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Merged in mindnever/librepilot/LP-484-refactoring_oplink_and_openlrs_rcvr_ppm_callbacks (pull request #392)

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LP-484 refactoring oplink and openlrs rcvr ppm callbacks

Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Vladimir Zidar <mr_w@mindnever.org>
Approved-by: Alessio Morale <alessiomorale@gmail.com>
Approved-by: Brian Webb <webbbn@gmail.com>
This commit is contained in:
Vladimir Zidar 2017-03-21 21:41:25 +00:00 committed by Lalanne Laurent
commit a1e84d5483
16 changed files with 97 additions and 153 deletions
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41
flight/pios/common/pios_openlrs.c
View File

@ -870,13 +870,8 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
rescaleChannels(openlrs_dev->ppm); rescaleChannels(openlrs_dev->ppm);
// Call the PPM received callback if it's available. // Call the PPM received callback if it's available.
if (openlrs_dev->openlrs_rcvr_id) {
#if defined(PIOS_INCLUDE_OPENLRS_RCVR)
PIOS_OpenLRS_Rcvr_UpdateChannels(openlrs_dev->openlrs_rcvr_id, openlrs_dev->ppm);
#endif
}
if (openlrs_dev->ppm_callback) { if (openlrs_dev->ppm_callback) {
openlrs_dev->ppm_callback(openlrs_dev->ppm); openlrs_dev->ppm_callback(openlrs_dev->ppm_context, openlrs_dev->ppm);
} }
} else { } else {
// Not PPM data. Push into serial RX buffer. // Not PPM data. Push into serial RX buffer.
@ -1084,31 +1079,13 @@ uint8_t PIOS_OpenLRS_RSSI_Get(void)
* PPM Code * PPM Code
*****************************************************************************/ *****************************************************************************/
/**
* Register a OpenLRS_Rcvr interface to inform of PPM packets
*
* @param[in] rfm22b_dev The RFM22B device ID.
* @param[in] rfm22b_rcvr_id The receiver device to inform of PPM packets
*/
void PIOS_OpenLRS_RegisterRcvr(uint32_t openlrs_id, uint32_t openlrs_rcvr_id)
{
struct pios_openlrs_dev *openlrs_dev =
(struct pios_openlrs_dev *)openlrs_id;
if (!pios_openlrs_validate(openlrs_dev)) {
return;
}
openlrs_dev->openlrs_rcvr_id = openlrs_rcvr_id;
}
/** /**
* Register a OpenLRS_Rcvr interface to inform of PPM packets using a generic callback. * Register a OpenLRS_Rcvr interface to inform of PPM packets using a generic callback.
* *
* @param[in] openlrs_id The OpenLRS device ID. * @param[in] openlrs_id The OpenLRS device ID.
* @param[in] callback The callback function. * @param[in] callback The callback function.
*/ */
void PIOS_OpenLRS_RegisterPPMCallback(uint32_t openlrs_id, PIOS_OpenLRS_PPMReceivedCallback callback) void PIOS_OpenLRS_RegisterPPMCallback(uint32_t openlrs_id, PIOS_OpenLRS_PPMReceivedCallback callback, uint32_t context)
{ {
struct pios_openlrs_dev *openlrs_dev = struct pios_openlrs_dev *openlrs_dev =
(struct pios_openlrs_dev *)openlrs_id; (struct pios_openlrs_dev *)openlrs_id;
@ -1117,6 +1094,11 @@ void PIOS_OpenLRS_RegisterPPMCallback(uint32_t openlrs_id, PIOS_OpenLRS_PPMRecei
return; return;
} }
/*
* Order is important in these assignments since openlrs_task uses ppm_callback
* field to determine if it's ok to dereference ppm_callback and ppm_context
*/
openlrs_dev->ppm_context = context;
openlrs_dev->ppm_callback = callback; openlrs_dev->ppm_callback = callback;
} }
@ -1166,12 +1148,13 @@ int32_t PIOS_OpenLRS_Init(uint32_t *openlrs_id, uint32_t spi_id,
} }
// Initialize the com callbacks. // Initialize the com callbacks.
openlrs_dev->rx_in_cb = NULL; openlrs_dev->rx_in_cb = NULL;
openlrs_dev->tx_out_cb = NULL; openlrs_dev->tx_out_cb = NULL;
// Initialize the "PPM" callback. // Initialize the "PPM" callback.
openlrs_dev->openlrs_rcvr_id = 0; openlrs_dev->ppm_context = 0;
openlrs_dev->ppm_callback = 0; openlrs_dev->ppm_callback = 0;
OPLinkSettingsInitialize(); OPLinkSettingsInitialize();
OPLinkStatusInitialize(); OPLinkStatusInitialize();

