mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
195b63b6bb
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2602 ebee16cc-31ac-478f-84a7-5cbb03baadba
370 lines
11 KiB
C
370 lines
11 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_SPEKTRUM Spektrum receiver functions
|
|
* @brief Code to read Spektrum input
|
|
* @{
|
|
*
|
|
* @file pios_spektrum.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
|
|
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
/* Project Includes */
|
|
#include "pios.h"
|
|
#include "pios_spektrum_priv.h"
|
|
|
|
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
#error "Both PWM and SPEKTRUM input defined, choose only one"
|
|
#endif
|
|
#if defined(PIOS_COM_AUX)
|
|
#error "AUX com cannot be used with SPEKTRUM"
|
|
#endif
|
|
|
|
/* Global Variables */
|
|
|
|
/* Local Variables, use pios_usart */
|
|
static uint16_t CaptureValue[12],CaptureValueTemp[12];
|
|
static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, frame_error=0, byte_array[20] = { 0 };
|
|
|
|
uint8_t sync_of = 0;
|
|
|
|
/**
|
|
* Initialise the onboard USARTs
|
|
*/
|
|
void PIOS_SPEKTRUM_Init(void)
|
|
{
|
|
// TODO: need setting flag for bind on next powerup
|
|
if (0) {
|
|
PIOS_SPEKTRUM_Bind();
|
|
}
|
|
|
|
///////////////////////
|
|
|
|
NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
|
|
|
|
|
|
/* 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);
|
|
|
|
/////////////////////////////
|
|
|
|
#if 0
|
|
/* spektrum "watchdog" timer */
|
|
NVIC_InitTypeDef NVIC_InitStructure;
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
|
/* Enable timer clock */
|
|
PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC;
|
|
|
|
/* Configure interrupts */
|
|
NVIC_InitStructure.NVIC_IRQChannel = PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL;
|
|
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
|
|
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
|
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
|
NVIC_Init(&NVIC_InitStructure);
|
|
|
|
/* Time base configuration */
|
|
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_SPEKTRUM_SUPV_HZ) - 1);
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; /* For 1 uS accuracy */
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
TIM_TimeBaseInit(PIOS_SPEKTRUM_SUPV_TIMER, &TIM_TimeBaseStructure);
|
|
|
|
/* Enable the Update Interrupt Request */
|
|
TIM_ITConfig(PIOS_SPEKTRUM_SUPV_TIMER, TIM_IT_Update, ENABLE);
|
|
|
|
/* Clear update pending flag */
|
|
TIM_ClearFlag(PIOS_SPEKTRUM_SUPV_TIMER, TIM_FLAG_Update);
|
|
|
|
/* Enable counter */
|
|
TIM_Cmd(PIOS_SPEKTRUM_SUPV_TIMER, ENABLE);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Get the value of an input channel
|
|
* \param[in] Channel Number of the channel desired
|
|
* \output -1 Channel not available
|
|
* \output >0 Channel value
|
|
*/
|
|
int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
|
|
{
|
|
/* Return error if channel not available */
|
|
if (Channel >= 12) {
|
|
return -1;
|
|
}
|
|
return CaptureValue[Channel];
|
|
}
|
|
|
|
/**
|
|
* Spektrum bind function
|
|
* \output 1 Successful bind
|
|
* \output 0 Bind failed
|
|
* \note Applications shouldn't call these functions directly
|
|
*/
|
|
uint8_t PIOS_SPEKTRUM_Bind(void)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
|
|
GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
|
|
GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
|
|
|
|
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
|
|
//PIOS_DELAY_WaitmS(75);
|
|
/* RX line, drive high for 10us */
|
|
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(10);
|
|
/* RX line, drive low for 120us */
|
|
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
|
|
|
|
#if 0
|
|
|
|
#define PIOS_USART3_GPIO_PORT GPIOA
|
|
#define PIOS_USART3_RX_PIN GPIO_Pin_10
|
|
