src/main/rx/msp.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #ifdef USE_RX_MSP
  24
  25 #include "common/utils.h"
  26
  27 #include "drivers/io.h"
  28 #include "rx/rx.h"
  29 #include "rx/msp.h"
  30
  31 static uint16_t mspFrame[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  32 static bool rxMspFrameDone = false;
  33
  34 static uint16_t rxMspReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
  35 {
  36     UNUSED(rxRuntimeConfig);
  37     return mspFrame[chan];
  38 }
  39
  40 /*
  41  * Called from MSP command handler - mspFcProcessCommand
  42  */
  43 void rxMspFrameReceive(uint16_t *frame, int channelCount)
  44 {
  45     for (int i = 0; i < channelCount; i++) {
  46         mspFrame[i] = frame[i];
  47     }
  48
  49     // Any channels not provided will be reset to zero
  50     for (int i = channelCount; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
  51         mspFrame[i] = 0;
  52     }
  53
  54     rxMspFrameDone = true;
  55 }
  56
  57 static uint8_t rxMspFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
  58 {
  59     UNUSED(rxRuntimeConfig);
  60
  61     if (!rxMspFrameDone) {
  62         return RX_FRAME_PENDING;
  63     }
  64
  65     rxMspFrameDone = false;
  66     return RX_FRAME_COMPLETE;
  67 }
  68
  69 void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
  70 {
  71     UNUSED(rxConfig);
  72
  73     rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT;
  74     rxRuntimeConfig->rxRefreshRate = 20000;
  75
  76     rxRuntimeConfig->rcReadRawFn = rxMspReadRawRC;
  77     rxRuntimeConfig->rcFrameStatusFn = rxMspFrameStatus;
  78 }
  79 #endif