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https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-19 09:54:15 +01:00
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.
This commit is contained in:
parent
442d56c1c5
commit
6580462916
@ -865,7 +865,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
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#if defined(PIOS_INCLUDE_RCVR)
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#include "pios_rcvr_priv.h"
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uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
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struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
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uint32_t pios_rcvr_max_channel;
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#endif /* PIOS_INCLUDE_RCVR */
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@ -1040,28 +1040,32 @@ void PIOS_Board_Init(void) {
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case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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PIOS_PWM_Init();
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for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_pwm_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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uint32_t pios_pwm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif /* PIOS_INCLUDE_PWM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
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#if defined(PIOS_INCLUDE_PPM)
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PIOS_PPM_Init();
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for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_ppm_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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uint32_t pios_ppm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif /* PIOS_INCLUDE_PPM */
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break;
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@ -1069,30 +1073,34 @@ void PIOS_Board_Init(void) {
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
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hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
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for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_spektrum_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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}
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uint32_t pios_spektrum_rcvr_id;
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
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#if defined(PIOS_INCLUDE_SBUS)
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
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for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_sbus_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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}
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uint32_t pios_sbus_rcvr_id;
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if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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}
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#endif /* PIOS_INCLUDE_SBUS */
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break;
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@ -166,8 +166,9 @@ static void manualControlTask(void *parameters)
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// Read channel values in us
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for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
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if (pios_rcvr_channel_to_id_map[n]) {
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cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]);
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if (pios_rcvr_channel_to_id_map[n].id) {
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cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
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pios_rcvr_channel_to_id_map[n].channel);
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} else {
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cmd.Channel[n] = -1;
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}
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@ -975,7 +975,7 @@ static const struct stm32_gpio pios_debug_pins[] = {
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#if defined(PIOS_INCLUDE_RCVR)
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#include "pios_rcvr_priv.h"
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uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
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struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
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uint32_t pios_rcvr_max_channel;
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#endif /* PIOS_INCLUDE_RCVR */
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@ -1077,41 +1077,45 @@ void PIOS_Board_Init(void) {
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switch (manualcontrolsettings_inputmode) {
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case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
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#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
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#error More receiver inputs than available devices
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#endif
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PIOS_PWM_Init();
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for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_pwm_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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}
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PIOS_PWM_Init();
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uint32_t pios_pwm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif /* PIOS_INCLUDE_PWM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
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#if defined(PIOS_INCLUDE_PPM)
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#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
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#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
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#error More receiver inputs than available devices
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#endif
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PIOS_PPM_Init();
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for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_ppm_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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}
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PIOS_PPM_Init();
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uint32_t pios_ppm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif /* PIOS_INCLUDE_PPM */
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break;
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case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
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#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
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#error More receiver inputs than available devices
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#endif
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/* SPEKTRUM init must come before comms */
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@ -1121,14 +1125,16 @@ void PIOS_Board_Init(void) {
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if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
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if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
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&pios_spektrum_rcvr_driver,
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i)) {
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pios_rcvr_max_channel++;
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} else {
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PIOS_Assert(0);
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}
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uint32_t pios_spektrum_rcvr_id;
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
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PIOS_Assert(0);
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}
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for (uint8_t i = 0;
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i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
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i++) {
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
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pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
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pios_rcvr_max_channel++;
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}
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#endif
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break;
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@ -225,7 +225,8 @@ extern uint32_t pios_com_sbus_id;
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// PIOS_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 12
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#define PIOS_RCVR_MAX_DEVS 1
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#define PIOS_RCVR_MAX_CHANNELS 12
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//-------------------------
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// Receiver PPM input
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@ -198,7 +198,8 @@ extern uint32_t pios_com_sbus_id;
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// PIOS_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 12
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#define PIOS_RCVR_MAX_DEVS 1
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#define PIOS_RCVR_MAX_CHANNELS 12
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//-------------------------
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// Receiver PPM input
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@ -5,6 +5,16 @@
