mirror of
https://bitbucket.org/librepilot/librepilot.git
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134 lines
3.1 KiB
C
134 lines
3.1 KiB
C
/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_RCVR)
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#include <pios_rcvr_priv.h>
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enum pios_rcvr_dev_magic {
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PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
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};
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struct pios_rcvr_dev {
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enum pios_rcvr_dev_magic magic;
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uint32_t lower_id;
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const struct pios_rcvr_driver *driver;
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};
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static bool PIOS_RCVR_validate(struct pios_rcvr_dev *rcvr_dev)
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{
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return rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC;
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}
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#if defined(PIOS_INCLUDE_FREERTOS) && 0
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// static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
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// {
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// struct pios_rcvr_dev * rcvr_dev;
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//
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// rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
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// if (!rcvr_dev) return (NULL);
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//
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// rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
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// return(rcvr_dev);
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// }
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#else
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static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
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static uint8_t pios_rcvr_num_devs;
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static uint32_t PIOS_RCVR_alloc(void)
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{
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struct pios_rcvr_dev *rcvr_dev;
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if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
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return PIOS_RCVR_MAX_DEVS + 1;
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}
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rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
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rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
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return pios_rcvr_num_devs;
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}
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static struct pios_rcvr_dev *PIOS_RCVR_find_dev(uint32_t rcvr_dev_id)
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{
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if (!rcvr_dev_id) {
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return NULL;
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}
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if (rcvr_dev_id > pios_rcvr_num_devs + 1) {
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return NULL;
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}
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return &pios_rcvr_devs[rcvr_dev_id - 1];
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}
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#endif /* if defined(PIOS_INCLUDE_FREERTOS) && 0 */
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/**
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* Initialises RCVR layer
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* \param[out] handle
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* \param[in] driver
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* \param[in] id
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* \return < 0 if initialisation failed
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*/
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int32_t PIOS_RCVR_Init(uint32_t *rcvr_id, const struct pios_rcvr_driver *driver, uint32_t lower_id)
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{
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PIOS_DEBUG_Assert(rcvr_id);
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PIOS_DEBUG_Assert(driver);
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uint32_t rcvr_dev_id;
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struct pios_rcvr_dev *rcvr_dev;
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rcvr_dev_id = PIOS_RCVR_alloc();
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rcvr_dev = PIOS_RCVR_find_dev(rcvr_dev_id);
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if (!rcvr_dev) {
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goto out_fail;
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}
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rcvr_dev->driver = driver;
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rcvr_dev->lower_id = lower_id;
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*rcvr_id = rcvr_dev_id;
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return 0;
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out_fail:
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return -1;
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}
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/**
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* @brief Reads an input channel from the appropriate driver
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* @param[in] rcvr_id driver to read from
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* @param[in] channel channel to read
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* @returns Unitless input value
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* @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
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* @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
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* @retval PIOS_RCVR_NODRIVER driver was not initialized
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*/
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int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
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{
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// Publicly facing API uses channel 1 for first channel
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if (channel == 0) {
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return PIOS_RCVR_INVALID;
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} else {
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channel--;
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}
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if (rcvr_id == 0) {
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return PIOS_RCVR_NODRIVER;
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}
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struct pios_rcvr_dev *rcvr_dev = PIOS_RCVR_find_dev(rcvr_id);
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if (!PIOS_RCVR_validate(rcvr_dev)) {
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/* Undefined RCVR port for this board (see pios_board.c) */
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PIOS_Assert(0);
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}
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PIOS_DEBUG_Assert(rcvr_dev->driver->read);
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return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
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}
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#endif /* if defined(PIOS_INCLUDE_RCVR) */
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/**
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* @}
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* @}
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*/
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