cc2500_rx_spi.c

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#include "cc2500_compat.h"
 
#include "cc2500_settings.h"
#include "cc2500_rx_spi.h"
#include "cc2500_frsky_common.h"
 
#define UNUSED(x) (void)(x)
 
// betaflight/src/main/rx/rx_spi.c @ 766c90b
/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */
 
#include <stdbool.h>
#include <stdint.h>
 
//#include "platform.h"
 
#ifdef USE_RX_SPI
 
//#include "build/build_config.h"
//
//#include "common/utils.h"
//
//#include "config/feature.h"
//
//#include "drivers/rx/rx_spi.h"
//#include "drivers/rx/rx_nrf24l01.h"
//
//#include "fc/config.h"
//
//#include "pg/rx_spi.h"
//
//#include "rx/rx_spi.h"
//#include "rx/cc2500_frsky_common.h"
//#include "rx/nrf24_cx10.h"
//#include "rx/nrf24_syma.h"
//#include "rx/nrf24_v202.h"
//#include "rx/nrf24_h8_3d.h"
//#include "rx/nrf24_inav.h"
//#include "rx/nrf24_kn.h"
//#include "rx/a7105_flysky.h"
//#include "rx/cc2500_sfhss.h"
//#include "rx/cyrf6936_spektrum.h"
 
 
uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
STATIC_UNIT_TESTED uint8_t rxSpiNewPacketAvailable; // set true when a new packet is received
 
typedef bool (*protocolInitFnPtr)(const rxSpiConfig_t *rxSpiConfig, rxRuntimeConfig_t *rxRuntimeConfig);
typedef rx_spi_received_e (*protocolDataReceivedFnPtr)(uint8_t *payload);
typedef rx_spi_received_e (*protocolProcessFrameFnPtr)(uint8_t *payload);
typedef void (*protocolSetRcDataFromPayloadFnPtr)(uint16_t *rcData, const uint8_t *payload);
 
static protocolInitFnPtr protocolInit;
static protocolDataReceivedFnPtr protocolDataReceived;
static protocolProcessFrameFnPtr protocolProcessFrame;
static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
 
STATIC_UNIT_TESTED uint16_t rxSpiReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
{
    STATIC_ASSERT(NRF24L01_MAX_PAYLOAD_SIZE <= RX_SPI_MAX_PAYLOAD_SIZE, NRF24L01_MAX_PAYLOAD_SIZE_larger_than_RX_SPI_MAX_PAYLOAD_SIZE);
 
    if (channel >= rxRuntimeConfig->channelCount) {
        return 0;
    }
    if (rxSpiNewPacketAvailable) {
        protocolSetRcDataFromPayload(rxSpiRcData, rxSpiPayload);
        rxSpiNewPacketAvailable = false;
    }
    return rxSpiRcData[channel];
}
STATIC_UNIT_TESTED uint16_t rxSpiReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) {…}
 
STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
{
    switch (protocol) {
    default:
#ifdef USE_RX_V202
    case RX_SPI_NRF24_V202_250K:
    case RX_SPI_NRF24_V202_1M:
        protocolInit = v202Nrf24Init;
        protocolDataReceived = v202Nrf24DataReceived;
        protocolSetRcDataFromPayload = v202Nrf24SetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_SYMA
    case RX_SPI_NRF24_SYMA_X:
    case RX_SPI_NRF24_SYMA_X5C:
        protocolInit = symaNrf24Init;
        protocolDataReceived = symaNrf24DataReceived;
        protocolSetRcDataFromPayload = symaNrf24SetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_CX10
    case RX_SPI_NRF24_CX10:
    case RX_SPI_NRF24_CX10A:
        protocolInit = cx10Nrf24Init;
        protocolDataReceived = cx10Nrf24DataReceived;
        protocolSetRcDataFromPayload = cx10Nrf24SetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_H8_3D
    case RX_SPI_NRF24_H8_3D:
        protocolInit = h8_3dNrf24Init;
        protocolDataReceived = h8_3dNrf24DataReceived;
        protocolSetRcDataFromPayload = h8_3dNrf24SetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_KN
    case RX_SPI_NRF24_KN:
        protocolInit = knNrf24Init;
        protocolDataReceived = knNrf24DataReceived;
        protocolSetRcDataFromPayload = knNrf24SetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_INAV
    case RX_SPI_NRF24_INAV:
        protocolInit = inavNrf24Init;
        protocolDataReceived = inavNrf24DataReceived;
        protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
        break;
#endif
#if defined(USE_RX_FRSKY_SPI)
#if defined(USE_RX_FRSKY_SPI_D)
    case RX_SPI_FRSKY_D:
#endif
#if defined(USE_RX_FRSKY_SPI_X)
    case RX_SPI_FRSKY_X:
    case RX_SPI_FRSKY_X_LBT:
#endif
        protocolInit = frSkySpiInit;
        protocolDataReceived = frSkySpiDataReceived;
        protocolSetRcDataFromPayload = frSkySpiSetRcData;
        protocolProcessFrame = frSkySpiProcessFrame;
 
