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Merge pull request #224 from GruffyPuffy/xbus 

Added initial version of JRPropo XBUS Mode B support.
This commit is contained in:
Dominic Clifton 2014-12-23 12:08:23 +00:00
parent 11a88b1be1 19bfabbce4
commit e9bc6c9353
6 changed files with 262 additions and 1 deletions
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1
Makefile
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@ -190,6 +190,7 @@ COMMON_SRC = build_config.c \
rx/sumd.c \
rx/sumh.c \
rx/spektrum.c \
rx/xbus.c \
sensors/acceleration.c \
sensors/battery.c \
sensors/boardalignment.c \

17
docs/Rx.md
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@ -22,6 +22,21 @@ Allows you to use MSP commands as the RC input. Only 8 channel support to maint
16 channels via serial currently supported.
## XBus
The firmware currently supports the MODE B version of the XBus protocol.
Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
See here for info on JR's XBus protocol: http://www.jrpropo.com/english/propo/XBus/
Tested hardware: JR XG14 + RG731BX with NAZE32 (rev4)
With the current CLI configuration:
`set serialrx_provider=5`
`set serial_port_2_scenario=3`
`feature RX_SERIAL`
This will set the FW to use serial RX, with XBUS_MODE_B as provider and finally the scenario to be used for serial port 2.
Please note that your config may vary depending on hw used.
### OpenTX configuration
If using OpenTX set the transmitter module to D16 mode and select CH1-16 on the transmitter before binding to allow reception
@ -53,6 +68,8 @@ For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` cli setting as
| SBUS | 2 |
| SUMD | 3 |
| SUMH | 4 |
| XBUS_MODE_B | 5 |
#### PPM/PWM input filtering.

11
src/main/rx/rx.c
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@ -42,6 +42,7 @@
#include "rx/sumd.h"
#include "rx/sumh.h"
#include "rx/msp.h"
#include "rx/xbus.h"
#include "rx/rx.h"
@ -100,6 +101,9 @@ void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintTo
case SERIALRX_SUMH:
sumhUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
break;
case SERIALRX_XBUS_MODE_B:
xBusUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
break;
}
}
#endif
@ -109,6 +113,7 @@ void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintTo
void rxInit(rxConfig_t *rxConfig, failsafe_t *initialFailsafe)
{
uint8_t i;
useRxConfig(rxConfig);
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
@ -152,6 +157,9 @@ void serialRxInit(rxConfig_t *rxConfig)
case SERIALRX_SUMH:
enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_XBUS_MODE_B:
enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
}
if (!enabled) {
@ -162,6 +170,7 @@ void serialRxInit(rxConfig_t *rxConfig)
bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
{
switch (rxConfig->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
@ -172,6 +181,8 @@ bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
return sumdFrameComplete();
case SERIALRX_SUMH:
return sumhFrameComplete();
case SERIALRX_XBUS_MODE_B:
return xBusFrameComplete();
}
return false;
}

3
src/main/rx/rx.h
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@ -32,7 +32,8 @@ typedef enum {
SERIALRX_SBUS = 2,
SERIALRX_SUMD = 3,
SERIALRX_SUMH = 4,
SERIALRX_PROVIDER_MAX = SERIALRX_SUMD
SERIALRX_XBUS_MODE_B = 5,
SERIALRX_PROVIDER_MAX = SERIALRX_XBUS_MODE_B
} SerialRXType;
#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)

