src/main/rx/msp.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #ifdef USE_RX_MSP
  24
  25 #include "build/build_config.h"
  26
  27 #include "common/utils.h"
  28
  29 #include "rx/rx.h"
  30 #include "rx/msp.h"
  31
  32 static uint16_t mspFrame[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  33 static bool rxMspFrameDone = false;
  34
  35 static uint16_t rxMspReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfigPtr, uint8_t chan)
  36 {
  37     UNUSED(rxRuntimeConfigPtr);
  38     return mspFrame[chan];
  39 }
  40
  41 void rxMspFrameReceive(uint16_t *frame, int channelCount)
  42 {
  43     for (int i = 0; i < channelCount; i++) {
  44         mspFrame[i] = frame[i];
  45     }
  46
  47     // Any channels not provided will be reset to zero
  48     for (int i = channelCount; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
  49         mspFrame[i] = 0;
  50     }
  51
  52     rxMspFrameDone = true;
  53 }
  54
  55 static uint8_t rxMspFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
  56 {
  57     UNUSED(rxRuntimeConfig);
  58
  59     if (!rxMspFrameDone) {
  60         return RX_FRAME_PENDING;
  61     }
  62
  63     rxMspFrameDone = false;
  64     return RX_FRAME_COMPLETE;
  65 }
  66
  67 void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
  68 {
  69     UNUSED(rxConfig);
  70
  71     rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT;
  72     rxRuntimeConfig->rxSignalTimeout = DELAY_5_HZ;
  73     rxRuntimeConfig->rcReadRawFn = rxMspReadRawRC;
  74     rxRuntimeConfig->rcFrameStatusFn = rxMspFrameStatus;
  75 }
  76 #endif