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Code Issues Releases Activity

OP-932 Adds PWM outputs to OPLinkMini. Both gpio pins on the main and/or flexi port can be configured to output PWM for a total of up to 4 PWM outputs.

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This commit is contained in:
Brian Webb 2013-07-03 18:58:34 -07:00
parent c76ee7de9d
commit d0d8a0aadd
6 changed files with 305 additions and 172 deletions
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8
flight/pios/common/pios_rfm22b.c
View File

@ -77,7 +77,7 @@
#define RFM22B_PPM_ONLY_DATARATE RFM22_datarate_9600 #define RFM22B_PPM_ONLY_DATARATE RFM22_datarate_9600
// The maximum amount of time without activity before initiating a reset. // The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms #define PIOS_RFM22B_SUPERVISOR_TIMEOUT 150 // ms
// this is too adjust the RF module so that it is on frequency // this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default #define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
@ -1905,13 +1905,11 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
} }
if (good_packet || corrected_packet) { if (good_packet || corrected_packet) {
bool valid_input_detected = false;
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) { for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
// Is this a valid channel? // Is this a valid channel?
if (p[0] & (1 << i)) { if (p[0] & (1 << i)) {
uint32_t val = p[i + 1]; uint32_t val = p[i + 1];
radio_dev->ppm[i] = (uint16_t)(1000 + val * 900 / 256); radio_dev->ppm[i] = (uint16_t)(1000 + val * 900 / 256);
valid_input_detected = true;
} else { } else {
radio_dev->ppm[i] = PIOS_RCVR_INVALID; radio_dev->ppm[i] = PIOS_RCVR_INVALID;
} }
@ -1921,7 +1919,7 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
data_len -= RFM22B_PPM_NUM_CHANNELS + 1; data_len -= RFM22B_PPM_NUM_CHANNELS + 1;
// Call the PPM received callback if it's available. // Call the PPM received callback if it's available.
if (valid_input_detected && radio_dev->ppm_callback) { if (radio_dev->ppm_callback) {
radio_dev->ppm_callback(radio_dev->ppm); radio_dev->ppm_callback(radio_dev->ppm);
} }
} }
@ -2214,7 +2212,6 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
// Are we switching to a new channel? // Are we switching to a new channel?
if (idx != rfm22b_dev->channel_index) { if (idx != rfm22b_dev->channel_index) {
// If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state. // If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) { if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false; rfm22b_dev->on_sync_channel = false;
@ -2230,7 +2227,6 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
// Stay on the sync channel. // Stay on the sync channel.
idx = 0; idx = 0;
} else if (idx == 0) { } else if (idx == 0) {
// If we're switching to the sync channel, set a flag that can be used to detect if a packet was received. // If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
rfm22b_dev->on_sync_channel = true; rfm22b_dev->on_sync_channel = true;

276
flight/targets/boards/oplinkmini/board_hw_defs.c
View File

@ -432,9 +432,79 @@ static const struct pios_tim_clock_cfg tim_4_cfg = {
}, },
}; };
static const struct pios_tim_channel pios_tim_ppm_flexi_port = { static const struct pios_tim_channel pios_tim_all_port_pins[] = {
/* Main Tx */
{
.timer = TIM1,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
/* Main Rx */
{
.timer = TIM1,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
/* Flexi Tx */
{
.timer = TIM2,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap2_TIM2,
},
/* Flexi Rx */
{
.timer = TIM2,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap2_TIM2,
},
};
static const struct pios_tim_channel pios_tim_main_port_ppm = {
.timer = TIM1,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
};
static const struct pios_tim_channel pios_tim_flexi_port_ppm = {
.timer = TIM2, .timer = TIM2,
.timer_chan = TIM_Channel_4, .timer_chan = TIM_Channel_4,
.pin = { .pin = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
@ -443,24 +513,130 @@ static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
}, },
}, },
.remap = GPIO_PartialRemap2_TIM2, .remap = GPIO_PartialRemap2_TIM2,
};
static const struct pios_tim_channel pios_tim_ppm_main_port = {
.timer = TIM1,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
}; };
#endif /* PIOS_INCLUDE_TIM */ #endif /* PIOS_INCLUDE_TIM */
#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
/*
* Servo outputs
*/
#include <pios_servo_priv.h>
const struct pios_servo_cfg pios_servo_main_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_all_port_pins,
.num_channels = 2
};
const struct pios_servo_cfg pios_servo_flexi_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = &(pios_tim_all_port_pins[2]),
.num_channels = 2
};
const struct pios_servo_cfg pios_servo_main_flexi_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_all_port_pins,
.num_channels = 4
};
#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
const struct pios_ppm_cfg pios_ppm_main_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_main_port_ppm,
.num_channels = 1,
};
const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_flexi_port_ppm,
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */
/*
* PPM Output
*/
#if defined(PIOS_INCLUDE_PPM_OUT)
#include <pios_ppm_out_priv.h>
const struct pios_ppm_out_cfg pios_main_ppm_out_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_Low,
.TIM_OCNPolarity = TIM_OCPolarity_Low,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channel = &(pios_tim_all_port_pins[0]),
};
const struct pios_ppm_out_cfg pios_flexi_ppm_out_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_Low,
.TIM_OCNPolarity = TIM_OCPolarity_Low,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channel = &(pios_tim_all_port_pins[2]),
};
#endif /* PIOS_INCLUDE_PPM_OUT */
#if defined(PIOS_INCLUDE_USART) #if defined(PIOS_INCLUDE_USART)
#include <pios_usart_priv.h> #include <pios_usart_priv.h>
@ -576,74 +752,6 @@ void PIOS_RTC_IRQ_Handler(void)
#endif /* if defined(PIOS_INCLUDE_RTC) */ #endif /* if defined(PIOS_INCLUDE_RTC) */
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_ppm_flexi_port,
.num_channels = 1,
};
const struct pios_ppm_cfg pios_ppm_main_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_ppm_main_port,
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */
/*
* PPM Output
*/
#if defined(PIOS_INCLUDE_PPM_OUT)
#include <pios_ppm_out_priv.h>
static const struct pios_tim_channel pios_tim_ppmout[] = {
{
.timer = TIM2,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_FullRemap_TIM2,
}
};
const struct pios_ppm_out_cfg pios_ppm_out_cfg = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_Low,
.TIM_OCNPolarity = TIM_OCPolarity_Low,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channel = pios_tim_ppmout,
};
#endif /* PIOS_INCLUDE_PPM_OUT */
#if defined(PIOS_INCLUDE_RCVR) #if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h" #include "pios_rcvr_priv.h"

