#include <AP_Radio_cypress.h>

Inheritance diagram for AP_Radio_cypress:

Collaboration diagram for AP_Radio_cypress:

Classes
struct	bind_info

struct	config

Public Member Functions
	AP_Radio_cypress (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_RECV, STATE_BIND, STATE_AUTOBIND, STATE_SEND_TELEM, STATE_SEND_TELEM_WAIT, STATE_SEND_FCC }

enum	dsm_protocol { DSM_NONE = 0, DSM_DSM2_1 = 0x01, DSM_DSM2_2 = 0x02, DSM_DSMX_1 = 0xA2, DSM_DSMX_2 = 0xB2 }

enum	dsm2_sync { DSM2_SYNC_A, DSM2_SYNC_B, DSM2_OK }

Private Member Functions
void	radio_init (void)

void	dump_registers (uint8_t n)

void	force_initial_state (void)

void	set_channel (uint8_t channel)

uint8_t	read_status_debounced (uint8_t adr)

uint8_t	read_register (uint8_t reg)

void	write_register (uint8_t reg, uint8_t value)

void	write_multiple (uint8_t reg, uint8_t n, const uint8_t *data)

void	radio_set_config (const struct config *config, uint8_t size)

void	start_receive (void)

void	irq_handler (void)

void	irq_handler_recv (uint8_t rx_status)

void	irq_timeout (void)

void	print_debug_info (void)

void	dsm_set_channel (uint8_t channel, bool is_dsm2, uint8_t sop_col, uint8_t data_col, uint16_t crc_seed)

void	dsm_generate_channels_dsmx (uint8_t mfg_id[4], uint8_t channels[23])

void	dsm_setup_transfer_dsmx (void)

void	dsm_choose_channel (void)

void	map_stick_mode (uint16_t *channels)

bool	parse_dsm_channels (const uint8_t *data)

void	process_packet (const uint8_t *pkt, uint8_t len)

void	process_bind (const uint8_t *pkt, uint8_t len)

void	load_bind_info (void)

void	save_bind_info (void)

bool	is_DSM2 (void)

void	transmit16 (const uint8_t data[16])

void	send_telem_packet (void)

void	irq_handler_send (uint8_t tx_status)

void	send_FCC_test_packet (void)

void	check_fw_ack (void)

void	dsm2_start_sync (void)

void	check_double_bind (void)

void	setup_timeout (uint32_t timeout_ms)

Static Private Member Functions
static int	irq_radio_trampoline (int irq, void *context)

static int	irq_timeout_trampoline (int irq, void *context)

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

enum AP_Radio_cypress:: { ... }	state

sem_t	irq_sem

struct hrt_call	wait_call

uint32_t	last_debug_print_ms

AP_Radio::stats	stats

AP_Radio::stats	last_stats

AP_HAL::Semaphore *	sem

struct {
uint8_t channels [23]

enum dsm_protocol protocol

uint8_t mfg_id [4]

uint8_t current_channel

uint8_t current_rf_channel

uint16_t crc_seed

uint8_t sop_col

uint8_t data_col

uint8_t last_sop_code [8]

uint8_t last_data_code [16]

uint32_t receive_start_us

uint32_t receive_timeout_msec

uint32_t last_recv_us

uint32_t last_parse_us

uint32_t last_recv_chan

uint32_t last_chan_change_us

uint16_t num_channels

uint16_t pwm_channels [max_channels]

bool need_bind_save

enum dsm2_sync sync

uint32_t crc_errors

float rssi

bool last_discrc

uint8_t last_transmit_power

uint32_t send_irq_count

uint32_t send_count

uint16_t pkt_time1 = 3000

uint16_t pkt_time2 = 7000

uint8_t tx_firmware_year

uint8_t tx_firmware_month

uint8_t tx_firmware_day

int8_t forced_channel = -1

uint8_t tx_rssi

uint8_t tx_pps

uint32_t last_autobind_send

bool have_tx_pps

uint32_t telem_send_count

uint8_t tx_bl_version

}	dsm

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 telem_status	t_status

Static Private Attributes
static AP_Radio_cypress *	radio_instance

static const uint8_t	pn_codes [5][9][8]

static const uint8_t	pn_bind []

static const config	cyrf_config []

static const config	cyrf_bind_config []

static const config	cyrf_transfer_config []

static const uint8_t	max_channels = 16

static const uint16_t	bind_magic = 0x43F6

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 36 of file AP_Radio_cypress.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
STATE_RECV
STATE_BIND
STATE_AUTOBIND
STATE_SEND_TELEM
STATE_SEND_TELEM_WAIT
STATE_SEND_FCC

Definition at line 98 of file AP_Radio_cypress.h.

