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[paparazzi-commits] [6238] moving radio control to subsystems
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6238] moving radio control to subsystems |
|
Date: |
Mon, 25 Oct 2010 21:57:07 +0000 |
Revision: 6238
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6238
Author: flixr
Date: 2010-10-25 21:57:06 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
moving radio control to subsystems
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_dummy.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_rc.c
paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
paparazzi3/trunk/sw/airborne/csc/csc_autopilot.c
paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c
paparazzi3/trunk/sw/airborne/fbw_downlink.h
paparazzi3/trunk/sw/airborne/firmwares/fixedwing/autopilot.h
paparazzi3/trunk/sw/airborne/inter_mcu.h
paparazzi3/trunk/sw/airborne/main_fbw.c
paparazzi3/trunk/sw/simulator/old_booz/booz_rc_sim.h
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/rc_datalink.c
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/
paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.h
paparazzi3/trunk/sw/airborne/subsystems/radio_control.c
paparazzi3/trunk/sw/airborne/subsystems/radio_control.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/
paparazzi3/trunk/sw/airborne/arch/sim/radio_control/
paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/
paparazzi3/trunk/sw/airborne/radio_control/
paparazzi3/trunk/sw/airborne/radio_control.c
paparazzi3/trunk/sw/airborne/radio_control.h
Modified: paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile 2010-10-25
21:57:06 UTC (rev 6238)
@@ -331,8 +331,8 @@
test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"booz_radio_control_spektrum_dx7se.h\"
test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
-test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-
$(SRC_BOOZ)/booz_radio_control_spektrum.c \
+test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+
$(SRC_SUBSYSTEMS)/radio_control_spektrum.c \
$(SRC_ARCH)/uart_hw.c
#
@@ -361,7 +361,7 @@
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/$(IMPL)/booz_radio_control_ppm.c \
$(SRC_BOOZ)/$(IMPL)/$(ARCH)/booz_radio_control_ppm_arch.c \
Modified: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-25
21:57:06 UTC (rev 6238)
@@ -149,12 +149,12 @@
test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.srcs += downlink.c pprz_transport.c
-test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
-DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-test_rc_ppm.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
-
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+test_rc_ppm.srcs += subsystmes/radio_control.c \
+ subsystems/radio_control/ppm.c \
+
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-10-25
21:57:06 UTC (rev 6238)
@@ -204,7 +204,7 @@
test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_rc_spektrum.CFLAGS +=
-DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
+test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
\
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
@@ -239,11 +239,11 @@
test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-test_rc_ppm.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
-
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_SUBSYSTEMS)/radio_control/ppm.c
\
+
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
#
@@ -658,6 +658,6 @@
test_manual.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_manual.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_manual.CFLAGS +=
-DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-test_manual.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
+test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
\
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
\
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-25
21:57:06 UTC (rev 6238)
@@ -361,7 +361,7 @@
test_rc_24.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
test_rc_24.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
-test_rc_24.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+test_rc_24.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
# $(SRC_ARCH)/uart_hw.c
@@ -1106,7 +1106,7 @@
ptw.CFLAGS += -DUSE_RADIO_CONTROL
ptw.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
ptw.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
-ptw.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+ptw.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
ptw.CFLAGS += -DRADIO_CONTROL_LED=6
ptw.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
Modified: paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile 2010-10-25
21:57:06 UTC (rev 6238)
@@ -32,5 +32,5 @@
# jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
# jsbsim.srcs += $(SIMDIR)/sim_ac_booz.c
-#jsbsim.CFLAGS += -DRADIO_CONTROL
-DRADIO_CONTROL_TYPE_H=\"radio_control/ppm.h\" -DRADIO_CONTROL_TYPE_PPM
+#jsbsim.CFLAGS += -DRADIO_CONTROL
-DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-DRADIO_CONTROL_TYPE_PPM
#jsbsim.srcs += radio_control.c radio_control/ppm.c
$(SRC_ARCH)/radio_control/ppm_arch.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_dummy.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_dummy.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_dummy.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -1,3 +1,3 @@
-RDYB_SRCS += $(SRC_BOOZ)/booz_radio_control.c
$(SRC_BOOZ)/radio_control/booz_radio_control_dummy.c
+RDYB_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
