Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-22 04:13:39 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[stm32] spektrum for F4

Browse Source 
Not tested on an actual F4 board!
Using some of the new gpio helper functions.
Also removed seemingly useless DebugInit.
This commit is contained in:
Felix Ruess
2013-06-13 16:08:55 +02:00
parent 42d11fbb32
commit e7bca1fd6e
6 changed files with 40 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/boards/apogee_0.99.makefile
+3 -1
View File
@@ -33,7 +33,7 @@ GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default MODEM and GPS configuration
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART1
@@ -42,6 +42,8 @@ MODEM_BAUD ?= B57600
GPS_PORT ?= UART4
GPS_BAUD ?= B38400
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
#
# default actuator configuration
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+25 -38
View File
@@ -29,6 +29,7 @@
#include "subsystems/radio_control.h"
#include "subsystems/radio_control/spektrum_arch.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
#include BOARD_CONFIG
@@ -79,8 +80,11 @@ struct SpektrumStateStruct {
typedef struct SpektrumStateStruct SpektrumStateType;
SpektrumStateType PrimarySpektrumState = {1,0,0,0,0,0,0,0,0,{0}};
PRINT_CONFIG_VAR(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
PRINT_CONFIG_MSG("Using secondary spektrum receiver.")
PRINT_CONFIG_VAR(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
SpektrumStateType SecondarySpektrumState = {1,0,0,0,0,0,0,0,0,{0}};
#else
PRINT_CONFIG_MSG("NOT using secondary spektrum receiver.")
@@ -114,8 +118,7 @@ static uint8_t ExpectedFrames = 0;
void SpektrumUartInit(void);
/* initialise the timer used by the parser to ensure sync */
void SpektrumTimerInit(void);
/* sets a GPIO pin as output for debugging */
void DebugInit(void);
void tim6_irq_handler(void);
/* wait busy loop, microseconds */
static void DelayUs( uint16_t uSecs );
@@ -139,7 +142,6 @@ void radio_control_impl_init(void) {
#endif
SpektrumTimerInit();
// DebugInit();
SpektrumUartInit();
}
@@ -478,8 +480,14 @@ void SpektrumTimerInit( void ) {
timer_set_prescaler(TIM6, ((AHB_CLK / TIM_FREQ_1000000) - 1));
/* Enable TIM6 interrupts */
#ifdef STM32F1
nvic_set_priority(NVIC_TIM6_IRQ, 2);
nvic_enable_irq(NVIC_TIM6_IRQ);
#elif defined STM32F4
/* the define says DAC IRQ, but it is also the global TIM6 IRQ*/
nvic_set_priority(NVIC_TIM6_DAC_IRQ, 2);
nvic_enable_irq(NVIC_TIM6_DAC_IRQ);
#endif
/* Enable TIM6 Update interrupt */
timer_enable_irq(TIM6, TIM_DIER_UIE);
@@ -494,7 +502,11 @@ void SpektrumTimerInit( void ) {
* TIM6 interrupt request handler updates times used by SpektrumParser
*
*****************************************************************************/
#ifdef STM32F1
void tim6_isr( void ) {
#elif defined STM32F4
void tim6_dac_isr( void ) {
#endif
timer_clear_flag(TIM6, TIM_SR_UIF);
@@ -513,7 +525,7 @@ void tim6_isr( void ) {
*****************************************************************************/
void SpektrumUartInit(void) {
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB2ENR, PrimaryUart(_RCC_GPIO));
gpio_enable_clock(PrimaryUart(_BANK));
rcc_peripheral_enable_clock(PrimaryUart(_RCC_REG), PrimaryUart(_RCC_DEV));
/* Enable USART interrupts */
@@ -522,10 +534,7 @@ void SpektrumUartInit(void) {
/* Init GPIOS */
/* Primary UART Rx pin as floating input */
gpio_set_mode(PrimaryUart(_BANK), GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, PrimaryUart(_PIN));
PrimaryUart(_REMAP);
gpio_setup_pin_af(PrimaryUart(_BANK), PrimaryUart(_PIN), PrimaryUart(_AF), FALSE);
/* Configure Primary UART */
usart_set_baudrate(PrimaryUart(_DEV), 115200);
@@ -543,7 +552,7 @@ void SpektrumUartInit(void) {
#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB2ENR, SecondaryUart(_RCC_GPIO));
gpio_enable_clock(SecondaryUart(_BANK));
rcc_peripheral_enable_clock(SecondaryUart(_RCC_REG), SecondaryUart(_RCC_DEV));
/* Enable USART interrupts */
@@ -552,10 +561,7 @@ void SpektrumUartInit(void) {
/* Init GPIOS */;
/* Secondary UART Rx pin as floating input */
gpio_set_mode(SecondaryUart(_BANK), GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, SecondaryUart(_PIN));
SecondaryUart(_REMAP);
gpio_setup_pin_af(SecondaryUart(_BANK), SecondaryUart(_PIN), SecondaryUart(_AF), FALSE);
/* Configure secondary UART */
usart_set_baudrate(SecondaryUart(_DEV), 115200);
@@ -618,19 +624,6 @@ void SecondaryUart(_ISR)(void) {
}
#endif
/*****************************************************************************
*
* Use pin to output debug information.
*
*****************************************************************************/
void DebugInit(void) {
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
gpio_clear(GPIOC, GPIO5);
}
/*****************************************************************************
*
@@ -649,13 +642,9 @@ void DebugInit(void) {
*****************************************************************************/
void radio_control_spektrum_try_bind(void) {
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB2ENR, SPEKTRUM_BIND_PIN_RCC_IOP);
/* Init GPIO for the bind pin */
gpio_set(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN);
gpio_set_mode(SPEKTRUM_BIND_PIN_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, SPEKTRUM_BIND_PIN);
gpio_setup_input(SPEKTRUM_BIND_PIN_PORT, GPIO_MODE_INPUT);
/* exit if the BIND_PIN is high, it needs to
be pulled low at startup to initiate bind */
if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) != 0)
@@ -665,22 +654,20 @@ void radio_control_spektrum_try_bind(void) {
SpektrumDelayInit();
/* initialise the uarts rx pins as GPIOS */
rcc_peripheral_enable_clock(&RCC_APB2ENR, PrimaryUart(_RCC_GPIO));
gpio_enable_clock(PrimaryUart(_BANK));
/* Master receiver Rx push-pull */
gpio_set_mode(PrimaryUart(_BANK), GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, PrimaryUart(_PIN));
gpio_setup_output(PrimaryUart(_BANK), PrimaryUart(_PIN));
/* Master receiver RX line, drive high */
gpio_set(PrimaryUart(_BANK), PrimaryUart(_PIN));
#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
rcc_peripheral_enable_clock(&RCC_APB2ENR, SecondaryUart(_RCC_GPIO));
gpio_enable_clock(SecondaryUart(_BANK));
/* Slave receiver Rx push-pull */
gpio_set_mode(SecondaryUart(_BANK), GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, SecondaryUart(_PIN));
gpio_setup_output(SecondaryUart(_BANK), SecondaryUart(_PIN));
/* Slave receiver RX line, drive high */
gpio_set(SecondaryUart(_BANK), SecondaryUart(_PIN));
sw/airborne/boards/apogee_0.99.h
+9 -1
View File
@@ -287,6 +287,14 @@
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO8
#define SPEKTRUM_BIND_PIN_PORT GPIOA
#define SPEKTRUM_BIND_PIN_RCC_IOP RCC_AHB1ENR_IOPAEN
#define SPEKTRUM_UART2_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART2_RCC_DEV RCC_APB1ENR_USART2EN
#define SPEKTRUM_UART2_BANK GPIOA
#define SPEKTRUM_UART2_PIN GPIO3
#define SPEKTRUM_UART2_AF GPIO_AF7
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
#define SPEKTRUM_UART2_ISR usart2_isr
#define SPEKTRUM_UART2_DEV USART2
#endif /* CONFIG_APOGEE_0_99_H */
sw/airborne/boards/krooz_sd.h
-1
View File
@@ -388,6 +388,5 @@
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO8
#define SPEKTRUM_BIND_PIN_PORT GPIOA
#define SPEKTRUM_BIND_PIN_RCC_IOP RCC_AHB1ENR_IOPAEN
#endif /* CONFIG_KROOZ_1_0_H */
sw/airborne/boards/lisa_l_1.0.h
-4
View File
@@ -75,9 +75,7 @@
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO3
#define SPEKTRUM_BIND_PIN_PORT GPIOC
#define SPEKTRUM_BIND_PIN_RCC_IOP RCC_APB2ENR_IOPCEN
#define SPEKTRUM_UART1_RCC_GPIO RCC_APB2ENR_IOPAEN
#define SPEKTRUM_UART1_RCC_REG &RCC_APB2ENR
#define SPEKTRUM_UART1_RCC_DEV RCC_APB2ENR_USART1EN
#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
@@ -87,7 +85,6 @@
#define SPEKTRUM_UART1_DEV USART1
#define SPEKTRUM_UART1_REMAP {}
#define SPEKTRUM_UART3_RCC_GPIO RCC_APB2ENR_IOPCEN
#define SPEKTRUM_UART3_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART3_RCC_DEV RCC_APB1ENR_USART3EN
#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX
@@ -97,7 +94,6 @@
#define SPEKTRUM_UART3_DEV USART3
#define SPEKTRUM_UART3_REMAP {AFIO_MAPR |= AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP;}
#define SPEKTRUM_UART5_RCC_GPIO RCC_APB2ENR_IOPDEN
#define SPEKTRUM_UART5_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART5_RCC_DEV RCC_APB1ENR_UART5EN
#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX
sw/airborne/boards/lisa_m_common.h
+3 -7
View File
@@ -58,37 +58,33 @@
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO3
#define SPEKTRUM_BIND_PIN_PORT GPIOC
#define SPEKTRUM_BIND_PIN_RCC_IOP RCC_APB2ENR_IOPCEN
#define SPEKTRUM_UART1_RCC_GPIO RCC_APB2ENR_IOPAEN
#define SPEKTRUM_UART1_RCC_REG &RCC_APB2ENR
#define SPEKTRUM_UART1_RCC_DEV RCC_APB2ENR_USART1EN
#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
#define SPEKTRUM_UART1_PIN GPIO_USART1_RX
#define SPEKTRUM_UART1_AF 0
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
#define SPEKTRUM_UART1_ISR usart1_isr
#define SPEKTRUM_UART1_DEV USART1
#define SPEKTRUM_UART1_REMAP {}
#define SPEKTRUM_UART3_RCC_GPIO RCC_APB2ENR_IOPCEN
#define SPEKTRUM_UART3_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART3_RCC_DEV RCC_APB1ENR_USART3EN
#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX
#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX
#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP
#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ
#define SPEKTRUM_UART3_ISR usart3_isr
#define SPEKTRUM_UART3_DEV USART3
#define SPEKTRUM_UART3_REMAP {AFIO_MAPR |= AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP;}
#define SPEKTRUM_UART5_RCC_GPIO RCC_APB2ENR_IOPDEN
#define SPEKTRUM_UART5_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART5_RCC_DEV RCC_APB1ENR_UART5EN
#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX
#define SPEKTRUM_UART5_PIN GPIO_UART5_RX
#define SPEKTRUM_UART5_AF 0
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
#define SPEKTRUM_UART5_ISR uart5_isr
#define SPEKTRUM_UART5_DEV UART5
#define SPEKTRUM_UART5_REMAP {}
/* PPM