9
flight/pios/common/pios_openlrs_rcvr.c
View File

@ -44,6 +44,7 @@
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_OpenLRS_Rcvr_Get(uint32_t rcvr_id, uint8_t channel); static int32_t PIOS_OpenLRS_Rcvr_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t ppm_id); static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t ppm_id);
static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels);
const struct pios_rcvr_driver pios_openlrs_rcvr_driver = { const struct pios_rcvr_driver pios_openlrs_rcvr_driver = {
.read = PIOS_OpenLRS_Rcvr_Get, .read = PIOS_OpenLRS_Rcvr_Get,
@ -102,7 +103,7 @@ extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openl
OPLinkReceiverInitialize(); OPLinkReceiverInitialize();
*openlrs_rcvr_id = (uintptr_t)openlrs_rcvr_dev; *openlrs_rcvr_id = (uintptr_t)openlrs_rcvr_dev;
PIOS_OpenLRS_RegisterRcvr(openlrs_id, *openlrs_rcvr_id); PIOS_OpenLRS_RegisterPPMCallback(openlrs_id, PIOS_OpenLRS_Rcvr_ppm_callback, *openlrs_rcvr_id);
/* Register the failsafe timer callback. */ /* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback if (!PIOS_RTC_RegisterTickCallback
@ -118,7 +119,7 @@ extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openl
* PPM packet is received. This method stores the data locally as well * PPM packet is received. This method stores the data locally as well
* as sets the data into the OPLinkReceiver UAVO for visibility * as sets the data into the OPLinkReceiver UAVO for visibility
*/ */
int32_t PIOS_OpenLRS_Rcvr_UpdateChannels(uint32_t openlrs_rcvr_id, int16_t *channels) static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels)
{ {
/* Recover our device context */ /* Recover our device context */
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev = struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
@ -126,7 +127,7 @@ int32_t PIOS_OpenLRS_Rcvr_UpdateChannels(uint32_t openlrs_rcvr_id, int16_t *chan
if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) { if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
/* Invalid device specified */ /* Invalid device specified */
return -1; return;
} }
for (uint32_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) { for (uint32_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) {
@ -137,8 +138,6 @@ int32_t PIOS_OpenLRS_Rcvr_UpdateChannels(uint32_t openlrs_rcvr_id, int16_t *chan
// let supervisor know we have new data // let supervisor know we have new data
openlrs_rcvr_dev->fresh = true; openlrs_rcvr_dev->fresh = true;
return 0;
} }
/** /**

