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Implement SBUS output for external module bay. (#5225)

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* Implement SBUS output for external module bay.

* Bugfixes and Companion support
This commit is contained in:
Arne Schwabe
2017-09-29 18:29:39 +02:00
committed by Bertrand Songis
parent 710e6ddc4c
commit fd782538d8
39 changed files with 367 additions and 150 deletions
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radio/src/pulses/multi_arm.cpp
+6 -72
View File
@@ -26,77 +26,11 @@
/* 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 MULTI_SEND_AUTOBIND (1 << 6)
#define BITLEN_MULTI (10*2) //100000 Baud => 10uS per bit
#if defined(PPM_PIN_SERIAL)
static void sendByteMulti(uint8_t b)
{
uint8_t parity = 1;
putDsm2SerialBit(0); // Start bit
for (uint8_t i=0; i<8; i++) { // 8 data Bits
putDsm2SerialBit(b & 1);
parity = parity ^ (b & 1);
b >>= 1;
}
putDsm2SerialBit(!parity); // Even Parity bit
putDsm2SerialBit(1); // Stop bit
putDsm2SerialBit(1); // Stop bit
}
#else
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 & 1)
v += 2;
else
v -= 2;
*modulePulsesData[EXTERNAL_MODULE].dsm2.ptr++ = v - 1;
modulePulsesData[EXTERNAL_MODULE].dsm2.index+=1;
modulePulsesData[EXTERNAL_MODULE].dsm2.rest -=v;
}
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 ^ (uint8_t)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+ BITLEN_MULTI); // enlarge the last bit to be two stop bits long
}
#endif
// 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(uint8_t port)
@@ -180,9 +114,9 @@ void setupPulsesMultimodule(uint8_t port)
// header, byte 0, 0x55 for proto 0-31 0x54 for 32-63
if (type <= 31)
sendByteMulti(0x55);
sendByteSbus(0x55);
else
sendByteMulti(0x54);
sendByteSbus(0x54);
// protocol byte
@@ -190,16 +124,16 @@ void setupPulsesMultimodule(uint8_t port)
if(g_model.moduleData[port].getMultiProtocol(true) != MM_RF_PROTO_DSM2)
protoByte |= (g_model.moduleData[port].multi.autoBindMode << 6);
sendByteMulti(protoByte);
sendByteSbus(protoByte);
// byte 2, subtype, powermode, model id
sendByteMulti((uint8_t) ((g_model.header.modelId[port] & 0x0f)
sendByteSbus((uint8_t) ((g_model.header.modelId[port] & 0x0f)
| ((subtype & 0x7) << 4)
| (g_model.moduleData[port].multi.lowPowerMode << 7))
);
// byte 3
sendByteMulti((uint8_t) optionValue);
sendByteSbus((uint8_t) optionValue);
uint32_t bits = 0;
uint8_t bitsavailable = 0;
@@ -216,7 +150,7 @@ void setupPulsesMultimodule(uint8_t port)
bits |= limit(0, value, 2047) << bitsavailable;
bitsavailable += MULTI_CHAN_BITS;
while (bitsavailable >= 8) {
sendByteMulti((uint8_t) (bits & 0xff));
sendByteSbus((uint8_t) (bits & 0xff));
bits >>= 8;
bitsavailable -= 8;
}