2011-06-13 02:04:49 +02:00
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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2011-10-21 23:44:09 +02:00
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* @addtogroup PIOS_SBus Futaba S.Bus receiver functions
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* @brief Code to read Futaba S.Bus receiver serial stream
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2011-06-13 02:04:49 +02:00
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* @{
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*
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* @file pios_sbus.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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2011-10-21 23:44:09 +02:00
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* @brief Code to read Futaba S.Bus receiver serial stream
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2011-06-13 02:04:49 +02:00
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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2013-05-19 16:37:30 +02:00
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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2011-06-13 02:04:49 +02:00
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* (at your option) any later version.
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2013-05-19 16:37:30 +02:00
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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2011-06-13 02:04:49 +02:00
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* for more details.
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2013-05-19 16:37:30 +02:00
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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2011-06-13 02:04:49 +02:00
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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2013-03-15 15:28:53 +01:00
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#ifdef PIOS_INCLUDE_SBUS
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#include "pios_sbus_priv.h"
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2011-06-18 22:19:57 +02:00
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2011-10-20 17:23:23 +02:00
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/* Forward Declarations */
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2011-10-21 23:44:09 +02:00
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static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel);
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static uint16_t PIOS_SBus_RxInCallback(uint32_t context,
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2013-05-19 16:37:30 +02:00
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uint8_t *buf,
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uint16_t buf_len,
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uint16_t *headroom,
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bool *need_yield);
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2011-10-21 23:44:09 +02:00
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static void PIOS_SBus_Supervisor(uint32_t sbus_id);
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2011-10-20 17:23:23 +02:00
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2011-06-25 15:27:28 +02:00
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2011-10-20 17:23:23 +02:00
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/* Local Variables */
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2011-06-25 15:27:28 +02:00
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const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
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2013-05-19 16:37:30 +02:00
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.read = PIOS_SBus_Get,
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2011-06-25 15:27:28 +02:00
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};
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2011-10-20 17:23:23 +02:00
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enum pios_sbus_dev_magic {
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2013-05-19 16:37:30 +02:00
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PIOS_SBUS_DEV_MAGIC = 0x53427573,
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2011-10-20 17:23:23 +02:00
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};
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2011-06-13 02:04:49 +02:00
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2011-10-20 17:23:23 +02:00
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struct pios_sbus_state {
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2013-05-19 16:37:30 +02:00
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uint16_t channel_data[PIOS_SBUS_NUM_INPUTS];
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uint8_t received_data[SBUS_FRAME_LENGTH - 2];
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uint8_t receive_timer;
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uint8_t failsafe_timer;
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uint8_t frame_found;
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uint8_t byte_count;
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2011-10-20 17:23:23 +02:00
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};
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struct pios_sbus_dev {
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2013-05-19 16:37:30 +02:00
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enum pios_sbus_dev_magic magic;
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const struct pios_sbus_cfg *cfg;
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struct pios_sbus_state state;
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2011-10-20 17:23:23 +02:00
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};
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/* Allocate S.Bus device descriptor */
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#if defined(PIOS_INCLUDE_FREERTOS)
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2011-10-21 23:44:09 +02:00
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static struct pios_sbus_dev *PIOS_SBus_Alloc(void)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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struct pios_sbus_dev *sbus_dev;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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sbus_dev = (struct pios_sbus_dev *)pvPortMalloc(sizeof(*sbus_dev));
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if (!sbus_dev) {
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return NULL;
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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sbus_dev->magic = PIOS_SBUS_DEV_MAGIC;
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return sbus_dev;
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2011-10-20 17:23:23 +02:00
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}
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#else
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static struct pios_sbus_dev pios_sbus_devs[PIOS_SBUS_MAX_DEVS];
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static uint8_t pios_sbus_num_devs;
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2011-10-21 23:44:09 +02:00
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static struct pios_sbus_dev *PIOS_SBus_Alloc(void)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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struct pios_sbus_dev *sbus_dev;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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if (pios_sbus_num_devs >= PIOS_SBUS_MAX_DEVS) {
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return NULL;
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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sbus_dev = &pios_sbus_devs[pios_sbus_num_devs++];
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sbus_dev->magic = PIOS_SBUS_DEV_MAGIC;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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return sbus_dev;
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2011-10-20 17:23:23 +02:00
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}
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2013-05-19 16:37:30 +02:00
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#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
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2011-10-20 17:23:23 +02:00
