mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
added hott sumd radio control input (#2030)
Added Graupner HOTT SUMD serial rc control protocol. I used the sbus implementation as base for the hott sumd input. Tested with lisa m 2.0 uart1 and Graupner GR-12L with 9 and 12 channels. Should work with 2 to 32 channels. and example airframe config.
This commit is contained in:
Maximilian Laiacker
committed by
Felix Ruess
Felix Ruess
parent
1a4cf57b0c
commit
ae8141490d
@@ -0,0 +1,81 @@
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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/hott.c
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*
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* Single HOTT radio_control SUMD
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*/
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/hott.h"
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#include BOARD_CONFIG
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/** HOTT struct */
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struct SHott hott;
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// Telemetry function
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#if PERIODIC_TELEMETRY
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#include "subsystems/datalink/telemetry.h"
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static void send_hott(struct transport_tx *trans, struct link_device *dev)
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{
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// Using PPM message
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pprz_msg_send_PPM(trans, dev, AC_ID,
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&radio_control.frame_rate, HOTT_NB_CHANNEL, hott.ppm);
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}
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#endif
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// Init function
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void radio_control_impl_init(void)
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{
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hott_common_init(&hott, &HOTT_UART_DEV);
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// Register telemetry message
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#if PERIODIC_TELEMETRY
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register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_PPM, send_hott);
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#endif
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}
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// Decoding event function
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// Reading from UART
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static inline void hott_decode_event(void)
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{
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hott_common_decode_event(&hott, &HOTT_UART_DEV);
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}
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void radio_control_impl_event(void (* _received_frame_handler)(void))
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{
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hott_decode_event();
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if (hott.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(hott.pulses, radio_control);
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_received_frame_handler();
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}
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hott.frame_available = false;
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}
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}
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@@ -0,0 +1,34 @@
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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, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file subsystems/radio_control/hott.h
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*
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* Radio control via single HOTT receiver in SUMD mode.
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*/
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#ifndef RC_HOTT_H
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#define RC_HOTT_H
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#include "subsystems/radio_control/hott_common.h"
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extern struct SHott hott;
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#endif /* RC_HOTT_H */
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@@ -0,0 +1,166 @@
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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, see
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* <http://www.gnu.org/licenses/>.
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*/
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/** @file subsystems/radio_control/hott_common.c
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*
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* Graupner HOTT SUMD decoder
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*/
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/hott_common.h"
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#include BOARD_CONFIG
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#include <string.h>
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/*
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* HOTT protocol and state machine status
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*/
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#define HOTT_START_BYTE 0xa8
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#define HOTT_STATUS_UNINIT 0
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#define HOTT_STATUS_GOT_START 1
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#define HOTT_STATUS_GOT_HEADER1 2
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#define HOTT_STATUS_DATA 3
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void hott_common_init(struct SHott *hott_p, struct uart_periph *dev)
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{
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hott_p->frame_available = false;
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hott_p->status = HOTT_STATUS_UNINIT;
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// Set UART parameters (115200, 8 bits, 1 stops, UPARITY_NO)
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uart_periph_set_baudrate(dev, B115200);
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uart_periph_set_bits_stop_parity(dev, UBITS_8, USTOP_1, UPARITY_NO);
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}
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#define HOTT_CRC_POLYNOME 0x1021
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/******************************************
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*************************************
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* Function Name : CRC16
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* Description : crc calculation, adds a 8 bit unsigned to 16 bit crc
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*******************************************************************************/
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static uint16_t hott_CRC16(uint16_t crc, uint8_t value)
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{
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uint8_t i;
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crc = crc ^ (int16_t)value<<8;
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for(i=0; i<8; i++) {
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if (crc & 0x8000)
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crc = (crc << 1) ^ HOTT_CRC_POLYNOME;
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else
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crc = (crc << 1);
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}
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return crc;
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}
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/** Decode the raw buffer */
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static void decode_hott_buffer(const uint8_t *src, uint16_t *dst, uint8_t channels, bool *available, uint16_t *dstppm __attribute__((unused)))
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{
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// decode hott data
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uint8_t i;
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uint16_t sumd_crc_rx, sumd_crc=0;
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sumd_crc = hott_CRC16(sumd_crc, src[0]);
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sumd_crc = hott_CRC16(sumd_crc, src[1]);
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sumd_crc = hott_CRC16(sumd_crc, src[2]);
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for(i=0;i<channels;i++) {
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sumd_crc = hott_CRC16(sumd_crc, src[i*2+3]);
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sumd_crc = hott_CRC16(sumd_crc, src[i*2+4]);
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dst[i] = (uint16_t)src[i*2 + 3]<<8 | (uint16_t)src[i*2+4];
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}
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sumd_crc_rx = (uint16_t)src[channels*2 +3]<<8 | (uint16_t)src[channels*2+4];
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// convert hott to ppm
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#if PERIODIC_TELEMETRY
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for (int channel = 0; channel < HOTT_NB_CHANNEL; channel++) {
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dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
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}
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#endif
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// test crc
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*available = (sumd_crc == sumd_crc_rx);
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}
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// Decoding event function
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// Reading from UART
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void hott_common_decode_event(struct SHott *hott_p, struct uart_periph *dev)
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{
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uint8_t rbyte;
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if (uart_char_available(dev)) {
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do {
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rbyte = uart_getch(dev);
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switch (hott_p->status) {
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case HOTT_STATUS_UNINIT:
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// Wait for the start byte
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hott_p->idx = 0;
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if (rbyte == HOTT_START_BYTE) {
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hott_p->status++;
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hott_p->expected_channels = 0;
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hott_p->buffer[hott_p->idx] = rbyte; // store header for crc
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hott_p->idx++;
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}
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break;
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case HOTT_STATUS_GOT_START:
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if (rbyte ==0x01 || rbyte ==0x81) { // hott status
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/*
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* SUMD_Header Byte 1 Status
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* 0x01: valid and live SUMD data frame
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* 0x81: valid SUMD data frame with transmitter in fail safe condition.
