diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
index 5a928beb9e..5c62d51f53 100644
--- a/conf/airframes/ENAC/fixed-wing/apogee.xml
+++ b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -23,10 +23,10 @@
-
-
+
+
-
+
diff --git a/conf/firmwares/subsystems/shared/radio_control_sbus.makefile b/conf/firmwares/subsystems/shared/radio_control_sbus.makefile
new file mode 100644
index 0000000000..2e8e9ecbe1
--- /dev/null
+++ b/conf/firmwares/subsystems/shared/radio_control_sbus.makefile
@@ -0,0 +1,20 @@
+#
+# Makefile for shared radio_control SBUS subsystem
+#
+
+$(TARGET).CFLAGS += -DRADIO_CONTROL
+ifneq ($(RADIO_CONTROL_LED),none)
+ ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+
+# convert SBUS_PORT to upper and lower case strings:
+SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
+SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
+
+$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
+$(TARGET).CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
+$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
+$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
+
diff --git a/conf/radios/T10CG_SBUS.xml b/conf/radios/T10CG_SBUS.xml
new file mode 100644
index 0000000000..137caa7b20
--- /dev/null
+++ b/conf/radios/T10CG_SBUS.xml
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
index 125dac1c6f..bab01322a7 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
@@ -68,6 +68,10 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
uart_enable_interrupts(p);
}
+void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t __attribute__((unused)) bits, uint8_t __attribute__((unused)) stop, uint8_t __attribute__((unused)) parity) {
+ // TBD
+}
+
void uart_transmit(struct uart_periph* p, uint8_t data ) {
uint16_t temp;
unsigned cpsr;
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
index fb73f70983..335a90ed50 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -41,11 +41,8 @@
void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
- /* Configure USART */
+ /* Configure USART baudrate */
usart_set_baudrate((uint32_t)p->reg_addr, baud);
- usart_set_databits((uint32_t)p->reg_addr, 8);
- usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
- usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
/* Disable Idle Line interrupt */
USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_IDLEIE;
@@ -61,6 +58,33 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
}
+void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8_t stop, uint8_t parity) {
+ /* Configure USART parity and data bits */
+ if (parity == UPARITY_EVEN) {
+ usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_EVEN);
+ if (bits == UBITS_7)
+ usart_set_databits((uint32_t)p->reg_addr, 8);
+ else // 8 data bits by default
+ usart_set_databits((uint32_t)p->reg_addr, 9);
+ }
+ else if (parity == USART_PARITY_ODD) {
+ usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_ODD);
+ if (bits == UBITS_7)
+ usart_set_databits((uint32_t)p->reg_addr, 8);
+ else // 8 data bits by default
+ usart_set_databits((uint32_t)p->reg_addr, 9);
+ }
+ else { // 8 data bist, NO_PARITY by default
+ usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
+ usart_set_databits((uint32_t)p->reg_addr, 8); // is 7bits without parity possible ?
+ }
+ /* Configure USART stop bits */
+ if (stop == USTOP_2)
+ usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_2);
+ else // 1 stop bit by default
+ usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
+}
+
void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control) {
uint32_t mode = 0;
if (tx_enabled)
@@ -173,6 +197,18 @@ static inline void usart_enable_irq(uint8_t IRQn) {
#define UART1_HW_FLOW_CONTROL FALSE
#endif
