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Code Issues Releases Activity

LP-190: Adds support for OpenLRS receiver to Sparky2 target.

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This commit is contained in:
Brian Webb 2016-06-18 21:49:25 -07:00
parent a0279b272f
commit dc17bd9ad8
5 changed files with 195 additions and 122 deletions
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73
flight/targets/boards/revolution/firmware/pios_board.c
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@ -849,13 +849,12 @@ void PIOS_Board_Init(void)
/* Is the radio turned on? */
bool is_coordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
bool openlrs = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPENLRS);
bool openlrs = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPENLRS);
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
if (openlrs) {
#if defined(PIOS_INCLUDE_OPENLRS_RCVR)
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);
uint32_t openlrs_id;
@ -871,9 +870,7 @@ void PIOS_Board_Init(void)
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPENLRS] = openlrsrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPENLRS_RCVR */
} else {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
@ -916,46 +913,46 @@ void PIOS_Board_Init(void)
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetDeviceID(pios_rfm22b_id, oplinkSettings.CustomDeviceID);
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetDeviceID(pios_rfm22b_id, oplinkSettings.CustomDeviceID);
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx power level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Set the modem Tx power level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);

49
flight/targets/boards/sparky2/board_hw_defs.c
View File

@ -446,6 +446,55 @@ const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22Cfg(__attribute__((unus
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_OPENLRS)
#include <pios_openlrs_priv.h>
static const struct pios_exti_cfg pios_exti_openlrs_cfg __exti_config = {
.vector = PIOS_OpenLRS_EXT_Int,
.line = EXTI_Line2,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
const struct pios_openlrs_cfg pios_openlrs_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.gpio_direction = GPIO0_TX_GPIO1_RX,
};
const struct pios_openlrs_cfg *PIOS_BOARD_HW_DEFS_GetOpenLRSCfg()
{
return &pios_openlrs_cfg;
}
#endif /* PIOS_INCLUDE_OPENLRS */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_FLASH)

5
flight/targets/boards/sparky2/firmware/UAVObjects.inc
View File

@ -128,6 +128,9 @@ UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRCFILENAMES += systemidentsettings
UAVOBJSRCFILENAMES += systemidentstate
UAVOBJSRCFILENAMES += openlrs
UAVOBJSRCFILENAMES += openlrsstatus
UAVOBJSRCFILENAMES += rfm22breceiver
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

2
flight/targets/boards/sparky2/firmware/inc/pios_config.h
View File

@ -113,6 +113,7 @@
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_OPENLRS_RCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR
@ -138,6 +139,7 @@
/* PIOS radio modules */
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_OPENLRS
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */

188
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -35,6 +35,8 @@
#include <oplinkstatus.h>
#include <oplinkreceiver.h>
#include <pios_oplinkrcvr_priv.h>
#include <pios_openlrs.h>
#include <pios_openlrs_rcvr_priv.h>
#include <taskinfo.h>
#include <pios_ws2811.h>
#include <sanitycheck.h>
@ -788,94 +790,114 @@ void PIOS_Board_Init(void)
/* Is the radio turned on? */
bool is_coordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
bool openlrs = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPENLRS);
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
if (openlrs) {
#if defined(PIOS_INCLUDE_OPENLRS_RCVR)
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);
uint32_t openlrs_id;
PIOS_OpenLRS_Init(&openlrs_id, PIOS_RFM22_SPI_PORT, 0, openlrs_cfg);
{
uint32_t openlrsrcvr_id;
PIOS_OpenLRS_Rcvr_Init(&openlrsrcvr_id, openlrs_id);
uint32_t openlrsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&openlrsrcvr_rcvr_id, &pios_openlrs_rcvr_driver, openlrsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPENLRS] = openlrsrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPENLRS_RCVR */
} else {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_4800:
datarate = RFM22_datarate_9600;
break;
case OPLINKSETTINGS_COMSPEED_9600:
datarate = RFM22_datarate_19200;
break;
case OPLINKSETTINGS_COMSPEED_19200:
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetDeviceID(pios_rfm22b_id, oplinkSettings.CustomDeviceID);
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
}
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_4800:
datarate = RFM22_datarate_9600;
break;
case OPLINKSETTINGS_COMSPEED_9600:
datarate = RFM22_datarate_19200;
break;
case OPLINKSETTINGS_COMSPEED_19200:
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
} else {
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
}