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[paparazzi-commits] [6244] moved radio_control spektrum code to general
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6244] moved radio_control spektrum code to general subsystem |
|
Date: |
Mon, 25 Oct 2010 21:57:57 +0000 |
Revision: 6244
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6244
Author: flixr
Date: 2010-10-25 21:57:57 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
moved radio_control spektrum code to general subsystem
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby_9ch.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se_joby.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/
paparazzi3/trunk/sw/airborne/booz/radio_control/
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.c)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <subsystems/radio_control.h>
+#include "booz_radio_control_spektrum_arch.h"
+
+bool_t rc_spk_parser_status;
+uint8_t rc_spk_parser_idx;
+uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL*2];
+const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL] = RC_SPK_THROWS;
+
+void radio_control_impl_init(void) {
+ rc_spk_parser_status = RC_SPK_STA_UNINIT;
+ rc_spk_parser_idx = 0;
+}
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,102 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009-2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
+#define BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
+
+#include "std.h"
+#include "uart.h"
+
+#include RADIO_CONTROL_SPEKTRUM_MODEL_H
+
+#define RC_SPK_SYNC_1 0x03
+
+#define RC_SPK_STA_UNINIT 0
+#define RC_SPK_STA_GOT_SYNC_1 1
+#define RC_SPK_STA_GOT_SYNC_2 2
+
+extern bool_t rc_spk_parser_status;
+extern uint8_t rc_spk_parser_idx;
+extern uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL*2];
+
+#define MAX_SPK 344
+
+
+extern const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL];
+
+#define __RcLink(dev, _x) dev##_x
+#define _RcLink(dev, _x) __RcLink(dev, _x)
+#define RcLink(_x) _RcLink(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)
+
+#define RcLinkChAvailable() RcLink(ChAvailable())
+#define RcLinkGetCh() RcLink(Getch())
+
+#define RadioControlEventImpl(_received_frame_handler) { \
+ while (RcLinkChAvailable()) { \
+ int8_t c = RcLinkGetCh(); \
+ switch (rc_spk_parser_status) { \
+ case RC_SPK_STA_UNINIT: \
+ if (c==RC_SPK_SYNC_1) \
+ rc_spk_parser_status = RC_SPK_STA_GOT_SYNC_1; \
+ break; \
+ case RC_SPK_STA_GOT_SYNC_1: \
+ if (c==RC_SPK_SYNC_2) { \
+ rc_spk_parser_status = RC_SPK_STA_GOT_SYNC_2; \
+ rc_spk_parser_idx = 0; \
+ } \
+ else \
+ rc_spk_parser_status = RC_SPK_STA_UNINIT; \
+ break; \
+ case RC_SPK_STA_GOT_SYNC_2: \
+ rc_spk_parser_buf[rc_spk_parser_idx] = c; \
+ rc_spk_parser_idx++; \
+ if (rc_spk_parser_idx >= 2*RADIO_CONTROL_NB_CHANNEL) { \
+ rc_spk_parser_status = RC_SPK_STA_UNINIT; \
+ radio_control.frame_cpt++; \
+ radio_control.time_since_last_frame = 0; \
+ radio_control.status = RADIO_CONTROL_OK; \
+ uint8_t i; \
+ for (i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) { \
+ const int16_t tmp = (rc_spk_parser_buf[2*i]<<8) + \
+ rc_spk_parser_buf[2*i+1]; \
+ /*const int16_t chan = (tmp&0xFC00) >> 10;*/ \
+ const int16_t val = (tmp&0x03FF) - 512; \
+ radio_control.values[i] = val; \
+ radio_control.values[i] *= rc_spk_throw[i]; \
+ if (i==RADIO_CONTROL_THROTTLE) { \
+ radio_control.values[i] += MAX_PPRZ; \
+ radio_control.values[i] /= 2; \
+ } \
+ } \
+ _received_frame_handler(); \
+ } \
+ break; \
+ default: \
+ rc_spk_parser_status = RC_SPK_STA_UNINIT; \
+ } \
+ } \
+ }
+
+
+#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H */
Copied:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,753 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 Eric Parsonage <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <stdint.h>
+#include <stm32/gpio.h>
+#include <stm32/rcc.h>
+#include <stm32/tim.h>
+#include <stm32/misc.h>
+#include <stm32/usart.h>
+#include "uart.h"
+#include <subsystems/radio_control.h>
+#include "booz_radio_control_spektrum_arch.h"
+#include <firmwares/rotorcraft/autopilot.h>
+
+
+#define SPEKTRUM_CHANNELS_PER_FRAME 7
+#define MAX_SPEKTRUM_FRAMES 2
+#define MAX_SPEKTRUM_CHANNELS 16
+
+#define MAX_DELAY INT16_MAX
+/* the frequency of the delay timer */
+#define DELAY_TIM_FREQUENCY 1000000
+/* Number of low pulses sent to satellite receivers */
+#define MASTER_RECEIVER_PULSES 5
+#define SLAVE_RECEIVER_PULSES 6
+
+/* The line that is pulled low at power up to initiate the bind process */
+#define BIND_PIN GPIO_Pin_3
+#define BIND_PIN_PORT GPIOC
+#define BIND_PIN_PERIPH RCC_APB2Periph_GPIOC
+
+#define TIM_FREQ_1000000 1000000
+#define TIM_TICS_FOR_100us 100
+#define MIN_FRAME_SPACE 70 // 7ms
+#define MAX_BYTE_SPACE 3 // .3ms
+
+/*
+ * in the makefile we set RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT to be Uartx
+ * but in uart_hw.c the initialisation functions are
+ * defined as uartx these macros give us the glue
