src/main/rx/rx_spi.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_SPI
  27
  28 #include "build/build_config.h"
  29
  30 #include "common/utils.h"
  31
  32 #include "config/config.h"
  33 #include "config/feature.h"
  34
  35 #include "drivers/io.h"
  36 #include "drivers/rx/rx_spi.h"
  37 #include "drivers/rx/rx_nrf24l01.h"
  38
  39 #include "fc/dispatch.h"
  40
  41 #include "pg/rx_spi.h"
  42
  43 #include "rx/rx_spi.h"
  44 #include "rx/cc2500_frsky_common.h"
  45 #include "rx/cc2500_redpine.h"
  46 #include "rx/nrf24_cx10.h"
  47 #include "rx/nrf24_syma.h"
  48 #include "rx/nrf24_v202.h"
  49 #include "rx/nrf24_h8_3d.h"
  50 #include "rx/nrf24_inav.h"
  51 #include "rx/nrf24_kn.h"
  52 #include "rx/a7105_flysky.h"
  53 #include "rx/cc2500_sfhss.h"
  54 #include "rx/cyrf6936_spektrum.h"
  55 #include "rx/expresslrs.h"
  56
  57 uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  58 STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
  59 STATIC_UNIT_TESTED uint8_t rxSpiNewPacketAvailable; // set true when a new packet is received
  60
  61 static void nullProtocolStop(void) {}
  62
  63 typedef bool (*protocolInitFnPtr)(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState, rxSpiExtiConfig_t *extiConfig);
  64 typedef rx_spi_received_e (*protocolDataReceivedFnPtr)(uint8_t *payload);
  65 typedef rx_spi_received_e (*protocolProcessFrameFnPtr)(uint8_t *payload);
  66 typedef void (*protocolSetRcDataFromPayloadFnPtr)(uint16_t *rcData, const uint8_t *payload);
  67 typedef void (*protocolStopFnPtr)(void);
  68
  69 static protocolInitFnPtr protocolInit;
  70 static protocolDataReceivedFnPtr protocolDataReceived;
  71 static protocolProcessFrameFnPtr protocolProcessFrame;
  72 static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
  73 static protocolStopFnPtr protocolStop = nullProtocolStop;
  74
  75 static rxSpiExtiConfig_t extiConfig = {
  76     .ioConfig = IOCFG_IN_FLOATING,
  77     .trigger = BETAFLIGHT_EXTI_TRIGGER_RISING,
  78 };
  79
  80 STATIC_UNIT_TESTED float rxSpiReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t channel)
  81 {
  82     STATIC_ASSERT(NRF24L01_MAX_PAYLOAD_SIZE <= RX_SPI_MAX_PAYLOAD_SIZE, NRF24L01_MAX_PAYLOAD_SIZE_larger_than_RX_SPI_MAX_PAYLOAD_SIZE);
  83
  84     if (channel >= rxRuntimeState->channelCount) {
  85         return 0;
  86     }
  87     if (rxSpiNewPacketAvailable) {
  88         protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
  89         rxSpiNewPacketAvailable = false;
  90     }
  91     return rxSpiRcData[channel];
  92 }
  93
  94 STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
  95 {
  96     switch (protocol) {
  97 #ifdef USE_RX_V202
  98     case RX_SPI_NRF24_V202_250K:
  99     case RX_SPI_NRF24_V202_1M:
 100         protocolInit = v202Nrf24Init;
 101         protocolDataReceived = v202Nrf24DataReceived;
 102         protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
 103         break;
 104 #endif
 105 #ifdef USE_RX_SYMA
 106     case RX_SPI_NRF24_SYMA_X:
 107     case RX_SPI_NRF24_SYMA_X5C:
 108         protocolInit = symaNrf24Init;
 109         protocolDataReceived = symaNrf24DataReceived;
 110         protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
 111         break;
 112 #endif
 113 #ifdef USE_RX_CX10
 114     case RX_SPI_NRF24_CX10:
 115     case RX_SPI_NRF24_CX10A:
 116         protocolInit = cx10Nrf24Init;
 117         protocolDataReceived = cx10Nrf24DataReceived;
 118         protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
 119         break;
 120 #endif
 121 #ifdef USE_RX_H8_3D
 122     case RX_SPI_NRF24_H8_3D:
 123         protocolInit = h8_3dNrf24Init;
 124         protocolDataReceived = h8_3dNrf24DataReceived;
 125         protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
 126         break;
 127 #endif
 128 #ifdef USE_RX_KN
 129     case RX_SPI_NRF24_KN:
 130         protocolInit = knNrf24Init;
 131         protocolDataReceived = knNrf24DataReceived;
 132         protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
 133         break;
 134 #endif
 135 #ifdef USE_RX_INAV
 136     case RX_SPI_NRF24_INAV:
 137         protocolInit = inavNrf24Init;
 138         protocolDataReceived = inavNrf24DataReceived;
 139         protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
 140         break;
 141 #endif
 142 #if defined(USE_RX_FRSKY_SPI)
 143 #if defined(USE_RX_FRSKY_SPI_D)
 144     case RX_SPI_FRSKY_D:
 145 #endif
