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Add rx num handling to CRSF (#7881)

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This commit is contained in:
3djc
2020-08-28 17:01:13 +02:00
committed by GitHub
parent 476e1e9d8d
commit 3dfb27f220
13 changed files with 125 additions and 20 deletions
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companion/src/firmwares/moduledata.cpp
+1
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@@ -66,6 +66,7 @@ bool ModuleData::supportRxNum() const
case PULSES_PXX_R9M_LITE:
case PULSES_PXX_R9M_LITE_PRO:
case PULSES_MULTIMODULE:
case PULSES_CROSSFIRE:
case PULSES_ACCESS_ISRM:
case PULSES_ACCST_ISRM_D16:
case PULSES_ACCESS_R9M:
companion/src/modeledit/setup.cpp
+1
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@@ -424,6 +424,7 @@ void ModulePanel::update()
max_rx_num = 20;
break;
case PULSES_CROSSFIRE:
mask |= MASK_CHANNELS_RANGE | MASK_RX_NUMBER;
case PULSES_GHOST:
mask |= MASK_CHANNELS_RANGE;
module.channelsCount = 16;
radio/src/crc.cpp
+45
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@@ -79,3 +79,48 @@ uint8_t crc8(const uint8_t * ptr, uint32_t len)
}
return crc;
}
// CRC8 implementation with polynom = 0xBA
const unsigned char crc8tab_BA[256] = {
0x00, 0xBA, 0xCE, 0x74, 0x26, 0x9C, 0xE8, 0x52,
0x4C, 0xF6, 0x82, 0x38, 0x6A, 0xD0, 0xA4, 0x1E,
0x98, 0x22, 0x56, 0xEC, 0xBE, 0x04, 0x70, 0xCA,
0xD4, 0x6E, 0x1A, 0xA0, 0xF2, 0x48, 0x3C, 0x86,
0x8A, 0x30, 0x44, 0xFE, 0xAC, 0x16, 0x62, 0xD8,
0xC6, 0x7C, 0x08, 0xB2, 0xE0, 0x5A, 0x2E, 0x94,
0x12, 0xA8, 0xDC, 0x66, 0x34, 0x8E, 0xFA, 0x40,
0x5E, 0xE4, 0x90, 0x2A, 0x78, 0xC2, 0xB6, 0x0C,
0xAE, 0x14, 0x60, 0xDA, 0x88, 0x32, 0x46, 0xFC,
0xE2, 0x58, 0x2C, 0x96, 0xC4, 0x7E, 0x0A, 0xB0,
0x36, 0x8C, 0xF8, 0x42, 0x10, 0xAA, 0xDE, 0x64,
0x7A, 0xC0, 0xB4, 0x0E, 0x5C, 0xE6, 0x92, 0x28,
0x24, 0x9E, 0xEA, 0x50, 0x02, 0xB8, 0xCC, 0x76,
0x68, 0xD2, 0xA6, 0x1C, 0x4E, 0xF4, 0x80, 0x3A,
0xBC, 0x06, 0x72, 0xC8, 0x9A, 0x20, 0x54, 0xEE,
0xF0, 0x4A, 0x3E, 0x84, 0xD6, 0x6C, 0x18, 0xA2,
0xE6, 0x5C, 0x28, 0x92, 0xC0, 0x7A, 0x0E, 0xB4,
0xAA, 0x10, 0x64, 0xDE, 0x8C, 0x36, 0x42, 0xF8,
0x7E, 0xC4, 0xB0, 0x0A, 0x58, 0xE2, 0x96, 0x2C,
0x32, 0x88, 0xFC, 0x46, 0x14, 0xAE, 0xDA, 0x60,
0x6C, 0xD6, 0xA2, 0x18, 0x4A, 0xF0, 0x84, 0x3E,
0x20, 0x9A, 0xEE, 0x54, 0x06, 0xBC, 0xC8, 0x72,
0xF4, 0x4E, 0x3A, 0x80, 0xD2, 0x68, 0x1C, 0xA6,
0xB8, 0x02, 0x76, 0xCC, 0x9E, 0x24, 0x50, 0xEA,
0x48, 0xF2, 0x86, 0x3C, 0x6E, 0xD4, 0xA0, 0x1A,
0x04, 0xBE, 0xCA, 0x70, 0x22, 0x98, 0xEC, 0x56,
0xD0, 0x6A, 0x1E, 0xA4, 0xF6, 0x4C, 0x38, 0x82,
0x9C, 0x26, 0x52, 0xE8, 0xBA, 0x00, 0x74, 0xCE,
0xC2, 0x78, 0x0C, 0xB6, 0xE4, 0x5E, 0x2A, 0x90,
0x8E, 0x34, 0x40, 0xFA, 0xA8, 0x12, 0x66, 0xDC,
0x5A, 0xE0, 0x94, 0x2E, 0x7C, 0xC6, 0xB2, 0x08,
0x16, 0xAC, 0xD8, 0x62, 0x30, 0x8A, 0xFE, 0x44
};
uint8_t crc8_BA(const uint8_t * ptr, uint32_t len)
{
uint8_t crc = 0;
for (uint32_t i=0; i<len; i++) {
crc = crc8tab_BA[crc ^ *ptr++];
}
return crc;
}
radio/src/crc.h
+1
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@@ -29,6 +29,7 @@ enum {
};
uint8_t crc8(const uint8_t * ptr, uint32_t len);
uint8_t crc8_BA(const uint8_t * ptr, uint32_t len);
uint16_t crc16(uint8_t index, const uint8_t * buf, uint32_t len, uint16_t start = 0);
// CRC16 implementation according to CCITT standards
radio/src/gui/128x64/model_setup.cpp
+7 -5
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@@ -1345,15 +1345,12 @@ void menuModelSetup(event_t event)
if (isModuleRxNumAvailable(moduleIdx)) {
lcdDrawNumber(MODEL_SETUP_2ND_COLUMN, y, g_model.header.modelId[moduleIdx], (l_posHorz==0 ? attr : 0) | LEADING0|LEFT, 2);
bindButtonPos = lcdNextPos + 2;
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
if (attr && l_posHorz == 0) {
if (s_editMode > 0) {
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.header.modelId[moduleIdx], getMaxRxNum(moduleIdx));
if (checkIncDec_Ret) {
if (isModuleCrossfire(moduleIdx))
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
modelHeaders[g_eeGeneral.currModel].modelId[moduleIdx] = g_model.header.modelId[moduleIdx];
}
else if (event == EVT_KEY_LONG(KEY_ENTER)) {
@@ -1366,6 +1363,11 @@ void menuModelSetup(event_t event)
}
}
}
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
lcdDrawText(bindButtonPos, y, STR_MODULE_BIND, l_posHorz == 1 ? attr : 0);
if (isModuleRangeAvailable(moduleIdx)) {
lcdDrawText(lcdNextPos + 2, y, STR_MODULE_RANGE, l_posHorz == 2 ? attr : 0);
radio/src/gui/212x64/model_setup.cpp
+7 -5
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@@ -1160,15 +1160,12 @@ void menuModelSetup(event_t event)
if (isModuleRxNumAvailable(moduleIdx)) {
lcdDrawNumber(MODEL_SETUP_2ND_COLUMN, y, g_model.header.modelId[moduleIdx], (l_posHorz == 0 ? attr : 0) | LEADING0 | LEFT, 2);
bindButtonPos = lcdNextPos + FW;
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
if (attr && l_posHorz == 0) {
if (s_editMode > 0) {
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.header.modelId[moduleIdx], getMaxRxNum(moduleIdx));
if (checkIncDec_Ret) {
if (isModuleCrossfire(moduleIdx))
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
modelHeaders[g_eeGeneral.currModel].modelId[moduleIdx] = g_model.header.modelId[moduleIdx];
}
else if (event == EVT_KEY_LONG(KEY_ENTER)) {
@@ -1181,6 +1178,11 @@ void menuModelSetup(event_t event)
}
}
}
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
lcdDrawText(bindButtonPos, y, STR_MODULE_BIND, l_posHorz == 1 ? attr : 0);
if (isModuleRangeAvailable(moduleIdx)) {
lcdDrawText(lcdNextPos + FW, y, STR_MODULE_RANGE, l_posHorz == 2 ? attr : 0);
radio/src/gui/480x272/model_setup.cpp
+8 -5
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@@ -1543,14 +1543,12 @@ bool menuModelSetup(event_t event)
if (isModuleRxNumAvailable(moduleIdx)) {
lcdDrawNumber(MODEL_SETUP_2ND_COLUMN, y, g_model.header.modelId[moduleIdx], (l_posHorz==0 ? attr : 0) | LEADING0 | LEFT, 2);
bindButtonPos += 40;
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
if (attr && l_posHorz == 0) {
if (s_editMode > 0) {
CHECK_INCDEC_MODELVAR_ZERO(event, g_model.header.modelId[moduleIdx], getMaxRxNum(moduleIdx));
if (checkIncDec_Ret && isModuleCrossfire(moduleIdx)) {
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
}
if (event == EVT_KEY_LONG(KEY_ENTER)) {
killEvents(event);
uint8_t newVal = modelslist.findNextUnusedModelId(moduleIdx);
@@ -1561,6 +1559,11 @@ bool menuModelSetup(event_t event)
}
}
}
}
else if (attr) {
l_posHorz += 1;
}
if (isModuleBindRangeAvailable(moduleIdx)) {
drawButton(bindButtonPos, y, STR_MODULE_BIND, (moduleState[moduleIdx].mode == MODULE_MODE_BIND ? BUTTON_ON : BUTTON_OFF) | (l_posHorz==1 ? attr : 0));
if (isModuleRangeAvailable(moduleIdx)) {
drawButton(bindButtonPos + 80, y, STR_MODULE_RANGE, (moduleState[moduleIdx].mode == MODULE_MODE_RANGECHECK ? BUTTON_ON : BUTTON_OFF) | (l_posHorz==2 ? attr : 0));
radio/src/gui/gui_common.h
+7 -4
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@@ -145,11 +145,14 @@ void runFatalErrorScreen(const char * message);
