Spektrum sattelite receiver implementation. More...

#include "subsystems/radio_control/spektrum.h"
#include "std.h"
#include "subsystems/radio_control.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	SPEKTRUM_MASTER_RECEIVER_PULSES 5

#define	SPEKTRUM_SLAVE_RECEIVER_PULSES 6

#define	RC_SET_POLARITY gpio_clear

#define	SPEKTRUM_BIND_WAIT 60000

#define	SPEKTRUM_SYS_TYPE 0

#define	SPEKTRUM_SYS_22_1024_2 0x01
	Allowed system field valaues. More...

#define	SPEKTRUM_SYS_11_2048_2 0x12

#define	SPEKTRUM_SYS_22_2048_X 0xa2

#define	SPEKTRUM_SYS_11_2048_X 0xb2

#define	_UART_RX_PORT(i) i ## _PORT_RX

#define	UART_RX_PORT(i) _UART_RX_PORT(i)

#define	_UART_RX(i) i ## _RX

#define	UART_RX(i) _UART_RX(i)

#define	SPEKTRUM_PRIMARY_BIND_CONF_PORT UART_RX_PORT(SPEKTRUM_PRIMARY_UART_UPPER)
	By default, the same pin is used for pulse train and uart rx, but they can be different if needed. More...

#define	SPEKTRUM_PRIMARY_BIND_CONF_PIN UART_RX(SPEKTRUM_PRIMARY_UART_UPPER)

#define	SPEKTRUM_SECONDARY_BIND_CONF_PORT UART_RX_PORT(SPEKTRUM_SECONDARY_UART_UPPER)

#define	SPEKTRUM_SECONDARY_BIND_CONF_PIN UART_RX(SPEKTRUM_SECONDARY_UART_UPPER)

Functions
static void	spektrum_bind (void)
	This function puts the satellite in binding mode. More...

static void	spektrum_init_sat (struct spektrum_sat_t *sat)
	Initialize a spektrum sattelite. More...

void	spektrum_try_bind (void)

void	radio_control_impl_init (void)
	Main Radio initialization. More...

static void	spektrum_parse_channel (struct spektrum_sat_t *sat, uint16_t chan)

static void	spektrum_parser (struct spektrum_sat_t *sat)

static void	spektrum_uart_check (struct uart_periph dev, struct spektrum_sat_t sat)
	Check bytes on the UART. More...

void	spektrum_event (void(*frame_handler)(void))
	Checks if there is one valid satellite and sets the radio_control structure. More...

Variables
const int8_t	spektrum_signs [] = RADIO_CONTROL_SPEKTRUM_SIGNS

static struct spektrum_t	spektrum

Detailed Description

Spektrum sattelite receiver implementation.

For the protocol specification see: http://www.spektrumrc.com/ProdInfo/Files/Remote%20Receiver%20Interfacing%20Rev%20A.pdf

Definition in file spektrum.c.

Macro Definition Documentation

#define _UART_RX ( i ) i ## _RX

Definition at line 332 of file spektrum.c.

#define _UART_RX_PORT ( i ) i ## _PORT_RX

Definition at line 330 of file spektrum.c.

#define RC_SET_POLARITY gpio_clear

Definition at line 65 of file spektrum.c.

Referenced by radio_control_impl_init().

#define SPEKTRUM_BIND_WAIT 60000

Definition at line 72 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_MASTER_RECEIVER_PULSES 5

Definition at line 59 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_PRIMARY_BIND_CONF_PIN UART_RX(SPEKTRUM_PRIMARY_UART_UPPER)

Definition at line 343 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_PRIMARY_BIND_CONF_PORT UART_RX_PORT(SPEKTRUM_PRIMARY_UART_UPPER)

By default, the same pin is used for pulse train and uart rx, but they can be different if needed.

Definition at line 340 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PIN UART_RX(SPEKTRUM_SECONDARY_UART_UPPER)

Definition at line 349 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PORT UART_RX_PORT(SPEKTRUM_SECONDARY_UART_UPPER)

Definition at line 346 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_SLAVE_RECEIVER_PULSES 6

Definition at line 60 of file spektrum.c.

Referenced by spektrum_bind().

#define SPEKTRUM_SYS_11_2048_2 0x12

Definition at line 99 of file spektrum.c.

Referenced by spektrum_parser().

#define SPEKTRUM_SYS_11_2048_X 0xb2

Definition at line 101 of file spektrum.c.

Referenced by spektrum_parser().

#define SPEKTRUM_SYS_22_1024_2 0x01

Allowed system field valaues.

from datasheet, possible values for the frame format encoded in the system field of the internal remote frame (second byte). Only the first one is encoding values on 10bits, other ones on 11bits.

Definition at line 98 of file spektrum.c.

Referenced by spektrum_parse_channel(), and spektrum_parser().

#define SPEKTRUM_SYS_22_2048_X 0xa2

Definition at line 100 of file spektrum.c.

Referenced by spektrum_parser().

#define SPEKTRUM_SYS_TYPE 0

Definition at line 79 of file spektrum.c.

#define UART_RX ( i ) _UART_RX(i)

Definition at line 333 of file spektrum.c.

#define UART_RX_PORT ( i ) _UART_RX_PORT(i)

Definition at line 331 of file spektrum.c.

Function Documentation

void radio_control_impl_init ( void )

Main Radio initialization.

Definition at line 164 of file spektrum.c.

References gpio_setup_output(), RADIO_CONTROL_NB_CHANNEL, RC_POLARITY_GPIO_PIN, RC_POLARITY_GPIO_PORT, RC_SET_POLARITY, spektrum_t::satellites, spektrum_t::signs, and spektrum_init_sat().

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static void UNUSED spektrum_bind ( void )

static

This function puts the satellite in binding mode.

The requirement of this are that this needs to be done while powering up.

Definition at line 355 of file spektrum.c.

References gpio_set(), gpio_setup_input(), gpio_setup_output(), gpio_toggle(), SPEKTRUM_BIND_WAIT, SPEKTRUM_MASTER_RECEIVER_PULSES, SPEKTRUM_PRIMARY_BIND_CONF_PIN, SPEKTRUM_PRIMARY_BIND_CONF_PORT, SPEKTRUM_SECONDARY_BIND_CONF_PIN, SPEKTRUM_SECONDARY_BIND_CONF_PORT, SPEKTRUM_SLAVE_RECEIVER_PULSES, and sys_time_usleep().

Referenced by spektrum_try_bind().

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void spektrum_event ( void(*)(void) frame_handler )

Checks if there is one valid satellite and sets the radio_control structure.

Definition at line 285 of file spektrum.c.

References RadioControl::frame_cpt, MAX_PPRZ, radio_control, RADIO_CONTROL_NB_CHANNEL, RC_OK, spektrum_t::satellites, spektrum_t::signs, spektrum_available, SPEKTRUM_SATELLITES_NB, spektrum_uart_check(), RadioControl::status, RadioControl::time_since_last_frame, spektrum_sat_t::valid, spektrum_t::valid, spektrum_sat_t::values, and RadioControl::values.

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static void spektrum_init_sat ( struct spektrum_sat_t * sat )

inlinestatic

Initialize a spektrum sattelite.

Definition at line 106 of file spektrum.c.

References get_sys_time_msec(), spektrum_sat_t::idx, SPEKTRUM_MAX_CHANNELS, spektrum_sat_t::timer, spektrum_sat_t::valid, and spektrum_sat_t::values.

Referenced by radio_control_impl_init().

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static void spektrum_parse_channel	(	struct spektrum_sat_t *	sat,
		uint16_t	chan
	)

inlinestatic

Definition at line 185 of file spektrum.c.

References MAX_PPRZ, RADIO_THROTTLE, SPEKTRUM_SYS_22_1024_2, spektrum_t::tx_type, spektrum_sat_t::valid, spektrum_t::valid, and spektrum_sat_t::values.

Referenced by spektrum_parser().

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static void spektrum_parser ( struct spektrum_sat_t * sat )

inlinestatic

Definition at line 231 of file spektrum.c.

References spektrum_sat_t::buf, spektrum_sat_t::lost_frame_cnt, SPEKTRUM_CHANNELS_PER_FRAME, spektrum_parse_channel(), SPEKTRUM_SYS_11_2048_2, SPEKTRUM_SYS_11_2048_X, SPEKTRUM_SYS_22_1024_2, SPEKTRUM_SYS_22_2048_X, and spektrum_t::tx_type.

Referenced by spektrum_uart_check().

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void spektrum_try_bind ( void )

Definition at line 126 of file spektrum.c.

References gpio_get(), gpio_setup_input_pulldown(), gpio_setup_input_pullup(), spektrum_bind(), SPEKTRUM_BIND_PIN, SPEKTRUM_BIND_PIN_PORT, and sys_time_usleep().

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static void spektrum_uart_check	(	struct uart_periph *	dev,
		struct spektrum_sat_t *	sat
	)

static

Check bytes on the UART.

Definition at line 257 of file spektrum.c.

References spektrum_sat_t::buf, get_sys_time_msec(), spektrum_sat_t::idx, SPEKTRUM_FRAME_LEN, SPEKTRUM_MIN_FRAME_SPACE, spektrum_parser(), spektrum_sat_t::timer, uart_char_available(), and uart_getch().

Referenced by spektrum_event().

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Variable Documentation

struct spektrum_t spektrum

static

Initial value:

= {
  .valid = false,
  .tx_type = SPEKTRUM_SYS_TYPE, 
}

Definition at line 86 of file spektrum.c.

const int8_t spektrum_signs[] = RADIO_CONTROL_SPEKTRUM_SIGNS

Definition at line 83 of file spektrum.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation