH];
uint8_t receive_timer;
uint8_t failsafe_timer;
uint8_t tx_connected;
uint8_t byte_count;
uint8_t frame_length;
uint16_t crc;
bool frame_found;
};
struct pios_exbus_dev {
enum pios_exbus_dev_magic magic;
const struct pios_exbus_cfg *cfg;
struct pios_exbus_state state;
enum pios_exbus_dev_magic magic;
const struct pios_exbus_cfg *cfg;
struct pios_exbus_state state;
};
/* Allocate EXBUS device descriptor */
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_exbus_dev *PIOS_EXBUS_Alloc(void)
{
struct pios_exbus_dev *exbus_dev;
struct pios_exbus_dev *exbus_dev;
exbus_dev = (struct pios_exbus_dev *)pios_malloc(sizeof(*exbus_dev));
if (!exbus_dev)
return NULL;
exbus_dev = (struct pios_exbus_dev *)pios_malloc(sizeof(*exbus_dev));
if (!exbus_dev)
return NULL;
exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
return exbus_dev;
exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
return exbus_dev;
}
#else
static struct pios_exbus_dev pios_exbus_devs[PIOS_EXBUS_MAX_DEVS];
static uint8_t pios_exbus_num_devs;
static struct pios_exbus_dev *PIOS_EXBUS_Alloc(void)
{
struct pios_exbus_dev *exbus_dev;
struct pios_exbus_dev *exbus_dev;
if (pios_exbus_num_devs >= PIOS_EXBUS_MAX_DEVS)
return NULL;
if (pios_exbus_num_devs >= PIOS_EXBUS_MAX_DEVS)
return NULL;
exbus_dev = &pios_exbus_devs[pios_exbus_num_devs++];
exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
exbus_dev = &pios_exbus_devs[pios_exbus_num_devs++];
exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
return exbus_dev;
return exbus_dev;
}
#endif
/* Validate EXBUS device descriptor */
static bool PIOS_EXBUS_Validate(struct pios_exbus_dev *exbus_dev)
{
return (exbus_dev->magic == PIOS_EXBUS_DEV_MAGIC);
return (exbus_dev->magic == PIOS_EXBUS_DEV_MAGIC);
}
/* Reset channels in case of lost signal or explicit failsafe receiver flag */
static void PIOS_EXBUS_ResetChannels(struct pios_exbus_dev *exbus_dev)
{
struct pios_exbus_state *state = &(exbus_dev->state);
for (int i = 0; i < PIOS_EXBUS_NUM_INPUTS; i++) {
state->channel_data[i] = PIOS_RCVR_TIMEOUT;
}
struct pios_exbus_state *state = &(exbus_dev->state);
for (int i = 0; i < PIOS_EXBUS_NUM_INPUTS; i++) {
state->channel_data[i] = PIOS_RCVR_TIMEOUT;
}
}
/* Reset EXBUS receiver state */
static void PIOS_EXBUS_ResetState(struct pios_exbus_dev *exbus_dev)
{
struct pios_exbus_state *state = &(exbus_dev->state);
state->receive_timer = 0;
state->failsafe_timer = 0;
state->frame_found = false;
state->tx_connected = 0;
PIOS_EXBUS_ResetChannels(exbus_dev);
struct pios_exbus_state *state = &(exbus_dev->state);
state->receive_timer = 0;
state->failsafe_timer = 0;
state->frame_found = false;
state->tx_connected = 0;
PIOS_EXBUS_ResetChannels(exbus_dev);
}
/**
@ -164,184 +164,186 @@ static void PIOS_EXBUS_ResetState(struct pios_exbus_dev *exbus_dev)
*/
static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
{
struct pios_exbus_state *state = &(exbus_dev->state);
struct pios_exbus_state *state = &(exbus_dev->state);
if(state->crc != 0) {
/* crc failed */
DEBUG_PRINTF(2, "Jeti CRC error!%d\r\n");
goto stream_error;
}
if(state->crc != 0) {
/* crc failed */
DEBUG_PRINTF(2, "Jeti CRC error!%d\r\n");
goto stream_error;
}
enum pios_exbus_frame_state exbus_state = EXBUS_STATE_SYNC;
uint8_t *byte = state->received_data;
uint8_t sub_length;
uint8_t n_channels = 0;
uint8_t channel = 0;
enum pios_exbus_frame_state exbus_state = EXBUS_STATE_SYNC;
uint8_t *byte = state->received_data;
uint8_t sub_length;
uint8_t n_channels = 0;
uint8_t channel = 0;
while((byte - state->received_data) < state->frame_length) {
switch(exbus_state) {
case EXBUS_STATE_SYNC:
/* sync byte */
if(*byte == EXBUS_SYNC_CHANNEL) {
exbus_state = EXBUS_STATE_REQ;
}
else {
goto stream_error;
}
byte += sizeof(uint8_t);
break;
while((byte - state->received_data) < state->frame_length) {
switch(exbus_state) {
case EXBUS_STATE_SYNC:
/* sync byte */
if(*byte == EXBUS_SYNC_CHANNEL) {
exbus_state = EXBUS_STATE_REQ;
}
else {
goto stream_error;
}
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_REQ:
/*
* tells us whether the rx is requesting a reply or not,
* currently nothing is actually done with this information...
*/
if(*byte == EXBUS_BYTE_REQ) {
exbus_state = EXBUS_STATE_LEN;
}
else if(*byte == EXBUS_BYTE_NOREQ) {
exbus_state = EXBUS_STATE_LEN;
}
else
goto stream_error;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_REQ:
/*
* tells us whether the rx is requesting a reply or not,
* currently nothing is actually done with this information...
*/
if(*byte == EXBUS_BYTE_REQ) {
exbus_state = EXBUS_STATE_LEN;
}
else if(*byte == EXBUS_BYTE_NOREQ) {
exbus_state = EXBUS_STATE_LEN;
}
else
goto stream_error;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_LEN:
/* total frame length */
exbus_state = EXBUS_STATE_PACKET_ID;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_LEN:
/* total frame length */
exbus_state = EXBUS_STATE_PACKET_ID;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_PACKET_ID:
/* packet id */
exbus_state = EXBUS_STATE_DATA_ID;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_PACKET_ID:
/* packet id */
exbus_state = EXBUS_STATE_DATA_ID;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_DATA_ID:
/* checks the type of data, ignore non-rc data */
if(*byte == EXBUS_DATA_CHANNEL) {
exbus_state = EXBUS_STATE_SUBLEN;
}
else
goto stream_error;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_SUBLEN:
sub_length = *byte;
n_channels = sub_length / 2;
exbus_state = EXBUS_STATE_DATA;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_DATA:
if(channel < n_channels) {
/* 1 lsb = 1/8 us */
state->channel_data[channel++] = (byte[1] << 8 | byte[0]) / 8;
}
byte += sizeof(uint16_t);
break;
}
}
case EXBUS_STATE_DATA_ID:
/* checks the type of data, ignore non-rc data */
if(*byte == EXBUS_DATA_CHANNEL) {
exbus_state = EXBUS_STATE_SUBLEN;
}
else
goto stream_error;
byte += sizeof(uint8_t);
break;
for(; channel < EXBUS_MAX_CHANNELS; channel++) {
/* this channel was not received */
state->channel_data[channel] = PIOS_RCVR_INVALID;
}
case EXBUS_STATE_SUBLEN:
sub_length = *byte;
n_channels = sub_length / 2;
exbus_state = EXBUS_STATE_DATA;
byte += sizeof(uint8_t);
break;
case EXBUS_STATE_DATA:
if(channel < n_channels) {
/* 1 lsb = 1/8 us */
state->channel_data[channel++] = (byte[1] << 8 | byte[0]) / 8;
}
byte += sizeof(uint16_t);
break;
}
}
for(; channel < EXBUS_MAX_CHANNELS; channel++) {
/* this channel was not received */
state->channel_data[channel] = PIOS_RCVR_INVALID;
}
return 0;
stream_error:
return -1;
return -1;
}
/* Update decoder state processing input byte from the stream */
static void PIOS_EXBUS_UpdateState(struct pios_exbus_dev *exbus_dev, uint8_t byte)
{
struct pios_exbus_state *state = &(exbus_dev->state);
struct pios_exbus_state *state = &(exbus_dev->state);
if(!state->frame_found) {
if(byte == EXBUS_SYNC_CHANNEL) {
state->frame_found = true;
state->byte_count = 0;
state->frame_length = EXBUS_MAX_FRAME_LENGTH;
state->crc = PIOS_EXBUS_CRC_Update(0, byte);
state->received_data[state->byte_count++] = byte;
}
}
else if(state->byte_count < EXBUS_MAX_FRAME_LENGTH) {
state->crc = PIOS_EXBUS_CRC_Update(state->crc, byte);
state->received_data[state->byte_count++] = byte;
if(!state->frame_found) {
if(byte == EXBUS_SYNC_CHANNEL) {
state->frame_found = true;
state->byte_count = 0;
state->frame_length = EXBUS_MAX_FRAME_LENGTH;
state->crc = PIOS_EXBUS_CRC_Update(0, byte);
state->received_data[state->byte_count++] = byte;
}
}
