#include <AP_Radio_cc2500.h>

Inheritance diagram for AP_Radio_cc2500:

Collaboration diagram for AP_Radio_cc2500:

Classes
struct	bind_info

struct	config

Public Member Functions
	AP_Radio_cc2500 (AP_Radio &radio)

bool	init (void) override

bool	reset (void) override

bool	send (const uint8_t *pkt, uint16_t len) override

void	start_recv_bind (void) override

uint32_t	last_recv_us (void) override

uint8_t	num_channels (void) override

uint16_t	read (uint8_t chan) override

void	handle_data_packet (mavlink_channel_t chan, const mavlink_data96_t &m) override

void	update (void) override

uint32_t	get_tx_version (void) override

const AP_Radio::stats &	get_stats (void) override

void	set_wifi_channel (uint8_t channel)

Public Member Functions inherited from AP_Radio_backend
	AP_Radio_backend (AP_Radio &radio)

virtual	~AP_Radio_backend ()

Private Types
enum	{ STATE_INIT = 0, STATE_BIND, STATE_BIND_TUNING, STATE_BIND_BINDING, STATE_BIND_COMPLETE, STATE_STARTING, STATE_DATA, STATE_TELEMETRY, STATE_RESUME, STATE_FCCTEST, STATE_SEARCH }

Private Member Functions
void	radio_init (void)

void	initTuneRx (void)

void	initialiseData (uint8_t adr)

void	initGetBind (void)

bool	tuneRx (uint8_t ccLen, uint8_t *packet)

bool	getBindData (uint8_t ccLen, uint8_t *packet)

bool	check_best_LQI (void)

void	setChannel (uint8_t channel)

void	nextChannel (uint8_t skip)

void	parse_frSkyX (const uint8_t *packet)

uint16_t	calc_crc (const uint8_t *data, uint8_t len)

bool	check_crc (uint8_t ccLen, uint8_t *packet)

void	send_D16_telemetry (void)

void	send_SRT_telemetry (void)

void	irq_handler (void)

void	irq_timeout (void)

void	save_bind_info (void)

bool	load_bind_info (void)

bool	handle_D16_packet (const uint8_t *packet)

bool	handle_SRT_packet (const uint8_t *packet)

void	check_fw_ack (void)

Static Private Member Functions
static void	irq_handler_thd (void *arg)

static void	trigger_irq_radio_event (void)

static void	trigger_timeout_event (void *arg)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev

AP_HAL::Semaphore *	sem

AP_Radio::stats	stats

AP_Radio::stats	last_stats

uint16_t	pwm_channels [CC2500_MAX_CHANNELS]

Radio_CC2500	cc2500

uint8_t	calData [255][3]

uint8_t	bindTxId [2]

int8_t	bindOffset

uint8_t	bindHopData [47]

uint8_t	rxNum

uint8_t	listLength

uint8_t	channr

uint8_t	chanskip

int8_t	fcc_chan

uint32_t	packet_timer

const uint32_t	sync_time_us = 9000

uint8_t	chan_count

uint32_t	lost

uint32_t	timeouts

bool	have_bind_info

uint8_t	packet3

bool	telem_send_rssi

float	rssi_filtered

uint64_t	bind_mask

uint8_t	best_lqi

int8_t	best_bindOffset

uint32_t	timeTunedMs

enum AP_Radio_cc2500:: { ... }	protocolState

struct {
mavlink_channel_t chan

bool need_ack

uint8_t counter

uint8_t sequence

uint32_t offset

uint32_t length

uint32_t acked

uint8_t len

enum telem_type fw_type

uint8_t pending_data [92]

}	fwupload

struct {
uint8_t firmware_year

uint8_t firmware_month

uint8_t firmware_day

}	tx_date

struct telem_status	t_status

uint32_t	last_pps_ms

uint8_t	tx_rssi

uint8_t	tx_pps

Static Private Attributes
static AP_Radio_cc2500 *	radio_instance

static thread_t *	_irq_handler_ctx

static virtual_timer_t	timeout_vt

static uint32_t	irq_time_us

static const uint16_t	bind_magic = 0x120a

static const config	radio_config []

