513 lines
14 KiB
C++
513 lines
14 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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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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*/
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#include "../opentx.h"
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#define PRIM_REQ_POWERUP (0)
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#define PRIM_REQ_VERSION (1)
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#define PRIM_CMD_DOWNLOAD (3)
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#define PRIM_DATA_WORD (4)
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#define PRIM_DATA_EOF (5)
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#define PRIM_ACK_POWERUP (0x80)
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#define PRIM_ACK_VERSION (0x81)
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#define PRIM_REQ_DATA_ADDR (0x82)
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#define PRIM_END_DOWNLOAD (0x83)
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#define PRIM_DATA_CRC_ERR (0x84)
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struct FrSkySportSensor {
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const uint16_t firstId;
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const uint16_t lastId;
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const char * name;
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const TelemetryUnit unit;
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const uint8_t prec;
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};
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const FrSkySportSensor sportSensors[] = {
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{ RSSI_ID, RSSI_ID, ZSTR_RSSI, UNIT_RAW, 0 },
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{ SWR_ID, SWR_ID, ZSTR_SWR, UNIT_RAW, 0 },
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{ ADC1_ID, ADC1_ID, ZSTR_A1, UNIT_VOLTS, 1 },
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{ ADC2_ID, ADC2_ID, ZSTR_A2, UNIT_VOLTS, 1 },
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{ A3_FIRST_ID, A3_LAST_ID, ZSTR_A3, UNIT_VOLTS, 2 },
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{ A4_FIRST_ID, A4_LAST_ID, ZSTR_A4, UNIT_VOLTS, 2 },
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{ BATT_ID, BATT_ID, ZSTR_BATT, UNIT_VOLTS, 1 },
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{ T1_FIRST_ID, T2_LAST_ID, ZSTR_TEMP, UNIT_CELSIUS, 0 },
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{ RPM_FIRST_ID, RPM_LAST_ID, ZSTR_RPM, UNIT_RPMS, 0 },
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{ FUEL_FIRST_ID, FUEL_LAST_ID, ZSTR_FUEL, UNIT_PERCENT, 0 },
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{ ALT_FIRST_ID, ALT_LAST_ID, ZSTR_ALT, UNIT_METERS, 2 },
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{ VARIO_FIRST_ID, VARIO_LAST_ID, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
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{ ACCX_FIRST_ID, ACCX_LAST_ID, ZSTR_ACCX, UNIT_G, 2 },
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{ ACCY_FIRST_ID, ACCY_LAST_ID, ZSTR_ACCY, UNIT_G, 2 },
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{ ACCZ_FIRST_ID, ACCZ_LAST_ID, ZSTR_ACCZ, UNIT_G, 2 },
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{ CURR_FIRST_ID, CURR_LAST_ID, ZSTR_CURR, UNIT_AMPS, 1 },
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{ VFAS_FIRST_ID, VFAS_LAST_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
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{ AIR_SPEED_FIRST_ID, AIR_SPEED_LAST_ID, ZSTR_ASPD, UNIT_METERS_PER_SECOND, 1 },
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{ GPS_SPEED_FIRST_ID, GPS_SPEED_LAST_ID, ZSTR_GSPD, UNIT_KTS, 3 },
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{ CELLS_FIRST_ID, CELLS_LAST_ID, ZSTR_CELLS, UNIT_CELLS, 2 },
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{ GPS_ALT_FIRST_ID, GPS_ALT_LAST_ID, ZSTR_GPSALT, UNIT_METERS, 2 },
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{ GPS_TIME_DATE_FIRST_ID, GPS_TIME_DATE_LAST_ID, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
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{ GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, ZSTR_GPS, UNIT_GPS, 0 },
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{ FUEL_QTY_FIRST_ID, FUEL_QTY_LAST_ID, ZSTR_FUEL, UNIT_MILLILITERS, 2 },
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{ 0, 0, NULL, UNIT_RAW, 0 } // sentinel
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};
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const FrSkySportSensor * getFrSkySportSensor(uint16_t id)
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{
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const FrSkySportSensor * result = NULL;
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for (const FrSkySportSensor * sensor = sportSensors; sensor->firstId; sensor++) {
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if (id >= sensor->firstId && id <= sensor->lastId) {
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result = sensor;
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break;
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}
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}
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return result;
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}
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bool checkSportPacket(uint8_t *packet)
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{
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short crc = 0;
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for (int i=1; i<FRSKY_SPORT_PACKET_SIZE; ++i) {
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crc += packet[i]; // 0-1FE
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crc += crc >> 8; // 0-1FF
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crc &= 0x00ff; // 0-FF
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}
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// TRACE("crc: 0x%02x", crc);
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return (crc == 0x00ff);
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}
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#define SPORT_DATA_U8(packet) (packet[4])
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#define SPORT_DATA_S32(packet) (*((int32_t *)(packet+4)))
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#define SPORT_DATA_U32(packet) (*((uint32_t *)(packet+4)))
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#define HUB_DATA_U16(packet) (*((uint16_t *)(packet+4)))
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enum SportUpdateState {
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SPORT_IDLE,
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SPORT_POWERUP_REQ,
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SPORT_POWERUP_ACK,
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SPORT_VERSION_REQ,
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SPORT_VERSION_ACK,
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SPORT_DATA_TRANSFER,
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SPORT_DATA_REQ,
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SPORT_COMPLETE,
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SPORT_FAIL
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};
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uint8_t sportUpdateState = SPORT_IDLE;
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uint32_t sportUpdateAddr = 0;
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bool intPwr, extPwr;
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void processSportUpdatePacket(uint8_t *packet)
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{
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if (packet[0]==0x5E && packet[1]==0x50) {
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switch (packet[2]) {
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case PRIM_ACK_POWERUP :
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if (sportUpdateState == SPORT_POWERUP_REQ) {
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sportUpdateState = SPORT_POWERUP_ACK;
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}
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break;
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case PRIM_ACK_VERSION:
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if (sportUpdateState == SPORT_VERSION_REQ) {
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sportUpdateState = SPORT_VERSION_ACK;
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// SportVersion[0] = packet[3] ;
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// SportVersion[1] = packet[4] ;
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// SportVersion[2] = packet[5] ;
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// SportVersion[3] = packet[6] ;
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// SportVerValid = 1 ;
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}
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break;
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case PRIM_REQ_DATA_ADDR :
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if (sportUpdateState == SPORT_DATA_TRANSFER) {
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sportUpdateAddr = *((uint32_t *)(&packet[3]));
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sportUpdateState = SPORT_DATA_REQ;
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}
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break;
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case PRIM_END_DOWNLOAD :
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sportUpdateState = SPORT_COMPLETE ;
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break;
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case PRIM_DATA_CRC_ERR :
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sportUpdateState = SPORT_FAIL ;
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break;
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}
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}
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}
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void processSportPacket(uint8_t *packet)
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{
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uint8_t dataId = (packet[0] & 0x1F) + 1;
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uint8_t prim = packet[1];
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uint16_t appId = *((uint16_t *)(packet+2));
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#if defined(PCBTARANIS) && !defined(SIMU)
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if (sportUpdateState != SPORT_IDLE) {
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processSportUpdatePacket(packet); // Uses different chksum
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return;
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}
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#endif
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if (!checkSportPacket(packet)) {
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TRACE("processSportPacket(): checksum error ");
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DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
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return;
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}
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if (prim == DATA_FRAME) {
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uint32_t data = SPORT_DATA_S32(packet);
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if (appId == RSSI_ID) {
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frskyStreaming = FRSKY_TIMEOUT10ms; // reset counter only if valid frsky packets are being detected
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data = SPORT_DATA_U8(packet);
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frskyData.rssi.set(data);
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}
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#if defined(PCBTARANIS) && defined(REVPLUS)
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else if (appId == XJT_VERSION_ID) {
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frskyData.xjtVersion = HUB_DATA_U16(packet);
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if (!IS_VALID_XJT_VERSION()) {
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frskyData.swr.set(0x00);
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}
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}
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else if (appId == SWR_ID) {
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if (IS_VALID_XJT_VERSION())
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frskyData.swr.set(SPORT_DATA_U8(packet));
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else
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frskyData.swr.set(0x00);
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}
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#else
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else if (appId == XJT_VERSION_ID) {
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frskyData.xjtVersion = HUB_DATA_U16(packet);
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}
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else if (appId == SWR_ID) {
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frskyData.swr.set(SPORT_DATA_U8(packet));
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}
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#endif
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if (TELEMETRY_STREAMING()/* because when Rx is OFF it happens that some old A1/A2 values are sent from the XJT module*/) {
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if ((appId >> 8) == 0) {
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// The old FrSky IDs
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uint8_t id = (uint8_t)appId;
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uint16_t value = HUB_DATA_U16(packet);
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processHubPacket(id, value);
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}
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else if (!IS_HIDDEN_TELEMETRY_VALUE()) {
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if (appId == ADC1_ID || appId == ADC2_ID || appId == BATT_ID || appId == SWR_ID) {
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data = SPORT_DATA_U8(packet);
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}
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const FrSkySportSensor * sensor = getFrSkySportSensor(appId);
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TelemetryUnit unit = UNIT_RAW;
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uint8_t precision = 0;
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if (sensor) {