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
GPIO_StructInit(&GPIO_InitStructure);
|
|
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
|
|
GPIO_InitStructure.GPIO_Pin = PIOS_USART3_RX_PIN;
|
|
GPIO_Init(PIOS_USART3_GPIO_PORT, &GPIO_InitStructure);
|
|
/* GPIO's Off */
|
|
/* TODO: powerup, RX line stay low for 75ms */
|
|
/* system init takes longer!!! */
|
|
/* I have no idea how long the powerup init window for satellite is but works with this */
|
|
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
|
|
//PIOS_DELAY_WaitmS(75);
|
|
/* RX line, drive high for 10us */
|
|
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(10);
|
|
/* RX line, drive low for 120us */
|
|
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive low for 120us */
|
|
PIOS_USART3_GPIO_PORT->BRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, drive high for 120us */
|
|
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
|
|
PIOS_DELAY_WaituS(120);
|
|
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
|
|
#endif
|
|
return 1;
|
|
}
|
|
|
|
/**
|
|
* Decodes a byte
|
|
* \param[in] b byte which should be spektrum decoded
|
|
* \return 0 if no error
|
|
* \return -1 if USART not available
|
|
* \return -2 if buffer full (retry)
|
|
* \note Applications shouldn't call these functions directly
|
|
*/
|
|
int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
|
|
{
|
|
static uint16_t channel = 0, sync_word = 0;
|
|
uint8_t channeln = 0, frame = 0;
|
|
uint16_t data = 0;
|
|
byte_array[bytecount] = b;
|
|
bytecount++;
|
|
if (sync == 0) {
|
|
sync_word = (prev_byte << 8) + b;
|
|
if (((sync_word & 0x00FE) == 0) && (bytecount == 2)) {
|
|
/* sync low byte always 0x01, high byte seems to be random when switching TX on off on, loss counter??? */
|
|
if (sync_word & 0x01) {
|
|
sync = 1;
|
|
bytecount = 2;
|
|
}
|
|
}
|
|
} else {
|
|
if ((bytecount % 2) == 0) {
|
|
channel = (prev_byte << 8) + b;
|
|
frame = channel >> 15;
|
|
channeln = (channel >> 10) & 0x0F;
|
|
data = channel & 0x03FF;
|
|
if(channeln==0 && data<10) // discard frame if throttle misbehaves
|
|
{
|
|
frame_error=1;
|
|
}
|
|
if (channeln < 12 && !frame_error)
|
|
CaptureValueTemp[channeln] = data;
|
|
}
|
|
}
|
|
if (bytecount == 16) {
|
|
//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
|
|
bytecount = 0;
|
|
sync = 0;
|
|
sync_of = 0;
|
|
if (!frame_error)
|
|
{
|
|
for(int i=0;i<12;i++)
|
|
{
|
|
CaptureValue[i] = CaptureValueTemp[i];
|
|
}
|
|
}
|
|
frame_error=0;
|
|
}
|
|
prev_byte = b;
|
|
return 0;
|
|
}
|
|
|
|
/* Interrupt handler for USART */
|
|
void SPEKTRUM_IRQHandler(void)
|
|
{
|
|
/* check if RXNE flag is set */
|
|
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 5)) {
|
|
uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->DR;
|
|
if (PIOS_SPEKTRUM_Decode(b) < 0) {
|
|
/* Here we could add some error handling */
|
|
}
|
|
}
|
|
|
|
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 7)) { // check if TXE flag is set
|
|
/* Disable TXE interrupt (TXEIE=0) */
|
|
pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->CR1 &= ~(1 << 7);
|
|
}
|
|
/* clear "watchdog" timer */
|
|
TIM_SetCounter(pios_spektrum_cfg.timer, 0);
|
|
}
|
|
|
|
/**
|
|
* This function handles TIM6 global interrupt request.
|
|
*/
|
|
void PIOS_SPEKTRUM_irq_handler() {
|
|
//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
|
|
/* Clear timer interrupt pending bit */
|
|
TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
|
|
|
|
/* sync between frames, TODO! DX7SE */
|
|
sync = 0;
|
|
bytecount = 0;
|
|
prev_byte = 0xFF;
|
|
frame_error=0;
|
|
sync_of++;
|
|
/* watchdog activated */
|
|
if (sync_of > 3) {
|
|
/* signal lost */
|
|
sync_of = 0;
|
|
for (int i = 0; i < 12; i++)
|
|
{
|
|
CaptureValue[i] = 0;
|
|
CaptureValueTemp[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|