mirror of https://github.com/ArduPilot/ardupilot
312 lines
11 KiB
C++
312 lines
11 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
SRXL2 protocol decoder using Horizon Hobby's open source library https://github.com/SpektrumRC/SRXL2
|
|
Code by Andy Piper
|
|
*/
|
|
|
|
#include "AP_RCProtocol.h"
|
|
#include "AP_RCProtocol_SRXL.h"
|
|
#include "AP_RCProtocol_SRXL2.h"
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_RCTelemetry/AP_Spektrum_Telem.h>
|
|
#include <AP_Vehicle/AP_Vehicle_Type.h>
|
|
|
|
#include "spm_srxl.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
//#define SRXL2_DEBUG
|
|
#ifdef SRXL2_DEBUG
|
|
# define debug(fmt, args...) hal.console->printf("SRXL2:" fmt "\n", ##args)
|
|
#else
|
|
# define debug(fmt, args...) do {} while(0)
|
|
#endif
|
|
|
|
AP_RCProtocol_SRXL2* AP_RCProtocol_SRXL2::_singleton;
|
|
|
|
AP_RCProtocol_SRXL2::AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend)
|
|
{
|
|
const uint32_t uniqueID = AP_HAL::micros();
|
|
|
|
if (_singleton != nullptr) {
|
|
AP_HAL::panic("Duplicate SRXL2 handler");
|
|
}
|
|
|
|
_singleton = this;
|
|
// Init the local SRXL device
|
|
if (!srxlInitDevice(SRXL_DEVICE_ID, SRXL_DEVICE_PRIORITY, SRXL_DEVICE_INFO, uniqueID)) {
|
|
AP_HAL::panic("Failed to initialize SRXL2 device");
|
|
}
|
|
|
|
// 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, 0, SRXL_SUPPORTED_BAUD_RATES)) {
|
|
AP_HAL::panic("Failed to initialize SRXL2 bus");
|
|
}
|
|
|
|
}
|
|
|
|
void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
|
|
{
|
|
if (_decode_state == STATE_IDLE) {
|
|
switch (byte) {
|
|
case SPEKTRUM_SRXL_ID:
|
|
_decode_state = STATE_NEW;
|
|
break;
|
|
default:
|
|
_decode_state = STATE_IDLE;
|
|
return;
|
|
}
|
|
_frame_len_full = 0U;
|
|
_buflen = 0;
|
|
_decode_state_next = STATE_IDLE;
|
|
}
|
|
|
|
switch (_decode_state) {
|
|
case STATE_NEW: // buffer header byte and prepare for frame reception and decoding
|
|
_buffer[0U]=byte;
|
|
_buflen = 1U;
|
|
_decode_state_next = STATE_COLLECT;
|
|
break;
|
|
|
|
case STATE_COLLECT: // receive all bytes. After reception decode frame and provide rc channel information to FMU
|
|
_buffer[_buflen] = byte;
|
|
_buflen++;
|
|
|
|
// need a header to get the length
|
|
if (_buflen < SRXL2_HEADER_LEN) {
|
|
return;
|
|
}
|
|
|
|
// parse the length
|
|
if (_buflen == SRXL2_HEADER_LEN) {
|
|
_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;
|
|
}
|
|
|
|
if (_buflen > _frame_len_full) {
|
|
// a logic bug in the state machine, this shouldn't happen
|
|
_decode_state = STATE_IDLE;
|
|
_buflen = 0;
|
|
_frame_len_full = 0;
|
|
return;
|
|
}
|
|
|
|
if (_buflen == _frame_len_full) {
|
|
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
|
|
if (srxlParsePacket(0, _buffer, _frame_len_full)) {
|
|
add_input(MAX_CHANNELS, _channels, _in_failsafe, _new_rssi);
|
|
}
|
|
_last_run_ms = AP_HAL::millis();
|
|
|
|
_decode_state_next = STATE_IDLE;
|
|
_buflen = 0;
|
|
} else {
|
|
_decode_state_next = STATE_COLLECT;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
_decode_state = _decode_state_next;
|
|
}
|
|
|
|
void AP_RCProtocol_SRXL2::update(void)
|
|
{
|
|
// on a SPM4650 with telemetry the frame rate is 91Hz equating to around 10ms per frame
|
|
// 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();
|
|
// there have been no updates since we were last called
|
|
const uint32_t delay = now - _last_run_ms;
|
|
if (delay > 50) {
|
|
srxlRun(0, delay);
|
|
_last_run_ms = now;
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_RCProtocol_SRXL2::capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t new_rssi)
|
|
{
|
|
AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
|
|
|
|
if (srxl2 != nullptr) {
|
|
srxl2->_capture_scaled_input(values, in_failsafe, new_rssi);
|
|
}
|
|
}
|
|
|
|
// capture SRXL2 encoded values
|
|
void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t new_rssi)
|
|
{
|
|
_in_failsafe = in_failsafe;
|
|
// AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
|
|
// SRXL2 rssi: -ve rssi in dBM, +ve rssi in percentage
|
|
if (new_rssi >= 0) {
|
|
_new_rssi = new_rssi * 255 / 100;
|
|
} else {
|
|
// pretty much a guess
|
|
_new_rssi = 255 - 255 * (-20 - new_rssi) / (-20 - 85);
|
|
}
|
|
|
|
for (uint8_t i = 0; i < MAX_CHANNELS; i++) {
|
|
/*
|
|
* Each channel data value is sent as an unsigned 16-bit value from 0 to 65532 (0xFFFC)
|
|
* with 32768 (0x8000) representing "Servo Center". The channel value must be bit-shifted
|
|
* to the right to match the applications's accepted resolution.
|
|
*
|
|
* So here we scale to DSMX-2048 and then use our regular Spektrum conversion.
|
|
*/
|
|
_channels[i] = ((((int)(values[i] >> 5) - 1024) * 1000) / 1700) + 1500;
|
|
}
|
|
}
|
|
|
|
|
|
// start bind on DSM satellites
|
|
void AP_RCProtocol_SRXL2::start_bind(void)
|
|
{
|
|
srxlEnterBind(DSMX_11MS, true);
|
|
}
|
|
|
|
// process a byte provided by a uart
|
|
void AP_RCProtocol_SRXL2::process_byte(uint8_t byte, uint32_t baudrate)
|
|
{
|
|
if (baudrate != 115200) {
|
|
return;
|
|
}
|
|
_process_byte(AP_HAL::micros(), byte);
|
|
}
|
|
|
|
// send data to the uart
|
|
void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
|
|
{
|
|
AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
|
|
|
|
if (srxl2 != nullptr) {
|
|
srxl2->_send_on_uart(pBuffer, length);
|
|
}
|
|
}
|
|
|
|
// send data to the uart
|
|
void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
|
|
{
|
|
if (have_UART()) {
|
|
// check that we haven't been too slow in responding to the new UART data. If we respond too late then we will
|
|
// corrupt the next incoming control frame. incoming packets at max 800bits @91Hz @115k baud gives total budget of 11ms
|
|
// per packet of which we need 7ms to receive a packet. outgoing packets are 220 bits which require 2ms to send
|
|
// leaving at most 2ms of delay that can be tolerated
|
|
uint64_t tend = get_UART()->receive_time_constraint_us(1);
|
|
uint64_t now = AP_HAL::micros64();
|
|
uint64_t tdelay = now - tend;
|
|
if (tdelay > 2000) {
|
|
// we've been too slow in responding
|
|
return;
|
|
}
|
|
// debug telemetry packets
|
|
if (pBuffer[1] == 0x80 && pBuffer[4] != 0) {
|
|
debug("0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x: %s",
|
|
pBuffer[0], pBuffer[1], pBuffer[2], pBuffer[3], pBuffer[4], pBuffer[5], pBuffer[6], pBuffer[7], pBuffer[8], pBuffer[9], &pBuffer[7]);
|
|
}
|
|
get_UART()->write(pBuffer, length);
|
|
}
|
|
}
|
|
|
|
// change the uart baud rate
|
|
void AP_RCProtocol_SRXL2::change_baud_rate(uint32_t baudrate)
|
|
{
|
|
AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
|
|
|
|
if (srxl2 != nullptr) {
|
|
srxl2->_change_baud_rate(baudrate);
|
|
}
|
|
}
|
|
|
|
// change the uart baud rate
|
|
void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
|
|
{
|
|
if (have_UART()) {
|
|
get_UART()->begin(baudrate);
|
|
get_UART()->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
get_UART()->set_unbuffered_writes(true);
|
|
}
|
|
}
|
|
|
|
// SRXL2 library callbacks below
|
|
|
|
// 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()
|
|
// baudRate - the actual baud rate (currently either 115200 or 400000)
|
|
void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate)
|
|
{
|
|
AP_RCProtocol_SRXL2::change_baud_rate(baudRate);
|
|
|
|
}
|
|
|
|
// 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()
|
|
// 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
|
|
void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length)
|
|
{
|
|
AP_RCProtocol_SRXL2::send_on_uart(pBuffer, length);
|
|
}
|
|
|
|
// 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
|
|
// NOTE: srxlTelemData is available as a global variable, so the memcpy line commented out below
|
|
// could be used if you would prefer to just populate that with the next outgoing telemetry packet.
|
|
void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData)
|
|
{
|
|
#if HAL_SPEKTRUM_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
|
|
AP_Spektrum_Telem::get_telem_data(pTelemetryData->raw);
|
|
#endif
|
|
}
|
|
|
|
// User-provided callback routine that is called whenever a control data packet is received:
|
|
// pChannelData - a pointer to the received SrxlChannelData structure for manual parsing
|
|
// isFailsafe - true if channel data is set to failsafe values, else false.
|
|
// this is called from within srxlParsePacket() and before the SRXL2 state machine has been run
|
|
// so be very careful to only do local operations
|
|
void srxlReceivedChannelData(SrxlChannelData* pChannelData, bool isFailsafe)
|
|
{
|
|
if (isFailsafe) {
|
|
AP_RCProtocol_SRXL2::capture_scaled_input(pChannelData->values, true, pChannelData->rssi);
|
|
} else {
|
|
AP_RCProtocol_SRXL2::capture_scaled_input(srxlChData.values, false, srxlChData.rssi);
|
|
}
|
|
}
|
|
|
|
// User-provided callback routine to handle reception of a bound data report (either requested or unprompted).
|
|
// Return true if you want this bind information set automatically for all other receivers on all SRXL buses.
|
|
bool srxlOnBind(SrxlFullID device, SrxlBindData info)
|
|
{
|
|
return true;
|
|
}
|
|
|
|
// User-provided callback routine to handle reception of a VTX control packet.
|
|
void srxlOnVtx(SrxlVtxData* pVtxData)
|
|
{
|
|
}
|