Added framework for rfm22b com device.

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -154,11 +154,13 @@ extern uint32_t pios_com_vcp_usb_id;
 extern uint32_t pios_com_usart1_id;
 extern uint32_t pios_com_usart2_id;
 extern uint32_t pios_com_usart3_id;
+extern uint32_t pios_com_rfm22b_id;
 #define PIOS_COM_TELEM_SERIAL           (pios_com_usart1_id)
 #define PIOS_COM_DEBUG                  (pios_com_usart2_id)
 #define PIOS_COM_FLEXI                  (pios_com_usart3_id)
 #define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
 #define PIOS_COM_VCP_USB                (pios_com_vcp_usb_id)
+#define PIOS_COM_RFM22B_RF              (pios_com_rfm22b_id)
 
 //------------------------
 // PIOS_RCVR

flight/PiOS/Common/pios_rfm22b.c

@@ -0,0 +1,241 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RFM22B Radio Functions
+ * @brief PIOS interface for for the RFM22B radio
+ * @{
+ *
+ * @file       pios_rfm22b.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Implements a driver the the RFM22B driver
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_RFM22B)
+
+#include <pios_rfm22b_priv.h>
+
+/* Provide a COM driver */
+static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
+static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
+static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context);
+static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail);
+static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail);
+
+static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id);
+
+const struct pios_com_driver pios_rfm22b_com_driver = {
+	.set_baud   = PIOS_RFM22B_ChangeBaud,
+	.tx_start   = PIOS_RFM22B_TxStart,
+	.rx_start   = PIOS_RFM22B_RxStart,
+	.bind_tx_cb = PIOS_RFM22B_RegisterTxCallback,
+	.bind_rx_cb = PIOS_RFM22B_RegisterRxCallback,
+};
+
+enum pios_rfm22b_dev_magic {
+	PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
+};
+
+struct pios_rfm22b_dev {
+	enum pios_rfm22b_dev_magic magic;
+	const struct pios_rfm22b_cfg *cfg;
+
+	uint32_t countdown_timer;
+
+	pios_com_callback rx_in_cb;
+	uint32_t rx_in_context;
+	pios_com_callback tx_out_cb;
+	uint32_t tx_out_context;
+
+	uint32_t rx_dropped;
+};
+
+static bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
+{
+	return (rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
+{
+	struct pios_rfm22b_dev * rfm22b_dev;
+
+	rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
+	if (!rfm22b_dev) return(NULL);
+
+	rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
+	return(rfm22b_dev);
+}
+#else
+static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
+static uint8_t pios_rfm22b_num_devs;
+static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
+{
+	struct pios_rfm22b_dev * rfm22b_dev;
+
+	if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
+		return (NULL);
+	}
+
+	rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
+	rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
+
+	return (rfm22b_dev);
+}
+#endif
+
+/**
+* Initialise an RFM22B device
+*/
+int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
+{
+	PIOS_DEBUG_Assert(rfm22b_id);
+	PIOS_DEBUG_Assert(cfg);
+
+	struct pios_rfm22b_dev * rfm22b_dev;
+
+	rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
+	if (!rfm22b_dev)
+		return(-1);
+
+	/* Bind the configuration to the device instance */
+	rfm22b_dev->cfg = cfg;
+
+	/* Configure the countdown timer and register the tick callback. */
+	rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->send_timeout) / 0.625);
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_Timer_Callback, (uint32_t)rfm22b_dev)) {
+		PIOS_DEBUG_Assert(0);
+	}
+  
+	*rfm22b_id = (uint32_t)rfm22b_dev;
+
+	return(0);
+}
+
+static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
+{
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
+	PIOS_Assert(valid);
+
+#ifdef NEVER
+	RFM22B_ITConfig(rfm22b_dev->cfg->regs, RFM22B_IT_RXNE, ENABLE);
+#endif
+}
+static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
+{
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
+	PIOS_Assert(valid);
+
+#ifdef NEVER
+	RFM22B_ITConfig(rfm22b_dev->cfg->regs, RFM22B_IT_TXE, ENABLE);
+#endif
+}
+
+/**
+* Changes the baud rate of the RFM22B peripheral without re-initialising.
+* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
+* \param[in] baud Requested baud rate
+*/
+static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
+{
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
+	PIOS_Assert(valid);
+
+#ifdef NEVER
+	RFM22B_InitTypeDef RFM22B_InitStructure;
+
+	/* Start with a copy of the default configuration for the peripheral */
+	RFM22B_InitStructure = rfm22b_dev->cfg->init;
+
+	/* Adjust the baud rate */
+	RFM22B_InitStructure.RFM22B_BaudRate = baud;
+
+	/* Write back the new configuration */
+	RFM22B_Init(rfm22b_dev->cfg->regs, &RFM22B_InitStructure);
+#endif
+}
+
+static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
+{
+#ifdef NEVER
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
+	PIOS_Assert(valid);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	rfm22b_dev->rx_in_context = context;
+	rfm22b_dev->rx_in_cb = rx_in_cb;
+#endif
+}
+
+static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
+{
+#ifdef NEVER
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	bool valid = PIOS_RFM22B_validate(rfm22b_dev);
+	PIOS_Assert(valid);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	rfm22b_dev->tx_out_context = context;
+	rfm22b_dev->tx_out_cb = tx_out_cb;
+#endif
+}
+
+static void PIOS_RFM22B_Timer_Callback(uint32_t dev_id) {
+	/* Recover our device context */
+	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)dev_id;
+
+	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
+		/* Invalid device specified */
+		return;
+	}
+
+	/* 
+	 * RTC runs at 625Hz.
+	 */
+	if(--rfm22b_dev->countdown_timer > 0)
+		return;
+	rfm22b_dev->countdown_timer = (uint32_t)((float)(rfm22b_dev->cfg->send_timeout) / 0.625);
+	PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r");
+}
+
+#endif
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_rfm22b.h

