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27822d0cd4
Now PipXtreme uses the same apps-defs.mk file as CopterControl. Next steps are F4 boards. Conflicts: flight/targets/PipXtreme/Makefile flight/targets/PipXtreme/System/inc/pios_config.h
134 lines
4.7 KiB
C
134 lines
4.7 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_RFM22B Radio Functions
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* @brief PIOS COM interface for for the RFM22B radio
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* @{
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*
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* @file pios_rfm22b_com.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Implements a driver the the RFM22B driver
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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_RFM22B_COM
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#include <pios_rfm22b_priv.h>
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/* Provide a COM driver */
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static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
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static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
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static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context);
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static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail);
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static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail);
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static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_com_id);
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/* Local variables */
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const struct pios_com_driver pios_rfm22b_com_driver = {
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.set_baud = PIOS_RFM22B_COM_ChangeBaud,
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.tx_start = PIOS_RFM22B_COM_TxStart,
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.rx_start = PIOS_RFM22B_COM_RxStart,
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.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
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.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
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.available = PIOS_RFM22B_COM_Available
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};
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/**
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* Changes the baud rate of the RFM22B peripheral without re-initialising.
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* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
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* \param[in] baud Requested baud rate
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*/
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static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
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{
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struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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if (!PIOS_RFM22B_validate(rfm22b_dev))
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return;
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// This is only allowed for coordinators.
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if (!rfm22b_dev->coordinator)
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return;
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// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
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enum rfm22b_datarate datarate = RFM22_datarate_64000;
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if (baud <= 1024)
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datarate = RFM22_datarate_500;
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else if (baud <= 2048)
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datarate = RFM22_datarate_1000;
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else if (baud <= 4096)
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datarate = RFM22_datarate_8000;
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else if (baud <= 9600)
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datarate = RFM22_datarate_16000;
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else if (baud <= 19200)
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datarate = RFM22_datarate_32000;
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else if (baud <= 38400)
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datarate = RFM22_datarate_64000;
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else if (baud <= 57600)
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datarate = RFM22_datarate_128000;
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else if (baud <= 115200)
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datarate = RFM22_datarate_192000;
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PIOS_RFM22B_SetDatarate(rfm22b_id, datarate, true);
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}
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static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
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{
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}
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static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
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{
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struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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if (!PIOS_RFM22B_validate(rfm22b_dev))
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return;
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}
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static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
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{
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struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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if (!PIOS_RFM22B_validate(rfm22b_dev))
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return;
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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rfm22b_dev->rx_in_context = context;
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rfm22b_dev->rx_in_cb = rx_in_cb;
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}
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static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
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{
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struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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if (!PIOS_RFM22B_validate(rfm22b_dev))
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return;
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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rfm22b_dev->tx_out_context = context;
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rfm22b_dev->tx_out_cb = tx_out_cb;
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}
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static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
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{
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return PIOS_RFM22B_LinkStatus(rfm22b_id);
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}
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#endif /* PIOS_INCLUDE_RFM22B_COM */
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