$(SRC_BOOZ)/radio_control/booz_radio_control_dummy.c
RDYB_CFLAGS += -DUSE_RADIO_CONTROL
RDYB_CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_dummy.h\"
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -12,8 +12,8 @@
$(TARGET).CFLAGS += -DRADIO_CONTROL
$(TARGET).CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
- $(TARGET).srcs += $(SRC_FIXEDWING)/radio_control.c
- $(TARGET).srcs += $(SRC_FIXEDWING)/radio_control/rc_datalink.c
- # arch only with sim target for compatibility (empty functions)
+ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
+ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
+# arch only with sim target for compatibility (empty functions)
sim.srcs +=
$(SRC_ARCH)/radio_control/rc_datalink.c
endif
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -10,15 +10,12 @@
ifeq ($(ARCH),stm32)
- ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/
- ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/
-
- ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
- ap.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+ ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
- ap.srcs += $(SRC_FIXEDWING)/booz/booz_radio_control.c \
- $(SRC_FIXEDWING)/booz/radio_control/booz_radio_control_ppm.c \
-
$(SRC_FIXEDWING)/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
+ ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_SUBSYSTEMS)/radio_control/ppm.c \
+ $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ap.CFLAGS += -DUSE_TIM2_IRQ
NORADIO = True
@@ -26,11 +23,11 @@
ifeq ($(NORADIO), False)
$(TARGET).CFLAGS += -DRADIO_CONTROL
- $(TARGET).CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/ppm.h\"
- $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
- $(TARGET).srcs += $(SRC_FIXEDWING)/radio_control.c
- $(TARGET).srcs += $(SRC_FIXEDWING)/radio_control/ppm.c
+ $(TARGET).CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
+ $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
+ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
ifneq ($(ARCH),jsbsim)
- $(TARGET).srcs += $(SRC_ARCH)/radio_control/ppm_arch.c
+ $(TARGET).srcs += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
endif
endif
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -4,7 +4,7 @@
stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
stm_passthrough.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
stm_passthrough.CFLAGS +=
-DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
-stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=6
stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -13,7 +13,7 @@
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
stm_passthrough.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK)
-D$(RADIO_CONTROL_LINK)_BAUD=B115200
-stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
+stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
\
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -1,23 +1,23 @@
#
# Autopilot
#
-ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
- $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
- $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_SUBSYSTEMS)/radio_control/ppm.c \
+ $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ap.CFLAGS += -DUSE_TIM2_IRQ
#
# Simulator
#
-sim.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
-sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=1
+sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-sim.srcs += $(SRC_BOOZ)/booz_radio_control.c \
- $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
- $(SRC_BOOZ_SIM)/radio_control/booz_radio_control_ppm_arch.c
+sim.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_BOOZ)/subsystems/radio_control/ppm.c \
+ $(SRC_BOOZ_SIM)/subsystems/radio_control/ppm_arch.c
#
# test_rc_ppm
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
2010-10-25 18:50:05 UTC (rev 6237)
+++
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
2010-10-25 21:57:06 UTC (rev 6238)
@@ -16,7 +16,7 @@
ap.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
-DUSE_TIM6_IRQ
-ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.c
(from rev 6237,
paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.c
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,46 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 <subsystems/radio_control.h>
+#include <subsystems/radio_control/ppm.h>
+
+uint8_t ppm_cur_pulse;
+uint32_t ppm_last_pulse_time;
+bool_t ppm_data_valid;
+
+void ppm_arch_init ( void ) {
+ /* select pin for capture */
+ PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
+ /* enable capture 0.2 on falling or rising edge + trigger interrupt */
+#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
+ T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
+#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
+ T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
+#else
+#error "ppm_arch.h: Unknown PM_PULSE_TYPE"
+#endif
+ ppm_last_pulse_time = 0;
+ ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+ ppm_data_valid = FALSE;
+ ppm_frame_available = FALSE;
+}
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
(from rev 6237,
paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,50 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ */
+
+#ifndef PPM_ARCH_H
+#define PPM_ARCH_H
+
+
+#include "LPC21xx.h"
+#include BOARD_CONFIG
+
+/**
+ * On tiny (and booz) the ppm counter is running at the same speed as
+ * the systic counter. There is no reason for this to be true.
+ * Let's add a pair of macros to make it possible for them to be different.
+ *
+ */
+#define RC_PPM_TICS_OF_USEC SYS_TICS_OF_USEC
+#define RC_PPM_SIGNED_TICS_OF_USEC SIGNED_SYS_TICS_OF_USEC
+
+#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
+
+#define PPM_IT PPM_CRI
+
+#define PPM_ISR() { \
+ uint32_t now = PPM_CR; \
+ DecodePpmFrame(now); \
+}
+
+
+#endif /* PPM_ARCH_H */
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-25
21:57:06 UTC (rev 6238)
@@ -14,13 +14,13 @@
#endif /* ACTUATORS */
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_PPM
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#else
#define PPM_IT 0x00
#endif
#if defined USE_RADIO_CONTROL && defined RADIO_CONTROL_TYPE_PPM
-#include "radio_control/booz_radio_control_ppm.h"
+#include <subsystems/radio_control/ppm.h>
#else
#define RADIO_CONTROL_PPM_IT 0x00
#endif
Copied:
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c (from
rev 6237, paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,64 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 "sys_time.h"
+#include <subsystems/radio_control.h>
+#include <subsystems/radio_control/ppm.h>
+
+#include <inttypes.h>
+#include <caml/mlvalues.h>
+
+uint8_t ppm_cur_pulse;
+uint32_t ppm_last_pulse_time;
+bool_t ppm_data_valid;
+
+void ppm_arch_init ( void ) {
+ ppm_last_pulse_time = 0;
+ ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+ ppm_data_valid = FALSE;
+ ppm_frame_available = FALSE;
+}
+
+#ifdef RADIO_CONTROL
+
+value update_rc_channel(value c, value v) {
+ ppm_pulses[Int_val(c)] = Double_val(v);
+ return Val_unit;
+}
+
+value send_ppm(value unit) {
+ ppm_frame_available = TRUE;
+ return unit;
+}
+
+#else // RADIO_CONTROL
+
+value update_rc_channel(value c __attribute__ ((unused)), value v
__attribute__ ((unused))) {
+ return Val_unit;
+}
+
+value send_ppm(value unit) {
+ return unit;
+}
+
+#endif // RADIO_CONTROL
Copied:
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h (from
rev 6237, paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,39 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ */
+
+#ifndef PPM_ARCH_H
+#define PPM_ARCH_H
+
+
+/**
+ * On tiny (and booz) the ppm counter is running at the same speed as
+ * the systic counter. There is no reason for this to be true.
+ * Let's add a pair of macros to make it possible for them to be different.
+ *
+ */
+#define RC_PPM_TICS_OF_USEC(_x) (_x)
+#define RC_PPM_SIGNED_TICS_OF_USEC(_x) (_x)
+
+#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
+
+#endif /* PPM_ARCH_H */
Copied:
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/rc_datalink.c
(from rev 6237,
paparazzi3/trunk/sw/airborne/arch/sim/radio_control/rc_datalink.c)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/rc_datalink.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/rc_datalink.c
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 <subsystems/radio_control.h>
+
+#include <inttypes.h>
+#include <caml/mlvalues.h>
+
+value update_rc_channel(value c __attribute__ ((unused)), value v
__attribute__ ((unused))) {
+ return Val_unit;
+}
+
+value send_ppm(value unit) {
+ return unit;
+}
Copied:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
(from rev 6237,
paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,117 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 <subsystems/radio_control.h>
+#include <subsystems/radio_control/ppm.h>
+
+#include <stm32/rcc.h>
+#include <stm32/gpio.h>
+#include <stm32/tim.h>
+#include <stm32/misc.h>
+
+#include "sys_time.h"
+
+/*
+ *
+ * This a radio control ppm driver for stm32
+ * signal on PA1 TIM2/CH2 (uart1 trig on lisa/L)
+ *
+ */
+uint8_t ppm_cur_pulse;
+uint32_t ppm_last_pulse_time;
+bool_t ppm_data_valid;
+static uint32_t timer_rollover_cnt;
+
+void tim2_irq_handler(void);
+
+void ppm_arch_init ( void ) {
+
+ /* TIM2 channel 2 pin (PA.01) configuration */
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ /* TIM2 clock enable */
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+
+ /* GPIOA clock enable */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
+
+ /* Time Base configuration */
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
+ TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
+ TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
+
+ /* TIM2 configuration: Input Capture mode ---------------------
+ The external signal is connected to TIM2 CH2 pin (PA.01)
+ The Rising edge is used as active edge,
+ ------------------------------------------------------------ */
+ TIM_ICInitTypeDef TIM_ICInitStructure;
+ TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
+ TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
+ TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
+ TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
+ TIM_ICInitStructure.TIM_ICFilter = 0x00;
+ TIM_ICInit(TIM2, &TIM_ICInitStructure);
+
+ /* Enable the TIM2 global Interrupt */
+ NVIC_InitTypeDef NVIC_InitStructure;
+ NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+ /* TIM2 enable counter */
+ TIM_Cmd(TIM2, ENABLE);
+
+ /* Enable the CC2 Interrupt Request */
+ TIM_ITConfig(TIM2, TIM_IT_CC2|TIM_IT_Update, ENABLE);
+
+ ppm_last_pulse_time = 0;
+ ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+ timer_rollover_cnt = 0;
+
+}
+
+
+void tim2_irq_handler(void) {
+
+ if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
+ TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
+
+ uint32_t now = TIM_GetCapture2(TIM2) + timer_rollover_cnt;
+ DecodePpmFrame(now);
+ }
+ else if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET) {
+ timer_rollover_cnt+=(1<<16);
+ TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
+ }
+
+}
Copied:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
(from rev 6237,
paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,36 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ */
+
+/** \file booz_radio_control_ppm_hw.h
+ * \brief STM32 ppm decoder
+ *
+ */
+
+/**
+ * On tiny (and booz) the ppm counter is running at the same speed as
+ * the systic counter. There is no reason for this to be true.
+ * Let's add a pair of macros to make it possible for them to be different.
+ *
+ */
+#define RC_PPM_TICS_OF_USEC(_v) SYS_TICS_OF_USEC((_v)/9)
+#define RC_PPM_SIGNED_TICS_OF_USEC(_v) SIGNED_SYS_TICS_OF_USEC((_v)/9)
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-10-25 18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -27,7 +27,7 @@
/**
* Architecture dependant code
*/
-#include "radio_control/booz_radio_control_ppm_arch.h"
+#include "subsystems/radio_control/ppm_arch.h"
/* must be implemented by arch dependant code */
extern void booz_radio_control_ppm_arch_init ( void );
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_rc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_rc.c 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_rc.c 2010-10-25
21:57:06 UTC (rev 6238)
@@ -33,7 +33,7 @@
#include "interrupt_hw.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
static inline void main_init( void );
static inline void main_periodic_task( void );
Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c 2010-10-25 18:50:05 UTC
(rev 6237)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c 2010-10-25 21:57:06 UTC
(rev 6238)
@@ -37,7 +37,7 @@
#include "periodic.h"
#include "airframe.h"
#include "commands.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "booz/booz2_gps.h"
//#include "ap_downlink.h"
Modified: paparazzi3/trunk/sw/airborne/csc/csc_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_autopilot.c 2010-10-25 18:50:05 UTC
(rev 6237)
+++ paparazzi3/trunk/sw/airborne/csc/csc_autopilot.c 2010-10-25 21:57:06 UTC
(rev 6238)
@@ -33,7 +33,7 @@
#include "led.h"
#include <math/pprz_algebra_float.h>
#include "string.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "pwm_input.h"
#include "LPC21xx.h"
#include "print.h"
Modified: paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c 2010-10-25 18:50:05 UTC
(rev 6237)
+++ paparazzi3/trunk/sw/airborne/csc/ppm_bridge_main.c 2010-10-25 21:57:06 UTC
(rev 6238)
@@ -37,7 +37,7 @@
#include "periodic.h"
#include "airframe.h"
#include "commands.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "csc_telemetry.h"
#include "led.h"
Modified: paparazzi3/trunk/sw/airborne/fbw_downlink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fbw_downlink.h 2010-10-25 18:50:05 UTC (rev
6237)
+++ paparazzi3/trunk/sw/airborne/fbw_downlink.h 2010-10-25 21:57:06 UTC (rev
6238)
@@ -44,7 +44,7 @@
#include "uart.h"
#include "main_fbw.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "inter_mcu.h"
#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
Modified: paparazzi3/trunk/sw/airborne/firmwares/fixedwing/autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/fixedwing/autopilot.h
2010-10-25 18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/sw/airborne/firmwares/fixedwing/autopilot.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -93,7 +93,7 @@
//void telecommand_task(void);
#ifdef RADIO_CONTROL
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
static inline void autopilot_process_radio_control ( void ) {
pprz_mode = PPRZ_MODE_OF_PULSE(radio_control.values[RADIO_MODE], 0);
}
Modified: paparazzi3/trunk/sw/airborne/inter_mcu.h
===================================================================
--- paparazzi3/trunk/sw/airborne/inter_mcu.h 2010-10-25 18:50:05 UTC (rev
6237)
+++ paparazzi3/trunk/sw/airborne/inter_mcu.h 2010-10-25 21:57:06 UTC (rev
6238)
@@ -41,7 +41,7 @@
#include "paparazzi.h"
#include "airframe.h"
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "main_fbw.h"
/** Data structure shared by fbw and ap processes */
Modified: paparazzi3/trunk/sw/airborne/main_fbw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_fbw.c 2010-10-25 18:50:05 UTC (rev
6237)
+++ paparazzi3/trunk/sw/airborne/main_fbw.c 2010-10-25 21:57:06 UTC (rev
6238)
@@ -48,7 +48,7 @@
#include "sys_time.h"
#include "commands.h"
#include <firmwares/fixedwing/actuators.h>
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#include "fbw_downlink.h"
#include "autopilot.h"
#include "paparazzi.h"
Deleted: paparazzi3/trunk/sw/airborne/radio_control.c
===================================================================
--- paparazzi3/trunk/sw/airborne/radio_control.c 2010-10-25 18:50:05 UTC
(rev 6237)
+++ paparazzi3/trunk/sw/airborne/radio_control.c 2010-10-25 21:57:06 UTC
(rev 6238)
@@ -1,27 +0,0 @@
-/*
- * Paparazzi $Id$
- *
- * Copyright (C) 2006 Pascal Brisset, 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 "radio_control.h"
-
-struct RadioControl radio_control;
Deleted: paparazzi3/trunk/sw/airborne/radio_control.h
===================================================================
--- paparazzi3/trunk/sw/airborne/radio_control.h 2010-10-25 18:50:05 UTC
(rev 6237)
+++ paparazzi3/trunk/sw/airborne/radio_control.h 2010-10-25 21:57:06 UTC
(rev 6238)
@@ -1,114 +0,0 @@
-/*
- * Paparazzi $Id$
- *
- * Copyright (C) 2006 Pascal Brisset, 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.
- *
- */
-
-#ifndef RADIO_CONTROL_H
-#define RADIO_CONTROL_H
-
-#if defined RADIO_CONTROL
-
-#include "led.h"
-#include "airframe.h"
-#include "paparazzi.h"
-
-/* underlying hardware */
-#include RADIO_CONTROL_TYPE_H
-/* must be defined by underlying hardware */
-extern void radio_control_impl_init(void);
-/* RADIO_CONTROL_NB_CHANNEL has to be defined by the implementation */
-
-/* timeouts - for now assumes 60Hz periodic */
-#define RC_AVG_PERIOD 8 /* TODO remove if IIR filter is used */
-#define RC_LOST_TIME 30 /* 500ms with a 60Hz timer */
-#define RC_REALLY_LOST_TIME 60 /* ~1s */
-/* Number of valid frames before going back to RC OK */
-#define RC_OK_CPT 15
-
-#define RC_OK 0
-#define RC_LOST 1
-#define RC_REALLY_LOST 2
-
-struct RadioControl {
- uint8_t status;
- uint8_t time_since_last_frame;
- uint8_t radio_ok_cpt;
- uint8_t frame_rate;
- uint8_t frame_cpt;
- pprz_t values[RADIO_CONTROL_NB_CHANNEL];
-};
-
-extern struct RadioControl radio_control;
-
-
-/************* INIT ******************************************************/
-static inline void radio_control_init ( void ) {
- uint8_t i;
- for (i=0; i<RADIO_CONTROL_NB_CHANNEL; i++)
- radio_control.values[i] = 0;
- radio_control.status = RC_REALLY_LOST;
- radio_control.time_since_last_frame = RC_REALLY_LOST_TIME;
- radio_control.radio_ok_cpt = 0;
- radio_control.frame_rate = 0;
- radio_control.frame_cpt = 0;
- radio_control_impl_init();
-}
-
-/************* PERIODIC ******************************************************/
-static inline void radio_control_periodic_task ( void ) {
- static uint8_t _1Hz;
- _1Hz++;
-
- if (_1Hz >= 60) {
- _1Hz = 0;
- radio_control.frame_rate = radio_control.frame_cpt;
- radio_control.frame_cpt = 0;
- }
-
- if (radio_control.time_since_last_frame >= RC_REALLY_LOST_TIME) {
- radio_control.status = RC_REALLY_LOST;
- } else {
- if (radio_control.time_since_last_frame >= RC_LOST_TIME) {
- radio_control.status = RC_LOST;
- radio_control.radio_ok_cpt = RC_OK_CPT;
- }
- radio_control.time_since_last_frame++;
- }
-
-#if defined RADIO_CONTROL_LED
- if (radio_control.status == RC_OK) {
- LED_ON(RADIO_CONTROL_LED);
- }
- else {
- LED_OFF(RADIO_CONTROL_LED);
- }
-#endif
-
-}
-
-/********** EVENT ************************************************************/
-// Implemented in radio_control/*.h
-
-
-#endif /* RADIO_CONTROL */
-
-#endif /* RADIO_CONTROL_H */
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.c (from rev
6237, paparazzi3/trunk/sw/airborne/radio_control/ppm.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.c 2010-10-25
21:57:06 UTC (rev 6238)
@@ -0,0 +1,33 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 <subsystems/radio_control.h>
+#include <subsystems/radio_control/ppm.h>
+
+uint16_t ppm_pulses[ PPM_NB_CHANNEL ];
+volatile bool_t ppm_frame_available;
+
+void radio_control_impl_init(void) {
+ ppm_frame_available = FALSE;
+ ppm_arch_init();
+}
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.h (from rev
6237, paparazzi3/trunk/sw/airborne/radio_control/ppm.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/ppm.h 2010-10-25
21:57:06 UTC (rev 6238)
@@ -0,0 +1,122 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ */
+
+#ifndef RC_PPM_H
+#define RC_PPM_H
+
+#include "std.h"
+
+/**
+ * Architecture dependant code
+ */
+#include "subsystems/radio_control/ppm_arch.h"
+/* must be implemented by arch dependant code */
+extern void ppm_arch_init(void);
+
+/**
+ * Generated code holding the description of a given
+ * transmitter
+ */
+#include "radio.h"
+
+/**
+ * Define number of channels
+ * Using generated code radio.h
+ */
+#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
+
+/**
+ * ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
+ */
+#define PPM_PULSE_TYPE_POSITIVE 0
+#define PPM_PULSE_TYPE_NEGATIVE 1
+
+extern uint16_t ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
+extern volatile bool_t ppm_frame_available;
+
+/**
+ * Event macro with handler callback
+ * PPM frame are normalize using the IIR filter
+ */
+#define RadioControlEvent(_received_frame_handler) { \
+ if (ppm_frame_available) { \
+ radio_control.frame_cpt++; \
+ radio_control.time_since_last_frame = 0; \
+ if (radio_control.radio_ok_cpt > 0) { \
+ radio_control.radio_ok_cpt--; \
+ } else { \
+ radio_control.status = RC_OK; \
+ NormalizePpmIIR(ppm_pulses,radio_control); \
+ _received_frame_handler(); \
+ } \
+ ppm_frame_available = FALSE; \
+ } \
+}
+
+/**
+ * State machine for decoding ppm frames
+ */
+extern uint8_t ppm_cur_pulse;
+extern uint32_t ppm_last_pulse_time;
+extern bool_t ppm_data_valid;
+
+/**
+ * A valid ppm frame:
+ * - synchro blank
+ * - correct number of channels
+ * - synchro blank
+ */
+#define DecodePpmFrame(_ppm_time) { \
+ uint32_t length = _ppm_time - ppm_last_pulse_time; \
+ ppm_last_pulse_time = _ppm_time; \
+ \
+ if (ppm_cur_pulse == PPM_NB_CHANNEL) { \
+ if (length > RC_PPM_TICS_OF_USEC(PPM_SYNC_MIN_LEN) && \
+ length < RC_PPM_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) { \
+ if (ppm_data_valid) { \
+ ppm_frame_available = TRUE; \
+ ppm_data_valid = FALSE; \
+ } \
+ ppm_cur_pulse = 0; \
+ } \
+ else { \
+ ppm_data_valid = FALSE; \
+ } \
+ } \
+ else { \
+ if (length > RC_PPM_TICS_OF_USEC(PPM_DATA_MIN_LEN) && \
+ length < RC_PPM_TICS_OF_USEC(PPM_DATA_MAX_LEN)) { \
+ ppm_pulses[ppm_cur_pulse] = length; \
+ ppm_cur_pulse++; \
+ if (ppm_cur_pulse == PPM_NB_CHANNEL) { \
+ ppm_data_valid = TRUE; \
+ } \
+ } \
+ else { \
+ ppm_cur_pulse = PPM_NB_CHANNEL; \
+ ppm_data_valid = FALSE; \
+ } \
+ } \
+}
+
+#endif /* RC_PPM_H */
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.c
(from rev 6237, paparazzi3/trunk/sw/airborne/radio_control/rc_datalink.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.c
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,49 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 "radio_control/rc_datalink.h"
+#include <subsystems/radio_control.h>
+
+int8_t rc_dl_values[ RC_DL_NB_CHANNEL ];
+volatile bool_t rc_dl_frame_available;
+
+
+void radio_control_impl_init(void) {
+ rc_dl_frame_available = FALSE;
+}
+
+
+void parse_rc_datalink( uint8_t throttle_mode,
+ int8_t roll,
+ int8_t pitch)
+{
+ uint8_t throttle = throttle_mode & 0xFC;
+ uint8_t mode = throttle_mode & 0x03;
+
+ rc_dl_values[RADIO_ROLL] = roll;
+ rc_dl_values[RADIO_PITCH] = pitch;
+ rc_dl_values[RADIO_THROTTLE] = (int8_t)throttle;
+ rc_dl_values[RADIO_MODE] = (int8_t)mode;
+
+ rc_dl_frame_available = TRUE;
+}
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.h
(from rev 6237, paparazzi3/trunk/sw/airborne/radio_control/rc_datalink.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control/rc_datalink.h
2010-10-25 21:57:06 UTC (rev 6238)
@@ -0,0 +1,84 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ */
+
+#ifndef RC_DATALINK_H
+#define RC_DATALINK_H
+
+#include "std.h"
+
+#define RC_DL_NB_CHANNEL 5
+#define RADIO_CONTROL_NB_CHANNEL RC_DL_NB_CHANNEL
+
+/**
+ * Redefining RADIO_*
+ * Do not use with radio.h (ppm rc)
+ */
+#define RADIO_ROLL 0
+#define RADIO_PITCH 1
+#define RADIO_YAW 2
+#define RADIO_THROTTLE 3
+#define RADIO_MODE 4
+
+extern int8_t rc_dl_values[ RC_DL_NB_CHANNEL ];
+extern volatile bool_t rc_dl_frame_available;
+
+/**
+ * Decode datalink message to get rc values
+ */
+extern void parse_rc_datalink(
+ uint8_t throttle_mode,
+ int8_t roll,
+ int8_t pitch);
+
+/**
+ * Macro that normalize rc_dl_values to radio values
+ */
+#define NormalizeRcDl(_in, _out) { \
+ _out[RADIO_ROLL] = (MAX_PPRZ/128) * _in[RADIO_ROLL]; \
+ Bound(_out[RADIO_ROLL], MIN_PPRZ, MAX_PPRZ); \
+ _out[RADIO_PITCH] = (MAX_PPRZ/128) * _in[RADIO_PITCH]; \
+ Bound(_out[RADIO_PITCH], MIN_PPRZ, MAX_PPRZ); \
+ _out[RADIO_YAW] = 0; \
+ Bound(_out[RADIO_YAW], MIN_PPRZ, MAX_PPRZ); \
+ _out[RADIO_THROTTLE] = ((MAX_PPRZ/64) * _in[RADIO_THROTTLE]); \
+ Bound(_out[RADIO_THROTTLE], 0, MAX_PPRZ); \
+ _out[RADIO_MODE] = MAX_PPRZ * (_in[RADIO_MODE] - 1); \
+ Bound(_out[RADIO_MODE], MIN_PPRZ, MAX_PPRZ); \
+}
+
+/**
+ * Event macro with handler callback
+ */
+#define RadioControlEvent(_received_frame_handler) { \
+ if (rc_dl_frame_available) { \
+ radio_control.frame_cpt++; \
+ radio_control.time_since_last_frame = 0; \
+ radio_control.radio_ok_cpt = 0; \
+ radio_control.status = RC_OK; \
+ NormalizeRcDl(rc_dl_values,radio_control.values); \
+ _received_frame_handler(); \
+ rc_dl_frame_available = FALSE; \
+ } \
+}
+
+#endif /* RC_DATALINK_H */
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control.c (from rev 6237,
paparazzi3/trunk/sw/airborne/radio_control.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control.c 2010-10-25
21:57:06 UTC (rev 6238)
@@ -0,0 +1,27 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2006 Pascal Brisset, 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 <subsystems/radio_control.h>
+
+struct RadioControl radio_control;
Copied: paparazzi3/trunk/sw/airborne/subsystems/radio_control.h (from rev 6237,
paparazzi3/trunk/sw/airborne/radio_control.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/radio_control.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/radio_control.h 2010-10-25
21:57:06 UTC (rev 6238)
@@ -0,0 +1,114 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2006 Pascal Brisset, 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.