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* Note:
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* The SUMD_Data section contains
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* valid channel data. The channel data are
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* set by transmitter fail safe values. A FBL
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* system may replace the transmitter fail safe
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* data by FBL stored values
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*
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* other values: Values different to 0x01 or 0x81 indicate an invalid SUMD data frame and
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* should not be processed by SUMD algorithms
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* */
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hott_p->buffer[hott_p->idx] = rbyte; // store byte for CRC
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hott_p->idx++;
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hott_p->status++;
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} else
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{
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hott_p->status=0; // reset
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}
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break;
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case HOTT_STATUS_GOT_HEADER1:
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/*Indicates the number of channels transmitted in the SUMD_Data section
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*/
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if (rbyte >=2 && rbyte <= HOTT_NB_CHANNEL) {
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hott_p->buffer[hott_p->idx] = rbyte; // stored for crc calculation
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hott_p->idx++;
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hott_p->expected_channels = rbyte;
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hott_p->status++;
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}else {
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hott_p->status=0; // reset
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}
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break;
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case HOTT_STATUS_DATA:
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// Store buffer
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hott_p->buffer[hott_p->idx] = rbyte;
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hott_p->idx++;
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// Decode if last byte is (one of) the correct end byte
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if(hott_p->idx >= (hott_p->expected_channels*2 +2+3)){ // 3 bytes header, 2 bytes crc
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decode_hott_buffer(hott_p->buffer, hott_p->pulses , hott_p->expected_channels, &hott_p->frame_available, hott_p->ppm);
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hott_p->status = HOTT_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 (uart_char_available(dev));
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}
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}
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@@ -0,0 +1,109 @@
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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, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file subsystems/radio_control/hott_common.h
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*
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* Common hott structs and defines.
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*/
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#ifndef RC_HOTT_COMMON_H
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#define RC_HOTT_COMMON_H
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#include "std.h"
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#include "mcu_periph/uart.h"
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#include "mcu_periph/gpio.h"
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/* in case you want to override RADIO_CONTROL_NB_CHANNEL */
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#include "generated/airframe.h"
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/**
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* Macro to use radio.h file
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*
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* HOTT: 7040..12000..16800
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* PPM: 880..1500..2100
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*/
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#define RC_PPM_TICKS_OF_USEC(_v) ((_v) * 8 ) // USEC IN HOTT OUT
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) ((_v) * 8 ) // usec -1000 + 1000 in, HOTT out
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#define USEC_OF_RC_PPM_TICKS(_v) ((_v) / 8) // HOTT IN USEC OUT
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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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* HOTT SUMD frame has between 2 and 32 channels
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* The radio XML file is used to assign the
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* input values to RC channels.
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*/
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#define HOTT_NB_CHANNEL 32
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#define HOTT_BUF_LENGTH (HOTT_NB_CHANNEL*2+3+2) // 2 bytes per chennel 3 bytes header, 2 bytes CRC
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/**
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* Default number of channels to actually use.
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*/
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#ifndef RADIO_CONTROL_NB_CHANNEL
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#define RADIO_CONTROL_NB_CHANNEL HOTT_NB_CHANNEL
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > HOTT_NB_CHANNEL
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 32."
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#endif
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/**
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* HOTT structure
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*/
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struct SHott {
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uint16_t pulses[HOTT_NB_CHANNEL]; ///< decoded values
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uint16_t ppm[HOTT_NB_CHANNEL]; ///< decoded and converted values
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bool frame_available; ///< new frame available
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uint8_t buffer[HOTT_BUF_LENGTH]; ///< input buffer
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uint8_t expected_channels; ///< expected number of channels send in header
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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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/**
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* Init function
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*/
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void hott_common_init(struct SHott *hott, struct uart_periph *dev);
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/**
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* Decoding event function
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*/
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void hott_common_decode_event(struct SHott *hott, struct uart_periph *dev);
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/**
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* RC event function with handler callback.
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*/
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extern void radio_control_impl_event(void (* _received_frame_handler)(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) radio_control_impl_event(_received_frame_handler)
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#endif /* RC_HOTT_H */
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