src/main/rx/rx_spi.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_RX_SPI
  27
  28 #include "build/build_config.h"
  29
  30 #include "common/utils.h"
  31
  32 #include "config/feature.h"
  33
  34 #include "drivers/io.h"
  35 #include "drivers/rx/rx_spi.h"
  36 #include "drivers/rx/rx_nrf24l01.h"
  37
  38 #include "config/config.h"
  39
  40 #include "pg/rx_spi.h"
  41
  42 #include "rx/rx_spi.h"
  43 #include "rx/cc2500_frsky_common.h"
  44 #include "rx/cc2500_redpine.h"
  45 #include "rx/nrf24_cx10.h"
  46 #include "rx/nrf24_syma.h"
  47 #include "rx/nrf24_v202.h"
  48 #include "rx/nrf24_h8_3d.h"
  49 #include "rx/nrf24_inav.h"
  50 #include "rx/nrf24_kn.h"
  51 #include "rx/a7105_flysky.h"
  52 #include "rx/cc2500_sfhss.h"
  53 #include "rx/cyrf6936_spektrum.h"
  54 #include "rx/expresslrs.h"
  55
  56 uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  57 STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
  58 STATIC_UNIT_TESTED uint8_t rxSpiNewPacketAvailable; // set true when a new packet is received
  59
  60 typedef bool (*protocolInitFnPtr)(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState, rxSpiExtiConfig_t *extiConfig);
  61 typedef rx_spi_received_e (*protocolDataReceivedFnPtr)(uint8_t *payload);
  62 typedef rx_spi_received_e (*protocolProcessFrameFnPtr)(uint8_t *payload);
  63 typedef void (*protocolSetRcDataFromPayloadFnPtr)(uint16_t *rcData, const uint8_t *payload);
  64
  65 static protocolInitFnPtr protocolInit;
  66 static protocolDataReceivedFnPtr protocolDataReceived;
  67 static protocolProcessFrameFnPtr protocolProcessFrame;
  68 static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
  69
  70 STATIC_UNIT_TESTED float rxSpiReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t channel)
  71 {
  72     STATIC_ASSERT(NRF24L01_MAX_PAYLOAD_SIZE <= RX_SPI_MAX_PAYLOAD_SIZE, NRF24L01_MAX_PAYLOAD_SIZE_larger_than_RX_SPI_MAX_PAYLOAD_SIZE);
  73
  74     if (channel >= rxRuntimeState->channelCount) {
  75         return 0;
  76     }
  77     if (rxSpiNewPacketAvailable) {
  78         protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
  79         rxSpiNewPacketAvailable = false;
  80     }
  81     return rxSpiRcData[channel];
  82 }
  83
  84 STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
  85 {
  86     switch (protocol) {
  87 #ifdef USE_RX_V202
  88     case RX_SPI_NRF24_V202_250K:
  89     case RX_SPI_NRF24_V202_1M:
  90         protocolInit = v202Nrf24Init;
  91         protocolDataReceived = v202Nrf24DataReceived;
  92         protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
  93         break;
  94 #endif
  95 #ifdef USE_RX_SYMA
  96     case RX_SPI_NRF24_SYMA_X:
  97     case RX_SPI_NRF24_SYMA_X5C:
  98         protocolInit = symaNrf24Init;
  99         protocolDataReceived = symaNrf24DataReceived;
 100         protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
 101         break;
 102 #endif
 103 #ifdef USE_RX_CX10
 104     case RX_SPI_NRF24_CX10:
 105     case RX_SPI_NRF24_CX10A:
 106         protocolInit = cx10Nrf24Init;
 107         protocolDataReceived = cx10Nrf24DataReceived;
 108         protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
 109         break;
 110 #endif
 111 #ifdef USE_RX_H8_3D
 112     case RX_SPI_NRF24_H8_3D:
 113         protocolInit = h8_3dNrf24Init;
 114         protocolDataReceived = h8_3dNrf24DataReceived;
 115         protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
 116         break;
 117 #endif
 118 #ifdef USE_RX_KN
 119     case RX_SPI_NRF24_KN:
 120         protocolInit = knNrf24Init;
 121         protocolDataReceived = knNrf24DataReceived;
 122         protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
 123         break;
 124 #endif
 125 #ifdef USE_RX_INAV
 126     case RX_SPI_NRF24_INAV:
 127         protocolInit = inavNrf24Init;
 128         protocolDataReceived = inavNrf24DataReceived;
 129         protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
 130         break;
 131 #endif
 132 #if defined(USE_RX_FRSKY_SPI)
 133 #if defined(USE_RX_FRSKY_SPI_D)
 134     case RX_SPI_FRSKY_D:
 135 #endif
 136 #if defined(USE_RX_FRSKY_SPI_X)
 137     case RX_SPI_FRSKY_X:
 138     case RX_SPI_FRSKY_X_LBT:
 139     case RX_SPI_FRSKY_X_V2:
 140     case RX_SPI_FRSKY_X_LBT_V2:
 141         protocolInit = frSkySpiInit;
 142         protocolDataReceived = frSkySpiDataReceived;
 143         protocolSetRcDataFromPayload = frSkySpiSetRcData;
 144         protocolProcessFrame = frSkySpiProcessFrame;
 145         break;
 146 #endif
 147 #if defined(USE_RX_REDPINE_SPI)
 148     case RX_SPI_REDPINE:
 149         protocolInit = redpineSpiInit;
 150         protocolDataReceived = redpineSpiDataReceived;
 151         protocolSetRcDataFromPayload = redpineSetRcData;
 152         break;
 153 #endif
 154
 155 #endif // USE_RX_FRSKY_SPI
 156 #ifdef USE_RX_FLYSKY
 157     case RX_SPI_A7105_FLYSKY:
 158     case RX_SPI_A7105_FLYSKY_2A:
 159         protocolInit = flySkyInit;
 160         protocolDataReceived = flySkyDataReceived;
 161         protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
 162         break;
 163 #endif
 164 #ifdef USE_RX_SFHSS_SPI
 165     case RX_SPI_SFHSS:
 166         protocolInit = sfhssSpiInit;
 167         protocolDataReceived = sfhssSpiDataReceived;
 168         protocolSetRcDataFromPayload = sfhssSpiSetRcData;
 169         break;
 170 #endif
 171 #ifdef USE_RX_SPEKTRUM
 172     case RX_SPI_CYRF6936_DSM:
 173         protocolInit = spektrumSpiInit;
 174         protocolDataReceived = spektrumSpiDataReceived;
 175         protocolSetRcDataFromPayload = spektrumSpiSetRcDataFromPayload;
 176         break;
 177 #endif
 178 #ifdef USE_RX_EXPRESSLRS
 179     case RX_SPI_EXPRESSLRS:
 180         protocolInit = expressLrsSpiInit;
 181         protocolDataReceived = expressLrsDataReceived;
 182         protocolSetRcDataFromPayload = expressLrsSetRcDataFromPayload;
 183         break;
 184 #endif
 185     default:
 186         return false;
 187     }
 188
 189     return true;
 190 }
 191
 192 /*
 193  * Returns true if the RX has received new data.
 194  * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 195  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 196  */
 197 static uint8_t rxSpiFrameStatus(rxRuntimeState_t *rxRuntimeState)
 198 {
 199     UNUSED(rxRuntimeState);
 200
 201     uint8_t status = RX_FRAME_PENDING;
 202
 203     rx_spi_received_e result = protocolDataReceived(rxSpiPayload);
 204
 205     if (result & RX_SPI_RECEIVED_DATA) {
 206         rxSpiNewPacketAvailable = true;
 207         status = RX_FRAME_COMPLETE;
 208     }
 209
 210     if (result & RX_SPI_ROCESSING_REQUIRED) {
 211         status |= RX_FRAME_PROCESSING_REQUIRED;
 212     }
 213
 214     return status;
 215 }
 216
 217 static bool rxSpiProcessFrame(const rxRuntimeState_t *rxRuntimeState)
 218 {
 219     UNUSED(rxRuntimeState);
 220
 221     if (protocolProcessFrame) {
 222         rx_spi_received_e result = protocolProcessFrame(rxSpiPayload);
 223
 224         if (result & RX_SPI_RECEIVED_DATA) {
 225             rxSpiNewPacketAvailable = true;
 226         }
 227
 228         if (result & RX_SPI_ROCESSING_REQUIRED) {
 229             return false;
 230         }
 231     }
 232
 233     return true;
 234 }
 235
 236 /*
 237  * Set and initialize the RX protocol
 238  */
 239 bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState)
 240 {
 241     bool ret = false;
 242
 243     if (!rxSpiDeviceInit(rxSpiConfig)) {
 244         return false;
 245     }
 246
 247     if (!rxSpiSetProtocol(rxSpiConfig->rx_spi_protocol)) {
 248         return false;
 249     }
 250
 251     rxSpiExtiConfig_t extiConfig = {
 252         .ioConfig = IOCFG_IN_FLOATING,
 253         .trigger = BETAFLIGHT_EXTI_TRIGGER_RISING,
 254     };
 255
 256     ret = protocolInit(rxSpiConfig, rxRuntimeState, &extiConfig);
 257
 258     if (rxSpiExtiConfigured()) {
 259         rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 260
 261         rxRuntimeState->rcFrameTimeUsFn = rxSpiGetLastExtiTimeUs;
 262     }
 263
 264     rxSpiNewPacketAvailable = false;
 265     rxRuntimeState->rxRefreshRate = 20000;
 266
 267     rxRuntimeState->rcReadRawFn = rxSpiReadRawRC;
 268     rxRuntimeState->rcFrameStatusFn = rxSpiFrameStatus;
 269     rxRuntimeState->rcProcessFrameFn = rxSpiProcessFrame;
 270
 271     return ret;
 272 }
 273 #endif