Merge pull request #9960 from phobos-/f4-dsmx

Spektrum SPI protocol improvements

src/main/rx/cyrf6936_spektrum.c

@@ -104,6 +104,8 @@ static const uint8_t pnCodes[5][9][8] = {
 },
 };
 
+static const uint8_t bindDataCode[16] = {0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x84, 0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x84};
+
 static const uint8_t cyrf6936Config[][2] = {
     {CYRF6936_CLK_EN,          CYRF6936_RXF}, // Enable the clock
     {CYRF6936_AUTO_CAL_TIME,   0x3C}, // From manual, needed for initialization
@@ -132,24 +134,26 @@ static const uint8_t cyrf6936TransferConfig[][2] = {
 typedef enum {
     DSM2_22     = 0x01,
     DSM2_11     = 0x02,
+    DSM2_11_DX6 = 0x03,
     DSM2_11_DX8 = 0x12,
     DSMX_22     = 0xA2,
     DSMX_11     = 0xB2,
 } dsm_protocol_e;
 
-#define IS_DSM2(x) (x == DSM2_22 || x == DSM2_11 || x == DSM2_11_DX8)
+#define IS_DSM2(x) (x == DSM2_22 || x == DSM2_11 || x == DSM2_11_DX6 || x == DSM2_11_DX8)
 #define IS_DSMX(x) (!IS_DSM2(x))
 
 #define CHECK_MFG_ID(protocol, packet, id) ((IS_DSM2(protocol) && packet[0] == (~id[2]&0xFF) && packet[1] == (~id[3]&0xFF)) || \
         (IS_DSMX(protocol) && packet[0] == id[2] && packet[1] == id[3]))
 
 typedef enum {
-    DSM_RECEIVER_BIND = 0x0,
+    DSM_RECEIVER_BIND = 0,
-    DSM_RECEIVER_SYNC_A = 0x1,
+    DSM_RECEIVER_BIND2,
-    DSM_RECEIVER_SYNC_B = 0x2,
+    DSM_RECEIVER_SYNC_A,
-    DSM_RECEIVER_RECV = 0x3,
+    DSM_RECEIVER_SYNC_B,
+    DSM_RECEIVER_RECV,
 #ifdef USE_RX_SPEKTRUM_TELEMETRY
-    DSM_RECEIVER_TLM = 0x4,
+    DSM_RECEIVER_TLM,
 #endif
 } dsm_receiver_status_e;
 
@@ -175,6 +179,8 @@ typedef struct dsmReceiver_s {
     uint32_t timeout;
     uint32_t timeLastPacket;
 
+    uint16_t bindPackets;
+
 #ifdef USE_RX_SPEKTRUM_TELEMETRY
     uint32_t timeLastTelemetry;
     bool sendTelemetry;
@@ -264,68 +270,6 @@ static void resetReceiveTimeout(const uint32_t timeStamp)
     }
 }
 