◆ dsm2_sync

enum AP_Radio_cypress::dsm2_sync

private

Enumerator
DSM2_SYNC_A
DSM2_SYNC_B
DSM2_OK

Definition at line 165 of file AP_Radio_cypress.h.

◆ dsm_protocol

enum AP_Radio_cypress::dsm_protocol

private

Enumerator
DSM_NONE
DSM_DSM2_1
DSM_DSM2_2
DSM_DSMX_1
DSM_DSMX_2

Definition at line 157 of file AP_Radio_cypress.h.

Constructor & Destructor Documentation

◆ AP_Radio_cypress()

AP_Radio_cypress::AP_Radio_cypress ( AP_Radio & radio )

Member Function Documentation

◆ check_double_bind()

void AP_Radio_cypress::check_double_bind ( void )

private

◆ check_fw_ack()

void AP_Radio_cypress::check_fw_ack ( void )

private

◆ dsm2_start_sync()

void AP_Radio_cypress::dsm2_start_sync ( void )

private

◆ dsm_choose_channel()

void AP_Radio_cypress::dsm_choose_channel ( void )

private

◆ dsm_generate_channels_dsmx()

void AP_Radio_cypress::dsm_generate_channels_dsmx	(	uint8_t	mfg_id[4],
		uint8_t	channels[23]
	)

private

◆ dsm_set_channel()

void AP_Radio_cypress::dsm_set_channel	(	uint8_t	channel,
		bool	is_dsm2,
		uint8_t	sop_col,
		uint8_t	data_col,
		uint16_t	crc_seed
	)

private

◆ dsm_setup_transfer_dsmx()

void AP_Radio_cypress::dsm_setup_transfer_dsmx ( void )

private

◆ dump_registers()

void AP_Radio_cypress::dump_registers ( uint8_t n )

private

◆ force_initial_state()

void AP_Radio_cypress::force_initial_state ( void )

private

◆ get_stats()

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

overridevirtual

Implements AP_Radio_backend.

◆ get_tx_version()

uint32_t AP_Radio_cypress::get_tx_version ( void )

inlineoverridevirtual

Implements AP_Radio_backend.

Definition at line 69 of file AP_Radio_cypress.h.

◆ handle_data_packet()

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

overridevirtual

Reimplemented from AP_Radio_backend.

◆ init()

bool AP_Radio_cypress::init ( void )

overridevirtual

Implements AP_Radio_backend.

◆ irq_handler()

void AP_Radio_cypress::irq_handler ( void )

private

◆ irq_handler_recv()

void AP_Radio_cypress::irq_handler_recv ( uint8_t rx_status )

private

◆ irq_handler_send()

void AP_Radio_cypress::irq_handler_send ( uint8_t tx_status )

private

◆ irq_radio_trampoline()

static int AP_Radio_cypress::irq_radio_trampoline	(	int	irq,
		void *	context
	)

staticprivate

◆ irq_timeout()

void AP_Radio_cypress::irq_timeout ( void )

private

◆ irq_timeout_trampoline()

static int AP_Radio_cypress::irq_timeout_trampoline	(	int	irq,
		void *	context
	)

staticprivate

◆ is_DSM2()

bool AP_Radio_cypress::is_DSM2 ( void )

private

◆ last_recv_us()

uint32_t AP_Radio_cypress::last_recv_us ( void )

overridevirtual

Implements AP_Radio_backend.

◆ load_bind_info()

void AP_Radio_cypress::load_bind_info ( void )

private

◆ map_stick_mode()

void AP_Radio_cypress::map_stick_mode ( uint16_t * channels )

private

◆ num_channels()

uint8_t AP_Radio_cypress::num_channels ( void )

overridevirtual

Implements AP_Radio_backend.

◆ parse_dsm_channels()

bool AP_Radio_cypress::parse_dsm_channels ( const uint8_t * data )

private

◆ print_debug_info()

void AP_Radio_cypress::print_debug_info ( void )

private

◆ process_bind()

void AP_Radio_cypress::process_bind	(	const uint8_t *	pkt,
		uint8_t	len
	)

private

◆ process_packet()

void AP_Radio_cypress::process_packet	(	const uint8_t *	pkt,
		uint8_t	len
	)

private

◆ radio_init()

void AP_Radio_cypress::radio_init ( void )

private

◆ radio_set_config()

void AP_Radio_cypress::radio_set_config	(	const struct config *	config,
		uint8_t	size
	)

private

◆ read()

uint16_t AP_Radio_cypress::read ( uint8_t chan )

overridevirtual

Implements AP_Radio_backend.