else if(state->byte_count < EXBUS_MAX_FRAME_LENGTH) {
state->crc = PIOS_EXBUS_CRC_Update(state->crc, byte);
state->received_data[state->byte_count++] = byte;
if(state->byte_count == 3) {
state->frame_length = byte;
}
if(state->byte_count == state->frame_length) {
if (!PIOS_EXBUS_UnrollChannels(exbus_dev))
/* data looking good */
state->failsafe_timer = 0;
/* get ready for the next frame */
state->frame_found = false;
}
}
else {
state->frame_found = false;
}
if(state->byte_count == 3) {
state->frame_length = byte;
}
if(state->byte_count == state->frame_length) {
if (!PIOS_EXBUS_UnrollChannels(exbus_dev))
/* data looking good */
state->failsafe_timer = 0;
/* get ready for the next frame */
state->frame_found = false;
}
}
else {
state->frame_found = false;
}
}
/* Initialise EX Bus receiver interface */
int32_t PIOS_EXBUS_Init(uint32_t *exbus_id,
const struct pios_com_driver *driver,
uint32_t lower_id)
const struct pios_com_driver *driver,
uint32_t lower_id)
{
PIOS_DEBUG_Assert(exbus_id);
PIOS_DEBUG_Assert(driver);
PIOS_DEBUG_Assert(exbus_id);
PIOS_DEBUG_Assert(driver);
struct pios_exbus_dev *exbus_dev;
struct pios_exbus_dev *exbus_dev;
exbus_dev = (struct pios_exbus_dev *)PIOS_EXBUS_Alloc();
if (!exbus_dev)
return -1;
exbus_dev = (struct pios_exbus_dev *)PIOS_EXBUS_Alloc();
if (!exbus_dev)
return -1;
PIOS_EXBUS_ResetState(exbus_dev);
PIOS_EXBUS_ResetState(exbus_dev);
*exbus_id = (uint32_t)exbus_dev;
*exbus_id = (uint32_t)exbus_dev;
/* Set comm driver callback */
(driver->bind_rx_cb)(lower_id, PIOS_EXBUS_RxInCallback, *exbus_id);
/* Set comm driver callback */
(driver->bind_rx_cb)(lower_id, PIOS_EXBUS_RxInCallback, *exbus_id);
if (!PIOS_RTC_RegisterTickCallback(PIOS_EXBUS_Supervisor, *exbus_id)) {
PIOS_DEBUG_Assert(0);
}
if (!PIOS_RTC_RegisterTickCallback(PIOS_EXBUS_Supervisor, *exbus_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
return 0;
}
/* Comm byte received callback */
static uint16_t PIOS_EXBUS_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield)
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield)
{
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)context;
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)context;
bool valid = PIOS_EXBUS_Validate(exbus_dev);
PIOS_Assert(valid);
bool valid = PIOS_EXBUS_Validate(exbus_dev);
PIOS_Assert(valid);
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_EXBUS_UpdateState(exbus_dev, buf[i]);
exbus_dev->state.receive_timer = 0;
}
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_EXBUS_UpdateState(exbus_dev, buf[i]);
exbus_dev->state.receive_timer = 0;
}
/* Always signal that we can accept more data */
if (headroom)
*headroom = EXBUS_MAX_FRAME_LENGTH;
/* Always signal that we can accept more data */
if (headroom)
*headroom = EXBUS_MAX_FRAME_LENGTH;
/* We never need a yield */
*need_yield = false;
/* We never need a yield */
*need_yield = false;
/* Always indicate that all bytes were consumed */
return buf_len;
/* Always indicate that all bytes were consumed */
return buf_len;
}
/**
@ -353,17 +355,17 @@ static uint16_t PIOS_EXBUS_RxInCallback(uint32_t context,
*/
static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)rcvr_id;
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)rcvr_id;
if (!PIOS_EXBUS_Validate(exbus_dev))
return PIOS_RCVR_INVALID;
if (!PIOS_EXBUS_Validate(exbus_dev))
