Additional serial protocol: Graupner HoTT SUMD

src/html/index.html

@@ -201,6 +201,7 @@ <h2>Serial Protocol</h2>
 									<option value='1'>Inverted CRSF</option>
 									<option value='2'>SBUS</option>
 									<option value='3'>Inverted SBUS</option>
+									<option value='4'>SUMD</option>
 								</select>
 								<label>Serial Protocol</label>
 							</div>

src/html/scan.js

@@ -230,6 +230,10 @@ function updateConfig(data) {
       _('rcvr-uart-baud').disabled = false;
       _('rcvr-uart-baud').value = '420000';
     }
+    if (_('serial-protocol').value == 4) {
+      _('rcvr-uart-baud').disabled = true;
+      _('rcvr-uart-baud').value = '115200';
+    }
     else {
       _('rcvr-uart-baud').disabled = true;
       _('rcvr-uart-baud').value = '100000';

src/include/common.h

@@ -184,7 +184,8 @@ enum eSerialProtocol : uint8_t
     PROTOCOL_CRSF,
     PROTOCOL_INVERTED_CRSF,
     PROTOCOL_SBUS,
-    PROTOCOL_INVERTED_SBUS
+    PROTOCOL_INVERTED_SBUS,
+	PROTOCOL_SUMD
 };
 
 #ifndef UNIT_TEST

src/lib/CONFIG/config.h

@@ -174,8 +174,8 @@ typedef struct {
                 forceTlmOff:1,
                 rateInitialIdx:4;   // Rate to start rateCycling at on boot
     uint8_t     modelId;
-    uint8_t     serialProtocol:2,
-                unused:6;
+    uint8_t     serialProtocol:3,
+                unused:5;
     rx_config_pwm_t pwmChannels[PWM_MAX_CHANNELS];
 } rx_config_t;
 

src/lib/LUA/rx_devLUA.cpp

@@ -18,7 +18,7 @@ static const char *rxModes = "50Hz;60Hz;100Hz;160Hz;333Hz;400Hz;10kHzDuty;On/Off
 static struct luaItem_selection luaSerialProtocol = {
     {"Protocol", CRSF_TEXT_SELECTION},
     0, // value
-    "CRSF;Inverted CRSF;SBUS;Inverted SBUS",
+    "CRSF;Inverted CRSF;SBUS;Inverted SBUS;SUMD",
     STR_EMPTYSPACE
 };
 

src/lib/OPTIONS/options.cpp

@@ -80,6 +80,8 @@ __attribute__ ((used)) const firmware_options_t firmwareOptions = {
     .uart_baud = USE_AIRPORT_AT_BAUD,
 #elif defined(USE_SBUS_PROTOCOL)
     .uart_baud = 100000,
+#elif defined(USE_SUMD_PROTOCOL)
+    .uart_baud = 115200,	
 #elif defined(RCVR_UART_BAUD)
     .uart_baud = RCVR_UART_BAUD,
 #else

src/src/rx-serial/SerialSUMD.cpp

@@ -0,0 +1,120 @@
+#include "SerialSUMD.h"
+#include "CRSF.h"
+#include "device.h"
+
+#define SUMD_HEADER_SIZE		3														// 3 Bytes header
+#define SUMD_DATA_SIZE_16CH		(16*2)													// 2 Bytes per channel
+#define SUMD_CRC_SIZE			2														// 16 bit CRC
+#define SUMD_FRAME_16CH_LEN		(SUMD_HEADER_SIZE+SUMD_DATA_SIZE_16CH+SUMD_CRC_SIZE)	
+
+#define CRC_POLYNOME 0x1021
+
+void SerialSUMD::setLinkQualityStats(uint16_t lq, uint16_t rssi)
+{
+    linkQuality = lq;
+    rssiDBM = rssi;
+}
+
+uint32_t SerialSUMD::sendRCFrameToFC(bool frameAvailable, uint32_t *channelData)
+{
+    if (!frameAvailable) {
+        return DURATION_IMMEDIATELY;
+    }
+
+	uint8_t outBuffer[SUMD_FRAME_16CH_LEN];
+
+	outBuffer[0] = 0xA8;		//Graupner
+	outBuffer[1] = 0x01;	    //SUMD
+	outBuffer[2] = 0x10;		//16CH	
+
+    uint16_t us = (CRSF_to_US(ChannelData[0]) << 3);
+    outBuffer[3] = us >> 8;		
+    outBuffer[4] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[1]) << 3);
+    outBuffer[5] = us >> 8;		
+    outBuffer[6] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[2]) << 3);
+    outBuffer[7] = us >> 8;		
+    outBuffer[8] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[3]) << 3);
+    outBuffer[9] = us >> 8;		
+    outBuffer[10] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[7]) << 3); //channel 8 mapped to 5 to move arm channel away from the aileron function
+    outBuffer[11] = us >> 8;		
+    outBuffer[12] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[5]) << 3);
+    outBuffer[13] = us >> 8;		
+    outBuffer[14] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[6]) << 3);
+    outBuffer[15] = us >> 8;		
+    outBuffer[16] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[4]) << 3); //channel 5 mapped to 8
+    outBuffer[17] = us >> 8;		
+    outBuffer[18] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[8]) << 3);
+    outBuffer[19] = us >> 8;		
+    outBuffer[20] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[9]) << 3);
+    outBuffer[21] = us >> 8;		
+    outBuffer[22] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[10]) << 3);
+    outBuffer[23] = us >> 8;		
+    outBuffer[24] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[11]) << 3);
+    outBuffer[25] = us >> 8;		
+    outBuffer[26] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[12]) << 3);
+    outBuffer[27] = us >> 8;		
+    outBuffer[28] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[13]) << 3);
+    outBuffer[29] = us >> 8;		
+    outBuffer[30] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[14]) << 3);
+    outBuffer[31] = us >> 8;		
+    outBuffer[32] = us & 0x00ff;
+    us = (CRSF_to_US(ChannelData[15]) << 3);
+    outBuffer[33] = us >> 8;		
+    outBuffer[34] = us & 0x00ff;
+
+	uint16_t crc = crc16(outBuffer, (SUMD_HEADER_SIZE + SUMD_DATA_SIZE_16CH));
+	outBuffer[35] = (uint8_t)(crc >> 8);
+	outBuffer[36] = (uint8_t)(crc & 0x00ff);	  	
+
+	_outputPort->write(outBuffer, sizeof(outBuffer));
+
+    return DURATION_IMMEDIATELY;
+}
+
+uint16_t SerialSUMD::crc16(uint8_t *data, uint8_t len)
+{		
+	uint16_t crc = 0;
+
+	for(uint8_t  i = 0; i < len; i++)
+    {
+        crc = crc ^ ((int16_t)data[i] << 8); 
+
+        for(uint8_t i = 0; i < 8; i++) 
+        {   
+            if (crc & 0x8000) 
+                crc = (crc << 1) ^ CRC_POLYNOME; 
+            else 
+                crc = (crc << 1); 
+        }
+	}
+
+	return crc;
+}
+
+void SerialSUMD::sendLinkStatisticsToFC()
+{
+    // unsupported	
+}
+
+void SerialSUMD::sendMSPFrameToFC(uint8_t* data)
+{
+    // unsupported
+}
+
+void processByte(uint8_t byte) {
+    // unsupported
+}