4
flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
View File

@ -87,7 +87,7 @@
/* #define PIOS_INCLUDE_HCSR04 */ /* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */ /* PIOS receiver drivers */
/* #define PIOS_INCLUDE_PWM */ #define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PPM
/* #define PIOS_INCLUDE_PPM_FLEXI */ /* #define PIOS_INCLUDE_PPM_FLEXI */
/* #define PIOS_INCLUDE_DSM */ /* #define PIOS_INCLUDE_DSM */
@ -101,7 +101,7 @@
/* PIOS common peripherals */ /* PIOS common peripherals */
#define PIOS_INCLUDE_LED #define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP #define PIOS_INCLUDE_IAP
/* #define PIOS_INCLUDE_SERVO */ #define PIOS_INCLUDE_SERVO
/* #define PIOS_INCLUDE_I2C_ESC */ /* #define PIOS_INCLUDE_I2C_ESC */
/* #define PIOS_INCLUDE_OVERO */ /* #define PIOS_INCLUDE_OVERO */
/* #define PIOS_OVERO_SPI */ /* #define PIOS_OVERO_SPI */

180
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -32,6 +32,9 @@
#include <pios_ppm_out.h> #include <pios_ppm_out.h>
#include <oplinksettings.h> #include <oplinksettings.h>
#include <taskinfo.h> #include <taskinfo.h>
#ifdef PIOS_INCLUDE_SERVO
#include <pios_servo.h>
#endif
/* /*
* Pull in the board-specific static HW definitions. * Pull in the board-specific static HW definitions.
@ -76,11 +79,9 @@ uint8_t *pios_uart_tx_buffer;
uintptr_t pios_uavo_settings_fs_id; uintptr_t pios_uavo_settings_fs_id;
uint8_t servo_count = 0;
// Forward definitions // Forward definitions
static void PIOS_InitUartMainPort();
static void PIOS_InitUartFlexiPort();
static void PIOS_InitPPMMainPort(bool input);
static void PIOS_InitPPMFlexiPort(bool input);
static void PIOS_Board_PPM_callback(const int16_t *channels); static void PIOS_Board_PPM_callback(const int16_t *channels);
/** /**
@ -232,16 +233,53 @@ void PIOS_Board_Init(void)
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE); bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE); bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
bool ppm_mode = false; bool ppm_mode = false;
bool servo_main = false;
bool servo_flexi = false;
switch (oplinkSettings.MainPort) { switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY: case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL: case OPLINKSETTINGS_MAINPORT_SERIAL:
{
/* Configure the main port for uart serial */ /* Configure the main port for uart serial */
PIOS_InitUartMainPort(); #ifndef PIOS_RFM22B_DEBUG_ON_TELEM
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_main_id, &pios_usart_com_driver, pios_usart1_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN; PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
#endif
break; break;
}
case OPLINKSETTINGS_MAINPORT_PPM: case OPLINKSETTINGS_MAINPORT_PPM:
PIOS_InitPPMMainPort(is_coordinator); {
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (is_coordinator) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_main_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
// For some reason, PPM output on the main port doesn't work.
#if defined(PIOS_INCLUDE_PPM_OUT)
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_main_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM_OUT */
ppm_mode = true; ppm_mode = true;
#endif /* PIOS_INCLUDE_PPM */
break;
}
case OPLINKSETTINGS_MAINPORT_PWM:
servo_main = true;
break; break;
case OPLINKSETTINGS_MAINPORT_DISABLED: case OPLINKSETTINGS_MAINPORT_DISABLED:
break; break;
@ -251,14 +289,45 @@ void PIOS_Board_Init(void)
switch (oplinkSettings.FlexiPort) { switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY: case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
case OPLINKSETTINGS_FLEXIPORT_SERIAL: case OPLINKSETTINGS_FLEXIPORT_SERIAL:
{
/* Configure the flexi port as uart serial */ /* Configure the flexi port as uart serial */
PIOS_InitUartFlexiPort(); uint32_t pios_usart3_id;
if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI; PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
break; break;
}
case OPLINKSETTINGS_FLEXIPORT_PPM: case OPLINKSETTINGS_FLEXIPORT_PPM:
PIOS_InitPPMFlexiPort(is_coordinator); {
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (is_coordinator) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_flexi_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM */
ppm_mode = true; ppm_mode = true;
break; break;
}
case OPLINKSETTINGS_FLEXIPORT_PWM:
servo_flexi = true;
break;
case OPLINKSETTINGS_FLEXIPORT_DISABLED: case OPLINKSETTINGS_FLEXIPORT_DISABLED:
break; break;
} }
@ -272,6 +341,22 @@ void PIOS_Board_Init(void)
break; break;
} }
#if defined(PIOS_INCLUDE_SERVO)
if (servo_main) {
if (servo_flexi) {
servo_count = 4;
PIOS_Servo_Init(&pios_servo_main_flexi_cfg);
} else {
servo_count = 2;
PIOS_Servo_Init(&pios_servo_main_cfg);
}
} else if (servo_flexi) {
servo_count = 2;
PIOS_Servo_Init(&pios_servo_flexi_cfg);
}
ppm_mode = ppm_mode || (servo_count > 0);
#endif
// Initialize out status object. // Initialize out status object.
OPLinkStatusData oplinkStatus; OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus); OPLinkStatusGet(&oplinkStatus);
@ -412,83 +497,22 @@ void PIOS_Board_Init(void)
PIOS_GPIO_Init(); PIOS_GPIO_Init();
} }
static void PIOS_InitUartMainPort()
{
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_main_id, &pios_usart_com_driver, pios_usart1_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif
}
static void PIOS_InitUartFlexiPort()
{
uint32_t pios_usart3_id;
if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
static void PIOS_InitPPMMainPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (input) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_main_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
// For some reason, PPM output on the main port doesn't work.
#endif /* PIOS_INCLUDE_PPM */
}
static void PIOS_InitPPMFlexiPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (input) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
#if defined(PIOS_INCLUDE_PPM_OUT)
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM_OUT */
#endif /* PIOS_INCLUDE_PPM */
}
static void PIOS_Board_PPM_callback(const int16_t *channels) static void PIOS_Board_PPM_callback(const int16_t *channels)
{ {
#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT) #if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
if (pios_ppm_out_id) { if (pios_ppm_out_id) {
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) { for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]); if (channels[i] != PIOS_RCVR_INVALID) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);
}
} }
} }
#if defined(PIOS_INCLUDE_SERVO)
for (uint8_t i = 0; i < servo_count; ++i) {
uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];
PIOS_Servo_Set(i, val);
}
#endif /* PIOS_INCLUDE_SERVO */
#endif /* PIOS_INCLUDE_PPM && PIOS_INCLUDE_PPM_OUT */ #endif /* PIOS_INCLUDE_PPM && PIOS_INCLUDE_PPM_OUT */
} }

5
flight/targets/boards/oplinkmini/pios_board.h
View File

@ -249,6 +249,11 @@ extern uint32_t pios_ppm_out_id;
#define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 8 #define PIOS_PPM_NUM_INPUTS 8
// -------------------------
// Receiver PWM inputs
// -------------------------
#define PIOS_PWM_NUM_INPUTS 4
// ------------------------- // -------------------------
// Servo outputs // Servo outputs
// ------------------------- // -------------------------

4
shared/uavobjectdefinition/oplinksettings.xml
View File

@ -6,8 +6,8 @@
<field name="PPM" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/> <field name="PPM" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="PPMOnly" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/> <field name="PPMOnly" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/> <field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Telemetry"/> <field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>
<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Disabled"/> <field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>
<field name="VCPPort" units="" type="enum" elements="1" options="Disabled,Serial" defaultvalue="Disabled"/> <field name="VCPPort" units="" type="enum" elements="1" options="Disabled,Serial" defaultvalue="Disabled"/>
<field name="ComSpeed" units="bps" type="enum" elements="1" options="4800,9600,19200,38400,57600,115200" defaultvalue="38400"/> <field name="ComSpeed" units="bps" type="enum" elements="1" options="4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
<field name="MaxRFPower" units="mW" type="enum" elements="1" options="0,1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="0"/> <field name="MaxRFPower" units="mW" type="enum" elements="1" options="0,1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="0"/>