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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
360 lines
10 KiB
C
360 lines
10 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_PPM PPM Input Functions
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* @brief Code to measure PPM input and seperate into channels
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* @{
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*
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* @file pios_ppm.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief PPM Input functions (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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#include "pios.h"
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#ifdef PIOS_INCLUDE_PPM
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#include "pios_ppm_priv.h"
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/* Provide a RCVR driver */
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static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
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const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
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.read = PIOS_PPM_Get,
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};
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#define PIOS_PPM_IN_MIN_NUM_CHANNELS 4
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#define PIOS_PPM_IN_MAX_NUM_CHANNELS PIOS_PPM_NUM_INPUTS
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#define PIOS_PPM_STABLE_CHANNEL_COUNT 25 // frames
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#define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds
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#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
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#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds
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/* Local Variables */
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static TIM_ICInitTypeDef TIM_ICInitStructure;
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static void PIOS_PPM_Supervisor(uint32_t ppm_id);
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enum pios_ppm_dev_magic {
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PIOS_PPM_DEV_MAGIC = 0xee014d8b,
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};
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struct pios_ppm_dev {
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enum pios_ppm_dev_magic magic;
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const struct pios_ppm_cfg * cfg;
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uint8_t PulseIndex;
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uint32_t PreviousTime;
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uint32_t CurrentTime;
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uint32_t DeltaTime;
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uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS];
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uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS];
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uint32_t LargeCounter;
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int8_t NumChannels;
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int8_t NumChannelsPrevFrame;
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uint8_t NumChannelCounter;
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uint8_t supv_timer;
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bool Tracking;
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bool Fresh;
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};
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static bool PIOS_PPM_validate(struct pios_ppm_dev * ppm_dev)
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{
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return (ppm_dev->magic == PIOS_PPM_DEV_MAGIC);
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_ppm_dev * PIOS_PPM_alloc(void)
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{
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struct pios_ppm_dev * ppm_dev;
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ppm_dev = (struct pios_ppm_dev *)pvPortMalloc(sizeof(*ppm_dev));
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if (!ppm_dev) return(NULL);
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ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
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return(ppm_dev);
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}
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#else
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static struct pios_ppm_dev pios_ppm_devs[PIOS_PPM_MAX_DEVS];
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static uint8_t pios_ppm_num_devs;
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static struct pios_ppm_dev * PIOS_PPM_alloc(void)
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{
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struct pios_ppm_dev * ppm_dev;
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if (pios_ppm_num_devs >= PIOS_PPM_MAX_DEVS) {
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return (NULL);
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}
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ppm_dev = &pios_ppm_devs[pios_ppm_num_devs++];
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ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
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return (ppm_dev);
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}
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#endif
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static void PIOS_PPM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
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static void PIOS_PPM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
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static const struct pios_tim_callbacks tim_callbacks = {
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.overflow = PIOS_PPM_tim_overflow_cb,
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.edge = PIOS_PPM_tim_edge_cb,
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};
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extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
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{
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PIOS_DEBUG_Assert(ppm_id);
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PIOS_DEBUG_Assert(cfg);
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struct pios_ppm_dev * ppm_dev;
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ppm_dev = (struct pios_ppm_dev *) PIOS_PPM_alloc();
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if (!ppm_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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ppm_dev->cfg = cfg;
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/* Set up the state variables */
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ppm_dev->PulseIndex = 0;
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ppm_dev->PreviousTime = 0;
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ppm_dev->CurrentTime = 0;
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ppm_dev->DeltaTime = 0;
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ppm_dev->LargeCounter = 0;
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ppm_dev->NumChannels = -1;
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ppm_dev->NumChannelsPrevFrame = -1;
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ppm_dev->NumChannelCounter = 0;
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ppm_dev->Tracking = false;
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ppm_dev->Fresh = false;
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for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
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/* Flush counter variables */
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ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
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ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
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}
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uint32_t tim_id;
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if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)ppm_dev)) {
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return -1;
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}
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/* Configure the channels to be in capture/compare mode */
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for (uint8_t i = 0; i < cfg->num_channels; i++) {
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const struct pios_tim_channel * chan = &cfg->channels[i];
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/* Configure timer for input capture */
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TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init;
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TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
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TIM_ICInit(chan->timer, &TIM_ICInitStructure);
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/* Enable the Capture Compare Interrupt Request */
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switch (chan->timer_chan) {
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case TIM_Channel_1:
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TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE);
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break;
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case TIM_Channel_2:
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TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE);
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break;
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case TIM_Channel_3:
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TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE);
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break;
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case TIM_Channel_4:
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TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE);
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break;
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}
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}
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/* Setup local variable which stays in this scope */
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/* Doing this here and using a local variable saves doing it in the ISR */