Additional Inherited Members
Protected Member Functions inherited from AP_Radio_backend
AP_Radio::ap_radio_protocol	get_protocol (void) const

uint8_t	get_debug_level (void) const

bool	get_disable_crc (void) const

uint8_t	get_rssi_chan (void) const

uint8_t	get_pps_chan (void) const

uint8_t	get_tx_rssi_chan (void) const

uint8_t	get_tx_pps_chan (void) const

bool	get_telem_enable (void) const

uint8_t	get_transmit_power (void) const

uint8_t	get_tx_max_power (void) const

void	set_tx_max_power_default (uint8_t v)

int8_t	get_fcc_test (void) const

uint8_t	get_stick_mode (void) const

uint8_t	get_factory_test (void) const

uint8_t	get_tx_buzzer_adjust (void) const

uint8_t	get_autobind_time (void) const

uint8_t	get_autobind_rssi (void) const

Protected Attributes inherited from AP_Radio_backend
AP_Radio &	radio

Detailed Description

Definition at line 31 of file AP_Radio_cc2500.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
STATE_INIT
STATE_BIND
STATE_BIND_TUNING
STATE_BIND_BINDING
STATE_BIND_COMPLETE
STATE_STARTING
STATE_DATA
STATE_TELEMETRY
STATE_RESUME
STATE_FCCTEST
STATE_SEARCH

Definition at line 156 of file AP_Radio_cc2500.h.

Constructor & Destructor Documentation

◆ AP_Radio_cc2500()

AP_Radio_cc2500::AP_Radio_cc2500 ( AP_Radio & radio )

Member Function Documentation

◆ calc_crc()

uint16_t AP_Radio_cc2500::calc_crc	(	const uint8_t *	data,
		uint8_t	len
	)

private

◆ check_best_LQI()

bool AP_Radio_cc2500::check_best_LQI ( void )

private

◆ check_crc()

bool AP_Radio_cc2500::check_crc	(	uint8_t	ccLen,
		uint8_t *	packet
	)

private

◆ check_fw_ack()

void AP_Radio_cc2500::check_fw_ack ( void )

private

◆ get_stats()

const AP_Radio::stats& AP_Radio_cc2500::get_stats ( void )

overridevirtual

Implements AP_Radio_backend.

◆ get_tx_version()

uint32_t AP_Radio_cc2500::get_tx_version ( void )

inlineoverridevirtual

Implements AP_Radio_backend.

Definition at line 64 of file AP_Radio_cc2500.h.

◆ getBindData()

bool AP_Radio_cc2500::getBindData	(	uint8_t	ccLen,
		uint8_t *	packet
	)

private

◆ handle_D16_packet()

bool AP_Radio_cc2500::handle_D16_packet ( const uint8_t * packet )

private

◆ handle_data_packet()

void AP_Radio_cc2500::handle_data_packet	(	mavlink_channel_t	chan,
		const mavlink_data96_t &	m
	)

overridevirtual

Reimplemented from AP_Radio_backend.

◆ handle_SRT_packet()

bool AP_Radio_cc2500::handle_SRT_packet ( const uint8_t * packet )

private

◆ init()

bool AP_Radio_cc2500::init ( void )

overridevirtual

Implements AP_Radio_backend.

◆ initGetBind()

void AP_Radio_cc2500::initGetBind ( void )

private

◆ initialiseData()

void AP_Radio_cc2500::initialiseData ( uint8_t adr )

private

◆ initTuneRx()

void AP_Radio_cc2500::initTuneRx ( void )

private

◆ irq_handler()

void AP_Radio_cc2500::irq_handler ( void )

private

◆ irq_handler_thd()

static void AP_Radio_cc2500::irq_handler_thd ( void * arg )

staticprivate

◆ irq_timeout()

void AP_Radio_cc2500::irq_timeout ( void )

private

◆ last_recv_us()

uint32_t AP_Radio_cc2500::last_recv_us ( void )

overridevirtual

Implements AP_Radio_backend.

