#include "subsystems/datalink/superbitrf.h"
#include <string.h>
#include "paparazzi.h"
#include "led.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/gpio.h"
#include "subsystems/settings.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for superbitrf.c:

Macros
#define	SUPERBITRF_SPI_DEV spi1

#define	SUPERBITRF_RST_PORT GPIOC

#define	SUPERBITRF_RST_PIN GPIO12

#define	SUPERBITRF_DRDY_PORT GPIOB

#define	SUPERBITRF_DRDY_PIN GPIO1

#define	SUPERBITRF_FORCE_DSM2 TRUE

#define	SUPERBITRF_UPDATE_DL TRUE

Functions
static void	superbitrf_radio_to_channels (uint8_t data, uint8_t nb_channels, bool is_11bit, int16_t channels)
	Parse a radio channel packet. More...

static void	superbitrf_receive_packet_cb (bool error, uint8_t status, uint8_t packet[])
	When we receive a packet this callback is called. More...

static void	superbitrf_send_packet_cb (bool error)

static void	superbitrf_gen_dsmx_channels (void)
	Generate the channels. More...

static void	send_superbit (struct transport_tx trans, struct link_device dev)

static int	superbitrf_check_free_space (struct SuperbitRF p, long fd, uint16_t len)

static void	superbitrf_transmit (struct SuperbitRF *p, long fd, uint8_t byte)

static void	superbitrf_transmit_buffer (struct SuperbitRF p, long fd, uint8_t data, uint16_t len)

static void	superbitrf_send (struct SuperbitRF *p, long fd)

static int	null_function (struct SuperbitRF *p)

void	superbitrf_init (void)
	Initialize the superbitrf. More...

void	superbitrf_dl_init (void)
	Initialize datalink part. More...

void	superbitrf_dl_event (void)
	The superbitrf datalink event call. More...

void	superbitrf_set_mfg_id (uint32_t id)

void	superbitrf_set_protocol (uint8_t protocol)

void	superbitrf_event (void)
	The superbitrf on event call. More...

Variables
struct SuperbitRF	superbitrf

struct pprz_transport	pprz_srf_tp

static const uint8_t	cyrf_stratup_config [][2]

static const uint8_t	cyrf_bind_config [][2]

static const uint8_t	cyrf_transfer_config [][2]

const uint8_t	cyrf_abort_receive [][2]

const uint8_t	cyrf_start_receive [][2]

static const uint8_t	pn_codes [5][9][8]

static const uint8_t	pn_bind [] = { 0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x84 }

Macro Definition Documentation

◆ SUPERBITRF_DRDY_PIN

#define SUPERBITRF_DRDY_PIN GPIO1

Definition at line 59 of file superbitrf.c.

◆ SUPERBITRF_DRDY_PORT

#define SUPERBITRF_DRDY_PORT GPIOB

Definition at line 55 of file superbitrf.c.

◆ SUPERBITRF_FORCE_DSM2

#define SUPERBITRF_FORCE_DSM2 TRUE

Definition at line 65 of file superbitrf.c.

◆ SUPERBITRF_RST_PIN

#define SUPERBITRF_RST_PIN GPIO12

Definition at line 49 of file superbitrf.c.

◆ SUPERBITRF_RST_PORT

#define SUPERBITRF_RST_PORT GPIOC

Definition at line 45 of file superbitrf.c.

◆ SUPERBITRF_SPI_DEV

#define SUPERBITRF_SPI_DEV spi1

Definition at line 39 of file superbitrf.c.

◆ SUPERBITRF_UPDATE_DL

#define SUPERBITRF_UPDATE_DL TRUE

Definition at line 70 of file superbitrf.c.

Function Documentation

◆ null_function()

static int null_function ( struct SuperbitRF * p )

static

Definition at line 236 of file superbitrf.c.

Referenced by superbitrf_init().

Here is the caller graph for this function:

◆ send_superbit()

static void send_superbit	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 188 of file superbitrf.c.

References SuperbitRF::bind_mfg_id32, SuperbitRF::cyrf6936, dev, SuperbitRF::irq_count, Cyrf6936::mfg_id, SuperbitRF::rc_count, SuperbitRF::resync_count, SuperbitRF::rx_packet_count, Cyrf6936::status, status, SuperbitRF::status, superbitrf, SuperbitRF::timing1, SuperbitRF::timing2, SuperbitRF::transfer_timeouts, SuperbitRF::tx_packet_count, and SuperbitRF::uplink_count.

Referenced by superbitrf_init().

Here is the caller graph for this function:

◆ superbitrf_check_free_space()

static int superbitrf_check_free_space	(	struct SuperbitRF *	p,
		long *	fd,
		uint16_t	len
	)

static

Definition at line 211 of file superbitrf.c.

References p, and SUPERBITRF_TX_BUFFER_SIZE.

Referenced by superbitrf_init().

Here is the caller graph for this function:

◆ superbitrf_dl_event()

void superbitrf_dl_event ( void )

The superbitrf datalink event call.

Definition at line 293 of file superbitrf.c.

References dl_buffer, dl_msg_available, DlCheckAndParse(), DOWNLINK_DEVICE, pprz_srf_tp, and SUPERBITRF_UPDATE_DL.

Here is the call graph for this function:

◆ superbitrf_dl_init()

void superbitrf_dl_init ( void )

Initialize datalink part.

Definition at line 284 of file superbitrf.c.

References pprz_srf_tp.

◆ superbitrf_event()

void superbitrf_event ( void )

The superbitrf on event call.

Definition at line 321 of file superbitrf.c.

References SuperbitRF::bind_mfg_id, SuperbitRF::bind_mfg_id32, SuperbitRF::channel, SuperbitRF::channel_idx, SuperbitRF::channels, SuperbitRF::crc_seed, SuperbitRF::cyrf6936, CYRF6936_IDLE, cyrf6936_multi_write(), cyrf6936_read_rx_irq_status_packet(), cyrf6936_send(), cyrf6936_write(), cyrf6936_write_chan_sop_data_crc(), cyrf_abort_receive, cyrf_bind_config, CYRF_CHANNEL, CYRF_RXC_IRQ, CYRF_RXE_IRQ, cyrf_start_receive, cyrf_stratup_config, cyrf_transfer_config, CYRF_TXC_IRQ, CYRF_TXE_IRQ, SuperbitRF::data_col, get_sys_time_usec(), gpio_get(), Cyrf6936::has_irq, SuperbitRF::irq_count, IS_DSM2, IS_DSMX, LED_ON, LED_TOGGLE, SuperbitRF::num_channels, SuperbitRF::packet_loss, SuperbitRF::packet_loss_bit, pn_bind, pn_codes, SuperbitRF::protocol, SuperbitRF::resync_count, Cyrf6936::rx_irq_status, Cyrf6936::rx_packet, SuperbitRF::rx_packet_count, Cyrf6936::rx_status, SuperbitRF::sop_col, SPEKTRUM_BIND_PIN, SPEKTRUM_BIND_PIN_PORT, SuperbitRF::state, Cyrf6936::status, SuperbitRF::status, superbitrf, SUPERBITRF_BIND_RECV_TIME, SUPERBITRF_BINDING, SUPERBITRF_DATARECV_TIME, SUPERBITRF_DRDY_PIN, SUPERBITRF_DRDY_PORT, SUPERBITRF_FORCE_DSM2, superbitrf_gen_dsmx_channels(), SUPERBITRF_INIT_BINDING, SUPERBITRF_INIT_TRANSFER, superbitrf_receive_packet_cb(), SUPERBITRF_RECV_SHORT_TIME, SUPERBITRF_RECV_TIME, superbitrf_send_packet_cb(), superbitrf_set_mfg_id(), superbitrf_set_protocol(), SUPERBITRF_SYNC_RECV_TIME, SUPERBITRF_SYNCING_A, SUPERBITRF_SYNCING_B, SUPERBITRF_TRANSFER, SUPERBITRF_TX_BUFFER_SIZE, SUPERBITRF_UNINIT, SuperbitRF::timeouts, SuperbitRF::timer, SuperbitRF::timer_overflow, SuperbitRF::transfer_timeouts, SuperbitRF::tx_buffer, SuperbitRF::tx_extract_idx, SuperbitRF::tx_insert_idx, Cyrf6936::tx_irq_status, and SuperbitRF::tx_packet_count.

