flight/pios/inc/pios_openlrs_priv.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_RFM22B Radio Functions
   6  * @brief PIOS OpenLRS interface for for the RFM22B radio
   7  * @{
   8  *
   9  * @file       pios_openlrs_priv.h
  10  * @author     Tau Labs, http://taulabs.org, Copyright (C) 2015
  11  * @author     dRonin, http://dronin.org Copyright (C) 2015
  12  * @brief      Implements an OpenLRS driver for the RFM22B
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_OPENLRS_PRIV_H
  33 #define PIOS_OPENLRS_PRIV_H
  34
  35 #include "pios_openlrs.h"
  36
  37 #define OPENLRSNG_VERSION        0x0382
  38
  39 #define MAXHOPS                  24
  40 #define OPENLRS_PPM_NUM_CHANNELS 16
  41
  42 // Factory setting values, modify via the CLI
  43
  44 // ####### RADIOLINK RF POWER (beacon is always 100/13/1.3mW) #######
  45 // 7 == 100mW (or 1000mW with M3)
  46 // 6 == 50mW (use this when using booster amp), (800mW with M3)
  47 // 5 == 25mW
  48 // 4 == 13mW
  49 // 3 == 6mW
  50 // 2 == 3mW
  51 // 1 == 1.6mW
  52 // 0 == 1.3mW
  53 #define DEFAULT_RF_POWER        7
  54
  55 #define DEFAULT_CHANNEL_SPACING 5 // 50kHz
  56 #define DEFAULT_HOPLIST         22, 10, 19, 34, 49, 41
  57 #define DEFAULT_RF_MAGIC        0xDEADFEED
  58
  59 // 0 -- 4800bps, best range
  60 // 1 -- 9600bps, medium range
  61 // 2 -- 19200bps, medium range
  62 #define DEFAULT_DATARATE        2
  63
  64 // BIND_DATA flag masks
  65 #define TELEMETRY_OFF           0x00
  66 #define TELEMETRY_PASSTHRU      0x08
  67 #define TELEMETRY_FRSKY         0x10 // covers smartport if used with &
  68 #define TELEMETRY_SMARTPORT     0x18
  69 #define TELEMETRY_MASK          0x18
  70 #define CHANNELS_4_4            0x01
  71 #define CHANNELS_8              0x02
  72 #define CHANNELS_8_4            0x03
  73 #define CHANNELS_12             0x04
  74 #define CHANNELS_12_4           0x05
  75 #define CHANNELS_16             0x06
  76 #define DIVERSITY_ENABLED       0x80
  77 #define DEFAULT_FLAGS           (CHANNELS_8 | TELEMETRY_PASSTHRU)
  78
  79 // helper macro for European PMR channels
  80 #define EU_PMR_CH(x) (445993750L + 12500L * (x)) // valid for ch1-ch8
  81
  82 // helper macro for US FRS channels 1-7
  83 #define US_FRS_CH(x) (462537500L + 25000L * (x)) // valid for ch1-ch7
  84
  85 #define DEFAULT_BEACON_FREQUENCY      0 // disable beacon
  86 #define DEFAULT_BEACON_DEADTIME       30 // time to wait until go into beacon mode (30s)
  87 #define DEFAULT_BEACON_INTERVAL       10 // interval between beacon transmits (10s)
  88
  89 #define BINDING_POWER                 0x06 // not lowest since may result fail with RFM23BP
  90
  91 #define TELEMETRY_PACKETSIZE          9
  92
  93 #define BIND_MAGIC                    (0xDEC1BE15 + (OPENLRSNG_VERSION & 0xfff0))
  94 #define BINDING_VERSION               ((OPENLRSNG_VERSION & 0x0ff0) >> 4)
  95
  96 // HW frequency limits
  97 #define MIN_RFM_FREQUENCY_868         848000000
  98 #define MAX_RFM_FREQUENCY_868         888000000
  99 #define DEFAULT_CARRIER_FREQUENCY_868 868000000 // Hz  (ch 0)
 100 #define BINDING_FREQUENCY_868         868000000 // Hz
 101
 102 #define MIN_RFM_FREQUENCY_915         895000000
 103 #define MAX_RFM_FREQUENCY_915         935000000
 104 #define DEFAULT_CARRIER_FREQUENCY_915 915000000 // Hz  (ch 0)
 105 #define BINDING_FREQUENCY_915         915000000 // Hz
 106
 107 #define MIN_RFM_FREQUENCY_433         413000000
 108 #define MAX_RFM_FREQUENCY_433         463000000
 109 #define DEFAULT_CARRIER_FREQUENCY_433 435000000 // Hz  (ch 0)
 110 #define BINDING_FREQUENCY_433         435000000 // Hz
 111
 112 #define RFM22_DEVICE_TYPE             0x00  // R
 113 #define RFM22_DT_MASK                 0x1F
 114
 115 struct bind_data {
 116     uint8_t  version;
 117     uint32_t serial_baudrate;
 118     uint32_t rf_frequency;
 119     uint32_t rf_magic;
 120     uint8_t  rf_power;
 121     uint8_t  rf_channel_spacing;
 122     uint8_t  hopchannel[MAXHOPS];
 123     uint8_t  modem_params;
 124     uint8_t  flags;
 125 } __attribute__((packed));
 126
 127 enum RF_MODE {
 128     Available, Transmit, Receive, Transmitted, Received,
 129 };
 130
 131 enum pios_openlrs_dev_magic {
 132     PIOS_OPENLRS_DEV_MAGIC = 0x18c97ab6,
 133 };
 134
 135 struct pios_openlrs_dev {
 136     enum pios_openlrs_dev_magic magic;
 137     struct pios_openlrs_cfg     cfg;
 138
 139     // The SPI bus information
 140     uint32_t spi_id;
 141     uint32_t slave_num;
 142
 143     double   band;
 144
 145     // The task handle
 146     struct pios_thread *taskHandle;
 147
 148     // The COM callback functions.
 149     pios_com_callback  rx_in_cb;
 150     uint32_t rx_in_context;
 151     pios_com_callback  tx_out_cb;
 152     uint32_t tx_out_context;
 153
 154     // The event queue handle
 155     struct pios_semaphore *sema_isr;
 156
 157     // The PPM buffer
 158     int16_t ppm[OPENLRS_PPM_NUM_CHANNELS];
 159
 160     // PPM callback.
 161     PIOS_OpenLRS_PPMReceivedCallback ppm_callback;
 162     // PPM context
 163     uint32_t ppm_context;
 164
 165     // Flag to indicate if link every acquired
 166     bool     link_acquired;
 167
 168     // Active bound information data
 169     struct bind_data bind_data;
 170
 171     // Beacon settings
 172     uint32_t     beacon_frequency;
 173     uint8_t      beacon_delay;
 174     uint8_t      beacon_period;
 175     bool         beacon_armed;
 176
 177     enum RF_MODE rf_mode;
 178     uint32_t     rf_channel;
 179
 180     uint8_t      it_status1;
 181     uint8_t      it_status2;
 182
 183     uint8_t      rx_buf[64];
 184     uint8_t      tx_buf[9];
 185
 186     uint8_t      rssi;
 187     uint16_t     link_quality;
 188
 189     // Variables from OpenLRS for radio control
 190     uint8_t      hopcount;
 191     uint32_t     lastPacketTimeUs;
 192     uint32_t     numberOfLostPackets;
 193     uint16_t     lastAFCCvalue;
 194     uint32_t     lastRSSITimeUs;
 195     bool         willhop;
 196     uint32_t     nextBeaconTimeMs;
 197     uint32_t     linkLossTimeMs;
 198     uint32_t     failsafeDelay;
 199     uint32_t     beacon_rssi_avg;
 200 };
 201
 202 bool PIOS_OpenLRS_EXT_Int(void);
 203
 204 #endif /* PIOS_OPENLRS_PRIV_H */
 205 /**
 206  * @}
 207  * @}
 208  */