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Implement CPPM reception. Keep it as an option for now.

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Recalibrate the radio, as the timings have changed.
And, it seems a couple of channels are now swapped with the new radio. Or
rather, unswapped. So fix the channel map to match.
This commit is contained in:
Gavan Fantom
2013-04-07 01:39:36 +00:00
parent 2fa58944fa
commit b9c08d88b1
4 changed files with 52 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
Makefile
View File

@@ -8,6 +8,7 @@ CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c
CSRCS+=thrust.c CSRCS+=thrust.c
#PROJOPTS=-DUSE_UART -DSEND_DCM -DSTICK_DEBUG_CALIBRATE #PROJOPTS=-DUSE_UART -DSEND_DCM -DSTICK_DEBUG_CALIBRATE
PROJOPTS=-DTIMER_CPPM
COPTIM?=-O1 COPTIM?=-O1
CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS) CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS)

34
stick.c
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@@ -19,30 +19,30 @@
#define TWO_PI 6.28318531f #define TWO_PI 6.28318531f
#define PI 3.14159265f #define PI 3.14159265f
#define MIN_X 14700 #define MIN_X 8720
#define MAX_X 29700 #define MAX_X 23800
#define CENTRE_X 22200 #define CENTRE_X 16260
#define MIN_Y 14700 #define MIN_Y 8720
#define MAX_Y 29700 #define MAX_Y 23800
#define CENTRE_Y 22200 #define CENTRE_Y 16260
#define MIN_Z 14700 #define MIN_Z 8720
#define MAX_Z 29700 #define MAX_Z 23800
#define CENTRE_Z 22200 #define CENTRE_Z 16300
#define MIN_THR 15700 #define MIN_THR 9720
#define MAX_THR 29700 #define MAX_THR 23750
#define MIN_REAL_THR 14700 #define MIN_REAL_THR 8720
#define CENTRE_ZONE 100 #define CENTRE_ZONE 100
/* With new TX firmware: /* With new TX firmware, CPPM:
* x y thr z * x y thr z
* centre: 22192, 22222, 14687, 22196 * centre: 16260, 16258, 16000, 16300
* min: 14686, 14701, 14686, 14687 * min: 8720, 8718, 8720, 8722
* max: 29740, 29740, 29725, 29725 * max: 23790, 23817, 23750, 23803
*/ */
/* Full scale is a roll/pitch angle of 30 degrees from the vertical */ /* Full scale is a roll/pitch angle of 30 degrees from the vertical */
@@ -112,7 +112,7 @@ void stick_input(void) {
z = timer_input(3); z = timer_input(3);
#ifdef STICK_DEBUG_CALIBRATE #ifdef STICK_DEBUG_CALIBRATE
if ((stick_counter % 20) == 0) if ((stick_counter % 100) == 0)
stick_debug_calibrate(); stick_debug_calibrate();
#endif #endif

29
timer.c
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@@ -61,7 +61,13 @@
volatile unsigned int timer1_rising[4]; volatile unsigned int timer1_rising[4];
volatile unsigned int timer1_width[4]; volatile unsigned int timer1_width[4];
unsigned int timer_map[] = {0, 3, 2, 1}; #ifdef TIMER_CPPM
volatile unsigned int timer1_cppm[8];
volatile unsigned int timer1_cppm_chan = 0;
volatile unsigned int timer1_sync_timestamp;
#endif
unsigned int timer_map[] = {0, 1, 2, 3, 4, 5, 6, 7};
void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void); void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void);
void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void); void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void);
@@ -174,6 +180,18 @@ void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void)
timer1_rising[0] = T1WREG(CR0); timer1_rising[0] = T1WREG(CR0);
} else { } else {
timer1_width[0] = T1WREG(CR0) - timer1_rising[0]; timer1_width[0] = T1WREG(CR0) - timer1_rising[0];
#ifdef TIMER_CPPM
if (timer1_width[0] > TIMER_CPPM_SYNC) {
timer1_cppm_chan = 0;
timer1_sync_timestamp = timer1_rising[0];
} else {
if (timer1_cppm_chan < 8) {
timer1_cppm[timer1_cppm_chan] =
timer1_width[0];
timer1_cppm_chan++;
}
}
#endif
} }
} }
if (ir & (1<<5)) { if (ir & (1<<5)) {
@@ -212,6 +230,14 @@ bool timer_valid(int channel) {
return (time - chtime) < TIMER_INPUT_TIMEOUT; return (time - chtime) < TIMER_INPUT_TIMEOUT;
} }
#ifdef TIMER_CPPM
bool timer_allvalid(void) {
/* Be careful here to ensure that this can't be in the past */
unsigned int chtime = timer1_sync_timestamp; /* Atomic */
unsigned int time = T1WREG(TC); /* Atomic */
return (time - chtime) < TIMER_INPUT_TIMEOUT;
}
#else
bool timer_allvalid(void) { bool timer_allvalid(void) {
unsigned int time; unsigned int time;
unsigned int chtime[4]; unsigned int chtime[4];
@@ -225,6 +251,7 @@ bool timer_allvalid(void) {
return FALSE; return FALSE;
return TRUE; return TRUE;
} }
#endif
void timer_set_pwm_value(int channel, int value) void timer_set_pwm_value(int channel, int value)
{ {

6
timer.h
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@@ -17,10 +17,12 @@
#define PWM_PERIOD ((4*PWM_MAX)+1) #define PWM_PERIOD ((4*PWM_MAX)+1)
#define TIMER_INPUT_TIMEOUT (TIMER_PCLK/10) #define TIMER_INPUT_TIMEOUT (TIMER_PCLK/10)
#define TIMER_CPPM_SYNC 40000
#define TIMER_CH(x) (timer_map[x]) #define TIMER_CH(x) (timer_map[x])
extern volatile unsigned int timer1_width[]; extern volatile unsigned int timer1_width[];
extern volatile unsigned int timer1_cppm[];
extern unsigned int timer_map[]; extern unsigned int timer_map[];
void init_timer(void); void init_timer(void);
@@ -35,5 +37,9 @@ bool timer_allvalid(void);
#define timer_delay_us(x) timer_delay_clocks((x)*TIMER_US) #define timer_delay_us(x) timer_delay_clocks((x)*TIMER_US)
#define timer_delay_ms(x) timer_delay_clocks((x)*TIMER_MS) #define timer_delay_ms(x) timer_delay_clocks((x)*TIMER_MS)
#ifdef TIMER_CPPM
#define timer_input(ch) (timer1_cppm[TIMER_CH(ch)])
#else
#define timer_input(ch) (timer1_width[TIMER_CH(ch)]) #define timer_input(ch) (timer1_width[TIMER_CH(ch)])
#endif
#endif /* __TIMER_H */ #endif /* __TIMER_H */