mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
[radio] add initial support for Futaba SBUS protocol
This commit is contained in:
Gautier Hattenberger
committed by
Felix Ruess
Felix Ruess
parent
2eda944ac8
commit
785ad78633
@@ -23,10 +23,10 @@
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<define name="USE_GYRO_PITCH_RATE"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="apogee_0.99"/>
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<configure name="FLASH_MODE" value="SWD"/>
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<target name="ap" board="apogee_1.0"/>
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<!--configure name="FLASH_MODE" value="SWD"/-->
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="radio_control" type="sbus"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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@@ -0,0 +1,13 @@
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#
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# Makefile for shared radio_control SBUS subsystem
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#
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$(TARGET).CFLAGS += -DRADIO_CONTROL
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ifneq ($(RADIO_CONTROL_LED),none)
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ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT) -DSBUS_LINK=$(SBUS_PORT) -D$(SBUS_PORT)_BAUD=B100000
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$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
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$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
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@@ -0,0 +1,144 @@
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/*
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* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/** @file subsystems/radio_control/sbus.c
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*
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* Futaba SBUS decoder
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*/
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/sbus.h"
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#include BOARD_CONFIG
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#include "mcu_periph/uart.h"
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#include <string.h>
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/*
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* SBUS protocol and state machine status
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*/
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#define SBUS_START_BYTE 0x0f
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#define SBUS_END_BYTE 0x00
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#define SBUS_BIT_PER_CHANNEL 11
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#define SBUS_BIT_PER_BYTE 8
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#define SBUS_STATUS_UNINIT 0
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#define SBUS_STATUS_GOT_START 1
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/** Set polarity using RC_POLARITY_LED.
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* SBUS signal has a reversed polarity compared to normal UART
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* this allow to using hardware UART peripheral by changing
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* the input signal polarity
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*/
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#ifndef RC_SET_POLARITY
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#define RC_SET_POLARITY LED_ON
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#endif
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/** UART selecting
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*/
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#define __SBusLink(dev, _x) dev##_x
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#define _SBusLink(dev, _x) __SBusLink(dev, _x)
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#define SBusLink(_x) _SBusLink(SBUS_LINK, _x)
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/* SBUS struct */
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struct _sbus sbus;
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// Init function
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void radio_control_impl_init(void) {
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sbus.frame_available = FALSE;
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sbus.status = SBUS_STATUS_UNINIT;
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// Set UART parameters (100K, 8 bits, 2 stops, even parity)
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SBusLink(SetBitsStopParity(UBITS_8, USTOP_2, UPARITY_EVEN));
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SBusLink(SetBaudrate(B100000));
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// Set polarity
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#ifdef RC_POLARITY_LED
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RC_SET_POLARITY(RC_POLARITY_LED);
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#endif
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}
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/*
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* This part is used by the autopilot to read data from a uart
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*/
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#define SBusBuffer() SBusLink(ChAvailable())
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#define SBusGet() SBusLink(Getch())
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// Decode the raw buffer
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static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst)
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{
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// reset counters
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uint8_t byteInRawBuf = 0;
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uint8_t bitInRawBuf = 0;
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uint8_t channel = 0;
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uint8_t bitInChannel = 0;
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// clear bits
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memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
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// decode sbus data
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for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
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if (src[byteInRawBuf] & (1<<bitInRawBuf))
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dst[channel] |= (1<<bitInChannel);
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bitInRawBuf++;
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bitInChannel++;
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if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
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bitInRawBuf = 0;
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byteInRawBuf++;
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}
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if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
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bitInChannel = 0;
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channel++;
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}
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}
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}
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// Decoding event function
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// Reading from UART
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void sbus_decode_event(void) {
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uint8_t rbyte;
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if (SBusBuffer()) {
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do {
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rbyte = SBusGet();
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switch (sbus.status) {
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case SBUS_STATUS_UNINIT:
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// Wait for the start byte
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if (rbyte == SBUS_START_BYTE) {
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sbus.status++;
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sbus.idx = 0;
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}
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break;
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case SBUS_STATUS_GOT_START:
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// Store buffer
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sbus.buffer[sbus.idx] = rbyte;
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sbus.idx++;
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if (sbus.idx == SBUS_BUF_LENGTH) {
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// Decode if last byte is the correct end byte
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if (rbyte == SBUS_END_BYTE) decode_sbus_buffer(sbus.buffer, sbus.pulses);
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sbus.status = SBUS_STATUS_UNINIT;
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}
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break;
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default:
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break;
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}
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} while (SBusBuffer());
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}
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}
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@@ -0,0 +1,96 @@
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/*
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* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef RC_SBUS_H
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#define RC_SBUS_H
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/** @file subsystems/radio_control/sbus.h
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*
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* Futaba SBUS decoder
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*/
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#include "std.h"
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///**
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// * Architecture dependant code
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// */
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//#include "subsystems/radio_control/ppm_arch.h"
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///* must be implemented by arch dependant code */
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//extern void ppm_arch_init(void);
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/**
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* Dummy macro to use radio.h file
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*/
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#define RC_PPM_TICKS_OF_USEC(_v) (_v)
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (_v)
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#define USEC_OF_RC_PPM_TICKS(_v) (_v)
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/**
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* Generated code holding the description of a given
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* transmitter
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*/
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#include "generated/radio.h"
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/**
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* Define number of channels
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*/
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#define SBUS_BUF_LENGTH 24
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#define SBUS_NB_CHANNEL 16
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#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
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/**
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* SBUS structure
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*/
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struct _sbus {
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uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
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bool_t frame_available; ///< new frame available
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uint8_t buffer[SBUS_BUF_LENGTH]; ///< input buffer
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uint8_t idx; ///< input index
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uint8_t status; ///< decoder state machine status
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};
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extern struct _sbus sbus;
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/**
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* Decoding event function
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*/
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extern void sbus_decode_event(void);
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/**
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* Event macro with handler callback
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*/
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#define RadioControlEvent(_received_frame_handler) { \
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sbus_decode_event(); \
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if (sbus.frame_available) { \
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radio_control.frame_cpt++; \
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radio_control.time_since_last_frame = 0; \
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if (radio_control.radio_ok_cpt > 0) { \
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radio_control.radio_ok_cpt--; \
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} else { \
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radio_control.status = RC_OK; \
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NormalizePpmIIR(sbus.pulses,radio_control); \
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_received_frame_handler(); \
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} \
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sbus.frame_available = FALSE; \
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} \
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}
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#endif /* RC_SBUS_H */
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