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/* Validate S.Bus device descriptor */
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2011-10-21 23:44:09 +02:00
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static bool PIOS_SBus_Validate(struct pios_sbus_dev *sbus_dev)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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return sbus_dev->magic == PIOS_SBUS_DEV_MAGIC;
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2011-10-20 17:23:23 +02:00
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}
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/* Reset channels in case of lost signal or explicit failsafe receiver flag */
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2011-10-21 23:44:09 +02:00
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static void PIOS_SBus_ResetChannels(struct pios_sbus_state *state)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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for (int i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) {
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state->channel_data[i] = PIOS_RCVR_TIMEOUT;
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}
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2011-10-20 17:23:23 +02:00
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}
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/* Reset S.Bus receiver state */
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2011-10-21 23:44:09 +02:00
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static void PIOS_SBus_ResetState(struct pios_sbus_state *state)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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state->receive_timer = 0;
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state->failsafe_timer = 0;
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state->frame_found = 0;
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PIOS_SBus_ResetChannels(state);
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2011-10-20 17:23:23 +02:00
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}
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/* Initialise S.Bus receiver interface */
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2011-10-21 23:44:09 +02:00
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int32_t PIOS_SBus_Init(uint32_t *sbus_id,
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2013-05-19 16:37:30 +02:00
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const struct pios_sbus_cfg *cfg,
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const struct pios_com_driver *driver,
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uint32_t lower_id)
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2011-10-20 17:23:23 +02:00
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{
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2013-05-19 16:37:30 +02:00
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PIOS_DEBUG_Assert(sbus_id);
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PIOS_DEBUG_Assert(cfg);
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PIOS_DEBUG_Assert(driver);
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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struct pios_sbus_dev *sbus_dev;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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sbus_dev = (struct pios_sbus_dev *)PIOS_SBus_Alloc();
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if (!sbus_dev) {
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goto out_fail;
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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/* Bind the configuration to the device instance */
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sbus_dev->cfg = cfg;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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PIOS_SBus_ResetState(&(sbus_dev->state));
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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*sbus_id = (uint32_t)sbus_dev;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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/* Enable inverter clock and enable the inverter */
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(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
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GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
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GPIO_WriteBit(cfg->inv.gpio, cfg->inv.init.GPIO_Pin, cfg->gpio_inv_enable);
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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/* Set comm driver callback */
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(driver->bind_rx_cb)(lower_id, PIOS_SBus_RxInCallback, *sbus_id);
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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if (!PIOS_RTC_RegisterTickCallback(PIOS_SBus_Supervisor, *sbus_id)) {
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PIOS_DEBUG_Assert(0);
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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return 0;
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2011-10-20 17:23:23 +02:00
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out_fail:
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2013-05-19 16:37:30 +02:00
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return -1;
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2011-10-20 17:23:23 +02:00
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}
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2011-07-03 01:25:35 +02:00
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2011-06-13 02:04:49 +02:00
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/**
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2011-10-20 17:23:23 +02:00
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* Get the value of an input channel
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* \param[in] channel Number of the channel desired (zero based)
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* \output PIOS_RCVR_INVALID channel not available
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* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
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2012-09-22 10:02:15 +02:00
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* \output >=0 channel value
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2011-06-13 02:04:49 +02:00
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*/
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2011-10-21 23:44:09 +02:00
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static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel)
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2011-06-18 22:19:57 +02:00
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{
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2013-05-19 16:37:30 +02:00
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struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)rcvr_id;
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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if (!PIOS_SBus_Validate(sbus_dev)) {
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return PIOS_RCVR_INVALID;
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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/* return error if channel is not available */
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if (channel >= PIOS_SBUS_NUM_INPUTS) {
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return PIOS_RCVR_INVALID;
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}
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2011-10-20 17:23:23 +02:00
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2013-05-19 16:37:30 +02:00
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return sbus_dev->state.channel_data[channel];
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2011-06-18 22:19:57 +02:00
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}
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2011-06-13 02:04:49 +02:00
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2011-06-18 22:19:57 +02:00
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/**
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2011-10-20 17:23:23 +02:00
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* Compute channel_data[] from received_data[].
