Added Spektrum SRXL2 serial protocol for new receivers (Currently onl…

…y SPM4650 released)
betaflight · Aug 7, 2019 · 8a279e6 · 8a279e6
1 parent a01cb0c
commit 8a279e6
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Showing 14 changed files with 845 additions and 38 deletions.
diff --git a/make/source.mk b/make/source.mk
@@ -110,6 +110,7 @@ COMMON_SRC = \
             rx/sbus.c \
             rx/sbus_channels.c \
             rx/spektrum.c \
+            rx/srxl2.c \
             io/spektrum_vtx_control.c \
             io/spektrum_rssi.c \
             rx/sumd.c \
@@ -253,6 +254,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             rx/sbus.c \
             rx/sbus_channels.c \
             rx/spektrum.c \
+            rx/srxl2.c \
             rx/sumd.c \
             rx/xbus.c \
             rx/fport.c \

diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
@@ -151,6 +151,7 @@ uint8_t cliMode = 0;
 #include "rx/rx.h"
 #include "rx/spektrum.h"
 #include "rx/rx_spi_common.h"
+#include "rx/srxl2.h"
 
 #include "scheduler/scheduler.h"
 
@@ -3251,38 +3252,56 @@ static void cliBeeper(char *cmdline)
 }
 #endif
 
-#ifdef USE_RX_SPI
-void cliRxSpiBind(char *cmdline){
+#if defined(USE_RX_SPI) || defined (USE_SERIALRX_SRXL2)
+void cliRxBind(char *cmdline){
     UNUSED(cmdline);
-    switch (rxSpiConfig()->rx_spi_protocol) {
-    default:
-        cliPrint("Not supported.");
-        break;
+    if (featureIsEnabled(FEATURE_RX_SERIAL)) {
+        switch (rxConfig()->serialrx_provider) {
+        default:
+            cliPrint("Not supported.");
+            break;
+#if defined(USE_SERIALRX_SRXL2)
+        case SERIALRX_SRXL2:
+            srxl2Bind();
+            cliPrint("Binding SRXL2 receiver...");
+            break;
+#endif
+        }
+    } 
+#if defined(USE_RX_SPI)
+    else if (featureIsEnabled(FEATURE_RX_SPI)) {
+        switch (rxSpiConfig()->rx_spi_protocol) {
+        default:
+            cliPrint("Not supported.");
+            break;
 #if defined(USE_RX_FRSKY_SPI)
 #if defined(USE_RX_FRSKY_SPI_D)
-    case RX_SPI_FRSKY_D:
+        case RX_SPI_FRSKY_D:
 #endif
 #if defined(USE_RX_FRSKY_SPI_X)
-    case RX_SPI_FRSKY_X:
-    case RX_SPI_FRSKY_X_LBT:
+        case RX_SPI_FRSKY_X:
+        case RX_SPI_FRSKY_X_LBT:
 #endif
 #endif // USE_RX_FRSKY_SPI
 #ifdef USE_RX_SFHSS_SPI
-    case RX_SPI_SFHSS:
+        case RX_SPI_SFHSS:
 #endif
 #ifdef USE_RX_FLYSKY
-    case RX_SPI_A7105_FLYSKY:
-    case RX_SPI_A7105_FLYSKY_2A:
+        case RX_SPI_A7105_FLYSKY:
+        case RX_SPI_A7105_FLYSKY_2A:
 #endif
 #ifdef USE_RX_SPEKTRUM
-    case RX_SPI_CYRF6936_DSM:
+        case RX_SPI_CYRF6936_DSM:
 #endif
 #if defined(USE_RX_FRSKY_SPI) || defined(USE_RX_SFHSS_SPI) || defined(USE_RX_FLYSKY) || defined(USE_RX_SPEKTRUM)
-        rxSpiBind();
-        cliPrint("Binding...");
-        break;
+            rxSpiBind();
+            cliPrint("Binding...");
+            break;
 #endif
+        }
+
     }
+#endif
 }
 #endif
 
@@ -5982,8 +6001,8 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("beeper", "enable/disable beeper for a condition", "list\r\n"
         "\t<->[name]", cliBeeper),
 #endif // USE_BEEPER
-#ifdef USE_RX_SPI
-        CLI_COMMAND_DEF("bind_rx_spi", "initiate binding for RX SPI", NULL, cliRxSpiBind),
+#if defined(USE_RX_SPI) || defined (USE_SERIALRX_SRXL2)
+    CLI_COMMAND_DEF("bind_rx", "initiate binding for RX SPI or SRXL2", NULL, cliRxBind),
 #endif
 #if defined(USE_FLASH_BOOT_LOADER)
     CLI_COMMAND_DEF("bl", "reboot into bootloader", "[flash|rom]", cliBootloader),

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -224,6 +224,7 @@ static const char * const lookupTableSerialRX[] = {
     "CUSTOM",
     "FPORT",
     "DJI_HDL",
+    "SRXL2",
 };
 #endif
 
@@ -703,6 +704,10 @@ const clivalue_t valueTable[] = {
 #ifdef USE_SPEKTRUM_BIND
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
     { "spektrum_sat_bind_autoreset",VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
+#endif
+#ifdef USE_SERIALRX_SRXL2
+    { "srxl2_unit_id",             VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 0xf }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_unit_id) },
+    { "srxl2_baud_fast",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_baud_fast) },
 #endif
     { "airmode_start_throttle_percent",     VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },

diff --git a/src/main/io/displayport_srxl.c b/src/main/io/displayport_srxl.c
@@ -55,24 +55,24 @@ static int srxlWriteChar(displayPort_t *displayPort, uint8_t col, uint8_t row, u
 static int srxlWriteString(displayPort_t *displayPort, uint8_t col, uint8_t row, const char *s)
 {
     while (*s) {
-        srxlWriteChar(displayPort,  col++, row, *(s++));
+        srxlWriteChar(displayPort, col++, row, *(s++));
     }
     return 0;
 }
 
 static int srxlClearScreen(displayPort_t *displayPort)
 {
-    for (int row = 0;  row < SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS; row++) {
+    for (int row = 0; row < SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS; row++) {
         for (int col= 0; col < SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS; col++) {
             srxlWriteChar(displayPort, col, row, ' ');
         }
     }
-    srxlWriteString(displayPort, 1, 0,  "BETAFLIGHT");
+    srxlWriteString(displayPort, 1, 0, "BETAFLIGHT");
 
-    if ( displayPort->grabCount == 0 ) {
-        srxlWriteString(displayPort, 0, 2,  CMS_STARTUP_HELP_TEXT1);
-        srxlWriteString(displayPort, 2, 3,  CMS_STARTUP_HELP_TEXT2);
-        srxlWriteString(displayPort, 2, 4,  CMS_STARTUP_HELP_TEXT3);
+    if (displayPort->grabCount == 0) {
+        srxlWriteString(displayPort, 0, 2, CMS_STARTUP_HELP_TEXT1);
+        srxlWriteString(displayPort, 2, 3, CMS_STARTUP_HELP_TEXT2);
+        srxlWriteString(displayPort, 2, 4, CMS_STARTUP_HELP_TEXT3);
     }
     return 0;
 }

diff --git a/src/main/pg/rx.c b/src/main/pg/rx.c
@@ -69,6 +69,8 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .rc_smoothing_input_type = RC_SMOOTHING_INPUT_BIQUAD,
         .rc_smoothing_derivative_type = RC_SMOOTHING_DERIVATIVE_BIQUAD,
         .rc_smoothing_auto_factor = 10,
+        .srxl2_unit_id = 1,
+        .srxl2_baud_fast = 1,
     );
 
 #ifdef RX_CHANNELS_TAER

diff --git a/src/main/pg/rx.h b/src/main/pg/rx.h
@@ -61,6 +61,9 @@ typedef struct rxConfig_s {
     uint8_t rc_smoothing_derivative_type;   // Derivative filter type (0 = OFF, 1 = PT1, 2 = BIQUAD)
     uint8_t rc_smoothing_auto_factor;       // Used to adjust the "smoothness" determined by the auto cutoff calculations
     uint8_t rssi_src_frame_lpf_period;      // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
+
+    uint8_t srxl2_unit_id;
+    uint8_t srxl2_baud_fast;
 } rxConfig_t;
 
 PG_DECLARE(rxConfig_t, rxConfig);
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
@@ -58,6 +58,7 @@
 #include "rx/fport.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
+#include "rx/srxl2.h"
 #include "rx/sumd.h"
 #include "rx/sumh.h"
 #include "rx/msp.h"
@@ -183,6 +184,11 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
 {
     bool enabled = false;
     switch (rxConfig->serialrx_provider) {
+#ifdef USE_SERIALRX_SRXL2
+    case SERIALRX_SRXL2:
+        enabled = srxl2RxInit(rxConfig, rxRuntimeConfig);
+        break;
+#endif
 #ifdef USE_SERIALRX_SPEKTRUM
     case SERIALRX_SRXL:
     case SERIALRX_SPEKTRUM1024:

diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
@@ -67,6 +67,7 @@ typedef enum {
     SERIALRX_TARGET_CUSTOM = 11,
     SERIALRX_FPORT = 12,
     SERIALRX_DJI_HDL_7MS = 13,
+    SERIALRX_SRXL2 = 14,
 } SerialRXType;
 
 #define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT          12

diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c
@@ -33,6 +33,8 @@
 #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"
 
@@ -393,8 +395,10 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
         NULL,
         SPEKTRUM_BAUDRATE,
         portShared || srxlEnabled ? MODE_RXTX : MODE_RX,
-        (rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) | ((srxlEnabled || rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
+        (rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) |
+        ((srxlEnabled || rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
         );
+
 #if defined(USE_TELEMETRY_SRXL)
     if (portShared) {
         telemetrySharedPort = serialPort;