3djcandBertrand Songis
8ee9199abc
* Fix #5543 * Auto activate R9M telem * Adjust radio ui * Thx @schwabe * Stop being stupid ? * PR rework * [Companion] Removed "Module Telemetry" checkbox.
408 lines
12 KiB
C++
408 lines
12 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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#include "opentx.h"
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#define PXX_SEND_BIND 0x01
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#define PXX_SEND_FAILSAFE (1 << 4)
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#define PXX_SEND_RANGECHECK (1 << 5)
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const uint16_t CRCTable[]=
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{
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0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
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0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
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0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
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0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
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0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
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0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
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0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
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0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
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0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
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0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
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0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
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0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
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0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
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0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
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0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
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0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
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0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
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0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
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0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
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0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
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0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
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0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
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0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
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0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
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0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
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0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
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0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
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0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
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0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
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0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
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0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
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0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
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};
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#if defined(PPM_PIN_UART)
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inline void uartPutPcmPart(uint8_t port, uint8_t byte)
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{
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if (0x7E == byte) {
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*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
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*modulePulsesData[port].pxx_uart.ptr++ = 0x5E;
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}
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else if (0x7D == byte) {
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*modulePulsesData[port].pxx_uart.ptr++ = 0x7D;
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*modulePulsesData[port].pxx_uart.ptr++ = 0x5D;
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}
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else {
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*modulePulsesData[port].pxx_uart.ptr++ = byte;
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}
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}
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void uartPutPcmByte(uint8_t port, uint8_t byte)
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{
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modulePulsesData[port].pxx_uart.pcmCrc = (modulePulsesData[port].pxx_uart.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx_uart.pcmCrc>>8)^byte) & 0xFF]);
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uartPutPcmPart(port, byte);
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}
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void uartInitPcmArray(uint8_t port)
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{
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modulePulsesData[port].pxx_uart.ptr = modulePulsesData[port].pxx_uart.pulses;
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modulePulsesData[port].pxx_uart.pcmCrc = 0;
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}
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void uartPutPcmHead(uint8_t port)
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{
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// send 7E, do not CRC
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*modulePulsesData[port].pxx_uart.ptr++ = 0x7E;
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}
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void uartPutPcmCrc(uint8_t port)
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{
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uint16_t pulseValue = modulePulsesData[port].pxx_uart.pcmCrc;
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uartPutPcmByte(port, pulseValue >> 8);
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uartPutPcmByte(port, pulseValue);
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}
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#endif
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#if defined(PPM_PIN_SERIAL)
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void pxxPutPcmSerialBit(uint8_t port, uint8_t bit)
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{
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modulePulsesData[port].pxx.serialByte >>= 1;
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if (bit & 1) {
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modulePulsesData[port].pxx.serialByte |= 0x80;
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}
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if (++modulePulsesData[port].pxx.serialBitCount >= 8) {
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*modulePulsesData[port].pxx.ptr++ = modulePulsesData[port].pxx.serialByte;
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modulePulsesData[port].pxx.serialBitCount = 0;
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}
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}
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// 8uS/bit 01 = 0, 001 = 1
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void pxxPutPcmPart(uint8_t port, uint8_t value)
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{
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pxxPutPcmSerialBit(port, 0);
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if (value) {
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pxxPutPcmSerialBit(port, 0);
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}
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pxxPutPcmSerialBit(port, 1);
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}
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void pxxPutPcmTail(uint8_t port)
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{
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while (modulePulsesData[port].pxx.serialBitCount != 0) {
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pxxPutPcmSerialBit(port, 1);
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}
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}
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#else
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void pxxPutPcmPart(uint8_t port, uint8_t value)
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{
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pulse_duration_t duration = value ? 47 : 31;
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*modulePulsesData[port].pxx.ptr++ = duration;
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modulePulsesData[port].pxx.rest -= duration + 1;
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}
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void pxxPutPcmTail(uint8_t port)
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{
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// rest min value is 18000 - 200 * 48 = 8400 (4.2ms)
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*(modulePulsesData[port].pxx.ptr-1) += modulePulsesData[port].pxx.rest;
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}
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#endif
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void pxxPutPcmBit(uint8_t port, uint8_t bit)
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{
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if (bit) {
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pxxPutPcmPart(port, 1);
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if (++modulePulsesData[port].pxx.pcmOnesCount == 5) {
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modulePulsesData[port].pxx.pcmOnesCount = 0;
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pxxPutPcmPart(port, 0); // Stuff a 0 bit in
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}
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}
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else {
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pxxPutPcmPart(port, 0);
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modulePulsesData[port].pxx.pcmOnesCount = 0;
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}
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}
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void pxxPutPcmByte(uint8_t port, uint8_t byte)
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{
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modulePulsesData[port].pxx.pcmCrc = (modulePulsesData[port].pxx.pcmCrc<<8) ^ (CRCTable[((modulePulsesData[port].pxx.pcmCrc>>8)^byte) & 0xFF]);
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for (uint8_t i=0; i<8; i++) {
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pxxPutPcmBit(port, byte & 0x80);
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byte <<= 1;
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}
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}
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void pxxInitPcmArray(uint8_t port)
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{
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modulePulsesData[port].pxx.ptr = modulePulsesData[port].pxx.pulses;
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#if defined(PPM_PIN_SERIAL)
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modulePulsesData[port].pxx.pcmValue = 0;
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#else
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modulePulsesData[port].pxx.rest = 18000;
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#endif
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modulePulsesData[port].pxx.pcmCrc = 0;
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modulePulsesData[port].pxx.pcmOnesCount = 0;
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}
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void pxxPutPcmHead(uint8_t port)
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{
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// send 7E, do not CRC
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// 01111110
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pxxPutPcmPart(port, 0);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 1);
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pxxPutPcmPart(port, 0);
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}
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void pxxPutPcmCrc(uint8_t port)
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{
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uint16_t pulseValue = modulePulsesData[port].pxx.pcmCrc;
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pxxPutPcmByte(port, pulseValue >> 8);
