src/main/rx/msp.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_MSP
  27
  28 #include "common/utils.h"
  29
  30 #include "drivers/io.h"
  31 #include "pg/rx.h"
  32 #include "rx/rx.h"
  33 #include "rx/msp.h"
  34
  35
  36 static uint16_t mspFrame[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  37 static bool rxMspFrameDone = false;
  38
  39 float rxMspReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan)
  40 {
  41     UNUSED(rxRuntimeState);
  42     return mspFrame[chan];
  43 }
  44
  45 /*
  46  * Called from MSP command handler - mspFcProcessCommand
  47  */
  48 void rxMspFrameReceive(uint16_t *frame, int channelCount)
  49 {
  50     for (int i = 0; i < channelCount; i++) {
  51         mspFrame[i] = frame[i];
  52     }
  53
  54     // Any channels not provided will be reset to zero
  55     for (int i = channelCount; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
  56         mspFrame[i] = 0;
  57     }
  58
  59     rxMspFrameDone = true;
  60 }
  61
  62 static uint8_t rxMspFrameStatus(rxRuntimeState_t *rxRuntimeState)
  63 {
  64     UNUSED(rxRuntimeState);
  65
  66     if (!rxMspFrameDone) {
  67         return RX_FRAME_PENDING;
  68     }
  69
  70     rxMspFrameDone = false;
  71     return RX_FRAME_COMPLETE;
  72 }
  73
  74 void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
  75 {
  76     UNUSED(rxConfig);
  77
  78     rxRuntimeState->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT;
  79     rxRuntimeState->rxRefreshRate = 20000;
  80
  81     rxRuntimeState->rcReadRawFn = rxMspReadRawRC;
  82     rxRuntimeState->rcFrameStatusFn = rxMspFrameStatus;
  83 }
  84 #endif