1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-05 13:24:11 +01:00
LibrePilot/flight/pios/common/pios_gcsrcvr.c

195 lines
5.3 KiB
C
Raw Normal View History

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions
* @brief Code to read the channels within the GCS Receiver UAVObject
* @{
*
* @file pios_gcsrcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GCS Input functions (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_GCSRCVR
#include "uavobjectmanager.h"
#include "pios_gcsrcvr_priv.h"
static GCSReceiverData gcsreceiverdata;
/* Provide a RCVR driver */
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
2012-02-03 03:58:42 +01:00
static void PIOS_gcsrcvr_Supervisor(uint32_t ppm_id);
const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
.read = PIOS_GCSRCVR_Get,
};
2012-02-03 03:58:42 +01:00
/* Local Variables */
enum pios_gcsrcvr_dev_magic {
PIOS_GCSRCVR_DEV_MAGIC = 0xe9da5c56,
2012-02-03 03:58:42 +01:00
};
struct pios_gcsrcvr_dev {
enum pios_gcsrcvr_dev_magic magic;
2012-02-03 03:58:42 +01:00
uint8_t supv_timer;
bool Fresh;
2012-02-03 03:58:42 +01:00
};
static struct pios_gcsrcvr_dev *global_gcsrcvr_dev;
static bool PIOS_gcsrcvr_validate(struct pios_gcsrcvr_dev *gcsrcvr_dev)
{
return gcsrcvr_dev->magic == PIOS_GCSRCVR_DEV_MAGIC;
2012-02-03 03:58:42 +01:00
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
gcsrcvr_dev = (struct pios_gcsrcvr_dev *)pios_malloc(sizeof(*gcsrcvr_dev));
if (!gcsrcvr_dev) {
return NULL;
}
2012-02-03 03:58:42 +01:00
gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
gcsrcvr_dev->Fresh = false;
gcsrcvr_dev->supv_timer = 0;
2012-02-03 03:58:42 +01:00
/* The update callback cannot receive the device pointer, so set it in a global */
global_gcsrcvr_dev = gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
return gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
}
#else
static struct pios_gcsrcvr_dev pios_gcsrcvr_devs[PIOS_GCSRCVR_MAX_DEVS];
static uint8_t pios_gcsrcvr_num_devs;
static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
if (pios_gcsrcvr_num_devs >= PIOS_GCSRCVR_MAX_DEVS) {
return NULL;
}
2012-02-03 03:58:42 +01:00
gcsrcvr_dev = &pios_gcsrcvr_devs[pios_gcsrcvr_num_devs++];
gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
gcsrcvr_dev->Fresh = false;
gcsrcvr_dev->supv_timer = 0;
2012-02-03 03:58:42 +01:00
global_gcsrcvr_dev = gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
return gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
2012-02-03 03:58:42 +01:00
static void gcsreceiver_updated(UAVObjEvent *ev)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev = global_gcsrcvr_dev;
if (ev->obj == GCSReceiverHandle()) {
GCSReceiverGet(&gcsreceiverdata);
gcsrcvr_dev->Fresh = true;
}
}
extern int32_t PIOS_GCSRCVR_Init(__attribute__((unused)) uint32_t *gcsrcvr_id)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev;
2012-02-03 03:58:42 +01:00
/* Allocate the device structure */
gcsrcvr_dev = (struct pios_gcsrcvr_dev *)PIOS_gcsrcvr_alloc();
if (!gcsrcvr_dev) {
return -1;
}
2012-02-03 03:58:42 +01:00
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
/* Flush channels */
gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
2012-09-22 09:45:47 +02:00
/* Register uavobj callback */
GCSReceiverConnectCallback(gcsreceiver_updated);
2012-02-03 03:58:42 +01:00
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback(PIOS_gcsrcvr_Supervisor, (uint32_t)gcsrcvr_dev)) {
PIOS_DEBUG_Assert(0);
}
2012-02-03 03:58:42 +01:00
return 0;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_GCSRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel)
{
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return PIOS_RCVR_INVALID;
}
return gcsreceiverdata.Channel[channel];
}
static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id)
{
/* Recover our device context */
struct pios_gcsrcvr_dev *gcsrcvr_dev = (struct pios_gcsrcvr_dev *)gcsrcvr_id;
if (!PIOS_gcsrcvr_validate(gcsrcvr_dev)) {
/* Invalid device specified */
return;
}
/*
* RTC runs at 625Hz.
*/
if (++(gcsrcvr_dev->supv_timer) < (PIOS_GCSRCVR_TIMEOUT_MS * 1000 / 625)) {
return;
}
gcsrcvr_dev->supv_timer = 0;
if (!gcsrcvr_dev->Fresh) {
for (int32_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
}
gcsrcvr_dev->Fresh = false;
2012-02-03 03:58:42 +01:00
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}
* @}
*/