Merge pull request #224 from GruffyPuffy/xbus
Added initial version of JRPropo XBUS Mode B support.
This commit is contained in:
commit
e9bc6c9353
1
Makefile
1
Makefile
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@ -190,6 +190,7 @@ COMMON_SRC = build_config.c \
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rx/sumd.c \
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rx/sumh.c \
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rx/spektrum.c \
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rx/xbus.c \
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sensors/acceleration.c \
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sensors/battery.c \
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sensors/boardalignment.c \
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17
docs/Rx.md
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
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16 channels via serial currently supported.
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## XBus
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The firmware currently supports the MODE B version of the XBus protocol.
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Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
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See here for info on JR's XBus protocol: http://www.jrpropo.com/english/propo/XBus/
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Tested hardware: JR XG14 + RG731BX with NAZE32 (rev4)
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With the current CLI configuration:
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`set serialrx_provider=5`
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`set serial_port_2_scenario=3`
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`feature RX_SERIAL`
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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.
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Please note that your config may vary depending on hw used.
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### OpenTX configuration
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If using OpenTX set the transmitter module to D16 mode and select CH1-16 on the transmitter before binding to allow reception
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@ -53,6 +68,8 @@ For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` cli setting as
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| SBUS | 2 |
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| SUMD | 3 |
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| SUMH | 4 |
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| XBUS_MODE_B | 5 |
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#### PPM/PWM input filtering.
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@ -42,6 +42,7 @@
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#include "rx/sumd.h"
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#include "rx/sumh.h"
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#include "rx/msp.h"
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#include "rx/xbus.h"
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#include "rx/rx.h"
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@ -100,6 +101,9 @@ void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintTo
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case SERIALRX_SUMH:
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sumhUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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case SERIALRX_XBUS_MODE_B:
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xBusUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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}
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}
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#endif
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@ -109,6 +113,7 @@ void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintTo
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void rxInit(rxConfig_t *rxConfig, failsafe_t *initialFailsafe)
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{
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uint8_t i;
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useRxConfig(rxConfig);
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for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
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@ -152,6 +157,9 @@ void serialRxInit(rxConfig_t *rxConfig)
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case SERIALRX_SUMH:
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enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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case SERIALRX_XBUS_MODE_B:
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enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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}
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if (!enabled) {
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@ -162,6 +170,7 @@ void serialRxInit(rxConfig_t *rxConfig)
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bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
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{
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switch (rxConfig->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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@ -172,6 +181,8 @@ bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
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return sumdFrameComplete();
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case SERIALRX_SUMH:
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return sumhFrameComplete();
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case SERIALRX_XBUS_MODE_B:
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return xBusFrameComplete();
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}
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return false;
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}
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@ -32,7 +32,8 @@ typedef enum {
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SERIALRX_SBUS = 2,
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SERIALRX_SUMD = 3,
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SERIALRX_SUMH = 4,
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SERIALRX_PROVIDER_MAX = SERIALRX_SUMD
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SERIALRX_XBUS_MODE_B = 5,
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SERIALRX_PROVIDER_MAX = SERIALRX_XBUS_MODE_B
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} SerialRXType;
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#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
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@ -0,0 +1,207 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "drivers/system.h"
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#include "drivers/serial.h"
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#include "drivers/serial_uart.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/xbus.h"
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//
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// Serial driver for JR's XBus (MODE B) receiver
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//
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#define XBUS_CHANNEL_COUNT 12
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// Frame is: ID(1 byte) + 12*channel(2 bytes) + CRC(2 bytes) = 27
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#define XBUS_FRAME_SIZE 27
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#define XBUS_CRC_BYTE_1 25
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#define XBUS_CRC_BYTE_2 26
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#define XBUS_CRC_AND_VALUE 0x8000
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#define XBUS_CRC_POLY 0x1021
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#define XBUS_BAUDRATE 115200
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#define XBUS_MAX_FRAME_TIME 5000
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// NOTE!
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// This is actually based on ID+LENGTH (nibble each)
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// 0xA - Multiplex ID (also used by JR, no idea why)
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// 0x1 - 12 channels
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// 0x2 - 16 channels
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// However, the JR XG14 that is used for test at the moment
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// does only use 0xA1 as its output. This is why the implementation
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// is based on these numbers only. Maybe update this in the future?
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#define XBUS_START_OF_FRAME_BYTE (0xA1)
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// Pulse length convertion from [0...4095] to µs:
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// 800µs -> 0x000
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// 1500µs -> 0x800
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// 2200µs -> 0xFFF
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// Total range is: 2200 - 800 = 1400 <==> 4095
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// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
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#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
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static bool xBusFrameReceived = false;
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static bool xBusDataIncoming = false;
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static uint8_t xBusFramePosition;
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static volatile uint8_t xBusFrame[XBUS_FRAME_SIZE];
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static uint16_t xBusChannelData[XBUS_CHANNEL_COUNT];
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static void xBusDataReceive(uint16_t c);
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static uint16_t xBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
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static serialPort_t *xBusPort;
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void xBusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint)
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{
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functionConstraint->minBaudRate = XBUS_BAUDRATE;
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functionConstraint->maxBaudRate = XBUS_BAUDRATE;
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functionConstraint->requiredSerialPortFeatures = SPF_SUPPORTS_CALLBACK;
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}
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bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
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{
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switch (rxConfig->serialrx_provider) {
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case SERIALRX_XBUS_MODE_B:
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rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT;
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xBusFrameReceived = false;
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xBusDataIncoming = false;
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xBusFramePosition = 0;
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break;
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default:
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return false;
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break;
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}
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xBusPort = openSerialPort(FUNCTION_SERIAL_RX, xBusDataReceive, XBUS_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED);
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if (callback) {
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*callback = xBusReadRawRC;
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}
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return xBusPort != NULL;
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}
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// The xbus mode B CRC calculations
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static uint16_t xBusCRC16(uint16_t crc, uint8_t value)
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{
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uint8_t i;
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crc = crc ^ (int16_t)value << 8;
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for (i = 0; i < 8; i++) {
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if (crc & XBUS_CRC_AND_VALUE) {
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crc = crc << 1 ^ XBUS_CRC_POLY;
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} else {
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crc = crc << 1;
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}
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}
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return crc;
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}
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static void xBusUnpackFrame(void)
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{
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// Calculate the CRC of the incoming frame
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uint16_t crc = 0;
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uint16_t inCrc = 0;
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uint8_t i = 0;
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uint16_t value;
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uint8_t frameAddr;
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// Calculate on all bytes except the final two CRC bytes
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for (i = 0; i < XBUS_FRAME_SIZE - 2; i++) {
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inCrc = xBusCRC16(inCrc, xBusFrame[i]);
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}
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// Get the received CRC
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crc = ((uint16_t)xBusFrame[XBUS_CRC_BYTE_1]) << 8;
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crc = crc + ((uint16_t)xBusFrame[XBUS_CRC_BYTE_2]);
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if (crc == inCrc) {
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// Unpack the data, we have a valid frame
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for (i = 0; i < XBUS_CHANNEL_COUNT; i++) {
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frameAddr = 1 + i * 2;
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value = ((uint16_t)xBusFrame[frameAddr]) << 8;
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value = value + ((uint16_t)xBusFrame[frameAddr + 1]);
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// Convert to internal format
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xBusChannelData[i] = XBUS_CONVERT_TO_USEC(value);
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}
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xBusFrameReceived = true;
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}
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}
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// Receive ISR callback
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static void xBusDataReceive(uint16_t c)
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{
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// Check if we shall start a frame?
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if ((xBusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
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xBusDataIncoming = true;
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}
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// Only do this if we are receiving to a frame
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if (xBusDataIncoming == true) {
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// Store in frame copy
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xBusFrame[xBusFramePosition] = (uint8_t)c;
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xBusFramePosition++;
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}
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// Done?
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if (xBusFramePosition == XBUS_FRAME_SIZE) {
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xBusUnpackFrame();
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xBusDataIncoming = false;
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xBusFramePosition = 0;
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}
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}
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// Indicate time to read a frame from the data...
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bool xBusFrameComplete(void)
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{
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return xBusFrameReceived;
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}
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static uint16_t xBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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{
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uint16_t data;
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// Mark frame as read
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if (xBusFrameReceived) {
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xBusFrameReceived = false;
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}
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// Deliver the data wanted
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if (chan >= rxRuntimeConfig->channelCount) {
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return 0;
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}
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data = xBusChannelData[chan];
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return data;
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}
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@ -0,0 +1,24 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "rx/rx.h"
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bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool xBusFrameComplete(void);
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void xBusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint);
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