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start working on unified radio control

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This commit is contained in:
Gautier Hattenberger
2010-10-05 18:29:56 +00:00
parent d3a374b805
commit 5de9c813bd
4 changed files with 230 additions and 0 deletions
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sw/airborne/arch/lpc21/radio_control/ppm_arch.c
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/*
* $Id$
*
* Copyright (C) 2010 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.
*/
#include "radio_control.h"
uint8_t ppm_cur_pulse;
uint32_t ppm_last_pulse_time;
void ppm_arch_init ( void ) {
/* select pin for capture */
PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
/* enable capture 0.2 on falling or rising edge + trigger interrupt */
#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
#else
#error "ppm_hw.h: Unknown PM_PULSE_TYPE"
#endif
ppm_last_pulse_time = 0;
ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
ppm_frame_available = FALSE;
}
sw/airborne/arch/lpc21/radio_control/ppm_arch.h
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/*
* $Id$
*
* Copyright (C) 2010 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.
*/
#ifndef PPM_ARCH_H
#define PPM_ARCH_H
#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
#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
extern uint8_t ppm_cur_pulse;
extern uint32_t ppm_last_pulse_time;
/**
* A valid ppm frame:
* - synchro blank
* - correct number of channels
* - synchro blank
*/
#define PPM_IT PPM_CRI
#define PPM_ISR() { \
static uint8_t ppm_data_valid = FALSE; \
\
uint32_t now = PPM_CR; \
uint32_t length = now - ppm_last_pulse_time; \
ppm_last_pulse_time = now; \
\
if (ppm_cur_pulse == PPM_NB_CHANNEL) { \
if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) && \
length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) { \
if (ppm_data_valid) { \
ppm_frame_available = TRUE; \
ppm_data_valid = FALSE; \
} \
ppm_cur_pulse = 0; \
} \
else { \
ppm_data_valid = FALSE; \
} \
} \
else { \
if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) && \
length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) { \
ppm_pulses[ppm_cur_pulse] = length; \
ppm_cur_pulse++; \
if (ppm_cur_pulse == PPM_NB_CHANNEL) { \
ppm_data_valid = TRUE; \
} \
} \
else { \
ppm_cur_pulse = PPM_NB_CHANNEL; \
ppm_data_valid = FALSE; \
} \
} \
}
#endif /* PPM_ARCH_H */
sw/airborne/radio_control/ppm.c
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/*
* $Id$
*
* Copyright (C) 2010 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.
*/
#include "radio_control.h"
uint16_t ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
volatile bool_t ppm_frame_available;
void radio_control_impl_init(void) {
ppm_frame_available = FALSE;
ppm_arch_init();
}
sw/airborne/radio_control/ppm.h
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/*
* $Id$
*
* Copyright (C) 2010 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.
*/
#ifndef PPM_H
#define PPM_H
/**
* Architecture dependant code
*/
#include "radio_control/ppm_arch.h"
/* must be implemented by arch dependant code */
extern void ppm_arch_init ( void );
/**
* Generated code holding the description of a given
* transmitter
*/
#include "radio.h"
/**
* ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
*/
#define PPM_PULSE_TYPE_POSITIVE 0
#define PPM_PULSE_TYPE_NEGATIVE 1
extern uint16_t ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
extern volatile bool_t ppm_frame_available;
#define RadioControlEvent(_received_frame_handler) { \
if (ppm_frame_available) { \
radio_control.frame_cpt++; \
radio_control.time_since_last_frame = 0; \
if (radio_control.radio_ok_cpt > 0) radio_control.radio_ok_cpt--; \
else { \
radio_control.status = RADIO_CONTROL_OK; \
NormalizePpm(); \
_received_frame_handler(); \
} \
ppm_frame_available = FALSE; \
} \
}
#endif /* PPM_H */