rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Improve SBus compatibility by timing the entire frame instead of the gap 

between received bytes of data.  Add support for the two SBus digital
channels.
This commit is contained in:
Dominic Clifton 2015-02-16 22:50:39 +00:00
parent 6e258a62ac
commit 24ce82b280
1 changed files with 64 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

84
src/main/rx/sbus.c
View File

@ -35,10 +35,27 @@
#include "rx/rx.h"
#include "rx/sbus.h"
/*
* Observations
*
* FrSky X8R
* time between frames: 6ms.
* time to send frame: 3ms.
*/
#define SBUS_TIME_NEEDED_PER_FRAME 3000
#define DEBUG_SBUS_PACKETS
#ifdef DEBUG_SBUS_PACKETS
static uint16_t sbusStateFlags = 0;
#define SBUS_MAX_CHANNEL 16
#define SBUS_STATE_FAILSAFE (1 << 0)
#define SBUS_STATE_SIGNALLOSS (1 << 1)
#endif
#define SBUS_MAX_CHANNEL 18
#define SBUS_FRAME_SIZE 25
#define SBUS_FRAME_BEGIN_BYTE 0x0F
@ -46,6 +63,9 @@
#define SBUS_BAUDRATE 100000
#define SBUS_DIGITAL_CHANNEL_MIN 173
#define SBUS_DIGITAL_CHANNEL_MAX 1812
static bool sbusFrameDone = false;
static void sbusDataReceive(uint16_t c);
static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
@ -53,7 +73,7 @@ static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
static uint32_t sbusChannelData[SBUS_MAX_CHANNEL];
static serialPort_t *sBusPort;
static uint32_t sbusSignalLostEventCount = 0;
void sbusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint)
{
@ -77,8 +97,8 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
return sBusPort != NULL;
}
#define SBUS_FLAG_RESERVED_1 (1 << 0)
#define SBUS_FLAG_RESERVED_2 (1 << 1)
#define SBUS_FLAG_CHANNEL_17 (1 << 0)
#define SBUS_FLAG_CHANNEL_18 (1 << 1)
#define SBUS_FLAG_SIGNAL_LOSS (1 << 2)
#define SBUS_FLAG_FAILSAFE_ACTIVE (1 << 3)
@ -115,23 +135,23 @@ static sbusFrame_t sbusFrame;
// Receive ISR callback
static void sbusDataReceive(uint16_t c)
{
#ifdef DEBUG_SBUS_PACKETS
static uint8_t sbusUnusedFrameCount = 0;
#endif
static uint8_t sbusFramePosition = 0;
static uint32_t sbusTimeoutAt = 0;
static uint32_t sbusFrameStartAt = 0;
uint32_t now = micros();
if ((int32_t)(sbusTimeoutAt - now) < 0) {
int32_t sbusFrameTime = now - sbusFrameStartAt;
if (sbusFrameTime > (long)(SBUS_TIME_NEEDED_PER_FRAME + 500)) {
sbusFramePosition = 0;
}
sbusTimeoutAt = now + 2500;
sbusFrame.bytes[sbusFramePosition] = (uint8_t)c;
if (sbusFramePosition == 0 && c != SBUS_FRAME_BEGIN_BYTE) {
return;
if (sbusFramePosition == 0) {
if (c != SBUS_FRAME_BEGIN_BYTE) {
return;
}
sbusFrameStartAt = now;
}
sbusFramePosition++;
@ -139,14 +159,11 @@ static void sbusDataReceive(uint16_t c)
if (sbusFramePosition == SBUS_FRAME_SIZE) {
if (sbusFrame.frame.endByte == SBUS_FRAME_END_BYTE) {
sbusFrameDone = true;
}
sbusFramePosition = 0;
} else {
#ifdef DEBUG_SBUS_PACKETS
if (sbusFrameDone) {
sbusUnusedFrameCount++;
}
debug[2] = sbusFrameTime;
#endif
}
} else {
sbusFrameDone = false;
}
}
@ -158,11 +175,22 @@ bool sbusFrameComplete(void)
}
sbusFrameDone = false;
#ifdef DEBUG_SBUS_PACKETS
debug[1] = sbusFrame.frame.flags;
#endif
if (sbusFrame.frame.flags & SBUS_FLAG_SIGNAL_LOSS) {
// internal failsafe enabled and rx failsafe flag set
sbusSignalLostEventCount++;
#ifdef DEBUG_SBUS_PACKETS
sbusStateFlags |= SBUS_STATE_SIGNALLOSS;
debug[0] = sbusStateFlags;
#endif
}
if (sbusFrame.frame.flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
#ifdef DEBUG_SBUS_PACKETS
sbusStateFlags |= SBUS_STATE_FAILSAFE;
debug[0] = sbusStateFlags;
#endif
// internal failsafe enabled and rx failsafe flag set
return false;
}
@ -183,6 +211,22 @@ bool sbusFrameComplete(void)
sbusChannelData[13] = sbusFrame.frame.chan13;
sbusChannelData[14] = sbusFrame.frame.chan14;
sbusChannelData[15] = sbusFrame.frame.chan15;
if (sbusFrame.frame.flags & SBUS_FLAG_CHANNEL_17) {
sbusChannelData[16] = SBUS_DIGITAL_CHANNEL_MAX;
} else {
sbusChannelData[16] = SBUS_DIGITAL_CHANNEL_MIN;
}
if (sbusFrame.frame.flags & SBUS_FLAG_CHANNEL_18) {
sbusChannelData[17] = SBUS_DIGITAL_CHANNEL_MAX;
} else {
sbusChannelData[17] = SBUS_DIGITAL_CHANNEL_MIN;
}
#ifdef DEBUG_SBUS_PACKETS
sbusStateFlags = 0;
#endif
return true;
}