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a ppm decoder for rotorcraft

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This commit is contained in:
Antoine Drouin
2010-08-26 13:17:44 +00:00
parent 8fd0722667
commit 40038d2802
8 changed files with 77 additions and 55 deletions
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conf/autopilot/lisa_l_test_progs.makefile
+1 -1
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@@ -153,7 +153,7 @@ test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_con
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$(RADIO_CONTROL_LINK)_BAUD=B115200
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_LINK)_IRQ_HANDLER
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_LINK)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
+1 -1
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@@ -11,7 +11,7 @@ ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
ap.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
#ap.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK) -D$(RADIO_CONTROL_LINK)_BAUD=B115200
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_LINK)_IRQ_HANDLER
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_LINK)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
+10
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@@ -28,6 +28,16 @@
#include "LPC21xx.h"
#include BOARD_CONFIG
/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
*
*/
#define RC_PPM_TICS_OF_USEC SYS_TICS_OF_USEC
#define RC_PPM_SIGNED_TICS_OF_USEC SIGNED_SYS_TICS_OF_USEC
extern uint8_t booz_radio_control_ppm_cur_pulse;
extern uint32_t booz_radio_control_ppm_last_pulse_time;
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
+28 -25
View File
@@ -30,9 +30,6 @@
#include "sys_time.h"
#include "my_debug_servo.h"
/*
*
* This a radio control ppm driver for stm32
@@ -41,8 +38,7 @@
*/
uint8_t booz_radio_control_ppm_cur_pulse;
uint32_t booz_radio_control_ppm_last_pulse_time;
uint32_t debug_len;
static uint32_t timer_rollover_cnt;
void tim2_irq_handler(void);
@@ -60,7 +56,16 @@ void booz_radio_control_ppm_arch_init ( void ) {
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2 configuration: Input Capture mode ---------------------
The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
@@ -70,10 +75,9 @@ void booz_radio_control_ppm_arch_init ( void ) {
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_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
@@ -86,48 +90,47 @@ void booz_radio_control_ppm_arch_init ( void ) {
TIM_Cmd(TIM2, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
TIM_ITConfig(TIM2, TIM_IT_CC2|TIM_IT_Update, ENABLE);
booz_radio_control_ppm_last_pulse_time = 0;
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
DEBUG_SERVO2_INIT();
timer_rollover_cnt = 0;
}
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 now = TIM_GetCapture2(TIM2) + timer_rollover_cnt;
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;
if (length > RC_PPM_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
length < RC_PPM_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)) {
if (length > RC_PPM_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
length < RC_PPM_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
else {
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
}
}
}
DEBUG_S4_OFF();
else if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET) {
timer_rollover_cnt+=(1<<16);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
+8
View File
@@ -26,3 +26,11 @@
*
*/
/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
*
*/
#define RC_PPM_TICS_OF_USEC(_v) SYS_TICS_OF_USEC(_v/9)
#define RC_PPM_SIGNED_TICS_OF_USEC(_v) SIGNED_SYS_TICS_OF_USEC(_v/9)
sw/airborne/booz/test/booz2_test_radio_control.c
+18 -16
View File
@@ -1,22 +1,22 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2008-2010 The Paparazzi Team
*
* This file is part of paparazzi.
* This file is part of Paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* 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,
* 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
* 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.
*/
@@ -63,17 +63,19 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(10, {radio_control_periodic();});
int16_t foo = 0;
RunOnceEvery(10, {DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
&foo, \
&radio_control.status);});
// uint8_t bar;
// RunOnceEvery(10, { DOWNLINK_SEND_CHRONO(DefaultChannel, &bar, &debug_len)});
RunOnceEvery(10,
{DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
&foo, \
&radio_control.status);});
#ifdef RADIO_CONTROL_TYPE_PPM
RunOnceEvery(10,
{uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel,&blaa, 8, booz_radio_control_ppm_pulses);});
#endif
LED_PERIODIC();
}
sw/airborne/stm32/adc_hw.c
+7 -8
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@@ -1,7 +1,7 @@
/*
* $Id: adc_hw.c 5313 2010-08-11 18:46:20Z flixr $
* $Id$
*
* Copyright (C) 2008 Pascal Brisset, Antoine Drouin
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -23,6 +23,10 @@
*/
/**
*
* This is the driver for the analog to digital converters
* on STM32
*
* Usage:
* Define flags for ADCs to use and their channels:
*
@@ -30,10 +34,6 @@
*
* would enable ADC1 and it's channels 1 and 3.
*
*
*
*
*
*/
#include "adc.h"
@@ -204,8 +204,6 @@ static inline void adc_init_rcc( void )
rcc_apb = RCC_APB1Periph_TIM2;
#endif
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_ADCCLKConfig(RCC_PCLK2_Div2);
RCC_APB1PeriphClockCmd(rcc_apb, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB |
@@ -218,6 +216,7 @@ static inline void adc_init_rcc( void )
#endif
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
sw/tools/gen_conf_radio_control_ppm.ml
+4 -4
View File
@@ -70,9 +70,9 @@ let parse_channel =
let norm1_ppm = fun c ->
if c.neutral = c.min then
sprintf "tmp_radio * (MAX_PPRZ / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" c.max c.min, "0"
sprintf "tmp_radio * (MAX_PPRZ / (float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d)))" c.max c.min, "0"
else
sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min c.neutral, "MIN_PPRZ"
sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/(float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/(float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min c.neutral, "MIN_PPRZ"
let gen_normalize_ppm = fun channels ->
printf "#define NormalizePpm() {\\\n";
@@ -82,7 +82,7 @@ let gen_normalize_ppm = fun channels ->
(fun c ->
let value, min_pprz = norm1_ppm c in
begin
printf " tmp_radio = booz_radio_control_ppm_pulses[RADIO_CONTROL_%s] - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " tmp_radio = booz_radio_control_ppm_pulses[RADIO_CONTROL_%s] - RC_PPM_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " radio_control.values[RADIO_CONTROL_%s] = %s;\\\n" c.name value;
printf " Bound(radio_control.values[RADIO_CONTROL_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;
end
@@ -96,7 +96,7 @@ let gen_normalize_ppm = fun channels ->
(fun c ->
if c.averaged then begin
let value, min_pprz = norm1_ppm c in
printf " tmp_radio = avg_rc_values[RADIO_CONTROL_%s] / RC_AVG_PERIOD - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " tmp_radio = avg_rc_values[RADIO_CONTROL_%s] / RC_AVG_PERIOD - RC_PPM_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " rc_values[RADIO_CONTROL_%s] = %s;\\\n" c.name value;
printf " avg_rc_values[RADIO_CONTROL_%s] = 0;\\\n" c.name;
printf " Bound(rc_values[RADIO_CONTROL_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;