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204 lines
6.0 KiB
C
204 lines
6.0 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 OpenLRS interface for for the RFM22B radio
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* @{
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*
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* @file pios_openlrs_priv.h
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* @author Tau Labs, http://taulabs.org, Copyright (C) 2015
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* @author dRonin, http://dronin.org Copyright (C) 2015
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* @brief Implements an OpenLRS driver for the RFM22B
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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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#ifndef PIOS_OPENLRS_PRIV_H
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#define PIOS_OPENLRS_PRIV_H
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#include "pios_openlrs.h"
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#define OPENLRSNG_VERSION 0x0382
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#define MAXHOPS 24
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#define OPENLRS_PPM_NUM_CHANNELS 16
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// Factory setting values, modify via the CLI
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// ####### RADIOLINK RF POWER (beacon is always 100/13/1.3mW) #######
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// 7 == 100mW (or 1000mW with M3)
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// 6 == 50mW (use this when using booster amp), (800mW with M3)
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// 5 == 25mW
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// 4 == 13mW
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// 3 == 6mW
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// 2 == 3mW
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// 1 == 1.6mW
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// 0 == 1.3mW
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#define DEFAULT_RF_POWER 7
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#define DEFAULT_CHANNEL_SPACING 5 // 50kHz
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#define DEFAULT_HOPLIST 22, 10, 19, 34, 49, 41
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#define DEFAULT_RF_MAGIC 0xDEADFEED
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// 0 -- 4800bps, best range
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// 1 -- 9600bps, medium range
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// 2 -- 19200bps, medium range
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#define DEFAULT_DATARATE 2
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// BIND_DATA flag masks
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#define TELEMETRY_OFF 0x00
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#define TELEMETRY_PASSTHRU 0x08
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#define TELEMETRY_FRSKY 0x10 // covers smartport if used with &
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#define TELEMETRY_SMARTPORT 0x18
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#define TELEMETRY_MASK 0x18
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#define CHANNELS_4_4 0x01
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#define CHANNELS_8 0x02
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#define CHANNELS_8_4 0x03
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#define CHANNELS_12 0x04
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#define CHANNELS_12_4 0x05
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#define CHANNELS_16 0x06
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#define DIVERSITY_ENABLED 0x80
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#define DEFAULT_FLAGS (CHANNELS_8 | TELEMETRY_PASSTHRU)
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// helper macro for European PMR channels
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#define EU_PMR_CH(x) (445993750L + 12500L * (x)) // valid for ch1-ch8
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// helper macro for US FRS channels 1-7
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#define US_FRS_CH(x) (462537500L + 25000L * (x)) // valid for ch1-ch7
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#define DEFAULT_BEACON_FREQUENCY 0 // disable beacon
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#define DEFAULT_BEACON_DEADTIME 30 // time to wait until go into beacon mode (30s)
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#define DEFAULT_BEACON_INTERVAL 10 // interval between beacon transmits (10s)
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#define BINDING_POWER 0x06 // not lowest since may result fail with RFM23BP
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#define TELEMETRY_PACKETSIZE 9
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#define BIND_MAGIC (0xDEC1BE15 + (OPENLRSNG_VERSION & 0xfff0))
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#define BINDING_VERSION ((OPENLRSNG_VERSION & 0x0ff0) >> 4)
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// HW frequency limits
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#define MIN_RFM_FREQUENCY_868 848000000
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#define MAX_RFM_FREQUENCY_868 888000000
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#define DEFAULT_CARRIER_FREQUENCY_868 868000000 // Hz (ch 0)
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#define BINDING_FREQUENCY_868 868000000 // Hz
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#define MIN_RFM_FREQUENCY_915 895000000
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#define MAX_RFM_FREQUENCY_915 935000000
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#define DEFAULT_CARRIER_FREQUENCY_915 915000000 // Hz (ch 0)
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#define BINDING_FREQUENCY_915 915000000 // Hz
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#define MIN_RFM_FREQUENCY_433 413000000
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#define MAX_RFM_FREQUENCY_433 463000000
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#define DEFAULT_CARRIER_FREQUENCY_433 435000000 // Hz (ch 0)
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#define BINDING_FREQUENCY_433 435000000 // Hz
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#define RFM22_DEVICE_TYPE 0x00 // R
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#define RFM22_DT_MASK 0x1F
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struct bind_data {
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uint8_t version;
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uint32_t serial_baudrate;
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uint32_t rf_frequency;
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uint32_t rf_magic;
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uint8_t rf_power;
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uint8_t rf_channel_spacing;
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uint8_t hopchannel[MAXHOPS];
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uint8_t modem_params;
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uint8_t flags;
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} __attribute__((packed));
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enum RF_MODE {
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Available, Transmit, Receive, Transmitted, Received,
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};
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enum pios_openlrs_dev_magic {
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PIOS_OPENLRS_DEV_MAGIC = 0x18c97ab6,
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};
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struct pios_openlrs_dev {
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enum pios_openlrs_dev_magic magic;
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struct pios_openlrs_cfg cfg;
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// The SPI bus information
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uint32_t spi_id;
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uint32_t slave_num;
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double band;
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// The task handle
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struct pios_thread *taskHandle;
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// The COM callback functions.
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pios_com_callback rx_in_cb;
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uint32_t rx_in_context;
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pios_com_callback tx_out_cb;
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uint32_t tx_out_context;
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// The event queue handle
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struct pios_semaphore *sema_isr;
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// The PPM buffer
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int16_t ppm[OPENLRS_PPM_NUM_CHANNELS];
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// RFM22B RCVR interface
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uintptr_t openlrs_rcvr_id;
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// Flag to indicate if link every acquired
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bool link_acquired;
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// Active bound information data
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struct bind_data bind_data;
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// Beacon settings
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uint32_t beacon_frequency;
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uint8_t beacon_delay;
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uint8_t beacon_period;
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bool beacon_armed;
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enum RF_MODE rf_mode;
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uint32_t rf_channel;
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uint8_t it_status1;
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uint8_t it_status2;
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uint8_t rx_buf[64];
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uint8_t tx_buf[9];
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// Variables from OpenLRS for radio control
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uint8_t hopcount;
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uint32_t lastPacketTimeUs;
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uint32_t numberOfLostPackets;
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uint16_t lastAFCCvalue;
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uint32_t lastRSSITimeUs;
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bool willhop;
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uint32_t nextBeaconTimeMs;
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uint32_t linkLossTimeMs;
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uint32_t failsafeDelay;
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uint32_t beacon_rssi_avg;
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};
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bool PIOS_OpenLRS_EXT_Int(void);
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#endif /* PIOS_OPENLRS_PRIV_H */
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/**
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* @}
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* @}
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*/
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