Ajout FishPeper

OpenSky/arch/rasp/hal_adc.c

@@ -0,0 +1,34 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_adc.h"
+#include "debug.h"
+#include "wdt.h"
+
+
+void hal_adc_init(void) {
+}
+
+void hal_adc_process(void) {
+}
+
+uint8_t hal_adc_get_scaled(uint8_t ch) {
+    return 0;
+}
+

OpenSky/arch/rasp/hal_adc.h

@@ -0,0 +1,29 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_ADC_H_
+#define HAL_ADC_H_
+#include "main.h"
+#include <stdint.h>
+
+void hal_adc_init(void);
+uint8_t hal_adc_get_scaled(uint8_t ch);
+void hal_adc_process(void);
+
+#endif  // HAL_ADC_H_

OpenSky/arch/rasp/hal_cc25xx.c

@@ -0,0 +1,253 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_cc25xx.h"
+#include "hal_spi.h"
+#include "hal_io.h"
+#include "cc25xx.h"
+#include "debug.h"
+#include "timeout.h"
+#include <string.h>
+#include <stdio.h>
+
+void hal_cc25xx_init(void) {
+    hal_spi_init();
+    hal_cc25xx_init_gpio();
+}
+
+static void hal_cc25xx_init_gpio(void) {
+    hal_cc25xx_enter_rxmode();
+}
+
+inline uint32_t hal_cc25xx_set_antenna(uint8_t id) {
+    return id;
+}
+
+const char *registers[] = {
+    "IOCFG2",  // 0x00
+    "IOCFG1",
+    "IOCFG0",
+    "FIFOTHR",
+    "SYNC1",
+    "SYNC0",
+    "PKTLEN",
+    "PKTCTRL1",
+    "PKTCTRL0",
+    "ADDR",
+    "CHANNR",
+    "FSCTRL1",
+    "FSCTRL0",
+    "FREQ2",
+    "FREQ1",
+    "FREQ0",
+    "MDMCFG4",  // 0x10
+    "MDMCFG3",
+    "MDMCFG2",
+    "MDMCFG1",
+    "MDMCFG0",
+    "DEVIATN",
+    "MCSM2",
+    "MCSM1",
+    "MCSM0",
+    "FOCCFG",
+    "BSCFG",
+    "AGCCTRL2",
+    "AGCCTRL1",
+    "AGCCTRL0",
+    "WOREVT1",
+    "WOREVT0",
+    "WORCTRL",  // 0x20
+    "FREND1",
+    "FREND0",
+    "FSCAL3",
+    "FSCAL2",
+    "FSCAL1",
+    "FSCAL0",
+    "RCCTRL1",
+    "RCCTRL0",
+    "FSTEST",
+    "PTEST",
+    "AGCTEST",
+    "TEST2",
+    "TEST1",
+    "TEST0",
+    "RESERVED",
+    "PARTNUM",  // 0x30
+    "VERSION",
+    "FREQEST",
+    "LQI",
+    "RSSI",
+    "MARCSTATE",
+    "WORTIME1",
+    "WORTIME0",
+    "PKTSTATUS",
+    "VCO_VC_DAC",
+    "TXBYTES",
+    "RXBYTES",
+    "RCCTRL1_STATUS",
+    "RCCTRL0_STATUS",
+    "PA_TABLE0"  // 0x3E
+};
+
+
+inline void hal_cc25xx_set_gdo_mode(void) {
+    cc25xx_set_register(IOCFG0, 0x01);  // 6);
+    // cc25xx_set_register(IOCFG1, ???);
+    cc25xx_set_register(IOCFG2, 0x01);  // 6);
+}
+
+static int count = 0;
+inline void hal_cc25xx_set_register(uint8_t address, uint8_t data) {
+    uint8_t buffer[2] = {address, data};
+    hal_spi_dma_xfer(buffer, sizeof(buffer));
+    // printf("\nset_register 0x%x (0x%x) '%s' data 0x%x\n", \
+    // address & 0x3f, address, registers[address & 0x3f], data);
+}
+
+inline uint8_t hal_cc25xx_get_register(uint8_t address) {
+    uint8_t buffer[2] = {address | 0x80, 0xff};
+    hal_spi_dma_xfer(buffer, sizeof(buffer));
+    // printf("\nget_register 0x%x (0x%x) '%s' got 0x%x\n", \
+    // address & 0x3f, address, registers[address & 0x3f], buffer[1]);
+    return buffer[1];
+}
+
+static const char *stobes[] = {
+    "RFST_SRES",
+    "RFST_SFSTXON",
+    "RFST_SXOFF",
+    "RFST_SCAL",
+    "RFST_SRX",
+    "RFST_STX",
+    "RFST_SIDLE",
+    "RFST_SWOR",
+    "RFST_SPWD",
+    "RFST_SFRX",
+    "RFST_SFTX",
+    "RFST_SWORRST",
+    "RFST_SNOP"
+};
+
+inline void hal_cc25xx_strobe(uint8_t address) {
+    uint8_t buffer[1] = {address};
+    hal_spi_dma_xfer(buffer, sizeof(buffer));
+
+    // printf("strobe 0x%x '%s' got 0x%x\n", address & 0x3f, stobes[address - 0x30], buffer[0]);
+    // debug("s"); debug_put_hex8(status); debug_put_newline();
+}
+
+uint8_t hal_cc25xx_get_status(void) {
+    uint8_t buffer[2] = {0xff, 0xff};
+    hal_spi_dma_xfer(buffer, sizeof(buffer));
+    return buffer[1];
+}
+
+uint8_t hal_cc25xx_transmission_completed(void) {
+    return 1;  // return ((hal_cc25xx_get_status() & (0x70)) == CC2500_STATUS_STATE_RX);
+}
+
+inline void hal_cc25xx_enter_rxmode(void) {
+    hal_io_set_amp(0);
+}
+
+inline void hal_cc25xx_enter_txmode(void) {
+    hal_io_set_amp(1);
+}
+
+
+inline void hal_cc25xx_enable_receive(void) {
+    // switch on rx again
+    hal_cc25xx_enter_rxmode();
+}
+
+
+inline void hal_cc25xx_read_fifo(uint8_t *buf, uint8_t len) {
+    hal_cc25xx_register_read_multi(CC25XX_FIFO | READ_FLAG | BURST_FLAG, buf, len);
+}
+
+inline void hal_cc25xx_register_read_multi(uint8_t address, uint8_t *buffer, uint8_t len) {
+    uint8_t buffer2[len + 1];
+    buffer2[0] = address;
+    memset(buffer2+1, 0xFF, len);
+    hal_spi_dma_xfer(buffer2, len+1);
+    memcpy(buffer, buffer2+1, len);
+}
+
+inline void hal_cc25xx_register_write_multi(uint8_t address, uint8_t *buffer, uint8_t len) {
+    uint8_t buffer2[len + 1];
+    buffer2[0] = address | BURST_FLAG;
+    memcpy(buffer2+1, buffer, len);
+    hal_spi_dma_xfer(buffer2, len+1);
+}
+
+inline void hal_cc25xx_process_packet(volatile uint8_t *packet_received,
+                                      volatile uint8_t *buffer, uint8_t maxlen) {
+    if (hal_spi_get_gdo0() == 1) {
+        // data received, fetch data
+        // timeout_set_100us(5);
+
+        *packet_received = 0;
+
+        // there is a bug in the cc2500
+        // see p3 http:// www.ti.com/lit/er/swrz002e/swrz002e.pdf
+        // workaround: read len register very quickly twice:
+        uint8_t len1, len2, len, i;
+
+        // try this 10 times befor giving up:
+        for (i = 0; i < 10; i++) {
+            len1 = hal_cc25xx_get_register_burst(RXBYTES) & 0x7F;
+            len2 = hal_cc25xx_get_register_burst(RXBYTES) & 0x7F;
+            if (len1 == len2) break;
+        }
+
+        // valid len found?
+        if (len1 == len2 && len1 > 0) {
+            // debug("process_packet got: "); debug_put_uint8(len1);
+            // debug(" expecting: "); debug_put_uint8(maxlen);
+            len = len1;
+
+            // packet received, grab data
+            uint8_t tmp_buffer[len];
+            hal_cc25xx_read_fifo(tmp_buffer, len);
+
+            // only accept valid packet lenbghts:
+            if (len == maxlen) {
+                uint8_t i;
+                for (i = 0; i < maxlen; i++) {
+                    buffer[i] = tmp_buffer[i];
+                }
+                *packet_received = 1;
+                // debug(" OK");
+            }
+            // debug("\n"); debug_flush();
+        } else {
+            // no, ignore this
+            len = 0;
+        }
+    }
+}
+
+void hal_cc25xx_transmit_packet(volatile uint8_t *buffer, uint8_t len) {
+    // flush tx fifo
+    hal_cc25xx_strobe(RFST_SFTX);
+    // copy to fifo
+    hal_cc25xx_register_write_multi(CC25XX_FIFO, (uint8_t *)buffer, buffer[0]+1);
+    // and send!
+    hal_cc25xx_strobe(RFST_STX);
+}

OpenSky/arch/rasp/hal_cc25xx.h

@@ -0,0 +1,188 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_CC25XX_H_
+#define HAL_CC25XX_H_
+
+#include <stdint.h>
+
+
+
+void hal_cc25xx_init(void);
+void hal_cc25xx_set_register(uint8_t reg, uint8_t val);
+uint8_t hal_cc25xx_get_register(uint8_t address);
+void hal_cc25xx_strobe(uint8_t val);
+
+void hal_cc25xx_enable_receive(void);
+void hal_cc25xx_enable_transmit(void);
+void hal_cc25xx_enter_rxmode(void);
+void hal_cc25xx_enter_txmode(void);
+
+#define hal_cc25xx_rx_sleep() { delay_us(1352); }
+#define hal_cc25xx_tx_sleep() { delay_us(1250); }
+
+// not used on d4rii
+#define hal_cc25xx_disable_rf_interrupt() {}
+#define hal_cc25xx_setup_rf_dma(mode) {}
+#define hal_cc25xx_partnum_valid(p, v) ((p == 0x80) && (v = 0x03))
+
+uint8_t hal_cc25xx_get_status(void);
+static void hal_cc25xx_init_gpio(void);
+uint32_t hal_cc25xx_set_antenna(uint8_t id);
+void hal_cc25xx_set_gdo_mode(void);
+uint8_t hal_cc25xx_get_gdo_status(void);
+void hal_cc25xx_process_packet(volatile uint8_t *packet_received,
+                               volatile uint8_t *buffer, uint8_t maxlen);
+void hal_cc25xx_transmit_packet(volatile uint8_t *buffer, uint8_t len);
+
+void hal_cc25xx_read_fifo(uint8_t *buf, uint8_t len);
+void hal_cc25xx_register_read_multi(uint8_t address, uint8_t *buffer, uint8_t len);
+uint8_t hal_cc25xx_transmission_completed(void);
+
+// adress checks
+#define CC2500_PKTCTRL1_FLAG_ADR_CHECK_00 ((0<<1) | (0<<0))
+#define CC2500_PKTCTRL1_FLAG_ADR_CHECK_01 ((0<<1) | (1<<0))
+#define CC2500_PKTCTRL1_FLAG_ADR_CHECK_10 ((1<<1) | (0<<0))
+#define CC2500_PKTCTRL1_FLAG_ADR_CHECK_11 ((1<<1) | (1<<0))
+// append status bytes?
+#define CC2500_PKTCTRL1_APPEND_STATUS     (1<<2)
+// crc autoflush
+#define CC2500_PKTCTRL1_CRC_AUTOFLUSH     (1<<3)
+
+// Flags
+#define BURST_FLAG   0b01000000
+#define WRITE_FLAG   0b00000000
+#define READ_FLAG    0b10000000
+
+// Definitions for burst/single access to registers
+#define CC2500_WRITE_SINGLE     0x00
+#define CC2500_WRITE_BURST      0x40
+#define CC2500_READ_SINGLE      0x80
+#define CC2500_READ_BURST       0xC0
+
+#define CC2500_STATUS_STATE_IDLE   (0<<4)
+#define CC2500_STATUS_STATE_RX     (1<<4)
+#define CC2500_STATUS_STATE_TX     (2<<4)
+#define CC2500_STATUS_STATE_FSTXON (3<<4)
+#define CC2500_STATUS_STATE_CALIBRATE  (4<<4)
+#define CC2500_STATUS_STATE_SETTLING   (5<<4)
+#define CC2500_STATUS_STATE_RXFIFO_OVF (6<<4)
+#define CC2500_STATUS_STATE_TXFIFO_OVF (7<<4)
+
+#define hal_cc25xx_get_register_burst(x)  hal_cc25xx_get_register(x | READ_FLAG | BURST_FLAG)
+
+
+// strobes
+#define RFST_SRES     0x30
+#define RFST_SFSTXON  0x31
+#define RFST_SXOFF    0x32
+#define RFST_SCAL     0x33
+#define RFST_SRX      0x34
+#define RFST_STX      0x35
+#define RFST_SIDLE    0x36
+#define RFST_SWOR     0x38
+#define RFST_SPWD     0x39
+#define RFST_SFRX     0x3A
+#define RFST_SFTX     0x3B
+#define RFST_SWORRST  0x3C
+#define RFST_SNOP     0x3D
+
+// Status registers
+#define PARTNUM        0x30|BURST_FLAG
+#define VERSION        0x31|BURST_FLAG
+#define FREQEST        0x32|BURST_FLAG
+#define LQI            0x33|BURST_FLAG
+#define RSSI           0x34|BURST_FLAG
+#define MARCSTATE      0x35|BURST_FLAG
+#define WORTIME1       0x36|BURST_FLAG
+#define WORTIME0       0x37|BURST_FLAG
+#define PKTSTATUS      0x38|BURST_FLAG
+#define VCO_VC_DAC     0x39|BURST_FLAG
+#define TXBYTES        0x3A|BURST_FLAG
+#define RXBYTES        0x3B|BURST_FLAG
+#define RCCTRL1_STATUS 0x3C|BURST_FLAG
+#define RCCTRL0_STATUS 0x3D|BURST_FLAG
+
+// Status byte states
+#define STB_IDLE         0x00
+#define STB_RX           0x10
+#define STB_TX           0x20
+#define STB_FSTXON       0x30
+#define STB_CALIBRATE    0x40
+#define STB_SETTLING     0x50
+#define STB_RX_OVF       0x60
+#define STB_TX_UNDF      0x70
+
+// Config registers addresses
+#define IOCFG2   0x00
+#define IOCFG1   0x01
+#define IOCFG0   0x02
+#define FIFOTHR  0x03
+#define SYNC1    0x04
+#define SYNC0    0x05
+#define PKTLEN   0x06
+#define PKTCTRL1 0x07
+#define PKTCTRL0 0x08
+#define ADDR     0x09
+#define CHANNR   0x0A
+#define FSCTRL1  0x0B
+#define FSCTRL0  0x0C
+#define FREQ2    0x0D
+#define FREQ1    0x0E
+#define FREQ0    0x0F
+#define MDMCFG4  0x10
+#define MDMCFG3  0x11
+#define MDMCFG2  0x12
+#define MDMCFG1  0x13
+#define MDMCFG0  0x14
+#define DEVIATN  0x15
+#define MCSM2    0x16
+#define MCSM1    0x17
+#define MCSM0    0x18
+#define FOCCFG   0x19
+#define BSCFG    0x1A
+#define AGCCTRL2 0x1B
+#define AGCCTRL1 0x1C
+#define AGCCTRL0 0x1D
+#define WOREVT1  0x1E
+#define WOREVT0  0x1F
+#define WORCTRL  0x20
+#define FREND1   0x21
+#define FREND0   0x22
+#define FSCAL3   0x23
+#define FSCAL2   0x24
+#define FSCAL1   0x25
+#define FSCAL0   0x26
+#define RCCTRL1  0x27
+#define RCCTRL0  0x28
+#define FSTEST   0x29
+#define PTEST    0x2A
+#define AGCTEST  0x2B
+#define TEST2    0x2C
+#define TEST1    0x2D
+#define TEST0    0x2E
+
+#define PA_TABLE0  0x3E
+
+// FIFO
+#define CC25XX_FIFO     0x3F
+
+
+#endif  // HAL_CC25XX_H_
+

OpenSky/arch/rasp/hal_clocksource.h

@@ -0,0 +1,7 @@
+#ifndef __HAL_CLOCKSOURCE_H__
+#define __HAL_CLOCKSOURCE_H__
+
+// no necessary for stm32, it is done in system startup
+#define hal_clocksource_init() {}
+
+#endif // __HAL_CLOCKSOURCE_H__

OpenSky/arch/rasp/hal_debug.c

@@ -0,0 +1,56 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_debug.h"
+#include  "debug.h"
+#include  "led.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+
+void hal_debug_init(void) {
+}
+
+void hal_debug_init_nvic(uint8_t enable) {
+}
+
+
+static void hal_debug_init_mode(void) {
+}
+
+static void hal_debug_enable(void) {
+}
+
+void hal_debug_start_transmission(uint8_t ch) {
+    fwrite(&ch, 1, 1, stdout);
+}
+
+void hal_debug_int_enable(void) {
+}
+
+uint8_t hal_debug_int_enabled(void) {
+    return 0;
+}
+
+static void hal_debug_init_gpio(void) {
+}
+
+static void hal_debug_init_rcc(void) {
+}

OpenSky/arch/rasp/hal_debug.h

@@ -0,0 +1,37 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_DEBUG_H_
+#define HAL_DEBUG_H_
+
+#include <stdint.h>
+
+void hal_debug_init(void);
+void hal_debug_start_transmission(uint8_t ch);
+uint8_t hal_debug_int_enabled(void);
+void hal_debug_int_enable(void);
+#define hal_debug_int_disable() {}
+#define DEBUG_ISR(void) hal_debug_tx_interrupt(void)
+#define HAL_DEBUG_ISR_FLAG_SET() (1)
+#define HAL_DEBUG_ISR_CLEAR_FLAG() { }
+#define HAL_DEBUG_ISR_DISABLE() { }
+#define HAL_DEBUG_TX_DATA(data) { }
+
+
+#endif  // HAL_DEBUG_H_

OpenSky/arch/rasp/hal_defines.h

@@ -0,0 +1,15 @@
+#ifndef __HAL_DEFINES_H__
+#define __HAL_DEFINES_H__
+
+#define EXTERNAL_MEMORY
+#define EXTERNAL_DATA
+
+#define HI(a)     (uint8_t) ((uint16_t)(a) >> 8 )
+#define LO(a)     (uint8_t)  (uint16_t)(a)
+#define SET_WORD(H, L, val) { (H) = HI(val); (L) = LO(val); }
+// necessary for timer registers. todo: check if necessary for others as well...
+#define SET_WORD_LO_FIRST(H, L, val) {(L) = LO(val); (H) = HI(val);  }
+
+#define UNUSED(x) (void)(x);
+
+#endif // __HAL_DEFINES_H__

OpenSky/arch/rasp/hal_delay.h

@@ -0,0 +1,9 @@
+#ifndef __HAL_DELAY_H__
+#define __HAL_DELAY_H__
+#include "hal_timeout.h"
+
+#define hal_delay_us(us) hal_timeout_delay_us(us)
+#define hal_delay_ms(ms) hal_timeout_delay_us((ms) * 1000)
+
+
+#endif // __HAL_DELAY_H__

OpenSky/arch/rasp/hal_dma.h

@@ -0,0 +1 @@
+/* not used by rasp */

OpenSky/arch/rasp/hal_io.c

@@ -0,0 +1,133 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_io.h"
+#include "hal_cc25xx.h"
+#include "delay.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <sched.h>
+
+#define BLOCK_SIZE (4*1024)
+
+// I/O access
+volatile static unsigned *gpio;
+
+// GPIO setup macros. Always use INP_GPIO(x) before using OUT_GPIO(x) or SET_GPIO_ALT(x,y)
+#define INP_GPIO(g) *(gpio+((g)/10)) &= ~(7 << (((g) % 10)*3))
+#define OUT_GPIO(g) *(gpio+((g)/10)) |=  (1 << (((g)% 10)*3))
+#define SET_GPIO_ALT(g, a) *(gpio+(((g)/10))) |= \
+    (((a) <= 3 ? (a) + 4:(a) == 4 ? 3 : 2) << (((g) % 10) * 3))
+
+#define GPIO_SET *(gpio + 7)   // sets   bits which are 1 ignores bits which are 0
+#define GPIO_CLR *(gpio + 10)  // clears bits which are 1 ignores bits which are 0
+
+#define GET_GPIO(g) (*(gpio + 13) & (1 << g))  // 0 if LOW, (1<<g) if HIGH
+
+#define GPIO_PULL *(gpio + 37)  // Pull up/pull down
+#define GPIO_PULLCLK0 *(gpio + 38)  // Pull up/pull down clock
+
+void setup_io() {
+    void *gpio_map;
+    int  mem_fd;
+    /* open /dev/mem */
+    if ((mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 1) {
+        printf("can't open /dev/gpiomem \n");
+        exit(-1);
+    }
+
+    /* mmap GPIO */
+    gpio_map = mmap(
+            NULL,             // Any adddress in our space will do
+            BLOCK_SIZE,       // Map length
+            PROT_READ|PROT_WRITE,  // Enable reading & writting to mapped memory
+            MAP_SHARED,       // Shared with other processes
+            mem_fd,           // File to map
+            0x200000);          // GPIO controller
+
+    close(mem_fd);  // No need to keep mem_fd open after mmap
+
+    if (gpio_map == MAP_FAILED) {
+        printf("mmap error %d\n", (int)gpio_map);  // errno also set!
+        exit(-1);
+    }
+
+    // Always use volatile pointer!
+    gpio = (volatile unsigned *)gpio_map;
+}
+
+#define GDO0  23
+#define LNA 2
+#define PA 3
+#define PPM 21
+#define BIND 26
+
+int hal_spi_get_gdo0(void) {
+    int res = GET_GPIO(GDO0);
+    if (res != 0)
+        return res != 0;
+}
+
+void hal_io_init(void) {
+    struct sched_param param;
+    param.sched_priority = sched_get_priority_max(SCHED_FIFO);
+    if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
+        printf("Unable to set scheduler priority, this might impact your performance.");
+    }
+    setup_io();
+    INP_GPIO(GDO0);  // must use INP_GPIO before we can use OUT_GPIO
+
+    INP_GPIO(LNA);
+    INP_GPIO(PA);
+    OUT_GPIO(LNA);
+    OUT_GPIO(PA);
+
+    OUT_GPIO(PPM);
+    OUT_GPIO(PPM);
+    INP_GPIO(BIND);
+}
+
+void hal_io_set_amp(int pa) {
+    if (pa == HAL_PA) {
+        GPIO_CLR = 1 << LNA;
+        delay_us(20);
+        GPIO_SET = 1 << PA;
+        delay_us(5);
+    } else {
+        GPIO_CLR = 1 << PA;
+        delay_us(20);
+        GPIO_SET = 1 << LNA;
+        delay_us(5);
+    }
+}
+
+void hal_io_set_ppm(int state) {
+    if (state)
+        GPIO_SET = 1 << PPM;
+    else
+        GPIO_CLR = 1 << PPM;
+}
+
+uint8_t hal_io_bind_request(void) {
+    return !!GET_GPIO(BIND);
+}

OpenSky/arch/rasp/hal_io.h

@@ -0,0 +1,35 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_IO_H_
+#define HAL_IO_H_
+
+#include <stdint.h>
+
+void hal_io_init(void);
+uint8_t hal_io_bind_request(void);
+int hal_spi_get_gdo0(void);
+
+#define HAL_PA 1
+#define HAL_LNA 0
+
+void hal_io_set_amp(int pa);
+void hal_io_set_ppm(int state);
+
+#endif  // HAL_IO_H_

OpenSky/arch/rasp/hal_led.h

@@ -0,0 +1,19 @@
+#ifndef __HAL_LED__H_
+#define __HAL_LED__H_
+
+#include <stdint.h>
+
+void hal_led_init(uint16_t pin);
+
+#define hal_led_green_init() {}
+#define hal_led_green_on()   {}
+#define hal_led_green_off()  {}
+#define hal_led_green_toggle() {}
+
+#define hal_led_red_init() {}
+#define hal_led_red_on()   {}
+#define hal_led_red_off()  {}
+#define hal_led_red_toggle() {}
+
+#endif // __HAL_LED__H_
+

OpenSky/arch/rasp/hal_ppm.c

@@ -0,0 +1,71 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_ppm.h"
+#include "hal_io.h"
+#include "hal_timeout.h"
+#include "ppm.h"
+#include "wdt.h"
+#include "led.h"
+
+#if SBUS_ENABLED == 1
+void hal_ppm_init(void) {
+}
+void hal_ppm_tick() {
+}
+#else
+
+static int state = 1;
+static int failsafe = 0;
+
+void hal_ppm_init(void) {
+    hal_io_set_ppm(state);
+}
+
+void hal_ppm_failsafe_enter(void) {
+    failsafe = 1;
+}
+
+void hal_ppm_failsafe_exit(void) {
+    failsafe = 0;
+}
+
+void hal_ppm_update_cvalue(int us) {
+    // Keep singal up, until the last 200ms of the count.
+    hal_timeout_add_ppm(us - HAL_PPM_US_TO_TICKCOUNT(200));
+}
+
+void hal_ppm_tick() {
+    if (state == 1) {
+        state = 0;
+        if (!failsafe)
+            hal_io_set_ppm(state);
+        // Then lower the signal for another 200ms..
+        hal_timeout_add_ppm(HAL_PPM_US_TO_TICKCOUNT(200));
+    } else {
+        state = 1;
+        if (!failsafe)
+            hal_io_set_ppm(state);
+
+        // Call the code, that will call hal_ppm_update_cvalue back to us.
+        hal_ppm_irq_callback();
+    }
+}
+
+#endif  // SBUS_ENABLED

OpenSky/arch/rasp/hal_ppm.h

@@ -0,0 +1,43 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_PPM_H_
+#define HAL_PPM_H_
+
+void hal_ppm_init(void);
+
+void hal_ppm_failsafe_exit(void);
+void hal_ppm_failsafe_enter(void);
+void hal_ppm_tick();
+void hal_ppm_update_cvalue(int us);
+
+void hal_ppm_irq_callback(void);
+
+#define HAL_PPM_US_TO_TICKCOUNT(us) ((us * 1)-1)
+#define HAL_PPM_FRSKY_TO_TICKCOUNT(_frsky) ((_frsky)*2*2/3)
+
+#define PPM_TIMER_ISR(void) hal_ppm_irq_callback(void)
+
+#define HAL_PPM_UPDATE_CCVALUE(x) hal_ppm_update_cvalue(x)
+#define HAL_PPM_ISR_DISABLE() { }
+#define HAL_PPM_ISR_ENABLE()  { }
+#define HAL_PPM_ISR_FLAG_SET() (1)
+#define HAL_PPM_ISR_CLEAR_FLAG() {}
+
+#endif  // HAL_PPM_H_

OpenSky/arch/rasp/hal_sbus.c

@@ -0,0 +1,66 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include <stdio.h>
+#include <unistd.h>         // Used for UART
+#include <fcntl.h>          // Used for UART
+#include <asm/termios.h>        // Used for UART
+
+#include "hal_sbus.h"
+#include "debug.h"
+#include "delay.h"
+#include "sbus.h"
+
+#if SBUS_ENABLED
+
+static int uart0_filestream = -1;
+
+void hal_sbus_init(EXTERNAL_MEMORY uint8_t *sbus_data_ptr) {
+    // open in non blocking read/write mode
+    uart0_filestream = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY | O_NDELAY);
+    if (uart0_filestream == -1) {
+        printf("Error - Unable to open UART.  Ensure it is not in use by another application\n");
+    }
+
+    // USART configuration:
+    // 100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
+    // no hw flow control
+    struct termios2 options;
+    options.c_cflag = BOTHER | CS8 | CLOCAL | PARENB | CSTOPB;
+    options.c_iflag = 0;
+    options.c_oflag = 0;
+    options.c_lflag = 0;
+    options.c_ispeed = 100000;
+    options.c_ospeed = 100000;
+    if (ioctl(uart0_filestream, TCSETS2, &options) != 0) {
+        printf("ioctl TCSETS2 failed");
+    }
+}
+
+void hal_sbus_start_transmission(uint8_t *data, uint8_t len) {
+    if (uart0_filestream != -1) {
+        int count = write(uart0_filestream, data, len);
+        if (count < len) {
+            printf("UART TX error sent %u of %u\n", count, len);
+        }
+        // printf("%d bytes written\n", len);
+    }
+}
+
+#endif  // SBUS_ENABLED

OpenSky/arch/rasp/hal_sbus.h

@@ -0,0 +1,38 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_SBUS_H_
+#define HAL_SBUS_H_
+
+#include <stdint.h>
+#include "hal_defines.h"
+
+void hal_sbus_init(EXTERNAL_MEMORY uint8_t *data_ptr);
+void hal_sbus_start_transmission(uint8_t *buffer, uint8_t len);
+
+// this helper routine will invert the data
+// stored in buffer in case the sbus is set
+// to inverted
+#if SBUS_INVERTED
+#define HAL_SBUS_PREPARE_DATA(a) (0xFF ^ (a))
+#else
+#define HAL_SBUS_PREPARE_DATA(a) (a)
+#endif  // SBUS_INVERTED
+
+#endif  // HAL_SBUS_H_

OpenSky/arch/rasp/hal_soft_serial.c

@@ -0,0 +1,32 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_soft_serial.h"
+#include "soft_serial.h"
+#include "debug.h"
+#include "delay.h"
+#include "led.h"
+#include "wdt.h"
+#include "config.h"
+#include "hal_cc25xx.h"
+
+
+void hal_soft_serial_init(void) {
+}
+

OpenSky/arch/rasp/hal_soft_serial.h

@@ -0,0 +1,31 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_SOFT_SERIAL_H_
+#define HAL_SOFT_SERIAL_H_
+
+#include "soft_serial.h"
+#include "config.h"
+
+void hal_soft_serial_init(void);
+
+#define HUB_TELEMETRY_PIN_LO() (0)
+#define HUB_TELEMETRY_PIN_HI() (!HUB_TELEMETRY_PIN_LO())
+
+#endif  // HAL_SOFT_SERIAL_H_

OpenSky/arch/rasp/hal_spi.c

@@ -0,0 +1,118 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+#include "hal_spi.h"
+
+static void pabort(const char *s) {
+    perror(s);
+    abort();
+}
+
+static const char *device = "/dev/spidev0.0";
+static uint8_t bits = 8;
+static uint32_t speed = 1000000;
+static int fd = -1;
+static uint32_t mode = 0;
+static uint16_t delay = 20;
+
+void hal_spi_init(void) {
+    int ret = 0;
+
+    /*
+     * Open device
+     */
+    fd = open(device, O_RDWR);
+    if (fd < 0)
+        pabort("can't open device");
+
+    /*
+     * spi mode
+     */
+    ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
+    if (ret == -1)
+        pabort("can't set spi mode");
+
+    ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
+    if (ret == -1)
+        pabort("can't get spi mode");
+
+    /*
+     * bits per word
+     */
+    ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+    if (ret == -1)
+        pabort("can't set bits per word");
+
+    ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
+    if (ret == -1)
+        pabort("can't get bits per word");
+
+    /*
+     * max speed hz
+     */
+    ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+    if (ret == -1)
+        pabort("can't set max speed hz");
+
+    ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
+    if (ret == -1)
+        pabort("can't get max speed hz");
+
+    printf("spi: mode: 0x%x\n", mode);
+    printf("spi: bits per word: %d\n", bits);
+    printf("spi: max speed: %d Hz (%f MHz)\n", speed, speed/1000000.0);
+}
+
+void hal_spi_dma_xfer(uint8_t *buffer, uint8_t len) {
+    int ret;
+    uint8_t rx;
+#if LOG_SPI
+    int i;
+    for (i=0; i < len; i++)
+        fprintf(stderr, "> %x\n", buffer[i]);
+#endif  // LOG_SPI
+    struct spi_ioc_transfer tr = {
+        .tx_buf = (uint64_t)buffer,
+        .rx_buf = (uint64_t)buffer,
+        .len = len,
+        .delay_usecs = delay,
+        .speed_hz = speed,
+        .bits_per_word = bits,
+    };
+
+    ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+    if (ret < 1)
+        pabort("can't send spi message");
+#if LOG_SPI
+    for (i=0; i < len; i++)
+        fprintf(stderr, "< %x\n", buffer[i]);
+    fprintf(stderr, "\n");
+#endif  // LOG_SPI
+}

OpenSky/arch/rasp/hal_spi.h

@@ -0,0 +1,30 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_SPI_H_
+#define HAL_SPI_H_
+#include <stdint.h>
+#include "config.h"
+#include "delay.h"
+
+void hal_spi_init(void);
+void hal_spi_dma_xfer(uint8_t *buffer, uint8_t len);
+
+#endif  // HAL_SPI_H_
+

OpenSky/arch/rasp/hal_storage.c

@@ -0,0 +1,49 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_storage.h"
+#include "debug.h"
+#include "main.h"
+#include "delay.h"
+#include "wdt.h"
+
+#include <stdio.h>
+#include <string.h>
+
+void hal_storage_init(void) {
+    debug("hal_storage: init\n"); debug_flush();
+}
+
+void hal_storage_write(uint8_t *buffer, uint16_t len) {
+    FILE *f = fopen("flash_storage.bin", "w");
+    fwrite(buffer, len, 1, f);
+    fclose(f);
+}
+
+void hal_storage_read(uint8_t *storage_ptr, uint16_t len) {
+    FILE *f = fopen("flash_storage.bin", "r");
+    if (!f) {
+        memset(storage_ptr, 0, len);
+        return;
+    }
+    fread(storage_ptr, len, 1, f);
+    fclose(f);
+}
+
+

OpenSky/arch/rasp/hal_storage.h

@@ -0,0 +1,29 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_STORAGE_H_
+#define HAL_STORAGE_H_
+#include <stdint.h>
+#include "config.h"
+
+void hal_storage_init(void);
+void hal_storage_write(uint8_t *buffer, uint16_t len);
+void hal_storage_read(uint8_t *storage_ptr, uint16_t len);
+
+#endif  // HAL_STORAGE_H_

OpenSky/arch/rasp/hal_timeout.c

@@ -0,0 +1,154 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_timeout.h"
+#include "hal_ppm.h"
+#include "debug.h"
+#include "wdt.h"
+
+#include <time.h>
+#include <string.h>
+#include <errno.h>
+
+struct timespec timer_1;
+struct timespec timer_2;
+struct timespec timer_ppm;
+
+void hal_timeout_init(void) {
+    memset(&timer_1, 0, sizeof(timer_1));
+    memset(&timer_2, 0, sizeof(timer_2));
+    clock_gettime(CLOCK_REALTIME, &timer_ppm);
+}
+
+/* Returns true if a is greather then b */
+static inline uint8_t timeval_gt(const struct timespec *a, const struct timespec *b) {
+    if (a->tv_sec > b->tv_sec)
+        return 1;
+    if (a->tv_sec == b->tv_sec && a->tv_nsec > b->tv_nsec)
+        return 1;
+    return 0;
+}
+
+static inline void timer_add(struct timespec *timer, int us) {
+    timer->tv_nsec += us * 1000;
+    if (timer->tv_nsec > 1000000000) {
+        timer->tv_nsec -= 1000000000;
+        timer->tv_sec += 1;
+    }
+}
+
+/* Subtract the ‘struct timeval’ values X and Y,
+   storing the result in RESULT.
+   Return 1 if the difference is negative, otherwise 0. */
+static inline int timeval_subtract(struct timespec *result,
+                                   struct timespec *x, struct timespec *y) {
+    /* Perform the carry for the later subtraction by updating y. */
+    if (x->tv_nsec < y->tv_nsec) {
+        int nsec = (y->tv_nsec - x->tv_nsec) / 1000000000 + 1;
+        y->tv_nsec -= 1000000000 * nsec;
+        y->tv_sec += nsec;
+    }
+    if (x->tv_nsec - y->tv_nsec > 1000000000) {
+        int nsec = (x->tv_nsec - y->tv_nsec) / 1000000000;
+        y->tv_nsec += 1000000000 * nsec;
+        y->tv_sec -= nsec;
+    }
+
+    /* Compute the time remaining to wait.
+       tv_nsec is certainly positive. */
+    result->tv_sec = x->tv_sec - y->tv_sec;
+    result->tv_nsec = x->tv_nsec - y->tv_nsec;
+
+    /* Return 1 if result is negative. */
+    return x->tv_sec < y->tv_sec;
+}
+
+void hal_timeout_set_100us(uint32_t hus) {
+    clock_gettime(CLOCK_REALTIME, &timer_1);
+    timer_add(&timer_1, hus * 100);
+}
+
+void hal_timeout2_set_100us(uint32_t hus) {
+    clock_gettime(CLOCK_REALTIME, &timer_2);
+    timer_add(&timer_2, hus * 100);
+}
+
+void hal_timeout_set(uint32_t ms) {
+    clock_gettime(CLOCK_REALTIME, &timer_1);
+    timer_add(&timer_1, ms * 1000);
+}
+
+
+uint8_t hal_timeout_timed_out(void) {
+    struct timespec now;
+    clock_gettime(CLOCK_REALTIME, &now);
+
+    if (timeval_gt(&now, &timer_ppm)) {
+        hal_ppm_tick();
+    }
+
+    return timeval_gt(&now, &timer_1);
+}
+
+uint8_t hal_timeout2_timed_out(void) {
+    struct timespec now;
+    clock_gettime(CLOCK_REALTIME, &now);
+
+    if (timeval_gt(&now, &timer_ppm)) {
+        hal_ppm_tick();
+    }
+    return timeval_gt(&now, &timer_2);
+}
+
+void hal_timeout_delay_us(int32_t timeout_us) {
+    struct timespec now, sleep, delay_timer, rem;
+    clock_gettime(CLOCK_REALTIME, &now);
+    memcpy(&delay_timer, &now, sizeof(struct timespec));
+    timer_add(&delay_timer, timeout_us);
+
+    do {
+        /* If ppm happens before delay timer times out. (delay_timer gt timer_ppm) */
+        if (timeval_gt(&delay_timer, &timer_ppm)) {
+            /* Calculate how far to sleep */
+            if (timeval_subtract(&sleep, &now, &timer_ppm) > 0) {
+                nanosleep(&sleep, &rem);
+            }
+
+            /* Get current time again */
+            clock_gettime(CLOCK_REALTIME, &now);
+            if (timeval_gt(&now, &timer_ppm)) {
+                hal_ppm_tick();
+            }
+
+            /* Loop, as a new ppm timer might be scheduled again before the delay ends */
+            continue;
+        }
+
+        /* Calculate how long to sleep */
+        if (timeval_subtract(&sleep, &now, &delay_timer) > 0) {
+            nanosleep(&sleep, &rem);
+        }
+    } while (0);
+}
+
+void hal_timeout_add_ppm(uint32_t us) {
+    timer_add(&timer_ppm, us);
+}
+
+