src/src/rx-serial/SerialSUMD.h

@@ -0,0 +1,20 @@
+#include "SerialIO.h"
+
+class SerialSUMD : public SerialIO {
+public:
+    explicit SerialSUMD(Stream &out, Stream &in) : SerialIO(&out, &in) {}
+
+    virtual ~SerialSUMD() {}
+
+    void setLinkQualityStats(uint16_t lq, uint16_t rssi) override;
+    uint32_t sendRCFrameToFC(bool frameAvailable, uint32_t *channelData) override;
+    void sendMSPFrameToFC(uint8_t* data) override;
+    void sendLinkStatisticsToFC() override;
+
+private:
+    uint16_t linkQuality = 0;
+    uint16_t rssiDBM = 0;
+
+    uint16_t crc16(uint8_t *data, uint8_t len);
+    void processByte(uint8_t byte) override {};
+};

src/src/rx_main.cpp

@@ -18,6 +18,7 @@
 #include "rx-serial/SerialNOOP.h"
 #include "rx-serial/SerialCRSF.h"
 #include "rx-serial/SerialSBUS.h"
+#include "rx-serial/SerialSUMD.h"
 #include "rx-serial/SerialAirPort.h"
 
 #include "rx-serial/devSerialIO.h"
@@ -1130,6 +1131,7 @@ void MspReceiveComplete()
 static void setupSerial()
 {
     bool sbusSerialOutput = false;
+	bool sumdSerialOutput = false;
 
     if (OPT_CRSF_RCVR_NO_SERIAL)
     {
@@ -1149,6 +1151,11 @@ static void setupSerial()
         sbusSerialOutput = true;
         serialBaud = 100000;
     }
+	else if (config.GetSerialProtocol() == PROTOCOL_SUMD)
+    {
+        sumdSerialOutput = true;
+        serialBaud = 115200;
+    }		
     bool invert = config.GetSerialProtocol() == PROTOCOL_SBUS || config.GetSerialProtocol() == PROTOCOL_INVERTED_CRSF;
 
 #ifdef PLATFORM_STM32
@@ -1204,7 +1211,7 @@ static void setupSerial()
 
 #if defined(PLATFORM_ESP8266)
     SerialConfig config = sbusSerialOutput ? SERIAL_8E2 : SERIAL_8N1;
-    SerialMode mode = sbusSerialOutput ? SERIAL_TX_ONLY : SERIAL_FULL;
+    SerialMode mode = (sbusSerialOutput || sumdSerialOutput)  ? SERIAL_TX_ONLY : SERIAL_FULL;
     Serial.begin(serialBaud, config, mode, -1, invert);
 #elif defined(PLATFORM_ESP32)
     uint32_t config = sbusSerialOutput ? SERIAL_8E2 : SERIAL_8N1;
@@ -1219,6 +1226,10 @@ static void setupSerial()
     {
         serialIO = new SerialSBUS(SERIAL_PROTOCOL_TX, SERIAL_PROTOCOL_RX);
     }
+    else if (sumdSerialOutput)
+    {
+        serialIO = new SerialSUMD(SERIAL_PROTOCOL_TX, SERIAL_PROTOCOL_RX);
+    }
     else
     {
         serialIO = new SerialCRSF(SERIAL_PROTOCOL_TX, SERIAL_PROTOCOL_RX);