new spi protocol that supports PPM generation

diff --git a/commands.c b/commands.c
index 4389a6b7fa697187e56415ea51f59550b39d4fa6..083f85fa4fe17bb68f640a616ead8893fb7673b5 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -1313,6 +1313,7 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
        (void)data;
 
        spi_servo_bypass(0);
+       spi_servo_ppm(0);
 
        /* stress test: send many commands, no wait between each servo
         * of a series, and a variable delay between series */
@@ -1365,9 +1366,21 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
                printf_P(PSTR("\r\n"));
        }
 
+       printf_P(PSTR("PPM to servo\r\n"));
        spi_servo_bypass(0);
+       spi_servo_ppm(0);
 
-       printf_P(PSTR("PPM to servo\r\n"));
+       /* test PPM to servo (bypass) mode */
+       while (!cmdline_keypressed()) {
+               for (i = 0; i < 6; i++) {
+                       val = spi_servo_get(i);
+                       spi_servo_set(i, val);
+               }
+       }
+
+       printf_P(PSTR("PPM to (servo + PPM)\r\n"));
+       spi_servo_bypass(0);
+       spi_servo_ppm(1);
 
        /* test PPM to servo (bypass) mode */
        while (!cmdline_keypressed()) {

diff --git a/spi_servo.c b/spi_servo.c
index 69afed24ba1baf9741acbd6a29ecf0d660db45e3..6e1da056a731aba4ea0024715825263bb9ae4ea6 100644 (file)
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -28,10 +28,12 @@
 #define SPI_EVT_PERIOD (10000UL/SCHEDULER_UNIT)
 
 #define N_SERVO 6
-#define BYPASS_ENABLE 14
-#define BYPASS_DISABLE 15
+
+#define PPM_BIT    0x01
+#define BYPASS_BIT 0x02
+
 struct spi_servo_tx {
-       uint16_t servo[N_SERVO];
+       uint16_t servo[N_SERVO+1]; /* one more for control channel */
        uint16_t cmd_mask;
        uint8_t next_byte; /* next byte to send, 0 if nothing in pipe */
        uint8_t cur_idx;
@@ -51,9 +53,11 @@ static struct spi_servo_rx spi_servo_rx;
  * second one to 1. The first received byte contains the command number, and the
  * msb of the servo value. The second byte contains the lsb of the servo value.
  *
- * Commands 0 to NB_SERVO are to set the value of servo.
- * Command 14 is to enable bypass mode.
- * Command 15 is to disable bypass mode.
+ * Command 0 is only one byte long, it means "I have nothing to say".
+ * Commands 1 to N_SERVO (included) are to set the value of servo.
+ * Command N_SERVO+1 is:
+ * - to enable/disable ppm generation in place of last servo.
+ * - to enable/disable bypass mode
  */
 union spi_byte0 {
        uint8_t u8;
@@ -93,10 +97,7 @@ static void spi_send_one_servo(uint8_t num, uint16_t val)
        union spi_byte1 byte1;
 
        byte0.val_msb = val >> 7;
-       if (num < N_SERVO)
-               byte0.cmd_num = num + 1;
-       else
-               byte0.cmd_num = num;
+       byte0.cmd_num = num + 1;
        byte0.zero = 0;
        byte1.one = 1;
        byte1.val_lsb = val;
@@ -161,9 +162,7 @@ static void spi_servo_cb(void *arg)
        idx = spi_servo_tx.cur_idx;
        while (1) {
                idx++;
-               if (idx == N_SERVO)
-                       idx = BYPASS_ENABLE;
-               else if (idx >= sizeof(uint16_t) * 8)
+               if (idx > N_SERVO + 1)
                        idx = 0;
 
                if (spi_servo_tx.cmd_mask & (1 << (uint16_t)idx))
@@ -190,7 +189,7 @@ void spi_servo_init(void)
 
        scheduler_add_periodical_event_priority(&spi_servo_cb, NULL,
                                            SPI_EVT_PERIOD, SPI_PRIO);
-       spi_servo_set(BYPASS_DISABLE, 0);
+       spi_servo_bypass(1);
 }
 
 void spi_servo_set(uint8_t num, uint16_t val)
@@ -225,14 +224,26 @@ void spi_servo_bypass(uint8_t enable)
 {
        uint8_t flags;
 
-       if (enable) {
-               IRQ_LOCK(flags);
-               spi_servo_tx.cmd_mask |= (1 << BYPASS_ENABLE);
-               IRQ_UNLOCK(flags);
-       }
-       else {
-               IRQ_LOCK(flags);
-               spi_servo_tx.cmd_mask |= (1 << BYPASS_DISABLE);
-               IRQ_UNLOCK(flags);
-       }
+       IRQ_LOCK(flags);
+       spi_servo_tx.cmd_mask |= (1 << N_SERVO);
+       if (enable)
+               spi_servo_tx.servo[N_SERVO] |= BYPASS_BIT;
+       else
+               spi_servo_tx.servo[N_SERVO] &= (~BYPASS_BIT);
+       spi_servo_tx.cmd_mask |= (1 << N_SERVO);
+       IRQ_UNLOCK(flags);
+}
+
+void spi_servo_ppm(uint8_t enable)
+{
+       uint8_t flags;
+
+       IRQ_LOCK(flags);
+       spi_servo_tx.cmd_mask |= (1 << N_SERVO);
+       if (enable)
+               spi_servo_tx.servo[N_SERVO] |= PPM_BIT;
+       else
+               spi_servo_tx.servo[N_SERVO] &= (~PPM_BIT);
+       spi_servo_tx.cmd_mask |= (1 << N_SERVO);
+       IRQ_UNLOCK(flags);
 }

diff --git a/spi_servo.h b/spi_servo.h
index cca0b76b43d1b86d2bcf8ae53b8c0b1a9293ea90..7156166a57e3bdd4453938f990986565655abfa2 100644 (file)
--- a/spi_servo.h
+++ b/spi_servo.h
@@ -2,3 +2,4 @@ void spi_servo_init(void);
 void spi_servo_set(uint8_t num, uint16_t val);
 uint16_t spi_servo_get(uint8_t num);
 void spi_servo_bypass(uint8_t enable);
+void spi_servo_ppm(uint8_t enable);