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iBUS on AUX Serial is working

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- implemented iBUS
- updated the Tabs to spaces
This commit is contained in:
EmanuelFeru
2020-12-06 15:21:39 +01:00
parent 6420960287
commit 570e11574e
16 changed files with 2566 additions and 1693 deletions
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168
Src/main.c
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@@ -29,47 +29,19 @@
#include "mpu6050.h"
#include "mpu6050_dmp.h"
#ifdef SERIAL_CONTROL
extern SerialSideboard Sideboard;
#endif
#ifdef SERIAL_FEEDBACK
extern SerialFeedback Feedback;
extern uint16_t timeoutCntSerial; // Timeout counter for UART1 Rx Serial
extern uint8_t timeoutFlagSerial; // Timeout Flag for UART1 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif
#ifdef SERIAL_AUX_TX
extern SerialAuxTx AuxTx;
#endif
#ifdef SERIAL_AUX_RX
extern SerialCommand command;
extern uint16_t timeoutCntSerial0; // Timeout counter for UART0 Rx Serial
extern uint8_t timeoutFlagSerial0; // Timeout Flag for UART0Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#ifdef CONTROL_IBUS
uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
#endif
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
extern ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
uint32_t main_loop_counter; // main loop counter to perform task scheduling inside main()
int main(void)
{
{
systick_config(); // SysTick config
gpio_config(); // GPIO config
usart_nvic_config(); // USART interrupt configuration
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART MAIN config
#if defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)
usart_config(USART_AUX, USART_AUX_BAUD); // USART AUX config
#endif
usart_nvic_config(); // USART interrupt configuration
i2c_config(); // I2C config
i2c_nvic_config(); // I2C interrupt configuration
input_init(); // Input initialization
@@ -77,133 +49,11 @@ int main(void)
while(1) {
delay_1ms(DELAY_IN_MAIN_LOOP);
// ==================================== LEDs Handling ====================================
// toggle_led(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
#ifdef SERIAL_FEEDBACK
if (!timeoutFlagSerial) {
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); }
if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); }
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); }
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
}
#endif
// ==================================== MPU-6050 Handling ====================================
#ifdef MPU_SENSOR_ENABLE
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
if (SUCCESS == mpuStatus) {
mpu_get_data();
} else if (ERROR == mpuStatus && main_loop_counter % 100 == 0) {
toggle_led(LED1_GPIO_Port, LED1_Pin); // Toggle the Red LED every 100 ms
}
// Print MPU data to Console
if (main_loop_counter % 50 == 0) {
mpu_print_to_console();
}
#endif
// ==================================== SENSORS Handling ====================================
sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
sensor2_read = gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin);
// SENSOR1
if (sensor1 == RESET && sensor1_read == SET) {
// Sensor ACTIVE: Do something here (one time task on activation)
sensor1 = SET;
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
consoleLog("-- SENSOR 1 Active --\n");
} else if(sensor1 == SET && sensor1_read == RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor1 = RESET;
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
consoleLog("-- SENSOR 1 Deactive --\n");
}
// SENSOR2
if (sensor2 == RESET && sensor2_read == SET) {
// Sensor ACTIVE: Do something here (one time task on activation)
sensor2 = SET;
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
consoleLog("-- SENSOR 2 Active --\n");
} else if (sensor2 == SET && sensor2_read == RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor2 = RESET;
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
consoleLog("-- SENSOR 2 Deactive --\n");
}
if (sensor1 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
if (sensor2 == SET) {
// Sensor ACTIVE: Do something here (continuous task)
}
// ==================================== SERIAL Tx/Rx Handling ====================================
// Tx USART MAIN
#ifdef SERIAL_CONTROL
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART1_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
Sideboard.roll = (int16_t)mpu.euler.roll;
Sideboard.pitch = (int16_t)mpu.euler.pitch;
Sideboard.yaw = (int16_t)mpu.euler.yaw;
Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1) | (mpuStatus << 2));
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
dma_channel_disable(USART1_TX_DMA_CH);
DMA_CHCNT(USART1_TX_DMA_CH) = sizeof(Sideboard);
DMA_CHMADDR(USART1_TX_DMA_CH) = (uint32_t)&Sideboard;
dma_channel_enable(USART1_TX_DMA_CH);
}
#endif
// Rx USART MAIN
#ifdef SERIAL_FEEDBACK
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
toggle_led(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
}
#endif
// Tx USART AUX
#ifdef SERIAL_AUX_TX
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART0_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
AuxTx.start = (uint16_t)SERIAL_START_FRAME;
AuxTx.signal1 = (int16_t)sensor1;
AuxTx.signal2 = (int16_t)sensor2;
AuxTx.checksum = (uint16_t)(AuxTx.start ^ AuxTx.signal1 ^ AuxTx.signal2);
dma_channel_disable(USART0_TX_DMA_CH);
DMA_CHCNT(USART0_TX_DMA_CH) = sizeof(AuxTx);
DMA_CHMADDR(USART0_TX_DMA_CH) = (uint32_t)&AuxTx;
dma_channel_enable(USART0_TX_DMA_CH);
}
#endif
// Rx USART AUX
#ifdef SERIAL_AUX_RX
#ifdef CONTROL_IBUS
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibus_captured_value[(i/2)] = command.channels[i] + (command.channels[i+1] << 8) - 1000; // 1000-2000 -> 0-1000
}
//ch1 = (ibus_captured_value[0] - 500) * 2;
//ch2 = (ibus_captured_value[1] - 500) * 2;
log_i( "CH1: %d \t CH2: %d\n", (ibus_captured_value[0] - 500) * 2, (ibus_captured_value[1] - 500) * 2);
#endif
if (timeoutCntSerial0++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial0 = 1; // Timeout detected
timeoutCntSerial0 = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial0 && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
//toggle_led(LED2_GPIO_Port, LED2_Pin); // Toggle the Green LED every 100 ms
}
#endif
handle_mpu6050(); // Handle of the MPU-6050 IMU sensor
handle_sensors(); // Handle of the optical sensors
handle_usart(); // Handle of the USART data
handle_leds(); // Handle of the sideboard LEDs
main_loop_counter++;