src/main/rx/rx_spi.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_SPI
  24
  25 #include "build/build_config.h"
  26
  27 #include "common/utils.h"
  28
  29 #include "config/feature.h"
  30
  31 #include "drivers/rx/rx_spi.h"
  32 #include "drivers/rx/rx_nrf24l01.h"
  33
  34 #include "fc/config.h"
  35
  36 #include "rx/rx.h"
  37 #include "rx/rx_spi.h"
  38 #include "rx/cc2500_frsky_common.h"
  39 #include "rx/nrf24_cx10.h"
  40 #include "rx/nrf24_syma.h"
  41 #include "rx/nrf24_v202.h"
  42 #include "rx/nrf24_h8_3d.h"
  43 #include "rx/nrf24_inav.h"
  44 #include "rx/nrf24_kn.h"
  45 #include "rx/flysky.h"
  46
  47
  48 uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  49 STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
  50 STATIC_UNIT_TESTED uint8_t rxSpiNewPacketAvailable; // set true when a new packet is received
  51
  52 typedef bool (*protocolInitFnPtr)(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
  53 typedef rx_spi_received_e (*protocolDataReceivedFnPtr)(uint8_t *payload);
  54 typedef void (*protocolSetRcDataFromPayloadFnPtr)(uint16_t *rcData, const uint8_t *payload);
  55
  56 static protocolInitFnPtr protocolInit;
  57 static protocolDataReceivedFnPtr protocolDataReceived;
  58 static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
  59
  60 STATIC_UNIT_TESTED uint16_t rxSpiReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
  61 {
  62     BUILD_BUG_ON(NRF24L01_MAX_PAYLOAD_SIZE > RX_SPI_MAX_PAYLOAD_SIZE);
  63
  64     if (channel >= rxRuntimeConfig->channelCount) {
  65         return 0;
  66     }
  67     if (rxSpiNewPacketAvailable) {
  68         protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
  69         rxSpiNewPacketAvailable = false;
  70     }
  71     return rxSpiRcData[channel];
  72 }
  73
  74 STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
  75 {
  76     switch (protocol) {
  77     default:
  78 #ifdef USE_RX_V202
  79     case RX_SPI_NRF24_V202_250K:
  80     case RX_SPI_NRF24_V202_1M:
  81         protocolInit = v202Nrf24Init;
  82         protocolDataReceived = v202Nrf24DataReceived;
  83         protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
  84         break;
  85 #endif
  86 #ifdef USE_RX_SYMA
  87     case RX_SPI_NRF24_SYMA_X:
  88     case RX_SPI_NRF24_SYMA_X5C:
  89         protocolInit = symaNrf24Init;
  90         protocolDataReceived = symaNrf24DataReceived;
  91         protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
  92         break;
  93 #endif
  94 #ifdef USE_RX_CX10
  95     case RX_SPI_NRF24_CX10:
  96     case RX_SPI_NRF24_CX10A:
  97         protocolInit = cx10Nrf24Init;
  98         protocolDataReceived = cx10Nrf24DataReceived;
  99         protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
 100         break;
 101 #endif
 102 #ifdef USE_RX_H8_3D
 103     case RX_SPI_NRF24_H8_3D:
 104         protocolInit = h8_3dNrf24Init;
 105         protocolDataReceived = h8_3dNrf24DataReceived;
 106         protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
 107         break;
 108 #endif
 109 #ifdef USE_RX_KN
 110     case RX_SPI_NRF24_KN:
 111         protocolInit = knNrf24Init;
 112         protocolDataReceived = knNrf24DataReceived;
 113         protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
 114         break;
 115 #endif
 116 #ifdef USE_RX_INAV
 117     case RX_SPI_NRF24_INAV:
 118         protocolInit = inavNrf24Init;
 119         protocolDataReceived = inavNrf24DataReceived;
 120         protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
 121         break;
 122 #endif
 123 #if defined(USE_RX_FRSKY_SPI)
 124 #if defined(USE_RX_FRSKY_SPI_D)
 125     case RX_SPI_FRSKY_D:
 126 #endif
 127 #if defined(USE_RX_FRSKY_SPI_X)
 128     case RX_SPI_FRSKY_X:
 129 #endif
 130         protocolInit = frSkySpiInit;
 131         protocolDataReceived = frSkySpiDataReceived;
 132         protocolSetRcDataFromPayload = frSkySpiSetRcData;
 133
 134         break;
 135 #endif // USE_RX_FRSKY_SPI
 136 #ifdef USE_RX_FLYSKY
 137     case RX_SPI_A7105_FLYSKY:
 138     case RX_SPI_A7105_FLYSKY_2A:
 139         protocolInit = flySkyInit;
 140         protocolDataReceived = flySkyDataReceived;
 141         protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
 142         break;
 143 #endif
 144     }
 145     return true;
 146 }
 147
 148 /*
 149  * Returns true if the RX has received new data.
 150  * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 151  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 152  */
 153 static uint8_t rxSpiFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
 154 {
 155     UNUSED(rxRuntimeConfig);
 156
 157     if (protocolDataReceived(rxSpiPayload) == RX_SPI_RECEIVED_DATA) {
 158         rxSpiNewPacketAvailable = true;
 159         return RX_FRAME_COMPLETE;
 160     }
 161     return RX_FRAME_PENDING;
 162 }
 163
 164 /*
 165  * Set and initialize the RX protocol
 166  */
 167 bool rxSpiInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 168 {
 169     bool ret = false;
 170
 171     const rx_spi_type_e spiType = feature(FEATURE_SOFTSPI) ? RX_SPI_SOFTSPI : RX_SPI_HARDSPI;
 172     rxSpiDeviceInit(spiType);
 173     if (rxSpiSetProtocol(rxConfig->rx_spi_protocol)) {
 174         ret = protocolInit(rxConfig, rxRuntimeConfig);
 175     }
 176     rxSpiNewPacketAvailable = false;
 177     rxRuntimeConfig->rxRefreshRate = 20000;
 178
 179     rxRuntimeConfig->rcReadRawFn = rxSpiReadRawRC;
 180     rxRuntimeConfig->rcFrameStatusFn = rxSpiFrameStatus;
 181
 182     return ret;
 183 }
 184 #endif