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2011-09-11 21:04:03 +02:00
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* For efficiency it unrolls first 8 channels without loops and does the
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* same for other 8 channels. Also 2 discrete channels will be set.
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2011-06-18 22:19:57 +02:00
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*/
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2011-10-21 23:44:09 +02:00
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static void PIOS_SBus_UnrollChannels(struct pios_sbus_state *state)
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2011-06-18 22:19:57 +02:00
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{
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2013-05-19 16:37:30 +02:00
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uint8_t *s = state->received_data;
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uint16_t *d = state->channel_data;
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#define F(v, s) (((v) >> (s)) & 0x7ff)
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/* unroll channels 1-8 */
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*d++ = F(s[0] | s[1] << 8, 0);
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*d++ = F(s[1] | s[2] << 8, 3);
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*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
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*d++ = F(s[4] | s[5] << 8, 1);
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*d++ = F(s[5] | s[6] << 8, 4);
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*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
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*d++ = F(s[8] | s[9] << 8, 2);
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*d++ = F(s[9] | s[10] << 8, 5);
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/* unroll channels 9-16 */
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*d++ = F(s[11] | s[12] << 8, 0);
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*d++ = F(s[12] | s[13] << 8, 3);
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*d++ = F(s[13] | s[14] << 8 | s[15] << 16, 6);
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*d++ = F(s[15] | s[16] << 8, 1);
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*d++ = F(s[16] | s[17] << 8, 4);
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*d++ = F(s[17] | s[18] << 8 | s[19] << 16, 7);
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*d++ = F(s[19] | s[20] << 8, 2);
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*d++ = F(s[20] | s[21] << 8, 5);
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/* unroll discrete channels 17 and 18 */
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*d++ = (s[22] & SBUS_FLAG_DC1) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
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*d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
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2011-06-18 22:19:57 +02:00
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}
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2011-06-13 02:04:49 +02:00
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2011-10-20 17:23:23 +02:00
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/* Update decoder state processing input byte from the S.Bus stream */
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2011-10-21 23:44:09 +02:00
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static void PIOS_SBus_UpdateState(struct pios_sbus_state *state, uint8_t b)
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2011-06-13 02:04:49 +02:00
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{
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2013-05-19 16:37:30 +02:00
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/* should not process any data until new frame is found */
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if (!state->frame_found) {
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return;
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}
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if (state->byte_count == 0) {
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if (b != SBUS_SOF_BYTE) {
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/* discard the whole frame if the 1st byte is not correct */
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state->frame_found = 0;
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} else {
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/* do not store the SOF byte */
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state->byte_count++;
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}
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return;
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}
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/* do not store last frame byte as well */
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if (state->byte_count < SBUS_FRAME_LENGTH - 1) {
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/* store next byte */