207
src/main/rx/xbus.c Normal file
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@ -0,0 +1,207 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "rx/xbus.h"
//
// Serial driver for JR's XBus (MODE B) receiver
//
#define XBUS_CHANNEL_COUNT 12
// Frame is: ID(1 byte) + 12*channel(2 bytes) + CRC(2 bytes) = 27
#define XBUS_FRAME_SIZE 27
#define XBUS_CRC_BYTE_1 25
#define XBUS_CRC_BYTE_2 26
#define XBUS_CRC_AND_VALUE 0x8000
#define XBUS_CRC_POLY 0x1021
#define XBUS_BAUDRATE 115200
#define XBUS_MAX_FRAME_TIME 5000
// NOTE!
// This is actually based on ID+LENGTH (nibble each)
// 0xA - Multiplex ID (also used by JR, no idea why)
// 0x1 - 12 channels
// 0x2 - 16 channels
// However, the JR XG14 that is used for test at the moment
// does only use 0xA1 as its output. This is why the implementation
// is based on these numbers only. Maybe update this in the future?
#define XBUS_START_OF_FRAME_BYTE (0xA1)
// Pulse length convertion from [0...4095] to µs:
// 800µs -> 0x000
// 1500µs -> 0x800
// 2200µs -> 0xFFF
// Total range is: 2200 - 800 = 1400 <==> 4095
// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
static bool xBusFrameReceived = false;
static bool xBusDataIncoming = false;
static uint8_t xBusFramePosition;
static volatile uint8_t xBusFrame[XBUS_FRAME_SIZE];
static uint16_t xBusChannelData[XBUS_CHANNEL_COUNT];
static void xBusDataReceive(uint16_t c);
static uint16_t xBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
static serialPort_t *xBusPort;
void xBusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint)
{
functionConstraint->minBaudRate = XBUS_BAUDRATE;
functionConstraint->maxBaudRate = XBUS_BAUDRATE;
functionConstraint->requiredSerialPortFeatures = SPF_SUPPORTS_CALLBACK;
}
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
switch (rxConfig->serialrx_provider) {
case SERIALRX_XBUS_MODE_B:
rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT;
xBusFrameReceived = false;
xBusDataIncoming = false;
xBusFramePosition = 0;
break;
default:
return false;
break;
}
xBusPort = openSerialPort(FUNCTION_SERIAL_RX, xBusDataReceive, XBUS_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED);
if (callback) {
*callback = xBusReadRawRC;
}
return xBusPort != NULL;
}
// The xbus mode B CRC calculations
static uint16_t xBusCRC16(uint16_t crc, uint8_t value)
{
uint8_t i;
crc = crc ^ (int16_t)value << 8;
for (i = 0; i < 8; i++) {
if (crc & XBUS_CRC_AND_VALUE) {
crc = crc << 1 ^ XBUS_CRC_POLY;
} else {
crc = crc << 1;
}
}
return crc;
}
static void xBusUnpackFrame(void)
{
// Calculate the CRC of the incoming frame
uint16_t crc = 0;
uint16_t inCrc = 0;
uint8_t i = 0;
uint16_t value;
uint8_t frameAddr;
// Calculate on all bytes except the final two CRC bytes
for (i = 0; i < XBUS_FRAME_SIZE - 2; i++) {
inCrc = xBusCRC16(inCrc, xBusFrame[i]);
}
// Get the received CRC
crc = ((uint16_t)xBusFrame[XBUS_CRC_BYTE_1]) << 8;
crc = crc + ((uint16_t)xBusFrame[XBUS_CRC_BYTE_2]);
if (crc == inCrc) {
// Unpack the data, we have a valid frame
for (i = 0; i < XBUS_CHANNEL_COUNT; i++) {
frameAddr = 1 + i * 2;
value = ((uint16_t)xBusFrame[frameAddr]) << 8;
value = value + ((uint16_t)xBusFrame[frameAddr + 1]);
// Convert to internal format
xBusChannelData[i] = XBUS_CONVERT_TO_USEC(value);
}
xBusFrameReceived = true;
}
}
// Receive ISR callback
static void xBusDataReceive(uint16_t c)
{
// Check if we shall start a frame?
if ((xBusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
xBusDataIncoming = true;
}
// Only do this if we are receiving to a frame
if (xBusDataIncoming == true) {
// Store in frame copy
xBusFrame[xBusFramePosition] = (uint8_t)c;
xBusFramePosition++;
}
// Done?
if (xBusFramePosition == XBUS_FRAME_SIZE) {
xBusUnpackFrame();
xBusDataIncoming = false;
xBusFramePosition = 0;
}
}
// Indicate time to read a frame from the data...
bool xBusFrameComplete(void)
{
return xBusFrameReceived;
}
static uint16_t xBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
uint16_t data;
// Mark frame as read
if (xBusFrameReceived) {
xBusFrameReceived = false;
}
// Deliver the data wanted
if (chan >= rxRuntimeConfig->channelCount) {
return 0;
}
data = xBusChannelData[chan];
return data;
}

24
src/main/rx/xbus.h Normal file
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@ -0,0 +1,24 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "rx/rx.h"
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
bool xBusFrameComplete(void);
void xBusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint);