LibrePilot/flight/PiOS/Common/pios_rfm22b.c

/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup   PIOS_RFM22B Radio Functions
 * @brief PIOS interface for for the RFM22B radio
 * @{
 *
 * @file       pios_rfm22b.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Implements a driver the the RFM22B driver
 * @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
 */

/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_RFM22B)

#include <packet_handler.h>

#include <pios_rfm22b_priv.h>

/* Provide a COM driver */
static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail);
static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail);

static uint8_t PIOS_RFM22B_send_packet(PHPacketHandle packet);
static void PIOS_RFM22B_receive_data(uint8_t *data, uint8_t len);

static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id);

const struct pios_com_driver pios_rfm22b_com_driver = {
	.set_baud   = PIOS_RFM22B_ChangeBaud,
	.tx_start   = PIOS_RFM22B_TxStart,
	.rx_start   = PIOS_RFM22B_RxStart,
	.bind_tx_cb = PIOS_RFM22B_RegisterTxCallback,
	.bind_rx_cb = PIOS_RFM22B_RegisterRxCallback,
};

enum pios_rfm22b_dev_magic {
	PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};

struct pios_rfm22b_dev {
	enum pios_rfm22b_dev_magic magic;
	const struct pios_rfm22b_cfg *cfg;

	uint32_t countdown_timer;

	pios_com_callback rx_in_cb;
	uint32_t rx_in_context;
	pios_com_callback tx_out_cb;
	uint32_t tx_out_context;

	PHInstHandle packet_handler;
	PHPacketHandle cur_tx_packet;
};

static bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
{
	return (rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}

#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
	struct pios_rfm22b_dev * rfm22b_dev;

	rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
	if (!rfm22b_dev) return(NULL);

	rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
	return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
	struct pios_rfm22b_dev * rfm22b_dev;

	if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
		return (NULL);
	}

	rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
	rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;

	return (rfm22b_dev);
}
#endif

/**
* Initialise an RFM22B device
*/
int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
{
	PIOS_DEBUG_Assert(rfm22b_id);
	PIOS_DEBUG_Assert(cfg);

	struct pios_rfm22b_dev * rfm22b_dev;

	// Allocate the device structure.
	rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
	if (!rfm22b_dev)
		return(-1);

	// Bind the configuration to the device instance
	rfm22b_dev->cfg = cfg;

	// Configure the packet handler.
	PacketHandlerConfig phcfg = {
		.txWinSize = cfg->txWinSize,
		.maxConnections = cfg->maxConnections,
		.id = cfg->id,
		.output_stream = PIOS_RFM22B_send_packet,
		.set_baud = 0,
		.data_handler = PIOS_RFM22B_receive_data,
		.receiver_handler = 0,
	};
	rfm22b_dev->packet_handler = PHInitialize(&phcfg);
	rfm22b_dev->cur_tx_packet = 0;

	// Configure the countdown timer and register the tick callback.
	rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->sendTimeout) / 0.625);
	if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_Timer_Callback, (uint32_t)rfm22b_dev)) {
		PIOS_DEBUG_Assert(0);
	}
  
	*rfm22b_id = (uint32_t)rfm22b_dev;

	return(0);
}

static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
{
	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;

	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
	PIOS_Assert(valid);

}

static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
{
	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;

	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
	PIOS_Assert(valid);

	// Get a TX packet if necessary
	PHPacketHandle p = rfm22b_dev->cur_tx_packet;
	if (p == NULL) {
		p = PHGetTXPacket(rfm22b_dev->packet_handler);

		// If we couldn't get a packet, we can't transmit anything.
		if (!p)
			return;

		// Initialize the packet.
		p->header.type = PACKET_TYPE_DATA;
		p->header.data_size = 0;
		rfm22b_dev->cur_tx_packet = p;
	}

	// Get some data.
	bool need_yield = false;
	uint16_t bytes_to_send = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data + p->header.data_size, PH_MAX_DATA - p->header.data_size, NULL, &need_yield);
	p->header.data_size += bytes_to_send;

	// Send the packet if the data size is over the minimum threshold.
	if (p->header.data_size >= rfm22b_dev->cfg->minPacketSize) {
		PHTransmitPacket(rfm22b_dev->packet_handler, p);
		rfm22b_dev->cur_tx_packet = NULL;

		// Reset the countdown timer.
		rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->sendTimeout) / 0.625);
	}
}

/**
* Changes the baud rate of the RFM22B peripheral without re-initialising.
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
{
	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;

	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
	PIOS_Assert(valid);

}

static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
{
	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;

	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
	PIOS_Assert(valid);

	/* 
	 * Order is important in these assignments since ISR uses _cb
	 * field to determine if it's ok to dereference _cb and _context
	 */
	rfm22b_dev->rx_in_context = context;
	rfm22b_dev->rx_in_cb = rx_in_cb;
}

static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
{
	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;

	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
	PIOS_Assert(valid);

	/* 
	 * Order is important in these assignments since ISR uses _cb
	 * field to determine if it's ok to dereference _cb and _context
	 */
	rfm22b_dev->tx_out_context = context;
	rfm22b_dev->tx_out_cb = tx_out_cb;
}

static uint8_t PIOS_RFM22B_send_packet(PHPacketHandle packet)
{
	PIOS_COM_SendBuffer(PIOS_COM_RADIO_TEMP, packet->data, packet->header.data_size);
	return 1;
}

static void PIOS_RFM22B_receive_data(uint8_t *data, uint8_t len)
{
}

static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id) {
	/* Recover our device context */
	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)dev_id;

	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
		/* Invalid device specified */
		return;
	}

	bool need_yield = false;
	if (rfm22b_dev->rx_in_cb) {
		uint8_t buf[16];
		uint32_t rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO_TEMP, buf, 16, 0);

		if (rx_bytes > 0)
			(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, buf, rx_bytes, NULL, &need_yield);
	}

#if defined(PIOS_INCLUDE_FREERTOS)
	if (need_yield)
		vPortYieldFromISR();
#endif	/* PIOS_INCLUDE_FREERTOS */

	/* 
	 * RTC runs at 625Hz.
	 */
	if(--rfm22b_dev->countdown_timer > 0)
		return;
	rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->sendTimeout) / 0.625);

	
	// Send the current packet if there is one.
	if (rfm22b_dev->cur_tx_packet) {
		PHTransmitPacket(rfm22b_dev->packet_handler, rfm22b_dev->cur_tx_packet);
		rfm22b_dev->cur_tx_packet = NULL;
	}

}

#endif

/**
  * @}
  * @}
  */