+ * that allows static calls at compile time
+ */
+
+#define __PrimaryUart(dev, _x) dev##_x
+#define _PrimaryUart(dev, _x) __PrimaryUart(dev, _x)
+#define PrimaryUart(_x) _PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)
+
+#define __SecondaryUart(dev, _x) dev##_x
+#define _SecondaryUart(dev, _x) __SecondaryUart(dev, _x)
+#define SecondaryUart(_x)
_SecondaryUart(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT, _x)
+
+struct SpektrumStateStruct {
+ uint8_t ReSync;
+ uint8_t SpektrumTimer;
+ uint8_t Sync;
+ uint8_t ChannelCnt;
+ uint8_t FrameCnt;
+ uint8_t HighByte;
+ uint8_t SecondFrame;
+ uint16_t LostFrameCnt;
+ uint8_t RcAvailable;
+ int16_t values[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
+};
+
+typedef struct SpektrumStateStruct SpektrumStateType;
+
+SpektrumStateType PrimarySpektrumState = {1,0,0,0,0,0,0,0,0};
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+SpektrumStateType SecondarySpektrumState = {1,0,0,0,0,0,0,0,0};
+#endif
+
+int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
+/* the order of the channels on a spektrum is always as follows :
+ *
+ * Throttle 0
+ * Aileron 1
+ * Elevator 2
+ * Rudder 3
+ * Gear 4
+ * Flap/Aux1 5
+ * Aux2 6
+ * Aux3 7
+ * Aux4 8
+ * Aux5 9
+ * Aux6 10
+ * Aux7 11
+ */
+
+/* reverse some channels to suit Paparazzi conventions */
+/* the maximum number of channels a Spektrum can transmit is 12 */
+int8_t SpektrumSigns[] = RADIO_CONTROL_SPEKTRUM_SIGNS;
+
+/* Parser state variables */
+static uint8_t EncodingType = 0;
+static uint8_t ExpectedFrames = 0;
+/* initialise the uarts used by the parser */
+void SpektrumUartInit(void);
+/* initialise the timer used by the parser to ensure sync */
+void SpektrumTimerInit(void);
+/* sets a GPIO pin as output for debugging */
+void DebugInit(void);
+void tim6_irq_handler(void);
+/* wait busy loop, microseconds */
+static void DelayUs( uint16_t uSecs );
+/* wait busy loop, milliseconds */
+static void DelayMs( uint16_t mSecs );
+/* setup timer 1 for busy wait delays */
+static void SpektrumDelayInit( void );
+
+
+ /*****************************************************************************
+ *
+ * Initialise the timer an uarts used by the Spektrum receiver subsystem
+ *
+ *****************************************************************************/
+void radio_control_impl_init(void) {
+ SpektrumTimerInit();
+ // DebugInit();
+ SpektrumUartInit();
+}
+
+/*****************************************************************************
+ * The bind function means that the satellite receivers believe they are
+ * connected to a 9 channel JR-R921 24 receiver thus during the bind process
+ * they try to get the transmitter to transmit at the highest resolution that
+ * it can manage. The data is contained in 16 byte packets transmitted at
+ * 115200 baud. Depending on the transmitter either 1 or 2 frames are required
+ * to contain the data for all channels. These frames are either 11ms or 22ms
+ * apart.
+ *
+ * The format of each frame for the main receiver is as follows
+ *
+ * byte1: frame loss data
+ * byte2: transmitter information
+ * byte3: and byte4: channel data
+ * byte5: and byte6: channel data
+ * byte7: and byte8: channel data
+ * byte9: and byte10: channel data
+ * byte11: and byte12: channel data
+ * byte13: and byte14: channel data
+ * byte15: and byte16: channel data
+ *
+ *
+ * The format of each frame for the secondary receiver is as follows
+ *
+ * byte1: frame loss data
+ * byte2: frame loss data
+ * byte3: and byte4: channel data
+ * byte5: and byte6: channel data
+ * byte7: and byte8: channel data
+ * byte9: and byte10: channel data
+ * byte11: and byte12: channel data
+ * byte13: and byte14: channel data
+ * byte15: and byte16: channel data
+ *
+ * The frame loss data bytes starts out containing 0 as long as the
+ * transmitter is switched on before the receivers. It then increments
+ * whenever frames are dropped.
+ *
+ * Three values for the transmitter information byte have been seen thus far
+ *
+ * 0x01 From a Spektrum DX7eu which transmits a single frame containing all
+ * channel data every 22ms with 10bit resolution.
+ *
+ * 0x02 From a Spektrum DM9 module which transmits two frames to carry the
+ * data for all channels 11ms apart with 10bit resolution.
+ *
+ * 0x12 From a Spektrum DX7se which transmits two frames to carry the
+ * data for all channels 11ms apart with 11bit resolution.
+ *
+ * 0x12 From a JR X9503 which transmits two frames to carry the
+ * data for all channels 11ms apart with 11bit resolution.
+ *
+ * 0x01 From a Spektrum DX7 which transmits a single frame containing all
+ * channel data every 22ms with 10bit resolution.
+ *
+ * 0x12 From a JR DSX12 which transmits two frames to carry the
+ * data for all channels 11ms apart with 11bit resolution.
+ *
+ * 0x1 From a Spektru DX5e which transmits a single frame containing all
+ * channel data every 22ms with 10bit resolution.
