LibrePilot/flight/pios/inc/pios_rfm22b_priv.h

/**
 ******************************************************************************
 * @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 <uavobjectmanager.h>
#include <oplinkstatus.h>
#include "pios_rfm22b.h"

// ************************************

#define RFM22B_MAX_PACKET_LEN 64
#define RFM22B_NUM_CHANNELS   251

// External type definitions

typedef int16_t (*t_rfm22_TxDataByteCallback)(void);
typedef bool (*t_rfm22_RxDataCallback)(void *data, uint8_t len);
enum pios_rfm22b_dev_magic {
    PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};

enum pios_radio_state {
    RADIO_STATE_UNINITIALIZED,
    RADIO_STATE_INITIALIZING,
    RADIO_STATE_RX_MODE,
    RADIO_STATE_RX_DATA,
    RADIO_STATE_RX_FAILURE,
    RADIO_STATE_TX_START,
    RADIO_STATE_TX_DATA,
    RADIO_STATE_TX_FAILURE,
    RADIO_STATE_TIMEOUT,
    RADIO_STATE_ERROR,
    RADIO_STATE_FATAL_ERROR,

    RADIO_STATE_NUM_STATES // Must be last
};

enum pios_radio_event {
    RADIO_EVENT_DEFAULT,
    RADIO_EVENT_INT_RECEIVED,
    RADIO_EVENT_INITIALIZE,
    RADIO_EVENT_INITIALIZED,
    RADIO_EVENT_RX_MODE,
    RADIO_EVENT_RX_COMPLETE,
    RADIO_EVENT_TX_START,
    RADIO_EVENT_TIMEOUT,
    RADIO_EVENT_ERROR,
    RADIO_EVENT_FATAL_ERROR,

    RADIO_EVENT_NUM_EVENTS // Must be last
};

enum pios_rfm22b_state {
    RFM22B_STATE_INITIALIZING,
    RFM22B_STATE_TRANSITION,
    RFM22B_STATE_RX_WAIT,
    RFM22B_STATE_RX_WAIT_SYNC,
    RFM22B_STATE_RX_MODE,
    RFM22B_STATE_TX_MODE,
    RFM22B_STATE_TRANSMITTING,

    RFM22B_STATE_NUM_STATES // Must be last
};

#define RFM22B_RX_PACKET_STATS_LEN 4
enum pios_rfm22b_rx_packet_status {
    RADIO_GOOD_RX_PACKET      = 0x00,
    RADIO_CORRECTED_RX_PACKET = 0x01,
    RADIO_ERROR_RX_PACKET     = 0x2,
    RADIO_FAILURE_RX_PACKET   = 0x3
};

typedef struct {
    uint32_t pairID;
    int8_t   rssi;
    int8_t   afc_correction;
    uint8_t  lastContact;
} rfm22b_pair_stats;

enum pios_rfm22b_chip_power_state {
    RFM22B_IDLE_STATE    = 0x00,
    RFM22B_RX_STATE      = 0x01,
    RFM22B_TX_STATE      = 0x10,
    RFM22B_INVALID_STATE = 0x11
};

// Device Status
typedef union {
    struct {
        uint8_t state : 2;
        bool    frequency_error : 1;
        bool    header_error : 1;
        bool    rx_fifo_empty : 1;
        bool    fifo_underflow : 1;
        bool    fifo_overflow : 1;
    };
    uint8_t raw;
} rfm22b_device_status_reg;

// EzMAC Status
typedef union {
    struct {
        bool packet_sent : 1;
        bool packet_transmitting : 1;
        bool crc_error : 1;
        bool valid_packet_received : 1;
        bool packet_receiving : 1;
        bool packet_searching : 1;
        bool crc_is_all_ones : 1;
        bool reserved;
    };
    uint8_t raw;
} rfm22b_ezmac_status_reg;

// Interrrupt Status Register 1
typedef union {
    struct {
        bool crc_error : 1;
        bool valid_packet_received : 1;
        bool packet_sent_interrupt : 1;
        bool external_interrupt : 1;
        bool rx_fifo_almost_full : 1;
        bool tx_fifo_almost_empty : 1;
        bool tx_fifo_almost_full : 1;
        bool fifo_underoverflow_error : 1;
    };
    uint8_t raw;
} rfm22b_int_status_1;

// Interrupt Status Register 2
typedef union {
    struct {
        bool poweron_reset : 1;
        bool chip_ready : 1;
        bool low_battery_detect : 1;
        bool wakeup_timer : 1;
        bool rssi_above_threshold : 1;
        bool invalid_preamble_detected : 1;
        bool valid_preamble_detected : 1;
        bool sync_word_detected : 1;
    };
    uint8_t raw;
} rfm22b_int_status_2;

typedef struct {
    rfm22b_device_status_reg device_status;
    rfm22b_device_status_reg ezmac_status;
    rfm22b_int_status_1 int_status_1;
    rfm22b_int_status_2 int_status_2;
} rfm22b_device_status;

struct pios_rfm22b_dev {
    enum pios_rfm22b_dev_magic magic;
    struct pios_rfm22b_cfg     cfg;

    // The SPI bus information
    uint32_t    spi_id;
    uint32_t    slave_num;

    // Should this modem ack as a coordinator.
    bool        coordinator;

    // The device ID
    uint32_t    deviceID;

    // The coordinator ID (0 if this modem is a coordinator).
    uint32_t    coordinatorID;

    // The task handle
    xTaskHandle taskHandle;

    // ISR pending semaphore
    xSemaphoreHandle  isrPending;

    // The main COM callback functions.
    pios_com_callback rx_in_cb;
    uint32_t rx_in_context;
    pios_com_callback tx_out_cb;
    uint32_t tx_out_context;

    // The Aux COM callback functions.
    pios_com_callback aux_rx_in_cb;
    uint32_t aux_rx_in_context;
    pios_com_callback aux_tx_out_cb;
    uint32_t aux_tx_out_context;

    // Send next packet on primary or aux channel?
    bool     last_stream_sent;

    // the transmit power to use for data transmissions
    uint8_t  tx_power;

    // The RF datarate lookup index.
    uint8_t  datarate;

    // The radio state machine state
    enum pios_radio_state state;

    // The event queue handle
    xQueueHandle eventQueue;

    // The device status registers.
    rfm22b_device_status status_regs;

    // The error statistics counters
    uint16_t prev_rx_seq_num;
    uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];

    // The RFM22B state machine state
    enum pios_rfm22b_state rfm22b_state;

    // The packet statistics
    struct rfm22b_stats    stats;

    // Stats
    uint16_t errors;

    // RSSI in dBm
    int8_t   rssi_dBm;

    // The tx data packet
    uint8_t  tx_packet[RFM22B_MAX_PACKET_LEN];
    // The current tx packet
    uint8_t  *tx_packet_handle;
    // The tx data read index
    uint16_t tx_data_rd;
    // The tx data write index
    uint16_t tx_data_wr;
    // The tx packet sequence number
    uint16_t tx_seq;

    // The rx data packet
    uint8_t  rx_packet[RFM22B_MAX_PACKET_LEN];
    // The rx data packet
    uint8_t  *rx_packet_handle;
    // The receive buffer write index
    uint16_t rx_buffer_wr;
    // The receive buffer write index
    uint16_t rx_packet_len;

    // The PPM buffer
    int16_t  ppm[RFM22B_PPM_NUM_CHANNELS];
    // The PPM packet received callback.
    PPMReceivedCallback ppm_callback;
    // The PPM callback context
    uint32_t     ppm_context;

    // The id that the packet was received from
    uint32_t     rx_destination_id;
    // The maximum packet length (including header, etc.)
    uint8_t      max_packet_len;
    // The packet transmit time in ms.
    uint8_t      packet_time;
    // Do all packets originate from the coordinator modem?
    bool         one_way_link;
    // Should this modem send PPM data?
    bool         ppm_send_mode;
    // Should this modem receive PPM data?
    bool         ppm_recv_mode;
    // Are we sending / receiving only PPM data?
    bool         ppm_only_mode;

    // The base freq in Hertz
    uint32_t     base_freq;

    // The channel list
    uint8_t      channels[RFM22B_NUM_CHANNELS];
    // The number of frequency hopping channels.
    uint8_t      num_channels;
    // The frequency hopping step size
    float        frequency_step_size;
    // current frequency hop channel
    uint8_t      channel;
    // current frequency hop channel index
    uint8_t      channel_index;
    // afc correction reading (in Hz)
    int32_t      afc_correction_Hz;

    // The packet timers.
    portTickType packet_start_time;
    portTickType time_delta;
    portTickType last_contact;
};


// External function definitions

bool PIOS_RFM22_EXT_Int(void);
bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev);

// Global variable definitions

extern const struct pios_com_driver pios_rfm22b_com_driver;

#endif /* PIOS_RFM22B_PRIV_H */

/**
 * @}
 * @}
 */