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[actuators] Spektrum output actuators

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Freek van Tienen
2015-11-08 19:11:13 +01:00
parent c4d1a00e45
commit 7fbda7e2ed
4 changed files with 167 additions and 0 deletions
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conf/firmwares/subsystems/shared/actuators_spektrum.makefile
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# Actuator drivers for spektrum output
ACTUATORS_SPEKTRUM_DEV ?= UART4
ACTUATORS_SPEKTRUM_DEV_UPPER =$(shell echo $(ACTUATORS_SPEKTRUM_DEV) | tr a-z A-Z)
ACTUATORS_SPEKTRUM_DEV_LOWER =$(shell echo $(ACTUATORS_SPEKTRUM_DEV) | tr A-Z a-z)
ACTUATORS_SPEKTRUM_CFLAGS = -DACTUATORS_SPEKTRUM_DEV=$(ACTUATORS_SPEKTRUM_DEV_LOWER) -DUSE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)
ACTUATORS_SPEKTRUM_CFLAGS += -D$(ACTUATORS_SPEKTRUM_DEV_UPPER)_BAUD=115200 -DUSE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)_RX=FALSE
ifdef ACTUATORS_SPEKTRUM_DEV2
ACTUATORS_SPEKTRUM_DEV2_UPPER =$(shell echo $(ACTUATORS_SPEKTRUM_DEV2) | tr a-z A-Z)
ACTUATORS_SPEKTRUM_DEV2_LOWER =$(shell echo $(ACTUATORS_SPEKTRUM_DEV2) | tr A-Z a-z)
ACTUATORS_SPEKTRUM_CFLAGS += -DACTUATORS_SPEKTRUM_DEV2=$(ACTUATORS_SPEKTRUM_DEV2_LOWER) -DUSE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)
ACTUATORS_SPEKTRUM_CFLAGS += -D$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_BAUD=115200 -DUSE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_RX=FALSE
endif
ap.CFLAGS += -DACTUATORS $(ACTUATORS_SPEKTRUM_CFLAGS)
ap.srcs += subsystems/actuators/actuators_spektrum.c
sw/airborne/firmwares/rotorcraft/main.c
+3
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@@ -218,6 +218,9 @@ STATIC_INLINE void main_init(void)
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif
// Do a failsafe check first
failsafe_check();
}
STATIC_INLINE void handle_periodic_tasks(void)
sw/airborne/subsystems/actuators/actuators_spektrum.c
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/*
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
*
* 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.
*/
/** @file actuators_spektrum.c
* Spektrum actuator driver, which can output as 7 spektrum channels at ~11ms.
* Channels min, averga and maximum should be: 340, 1024, 1708
*/
#include "subsystems/actuators.h"
#include "subsystems/actuators/actuators_spektrum.h"
#include "generated/airframe.h"
#include "mcu_periph/uart.h"
/* Currently we only support 7 channels, but could be extended to 14+ */
#if SERVOS_SPEKTRUM_NB > ACTUATORS_SPEKTRUM_MAX_NB
#error Spektrum actuators only support less then 7 servos
#endif
/* Calculate the frequency divider to aim at 11ms (~90Hz) */
#if PERIODIC_FREQUENCY < 90
#error Spektrum actuators need at leest a frequency of Hz
#else
static uint8_t freq_trig = PERIODIC_FREQUENCY / 90.0 + 0.5; // Round it to nearest value
/* Main actuator structure */
struct ActuatorsSpektrum actuators_spektrum;
static inline void actuators_spektrum_send(struct link_device *dev);
/*
* Initialize the spektrum devices (UART output devices)
*/
void actuators_spektrum_init(void)
{
actuators_spektrum.device = &((ACTUATORS_SPEKTRUM_DEV).device);
#ifdef ACTUATORS_SPEKTRUM_DEV2
actuators_spektrum.device2 = &((ACTUATORS_SPEKTRUM_DEV2).device);
#endif
}
/*
* Transmit the spektrum output at ~90Hz
*/
void actuators_spektrum_set(void)
{
static uint8_t cnt = 0;
// Only send every 11 ms
cnt++;
if (cnt == freq_trig) {
actuators_spektrum_send(actuators_spektrum.device);
#ifdef ACTUATORS_SPEKTRUM_DEV2
actuators_spektrum_send(actuators_spektrum.device2);
#endif
cnt = 0;
}
}
/*
* Actually transmit the spektrum output on a link device
*/
static inline void actuators_spektrum_send(struct link_device *dev)
{
dev->put_byte(dev->periph, 0x00); // number missed frames
dev->put_byte(dev->periph, 0x12); // 7 channels, 11 bit, 11ms
/* Transmit all channels */
for (i = 0; i < ACTUATORS_SPEKTRUM_MAX_NB; i++) {
dev->put_byte(dev->periph, i << 3 | actuators_spektrum.cmds[i] >> 8);
dev->put_byte(dev->periph, actuators_spektrum.cmds[i] & 0xFF);
}
}
sw/airborne/subsystems/actuators/actuators_spektrum.h
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/*
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
*
* 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.
*/
/** @file actuators_spektrum.h
* Spektrum actuator driver, which can output as 7 spektrum channels at ~11ms.
* Channels min, averga and maximum should be: 340, 1024, 1708
*/
#ifndef ACTUATORS_SPEKTRUM_H
#define ACTUATORS_SPEKTRUM_H
#include "std.h"
/* Maximum amount of spektrum actuator channels */
#define ACTUATORS_SPEKTRUM_MAX_NB 7
/* Main actuator structure */
struct ActuatorsSpektrum {
int32_t cmds[ACTUATORS_SPEKTRUM_MAX_NB];
struct link_device *device;
struct link_device *device2;
};
/* Functions used in actuator macros */
extern struct ActuatorsSpektrum actuators_spektrum;
extern void actuators_spektrum_init(void);
extern void actuators_spektrum_set(void);
/* Actuator macros */
#define ActuatorSpektrumSet(_i, _v) { actuators_spektrum.cmds[_i] = _v; }
#define ActuatorsSpektrumInit() actuators_spektrum_init()
#define ActuatorsSpektrumCommit() actuators_spektrum_set()
#endif /* ACTUATORS_SPEKTRUM_H */