+ *
+ * 0x01 From a Spektrum DX6i which transmits a single frame containing all
+ * channel data every 22ms with 10bit resolution.
+ *
+ * Currently the assumption is that the data has the form :
+ *
+ * [0 0 0 R 0 0 N1 N0]
+ *
+ * where :
+ *
+ * 0 means a '0' bit
+ * R: 0 for 10 bit resolution 1 for 11 bit resolution channel data
+ * N1 to N0 is the number of frames required to receive all channel
+ * data.
+ *
+ * Channels can have either 10bit or 11bit resolution. Data from a tranmitter
+ * with 10 bit resolution has the form:
+ *
+ * [F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
+ *
+ * Data from a tranmitter with 11 bit resolution has the form
+ *
+ * [F C3 C2 C1 C0 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
+ *
+ * where :
+ *
+ * 0 means a '0' bit
+ * F: Normally 0 but set to 1 for the first channel of the 2nd frame if a
+ * second frame is transmitted.
+ *
+ * C3 to C0 is the channel number, 4 bit, matching the numbers allocated in
+ * the transmitter.
+ *
+ * D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for
+ * 100% transmitter-travel
+ *
+ *
+ * D10 to D0 is the channel data (11 bit) 0x154..0x400..0x6AC for
+ * 100% transmitter-travel
+ *****************************************************************************/
+
+ /*****************************************************************************
+ *
+ * Spektrum Parser captures frame data by using time between frames to sync on
+ *
+ *****************************************************************************/
+
+#define SpektrumParser(_c, _SpektrumState, _receiver) { \
+ \
+ uint16_t ChannelData; \
+ uint8_t TimedOut; \
+ static uint8_t TmpEncType = 0; /* 0 = 10bit, 1 = 11 bit */ \
+ static uint8_t TmpExpFrames = 0; /* # of frames for channel data */ \
+ \
+ TimedOut = (!_SpektrumState.SpektrumTimer) ? 1 : 0; \
+ \
+ /* If we have just started the resync process or */ \
+ /* if we have recieved a character before our */ \
+ /* 7ms wait has finished */ \
+ if ((_SpektrumState.ReSync == 1) || \
+ ((_SpektrumState.Sync == 0) && (!TimedOut))) { \
+ \
+ _SpektrumState.ReSync = 0; \
+ _SpektrumState.SpektrumTimer = MIN_FRAME_SPACE; \
+ _SpektrumState.Sync = 0; \
+ _SpektrumState.ChannelCnt = 0; \
+ _SpektrumState.FrameCnt = 0; \
+ _SpektrumState.SecondFrame = 0; \
+ return; \
+ } \
+ \
+ /* the first byte of a new frame. It was received */ \
+ /* more than 7ms after the last received byte. */ \
+ /* It represents the number of lost frames so far.*/ \
+ if (_SpektrumState.Sync == 0) { \
+ _SpektrumState.LostFrameCnt = _c; \
+ if(_receiver) /* secondary receiver */ \
+ _SpektrumState.LostFrameCnt = _SpektrumState.LostFrameCnt << 8; \
+ _SpektrumState.Sync = 1; \
+ _SpektrumState.SpektrumTimer = MAX_BYTE_SPACE; \
+ return; \
+ } \
+ \
+ /* all other bytes should be recieved within */ \
+ /* MAX_BYTE_SPACE time of the last byte received */ \
+ /* otherwise something went wrong resynchronise */ \
+ if(TimedOut) { \
+ _SpektrumState.ReSync = 1; \
+ /* next frame not expected sooner than 7ms */ \
+ _SpektrumState.SpektrumTimer = MIN_FRAME_SPACE; \
+ return; \
+ } \
+ \
+ /* second character determines resolution and frame rate for main */ \
+ /* receiver or low byte of LostFrameCount for secondary receiver */ \
+ if(_SpektrumState.Sync == 1) { \
+ if(_receiver) { \
+ _SpektrumState.LostFrameCnt +=_c; \
+ TmpExpFrames = ExpectedFrames; \
+ } else { \
+ /* TODO: collect more data. I suspect that there is a low res */\
+ /* protocol that is still 10 bit but without using the full range. */\
+ TmpEncType =(_c & 0x10)>>4; /* 0 = 10bit, 1 = 11 bit */\
+ TmpExpFrames = _c & 0x03; /* 1 = 1 frame contains all channels */\
+ /* 2 = 2 channel data in 2 frames */\
+ } \
+ _SpektrumState.Sync = 2; \
+ _SpektrumState.SpektrumTimer = MAX_BYTE_SPACE; \
+ return; \
+ } \
+ \
+ /* high byte of channel data if this is the first byte */ \
+ /* of channel data and the most significant bit is set */ \
+ /* then this is the second frame of channel data. */ \
+ if(_SpektrumState.Sync == 2) { \
+ _SpektrumState.HighByte = _c; \
+ if (_SpektrumState.ChannelCnt == 0) { \
+ _SpektrumState.SecondFrame = (_SpektrumState.HighByte & 0x80) ? 1 : 0; \
+ } \
+ _SpektrumState.Sync = 3; \
+ _SpektrumState.SpektrumTimer = MAX_BYTE_SPACE; \
+ return; \
+ } \
+ \
+ /* low byte of channel data */ \
+ if(_SpektrumState.Sync == 3) { \
+ _SpektrumState.Sync = 2; \
+ _SpektrumState.SpektrumTimer = MAX_BYTE_SPACE; \
+ /* we overwrite the buffer now so rc data is not available now */ \
+ _SpektrumState.RcAvailable = 0; \
+ ChannelData = ((uint16_t)_SpektrumState.HighByte << 8) | _c; \
+ _SpektrumState.values[_SpektrumState.ChannelCnt \
+ + (_SpektrumState.SecondFrame * 7)] = ChannelData; \
+ _SpektrumState.ChannelCnt ++; \
+ } \
+ \
+ /* If we have a whole frame */ \
+ if(_SpektrumState.ChannelCnt >= SPEKTRUM_CHANNELS_PER_FRAME) { \
+ /* how many frames did we expect ? */ \
+ ++_SpektrumState.FrameCnt; \
+ if (_SpektrumState.FrameCnt == TmpExpFrames) \
+ { \
+ /* set the rc_available_flag */ \
+ _SpektrumState.RcAvailable = 1; \
+ _SpektrumState.FrameCnt = 0; \
+ } \
+ if(!_receiver) { /* main receiver */ \
+ EncodingType = TmpEncType; /* only update on a good */ \
+ ExpectedFrames = TmpExpFrames; /* main receiver frame */ \
+ } \
+ _SpektrumState.Sync = 0; \
+ _SpektrumState.ChannelCnt = 0; \
+ _SpektrumState.SecondFrame = 0; \
+ _SpektrumState.SpektrumTimer = MIN_FRAME_SPACE; \
+ } \
+} \
+
+/*****************************************************************************
+ *
+ * RadioControlEventImp decodes channel data stored by uart irq handlers
+ * and calls callback funtion
+ *
+ *****************************************************************************/
+
+void RadioControlEventImp(void (*frame_handler)(void)) {
+ uint8_t ChannelCnt;
+ uint8_t ChannelNum;
+ uint16_t ChannelData;
+ uint8_t MaxChannelNum = 0;
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ /* If we have two receivers and at least one of them has new data */
+ uint8_t BestReceiver;
+ if ((PrimarySpektrumState.RcAvailable) ||
+ (SecondarySpektrumState.RcAvailable)) {
+ /* if both receivers have new data select the one */
+ /* that has had the least number of frames lost */
+ if ((PrimarySpektrumState.RcAvailable) &&
+ (SecondarySpektrumState.RcAvailable)) {
+ BestReceiver = (PrimarySpektrumState.LostFrameCnt
+ <= SecondarySpektrumState.LostFrameCnt) ? 0 : 1;
+ } else {
+ /* if only one of the receivers have new data use it */
+ BestReceiver = (PrimarySpektrumState.RcAvailable) ? 0 : 1;
+ }
+ /* clear the data ready flags */
+ PrimarySpektrumState.RcAvailable = 0;
+ SecondarySpektrumState.RcAvailable = 0;
+
+#else
+ /* if we have one receiver and it has new data */
+ if(PrimarySpektrumState.RcAvailable) {
+ PrimarySpektrumState.RcAvailable = 0;
+#endif
+ ChannelCnt = 0;
+ /* for every piece of channel data we have received */
+ for(int i = 0; (i < SPEKTRUM_CHANNELS_PER_FRAME * ExpectedFrames); i++) {
+#ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ ChannelData = PrimarySpektrumState.values[i];
+#else
+ ChannelData = (!BestReceiver) ? PrimarySpektrumState.values[i] :
+ SecondarySpektrumState.values[i];
+#endif
+ /* find out the channel number and its value by */
+ /* using the EncodingType which is only received */
+ /* from the main receiver */
+ switch(EncodingType) {
+ case(0) : /* 10 bit */
+ ChannelNum = (ChannelData >> 10) & 0x0f;
+ /* don't bother decoding unused channels */
+ if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
+ SpektrumBuf[ChannelNum] = ChannelData & 0x3ff;
+ SpektrumBuf[ChannelNum] -= 0x200;
+ SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x156;
+ ChannelCnt++;
+ }
+ break;
+
+ case(1) : /* 11 bit */
+ ChannelNum = (ChannelData >> 11) & 0x0f;
+ /* don't bother decoding unused channels */
+ if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
+ SpektrumBuf[ChannelNum] = ChannelData & 0x7ff;
+ SpektrumBuf[ChannelNum] -= 0x400;
+ SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x2AC;
+ ChannelCnt++;
+ }
+ break;
+
+ default : ChannelNum = 0x0F; break; /* never going to get here */
+ }
+ /* store the value of the highest valid channel */
+ if ((ChannelNum != 0x0F) && (ChannelNum > MaxChannelNum))
+ MaxChannelNum = ChannelNum;
+
+ }
+
+ /* if we have a valid frame the pass it to the frame handler */
+ if (ChannelCnt >= (MaxChannelNum + 1)) {
+ radio_control.frame_cpt++;
+ radio_control.time_since_last_frame = 0;
+ radio_control.status = RADIO_CONTROL_OK;
+ for (int i = 0; i < (MaxChannelNum + 1); i++) {
+ radio_control.values[i] = SpektrumBuf[i];
+ if (i == RADIO_CONTROL_THROTTLE ) {
+ radio_control.values[i] += MAX_PPRZ;
+ radio_control.values[i] /= 2;
+ }
+ radio_control.values[i] *= SpektrumSigns[i];
+ }
+ (*frame_handler)();
+ }
+ }
+}
+
+
+/*****************************************************************************
+ *
+ * Initialise TIM6 to fire an interrupt every 100 microseconds to provide
+ * timebase for SpektrumParser
+ *
+ *****************************************************************************/
+void SpektrumTimerInit( void ) {
+
+ /* enable TIM6 clock */
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
+
+ /* TIM6 configuration */
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ /* 100 microseconds ie 0.1 millisecond */
+ TIM_TimeBaseStructure.TIM_Period = TIM_TICS_FOR_100us-1;