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#include <pios_rcvr_priv.h>
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enum pios_rcvr_dev_magic {
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PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
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};
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struct pios_rcvr_dev {
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enum pios_rcvr_dev_magic magic;
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uint32_t lower_id;
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const struct pios_rcvr_driver * driver;
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};
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static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
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{
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return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
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@ -56,8 +66,8 @@ int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * drive
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rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
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if (!rcvr_dev) goto out_fail;
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rcvr_dev->driver = driver;
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rcvr_dev->id = lower_id;
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rcvr_dev->driver = driver;
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rcvr_dev->lower_id = lower_id;
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*rcvr_id = (uint32_t)rcvr_dev;
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return(0);
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@ -66,7 +76,7 @@ out_fail:
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return(-1);
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}
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int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
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int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
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{
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struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
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@ -77,7 +87,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
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PIOS_DEBUG_Assert(rcvr_dev->driver->read);
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return rcvr_dev->driver->read(rcvr_dev->id);
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return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
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}
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#endif
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@ -35,7 +35,7 @@
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#if defined(PIOS_INCLUDE_PPM)
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/* Provide a RCVR driver */
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static int32_t PIOS_PPM_Get(uint32_t chan_id);
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static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
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const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
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.read = PIOS_PPM_Get,
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@ -160,13 +160,13 @@ void PIOS_PPM_Init(void)
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* \output -1 Channel not available
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* \output >0 Channel value
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*/
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static int32_t PIOS_PPM_Get(uint32_t chan_id)
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static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
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{
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/* Return error if channel not available */
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if (chan_id >= PIOS_PPM_NUM_INPUTS) {
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if (channel >= PIOS_PPM_NUM_INPUTS) {
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return -1;
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}
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return CaptureValue[chan_id];
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return CaptureValue[channel];
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}
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/**
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@ -35,7 +35,7 @@
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#if defined(PIOS_INCLUDE_PWM)
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/* Provide a RCVR driver */
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static int32_t PIOS_PWM_Get(uint32_t chan_id);
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static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
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const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
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.read = PIOS_PWM_Get,
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@ -140,13 +140,13 @@ void PIOS_PWM_Init(void)
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* \output -1 Channel not available
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* \output >0 Channel value
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*/
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static int32_t PIOS_PWM_Get(uint32_t chan_id)
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static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
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{
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/* Return error if channel not available */
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if (chan_id >= pios_pwm_cfg.num_channels) {
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if (channel >= pios_pwm_cfg.num_channels) {
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return -1;
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}
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return CaptureValue[chan_id];
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return CaptureValue[channel];
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}
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void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
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@ -37,7 +37,7 @@
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/* Global Variables */
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/* Provide a RCVR driver */
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static int32_t PIOS_SBUS_Get(uint32_t chan_id);
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static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
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const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
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.read = PIOS_SBUS_Get,
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@ -155,13 +155,13 @@ void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
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* \output -1 channel not available
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* \output >0 channel value
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*/
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static int32_t PIOS_SBUS_Get(uint32_t chan_id)
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static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
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{
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/* return error if channel is not available */
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if (chan_id >= SBUS_NUMBER_OF_CHANNELS) {
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if (channel >= SBUS_NUMBER_OF_CHANNELS) {
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return -1;
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}
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||||
return channel_data[chan_id];
|
||||
return channel_data[channel];
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -46,7 +46,7 @@
|
||||
/* Global Variables */
|
||||
|
||||
/* Provide a RCVR driver */
|
||||
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id);
|
||||
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
|
||||
|
||||
const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
|
||||
.read = PIOS_SPEKTRUM_Get,
|
||||
@ -82,13 +82,13 @@ void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
|
||||
* \output -1 Channel not available
|
||||
* \output >0 Channel value
|
||||
*/
|
||||
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
|
||||
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
|
||||
{
|
||||
/* Return error if channel not available */
|
||||
if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) {
|
||||
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
|
||||
return -1;
|
||||
}
|
||||
return CaptureValue[chan_id];
|
||||
return CaptureValue[channel];
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -31,15 +31,20 @@
|
||||
#ifndef PIOS_RCVR_H
|
||||
#define PIOS_RCVR_H
|
||||
|
||||
extern uint32_t pios_rcvr_channel_to_id_map[];
|
||||
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);
|
||||
int32_t (*read)(uint32_t id, uint8_t channel);
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id);
|
||||
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
|
||||
|
||||
#endif /* PIOS_RCVR_H */
|
||||
|
||||
|
@ -36,16 +36,6 @@
|
||||
|
||||
extern uint32_t pios_rcvr_max_channel;
|
||||
|
||||
enum pios_rcvr_dev_magic {
|
||||
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
|
||||
};
|
||||
|
||||
struct pios_rcvr_dev {
|
||||
enum pios_rcvr_dev_magic magic;
|
||||
uint32_t id;
|
||||
const struct pios_rcvr_driver * driver;
|
||||
};
|
||||
|
||||
extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
|
||||
|
||||
extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
|
||||
|
Loading…
x
Reference in New Issue
Block a user