-static void checkTimeout(void)
-{
-    const uint32_t time = micros();
-
-#ifdef USE_RX_SPEKTRUM_TELEMETRY
-    if (featureIsEnabled(FEATURE_TELEMETRY) && (time - dsmReceiver.timeLastTelemetry) > DSM_TELEMETRY_TIME_US) {
-        dsmReceiver.timeLastTelemetry = time;
-        dsmReceiver.sendTelemetry = true;
-    }
-#endif
-
-    if ((time - dsmReceiver.timeLastPacket) > dsmReceiver.timeout) {
-        cyrf6936SetMode(CYRF6936_MODE_SYNTH_RX, true);
-        cyrf6936WriteRegister(CYRF6936_RX_ABORT, 0x00);
-
-        dsmReceiver.timeLastPacket += dsmReceiver.timeout;
-
-        switch (dsmReceiver.status) {
-        case DSM_RECEIVER_BIND:
-            dsmReceiver.rfChannel = (dsmReceiver.rfChannel + 2) % DSM_MAX_RF_CHANNEL;
-            cyrf6936SetChannel(dsmReceiver.rfChannel);
-            dsmReceiver.timeout = DSM_BIND_TIMEOUT_US;
-            cyrf6936StartRecv();
-            break;
-        case DSM_RECEIVER_SYNC_A:
-        case DSM_RECEIVER_SYNC_B:
-            IS_DSM2(dsmReceiver.protocol) ? dsmReceiverSetNextSyncChannel() : dsmReceiverSetNextChannel();
-            dsmReceiver.timeout = DSM_SYNC_TIMEOUT_US;
-            cyrf6936StartRecv();
-            break;
-        case DSM_RECEIVER_RECV:
-            dsmReceiver.missedPackets++;
-            DEBUG_SET(DEBUG_RX_SPEKTRUM_SPI, 0, dsmReceiver.missedPackets);
-            if (dsmReceiver.missedPackets < DSM_MAX_MISSED_PACKETS) {
-                dsmReceiverSetNextChannel();
-                if (dsmReceiver.crcSeed == ((dsmReceiver.mfgId[0] << 8) + dsmReceiver.mfgId[1])) {
-                    dsmReceiver.timeout = DSM_RECV_SHORT_TIMEOUT_US;
-                } else {
-                    dsmReceiver.timeout = DSM_RECV_TIMEOUT_OFFSET_US + (dsmReceiver.numChannels < 8 ? DSM_RECV_LONG_TIMEOUT_US : DSM_RECV_MID_TIMEOUT_US);
-                }
-                cyrf6936StartRecv();
-            } else {
-                setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
-                dsmReceiver.status = DSM_RECEIVER_SYNC_A;
-                dsmReceiver.timeout = DSM_SYNC_TIMEOUT_US;
-            }
-            break;
-#ifdef USE_RX_SPEKTRUM_TELEMETRY
-        case DSM_RECEIVER_TLM:
-            DEBUG_SET(DEBUG_RX_SPEKTRUM_SPI, 2, (cyrf6936ReadRegister(CYRF6936_TX_IRQ_STATUS) & CYRF6936_TXC_IRQ) == 0);
-            dsmReceiverSetNextChannel();
-            dsmReceiver.status = DSM_RECEIVER_RECV;
-            dsmReceiver.timeout = (dsmReceiver.numChannels < 8 ? DSM_RECV_LONG_TIMEOUT_US : DSM_RECV_MID_TIMEOUT_US) - DSM_TELEMETRY_TIMEOUT_US;
-            cyrf6936StartRecv();
-            break;
-#endif
-        default:
-            break;
-        }
-    }
-}
-
 static void dsmReceiverStartBind(void)
 {
     uint8_t dataCode[16];
@@ -437,6 +381,96 @@ static void dsmSendTelemetryPacket(void)
 }
 #endif
 
