cc2500_compat.h File Reference

#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>

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Data Structures
struct	attitude_values_t
struct	attitude_t
struct	pt1Filter_s
struct	pidGains_s
struct	pidProfile_s
struct	gpio_t
struct	controlRateConfig_t

Macros
#define	USE_RX_SPI
#define	USE_RX_FRSKY_SPI
#define	USE_RX_FRSKY_SPI_TELEMETRY
#define	USE_RX_FRSKY_SPI_X
#define	USE_TELEMETRY_SMARTPORT
#define	USE_RX_FRSKY_SPI_D
#define	DEBUG_SET(...)   /* Do nothing */
#define	STATIC_ASSERT(...)   /* Do nothing */
#define	STATIC_UNIT_TESTED   static
#define	sensors(...)   1
#define	attitude   bf_attitude
#define	FALLTHROUGH   do {} while(0)
#define	TIMEUS_MAX   UINT32_MAX
#define	MIN(a, b)
#define	PID_ROLL   0
#define	PID_PITCH   0
#define	PID_YAW   0
#define	featureIsEnabled(mask)   bf_featureIsEnabled(mask)
#define	delayMicroseconds(us)   bf_delayMicroseconds(us)
#define	delay(ms)   bf_delay(ms)
#define	micros()   bf_micros()
#define	millis()   bf_millis()
#define	ADC_EXTERNAL1   1
#define	adcGetChannel(channel)   bf_adcGetChannel(channel)
#define	RX_SPI_MAX_PAYLOAD_SIZE   35
#define	rxSpiDeviceInit(rxSpiConfig)   bf_rxSpiDeviceInit()
#define	PPM_RCVR_TIMEOUT   0
#define	IO_NONE   NULL
#define	IOGetByTag(io)   bf_IOGetByTag(io)
#define	IOInit(io, owner, index)   bf_IOInit(io, owner, index)
#define	IOConfigGPIO(io, cfg)   bf_IOConfigGPIO(io, cfg)
#define	IORead(gpio)   bf_IORead(gpio)
#define	IOHi(io)   bf_IOHi(io)
#define	IOLo(io)   bf_IOLo(io)
#define	IOToggle(io)   bf_IOToggle(io)
#define	isArmingDisabled()   0
#define	ARMING_FLAG(...)   1
#define	FLIGHT_MODE(...)   0
#define	FD_ROLL   0
#define	FD_PITCH   0
#define	FD_YAW   0
#define	getEstimatedAltitudeCm()   bf_getEstimatedAltitudeCm()
#define	getEstimatedVario()   bf_getEstimatedVario()
#define	isBatteryVoltageConfigured()   bf_isBatteryVoltageConfigured()
#define	getLegacyBatteryVoltage()   bf_getLegacyBatteryVoltage()
#define	getBatteryVoltage()   bf_getBatteryVoltage()
#define	getBatteryCellCount()   bf_getBatteryCellCount()
#define	isAmperageConfigured()   bf_isAmperageConfigured()
#define	getAmperage()   bf_getAmperage()
#define	getMAhDrawn()   bf_getMAhDrawn()

Typedefs
typedef int32_t	timeDelta_t
typedef uint32_t	timeMs_t
typedef uint32_t	timeUs_t
typedef struct pt1Filter_s	pt1Filter_t
typedef void(*	gpiofnptr_t) (uint32_t port, uint16_t pin)
typedef struct gpio_t *	IO_t
typedef IO_t	ioTag_t

Enumerations
enum	features_e {   FEATURE_RX_PPM = 1 << 0, FEATURE_RX_SERIAL = 1 << 3, FEATURE_TELEMETRY = 1 << 10, FEATURE_RX_PARALLEL_PWM = 1 << 13,   FEATURE_RX_MSP = 1 << 14, FEATURE_RSSI_ADC = 1 << 15, FEATURE_RX_SPI = 1 << 25 }
enum	ioconfig_t { IOCFG_OUT_PP, IOCFG_IN_FLOATING, IOCFG_IPU }
enum	resourceOwner_e { OWNER_RX_SPI_EXTI, OWNER_RX_SPI_BIND, OWNER_LED }

