rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems

Browse Source
This commit is contained in:
Corvus Corax 2011-10-11 18:07:04 +02:00
parent 9cbb48417a
commit 425bc5abbe
4 changed files with 68 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/Modules/ManualControl/manualcontrol.c
View File

@ -456,7 +456,7 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
break;
}
ReceiverActivityActiveGroupSet(&group);
ReceiverActivityActiveGroupSet((uint8_t*)&group);
ReceiverActivityActiveChannelSet(&channel);
activity_updated = true;
}

12
flight/OpenPilot/System/pios_board_posix.c
View File

@ -33,11 +33,19 @@
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "manualcontrolsettings.h"
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif /* PIOS_INCLUDE_RCVR */
void Stack_Change() {
}

21
flight/PiOS.posix/inc/pios_rcvr.h
View File

@ -31,21 +31,24 @@
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
struct pios_rcvr_channel_map {
uint32_t id;
uint8_t channel;
};
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
};
#endif /* PIOS_RCVR_H */
/**

65
flight/PiOS.posix/posix/pios_rcvr.c
View File

@ -21,32 +21,39 @@ static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
if (!rcvr_dev) return (NULL);
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return(rcvr_dev);
}
//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)
static uint32_t PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
return (NULL);
return (PIOS_RCVR_MAX_DEVS+1);
}
rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return (rcvr_dev);
return (pios_rcvr_num_devs);
}
static struct pios_rcvr_dev * PIOS_RCVR_find_dev(uint32_t rcvr_dev_id)
{
if (!rcvr_dev_id) return NULL;
if (rcvr_dev_id>pios_rcvr_num_devs+1) return NULL;
return &pios_rcvr_devs[rcvr_dev_id-1];
}
#endif
/**
@ -56,35 +63,53 @@ static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
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);
uint32_t rcvr_dev_id;
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
rcvr_dev_id = PIOS_RCVR_alloc();
rcvr_dev = PIOS_RCVR_find_dev(rcvr_dev_id);
if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = pios_rcvr_num_devs - 1;
*rcvr_id = rcvr_dev_id;
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)
{
struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id];
// 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 = PIOS_RCVR_find_dev(rcvr_id);
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);