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 rxSpiExtiConfig_t extiConfig = {
  75     .ioConfig = IOCFG_IN_FLOATING,
  76     .trigger = BETAFLIGHT_EXTI_TRIGGER_RISING,
  77 };
  78
  79 STATIC_UNIT_TESTED float rxSpiReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t channel)
  80 {
  81     STATIC_ASSERT(NRF24L01_MAX_PAYLOAD_SIZE <= RX_SPI_MAX_PAYLOAD_SIZE, NRF24L01_MAX_PAYLOAD_SIZE_larger_than_RX_SPI_MAX_PAYLOAD_SIZE);
  82
  83     if (channel >= rxRuntimeState->channelCount) {
  84         return 0;
  85     }
  86     if (rxSpiNewPacketAvailable) {
  87         protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
  88         rxSpiNewPacketAvailable = false;
  89     }
  90     return rxSpiRcData[channel];
  91 }
  92
  93 STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
  94 {
  95     switch (protocol) {
  96 #ifdef USE_RX_V202
  97     case RX_SPI_NRF24_V202_250K:
  98     case RX_SPI_NRF24_V202_1M:
  99         protocolInit = v202Nrf24Init;
 100         protocolDataReceived = v202Nrf24DataReceived;
 101         protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
 102         break;
 103 #endif
 104 #ifdef USE_RX_SYMA
 105     case RX_SPI_NRF24_SYMA_X:
 106     case RX_SPI_NRF24_SYMA_X5C:
 107         protocolInit = symaNrf24Init;
 108         protocolDataReceived = symaNrf24DataReceived;
 109         protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
 110         break;
 111 #endif
 112 #ifdef USE_RX_CX10
 113     case RX_SPI_NRF24_CX10:
 114     case RX_SPI_NRF24_CX10A:
 115         protocolInit = cx10Nrf24Init;
 116         protocolDataReceived = cx10Nrf24DataReceived;
 117         protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
 118         break;
 119 #endif
 120 #ifdef USE_RX_H8_3D
 121     case RX_SPI_NRF24_H8_3D:
 122         protocolInit = h8_3dNrf24Init;
 123         protocolDataReceived = h8_3dNrf24DataReceived;
 124         protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
 125         break;
 126 #endif
 127 #ifdef USE_RX_KN
 128     case RX_SPI_NRF24_KN:
 129         protocolInit = knNrf24Init;
 130         protocolDataReceived = knNrf24DataReceived;
 131         protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
 132         break;
 133 #endif
 134 #ifdef USE_RX_INAV
 135     case RX_SPI_NRF24_INAV:
 136         protocolInit = inavNrf24Init;
 137         protocolDataReceived = inavNrf24DataReceived;
 138         protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
 139         break;
 140 #endif
 141 #if defined(USE_RX_FRSKY_SPI)
 142 #if defined(USE_RX_FRSKY_SPI_D)
 143     case RX_SPI_FRSKY_D:
 144 #endif
 145 #if defined(USE_RX_FRSKY_SPI_X)
 146     case RX_SPI_FRSKY_X:
 147     case RX_SPI_FRSKY_X_LBT:
 148     case RX_SPI_FRSKY_X_V2:
 149     case RX_SPI_FRSKY_X_LBT_V2:
 150         protocolInit = frSkySpiInit;
 151         protocolDataReceived = frSkySpiDataReceived;
 152         protocolSetRcDataFromPayload = frSkySpiSetRcData;
 153         protocolProcessFrame = frSkySpiProcessFrame;
 154         break;
 155 #endif
 156 #if defined(USE_RX_REDPINE_SPI)
 157     case RX_SPI_REDPINE:
 158         protocolInit = redpineSpiInit;
 159         protocolDataReceived = redpineSpiDataReceived;
 160         protocolSetRcDataFromPayload = redpineSetRcData;
 161         break;
 162 #endif
 163
 164 #endif // USE_RX_FRSKY_SPI
 165 #ifdef USE_RX_FLYSKY
 166     case RX_SPI_A7105_FLYSKY:
 167     case RX_SPI_A7105_FLYSKY_2A:
 168         protocolInit = flySkyInit;
