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Merge pull request #88 from scdwyer/dev-xtend

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Added xtend_rssi module, pwm_meas and pwm_input mcu peripheral for lpc21xx arch
This commit is contained in:
Felix Ruess
2011-11-14 10:34:14 -08:00
parent fa96ce7147 17d1001267
commit 01c505919d
14 changed files with 514 additions and 178 deletions
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conf/messages.xml
+5 -1
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@@ -546,7 +546,11 @@
<field name="AOA" type="float" unit="rad"></field>
</message>
<!-- 70 is free -->
<message name="XTEND_RSSI" id="70">
<field name="datalink_time" type="uint16" unit="s"/>
<field name="rssi_fade_margin" type="uint8" unit="dB"/>
<field name="duty" type="uint8" unit="%"/>
</message>
<!-- 71 is free -->
<!-- 72 is free -->
<!-- 73 is free -->
conf/modules/pwm_meas.xml
+19
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@@ -0,0 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!-- Currently only available on LPC21xx arch
pwm input measurement mcu periph access and init wrapper for other modules
For LPC21xx on the TWOG:
1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider)
2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
-->
<module name="pwm_meas" dir="core">
<header>
<file name="pwm_meas.h"/>
</header>
<init fun="pwm_meas_init()"/>
<makefile target="ap">
<file name="pwm_meas.c"/>
<file name="pwm_input.c" dir="mcu_periph"/>
<file_arch name="pwm_input_arch.c" dir="mcu_periph"/>
<define name="USE_PWM_INPUT"/> <!-- needed to enable the pwm_input interrupts in sys_time_hw.c -->
</makefile>
</module>
conf/modules/xtend_rssi.xml
+21
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@@ -0,0 +1,21 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!-- Currently only available on LPC21xx arch
Digi Xtend RSSI PWM Module
@configure XTEND_RSSI_PWM_INPUT_CHANNEL on which arch dep input the pwm line is connected
For LPC21xx on the TWOG:
1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider)
2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
-->
<module name="xtend_rssi" dir="datalink">
<depend require="pwm_meas.xml"/>
<header>
<file name="xtend_rssi.h"/>
</header>
<periodic fun="xtend_rssi_periodic()" freq="0.5"/>
<makefile target="ap">
<file name="xtend_rssi.c"/>
<define name="XTEND_RSSI_PWM_INPUT_CHANNEL" value="$(XTEND_RSSI_PWM_INPUT_CHANNEL)"/> <!-- configure the pwm input to be used in airframe file -->
<define name="USE_PWM_INPUT$(XTEND_RSSI_PWM_INPUT_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_HIGH"/> <!-- rssi signal is active high -->
</makefile>
</module>
sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c
+150
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@@ -0,0 +1,150 @@
/* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \brief handling of arm7 PWM input using a timer with capture
*
*/
#include "mcu_periph/pwm_input_arch.h"
#include "LPC21xx.h"
#include "interrupt_hw.h"
//UPDATE THESE TO BE MORE ACCESSIBLE AND BE WARY OF EXISTING USAGE
//POSSIBLY MAKE MORE INPUTS ACCESSIBLE
#ifdef USE_PWM_INPUT1
//INPUT CAPTURE CAP0.3 on P0.29
#define PWM_INPUT1_PINSEL PINSEL1
#define PWM_INPUT1_PINSEL_BIT 26
#define PWM_INPUT1_PINSEL_VAL (0x2 << PWM_INPUT1_PINSEL_BIT)
#define PWM_INPUT1_PINSEL_MASK (0x3 <<PWM_INPUT1_PINSEL_BIT)
#endif
#ifdef USE_PWM_INPUT2
//INPUT CAPTURE CAP0.0 on P0.30
#define PWM_INPUT2_PINSEL PINSEL1
#define PWM_INPUT2_PINSEL_BIT 28
#define PWM_INPUT2_PINSEL_VAL (0x3 << PWM_INPUT2_PINSEL_BIT)
#define PWM_INPUT2_PINSEL_MASK (0x3 <<PWM_INPUT2_PINSEL_BIT)
#endif
void pwm_input_init ( void )
{
// initialize the arrays to 0 to avoid junk
for (int i=0; i < PWM_INPUT_NB; i++)
{
pwm_input_duty_tics[i] = 0;
pwm_input_duty_valid[i] = 0;
pwm_input_period_tics[i] = 0;
pwm_input_period_valid[i] = 0;
}
/* select pin for capture */
#ifdef USE_PWM_INPUT1
PWM_INPUT1_PINSEL = (PWM_INPUT1_PINSEL & ~PWM_INPUT1_PINSEL_MASK) | PWM_INPUT1_PINSEL_VAL;
//enable capture 0.3 on rising edge + trigger interrupt
T0CCR |= TCCR_CR3_R | TCCR_CR3_I;
#endif
#ifdef USE_PWM_INPUT2
PWM_INPUT2_PINSEL = (PWM_INPUT2_PINSEL & ~PWM_INPUT2_PINSEL_MASK) | PWM_INPUT2_PINSEL_VAL;
//enable capture 0.0 on rising edge + trigger interrupt
T0CCR |= TCCR_CR0_R | TCCR_CR0_I;
#endif
}
//FIXME what about clock time overflow???
#ifdef USE_PWM_INPUT1
void pwm_input_isr1(void)
{
static uint32_t t_rise;
static uint32_t t_fall;
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
static uint32_t t_oldrise = 0;
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
static uint32_t t_oldfall = 0;
#endif
if (T0CCR & TCCR_CR3_F) {
t_fall = T0CR3;
T0CCR |= TCCR_CR3_R;
T0CCR &= ~TCCR_CR3_F;
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
pwm_input_duty_tics[0] = t_fall - t_rise;
pwm_input_duty_valid[0] = TRUE;
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
pwm_input_period_tics[0] = t_fall - t_oldfall;
pwm_input_period_valid[0] = TRUE;
t_oldfall = t_fall;
#endif //ACTIVE_HIGH
} else if (T0CCR & TCCR_CR3_R) {
t_rise = T0CR3;
T0CCR |= TCCR_CR3_F;
T0CCR &= ~TCCR_CR3_R;
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
pwm_input_duty_tics[0] = t_rise - t_fall;
pwm_input_duty_valid[0] = TRUE;
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
pwm_input_period_tics[0] = t_rise - t_oldrise;
pwm_input_period_valid[0] = TRUE;
t_oldrise = t_rise;
#endif //ACTIVE_LOW
}
}
#endif //USE_PWM_INPUT1
#ifdef USE_PWM_INPUT2
void pwm_input_isr2(void)
{
static uint32_t t_rise;
static uint32_t t_fall;
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
static uint32_t t_oldrise = 0;
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
static uint32_t t_oldfall = 0;
#endif
if (T0CCR & TCCR_CR0_F) {
t_fall = T0CR0;
T0CCR |= TCCR_CR0_R;
T0CCR &= ~TCCR_CR0_F;
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
pwm_input_duty_tics[1] = t_fall - t_rise;
pwm_input_duty_valid[1] = TRUE;
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
pwm_input_period_tics[1] = t_fall - t_oldfall;
pwm_input_period_valid[1] = TRUE;
t_oldfall = t_fall;
#endif //ACTIVE_HIGH
} else if (T0CCR & TCCR_CR0_R) {
t_rise = T0CR0;
T0CCR |= TCCR_CR0_F;
T0CCR &= ~TCCR_CR0_R;
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
pwm_input_duty_tics[1] = t_rise - t_fall;
pwm_input_duty_valid[1] = TRUE;
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
pwm_input_period_tics[1] = t_rise - t_oldrise;
pwm_input_period_valid[1] = TRUE;
t_oldrise = t_rise;
#endif //ACTIVE_LOW
}
}
#endif //USE_PWM_INPUT2
sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.h
+51
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@@ -0,0 +1,51 @@
/* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \brief handling of arm7 PWM input using a timer with capture
*
*/
#ifndef PWM_INPUT_ARCH_H
#define PWM_INPUT_ARCH_H
#include "std.h"
#include "LPC21xx.h"
#include "interrupt_hw.h"
#define PWM_INPUT_NB 2 //this is architecture dependent
#include "mcu_periph/pwm_input.h"
#ifdef USE_PWM_INPUT1
extern void pwm_input_isr1(void);
#define PWM_INPUT_IT1 TIR_CR3I
#define PWM_INPUT_ISR_1() pwm_input_isr1()
#endif //USE_PWM_INPUT1
#ifdef USE_PWM_INPUT2
extern void pwm_input_isr2(void);
#define PWM_INPUT_IT2 TIR_CR0I
#define PWM_INPUT_ISR_2() pwm_input_isr2()
#endif //USE_PWM_INPUT2
#endif /* PWM_INPUT_ARCH_H */
sw/airborne/arch/lpc21/pwm_input.c
-62
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@@ -1,62 +0,0 @@
#include "pwm_input.h"
#include "LPC21xx.h"
#include "interrupt_hw.h"
volatile uint32_t pwm_input_duration[PWM_INPUT_NB];
volatile uint8_t pwm_input_valid[PWM_INPUT_NB];
#ifdef USE_PWM_INPUT1
/* INPUT CAPTURE CAP0.3 on P0.29 */
#define PWM_INPUT1_PINSEL PINSEL1
#define PWM_INPUT1_PINSEL_BIT 26
#define PWM_INPUT1_PINSEL_VAL (0x2 << PWM_INPUT1_PINSEL_BIT)
#define PWM_INPUT1_PINSEL_MASK (0x3 <<PWM_INPUT1_PINSEL_BIT)
#endif
#ifdef USE_PWM_INPUT2
/* INPUT CAPTURE CAP0.0 on P0.30 */
#define PWM_INPUT2_PINSEL PINSEL1
#define PWM_INPUT2_PINSEL_BIT 28
#define PWM_INPUT2_PINSEL_VAL (0x3 << PWM_INPUT2_PINSEL_BIT)
#define PWM_INPUT2_PINSEL_MASK (0x3 <<PWM_INPUT2_PINSEL_BIT)
#endif
#ifdef USE_PWM_INPUT3
/* INPUT CAPTURE CAP0.1 on P0.27 */
#define PWM_INPUT3_PINSEL PINSEL1
#define PWM_INPUT3_PINSEL_BIT 22
#define PWM_INPUT3_PINSEL_VAL (0x2 << PWM_INPUT3_PINSEL_BIT)
#define PWM_INPUT3_PINSEL_MASK (0x3 <<PWM_INPUT3_PINSEL_BIT)
#endif
#ifdef USE_PWM_INPUT4
/* INPUT CAPTURE CAP0.2 on P0.28 */
#define PWM_INPUT4_PINSEL PINSEL1
#define PWM_INPUT4_PINSEL_BIT 24
#define PWM_INPUT4_PINSEL_VAL (0x2 << PWM_INPUT4_PINSEL_BIT)
#define PWM_INPUT4_PINSEL_MASK (0x3 <<PWM_INPUT4_PINSEL_BIT)
#endif
void pwm_input_init ( void )
{
/* select pin for capture */
#ifdef USE_PWM_INPUT1
PWM_INPUT1_PINSEL = (PWM_INPUT1_PINSEL & ~PWM_INPUT1_PINSEL_MASK) | PWM_INPUT1_PINSEL_VAL;
/* enable capture 0.3 on falling edge + trigger interrupt */
T0CCR |= TCCR_CR3_R | TCCR_CR3_I;
#endif
#ifdef USE_PWM_INPUT2
PWM_INPUT2_PINSEL = (PWM_INPUT2_PINSEL & ~PWM_INPUT2_PINSEL_MASK) | PWM_INPUT2_PINSEL_VAL;
/* enable capture 0.0 on falling edge + trigger interrupt */
T0CCR |= TCCR_CR0_R | TCCR_CR0_I;
#endif
#ifdef USE_PWM_INPUT3
PWM_INPUT3_PINSEL = (PWM_INPUT3_PINSEL & ~PWM_INPUT3_PINSEL_MASK) | PWM_INPUT3_PINSEL_VAL;
/* enable capture 0.1 on falling edge + trigger interrupt */
T0CCR |= TCCR_CR1_R | TCCR_CR1_I;
#endif
#ifdef USE_PWM_INPUT4
PWM_INPUT4_PINSEL = (PWM_INPUT4_PINSEL & ~PWM_INPUT4_PINSEL_MASK) | PWM_INPUT4_PINSEL_VAL;
/* enable capture 0.2 on falling edge + trigger interrupt */
T0CCR |= TCCR_CR2_R | TCCR_CR2_I;
#endif
}
sw/airborne/arch/lpc21/pwm_input.h
-97
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@@ -1,97 +0,0 @@
#ifndef PWM_INPUT_H
#define PWM_INPUT_H
#include "std.h"
#include "LPC21xx.h"
#include "interrupt_hw.h"
#define PWM_INPUT_NB 4
void pwm_input_init ( void );
/* tracks of length of positive pulse duration */
extern volatile uint32_t pwm_input_duration[PWM_INPUT_NB];
extern volatile uint8_t pwm_input_valid[PWM_INPUT_NB];
static inline void pwm_input_isr1()
{
static uint32_t t_rise;
static uint32_t t_fall;
if (T0CCR & TCCR_CR3_F) {
t_fall = T0CR3;
T0CCR |= TCCR_CR3_R;
T0CCR &= ~TCCR_CR3_F;
pwm_input_duration[0] = t_fall - t_rise;
pwm_input_valid[0] = TRUE;
} else if (T0CCR & TCCR_CR3_R) {
t_rise = T0CR3;
T0CCR |= TCCR_CR3_F;
T0CCR &= ~TCCR_CR3_R;
}
}
static inline void pwm_input_isr2()
{
static uint32_t t_rise;
static uint32_t t_fall;
