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/*
MIT License
Copyright ( c ) 2019 Horizon Hobby , LLC
Permission is hereby granted , free of charge , to any person obtaining a copy
of this software and associated documentation files ( the " Software " ) , to deal
in the Software without restriction , including without limitation the rights
to use , copy , modify , merge , publish , distribute , sublicense , and / or sell
copies of the Software , and to permit persons to whom the Software is
furnished to do so , subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software .
THE SOFTWARE IS PROVIDED " AS IS " , WITHOUT WARRANTY OF ANY KIND , EXPRESS OR
IMPLIED , INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY ,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT . IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM , DAMAGES OR OTHER
LIABILITY , WHETHER IN AN ACTION OF CONTRACT , TORT OR OTHERWISE , ARISING FROM ,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE .
*/
# ifndef __SRXL_H__
# define __SRXL_H__
# ifdef __cplusplus
extern " C "
{
# endif
// Standard C Libraries
# include <stdbool.h>
# include <stdint.h>
# include <stdlib.h>
// 7.1 General Overview
# define SPEKTRUM_SRXL_ID (0xA6)
# define SRXL_MAX_BUFFER_SIZE (80)
# define SRXL_MAX_DEVICES (16)
// Supported SRXL device types (upper nibble of device ID)
typedef enum
{
SrxlDevType_None = 0 ,
SrxlDevType_RemoteReceiver = 1 ,
SrxlDevType_Receiver = 2 ,
SrxlDevType_FlightController = 3 ,
SrxlDevType_ESC = 4 ,
SrxlDevType_SRXLServo1 = 6 ,
SrxlDevType_SRXLServo2 = 7 ,
SrxlDevType_VTX = 8 ,
SrxlDevType_Broadcast = 15
} SrxlDevType ;
// Set SRXL_CRC_OPTIMIZE_MODE in spm_srxl_config.h to one of the following values
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# define SRXL_CRC_OPTIMIZE_EXTERNAL (0) // Uses an external function defined by SRXL_CRC_EXTERNAL_FN for CRC
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# define SRXL_CRC_OPTIMIZE_SPEED (1) // Uses table lookup for CRC computation (requires 512 const bytes for CRC table)
# define SRXL_CRC_OPTIMIZE_SIZE (2) // Uses bitwise operations
# define SRXL_CRC_OPTIMIZE_STM_HW (3) // Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
# define SRXL_CRC_OPTIMIZE_STM_HAL (4) // Uses STM32Cube HAL driver for hardware acceleration (only available on STM32F3/F7) -- see srxlCrc16() for details on HAL config
// Set SRXL_STM_TARGET_FAMILY in spm_srxl_config.h to one of the following values when using one of the STM HW-optimized modes
# define SRXL_STM_TARGET_F3 (3)
# define SRXL_STM_TARGET_F7 (7)
// 7.2 Handshake Packet
# define SRXL_HANDSHAKE_ID (0x21)
// Supported additional baud rates besides default 115200
// NOTE: Treated as bitmask, ANDed with baud rates from slaves
# define SRXL_BAUD_115200 (0x00)
# define SRXL_BAUD_400000 (0x01)
//#define SRXL_BAUD_NEXT_RATE (0x02)
//#define SRXL_BAUD_ANOTHER (0x04)
// Bit masks for Device Info byte sent via Handshake
# define SRXL_DEVINFO_NO_RF (0x00) // This is the base for non-RF devices
# define SRXL_DEVINFO_TELEM_TX_ENABLED (0x01) // This bit is set if the device is actively configured to transmit telemetry over RF
# define SRXL_DEVINFO_TELEM_FULL_RANGE (0x02) // This bit is set if the device can send full-range telemetry over RF
# define SRXL_DEVINFO_FWD_PROG_SUPPORT (0x04) // This bit is set if the device supports Forward Programming via RF or SRXL
// 7.3 Bind Info Packet
# define SRXL_BIND_ID (0x41)
# define SRXL_BIND_REQ_ENTER (0xEB)
# define SRXL_BIND_REQ_STATUS (0xB5)
# define SRXL_BIND_REQ_BOUND_DATA (0xDB)
# define SRXL_BIND_REQ_SET_BIND (0x5B)
// Bit masks for Options byte
# define SRXL_BIND_OPT_NONE (0x00)
# define SRXL_BIND_OPT_TELEM_TX_ENABLE (0x01) // Set if this device should be enabled as the current telemetry device to tx over RF
# define SRXL_BIND_OPT_BIND_TX_ENABLE (0x02) // Set if this device should reply to a bind request with a Discover packet over RF
# define SRXL_BIND_OPT_US_POWER (0x04) // Set if this device should request US transmit power levels instead of EU
// Current Bind Status
typedef enum
{
NOT_BOUND = 0x00 ,
// Air types
DSM2_1024_22MS = 0x01 ,
DSM2_1024_MC24 = 0x02 ,
DSM2_2048_11MS = 0x12 ,
DSMX_22MS = 0xA2 ,
DSMX_11MS = 0xB2 ,
// Surface types (corresponding Air type bitwise OR'd with 0x40)
SURFACE_DSM1 = 0x40 ,
SURFACE_DSM2_16p5MS = 0x63 ,
DSMR_11MS_22MS = 0xE2 ,
DSMR_5p5MS = 0xE4 ,
} BIND_STATUS ;
// 7.4 Parameter Configuration
# define SRXL_PARAM_ID (0x50)
# define SRXL_PARAM_REQ_QUERY (0x50)
# define SRXL_PARAM_REQ_WRITE (0x57)
// 7.5 Signal Quality Packet
# define SRXL_RSSI_ID (0x55)
# define SRXL_RSSI_REQ_REQUEST (0x52)
# define SRXL_RSSI_REQ_SEND (0x53)
// 7.6 Telemetry Sensor Data Packet
# define SRXL_TELEM_ID (0x80)
// 7.7 Control Data Packet
# define SRXL_CTRL_ID (0xCD)
# define SRXL_CTRL_BASE_LENGTH (3 + 2 + 2) // header + cmd/replyID + crc
# define SRXL_CTRL_CMD_CHANNEL (0x00)
# define SRXL_CTRL_CMD_CHANNEL_FS (0x01)
# define SRXL_CTRL_CMD_VTX (0x02)
# define SRXL_CTRL_CMD_FWDPGM (0x03)
typedef enum
{
SRXL_CMD_NONE ,
SRXL_CMD_CHANNEL ,
SRXL_CMD_CHANNEL_FS ,
SRXL_CMD_VTX ,
SRXL_CMD_FWDPGM ,
SRXL_CMD_RSSI ,
SRXL_CMD_HANDSHAKE ,
SRXL_CMD_TELEMETRY ,
SRXL_CMD_ENTER_BIND ,
SRXL_CMD_REQ_BIND ,
SRXL_CMD_SET_BIND ,
SRXL_CMD_BIND_INFO ,
} SRXL_CMD ;
// VTX Band
# define VTX_BAND_FATSHARK (0)
# define VTX_BAND_RACEBAND (1)
# define VTX_BAND_E_BAND (2)
# define VTX_BAND_B_BAND (3)
# define VTX_BAND_A_BAND (4)
// VTX Pit Mode
# define VTX_MODE_RACE (0)
# define VTX_MODE_PIT (1)
// VTX Power
# define VTX_POWER_OFF (0)
# define VTX_POWER_1MW_14MW (1)
# define VTX_POWER_15MW_25MW (2)
# define VTX_POWER_26MW_99MW (3)
# define VTX_POWER_100MW_299MW (4)
# define VTX_POWER_300MW_600MW (5)
# define VTX_POWER_601_PLUS (6)
# define VTX_POWER_MANUAL (7)
// VTX Region
# define VTX_REGION_US (0)
# define VTX_REGION_EU (1)
// Forward Programming Pass-Thru
# define FWD_PGM_MAX_DATA_SIZE (64)
// Enable byte packing for all structs defined here!
# ifdef PACKED
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# define SRXL_EXTERNAL_PACKED
# elif defined(__GNUC__)
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# define PACKED __attribute__((packed))
# else
# pragma pack(push, 1)
# define PACKED
# endif
// Spektrum SRXL header
typedef struct SrxlHeader
{
uint8_t srxlID ; // Always 0xA6 for SRXL2
uint8_t packetType ;
uint8_t length ;
} PACKED SrxlHeader ;
// Handshake
typedef struct SrxlHandshakeData
{
uint8_t srcDevID ;
uint8_t destDevID ;
uint8_t priority ;
uint8_t baudSupported ; // 0 = 115200, 1 = 400000 (See SRXL_BAUD_xxx definitions above)
uint8_t info ; // See SRXL_DEVINFO_xxx definitions above for defined bits
uint32_t uid ; // Unique/random id to allow detection of two devices on bus with same deviceID
} PACKED SrxlHandshakeData ;
typedef struct SrxlHandshakePacket
{
SrxlHeader hdr ;
SrxlHandshakeData payload ;
uint16_t crc ;
} PACKED SrxlHandshakePacket ;
// Bind
typedef struct SrxlBindData
{
uint8_t type ;
uint8_t options ;
uint64_t guid ;
uint32_t uid ;
} PACKED SrxlBindData ;
typedef struct SrxlBindPacket
{
SrxlHeader hdr ;
uint8_t request ;
uint8_t deviceID ;
SrxlBindData data ;
uint16_t crc ;
} PACKED SrxlBindPacket ;
// Telemetry
typedef struct SrxlTelemetryData
{
union
{
struct
{
uint8_t sensorID ;
uint8_t secondaryID ;
uint8_t data [ 14 ] ;
} ;
uint8_t raw [ 16 ] ;
} ;
} PACKED SrxlTelemetryData ;
typedef struct SrxlTelemetryPacket
{
SrxlHeader hdr ;
uint8_t destDevID ;
SrxlTelemetryData payload ;
uint16_t crc ;
} PACKED SrxlTelemetryPacket ;
// Signal Quality
typedef struct SrxlRssiPacket
{
SrxlHeader hdr ;
uint8_t request ;
int8_t antennaA ;
int8_t antennaB ;
int8_t antennaC ;
int8_t antennaD ;
uint16_t crc ;
} PACKED SrxlRssiPacket ;
// Parameter Config
typedef struct SrxlParamPacket
{
SrxlHeader hdr ;
uint8_t request ;
uint8_t destDevID ;
uint32_t paramID ;
uint32_t paramVal ;
uint16_t crc ;
} PACKED SrxlParamPacket ;
// VTX Data
typedef struct SrxlVtxData
{
uint8_t band ; // VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
uint8_t channel ; // VTX Channel (0-7)
uint8_t pit ; // Pit/Race mode (0 = Race, 1 = Pit). Race = normal power, Pit = reduced power
uint8_t power ; // VTX Power (0 = Off, 1 = 1mw to 14mW, 2 = 15mW to 25mW, 3 = 26mW to 99mW,
// 4 = 100mW to 299mW, 5 = 300mW to 600mW, 6 = 601mW+, 7 = manual control)
uint16_t powerDec ; // VTX Power as a decimal 1mw/unit
uint8_t region ; // Region (0 = USA, 1 = EU)
} PACKED SrxlVtxData ;
// Forward Programming Data
typedef struct SrxlFwdPgmData
{
uint8_t rfu [ 3 ] ; // 0 for now -- used to word-align data
uint8_t data [ FWD_PGM_MAX_DATA_SIZE ] ;
} PACKED SrxlFwdPgmData ;
// Channel Data
typedef struct SrxlChannelData
{
int8_t rssi ; // Best RSSI when sending channel data, or dropout RSSI when sending failsafe data
uint16_t frameLosses ; // Total lost frames (or fade count when sent from Remote Rx to main Receiver)
uint32_t mask ; // Set bits indicate that channel data with the corresponding index is present
uint16_t values [ 32 ] ; // Channel values, shifted to full 16-bit range (32768 = mid-scale); lowest 2 bits RFU
} PACKED SrxlChannelData ;
// Control Data
typedef struct SrxlControlData
{
uint8_t cmd ;
uint8_t replyID ;
union
{
SrxlChannelData channelData ; // Used for Channel Data and Failsafe Channel Data commands
SrxlVtxData vtxData ; // Used for VTX commands
SrxlFwdPgmData fpData ; // Used to pass forward programming data to an SRXL device
} ;
} PACKED SrxlControlData ;
typedef struct SrxlControlPacket
{
SrxlHeader hdr ;
SrxlControlData payload ;
// uint16_t crc; // NOTE: Since this packet is variable-length, we can't use this value anyway
} PACKED SrxlControlPacket ;
// SRXL Packets
typedef union
{
SrxlHeader header ;
SrxlBindPacket bind ;
SrxlHandshakePacket handshake ;
SrxlTelemetryPacket telemetry ;
SrxlRssiPacket rssi ;
SrxlParamPacket parameter ;
SrxlControlPacket control ;
uint8_t raw [ SRXL_MAX_BUFFER_SIZE ] ;
} SrxlPacket ;
// SRXL full device identifier -- SRXL Device ID with bus number
typedef union
{
struct
{
uint8_t deviceID ;
uint8_t busIndex ;
} ;
uint16_t word ;
} PACKED SrxlFullID ;
// Restore packing back to default
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# ifndef SRXL_EXTERNAL_PACKED
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# undef PACKED
# ifndef __GNUC__
# pragma pack(pop)
# endif
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# endif
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// Global vars
extern SrxlChannelData srxlChData ;
extern SrxlTelemetryData srxlTelemData ;
extern SrxlVtxData srxlVtxData ;
// Include config here, after all typedefs that might be needed within it
# include "spm_srxl_config.h"
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# ifndef FALLTHROUGH
# define FALLTHROUGH
# endif
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# if !defined(SRXL_NUM_OF_BUSES)
# error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!"
# elif SRXL_NUM_OF_BUSES <= 0
# error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!"
# elif SRXL_NUM_OF_BUSES > 1
# define SRXL_IS_HUB
# endif
# define SRXL_ALL_BUSES ((1u << SRXL_NUM_OF_BUSES) - 1)
# define SRXL_MAX_RCVRS (2 * SRXL_NUM_OF_BUSES)
# ifndef SRXL_CRC_OPTIMIZE_MODE // NOTE: This should be set in spm_srxl_config.h
# define SRXL_CRC_OPTIMIZE_MODE SRXL_CRC_OPTIMIZE_SPEED
# endif
# define RSSI_RCVD_NONE (0)
# define RSSI_RCVD_DBM (1)
# define RSSI_RCVD_PCT (2)
# define RSSI_RCVD_BOTH (3)
// Internal types
typedef enum
{
SrxlState_Disabled , // Default state before initialized or if bus is subsequently disabled
SrxlState_ListenOnStartup , // Wait 50ms to see if anything is already talking (i.e. we probably browned out)
SrxlState_SendHandshake , // Call when handshake should be sent every 50ms
SrxlState_ListenForHandshake , // Wait at least 150ms more for handshake request
SrxlState_Running , // Normal run state
SrxlState_SendTelemetry , // Send telemetry reply when requested
SrxlState_SendVTX , // Send VTX packet when needed
SrxlState_SendEnterBind ,
SrxlState_SendBoundDataReport ,
SrxlState_SendSetBindInfo ,
} SrxlState ;
//#ifdef SRXL_IS_HUB
typedef struct SrxlRcvrEntry
{
uint8_t deviceID ; // SRXL device ID of the receiver
uint8_t busBits ; // Supports 8 buses, with each bit corresponding to busIndex (bit 0 = bus 0, bit 7 = bus 7)
uint8_t info ; // Info bits reported during handshake - See SRXL_DEVINFO_XXX mask bits in header
uint8_t rssiRcvd ; // 0 = none, 1 = dBm, 2 = percent, 3 = both dBm and percent
int8_t rssi_dBm ; // Latest RSSI dBm value reported by receiver (negative, varies with receiver type)
int8_t rssi_Pct ; // Latest RSSI percent range estimate reported by receiver (0-100)
uint16_t fades ; // Latest number of fades reported for a given receiver
uint32_t channelMask ; // Latest channel mask for channels provided in channel data packet (0 during fade)
} SrxlRcvrEntry ;
typedef struct SrxlReceiverInfo
{
SrxlRcvrEntry rcvr [ SRXL_MAX_RCVRS ] ; // Stats for each receiver, filled when ch data is received
SrxlRcvrEntry * rcvrSorted [ SRXL_MAX_RCVRS ] ; // Pointers to receiver entries sorted in telemetry range order
uint8_t rcvrSortInsert ; // Index into rcvrSorted where full-range telem rcvrs should be inserted
uint8_t rcvrCount ; // Number of entries in rcvr[] and rcvrSorted[]
uint8_t rxBusBits ;
int8_t bestRssi_dBm ;
int8_t bestRssi_Pct ;
uint8_t lossCountdown ; // Reset to lossHoldCount when frame is good, and decrement for each consecutive
// frame loss -- when we get to 0, convert lossHoldCount frame losses to a hold
uint8_t lossHoldCount ; // Consecutive frame losses required to count as hold
uint16_t frameLosses ; // Increment each time all receivers are in frame loss -- if 45
// consecutive, subtract those and increment holds
uint16_t holds ; // Increment each time 45 or more consecutive frames are lost (but don't keep
// incrementing once in that state)
SrxlRcvrEntry * pTelemRcvr ; // Pointer to current assigned telemetry receiver (used for checking
// for fade to know when to switch)
SrxlRcvrEntry * pBindRcvr ; // Pointer to receiver that we told to Enter Bind Mode (used to
// process Bound Data Report and send Set Bind Info)
} SrxlReceiverStats ;
//#endif
typedef struct SrxlDevEntry
{
uint8_t deviceID ;
uint8_t priority ; // Requested telemetry priority of this device
uint8_t info ; // Refer to SRXL_DEVINFO_XXX mask bits in header
uint8_t rfu ;
} SrxlDevEntry ;
typedef struct SrxlTxFlags
{
unsigned int enterBind : 1 ;
