bluegiga.c File Reference

Datalink implementation for the BlueGiga Bluetooth radio chip trough SPI. More...

#include "mcu_periph/sys_time.h"
#include "subsystems/datalink/bluegiga.h"
#include "mcu_periph/gpio.h"
#include "mcu_periph/spi.h"
#include "subsystems/abi.h"
#include <string.h>
#include "subsystems/datalink/telemetry.h"

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Macros
#define	BLUEGIGA_DRDY_GPIO   SUPERBITRF_DRDY_PORT
#define	BLUEGIGA_DRDY_GPIO_PIN   SUPERBITRF_DRDY_PIN
#define	TxStrengthOfSender(x)   (x[1])
#define	RssiOfSender(x)   (x[2])
#define	Pprz_StxOfMsg(x)   (x[3])
#define	SenderIdOfBGMsg(x)   (x[5])

Functions
void	bluegiga_load_tx (struct bluegiga_periph *p)
void	bluegiga_transmit (struct bluegiga_periph *p, uint8_t data)
void	bluegiga_receive (struct spi_transaction *trans)
static int	dev_check_free_space (struct bluegiga_periph *p, long *fd, uint16_t len)
static void	dev_put_buffer (struct bluegiga_periph *p, long fd, uint8_t *data, uint16_t len)
static void	dev_put_byte (struct bluegiga_periph *p, long fd, uint8_t byte)
static void	dev_send_message (struct bluegiga_periph *p, long fd)
static int	dev_char_available (struct bluegiga_periph *p)
static uint8_t	dev_get_byte (struct bluegiga_periph *p)
static void	trans_cb (struct spi_transaction *trans)
bool	bluegiga_ch_available (struct bluegiga_periph *p)
void	bluegiga_increment_buf (uint8_t *buf_idx, uint8_t len)
static void	send_bluegiga (struct transport_tx *trans, struct link_device *dev)
void	bluegiga_init (struct bluegiga_periph *p)
void	bluegiga_broadcast_msg (struct bluegiga_periph *p, char *msg, uint8_t msg_len)

Variables
enum BlueGigaStatus	coms_status
struct bluegiga_periph	bluegiga_p
struct spi_transaction	bluegiga_spi
uint8_t	broadcast_msg [20]
uint32_t	a2a_msgs = 0
uint32_t	last_ts = 0

Detailed Description

Datalink implementation for the BlueGiga Bluetooth radio chip trough SPI.

Definition in file bluegiga.c.

Macro Definition Documentation

#define BLUEGIGA_DRDY_GPIO   SUPERBITRF_DRDY_PORT

Definition at line 48 of file bluegiga.c.

Referenced by bluegiga_broadcast_msg(), bluegiga_init(), and bluegiga_receive().

#define BLUEGIGA_DRDY_GPIO_PIN   SUPERBITRF_DRDY_PIN

Definition at line 52 of file bluegiga.c.

Referenced by bluegiga_broadcast_msg(), bluegiga_init(), and bluegiga_receive().

#define Pprz_StxOfMsg

(

x

)

(x[3])

Definition at line 57 of file bluegiga.c.

Referenced by bluegiga_receive().

#define RssiOfSender

(

x

)

(x[2])

Definition at line 56 of file bluegiga.c.

Referenced by bluegiga_receive().

#define SenderIdOfBGMsg

(

x

)

(x[5])

Definition at line 58 of file bluegiga.c.

Referenced by bluegiga_receive().

#define TxStrengthOfSender

(

x

)

(x[1])

Definition at line 55 of file bluegiga.c.

Referenced by bluegiga_receive().

Function Documentation

void bluegiga_broadcast_msg	(	struct bluegiga_periph *	p,
		char *	msg,
		uint8_t	msg_len
	)

Definition at line 343 of file bluegiga.c.

References BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN, BLUEGIGA_SENDING, BLUEGIGA_SENDING_BROADCAST, broadcast_msg, coms_status, gpio_clear(), and bluegiga_periph::work_tx.

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bool bluegiga_ch_available

(

struct bluegiga_periph *

p

)

Definition at line 116 of file bluegiga.c.

References bluegiga_periph::rx_extract_idx, and bluegiga_periph::rx_insert_idx.

Referenced by dev_char_available().

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void bluegiga_increment_buf	(	uint8_t *	buf_idx,
		uint8_t	len
	)

Definition at line 122 of file bluegiga.c.

References BLUEGIGA_BUFFER_SIZE.

Referenced by bluegiga_load_tx(), bluegiga_receive(), bluegiga_transmit(), and dev_get_byte().

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void bluegiga_init

(

struct bluegiga_periph *

p

)

Definition at line 148 of file bluegiga.c.

References spi_transaction::after_cb, spi_transaction::bitorder, BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN, bluegiga_spi, BLUEGIGA_SPI_BUF_SIZE, BLUEGIGA_UNINIT, broadcast_msg, bluegiga_periph::bytes_recvd_since_last, spi_transaction::cdiv, coms_status, bluegiga_periph::connected, spi_transaction::cpha, spi_transaction::cpol, DefaultPeriodic, dev_char_available(), dev_check_free_space(), dev_get_byte(), dev_put_buffer(), dev_put_byte(), dev_send_message(), bluegiga_periph::device, spi_transaction::dss, bluegiga_periph::end_of_msg, gpio_set(), gpio_setup_output(), spi_transaction::input_buf, spi_transaction::input_length, LED_INIT, spi_transaction::output_buf, spi_transaction::output_length, register_periodic_telemetry(), bluegiga_periph::rx_extract_idx, bluegiga_periph::rx_insert_idx, spi_transaction::select, send_bluegiga(), spi_transaction::slave_idx, spi_slave_register(), SPICphaEdge2, SPICpolIdleHigh, SPIDiv256, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, trans_cb(), bluegiga_periph::tx_extract_idx, bluegiga_periph::tx_insert_idx, bluegiga_periph::work_rx, and bluegiga_periph::work_tx.

