1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-14 21:23:52 +01:00
LibrePilot/flight/pios/common/pios_rcvr.c

154 lines
3.6 KiB
C
Raw Normal View History

#include "pios.h"
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr_priv.h>
enum pios_rcvr_dev_magic {
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};
struct pios_rcvr_dev {
enum pios_rcvr_dev_magic magic;
uint32_t lower_id;
const struct pios_rcvr_driver *driver;
};
static bool PIOS_RCVR_validate(struct pios_rcvr_dev *rcvr_dev)
{
return rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC;
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rcvr_dev *PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev *rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
if (!rcvr_dev) {
return NULL;
}
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return rcvr_dev;
}
#else
static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
static uint8_t pios_rcvr_num_devs;
static struct pios_rcvr_dev *PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev *rcvr_dev;
if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
return NULL;
}
rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return rcvr_dev;
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
/**
* Initialises RCVR layer
* \param[out] handle
* \param[in] driver
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t *rcvr_id, const struct pios_rcvr_driver *driver, uint32_t lower_id)
{
PIOS_DEBUG_Assert(rcvr_id);
PIOS_DEBUG_Assert(driver);
struct pios_rcvr_dev *rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)PIOS_RCVR_alloc();
if (!rcvr_dev) {
goto out_fail;
}
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = (uint32_t)rcvr_dev;
return 0;
out_fail:
return -1;
}
/**
* @brief Reads an input channel from the appropriate driver
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns Unitless input value
* @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
* @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
* @retval PIOS_RCVR_NODRIVER driver was not initialized
*/
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
// Publicly facing API uses channel 1 for first channel
if (channel == 0) {
return PIOS_RCVR_INVALID;
} else {
channel--;
}
if (rcvr_id == 0) {
return PIOS_RCVR_NODRIVER;
}
struct pios_rcvr_dev *rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
/**
* @brief Get a semaphore that signals when a new sample is available.
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns The semaphore, or NULL if not supported.
*/
xSemaphoreHandle PIOS_RCVR_GetSemaphore(uint32_t rcvr_id, uint8_t channel)
{
// Publicly facing API uses channel 1 for first channel
if (channel == 0) {
return NULL;
} else {
channel--;
}
if (rcvr_id == 0) {
return NULL;
}
struct pios_rcvr_dev *rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_Assert(0);
}
if (rcvr_dev->driver->get_semaphore) {
return rcvr_dev->driver->get_semaphore(rcvr_dev->lower_id, channel);
}
return NULL;
}
#endif /* PIOS_INCLUDE_RCVR */
/**
* @}
* @}
*/