◆ load_bind_info()

bool AP_Radio_cc2500::load_bind_info ( void )

private

◆ nextChannel()

void AP_Radio_cc2500::nextChannel ( uint8_t skip )

private

◆ num_channels()

uint8_t AP_Radio_cc2500::num_channels ( void )

overridevirtual

Implements AP_Radio_backend.

◆ parse_frSkyX()

void AP_Radio_cc2500::parse_frSkyX ( const uint8_t * packet )

private

◆ radio_init()

void AP_Radio_cc2500::radio_init ( void )

private

◆ read()

uint16_t AP_Radio_cc2500::read ( uint8_t chan )

overridevirtual

Implements AP_Radio_backend.

◆ reset()

bool AP_Radio_cc2500::reset ( void )

overridevirtual

Implements AP_Radio_backend.

◆ save_bind_info()

void AP_Radio_cc2500::save_bind_info ( void )

private

◆ send()

bool AP_Radio_cc2500::send	(	const uint8_t *	pkt,
		uint16_t	len
	)

overridevirtual

Implements AP_Radio_backend.

◆ send_D16_telemetry()

void AP_Radio_cc2500::send_D16_telemetry ( void )

private

◆ send_SRT_telemetry()

void AP_Radio_cc2500::send_SRT_telemetry ( void )

private

◆ set_wifi_channel()

void AP_Radio_cc2500::set_wifi_channel ( uint8_t channel )

inlinevirtual

Implements AP_Radio_backend.

Definition at line 73 of file AP_Radio_cc2500.h.

◆ setChannel()

void AP_Radio_cc2500::setChannel ( uint8_t channel )

private

◆ start_recv_bind()

void AP_Radio_cc2500::start_recv_bind ( void )

overridevirtual

Implements AP_Radio_backend.

◆ trigger_irq_radio_event()

static void AP_Radio_cc2500::trigger_irq_radio_event ( void )

staticprivate

◆ trigger_timeout_event()

static void AP_Radio_cc2500::trigger_timeout_event ( void * arg )

staticprivate

◆ tuneRx()

bool AP_Radio_cc2500::tuneRx	(	uint8_t	ccLen,
		uint8_t *	packet
	)

private

◆ update()

void AP_Radio_cc2500::update ( void )

overridevirtual

Implements AP_Radio_backend.

Member Data Documentation

◆ _irq_handler_ctx

thread_t* AP_Radio_cc2500::_irq_handler_ctx

staticprivate

Definition at line 80 of file AP_Radio_cc2500.h.

◆ acked

uint32_t AP_Radio_cc2500::acked

Definition at line 183 of file AP_Radio_cc2500.h.

◆ best_bindOffset

int8_t AP_Radio_cc2500::best_bindOffset

private

Definition at line 120 of file AP_Radio_cc2500.h.

◆ best_lqi

uint8_t AP_Radio_cc2500::best_lqi

private

Definition at line 119 of file AP_Radio_cc2500.h.

◆ bind_magic

const uint16_t AP_Radio_cc2500::bind_magic = 0x120a

staticprivate

Definition at line 144 of file AP_Radio_cc2500.h.

◆ bind_mask

uint64_t AP_Radio_cc2500::bind_mask

private

Definition at line 118 of file AP_Radio_cc2500.h.

◆ bindHopData

uint8_t AP_Radio_cc2500::bindHopData[47]

private

Definition at line 102 of file AP_Radio_cc2500.h.

◆ bindOffset

int8_t AP_Radio_cc2500::bindOffset

private

Definition at line 101 of file AP_Radio_cc2500.h.

◆ bindTxId

uint8_t AP_Radio_cc2500::bindTxId[2]

private

Definition at line 100 of file AP_Radio_cc2500.h.

◆ calData

uint8_t AP_Radio_cc2500::calData[255][3]

private

Definition at line 99 of file AP_Radio_cc2500.h.