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state->received_data[state->byte_count - 1] = b;
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state->byte_count++;
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} else {
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if (b == SBUS_EOF_BYTE) {
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/* full frame received */
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uint8_t flags = state->received_data[SBUS_FRAME_LENGTH - 3];
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if (flags & SBUS_FLAG_FL) {
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/* frame lost, do not update */
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} else if (flags & SBUS_FLAG_FS) {
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/* failsafe flag active */
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PIOS_SBus_ResetChannels(state);
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} else {
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/* data looking good */
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PIOS_SBus_UnrollChannels(state);
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state->failsafe_timer = 0;
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}
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} else {
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/* discard whole frame */
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}
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/* prepare for the next frame */
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state->frame_found = 0;
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}
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2011-06-13 02:04:49 +02:00
|
|
|
}
|
|
|
|
|
2011-10-20 17:23:23 +02:00
|
|
|
/* Comm byte received callback */
|
2011-10-21 23:44:09 +02:00
|
|
|
static uint16_t PIOS_SBus_RxInCallback(uint32_t context,
|
2013-05-19 16:37:30 +02:00
|
|
|
uint8_t *buf,
|
|
|
|
uint16_t buf_len,
|
|
|
|
uint16_t *headroom,
|
|
|
|
bool *need_yield)
|
2011-07-26 06:27:03 +02:00
|
|
|
{
|
2013-05-19 16:37:30 +02:00
|
|
|
struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)context;
|
|
|
|
|
|
|
|
bool valid = PIOS_SBus_Validate(sbus_dev);
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
PIOS_Assert(valid);
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
struct pios_sbus_state *state = &(sbus_dev->state);
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/* process byte(s) and clear receive timer */
|
|
|
|
for (uint8_t i = 0; i < buf_len; i++) {
|
|
|
|
PIOS_SBus_UpdateState(state, buf[i]);
|
|
|
|
state->receive_timer = 0;
|
|
|
|
}
|
2011-07-26 06:27:03 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/* Always signal that we can accept another byte */
|
|
|
|
if (headroom) {
|
|
|
|
*headroom = SBUS_FRAME_LENGTH;
|
|
|
|
}
|
2011-07-26 06:27:03 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/* We never need a yield */
|
|
|
|
*need_yield = false;
|
2011-07-26 06:27:03 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/* Always indicate that all bytes were consumed */
|
|
|
|
return buf_len;
|
2011-06-19 13:30:13 +02:00
|
|
|
}
|
|
|
|
|
2011-06-13 02:04:49 +02:00
|
|
|
/**
|
2011-06-19 13:30:13 +02:00
|
|
|
* Input data supervisor is called periodically and provides
|
2011-06-18 22:19:57 +02:00
|
|
|
* two functions: frame syncing and failsafe triggering.
|
|
|
|
*
|
2011-10-20 17:23:23 +02:00
|
|
|
* S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps.
|
|
|
|
* RTC timer is running at 625Hz (1.6ms). So with divider 2 it gives
|
|
|
|
* 3.2ms pause between frames which is good for both S.Bus frame rates.
|
2011-06-18 22:19:57 +02:00
|
|
|
*
|
|
|
|
* Data receive function must clear the receive_timer to confirm new
|
|
|
|
* data reception. If no new data received in 100ms, we must call the
|
|
|
|
* failsafe function which clears all channels.
|
2011-06-13 02:04:49 +02:00
|
|
|
*/
|
2011-10-21 23:44:09 +02:00
|
|
|
static void PIOS_SBus_Supervisor(uint32_t sbus_id)
|
2011-06-18 22:19:57 +02:00
|
|
|
{
|
2013-05-19 16:37:30 +02:00
|
|
|
struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)sbus_id;
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
bool valid = PIOS_SBus_Validate(sbus_dev);
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
PIOS_Assert(valid);
|
2011-10-20 17:23:23 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
struct pios_sbus_state *state = &(sbus_dev->state);
|
2011-06-18 22:19:57 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/* waiting for new frame if no bytes were received in 3.2ms */
|
|
|
|
if (++state->receive_timer > 2) {
|
|
|
|
state->frame_found = 1;
|
|
|
|
state->byte_count = 0;
|
|
|
|
state->receive_timer = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* activate failsafe if no frames have arrived in 102.4ms */
|
|
|
|
if (++state->failsafe_timer > 64) {
|
|
|
|
PIOS_SBus_ResetChannels(state);
|
|
|
|
state->failsafe_timer = 0;
|
|
|
|
}
|
2011-06-13 02:04:49 +02:00
|
|
|
}
|
|
|
|
|
2013-03-15 15:28:53 +01:00
|
|
|
#endif /* PIOS_INCLUDE_SBUS */
|
2011-06-13 02:04:49 +02:00
|
|
|
|
2013-05-19 16:37:30 +02:00
|
|
|
/**
|
2011-06-18 22:19:57 +02:00
|
|
|
* @}
|
|
|
|
* @}
|
|
|
|
*/
|