src/main/rx/nrf24.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 #include "build_config.h"
  23
  24 #ifdef USE_RX_NRF24
  25 #include "drivers/rx_nrf24l01.h"
  26 #include "rx/rx.h"
  27 #include "rx/nrf24.h"
  28 #include "rx/nrf24_cx10.h"
  29 #include "rx/nrf24_syma.h"
  30 #include "rx/nrf24_v202.h"
  31 #include "rx/nrf24_h8_3d.h"
  32 #include "rx/nrf24_ref.h"
  33
  34
  35 uint16_t nrf24RcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  36 STATIC_UNIT_TESTED uint8_t nrf24Payload[NRF24L01_MAX_PAYLOAD_SIZE];
  37 STATIC_UNIT_TESTED uint8_t nrf24NewPacketAvailable; // set true when a new packet is received
  38
  39 typedef void (*protocolInitPtr)(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
  40 typedef nrf24_received_t (*protocolDataReceivedPtr)(uint8_t *payload);
  41 typedef void (*protocolSetRcDataFromPayloadPtr)(uint16_t *rcData, const uint8_t *payload);
  42
  43 static protocolInitPtr protocolInit;
  44 static protocolDataReceivedPtr protocolDataReceived;
  45 static protocolSetRcDataFromPayloadPtr protocolSetRcDataFromPayload;
  46
  47 STATIC_UNIT_TESTED uint16_t rxNrf24ReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
  48 {
  49     if (channel >= rxRuntimeConfig->channelCount) {
  50         return 0;
  51     }
  52     if (nrf24NewPacketAvailable) {
  53         protocolSetRcDataFromPayload(nrf24RcData, nrf24Payload);
  54         nrf24NewPacketAvailable = false;
  55     }
  56     return nrf24RcData[channel];
  57 }
  58
  59 STATIC_UNIT_TESTED bool rxNrf24SetProtocol(nrf24_protocol_t protocol)
  60 {
  61     switch (protocol) {
  62 #ifdef USE_RX_V202
  63     case NRF24RX_V202_250K:
  64     case NRF24RX_V202_1M:
  65         protocolInit = v202Init;
  66         protocolDataReceived = v202DataReceived;
  67         protocolSetRcDataFromPayload = v202SetRcDataFromPayload;
  68         break;
  69 #endif
  70 #ifdef USE_RX_SYMA
  71     case NRF24RX_SYMA_X:
  72     case NRF24RX_SYMA_X5C:
  73         protocolInit = symaInit;
  74         protocolDataReceived = symaDataReceived;
  75         protocolSetRcDataFromPayload = symaSetRcDataFromPayload;
  76         break;
  77 #endif
  78 #ifdef USE_RX_CX10
  79     case NRF24RX_CX10:
  80     case NRF24RX_CX10A:
  81         protocolInit = cx10Init;
  82         protocolDataReceived = cx10DataReceived;
  83         protocolSetRcDataFromPayload = cx10SetRcDataFromPayload;
  84         break;
  85 #endif
  86 #ifdef USE_RX_H8_3D
  87     case NRF24RX_H8_3D:
  88         protocolInit = h8_3dInit;
  89         protocolDataReceived = h8_3dDataReceived;
  90         protocolSetRcDataFromPayload = h8_3dSetRcDataFromPayload;
  91         break;
  92 #endif
  93 #ifdef USE_RX_REF
  94     case NRF24RX_REF:
  95         protocolInit = refInit;
  96         protocolDataReceived = refDataReceived;
  97         protocolSetRcDataFromPayload = refSetRcDataFromPayload;
  98         break;
  99 #endif
 100     default:
 101         return false;
 102         break;
 103     }
 104     return true;
 105 }
 106
 107 /*
 108  * Returns true if the NRF24L01 has received new data.
 109  * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 110  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 111  */
 112 bool rxNrf24DataReceived(void)
 113 {
 114     if (protocolDataReceived(nrf24Payload) == NRF24_RECEIVED_DATA) {
 115         nrf24NewPacketAvailable = true;
 116         return true;
 117     }
 118     return false;
 119 }
 120
 121 /*
 122  * Set and initialize the NRF24 protocol
 123  */
 124 bool rxNrf24Init(nfr24l01_spi_type_e spiType, const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 125 {
 126     bool ret = false;
 127     NRF24L01_SpiInit(spiType);
 128     if (rxNrf24SetProtocol(rxConfig->nrf24rx_protocol)) {
 129         protocolInit(rxConfig, rxRuntimeConfig);
 130         ret = true;
 131     }
 132     nrf24NewPacketAvailable = false;
 133     if (callback) {
 134         *callback = rxNrf24ReadRawRC;
 135     }
 136     return ret;
 137 }
 138 #endif