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pxxPutPcmByte(port, pulseValue);
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}
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#if defined(PPM_PIN_UART)
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inline void initPcmArray(uint8_t port)
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{
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if (IS_UART_MODULE(port))
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uartInitPcmArray(port);
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else
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pxxInitPcmArray(port);
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}
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inline void putPcmHead(uint8_t port)
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{
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if (IS_UART_MODULE(port))
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uartPutPcmHead(port);
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else
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pxxPutPcmHead(port);
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}
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inline void putPcmByte(uint8_t port, uint8_t byte)
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{
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if (IS_UART_MODULE(port))
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uartPutPcmByte(port, byte);
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else
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pxxPutPcmByte(port, byte);
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}
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inline void putPcmCrc(uint8_t port)
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{
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if (IS_UART_MODULE(port))
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uartPutPcmCrc(port);
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else
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pxxPutPcmCrc(port);
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}
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inline void putPcmTail(uint8_t port)
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{
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if (!IS_UART_MODULE(port))
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pxxPutPcmTail(port);
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}
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#else
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inline void initPcmArray(uint8_t port)
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{
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pxxInitPcmArray(port);
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}
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inline void putPcmHead(uint8_t port)
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{
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pxxPutPcmHead(port);
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}
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inline void putPcmByte(uint8_t port, uint8_t byte)
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{
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pxxPutPcmByte(port, byte);
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}
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inline void putPcmCrc(uint8_t port)
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{
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pxxPutPcmCrc(port);
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}
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inline void putPcmTail(uint8_t port)
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{
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pxxPutPcmTail(port);
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}
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#endif
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void setupPulsesPXX(uint8_t port)
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{
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uint16_t pulseValue=0, pulseValueLow=0;
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initPcmArray(port);
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/* Sync */
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putPcmHead(port);
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/* Rx Number */
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putPcmByte(port, g_model.header.modelId[port]);
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/* FLAG1 */
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uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
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if (moduleFlag[port] == MODULE_BIND) {
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flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
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}
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else if (moduleFlag[port] == MODULE_RANGECHECK) {
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flag1 |= PXX_SEND_RANGECHECK;
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}
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else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
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if (failsafeCounter[port]-- == 0) {
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failsafeCounter[port] = 1000;
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flag1 |= PXX_SEND_FAILSAFE;
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}
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if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
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flag1 |= PXX_SEND_FAILSAFE;
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}
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}
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putPcmByte(port, flag1);
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/* FLAG2 */
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putPcmByte(port, 0);
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/* PPM */
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static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
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int sendUpperChannels = 0;
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if (pass[port]++ & 0x01) {
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sendUpperChannels = g_model.moduleData[port].channelsCount;
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}
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for (int i=0; i<8; i++) {
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if (flag1 & PXX_SEND_FAILSAFE) {
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if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
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pulseValue = (i < sendUpperChannels ? 4095 : 2047);
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}
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else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
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pulseValue = (i < sendUpperChannels ? 2048 : 0);
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}
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else {
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if (i < sendUpperChannels) {
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int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
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if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
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pulseValue = 4095;
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}
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else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
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pulseValue = 2048;
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}
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else {
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failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
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pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
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}
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}
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else {
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int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
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if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
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pulseValue = 2047;
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}
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else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
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pulseValue = 0;
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}
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else {
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failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
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pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
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}
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}
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}
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}
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else {
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if (i < sendUpperChannels) {
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int channel = 8 + g_model.moduleData[port].channelsStart + i;
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int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
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pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
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}
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else if (i < NUM_CHANNELS(port)) {
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int channel = g_model.moduleData[port].channelsStart + i;
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int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
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pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
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}
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else {
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pulseValue = 1024;
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}
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}
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if (i & 1) {
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putPcmByte(port, pulseValueLow); // Low byte of channel
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putPcmByte(port, ((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
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putPcmByte(port, pulseValue >> 4); // High byte of channel
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}
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else {
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pulseValueLow = pulseValue;
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}
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}
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uint8_t extra_flags = 0;
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/* Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise) */
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#if defined(PCBHORUS)
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if (port == INTERNAL_MODULE) {
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extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
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}
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#endif
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// Bit1 is ignored by R9M EU when power is set to 1500 mW
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extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
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extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
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if (IS_MODULE_R9M(port)) {
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// For R9M EU, bit3 (MODE) is taken into account ONLY at bind time. Value change requires re-bind
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extra_flags |= (min(g_model.moduleData[port].pxx.power, IS_MODULE_R9M_FCC(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
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// Disable S.PORT if internal module is active
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if (IS_TELEMETRY_INTERNAL_MODULE()) {
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extra_flags |= (1 << 5);
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}
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}
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putPcmByte(port, extra_flags);
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/* CRC */
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putPcmCrc(port);
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/* Sync */
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putPcmHead(port);
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putPcmTail(port);
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}
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