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AP_RCProtocol: disable flow-control and buffered-writes for SRXL2 uart

Browse Source 
switched spm_srxl.c to C++ compilation
Correctly set budget for half-duplex writes
Tidy PACKED and other externalities
disable SRXL2 on IOMCU and softserial - SRXL2 is a serial half-duplex protocol-only
fixed buffer overrun in SRXL2 parser
fix bugs in decoder sketch and allow output to SITL
This commit is contained in:
Andy Piper 2020-04-04 11:40:38 +01:00 committed by Andrew Tridgell
parent 44e5171f2b
commit 167e1d12d7
7 changed files with 135 additions and 75 deletions
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5
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -15,6 +15,7 @@
* Code by Andrew Tridgell and Siddharth Bharat Purohit * Code by Andrew Tridgell and Siddharth Bharat Purohit
*/ */
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_RCProtocol.h" #include "AP_RCProtocol.h"
#include "AP_RCProtocol_PPMSum.h" #include "AP_RCProtocol_PPMSum.h"
#include "AP_RCProtocol_DSM.h" #include "AP_RCProtocol_DSM.h"
@ -22,7 +23,9 @@
#include "AP_RCProtocol_SBUS.h" #include "AP_RCProtocol_SBUS.h"
#include "AP_RCProtocol_SUMD.h" #include "AP_RCProtocol_SUMD.h"
#include "AP_RCProtocol_SRXL.h" #include "AP_RCProtocol_SRXL.h"
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
#include "AP_RCProtocol_SRXL2.h" #include "AP_RCProtocol_SRXL2.h"
#endif
#include "AP_RCProtocol_ST24.h" #include "AP_RCProtocol_ST24.h"
#include "AP_RCProtocol_FPort.h" #include "AP_RCProtocol_FPort.h"
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
@ -38,7 +41,9 @@ void AP_RCProtocol::init()
backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this); backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this); backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this);
backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this); backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this);
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this); backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this);
#endif
backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this); backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this);
backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true); backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true);
} }

63
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
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@ -17,15 +17,15 @@
Code by Andy Piper Code by Andy Piper
*/ */
#include "spm_srxl.h"
#include "AP_RCProtocol.h" #include "AP_RCProtocol.h"
#include "AP_RCProtocol_SRXL.h" #include "AP_RCProtocol_SRXL.h"
#include "AP_RCProtocol_SRXL2.h" #include "AP_RCProtocol_SRXL2.h"
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Spektrum_Telem/AP_Spektrum_Telem.h> #include <AP_RCTelemetry/AP_Spektrum_Telem.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include "spm_srxl.h"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
//#define SRXL2_DEBUG //#define SRXL2_DEBUG
#ifdef SRXL2_DEBUG #ifdef SRXL2_DEBUG
@ -51,34 +51,26 @@ AP_RCProtocol_SRXL2::AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend) : AP_RCProtoc
} }
// Init the SRXL bus: The bus index must always be < SRXL_NUM_OF_BUSES -- in this case, it can only be 0 // Init the SRXL bus: The bus index must always be < SRXL_NUM_OF_BUSES -- in this case, it can only be 0
if (!srxlInitBus(0, this, SRXL_SUPPORTED_BAUD_RATES)) { if (!srxlInitBus(0, 0, SRXL_SUPPORTED_BAUD_RATES)) {
AP_HAL::panic("Failed to initialize SRXL2 bus"); AP_HAL::panic("Failed to initialize SRXL2 bus");
} }
} }
