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adding a not yet working ppm decoder for lisa

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This commit is contained in:
Antoine Drouin
2010-08-25 17:44:54 +00:00
parent af39d28571
commit 1f9acf3269
12 changed files with 238 additions and 55 deletions
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conf/airframes/Poine/booz2_a1.xml
+6 -8
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@@ -196,13 +196,10 @@
</section>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
</target>
<target name="ap" board="booz_1.0"/>
<target name="sim" board="pc">
<subsystem name="simulator" type="nps"/>
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
@@ -213,9 +210,10 @@
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
</firmware>
conf/airframes/Poine/booz2_a7.xml
+7 -6
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@@ -175,11 +175,11 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!-- -->
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
<!-- -->
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
@@ -191,7 +191,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="simulator" type="nps"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
@@ -202,9 +202,10 @@
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_spektrum" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
conf/autopilot/booz_test_progs.makefile
+34 -1
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@@ -121,7 +121,7 @@ test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
#
# test_spektrum :
# test_rc_spektrum :
#
# TODO
#
@@ -131,3 +131,36 @@ test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
#
# test rc ppm
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
#
test_rc_ppm.ARCHDIR = $(ARCHI)
test_rc_ppm.ARCH = arm7tdmi
test_rc_ppm.TARGET = test_rc_ppm
test_rc_ppm.TARGETDIR = test_rc_ppm
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c
test_rc_ppm.CFLAGS += -DUSE_LED
test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
conf/autopilot/fixedwing.xml
+1 -1
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@@ -3,7 +3,7 @@
<target name="ap" description="The autopilot">
<param name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
<param name="FLASH_MODE" values="IAP|JTAG|ISP"/>
<define name="AGR_CLIMB" />
<define name="TRAFFIC_INFO"/>
<define name="LOITER_TRIM"/>
conf/autopilot/lisa_l_test_progs.makefile
+72 -31
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@@ -117,40 +117,81 @@ test_baro.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test_spektrum : sends RADIO_CONTROL messages on telemetry
# test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
#
# configuration
# MODEM_PORT :
# MODEM_BAUD :
# RADIO_CONROL_LINK :
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
# RADIO_CONROL_LINK
#
test_rc_spektrum.ARCHDIR = $(ARCHI)
test_rc_spektrum.TARGET = test_rc_spektrum
test_rc_spektrum.TARGETDIR = test_rc_spektrum
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_spektrum.srcs += downlink.c pprz_transport.c
test_rc_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
test_rc_spektrum.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK) -D$(RADIO_CONTROL_LINK)_BAUD=B115200
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
#
test_spektrum.ARCHDIR = $(ARCHI)
test_spektrum.TARGET = test_spektrum
test_spektrum.TARGETDIR = test_spektrum
test_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
# test_rc_ppm
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
#
test_rc_ppm.ARCHDIR = $(ARCHI)
test_rc_ppm.TARGET = test_rc_ppm
test_rc_ppm.TARGETDIR = test_rc_ppm
test_spektrum.CFLAGS += -DUSE_LED
test_spektrum.srcs += $(SRC_ARCH)/led_hw.c
test_spektrum.CFLAGS += -DUSE_SYS_TIME
test_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
test_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_spektrum.srcs += downlink.c pprz_transport.c
test_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
test_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
test_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
test_spektrum.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK) -D$(RADIO_CONTROL_LINK)_BAUD=B115200
test_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_ppm.CFLAGS += -DUSE_LED
test_rc_ppm.srcs += $(SRC_ARCH)/led_hw.c
test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
+1 -1
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@@ -1,7 +1,7 @@
#
# Autopilot
#
ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
conf/messages.xml
+1 -1
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@@ -344,7 +344,7 @@
</message>
<message name="CHRONO" id="48">
<field name="tag" type="uint8"/>
<field name="tag" type="uint8"/>
<field name="time" type="uint32" unit="us"/>
</message>
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
+107 -2
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@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -23,6 +23,111 @@
#include "booz_radio_control.h"
void booz_radio_control_ppm_hw_init ( void ) {
#include <stm32/rcc.h>
#include <stm32/gpio.h>
#include <stm32/tim.h>
#include <stm32/misc.h>
#include "sys_time.h"
#include "my_debug_servo.h"
/*
*
* This a radio control ppm driver for stm32
* signal on PA1 TIM2/CH2 (uart1 trig on lisa/L)
*
*/
uint8_t booz_radio_control_ppm_cur_pulse;
uint32_t booz_radio_control_ppm_last_pulse_time;
uint32_t debug_len;
void tim2_irq_handler(void);
void booz_radio_control_ppm_arch_init ( void ) {
/* TIM2 channel 2 pin (PA.01) configuration */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* TIM2 configuration: Input Capture mode ---------------------
The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
------------------------------------------------------------ */
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
booz_radio_control_ppm_last_pulse_time = 0;
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
DEBUG_SERVO2_INIT();
}
void tim2_irq_handler(void) {
DEBUG_S4_ON();
if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
uint32_t now = TIM_GetCapture2(TIM2);
uint32_t length = now - booz_radio_control_ppm_last_pulse_time;
debug_len = length;
booz_radio_control_ppm_last_pulse_time = now;
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
booz_radio_control_ppm_cur_pulse = 0;
}
}
else {
if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length;
booz_radio_control_ppm_cur_pulse++;
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
booz_radio_control_ppm_frame_available = TRUE;
}
}
else
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
}
}
DEBUG_S4_OFF();
}
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
+1 -2
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@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -26,4 +26,3 @@
*
*/
extern void booz_radio_control_ppm_hw_init ( void );
sw/airborne/booz/radio_control/booz_radio_control_ppm.h
+1 -1
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@@ -56,7 +56,7 @@ extern volatile bool_t booz_radio_control_ppm_frame_available;
radio_control.status = RADIO_CONTROL_OK; \
NormalizePpm(); \
_received_frame_handler(); \
} \
} \
booz_radio_control_ppm_frame_available = FALSE; \
} \
}
sw/airborne/booz/test/booz2_test_radio_control.c
+6
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@@ -54,6 +54,8 @@ static inline void main_init( void ) {
int_enable();
}
extern uint32_t debug_len;
static inline void main_periodic_task( void ) {
RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec);});
@@ -69,6 +71,10 @@ static inline void main_periodic_task( void ) {
&radio_control.values[RADIO_CONTROL_MODE], \
&foo, \
&radio_control.status);});
uint8_t bar;
RunOnceEvery(10, { DOWNLINK_SEND_CHRONO(DefaultChannel, &bar, &debug_len)});
LED_PERIODIC();
}
sw/airborne/stm32/sys_time_hw.h
+1 -1
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@@ -1,7 +1,7 @@
/*
* Paparazzi $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
*