[paparazzi-commits] [5389] spektrum satellite binding

[Eric]

Revision: 5389
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5389
Author:   lamestllama
Date:     2010-08-15 20:25:27 +0000 (Sun, 15 Aug 2010)
Log Message:
-----------
spektrum satellite binding

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/stm32/bind_hw.c

Added: paparazzi3/trunk/sw/airborne/stm32/bind_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/bind_hw.c                                
(rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/bind_hw.c        2010-08-15 20:25:27 UTC 
(rev 5389)
@@ -0,0 +1,180 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2010 Eric Parsonage <address@hidden>
+ *
+ * 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 <stdint.h>
+#include <stm32/gpio.h>
+#include <stm32/rcc.h>
+#include <stm32/tim.h>
+
+#include BOARD_CONFIG
+
+#include "uart.h"
+#include "bind_hw.h"
+
+/* set TIM1 to run at DELAY_TIM_FREQUENCY */ 
+void delay_init( void );
+/* wait busy loop, microseconds */
+void delay_us( uint16_t uSecs );
+/* wait busy loop, milliseconds */
+void delay_ms( uint16_t mSecs ); 
+ 
+/* The longest delay with micro second granularity */
+#define MAX_DELAY   INT16_MAX
+/* the frequency of the delay timer */
+#define DELAY_TIM_FREQUENCY 1000000
+/* Number of low pulses sent to satellite receivers */ 
+#define MASTER_RECEIVER_PULSES 3 
+#define SLAVE_RECEIVER_PULSES 4 
+
+/* The line that is pulled low at power up to initiate the bind process */  
+#define BIND_PIN GPIO_Pin_3
+#define BIND_PIN_PORT GPIOC
+#define BIND_PIN_PERIPH RCC_APB2Periph_GPIOC 
+
+
+/*
+ * in the makefile we set RADIO_CONTROL_LINK to be Uartx
+ * but in uart_hw.c the initialisation functions are 
+ * defined as uartx these macros give us the glue 
+ * that allows static calls at compile time 
+ */
+
+#define Uart1_init uart1_init()
+#define Uart2_init uart2_init()
+#define Uart3_init uart3_init()
+#define Uart5_init uart5_init()
+
+#define __MasterRcLink(dev, _x) dev##_x
+#define _MasterRcLink(dev, _x)  __MasterRcLink(dev, _x)
+#define MasterRcLink(_x) _MasterRcLink(RADIO_CONTROL_LINK, _x)
+
+#define __SlaveRcLink(dev, _x) dev##_x
+#define _SlaveRcLink(dev, _x)  __SlaveRcLink(dev, _x)
+#define SlaveRcLink(_x) _SlaveRcLink(RADIO_CONTROL_LINK_SLAVE, _x)
+
+
+/*
+ * bind() init must called on powerup as the spektrum 
+ * satellites can only bind immediately after power up
+ * also it must be called before we call uartx_init()
+ * as we leave them with their Rx pins set as outputs
+ */    
+void bind_init( void ) {
+
+  RCC_APB2PeriphClockCmd(BIND_PIN_PERIPH , ENABLE);
+  GPIO_InitTypeDef gpio;
+  gpio.GPIO_Pin = BIND_PIN;
+  gpio.GPIO_Mode = GPIO_Mode_IPU;
+  gpio.GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_Init(BIND_PIN_PORT, &gpio);
+
+  /* exit if the BIND_PIN is high, it needs to be pulled low at startup to 
initiate bind */
+  if (GPIO_ReadInputDataBit(BIND_PIN_PORT, BIND_PIN)) 
+    return;
+
+  /* bind initiated, initialise the delay timer */
+  delay_init();
+
+  /* initialise the uarts rx pins as  GPIOS */
+  RCC_APB2PeriphClockCmd(MasterRcLink(_Periph) , ENABLE);
+  /* Master receiver Rx push-pull */
+  gpio.GPIO_Pin = MasterRcLink(_RxPin);
+  gpio.GPIO_Mode = GPIO_Mode_Out_PP;
+  gpio.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(MasterRcLink(_RxPort), &gpio);
+  /* Master receiver RX line, drive high */
+  GPIO_WriteBit(MasterRcLink(_RxPort), MasterRcLink(_RxPin) , Bit_SET );
+
+#ifdef RADIO_CONTROL_LINK_SLAVE
+   RCC_APB2PeriphClockCmd(SlaveRcLink(_Periph) , ENABLE);
+  /* Slave receiver Rx push-pull */
+  gpio.GPIO_Pin = SlaveRcLink(_RxPin);
+  gpio.GPIO_Mode = GPIO_Mode_Out_PP;
+  gpio.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(SlaveRcLink(_RxPort), &gpio);
+  /* Slave receiver RX line, drive high */
+  GPIO_WriteBit(SlaveRcLink(_RxPort), SlaveRcLink(_RxPin) , Bit_SET );
+#endif
+
+  /* We have no idea how long the window for allowing binding after  
+     power up is .This works for the moment but will need revisiting */        
+  delay_ms(73);
+
+  for (int i = 0; i < MASTER_RECEIVER_PULSES ; i++) 
+  {
+    GPIO_WriteBit(MasterRcLink(_RxPort), MasterRcLink(_RxPin), Bit_RESET );
+    delay_us(120);
+    GPIO_WriteBit(MasterRcLink(_RxPort), MasterRcLink(_RxPin), Bit_SET );
+    delay_us(120);
+  }
+  
+#ifdef RADIO_CONTROL_LINK_SLAVE
+  for (int i = 0; i < SLAVE_RECEIVER_PULSES; i++) 
+  {
+    GPIO_WriteBit(SlaveRcLink(_RxPort), SlaveRcLink(_RxPin), Bit_RESET );
+    delay_us(120);
+    GPIO_WriteBit(SlaveRcLink(_RxPort), SlaveRcLink(_RxPin), Bit_SET );
+    delay_us(120);
+  }
+#endif /* RADIO_CONTROL_LINK_SLAVE */
+}
+
+
+/*
+ *\Functions to implement busy wait loops with micro second granularity
+ *
+ */
+
+/* set TIM1 to run at DELAY_TIM_FREQUENCY */ 
+void delay_init( void ) {
+  /* Enable timer clock */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
+  /* Time base configuration */
+  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); 
+  TIM_TimeBaseStructure.TIM_Prescaler = (AHB_CLK / DELAY_TIM_FREQUENCY) - 1;
+  TIM_TimeBaseStructure.TIM_Period = UINT16_MAX; 
+  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+  TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
+  
+ /* Enable counter */
+  TIM_Cmd(TIM1, ENABLE);
+}
+
+/* wait busy loop, microseconds */
+void delay_us( uint16_t uSecs ) {
+  uint16_t start = TIM1->CNT;
+  /* use 16 bit count wrap around */
+  while((uint16_t)(TIM1->CNT - start) <= uSecs);
+}
+
+/* wait busy loop, milliseconds */
+void delay_ms( uint16_t mSecs ) {
+  for(int i = 0; i < mSecs; i++) {
+    delay_us(DELAY_TIM_FREQUENCY / 1000);
+  }
+}
+
+
+