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d7b3a158d6
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@649 ebee16cc-31ac-478f-84a7-5cbb03baadba
238 lines
7.0 KiB
C
238 lines
7.0 KiB
C
/**
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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.
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_SPEKTRUM USART Functions
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* @{
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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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#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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/* Global Variables */
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/* Local Variables, use pios_usart */
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static uint16_t CaptureValue[12];
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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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// need setting flag for bind on next powerup
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if(1)
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{
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PIOS_SPEKTRUM_Bind();
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}
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/* Configure USART Pins */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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/* Configure and Init USARTs */
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USART_InitTypeDef USART_InitStructure;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx;
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/* Configure the USART Interrupts */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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/* Enable the USART Pins Software Remapping */
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PIOS_USART3_REMAP_FUNC;
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/* Configure and Init USART Rx input with internal pull-ups */
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//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
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GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
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/* Enable USART clock */
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PIOS_USART3_CLK_FUNC;
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/* Enable USART Receive interrupt */
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USART_InitStructure.USART_BaudRate = 115200;
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USART_Init(PIOS_USART3_USART, &USART_InitStructure);
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USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
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//USART_ITConfig(PIOS_USART3_USART, USART_IT_TXE, ENABLE);
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/* Configure the USART Interrupts */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_USART3_IRQ_CHANNEL;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_USART3_NVIC_PRIO;
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NVIC_Init(&NVIC_InitStructure);
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USART_ITConfig(PIOS_USART3_USART, USART_IT_RXNE, ENABLE);
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/* Enable USART */
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USART_Cmd(PIOS_USART3_USART, 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;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
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GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
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/* GPIO's Off */
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/* powerup, RX line stay low for 75ms */
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/* system init takes longer!!! */
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/* I have no idea how long the powerup init window for satellite is but works with this */
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PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
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//PIOS_DELAY_WaitmS(75);
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/* RX line, drive high for 10us */
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PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(10);
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/* RX line, drive low for 120us */
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PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive low for 120us */
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PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
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PIOS_DELAY_WaituS(120);
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/* RX line, drive high for 120us */
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PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_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 uint8_t prev_byte=0xFF,sync=0,bytecount=0,byte_array[20]={0};
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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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{
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sync_word=(prev_byte<<8)+b;
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if((sync_word&0xCCFE)==0)
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{
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if(sync_word&0x01)
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{
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sync=1;
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bytecount=2;
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}
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}
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}
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else
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{
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if((bytecount%2)==0)
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{
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channel=(prev_byte<<8)+b;
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frame=channel>>15;
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channeln=(channel>>10)&0x0F;
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data=channel&0x03FF;
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if(channeln < 12)
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CaptureValue[channeln]=data;
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}
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}
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if(bytecount==16)
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{
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//PIOS_COM_SendBufferNonBlocking(COM_DEBUG_USART,byte_array,16);
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bytecount=0;
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sync=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 USART3 */
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PIOS_USART3_IRQHANDLER_FUNC
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{
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/* check if RXNE flag is set */
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if(PIOS_USART3_USART->SR & (1 << 5)) {
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uint8_t b = PIOS_USART3_USART->DR;
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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(PIOS_USART3_USART->SR & (1 << 7)) { // check if TXE flag is set
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/* Disable TXE interrupt (TXEIE=0) */
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PIOS_USART3_USART->CR1 &= ~(1 << 7);
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}
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}
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#endif
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