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Code Issues Releases Activity

PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to

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monitor when call Spektrum watchdog
This commit is contained in:
James Cotton 2011-03-07 15:29:41 -06:00
parent bdf862a712
commit dd1e10a15d
1 changed files with 25 additions and 60 deletions
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85
flight/PiOS/STM32F10x/pios_spektrum.c
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@ -41,12 +41,25 @@
#error "AUX com cannot be used with SPEKTRUM" #error "AUX com cannot be used with SPEKTRUM"
#endif #endif
/**
* @Note Framesyncing:
* The code resets the watchdog timer whenever a single byte is received, so what watchdog code
* is never called if regularly getting bytes
/**
* Constants
*/
/* Global Variables */ /* Global Variables */
/* Local Variables, use pios_usart */ /* Local Variables, use pios_usart */
static uint16_t CaptureValue[12],CaptureValueTemp[12]; static uint16_t CaptureValue[12],CaptureValueTemp[12];
static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 }; static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
#define MAX_UPDATE_DELAY_MS 100
static uint32_t last_updated_time = 0;
static uint32_t max_update_period = 0;
uint8_t sync_of = 0; uint8_t sync_of = 0;
/** /**
@ -59,62 +72,8 @@ void PIOS_SPEKTRUM_Init(void)
PIOS_SPEKTRUM_Bind(); PIOS_SPEKTRUM_Bind();
} }
NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init; last_updated_time = 0;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init; max_update_period = MAX_UPDATE_DELAY_MS * 1000 * PIOS_RTC_Rate();
/* Enable appropriate clock to timer module */
switch((int32_t) pios_spektrum_cfg.timer) {
case (int32_t)TIM1:
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (int32_t)TIM5:
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
#endif
}
NVIC_Init(&NVIC_InitStructure);
/* Configure timer clocks */
TIM_InternalClockConfig(pios_spektrum_cfg.timer);
TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
/* Enable the Capture Compare Interrupt Request */
TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
/* Clear update pending flag */
TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
/* Enable timers */
TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
} }
/** /**
@ -125,6 +84,7 @@ void PIOS_SPEKTRUM_Init(void)
*/ */
int16_t PIOS_SPEKTRUM_Get(int8_t Channel) int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
{ {
if(PIOS_RTC_Counter() - last_updated_time
/* Return error if channel not available */ /* Return error if channel not available */
if (Channel >= 12) { if (Channel >= 12) {
return -1; return -1;
@ -285,10 +245,15 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id)
} }
/** /**
* This function handles TIM6 global interrupt request. *@brief This function is called when a spektrum word hasnt been decoded for too long
*/ */
void PIOS_SPEKTRUM_irq_handler() { void PIOS_SPEKTRUM_timeout() {
//PIOS_SPEKTRUM_SUPV_IRQ_FUNC { for (int i = 0; i < 12; i++)
{
CaptureValue[i] = 0;
CaptureValueTemp[i] = 0;
}
}
/* Clear timer interrupt pending bit */ /* Clear timer interrupt pending bit */
TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update); TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);