return PIOS_RCVR_INVALID;
/* return error if channel is not available */
if (channel >= PIOS_EXBUS_NUM_INPUTS)
return PIOS_RCVR_INVALID;
/* return error if channel is not available */
if (channel >= PIOS_EXBUS_NUM_INPUTS)
return PIOS_RCVR_INVALID;
/* may also be PIOS_RCVR_TIMEOUT set by other function */
return exbus_dev->state.channel_data[channel];
/* may also be PIOS_RCVR_TIMEOUT set by other function */
return exbus_dev->state.channel_data[channel];
}
/**
@ -380,27 +382,27 @@ static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel)
*/
static void PIOS_EXBUS_Supervisor(uint32_t exbus_id)
{
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)exbus_id;
struct pios_exbus_dev *exbus_dev = (struct pios_exbus_dev *)exbus_id;
bool valid = PIOS_EXBUS_Validate(exbus_dev);
PIOS_Assert(valid);
bool valid = PIOS_EXBUS_Validate(exbus_dev);
PIOS_Assert(valid);
struct pios_exbus_state *state = &(exbus_dev->state);
struct pios_exbus_state *state = &(exbus_dev->state);
/* waiting for new frame if no bytes were received in 8ms */
if (++state->receive_timer > 4) {
state->frame_found = false;
state->byte_count = 0;
state->receive_timer = 0;
state->frame_length = EXBUS_MAX_FRAME_LENGTH;
}
/* waiting for new frame if no bytes were received in 8ms */
if (++state->receive_timer > 4) {
state->frame_found = false;
state->byte_count = 0;
state->receive_timer = 0;
state->frame_length = EXBUS_MAX_FRAME_LENGTH;
}
/* activate failsafe if no frames have arrived in 102.4ms */
if (++state->failsafe_timer > 64) {
PIOS_EXBUS_ResetChannels(exbus_dev);
state->failsafe_timer = 0;
state->tx_connected = 0;
}
/* activate failsafe if no frames have arrived in 102.4ms */
if (++state->failsafe_timer > 64) {
PIOS_EXBUS_ResetChannels(exbus_dev);
state->failsafe_timer = 0;
state->tx_connected = 0;
}
}
static uint16_t PIOS_EXBUS_CRC_Update(uint16_t crc, uint8_t data)
@ -408,7 +410,7 @@ static uint16_t PIOS_EXBUS_CRC_Update(uint16_t crc, uint8_t data)
data ^= (uint8_t)crc & (uint8_t)0xFF;
data ^= data << 4;
crc = ((((uint16_t)data << 8) | ((crc & 0xFF00) >> 8))
^ (uint8_t)(data >> 4) ^ ((uint16_t)data << 3));
^ (uint8_t)(data >> 4) ^ ((uint16_t)data << 3));
return crc;
}

4
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -1029,7 +1029,7 @@ static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
static const struct pios_usart_cfg pios_usart_exbus_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -1065,7 +1065,7 @@ static const struct pios_usart_cfg pios_usart_exbus_main_cfg = {
static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,

4
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -1064,7 +1064,7 @@ static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -1105,7 +1105,7 @@ static const struct pios_usart_cfg pios_usart_exbus_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,

4
flight/targets/boards/revonano/board_hw_defs.c
View File

@ -594,7 +594,7 @@ static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
.regs = FLEXI_USART_REGS,
.remap = FLEXI_USART_REMAP,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -635,7 +635,7 @@ static const struct pios_usart_cfg pios_usart_exbus_main_cfg = {
.regs = MAIN_USART_REGS,
.remap = MAIN_USART_REMAP,
.init = {
.USART_BaudRate = 250000,
.USART_BaudRate = 125000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,