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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,284 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * @addtogroup PIOS PIOS Core hardware abstraction layer | ||
| * @{ | ||
| * @addtogroup PIOS_DBus DJI DBus receiver functions | ||
| * @brief Code to read DJI DBus receiver serial stream | ||
| * @{ | ||
| * | ||
| * @file pios_dbus.c | ||
| * @author The SantyPilot Team, copyright (C) 2023. | ||
| * @brief Code to read DJI DBus receiver serial stream | ||
| * @see The GNU Public License (GPL) Version 3 | ||
| * | ||
| *****************************************************************************/ | ||
| /* | ||
| * This program 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 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program 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 this program; if not, write to the Free Software Foundation, Inc., | ||
| * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | ||
| */ | ||
|
|
||
| #include "pios.h" | ||
|
|
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| #ifdef PIOS_INCLUDE_DBUS | ||
|
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| #define DBUS_RX_BUF_NUM 36u // avoid overflow | ||
| #define DBUS_FRAME_LEN 18u | ||
| #define DBUS_CH_VALUE_OFFSET ((uint16_t)1024) | ||
| #define DBUS_CHANNEL_ERROR_VALUE 700 | ||
| #define DBUS_SW_DOWN 2 | ||
|
|
||
| #ifndef PIOS_DBUS_BAUD_RATE | ||
| #define PIOS_DBUS_BAUD_RATE 100000 | ||
| #endif // PIOS_DBUS_BAUD_RATE | ||
|
|
||
| #include <uavobjectmanager.h> | ||
| #include "pios_dbus_priv.h" | ||
|
|
||
| /* Forward Declarations */ | ||
| static int32_t PIOS_DBus_Get(uint32_t rcvr_id, uint8_t channel); | ||
| static uint16_t PIOS_DBus_RxInCallback(uint32_t context, | ||
| uint8_t *buf, | ||
| uint16_t buf_len, | ||
| uint16_t *headroom, | ||
| bool *need_yield); | ||
| static uint8_t PIOS_DBus_Quality_Get(uint32_t rcvr_id); | ||
|
|
||
| /* Local Variables */ | ||
| const struct pios_rcvr_driver pios_dbus_rcvr_driver = { | ||
| .read = PIOS_DBus_Get, | ||
| .get_quality = PIOS_DBus_Quality_Get | ||
| }; | ||
|
|
||
| enum pios_dbus_dev_magic { | ||
| PIOS_DBUS_DEV_MAGIC = 0x53427600, | ||
| }; | ||
|
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| struct pios_dbus_state { | ||
| uint16_t channel_data[PIOS_DBUS_NUM_INPUTS]; | ||
| uint8_t received_data[DBUS_FRAME_LENGTH]; | ||
| float quality; | ||
| }; | ||
|
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| struct pios_dbus_dev { | ||
| enum pios_dbus_dev_magic magic; | ||
| struct pios_dbus_state state; | ||
| }; | ||
|
|
||
| /* Allocate DBus device descriptor */ | ||
| #if defined(PIOS_INCLUDE_FREERTOS) | ||
| static struct pios_dbus_dev *PIOS_DBus_Alloc(void) | ||
| { | ||
| struct pios_dbus_dev *dbus_dev; | ||
|
|
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| dbus_dev = (struct pios_dbus_dev *)pios_malloc(sizeof(*dbus_dev)); | ||
| if (!dbus_dev) { | ||
| return NULL; | ||
| } | ||
|
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| dbus_dev->magic = PIOS_DBUS_DEV_MAGIC; | ||
| return dbus_dev; | ||
| } | ||
| #else // mem malloc interface differs | ||
| static struct pios_dbus_dev pios_dbus_devs[PIOS_DBUS_MAX_DEVS]; | ||
| static uint8_t pios_dbus_num_devs; | ||
| static struct pios_dbus_dev *PIOS_DBus_Alloc(void) | ||
| { | ||
| struct pios_dbus_dev *dbus_dev; | ||
|
|
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| if (pios_dbus_num_devs >= PIOS_DBUS_MAX_DEVS) { | ||
| return NULL; | ||
| } | ||
|
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| dbus_dev = &pios_dbus_devs[pios_dbus_num_devs++]; | ||
| dbus_dev->magic = PIOS_DBUS_DEV_MAGIC; | ||
|
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| return dbus_dev; | ||
| } | ||
| #endif /* if defined(PIOS_INCLUDE_FREERTOS) */ | ||
|
|
||
| /* Validate DBus device descriptor */ | ||
| static bool PIOS_DBus_Validate(struct pios_dbus_dev *dbus_dev) | ||
| { | ||
