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Code Issues Releases Activity

OP-22 Flight/PiOS: Spektrum bind function tested and working.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@649 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-05-23 11:19:28 +00:00 committed by sambas
parent 6f0401b0d9
commit d7b3a158d6
2 changed files with 67 additions and 3 deletions
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69
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -47,6 +47,11 @@ static uint16_t CaptureValue[12];
*/
void PIOS_SPEKTRUM_Init(void)
{
// need setting flag for bind on next powerup
if(1)
{
PIOS_SPEKTRUM_Bind();
}
/* Configure USART Pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
@ -69,6 +74,7 @@ void PIOS_SPEKTRUM_Init(void)
PIOS_USART3_REMAP_FUNC;
/* Configure and Init USART Rx input with internal pull-ups */
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
@ -108,6 +114,58 @@ int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
return CaptureValue[Channel];
}
/**
* Spektrum bind function
* \output 1 Successful bind
* \output 0 Bind failed
* \note Applications shouldn't call these functions directly
*/
uint8_t PIOS_SPEKTRUM_Bind(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
/* GPIO's Off */
/* powerup, RX line stay low for 75ms */
/* system init takes longer!!! */
/* I have no idea how long the powerup init window for satellite is but works with this */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
//PIOS_DELAY_WaitmS(75);
/* RX line, drive high for 10us */
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(10);
/* RX line, drive low for 120us */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
return 1;
}
/**
* Decodes a byte
* \param[in] b byte which should be spektrum decoded
@ -118,18 +176,22 @@ int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
*/
int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
static uint8_t prev_byte=0xFF,sync=0,bytecount=0;;
static uint8_t prev_byte=0xFF,sync=0,bytecount=0,byte_array[20]={0};
static uint16_t channel=0,sync_word=0;
uint8_t channeln=0,frame=0;
uint16_t data=0;
byte_array[bytecount]=b;
bytecount++;
if(sync==0)
{
sync_word=(prev_byte<<8)+b;
if((sync_word&0xCCFE)==0)
{
sync=1;
bytecount=2;
if(sync_word&0x01)
{
sync=1;
bytecount=2;
}
}
}
else
@ -146,6 +208,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
}
if(bytecount==16)
{
//PIOS_COM_SendBufferNonBlocking(COM_DEBUG_USART,byte_array,16);
bytecount=0;
sync=0;
}

1
flight/PiOS/inc/pios_spektrum.h
View File

@ -32,6 +32,7 @@
/* Public Functions */
extern void PIOS_SPEKTRUM_Init(void);
extern uint8_t PIOS_SPEKTRUM_Bind(void);
extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
extern int16_t PIOS_SPEKTRUM_Get(int8_t Channel);