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https://bitbucket.org/librepilot/librepilot.git
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223 lines
6.6 KiB
C
223 lines
6.6 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_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_rcvr.c
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* @author Tau Labs, http://taulabs.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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#include "pios.h"
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#ifdef PIOS_INCLUDE_OPENLRS
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#include "pios_openlrs_priv.h"
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#include <uavobjectmanager.h>
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#include <oplinkreceiver.h>
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#include <pios_openlrs_priv.h>
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#include <pios_openlrs_rcvr_priv.h>
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#define PIOS_OPENLRS_RCVR_TIMEOUT_MS 100
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/* Provide a RCVR driver */
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static int32_t PIOS_OpenLRS_Rcvr_Get(uint32_t rcvr_id, uint8_t channel);
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static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t ppm_id);
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static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels);
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const struct pios_rcvr_driver pios_openlrs_rcvr_driver = {
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.read = PIOS_OpenLRS_Rcvr_Get,
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};
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/* Local Variables */
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enum pios_openlrs_rcvr_dev_magic {
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PIOS_OPENLRS_RCVR_DEV_MAGIC = 0x07ac9e2144ff5329,
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};
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struct pios_openlrs_rcvr_dev {
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enum pios_openlrs_rcvr_dev_magic magic;
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int16_t channels[OPENLRS_PPM_NUM_CHANNELS];
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uint8_t supv_timer;
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bool fresh;
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};
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static void openlrs_rcvr_update_uavo(struct pios_openlrs_rcvr_dev *pios_rfm22b_rcvr_dev);
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static bool PIOS_OpenLRS_Rcvr_Validate(struct pios_openlrs_rcvr_dev
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*openlrs_rcvr_dev)
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{
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return openlrs_rcvr_dev->magic == PIOS_OPENLRS_RCVR_DEV_MAGIC;
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}
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static struct pios_openlrs_rcvr_dev *PIOS_OpenLRS_Rcvr_alloc(void)
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{
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struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev;
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openlrs_rcvr_dev =
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(struct pios_openlrs_rcvr_dev *)
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pios_malloc(sizeof(*openlrs_rcvr_dev));
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if (!openlrs_rcvr_dev) {
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return NULL;
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}
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openlrs_rcvr_dev->magic = PIOS_OPENLRS_RCVR_DEV_MAGIC;
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openlrs_rcvr_dev->fresh = false;
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openlrs_rcvr_dev->supv_timer = 0;
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return openlrs_rcvr_dev;
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}
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extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openlrs_id)
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{
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struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev;
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/* Allocate the device structure */
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openlrs_rcvr_dev =
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(struct pios_openlrs_rcvr_dev *)PIOS_OpenLRS_Rcvr_alloc();
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if (!openlrs_rcvr_dev) {
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return -1;
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}
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/* Register uavobj callback */
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OPLinkReceiverInitialize();
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*openlrs_rcvr_id = (uintptr_t)openlrs_rcvr_dev;
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PIOS_OpenLRS_RegisterPPMCallback(openlrs_id, PIOS_OpenLRS_Rcvr_ppm_callback, *openlrs_rcvr_id);
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/* Register the failsafe timer callback. */
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if (!PIOS_RTC_RegisterTickCallback
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(PIOS_OpenLRS_Rcvr_Supervisor, *openlrs_rcvr_id)) {
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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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* Called from the core driver to set the channel values whenever a
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* PPM packet is received. This method stores the data locally as well
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* as sets the data into the OPLinkReceiver UAVO for visibility
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*/
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static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels)
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{
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/* Recover our device context */
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struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
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(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
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if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
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/* Invalid device specified */
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return;
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}
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for (uint32_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) {
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openlrs_rcvr_dev->channels[i] = channels[i];
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}
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openlrs_rcvr_update_uavo(openlrs_rcvr_dev);
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// let supervisor know we have new data
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openlrs_rcvr_dev->fresh = true;
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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_OpenLRS_Rcvr_Get(uint32_t openlrs_rcvr_id, uint8_t channel)
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{
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if (channel >= OPENLRS_PPM_NUM_CHANNELS) {
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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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/* Recover our device context */
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struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
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(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
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if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
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/* Invalid device specified */
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return PIOS_RCVR_INVALID;
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}
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return openlrs_rcvr_dev->channels[channel];
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}
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static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t openlrs_rcvr_id)
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{
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/* Recover our device context */
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struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
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(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
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if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_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 (++(openlrs_rcvr_dev->supv_timer) <
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(PIOS_OPENLRS_RCVR_TIMEOUT_MS * 1000 / 625)) {
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return;
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}
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openlrs_rcvr_dev->supv_timer = 0;
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if (!openlrs_rcvr_dev->fresh) {
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for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM;
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i++) {
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openlrs_rcvr_dev->channels[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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openlrs_rcvr_dev->fresh = false;
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}
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static void openlrs_rcvr_update_uavo(struct pios_openlrs_rcvr_dev *rcvr_dev)
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{
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// Also store the received data in a UAVO for easy
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// debugging. However this is not what is used in
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// ManualControl (it fetches directly from this driver)
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OPLinkReceiverData rcvr;
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for (uint8_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) {
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if (i < OPLINKRECEIVER_CHANNEL_NUMELEM) {
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rcvr.Channel[i] = rcvr_dev->channels[i];
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}
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}
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for (int i = OPENLRS_PPM_NUM_CHANNELS - 1; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
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rcvr.Channel[i] = PIOS_RCVR_INVALID;
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}
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OPLinkReceiverSet(&rcvr);
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}
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#endif /* PIOS_INCLUDE_OPENLRS */
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/**
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* @}
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* @}
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*/
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