added sumd serial receiver support by cesco/Plüschi

Makefile

@@ -53,6 +53,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   sensors.c \
 		   serial.c \
 		   sbus.c \
+		   sumd.c \
 		   spektrum.c \
 		   telemetry.c \
 		   drv_gpio.c \

src/board.h

@@ -82,6 +82,7 @@ typedef enum {
     SERIALRX_SPEKTRUM1024 = 0,
     SERIALRX_SPEKTRUM2048 = 1,
     SERIALRX_SBUS = 2,
+    SERIALRX_SUMD = 3,
 } SerialRXType;
 
 typedef enum {

src/cli.c

@@ -130,7 +130,7 @@ const clivalue_t valueTable[] = {
     { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },
     { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
     { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 },
-    { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 },
+    { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
     { "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 },
     { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
     { "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },

src/main.c

@@ -96,10 +96,12 @@ int main(void)
             case SERIALRX_SPEKTRUM2048:
                 spektrumInit(&rcReadRawFunc);
                 break;
-
             case SERIALRX_SBUS:
                 sbusInit(&rcReadRawFunc);
                 break;
+            case SERIALRX_SUMD:
+                sumdInit(&rcReadRawFunc);
+                break;
         }
     } else { // spektrum and GPS are mutually exclusive
         // Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.

src/mw.c

@@ -447,6 +447,9 @@ void loop(void)
             case SERIALRX_SBUS:
                 rcReady = sbusFrameComplete();
                 break;
+            case SERIALRX_SUMD:
+                rcReady = sumdFrameComplete();
+                break;
         }
     }
 

src/mw.h

@@ -453,6 +453,10 @@ bool spektrumFrameComplete(void);
 void sbusInit(rcReadRawDataPtr *callback);
 bool sbusFrameComplete(void);
 
+// sumd
+void sumdInit(rcReadRawDataPtr *callback);
+bool sumdFrameComplete(void);
+
 // buzzer
 void buzzer(uint8_t warn_vbat);
 void systemBeep(bool onoff);

src/sumd.c

@@ -0,0 +1,76 @@
+#include "board.h"
+#include "mw.h"
+
+// driver for SUMD receiver using UART2
+
+#define SUMD_SYNCBYTE 0xA8
+#define SUMD_MAX_CHANNEL 8
+#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 -> 17 bytes for 6 channels
+
+static bool sumdFrameDone = false;
+static void sumdDataReceive(uint16_t c);
+static uint16_t sumdReadRawRC(uint8_t chan);
+
+static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
+
+void sumdInit(rcReadRawDataPtr *callback)
+{
+    core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
+    if (callback) 
+        *callback = sumdReadRawRC;
+}
+
+static uint8_t sumd[SUMD_BUFFSIZE] = { 0, };
+static uint8_t sumdSize;
+
+// Receive ISR callback
+static void sumdDataReceive(uint16_t c)
+{
+    uint32_t sumdTime;
+    static uint32_t sumdTimeLast;
+    static uint8_t sumdIndex;
+
+    sumdTime = micros();
+    if ((sumdTime - sumdTimeLast) > 4000) 
+        sumdIndex = 0;
+    sumdTimeLast = sumdTime;
+
+    if (sumdIndex == 0) {
+        if (c != SUMD_SYNCBYTE) 
+            return;
+        else
+            sumdFrameDone = false; // lazy main loop didnt fetch the stuff
+    }
+    if (sumdIndex == 2) 
+        sumdSize = (uint8_t)c;
+    if (sumdIndex < SUMD_BUFFSIZE)
+        sumd[sumdIndex] = (uint8_t)c;
+    sumdIndex++;
+    if (sumdIndex == sumdSize * 2 + 5) {
+        sumdIndex = 0;
+        sumdFrameDone = true;
+    }
+}
+
+bool sumdFrameComplete(void)
+{
+    uint8_t b;
+
+    if (sumdFrameDone) {
+        sumdFrameDone = false;
+        if (sumd[1] == 0x01) {
+            failsafeCnt = 0;
+            if (sumdSize > SUMD_MAX_CHANNEL) 
+                sumdSize = SUMD_MAX_CHANNEL;
+            for (b = 0; b < sumdSize; b++)
+                sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]);
+            return true;
+        }
+    }
+    return false;
+}
+
+static uint16_t sumdReadRawRC(uint8_t chan)
+{
+    return sumdChannelData[mcfg.rcmap[chan]] / 8;
+}