| return dbus_dev->magic == PIOS_DBUS_DEV_MAGIC; | ||
| } | ||
|
|
||
| /* Reset channels in case of lost signal or explicit failsafe receiver flag */ | ||
| static void PIOS_DBus_ResetChannels(struct pios_dbus_state *state) | ||
| { | ||
| for (int i = 0; i < PIOS_DBUS_NUM_INPUTS; i++) { | ||
| state->channel_data[i] = PIOS_RCVR_TIMEOUT; | ||
| state->quality = 0.0f; | ||
| } | ||
| } | ||
|
|
||
| /* Reset DBus receiver state */ | ||
| static void PIOS_DBus_ResetState(struct pios_dbus_state *state) | ||
| { | ||
| state->quality = 0.0f; | ||
| PIOS_DBus_ResetChannels(state); | ||
| } | ||
|
|
||
| /* Initialise DBus receiver interface */ | ||
| int32_t PIOS_DBus_Init(uint32_t *dbus_id, | ||
| const struct pios_com_driver *driver, | ||
| uint32_t lower_id) { | ||
| PIOS_DEBUG_Assert(dbus_id); | ||
| PIOS_DEBUG_Assert(driver); | ||
|
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| struct pios_dbus_dev *dbus_dev; | ||
|
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| dbus_dev = (struct pios_dbus_dev *)PIOS_DBus_Alloc(); | ||
| if (!dbus_dev) { | ||
| return -1; | ||
| } | ||
|
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| PIOS_DBus_ResetState(&(dbus_dev->state)); | ||
|
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| *dbus_id = (uint32_t)dbus_dev; | ||
|
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| /* Set rest of the parameters and enable */ | ||
| if (driver->set_config) { | ||
| driver->set_config(lower_id, PIOS_COM_Word_length_8b, PIOS_COM_Parity_Even, PIOS_COM_StopBits_1, PIOS_DBUS_BAUD_RATE); | ||
| } | ||
|
|
||
| /* Set inverted UART and IRQ priority */ | ||
| //if (driver->ioctl) { | ||
| // enum PIOS_USART_Inverted param = cfg->non_inverted ? 0 : PIOS_USART_Inverted_Rx; | ||
| // driver->ioctl(lower_id, PIOS_IOCTL_USART_SET_INVERTED, ¶m); | ||
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| // uint8_t irq_prio = PIOS_IRQ_PRIO_HIGH; | ||
| // driver->ioctl(lower_id, PIOS_IOCTL_USART_SET_IRQ_PRIO, &irq_prio); | ||
| //} | ||
|
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| /* Set comm driver callback */ | ||
| driver->bind_rx_cb(lower_id, PIOS_DBus_RxInCallback, *dbus_id); | ||
|
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| //if (!PIOS_RTC_RegisterTickCallback(PIOS_DBus_Supervisor, *dbus_id)) { | ||
| // PIOS_DEBUG_Assert(0); | ||
| //} | ||
|
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| return 0; | ||
| } | ||
|
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| /** | ||
| * Get the value of an input channel | ||
| * \param[in] channel Number of the channel desired (zero based) | ||
| * \output PIOS_RCVR_INVALID channel not available | ||
| * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver | ||
| * \output >=0 channel value | ||
| */ | ||
| static int32_t PIOS_DBus_Get(uint32_t rcvr_id, uint8_t channel) | ||
| { | ||
| struct pios_dbus_dev *dbus_dev = (struct pios_dbus_dev *)rcvr_id; | ||
|
|
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| if (!PIOS_DBus_Validate(dbus_dev)) { | ||
| return PIOS_RCVR_INVALID; | ||
| } | ||
|
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| /* return error if channel is not available */ | ||
| if (channel >= PIOS_DBUS_NUM_INPUTS) { | ||
| return PIOS_RCVR_INVALID; | ||
| } | ||
|
|
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| return dbus_dev->state.channel_data[channel]; | ||
| } | ||
|
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| /** | ||
| * Compute channel_data[] from received_data[]. | ||
| * For efficiency it unrolls first 8 channels without loops and does the | ||
| * same for other 8 channels. Also 2 discrete channels will be set. | ||
| */ | ||
| static void PIOS_DBus_UnrollChannels(struct pios_dbus_state *state) | ||
| { | ||
| uint8_t *s = state->received_data; | ||
| uint16_t *d = state->channel_data; | ||
|
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||
| #define F(v, s) (((v) >> (s)) & 0x7ff) | ||
|