if (T0CCR & TCCR_CR0_F) {
t_fall = T0CR0;
T0CCR |= TCCR_CR0_R;
T0CCR &= ~TCCR_CR0_F;
pwm_input_duration[1] = t_fall - t_rise;
pwm_input_valid[1] = TRUE;
} else if (T0CCR & TCCR_CR0_R) {
t_rise = T0CR0;
T0CCR |= TCCR_CR0_F;
T0CCR &= ~TCCR_CR0_R;
}
}
static inline void pwm_input_isr3()
{
static uint32_t t_rise;
static uint32_t t_fall;
if (T0CCR & TCCR_CR1_F) {
t_fall = T0CR1;
T0CCR |= TCCR_CR1_R;
T0CCR &= ~TCCR_CR1_F;
pwm_input_duration[2] = t_fall - t_rise;
pwm_input_valid[2] = TRUE;
} else if (T0CCR & TCCR_CR1_R) {
t_rise = T0CR1;
T0CCR |= TCCR_CR1_F;
T0CCR &= ~TCCR_CR1_R;
}
}
static inline void pwm_input_isr4()
{
static uint32_t t_rise;
static uint32_t t_fall;
if (T0CCR & TCCR_CR2_F) {
t_fall = T0CR2;
T0CCR |= TCCR_CR2_R;
T0CCR &= ~TCCR_CR2_F;
pwm_input_duration[3] = t_fall - t_rise;
pwm_input_valid[3] = TRUE;
} else if (T0CCR & TCCR_CR2_R) {
t_rise = T0CR2;
T0CCR |= TCCR_CR2_F;
T0CCR &= ~TCCR_CR2_R;
}
}
#define PWM_INPUT_IT1 TIR_CR3I
#define PWM_INPUT_IT2 TIR_CR0I
#define PWM_INPUT_IT3 TIR_CR1I
#define PWM_INPUT_IT4 TIR_CR2I
#define PWM_INPUT_ISR_1() pwm_input_isr1()
#define PWM_INPUT_ISR_2() pwm_input_isr2()
#define PWM_INPUT_ISR_3() pwm_input_isr3()
#define PWM_INPUT_ISR_4() pwm_input_isr4()
#endif /* PWM_INPUT_H */
sw/airborne/arch/lpc21/sys_time_hw.c
+5 -18
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@@ -35,12 +35,13 @@ uint32_t sys_time_chrono; /* T0TC ticks */
#endif
#ifdef USE_PWM_INPUT
#include "pwm_input.h"
#else
#include "mcu_periph/pwm_input.h"
#endif
#ifndef USE_PWM_INPUT1
#define PWM_INPUT_IT1 0x00
#endif
#ifndef USE_PWM_INPUT2
#define PWM_INPUT_IT2 0x00
#define PWM_INPUT_IT3 0x00
#define PWM_INPUT_IT4 0x00
#endif
#ifdef USE_AMI601
@@ -64,8 +65,6 @@ uint32_t sys_time_chrono; /* T0TC ticks */
MB_TACHO_IT |\
PWM_INPUT_IT1 |\
PWM_INPUT_IT2 |\
PWM_INPUT_IT3 |\
PWM_INPUT_IT4 |\
AMI601_IT)
void TIMER0_ISR ( void ) {
@@ -125,18 +124,6 @@ LED_TOGGLE(3);
T0IR = PWM_INPUT_IT2;
}
#endif
#ifdef USE_PWM_INPUT3
if (T0IR&PWM_INPUT_IT3) {
PWM_INPUT_ISR_3();
T0IR = PWM_INPUT_IT3;
}
#endif
#ifdef USE_PWM_INPUT4
if (T0IR&PWM_INPUT_IT4) {
PWM_INPUT_ISR_4();
T0IR = PWM_INPUT_IT4;
}
#endif
#ifdef USE_AMI601
if (T0IR&AMI601_IT) {
AMI601_ISR();
sw/airborne/mcu_periph/pwm_input.c
+34
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@@ -0,0 +1,34 @@
/*
* Paparazzi $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file mcu_periph/pwm_input.c
* \brief arch independent PWM input capture API */
#include "std.h"
#include "mcu_periph/pwm_input.h"
volatile uint32_t pwm_input_duty_tics[PWM_INPUT_NB];
volatile uint8_t pwm_input_duty_valid[PWM_INPUT_NB];
volatile uint32_t pwm_input_period_tics[PWM_INPUT_NB];
volatile uint8_t pwm_input_period_valid[PWM_INPUT_NB];
sw/airborne/mcu_periph/pwm_input.h
+49
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@@ -0,0 +1,49 @@
/*
* Paparazzi $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file mcu_periph/pwm_input.h
* \brief arch independent PWM input capture API */
#ifndef PWM_INPUT_H
#define PWM_INPUT_H
#ifdef USE_PWM_INPUT
#include "std.h"