Referenced by bluegiga_dl_init().

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void bluegiga_load_tx

(

struct bluegiga_periph *

p

)

Definition at line 217 of file bluegiga.c.

References BLUEGIGA_BUFFER_SIZE, BLUEGIGA_IDLE, bluegiga_increment_buf(), BLUEGIGA_SENDING, BLUEGIGA_SPI_BUF_SIZE, coms_status, bluegiga_periph::end_of_msg, bluegiga_periph::tx_buf, bluegiga_periph::tx_extract_idx, and bluegiga_periph::work_tx.

Referenced by bluegiga_receive().

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void bluegiga_receive

(

struct spi_transaction *

trans

)

Definition at line 250 of file bluegiga.c.

References ac_id, BLUEGIGA_BUFFER_SIZE, BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN, BLUEGIGA_IDLE, bluegiga_increment_buf(), bluegiga_load_tx(), bluegiga_p, BLUEGIGA_SENDING, BLUEGIGA_SENDING_BROADCAST, broadcast_msg, bluegiga_periph::bytes_recvd_since_last, coms_status, bluegiga_periph::connected, gpio_set(), spi_transaction::input_buf, spi_transaction::input_length, LED_TOGGLE, spi_transaction::output_buf, spi_transaction::output_length, Pprz_StxOfMsg, RSSI_BLUEGIGA_ID, RssiOfSender, bluegiga_periph::rx_buf, bluegiga_periph::rx_insert_idx, SenderIdOfBGMsg, spi_slave_register(), SPITransSuccess, spi_transaction::status, and TxStrengthOfSender.

Referenced by trans_cb().

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void bluegiga_transmit	(	struct bluegiga_periph *	p,
		uint8_t	data
	)

Definition at line 207 of file bluegiga.c.

References bluegiga_increment_buf(), BLUEGIGA_UNINIT, coms_status, dev_check_free_space(), fd, bluegiga_periph::tx_buf, and bluegiga_periph::tx_insert_idx.

Referenced by dev_put_buffer(), and dev_put_byte().

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static int dev_char_available ( struct bluegiga_periph *  p )

static

Definition at line 96 of file bluegiga.c.

References bluegiga_ch_available().

Referenced by bluegiga_init().

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static int dev_check_free_space ( struct bluegiga_periph *  p, long *  fd, uint16_t  len  )

static

Definition at line 71 of file bluegiga.c.

References BLUEGIGA_BUFFER_SIZE, bluegiga_periph::tx_extract_idx, and bluegiga_periph::tx_insert_idx.

Referenced by bluegiga_init(), and bluegiga_transmit().

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static uint8_t dev_get_byte ( struct bluegiga_periph *  p )

static

Definition at line 102 of file bluegiga.c.

References bluegiga_increment_buf(), bluegiga_periph::rx_buf, and bluegiga_periph::rx_extract_idx.

Referenced by bluegiga_init().

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static void dev_put_buffer ( struct bluegiga_periph *  p, long  fd, uint8_t *  data, uint16_t  len  )

static

Definition at line 81 of file bluegiga.c.

References bluegiga_transmit().

Referenced by bluegiga_init().

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static void dev_put_byte ( struct bluegiga_periph *  p, long  fd, uint8_t  byte  )

static

Definition at line 88 of file bluegiga.c.

References bluegiga_transmit().

Referenced by bluegiga_init().

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static void dev_send_message ( struct bluegiga_periph *  p, long  fd  )

static

Definition at line 92 of file bluegiga.c.

References bluegiga_periph::end_of_msg, and bluegiga_periph::tx_insert_idx.

Referenced by bluegiga_init().

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

static

Definition at line 132 of file bluegiga.c.

References bluegiga_p, bluegiga_periph::bytes_recvd_since_last, get_sys_time_msec(), and last_ts.

Referenced by bluegiga_init().

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static void trans_cb ( struct spi_transaction *  trans )

static

Definition at line 110 of file bluegiga.c.

References bluegiga_receive().

Referenced by bluegiga_init().

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Variable Documentation

uint32_t a2a_msgs = 0

Definition at line 127 of file bluegiga.c.

struct bluegiga_periph bluegiga_p

Definition at line 61 of file bluegiga.c.

Referenced by bluegiga_dl_init(), bluegiga_receive(), and send_bluegiga().

struct spi_transaction bluegiga_spi

Definition at line 62 of file bluegiga.c.

Referenced by bluegiga_init().

uint8_t broadcast_msg[20]

Definition at line 64 of file bluegiga.c.

Referenced by bluegiga_broadcast_msg(), bluegiga_init(), and bluegiga_receive().

enum BlueGigaStatus coms_status

Definition at line 60 of file bluegiga.c.

Referenced by bluegiga_broadcast_msg(), bluegiga_init(), bluegiga_load_tx(), bluegiga_receive(), and bluegiga_transmit().

uint32_t last_ts = 0

Definition at line 131 of file bluegiga.c.

Referenced by ins_alt_float_update_baro(), ins_alt_float_update_gps(), send_bluegiga(), stabilization_attitude_read_rc_setpoint_eulers(), and stabilization_attitude_read_rc_setpoint_eulers_f().