Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Merge pull request #1894 from nepomukmaier/master

Browse source 
Add 16channel SRXL
This commit is contained in:
J Blackman 2016-12-28 13:56:19 +11:00 • committed by GitHub
commit 4a95bab773
1 changed files with 19 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

29
src/main/rx/xbus.c
View file

@ -42,7 +42,9 @@
#define XBUS_RJ01_CHANNEL_COUNT 12
// Frame is: ID(1 byte) + 12*channel(2 bytes) + CRC(2 bytes) = 27
#define XBUS_FRAME_SIZE 27
#define XBUS_FRAME_SIZE_A1 27
#define XBUS_FRAME_SIZE_A2 35
#define XBUS_RJ01_FRAME_SIZE 33
#define XBUS_RJ01_MESSAGE_LENGTH 30
@ -63,7 +65,8 @@
// However, the JR XG14 that is used for test at the moment
// does only use 0xA1 as its output. This is why the implementation
// is based on these numbers only. Maybe update this in the future?
#define XBUS_START_OF_FRAME_BYTE (0xA1)
#define XBUS_START_OF_FRAME_BYTE_A1 (0xA1) //12 channels
#define XBUS_START_OF_FRAME_BYTE_A2 (0xA2) //16 channels transfare, but only 12 channels use for
// Pulse length convertion from [0...4095] to µs:
// 800µs -> 0x000
@ -82,7 +85,7 @@ static uint8_t xBusProvider;
// Use max values for ram areas
static volatile uint8_t xBusFrame[XBUS_RJ01_FRAME_SIZE];
static volatile uint8_t xBusFrame[XBUS_FRAME_SIZE_A2]; //siz 35 for 16 channels in xbus_Mode_B
static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT];
// The xbus mode B CRC calculations
@ -136,16 +139,16 @@ static void xBusUnpackModeBFrame(uint8_t offsetBytes)
uint8_t frameAddr;
// Calculate on all bytes except the final two CRC bytes
for (i = 0; i < XBUS_FRAME_SIZE - 2; i++) {
for (i = 0; i < xBusFrameLength - 2; i++) {
inCrc = xBusCRC16(inCrc, xBusFrame[i+offsetBytes]);
}
// Get the received CRC
crc = ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 2]) << 8;
crc = crc + ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 1]);
crc = ((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 2]) << 8;
crc = crc + ((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 1]);
if (crc == inCrc) {
// Unpack the data, we have a valid frame
// Unpack the data, we have a valid frame, only 12 channel unpack also when receive 16 channel
for (i = 0; i < xBusChannelCount; i++) {
frameAddr = offsetBytes + 1 + i * 2;
@ -224,8 +227,14 @@ static void xBusDataReceive(uint16_t c)
}
// Check if we shall start a frame?
if ((xBusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
xBusDataIncoming = true;
if (xBusFramePosition == 0) {
if (c == XBUS_START_OF_FRAME_BYTE_A1) {
xBusDataIncoming = true;
xBusFrameLength = XBUS_FRAME_SIZE_A1; //decrease framesize (when receiver change, otherwise board must reboot)
} else if (c == XBUS_START_OF_FRAME_BYTE_A2) {//16channel packet
xBusDataIncoming = true;
xBusFrameLength = XBUS_FRAME_SIZE_A2; //increase framesize
}
}
// Only do this if we are receiving to a frame
@ -285,7 +294,7 @@ bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
xBusDataIncoming = false;
xBusFramePosition = 0;
baudRate = XBUS_BAUDRATE;
xBusFrameLength = XBUS_FRAME_SIZE;
xBusFrameLength = XBUS_FRAME_SIZE_A1;
xBusChannelCount = XBUS_CHANNEL_COUNT;
xBusProvider = SERIALRX_XBUS_MODE_B;
break;