spektrum_arch.c File Reference

#include <stdint.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/cm3/nvic.h>
#include "subsystems/radio_control.h"
#include "subsystems/radio_control/spektrum_arch.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
#include "mcu_periph/sys_time.h"
#include "mcu_arch.h"
#include "std.h"
#include <BOARD_CONFIG>

Include dependency graph for spektrum_arch.c:

Go to the source code of this file.

Data Structures
struct	SpektrumStateStruct

Macros
#define	SPEKTRUM_CHANNELS_PER_FRAME   7
#define	MAX_SPEKTRUM_FRAMES   2
#define	MAX_SPEKTRUM_CHANNELS   16
#define	ONE_MHZ   1000000
#define	MASTER_RECEIVER_PULSES   5
#define	SLAVE_RECEIVER_PULSES   6
#define	TIM_TICS_FOR_100us   100
#define	MIN_FRAME_SPACE   70
#define	MAX_BYTE_SPACE   3
#define	PASTER3(x, y, z)   x ## y ## z
#define	EVALUATOR3(x, y, z)   PASTER3(x,y,z)
#define	NVIC_TIMx_IRQ   EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_IRQ)
#define	NVIC_TIMx_DAC_IRQ   EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_DAC_IRQ)
#define	TIMx_ISR   EVALUATOR3(tim, SPEKTRUM_TIMER,_isr)
#define	TIMx_DAC_ISR   EVALUATOR3(tim, SPEKTRUM_TIMER,_dac_isr)
#define	PASTER2(x, y)   x ## y
#define	EVALUATOR2(x, y)   PASTER2(x,y)
#define	TIMx   EVALUATOR2(TIM, SPEKTRUM_TIMER)
#define	RCC_TIMx   EVALUATOR2(RCC_TIM, SPEKTRUM_TIMER)
#define	SPEKTRUM_TIMER   6
#define	NVIC_TIM6_IRQ_PRIO   2
#define	NVIC_TIMx_IRQ_PRIO   2
#define	NVIC_TIM6_DAC_IRQ_PRIO   2
#define	NVIC_TIMx_DAC_IRQ_PRIO   2
#define	NVIC_PRIMARY_UART_PRIO   2
#define	__PrimaryUart(dev, _x)   dev##_x
#define	_PrimaryUart(dev, _x)   __PrimaryUart(dev, _x)
#define	PrimaryUart(_x)   _PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)
#define	__SecondaryUart(dev, _x)   dev##_x
#define	_SecondaryUart(dev, _x)   __SecondaryUart(dev, _x)
#define	SecondaryUart(_x)   _SecondaryUart(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT, _x)
#define	RC_SET_POLARITY   gpio_clear
	Set polarity using RC_POLARITY_GPIO. More...
#define	SPEKTRUM_PRIMARY_BIND_CONF_PORT   PrimaryUart(_BANK)
#define	SPEKTRUM_PRIMARY_BIND_CONF_PIN   PrimaryUart(_PIN)
#define	SPEKTRUM_SECONDARY_BIND_CONF_PORT   SecondaryUart(_BANK)
#define	SPEKTRUM_SECONDARY_BIND_CONF_PIN   SecondaryUart(_PIN)

Typedefs
typedef struct SpektrumStateStruct	SpektrumStateType

Functions
void	SpektrumTimerInit (void)
void	radio_control_impl_init (void)
static void	SpektrumParser (uint8_t _c, SpektrumStateType *spektrum_state, bool secondary_receiver)
void	RadioControlEventImp (void(*frame_handler)(void))
	timer_clear_flag (TIMx, TIM_SR_UIF)
	if (PrimarySpektrumState.SpektrumTimer)
void	SpektrumUartInit (void)
void PrimaryUart()	_ISR (void)
void	radio_control_spektrum_try_bind (void)

Variables
SpektrumStateType	PrimarySpektrumState = {1, 0, 0, 0, 0, 0, 0, 0, 0, {0}}
int16_t	SpektrumBuf [SPEKTRUM_CHANNELS_PER_FRAME *MAX_SPEKTRUM_FRAMES]
int8_t	SpektrumSigns [] = RADIO_CONTROL_SPEKTRUM_SIGNS
static uint8_t	EncodingType = 0
static uint8_t	ExpectedFrames = 0

---

Data Structure Documentation

struct SpektrumStateStruct

Definition at line 135 of file spektrum_arch.c.

Data Fields
uint8_t	ChannelCnt
uint8_t	FrameCnt
uint8_t	HighByte
uint16_t	LostFrameCnt
uint8_t	RcAvailable
uint8_t	ReSync
uint8_t	SecondFrame
uint8_t	SpektrumTimer
uint8_t	Sync
int16_t	values[SPEKTRUM_CHANNELS_PER_FRAME *MAX_SPEKTRUM_FRAMES]

Macro Definition Documentation

#define __PrimaryUart	(		dev,
			_x
	)		dev##_x

Definition at line 127 of file spektrum_arch.c.

#define __SecondaryUart	(		dev,
			_x
	)		dev##_x

Definition at line 131 of file spektrum_arch.c.

#define _PrimaryUart	(		dev,
			_x
	)		__PrimaryUart(dev, _x)

Definition at line 128 of file spektrum_arch.c.

#define _SecondaryUart	(		dev,
			_x
	)		__SecondaryUart(dev, _x)

Definition at line 132 of file spektrum_arch.c.

#define EVALUATOR2	(		x,
			y
	)		PASTER2(x,y)

Definition at line 74 of file spektrum_arch.c.

#define EVALUATOR3	(		x,
			y,
			z
	)		PASTER3(x,y,z)

Definition at line 67 of file spektrum_arch.c.

#define MASTER_RECEIVER_PULSES   5

Definition at line 56 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define MAX_BYTE_SPACE   3

Definition at line 62 of file spektrum_arch.c.

Referenced by SpektrumParser().

#define MAX_SPEKTRUM_CHANNELS   16

Definition at line 47 of file spektrum_arch.c.

#define MAX_SPEKTRUM_FRAMES   2

Definition at line 46 of file spektrum_arch.c.

#define MIN_FRAME_SPACE   70

Definition at line 61 of file spektrum_arch.c.

Referenced by SpektrumParser().

#define NVIC_PRIMARY_UART_PRIO   2

Definition at line 117 of file spektrum_arch.c.

Referenced by SpektrumUartInit().

#define NVIC_TIM6_DAC_IRQ_PRIO   2

Definition at line 90 of file spektrum_arch.c.

#define NVIC_TIM6_IRQ_PRIO   2

Definition at line 84 of file spektrum_arch.c.

#define NVIC_TIMx_DAC_IRQ   EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_DAC_IRQ)

Definition at line 69 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_DAC_IRQ_PRIO   2

Definition at line 91 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_IRQ   EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_IRQ)

Definition at line 68 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_IRQ_PRIO   2

Definition at line 85 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define ONE_MHZ   1000000

Definition at line 49 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define PASTER2	(		x,
			y
	)		x ## y

Definition at line 73 of file spektrum_arch.c.

#define PASTER3	(		x,
			y,
			z
	)		x ## y ## z

Definition at line 66 of file spektrum_arch.c.

#define PrimaryUart

(

_x

)

_PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)

Definition at line 129 of file spektrum_arch.c.

Referenced by _ISR(), and SpektrumUartInit().

#define RC_SET_POLARITY   gpio_clear

Set polarity using RC_POLARITY_GPIO.

SBUS signal has a reversed polarity compared to normal UART this allows to using hardware UART peripheral by changing the input signal polarity. Setting this gpio ouput high inverts the signal, output low sets it to normal polarity. So for spektrum this is set to normal polarity.

Definition at line 198 of file spektrum_arch.c.

Referenced by radio_control_impl_init().

#define RCC_TIMx   EVALUATOR2(RCC_TIM, SPEKTRUM_TIMER)

Definition at line 76 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define SecondaryUart

(

_x

)

_SecondaryUart(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT, _x)

Definition at line 133 of file spektrum_arch.c.

Referenced by SpektrumUartInit().

#define SLAVE_RECEIVER_PULSES   6

Definition at line 57 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_CHANNELS_PER_FRAME   7

Definition at line 45 of file spektrum_arch.c.

Referenced by RadioControlEventImp(), and SpektrumParser().

#define SPEKTRUM_PRIMARY_BIND_CONF_PIN   PrimaryUart(_PIN)

Definition at line 735 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_PRIMARY_BIND_CONF_PORT   PrimaryUart(_BANK)

Definition at line 732 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PIN   SecondaryUart(_PIN)

Definition at line 741 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PORT   SecondaryUart(_BANK)

Definition at line 738 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_TIMER   6

Definition at line 79 of file spektrum_arch.c.

#define TIM_TICS_FOR_100us   100

Definition at line 60 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define TIMx   EVALUATOR2(TIM, SPEKTRUM_TIMER)

Definition at line 75 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define TIMx_DAC_ISR   EVALUATOR3(tim, SPEKTRUM_TIMER,_dac_isr)

Definition at line 71 of file spektrum_arch.c.

#define TIMx_ISR   EVALUATOR3(tim, SPEKTRUM_TIMER,_isr)

Definition at line 70 of file spektrum_arch.c.

Typedef Documentation

typedef struct SpektrumStateStruct SpektrumStateType

Definition at line 148 of file spektrum_arch.c.

Function Documentation

void PrimaryUart() _ISR

(

void

)

Definition at line 683 of file spektrum_arch.c.

References FALSE, PrimaryUart, and SpektrumParser().

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if

(

PrimarySpektrumState.

SpektrumTimer

)

Definition at line 605 of file spektrum_arch.c.

References SpektrumStateStruct::SpektrumTimer.

Referenced by alt_filter_periodic(), b2_hff_update_gps(), h_ctl_pitch_loop(), humid_sht_event_i2c(), i2c_idle(), i2c_irq(), i2c_setbitrate(), image_labeling(), marker(), ms5611_i2c_event(), ms5611_spi_event(), px4flow_i2c_frame_cb(), spi_submit(), texton_func(), udp_receive(), and udp_send_message().

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void radio_control_impl_init

(

void

)

Definition at line 206 of file spektrum_arch.c.

References gpio_setup_output(), RC_POLARITY_GPIO_PIN, RC_POLARITY_GPIO_PORT, RC_SET_POLARITY, SpektrumStateStruct::ReSync, SpektrumTimerInit(), and SpektrumUartInit().

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void radio_control_spektrum_try_bind

(

void

)

Definition at line 752 of file spektrum_arch.c.

References gpio_clear(), gpio_get(), gpio_set(), gpio_setup_input(), gpio_setup_input_pulldown(), gpio_setup_input_pullup(), gpio_setup_output(), MASTER_RECEIVER_PULSES, SLAVE_RECEIVER_PULSES, SPEKTRUM_BIND_PIN, SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_PRIMARY_BIND_CONF_PIN, SPEKTRUM_PRIMARY_BIND_CONF_PORT, SPEKTRUM_SECONDARY_BIND_CONF_PIN, SPEKTRUM_SECONDARY_BIND_CONF_PORT, and sys_time_usleep().

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void RadioControlEventImp

(

void(*)(void)

frame_handler

)

Definition at line 453 of file spektrum_arch.c.

References SpektrumStateStruct::ChannelCnt, ExpectedFrames, RadioControl::frame_cpt, SpektrumStateStruct::LostFrameCnt, MAX_PPRZ, Min, radio_control, RADIO_CONTROL_NB_CHANNEL, RADIO_THROTTLE, RC_OK, SpektrumStateStruct::RcAvailable, spektrum_available, SPEKTRUM_CHANNELS_PER_FRAME, SPEKTRUM_NB_CHANNEL, RadioControl::status, RadioControl::time_since_last_frame, RadioControl::values, and SpektrumStateStruct::values.

static void SpektrumParser ( uint8_t  _c, SpektrumStateType *  spektrum_state, bool  secondary_receiver  )

inlinestatic

Todo:

collect more data. I suspect that there is a low res

Definition at line 332 of file spektrum_arch.c.

References SpektrumStateStruct::ChannelCnt, ExpectedFrames, SpektrumStateStruct::FrameCnt, SpektrumStateStruct::HighByte, SpektrumStateStruct::LostFrameCnt, MAX_BYTE_SPACE, MIN_FRAME_SPACE, SpektrumStateStruct::RcAvailable, SpektrumStateStruct::ReSync, SpektrumStateStruct::SecondFrame, SPEKTRUM_CHANNELS_PER_FRAME, SpektrumStateStruct::SpektrumTimer, SpektrumStateStruct::Sync, and SpektrumStateStruct::values.

Referenced by _ISR().

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void SpektrumTimerInit

(

void

)

Definition at line 558 of file spektrum_arch.c.

References NVIC_TIMx_DAC_IRQ, NVIC_TIMx_DAC_IRQ_PRIO, NVIC_TIMx_IRQ, NVIC_TIMx_IRQ_PRIO, ONE_MHZ, RCC_TIMx, TIM_TICS_FOR_100us, timer_clear_flag(), timer_get_frequency(), and TIMx.

Referenced by radio_control_impl_init().

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void SpektrumUartInit

(

void

)

Definition at line 620 of file spektrum_arch.c.

References B115200, FALSE, gpio_enable_clock(), gpio_setup_pin_af(), NVIC_PRIMARY_UART_PRIO, PrimaryUart, and SecondaryUart.

Referenced by radio_control_impl_init(), received_spektrum_soft_bind(), and send_spektrum_bind().

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timer_clear_flag	(	TIMx	,
		TIM_SR_UIF
	)

Referenced by clear_timer_flag(), and SpektrumTimerInit().

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Variable Documentation

uint8_t EncodingType = 0

static

Definition at line 183 of file spektrum_arch.c.

uint8_t ExpectedFrames = 0

static

Definition at line 184 of file spektrum_arch.c.

Referenced by RadioControlEventImp(), and SpektrumParser().

SpektrumStateType PrimarySpektrumState = {1, 0, 0, 0, 0, 0, 0, 0, 0, {0}}

Definition at line 150 of file spektrum_arch.c.

int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME *MAX_SPEKTRUM_FRAMES]

Definition at line 161 of file spektrum_arch.c.

int8_t SpektrumSigns[] = RADIO_CONTROL_SPEKTRUM_SIGNS

Definition at line 180 of file spektrum_arch.c.