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 static void nullProtocolStop(void) {}
  61
  62 typedef bool (*protocolInitFnPtr)(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState, rxSpiExtiConfig_t *extiConfig);
  63 typedef rx_spi_received_e (*protocolDataReceivedFnPtr)(uint8_t *payload);
  64 typedef rx_spi_received_e (*protocolProcessFrameFnPtr)(uint8_t *payload);
  65 typedef void (*protocolSetRcDataFromPayloadFnPtr)(uint16_t *rcData, const uint8_t *payload);
  66 typedef void (*protocolStopFnPtr)(void);
  67
  68 static protocolInitFnPtr protocolInit;
  69 static protocolDataReceivedFnPtr protocolDataReceived;
  70 static protocolProcessFrameFnPtr protocolProcessFrame;
  71 static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
  72 static protocolStopFnPtr protocolStop = nullProtocolStop;
  73
  74 STATIC_UNIT_TESTED float rxSpiReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t channel)
  75 {
  76     STATIC_ASSERT(NRF24L01_MAX_PAYLOAD_SIZE <= RX_SPI_MAX_PAYLOAD_SIZE, NRF24L01_MAX_PAYLOAD_SIZE_larger_than_RX_SPI_MAX_PAYLOAD_SIZE);
  77
  78     if (channel >= rxRuntimeState->channelCount) {
  79         return 0;
  80     }
  81     if (rxSpiNewPacketAvailable) {
  82         protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
  83         rxSpiNewPacketAvailable = false;
  84     }
  85     return rxSpiRcData[channel];
  86 }
  87
  88 STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
  89 {
  90     switch (protocol) {
  91 #ifdef USE_RX_V202
  92     case RX_SPI_NRF24_V202_250K:
  93     case RX_SPI_NRF24_V202_1M:
  94         protocolInit = v202Nrf24Init;
  95         protocolDataReceived = v202Nrf24DataReceived;
  96         protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
  97         break;
  98 #endif
  99 #ifdef USE_RX_SYMA
 100     case RX_SPI_NRF24_SYMA_X:
 101     case RX_SPI_NRF24_SYMA_X5C:
 102         protocolInit = symaNrf24Init;
 103         protocolDataReceived = symaNrf24DataReceived;
 104         protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
 105         break;
 106 #endif
 107 #ifdef USE_RX_CX10
 108     case RX_SPI_NRF24_CX10:
 109     case RX_SPI_NRF24_CX10A:
 110         protocolInit = cx10Nrf24Init;
 111         protocolDataReceived = cx10Nrf24DataReceived;
 112         protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
 113         break;
 114 #endif
 115 #ifdef USE_RX_H8_3D
 116     case RX_SPI_NRF24_H8_3D:
 117         protocolInit = h8_3dNrf24Init;
 118         protocolDataReceived = h8_3dNrf24DataReceived;
 119         protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
 120         break;
 121 #endif
 122 #ifdef USE_RX_KN
 123     case RX_SPI_NRF24_KN:
 124         protocolInit = knNrf24Init;
 125         protocolDataReceived = knNrf24DataReceived;
 126         protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
 127         break;
 128 #endif
 129 #ifdef USE_RX_INAV
 130     case RX_SPI_NRF24_INAV:
 131         protocolInit = inavNrf24Init;
 132         protocolDataReceived = inavNrf24DataReceived;
 133         protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
 134         break;
 135 #endif
 136 #if defined(USE_RX_FRSKY_SPI)
 137 #if defined(USE_RX_FRSKY_SPI_D)
 138     case RX_SPI_FRSKY_D:
 139 #endif
 140 #if defined(USE_RX_FRSKY_SPI_X)
 141     case RX_SPI_FRSKY_X:
 142     case RX_SPI_FRSKY_X_LBT:
 143     case RX_SPI_FRSKY_X_V2:
 144     case RX_SPI_FRSKY_X_LBT_V2:
 145         protocolInit = frSkySpiInit;
 146         protocolDataReceived = frSkySpiDataReceived;
 147         protocolSetRcDataFromPayload = frSkySpiSetRcData;
 148         protocolProcessFrame = frSkySpiProcessFrame;
 149         break;
 150 #endif
 151 #if defined(USE_RX_REDPINE_SPI)
 152     case RX_SPI_REDPINE:
 153         protocolInit = redpineSpiInit;