+static void dsmSendBindPacket(void)
+{
+    uint8_t packet[10];
+    uint16_t sum = 384 - 0x10;
+    packet[0] = 0xff ^ dsmReceiver.mfgId[0];
+    packet[1] = 0xff ^ dsmReceiver.mfgId[1];
+    packet[2] = 0xff ^ dsmReceiver.mfgId[2];
+    packet[3] = 0xff ^ dsmReceiver.mfgId[3];
+    packet[4] = 0x01;
+    packet[5] = dsmReceiver.numChannels;
+    packet[6] = dsmReceiver.protocol;
+    packet[7] = 0x00;
+    for(unsigned i = 0; i < 8; i++)
+        sum += packet[i];
+    packet[8] = sum >> 8;
+    packet[9] = sum & 0xff;
+    cyrf6936SetMode(CYRF6936_MODE_IDLE, true);
+    cyrf6936SendLen(packet, 10);
+}
+
+static void checkTimeout(void)
+{
+    const uint32_t time = micros();
+
+#ifdef USE_RX_SPEKTRUM_TELEMETRY
+    if (featureIsEnabled(FEATURE_TELEMETRY) && (time - dsmReceiver.timeLastTelemetry) > DSM_TELEMETRY_TIME_US) {
+        dsmReceiver.timeLastTelemetry = time;
+        dsmReceiver.sendTelemetry = true;
+    }
+#endif
+
+    if ((time - dsmReceiver.timeLastPacket) > dsmReceiver.timeout) {
+        cyrf6936SetMode(CYRF6936_MODE_SYNTH_RX, true);
+        cyrf6936WriteRegister(CYRF6936_RX_ABORT, 0x00);
+
+        dsmReceiver.timeLastPacket += dsmReceiver.timeout;
+
+        switch (dsmReceiver.status) {
+        case DSM_RECEIVER_BIND:
+            dsmReceiver.rfChannel = (dsmReceiver.rfChannel + 2) % DSM_MAX_RF_CHANNEL;
+            cyrf6936SetChannel(dsmReceiver.rfChannel);
+            dsmReceiver.timeout = DSM_BIND_TIMEOUT_US;
+            cyrf6936StartRecv();
+            break;
+        case DSM_RECEIVER_BIND2:
+            if (dsmReceiver.bindPackets++ > DSM_MAX_BIND_PACKETS) {
+                dsmReceiverStartTransfer();
+            } else {
+                dsmReceiver.timeout = DSM_BIND_TIMEOUT_US;
+                dsmSendBindPacket();
+            }
+            break;
+        case DSM_RECEIVER_SYNC_A:
+        case DSM_RECEIVER_SYNC_B:
+            IS_DSM2(dsmReceiver.protocol) ? dsmReceiverSetNextSyncChannel() : dsmReceiverSetNextChannel();
+            dsmReceiver.timeout = DSM_SYNC_TIMEOUT_US;
+            cyrf6936StartRecv();
+            break;
+        case DSM_RECEIVER_RECV:
+            dsmReceiver.missedPackets++;
+            DEBUG_SET(DEBUG_RX_SPEKTRUM_SPI, 0, dsmReceiver.missedPackets);
+            if (dsmReceiver.missedPackets < DSM_MAX_MISSED_PACKETS) {
+                dsmReceiverSetNextChannel();
+                if (dsmReceiver.crcSeed == ((dsmReceiver.mfgId[0] << 8) + dsmReceiver.mfgId[1])) {
+                    dsmReceiver.timeout = DSM_RECV_SHORT_TIMEOUT_US;
+                } else {
+                    dsmReceiver.timeout = dsmReceiver.numChannels < 8 ? DSM_RECV_LONG_TIMEOUT_US : DSM_RECV_MID_TIMEOUT_US;
+                }
+                cyrf6936StartRecv();
+            } else {
+                setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
+                dsmReceiver.status = DSM_RECEIVER_SYNC_A;
+                dsmReceiver.timeout = DSM_SYNC_TIMEOUT_US;
+            }
+            break;
+#ifdef USE_RX_SPEKTRUM_TELEMETRY
+        case DSM_RECEIVER_TLM:
+            DEBUG_SET(DEBUG_RX_SPEKTRUM_SPI, 2, (cyrf6936ReadRegister(CYRF6936_TX_IRQ_STATUS) & CYRF6936_TXC_IRQ) == 0);
+            dsmReceiverSetNextChannel();
+            dsmReceiver.status = DSM_RECEIVER_RECV;
+            dsmReceiver.timeout = (dsmReceiver.numChannels < 8 ? DSM_RECV_LONG_TIMEOUT_US : DSM_RECV_MID_TIMEOUT_US) - DSM_TELEMETRY_TIMEOUT_US;
+            cyrf6936StartRecv();
+            break;
+#endif
+        default:
+            break;
+        }
+    }
+}
+
 void spektrumSpiSetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload)
 {
     if (rcData && payload) {
@@ -528,9 +562,14 @@ rx_spi_received_e spektrumReadPacket(uint8_t *payload, const uint32_t timeStamp)
         spektrumConfigMutable()->protocol = dsmReceiver.protocol;
         writeEEPROM();
 
-        dsmReceiverStartTransfer();
+        cyrf6936SetDataCode(bindDataCode);
 