+#ifndef UART1_BITS
+#define UART1_BITS UBITS_8
+#endif
+
+#ifndef UART1_STOP
+#define UART1_STOP USTOP_1
+#endif
+
+#ifndef UART1_PARITY
+#define UART1_PARITY UPARITY_NO
+#endif
+
void uart1_init( void ) {
uart_periph_init(&uart1);
@@ -201,7 +237,8 @@ void uart1_init( void ) {
/* Configure USART1, enable hardware flow control*/
uart_periph_set_mode(&uart1, USE_UART1_TX, USE_UART1_RX, UART1_HW_FLOW_CONTROL);
- /* Set USART1 baudrate and enable interrupt */
+ /* Set USART1 parameters and enable interrupt */
+ uart_periph_set_bits_stop_parity(&uart1, UART1_BITS, UART1_STOP, UART1_PARITY);
uart_periph_set_baudrate(&uart1, UART1_BAUD);
}
@@ -224,6 +261,18 @@ void usart1_isr(void) { usart_isr(&uart1); }
#define UART2_HW_FLOW_CONTROL FALSE
#endif
+#ifndef UART2_BITS
+#define UART2_BITS UBITS_8
+#endif
+
+#ifndef UART2_STOP
+#define UART2_STOP USTOP_1
+#endif
+
+#ifndef UART2_PARITY
+#define UART2_PARITY UPARITY_NO
+#endif
+
void uart2_init( void ) {
uart_periph_init(&uart2);
@@ -253,6 +302,7 @@ void uart2_init( void ) {
uart_periph_set_mode(&uart2, USE_UART2_TX, USE_UART2_RX, UART2_HW_FLOW_CONTROL);
/* Configure USART */
+ uart_periph_set_bits_stop_parity(&uart2, UART2_BITS, UART2_STOP, UART2_PARITY);
uart_periph_set_baudrate(&uart2, UART2_BAUD);
}
@@ -275,6 +325,18 @@ void usart2_isr(void) { usart_isr(&uart2); }
#define UART3_HW_FLOW_CONTROL FALSE
#endif
+#ifndef UART3_BITS
+#define UART3_BITS UBITS_8
+#endif
+
+#ifndef UART3_STOP
+#define UART3_STOP USTOP_1
+#endif
+
+#ifndef UART3_PARITY
+#define UART3_PARITY UPARITY_NO
+#endif
+
void uart3_init( void ) {
uart_periph_init(&uart3);
@@ -304,6 +366,7 @@ void uart3_init( void ) {
uart_periph_set_mode(&uart3, USE_UART3_TX, USE_UART3_RX, UART3_HW_FLOW_CONTROL);
/* Configure USART */
+ uart_periph_set_bits_stop_parity(&uart3, UART3_BITS, UART3_STOP, UART3_PARITY);
uart_periph_set_baudrate(&uart3, UART3_BAUD);
}
@@ -322,6 +385,18 @@ void usart3_isr(void) { usart_isr(&uart3); }
#define USE_UART4_RX TRUE
#endif
+#ifndef UART4_BITS
+#define UART4_BITS UBITS_8
+#endif
+
+#ifndef UART4_STOP
+#define UART4_STOP USTOP_1
+#endif
+
+#ifndef UART4_PARITY
+#define UART4_PARITY UPARITY_NO
+#endif
+
void uart4_init( void ) {
uart_periph_init(&uart4);
@@ -342,6 +417,7 @@ void uart4_init( void ) {
/* Configure USART */
uart_periph_set_mode(&uart4, USE_UART4_TX, USE_UART4_RX, FALSE);
+ uart_periph_set_bits_stop_parity(&uart4, UART4_BITS, UART4_STOP, UART4_PARITY);
uart_periph_set_baudrate(&uart4, UART4_BAUD);
}
@@ -360,6 +436,18 @@ void uart4_isr(void) { usart_isr(&uart4); }
#define USE_UART5_RX TRUE
#endif
+#ifndef UART5_BITS
+#define UART5_BITS UBITS_8
+#endif
+
+#ifndef UART5_STOP
+#define UART5_STOP USTOP_1
+#endif
+
+#ifndef UART5_PARITY
+#define UART5_PARITY UPARITY_NO
+#endif
+
void uart5_init( void ) {
uart_periph_init(&uart5);
@@ -380,6 +468,7 @@ void uart5_init( void ) {
/* Configure USART */
uart_periph_set_mode(&uart5, USE_UART5_TX, USE_UART5_RX, FALSE);
+ uart_periph_set_bits_stop_parity(&uart5, UART5_BITS, UART5_STOP, UART5_PARITY);
uart_periph_set_baudrate(&uart5, UART5_BAUD);
}
@@ -402,6 +491,18 @@ void uart5_isr(void) { usart_isr(&uart5); }
#define UART6_HW_FLOW_CONTROL FALSE
#endif
+#ifndef UART6_BITS
+#define UART6_BITS UBITS_8
+#endif
+
+#ifndef UART6_STOP
+#define UART6_STOP USTOP_1
+#endif
+
+#ifndef UART6_PARITY
+#define UART6_PARITY UPARITY_NO
+#endif
+
void uart6_init( void ) {
uart_periph_init(&uart6);
@@ -430,7 +531,7 @@ void uart6_init( void ) {
/* Configure USART Tx,Rx and hardware flow control*/
uart_periph_set_mode(&uart6, USE_UART6_TX, USE_UART6_RX, UART6_HW_FLOW_CONTROL);
-
+ uart_periph_set_bits_stop_parity(&uart6, UART6_BITS, UART6_STOP, UART6_PARITY);
uart_periph_set_baudrate(&uart6, UART6_BAUD);
