3djcandBertrand Songis
6f3577c9a5
* Basics to allow Horus BT module on X9E * wip * Temporary hack to prevent X9E to enter reset loop * The wait game starts :) * Temporary compil fixes * More sensibles defines
444 lines
14 KiB
C++
444 lines
14 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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#if defined(PCBX7) || defined(PCBHORUS) || defined(USEHORUSBT)
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#define BLUETOOTH_COMMAND_NAME "AT+NAME"
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#define BLUETOOTH_ANSWER_NAME "OK+"
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#define BLUETOOTH_COMMAND_BAUD_115200 "AT+BAUD115200"
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#else
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#define BLUETOOTH_COMMAND_NAME "TTM:REN-"
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#define BLUETOOTH_ANSWER_NAME "TTM:REN"
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#define BLUETOOTH_COMMAND_BAUD_115200 "TTM:BPS-115200"
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#endif
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#define BLUETOOTH_PACKET_SIZE 14
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#define BLUETOOTH_LINE_LENGTH 32
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extern Fifo<uint8_t, 64> btTxFifo;
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extern Fifo<uint8_t, 64> btRxFifo;
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volatile uint8_t bluetoothState;
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char bluetoothLocalAddr[LEN_BLUETOOTH_ADDR+1];
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char bluetoothDistantAddr[LEN_BLUETOOTH_ADDR+1];
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uint8_t bluetoothBuffer[BLUETOOTH_LINE_LENGTH+1];
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uint8_t bluetoothBufferIndex = 0;
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tmr10ms_t bluetoothWakeupTime = 0;
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void bluetoothWrite(const uint8_t * data, uint8_t length)
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{
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TRACE_NOCRLF("BT>");
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for (int i=0; i<length; i++) {
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TRACE_NOCRLF(" %02X", data[i]);
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btTxFifo.push(data[i]);
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}
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TRACE_NOCRLF("\r\n");
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bluetoothWriteWakeup();
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}
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void bluetoothWriteString(const char * str)
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{
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TRACE("BT> %s", str);
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while (*str != 0) {
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btTxFifo.push(*str++);
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}
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bluetoothWriteWakeup();
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}
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char * bluetoothReadline(bool error_reset)
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{
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uint8_t byte;
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while (1) {
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if (!btRxFifo.pop(byte)) {
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#if defined(PCBX9E) && !defined(USEHORUSBT) // X9E BT module can get unresponsive
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TRACE("NO RESPONSE FROM BT MODULE");
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#endif
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return NULL;
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}
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TRACE_NOCRLF("%02X ", byte);
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if (byte == '\n') {
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if (bluetoothBufferIndex > 2 && bluetoothBuffer[bluetoothBufferIndex-1] == '\r') {
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bluetoothBuffer[bluetoothBufferIndex-1] = '\0';
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bluetoothBufferIndex = 0;
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TRACE("BT< %s", bluetoothBuffer);
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if (error_reset && !strcmp((char *)bluetoothBuffer, "ERROR")) {
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#if defined(PCBX9E) // X9E enter BT reset loop if following code is implemented
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TRACE("BT error...");
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#else
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TRACE("BT Reset...");
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bluetoothDone();
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bluetoothState = BLUETOOTH_STATE_OFF;
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bluetoothWakeupTime = get_tmr10ms() + 100; /* 1s */
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#endif
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return NULL;
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}
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else {
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if (!strncmp((char *)bluetoothBuffer, "Central:", 8))
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strcpy(bluetoothLocalAddr, (char *)bluetoothBuffer+8);
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else if (!strncmp((char *)bluetoothBuffer, "Peripheral:", 11))
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strcpy(bluetoothLocalAddr, (char *)bluetoothBuffer+11);
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return (char *)bluetoothBuffer;
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}
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}
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else {
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bluetoothBufferIndex = 0;
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}
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}
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else {
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bluetoothBuffer[bluetoothBufferIndex++] = byte;
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bluetoothBufferIndex &= (BLUETOOTH_LINE_LENGTH-1);
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}
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}
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}
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void bluetoothProcessTrainerFrame(const uint8_t * bluetoothBuffer)
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{
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TRACE("");
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for (uint8_t channel=0, i=1; channel<8; channel+=2, i+=3) {
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// +-500 != 512, but close enough.
