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	NVIC_TIM6_IRQ_PRIO   2
#define	NVIC_TIM6_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	SpektrumUartInit (void)
void	SpektrumTimerInit (void)
void	tim6_irq_handler (void)
void	radio_control_impl_init (void)
static void	SpektrumParser (uint8_t _c, SpektrumStateType *spektrum_state, bool_t secondary_receiver)
void	RadioControlEventImp (void(*frame_handler)(void))
	timer_clear_flag (TIM6, TIM_SR_UIF)
	if (PrimarySpektrumState.SpektrumTimer)
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 89 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 81 of file spektrum_arch.c.

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

Definition at line 85 of file spektrum_arch.c.

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

Definition at line 82 of file spektrum_arch.c.

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

Definition at line 86 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 71 of file spektrum_arch.c.

Referenced by SpektrumUartInit().

#define NVIC_TIM6_DAC_IRQ_PRIO   2

Definition at line 64 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

#define NVIC_TIM6_IRQ_PRIO   2

Definition at line 60 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 PrimaryUart

(

_x

)

_PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)

Definition at line 83 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 155 of file spektrum_arch.c.

Referenced by radio_control_impl_init().

#define SecondaryUart

(

_x

)

_SecondaryUart(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT, _x)

Definition at line 87 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

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 686 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_PRIMARY_BIND_CONF_PORT   PrimaryUart(_BANK)

Definition at line 683 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PIN   SecondaryUart(_PIN)

Definition at line 692 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define SPEKTRUM_SECONDARY_BIND_CONF_PORT   SecondaryUart(_BANK)

Definition at line 689 of file spektrum_arch.c.

Referenced by radio_control_spektrum_try_bind().

#define TIM_TICS_FOR_100us   100

Definition at line 55 of file spektrum_arch.c.

Referenced by SpektrumTimerInit().

Typedef Documentation

typedef struct SpektrumStateStruct SpektrumStateType

Definition at line 102 of file spektrum_arch.c.

Function Documentation

void PrimaryUart() _ISR

(

void

)

Definition at line 634 of file spektrum_arch.c.

References FALSE, PrimaryUart, and SpektrumParser().

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if

(

PrimarySpektrumState.

SpektrumTimer

)

Definition at line 556 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(), spi_submit(), udp_receive(), and udp_send_message().

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void radio_control_impl_init

(

void

)

Definition at line 163 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 703 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 407 of file spektrum_arch.c.

References SpektrumStateStruct::ChannelCnt, ExpectedFrames, FALSE, 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_t  secondary_receiver  )

inlinestatic

Todo:

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

Definition at line 289 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 510 of file spektrum_arch.c.

References NVIC_TIM6_DAC_IRQ, NVIC_TIM6_DAC_IRQ_PRIO, NVIC_TIM6_IRQ_PRIO, ONE_MHZ, TIM_TICS_FOR_100us, timer_clear_flag(), and timer_get_frequency().

Referenced by radio_control_impl_init().

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void SpektrumUartInit

(

void

)

Definition at line 571 of file spektrum_arch.c.

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

Referenced by radio_control_impl_init().

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void tim6_irq_handler

(

void

)

timer_clear_flag	(	TIM6	,
		TIM_SR_UIF
	)

Referenced by clear_timer_flag(), and SpektrumTimerInit().

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Variable Documentation

uint8_t EncodingType = 0

static

Definition at line 137 of file spektrum_arch.c.

uint8_t ExpectedFrames = 0

static

Definition at line 138 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 104 of file spektrum_arch.c.

int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME *MAX_SPEKTRUM_FRAMES]

Definition at line 115 of file spektrum_arch.c.

int8_t SpektrumSigns[] = RADIO_CONTROL_SPEKTRUM_SIGNS

Definition at line 134 of file spektrum_arch.c.