OpenSky/arch/rasp/hal_timeout.h

@@ -0,0 +1,40 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_TIMEOUT_H_
+#define HAL_TIMEOUT_H_
+
+#include <stdint.h>
+
+void hal_timeout_init(void);
+void hal_timeout_set(uint32_t ms);
+void hal_timeout_set_100us(uint32_t hus);
+uint8_t hal_timeout_timed_out(void);
+void hal_timeout_delay_us(int32_t timeout);
+
+void hal_timeout2_set(uint32_t ms);
+void hal_timeout2_set_100us(uint32_t hus);
+uint8_t hal_timeout2_timed_out(void);
+void hal_timeout_add_ppm(uint32_t us);
+
+// void hal_timeout_delay_100us(uint32_t timeout);
+uint32_t hal_timeout_time_remaining(void);
+
+
+#endif  // HAL_TIMEOUT_H_

OpenSky/arch/rasp/hal_uart.c

@@ -0,0 +1,66 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include <stdio.h>
+#include <unistd.h>         // Used for UART
+#include <fcntl.h>          // Used for UART
+#include <asm/termios.h>        // Used for UART
+
+#include "hal_uart.h"
+#include "debug.h"
+#include "delay.h"
+#include "sbus.h"
+
+#if SBUS_ENABLED
+
+static int uart0_filestream = -1;
+
+void hal_uart_init(EXTERNAL_MEMORY uint8_t *sbus_data_ptr) {
+    // Open in non blocking read/write mode
+    uart0_filestream = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY | O_NDELAY);
+    if (uart0_filestream == -1) {
+        printf("Error - Unable to open UART.  Ensure it is not in use by another application\n");
+    }
+
+    // USART configuration:
+    // 100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
+    // no hw flow control
+    struct termios2 options;
+    options.c_cflag = BOTHER | CS8 | CLOCAL | PARENB | CSTOPB;
+    options.c_iflag = 0;
+    options.c_oflag = 0;
+    options.c_lflag = 0;
+    options.c_ispeed = 100000;
+    options.c_ospeed = 100000;
+    if (ioctl(uart0_filestream, TCSETS2, &options) != 0) {
+        printf("ioctl TCSETS2 failed");
+    }
+}
+
+void hal_uart_start_transmission(uint8_t *data, uint8_t len) {
+    if (uart0_filestream != -1) {
+        int count = write(uart0_filestream, data, len);
+        if (count < len) {
+            printf("UART TX error sent %u of %u\n", count, len);
+        }
+        // printf("%d bytes written\n", len);
+    }
+}
+
+#endif  // SBUS_ENABLED

OpenSky/arch/rasp/hal_uart.h

@@ -0,0 +1,29 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_UART_H_
+#define HAL_UART_H_
+
+#include <stdint.h>
+#include "hal_defines.h"
+
+void hal_uart_init(EXTERNAL_MEMORY uint8_t *data_ptr);
+void hal_uart_start_transmission(uint8_t *buffer, uint8_t len);
+
+#endif  // HAL_UART_H_

OpenSky/arch/rasp/hal_wdt.c

@@ -0,0 +1,29 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#include "hal_wdt.h"
+#include "debug.h"
+#include "delay.h"
+
+void hal_wdt_init(void) {
+}
+
+inline void hal_wdt_reset(void) {
+}
+

OpenSky/arch/rasp/hal_wdt.h

@@ -0,0 +1,26 @@
+/*
+    Copyright 2017 fishpepper <AT> gmail.com
+
+    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, see <http:// www.gnu.org/licenses/>.
+
+   author: fishpepper <AT> gmail.com
+*/
+
+#ifndef HAL_WDT_H_
+#define HAL_WDT_H_
+
+void hal_wdt_init(void);
+void hal_wdt_reset(void);
+
+#endif  // HAL_WDT_H_