Functions
static timeDelta_t	cmpTimeUs (timeUs_t a, timeUs_t b)
float	pt1FilterGain (float f_cut, float dT)
void	pt1FilterInit (pt1Filter_t *filter, float k)
void	pt1FilterUpdateCutoff (pt1Filter_t *filter, float k)
float	pt1FilterApply (pt1Filter_t *filter, float input)
bool	bf_featureIsEnabled (const uint32_t mask)
void	bf_delayMicroseconds (timeUs_t us)
void	bf_delay (timeMs_t ms)
timeUs_t	bf_micros (void)
timeMs_t	bf_millis (void)
uint16_t	bf_adcGetChannel (uint8_t channel)
bool	bf_rxSpiDeviceInit (void)
IO_t	bf_IOGetByTag (ioTag_t io)
void	bf_IOInit (IO_t io, uint8_t owner, uint8_t index)
void	bf_IOConfigGPIO (IO_t io, enum ioconfig_t cfg)
bool	bf_IORead (IO_t gpio)
void	bf_IOHi (IO_t io)
void	bf_IOLo (IO_t io)
void	bf_IOToggle (IO_t io)
int32_t	bf_getEstimatedAltitudeCm (void)
int16_t	bf_getEstimatedVario (void)
bool	bf_isBatteryVoltageConfigured (void)
uint16_t	bf_getLegacyBatteryVoltage (void)
uint16_t	bf_getBatteryVoltage (void)
uint8_t	bf_getBatteryCellCount (void)
bool	bf_isAmperageConfigured (void)
int32_t	bf_getAmperage (void)
int32_t	bf_getMAhDrawn (void)

Variables
struct attitude_t	bf_attitude
struct pidProfile_s *	currentPidProfile
controlRateConfig_t *	currentControlRateProfile

---

Data Structure Documentation

attitude_values_t

struct attitude_values_t

Definition at line 70 of file cc2500_compat.h.

Data Fields
int8_t	pitch
int8_t	roll
int8_t	yaw

attitude_t

struct attitude_t

Definition at line 75 of file cc2500_compat.h.

Collaboration diagram for attitude_t:

Data Fields
struct attitude_values_t	values

pt1Filter_s

struct pt1Filter_s

Definition at line 107 of file cc2500_compat.h.

Data Fields
float	k
float	state

pidGains_s

struct pidGains_s

Definition at line 123 of file cc2500_compat.h.

Data Fields
uint8_t	D
uint8_t	I
uint8_t	P

pidProfile_s

struct pidProfile_s

Definition at line 128 of file cc2500_compat.h.

Collaboration diagram for pidProfile_s:

Data Fields
struct pidGains_s	pid[1]

gpio_t

struct gpio_t

Definition at line 199 of file cc2500_compat.h.

Data Fields
gpiofnptr_t	hi
gpiofnptr_t	lo
uint16_t	pin
uint32_t	port

controlRateConfig_t

struct controlRateConfig_t

Definition at line 244 of file cc2500_compat.h.

Data Fields
uint8_t	rates[1]

Macro Definition Documentation

ADC_EXTERNAL1

#define ADC_EXTERNAL1   1

Definition at line 180 of file cc2500_compat.h.

adcGetChannel

#define adcGetChannel

(

channel

)

bf_adcGetChannel(channel)

Definition at line 182 of file cc2500_compat.h.

ARMING_FLAG

#define ARMING_FLAG

(

...

)

1

Definition at line 236 of file cc2500_compat.h.

attitude

#define attitude   bf_attitude

Definition at line 79 of file cc2500_compat.h.

DEBUG_SET

#define DEBUG_SET

(

...

)

/* Do nothing */

Definition at line 62 of file cc2500_compat.h.

delay

#define delay

(

ms

)

bf_delay(ms)

Definition at line 171 of file cc2500_compat.h.

delayMicroseconds

#define delayMicroseconds

(

us

)

bf_delayMicroseconds(us)

Definition at line 168 of file cc2500_compat.h.

FALLTHROUGH

#define FALLTHROUGH   do {} while(0)

Definition at line 86 of file cc2500_compat.h.

FD_PITCH

#define FD_PITCH   0

Definition at line 242 of file cc2500_compat.h.

FD_ROLL

#define FD_ROLL   0

Definition at line 241 of file cc2500_compat.h.

FD_YAW

#define FD_YAW   0

Definition at line 243 of file cc2500_compat.h.

featureIsEnabled

#define featureIsEnabled

(

mask

)

bf_featureIsEnabled(mask)

Definition at line 163 of file cc2500_compat.h.

FLIGHT_MODE

#define FLIGHT_MODE

(

...