62
flight/pios/common/pios_oplinkrcvr.c
View File

@ -37,7 +37,6 @@
#include <oplinkstatus.h> #include <oplinkstatus.h>
#include <pios_oplinkrcvr_priv.h> #include <pios_oplinkrcvr_priv.h>
static OPLinkReceiverData oplinkreceiverdata;
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel); static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel);
@ -56,18 +55,34 @@ enum pios_oplinkrcvr_dev_magic {
struct pios_oplinkrcvr_dev { struct pios_oplinkrcvr_dev {
enum pios_oplinkrcvr_dev_magic magic; enum pios_oplinkrcvr_dev_magic magic;
uint8_t supv_timer; uint8_t supv_timer;
OPLinkReceiverData oplinkreceiverdata;
bool Fresh; bool Fresh;
}; };
static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev) static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
{ {
return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC; return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
} }
static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *channels)
{
/* Recover our device context */
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
/* Invalid device specified */
return;
}
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
}
OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
oplinkrcvr_dev->Fresh = true;
}
#if defined(PIOS_INCLUDE_FREERTOS) #if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void) static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
{ {
@ -82,9 +97,6 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
oplinkrcvr_dev->Fresh = false; oplinkrcvr_dev->Fresh = false;
oplinkrcvr_dev->supv_timer = 0; oplinkrcvr_dev->supv_timer = 0;
/* The update callback cannot receive the device pointer, so set it in a global */
global_oplinkrcvr_dev = oplinkrcvr_dev;
return oplinkrcvr_dev; return oplinkrcvr_dev;
} }
#else #else
@ -103,23 +115,11 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
oplinkrcvr_dev->Fresh = false; oplinkrcvr_dev->Fresh = false;
oplinkrcvr_dev->supv_timer = 0; oplinkrcvr_dev->supv_timer = 0;
global_oplinkrcvr_dev = oplinkrcvr_dev;
return oplinkrcvr_dev; return oplinkrcvr_dev;
} }
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */ #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
static void oplinkreceiver_updated(UAVObjEvent *ev) extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
if (ev->obj == OPLinkReceiverHandle()) {
OPLinkReceiverGet(&oplinkreceiverdata);
oplinkrcvr_dev->Fresh = true;
}
}
extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr_id)
{ {
struct pios_oplinkrcvr_dev *oplinkrcvr_dev; struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
@ -131,17 +131,19 @@ extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) { for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
/* Flush channels */ /* Flush channels */
oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT; oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
} }
/* Register uavobj callback */ /* Register ppm callback */
OPLinkReceiverConnectCallback(oplinkreceiver_updated); PIOS_RFM22B_SetPPMCallback(rfm22b_id, PIOS_oplinkrcvr_ppm_callback, (uint32_t)oplinkrcvr_dev);
/* Register the failsafe timer callback. */ /* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) { if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
*oplinkrcvr_id = (uint32_t)oplinkrcvr_dev;
return 0; return 0;
} }
@ -152,14 +154,22 @@ extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value * \output >=0 channel value
*/ */
static int32_t PIOS_OPLinkRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel) static int32_t PIOS_OPLinkRCVR_Get(uint32_t oplinkrcvr_id, uint8_t channel)
{ {
/* Recover our device context */
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
if (channel >= OPLINKRECEIVER_CHANNEL_NUMELEM) { if (channel >= OPLINKRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */ /* channel is out of range */
return PIOS_RCVR_INVALID; return PIOS_RCVR_INVALID;
} }
return oplinkreceiverdata.Channel[channel]; return oplinkrcvr_dev->oplinkreceiverdata.Channel[channel];
} }
static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id) static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
@ -182,7 +192,7 @@ static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
if (!oplinkrcvr_dev->Fresh) { if (!oplinkrcvr_dev->Fresh) {
for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) { for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT; oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
} }
} }

49
flight/pios/common/pios_rfm22b.c
View File

@ -407,39 +407,12 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
g_rfm22b_dev = rfm22b_dev; g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle // Store the SPI handle
rfm22b_dev->slave_num = slave_num; rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id; rfm22b_dev->spi_id = spi_id;
// Initialize our configuration parameters // Initialize our configuration parameters
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE; rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER; rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->coordinator = false;
rfm22b_dev->coordinatorID = 0;
// Initialize the com callbacks.
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
rfm22b_dev->aux_rx_in_cb = NULL;
rfm22b_dev->aux_tx_out_cb = NULL;
// Initialize the PPM callback.
rfm22b_dev->ppm_callback = NULL;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.afc_correction = 0;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->stats.tx_failure = 0;
// Set the frequency band // Set the frequency band
switch (band) { switch (band) {
@ -1123,7 +1096,7 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
* @param[in] rfm22b_dev The RFM22B device ID. * @param[in] rfm22b_dev The RFM22B device ID.
* @param[in] cb The callback function pointer. * @param[in] cb The callback function pointer.
*/ */
void PIOS_RFM22B_SetPPMCallback(uint32_t rfm22b_id, PPMReceivedCallback cb) void PIOS_RFM22B_SetPPMCallback(uint32_t rfm22b_id, PPMReceivedCallback cb, uint32_t cb_context)
{ {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@ -1131,6 +1104,11 @@ void PIOS_RFM22B_SetPPMCallback(uint32_t rfm22b_id, PPMReceivedCallback cb)
return; return;
} }
/*
* Order is important in these assignments since rfm22_task uses ppm_callback
* field to determine if it's ok to dereference ppm_callback and ppm_context
*/
rfm22b_dev->ppm_context = cb_context;
rfm22b_dev->ppm_callback = cb; rfm22b_dev->ppm_callback = cb;
} }
@ -2071,7 +2049,7 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
// Call the PPM received callback if it's available. // Call the PPM received callback if it's available.
if (radio_dev->ppm_callback) { if (radio_dev->ppm_callback) {
radio_dev->ppm_callback(radio_dev->ppm); radio_dev->ppm_callback(radio_dev->ppm_context, radio_dev->ppm);
} }
} }
} }
@ -2572,12 +2550,13 @@ static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
struct pios_rfm22b_dev *rfm22b_dev; struct pios_rfm22b_dev *rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pios_malloc(sizeof(*rfm22b_dev)); rfm22b_dev = (struct pios_rfm22b_dev *)pios_malloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) { if (!rfm22b_dev) {
return NULL; return NULL;
} }
memset(rfm22b_dev, 0, sizeof(*rfm22b_dev));
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC; rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return rfm22b_dev; return rfm22b_dev;
} }
#else #else
@ -2592,6 +2571,8 @@ static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
} }
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++]; rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
memset(rfm22b_dev, 0, sizeof(*rfm22b_dev));
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC; rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return rfm22b_dev; return rfm22b_dev;