unsigned int getBindInfo : 1 ;
unsigned int setBindInfo : 1 ;
unsigned int broadcastBindInfo : 1 ;
unsigned int reportBindInfo : 1 ;
unsigned int sendVtxData : 1 ;
unsigned int sendFwdPgmData : 1 ;
} SrxlTxFlags ;
typedef struct SrxlBus
{
SrxlPacket srxlOut ; // Transmit packet buffer
SrxlPacket srxlIn ; // Receive packet buffer
SrxlState state ; // Current state of SRXL state machine
SrxlFullID fullID ; // Device ID and Bus Index of this device, set during init
uint8_t rxDevCount ; // Number of other SRXL devices discovered via handshake
SrxlDevEntry rxDev [ SRXL_MAX_DEVICES ] ; // Device entries for tracking SRXL telemetry priorities
# ifdef SRXL_INCLUDE_MASTER_CODE
uint16_t rxDevAge [ SRXL_MAX_DEVICES ] ; // Telemetry age value for the associated device
# endif
uint16_t rxDevPrioritySum ; // Sum of priorities requested for each discovered SRXL device
uint16_t timeoutCount_ms ; // Milliseconds since SRXL packet was received (incremented in srxlRun)
uint8_t requestID ; // Device ID to poll
uint8_t baudSupported ; // Baud rates this device can do: 0 = 115200, 1 = 400000
uint8_t baudRate ; // Current baud rate: 0 = 115200, 1 = 400000
uint8_t frameErrCount ; // Number of consecutive missed frames
SrxlTxFlags txFlags ; // Pending outgoing packet types
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uint8_t uart ; // Index number of UART tied to this SRXL bus
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SrxlRcvrEntry * pMasterRcvr ; // Receiver entry for the bus master, if one exists
bool master ; // True if this device is the bus master on this bus
bool initialized ; // True when this SRXL bus is initialized
} SrxlBus ;
typedef struct SrxlDevice
{
SrxlDevEntry devEntry ; // Device info for this local device, shared across all buses.
uint32_t uid ; // ID statistically likely to be unique (Random, hash of serial, etc.)
SrxlRcvrEntry * pRcvr ; // Pointer to our receiver entry, if we're a receiver (don't set for
// flight controller acting as hub -- only true receiver)
bool vtxProxy ; // Set true if this device can and should respond to VTX commands
} SrxlDevice ;
// Function prototypes
bool srxlInitDevice ( uint8_t deviceID , uint8_t priority , uint8_t info , uint32_t uid ) ;
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bool srxlInitBus ( uint8_t busIndex , uint8_t uart , uint8_t baudSupported ) ;
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bool srxlIsBusMaster ( uint8_t busIndex ) ;
uint16_t srxlGetTimeoutCount_ms ( uint8_t busIndex ) ;
uint8_t srxlGetDeviceID ( uint8_t busIndex ) ;
bool srxlParsePacket ( uint8_t busIndex , uint8_t * packet , uint8_t length ) ;
void srxlRun ( uint8_t busIndex , int16_t timeoutDelta_ms ) ;
bool srxlEnterBind ( uint8_t bindType , bool broadcast ) ;
bool srxlSetBindInfo ( uint8_t bindType , uint64_t guid , uint32_t uid ) ;
void srxlOnFrameError ( uint8_t busIndex ) ;
SrxlFullID srxlGetTelemetryEndpoint ( void ) ;
bool srxlSetVtxData ( SrxlVtxData * pVtxData ) ;
bool srxlPassThruFwdPgm ( uint8_t * pData , uint8_t length ) ;
void srxlSetHoldThreshold ( uint8_t countdownReset ) ;
void srxlClearCommStats ( void ) ;
bool srxlUpdateCommStats ( bool isFade ) ;
# ifdef __cplusplus
} // extern "C"
# endif
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# ifdef SRXL_INCLUDE_MASTER_CODE
// NOTE: Most user applications should not be an SRXL2 bus master, so master-specific code is not open.
// If your application requires this functionality, please inquire about this from Spektrum RC.
# include "spm_srxl_master.h"
# endif
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# endif //__SRXL_H__