◆ read_register()

uint8_t AP_Radio_cypress::read_register ( uint8_t reg )

private

◆ read_status_debounced()

uint8_t AP_Radio_cypress::read_status_debounced ( uint8_t adr )

private

◆ reset()

bool AP_Radio_cypress::reset ( void )

overridevirtual

Implements AP_Radio_backend.

◆ save_bind_info()

void AP_Radio_cypress::save_bind_info ( void )

private

◆ send()

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

overridevirtual

Implements AP_Radio_backend.

◆ send_FCC_test_packet()

void AP_Radio_cypress::send_FCC_test_packet ( void )

private

◆ send_telem_packet()

void AP_Radio_cypress::send_telem_packet ( void )

private

◆ set_channel()

void AP_Radio_cypress::set_channel ( uint8_t channel )

private

◆ set_wifi_channel()

void AP_Radio_cypress::set_wifi_channel ( uint8_t channel )

inlinevirtual

Implements AP_Radio_backend.

Definition at line 78 of file AP_Radio_cypress.h.

◆ setup_timeout()

void AP_Radio_cypress::setup_timeout ( uint32_t timeout_ms )

private

◆ start_receive()

void AP_Radio_cypress::start_receive ( void )

private

◆ start_recv_bind()

void AP_Radio_cypress::start_recv_bind ( void )

overridevirtual

Implements AP_Radio_backend.

◆ transmit16()

void AP_Radio_cypress::transmit16 ( const uint8_t data[16] )

private

◆ update()

void AP_Radio_cypress::update ( void )

overridevirtual

Implements AP_Radio_backend.

◆ write_multiple()

void AP_Radio_cypress::write_multiple	(	uint8_t	reg,
		uint8_t	n,
		const uint8_t *	data
	)

private

◆ write_register()

void AP_Radio_cypress::write_register	(	uint8_t	reg,
		uint8_t	value
	)

private

Member Data Documentation

◆ acked

uint32_t AP_Radio_cypress::acked

Definition at line 225 of file AP_Radio_cypress.h.

◆ bind_magic

const uint16_t AP_Radio_cypress::bind_magic = 0x43F6

staticprivate

Definition at line 232 of file AP_Radio_cypress.h.

◆ chan

mavlink_channel_t AP_Radio_cypress::chan

Definition at line 219 of file AP_Radio_cypress.h.

◆ channels

uint8_t AP_Radio_cypress::channels[23]

Definition at line 176 of file AP_Radio_cypress.h.

◆ counter

uint8_t AP_Radio_cypress::counter

Definition at line 221 of file AP_Radio_cypress.h.

◆ crc_errors

uint32_t AP_Radio_cypress::crc_errors

Definition at line 198 of file AP_Radio_cypress.h.

◆ crc_seed

uint16_t AP_Radio_cypress::crc_seed

Definition at line 181 of file AP_Radio_cypress.h.

◆ current_channel

uint8_t AP_Radio_cypress::current_channel

Definition at line 179 of file AP_Radio_cypress.h.

◆ current_rf_channel

uint8_t AP_Radio_cypress::current_rf_channel

Definition at line 180 of file AP_Radio_cypress.h.

◆ cyrf_bind_config

const config AP_Radio_cypress::cyrf_bind_config[]

staticprivate

Definition at line 114 of file AP_Radio_cypress.h.

◆ cyrf_config

const config AP_Radio_cypress::cyrf_config[]

staticprivate

Definition at line 113 of file AP_Radio_cypress.h.

◆ cyrf_transfer_config

const config AP_Radio_cypress::cyrf_transfer_config[]

staticprivate

Definition at line 115 of file AP_Radio_cypress.h.

◆ data_col

uint8_t AP_Radio_cypress::data_col

Definition at line 183 of file AP_Radio_cypress.h.

◆ dev

AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_Radio_cypress::dev

private

Definition at line 83 of file AP_Radio_cypress.h.

◆ dsm

struct { ... } AP_Radio_cypress::dsm

Referenced by get_tx_version().

◆ forced_channel

int8_t AP_Radio_cypress::forced_channel = -1

Definition at line 209 of file AP_Radio_cypress.h.

◆ fw_type

enum telem_type AP_Radio_cypress::fw_type

Definition at line 227 of file AP_Radio_cypress.h.

◆ fwupload

struct { ... } AP_Radio_cypress::fwupload

◆ have_tx_pps

bool AP_Radio_cypress::have_tx_pps

Definition at line 213 of file AP_Radio_cypress.h.

◆ irq_sem

sem_t AP_Radio_cypress::irq_sem

private

Definition at line 118 of file AP_Radio_cypress.h.

◆ last_autobind_send

uint32_t AP_Radio_cypress::last_autobind_send

Definition at line 212 of file AP_Radio_cypress.h.

◆ last_chan_change_us

uint32_t AP_Radio_cypress::last_chan_change_us

Definition at line 193 of file AP_Radio_cypress.h.

◆ last_data_code

uint8_t AP_Radio_cypress::last_data_code[16]

Definition at line 185 of file AP_Radio_cypress.h.

◆ last_debug_print_ms

uint32_t AP_Radio_cypress::last_debug_print_ms

private

Definition at line 150 of file AP_Radio_cypress.h.

◆ last_discrc

bool AP_Radio_cypress::last_discrc

Definition at line 200 of file AP_Radio_cypress.h.

◆ last_parse_us

uint32_t AP_Radio_cypress::last_parse_us

Definition at line 191 of file AP_Radio_cypress.h.

◆ last_recv_chan

uint32_t AP_Radio_cypress::last_recv_chan

Definition at line 192 of file AP_Radio_cypress.h.

◆ last_recv_us

uint32_t AP_Radio_cypress::last_recv_us

Definition at line 190 of file AP_Radio_cypress.h.

◆ last_sop_code

uint8_t AP_Radio_cypress::last_sop_code[8]

Definition at line 184 of file AP_Radio_cypress.h.

◆ last_stats

AP_Radio::stats AP_Radio_cypress::last_stats

private

Definition at line 155 of file AP_Radio_cypress.h.

◆ last_transmit_power

uint8_t AP_Radio_cypress::last_transmit_power

Definition at line 201 of file AP_Radio_cypress.h.

◆ len

uint8_t AP_Radio_cypress::len

Definition at line 226 of file AP_Radio_cypress.h.

◆ length

uint32_t AP_Radio_cypress::length

Definition at line 224 of file AP_Radio_cypress.h.

◆ max_channels

const uint8_t AP_Radio_cypress::max_channels = 16

staticprivate

Definition at line 148 of file AP_Radio_cypress.h.

◆ mfg_id

uint8_t AP_Radio_cypress::mfg_id[4]

Definition at line 178 of file AP_Radio_cypress.h.

◆ need_ack

bool AP_Radio_cypress::need_ack

Definition at line 220 of file AP_Radio_cypress.h.

◆ need_bind_save

bool AP_Radio_cypress::need_bind_save

Definition at line 196 of file AP_Radio_cypress.h.

◆ num_channels

uint16_t AP_Radio_cypress::num_channels

Definition at line 194 of file AP_Radio_cypress.h.

◆ offset

uint32_t AP_Radio_cypress::offset

Definition at line 223 of file AP_Radio_cypress.h.

◆ pending_data

uint8_t AP_Radio_cypress::pending_data[92]

Definition at line 228 of file AP_Radio_cypress.h.

◆ pkt_time1

uint16_t AP_Radio_cypress::pkt_time1 = 3000

Definition at line 204 of file AP_Radio_cypress.h.

◆ pkt_time2

uint16_t AP_Radio_cypress::pkt_time2 = 7000

Definition at line 205 of file AP_Radio_cypress.h.

◆ pn_bind

const uint8_t AP_Radio_cypress::pn_bind[]

staticprivate

Definition at line 112 of file AP_Radio_cypress.h.

◆ pn_codes

const uint8_t AP_Radio_cypress::pn_codes[5][9][8]

staticprivate

Definition at line 111 of file AP_Radio_cypress.h.

◆ protocol

enum dsm_protocol AP_Radio_cypress::protocol

Definition at line 177 of file AP_Radio_cypress.h.

◆ pwm_channels

uint16_t AP_Radio_cypress::pwm_channels[max_channels]

Definition at line 195 of file AP_Radio_cypress.h.

◆ radio_instance

AP_Radio_cypress* AP_Radio_cypress::radio_instance

staticprivate

Definition at line 84 of file AP_Radio_cypress.h.

◆ receive_start_us

uint32_t AP_Radio_cypress::receive_start_us

Definition at line 187 of file AP_Radio_cypress.h.