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) {
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PIOS_DEBUG_Assert(0);
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}
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*ppm_id = (uint32_t)ppm_dev;
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return(0);
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out_fail:
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return(-1);
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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 (zero based)
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* \output PIOS_RCVR_INVALID channel not available
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* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
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* \output >=0 channel value
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*/
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static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
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{
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struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;
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if (!PIOS_PPM_validate(ppm_dev)) {
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/* Invalid device specified */
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return PIOS_RCVR_INVALID;
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}
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if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
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/* Channel out of range */
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return PIOS_RCVR_INVALID;
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}
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return ppm_dev->CaptureValue[channel];
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}
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static void PIOS_PPM_tim_overflow_cb (__attribute__((unused)) uint32_t tim_id, uint32_t context,
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__attribute__((unused)) uint8_t channel, uint16_t count)
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{
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struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context;
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if (!PIOS_PPM_validate(ppm_dev)) {
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/* Invalid device specified */
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return;
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}
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ppm_dev->LargeCounter += count;
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return;
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}
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static void PIOS_PPM_tim_edge_cb (__attribute__((unused)) uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count)
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{
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/* Recover our device context */
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struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context;
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if (!PIOS_PPM_validate(ppm_dev)) {
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/* Invalid device specified */
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return;
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}
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if (chan_idx >= ppm_dev->cfg->num_channels) {
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/* Channel out of range */
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return;
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}
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/* Shift the last measurement out */
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ppm_dev->PreviousTime = ppm_dev->CurrentTime;
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/* Grab the new count */
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ppm_dev->CurrentTime = count;
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/* Convert to 32-bit timer result */
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ppm_dev->CurrentTime += ppm_dev->LargeCounter;
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/* Capture computation */
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ppm_dev->DeltaTime = ppm_dev->CurrentTime - ppm_dev->PreviousTime;
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ppm_dev->PreviousTime = ppm_dev->CurrentTime;
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/* Sync pulse detection */
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if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) {
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if (ppm_dev->PulseIndex == ppm_dev->NumChannelsPrevFrame
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&& ppm_dev->PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS
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&& ppm_dev->PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS)
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{
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/* If we see n simultaneous frames of the same
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number of channels we save it as our frame size */
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if (ppm_dev->NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT)
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ppm_dev->NumChannelCounter++;
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else
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ppm_dev->NumChannels = ppm_dev->PulseIndex;
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} else {
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ppm_dev->NumChannelCounter = 0;
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}
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/* Check if the last frame was well formed */
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if (ppm_dev->PulseIndex == ppm_dev->NumChannels && ppm_dev->Tracking) {
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/* The last frame was well formed */
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for (int32_t i = 0; i < ppm_dev->NumChannels; i++) {
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ppm_dev->CaptureValue[i] = ppm_dev->CaptureValueNewFrame[i];
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}
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for (uint32_t i = ppm_dev->NumChannels;
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i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
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ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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ppm_dev->Fresh = true;
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ppm_dev->Tracking = true;
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ppm_dev->NumChannelsPrevFrame = ppm_dev->PulseIndex;
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ppm_dev->PulseIndex = 0;
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/* We rely on the supervisor to set CaptureValue to invalid
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if no valid frame is found otherwise we ride over it */
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} else if (ppm_dev->Tracking) {
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/* Valid pulse duration 0.75 to 2.5 ms*/
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if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US
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&& ppm_dev->DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US
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&& ppm_dev->PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) {
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ppm_dev->CaptureValueNewFrame[ppm_dev->PulseIndex] = ppm_dev->DeltaTime;
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ppm_dev->PulseIndex++;
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} else {
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/* Not a valid pulse duration */
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ppm_dev->Tracking = false;
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for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
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ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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}
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}
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static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
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/* Recover our device context */
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struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)ppm_id;
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if (!PIOS_PPM_validate(ppm_dev)) {
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/* Invalid device specified */
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return;
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}
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/*
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* RTC runs at 625Hz so divide down the base rate so
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* that this loop runs at 25Hz.
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*/
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if(++(ppm_dev->supv_timer) < 25) {
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return;
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}
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ppm_dev->supv_timer = 0;
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if (!ppm_dev->Fresh) {
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ppm_dev->Tracking = false;
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for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
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ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
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ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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ppm_dev->Fresh = false;
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}
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#endif /* PIOS_INCLUDE_PPM */
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/**
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* @}
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* @}
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*/
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