Referenced by radio_control_impl_event().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ superbitrf_gen_dsmx_channels()

static void superbitrf_gen_dsmx_channels ( void )

inlinestatic

Generate the channels.

Definition at line 1117 of file superbitrf.c.

References SuperbitRF::bind_mfg_id, SuperbitRF::channels, idx, and superbitrf.

Referenced by superbitrf_event().

Here is the caller graph for this function:

◆ superbitrf_init()

void superbitrf_init ( void )

Initialize the superbitrf.

Definition at line 241 of file superbitrf.c.

References SuperbitRF::bind_mfg_id32, SuperbitRF::cyrf6936, cyrf6936_init(), DefaultPeriodic, SuperbitRF::device, gpio_setup_input(), null_function(), SuperbitRF::num_channels, SuperbitRF::protocol, register_periodic_telemetry(), SuperbitRF::rx_packet_count, send_superbit(), SPEKTRUM_BIND_PIN, SPEKTRUM_BIND_PIN_PORT, SuperbitRF::state, SuperbitRF::status, superbitrf, superbitrf_check_free_space(), SUPERBITRF_DRDY_PIN, SUPERBITRF_DRDY_PORT, SUPERBITRF_RST_PIN, SUPERBITRF_RST_PORT, superbitrf_send(), SUPERBITRF_SPI_DEV, superbitrf_transmit(), superbitrf_transmit_buffer(), SUPERBITRF_UNINIT, SuperbitRF::timer, SuperbitRF::tx_extract_idx, SuperbitRF::tx_insert_idx, and SuperbitRF::tx_packet_count.

Referenced by radio_control_impl_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ superbitrf_radio_to_channels()

static void superbitrf_radio_to_channels	(	uint8_t *	data,
		uint8_t	nb_channels,
		bool	is_11bit,
		int16_t *	channels
	)

inlinestatic

Parse a radio channel packet.

Definition at line 1088 of file superbitrf.c.

References MAX_PPRZ, and val.

Referenced by superbitrf_receive_packet_cb().

Here is the caller graph for this function:

◆ superbitrf_receive_packet_cb()

static void superbitrf_receive_packet_cb	(	bool	error,
		uint8_t	status,
		uint8_t	packet[]
	)

inlinestatic

When we receive a packet this callback is called.

Definition at line 786 of file superbitrf.c.

References SuperbitRF::bind_mfg_id, SuperbitRF::channel, SuperbitRF::channel_idx, SuperbitRF::channels, SuperbitRF::crc_seed, SuperbitRF::cyrf6936, cyrf6936_multi_write(), CYRF_BAD_CRC, cyrf_start_receive, DatalinkFillDlBuffer, dl_msg_available, get_sys_time_usec(), IS_DSM2, IS_DSMX, SuperbitRF::num_channels, SuperbitRF::packet_loss, SuperbitRF::packet_loss_bit, SuperbitRF::protocol, SuperbitRF::rc_count, SuperbitRF::rc_frame_available, SuperbitRF::rc_values, SuperbitRF::resolution, Cyrf6936::rx_count, SuperbitRF::rx_transport, settings_StoreSettings, SuperbitRF::state, status, SuperbitRF::status, superbitrf, SUPERBITRF_BINDING, SUPERBITRF_FORCE_DSM2, SUPERBITRF_INIT_TRANSFER, superbitrf_radio_to_channels(), SUPERBITRF_RECV_SHORT_TIME, SUPERBITRF_RECV_TIME, superbitrf_set_mfg_id(), superbitrf_set_protocol(), SUPERBITRF_SYNCING_A, SUPERBITRF_SYNCING_B, SUPERBITRF_TRANSFER, SuperbitRF::timeouts, SuperbitRF::timer, SuperbitRF::timing1, SuperbitRF::timing2, and SuperbitRF::uplink_count.

Referenced by superbitrf_event().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ superbitrf_send()

static void superbitrf_send	(	struct SuperbitRF *	p,
		long	fd
	)

static

Definition at line 234 of file superbitrf.c.

Referenced by superbitrf_init().

Here is the caller graph for this function:

◆ superbitrf_send_packet_cb()

static void superbitrf_send_packet_cb ( bool error )

inlinestatic

Definition at line 1057 of file superbitrf.c.

References SuperbitRF::state, SuperbitRF::status, superbitrf, SUPERBITRF_SYNCING_A, SUPERBITRF_SYNCING_B, and SUPERBITRF_TRANSFER.

Referenced by superbitrf_event().

Here is the caller graph for this function:

◆ superbitrf_set_mfg_id()

void superbitrf_set_mfg_id ( uint32_t id )

Definition at line 298 of file superbitrf.c.

References SuperbitRF::bind_mfg_id, SuperbitRF::bind_mfg_id32, SuperbitRF::crc_seed, SuperbitRF::data_col, SuperbitRF::sop_col, and superbitrf.

◆ superbitrf_set_protocol()

void superbitrf_set_protocol ( uint8_t protocol )

Definition at line 312 of file superbitrf.c.

References SuperbitRF::protocol, SuperbitRF::resolution, and superbitrf.

◆ superbitrf_transmit()

static void superbitrf_transmit	(	struct SuperbitRF *	p,
		long	fd,
		uint8_t	byte
	)

static

Definition at line 220 of file superbitrf.c.

References byte, p, and SUPERBITRF_TX_BUFFER_SIZE.

Referenced by superbitrf_init(), and superbitrf_transmit_buffer().

Here is the caller graph for this function:

◆ superbitrf_transmit_buffer()

static void superbitrf_transmit_buffer	(	struct SuperbitRF *	p,
		long	fd,
		uint8_t *	data,
		uint16_t	len
	)

static

Definition at line 226 of file superbitrf.c.

References fd, p, and superbitrf_transmit().

Referenced by superbitrf_init().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ cyrf_abort_receive

const uint8_t cyrf_abort_receive[][2]

Initial value:

= {
  {CYRF_XACT_CFG, CYRF_MODE_SYNTH_RX | CYRF_FRC_END},
  {CYRF_RX_ABORT, 0x00}
}

Definition at line 115 of file superbitrf.c.

Referenced by superbitrf_event().

◆ cyrf_bind_config

const uint8_t cyrf_bind_config[][2]

static

Initial value:

= {
  {CYRF_TX_CFG, CYRF_DATA_CODE_LENGTH | CYRF_DATA_MODE_SDR | CYRF_PA_4},  
  {CYRF_FRAMING_CFG, CYRF_SOP_LEN | 0xE},                                 
  {CYRF_RX_OVERRIDE, CYRF_FRC_RXDR | CYRF_DIS_RXCRC},                     
  {CYRF_EOP_CTRL, 0x02},                                                  
  {CYRF_TX_OVERRIDE, CYRF_DIS_TXCRC},                                     
}

Definition at line 100 of file superbitrf.c.

Referenced by superbitrf_event().

◆ cyrf_start_receive

const uint8_t cyrf_start_receive[][2]

Initial value:

= {
  {CYRF_RX_IRQ_STATUS, CYRF_RXOW_IRQ}, 
  {CYRF_RX_CTRL, CYRF_RX_GO | CYRF_RXC_IRQEN | CYRF_RXE_IRQEN} 
}

Definition at line 120 of file superbitrf.c.

