flight/pios/common/pios_oplinkrcvr.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup  PIOS_OPLinkRCVR OPLink Receiver Input Functions
   6  * @brief       Code to read the channels within the OPLinkReceiver UAVObject
   7  * @{
   8  *
   9  * @file       pios_opinkrcvr.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  11  * @brief      GCS Input functions (STM32 dependent)
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include <pios.h>
  32
  33 #ifdef PIOS_INCLUDE_OPLINKRCVR
  34
  35 #include <uavobjectmanager.h>
  36 #include <oplinkreceiver.h>
  37 #include <oplinkstatus.h>
  38 #include <pios_oplinkrcvr_priv.h>
  39
  40 static OPLinkReceiverData oplinkreceiverdata;
  41
  42 /* Provide a RCVR driver */
  43 static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel);
  44 static void PIOS_oplinkrcvr_Supervisor(uint32_t ppm_id);
  45 static uint8_t PIOS_OPLinkRCVR_Quality_Get(uint32_t oplinkrcvr_id);
  46
  47 const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver = {
  48     .read        = PIOS_OPLinkRCVR_Get,
  49     .get_quality = PIOS_OPLinkRCVR_Quality_Get
  50 };
  51
  52 /* Local Variables */
  53 enum pios_oplinkrcvr_dev_magic {
  54     PIOS_OPLINKRCVR_DEV_MAGIC = 0x07ab9e2544cf5029,
  55 };
  56
  57 struct pios_oplinkrcvr_dev {
  58     enum pios_oplinkrcvr_dev_magic magic;
  59
  60     uint8_t supv_timer;
  61     bool    Fresh;
  62 };
  63
  64 static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
  65
  66 static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
  67 {
  68     return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
  69 }
  70
  71 #if defined(PIOS_INCLUDE_FREERTOS)
  72 static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
  73 {
  74     struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
  75
  76     oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)pios_malloc(sizeof(*oplinkrcvr_dev));
  77     if (!oplinkrcvr_dev) {
  78         return NULL;
  79     }
  80
  81     oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
  82     oplinkrcvr_dev->Fresh = false;
  83     oplinkrcvr_dev->supv_timer = 0;
  84
  85     /* The update callback cannot receive the device pointer, so set it in a global */
  86     global_oplinkrcvr_dev = oplinkrcvr_dev;
  87
  88     return oplinkrcvr_dev;
  89 }
  90 #else
  91 static struct pios_oplinkrcvr_dev pios_oplinkrcvr_devs[PIOS_OPLINKRCVR_MAX_DEVS];
  92 static uint8_t pios_oplinkrcvr_num_devs;
  93 static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
  94 {
  95     struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
  96
  97     if (pios_oplinkrcvr_num_devs >= PIOS_OPLINKRCVR_MAX_DEVS) {
  98         return NULL;
  99     }
 100
 101     oplinkrcvr_dev = &pios_oplinkrcvr_devs[pios_oplinkrcvr_num_devs++];
 102     oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
 103     oplinkrcvr_dev->Fresh = false;
 104     oplinkrcvr_dev->supv_timer = 0;
 105
 106     global_oplinkrcvr_dev = oplinkrcvr_dev;
 107
 108     return oplinkrcvr_dev;
 109 }
 110 #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 111
 112 static void oplinkreceiver_updated(UAVObjEvent *ev)
 113 {
 114     struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
 115
 116     if (ev->obj == OPLinkReceiverHandle()) {
 117         OPLinkReceiverGet(&oplinkreceiverdata);
 118         oplinkrcvr_dev->Fresh = true;
 119     }
 120 }
 121
 122 extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr_id)
 123 {
 124     struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
 125
 126     /* Allocate the device structure */
 127     oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)PIOS_oplinkrcvr_alloc();
 128     if (!oplinkrcvr_dev) {
 129         return -1;
 130     }
 131
 132     for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
 133         /* Flush channels */
 134         oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
 135     }
 136
 137     /* Register uavobj callback */
 138     OPLinkReceiverConnectCallback(oplinkreceiver_updated);
 139
 140     /* Register the failsafe timer callback. */
 141     if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
 142         PIOS_DEBUG_Assert(0);
 143     }
 144
 145     return 0;
 146 }
 147
 148 /**
 149  * Get the value of an input channel
 150  * \param[in] channel Number of the channel desired (zero based)
 151  * \output PIOS_RCVR_INVALID channel not available
 152  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
 153  * \output >=0 channel value
 154  */
 155 static int32_t PIOS_OPLinkRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel)
 156 {
 157     if (channel >= OPLINKRECEIVER_CHANNEL_NUMELEM) {
 158         /* channel is out of range */
 159         return PIOS_RCVR_INVALID;
 160     }
 161
 162     return oplinkreceiverdata.Channel[channel];
 163 }
 164
 165 static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
 166 {
 167     /* Recover our device context */
 168     struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
 169
 170     if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
 171         /* Invalid device specified */
 172         return;
 173     }
 174
 175     /*
 176      * RTC runs at 625Hz.
 177      */
 178     if (++(oplinkrcvr_dev->supv_timer) < (PIOS_OPLINK_RCVR_TIMEOUT_MS * 1000 / 625)) {
 179         return;
 180     }
 181     oplinkrcvr_dev->supv_timer = 0;
 182
 183     if (!oplinkrcvr_dev->Fresh) {
 184         for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
 185             oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
 186         }
 187     }
 188
 189     oplinkrcvr_dev->Fresh = false;
 190 }
 191
 192 static uint8_t PIOS_OPLinkRCVR_Quality_Get(__attribute__((unused)) uint32_t oplinkrcvr_id)
 193 {
 194     uint8_t oplink_quality;
 195
 196     OPLinkStatusLinkQualityGet(&oplink_quality);
 197
 198     /* link_status is in the range 0-128, so scale to a % */
 199     return oplink_quality * 100 / 128;
 200 }
 201
 202 #endif /* PIOS_INCLUDE_OPLINKRCVR */
 203
 204 /**
 205  * @}
 206  * @}
 207  */