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 static uint16_t mspFrame[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  36 static bool rxMspFrameDone = false;
  37 static bool rxMspOverrideFrameDone = 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(const 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     rxMspOverrideFrameDone = true;
  61 }
  62
  63 static uint8_t rxMspFrameStatus(rxRuntimeState_t *rxRuntimeState)
  64 {
  65     UNUSED(rxRuntimeState);
  66
  67     if (!rxMspFrameDone) {
  68         return RX_FRAME_PENDING;
  69     }
  70
  71     rxMspFrameDone = false;
  72     return RX_FRAME_COMPLETE;
  73 }
  74
  75 #if defined(USE_RX_MSP_OVERRIDE)
  76 uint8_t rxMspOverrideFrameStatus(void)
  77 {
  78     if (!rxMspOverrideFrameDone) {
  79         return RX_FRAME_PENDING;
  80     }
  81
  82     rxMspOverrideFrameDone = false;
  83     return RX_FRAME_COMPLETE;
  84 }
  85 #endif
  86
  87 void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
  88 {
  89     UNUSED(rxConfig);
  90
  91     rxRuntimeState->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT;
  92     rxRuntimeState->rcReadRawFn = rxMspReadRawRC;
  93     rxRuntimeState->rcFrameStatusFn = rxMspFrameStatus;
  94 }
  95 #endif