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195 lines
5.3 KiB
C
195 lines
5.3 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions
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* @brief Code to read the channels within the GCS Receiver UAVObject
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* @{
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*
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* @file pios_gcsrcvr.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GCS Input functions (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_GCSRCVR
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#include "uavobjectmanager.h"
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#include "pios_gcsrcvr_priv.h"
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static GCSReceiverData gcsreceiverdata;
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/* Provide a RCVR driver */
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static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
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static void PIOS_gcsrcvr_Supervisor(uint32_t ppm_id);
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const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
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.read = PIOS_GCSRCVR_Get,
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};
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/* Local Variables */
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enum pios_gcsrcvr_dev_magic {
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PIOS_GCSRCVR_DEV_MAGIC = 0xe9da5c56,
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};
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struct pios_gcsrcvr_dev {
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enum pios_gcsrcvr_dev_magic magic;
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uint8_t supv_timer;
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bool Fresh;
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};
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static struct pios_gcsrcvr_dev *global_gcsrcvr_dev;
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static bool PIOS_gcsrcvr_validate(struct pios_gcsrcvr_dev *gcsrcvr_dev)
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{
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return gcsrcvr_dev->magic == PIOS_GCSRCVR_DEV_MAGIC;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
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{
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struct pios_gcsrcvr_dev *gcsrcvr_dev;
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gcsrcvr_dev = (struct pios_gcsrcvr_dev *)pios_malloc(sizeof(*gcsrcvr_dev));
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if (!gcsrcvr_dev) {
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return NULL;
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}
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gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
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gcsrcvr_dev->Fresh = false;
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gcsrcvr_dev->supv_timer = 0;
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/* The update callback cannot receive the device pointer, so set it in a global */
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global_gcsrcvr_dev = gcsrcvr_dev;
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return gcsrcvr_dev;
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}
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#else
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static struct pios_gcsrcvr_dev pios_gcsrcvr_devs[PIOS_GCSRCVR_MAX_DEVS];
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static uint8_t pios_gcsrcvr_num_devs;
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static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
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{
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struct pios_gcsrcvr_dev *gcsrcvr_dev;
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if (pios_gcsrcvr_num_devs >= PIOS_GCSRCVR_MAX_DEVS) {
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return NULL;
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}
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gcsrcvr_dev = &pios_gcsrcvr_devs[pios_gcsrcvr_num_devs++];
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gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
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gcsrcvr_dev->Fresh = false;
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gcsrcvr_dev->supv_timer = 0;
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global_gcsrcvr_dev = gcsrcvr_dev;
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return gcsrcvr_dev;
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}
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#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
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static void gcsreceiver_updated(UAVObjEvent *ev)
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{
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struct pios_gcsrcvr_dev *gcsrcvr_dev = global_gcsrcvr_dev;
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if (ev->obj == GCSReceiverHandle()) {
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GCSReceiverGet(&gcsreceiverdata);
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gcsrcvr_dev->Fresh = true;
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}
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}
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extern int32_t PIOS_GCSRCVR_Init(__attribute__((unused)) uint32_t *gcsrcvr_id)
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{
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struct pios_gcsrcvr_dev *gcsrcvr_dev;
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/* Allocate the device structure */
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gcsrcvr_dev = (struct pios_gcsrcvr_dev *)PIOS_gcsrcvr_alloc();
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if (!gcsrcvr_dev) {
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return -1;
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}
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for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
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/* Flush channels */
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gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
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}
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/* Register uavobj callback */
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GCSReceiverConnectCallback(gcsreceiver_updated);
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/* Register the failsafe timer callback. */
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if (!PIOS_RTC_RegisterTickCallback(PIOS_gcsrcvr_Supervisor, (uint32_t)gcsrcvr_dev)) {
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PIOS_DEBUG_Assert(0);
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}
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return 0;
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}
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/**
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* Get the value of an input channel
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* \param[in] channel Number of the channel desired (zero based)
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* \output PIOS_RCVR_INVALID channel not available
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* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
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* \output >=0 channel value
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*/
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static int32_t PIOS_GCSRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel)
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{
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if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
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/* channel is out of range */
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return PIOS_RCVR_INVALID;
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}
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return gcsreceiverdata.Channel[channel];
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}
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static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id)
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{
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/* Recover our device context */
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struct pios_gcsrcvr_dev *gcsrcvr_dev = (struct pios_gcsrcvr_dev *)gcsrcvr_id;
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if (!PIOS_gcsrcvr_validate(gcsrcvr_dev)) {
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/* Invalid device specified */
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return;
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}
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/*
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* RTC runs at 625Hz.
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*/
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if (++(gcsrcvr_dev->supv_timer) < (PIOS_GCSRCVR_TIMEOUT_MS * 1000 / 625)) {
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return;
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}
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gcsrcvr_dev->supv_timer = 0;
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if (!gcsrcvr_dev->Fresh) {
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for (int32_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
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gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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gcsrcvr_dev->Fresh = false;
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}
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#endif /* PIOS_INCLUDE_GCSRCVR */
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/**
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* @}
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* @}
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*/
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