added module to measure and report digi xtend rssi, based on pwm_input driver for lpc21xx

conf/messages.xml

@@ -546,7 +546,11 @@
 		<field name="AOA" type="float" unit="rad"></field>
 	</message>
 
- <!-- 70 is free -->
+  <message name="XTEND_RSSI" id="70">
+    <field name="datalink_time" type="uint16" unit="s"/>
+    <field name="rssi_fade_margin" type="uint8" unit="dB"/>
+    <field name="duty" type="uint8" unit="%"/>
+  </message>
  <!-- 71 is free -->
  <!-- 72 is free -->
  <!-- 73 is free -->

conf/modules/pwm_measure.xml

@@ -0,0 +1,22 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<!--
+  To enable each pwm measurement input, one must define
+  USE_PWM_INPUTx where x is the channel(s) to use.
+  For the lpc21xx, there are 4 channels:
+    USE_PWM_INPUT1 on P0.29 (TWOG ADC_5)
+    USE_PWM_INPUT2 on P0.30 (TWOG ADC_4)
+    USE_PWM_INPUT3 on P0.27 (Not Available?)
+    USE_PWM_INPUT4 on P0.28 (TWOG ADC_6)
+-->
+<module name="pwm_measure" dir="core">
+  <header>
+    <file name="pwm_measure.h"/>
+  </header>
+  <init fun="pwm_measure_init()"/>
+  <makefile>
+    <file_arch name="pwm_measure_hw.c"/>
+    <file name="pwm_measure.c"/>
+    <define name="USE_PWM_INPUT"/> <!-- required to enable pwm_input driver on lpc21 arch -->
+  </makefile>
+</module>
+

conf/modules/xtend_rssi.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<!-- Currently only available on LPC21xx arch
+Need to also load/use the pwm_measure.xml module
+Possible rssi pwm input pin values for TWOG:
+	<define name="PWM_MEAS_ON_TWOG_ADC5"/> (P0.29)
+	<define name="PWM_MEAS_ON_TWOG_ADC4"/> (P0.30)
+	<define name="PWM_MEAS_ON_TWOG_ADC6"/> (P0.28)
+-->
+<module name="xtend_rssi" dir="datalink">
+  <depend require="pwm_measure.xml"/>
+  <header>
+    <file name="xtend_rssi.h"/>
+  </header>
+  <periodic fun="xtend_rssi_periodic()" freq="2"/>
+  <makefile>
+    <file name="xtend_rssi.c"/>
+  </makefile>
+</module>
+

sw/airborne/arch/lpc21/modules/core/pwm_measure_hw.c

@@ -0,0 +1,43 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Stephen Dwyer, based on trigger_ext_hw by Martin Mueller
+ *
+ * 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 "core/pwm_measure_hw.h"
+#include "pwm_input.h" //get the pwm_input drivers
+#include "std.h"
+#include "sys_time_hw.h"
+#include "LPC21xx.h"
+#include BOARD_CONFIG
+
+
+void pwm_measure_init ( void ) {
+
+  //Assign the arch indep array as alias of arch dep array, links arch indep to arch dep parts of code
+  pwm_meas_duty_tics = pwm_input_duration;
+  pwm_meas_duty_valid = pwm_input_valid;
+  
+  //Use the pwm_input.* hardware dependent for lpc2148, this will change for each arch
+  pwm_input_init();
+
+}

sw/airborne/arch/lpc21/modules/core/pwm_measure_hw.h

@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Stephen Dwyer, based on trigger_ext_hw by Martin Mueller
+ *
+ * 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 PWM_MEASURE_HW_H
+#define PWM_MEAUSURE_HW_H
+
+#include "core/pwm_measure.h"
+
+#endif /* PWM_MEASURE_HW_H */
+

sw/airborne/arch/lpc21/pwm_input.c

@@ -38,25 +38,32 @@ volatile uint8_t pwm_input_valid[PWM_INPUT_NB];
 
 void pwm_input_init ( void )
 {
+  // initialize the arrays to 0 to avoid junk
+  int i = 0;
+  for (int i; i < PWM_INPUT_NUM; i++)
+  {
+    pwm_input_duration[i] = 0;
+    pwm_input_valid[i] = 0;
+  }
   /* select pin for capture */
 #ifdef USE_PWM_INPUT1
   PWM_INPUT1_PINSEL = (PWM_INPUT1_PINSEL & ~PWM_INPUT1_PINSEL_MASK) | PWM_INPUT1_PINSEL_VAL;
-  /* enable capture 0.3 on falling edge + trigger interrupt */
+  /* enable capture 0.3 on rising edge + trigger interrupt */
   T0CCR |= TCCR_CR3_R | TCCR_CR3_I;
 #endif
 #ifdef USE_PWM_INPUT2
   PWM_INPUT2_PINSEL = (PWM_INPUT2_PINSEL & ~PWM_INPUT2_PINSEL_MASK) | PWM_INPUT2_PINSEL_VAL;
-  /* enable capture 0.0 on falling edge + trigger interrupt */
+  /* enable capture 0.0 on rising edge + trigger interrupt */
   T0CCR |= TCCR_CR0_R | TCCR_CR0_I;
 #endif
 #ifdef USE_PWM_INPUT3
   PWM_INPUT3_PINSEL = (PWM_INPUT3_PINSEL & ~PWM_INPUT3_PINSEL_MASK) | PWM_INPUT3_PINSEL_VAL;
-  /* enable capture 0.1 on falling edge + trigger interrupt */
+  /* enable capture 0.1 on rising edge + trigger interrupt */
   T0CCR |= TCCR_CR1_R | TCCR_CR1_I;
 #endif
 #ifdef USE_PWM_INPUT4
   PWM_INPUT4_PINSEL = (PWM_INPUT4_PINSEL & ~PWM_INPUT4_PINSEL_MASK) | PWM_INPUT4_PINSEL_VAL;
-  /* enable capture 0.2 on falling edge + trigger interrupt */
+  /* enable capture 0.2 on rising edge + trigger interrupt */
   T0CCR |= TCCR_CR2_R | TCCR_CR2_I;
 #endif
 }

sw/airborne/arch/lpc21/pwm_input.h

@@ -7,6 +7,8 @@
 
 #define PWM_INPUT_NB 4
 
+
+
 void pwm_input_init ( void );
 
 /* tracks of length of positive pulse duration */
@@ -22,12 +24,19 @@ static inline void pwm_input_isr1()
     t_fall = T0CR3;
     T0CCR |= TCCR_CR3_R;
     T0CCR &= ~TCCR_CR3_F;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+#else
     pwm_input_duration[0] = t_fall - t_rise;
     pwm_input_valid[0] = TRUE;
+#endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR3_R) {
     t_rise = T0CR3;
     T0CCR |= TCCR_CR3_F;
     T0CCR &= ~TCCR_CR3_R;
+#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duration[0] = t_rise - t_fall;
+    pwm_input_valid[0] = TRUE;
+#endif //ACTIVE_LOW
   }
 }
 
@@ -40,12 +49,19 @@ static inline void pwm_input_isr2()
     t_fall = T0CR0;
     T0CCR |= TCCR_CR0_R;
     T0CCR &= ~TCCR_CR0_F;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+#else
     pwm_input_duration[1] = t_fall - t_rise;
     pwm_input_valid[1] = TRUE;
+#endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR0_R) {
     t_rise = T0CR0;
     T0CCR |= TCCR_CR0_F;
     T0CCR &= ~TCCR_CR0_R;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duration[1] = t_rise - t_fall;
+    pwm_input_valid[1] = TRUE;
+#endif //ACTIVE_LOW
   }
 }
 
@@ -58,12 +74,19 @@ static inline void pwm_input_isr3()
     t_fall = T0CR1;
     T0CCR |= TCCR_CR1_R;
     T0CCR &= ~TCCR_CR1_F;
+#if USE_PWM_INPUT3 == PWM_PULSE_TYPE_ACTIVE_LOW
+#else
     pwm_input_duration[2] = t_fall - t_rise;
     pwm_input_valid[2] = TRUE;
+#endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR1_R) {
     t_rise = T0CR1;
     T0CCR |= TCCR_CR1_F;
     T0CCR &= ~TCCR_CR1_R;
+#if USE_PWM_INPUT3 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duration[2] = t_rise - t_fall;
+    pwm_input_valid[2] = TRUE;
+#endif //ACTIVE_LOW
   }
 }
 
@@ -76,12 +99,19 @@ static inline void pwm_input_isr4()
     t_fall = T0CR2;
     T0CCR |= TCCR_CR2_R;
     T0CCR &= ~TCCR_CR2_F;
+#if USE_PWM_INPUT4 == PWM_PULSE_TYPE_ACTIVE_LOW
+#else
     pwm_input_duration[3] = t_fall - t_rise;
     pwm_input_valid[3] = TRUE;
+#endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR2_R) {
     t_rise = T0CR2;
     T0CCR |= TCCR_CR2_F;
     T0CCR &= ~TCCR_CR2_R;
+#if USE_PWM_INPUT4 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duration[3] = t_rise - t_fall;
+    pwm_input_valid[3] = TRUE;
+#endif //ACTIVE_LOW
   }
 }
 

sw/airborne/modules/core/pwm_measure.c

@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Stephen Dwyer, based on trigger_ext by Martin Mueller
+ *
+ * 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 pwm_measure.c
+ *  \brief Measure external pwm pulse at a capture input
+ *
+ *   This measures the duty active
+ */
+
+
+#include "core/pwm_measure.h"
+
+volatile uint32_t *pwm_meas_duty_tics; // this is an alias for the hw dep array, array length linked to PWM_INPUT_NB
+volatile uint8_t *pwm_meas_duty_valid; // this is an alias for the hw dep array, array length linked to PWM_INPUT_NB

sw/airborne/modules/core/pwm_measure.h

@@ -0,0 +1,47 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Stephen Dwyer, based on trigger_ext by Martin Mueller
+ *
+ * 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 pwm_measure.h
+ *  \brief Measure external pwm pulse at a capture input
+ *
+ *   This measures the duty active
+ */
+
+#ifndef PWM_MEASURE_H
+#define PWM_MEASURE_H
+
+#include "std.h"
+
+/**
+ *  active high starts period measure at rising edge, and vice versa
+ */
+#define PWM_PULSE_TYPE_ACTIVE_HIGH 0
+#define PWM_PULSE_TYPE_ACTIVE_LOW 1
+
+extern volatile uint32_t *pwm_meas_duty_tics; // this is an alias for the hw dep array, array length linked to PWM_INPUT_NB
+extern volatile uint8_t *pwm_meas_duty_valid; // this is an alias for the hw dep array, array length linked to PWM_INPUT_NB
+
+void pwm_measure_init ( void );
+
+#endif

sw/airborne/modules/datalink/xtend_rssi.c

@@ -0,0 +1,82 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 2011 Stephen Dwyer, based on windturbine by Martin Mueller
+ *
+ * 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 xtend_rssi.c
+ *
+ *   This measures the rssi pwm signal from a Digi XTend radio modem
+ *   and sends a message with the info.
+ */
+
+
+#include "datalink/xtend_rssi.h"
+#include "core/pwm_measure.h"
+#include "sys_time.h"
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+//from Digi XTend manual
+#define XTEND_RSSI_PWM_PERIOD_ST (uint32_t)(8320 * (PCLK/1000000) / T0_PCLK_DIV + 0.5) //rssi pwm period in sys tics
+
+//architecture dependent pin assignment, update for new architectures? move to arch files?
+#ifdef PWM_MEAS_ON_TWOG_ADC5
+#define PWM_MEAS_XTEND_RSSI_INDEX 0
+#define USE_PWM_INPUT1
+#elif PWM_MEAS_ON_TWOG_ADC4
+#define PWM_MEAS_XTEND_RSSI_INDEX 1
+#define USE_PWM_INPUT2
+#elif PWM_MEAS_ON_TWOG_ADC6
+#define PWM_MEAS_XTEND_RSSI_INDEX 3
+#define USE_PWM_INPUT4
+#else
+#error "Invalid or missing pwm measurement input pin defined for xtend_rssi module"
+#endif
+
+void xtend_rssi_periodic( void ) {
+
+/* get the last duty if valid then reset valid flag (this says if we got another pulse since the last one)
+   calculate the % and dB from the duty using datasheet specs
+   send the %, dB, datalink time
+*/
+
+  uint32_t duty_tics = pwm_meas_duty_tics[PWM_MEAS_XTEND_RSSI_INDEX];
+  uint8_t duty_percent = 0;
+  uint8_t rssi_dB_fade_margin = 0; //shows dB fade margin above rated minimum sensitivity
+
+  if (pwm_meas_duty_valid[PWM_MEAS_XTEND_RSSI_INDEX])
+  {
+      duty_percent = (duty_tics * 100) / XTEND_RSSI_PWM_PERIOD_ST;
+      rssi_dB_fade_margin = (2 * duty_percent + 10) / 3; //not sure if this is right, datasheet isn't very informative
+      pwm_meas_duty_valid[PWM_MEAS_XTEND_RSSI_INDEX] = FALSE;
+  }
+  DOWNLINK_SEND_XTEND_RSSI(DefaultChannel,
+            &datalink_time,
+            &rssi_dB_fade_margin,
+            &duty_percent );
+}

sw/airborne/modules/datalink/xtend_rssi.h

@@ -0,0 +1,40 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Stephen Dwyer, based on windturbine by Martin Mueller
+ *
+ * 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 xtend_rssi.h
+ *
+ *   This measures the rssi pwm signal from a Digi XTend radio modem
+ *	 and sends a message with the info.
+ *
+ *   Module pwm_measure needs to be loaded
+ */
+
+#ifndef XTEND_RSSI_H
+#define XTEND_RSSI_H
+
+void xtend_rssi_periodic( void );
+
+#endif
+
+