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https://bitbucket.org/librepilot/librepilot.git
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Working on the PPM functionality. Getting there but it is still not 100% correct.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@411 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pete
pete
parent
abd77939e5
commit
f1694527cc
@ -138,6 +138,7 @@ SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_servo.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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SRC += $(PIOSSTM32F10X)/pios_ppm.c
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SRC += $(PIOSSTM32F10X)/pios_pwm.c
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SRC += $(PIOSSTM32F10X)/pios_usb.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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@ -290,7 +290,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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#define PIOS_PPM_TIM TIM1
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#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
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#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
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#define PIOS_PPM_SUPV_ENABLED 0
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#define PIOS_PPM_SUPV_ENABLED 1
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#define PIOS_PPM_SUPV_TIMER TIM6
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#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
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#define PIOS_PPM_SUPV_HZ 25
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@ -378,8 +378,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18µs */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (µS) */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<EFBFBD>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<EFBFBD>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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//-------------------------
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@ -96,6 +96,8 @@ int main()
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PIOS_GPIO_Init();
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//PIOS_PPM_Init();
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PIOS_PWM_Init();
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PIOS_USB_Init(0);
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@ -171,6 +173,7 @@ static void TaskTesting(void *pvParameters)
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*/
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
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/* This blocks the task until there is something on the buffer */
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/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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@ -35,9 +35,9 @@
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static TIM_ICInitTypeDef TIM_ICInitStructure;
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static uint8_t PulseIndex;
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static uint8_t CaptureState;
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static uint16_t RiseValue;
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static uint16_t FallValue;
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static uint32_t PreviousValue;
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static uint32_t CurrentValue;
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static uint32_t CapturedValue;
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static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS];
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static uint8_t SupervisorState = 0;
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@ -54,9 +54,9 @@ void PIOS_PPM_Init(void)
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int32_t i;
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PulseIndex = 0;
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CaptureState = 0;
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RiseValue = 0;
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FallValue = 0;
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PreviousValue = 0;
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CurrentValue = 0;
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CapturedValue = 0;
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for(i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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CaptureValue[i] = 0;
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@ -172,47 +172,31 @@ int32_t PIOS_PPM_Get(int8_t Channel)
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void TIM1_CC_IRQHandler(void)
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{
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/* Do this as it's more efficient */
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if(TIM_GetITStatus(PIOS_PWM_CH1_TIM_PORT, RECEIVER1_CCR) == SET) {
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if(CaptureState == 0) {
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RiseValue = TIM_GetCapture2(PIOS_PWM_CH1_TIM_PORT);
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} else {
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FallValue = TIM_GetCapture2(PIOS_PWM_CH1_TIM_PORT);
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}
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if(TIM_GetITStatus(PIOS_PPM_TIM_PORT, PIOS_PPM_TIM_CCR) == SET) {
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PreviousValue = CurrentValue;
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CurrentValue = TIM_GetCapture2(PIOS_PPM_TIM_PORT);
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}
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/* Clear TIM3 Capture compare interrupt pending bit */
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TIM_ClearITPendingBit(PIOS_PWM_CH1_TIM_PORT, RECEIVER1_CCR);
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TIM_ClearITPendingBit(PIOS_PPM_TIM_PORT, PIOS_PPM_TIM_CCR);
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/* Simple rise or fall state machine */
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if(CaptureState == 0) {
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/* Switch states */
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CaptureState = 1;
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/* Switch polarity of input capture */
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
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TIM_ICInitStructure.TIM_Channel = RECEIVER1_CH;
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TIM_ICInit(PIOS_PWM_CH1_TIM_PORT, &TIM_ICInitStructure);
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} else {
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/* Capture computation */
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if (FallValue > RiseValue) {
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//need to change
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CaptureValue[0] = (FallValue - RiseValue);
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if (CurrentValue > PreviousValue) {
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CapturedValue = (CurrentValue - PreviousValue);
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} else {
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//need to change
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CaptureValue[0] = ((0xFFFF - RiseValue) + FallValue);
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CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
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}
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/* Switch states */
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CaptureState = 0;
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/* Increase supervisor counter */
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CapCounter[0]++;
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/* Switch polarity of input capture */
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
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TIM_ICInitStructure.TIM_Channel = RECEIVER1_CH;
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TIM_ICInit(PIOS_PWM_CH1_TIM_PORT, &TIM_ICInitStructure);
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/* sync pulse */
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if(CapturedValue > 8000) {
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PulseIndex = 0;
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/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
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} else if(CapturedValue > 750 && CapturedValue < 2500) {
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if(PulseIndex < PIOS_PPM_NUM_INPUTS) {
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CaptureValue[PulseIndex] = CapturedValue;
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CapCounter[PulseIndex]++;
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PulseIndex++;
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}
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}
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}
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33
flight/PiOS/inc/pios_ppm.h
Normal file
33
flight/PiOS/inc/pios_ppm.h
Normal file
@ -0,0 +1,33 @@
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/**
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******************************************************************************
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*
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* @file pios_ppm.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PWM Input functions header.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_PPM_H
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#define PIOS_PPM_H
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/* Public Functions */
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extern void PIOS_PPM_Init(void);
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extern int32_t PIOS_PPM_Get(int8_t Channel);
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#endif /* PIOS_PPM_H */
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@ -73,6 +73,7 @@
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#include <pios_servo.h>
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#include <pios_i2c.h>
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#include <pios_spi.h>
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#include <pios_ppm.h>
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#include <pios_pwm.h>
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#include <pios_usb.h>
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#include <pios_usb_hid.h>
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