}
diff --git a/sw/airborne/boards/apogee_1.0.h b/sw/airborne/boards/apogee_1.0.h
index 705dca0eda..78ff267397 100644
--- a/sw/airborne/boards/apogee_1.0.h
+++ b/sw/airborne/boards/apogee_1.0.h
@@ -112,18 +112,11 @@
#define POWER_SWITCH_LED 9
-/* Uart2 RX polarity, on PB13, 1 on LED_ON, 0 on LED_OFF */
-#ifndef USE_LED_10
-#define USE_LED_10 1
-#endif
-#define LED_10_GPIO GPIOB
-#define LED_10_GPIO_CLK RCC_AHB1ENR_IOPBEN
-#define LED_10_GPIO_PIN GPIO13
-#define LED_10_GPIO_ON gpio_set
-#define LED_10_GPIO_OFF gpio_clear
-#define LED_10_AFIO_REMAP ((void)0)
-#define RC_POLARITY_LED 10
+/* Pint to set Uart2 RX polarity, on PB13, output high inverts, low doesn't */
+#define RC_POLARITY_GPIO_PORT GPIOB
+#define RC_POLARITY_GPIO_PIN GPIO13
+
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
diff --git a/sw/airborne/firmwares/fixedwing/fbw_downlink.h b/sw/airborne/firmwares/fixedwing/fbw_downlink.h
index 061a7334ed..7fde1f3140 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_downlink.h
+++ b/sw/airborne/firmwares/fixedwing/fbw_downlink.h
@@ -66,6 +66,14 @@
PPM_NB_CHANNEL, \
ppm_pulses_usec); \
}
+#elif defined RADIO_CONTROL_TYPE_SBUS
+#include "subsystems/radio_control/sbus.h"
+#define PERIODIC_SEND_PPM(_trans, _dev) { \
+ DOWNLINK_SEND_PPM(_trans, _dev, \
+ &radio_control.frame_rate, \
+ SBUS_NB_CHANNEL, \
+ sbus.pulses); \
+}
#else
#define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif
diff --git a/sw/airborne/led.h b/sw/airborne/led.h
index 46e8dc662f..f9aa9e2c55 100644
--- a/sw/airborne/led.h
+++ b/sw/airborne/led.h
@@ -74,6 +74,16 @@ static inline void led_init ( void ) {
LED_OFF(8);
#endif /* LED_8 */
+#if USE_LED_9
+ LED_INIT(9);
+ LED_OFF(9);
+#endif /* LED_9 */
+
+#if USE_LED_10
+ LED_INIT(10);
+ LED_OFF(10);
+#endif /* LED_10 */
+
#ifdef USE_LED_BODY
LED_INIT(BODY);
LED_OFF(BODY);
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 1776ae2ca5..84fc1626a6 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -46,10 +46,21 @@
#define B19200 19200
#define B38400 38400
#define B57600 57600
+#define B100000 100000
#define B115200 115200
#define B230400 230400
#define B921600 921600
+#define UBITS_7 7
+#define UBITS_8 8
+
+#define USTOP_1 1
+#define USTOP_2 2
+
+#define UPARITY_NO 0
+#define UPARITY_ODD 1
+#define UPARITY_EVEN 2
+
/**
* UART peripheral
*/
@@ -75,6 +86,7 @@ struct uart_periph {
extern void uart_periph_init(struct uart_periph* p);
extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud);
+extern void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8_t stop, uint8_t parity);
extern void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control);
extern void uart_transmit(struct uart_periph* p, uint8_t data);
extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len);
@@ -97,6 +109,7 @@ extern void uart0_init(void);
#define UART0Getch() uart_getch(&uart0)
#define UART0TxRunning uart0.tx_running
#define UART0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b)
+#define UART0SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart0, _b, _s, _p)
#endif // USE_UART0
@@ -112,6 +125,7 @@ extern void uart1_init(void);
#define UART1Getch() uart_getch(&uart1)
#define UART1TxRunning uart1.tx_running
#define UART1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b)
+#define UART1SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart1, _b, _s, _p)
#endif // USE_UART1
@@ -127,6 +141,7 @@ extern void uart2_init(void);
#define UART2Getch() uart_getch(&uart2)
#define UART2TxRunning uart2.tx_running
#define UART2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b)
+#define UART2SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart2, _b, _s, _p)
#endif // USE_UART2
@@ -142,6 +157,7 @@ extern void uart3_init(void);
#define UART3Getch() uart_getch(&uart3)
#define UART3TxRunning uart3.tx_running
#define UART3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b)
+#define UART3SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart3, _b, _s, _p)
#endif // USE_UART3
@@ -157,6 +173,7 @@ extern void uart4_init(void);
#define UART4Getch() uart_getch(&uart4)
#define UART4TxRunning uart4.tx_running
#define UART4SetBaudrate(_b) uart_periph_set_baudrate(&uart4, _b)
+#define UART4SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart4, _b, _s, _p)
#endif // USE_UART4
@@ -172,6 +189,7 @@ extern void uart5_init(void);
#define UART5Getch() uart_getch(&uart5)
#define UART5TxRunning uart5.tx_running
#define UART5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b)
+#define UART5SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart5, _b, _s, _p)
#endif // USE_UART5
@@ -187,6 +205,7 @@ extern void uart6_init(void);
#define UART6Getch() uart_getch(&uart6)
#define UART6TxRunning uart6.tx_running
#define UART6SetBaudrate(_b) uart_periph_set_baudrate(&uart6, _b)
+#define UART6SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart6, _b, _s, _p)
#endif // USE_UART6
diff --git a/sw/airborne/subsystems/radio_control/sbus.c b/sw/airborne/subsystems/radio_control/sbus.c
new file mode 100644
index 0000000000..726e0781c5
--- /dev/null
+++ b/sw/airborne/subsystems/radio_control/sbus.c
@@ -0,0 +1,145 @@
+/*
+ * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
+ *
+ * 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.
+ */
+
+/** @file subsystems/radio_control/sbus.c
+ *
+ * Futaba SBUS decoder
+ */
+
+#include "subsystems/radio_control.h"
+#include "subsystems/radio_control/sbus.h"
+#include BOARD_CONFIG
+#include "mcu_periph/uart.h"
+#include "mcu_periph/gpio.h"
+#include
+
+/*
+ * SBUS protocol and state machine status
+ */
+#define SBUS_START_BYTE 0x0f
+#define SBUS_END_BYTE 0x00
+#define SBUS_BIT_PER_CHANNEL 11
+#define SBUS_BIT_PER_BYTE 8
+#define SBUS_FLAGS_BYTE 22
+#define SBUS_FRAME_LOST_BIT 2
+
+#define SBUS_STATUS_UNINIT 0
+#define SBUS_STATUS_GOT_START 1
+
+/** Set polarity using RC_POLARITY_GPIO.
+ * SBUS signal has a reversed polarity compared to normal UART
+ * this allows to using hardware UART peripheral by changing
+ * the input signal polarity.
+ * Setting this gpio ouput high inverts the signal,
+ * output low sets it to normal polarity.
+ */
+#ifndef RC_SET_POLARITY
+#define RC_SET_POLARITY gpio_output_high
+#endif
+
+
+/** SBUS struct */
+struct _sbus sbus;
+
+// Init function
+void radio_control_impl_init(void) {
+ sbus.frame_available = FALSE;
+ sbus.status = SBUS_STATUS_UNINIT;
+
+ // Set UART parameters (100K, 8 bits, 2 stops, even parity)
+ uart_periph_set_bits_stop_parity(&SBUS_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
+ uart_periph_set_baudrate(&SBUS_UART_DEV, B100000);
+
+ // Set polarity
+#ifdef RC_POLARITY_GPIO_PORT
+ gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
+ RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
+#endif
+}
+
+
+/** Decode the raw buffer */
+static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available)
+{
+ // reset counters
+ uint8_t byteInRawBuf = 0;
+ uint8_t bitInRawBuf = 0;
+ uint8_t channel = 0;
+ uint8_t bitInChannel = 0;
+
+ // clear bits
+ memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
+
+ // decode sbus data
+ for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
+ if (src[byteInRawBuf] & (1< 0) { \
+ radio_control.radio_ok_cpt--; \
+ } else { \
+ radio_control.status = RC_OK; \
+ NormalizePpmIIR(sbus.pulses,radio_control); \
+ _received_frame_handler(); \
+ } \
+ sbus.frame_available = FALSE; \
+ } \
+}
+
+#endif /* RC_SBUS_H */