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

◆ cyrf_stratup_config

const uint8_t cyrf_stratup_config[][2]

static

Initial value:

= {
  {CYRF_MODE_OVERRIDE, CYRF_RST},                                         
  {CYRF_CLK_EN, CYRF_RXF},                                                
  {CYRF_AUTO_CAL_TIME, 0x3C},                                             
  {CYRF_AUTO_CAL_OFFSET, 0x14},                                           
  {CYRF_RX_CFG, CYRF_LNA | CYRF_FAST_TURN_EN},                            
  {CYRF_TX_OFFSET_LSB, 0x55},                                             
  {CYRF_TX_OFFSET_MSB, 0x05},                                             
  {CYRF_XACT_CFG, CYRF_MODE_SYNTH_RX | CYRF_FRC_END},                     
  {CYRF_TX_CFG, CYRF_DATA_CODE_LENGTH | CYRF_DATA_MODE_SDR | CYRF_PA_4},  
  {CYRF_DATA64_THOLD, 0x0E},                                              
  {CYRF_XACT_CFG, CYRF_MODE_SYNTH_RX},                                    
}

Definition at line 86 of file superbitrf.c.

Referenced by superbitrf_event().

◆ cyrf_transfer_config

const uint8_t cyrf_transfer_config[][2]

static

Initial value:

= {
  {CYRF_TX_CFG, CYRF_DATA_CODE_LENGTH | CYRF_DATA_MODE_8DR | CYRF_PA_4},  
  {CYRF_FRAMING_CFG, CYRF_SOP_EN | CYRF_SOP_LEN | CYRF_LEN_EN | 0xE},     
  {CYRF_TX_OVERRIDE, 0x00},                                               
  {CYRF_RX_OVERRIDE, 0x00},                                               
}

Definition at line 108 of file superbitrf.c.

Referenced by superbitrf_event().

◆ pn_bind

const uint8_t pn_bind[] = { 0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x84 }

static

Definition at line 183 of file superbitrf.c.

Referenced by superbitrf_event().

◆ pn_codes

const uint8_t pn_codes[5][9][8]

static

Definition at line 126 of file superbitrf.c.

Referenced by superbitrf_event().

◆ pprz_srf_tp

struct pprz_transport pprz_srf_tp

Definition at line 77 of file superbitrf.c.

Referenced by superbitrf_dl_event(), and superbitrf_dl_init().

◆ superbitrf

struct SuperbitRF superbitrf

Definition at line 74 of file superbitrf.c.

Macros

Functions

Variables

Macro Definition Documentation

◆ SUPERBITRF_DRDY_PIN

◆ SUPERBITRF_DRDY_PORT

◆ SUPERBITRF_FORCE_DSM2

◆ SUPERBITRF_RST_PIN

◆ SUPERBITRF_RST_PORT

◆ SUPERBITRF_SPI_DEV

◆ SUPERBITRF_UPDATE_DL

Function Documentation

◆ null_function()

◆ send_superbit()

◆ superbitrf_check_free_space()

◆ superbitrf_dl_event()

◆ superbitrf_dl_init()

◆ superbitrf_event()

◆ superbitrf_gen_dsmx_channels()

◆ superbitrf_init()

◆ superbitrf_radio_to_channels()

◆ superbitrf_receive_packet_cb()

◆ superbitrf_send()

◆ superbitrf_send_packet_cb()

◆ superbitrf_set_mfg_id()

◆ superbitrf_set_protocol()

◆ superbitrf_transmit()

◆ superbitrf_transmit_buffer()

Variable Documentation

◆ cyrf_abort_receive

◆ cyrf_bind_config

◆ cyrf_start_receive

◆ cyrf_stratup_config

◆ cyrf_transfer_config

◆ pn_bind

◆ pn_codes

◆ pprz_srf_tp

◆ superbitrf