+ TIM_TimeBaseStructure.TIM_Prescaler = ((AHB_CLK / TIM_FREQ_1000000) - 1);
+ TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
+ TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
+
+ /* Enable TIM6 interrupts */
+ NVIC_InitTypeDef NVIC_InitStructure;
+
+ /* Enable and configure TIM6 IRQ channel */
+ NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+ /* Enable TIM6 Update interrupt */
+ TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
+ TIM_ClearFlag(TIM6, TIM_FLAG_Update);
+
+ /* TIM6 enable counter */
+ TIM_Cmd(TIM6, ENABLE);
+}
+
+/*****************************************************************************
+ *
+ * TIM6 interrupt request handler updates times used by SpektrumParser
+ *
+ *****************************************************************************/
+void tim6_irq_handler( void ) {
+
+ TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
+
+ if (PrimarySpektrumState.SpektrumTimer)
+ --PrimarySpektrumState.SpektrumTimer;
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ if (SecondarySpektrumState.SpektrumTimer)
+ --SecondarySpektrumState.SpektrumTimer;
+#endif
+}
+
+/*****************************************************************************
+ *
+ * Initialise the uarts for the spektrum satellite receivers
+ *
+ *****************************************************************************/
+void SpektrumUartInit(void) {
+ /* init RCC */
+ PrimaryUart(_remap);
+ PrimaryUart(_clk)(PrimaryUart(_UartPeriph), ENABLE);;
+ //RCC_APB1PeriphClockCmd(PrimaryUart(_UartPeriph), ENABLE);
+
+ /* Enable USART interrupts */
+ NVIC_InitTypeDef nvic;
+ nvic.NVIC_IRQChannel = PrimaryUart(_IRQn);
+ nvic.NVIC_IRQChannelPreemptionPriority = 2;
+ nvic.NVIC_IRQChannelSubPriority = 1;
+ nvic.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&nvic);
+ /* Init GPIOS */
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ /* Primary UART Rx pin as floating input */
+ GPIO_InitStructure.GPIO_Pin = PrimaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_Init(PrimaryUart(_RxPort), &GPIO_InitStructure);
+ /* Configure Primary UART */
+ USART_InitTypeDef usart;
+ usart.USART_BaudRate = B115200;
+ usart.USART_WordLength = USART_WordLength_8b;
+ usart.USART_StopBits = USART_StopBits_1;
+ usart.USART_Parity = USART_Parity_No;
+ usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+ usart.USART_Mode = USART_Mode_Rx;
+ USART_Init(PrimaryUart(_reg), &usart);
+ /* Enable Primary UART Receive interrupts */
+ USART_ITConfig(PrimaryUart(_reg), USART_IT_RXNE, ENABLE);
+ /* Enable the Primary UART */
+ USART_Cmd(PrimaryUart(_reg), ENABLE);
+
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ /* init RCC */
+ SecondaryUart(_remap);
+ SecondaryUart(_clk)(SecondaryUart(_UartPeriph), ENABLE);
+ //RCC_APB1PeriphClockCmd(SecondaryUart(_UartPeriph), ENABLE);
+ /* Enable USART interrupts */
+ nvic.NVIC_IRQChannel = SecondaryUart(_IRQn);
+ nvic.NVIC_IRQChannelPreemptionPriority = 2;
+ nvic.NVIC_IRQChannelSubPriority = 2;
+ nvic.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&nvic);
+ /* Init GPIOS */;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ /* Secondary UART Rx pin as floating input */
+ GPIO_InitStructure.GPIO_Pin = SecondaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_Init(SecondaryUart(_RxPort), &GPIO_InitStructure);
+ /* Configure secondary UART */
+ usart.USART_BaudRate = B115200;
+ usart.USART_WordLength = USART_WordLength_8b;
+ usart.USART_StopBits = USART_StopBits_1;
+ usart.USART_Parity = USART_Parity_No;
+ usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+ usart.USART_Mode = USART_Mode_Rx;
+ USART_Init(SecondaryUart(_reg), &usart);
+ /* Enable Secondary UART Receive interrupts */
+ USART_ITConfig(SecondaryUart(_reg), USART_IT_RXNE, ENABLE);
+ /* Enable the Primary UART */
+ USART_Cmd(SecondaryUart(_reg), ENABLE);
+#endif
+
+}
+
+/*****************************************************************************
+ *
+ * The primary receiver UART interrupt request handler which passes the
+ * received character to Spektrum Parser.
+ *
+ *****************************************************************************/
+void PrimaryUart(_irq_handler)(void) {
+
+ if(USART_GetITStatus(PrimaryUart(_reg), USART_IT_TXE) != RESET) {
+ USART_ITConfig(PrimaryUart(_reg), USART_IT_TXE, DISABLE);
+ }
+
+ if(USART_GetITStatus(PrimaryUart(_reg), USART_IT_RXNE) != RESET) {
+ uint8_t b = USART_ReceiveData(PrimaryUart(_reg));
+ SpektrumParser(b, PrimarySpektrumState, 0);
+ }
+}
+
+/*****************************************************************************
+ *
+ * The secondary receiver UART interrupt request handler which passes the
+ * received character to Spektrum Parser.
