[superbitrf] Now got a full RC working, still needs testing.

Binding could be improved but already works about 30% of the times you try.
LingxiaoJIA · Aug 29, 2013 · 55add10 · 55add10
1 parent 03c3b8f
commit 55add10
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Showing 7 changed files with 474 additions and 28 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -604,8 +604,10 @@
     </message>
 
   <message name="SUPERBITRF" id="72">
-      <field name="status" type="uint8" values="UNINIT|INIT_BINDING|INIT_TRANSFER|BINDING|TRANSFER"/>
+      <field name="status" type="uint8" values="UNINIT|INIT_BINDING|INIT_TRANSFER|BINDING|SYNCING_A|SYNCING_B|TRANSFER"/>
       <field name="cyrf_status" type="uint8" values="UNINIT|IDLE|GET_MFG_ID|MULTIWRITE|CHAN_SOP_DATA_CRC|RX_IRQ_STATUS_PACKET"/>
+      <field name="packet_count" type="uint32"/>
+      <field name="bind_mfg_id" type="uint32"/>
       <field name="mfg_id" type="uint8[]"/>
   </message>
 

diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
@@ -18,6 +18,7 @@
       <message name="INS"                    period=".25"/>
       <message name="I2C_ERRORS"             period="4.1"/>
       <message name="UART_ERRORS"            period="3.1"/>
+      <message name="SUPERBITRF"             period="1."/>
     </mode>
 
     <mode name="ppm">
@@ -26,7 +27,6 @@
       <message name="RC"                       period="0.5"/>
       <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
       <message name="ROTORCRAFT_STATUS"        period="1"/>
-      <message name="SUPERBITRF"               period="0.5"/>
     </mode>
 
     <mode name="raw_sensors">

diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -140,6 +140,8 @@
     DOWNLINK_SEND_SUPERBITRF(_trans, _dev,              \
                       &superbitrf.status,               \
                       &superbitrf.cyrf6936.status,      \
+                      &superbitrf.packet_count,         \
+                      &superbitrf.packet_count,          \
                       6,                                \
                       superbitrf.cyrf6936.mfg_id);}
 #else

diff --git a/sw/airborne/peripherals/cyrf6936.c b/sw/airborne/peripherals/cyrf6936.c
@@ -28,6 +28,7 @@
 #include "mcu_periph/spi.h"
 #include "mcu_periph/gpio.h"
 #include "mcu_periph/gpio_arch.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/radio_control.h"
 
 #include "mcu_periph/uart.h"
@@ -40,28 +41,14 @@ static bool_t cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, co
 static bool_t cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr);
 static bool_t cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t length);
 
-//FIXME
-void Delay(uint32_t x);
-void Delay(uint32_t x)
-{
-    (void)x;
-    __asm ("mov r1, #24;"
-         "mul r0, r0, r1;"
-         "b _delaycmp;"
-         "_delayloop:"
-         "subs r0, r0, #1;"
-         "_delaycmp:;"
-         "cmp r0, #0;"
-         " bne _delayloop;");
-}
-
 /**
  * Initializing the cyrf chip
  */
 void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const uint8_t slave_idx, const uint32_t rst_port, const uint16_t rst_pin) {
   /* Set spi_peripheral and the status */
   cyrf->spi_p = spi_p;
   cyrf->status = CYRF6936_UNINIT;
+  cyrf->has_packet = FALSE;
 
   /* Set the spi transaction */
   cyrf->spi_t.cpol = SPICpolIdleLow;
@@ -78,12 +65,12 @@ void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const uint8_
   cyrf->spi_t.select = SPISelectUnselect;
   cyrf->spi_t.status = SPITransDone;
 
-  /* Reset the CYRF6936 chip */
+  /* Reset the CYRF6936 chip (busy waiting) */
   gpio_setup_output(rst_port, rst_pin);
   gpio_output_high(rst_port, rst_pin);
-  Delay(100);
+  sys_time_usleep(100);
   gpio_output_low(rst_port, rst_pin);
-  Delay(100);
+  sys_time_usleep(100);
 
   /* Get the MFG ID */
   cyrf->status = CYRF6936_GET_MFG_ID;
@@ -156,6 +143,10 @@ void cyrf6936_event(struct Cyrf6936 *cyrf) {
         ((uint8_t (*)[2])cyrf->buffer)[cyrf->buffer_idx][1]);
     break;
 
+  /* Do a write of the data code */
+  case CYRF6936_DATA_CODE:
+    break;
+
   /* Do a write of channel, sop, data and crc */
   case CYRF6936_CHAN_SOP_DATA_CRC:
     // When the last transaction isn't failed send the next
@@ -213,6 +204,7 @@ void cyrf6936_event(struct Cyrf6936 *cyrf) {
       for(i = 0; i < 16; i++)
         cyrf->rx_packet[i] = cyrf->input_buf[i+1];
 
+      cyrf->has_packet = TRUE;
       cyrf->status = CYRF6936_IDLE;
       break;
     }
@@ -276,6 +268,15 @@ static bool_t cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, con
   return spi_submit(cyrf->spi_p, &(cyrf->spi_t));
 }
 
+/**
+ * Write to one register
+ */
+bool_t cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data) {
+  const uint8_t data_multi[][2] = {
+      {addr, data}
+  };
+  return cyrf6936_multi_write(cyrf, data_multi, 1);
+}
 
 /**
  * Write to multiple registers one byte

diff --git a/sw/airborne/peripherals/cyrf6936.h b/sw/airborne/peripherals/cyrf6936.h
@@ -38,6 +38,7 @@ enum Cyrf6936Status {
   CYRF6936_IDLE,                    /**< The chip is idle and can be used */
   CYRF6936_GET_MFG_ID,              /**< The chip is busy with getting the manufacturer ID */
   CYRF6936_MULTIWRITE,              /**< The chip is writing multiple registers */
+  CYRF6936_DATA_CODE,               /**< The chip is writing a data code */
   CYRF6936_CHAN_SOP_DATA_CRC,       /**< The chip is setting the channel, SOP code, DATA code and the CRC seed */
   CYRF6936_RX_IRQ_STATUS_PACKET     /**< The chip is getting the receive irq status, receive status and the receive packet */
 };
@@ -54,6 +55,7 @@ struct Cyrf6936 {
   uint8_t buffer_length;                    /**< The length of the buffer used for MULTIWRITE */
   uint8_t buffer_idx;                       /**< The index of the buffer used for MULTIWRITE and used as sub-status for other statuses */
 
+  bool_t has_packet;                        /**< When the CYRF6936 is done reading the receive registers */
   uint8_t mfg_id[6];                        /**< The manufacturer id of the CYRF6936 chip */
   uint8_t rx_irq_status;                    /**< The last receive interrupt status */
   uint8_t rx_status;                        /**< The last receive status */
@@ -63,6 +65,7 @@ struct Cyrf6936 {
 extern void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const uint8_t slave_idx, const uint32_t rst_port, const uint16_t rst_pin);
 void cyrf6936_event(struct Cyrf6936 *cyrf);
 
+bool_t cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data);
 bool_t cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], const uint8_t length);
 bool_t cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t chan, const uint8_t sop_code[], const uint8_t data_code[], const uint16_t crc_seed);
 bool_t cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf);