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spektrum.c
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spektrum.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#ifdef USE_SERIALRX_SPEKTRUM
#include <string.h>
#include "common/maths.h"
#include "build/debug.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "io/serial.h"
#include "config/config.h"
#include "io/spektrum_rssi.h"
#include "io/spektrum_vtx_control.h"
#include "telemetry/telemetry.h"
#include "telemetry/srxl.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "config/feature.h"
// driver for spektrum satellite receiver / sbus
#define SPEKTRUM_TELEMETRY_FRAME_DELAY_US 1000 // Gap between received Rc frame and transmited TM frame
bool srxlEnabled = false;
int32_t resolution;
uint8_t rssi_channel;
static uint8_t spek_chan_shift;
static uint8_t spek_chan_mask;
static bool rcFrameComplete = false;
static bool spekHiRes = false;
static volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
static rxRuntimeState_t *rxRuntimeStatePtr;
static serialPort_t *serialPort;
#if defined(USE_TELEMETRY_SRXL)
static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX];
static uint8_t telemetryBufLen = 0;
#endif
// Receive ISR callback
static void spektrumDataReceive(uint16_t c, void *data)
{
UNUSED(data);
uint32_t spekTime, spekTimeInterval;
static uint32_t spekTimeLast = 0;
static uint8_t spekFramePosition = 0;
spekTime = micros();
spekTimeInterval = spekTime - spekTimeLast;
spekTimeLast = spekTime;
if (spekTimeInterval > SPEKTRUM_NEEDED_FRAME_INTERVAL) {
spekFramePosition = 0;
}
if (spekFramePosition < SPEK_FRAME_SIZE) {
spekFrame[spekFramePosition++] = (uint8_t)c;
if (spekFramePosition < SPEK_FRAME_SIZE) {
rcFrameComplete = false;
} else {
rcFrameComplete = true;
}
}
}
uint32_t spekChannelData[SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT];
static uint8_t spektrumFrameStatus(rxRuntimeState_t *rxRuntimeState)
{
UNUSED(rxRuntimeState);
#if defined(USE_TELEMETRY_SRXL)
static timeUs_t telemetryFrameRequestedUs = 0;
timeUs_t currentTimeUs = micros();
#endif
uint8_t result = RX_FRAME_PENDING;
if (rcFrameComplete) {
rcFrameComplete = false;
#if defined(USE_SPEKTRUM_REAL_RSSI) || defined(USE_SPEKTRUM_FAKE_RSSI)
spektrumHandleRSSI(spekFrame);
#endif
// Get the VTX control bytes in a frame
uint32_t vtxControl = ((spekFrame[SPEKTRUM_VTX_CONTROL_1] << 24) |
(spekFrame[SPEKTRUM_VTX_CONTROL_2] << 16) |
(spekFrame[SPEKTRUM_VTX_CONTROL_3] << 8) |
(spekFrame[SPEKTRUM_VTX_CONTROL_4] << 0) );
int8_t spektrumRcDataSize;
// Handle VTX control frame.
if ((vtxControl & SPEKTRUM_VTX_CONTROL_FRAME_MASK) == SPEKTRUM_VTX_CONTROL_FRAME &&
(spekFrame[2] & 0x80) == 0 ) {
#if defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
spektrumHandleVtxControl(vtxControl);
#endif
spektrumRcDataSize = SPEK_FRAME_SIZE - SPEKTRUM_VTX_CONTROL_SIZE;
} else {
spektrumRcDataSize = SPEK_FRAME_SIZE;
}
// Get the RC control channel inputs
for (int b = 3; b < spektrumRcDataSize; b += 2) {
const uint8_t spekChannel = 0x0F & (spekFrame[b - 1] >> spek_chan_shift);
if (spekChannel < rxRuntimeStatePtr->channelCount && spekChannel < SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT) {
if (rssi_channel == 0 || spekChannel != rssi_channel) {
spekChannelData[spekChannel] = ((uint32_t)(spekFrame[b - 1] & spek_chan_mask) << 8) + spekFrame[b];
}
}
}
#if defined(USE_TELEMETRY_SRXL)
if (srxlEnabled && (spekFrame[2] & 0x80) == 0) {
telemetryFrameRequestedUs = currentTimeUs;
}
#endif
result = RX_FRAME_COMPLETE;
}
#if defined(USE_TELEMETRY_SRXL)
if (telemetryBufLen && telemetryFrameRequestedUs && cmpTimeUs(currentTimeUs, telemetryFrameRequestedUs) >= SPEKTRUM_TELEMETRY_FRAME_DELAY_US) {
telemetryFrameRequestedUs = 0;
result = (result & ~RX_FRAME_PENDING) | RX_FRAME_PROCESSING_REQUIRED;
}
#endif
return result;
}
static uint16_t spektrumReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan)
{
uint16_t data;
if (chan >= rxRuntimeState->channelCount) {
return 0;
}
if (spekHiRes)
data = 988 + (spekChannelData[chan] >> 1); // 2048 mode
else
data = 988 + spekChannelData[chan]; // 1024 mode
return data;
}
#ifdef USE_SPEKTRUM_BIND
bool spekShouldBind(uint8_t spektrum_sat_bind)
{
#ifdef USE_SPEKTRUM_BIND_PLUG
IO_t BindPlug = IOGetByTag(rxConfig()->spektrum_bind_plug_ioTag);
if (BindPlug) {
IOInit(BindPlug, OWNER_RX_BIND, 0);
IOConfigGPIO(BindPlug, IOCFG_IPU);
// Check status of bind plug and exit if not active
delayMicroseconds(10); // allow configuration to settle
if (IORead(BindPlug)) {
return false;
}
}
#endif // USE_SPEKTRUM_BIND_PLUG
return !(
isMPUSoftReset() ||
spektrum_sat_bind == SPEKTRUM_SAT_BIND_DISABLED ||
spektrum_sat_bind > SPEKTRUM_SAT_BIND_MAX
);
}
/* spektrumBind function ported from Baseflight. It's used to bind satellite receiver to TX.
* Function must be called immediately after startup so that we don't miss satellite bind window.
* Known parameters. Tested with DSMX satellite and DX8 radio. Framerate (11ms or 22ms) must be selected from TX.
* 9 = DSMX 11ms / DSMX 22ms
* 5 = DSM2 11ms 2048 / DSM2 22ms 1024
*/
void spektrumBind(rxConfig_t *rxConfig)
{
if (!spekShouldBind(rxConfig->spektrum_sat_bind)) {
return;
}
// Determine a pin to use
ioTag_t bindPin = IO_TAG_NONE;
if (rxConfig->spektrum_bind_pin_override_ioTag) {
bindPin = rxConfig->spektrum_bind_pin_override_ioTag;
} else {
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {
return;
}
int index = SERIAL_PORT_IDENTIFIER_TO_INDEX(portConfig->identifier);
ioTag_t txPin = serialPinConfig()->ioTagTx[index];
ioTag_t rxPin = serialPinConfig()->ioTagRx[index];
// Take care half-duplex case
switch (rxRuntimeState.serialrxProvider) {
case SERIALRX_SRXL:
#if defined(USE_TELEMETRY_SRXL)
if (featureIsEnabled(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig, rxRuntimeState.serialrxProvider)) {
bindPin = txPin;
}
break;
#endif // USE_TELEMETRY_SRXL
default:
bindPin = rxConfig->halfDuplex ? txPin : rxPin;
}
if (!bindPin) {
return;
}
}
IO_t bindIO = IOGetByTag(bindPin);
IOInit(bindIO, OWNER_RX_BIND, 0);
IOConfigGPIO(bindIO, IOCFG_OUT_PP);
LED1_ON;
// RX line, set high
IOWrite(bindIO, true);
// Bind window is around 20-140ms after powerup
delay(60);
LED1_OFF;
for (int i = 0; i < rxConfig->spektrum_sat_bind; i++) {
LED0_OFF;
LED2_OFF;
// RX line, drive low for 120us
IOWrite(bindIO, false);
delayMicroseconds(120);
LED0_ON;
LED2_ON;
// RX line, drive high for 120us
IOWrite(bindIO, true);
delayMicroseconds(120);
}
// Release the bind pin to avoid interference with an actual rx pin,
// when rxConfig->spektrum_bind_pin_override_ioTag is used.
// This happens when the bind pin is connected in parallel to the rx pin.
if (rxConfig->spektrum_bind_pin_override_ioTag) {
delay(50); // Keep it high for 50msec
IOConfigGPIO(bindIO, IOCFG_IN_FLOATING);
}
// If we came here as a result of hard reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config
// Don't reset if hardware bind plug is present
// Reset only when autoreset is enabled
if (!rxConfig->spektrum_bind_plug_ioTag && rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
rxConfig->spektrum_sat_bind = 0;
saveConfigAndNotify();
}
}
#endif // USE_SPEKTRUM_BIND
#if defined(USE_TELEMETRY_SRXL)
static bool spektrumProcessFrame(const rxRuntimeState_t *rxRuntimeState)
{
UNUSED(rxRuntimeState);
// if there is telemetry data to write
if (telemetryBufLen > 0) {
serialWriteBuf(serialPort, telemetryBuf, telemetryBufLen);
telemetryBufLen = 0; // reset telemetry buffer
}
return true;
}
bool srxlTelemetryBufferEmpty()
{
if (telemetryBufLen == 0) {
return true;
} else {
return false;
}
}
void srxlRxWriteTelemetryData(const void *data, int len)
{
len = MIN(len, (int)sizeof(telemetryBuf));
memcpy(telemetryBuf, data, len);
telemetryBufLen = len;
}
#endif
bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
{
rxRuntimeStatePtr = rxRuntimeState;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {
return false;
}
srxlEnabled = false;
#if defined(USE_TELEMETRY_SRXL)
bool portShared = telemetryCheckRxPortShared(portConfig, rxRuntimeState->serialrxProvider);
#else
bool portShared = false;
#endif
switch (rxRuntimeState->serialrxProvider) {
default:
break;
case SERIALRX_SRXL:
#if defined(USE_TELEMETRY_SRXL)
srxlEnabled = (featureIsEnabled(FEATURE_TELEMETRY) && !portShared);
FALLTHROUGH;
#endif
case SERIALRX_SPEKTRUM2048:
// 11 bit frames
spek_chan_shift = 3;
spek_chan_mask = 0x07;
spekHiRes = true;
resolution = 2048;
rxRuntimeState->channelCount = SPEKTRUM_2048_CHANNEL_COUNT;
rxRuntimeState->rxRefreshRate = 11000;
break;
case SERIALRX_SPEKTRUM1024:
// 10 bit frames
spek_chan_shift = 2;
spek_chan_mask = 0x03;
spekHiRes = false;
resolution = 1024;
rxRuntimeState->channelCount = SPEKTRUM_1024_CHANNEL_COUNT;
rxRuntimeState->rxRefreshRate = 22000;
break;
}
rxRuntimeState->rcReadRawFn = spektrumReadRawRC;
rxRuntimeState->rcFrameStatusFn = spektrumFrameStatus;
#if defined(USE_TELEMETRY_SRXL)
rxRuntimeState->rcProcessFrameFn = spektrumProcessFrame;
#endif
serialPort = openSerialPort(portConfig->identifier,
FUNCTION_RX_SERIAL,
spektrumDataReceive,
NULL,
SPEKTRUM_BAUDRATE,
portShared || srxlEnabled ? MODE_RXTX : MODE_RX,
(rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) |
((srxlEnabled || rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
);
#if defined(USE_TELEMETRY_SRXL)
if (portShared) {
telemetrySharedPort = serialPort;
}
#endif
rssi_channel = rxConfig->rssi_channel - 1; // -1 because rxConfig->rssi_channel is 1-based and rssi_channel is 0-based.
if (rssi_channel >= rxRuntimeState->channelCount) {
rssi_channel = 0;
}
return serialPort != NULL;
}
bool srxlRxIsActive(void)
{
return serialPort != NULL;
}
#endif // SERIAL_RX