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ppmInput[channel] = bluetoothBuffer[i] + ((bluetoothBuffer[i+1] & 0xf0) << 4) - 1500;
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ppmInput[channel+1] = ((bluetoothBuffer[i+1] & 0x0f) << 4) + ((bluetoothBuffer[i+2] & 0xf0) >> 4) + ((bluetoothBuffer[i+2] & 0x0f) << 8) - 1500;
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}
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ppmInputValidityTimer = PPM_IN_VALID_TIMEOUT;
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}
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void bluetoothAppendTrainerByte(uint8_t data)
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{
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if (bluetoothBufferIndex < BLUETOOTH_LINE_LENGTH) {
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bluetoothBuffer[bluetoothBufferIndex++] = data;
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// we check for "DisConnected", but the first byte could be altered (if received in state STATE_DATA_XOR)
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if (data == '\n') {
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if (!strncmp((char *)&bluetoothBuffer[bluetoothBufferIndex-13], "isConnected", 11)) {
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TRACE("BT< DisConnected");
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bluetoothState = BLUETOOTH_STATE_DISCONNECTED;
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bluetoothBufferIndex = 0;
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bluetoothWakeupTime += 200; // 1s
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}
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}
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}
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}
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void bluetoothProcessTrainerByte(uint8_t data)
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{
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static uint8_t dataState = STATE_DATA_IDLE;
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switch (dataState) {
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case STATE_DATA_START:
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if (data == START_STOP) {
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dataState = STATE_DATA_IN_FRAME ;
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bluetoothBufferIndex = 0;
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}
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else {
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bluetoothAppendTrainerByte(data);
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}
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break;
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case STATE_DATA_IN_FRAME:
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if (data == BYTESTUFF) {
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dataState = STATE_DATA_XOR; // XOR next byte
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}
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else if (data == START_STOP) {
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dataState = STATE_DATA_IN_FRAME ;
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bluetoothBufferIndex = 0;
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}
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else {
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bluetoothAppendTrainerByte(data);
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}
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break;
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case STATE_DATA_XOR:
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bluetoothAppendTrainerByte(data ^ STUFF_MASK);
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dataState = STATE_DATA_IN_FRAME;
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break;
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case STATE_DATA_IDLE:
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if (data == START_STOP) {
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bluetoothBufferIndex = 0;
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dataState = STATE_DATA_START;
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}
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else {
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bluetoothAppendTrainerByte(data);
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}
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break;
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}
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if (bluetoothBufferIndex >= BLUETOOTH_PACKET_SIZE) {
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uint8_t crc = 0x00;
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for (int i=0; i<13; i++) {
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crc ^= bluetoothBuffer[i];
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}
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if (crc == bluetoothBuffer[13]) {
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if (bluetoothBuffer[0] == 0x80) {
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bluetoothProcessTrainerFrame(bluetoothBuffer);
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}
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}
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dataState = STATE_DATA_IDLE;
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}
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}
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uint8_t bluetoothCrc;
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void bluetoothPushByte(uint8_t byte)
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{
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bluetoothCrc ^= byte;
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if (byte == START_STOP || byte == BYTESTUFF) {
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bluetoothBuffer[bluetoothBufferIndex++] = 0x7d;
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byte ^= STUFF_MASK;
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}
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bluetoothBuffer[bluetoothBufferIndex++] = byte;
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}
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void bluetoothSendTrainer()
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{
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int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2;
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int firstCh = g_model.moduleData[TRAINER_MODULE].channelsStart;
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int lastCh = firstCh + 8;
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uint8_t * cur = bluetoothBuffer;
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bluetoothBufferIndex = 0;
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bluetoothCrc = 0x00;
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bluetoothBuffer[bluetoothBufferIndex++] = START_STOP; // start byte
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bluetoothPushByte(0x80); // trainer frame type?