inline uint8_t MODULE_BIND_ROWS(int moduleIdx)
{
if (isModuleCrossfire(moduleIdx))
return 0;
if (isModuleMultimodule(moduleIdx)) {
if (IS_RX_MULTI(moduleIdx))
return 1;
else
return 2;
if (IS_RX_MULTI(moduleIdx))
return 1;
else
return 2;
}
else if (isModuleXJTD8(moduleIdx) || isModuleSBUS(moduleIdx) || isModuleAFHDS3(moduleIdx)) {
return 1;
radio/src/pulses/crossfire.cpp
+24 -1
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@@ -28,6 +28,23 @@
#define CROSSFIRE_CENTER_CH_OFFSET(ch) (0)
#endif
uint8_t createCrossfireModelIDFrame(uint8_t * frame)
{
uint8_t * buf = frame;
*buf++ = UART_SYNC; /* device address */
*buf++ = 8; /* frame length */
*buf++ = COMMAND_ID; /* cmd type */
*buf++ = MODULE_ADDRESS; /* Destination Address */
*buf++ = RADIO_ADDRESS; /* Origin Address */
*buf++ = SUBCOMMAND_CRSF; /* sub command */
*buf++ = COMMAND_MODEL_SELECT_ID; /* command of set model/receiver id */
*buf++ = g_model.header.modelId[EXTERNAL_MODULE]; /* model ID */
*buf++ = crc8_BA(frame + 2, 6);
*buf++ = crc8(frame + 2, 7);
return buf - frame;
}
// Range for pulses (channels output) is [-1024:+1024]
uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses)
{
@@ -65,7 +82,13 @@ void setupPulsesCrossfire()
else
#endif
{
extmodulePulsesData.crossfire.length = createCrossfireChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
if (moduleState[EXTERNAL_MODULE].counter == CRSF_FRAME_MODELID) {
extmodulePulsesData.crossfire.length = createCrossfireModelIDFrame(pulses);
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID_SENT;
}
else {
extmodulePulsesData.crossfire.length = createCrossfireChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
}
}
}
}
radio/src/pulses/modules_helpers.h
+3
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@@ -429,6 +429,9 @@ inline bool isModuleRxNumAvailable(uint8_t moduleIdx)
if (isModuleMultimodule(moduleIdx))
return true;
if (isModuleCrossfire(moduleIdx))
return true;
return false;
}
radio/src/telemetry/crossfire.cpp
+4
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@@ -106,6 +106,10 @@ void processCrossfireTelemetryFrame()
return;
}
if (telemetryState == TELEMETRY_INIT && moduleState[EXTERNAL_MODULE].counter != CRSF_FRAME_MODELID_SENT) {
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
}
uint8_t id = telemetryRxBuffer[2];
int32_t value;
switch(id) {
radio/src/telemetry/crossfire.h
+12
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@@ -40,7 +40,12 @@
#define PING_DEVICES_ID 0x28
#define DEVICE_INFO_ID 0x29
#define REQUEST_SETTINGS_ID 0x2A
#define COMMAND_ID 0x32
#define RADIO_ID 0x3A
#define UART_SYNC 0xC8
#define SUBCOMMAND_CRSF 0x10
#define COMMAND_MODEL_SELECT_ID 0x05
struct CrossfireSensor {
const uint8_t id;
@@ -79,8 +84,15 @@ enum CrossfireSensorIndexes {
UNKNOWN_INDEX,
};
enum CrossfireFrames{
CRSF_FRAME_CHANNEL,
CRSF_FRAME_MODELID,
CRSF_FRAME_MODELID_SENT
};
void processCrossfireTelemetryData(uint8_t data);
void crossfireSetDefault(int index, uint8_t id, uint8_t subId);
uint8_t createCrossfireModelIDFrame(uint8_t * frame);
const uint32_t CROSSFIRE_BAUDRATES[] = {
400000,
radio/src/telemetry/telemetry.cpp
+5
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@@ -216,6 +216,11 @@ void telemetryWakeup()
if (TELEMETRY_STREAMING()) {
if (telemetryState == TELEMETRY_KO) {
AUDIO_TELEMETRY_BACK();
#if defined(CROSSFIRE)
if (isModuleCrossfire(EXTERNAL_MODULE)) {
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
}
#endif
}
telemetryState = TELEMETRY_OK;
}