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[paparazzi-commits] [5677] adding a not yet working ppm decoder for lisa
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5677] adding a not yet working ppm decoder for lisa |
|
Date: |
Wed, 25 Aug 2010 17:44:55 +0000 |
Revision: 5677
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5677
Author: poine
Date: 2010-08-25 17:44:54 +0000 (Wed, 25 Aug 2010)
Log Message:
-----------
adding a not yet working ppm decoder for lisa
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/fixedwing.xml
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
paparazzi3/trunk/conf/messages.xml
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-08-25 14:25:15 UTC
(rev 5676)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-08-25 17:44:54 UTC
(rev 5677)
@@ -196,13 +196,10 @@
</section>
-
<firmware name="rotorcraft">
- <target name="ap" board="booz_1.0">
- <param name="FLASH_MODE" value="IAP"/> <!-- default for the board but
putting it here as example-->
- </target>
+ <target name="ap" board="booz_1.0"/>
<target name="sim" board="pc">
- <subsystem name="simulator" type="nps"/>
+ <subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
@@ -213,9 +210,10 @@
</firmware>
<firmware name="booz_test_progs">
- <target name="test_telemetry" board="booz_1.0"/>
- <target name="test_baro" board="booz_1.0"/>
- <target name="test_spektrum" board="booz_1.0"/>
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_rc_spektrum" board="booz_1.0"/>
+ <target name="test_rc_ppm" board="booz_1.0"/>
</firmware>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-25 14:25:15 UTC
(rev 5676)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-25 17:44:54 UTC
(rev 5677)
@@ -175,11 +175,11 @@
<define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
</section>
-<!-- -->
+<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
-<!-- -->
+-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
@@ -191,7 +191,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
- <subsystem name="simulator" type="nps"/>
+ <subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
@@ -202,9 +202,10 @@
</firmware>
<firmware name="lisa_l_test_progs">
- <target name="test_telemetry" board="lisa_l_1.0"/>
- <target name="test_baro" board="lisa_l_1.0"/>
- <target name="test_spektrum" board="lisa_l_1.0"/>
+ <target name="test_telemetry" board="lisa_l_1.0"/>
+ <target name="test_baro" board="lisa_l_1.0"/>
+ <target name="test_rc_spektrum" board="lisa_l_1.0"/>
+ <target name="test_rc_ppm" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
Modified: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-08-25
14:25:15 UTC (rev 5676)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-08-25
17:44:54 UTC (rev 5677)
@@ -121,7 +121,7 @@
#
-# test_spektrum :
+# test_rc_spektrum :
#
# TODO
#
@@ -131,3 +131,36 @@
+#
+# test rc ppm
+#
+# configuration
+# SYS_TIME_LED
+# MODEM_PORT
+# MODEM_BAUD
+# RADIO_CONTROL_LED
+#
+test_rc_ppm.ARCHDIR = $(ARCHI)
+test_rc_ppm.ARCH = arm7tdmi
+test_rc_ppm.TARGET = test_rc_ppm
+test_rc_ppm.TARGETDIR = test_rc_ppm
+
+test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
+test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c
+test_rc_ppm.CFLAGS += -DUSE_LED
+test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
+test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_rc_ppm.srcs += downlink.c pprz_transport.c
+test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
-DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+test_rc_ppm.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+ $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
\ No newline at end of file
Modified: paparazzi3/trunk/conf/autopilot/fixedwing.xml
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.xml 2010-08-25 14:25:15 UTC
(rev 5676)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.xml 2010-08-25 17:44:54 UTC
(rev 5677)
@@ -3,7 +3,7 @@
<target name="ap" description="The autopilot">
- <param name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
+ <param name="FLASH_MODE" values="IAP|JTAG|ISP"/>
<define name="AGR_CLIMB" />
<define name="TRAFFIC_INFO"/>
<define name="LOITER_TRIM"/>
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-08-25
14:25:15 UTC (rev 5676)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-08-25
17:44:54 UTC (rev 5677)
@@ -117,40 +117,81 @@
#
-# test_spektrum : sends RADIO_CONTROL messages on telemetry
+# test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
#
# configuration
-# MODEM_PORT :
-# MODEM_BAUD :
-# RADIO_CONROL_LINK :
+# SYS_TIME_LED
+# MODEM_PORT
+# MODEM_BAUD
+# RADIO_CONTROL_LED
+# RADIO_CONROL_LINK
#
+test_rc_spektrum.ARCHDIR = $(ARCHI)
+test_rc_spektrum.TARGET = test_rc_spektrum
+test_rc_spektrum.TARGETDIR = test_rc_spektrum
+
+test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_rc_spektrum.CFLAGS += -DUSE_LED
+test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
+test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
+test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT)
-D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_rc_spektrum.srcs += downlink.c pprz_transport.c
+test_rc_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
+test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
+test_rc_spektrum.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK)
-D$(RADIO_CONTROL_LINK)_BAUD=B115200
+test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
+
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
+
+
#
-test_spektrum.ARCHDIR = $(ARCHI)
-test_spektrum.TARGET = test_spektrum
-test_spektrum.TARGETDIR = test_spektrum
-test_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-test_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+# test_rc_ppm
+#
+# configuration
+# SYS_TIME_LED
+# MODEM_PORT
+# MODEM_BAUD
+# RADIO_CONTROL_LED
+#
+test_rc_ppm.ARCHDIR = $(ARCHI)
+test_rc_ppm.TARGET = test_rc_ppm
+test_rc_ppm.TARGETDIR = test_rc_ppm
-test_spektrum.CFLAGS += -DUSE_LED
-test_spektrum.srcs += $(SRC_ARCH)/led_hw.c
-test_spektrum.CFLAGS += -DUSE_SYS_TIME
-test_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
-test_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_spektrum.srcs += downlink.c pprz_transport.c
-test_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
-test_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-test_spektrum.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
-test_spektrum.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
-test_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
-test_spektrum.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK)
-D$(RADIO_CONTROL_LINK)_BAUD=B115200
-test_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
-
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
-
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
+test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
+test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_rc_ppm.CFLAGS += -DUSE_LED
+test_rc_ppm.srcs += $(SRC_ARCH)/led_hw.c
+test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
+test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_rc_ppm.srcs += downlink.c pprz_transport.c
+test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+test_rc_ppm.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+ $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
2010-08-25 14:25:15 UTC (rev 5676)
+++
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
2010-08-25 17:44:54 UTC (rev 5677)
@@ -1,7 +1,7 @@
#
# Autopilot
#
-ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
+ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2010-08-25 14:25:15 UTC (rev 5676)
+++ paparazzi3/trunk/conf/messages.xml 2010-08-25 17:44:54 UTC (rev 5677)
@@ -344,7 +344,7 @@
</message>
<message name="CHRONO" id="48">
- <field name="tag" type="uint8"/>
+ <field name="tag" type="uint8"/>
<field name="time" type="uint32" unit="us"/>
</message>
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
2010-08-25 14:25:15 UTC (rev 5676)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
2010-08-25 17:44:54 UTC (rev 5677)
@@ -1,7 +1,7 @@
/*
* $Id$
*
- * Copyright (C) 2010 Antoine Drouin <address@hidden>
+ * Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -23,6 +23,111 @@
#include "booz_radio_control.h"
-void booz_radio_control_ppm_hw_init ( void ) {
+#include <stm32/rcc.h>
+#include <stm32/gpio.h>
+#include <stm32/tim.h>
+#include <stm32/misc.h>
+#include "sys_time.h"
+
+#include "my_debug_servo.h"
+
+
+/*
+ *
+ * This a radio control ppm driver for stm32
