[paparazzi-commits] [5679] new spektrum parser

[Eric]

Revision: 5679
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5679
Author:   lamestllama
Date:     2010-08-25 18:42:28 +0000 (Wed, 25 Aug 2010)
Log Message:
-----------
new spektrum parser

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h

Modified: 
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
       2010-08-25 18:41:05 UTC (rev 5678)
+++ 
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
       2010-08-25 18:42:28 UTC (rev 5679)
@@ -30,73 +30,38 @@
 
 #include RADIO_CONTROL_SPEKTRUM_MODEL_H
 
-#define RC_SPK_SYNC_1 0x03
+#define SPEKTRUM_CHANNELS_PER_FRAME 7
+#define MAX_SPEKTRUM_FRAMES 2
+#define MAX_SPEKTRUM_CHANNELS 16
 
-#define RC_SPK_STA_UNINIT     0
-#define RC_SPK_STA_GOT_SYNC_1 1
-#define RC_SPK_STA_GOT_SYNC_2 2
+extern int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
+extern int8_t SpektrumSigns[MAX_SPEKTRUM_CHANNELS];
 
-extern bool_t   rc_spk_parser_status;
-extern uint8_t  rc_spk_parser_idx;
-extern uint8_t  rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL*2];
+struct SpektrumStateStruct {
+    uint8_t ReSync;
+    uint8_t SpektrumTimer;
+    uint8_t Sync;
+    uint8_t ChannelCnt;
+    uint8_t FrameCnt;
+    uint8_t HighByte;
+    uint8_t SecondFrame;
+    uint16_t LostFrameCnt;
+    uint8_t RcAvailable;
+    int16_t values[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];     
+};
 
-#define MAX_SPK 344 
+typedef struct SpektrumStateStruct SpektrumStateType;
 
+extern SpektrumStateType PrimarySpektrumState;
+#ifdef RADIO_CONTROL_LINK_SLAVE 
+extern SpektrumStateType SecondarySpektrumState;
+#endif
 
-extern const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL];
 
-#define __RcLink(dev, _x) dev##_x
-#define _RcLink(dev, _x)  __RcLink(dev, _x)
-#define RcLink(_x) _RcLink(RADIO_CONTROL_LINK, _x)
+extern void _RadioControlEventImp(void (*_received_frame_handler)(void));
 
-#define RcLinkChAvailable() RcLink(ChAvailable())
-#define RcLinkGetCh() RcLink(Getch())
+#define RadioControlEventImp(_received_frame_handler) 
_RadioControlEventImp(_received_frame_handler);
 
-#define RadioControlEventImp(_received_frame_handler) {                 \
-    while (RcLinkChAvailable()) {                                       \
-      int8_t c = RcLinkGetCh();                                         \
-      switch (rc_spk_parser_status) {                                   \
-      case RC_SPK_STA_UNINIT:                                           \
-        if (c==RC_SPK_SYNC_1)                                           \
-          rc_spk_parser_status = RC_SPK_STA_GOT_SYNC_1;                 \
-        break;                                                          \
-      case RC_SPK_STA_GOT_SYNC_1:                                       \
-        if (c==RC_SPK_SYNC_2) {                                         \
-          rc_spk_parser_status = RC_SPK_STA_GOT_SYNC_2;                 \
-          rc_spk_parser_idx = 0;                                        \
-        }                                                               \
-        else                                                            \
-          rc_spk_parser_status = RC_SPK_STA_UNINIT;                     \
-        break;                                                          \
-      case RC_SPK_STA_GOT_SYNC_2:                                       \
-        rc_spk_parser_buf[rc_spk_parser_idx] = c;                       \
-        rc_spk_parser_idx++;                                            \
-        if (rc_spk_parser_idx >= 2*RADIO_CONTROL_NB_CHANNEL) {          \
-          rc_spk_parser_status = RC_SPK_STA_UNINIT;                     \
-          radio_control.frame_cpt++;                                   \
-          radio_control.time_since_last_frame = 0;                     \
-          radio_control.status = RADIO_CONTROL_OK;                     \
-         uint8_t i;                                                    \
-         for (i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) {                    \
-           const int16_t tmp = (rc_spk_parser_buf[2*i]<<8) +           \
-                                rc_spk_parser_buf[2*i+1];              \
-           /*const int16_t chan = (tmp&0xFC00) >> 10;*/                \
-           const int16_t val  = (tmp&0x03FF) - 512;                    \
-           radio_control.values[i] = val;                              \
-           radio_control.values[i] *= rc_spk_throw[i];                 \
-           if (i==RADIO_CONTROL_THROTTLE) {                            \
-             radio_control.values[i] += MAX_PPRZ;                      \
-             radio_control.values[i] /= 2;                             \
-           }                                                           \
-         }                                                             \
-         _received_frame_handler();                                    \
-        }                                                               \
-        break;                                                          \
-      default:                                                         \
-       rc_spk_parser_status = RC_SPK_STA_UNINIT;                       \
-      }                                                                 \
-    }                                                                   \
-  }
 
 
 #endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H */