)

0

Definition at line 237 of file cc2500_compat.h.

getAmperage

#define getAmperage

(

)

bf_getAmperage()

Definition at line 281 of file cc2500_compat.h.

getBatteryCellCount

#define getBatteryCellCount

(

)

bf_getBatteryCellCount()

Definition at line 276 of file cc2500_compat.h.

getBatteryVoltage

#define getBatteryVoltage

(

)

bf_getBatteryVoltage()

Definition at line 273 of file cc2500_compat.h.

getEstimatedAltitudeCm

#define getEstimatedAltitudeCm

(

)

bf_getEstimatedAltitudeCm()

Definition at line 252 of file cc2500_compat.h.

getEstimatedVario

#define getEstimatedVario

(

)

bf_getEstimatedVario()

Definition at line 255 of file cc2500_compat.h.

getLegacyBatteryVoltage

#define getLegacyBatteryVoltage

(

)

bf_getLegacyBatteryVoltage()

Definition at line 271 of file cc2500_compat.h.

getMAhDrawn

#define getMAhDrawn

(

)

bf_getMAhDrawn()

Definition at line 283 of file cc2500_compat.h.

IO_NONE

#define IO_NONE   NULL

Definition at line 207 of file cc2500_compat.h.

IOConfigGPIO

#define IOConfigGPIO	(		io,
			cfg
	)		bf_IOConfigGPIO(io, cfg)

Definition at line 221 of file cc2500_compat.h.

IOGetByTag

#define IOGetByTag

(

io

)

bf_IOGetByTag(io)

Definition at line 210 of file cc2500_compat.h.

IOHi

#define IOHi

(

io

)

bf_IOHi(io)

Definition at line 227 of file cc2500_compat.h.

IOInit

#define IOInit	(		io,
			owner,
			index
	)		bf_IOInit(io, owner, index)

Definition at line 213 of file cc2500_compat.h.

IOLo

#define IOLo

(

io

)

bf_IOLo(io)

Definition at line 229 of file cc2500_compat.h.

IORead

#define IORead

(

gpio

)

bf_IORead(gpio)

Definition at line 224 of file cc2500_compat.h.

IOToggle

#define IOToggle

(

io

)

bf_IOToggle(io)

Definition at line 231 of file cc2500_compat.h.

isAmperageConfigured

#define isAmperageConfigured

(

)

bf_isAmperageConfigured()

Definition at line 279 of file cc2500_compat.h.

isArmingDisabled

#define isArmingDisabled

(

)

0

Definition at line 235 of file cc2500_compat.h.

isBatteryVoltageConfigured

#define isBatteryVoltageConfigured

(

)

bf_isBatteryVoltageConfigured()

Definition at line 268 of file cc2500_compat.h.

micros

#define micros

(

)

bf_micros()

Definition at line 174 of file cc2500_compat.h.

millis

#define millis

(

)

bf_millis()

Definition at line 176 of file cc2500_compat.h.

MIN

#define MIN	(		a,
			b
	)

Value:

  __extension__ ({ __typeof__ (a) _a = (a); \
  __typeof__ (b) _b = (b); \
  _a < _b ? _a : _b; })

Definition at line 100 of file cc2500_compat.h.

PID_PITCH

#define PID_PITCH   0

Definition at line 120 of file cc2500_compat.h.

PID_ROLL

#define PID_ROLL   0

Definition at line 119 of file cc2500_compat.h.

PID_YAW

#define PID_YAW   0

Definition at line 121 of file cc2500_compat.h.

PPM_RCVR_TIMEOUT

#define PPM_RCVR_TIMEOUT   0

Definition at line 193 of file cc2500_compat.h.

RX_SPI_MAX_PAYLOAD_SIZE

#define RX_SPI_MAX_PAYLOAD_SIZE   35

Definition at line 186 of file cc2500_compat.h.

rxSpiDeviceInit

#define rxSpiDeviceInit

(

rxSpiConfig

)

bf_rxSpiDeviceInit()

Definition at line 189 of file cc2500_compat.h.

sensors

#define sensors

(

...

)

1

Definition at line 68 of file cc2500_compat.h.

STATIC_ASSERT

#define STATIC_ASSERT

(

...

)

/* Do nothing */

Definition at line 63 of file cc2500_compat.h.

STATIC_UNIT_TESTED

#define STATIC_UNIT_TESTED   static

Definition at line 64 of file cc2500_compat.h.

TIMEUS_MAX

#define TIMEUS_MAX   UINT32_MAX

Definition at line 94 of file cc2500_compat.h.

USE_RX_FRSKY_SPI

#define USE_RX_FRSKY_SPI

Definition at line 51 of file cc2500_compat.h.

USE_RX_FRSKY_SPI_D

#define USE_RX_FRSKY_SPI_D

Definition at line 59 of file cc2500_compat.h.

USE_RX_FRSKY_SPI_TELEMETRY

#define USE_RX_FRSKY_SPI_TELEMETRY

Definition at line 52 of file cc2500_compat.h.

USE_RX_FRSKY_SPI_X

#define USE_RX_FRSKY_SPI_X

Definition at line 55 of file cc2500_compat.h.

USE_RX_SPI

#define USE_RX_SPI

Definition at line 50 of file cc2500_compat.h.

USE_TELEMETRY_SMARTPORT

#define USE_TELEMETRY_SMARTPORT

Definition at line 56 of file cc2500_compat.h.

Typedef Documentation

gpiofnptr_t

typedef void(* gpiofnptr_t) (uint32_t port, uint16_t pin)

Definition at line 197 of file cc2500_compat.h.

IO_t

typedef struct gpio_t* IO_t

Definition at line 205 of file cc2500_compat.h.

ioTag_t

typedef IO_t ioTag_t

Definition at line 206 of file cc2500_compat.h.

pt1Filter_t

typedef struct pt1Filter_s pt1Filter_t

timeDelta_t

typedef int32_t timeDelta_t

Definition at line 91 of file cc2500_compat.h.

timeMs_t

typedef uint32_t timeMs_t

Definition at line 92 of file cc2500_compat.h.

timeUs_t

typedef uint32_t timeUs_t

Definition at line 93 of file cc2500_compat.h.

Enumeration Type Documentation

features_e

enum features_e

Enumerator
FEATURE_RX_PPM
FEATURE_RX_SERIAL
FEATURE_TELEMETRY
FEATURE_RX_PARALLEL_PWM
FEATURE_RX_MSP
FEATURE_RSSI_ADC
FEATURE_RX_SPI

Definition at line 135 of file cc2500_compat.h.

ioconfig_t

enum ioconfig_t

Enumerator
IOCFG_OUT_PP
IOCFG_IN_FLOATING
IOCFG_IPU

Definition at line 215 of file cc2500_compat.h.

resourceOwner_e

enum resourceOwner_e

Enumerator
OWNER_RX_SPI_EXTI
OWNER_RX_SPI_BIND
OWNER_LED

Definition at line 259 of file cc2500_compat.h.

Function Documentation

bf_adcGetChannel()

uint16_t bf_adcGetChannel

(

uint8_t

channel

)

Definition at line 95 of file cc2500_compat.c.

References channel, Electrical::current, and electrical.

bf_delay()

void bf_delay

(

timeMs_t

ms

)

Definition at line 81 of file cc2500_compat.c.

References bf_delayMicroseconds().

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bf_delayMicroseconds()

void bf_delayMicroseconds

(

timeUs_t

us

)

Definition at line 77 of file cc2500_compat.c.

References sys_time_usleep().

Referenced by bf_delay().

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bf_featureIsEnabled()

bool bf_featureIsEnabled

(

const uint32_t

mask

)

Definition at line 47 of file cc2500_compat.c.

References FEATURE_RX_SPI, and FEATURE_TELEMETRY.

bf_getAmperage()

int32_t bf_getAmperage

(

void

)

Definition at line 193 of file cc2500_compat.c.

References Electrical::current, and electrical.

bf_getBatteryCellCount()

uint8_t bf_getBatteryCellCount

(

void

)

Definition at line 185 of file cc2500_compat.c.

bf_getBatteryVoltage()

uint16_t bf_getBatteryVoltage

(

void

)

Definition at line 181 of file cc2500_compat.c.

References electrical, and Electrical::vsupply.

bf_getEstimatedAltitudeCm()

int32_t bf_getEstimatedAltitudeCm

(

void

)

Definition at line 163 of file cc2500_compat.c.

References stateGetPositionEnu_f(), and EnuCoor_f::z.

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bf_getEstimatedVario()

int16_t bf_getEstimatedVario

(

void

)

Definition at line 167 of file cc2500_compat.c.

References stateGetSpeedEnu_f(), and EnuCoor_f::z.

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bf_getLegacyBatteryVoltage()

uint16_t bf_getLegacyBatteryVoltage

(

void

)

Definition at line 177 of file cc2500_compat.c.

References electrical, and Electrical::vsupply.

bf_getMAhDrawn()

int32_t bf_getMAhDrawn

(

void

)

Definition at line 197 of file cc2500_compat.c.

References Electrical::charge, and electrical.

bf_IOConfigGPIO()

void bf_IOConfigGPIO	(	IO_t	io,
		enum ioconfig_t	cfg
	)

Definition at line 119 of file cc2500_compat.c.

References gpio_setup_input(), gpio_setup_input_pullup(), gpio_setup_output(), IOCFG_IN_FLOATING, IOCFG_IPU, IOCFG_OUT_PP, gpio_t::pin, and gpio_t::port.

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bf_IOGetByTag()

IO_t bf_IOGetByTag

(

ioTag_t

io

)

Definition at line 109 of file cc2500_compat.c.

bf_IOHi()

void bf_IOHi

(

IO_t

io

)

Definition at line 142 of file cc2500_compat.c.

References gpio_t::hi, gpio_t::pin, and gpio_t::port.

bf_IOInit()

void bf_IOInit	(	IO_t	io,
		uint8_t	owner,
		uint8_t	index
	)

Definition at line 113 of file cc2500_compat.c.

bf_IOLo()

void bf_IOLo

(

IO_t

io

)

Definition at line 147 of file cc2500_compat.c.

References gpio_t::lo, gpio_t::pin, and gpio_t::port.

bf_IORead()

bool bf_IORead

(

IO_t

gpio

)

Definition at line 137 of file cc2500_compat.c.

References gpio_get(), gpio_t::pin, and gpio_t::port.

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bf_IOToggle()

void bf_IOToggle

(

IO_t

io

)

Definition at line 152 of file cc2500_compat.c.

References gpio_toggle(), gpio_t::pin, and gpio_t::port.

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bf_isAmperageConfigured()

bool bf_isAmperageConfigured

(

void

)

Definition at line 189 of file cc2500_compat.c.

References TRUE.

bf_isBatteryVoltageConfigured()

bool bf_isBatteryVoltageConfigured

(

void

)

Definition at line 173 of file cc2500_compat.c.

References TRUE.

bf_micros()

timeUs_t bf_micros

(

void

)

Definition at line 85 of file cc2500_compat.c.

References get_sys_time_usec().

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bf_millis()

timeMs_t bf_millis

(

void

)

Definition at line 89 of file cc2500_compat.c.

References get_sys_time_msec().

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bf_rxSpiDeviceInit()

bool bf_rxSpiDeviceInit

(

void

)

Definition at line 103 of file cc2500_compat.c.

References TRUE.

cmpTimeUs()

static timeDelta_t cmpTimeUs ( timeUs_t  a, timeUs_t  b  )

inlinestatic

Definition at line 96 of file cc2500_compat.h.

References b.

Referenced by frSkyXHandlePacket(), and processSmartPortTelemetry().

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pt1FilterApply()

float pt1FilterApply	(	pt1Filter_t *	filter,
		float	input
	)

Definition at line 70 of file cc2500_compat.c.

References pt1Filter_s::k, and pt1Filter_s::state.

Referenced by setRssi().

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pt1FilterGain()

float pt1FilterGain	(	float	f_cut,
		float	dT
	)

Definition at line 55 of file cc2500_compat.c.

References M_PI_FLOAT.

Referenced by rxInit().

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pt1FilterInit()

void pt1FilterInit	(	pt1Filter_t *	filter,
		float	k
	)

Definition at line 61 of file cc2500_compat.c.

References pt1Filter_s::k, and pt1Filter_s::state.

Referenced by rxInit().

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pt1FilterUpdateCutoff()

void pt1FilterUpdateCutoff	(	pt1Filter_t *	filter,
		float	k
	)

Definition at line 66 of file cc2500_compat.c.

References pt1Filter_s::k.

Variable Documentation

bf_attitude

struct attitude_t bf_attitude

Definition at line 39 of file cc2500_compat.c.

currentControlRateProfile

controlRateConfig_t* currentControlRateProfile

Definition at line 159 of file cc2500_compat.c.

Referenced by processSmartPortTelemetry().

currentPidProfile

struct pidProfile_s* currentPidProfile

Definition at line 43 of file cc2500_compat.c.

Referenced by processSmartPortTelemetry().