+ *
+ *****************************************************************************/
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+void SecondaryUart(_irq_handler)(void) {
+
+ if(USART_GetITStatus(SecondaryUart(_reg), USART_IT_TXE) != RESET) {
+ USART_ITConfig(SecondaryUart(_reg), USART_IT_TXE, DISABLE);
+ }
+
+ if(USART_GetITStatus(SecondaryUart(_reg), USART_IT_RXNE) != RESET) {
+ uint8_t b = USART_ReceiveData(SecondaryUart(_reg));
+ SpektrumParser(b, SecondarySpektrumState, 1);
+ }
+}
+#endif
+
+/*****************************************************************************
+ *
+ * Use pin to output debug information.
+ *
+ *****************************************************************************/
+void DebugInit(void) {
+ RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC, ENABLE);
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+ GPIO_WriteBit(GPIOC, GPIO_Pin_5 , Bit_RESET );
+}
+
+/*****************************************************************************
+ *
+ * The following functions provide functionality to allow binding of
+ * spektrum satellite receivers. The pulse train sent to them means
+ * that Lisa is emulating a 9 channel JR-R921 24.
+ *
+ *****************************************************************************/
+/*****************************************************************************
+ *
+ * radio_control_spektrum_try_bind(void) must called on powerup as spektrum
+ * satellites can only bind immediately after power up also it must be called
+ * before the call to SpektrumUartInit as we leave them with their Rx pins set
+ * as outputs.
+ *
+ *****************************************************************************/
+void radio_control_spektrum_try_bind(void) {
+
+ /* init RCC */
+ RCC_APB2PeriphClockCmd(BIND_PIN_PERIPH , ENABLE);
+
+ /* Init GPIO for the bind pin */
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = BIND_PIN;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+ GPIO_Init(BIND_PIN_PORT, &GPIO_InitStructure);
+ /* exit if the BIND_PIN is high, it needs to
+ be pulled low at startup to initiate bind */
+ if (GPIO_ReadInputDataBit(BIND_PIN_PORT, BIND_PIN))
+ return;
+
+ /* bind initiated, initialise the delay timer */
+ SpektrumDelayInit();
+
+ /* initialise the uarts rx pins as GPIOS */
+ RCC_APB2PeriphClockCmd(PrimaryUart(_Periph) , ENABLE);
+ /* Master receiver Rx push-pull */
+ GPIO_InitStructure.GPIO_Pin = PrimaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(PrimaryUart(_RxPort), &GPIO_InitStructure);
+ /* Master receiver RX line, drive high */
+ GPIO_WriteBit(PrimaryUart(_RxPort), PrimaryUart(_RxPin) , Bit_SET );
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ RCC_APB2PeriphClockCmd(SecondaryUart(_Periph) , ENABLE);
+ /* Slave receiver Rx push-pull */
+ GPIO_InitStructure.GPIO_Pin = SecondaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(SecondaryUart(_RxPort), &GPIO_InitStructure);
+ /* Slave receiver RX line, drive high */
+ GPIO_WriteBit(SecondaryUart(_RxPort), SecondaryUart(_RxPin) , Bit_SET );
+#endif
+
+ /* We have no idea how long the window for allowing binding after
+ power up is .This works for the moment but will need revisiting */
+ DelayMs(61);
+
+ for (int i = 0; i < MASTER_RECEIVER_PULSES ; i++)
+ {
+ GPIO_WriteBit(PrimaryUart(_RxPort), PrimaryUart(_RxPin), Bit_RESET );
+ DelayUs(118);
+ GPIO_WriteBit(PrimaryUart(_RxPort), PrimaryUart(_RxPin), Bit_SET );
+ DelayUs(122);
+ }
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ for (int i = 0; i < SLAVE_RECEIVER_PULSES; i++)
+ {
+ GPIO_WriteBit(SecondaryUart(_RxPort), SecondaryUart(_RxPin), Bit_RESET );
+ DelayUs(120);
+ GPIO_WriteBit(SecondaryUart(_RxPort), SecondaryUart(_RxPin), Bit_SET );
+ DelayUs(120);
+ }
+#endif /* RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT */
+}
+
+/*****************************************************************************
+ *
+ * Functions to implement busy wait loops with micro second granularity
+ *
+ *****************************************************************************/
+
+/* set TIM6 to run at DELAY_TIM_FREQUENCY */
+static void SpektrumDelayInit( void ) {
+ /* Enable timer clock */
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
+ /* Time base configuration */
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ TIM_TimeBaseStructure.TIM_Prescaler = (AHB_CLK / DELAY_TIM_FREQUENCY) - 1;
+ TIM_TimeBaseStructure.TIM_Period = UINT16_MAX;
+ TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
+
+ /* Enable counter */
+ TIM_Cmd(TIM6, ENABLE);
+}
+
+/* wait busy loop, microseconds */
+static void DelayUs( uint16_t uSecs ) {
+ uint16_t start = TIM6->CNT;
+ /* use 16 bit count wrap around */
+ while((uint16_t)(TIM6->CNT - start) <= uSecs);
+}
+
+/* wait busy loop, milliseconds */
+static void DelayMs( uint16_t mSecs ) {
+ for(int i = 0; i < mSecs; i++) {
+ DelayUs(DELAY_TIM_FREQUENCY / 1000);
+ }
+}
Copied:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,68 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2010 Eric Parsonage <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
+#define BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
+
+
+/*
+ * All Spektrum and JR 2.4 GHz transmitters
+ * have the same channel assignments.