◆ cc2500

Radio_CC2500 AP_Radio_cc2500::cc2500

private

Definition at line 97 of file AP_Radio_cc2500.h.

◆ chan

mavlink_channel_t AP_Radio_cc2500::chan

Definition at line 177 of file AP_Radio_cc2500.h.

◆ chan_count

uint8_t AP_Radio_cc2500::chan_count

private

Definition at line 111 of file AP_Radio_cc2500.h.

◆ channr

uint8_t AP_Radio_cc2500::channr

private

Definition at line 105 of file AP_Radio_cc2500.h.

◆ chanskip

uint8_t AP_Radio_cc2500::chanskip

private

Definition at line 106 of file AP_Radio_cc2500.h.

◆ counter

uint8_t AP_Radio_cc2500::counter

Definition at line 179 of file AP_Radio_cc2500.h.

◆ dev

AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_Radio_cc2500::dev

private

Definition at line 78 of file AP_Radio_cc2500.h.

◆ fcc_chan

int8_t AP_Radio_cc2500::fcc_chan

private

Definition at line 107 of file AP_Radio_cc2500.h.

◆ firmware_day

uint8_t AP_Radio_cc2500::firmware_day

Definition at line 192 of file AP_Radio_cc2500.h.

◆ firmware_month

uint8_t AP_Radio_cc2500::firmware_month

Definition at line 191 of file AP_Radio_cc2500.h.

◆ firmware_year

uint8_t AP_Radio_cc2500::firmware_year

Definition at line 190 of file AP_Radio_cc2500.h.

◆ fw_type

enum telem_type AP_Radio_cc2500::fw_type

Definition at line 185 of file AP_Radio_cc2500.h.

◆ fwupload

struct { ... } AP_Radio_cc2500::fwupload

◆ have_bind_info

bool AP_Radio_cc2500::have_bind_info

private

Definition at line 114 of file AP_Radio_cc2500.h.

◆ irq_time_us

uint32_t AP_Radio_cc2500::irq_time_us

staticprivate

Definition at line 109 of file AP_Radio_cc2500.h.

◆ last_pps_ms

uint32_t AP_Radio_cc2500::last_pps_ms

private

Definition at line 196 of file AP_Radio_cc2500.h.

◆ last_stats

AP_Radio::stats AP_Radio_cc2500::last_stats

private

Definition at line 93 of file AP_Radio_cc2500.h.

◆ len

uint8_t AP_Radio_cc2500::len

Definition at line 184 of file AP_Radio_cc2500.h.

◆ length

uint32_t AP_Radio_cc2500::length

Definition at line 182 of file AP_Radio_cc2500.h.

◆ listLength

uint8_t AP_Radio_cc2500::listLength

private

Definition at line 104 of file AP_Radio_cc2500.h.

◆ lost

uint32_t AP_Radio_cc2500::lost

private

Definition at line 112 of file AP_Radio_cc2500.h.

◆ need_ack

bool AP_Radio_cc2500::need_ack

Definition at line 178 of file AP_Radio_cc2500.h.

◆ offset

uint32_t AP_Radio_cc2500::offset

Definition at line 181 of file AP_Radio_cc2500.h.

◆ packet3

uint8_t AP_Radio_cc2500::packet3

private

Definition at line 115 of file AP_Radio_cc2500.h.

◆ packet_timer

uint32_t AP_Radio_cc2500::packet_timer

private

Definition at line 108 of file AP_Radio_cc2500.h.

◆ pending_data

uint8_t AP_Radio_cc2500::pending_data[92]

Definition at line 186 of file AP_Radio_cc2500.h.

◆ protocolState

enum { ... } AP_Radio_cc2500::protocolState

◆ pwm_channels

uint16_t AP_Radio_cc2500::pwm_channels[CC2500_MAX_CHANNELS]

private

Definition at line 95 of file AP_Radio_cc2500.h.

◆ radio_config

const config AP_Radio_cc2500::radio_config[]

staticprivate

Definition at line 174 of file AP_Radio_cc2500.h.

