Multi module support for Taranis

Reuse some of the DSM2 routines to avoid code duplication. This first version only implements the protocol on the Taranis. (and not Telemetry code is currently untested and will not work (Polarity mismatch). The main protocols to use telemetry are FrSky protocols and not a high priority on the Taranis. Patch v3: Fix myeeprom.h, include option value in menu. Patch v4: Fix identing, name substructs of modeldata
2016-03-29 21:41:14 +02:00
parent c788ad6add
commit 119e413a6d
13 changed files with 458 additions and 26 deletions
@@ -0,0 +1,162 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program 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.
+ */
+
+#include "opentx.h"
+
+// for the  MULTI protocol definition
+// see https://github.com/pascallanger/DIY-Multiprotocol-TX-Module
+// file Multiprotocol/multiprotocol.h
+
+
+
+/* The protocol is heavily inspired by the DSM2 protocol, so reuse some the definitions where they are identical */
+
+#define MULTI_SEND_BIND                     (1 << 7)
+#define MULTI_SEND_RANGECHECK               (1 << 5)
+
+
+#define BITLEN_MULTI          (10*2) //100000 Baud => 10uS per bit
+
+static void _send_level(uint8_t v)
+{
+    /* Copied over from DSM, this looks doubious and in my logic analyzer
+       output the low->high is about 2 ns late */
+  if (modulePulsesData[EXTERNAL_MODULE].dsm2.index == 0)
+    v -= 2;
+  else
+    v += 2;
+
+  modulePulsesData[EXTERNAL_MODULE].dsm2.value += v;
+  *modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.value;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.index = (modulePulsesData[EXTERNAL_MODULE].dsm2.index+1) % 2;
+}
+
+
+static void sendByteMulti(uint8_t b) //max 11 changes 0 10 10 10 10 P 1
+{
+  bool    lev = 0;
+  uint8_t parity = 1;
+
+  uint8_t len = BITLEN_MULTI; //max val: 10*20 < 256
+  for (uint8_t i=0; i<=9; i++) { //8Bits + 1Parity + Stop=1
+    bool nlev = b & 1; //lsb first
+    parity = parity ^ nlev;
+    if (lev == nlev) {
+      len += BITLEN_MULTI;
+    }
+    else {
+      _send_level(len);
+      len  = BITLEN_MULTI;
+      lev  = nlev;
+    }
+    b = (b>>1) | 0x80; //shift in ones for stop bit and parity
+    if (i==7)
+        b = b ^ parity; // lowest bit is one from previous line
+  }
+  _send_level(len+2*BITLEN_MULTI); // 2Stop bits
+}
+
+// This is the data stream to send, prepare after 19.5 mS
+// Send after 22.5 mS
+
+//static uint8_t *Dsm2_pulsePtr = pulses2MHz.pbyte ;
+
+
+#define MULTI_CHANS           16
+#define MULTI_CHAN_BITS       11
+void setupPulsesMultimodule(unsigned int port)
+{
+
+#if defined(PPM_PIN_HW_SERIAL)
+  modulePulsesData[EXTERNAL_MODULE].dsm2.serialByte = 0 ;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.serialBitCount = 0 ;
+#else
+  modulePulsesData[EXTERNAL_MODULE].dsm2.value = 0;
+  modulePulsesData[EXTERNAL_MODULE].dsm2.index = 1;
+#endif
+
+  modulePulsesData[EXTERNAL_MODULE].dsm2.ptr = modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
+
+#if defined(PCBTARANIS)
+  modulePulsesData[EXTERNAL_MODULE].dsm2.value = 100;
+  *modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = modulePulsesData[EXTERNAL_MODULE].dsm2.value;
+#endif
+
+  // header, byte 0, always 0x55
+  sendByteMulti(0x55);
+
+  // byte 1+2, protocol information
+
+  int type = g_model.moduleData[port].multi.rfProtocol +1;
+  int subtype = g_model.moduleData[port].subType;
+
+  uint8_t protoByte=0;
+  if (moduleFlag[port] == MODULE_BIND)
+    protoByte |= MULTI_SEND_BIND;
+  else if (moduleFlag[port] == MODULE_RANGECHECK)
+    protoByte |= MULTI_SEND_RANGECHECK;
+
+  // rfProtocol
+  // 15 is FrskyX or D16 which we map as a subprotocol of 3 (FrSky)
+  // all protos > frskyx are therefore also off by one
+  if (type >=15)
+    type= type +1;
+
+  if (g_model.moduleData[port].multi.rfProtocol == MM_RF_PROTO_FRSKY) {
+    if(subtype == 1)
+      type = 3;
+     else
+      type = 15;
+    subtype = 0;
+  }
+
+  protoByte |= (type & 0x1f);
+  sendByteMulti(protoByte);
+
+
+  // power always set to high (0 << 7)
+  sendByteMulti((g_model.header.modelId[port] & 0x0f)
+                   | (0 << 7) | ((subtype & 0x7)  << 4));
+
+
+  //TODO: option_protocol, use same default as multi module
+  // byte 3
+  sendByteMulti(g_model.moduleData[port].multi.optionValue);
+
+  uint32_t bits = 0;
+  uint8_t bitsavailable = 0;
+
+  // byte 4-25, channels 0..2047
+  // ?? Range for pulses (channelsOutputs) is [-1024:+1024]
+  for (int i=0; i<MULTI_CHANS; i++) {
+    int channel = g_model.moduleData[port].channelsStart+i;
+    int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
+
+    bits |= limit(0, 1024 + value, 2047) << bitsavailable;
+    bitsavailable += MULTI_CHAN_BITS;
+    while (bitsavailable >= 8) {
+      sendByteMulti((uint8_t) (bits & 0xff));
+      bits >>= 8;
+      bitsavailable -= 8;
+    }
+  }
+
+  putDsm2Flush();
+}