superbitrf.h File Reference

#include "mcu_periph/gpio.h"
#include "peripherals/cyrf6936.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprz_transport.h"
#include "subsystems/datalink/datalink.h"

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Go to the source code of this file.

Data Structures
struct	SuperbitRF

Macros
#define	SUPERBITRF_BIND_RECV_TIME   10000
	The time to wait for a bind packet on a channel in microseconds. More...
#define	SUPERBITRF_SYNC_RECV_TIME   7000
	The time to wait for a sync packet on a channel in microseconds. More...
#define	SUPERBITRF_RECV_TIME   20000
	The time to wait for a transfer packet on a channel in microseconds. More...
#define	SUPERBITRF_RECV_SHORT_TIME   6000
	The time to wait for a transfer packet short on a channel in microseconds. More...
#define	SUPERBITRF_DATARECV_TIME   10000
	The time to wait for a data packet on a channel in microseconds. More...
#define	SUPERBITRF_DATARECVB_TIME   6000
	The time to wait for a data packet on a channel during bind in microseconds. More...
#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

Enumerations
enum	SuperbitRFStatus {   SUPERBITRF_UNINIT, SUPERBITRF_INIT_BINDING, SUPERBITRF_INIT_TRANSFER, SUPERBITRF_BINDING,   SUPERBITRF_SYNCING_A, SUPERBITRF_SYNCING_B, SUPERBITRF_TRANSFER }
enum	dsm_resolution { SUPERBITRF_10_BIT_RESOLUTION = 0x00, SUPERBITRF_11_BIT_RESOLUTION = 0x01 }
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, DSM_DSM2_1 = 0x01, DSM_DSM2_2 = 0x02,   DSM_DSM2P = 0x10, DSM_DSMXP = 0x11, DSM_DSMX_1 = 0xA2, DSM_DSMX_2 = 0xB2 }

Functions
void	superbitrf_init (void)
	Initialize the superbitrf. More...
void	superbitrf_event (void)
	The superbitrf on event call. 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)

Variables
struct SuperbitRF	superbitrf
struct pprz_transport	pprz_srf_tp

---

Data Structure Documentation

struct SuperbitRF

Definition at line 43 of file superbitrf.h.

Collaboration diagram for SuperbitRF:

Data Fields
uint8_t	bind_mfg_id[4]	The MFG id where the receiver is bound to.
uint32_t	bind_mfg_id32	The MFG id where the receiver is bound to in uint32.
uint8_t	channel	The current channel number.
uint8_t	channel_idx	The current channel index.
uint8_t	channels[23]	The channels used for DSM2/DSMX.
uint16_t	crc_seed	The CRC seed that is calculated with the bind MFG id.
struct Cyrf6936	cyrf6936	The cyrf chip used.
uint8_t	data_col	The data code column number calculated with the bind MFG id.
struct link_device	device	Generic device interface.
uint32_t	irq_count	How many interrupts are made.
uint8_t	num_channels	The number of channels the transmitter has.
bool	packet_loss	When we have packet loss last packet.
uint8_t	packet_loss_bit	The packet loss indicating bit.
enum dsm_protocol	protocol	The protocol the transmitter uses.
uint32_t	rc_count	How many valid RC packages are received.
bool	rc_frame_available	When a RC frame is available.
int16_t	rc_values[14]	The rc values from the packet.
enum dsm_resolution	resolution	The resolution that the transmitter has.
uint32_t	resync_count	The amount of resyncs needed during transfer.
uint32_t	rx_packet_count	How many packets are received(also the invalid)
struct pprz_transport	rx_transport	The receive transport.
uint8_t	sop_col	The sop code column number calculated with the bind MFG id.
uint8_t	state	The states each status can be in.
enum SuperbitRFStatus	status	The status of the superbitRF.
uint8_t	timeouts	The amount of timeouts.
uint32_t	timer	The timer in microseconds.
bool	timer_overflow	When the timer overflows.
uint32_t	timing1	Time between last receive in microseconds.
uint32_t	timing2	Time between second last receive in microseconds.
uint32_t	transfer_timeouts	The amount of timeouts during transfer.
uint8_t	tx_buffer[SUPERBITRF_TX_BUFFER_SIZE]	The transmit buffer.
uint8_t	tx_extract_idx	The transmit buffer extract index.
uint8_t	tx_insert_idx	The transmit buffer insert index.
uint32_t	tx_packet_count	How many packets are send(also the invalid)
uint32_t	uplink_count	How many valid uplink packages are received.

Macro Definition Documentation

#define IS_DSM2

(

x

)

(x == DSM_DSM2P || x == DSM_DSM2_1 || x == DSM_DSM2_2)

Definition at line 70 of file superbitrf.h.

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

#define IS_DSMX

(

x

)

(!IS_DSM2(x))

Definition at line 71 of file superbitrf.h.

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

#define SUPERBITRF_BIND_RECV_TIME   10000

The time to wait for a bind packet on a channel in microseconds.

Definition at line 37 of file superbitrf.h.

Referenced by superbitrf_event().

#define SUPERBITRF_DATARECV_TIME   10000

The time to wait for a data packet on a channel in microseconds.

Definition at line 41 of file superbitrf.h.

Referenced by superbitrf_event().

#define SUPERBITRF_DATARECVB_TIME   6000

The time to wait for a data packet on a channel during bind in microseconds.

Definition at line 42 of file superbitrf.h.

#define SUPERBITRF_RECV_SHORT_TIME   6000

The time to wait for a transfer packet short on a channel in microseconds.

Definition at line 40 of file superbitrf.h.

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

#define SUPERBITRF_RECV_TIME   20000

The time to wait for a transfer packet on a channel in microseconds.

Definition at line 39 of file superbitrf.h.

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

#define SUPERBITRF_SYNC_RECV_TIME   7000

The time to wait for a sync packet on a channel in microseconds.

Definition at line 38 of file superbitrf.h.

Referenced by superbitrf_event().

#define SUPERBITRF_TX_BUFFER_SIZE   128

Definition at line 73 of file superbitrf.h.

Referenced by superbitrf_check_free_space(), superbitrf_event(), and superbitrf_transmit().

Enumeration Type Documentation

enum dsm_protocol

Enumerator
DSM_DSM2_1	The original DSM2 protocol with 1 packet of data.
DSM_DSM2_2	The original DSM2 protocol with 2 packets of data.
DSM_DSM2P	Our own DSM2 Paparazzi protocol.
DSM_DSMXP	Our own DSMX Paparazzi protocol.
DSM_DSMX_1	The original DSMX protocol with 1 packet of data.
DSM_DSMX_2	The original DSMX protocol with 2 packets of data.
DSM_DSM2_1	The original DSM2 protocol with 1 packet of data.
DSM_DSM2_2	The original DSM2 protocol with 2 packets of data.
DSM_DSM2P	Our own DSM2 Paparazzi protocol.
DSM_DSMXP	Our own DSMX Paparazzi protocol.
DSM_DSMX_1	The original DSMX protocol with 1 packet of data.
DSM_DSMX_2	The original DSMX protocol with 2 packets of data.

Definition at line 62 of file superbitrf.h.

enum dsm_resolution

Enumerator
SUPERBITRF_10_BIT_RESOLUTION	The transmitter has a 10 bit resolution.
SUPERBITRF_11_BIT_RESOLUTION	The transmitter has a 11 bit resolution.

Definition at line 56 of file superbitrf.h.

enum SuperbitRFStatus

Enumerator
SUPERBITRF_UNINIT	The chip isn't initialized.
SUPERBITRF_INIT_BINDING	The chip is initializing binding mode.
SUPERBITRF_INIT_TRANSFER	The chip is initializing transfer mode.
SUPERBITRF_BINDING	The chip is in binding mode.
SUPERBITRF_SYNCING_A	The chip is in synchronizing mode for channel A.
SUPERBITRF_SYNCING_B	The chip is in synchronizing mode for channel B.
SUPERBITRF_TRANSFER	The chip is in transfer mode.

Definition at line 45 of file superbitrf.h.

Function Documentation

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.

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void superbitrf_dl_init

(

void

)

Initialize datalink part.

Definition at line 284 of file superbitrf.c.

References pprz_srf_tp.

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_CHANNEL, CYRF_RXC_IRQ, CYRF_RXE_IRQ, 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, 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().

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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().

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void superbitrf_set_mfg_id

(

uint32_t

id

)

Definition at line 34 of file superbitrf.c.

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

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

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void superbitrf_set_protocol

(

uint8_t

protocol

)

Definition at line 39 of file superbitrf.c.

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

Referenced by superbitrf_event(), and superbitrf_receive_packet_cb().

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Variable Documentation

struct pprz_transport pprz_srf_tp

Definition at line 77 of file superbitrf.c.

Referenced by superbitrf_dl_event(), and superbitrf_dl_init().

struct SuperbitRF superbitrf

Definition at line 32 of file superbitrf.c.

Referenced by radio_control_impl_event(), send_superbit(), superbitrf_event(), superbitrf_gen_dsmx_channels(), superbitrf_init(), superbitrf_receive_packet_cb(), superbitrf_send_packet_cb(), superbitrf_set_mfg_id(), and superbitrf_set_protocol().