+ */
+
+
+#ifndef RADIO_CONTROL_NB_CHANNEL
+#define RADIO_CONTROL_NB_CHANNEL 12
+#endif
+
+
+#define RADIO_CONTROL_THROTTLE 0
+#define RADIO_CONTROL_ROLL 1
+#define RADIO_CONTROL_PITCH 2
+#define RADIO_CONTROL_YAW 3
+#define RADIO_CONTROL_GEAR 4
+#define RADIO_CONTROL_FLAP 5
+#define RADIO_CONTROL_AUX1 5
+#define RADIO_CONTROL_AUX2 6
+#define RADIO_CONTROL_AUX3 7
+#define RADIO_CONTROL_AUX4 8
+#define RADIO_CONTROL_AUX5 9
+#define RADIO_CONTROL_AUX6 10
+#define RADIO_CONTROL_AUX7 11
+
+/* reverse some channels to suit Paparazzi conventions */
+/* the maximum number of channels a Spektrum can transmit is 12 */
+#ifndef RADIO_CONTROL_SPEKTRUM_SIGNS
+#define RADIO_CONTROL_SPEKTRUM_SIGNS {1,1,-1,1,1,-1,1,1,1,1,1,1}
+#endif
+
+/* really for a 9 channel transmitter
+ we would swap the order of these */
+#ifndef RADIO_CONTROL_MODE
+#define RADIO_CONTROL_MODE RADIO_CONTROL_GEAR
+#endif
+
+extern void RadioControlEventImp(void (*_received_frame_handler)(void));
+
+#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.c
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.c
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,26 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <subsystems/radio_control.h>
+
+void radio_control_impl_init(void) { }
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_dummy.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,32 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009 Pascal Brisset <address@hidden>,
+ * Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_NULL_H
+#define BOOZ_RADIO_CONTROL_NULL_H
+
+#include "conf_radio_control_ppm.h"
+
+#define RadioControlEvent(_received_frame_handler) { }
+
+#endif /* BOOZ_RADIO_CONTROL_NULL_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.c
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.c
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,95 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "stdio.h"
+#include <subsystems/radio_control.h>
+
+static struct rc_joby_parser_state parser;
+static const int16_t rc_joby_signs[RADIO_CONTROL_NB_CHANNEL] = RC_JOBY_SIGNS;
+
+
+static void handle_channel(void (* callback)(void))
+{
+ if (parser.parser_normal_buf == RC_JOBY_MAGIC_START) {
+ // got start channel, look for channel 0 next
+ parser.current_channel = 0;
+ } else if (parser.current_channel == -1) {
+ // looking for start channel byte but didn't get it, reset
+ parser.current_byte = READING_HIGH_BYTE;
+ parser.current_inverted = READING_NORMAL;
+ } else {
+ // valid channel, store and look for next
+ radio_control.values[parser.current_channel] =
rc_joby_signs[parser.current_channel] * parser.parser_normal_buf;
+ parser.current_channel++;
+ if (parser.current_channel == RADIO_CONTROL_NB_CHANNEL) {
+ // all channels read, reset parser and handle message
+ parser.current_channel = -1;
+ radio_control.frame_cpt++;
+ radio_control.status = RADIO_CONTROL_OK;
+ radio_control.time_since_last_frame = 0;
+ if (callback != NULL)
+ callback();
+ }
+ }
+}
+
+static void handle_tuple(void (* callback)(void))
+{
+ if (parser.current_inverted == READING_NORMAL) {
+ parser.parser_normal_buf = ((parser.high_byte_buf << 8) |
parser.low_byte_buf);
+ parser.current_inverted = READING_INVERTED;
+ } else if (parser.current_inverted == READING_INVERTED) {
+ parser.parser_inverted_buf = ((parser.high_byte_buf << 8) |
parser.low_byte_buf);
+ parser.current_inverted = READING_NORMAL;
+ if (parser.parser_normal_buf == ~parser.parser_inverted_buf) {
+ handle_channel(callback);
+ } else {
+ // normal didn't match inverted, error, reset
+ parser.current_inverted = READING_NORMAL;
+ parser.current_byte = READING_HIGH_BYTE;
+ parser.current_channel = -1;
+ parser.error_counter++;
+ }
+ }
+}
+
+void rc_joby_parse(int8_t c, void (* callback)(void))
+{
+ if (parser.current_byte == READING_HIGH_BYTE) {
+ parser.high_byte_buf = c;
+ if (parser.current_channel >= 0 || parser.high_byte_buf ==
(RC_JOBY_MAGIC_START >> 8) || parser.current_inverted == READING_INVERTED) {
+ // only advance parser state to low byte if we're not looking for a
sync byte which we didn't find
+ parser.current_byte = READING_LOW_BYTE;
+ }
+ } else { // READING_LOW_BYTE
+ parser.low_byte_buf = c;
+ parser.current_byte = READING_HIGH_BYTE;
+ handle_tuple(callback);
+ }
+}
+
+void radio_control_impl_init(void) {
+ parser.current_byte = READING_HIGH_BYTE;
+ parser.current_inverted = READING_NORMAL;
+ parser.current_channel = -1;
+}
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,75 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009 Pascal Brisset <address@hidden>,
+ * Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_JOBY_H
+#define BOOZ_RADIO_CONTROL_JOBY_H
+
+#include "std.h"
+#include "uart.h"
+
+#define RC_JOBY_MAGIC_START 13999
+
+#include RADIO_CONTROL_JOBY_MODEL_H
+
+typedef enum {
+ READING_LOW_BYTE = 0,
+ READING_HIGH_BYTE
+} parser_byte_t;
+
+typedef enum {