+ *
+ */
+
+#ifndef RADIO_CONTROL_H
+#define RADIO_CONTROL_H
+
+#if defined RADIO_CONTROL
+
+#include "led.h"
+#include "airframe.h"
+#include "paparazzi.h"
+
+/* underlying hardware */
+#include RADIO_CONTROL_TYPE_H
+/* must be defined by underlying hardware */
+extern void radio_control_impl_init(void);
+/* RADIO_CONTROL_NB_CHANNEL has to be defined by the implementation */
+
+/* timeouts - for now assumes 60Hz periodic */
+#define RC_AVG_PERIOD 8 /* TODO remove if IIR filter is used */
+#define RC_LOST_TIME 30 /* 500ms with a 60Hz timer */
+#define RC_REALLY_LOST_TIME 60 /* ~1s */
+/* Number of valid frames before going back to RC OK */
+#define RC_OK_CPT 15
+
+#define RC_OK 0
+#define RC_LOST 1
+#define RC_REALLY_LOST 2
+
+struct RadioControl {
+ uint8_t status;
+ uint8_t time_since_last_frame;
+ uint8_t radio_ok_cpt;
+ uint8_t frame_rate;
+ uint8_t frame_cpt;
+ pprz_t values[RADIO_CONTROL_NB_CHANNEL];
+};
+
+extern struct RadioControl radio_control;
+
+
+/************* INIT ******************************************************/
+static inline void radio_control_init ( void ) {
+ uint8_t i;
+ for (i=0; i<RADIO_CONTROL_NB_CHANNEL; i++)
+ radio_control.values[i] = 0;
+ radio_control.status = RC_REALLY_LOST;
+ radio_control.time_since_last_frame = RC_REALLY_LOST_TIME;
+ radio_control.radio_ok_cpt = 0;
+ radio_control.frame_rate = 0;
+ radio_control.frame_cpt = 0;
+ radio_control_impl_init();
+}
+
+/************* PERIODIC ******************************************************/
+static inline void radio_control_periodic_task ( void ) {
+ static uint8_t _1Hz;
+ _1Hz++;
+
+ if (_1Hz >= 60) {
+ _1Hz = 0;
+ radio_control.frame_rate = radio_control.frame_cpt;
+ radio_control.frame_cpt = 0;
+ }
+
+ if (radio_control.time_since_last_frame >= RC_REALLY_LOST_TIME) {
+ radio_control.status = RC_REALLY_LOST;
+ } else {
+ if (radio_control.time_since_last_frame >= RC_LOST_TIME) {
+ radio_control.status = RC_LOST;
+ radio_control.radio_ok_cpt = RC_OK_CPT;
+ }
+ radio_control.time_since_last_frame++;
+ }
+
+#if defined RADIO_CONTROL_LED
+ if (radio_control.status == RC_OK) {
+ LED_ON(RADIO_CONTROL_LED);
+ }
+ else {
+ LED_OFF(RADIO_CONTROL_LED);
+ }
+#endif
+
+}
+
+/********** EVENT ************************************************************/
+// Implemented in radio_control/*.h
+
+
+#endif /* RADIO_CONTROL */
+
+#endif /* RADIO_CONTROL_H */
Modified: paparazzi3/trunk/sw/simulator/old_booz/booz_rc_sim.h
===================================================================
--- paparazzi3/trunk/sw/simulator/old_booz/booz_rc_sim.h 2010-10-25
18:50:05 UTC (rev 6237)
+++ paparazzi3/trunk/sw/simulator/old_booz/booz_rc_sim.h 2010-10-25
21:57:06 UTC (rev 6238)
@@ -1,7 +1,7 @@
#ifndef BOOZ_RC_SIM_H
#define BOOZ_RC_SIM_H
-#include "radio_control.h"
+#include <subsystems/radio_control.h>
#define MODE_SWITCH_MANUAL 1900
#define MODE_SWITCH_AUTO1 1500
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- [paparazzi-commits] [6238] moving radio control to subsystems,
Felix Ruess <=