Merge pull request #88 from scdwyer/dev-xtend

Added xtend_rssi module, pwm_meas and pwm_input mcu peripheral for lpc21xx arch

conf/messages.xml

@@ -546,7 +546,11 @@
 		<field name="AOA" type="float" unit="rad"></field>
 	</message>
 
- <!-- 70 is free -->
+  <message name="XTEND_RSSI" id="70">
+    <field name="datalink_time" type="uint16" unit="s"/>
+    <field name="rssi_fade_margin" type="uint8" unit="dB"/>
+    <field name="duty" type="uint8" unit="%"/>
+  </message>
  <!-- 71 is free -->
  <!-- 72 is free -->
  <!-- 73 is free -->

conf/modules/pwm_meas.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<!-- Currently only available on LPC21xx arch
+    pwm input measurement mcu periph access and init wrapper for other modules
+      For LPC21xx on the TWOG:
+      1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider)
+      2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
+-->
+<module name="pwm_meas" dir="core">
+  <header>
+    <file name="pwm_meas.h"/>
+  </header>
+  <init fun="pwm_meas_init()"/>
+  <makefile target="ap">
+    <file name="pwm_meas.c"/>
+    <file name="pwm_input.c" dir="mcu_periph"/>
+    <file_arch name="pwm_input_arch.c" dir="mcu_periph"/>
+    <define name="USE_PWM_INPUT"/> <!-- needed to enable the pwm_input interrupts in sys_time_hw.c -->
+  </makefile>
+</module>

conf/modules/xtend_rssi.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<!-- Currently only available on LPC21xx arch
+    Digi Xtend RSSI PWM Module
+    @configure XTEND_RSSI_PWM_INPUT_CHANNEL on which arch dep input the pwm line is connected
+      For LPC21xx on the TWOG:
+      1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider)
+      2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
+-->
+<module name="xtend_rssi" dir="datalink">
+  <depend require="pwm_meas.xml"/>
+  <header>
+    <file name="xtend_rssi.h"/>
+  </header>
+  <periodic fun="xtend_rssi_periodic()" freq="0.5"/>
+  <makefile target="ap">
+    <file name="xtend_rssi.c"/>
+    <define name="XTEND_RSSI_PWM_INPUT_CHANNEL" value="$(XTEND_RSSI_PWM_INPUT_CHANNEL)"/> <!-- configure the pwm input to be used in airframe file -->
+    <define name="USE_PWM_INPUT$(XTEND_RSSI_PWM_INPUT_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_HIGH"/> <!-- rssi signal is active high -->
+  </makefile>
+</module>
+

sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c

@@ -0,0 +1,150 @@
+/*  $Id$
+ *
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \brief handling of arm7 PWM input using a timer with capture
+ *
+ */
+
+#include "mcu_periph/pwm_input_arch.h"
+
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+//UPDATE THESE TO BE MORE ACCESSIBLE AND BE WARY OF EXISTING USAGE
+//POSSIBLY MAKE MORE INPUTS ACCESSIBLE
+#ifdef USE_PWM_INPUT1
+//INPUT CAPTURE CAP0.3 on P0.29
+#define PWM_INPUT1_PINSEL     PINSEL1
+#define PWM_INPUT1_PINSEL_BIT 26
+#define PWM_INPUT1_PINSEL_VAL (0x2 << PWM_INPUT1_PINSEL_BIT)
+#define PWM_INPUT1_PINSEL_MASK (0x3 <<PWM_INPUT1_PINSEL_BIT)
+#endif
+#ifdef USE_PWM_INPUT2
+//INPUT CAPTURE CAP0.0 on P0.30
+#define PWM_INPUT2_PINSEL     PINSEL1
+#define PWM_INPUT2_PINSEL_BIT 28
+#define PWM_INPUT2_PINSEL_VAL (0x3 << PWM_INPUT2_PINSEL_BIT)
+#define PWM_INPUT2_PINSEL_MASK (0x3 <<PWM_INPUT2_PINSEL_BIT)
+#endif
+
+void pwm_input_init ( void )
+{
+  // initialize the arrays to 0 to avoid junk
+  for (int i=0; i < PWM_INPUT_NB; i++)
+  {
+    pwm_input_duty_tics[i] = 0;
+    pwm_input_duty_valid[i] = 0;
+    pwm_input_period_tics[i] = 0;
+    pwm_input_period_valid[i] = 0;
+  }
+  /* select pin for capture */
+#ifdef USE_PWM_INPUT1
+  PWM_INPUT1_PINSEL = (PWM_INPUT1_PINSEL & ~PWM_INPUT1_PINSEL_MASK) | PWM_INPUT1_PINSEL_VAL;
+  //enable capture 0.3 on rising edge + trigger interrupt
+  T0CCR |= TCCR_CR3_R | TCCR_CR3_I;
+#endif
+#ifdef USE_PWM_INPUT2
+  PWM_INPUT2_PINSEL = (PWM_INPUT2_PINSEL & ~PWM_INPUT2_PINSEL_MASK) | PWM_INPUT2_PINSEL_VAL;
+  //enable capture 0.0 on rising edge + trigger interrupt
+  T0CCR |= TCCR_CR0_R | TCCR_CR0_I;
+#endif
+}
+
+//FIXME what about clock time overflow???
+#ifdef USE_PWM_INPUT1
+void pwm_input_isr1(void)
+{
+  static uint32_t t_rise;
+  static uint32_t t_fall;
+#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
+  static uint32_t t_oldrise = 0;
+#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
+  static uint32_t t_oldfall = 0;
+#endif
+
+  if (T0CCR & TCCR_CR3_F) {
+    t_fall = T0CR3;
+    T0CCR |= TCCR_CR3_R;
+    T0CCR &= ~TCCR_CR3_F;
+#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
+    pwm_input_duty_tics[0] = t_fall - t_rise;
+    pwm_input_duty_valid[0] = TRUE;
+#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_period_tics[0] = t_fall - t_oldfall;
+    pwm_input_period_valid[0] = TRUE;
+    t_oldfall = t_fall;
+#endif //ACTIVE_HIGH
+  } else if (T0CCR & TCCR_CR3_R) {
+    t_rise = T0CR3;
+    T0CCR |= TCCR_CR3_F;
+    T0CCR &= ~TCCR_CR3_R;
+#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duty_tics[0] = t_rise - t_fall;
+    pwm_input_duty_valid[0] = TRUE;
+#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
+    pwm_input_period_tics[0] = t_rise - t_oldrise;
+    pwm_input_period_valid[0] = TRUE;
+    t_oldrise = t_rise;
+#endif //ACTIVE_LOW
+  }
+}
+#endif //USE_PWM_INPUT1
+
+#ifdef USE_PWM_INPUT2
+void pwm_input_isr2(void)
+{
+  static uint32_t t_rise;
+  static uint32_t t_fall;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
+  static uint32_t t_oldrise = 0;
+#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+  static uint32_t t_oldfall = 0;
+#endif
+
+  if (T0CCR & TCCR_CR0_F) {
+    t_fall = T0CR0;
+    T0CCR |= TCCR_CR0_R;
+    T0CCR &= ~TCCR_CR0_F;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
+    pwm_input_duty_tics[1] = t_fall - t_rise;
+    pwm_input_duty_valid[1] = TRUE;
+#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_period_tics[1] = t_fall - t_oldfall;
+    pwm_input_period_valid[1] = TRUE;
+    t_oldfall = t_fall;
+#endif //ACTIVE_HIGH
+  } else if (T0CCR & TCCR_CR0_R) {
+    t_rise = T0CR0;
+    T0CCR |= TCCR_CR0_F;
+    T0CCR &= ~TCCR_CR0_R;
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+    pwm_input_duty_tics[1] = t_rise - t_fall;
+    pwm_input_duty_valid[1] = TRUE;
+#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
+    pwm_input_period_tics[1] = t_rise - t_oldrise;
+    pwm_input_period_valid[1] = TRUE;
+    t_oldrise = t_rise;
+#endif //ACTIVE_LOW
+  }
+}
+#endif //USE_PWM_INPUT2

sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.h

@@ -0,0 +1,51 @@
+/*  $Id$
+ *
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \brief handling of arm7 PWM input using a timer with capture
+ *
+ */
+
+#ifndef PWM_INPUT_ARCH_H
+#define PWM_INPUT_ARCH_H
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+#define PWM_INPUT_NB 2 //this is architecture dependent
+
+#include "mcu_periph/pwm_input.h"
+
+#ifdef USE_PWM_INPUT1
+extern void pwm_input_isr1(void);
+#define PWM_INPUT_IT1 TIR_CR3I
+#define PWM_INPUT_ISR_1() pwm_input_isr1()
+#endif //USE_PWM_INPUT1
+
+#ifdef USE_PWM_INPUT2
+extern void pwm_input_isr2(void);
+#define PWM_INPUT_IT2 TIR_CR0I
+#define PWM_INPUT_ISR_2() pwm_input_isr2()
+#endif //USE_PWM_INPUT2
+
+#endif /* PWM_INPUT_ARCH_H */