 154         protocolDataReceived = redpineSpiDataReceived;
 155         protocolSetRcDataFromPayload = redpineSetRcData;
 156         break;
 157 #endif
 158
 159 #endif // USE_RX_FRSKY_SPI
 160 #ifdef USE_RX_FLYSKY
 161     case RX_SPI_A7105_FLYSKY:
 162     case RX_SPI_A7105_FLYSKY_2A:
 163         protocolInit = flySkyInit;
 164         protocolDataReceived = flySkyDataReceived;
 165         protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
 166         break;
 167 #endif
 168 #ifdef USE_RX_SFHSS_SPI
 169     case RX_SPI_SFHSS:
 170         protocolInit = sfhssSpiInit;
 171         protocolDataReceived = sfhssSpiDataReceived;
 172         protocolSetRcDataFromPayload = sfhssSpiSetRcData;
 173         break;
 174 #endif
 175 #ifdef USE_RX_SPEKTRUM
 176     case RX_SPI_CYRF6936_DSM:
 177         protocolInit = spektrumSpiInit;
 178         protocolDataReceived = spektrumSpiDataReceived;
 179         protocolSetRcDataFromPayload = spektrumSpiSetRcDataFromPayload;
 180         break;
 181 #endif
 182 #ifdef USE_RX_EXPRESSLRS
 183     case RX_SPI_EXPRESSLRS:
 184         protocolInit = expressLrsSpiInit;
 185         protocolDataReceived = expressLrsDataReceived;
 186         protocolSetRcDataFromPayload = expressLrsSetRcDataFromPayload;
 187         protocolStop = expressLrsStop;
 188         break;
 189 #endif
 190     default:
 191         return false;
 192     }
 193
 194     return true;
 195 }
 196
 197 /*
 198  * Returns true if the RX has received new data.
 199  * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 200  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 201  */
 202 static uint8_t rxSpiFrameStatus(rxRuntimeState_t *rxRuntimeState)
 203 {
 204     UNUSED(rxRuntimeState);
 205
 206     uint8_t status = RX_FRAME_PENDING;
 207
 208     rx_spi_received_e result = protocolDataReceived(rxSpiPayload);
 209
 210     if (result & RX_SPI_RECEIVED_DATA) {
 211         rxSpiNewPacketAvailable = true;
 212         status = RX_FRAME_COMPLETE;
 213     }
 214
 215     if (result & RX_SPI_ROCESSING_REQUIRED) {
 216         status |= RX_FRAME_PROCESSING_REQUIRED;
 217     }
 218
 219     return status;
 220 }
 221
 222 static bool rxSpiProcessFrame(const rxRuntimeState_t *rxRuntimeState)
 223 {
 224     UNUSED(rxRuntimeState);
 225
 226     if (protocolProcessFrame) {
 227         rx_spi_received_e result = protocolProcessFrame(rxSpiPayload);
 228
 229         if (result & RX_SPI_RECEIVED_DATA) {
 230             rxSpiNewPacketAvailable = true;
 231         }
 232
 233         if (result & RX_SPI_ROCESSING_REQUIRED) {
 234             return false;
 235         }
 236     }
 237
 238     return true;
 239 }
 240
 241 /*
 242  * Set and initialize the RX protocol
 243  */
 244 bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState)
 245 {
 246     bool ret = false;
 247
 248     if (!rxSpiDeviceInit(rxSpiConfig)) {
 249         return false;
 250     }
 251
 252     if (!rxSpiSetProtocol(rxSpiConfig->rx_spi_protocol)) {
 253         return false;
 254     }
 255
 256     rxSpiExtiConfig_t extiConfig = {
 257         .ioConfig = IOCFG_IN_FLOATING,
 258         .trigger = BETAFLIGHT_EXTI_TRIGGER_RISING,
 259     };
 260
 261     ret = protocolInit(rxSpiConfig, rxRuntimeState, &extiConfig);
 262
 263     if (rxSpiExtiConfigured()) {
 264         rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 265
 266         rxRuntimeState->rcFrameTimeUsFn = rxSpiGetLastExtiTimeUs;
 267     }
 268
 269     rxSpiNewPacketAvailable = false;
 270     rxRuntimeState->rxRefreshRate = 20000;
 271
 272     rxRuntimeState->rcReadRawFn = rxSpiReadRawRC;
 273     rxRuntimeState->rcFrameStatusFn = rxSpiFrameStatus;
 274     rxRuntimeState->rcProcessFrameFn = rxSpiProcessFrame;
 275
 276     return ret;
 277 }
 278
 279 void rxSpiStop(void)
 280 {
 281     protocolStop();
 282 }
 283
 284 #endif