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LibrePilot/flight/pios/common/pios_openlrs_rcvr.c

223 lines
6.6 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS OpenLRS interface for for the RFM22B radio
* @{
*
* @file pios_openlrs_rcvr.c
* @author Tau Labs, http://taulabs.org, Copyright (C) 2015
* @brief Implements an OpenLRS driver for the RFM22B
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_OPENLRS
#include "pios_openlrs_priv.h"
#include <uavobjectmanager.h>
#include <oplinkreceiver.h>
#include <pios_openlrs_priv.h>
#include <pios_openlrs_rcvr_priv.h>
#define PIOS_OPENLRS_RCVR_TIMEOUT_MS 100
/* Provide a RCVR driver */
static int32_t PIOS_OpenLRS_Rcvr_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t ppm_id);
static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels);
const struct pios_rcvr_driver pios_openlrs_rcvr_driver = {
.read = PIOS_OpenLRS_Rcvr_Get,
};
/* Local Variables */
enum pios_openlrs_rcvr_dev_magic {
PIOS_OPENLRS_RCVR_DEV_MAGIC = 0x07ac9e2144ff5329,
};
struct pios_openlrs_rcvr_dev {
enum pios_openlrs_rcvr_dev_magic magic;
int16_t channels[OPENLRS_PPM_NUM_CHANNELS];
uint8_t supv_timer;
bool fresh;
};
static void openlrs_rcvr_update_uavo(struct pios_openlrs_rcvr_dev *pios_rfm22b_rcvr_dev);
static bool PIOS_OpenLRS_Rcvr_Validate(struct pios_openlrs_rcvr_dev
*openlrs_rcvr_dev)
{
return openlrs_rcvr_dev->magic == PIOS_OPENLRS_RCVR_DEV_MAGIC;
}
static struct pios_openlrs_rcvr_dev *PIOS_OpenLRS_Rcvr_alloc(void)
{
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev;
openlrs_rcvr_dev =
(struct pios_openlrs_rcvr_dev *)
pios_malloc(sizeof(*openlrs_rcvr_dev));
if (!openlrs_rcvr_dev) {
return NULL;
}
openlrs_rcvr_dev->magic = PIOS_OPENLRS_RCVR_DEV_MAGIC;
openlrs_rcvr_dev->fresh = false;
openlrs_rcvr_dev->supv_timer = 0;
return openlrs_rcvr_dev;
}
extern int32_t PIOS_OpenLRS_Rcvr_Init(uint32_t *openlrs_rcvr_id, uintptr_t openlrs_id)
{
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev;
/* Allocate the device structure */
openlrs_rcvr_dev =
(struct pios_openlrs_rcvr_dev *)PIOS_OpenLRS_Rcvr_alloc();
if (!openlrs_rcvr_dev) {
return -1;
}
/* Register uavobj callback */
OPLinkReceiverInitialize();
*openlrs_rcvr_id = (uintptr_t)openlrs_rcvr_dev;
PIOS_OpenLRS_RegisterPPMCallback(openlrs_id, PIOS_OpenLRS_Rcvr_ppm_callback, *openlrs_rcvr_id);
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback
(PIOS_OpenLRS_Rcvr_Supervisor, *openlrs_rcvr_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
/**
* Called from the core driver to set the channel values whenever a
* PPM packet is received. This method stores the data locally as well
* as sets the data into the OPLinkReceiver UAVO for visibility
*/
static void PIOS_OpenLRS_Rcvr_ppm_callback(uint32_t openlrs_rcvr_id, const int16_t *channels)
{
/* Recover our device context */
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
/* Invalid device specified */
return;
}
for (uint32_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) {
openlrs_rcvr_dev->channels[i] = channels[i];
}
openlrs_rcvr_update_uavo(openlrs_rcvr_dev);
// let supervisor know we have new data
openlrs_rcvr_dev->fresh = true;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_OpenLRS_Rcvr_Get(uint32_t openlrs_rcvr_id, uint8_t channel)
{
if (channel >= OPENLRS_PPM_NUM_CHANNELS) {
/* channel is out of range */
return PIOS_RCVR_INVALID;
}
/* Recover our device context */
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
return openlrs_rcvr_dev->channels[channel];
}
static void PIOS_OpenLRS_Rcvr_Supervisor(uint32_t openlrs_rcvr_id)
{
/* Recover our device context */
struct pios_openlrs_rcvr_dev *openlrs_rcvr_dev =
(struct pios_openlrs_rcvr_dev *)openlrs_rcvr_id;
if (!PIOS_OpenLRS_Rcvr_Validate(openlrs_rcvr_dev)) {
/* Invalid device specified */
return;
}
/*
* RTC runs at 625Hz.
*/
if (++(openlrs_rcvr_dev->supv_timer) <
(PIOS_OPENLRS_RCVR_TIMEOUT_MS * 1000 / 625)) {
return;
}
openlrs_rcvr_dev->supv_timer = 0;
if (!openlrs_rcvr_dev->fresh) {
for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM;
i++) {
openlrs_rcvr_dev->channels[i] = PIOS_RCVR_TIMEOUT;
}
}
openlrs_rcvr_dev->fresh = false;
}
static void openlrs_rcvr_update_uavo(struct pios_openlrs_rcvr_dev *rcvr_dev)
{
// Also store the received data in a UAVO for easy
// debugging. However this is not what is used in
// ManualControl (it fetches directly from this driver)
OPLinkReceiverData rcvr;
for (uint8_t i = 0; i < OPENLRS_PPM_NUM_CHANNELS; i++) {
if (i < OPLINKRECEIVER_CHANNEL_NUMELEM) {
rcvr.Channel[i] = rcvr_dev->channels[i];
}
}
for (int i = OPENLRS_PPM_NUM_CHANNELS - 1; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
rcvr.Channel[i] = PIOS_RCVR_INVALID;
}
OPLinkReceiverSet(&rcvr);
}
#endif /* PIOS_INCLUDE_OPENLRS */
/**
* @}
* @}
*/