        break;
#endif // USE_RX_FRSKY_SPI
#ifdef USE_RX_FLYSKY
    case RX_SPI_A7105_FLYSKY:
    case RX_SPI_A7105_FLYSKY_2A:
        protocolInit = flySkyInit;
        protocolDataReceived = flySkyDataReceived;
        protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
        break;
#endif
#ifdef USE_RX_SFHSS_SPI
    case RX_SPI_SFHSS:
        protocolInit = sfhssSpiInit;
        protocolDataReceived = sfhssSpiDataReceived;
        protocolSetRcDataFromPayload = sfhssSpiSetRcData;
        break;
#endif
#ifdef USE_RX_SPEKTRUM
    case RX_SPI_CYRF6936_DSM:
        protocolInit = spektrumSpiInit;
        protocolDataReceived = spektrumSpiDataReceived;
        protocolSetRcDataFromPayload = spektrumSpiSetRcDataFromPayload;
        break;
#endif
    }
    return true;
}
STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol) {…}
 
/*
 * Returns true if the RX has received new data.
 * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck.
 * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called.
 */
static uint8_t rxSpiFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
{
    UNUSED(rxRuntimeConfig);
 
    uint8_t status = RX_FRAME_PENDING;
 
    rx_spi_received_e result = protocolDataReceived(rxSpiPayload);
 
    if (result & RX_SPI_RECEIVED_DATA) {
        rxSpiNewPacketAvailable = true;
        status = RX_FRAME_COMPLETE;
    }
 
    if (result & RX_SPI_ROCESSING_REQUIRED) {
        status |= RX_FRAME_PROCESSING_REQUIRED;
    }
 
    return status;
}
static uint8_t rxSpiFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) {…}
 
static bool rxSpiProcessFrame(const rxRuntimeConfig_t *rxRuntimeConfig)
{
    UNUSED(rxRuntimeConfig);
 
    if (protocolProcessFrame) {
        rx_spi_received_e result = protocolProcessFrame(rxSpiPayload);
 
        if (result & RX_SPI_RECEIVED_DATA) {
            rxSpiNewPacketAvailable = true;
        }
 
        if (result & RX_SPI_ROCESSING_REQUIRED) {
            return false;
        }
    }
 
    return true;
}
static bool rxSpiProcessFrame(const rxRuntimeConfig_t *rxRuntimeConfig) {…}
 
/*
 * Set and initialize the RX protocol
 */
bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
    bool ret = false;
 
    if (!rxSpiDeviceInit(rxSpiConfig)) {
        return false;
    }
 
    if (rxSpiSetProtocol(rxSpiConfig->rx_spi_protocol)) {
        ret = protocolInit(rxSpiConfig, rxRuntimeConfig);
    }
    rxSpiNewPacketAvailable = false;
    rxRuntimeConfig->rxRefreshRate = 20000;
 
    rxRuntimeConfig->rcReadRawFn = rxSpiReadRawRC;
    rxRuntimeConfig->rcFrameStatusFn = rxSpiFrameStatus;
    rxRuntimeConfig->rcProcessFrameFn = rxSpiProcessFrame;
 
    return ret;
}
bool rxSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeConfig_t *rxRuntimeConfig) {…}
#endif