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https://bitbucket.org/librepilot/librepilot.git
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195 lines
5.6 KiB
C
195 lines
5.6 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_OPLinkRCVR OPLink Receiver Input Functions
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* @brief Code to read the channels within the OPLinkReceiver UAVObject
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* @{
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*
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* @file pios_opinkrcvr.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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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_OPLINKRCVR
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#include <uavobjectmanager.h>
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#include <oplinkreceiver.h>
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#include <pios_oplinkrcvr_priv.h>
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static OPLinkReceiverData oplinkreceiverdata;
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/* Provide a RCVR driver */
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static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel);
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static void PIOS_oplinkrcvr_Supervisor(uint32_t ppm_id);
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const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver = {
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.read = PIOS_OPLinkRCVR_Get,
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};
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/* Local Variables */
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enum pios_oplinkrcvr_dev_magic {
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PIOS_OPLINKRCVR_DEV_MAGIC = 0x07ab9e2544cf5029,
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};
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struct pios_oplinkrcvr_dev {
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enum pios_oplinkrcvr_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_oplinkrcvr_dev *global_oplinkrcvr_dev;
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static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
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{
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return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
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{
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struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
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oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)pvPortMalloc(sizeof(*oplinkrcvr_dev));
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if (!oplinkrcvr_dev) {
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return NULL;
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}
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oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
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oplinkrcvr_dev->Fresh = false;
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oplinkrcvr_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_oplinkrcvr_dev = oplinkrcvr_dev;
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return oplinkrcvr_dev;
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}
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#else
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static struct pios_oplinkrcvr_dev pios_oplinkrcvr_devs[PIOS_OPLINKRCVR_MAX_DEVS];
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static uint8_t pios_oplinkrcvr_num_devs;
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static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
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{
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struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
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if (pios_oplinkrcvr_num_devs >= PIOS_OPLINKRCVR_MAX_DEVS) {
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return NULL;
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}
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oplinkrcvr_dev = &pios_oplinkrcvr_devs[pios_oplinkrcvr_num_devs++];
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oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
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oplinkrcvr_dev->Fresh = false;
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oplinkrcvr_dev->supv_timer = 0;
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global_oplinkrcvr_dev = oplinkrcvr_dev;
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return oplinkrcvr_dev;
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}
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#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
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static void oplinkreceiver_updated(UAVObjEvent *ev)
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{
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struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
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if (ev->obj == OPLinkReceiverHandle()) {
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OPLinkReceiverGet(&oplinkreceiverdata);
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oplinkrcvr_dev->Fresh = true;
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}
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}
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extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr_id)
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{
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struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
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/* Allocate the device structure */
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oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)PIOS_oplinkrcvr_alloc();
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if (!oplinkrcvr_dev) {
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return -1;
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}
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for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
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/* Flush channels */
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oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
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}
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/* Register uavobj callback */
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OPLinkReceiverConnectCallback(oplinkreceiver_updated);
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/* Register the failsafe timer callback. */
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if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_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_OPLinkRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel)
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{
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if (channel >= OPLINKRECEIVER_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 oplinkreceiverdata.Channel[channel];
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}
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static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
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{
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/* Recover our device context */
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struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
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if (!PIOS_oplinkrcvr_validate(oplinkrcvr_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 (++(oplinkrcvr_dev->supv_timer) < (PIOS_OPLINK_RCVR_TIMEOUT_MS * 1000 / 625)) {
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return;
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}
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oplinkrcvr_dev->supv_timer = 0;
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if (!oplinkrcvr_dev->Fresh) {
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for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
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oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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oplinkrcvr_dev->Fresh = false;
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}
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#endif /* PIOS_INCLUDE_OPLINKRCVR */
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/**
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* @}
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* @}
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*/
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