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refactored spektrum parser

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This commit is contained in:
Eric Parsonage
2010-08-19 15:36:50 +00:00
parent 4205fb9903
commit 0771ea825e
1 changed files with 80 additions and 9 deletions
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sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
+80 -9
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@@ -1,7 +1,7 @@
/*
* $Id$
* Paparazzi $Id$
*
* Copyright (C) 2009 Eric Parsonage <eric@eparsonage.com>
* Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -18,14 +18,85 @@
* 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.
*/
/*
*Function to bind Spektrum satellite receivers
* Boston, MA 02111-1307, USA.
*
*/
#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
#define BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
extern void radio_control_spektrum_try_bind( void );
#endif /* 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_LINK, _x)
#define RcLinkChAvailable() RcLink(ChAvailable())
#define RcLinkGetCh() RcLink(Getch())
#define _RadioControlEvent(_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 */