 169         protocolDataReceived = flySkyDataReceived;
 170         protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
 171         break;
 172 #endif
 173 #ifdef USE_RX_SFHSS_SPI
 174     case RX_SPI_SFHSS:
 175         protocolInit = sfhssSpiInit;
 176         protocolDataReceived = sfhssSpiDataReceived;
 177         protocolSetRcDataFromPayload = sfhssSpiSetRcData;
 178         break;
 179 #endif
 180 #ifdef USE_RX_SPEKTRUM
 181     case RX_SPI_CYRF6936_DSM:
 182         protocolInit = spektrumSpiInit;
 183         protocolDataReceived = spektrumSpiDataReceived;
 184         protocolSetRcDataFromPayload = spektrumSpiSetRcDataFromPayload;
 185         break;
 186 #endif
 187 #ifdef USE_RX_EXPRESSLRS
 188     case RX_SPI_EXPRESSLRS:
 189         protocolInit = expressLrsSpiInit;
 190         protocolDataReceived = expressLrsDataReceived;
 191         protocolSetRcDataFromPayload = expressLrsSetRcDataFromPayload;
 192         protocolStop = expressLrsStop;
 193         break;
 194 #endif
 195     default:
 196         return false;
 197     }
 198
 199     return true;
 200 }
 201
 202 /* Called by scheduler immediately after real-time tasks
 203  * Returns true if the RX has received new data.
 204  */
 205 static uint8_t rxSpiFrameStatus(rxRuntimeState_t *rxRuntimeState)
 206 {
 207     UNUSED(rxRuntimeState);
 208
 209     uint8_t status = RX_FRAME_PENDING;
 210
 211     rx_spi_received_e result = protocolDataReceived(rxSpiPayload);
 212
 213     if (result & RX_SPI_RECEIVED_DATA) {
 214         rxSpiNewPacketAvailable = true;
 215         status = RX_FRAME_COMPLETE;
 216     }
 217
 218     if (result & RX_SPI_ROCESSING_REQUIRED) {
 219         status |= RX_FRAME_PROCESSING_REQUIRED;
 220     }
 221
 222     return status;
 223 }
 224 /* Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 225  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 226  *
 227  */
 228 static bool rxSpiProcessFrame(const rxRuntimeState_t *rxRuntimeState)
 229 {
 230     UNUSED(rxRuntimeState);
 231
 232     if (protocolProcessFrame) {
 233         rx_spi_received_e result = protocolProcessFrame(rxSpiPayload);
 234
 235         if (result & RX_SPI_RECEIVED_DATA) {
 236             rxSpiNewPacketAvailable = true;
 237         }
 238
 239         if (result & RX_SPI_ROCESSING_REQUIRED) {
 240             return false;
 241         }
 242     }
 243
 244     return true;
 245 }
 246
 247 /*
 248  * Set and initialize the RX protocol
 249  */
 250 bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState)
 251 {
 252     bool ret = false;
 253
 254     if (!rxSpiDeviceInit(rxSpiConfig)) {
 255         return false;
 256     }
 257
 258     if (!rxSpiSetProtocol(rxSpiConfig->rx_spi_protocol)) {
 259         return false;
 260     }
 261
 262     ret = protocolInit(rxSpiConfig, rxRuntimeState, &extiConfig);
 263
 264     if (rxSpiExtiConfigured()) {
 265         rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 266
 267         rxRuntimeState->rcFrameTimeUsFn = rxSpiGetLastExtiTimeUs;
 268     }
 269
 270     rxSpiNewPacketAvailable = false;
 271     rxRuntimeState->rxRefreshRate = 20000;
 272
 273     rxRuntimeState->rcReadRawFn = rxSpiReadRawRC;
 274     rxRuntimeState->rcFrameStatusFn = rxSpiFrameStatus;
 275     rxRuntimeState->rcProcessFrameFn = rxSpiProcessFrame;
 276
 277     return ret;
 278 }
 279
 280 void rxSpiEnableExti(void)
 281 {
 282     rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 283 }
 284
 285 void rxSpiStop(void)
 286 {
 287     protocolStop();
 288 }
 289
 290 #endif