+ * signal on PA1 TIM2/CH2 (uart1 trig on lisa/L)
+ *
+ */
+uint8_t booz_radio_control_ppm_cur_pulse;
+uint32_t booz_radio_control_ppm_last_pulse_time;
+
+uint32_t debug_len;
+
+void tim2_irq_handler(void);
+
+void booz_radio_control_ppm_arch_init ( void ) {
+
+ /* TIM2 channel 2 pin (PA.01) configuration */
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ /* TIM2 clock enable */
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+
+ /* GPIOA clock enable */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
+
+ /* TIM2 configuration: Input Capture mode ---------------------
+ The external signal is connected to TIM2 CH2 pin (PA.01)
+ The Rising edge is used as active edge,
+ ------------------------------------------------------------ */
+ TIM_ICInitTypeDef TIM_ICInitStructure;
+ TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
+ TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
+ TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
+ TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
+ TIM_ICInitStructure.TIM_ICFilter = 0x0;
+ TIM_ICInit(TIM2, &TIM_ICInitStructure);
+
+
+ /* Enable the TIM2 global Interrupt */
+ NVIC_InitTypeDef NVIC_InitStructure;
+ NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+ /* TIM2 enable counter */
+ TIM_Cmd(TIM2, ENABLE);
+
+ /* Enable the CC2 Interrupt Request */
+ TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
+
+ booz_radio_control_ppm_last_pulse_time = 0;
+ booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+
+ DEBUG_SERVO2_INIT();
+
}
+
+
+void tim2_irq_handler(void) {
+
+ DEBUG_S4_ON();
+
+ if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
+ TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
+
+ uint32_t now = TIM_GetCapture2(TIM2);
+ uint32_t length = now - booz_radio_control_ppm_last_pulse_time;
+ debug_len = length;
+ booz_radio_control_ppm_last_pulse_time = now;
+
+ if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
+ if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
+ length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
+ booz_radio_control_ppm_cur_pulse = 0;
+ }
+ }
+ else {
+ if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
+ length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
+ booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] =
length;
+ booz_radio_control_ppm_cur_pulse++;
+ if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
+ booz_radio_control_ppm_frame_available = TRUE;
+ }
+ }
+ else
+ booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+ }
+ }
+
+ DEBUG_S4_OFF();
+
+}
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
2010-08-25 14:25:15 UTC (rev 5676)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
2010-08-25 17:44:54 UTC (rev 5677)
@@ -1,7 +1,7 @@
/*
* $Id$
*
- * Copyright (C) 2010 Antoine Drouin <address@hidden>
+ * Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -26,4 +26,3 @@
*
*/
-extern void booz_radio_control_ppm_hw_init ( void );
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-08-25 14:25:15 UTC (rev 5676)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-08-25 17:44:54 UTC (rev 5677)
@@ -56,7 +56,7 @@
radio_control.status = RADIO_CONTROL_OK; \
NormalizePpm();
\
_received_frame_handler(); \
- } \
+ }
\
booz_radio_control_ppm_frame_available = FALSE; \
} \
}
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-08-25 14:25:15 UTC (rev 5676)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-08-25 17:44:54 UTC (rev 5677)
@@ -54,6 +54,8 @@
int_enable();
}
+extern uint32_t debug_len;
+
static inline void main_periodic_task( void ) {
RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(DefaultChannel,
&cpu_time_sec);});
@@ -69,6 +71,10 @@
&radio_control.values[RADIO_CONTROL_MODE], \
&foo,
\
&radio_control.status);});
+ uint8_t bar;
+ RunOnceEvery(10, { DOWNLINK_SEND_CHRONO(DefaultChannel, &bar, &debug_len)});
+
+
LED_PERIODIC();
}
Modified: paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h 2010-08-25 14:25:15 UTC
(rev 5676)
+++ paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h 2010-08-25 17:44:54 UTC
(rev 5677)
@@ -1,7 +1,7 @@
/*
* Paparazzi $Id$
*
- * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ * Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
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