void AP_RCProtocol_SRXL2::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
uint8_t b;
if (ss.process_pulse(width_s0, width_s1, b)) {
_process_byte(ss.get_byte_timestamp_us(), b);
}
}
void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte) void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
{ {
if (_decode_state == STATE_IDLE) { if (_decode_state == STATE_IDLE) {
switch (byte) { switch (byte) {
case SPEKTRUM_SRXL_ID: case SPEKTRUM_SRXL_ID:
_frame_len_full = 0U;
_decode_state = STATE_NEW; _decode_state = STATE_NEW;
break; break;
default: default:
_frame_len_full = 0U;
_decode_state = STATE_IDLE; _decode_state = STATE_IDLE;
_buflen = 0;
return; return;
} }
_frame_len_full = 0U;
_buflen = 0;
_decode_state_next = STATE_IDLE;
} }
switch (_decode_state) { switch (_decode_state) {
@ -100,6 +92,12 @@ void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
// parse the length // parse the length
if (_buflen == SRXL2_HEADER_LEN) { if (_buflen == SRXL2_HEADER_LEN) {
_frame_len_full = _buffer[2]; _frame_len_full = _buffer[2];
// check for garbage frame
if (_frame_len_full > SRXL2_FRAMELEN_MAX) {
_decode_state = STATE_IDLE;
_buflen = 0;
_frame_len_full = 0;
}
return; return;
} }
@ -113,12 +111,15 @@ void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
if (_buflen == _frame_len_full) { if (_buflen == _frame_len_full) {
log_data(AP_RCProtocol::SRXL2, timestamp_us, _buffer, _buflen); log_data(AP_RCProtocol::SRXL2, timestamp_us, _buffer, _buflen);
// Try to parse SRXL packet -- this internally calls srxlRun() after packet is parsed and resets timeout // Try to parse SRXL packet -- this internally calls srxlRun() after packet is parsed and resets timeout
if (srxlParsePacket(0, _buffer, _frame_len_full)) { if (srxlParsePacket(0, _buffer, _frame_len_full)) {
add_input(MAX_CHANNELS, _channels, _in_failsafe, _new_rssi); add_input(MAX_CHANNELS, _channels, _in_failsafe, _new_rssi);
} }
_last_run_ms = AP_HAL::millis(); _last_run_ms = AP_HAL::millis();
_decode_state_next = STATE_IDLE; _decode_state_next = STATE_IDLE;
_buflen = 0;
} else { } else {
_decode_state_next = STATE_COLLECT; _decode_state_next = STATE_COLLECT;
} }
@ -129,17 +130,19 @@ void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
} }
_decode_state = _decode_state_next; _decode_state = _decode_state_next;
_last_data_us = timestamp_us;
} }
void AP_RCProtocol_SRXL2::update(void) void AP_RCProtocol_SRXL2::update(void)
{ {
// it's not clear this is actually required, perhaps on power loss? // on a SPM4650 with telemetry the frame rate is 91Hz equating to around 10ms per frame
if (frontend.protocol_detected() == AP_RCProtocol::SRXL2) { // however only half of them can return telemetry, so the maximum telemetry rate is 46Hz
// also update() is run immediately after check_added_uart() and so in general the delay is < 5ms
// to be safe we will only run if the timeout exceeds 50ms
if (_last_run_ms > 0) {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
// there have been no updates since we were last called // there have been no updates since we were last called
const uint32_t delay = now - _last_run_ms; const uint32_t delay = now - _last_run_ms;
if (delay > 5) { if (delay > 50) {
srxlRun(0, delay); srxlRun(0, delay);
_last_run_ms = now; _last_run_ms = now;
} }
@ -209,15 +212,15 @@ void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
// send data to the uart // send data to the uart
void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length) void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
{ {
// writing at startup locks-up the flight controller if (have_UART()) {
if (have_UART() && AP_HAL::millis() > 3000) { // check that we haven't been too slow in responding to the new UART data. If we respond too late then we will
// check that we haven't been too slow in responding to the new // corrupt the next incoming control frame. incoming packets at max 800bits @91Hz @115k baud gives total budget of 11ms
// UART data. If we respond too late then we will corrupt the next // per packet of which we need 7ms to receive a packet. outgoing packets are 220 bits which require 2ms to send
// incoming control frame // leaving at most 2ms of delay that can be tolerated
uint64_t tend = get_UART()->receive_time_constraint_us(1); uint64_t tend = get_UART()->receive_time_constraint_us(1);
uint64_t now = AP_HAL::micros64(); uint64_t now = AP_HAL::micros64();
uint64_t tdelay = now - tend; uint64_t tdelay = now - tend;
if (tdelay > 2500) { if (tdelay > 2000) {
// we've been too slow in responding // we've been too slow in responding
return; return;
} }
@ -243,11 +246,11 @@ void AP_RCProtocol_SRXL2::change_baud_rate(uint32_t baudrate)
// change the uart baud rate // change the uart baud rate
void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate) void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
{ {
#if 0
if (have_UART()) { if (have_UART()) {
get_UART()->begin(baudrate); get_UART()->begin(baudrate);
get_UART()->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
get_UART()->set_unbuffered_writes(true);
} }
#endif
} }
// SRXL2 library callbacks below // SRXL2 library callbacks below
@ -255,7 +258,7 @@ void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
// User-provided routine to change the baud rate settings on the given UART: // User-provided routine to change the baud rate settings on the given UART:
// uart - the same uint8_t value as the uart parameter passed to srxlInit() // uart - the same uint8_t value as the uart parameter passed to srxlInit()
// baudRate - the actual baud rate (currently either 115200 or 400000) // baudRate - the actual baud rate (currently either 115200 or 400000)
void srxlChangeBaudRate(void* this_ptr, uint32_t baudRate) void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate)
{ {
AP_RCProtocol_SRXL2::change_baud_rate(baudRate); AP_RCProtocol_SRXL2::change_baud_rate(baudRate);
@ -265,7 +268,7 @@ void srxlChangeBaudRate(void* this_ptr, uint32_t baudRate)
// uart - the same uint8_t value as the uart parameter passed to srxlInit() // uart - the same uint8_t value as the uart parameter passed to srxlInit()
// pBuffer - a pointer to an array of uint8_t values to send over the UART // pBuffer - a pointer to an array of uint8_t values to send over the UART
// length - the number of bytes contained in pBuffer that should be sent // length - the number of bytes contained in pBuffer that should be sent
void srxlSendOnUart(void* this_ptr, uint8_t* pBuffer, uint8_t length) void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length)
{ {
AP_RCProtocol_SRXL2::send_on_uart(pBuffer, length); AP_RCProtocol_SRXL2::send_on_uart(pBuffer, length);
} }
@ -276,7 +279,7 @@ void srxlSendOnUart(void* this_ptr, uint8_t* pBuffer, uint8_t length)
// could be used if you would prefer to just populate that with the next outgoing telemetry packet. // could be used if you would prefer to just populate that with the next outgoing telemetry packet.
void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData) void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData)
{ {
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) #if HAL_SPEKTRUM_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
AP_Spektrum_Telem::get_telem_data(pTelemetryData->raw); AP_Spektrum_Telem::get_telem_data(pTelemetryData->raw);
#endif #endif
} }

4
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h
View File

@ -26,7 +26,6 @@
class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend { class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend {
public: public:
AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend); AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend);
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte, uint32_t baudrate) override; void process_byte(uint8_t byte, uint32_t baudrate) override;
void start_bind(void) override; void start_bind(void) override;
void update(void) override; void update(void) override;
@ -53,7 +52,6 @@ private:
uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */ uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */
uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */ uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */
uint32_t _last_data_us; /* timespan since last received data in us */
uint32_t _last_run_ms; // last time the state machine was run uint32_t _last_run_ms; // last time the state machine was run
uint16_t _channels[SRXL2_MAX_CHANNELS] = {0}; /* buffer for extracted RC channel data as pulsewidth in microseconds */ uint16_t _channels[SRXL2_MAX_CHANNELS] = {0}; /* buffer for extracted RC channel data as pulsewidth in microseconds */
@ -67,6 +65,4 @@ private:
uint8_t _decode_state_next = STATE_IDLE; /* State of frame decoding that will be applied when the next byte from dataframe drops in */ uint8_t _decode_state_next = STATE_IDLE; /* State of frame decoding that will be applied when the next byte from dataframe drops in */
bool _in_failsafe = false; bool _in_failsafe = false;
int16_t _new_rssi = -1; int16_t _new_rssi = -1;
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
}; };

58
libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
View File

@ -13,7 +13,16 @@
* with this program. If not, see <http://www.gnu.org/licenses/>. * with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* /*
decode RC input using SITL on command line * decode RC input using SITL on command line
*
* To use this as an RC protocol decoder for SITL with a real transmitter:
*
* 1. Compile using Linux - SITL has timing that is too variable
* 2. Connect an RX device to an FTDI adapter
* 3. Set the FTDI serial port to 115k baud, 8N1
* 4. Set the FTDI serial BM options to 1ms latency (very important)
* 5. Set the tty using: stty -F <device> raw 115200
* 6. Run this sketch providing the serial device name as an argument. RC values will be automatically written to the SITL RC port
*/ */
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
@ -25,8 +34,10 @@ void loop();
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_HAL/utility/Socket.h>
#include <AP_RCProtocol/AP_RCProtocol.h> #include <AP_RCProtocol/AP_RCProtocol.h>
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include <AP_Math/AP_Math.h>
#include <stdio.h> #include <stdio.h>
#include <sys/types.h> #include <sys/types.h>
#include <sys/stat.h> #include <sys/stat.h>
@ -62,12 +73,15 @@ private:
#include <RC_Channel/RC_Channels_VarInfo.h> #include <RC_Channel/RC_Channels_VarInfo.h>
RC_Channels_RC _rc; RC_Channels_RC _rc;
SocketAPM rc_socket{true};
// change this to the device being tested. // change this to the device being tested.
const char *devicename = "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0"; const char *devicename = "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0";
const uint32_t baudrate = 115200; const uint32_t baudrate = 115200;
static int fd; static int fd;
static uint16_t chan[16];
static uint8_t nchan = 0;
// setup routine // setup routine
void setup() void setup()
@ -106,30 +120,42 @@ void setup()
} }
tcflush(fd, TCIOFLUSH); tcflush(fd, TCIOFLUSH);
rcprot = new AP_RCProtocol(); rcprot = &AP::RC();
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
rcprot->init(); rcprot->init();
#endif
// proxy to SITL's rcin port
rc_socket.connect("0.0.0.0", 5501);
} }
//Main loop where the action takes place //Main loop where the action takes place
void loop() void loop()
{ {
uint8_t buf[32]; uint8_t buf[62]; // lowest USB buffer size is 62 user bytes
ssize_t ret = read(fd, buf, sizeof(buf)); ssize_t ret = read(fd, buf, sizeof(buf));
if (ret <= 0) {
return;
}
for (uint8_t i=0; i<ret; i++) { for (uint8_t i=0; i<ret; i++) {
rcprot->process_byte(buf[i], 115200); rcprot->process_byte(buf[i], 115200);
if (rcprot->new_input()) { if (rcprot->new_input()) {
uint8_t nchan = rcprot->num_channels(); nchan = MIN(rcprot->num_channels(), 16);
rcprot->read(chan, nchan);
printf("%u: ", nchan); printf("%u: ", nchan);
for (uint8_t j=0; j<nchan; j++) { for (uint8_t j=0; j<nchan; j++) {
uint16_t v = rcprot->read(j); // normalize data for SITL
printf("%04u ", v); chan[j] = constrain_int16(chan[j], 1100, 1900);
printf("%04u ", chan[j]);
} }
printf("\n"); printf("\n");
} }
} }
// SITL expects either 8 or 16 channels, send whether we got data or not
if (nchan <= 8) {
rc_socket.send(chan, 8 * 2);
} else {
rc_socket.send(chan, 16 * 2);
}
} }
#else #else
@ -139,4 +165,16 @@ void loop() {}
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD
AP_HAL_MAIN(); AP_HAL::HAL::FunCallbacks callbacks(setup, loop);
extern "C" {
int main(int argc, char* const argv[]);
int main(int argc, char* const argv[]) {
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
if (argc > 1) {
devicename = argv[1];
}
#endif
hal.run(argc, argv, &callbacks);
return 0;
}
}

41
libraries/AP_RCProtocol/spm_srxl.c → libraries/AP_RCProtocol/spm_srxl.cpp
View File

@ -80,19 +80,21 @@ SrxlVtxData srxlVtxData = {0, 0, 1, 0, 0, 1};
/// LOCAL VARIABLES /// /// LOCAL VARIABLES ///
SrxlDevice srxlThisDev = {0}; static SrxlDevice srxlThisDev = {0};
SrxlBus srxlBus[SRXL_NUM_OF_BUSES]; static SrxlBus srxlBus[SRXL_NUM_OF_BUSES];
bool srxlChDataIsFailsafe = false; static bool srxlChDataIsFailsafe = false;
bool srxlTelemetryPhase = false; static bool srxlTelemetryPhase = false;
uint32_t srxlFailsafeChMask = 0; // Tracks all active channels for use during failsafe transmission #ifdef SRXL_INCLUDE_MASTER_CODE
SrxlBindData srxlBindInfo = {0, 0, 0, 0}; static uint32_t srxlFailsafeChMask = 0; // Tracks all active channels for use during failsafe transmission
SrxlReceiverStats srxlRx = {0}; #endif
uint16_t srxlTelemSuppressCount = 0; static SrxlBindData srxlBindInfo = {0, 0, 0, 0};
static SrxlReceiverStats srxlRx = {0};
static uint16_t srxlTelemSuppressCount = 0;
#ifdef SRXL_INCLUDE_FWD_PGM_CODE #ifdef SRXL_INCLUDE_FWD_PGM_CODE
SrxlFullID srxlFwdPgmDevice = {0, 0}; // Device that should accept Forward Programming connection by default static SrxlFullID srxlFwdPgmDevice = {0, 0}; // Device that should accept Forward Programming connection by default
uint8_t srxlFwdPgmBuffer[FWD_PGM_MAX_DATA_SIZE] = {0}; static uint8_t srxlFwdPgmBuffer[FWD_PGM_MAX_DATA_SIZE] = {0};
uint8_t srxlFwdPgmBufferLength = 0; static uint8_t srxlFwdPgmBufferLength = 0;
#endif #endif
// Include additional header and externs if using STM32 hardware acceleration // Include additional header and externs if using STM32 hardware acceleration
@ -185,8 +187,8 @@ static uint16_t srxlCrc16(uint8_t* packet)
// Output Data Inversion Mode = Disable // Output Data Inversion Mode = Disable
// Input Data Format = Bytes // Input Data Format = Bytes
crc = (uint16_t)HAL_CRC_Calculate(&hcrc, (uint32_t*)packet, length); crc = (uint16_t)HAL_CRC_Calculate(&hcrc, (uint32_t*)packet, length);
#elif(SRXL_CRC_OPTIMIZE_MODE == SRXL_CRC_EXTERNAL) #elif(SRXL_CRC_OPTIMIZE_MODE == SRXL_CRC_OPTIMIZE_EXTERNAL)
crc = SRXL_CRC_EXTERNAL(packet, length, crc); crc = SRXL_CRC_CALCULATE(packet, length, crc);
#else #else
// Default to table-lookup method // Default to table-lookup method
uint8_t i; uint8_t i;
@ -302,7 +304,7 @@ static inline SrxlRcvrEntry* srxlChooseTelemRcvr(void)
} }
// Return pointer to device entry matching the given ID, or NULL if not found // Return pointer to device entry matching the given ID, or NULL if not found
SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID) static SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID)
{ {
if(pBus) if(pBus)
{ {
@ -317,7 +319,7 @@ SrxlDevEntry* srxlGetDeviceEntry(SrxlBus* pBus, uint8_t deviceID)
} }
// Add an entry to our list of devices found on the SRXL bus (or update an entry if it already exists) // Add an entry to our list of devices found on the SRXL bus (or update an entry if it already exists)
SrxlDevEntry* srxlAddDeviceEntry(SrxlBus* pBus, SrxlDevEntry devEntry) static SrxlDevEntry* srxlAddDeviceEntry(SrxlBus* pBus, SrxlDevEntry devEntry)
{ {
// Don't allow broadcast or unknown device types to be added // Don't allow broadcast or unknown device types to be added
if(!pBus || devEntry.deviceID < 0x10 || devEntry.deviceID > 0xEF) if(!pBus || devEntry.deviceID < 0x10 || devEntry.deviceID > 0xEF)
@ -421,7 +423,7 @@ bool srxlInitDevice(uint8_t deviceID, uint8_t priority, uint8_t info, uint32_t u
@param baudSupported: 0 = 115200 baud, 1 = 400000 baud @param baudSupported: 0 = 115200 baud, 1 = 400000 baud
@return bool: True if SRXL bus was successfully initialized @return bool: True if SRXL bus was successfully initialized
*/ */
bool srxlInitBus(uint8_t busIndex, void* uart, uint8_t baudSupported) bool srxlInitBus(uint8_t busIndex, uint8_t uart, uint8_t baudSupported)
{ {
if(busIndex >= SRXL_NUM_OF_BUSES || !srxlThisDev.devEntry.deviceID) if(busIndex >= SRXL_NUM_OF_BUSES || !srxlThisDev.devEntry.deviceID)
return false; return false;
@ -485,7 +487,7 @@ uint8_t srxlGetDeviceID(uint8_t busIndex)
@param srxlCmd: Specific type of packet to send @param srxlCmd: Specific type of packet to send
@param replyID: Device ID of the device this Send command is targeting @param replyID: Device ID of the device this Send command is targeting
*/ */
void srxlSend(SrxlBus* pBus, SRXL_CMD srxlCmd, uint8_t replyID) static void srxlSend(SrxlBus* pBus, SRXL_CMD srxlCmd, uint8_t replyID)
{ {
if(!pBus || !pBus->initialized) if(!pBus || !pBus->initialized)
return; return;
@ -907,7 +909,9 @@ bool srxlParsePacket(uint8_t busIndex, uint8_t* packet, uint8_t length)
if(pBindInfo->request == SRXL_BIND_REQ_BOUND_DATA) if(pBindInfo->request == SRXL_BIND_REQ_BOUND_DATA)
{ {
// Call the user-defined callback -- if returns true, bind all other receivers // Call the user-defined callback -- if returns true, bind all other receivers
SrxlFullID boundID = {.deviceID = pBindInfo->deviceID, .busIndex = busIndex}; SrxlFullID boundID;
boundID.deviceID = pBindInfo->deviceID;
boundID.busIndex = busIndex;
if(srxlOnBind(boundID, pBindInfo->data)) if(srxlOnBind(boundID, pBindInfo->data))
{ {
// Update the bind info // Update the bind info
@ -1277,6 +1281,7 @@ void srxlOnFrameError(uint8_t busIndex)
pBus->baudRate = SRXL_BAUD_400000; pBus->baudRate = SRXL_BAUD_400000;
break; break;
} }
FALLTHROUGH;
// else fall thru... // else fall thru...
} }
case SRXL_BAUD_400000: case SRXL_BAUD_400000:

22
libraries/AP_RCProtocol/spm_srxl.h
View File

@ -77,6 +77,7 @@ static const uint8_t SRXL_DEFAULT_ID_OF_TYPE[16] =
}; };
// Set SRXL_CRC_OPTIMIZE_MODE in spm_srxl_config.h to one of the following values // Set SRXL_CRC_OPTIMIZE_MODE in spm_srxl_config.h to one of the following values
#define SRXL_CRC_OPTIMIZE_EXTERNAL (0) // Uses an external function defined by SRXL_CRC_EXTERNAL_FN for CRC
#define SRXL_CRC_OPTIMIZE_SPEED (1) // Uses table lookup for CRC computation (requires 512 const bytes for CRC table) #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_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_HW (3) // Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
@ -200,9 +201,8 @@ typedef enum
// Enable byte packing for all structs defined here! // Enable byte packing for all structs defined here!
#ifdef PACKED #ifdef PACKED
#error "preprocessor definition PACKED is already defined -- this could be bad" #define SRXL_EXTERNAL_PACKED
#endif #elif defined(__GNUC__)
#ifdef __GNUC__
#define PACKED __attribute__((packed)) #define PACKED __attribute__((packed))
#else #else
#pragma pack(push, 1) #pragma pack(push, 1)
@ -372,10 +372,12 @@ typedef union
} PACKED SrxlFullID; } PACKED SrxlFullID;
// Restore packing back to default // Restore packing back to default
#ifndef SRXL_EXTERNAL_PACKED
#undef PACKED #undef PACKED
#ifndef __GNUC__ #ifndef __GNUC__
#pragma pack(pop) #pragma pack(pop)
#endif #endif
#endif
// Global vars // Global vars
extern SrxlChannelData srxlChData; extern SrxlChannelData srxlChData;
@ -385,6 +387,10 @@ extern SrxlVtxData srxlVtxData;
// Include config here, after all typedefs that might be needed within it // Include config here, after all typedefs that might be needed within it
#include "spm_srxl_config.h" #include "spm_srxl_config.h"
#ifndef FALLTHROUGH
#define FALLTHROUGH
#endif
#if !defined(SRXL_NUM_OF_BUSES) #if !defined(SRXL_NUM_OF_BUSES)
#error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!" #error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!"
#elif SRXL_NUM_OF_BUSES <= 0 #elif SRXL_NUM_OF_BUSES <= 0
@ -492,7 +498,7 @@ typedef struct SrxlBus
uint8_t baudRate; // Current baud rate: 0 = 115200, 1 = 400000 uint8_t baudRate; // Current baud rate: 0 = 115200, 1 = 400000
uint8_t frameErrCount; // Number of consecutive missed frames uint8_t frameErrCount; // Number of consecutive missed frames
SrxlTxFlags txFlags; // Pending outgoing packet types SrxlTxFlags txFlags; // Pending outgoing packet types
void* uart; // Index number of UART tied to this SRXL bus uint8_t uart; // Index number of UART tied to this SRXL bus
SrxlRcvrEntry* pMasterRcvr; // Receiver entry for the bus master, if one exists 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 master; // True if this device is the bus master on this bus
bool initialized; // True when this SRXL bus is initialized bool initialized; // True when this SRXL bus is initialized
@ -510,7 +516,7 @@ typedef struct SrxlDevice
// Function prototypes // Function prototypes
bool srxlInitDevice(uint8_t deviceID, uint8_t priority, uint8_t info, uint32_t uid); bool srxlInitDevice(uint8_t deviceID, uint8_t priority, uint8_t info, uint32_t uid);
bool srxlInitBus(uint8_t busIndex, void* uart, uint8_t baudSupported); bool srxlInitBus(uint8_t busIndex, uint8_t uart, uint8_t baudSupported);
bool srxlIsBusMaster(uint8_t busIndex); bool srxlIsBusMaster(uint8_t busIndex);
uint16_t srxlGetTimeoutCount_ms(uint8_t busIndex); uint16_t srxlGetTimeoutCount_ms(uint8_t busIndex);
uint8_t srxlGetDeviceID(uint8_t busIndex); uint8_t srxlGetDeviceID(uint8_t busIndex);
@ -530,4 +536,10 @@ bool srxlUpdateCommStats(bool isFade);
} // extern "C" } // extern "C"
#endif #endif
#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
#endif //__SRXL_H__ #endif //__SRXL_H__

17
libraries/AP_RCProtocol/spm_srxl_config.h
View File

@ -32,9 +32,11 @@ SOFTWARE.
// User included headers/declarations to access interface functions required below // User included headers/declarations to access interface functions required below
//#include <AP_HAL/AP_HAL.h> //#include <AP_HAL/AP_HAL.h>
//void userProvidedFillSrxlTelemetry(SrxlTelemetryData* pTelemetry); extern "C++" {
//void userProvidedReceivedChannelData(SrxlChannelData* pChannelData); #include <AP_Math/crc.h>
//void userProvidedHandleVtxData(SrxlVtxData* pVtxData); #include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
}
//### USER CONFIGURATION ### //### USER CONFIGURATION ###
@ -72,10 +74,9 @@ SOFTWARE.
// SRXL_CRC_OPTIMIZE_STM_HW -- Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now) // SRXL_CRC_OPTIMIZE_STM_HW -- Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
// SRXL_CRC_OPTIMIZE_STM_HAL -- Uses STM32Cube HAL driver for hardware acceleration (only available on STM32F3/F7) -- see srxlCrc16() for details on HAL config // SRXL_CRC_OPTIMIZE_STM_HAL -- Uses STM32Cube HAL driver for hardware acceleration (only available on STM32F3/F7) -- see srxlCrc16() for details on HAL config
#define SRXL_CRC_EXTERNAL(packet, length, crc) crc16_ccitt(packet, length, crc) #define SRXL_CRC_CALCULATE(packet, length, crc) crc16_ccitt(packet, length, crc)
extern uint16_t crc16_ccitt(const uint8_t *buf, uint32_t len, uint16_t crc); #define SRXL_CRC_OPTIMIZE_MODE SRXL_CRC_OPTIMIZE_EXTERNAL
#define SRXL_CRC_OPTIMIZE_MODE SRXL_CRC_EXTERNAL
// If using STM32 hardware CRC acceleration above, set this flag to the target family. Choices are: // If using STM32 hardware CRC acceleration above, set this flag to the target family. Choices are:
// SRXL_STM_TARGET_F3 // SRXL_STM_TARGET_F3
@ -94,13 +95,13 @@ extern uint16_t crc16_ccitt(const uint8_t *buf, uint32_t len, uint16_t crc);
// User-provided routine to change the baud rate settings on the given UART: // User-provided routine to change the baud rate settings on the given UART:
// uart - the same uint8_t value as the uart parameter passed to srxlInit() // uart - the same uint8_t value as the uart parameter passed to srxlInit()
// baudRate - the actual baud rate (currently either 115200 or 400000) // baudRate - the actual baud rate (currently either 115200 or 400000)
void srxlChangeBaudRate(void* uart, uint32_t baudRate); void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate);
// User-provided routine to actually transmit a packet on the given UART: // User-provided routine to actually transmit a packet on the given UART:
// uart - the same uint8_t value as the uart parameter passed to srxlInit() // uart - the same uint8_t value as the uart parameter passed to srxlInit()
// pBuffer - a pointer to an array of uint8_t values to send over the UART // pBuffer - a pointer to an array of uint8_t values to send over the UART
// length - the number of bytes contained in pBuffer that should be sent // length - the number of bytes contained in pBuffer that should be sent
void srxlSendOnUart(void* uart, uint8_t* pBuffer, uint8_t length); void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length);
// User-provided callback routine to fill in the telemetry data to send to the master when requested: // User-provided callback routine to fill in the telemetry data to send to the master when requested:
// pTelemetryData - a pointer to the 16-byte SrxlTelemetryData transmit buffer to populate // pTelemetryData - a pointer to the 16-byte SrxlTelemetryData transmit buffer to populate