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for (int channel=0; channel<lastCh; channel+=2, cur+=3) {
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uint16_t channelValue1 = PPM_CH_CENTER(channel) + limit((int16_t)-PPM_range, channelOutputs[channel], (int16_t)PPM_range) / 2;
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uint16_t channelValue2 = PPM_CH_CENTER(channel+1) + limit((int16_t)-PPM_range, channelOutputs[channel+1], (int16_t)PPM_range) / 2;
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bluetoothPushByte(channelValue1 & 0x00ff);
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bluetoothPushByte(((channelValue1 & 0x0f00) >> 4) + ((channelValue2 & 0x00f0) >> 4));
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bluetoothPushByte(((channelValue2 & 0x000f) << 4) + ((channelValue2 & 0x0f00) >> 8));
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}
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bluetoothBuffer[bluetoothBufferIndex++] = bluetoothCrc;
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bluetoothBuffer[bluetoothBufferIndex++] = START_STOP; // end byte
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bluetoothWrite(bluetoothBuffer, bluetoothBufferIndex);
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bluetoothBufferIndex = 0;
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}
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void bluetoothForwardTelemetry(uint8_t data)
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{
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bluetoothBuffer[bluetoothBufferIndex++] = data;
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if (data == START_STOP && bluetoothBufferIndex >= 2*FRSKY_SPORT_PACKET_SIZE) {
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bluetoothWrite(bluetoothBuffer, bluetoothBufferIndex);
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bluetoothBufferIndex = 0;
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}
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}
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void bluetoothReceiveTrainer()
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{
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uint8_t byte;
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while (1) {
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if (!btRxFifo.pop(byte)) {
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return;
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}
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TRACE_NOCRLF("%02X ", byte);
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bluetoothProcessTrainerByte(byte);
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}
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}
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#if defined(PCBX9E) && !defined(USEHORUSBT)
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void bluetoothWakeup(void)
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{
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if (!g_eeGeneral.bluetoothMode) {
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if (bluetoothState != BLUETOOTH_INIT) {
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bluetoothDone();
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bluetoothState = BLUETOOTH_INIT;
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}
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}
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else {
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static tmr10ms_t waitEnd = 0;
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if (bluetoothState != BLUETOOTH_STATE_IDLE) {
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if (bluetoothState == BLUETOOTH_INIT) {
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bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE);
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char command[32];
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char * cur = strAppend(command, BLUETOOTH_COMMAND_NAME);
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uint8_t len = ZLEN(g_eeGeneral.bluetoothName);
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if (len > 0) {
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for (int i = 0; i < len; i++) {
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*cur++ = idx2char(g_eeGeneral.bluetoothName[i]);
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}
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}
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else {
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cur = strAppend(cur, "Taranis-X9E");
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}
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strAppend(cur, "\r\n");
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bluetoothWriteString(command);
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bluetoothState = BLUETOOTH_WAIT_TTM;
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waitEnd = get_tmr10ms() + 25; // 250ms
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}
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else if (bluetoothState == BLUETOOTH_WAIT_TTM) {
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if (get_tmr10ms() > waitEnd) {
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char * line = bluetoothReadline();
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if (strncmp(line, "OK+", 3)) {
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bluetoothState = BLUETOOTH_STATE_IDLE;
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}
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else {
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bluetoothInit(BLUETOOTH_FACTORY_BAUDRATE);
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const char btMessage[] = "TTM:BPS-115200";
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bluetoothWriteString(btMessage);
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bluetoothState = BLUETOOTH_WAIT_BAUDRATE_CHANGE;
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waitEnd = get_tmr10ms() + 250; // 2.5s
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}
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}
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}
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else if (bluetoothState == BLUETOOTH_WAIT_BAUDRATE_CHANGE) {
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if (get_tmr10ms() > waitEnd) {
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bluetoothState = BLUETOOTH_INIT;
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}
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}
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}
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else if (IS_BLUETOOTH_TRAINER()){
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bluetoothState = BLUETOOTH_STATE_CONNECTED;
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bluetoothWriteWakeup();
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bluetoothSendTrainer();
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}
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}
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}
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#else // PCBX9E
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void bluetoothWakeup()
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{
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tmr10ms_t now = get_tmr10ms();
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if (now < bluetoothWakeupTime)
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return;
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bluetoothWakeupTime = now + 5; /* 50ms default */
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_OFF || (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && !IS_BLUETOOTH_TRAINER())) {
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if (bluetoothState != BLUETOOTH_STATE_OFF) {
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bluetoothDone();
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bluetoothState = BLUETOOTH_STATE_OFF;
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}
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bluetoothWakeupTime = now + 10; /* 100ms */
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}
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else if (bluetoothState == BLUETOOTH_STATE_OFF) {
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bluetoothInit(BLUETOOTH_FACTORY_BAUDRATE);
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bluetoothState = BLUETOOTH_STATE_FACTORY_BAUDRATE_INIT;