◆ radio_instance

AP_Radio_cc2500* AP_Radio_cc2500::radio_instance

staticprivate

Definition at line 79 of file AP_Radio_cc2500.h.

◆ rssi_filtered

float AP_Radio_cc2500::rssi_filtered

private

Definition at line 117 of file AP_Radio_cc2500.h.

◆ rxNum

uint8_t AP_Radio_cc2500::rxNum

private

Definition at line 103 of file AP_Radio_cc2500.h.

◆ sem

AP_HAL::Semaphore* AP_Radio_cc2500::sem

private

Definition at line 90 of file AP_Radio_cc2500.h.

◆ sequence

uint8_t AP_Radio_cc2500::sequence

Definition at line 180 of file AP_Radio_cc2500.h.

◆ stats

AP_Radio::stats AP_Radio_cc2500::stats

private

Definition at line 92 of file AP_Radio_cc2500.h.

◆ sync_time_us

const uint32_t AP_Radio_cc2500::sync_time_us = 9000

private

Definition at line 110 of file AP_Radio_cc2500.h.

◆ t_status

struct telem_status AP_Radio_cc2500::t_status

private

Definition at line 195 of file AP_Radio_cc2500.h.

◆ telem_send_rssi

bool AP_Radio_cc2500::telem_send_rssi

private

Definition at line 116 of file AP_Radio_cc2500.h.

◆ timeout_vt

virtual_timer_t AP_Radio_cc2500::timeout_vt

staticprivate

Definition at line 81 of file AP_Radio_cc2500.h.

◆ timeouts

uint32_t AP_Radio_cc2500::timeouts

private

Definition at line 113 of file AP_Radio_cc2500.h.

◆ timeTunedMs

uint32_t AP_Radio_cc2500::timeTunedMs

private

Definition at line 122 of file AP_Radio_cc2500.h.

◆ tx_date

struct { ... } AP_Radio_cc2500::tx_date

Referenced by get_tx_version().

◆ tx_pps

uint8_t AP_Radio_cc2500::tx_pps

private

Definition at line 198 of file AP_Radio_cc2500.h.

◆ tx_rssi

uint8_t AP_Radio_cc2500::tx_rssi

private

Definition at line 197 of file AP_Radio_cc2500.h.

The documentation for this class was generated from the following file:

libraries/AP_Radio/AP_Radio_cc2500.h

Classes

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ AP_Radio_cc2500()

Member Function Documentation

◆ calc_crc()

◆ check_best_LQI()

◆ check_crc()

◆ check_fw_ack()

◆ get_stats()

◆ get_tx_version()

◆ getBindData()

◆ handle_D16_packet()

◆ handle_data_packet()

◆ handle_SRT_packet()

◆ init()

◆ initGetBind()

◆ initialiseData()

◆ initTuneRx()

◆ irq_handler()

◆ irq_handler_thd()

◆ irq_timeout()

◆ last_recv_us()

◆ load_bind_info()

◆ nextChannel()

◆ num_channels()

◆ parse_frSkyX()

◆ radio_init()

◆ read()

◆ reset()

◆ save_bind_info()

◆ send()

◆ send_D16_telemetry()

◆ send_SRT_telemetry()

◆ set_wifi_channel()

◆ setChannel()

◆ start_recv_bind()

◆ trigger_irq_radio_event()

◆ trigger_timeout_event()

◆ tuneRx()

◆ update()

Member Data Documentation

◆ _irq_handler_ctx

◆ acked

◆ best_bindOffset

◆ best_lqi

◆ bind_magic

◆ bind_mask

◆ bindHopData

◆ bindOffset

◆ bindTxId

◆ calData

◆ cc2500

◆ chan

◆ chan_count

◆ channr

◆ chanskip

◆ counter

◆ dev

◆ fcc_chan

◆ firmware_day

◆ firmware_month

◆ firmware_year

◆ fw_type

◆ fwupload

◆ have_bind_info

◆ irq_time_us

◆ last_pps_ms

◆ last_stats

◆ len

◆ length