242 lines
8.3 KiB
C++
242 lines
8.3 KiB
C++
/*
|
|
* 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"
|
|
#include "pulses/pxx1.h"
|
|
|
|
const uint16_t Pxx1CrcMixin::CRCTable[] = {
|
|
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
|
|
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
|
|
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
|
|
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
|
|
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
|
|
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
|
|
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
|
|
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
|
|
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
|
|
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
|
|
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
|
|
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
|
|
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
|
|
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
|
|
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
|
|
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
|
|
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
|
|
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
|
|
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
|
|
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
|
|
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
|
|
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
|
|
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
|
|
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
|
|
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
|
|
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
|
|
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
|
|
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
|
|
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
|
|
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
|
|
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
|
|
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
|
|
};
|
|
|
|
template <class PxxTransport>
|
|
uint8_t Pxx1Pulses<PxxTransport>::addFlag1(uint8_t module)
|
|
{
|
|
uint8_t flag1 = (g_model.moduleData[module].rfProtocol << 6);
|
|
if (moduleSettings[module].mode == MODULE_MODE_BIND) {
|
|
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
|
|
}
|
|
else if (moduleSettings[module].mode == MODULE_MODE_RANGECHECK) {
|
|
flag1 |= PXX_SEND_RANGECHECK;
|
|
}
|
|
else {
|
|
bool failsafeNeeded = g_model.moduleData[module].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[module].failsafeMode != FAILSAFE_RECEIVER;
|
|
if (moduleSettings[module].counter-- == 0) {
|
|
// counter is also used for knowing if the frame is odd / even
|
|
moduleSettings[module].counter = 1000;
|
|
if (failsafeNeeded) {
|
|
flag1 |= PXX_SEND_FAILSAFE;
|
|
}
|
|
}
|
|
if (failsafeNeeded && moduleSettings[module].counter == 0 && g_model.moduleData[module].channelsCount > 0) {
|
|
flag1 |= PXX_SEND_FAILSAFE;
|
|
}
|
|
}
|
|
PxxTransport::addByte(flag1);
|
|
return flag1;
|
|
}
|
|
|
|
template <class PxxTransport>
|
|
void Pxx1Pulses<PxxTransport>::addExtraFlags(uint8_t module)
|
|
{
|
|
// Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
|
|
uint8_t extra_flags = 0;
|
|
|
|
#if defined(PCBHORUS) || defined(PCBXLITE)
|
|
if (module == INTERNAL_MODULE) {
|
|
extra_flags |= (g_model.moduleData[module].pxx.external_antenna << 0);
|
|
}
|
|
#endif
|
|
|
|
extra_flags |= (g_model.moduleData[module].pxx.receiver_telem_off << 1);
|
|
extra_flags |= (g_model.moduleData[module].pxx.receiver_channel_9_16 << 2);
|
|
if (isModuleR9M(module)) {
|
|
extra_flags |= (min<uint8_t>(g_model.moduleData[module].pxx.power, isModuleR9M_FCC_VARIANT(module) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
|
|
if (isModuleR9M_EUPLUS(module))
|
|
extra_flags |= (1 << 6);
|
|
}
|
|
|
|
// Disable S.PORT if internal module is active
|
|
if (IS_TELEMETRY_INTERNAL_MODULE()) {
|
|
extra_flags |= (1 << 5);
|
|
}
|
|
PxxTransport::addByte(extra_flags);
|
|
}
|
|
|
|
template <class PxxTransport>
|
|
void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
|
|
{
|
|
uint16_t pulseValue = 0;
|
|
uint16_t pulseValueLow = 0;
|
|
|
|
for (int8_t i=0; i<8; i++) {
|
|
if (sendFailsafe) {
|
|
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
|
|
pulseValue = (i < sendUpperChannels ? 4095 : 2047);
|
|
}
|
|
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
|
|
pulseValue = (i < sendUpperChannels ? 2048 : 0);
|
|
}
|
|
else {
|
|
if (i < sendUpperChannels) {
|
|
int16_t failsafeValue = g_model.failsafeChannels[8+i];
|
|
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
|
|
pulseValue = 4095;
|
|
}
|
|
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
|
|
pulseValue = 2048;
|
|
}
|
|
else {
|
|
failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
|
|
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
|
|
}
|
|
}
|
|
else {
|
|
int16_t failsafeValue = g_model.failsafeChannels[i];
|
|
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
|
|
pulseValue = 2047;
|
|
}
|
|
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
|
|
pulseValue = 0;
|
|
}
|
|
else {
|
|
failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
|
|
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
if (i < sendUpperChannels) {
|
|
int channel = 8 + g_model.moduleData[port].channelsStart + i;
|
|
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
|
|
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
|
|
}
|
|
else if (i < sentModuleChannels(port)) {
|
|
int channel = g_model.moduleData[port].channelsStart + i;
|
|
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
|
|
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
|
|
}
|
|
else {
|
|
pulseValue = 1024;
|
|
}
|
|
}
|
|
|
|
if (i & 1) {
|
|
PxxTransport::addByte(pulseValueLow); // Low byte of channel
|
|
PxxTransport::addByte(((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
|
|
PxxTransport::addByte(pulseValue >> 4); // High byte of channel
|
|
}
|
|
else {
|
|
pulseValueLow = pulseValue;
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class PxxTransport>
|
|
void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t module, uint8_t sendUpperChannels)
|
|
{
|
|
PxxTransport::initCrc();
|
|
|
|
// Sync
|
|
addHead();
|
|
|
|
// RX Number
|
|
PxxTransport::addByte(g_model.header.modelId[module]);
|
|
|
|
// Flag1
|
|
uint8_t flag1 = addFlag1(module);
|
|
|
|
// Flag2
|
|
PxxTransport::addByte(0);
|
|
|
|
// Channels
|
|
addChannels(module, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
|
|
|
|
// Extra flags
|
|
addExtraFlags(module);
|
|
|
|
// CRC
|
|
addCrc();
|
|
|
|
// Sync = HEAD
|
|
addHead();
|
|
|
|
// Tail
|
|
PxxTransport::addTail();
|
|
}
|
|
|
|
template <class PxxTransport>
|
|
void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t module)
|
|
{
|
|
PxxTransport::initFrame(PXX_PULSES_PERIOD);
|
|
|
|
#if defined(PXX_FREQUENCY_HIGH)
|
|
if (moduleSettings[module].protocol == PROTOCOL_CHANNELS_PXX1_SERIAL) {
|
|
add8ChannelsFrame(module, 0);
|
|
if (sentModuleChannels(module) > 8) {
|
|
add8ChannelsFrame(module, 8);
|
|
}
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
uint8_t sendUpperChannels = 0;
|
|
if (moduleSettings[module].counter & 0x01) {
|
|
sendUpperChannels = g_model.moduleData[module].channelsCount;
|
|
}
|
|
|
|
add8ChannelsFrame(module, sendUpperChannels);
|
|
}
|
|
|
|
template class Pxx1Pulses<StandardPxx1Transport<PwmPxxBitTransport> >;
|
|
template class Pxx1Pulses<StandardPxx1Transport<SerialPxxBitTransport> >;
|
|
template class Pxx1Pulses<UartPxx1Transport>;
|