 146 #if defined(USE_RX_FRSKY_SPI_X)
 147     case RX_SPI_FRSKY_X:
 148     case RX_SPI_FRSKY_X_LBT:
 149     case RX_SPI_FRSKY_X_V2:
 150     case RX_SPI_FRSKY_X_LBT_V2:
 151         protocolInit = frSkySpiInit;
 152         protocolDataReceived = frSkySpiDataReceived;
 153         protocolSetRcDataFromPayload = frSkySpiSetRcData;
 154         protocolProcessFrame = frSkySpiProcessFrame;
 155         break;
 156 #endif
 157 #if defined(USE_RX_REDPINE_SPI)
 158     case RX_SPI_REDPINE:
 159         protocolInit = redpineSpiInit;
 160         protocolDataReceived = redpineSpiDataReceived;
 161         protocolSetRcDataFromPayload = redpineSetRcData;
 162         break;
 163 #endif
 164
 165 #endif // USE_RX_FRSKY_SPI
 166 #ifdef USE_RX_FLYSKY
 167     case RX_SPI_A7105_FLYSKY:
 168     case RX_SPI_A7105_FLYSKY_2A:
 169         protocolInit = flySkyInit;
 170         protocolDataReceived = flySkyDataReceived;
 171         protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
 172         break;
 173 #endif
 174 #ifdef USE_RX_SFHSS_SPI
 175     case RX_SPI_SFHSS:
 176         protocolInit = sfhssSpiInit;
 177         protocolDataReceived = sfhssSpiDataReceived;
 178         protocolSetRcDataFromPayload = sfhssSpiSetRcData;
 179         break;
 180 #endif
 181 #ifdef USE_RX_SPEKTRUM
 182     case RX_SPI_CYRF6936_DSM:
 183         protocolInit = spektrumSpiInit;
 184         protocolDataReceived = spektrumSpiDataReceived;
 185         protocolSetRcDataFromPayload = spektrumSpiSetRcDataFromPayload;
 186         break;
 187 #endif
 188 #ifdef USE_RX_EXPRESSLRS
 189     case RX_SPI_EXPRESSLRS:
 190         protocolInit = expressLrsSpiInit;
 191         protocolDataReceived = expressLrsDataReceived;
 192         protocolSetRcDataFromPayload = expressLrsSetRcDataFromPayload;
 193         protocolStop = expressLrsStop;
 194         break;
 195 #endif
 196     default:
 197         return false;
 198     }
 199
 200     return true;
 201 }
 202
 203 /* Called by scheduler immediately after real-time tasks
 204  * Returns true if the RX has received new data.
 205  */
 206 static uint8_t rxSpiFrameStatus(rxRuntimeState_t *rxRuntimeState)
 207 {
 208     UNUSED(rxRuntimeState);
 209
 210     uint8_t status = RX_FRAME_PENDING;
 211
 212     rx_spi_received_e result = protocolDataReceived(rxSpiPayload);
 213
 214     if (result & RX_SPI_RECEIVED_DATA) {
 215         rxSpiNewPacketAvailable = true;
 216         status = RX_FRAME_COMPLETE;
 217     }
 218
 219     if (result & RX_SPI_ROCESSING_REQUIRED) {
 220         status |= RX_FRAME_PROCESSING_REQUIRED;
 221     }
 222
 223     return status;
 224 }
 225 /* Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 226  * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 227  *
 228  */
 229 static bool rxSpiProcessFrame(const rxRuntimeState_t *rxRuntimeState)
 230 {
 231     UNUSED(rxRuntimeState);
 232
 233     if (protocolProcessFrame) {
 234         rx_spi_received_e result = protocolProcessFrame(rxSpiPayload);
 235
 236         if (result & RX_SPI_RECEIVED_DATA) {
 237             rxSpiNewPacketAvailable = true;
 238         }
 239
 240         if (result & RX_SPI_ROCESSING_REQUIRED) {
 241             return false;
 242         }
 243     }
 244
 245     return true;
 246 }
 247
 248 /*
 249  * Set and initialize the RX protocol
 250  */
 251 bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeState_t *rxRuntimeState)
 252 {
 253     bool ret = false;
 254
 255     if (!rxSpiDeviceInit(rxSpiConfig)) {
 256         return false;
 257     }
 258
 259     if (!rxSpiSetProtocol(rxSpiConfig->rx_spi_protocol)) {
 260         return false;
 261     }
 262
 263     ret = protocolInit(rxSpiConfig, rxRuntimeState, &extiConfig);
 264
 265     if (rxSpiExtiConfigured()) {
 266         rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 267
 268         rxRuntimeState->rcFrameTimeUsFn = rxSpiGetLastExtiTimeUs;
 269     }
 270
 271     rxSpiNewPacketAvailable = false;
 272     rxRuntimeState->rxRefreshRate = 20000;
 273
 274     rxRuntimeState->rcReadRawFn = rxSpiReadRawRC;
 275     rxRuntimeState->rcFrameStatusFn = rxSpiFrameStatus;
 276     rxRuntimeState->rcProcessFrameFn = rxSpiProcessFrame;
 277
 278     dispatchEnable();
 279
 280     return ret;
 281 }
 282
 283 void rxSpiEnableExti(void)
 284 {
 285     rxSpiExtiInit(extiConfig.ioConfig, extiConfig.trigger);
 286 }
 287
 288 void rxSpiStop(void)
 289 {
 290     protocolStop();
 291 }
 292
 293 #endif