mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
116 lines
2.6 KiB
C
116 lines
2.6 KiB
C
#include "pios.h"
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#ifdef 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)
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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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rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
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if (!rcvr_dev) return (NULL);
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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 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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if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
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return (NULL);
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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 (rcvr_dev);
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}
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#endif
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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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struct pios_rcvr_dev * rcvr_dev;
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rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
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if (!rcvr_dev) goto out_fail;
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rcvr_dev->driver = driver;
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rcvr_dev->lower_id = lower_id;
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*rcvr_id = (uint32_t)rcvr_dev;
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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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if (rcvr_id == 0)
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return PIOS_RCVR_NODRIVER;
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struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_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 /* PIOS_INCLUDE_RCVR */
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/**
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* @}
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* @}
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*/
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