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https://bitbucket.org/librepilot/librepilot.git
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3b9e762b69
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3154 ebee16cc-31ac-478f-84a7-5cbb03baadba
319 lines
8.7 KiB
C
319 lines
8.7 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_SPEKTRUM Spektrum receiver functions
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* @brief Code to read Spektrum input
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* @{
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*
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* @file pios_spektrum.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
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* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
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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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/* Project Includes */
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#include "pios.h"
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#include "pios_spektrum_priv.h"
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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#if defined(PIOS_INCLUDE_PWM)
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#error "Both PWM and SPEKTRUM input defined, choose only one"
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#endif
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#if defined(PIOS_COM_AUX)
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#error "AUX com cannot be used with SPEKTRUM"
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#endif
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/* Global Variables */
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/* Local Variables, use pios_usart */
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static uint16_t CaptureValue[12],CaptureValueTemp[12];
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static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
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uint8_t sync_of = 0;
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/**
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* Initialise the onboard USARTs
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*/
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void PIOS_SPEKTRUM_Init(void)
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{
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// TODO: need setting flag for bind on next powerup
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if (0) {
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PIOS_SPEKTRUM_Bind();
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}
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NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
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/* Enable appropriate clock to timer module */
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switch((int32_t) pios_spektrum_cfg.timer) {
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case (int32_t)TIM1:
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NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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break;
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case (int32_t)TIM2:
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NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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break;
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case (int32_t)TIM3:
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NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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break;
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case (int32_t)TIM4:
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NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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break;
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#ifdef STM32F10X_HD
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case (int32_t)TIM5:
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NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
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break;
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case (int32_t)TIM6:
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NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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break;
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case (int32_t)TIM7:
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NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
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break;
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case (int32_t)TIM8:
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NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
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break;
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#endif
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}
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NVIC_Init(&NVIC_InitStructure);
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/* Configure timer clocks */
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TIM_InternalClockConfig(pios_spektrum_cfg.timer);
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TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
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/* Enable the Capture Compare Interrupt Request */
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TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
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/* Clear update pending flag */
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TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
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/* Enable timers */
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TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
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}
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/**
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* Get the value of an input channel
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* \param[in] Channel Number of the channel desired
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* \output -1 Channel not available
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* \output >0 Channel value
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*/
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int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
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{
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/* Return error if channel not available */
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if (Channel >= 12) {
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return -1;
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}
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return CaptureValue[Channel];
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}
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/**
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* Spektrum bind function
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* \output 1 Successful bind
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* \output 0 Bind failed
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* \note Applications shouldn't call these functions directly
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*/
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uint8_t PIOS_SPEKTRUM_Bind(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
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GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
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GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
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pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
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//PIOS_DELAY_WaitmS(75);
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/* RX line, drive high for 10us */
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pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(10);
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/* RX line, drive low for 120us */
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pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
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PIOS_DELAY_WaituS(120);
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/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
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return 1;
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}
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/**
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* Decodes a byte
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* \param[in] b byte which should be spektrum decoded
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* \return 0 if no error
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* \return -1 if USART not available
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* \return -2 if buffer full (retry)
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* \note Applications shouldn't call these functions directly
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*/
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int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
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{
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static uint16_t channel = 0; /*, sync_word = 0;*/
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uint8_t channeln = 0, frame = 0;
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uint16_t data = 0;
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byte_array[bytecount] = b;
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bytecount++;
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if (sync == 0) {
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//sync_word = (prev_byte << 8) + b;
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#if 0
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/* maybe create object to show this data */
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if(bytecount==1)
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{
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/* record losscounter into channel8 */
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CaptureValueTemp[7]=b;
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/* instant write */
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CaptureValue[7]=b;
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}
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#endif
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/* Known sync bytes, 0x01, 0x02, 0x12 */
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if (bytecount == 2) {
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if (b == 0x01) {
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datalength=0; // 10bit
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//frames=1;
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sync = 1;
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bytecount = 2;
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}
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else if(b == 0x02) {
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datalength=0; // 10bit
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//frames=2;
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sync = 1;
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bytecount = 2;
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}
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else if(b == 0x12) {
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datalength=1; // 11bit
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//frames=2;
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sync = 1;
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bytecount = 2;
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}
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else
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{
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bytecount = 0;
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}
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}
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} else {
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if ((bytecount % 2) == 0) {
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channel = (prev_byte << 8) + b;
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frame = channel >> 15;
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channeln = (channel >> (10+datalength)) & 0x0F;
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data = channel & (0x03FF+(0x0400*datalength));
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if(channeln==0 && data<10) // discard frame if throttle misbehaves
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{
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frame_error=1;
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}
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if (channeln < 12 && !frame_error)
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CaptureValueTemp[channeln] = data;
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}
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}
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if (bytecount == 16) {
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//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
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bytecount = 0;
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sync = 0;
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sync_of = 0;
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if (!frame_error)
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{
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for(int i=0;i<12;i++)
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{
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CaptureValue[i] = CaptureValueTemp[i];
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}
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}
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frame_error=0;
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}
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prev_byte = b;
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return 0;
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}
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/* Interrupt handler for USART */
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void SPEKTRUM_IRQHandler(uint32_t usart_id)
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{
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/* by always reading DR after SR make sure to clear any error interrupts */
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volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
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volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
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/* check if RXNE flag is set */
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if (sr & USART_SR_RXNE) {
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if (PIOS_SPEKTRUM_Decode(b) < 0) {
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/* Here we could add some error handling */
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}
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}
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if (sr & USART_SR_TXE) { // check if TXE flag is set
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/* Disable TXE interrupt (TXEIE=0) */
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USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
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}
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/* clear "watchdog" timer */
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TIM_SetCounter(pios_spektrum_cfg.timer, 0);
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}
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/**
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* This function handles TIM6 global interrupt request.
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*/
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void PIOS_SPEKTRUM_irq_handler() {
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//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
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/* Clear timer interrupt pending bit */
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TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
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/* sync between frames */
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sync = 0;
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bytecount = 0;
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prev_byte = 0xFF;
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frame_error=0;
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sync_of++;
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/* watchdog activated */
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if (sync_of > 12) {
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/* signal lost */
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sync_of = 0;
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for (int i = 0; i < 12; i++)
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{
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CaptureValue[i] = 0;
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CaptureValueTemp[i] = 0;
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}
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}
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}
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#endif
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/**
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* @}
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* @}
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*/
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