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| /* unroll channels 1-8 */ | ||
| d[0] = F(s[0] | s[1] << 8, 0); // Channel0 | ||
| d[1] = F(s[1] | s[2] << 8, 3); // Channel1 | ||
| d[2] = F(s[2] | s[3] << 8 | s[4] << 16, 6); // Channel2 | ||
| d[3] = F(s[4] | s[5] << 8, 1); // Channel3 | ||
| d[4] = s[16] | (s[17] << 8); //NULL | ||
|
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| d[5] = ((s[5] >> 4) & 0x0003); //!< Switch left | ||
| d[6] = ((s[5] >> 4) & 0x000C) >> 2; //!< Switch right | ||
| d[7] = s[6] | (s[7] << 8); //!< Mouse X axis | ||
| d[8] = s[8] | (s[9] << 8); //!< Mouse Y axis | ||
| d[9] = s[10] | (s[11] << 8); //!< Mouse Z axis | ||
| d[10] = s[12]; //!< Mouse Left Is Press ? | ||
| d[11] = s[13]; //!< Mouse Right Is Press ? | ||
| d[12] = s[14] | (s[15] << 8); //!< KeyBoard value | ||
|
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| d[0] -= DBUS_CH_VALUE_OFFSET; | ||
| d[1] -= DBUS_CH_VALUE_OFFSET; | ||
| d[2] -= DBUS_CH_VALUE_OFFSET; | ||
| d[3] -= DBUS_CH_VALUE_OFFSET; | ||
| d[4] -= DBUS_CH_VALUE_OFFSET; | ||
| } | ||
|
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||
| static uint8_t PIOS_DBus_ChannelDataValid(struct pios_dbus_state *state) { | ||
| uint16_t *ch = state->channel_data; | ||
| #define ABS(x) (x > 0 ? x : -x) | ||
| if (ABS(ch[0]) > DBUS_CHANNEL_ERROR_VALUE || | ||
| ABS(ch[1]) > DBUS_CHANNEL_ERROR_VALUE || | ||
| ABS(ch[2]) > DBUS_CHANNEL_ERROR_VALUE || | ||
| ABS(ch[3]) > DBUS_CHANNEL_ERROR_VALUE || | ||
| ch[5] == 0 || ch[6] == 0) { | ||
| for (uint8_t i = 0; i < 5; i++) { //ch0~4 | ||
| ch[i] = 0; | ||
| } | ||
| ch[5] = DBUS_SW_DOWN; //sw | ||
| ch[6] = DBUS_SW_DOWN; | ||
| for (uint8_t i = 0; i< 6; i++) { // mouse * 5 + key * 1 | ||
| ch[i] = 0; | ||
| } | ||
| return 0; // invalid | ||
| } | ||
| } | ||
|
|
||
| /* Comm byte received callback */ | ||
| static uint16_t PIOS_DBus_RxInCallback(uint32_t context, | ||
| uint8_t *buf, | ||
| uint16_t buf_len, | ||
| uint16_t *headroom, | ||
| bool *need_yield) | ||
| { | ||
| struct pios_dbus_dev *dbus_dev = (struct pios_dbus_dev *)context; | ||
| bool valid = PIOS_DBus_Validate(dbus_dev); | ||
| PIOS_Assert(valid); | ||
| struct pios_dbus_state *state = &(dbus_dev->state); | ||
| PIOS_DBus_UnrollChannels(state); | ||
| if (!PIOS_DBus_ChannelDataValid(state)) { | ||
| PIOS_USART_DMA_Reinit(context); | ||
| return 0; | ||
| } | ||
| /* We never need a yield */ | ||
| *need_yield = false; | ||
| return buf_len; | ||
| } | ||
|
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| static uint8_t PIOS_DBus_Quality_Get(uint32_t dbus_id) | ||
| { | ||
| //TBD | ||
| return 255; | ||
| } | ||
|
|
||
| #endif /* PIOS_INCLUDE_DBUS */ | ||
|
|
||
| /** | ||
| * @} | ||
| * @} | ||
| */ |
Empty file.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * @addtogroup PIOS PIOS Core hardware abstraction layer | ||
| * @{ | ||
| * @addtogroup PIOS_DBus DBus receiver functions | ||
| * @{ | ||
| * | ||
| * @file pios_dbus.h | ||
| * @author The SantyPilot Team, Copyright (C) 2023. | ||
| * @brief DJI DBus functions header. | ||
| * @see The GNU Public License (GPL) Version 3 | ||
| * | ||
| *****************************************************************************/ | ||
| /* | ||
| * This program 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 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program 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 this program; if not, write to the Free Software Foundation, Inc., | ||
| * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | ||
| */ | ||
|
|
||
| #ifndef PIOS_DBUS_H | ||
| #define PIOS_DBUS_H | ||
|
|
||
| /* Global Types */ | ||
|
|
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| /* Public Functions */ | ||
|
|
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| #endif /* PIOS_DBUS_H */ | ||
|
|
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| /** | ||
| * @} | ||
| * @} | ||
| */ |
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