5
flight/pios/inc/pios_openlrs.h
View File

@ -39,13 +39,12 @@ struct pios_openlrs_cfg {
enum gpio_direction gpio_direction; /* Definition comes from pios_rfm22b.h */ enum gpio_direction gpio_direction; /* Definition comes from pios_rfm22b.h */
}; };
typedef void (*PIOS_OpenLRS_PPMReceivedCallback)(const int16_t *channels); typedef void (*PIOS_OpenLRS_PPMReceivedCallback)(uint32_t context, const int16_t *channels);
extern int32_t PIOS_OpenLRS_Init(uint32_t *openlrs_id, uint32_t spi_id, extern int32_t PIOS_OpenLRS_Init(uint32_t *openlrs_id, uint32_t spi_id,
uint32_t slave_num, const struct pios_openlrs_cfg *cfg); uint32_t slave_num, const struct pios_openlrs_cfg *cfg);
extern void PIOS_OpenLRS_RegisterRcvr(uint32_t openlrs_id, uint32_t rfm22b_rcvr_id); extern void PIOS_OpenLRS_RegisterPPMCallback(uint32_t openlrs_id, PIOS_OpenLRS_PPMReceivedCallback callback, uint32_t context);
extern void PIOS_OpenLRS_RegisterPPMCallback(uint32_t openlrs_id, PIOS_OpenLRS_PPMReceivedCallback callback);
extern uint8_t PIOS_OpenLRS_RSSI_Get(void); extern uint8_t PIOS_OpenLRS_RSSI_Get(void);
#endif /* PIOS_OPENLRS_H */ #endif /* PIOS_OPENLRS_H */
/** /**

9
flight/pios/inc/pios_openlrs_priv.h
View File

@ -155,16 +155,15 @@ struct pios_openlrs_dev {
struct pios_semaphore *sema_isr; struct pios_semaphore *sema_isr;
// The PPM buffer // The PPM buffer
int16_t ppm[OPENLRS_PPM_NUM_CHANNELS]; int16_t ppm[OPENLRS_PPM_NUM_CHANNELS];
// RFM22B RCVR interface
uintptr_t openlrs_rcvr_id;
// PPM callback. // PPM callback.
PIOS_OpenLRS_PPMReceivedCallback ppm_callback; PIOS_OpenLRS_PPMReceivedCallback ppm_callback;
// PPM context
uint32_t ppm_context;
// Flag to indicate if link every acquired // Flag to indicate if link every acquired
bool link_acquired; bool link_acquired;
// Active bound information data // Active bound information data
struct bind_data bind_data; struct bind_data bind_data;

1
flight/pios/inc/pios_openlrs_rcvr_priv.h
View File

@ -37,7 +37,6 @@
extern const struct pios_rcvr_driver pios_openlrs_rcvr_driver; extern const struct pios_rcvr_driver pios_openlrs_rcvr_driver;
extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openlrs_id); extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openlrs_id);
extern int32_t PIOS_OpenLRS_Rcvr_UpdateChannels(uint32_t openlrs_rcvr_id, int16_t *channels);
#endif /* PIOS_OPENLRS_RCVR_PRIV_H */ #endif /* PIOS_OPENLRS_RCVR_PRIV_H */

2
flight/pios/inc/pios_oplinkrcvr_priv.h
View File

@ -35,7 +35,7 @@
extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver; extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver;
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id); extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id);
#endif /* PIOS_OPLINKRCVR_PRIV_H */ #endif /* PIOS_OPLINKRCVR_PRIV_H */

4
flight/pios/inc/pios_rfm22b.h
View File

@ -47,7 +47,7 @@ struct pios_rfm22b_cfg {
uint8_t slave_num; uint8_t slave_num;
enum gpio_direction gpio_direction; enum gpio_direction gpio_direction;
}; };
typedef void (*PPMReceivedCallback)(const int16_t *channels); typedef void (*PPMReceivedCallback)(uint32_t context, const int16_t *channels);
enum rfm22b_tx_power { enum rfm22b_tx_power {
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
@ -117,7 +117,7 @@ extern bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, uint8_t *p);
extern bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len); extern bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len);
extern pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id); extern pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id);
extern pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id); extern pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id);
extern void PIOS_RFM22B_SetPPMCallback(uint32_t rfm22b_id, PPMReceivedCallback cb); extern void PIOS_RFM22B_SetPPMCallback(uint32_t rfm22b_id, PPMReceivedCallback cb, uint32_t cb_context);
extern void PIOS_RFM22B_PPMSet(uint32_t rfm22b_id, int16_t *channels, uint8_t nchan); extern void PIOS_RFM22B_PPMSet(uint32_t rfm22b_id, int16_t *channels, uint8_t nchan);
extern void PIOS_RFM22B_PPMGet(uint32_t rfm22b_id, int16_t *channels, uint8_t nchan); extern void PIOS_RFM22B_PPMGet(uint32_t rfm22b_id, int16_t *channels, uint8_t nchan);

2
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -273,6 +273,8 @@ struct pios_rfm22b_dev {
int16_t ppm[RFM22B_PPM_NUM_CHANNELS]; int16_t ppm[RFM22B_PPM_NUM_CHANNELS];
// The PPM packet received callback. // The PPM packet received callback.
PPMReceivedCallback ppm_callback; PPMReceivedCallback ppm_callback;
// The PPM callback context
uint32_t ppm_context;
// The id that the packet was received from // The id that the packet was received from
uint32_t rx_destination_id; uint32_t rx_destination_id;

7
flight/pios/stm32f10x/pios_tim.c
View File

@ -103,6 +103,13 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg *cfg)
/* Enable Interrupts */ /* Enable Interrupts */
NVIC_Init(&cfg->irq.init); NVIC_Init(&cfg->irq.init);
/* Advanced TIM1 has additional IRQ */
if (cfg->timer == TIM1) {
NVIC_InitTypeDef init = cfg->irq.init;
init.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_Init(&init);
}
return 0; return 0;
} }

8
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -780,7 +780,6 @@ void PIOS_Board_Init(void)
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE); bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE); bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE); bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) { if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
/* Configure the RFM22B device. */ /* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev); const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
@ -829,11 +828,6 @@ void PIOS_Board_Init(void)
PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap); PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode); PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx power level */ /* Set the modem Tx power level */
switch (oplinkSettings.MaxRFPower) { switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125: case OPLINKSETTINGS_MAXRFPOWER_125:
@ -969,7 +963,7 @@ void PIOS_Board_Init(void)
{ {
OPLinkReceiverInitialize(); OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id; uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
uint32_t pios_oplinkrcvr_rcvr_id; uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0); PIOS_Assert(0);

3
flight/targets/boards/oplinkmini/firmware/Makefile
View File

@ -29,10 +29,9 @@ override USE_DSP_LIB := NO
# List of mandatory modules to include # List of mandatory modules to include
MODULES += RadioComBridge MODULES += RadioComBridge
MODULES += ComUsbBridge
# List of optional modules to include # List of optional modules to include
OPTMODULES = OPTMODULES = ComUsbBridge
# List C source files here (C dependencies are automatically generated). # List C source files here (C dependencies are automatically generated).
# Use file-extension c for "c-only"-files # Use file-extension c for "c-only"-files

12
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -122,7 +122,7 @@ static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg
// Forward definitions // Forward definitions
static void PIOS_Board_PPM_callback(const int16_t *channels); static void PIOS_Board_PPM_callback(uint32_t context, const int16_t *channels);
/** /**
* PIOS_Board_Init() * PIOS_Board_Init()
@ -384,6 +384,10 @@ void PIOS_Board_Init(void)
servo_count = 2; servo_count = 2;
PIOS_Servo_Init(&pios_servo_flexi_cfg); PIOS_Servo_Init(&pios_servo_flexi_cfg);
} }
// Set bank modes
PIOS_Servo_SetBankMode(0, PIOS_SERVO_BANK_MODE_PWM);
PIOS_Servo_SetBankMode(1, PIOS_SERVO_BANK_MODE_PWM);
#endif #endif
// Initialize out status object. // Initialize out status object.
@ -408,7 +412,7 @@ void PIOS_Board_Init(void)
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED; oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
PIOS_OpenLRS_Init(&openlrs_id, PIOS_RFM22_SPI_PORT, 0, openlrs_cfg); PIOS_OpenLRS_Init(&openlrs_id, PIOS_RFM22_SPI_PORT, 0, openlrs_cfg);
PIOS_OpenLRS_RegisterPPMCallback(openlrs_id, PIOS_Board_PPM_callback); PIOS_OpenLRS_RegisterPPMCallback(openlrs_id, PIOS_Board_PPM_callback, 0);
#endif /* PIOS_INCLUDE_OPENLRS */ #endif /* PIOS_INCLUDE_OPENLRS */
} else { } else {
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED; oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
@ -493,7 +497,7 @@ void PIOS_Board_Init(void)
/* Set the PPM callback if we should be receiving PPM. */ /* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) { if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback); PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback, 0);
} }
// Reinitialize the modem to affect the changes. // Reinitialize the modem to affect the changes.
@ -558,7 +562,7 @@ void PIOS_Board_Init(void)
#endif #endif
} }
static void PIOS_Board_PPM_callback(const int16_t *channels) static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, const int16_t *channels)
{ {
#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT) #if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
if (pios_ppm_out_id) { if (pios_ppm_out_id) {

18
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -391,16 +391,6 @@ static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg)
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
} }
static void PIOS_Board_PPM_callback(const int16_t *channels)
{
OPLinkReceiverData opl_rcvr;
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
opl_rcvr.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
}
OPLinkReceiverSet(&opl_rcvr);
}
/** /**
* PIOS_Board_Init() * PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware * initializes all the core subsystems on this specific hardware
@ -891,7 +881,6 @@ void PIOS_Board_Init(void)
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL)); (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) || bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL)); (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_only = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
bool is_enabled = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) && bool is_enabled = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) &&
((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs)); ((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs));
if (is_enabled) { if (is_enabled) {
@ -961,11 +950,6 @@ void PIOS_Board_Init(void)
PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap); PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode); PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx power level */ /* Set the modem Tx power level */
switch (oplinkSettings.MaxRFPower) { switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125: case OPLINKSETTINGS_MAXRFPOWER_125:
@ -1131,7 +1115,7 @@ void PIOS_Board_Init(void)
{ {
OPLinkReceiverInitialize(); OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id; uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
uint32_t pios_oplinkrcvr_rcvr_id; uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0); PIOS_Assert(0);

18
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -391,16 +391,6 @@ static void PIOS_Board_configure_hott(const struct pios_usart_cfg *usart_cfg, en
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id; pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id;
} }
static void PIOS_Board_PPM_callback(const int16_t *channels)
{
OPLinkReceiverData opl_rcvr;
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
opl_rcvr.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
}
OPLinkReceiverSet(&opl_rcvr);
}
/** /**
* PIOS_Board_Init() * PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware * initializes all the core subsystems on this specific hardware
@ -831,7 +821,6 @@ void PIOS_Board_Init(void)
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL)); (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) || bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL)); (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_only = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
bool is_enabled = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) && bool is_enabled = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) &&
((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs)); ((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs));
if (is_enabled) { if (is_enabled) {
@ -901,11 +890,6 @@ void PIOS_Board_Init(void)
PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap); PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode); PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx poer level */ /* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) { switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125: case OPLINKSETTINGS_MAXRFPOWER_125:
@ -1066,7 +1050,7 @@ void PIOS_Board_Init(void)
{ {
OPLinkReceiverInitialize(); OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id; uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
uint32_t pios_oplinkrcvr_rcvr_id; uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0); PIOS_Assert(0);