◆ receive_timeout_msec

uint32_t AP_Radio_cypress::receive_timeout_msec

Definition at line 188 of file AP_Radio_cypress.h.

◆ rssi

float AP_Radio_cypress::rssi

Definition at line 199 of file AP_Radio_cypress.h.

◆ sem

AP_HAL::Semaphore* AP_Radio_cypress::sem

private

Definition at line 172 of file AP_Radio_cypress.h.

◆ send_count

uint32_t AP_Radio_cypress::send_count

Definition at line 203 of file AP_Radio_cypress.h.

◆ send_irq_count

uint32_t AP_Radio_cypress::send_irq_count

Definition at line 202 of file AP_Radio_cypress.h.

◆ sequence

uint8_t AP_Radio_cypress::sequence

Definition at line 222 of file AP_Radio_cypress.h.

◆ sop_col

uint8_t AP_Radio_cypress::sop_col

Definition at line 182 of file AP_Radio_cypress.h.

◆ state

enum { ... } AP_Radio_cypress::state

◆ stats

AP_Radio::stats AP_Radio_cypress::stats

private

Definition at line 154 of file AP_Radio_cypress.h.

◆ sync

enum dsm2_sync AP_Radio_cypress::sync

Definition at line 197 of file AP_Radio_cypress.h.

◆ t_status

struct telem_status AP_Radio_cypress::t_status

private

Definition at line 239 of file AP_Radio_cypress.h.

Referenced by set_wifi_channel().

◆ telem_send_count

uint32_t AP_Radio_cypress::telem_send_count

Definition at line 214 of file AP_Radio_cypress.h.

◆ tx_bl_version

uint8_t AP_Radio_cypress::tx_bl_version

Definition at line 215 of file AP_Radio_cypress.h.

◆ tx_firmware_day

uint8_t AP_Radio_cypress::tx_firmware_day

Definition at line 208 of file AP_Radio_cypress.h.

◆ tx_firmware_month

uint8_t AP_Radio_cypress::tx_firmware_month

Definition at line 207 of file AP_Radio_cypress.h.

◆ tx_firmware_year

uint8_t AP_Radio_cypress::tx_firmware_year

Definition at line 206 of file AP_Radio_cypress.h.

◆ tx_pps

uint8_t AP_Radio_cypress::tx_pps

Definition at line 211 of file AP_Radio_cypress.h.

◆ tx_rssi

uint8_t AP_Radio_cypress::tx_rssi

Definition at line 210 of file AP_Radio_cypress.h.

◆ wait_call

struct hrt_call AP_Radio_cypress::wait_call

private

Definition at line 119 of file AP_Radio_cypress.h.

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

libraries/AP_Radio/AP_Radio_cypress.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

◆ dsm2_sync

◆ dsm_protocol

Constructor & Destructor Documentation

◆ AP_Radio_cypress()

Member Function Documentation

◆ check_double_bind()

◆ check_fw_ack()

◆ dsm2_start_sync()

◆ dsm_choose_channel()

◆ dsm_generate_channels_dsmx()

◆ dsm_set_channel()

◆ dsm_setup_transfer_dsmx()

◆ dump_registers()

◆ force_initial_state()

◆ get_stats()

◆ get_tx_version()

◆ handle_data_packet()

◆ init()

◆ irq_handler()

◆ irq_handler_recv()

◆ irq_handler_send()

◆ irq_radio_trampoline()

◆ irq_timeout()

◆ irq_timeout_trampoline()

◆ is_DSM2()

◆ last_recv_us()

◆ load_bind_info()

◆ map_stick_mode()

◆ num_channels()

◆ parse_dsm_channels()

◆ print_debug_info()

◆ process_bind()

◆ process_packet()

◆ radio_init()

◆ radio_set_config()

◆ read()

◆ read_register()

◆ read_status_debounced()

◆ reset()

◆ save_bind_info()

◆ send()

◆ send_FCC_test_packet()

◆ send_telem_packet()

◆ set_channel()

◆ set_wifi_channel()

◆ setup_timeout()

◆ start_receive()

◆ start_recv_bind()

◆ transmit16()

◆ update()

◆ write_multiple()

◆ write_register()

Member Data Documentation

◆ acked

◆ bind_magic

◆ chan

◆ channels

◆ counter

◆ crc_errors

◆ crc_seed

◆ current_channel

◆ current_rf_channel

◆ cyrf_bind_config

◆ cyrf_config

◆ cyrf_transfer_config

◆ data_col

◆ dev

◆ dsm

◆ forced_channel