#include "mcu_periph/pwm_input_arch.h"
#define PWM_PULSE_TYPE_ACTIVE_HIGH 0
#define PWM_PULSE_TYPE_ACTIVE_LOW 1
extern volatile uint32_t pwm_input_duty_tics[PWM_INPUT_NB];
extern volatile uint8_t pwm_input_duty_valid[PWM_INPUT_NB];
extern volatile uint32_t pwm_input_period_tics[PWM_INPUT_NB];
extern volatile uint8_t pwm_input_period_valid[PWM_INPUT_NB];
extern void pwm_input_init(void);
#endif /* USE_PWM_INPUT */
#endif /* PWM_INPUT_H */
sw/airborne/modules/core/pwm_meas.c
+38
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@@ -0,0 +1,38 @@
/*
* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file pwm_meas.c
*
* Wrapper to access pwm_input mcu peripheral from other modules
*/
#include "modules/core/pwm_meas.h"
#include "mcu_periph/pwm_input.h"
#include "sys_time.h"
void pwm_meas_init( void )
{
pwm_input_init();
}
sw/airborne/modules/core/pwm_meas.h
+35
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@@ -0,0 +1,35 @@
/*
* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file pwm_meas.h
*
* Wrapper to access pwm_input mcu peripheral from other modules
*/
#ifndef PWM_MEAS_H
#define PWM_MEAS_H
void pwm_meas_init( void );
#endif
sw/airborne/modules/datalink/xtend_rssi.c
+70
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@@ -0,0 +1,70 @@
/*
* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file xtend_rssi.c
*
* This measures the rssi pwm signal from a Digi XTend radio modem
* and sends a message with the info.
*/
#include "modules/datalink/xtend_rssi.h"
#include "mcu_periph/pwm_input.h"
#include "sys_time.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "downlink.h"
//from Digi XTend manual
#define XTEND_RSSI_PWM_PERIOD_USEC 8320 //rssi pwm period () in sys tics
#define XTEND_RSSI_PWM_ARRAY_INDEX (XTEND_RSSI_PWM_INPUT_CHANNEL - 1)
void xtend_rssi_periodic( void ) {
/* get the last duty if valid then reset valid flag (this says if we got another pulse since the last one)
calculate the % and dB from the duty using datasheet specs
send the %, dB, datalink time
*/
uint32_t duty_tics = pwm_input_duty_tics[XTEND_RSSI_PWM_ARRAY_INDEX];
uint8_t duty_percent = 0;
uint8_t rssi_dB_fade_margin = 0; //shows dB fade margin above rated minimum sensitivity
if (pwm_input_duty_valid[XTEND_RSSI_PWM_ARRAY_INDEX])
{
duty_percent = (duty_tics * 100) / SYS_TICS_OF_USEC(XTEND_RSSI_PWM_PERIOD_USEC);
rssi_dB_fade_margin = (2 * duty_percent + 10) / 3; //not sure if this is right, datasheet isn't very informative
pwm_input_duty_valid[XTEND_RSSI_PWM_ARRAY_INDEX] = FALSE;
}
DOWNLINK_SEND_XTEND_RSSI(DefaultChannel,
&datalink_time,
&rssi_dB_fade_margin,
&duty_percent );
}
sw/airborne/modules/datalink/xtend_rssi.h
+37
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/*
* $Id$
*
* Copyright (C) 2011 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.
*
*/
/** \file xtend_rssi.h
*
* This measures the rssi pwm signal from a Digi XTend radio modem
* and sends a message with the info.
*
*/
#ifndef XTEND_RSSI_H
#define XTEND_RSSI_H
void xtend_rssi_periodic( void );
#endif