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}
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if (bluetoothState != BLUETOOTH_STATE_OFF) {
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bluetoothWriteWakeup();
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if (bluetoothIsWriting()) {
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return;
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}
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}
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if (bluetoothState == BLUETOOTH_STATE_FACTORY_BAUDRATE_INIT) {
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bluetoothWriteString("AT+BAUD4\r\n");
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bluetoothState = BLUETOOTH_STATE_BAUDRATE_SENT;
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bluetoothWakeupTime = now + 10; /* 100ms */
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}
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else if (bluetoothState == BLUETOOTH_STATE_BAUDRATE_SENT) {
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bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE);
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bluetoothState = BLUETOOTH_STATE_BAUDRATE_INIT;
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bluetoothReadline(false);
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bluetoothWakeupTime = now + 10; /* 100ms */
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}
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else if (bluetoothState == BLUETOOTH_STATE_CONNECTED) {
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH) {
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bluetoothReceiveTrainer();
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}
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else {
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_SLAVE_BLUETOOTH) {
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bluetoothSendTrainer();
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bluetoothWakeupTime = now + 2; /* 20ms */
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}
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bluetoothReadline(); // to deal with "ERROR"
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}
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}
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else {
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char * line = bluetoothReadline();
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if (bluetoothState == BLUETOOTH_STATE_BAUDRATE_INIT) {
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char command[32];
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char * cur = strAppend(command, BLUETOOTH_COMMAND_NAME);
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uint8_t len = ZLEN(g_eeGeneral.bluetoothName);
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if (len > 0) {
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for (int i = 0; i < len; i++) {
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*cur++ = idx2char(g_eeGeneral.bluetoothName[i]);
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}
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}
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else {
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#if defined(PCBHORUS)
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cur = strAppend(cur, "Horus");
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#else
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cur = strAppend(cur, "Taranis");
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#endif
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}
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strAppend(cur, "\r\n");
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bluetoothWriteString(command);
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bluetoothState = BLUETOOTH_STATE_NAME_SENT;
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}
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else if (bluetoothState == BLUETOOTH_STATE_NAME_SENT && (!strncmp(line, "OK+", 3) || !strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
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bluetoothWriteString("AT+TXPW3\r\n");
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bluetoothState = BLUETOOTH_STATE_POWER_SENT;
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}
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else if (bluetoothState == BLUETOOTH_STATE_POWER_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH)
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bluetoothWriteString("AT+ROLE1\r\n");
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else
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bluetoothWriteString("AT+ROLE0\r\n");
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bluetoothState = BLUETOOTH_STATE_ROLE_SENT;
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}
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else if (bluetoothState == BLUETOOTH_STATE_ROLE_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
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bluetoothState = BLUETOOTH_STATE_IDLE;
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}
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else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_REQUESTED) {
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bluetoothWriteString("AT+DISC?\r\n");
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bluetoothState = BLUETOOTH_STATE_DISCOVER_SENT;
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}
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else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_SENT && !strcmp(line, "OK+DISCS")) {
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bluetoothState = BLUETOOTH_STATE_DISCOVER_START;
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}
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else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strncmp(line, "OK+DISC:", 8)) {
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strcpy(bluetoothDistantAddr, &line[8]); // TODO quick & dirty
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}
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else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strcmp(line, "OK+DISCE")) {
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bluetoothState = BLUETOOTH_STATE_DISCOVER_END;
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}
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else if (bluetoothState == BLUETOOTH_STATE_BIND_REQUESTED) {
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char command[32];
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strAppend(strAppend(strAppend(command, "AT+CON"), bluetoothDistantAddr), "\r\n");
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bluetoothWriteString(command);
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bluetoothState = BLUETOOTH_STATE_CONNECT_SENT;
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}
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else if ((bluetoothState == BLUETOOTH_STATE_IDLE || bluetoothState == BLUETOOTH_STATE_DISCONNECTED || bluetoothState == BLUETOOTH_STATE_CONNECT_SENT) && !strncmp(line, "Connected:", 10)) {
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strcpy(bluetoothDistantAddr, &line[10]); // TODO quick & dirty
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bluetoothState = BLUETOOTH_STATE_CONNECTED;
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if (g_model.trainerMode == TRAINER_MODE_SLAVE_BLUETOOTH) {
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bluetoothWakeupTime += 500; // it seems a 5s delay is needed before sending the 1st frame
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}
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}
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else if (bluetoothState == BLUETOOTH_STATE_DISCONNECTED && !line) {
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char command[32];
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strAppend(strAppend(strAppend(command, "AT+CON"), bluetoothDistantAddr), "\r\n");
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bluetoothWriteString(command);
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bluetoothWakeupTime = now + 200; /* 2s */
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}
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}
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}
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#endif
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