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unit = sensor->unit;
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precision = sensor->prec;
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}
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setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, appId, dataId, data, unit, precision);
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}
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}
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}
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}
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void frskySportSetDefault(int index, uint16_t id, uint8_t instance)
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{
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TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
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telemetrySensor.id = id;
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telemetrySensor.instance = instance;
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const FrSkySportSensor * sensor = getFrSkySportSensor(id);
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if (sensor) {
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TelemetryUnit unit = sensor->unit;
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uint8_t prec = min<uint8_t>(2, sensor->prec);
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telemetrySensor.init(sensor->name, unit, prec);
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if (id >= ADC1_ID && id <= BATT_ID) {
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telemetrySensor.custom.ratio = 132;
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telemetrySensor.filter = 1;
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}
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if (unit == UNIT_RPMS) {
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telemetrySensor.custom.ratio = 1;
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}
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}
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else {
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telemetrySensor.init(id);
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}
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eeDirty(EE_MODEL);
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}
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#if defined(PCBTARANIS)
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bool sportWaitState(SportUpdateState state, int timeout)
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{
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#if defined(SIMU)
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SIMU_SLEEP_NORET(1);
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return true;
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#else
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for (int i=timeout/2; i>=0; i--) {
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uint8_t data ;
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while (telemetryFifo.pop(data)) {
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processSerialData(data);
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}
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if (sportUpdateState == state) {
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return true;
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}
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else if (sportUpdateState == SPORT_FAIL) {
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return false;
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}
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CoTickDelay(1);
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}
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return false;
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#endif
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}
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void blankPacket(uint8_t *packet)
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{
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memset(packet+2, 0, 6);
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}
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/* CRC16 implementation acording to CCITT standards */
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static const unsigned short crc16tab[256]= {
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0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
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0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
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0x1231,0x0210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
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0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
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0x2462,0x3443,0x0420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
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0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
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0x3653,0x2672,0x1611,0x0630,0x76d7,0x66f6,0x5695,0x46b4,
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0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
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0x48c4,0x58e5,0x6886,0x78a7,0x0840,0x1861,0x2802,0x3823,
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0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
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0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0x0a50,0x3a33,0x2a12,
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0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
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0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0x0c60,0x1c41,
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0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
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0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0x0e70,
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0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
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0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
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0x1080,0x00a1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
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0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
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0x02b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
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0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
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0x34e2,0x24c3,0x14a0,0x0481,0x7466,0x6447,0x5424,0x4405,
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0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
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0x26d3,0x36f2,0x0691,0x16b0,0x6657,0x7676,0x4615,0x5634,
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0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
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0x5844,0x4865,0x7806,0x6827,0x18c0,0x08e1,0x3882,0x28a3,
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0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
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0x4a75,0x5a54,0x6a37,0x7a16,0x0af1,0x1ad0,0x2ab3,0x3a92,
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0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
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0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0x0cc1,
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0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
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0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
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};
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uint16_t crc16_ccitt(uint8_t *buf, uint32_t len)
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{
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uint16_t crc = 0;
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for (uint32_t counter=0; counter<len; counter++) {
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crc = (crc<<8) ^ crc16tab[ ((crc>>8) ^ *buf++ ) &0x00FF];
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}
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return crc;
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}
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uint8_t sportUpdatePacket[16];
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void writePacket(uint8_t *packet)
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{
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uint8_t *ptr = sportUpdatePacket;
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*ptr++ = 0x7E;
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*ptr++ = 0xFF;
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packet[7] = crc16_ccitt(packet, 7);
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for (int i=0; i<8; i++) {
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if (packet[i] == 0x7E || packet[i] == 0x7D) {
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*ptr++ = 0x7D;
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*ptr++ = 0x20 ^ packet[i];
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}
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else {
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*ptr++ = packet[i];
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}
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}
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sportSendBuffer(sportUpdatePacket, ptr-sportUpdatePacket);
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}
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bool sportUpdatePowerOn(ModuleIndex module)
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{
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uint8_t packet[8];
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sportUpdateState = SPORT_POWERUP_REQ;
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#if defined(PCBTARANIS)
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intPwr = IS_INTERNAL_MODULE_ON();
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extPwr = IS_EXTERNAL_MODULE_ON();
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INTERNAL_MODULE_OFF();
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EXTERNAL_MODULE_OFF();
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#endif
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sportWaitState(SPORT_IDLE, 500);
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telemetryPortInit(FRSKY_SPORT_BAUDRATE);
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#if defined(PCBTARANIS)
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if (module == INTERNAL_MODULE)
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INTERNAL_MODULE_ON();
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else
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EXTERNAL_MODULE_ON();
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#endif
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sportWaitState(SPORT_IDLE, 50);
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for (int i=0; i<10; i++) {
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// max 10 attempts
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blankPacket(packet);
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packet[0] = 0x50 ;
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packet[1] = PRIM_REQ_POWERUP;
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writePacket(packet);
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if (sportWaitState(SPORT_POWERUP_ACK, 100))
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return true;
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}
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return false;
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}
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bool sportUpdateReqVersion()
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{
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uint8_t packet[8];
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sportWaitState(SPORT_IDLE, 20);
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sportUpdateState = SPORT_VERSION_REQ;
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for (int i=0; i<10; i++) {
|
|
// max 10 attempts
|
|
blankPacket(packet) ;
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_REQ_VERSION ;
|
|
writePacket(packet);
|
|
if (sportWaitState(SPORT_VERSION_ACK, 200))
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool sportUpdateUploadFile(const char *filename)
|
|
{
|
|
FIL file;
|
|
uint32_t buffer[1024/4];
|
|
UINT count;
|
|
uint8_t packet[8];
|
|
|
|
if (f_open(&file, filename, FA_READ) != FR_OK) {
|
|
return false;
|
|
}
|
|
|
|
sportWaitState(SPORT_IDLE, 200);
|
|
sportUpdateState = SPORT_DATA_TRANSFER;
|
|
blankPacket(packet) ;
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_CMD_DOWNLOAD ;
|
|
// Stop here for testing
|
|
writePacket(packet);
|
|
|
|
while(1) {
|
|
if (f_read(&file, buffer, 1024, &count) != FR_OK) {
|
|
f_close(&file);
|
|
return false;
|
|
}
|
|
|
|
count >>= 2;
|
|
|
|
for (UINT i=0; i<count; i++) {
|
|
if (!sportWaitState(SPORT_DATA_REQ, 2000)) {
|
|
return false;
|
|
}
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_DATA_WORD ;
|
|
packet[6] = sportUpdateAddr & 0x000000FF;
|
|
uint32_t offset = ( sportUpdateAddr & 1023 ) >> 2; // 32 bit word offset into buffer
|
|
uint32_t *data = (uint32_t *)(&packet[2]);
|
|
*data = buffer[offset];
|
|
sportUpdateState = SPORT_DATA_TRANSFER,
|
|
writePacket(packet);
|
|
if (i==0) {
|
|
updateProgressBar(file.fptr, file.fsize);
|
|
}
|
|
}
|
|
|
|
if (count < 256) {
|
|
f_close(&file);
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool sportUpdateEnd()
|
|
{
|
|
uint8_t packet[8];
|
|
if (!sportWaitState(SPORT_DATA_REQ, 2000))
|
|
return false;
|
|
blankPacket(packet);
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_DATA_EOF;
|
|
writePacket(packet);
|
|
return sportWaitState(SPORT_COMPLETE, 2000);
|
|
}
|
|
|
|
void sportFirmwareUpdate(ModuleIndex module, const char *filename)
|
|
{
|
|
bool result = sportUpdatePowerOn(module);
|
|
if (result)
|
|
result = sportUpdateReqVersion();
|
|
if (result)
|
|
result = sportUpdateUploadFile(filename);
|
|
if (result)
|
|
result = sportUpdateEnd();
|
|
|
|
if (result == false) {
|
|
POPUP_WARNING("Firmware Update Error");
|
|
}
|
|
|
|
#if defined(PCBTARANIS)
|
|
INTERNAL_MODULE_OFF();
|
|
EXTERNAL_MODULE_OFF();
|
|
|
|
sportWaitState(SPORT_IDLE, 1000);
|
|
|
|
if (intPwr)
|
|
INTERNAL_MODULE_ON();
|
|
if (extPwr)
|
|
EXTERNAL_MODULE_ON();
|
|
#endif
|
|
sportUpdateState = SPORT_IDLE;
|
|
}
|
|
|
|
#endif
|