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LibrePilot/flight/PiOS/Common/pios_rcvr.c

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rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RCVR)
#include <pios_rcvr_priv.h>
rcvr: specify drivers for groups of channels Each channel was previously tracking a separate driver. Now, channels are grouped within a channel group to save RAM used for tracking and to better reflect how channels are actually mapped.
2011-07-15 03:52:07 +02:00
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;
};
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
{
return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
}
pios: allocate driver instance data from heap Allocate per-instance data for drivers from the heap rather than as static variables from the .data segment. This converts > 800 bytes of RAM from being always consumed as static data into being allocated from the heap only when a particular feature is enabled in the hwsettings object. A minimal config (no receivers, flexi port disabled, main port disabled) leaves 2448 bytes of free heap. That's our new baseline. Approximate RAM (heap) costs of enabling various features: + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers) + 108 PWM Rcvr + 152 PPM Rcvr + 112 Spektrum Rcvr + 24 S.Bus (Should be closer to 68 since driver is still using static memory) There are still some drivers that pre-allocate all of their memory as static data. It'll take some work to convert those over to dynamically allocating their instance data.
2011-09-01 04:35:03 +02:00
#if defined(PIOS_INCLUDE_FREERTOS)
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
pios: allocate driver instance data from heap Allocate per-instance data for drivers from the heap rather than as static variables from the .data segment. This converts > 800 bytes of RAM from being always consumed as static data into being allocated from the heap only when a particular feature is enabled in the hwsettings object. A minimal config (no receivers, flexi port disabled, main port disabled) leaves 2448 bytes of free heap. That's our new baseline. Approximate RAM (heap) costs of enabling various features: + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers) + 108 PWM Rcvr + 152 PPM Rcvr + 112 Spektrum Rcvr + 24 S.Bus (Should be closer to 68 since driver is still using static memory) There are still some drivers that pre-allocate all of their memory as static data. It'll take some work to convert those over to dynamically allocating their instance data.
2011-09-01 04:35:03 +02:00
rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
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
/**
* Initialises RCVR layer
* \param[out] handle
* \param[in] driver
* \param[in] id
* \return < 0 if initialisation failed
*/
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, uint32_t lower_id)
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
{
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: specify drivers for groups of channels Each channel was previously tracking a separate driver. Now, channels are grouped within a channel group to save RAM used for tracking and to better reflect how channels are actually mapped.
2011-07-15 03:52:07 +02:00
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
*rcvr_id = (uint32_t)rcvr_dev;
return(0);
out_fail:
return(-1);
}
rcvr: specify drivers for groups of channels Each channel was previously tracking a separate driver. Now, channels are grouped within a channel group to save RAM used for tracking and to better reflect how channels are actually mapped.
2011-07-15 03:52:07 +02:00
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
{
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) */
com: Move buffering out of USART/HID layer and into COM layer This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
2011-07-26 06:27:03 +02:00
PIOS_Assert(0);
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);
rcvr: specify drivers for groups of channels Each channel was previously tracking a separate driver. Now, channels are grouped within a channel group to save RAM used for tracking and to better reflect how channels are actually mapped.
2011-07-15 03:52:07 +02:00
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time.
2011-06-19 21:02:34 +02:00
}
#endif
/**
* @}
* @}
*/
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