资源
文件名: px4_ppm.md
标题 : 闫刚 ppm定时+单通道捕获中断
1. px4 io板的PPM配置
board/px4io/board_config.h
//配置PPM采集的定时器
#define HRT_TIMER 1 /* use timer1 for the HRT */
//配置PPM采集定时器的通道,通常是CCR
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
//配置PPM的输入管脚
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
2. 采集过程
/** PPM decoder state machine */
struct {
uint16_t last_edge; /**< last capture time */
uint16_t last_mark; /**< last significant edge */
uint16_t frame_start; /**< the frame width */
unsigned next_channel; /**< next channel index */
enum {
UNSYNCH = 0,
ARM,
ACTIVE,
INACTIVE
} phase;
} ppm;
//采集状态机
enum {
UNSYNCH = 0,
ARM, //已经捕获到PPM的信息
ACTIVE,
INACTIVE
} phase
3. 函数调用
hrt_tim_isr(int irq, void *context, void *arg)
-> hrt_ppm_decode(status);
-> uint16_t count = rCCR_PPM; //读取寄存器的值
-> if (width >= PPM_MIN_START) {
ppm.phase = ARM;
ppm_buffer[i] = ppm_temp_buffer[i]; //pwm值
}
-> case case UNSYNCH:
case ARM:
case INACTIVE:
controls.c
static bool
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
//原子操作,对和中断共享的数据,进行保护
irqstate_t state = px4_enter_critical_section();
//外部做超时判断
if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {
values[i] = ppm_buffer[i];
}
px4_leave_critical_section(state);
}