#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:

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 130 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 122 of file spektrum_arch.c.

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

Definition at line 126 of file spektrum_arch.c.

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

Definition at line 123 of file spektrum_arch.c.

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

Definition at line 127 of file spektrum_arch.c.

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

Definition at line 69 of file spektrum_arch.c.

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

Definition at line 62 of file spektrum_arch.c.

#define MASTER_RECEIVER_PULSES 5

Definition at line 52 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define MAX_BYTE_SPACE 3

Definition at line 57 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 56 of file spektrum_arch.c.

Referenced by SpektrumParser().

#define NVIC_PRIMARY_UART_PRIO 2

Definition at line 112 of file spektrum_arch.c.

Referenced by SpektrumUartInit().

#define NVIC_TIM6_DAC_IRQ_PRIO 2

Definition at line 85 of file spektrum_arch.c.

#define NVIC_TIM6_IRQ_PRIO 2

Definition at line 79 of file spektrum_arch.c.

#define NVIC_TIMx_DAC_IRQ EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_DAC_IRQ)

Definition at line 64 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_DAC_IRQ_PRIO 2

Definition at line 86 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_IRQ EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_IRQ)

Definition at line 63 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIMx_IRQ_PRIO 2

Definition at line 80 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 68 of file spektrum_arch.c.

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

Definition at line 61 of file spektrum_arch.c.

#define PrimaryUart ( _x ) _PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)

Definition at line 124 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 193 of file spektrum_arch.c.

Referenced by radio_control_impl_init().

#define RCC_TIMx EVALUATOR2(RCC_TIM, SPEKTRUM_TIMER)

Definition at line 71 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define SecondaryUart ( _x ) _SecondaryUart(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT, _x)

Definition at line 128 of file spektrum_arch.c.

Referenced by SpektrumUartInit().

#define SLAVE_RECEIVER_PULSES 6

Definition at line 53 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_CHANNELS_PER_FRAME 7