From a695ddd66af410a70093ce182d08c20ec61d23dc Mon Sep 17 00:00:00 2001 From: dongie Date: Fri, 31 Jan 2014 10:02:50 +0900 Subject: [PATCH] =?UTF-8?q?added=20sumd=20serial=20receiver=20support=20by?= =?UTF-8?q?=20cesco/Pl=C3=BCschi?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Makefile | 1 + obj/baseflight.hex | 6626 ++++++++++++++++++++++---------------------- src/board.h | 1 + src/cli.c | 2 +- src/main.c | 4 +- src/mw.c | 3 + src/mw.h | 4 + src/sumd.c | 76 + 8 files changed, 3410 insertions(+), 3307 deletions(-) create mode 100644 src/sumd.c diff --git a/Makefile b/Makefile index f27ba72ea..ce2fd4107 100644 --- a/Makefile +++ b/Makefile @@ -53,6 +53,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \ sensors.c \ serial.c \ sbus.c \ + sumd.c \ spektrum.c \ telemetry.c \ drv_gpio.c \ diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 616fbe737..8e2cbb205 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ 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:04000005080000ED02 :00000001FF diff --git a/src/board.h b/src/board.h index 47bc77d77..521606f59 100755 --- a/src/board.h +++ b/src/board.h @@ -82,6 +82,7 @@ typedef enum { SERIALRX_SPEKTRUM1024 = 0, SERIALRX_SPEKTRUM2048 = 1, SERIALRX_SBUS = 2, + SERIALRX_SUMD = 3, } SerialRXType; typedef enum { diff --git a/src/cli.c b/src/cli.c index 0f11e3d34..c5175f1e1 100644 --- a/src/cli.c +++ b/src/cli.c @@ -130,7 +130,7 @@ const clivalue_t valueTable[] = { { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 }, { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 }, { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 }, - { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 }, + { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 }, { "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 }, { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 }, { "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 }, diff --git a/src/main.c b/src/main.c index 0926a87db..ef34b67f8 100755 --- a/src/main.c +++ b/src/main.c @@ -96,10 +96,12 @@ int main(void) case SERIALRX_SPEKTRUM2048: spektrumInit(&rcReadRawFunc); break; - case SERIALRX_SBUS: sbusInit(&rcReadRawFunc); break; + case SERIALRX_SUMD: + sumdInit(&rcReadRawFunc); + break; } } else { // spektrum and GPS are mutually exclusive // Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2. diff --git a/src/mw.c b/src/mw.c index eb0cc37ea..0ac44dee1 100755 --- a/src/mw.c +++ b/src/mw.c @@ -447,6 +447,9 @@ void loop(void) case SERIALRX_SBUS: rcReady = sbusFrameComplete(); break; + case SERIALRX_SUMD: + rcReady = sumdFrameComplete(); + break; } } diff --git a/src/mw.h b/src/mw.h index 006a8d69c..e55ac18d1 100755 --- a/src/mw.h +++ b/src/mw.h @@ -453,6 +453,10 @@ bool spektrumFrameComplete(void); void sbusInit(rcReadRawDataPtr *callback); bool sbusFrameComplete(void); +// sumd +void sumdInit(rcReadRawDataPtr *callback); +bool sumdFrameComplete(void); + // buzzer void buzzer(uint8_t warn_vbat); void systemBeep(bool onoff); diff --git a/src/sumd.c b/src/sumd.c new file mode 100644 index 000000000..26e08d2da --- /dev/null +++ b/src/sumd.c @@ -0,0 +1,76 @@ +#include "board.h" +#include "mw.h" + +// driver for SUMD receiver using UART2 + +#define SUMD_SYNCBYTE 0xA8 +#define SUMD_MAX_CHANNEL 8 +#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 -> 17 bytes for 6 channels + +static bool sumdFrameDone = false; +static void sumdDataReceive(uint16_t c); +static uint16_t sumdReadRawRC(uint8_t chan); + +static uint32_t sumdChannelData[SUMD_MAX_CHANNEL]; + +void sumdInit(rcReadRawDataPtr *callback) +{ + core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX); + if (callback) + *callback = sumdReadRawRC; +} + +static uint8_t sumd[SUMD_BUFFSIZE] = { 0, }; +static uint8_t sumdSize; + +// Receive ISR callback +static void sumdDataReceive(uint16_t c) +{ + uint32_t sumdTime; + static uint32_t sumdTimeLast; + static uint8_t sumdIndex; + + sumdTime = micros(); + if ((sumdTime - sumdTimeLast) > 4000) + sumdIndex = 0; + sumdTimeLast = sumdTime; + + if (sumdIndex == 0) { + if (c != SUMD_SYNCBYTE) + return; + else + sumdFrameDone = false; // lazy main loop didnt fetch the stuff + } + if (sumdIndex == 2) + sumdSize = (uint8_t)c; + if (sumdIndex < SUMD_BUFFSIZE) + sumd[sumdIndex] = (uint8_t)c; + sumdIndex++; + if (sumdIndex == sumdSize * 2 + 5) { + sumdIndex = 0; + sumdFrameDone = true; + } +} + +bool sumdFrameComplete(void) +{ + uint8_t b; + + if (sumdFrameDone) { + sumdFrameDone = false; + if (sumd[1] == 0x01) { + failsafeCnt = 0; + if (sumdSize > SUMD_MAX_CHANNEL) + sumdSize = SUMD_MAX_CHANNEL; + for (b = 0; b < sumdSize; b++) + sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]); + return true; + } + } + return false; +} + +static uint16_t sumdReadRawRC(uint8_t chan) +{ + return sumdChannelData[mcfg.rcmap[chan]] / 8; +}