/* Project Includes */ #include "pios.h" #if defined(PIOS_INCLUDE_RCVR) #include 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; }; static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) { return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); } #if defined(PIOS_INCLUDE_FREERTOS) 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) { 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 */ 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); struct pios_rcvr_dev * rcvr_dev; rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc(); if (!rcvr_dev) goto out_fail; rcvr_dev->driver = driver; rcvr_dev->lower_id = lower_id; *rcvr_id = (uint32_t)rcvr_dev; return(0); out_fail: return(-1); } int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) { 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) */ PIOS_Assert(0); } PIOS_DEBUG_Assert(rcvr_dev->driver->read); return rcvr_dev->driver->read(rcvr_dev->lower_id, channel); } #endif /** * @} * @} */