Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-02 13:27:32 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

add a generic trigger on external event

Browse Source
This commit is contained in:
Gautier Hattenberger
2010-10-25 15:01:42 +00:00
parent 98556cb27e
commit c8ba8dc033
5 changed files with 233 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/trig_test.xml
+15
View File
@@ -0,0 +1,15 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="trigger_ext" dir="core">
<header>
<file name="trigger_ext.h"/>
</header>
<init fun="trigger_ext_init()"/>
<makefile target="ap">
<file_hw name="trigger_ext_hw.c"/>
<file name="trigger_ext.c"/>
<flag name="TRIGGER_EXT"/>
<flag name="TRIG_EXT_PULSE_TYPE" value="TRIG_EXT_EDGE_FALLING"/>
</makefile>
</module>
sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c
+57
View File
@@ -0,0 +1,57 @@
/*
* $Id$
*
* Copyright (C) 2010 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/trigger_ext_hw.h"
#include "std.h"
#include "sys_time_hw.h"
#include "LPC21xx.h"
#include BOARD_CONFIG
void TRIG_ISR() {
static uint32_t last;
uint32_t delta_t0_temp;
trigger_t0 = TRIGGER_CR;
delta_t0_temp = trigger_t0 - last;
if (MSEC_OF_SYS_TICS(delta_t0_temp) > 10) {
delta_t0 = delta_t0_temp;
last = trigger_t0;
trig_ext_valid = TRUE;
}
}
void trigger_ext_init ( void ) {
/* select pin for capture */
TRIG_EXT_PINSEL |= TRIG_EXT_PINSEL_VAL << TRIG_EXT_PINSEL_BIT;
/* enable capture 0.2 on falling or rising edge + trigger interrupt */
#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_RISING
T0CCR = TRIGGER_CRR | TRIGGER_CRI;
#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_FALLING
T0CCR = TRIGGER_CRF | TRIGGER_CRI;
#else
#error "trig_ext_hw.h: Unknown PULSE_TYPE"
#endif
trig_ext_valid = FALSE;
}
sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.h
+74
View File
@@ -0,0 +1,74 @@
/*
* $Id$
*
* Copyright (C) 2010 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 TRIGGER_EXT_HW_H
#define TRIGGER_EXT_HW_H
#include "core/trigger_ext.h"
// Default trigger Pin is PPM pin (Tiny2/Twog)
// To use a custom trigger, you must set the flag USE_CUSTOM_TRIGGER
// and define:
// - PINSEL
// - PINSEL_VAL
// - PINSEL_BIT
// - input capture CHANNEL
#ifndef USE_CUSTOM_TRIGGER
#define TRIG_EXT_PINSEL PPM_PINSEL
#define TRIG_EXT_PINSEL_VAL PPM_PINSEL_VAL
#define TRIG_EXT_PINSEL_BIT PPM_PINSEL_BIT
#define TRIG_EXT_CHANNEL 2
#endif
#define __SelectCapReg(_c) T0CR ## _c
#define _SelectCapReg(_c) __SelectCapReg(_c)
#define SelectCapReg(_c) _SelectCapReg(_c)
#define __SetIntFlag(_c) TIR_CR ## _c ## I
#define _SetIntFlag(_c) __SetIntFlag(_c)
#define SetIntFlag(_c) _SetIntFlag(_c)
#define __EnableRise(_c) TCCR_CR ## _c ## _R
#define _EnableRise(_c) __EnableRise(_c)
#define EnableRise(_c) _EnableRise(_c)
#define __EnableFall(_c) TCCR_CR ## _c ## _F
#define _EnableFall(_c) __EnableFall(_c)
#define EnableFall(_c) _EnableFall(_c)
#define __EnableInt(_c) TCCR_CR ## _c ## _I
#define _EnableInt(_c) __EnableInt(_c)
#define EnableInt(_c) _EnableInt(_c)
#define TRIGGER_CR SelectCapReg(TRIG_EXT_CHANNEL)
#define TRIGGER_IT SetIntFlag(TRIG_EXT_CHANNEL)
#define TRIGGER_CRR EnableRise(TRIG_EXT_CHANNEL)
#define TRIGGER_CRF EnableFall(TRIG_EXT_CHANNEL)
#define TRIGGER_CRI EnableInt(TRIG_EXT_CHANNEL)
/* Interrupt function called by sys_time_hw.c */
void TRIG_ISR(void);
#endif /* TRIGGER_EXT_HW_H */
sw/airborne/modules/core/trigger_ext.c
+37
View File
@@ -0,0 +1,37 @@
/*
* $Id$
*
* Copyright (C) 2010 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 trigger_ext.c
* \brief Measure external trigger pulse at PPM input (default)
*
* This measures a trigger pulse length
*/
#include "core/trigger_ext.h"
uint32_t trigger_t0;
uint32_t delta_t0;
volatile bool_t trig_ext_valid;
sw/airborne/modules/core/trigger_ext.h
+50
View File
@@ -0,0 +1,50 @@
/*
* $Id$
*
* Copyright (C) 2010 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 trigger_ext.h
* \brief Measure external trigger pulse at PPM input (default)
*
* This measures a trigger pulse length
*/
#ifndef TRIGGER_EXT_H
#define TRIGGER_EXT_H
#include "std.h"
/**
* falling/rising edge
*/
#define TRIG_EXT_EDGE_RISING 1
#define TRIG_EXT_EDGE_FALLING 0
extern uint32_t trigger_t0;
extern uint32_t delta_t0;
extern volatile bool_t trig_ext_valid;
void trigger_ext_init ( void );
#endif