+ READING_NORMAL = 0,
+ READING_INVERTED
+} parser_inverted_t;
+
+struct rc_joby_parser_state
+{
+ parser_byte_t current_byte;
+ parser_inverted_t current_inverted;
+ int current_channel;
+
+ int16_t parser_inverted_buf;
+ int16_t parser_normal_buf;
+ uint8_t high_byte_buf;
+ uint8_t low_byte_buf;
+
+ uint32_t error_counter;
+};
+
+void rc_joby_parse(int8_t c, void (* callback)(void));
+
+#define __RcLink(dev, _x) dev##_x
+#define _RcLink(dev, _x) __RcLink(dev, _x)
+#define RcLink(_x) _RcLink(RADIO_CONTROL_LINK, _x)
+
+#define RcLinkChAvailable() RcLink(ChAvailable())
+#define RcLinkGetCh() RcLink(Getch())
+
+#define RadioControlEvent(_received_frame_handler) { \
+ while (RcLinkChAvailable()) { \
+ rc_joby_parse(RcLinkGetCh(), _received_frame_handler); \
+ } \
+ }
+
+
+#endif /* BOOZ_RADIO_CONTROL_JOBY_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby_9ch.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby_9ch.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby_9ch.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_joby_9ch.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,51 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_JOBY_9CH_H
+#define BOOZ_RADIO_CONTROL_JOBY_9CH_H
+
+#define RADIO_CONTROL_NB_CHANNEL 9
+
+#define RADIO_CONTROL_THROTTLE 0
+#define RADIO_CONTROL_YAW 1
+#define RADIO_CONTROL_PITCH 2
+#define RADIO_CONTROL_ROLL 3
+#define RADIO_CONTROL_GEAR 4
+#define RADIO_CONTROL_MODE 5
+#define RADIO_CONTROL_AUX2 6
+#define RADIO_CONTROL_AUX3 7
+#define RADIO_CONTROL_KILL 8
+
+#define RC_JOBY_SYNC_2 0x12
+
+#define RC_JOBY_SIGNS { 1, \
+ 1, \
+ 1, \
+ 1, \
+ 1, \
+ 1, \
+ 1, \
+ 1, \
+ 1 }
+
+#endif /* BOOZ_RADIO_CONTROL_JOBY_9CH_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.c
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c)
===================================================================
---
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.c
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "booz_radio_control_spektrum.h"
+
+/* Currently the functionality has been pushed into the arch directories
+ * both arch directories contain essentially the original parser.
+ * The next step is to implement a new parser for lisa. Once this is complete
+ * hardware dependent functions will be written for booz then the lisa parser
+ * will end up in here
+ */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,36 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009-2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_H
+#define BOOZ_RADIO_CONTROL_SPEKTRUM_H
+
+/* implemented in
booz/arch/xxx/radio_control/booz_radio_control_spektrum_arch.c */
+extern void radio_control_spektrum_try_bind(void);
+
+#include "radio_control/booz_radio_control_spektrum_arch.h"
+/* implemented in
booz/arch/xxx/radio_control/booz_radio_control_spektrum_arch.c */
+
+#define RadioControlEvent(_received_frame_handler)
RadioControlEventImp(_received_frame_handler)
+
+#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,54 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
+#define BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
+
+#define RADIO_CONTROL_NB_CHANNEL 7
+#define RADIO_CONTROL_ROLL 0
+#define RADIO_CONTROL_THROTTLE 1
+#define RADIO_CONTROL_PITCH 2
+#define RADIO_CONTROL_YAW 3
+#define RADIO_CONTROL_AUX3 4
+#define RADIO_CONTROL_MODE 5
+#define RADIO_CONTROL_AUX4 6
+
+#define RC_SPK_SYNC_2 0x12
+
+#define RC_SPK_THROWS { MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK, \
+ -MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK, \
+ -MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK }
+
+/*
+ aileron 1
+ elevator 2
+ rudder 3
+ gear 4
+ throttle 5
+*/
+
+#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H */
Copied:
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se_joby.h
(from rev 6243,
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se_joby.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se_joby.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/subsystems/radio_control/radio_control_spektrum_dx7se_joby.h
2010-10-25 21:57:57 UTC (rev 6244)
@@ -0,0 +1,54 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
+#define BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
+
+#define RADIO_CONTROL_NB_CHANNEL 7
+
+#define RADIO_CONTROL_ROLL 0
+#define RADIO_CONTROL_THROTTLE 5
+#define RADIO_CONTROL_PITCH 3
+#define RADIO_CONTROL_YAW 6
+#define RADIO_CONTROL_MODE 1
+#define RADIO_CONTROL_KILL_SWITCH 4
+
+#define RC_SPK_SYNC_2 0x01
+
+#define RC_SPK_THROWS { MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK, \
+ -MAX_PPRZ/MAX_SPK, \
+ -MAX_PPRZ/MAX_SPK, \
+ -MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK, \
+ MAX_PPRZ/MAX_SPK }
+
+/*
+ aileron 1
+ elevator 2
+ rudder 3
+ gear 4
+ throttle 5
+*/
+
+#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H */
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