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RFM22B Radio Functions
+ * @brief PIOS interface for RFM22B Radio
+ * @{
+ *
+ * @file       pios_rfm22b.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      RFM22B functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RFM22B_H
+#define PIOS_RFM22B_H
+
+/* Global Types */
+/* Public Functions */
+
+#endif /* PIOS_RFM22B_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_rfm22b_priv.h

@@ -0,0 +1,51 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RFM22B Radio Functions
+ * @brief PIOS interface for RFM22B Radio
+ * @{
+ *
+ * @file       pios_rfm22b_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      RFM22B private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RFM22B_PRIV_H
+#define PIOS_RFM22B_PRIV_H
+
+#include <pios.h>
+#include "fifo_buffer.h"
+#include "pios_rfm22b.h"
+
+extern const struct pios_com_driver pios_rfm22b_com_driver;
+
+struct pios_rfm22b_cfg {
+	uint32_t send_timeout;
+};
+
+extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, const struct pios_rfm22b_cfg *cfg);
+
+#endif /* PIOS_RFM22B_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PipXtreme/Makefile

@@ -215,6 +215,7 @@ SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
+SRC += $(PIOSCOMMON)/pios_rfm22b.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c

flight/PipXtreme/System/inc/pios_config.h

@@ -34,13 +34,12 @@
 #define PIOS_CONFIG_H
 
 /* Enable/Disable PiOS Modules */
-//#define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
-//#define PIOS_INCLUDE_I2C
+#define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
-
+#define PIOS_INCLUDE_RFM22B
 #define PIOS_INCLUDE_RCVR
 
 /* Supported receiver interfaces */
@@ -69,10 +68,6 @@
 //#define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_BL_HELPER
 
-#define PIOS_INCLUDE_FLASH
-
-#define PIOS_UAVTALK_DEBUG
-
 /* A really shitty setting saving implementation */
 //#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
 

flight/PipXtreme/System/pios_board.c

@@ -403,6 +403,9 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
 #define PIOS_COM_VCP_USB_RX_BUF_LEN 192
 #define PIOS_COM_VCP_USB_TX_BUF_LEN 192
 
+#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 192
+#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 192
+
 #if defined(PIOS_INCLUDE_RTC)
 /*
  * Realtime Clock (RTC)
@@ -612,6 +615,7 @@ uint32_t pios_com_vcp_usb_id;
 uint32_t pios_com_usart1_id;
 uint32_t pios_com_usart2_id;
 uint32_t pios_com_usart3_id;
+uint32_t pios_com_rfm22b_id;
 
 #if defined(PIOS_INCLUDE_USB)
 #include "pios_usb_priv.h"
@@ -662,6 +666,14 @@ const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
 };
 #endif	/* PIOS_INCLUDE_USB_CDC */
 
+#if defined(PIOS_INCLUDE_RFM22B)
+#include <pios_rfm22b_priv.h>
+
+const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
+	.send_timeout = 15, /* ms */
+};
+#endif /* PIOS_INCLUDE_RFM22B */
+
 /**
  * PIOS_Board_Init()
  * initializes all the core subsystems on this specific hardware
@@ -842,9 +854,28 @@ void PIOS_Board_Init(void) {
 			PIOS_Assert(0);
 		}
 	}
+#if defined(PIOS_INCLUDE_RFM22B)
+	/* Initalize the RFM22B radio COM device. */
+	{
+		uint32_t pios_rfm22b_id;
+		if (PIOS_RFM22B_Init(&pios_rfm22b_id, &pios_rfm22b_cfg)) {
+			PIOS_Assert(0);
+		}
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
+		if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
+											rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
+											tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif /* PIOS_INCLUDE_RFM22B */
 	PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r");
 	PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello Debug\n\r");
 	PIOS_COM_SendString(PIOS_COM_FLEXI, "Hello Flexi\n\r");
+	PIOS_COM_SendString(PIOS_COM_RFM22B_RF, "Hello RMF22B\n\r");
 
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);