[paparazzi-commits] [5060] Add PPM Bridge

[Allen Ibara]

Revision: 5060
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5060
Author:   aibara
Date:     2010-07-16 02:28:50 +0000 (Fri, 16 Jul 2010)
Log Message:
-----------
Add PPM Bridge 

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c

Added: paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c                          
(rev 0)
+++ paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c  2010-07-16 02:28:50 UTC 
(rev 5060)
@@ -0,0 +1,131 @@
+/*
+ * $Id: booz2_main.c 3049 2009-02-24 16:51:25Z poine $
+ *  
+ * Copyright (C) 2008  Antoine Drouin
+ *
+ * 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 <inttypes.h>
+
+#include "csc_main.h"
+
+#include "std.h"
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+#include "uart.h"
+#include "downlink.h"
+#include "periodic.h"
+#include "airframe.h"
+#include "commands.h"
+#include "radio_control.h"
+
+#include "csc_telemetry.h"
+#include "led.h"
+
+#include "pprz_transport.h"
+
+#define RC_PROTOCOL_SYNC 13999
+
+extern uint8_t vsupply;
+
+static uint16_t cpu_time = 0;
+
+static void csc_main_init( void ) {
+
+  hw_init();
+  sys_time_init();
+  led_init();
+
+  Uart0Init();
+  Uart1Init();
+
+  ppm_init();
+
+  // Configure P0.21 as GPIO, output and then pull high as we use it to drive 
ppm input transistor
+  PINSEL1 = PINSEL1 & ~(0x3 << 10);
+  IO0DIR = IO0DIR | (0x1 << 21);
+  IO0PIN = IO0DIR | (0x1 << 21);
+
+  int_enable();
+
+}
+
+
+static void csc_main_periodic( void )
+{
+  PeriodicSendAp_DefaultChannel();
+  radio_control_periodic_task();
+
+  cpu_time++;
+}
+
+static void send_short( int16_t s )
+{
+  uart1_transmit(s >> 8);
+  uart1_transmit(s & 0xFF);
+}
+
+static void send_channel ( int16_t c )
+{
+  send_short(c);
+  send_short(~c);
+}
+
+static void on_rc_event( void )
+{
+
+#ifdef SWAP_STICKS
+  int temp;
+  temp = rc_values[RADIO_YAW];
+  rc_values[RADIO_YAW] = rc_values[RADIO_ROLL];
+  rc_values[RADIO_ROLL] = temp;
+#endif
+
+  // 7 channels
+  // integers -9600 to +9600
+
+  // sync bytes
+  send_channel(RC_PROTOCOL_SYNC);
+
+  for (int i = 0; i < RADIO_CTL_NB; i++) {
+    send_channel(rc_values[i]);
+  }
+
+  LED_TOGGLE(3);
+}
+
+static void csc_main_event( void )
+{
+  RadioControlEventCheckAndHandle(on_rc_event);
+  DatalinkEvent();
+}
+
+int main( void ) {
+  csc_main_init();
+  while(1) {
+    if (sys_time_periodic())
+      csc_main_periodic();
+    csc_main_event();
+  }
+  return 0;
+}