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deleted booz ppm radio control

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This commit is contained in:
Felix Ruess
2010-10-25 21:57:47 +00:00
parent 3a823d691c
commit cada9a9b44
10 changed files with 0 additions and 609 deletions
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sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#include <subsystems/radio_control.h>
uint8_t booz_radio_control_ppm_cur_pulse;
uint32_t booz_radio_control_ppm_last_pulse_time;
void booz_radio_control_ppm_arch_init ( void ) {
/* select pin for capture */
PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
/* enable capture 0.2 on falling or rising edge + trigger interrupt */
#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
#else
#error "ppm_hw.h: Unknown PM_PULSE_TYPE"
#endif
booz_radio_control_ppm_last_pulse_time = 0;
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
booz_radio_control_ppm_frame_available = FALSE;
}
sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
#define BOOZ_RADIO_CONTROL_PPM_ARCH_H
#include "LPC21xx.h"
#include BOARD_CONFIG
/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
*
*/
#define RC_PPM_TICS_OF_USEC SYS_TICS_OF_USEC
#define RC_PPM_SIGNED_TICS_OF_USEC SIGNED_SYS_TICS_OF_USEC
extern uint8_t booz_radio_control_ppm_cur_pulse;
extern uint32_t booz_radio_control_ppm_last_pulse_time;
#define RADIO_CONTROL_PPM_IT PPM_CRI
#define RADIO_CONTROL_PPM_ISR() { \
\
uint32_t now = PPM_CR; \
uint32_t length = now - booz_radio_control_ppm_last_pulse_time; \
booz_radio_control_ppm_last_pulse_time = now; \
\
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) { \
if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) && \
length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) { \
booz_radio_control_ppm_cur_pulse = 0; \
} \
} \
else { \
if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) && \
length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) { \
booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length; \
booz_radio_control_ppm_cur_pulse++; \
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) { \
booz_radio_control_ppm_frame_available = TRUE; \
} \
} \
else \
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL; \
} \
}
#endif /* BOOZ_RADIO_CONTROL_PPM_ARCH_H */
sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.c
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#include <subsystems/radio_control.h>
#include "nps_radio_control.h"
void booz_radio_control_ppm_arch_init ( void ) {
}
#define PPM_OF_NPS(_nps, _neutral, _min, _max) \
((_nps) >= 0 ? (_neutral) + (_nps) * ((_max)-(_neutral)) : (_neutral) + (_nps) * ((_neutral)- (_min)))
void booz_radio_control_feed(void) {
booz_radio_control_ppm_pulses[RADIO_CONTROL_ROLL] = PPM_OF_NPS(nps_radio_control.roll, \
RADIO_CONTROL_ROLL_NEUTRAL, \
RADIO_CONTROL_ROLL_MIN, \
RADIO_CONTROL_ROLL_MAX);
booz_radio_control_ppm_pulses[RADIO_CONTROL_PITCH] = PPM_OF_NPS(nps_radio_control.pitch, \
RADIO_CONTROL_PITCH_NEUTRAL, \
RADIO_CONTROL_PITCH_MIN, \
RADIO_CONTROL_PITCH_MAX);
booz_radio_control_ppm_pulses[RADIO_CONTROL_YAW] = PPM_OF_NPS(nps_radio_control.yaw, \
RADIO_CONTROL_YAW_NEUTRAL, \
RADIO_CONTROL_YAW_MIN, \
RADIO_CONTROL_YAW_MAX);
booz_radio_control_ppm_pulses[RADIO_CONTROL_THROTTLE] = PPM_OF_NPS(nps_radio_control.throttle, \
RADIO_CONTROL_THROTTLE_NEUTRAL, \
RADIO_CONTROL_THROTTLE_MIN, \
RADIO_CONTROL_THROTTLE_MAX);
booz_radio_control_ppm_pulses[RADIO_CONTROL_MODE] = PPM_OF_NPS(nps_radio_control.mode, \
RADIO_CONTROL_MODE_NEUTRAL, \
RADIO_CONTROL_MODE_MIN, \
RADIO_CONTROL_MODE_MAX);
booz_radio_control_ppm_frame_available = TRUE;
}
sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
#define BOOZ_RADIO_CONTROL_PPM_ARCH_H
#define RC_PPM_TICS_OF_USEC(_v) (_v)
#define RC_PPM_SIGNED_TICS_OF_USEC(_v) (_v)
extern void booz_radio_control_feed(void);
#endif /* BOOZ_RADIO_CONTROL_PPM_ARCH_H */
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
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/*
* $Id$
*
* Copyright (C) 2010 The Paparazzi Team
*
* 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 <subsystems/radio_control.h>
#include <stm32/rcc.h>
#include <stm32/gpio.h>
#include <stm32/tim.h>
#include <stm32/misc.h>
#include "sys_time.h"
/*
*
* This a radio control ppm driver for stm32
* signal on PA1 TIM2/CH2 (uart1 trig on lisa/L)
*
*/
uint8_t booz_radio_control_ppm_cur_pulse;
uint32_t booz_radio_control_ppm_last_pulse_time;
static uint32_t timer_rollover_cnt;
void tim2_irq_handler(void);
void booz_radio_control_ppm_arch_init ( void ) {
/* TIM2 channel 2 pin (PA.01) configuration */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2 configuration: Input Capture mode ---------------------
The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
------------------------------------------------------------ */
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2|TIM_IT_Update, ENABLE);
booz_radio_control_ppm_last_pulse_time = 0;
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
timer_rollover_cnt = 0;
}
void tim2_irq_handler(void) {
if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
uint32_t now = TIM_GetCapture2(TIM2) + timer_rollover_cnt;
uint32_t length = now - booz_radio_control_ppm_last_pulse_time;
booz_radio_control_ppm_last_pulse_time = now;
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
if (length > RC_PPM_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
length < RC_PPM_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
booz_radio_control_ppm_cur_pulse = 0;
}
}
else {
if (length > RC_PPM_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
length < RC_PPM_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length;
booz_radio_control_ppm_cur_pulse++;
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
booz_radio_control_ppm_frame_available = TRUE;
}
}
else {
booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
}
}
}
else if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET) {
timer_rollover_cnt+=(1<<16);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
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/*
* $Id$
*
* Copyright (C) 2010 The Paparazzi Team
*
* 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 booz_radio_control_ppm_hw.h
* \brief STM32 ppm decoder
*
*/
/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
*
*/
#define RC_PPM_TICS_OF_USEC(_v) SYS_TICS_OF_USEC((_v)/9)
#define RC_PPM_SIGNED_TICS_OF_USEC(_v) SIGNED_SYS_TICS_OF_USEC((_v)/9)
sw/airborne/booz/booz_radio_control.c
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#include <subsystems/radio_control.h>
#include "led.h"
struct RadioControl radio_control;
void radio_control_init(void) {
uint8_t i;
for (i=0; i<RADIO_CONTROL_NB_CHANNEL; i++)
radio_control.values[i] = 0;
radio_control.status = RADIO_CONTROL_REALLY_LOST;
radio_control.time_since_last_frame = RADIO_CONTROL_REALLY_LOST_TIME;
radio_control.radio_ok_cpt = 0;
radio_control.frame_rate = 0;
radio_control.frame_cpt = 0;
radio_control_impl_init();
}
void radio_control_periodic(void) {
/* compute frame rate */
RunOnceEvery(60, {
radio_control.frame_rate = radio_control.frame_cpt;
radio_control.frame_cpt = 0;
});
/* check for timeouts */
if (radio_control.time_since_last_frame >= RADIO_CONTROL_REALLY_LOST_TIME) {
radio_control.status = RADIO_CONTROL_REALLY_LOST;
}
else {
if (radio_control.time_since_last_frame >= RADIO_CONTROL_LOST_TIME) {
radio_control.status = RADIO_CONTROL_LOST;
radio_control.radio_ok_cpt = RADIO_CONTROL_OK_CPT;
}
radio_control.time_since_last_frame++;
}
/* sigal status with LEDs */
#if defined RADIO_CONTROL_LED
if (radio_control.status == RADIO_CONTROL_OK) {
LED_ON(RADIO_CONTROL_LED);
}
else {
LED_OFF(RADIO_CONTROL_LED);
}
#endif
}
sw/airborne/booz/booz_radio_control.h
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#ifndef BOOZ_RADIO_CONTROL_H
#define BOOZ_RADIO_CONTROL_H
#include "std.h"
#include "paparazzi.h"
/* underlying hardware */
#include RADIO_CONTROL_TYPE_H
/* must be defined by underlying hardware */
extern void radio_control_impl_init(void);
/* status */
#define RADIO_CONTROL_OK 0
#define RADIO_CONTROL_LOST 1
#define RADIO_CONTROL_REALLY_LOST 2
/* timeouts - for now assumes 60Hz periodic */
#define RADIO_CONTROL_LOST_TIME 30
#define RADIO_CONTROL_REALLY_LOST_TIME 60
/* number of valid frames before going back to OK */
#define RADIO_CONTROL_OK_CPT 15
struct RadioControl {
uint8_t status;
uint8_t time_since_last_frame;
uint8_t radio_ok_cpt;
uint8_t frame_rate;
uint8_t frame_cpt;
pprz_t values[RADIO_CONTROL_NB_CHANNEL];
};
extern struct RadioControl radio_control;
extern void radio_control_init(void);
extern void radio_control_periodic(void);
#endif /* BOOZ_RADIO_CONTROL_H */
sw/airborne/booz/radio_control/booz_radio_control_ppm.c
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#include <subsystems/radio_control.h>
uint16_t booz_radio_control_ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
volatile bool_t booz_radio_control_ppm_frame_available;
void radio_control_impl_init(void) {
booz_radio_control_ppm_frame_available = FALSE;
booz_radio_control_ppm_arch_init();
}
sw/airborne/booz/radio_control/booz_radio_control_ppm.h
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/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@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.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_H
#define BOOZ_RADIO_CONTROL_PPM_H
/**
* Architecture dependant code
*/
#include "subsystems/radio_control/ppm_arch.h"
/* must be implemented by arch dependant code */
extern void booz_radio_control_ppm_arch_init ( void );
/**
* Generated code holding the description of a given
* transmitter
*/
#include "conf_radio_control_ppm.h"
/**
* ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
*/
#define PPM_PULSE_TYPE_POSITIVE 0
#define PPM_PULSE_TYPE_NEGATIVE 1
extern uint16_t booz_radio_control_ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
extern volatile bool_t booz_radio_control_ppm_frame_available;
#define RadioControlEvent(_received_frame_handler) { \
if (booz_radio_control_ppm_frame_available) { \
radio_control.frame_cpt++; \
radio_control.time_since_last_frame = 0; \
if (radio_control.radio_ok_cpt > 0) radio_control.radio_ok_cpt--; \
else { \
radio_control.status = RADIO_CONTROL_OK; \
NormalizePpm(); \
_received_frame_handler(); \
} \
booz_radio_control_ppm_frame_available = FALSE; \
} \
}
#endif /* BOOZ_RADIO_CONTROL_PPM_H */