superbitrf.h

Go to the documentation of this file.

/*
 * Copyright (C) 2013 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it 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 paparazzi; see the file COPYING. If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef DATALINK_SUPERBITRF_H
#define DATALINK_SUPERBITRF_H
 
#include "mcu_periph/gpio.h"
#include "peripherals/cyrf6936.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprz_transport.h"
#include "modules/datalink/datalink.h"
 
/* The timings in microseconds */
#define SUPERBITRF_BIND_RECV_TIME       10000       
#define SUPERBITRF_SYNC_RECV_TIME       7000        
#define SUPERBITRF_RECV_TIME            20000       
#define SUPERBITRF_RECV_SHORT_TIME      6000        
#define SUPERBITRF_DATARECV_TIME        10000       
#define SUPERBITRF_DATARECVB_TIME       6000        
/* The different statuses the superbitRF can be in */
enum SuperbitRFStatus {
  SUPERBITRF_UNINIT,                
  SUPERBITRF_INIT_BINDING,          
  SUPERBITRF_INIT_TRANSFER,         
  SUPERBITRF_BINDING,               
  SUPERBITRF_SYNCING_A,             
  SUPERBITRF_SYNCING_B,             
  SUPERBITRF_TRANSFER,              
};
 
/* The different resolutions a transmitter can be in */
enum dsm_resolution {
  SUPERBITRF_10_BIT_RESOLUTION           = 0x00,     
  SUPERBITRF_11_BIT_RESOLUTION           = 0x01,     
};
 
/* The different protocols a transmitter can send */
enum dsm_protocol {
  DSM_DSM2_1          = 0x01,     
  DSM_DSM2_2          = 0x02,     
  DSM_DSM2P           = 0x10,     
  DSM_DSMXP           = 0x11,     
  DSM_DSMX_1          = 0xA2,     
  DSM_DSMX_2          = 0xB2,     
};
#define IS_DSM2(x)          (x == DSM_DSM2P || x == DSM_DSM2_1 || x == DSM_DSM2_2)
#define IS_DSMX(x)          (!IS_DSM2(x))
 
#define SUPERBITRF_TX_BUFFER_SIZE 128
 
/* The superbitrf structure */
struct SuperbitRF {
  struct Cyrf6936 cyrf6936;                 
  volatile enum SuperbitRFStatus status;    
  uint8_t state;                            
  uint32_t timer;                           
  bool timer_overflow;                    
  uint8_t timeouts;                         
  uint32_t transfer_timeouts;               
  uint32_t resync_count;                    
  uint8_t packet_loss_bit;                  
  bool packet_loss;                       
  uint8_t channels[23];                     
  uint8_t channel_idx;                      
  uint8_t channel;                          
  uint32_t irq_count;                       
  uint32_t rx_packet_count;                 
  uint32_t tx_packet_count;                 
  uint32_t uplink_count;                    
  uint32_t rc_count;                        
  uint8_t bind_mfg_id[4];                   
  uint32_t bind_mfg_id32;                   
  uint8_t num_channels;                     
  volatile enum dsm_protocol protocol;      
  volatile enum dsm_resolution resolution;  
  uint16_t crc_seed;                        
  uint8_t sop_col;                          
  uint8_t data_col;                         
  bool rc_frame_available;                
  uint32_t timing1;                         
  uint32_t timing2;                         
  int16_t rc_values[14];                    
  struct pprz_transport rx_transport;       
  uint8_t tx_buffer[SUPERBITRF_TX_BUFFER_SIZE]; 
  uint8_t tx_insert_idx;                    
  uint8_t tx_extract_idx;                   
  struct link_device device;
};
 
/* The superbitrf functions and structures */
extern struct SuperbitRF superbitrf;
extern void superbitrf_init(void);
extern void superbitrf_event(void);
extern void superbitrf_dl_init(void);
extern void superbitrf_dl_event(void);
extern void superbitrf_set_mfg_id(uint32_t id);
extern void superbitrf_set_protocol(uint8_t protocol);
 
/* The pprz transport structure */
extern struct pprz_transport pprz_srf_tp;
 
#endif /* DATALINK_SUPERBITRF_H */