+        dsmReceiver.bindPackets = 0;
+        dsmReceiver.status = DSM_RECEIVER_BIND2;
+        dsmReceiver.timeLastPacket = timeStamp;
+        dsmReceiver.timeout = DSM_BIND_TIMEOUT_US;
         dsmReceiver.bound = true;
+
         result = RX_SPI_RECEIVED_BIND;
         break;
     case DSM_RECEIVER_SYNC_A:
@@ -548,6 +587,8 @@ rx_spi_received_e spektrumReadPacket(uint8_t *payload, const uint32_t timeStamp)
             IS_DSM2(dsmReceiver.protocol) ? dsmReceiverSetNextSyncChannel() : dsmReceiverSetNextChannel();
             resetReceiveTimeout(timeStamp);
             cyrf6936StartRecv();
+
+            result = RX_SPI_RECEIVED_DATA;
         }
         break;
     case DSM_RECEIVER_SYNC_B:
@@ -565,6 +606,8 @@ rx_spi_received_e spektrumReadPacket(uint8_t *payload, const uint32_t timeStamp)
                 resetReceiveTimeout(timeStamp);
                 cyrf6936StartRecv();
             }
+
+            result = RX_SPI_RECEIVED_DATA;
         }
         break;
     case DSM_RECEIVER_RECV:
@@ -614,7 +657,7 @@ rx_spi_received_e spektrumSpiDataReceived(uint8_t *payload)
 
     checkTimeout();
 
-    dsmReceiver.bound ? rxSpiLedBlinkRxLoss(result) : rxSpiLedBlinkBind();
+    dsmReceiver.bound ? (dsmReceiver.status == DSM_RECEIVER_BIND2 ? rxSpiLedBlinkRxLoss(RX_SPI_RECEIVED_DATA) : rxSpiLedBlinkRxLoss(result)) : rxSpiLedBlinkBind();
 
     return result;
 }

src/main/rx/cyrf6936_spektrum.h

@@ -23,13 +23,13 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#define DSM_BIND_TIMEOUT_US 10000
+#define DSM_BIND_TIMEOUT_US 11000
 #define DSM_SYNC_TIMEOUT_US 20000
-#define DSM_RECV_LONG_TIMEOUT_US 18010
+#define DSM_RECV_LONG_TIMEOUT_US 18500
-#define DSM_RECV_MID_TIMEOUT_US 7000
+#define DSM_RECV_MID_TIMEOUT_US 7500
-#define DSM_RECV_SHORT_TIMEOUT_US 4010
+#define DSM_RECV_SHORT_TIMEOUT_US 4500
-#define DSM_RECV_TIMEOUT_OFFSET_US 1000
 
+#define DSM_MAX_BIND_PACKETS 500
 #define DSM_MAX_MISSED_PACKETS 31
 
 #define DSM_MAX_RF_CHANNEL 0x4F

src/main/rx/rx_spi_common.c

@@ -94,19 +94,18 @@ void rxSpiLedBlink(timeMs_t blinkMs)
 
 void rxSpiLedBlinkRxLoss(rx_spi_received_e result)
 {
-    static uint16_t rxLossCount = 0;
+    static timeMs_t rxLossMs = 0;
 
     if (ledPin) {
         if (result == RX_SPI_RECEIVED_DATA) {
-            rxLossCount = 0;
             rxSpiLedOn();
         } else {
-            if (rxLossCount  < RX_LOSS_COUNT) {
+            if ((rxLossMs + INTERVAL_RX_LOSS_MS) > millis()) {
-                rxLossCount++;
+                return;
-            } else {
-                rxSpiLedBlink(INTERVAL_RX_LOSS_MS);
             }
+            rxSpiLedToggle();
         }
+        rxLossMs = millis();
     }
 }
 

src/main/rx/rx_spi_common.h

@@ -24,7 +24,6 @@
 
 #define INTERVAL_RX_LOSS_MS 1000
 #define INTERVAL_RX_BIND_MS 250
-#define RX_LOSS_COUNT 1000
 
 void rxSpiCommonIOInit(const rxSpiConfig_t *rxSpiConfig);
 

src/main/target/STM32_UNIFIED/target.h

@@ -249,4 +249,7 @@
 #define USE_RX_FLYSKY
 #define USE_RX_FLYSKY_SPI_LED
 
+#define USE_RX_SPEKTRUM
+#define USE_RX_SPEKTRUM_TELEMETRY
+
 #define USE_CUSTOM_DEFAULTS

src/test/unit/rx_spi_spektrum_unittest.cc

@@ -44,12 +44,13 @@ extern "C" {
     #define IS_DSMX(x) (!IS_DSM2(x))
 
     typedef enum {
-        DSM_RECEIVER_BIND = 0x0,
+        DSM_RECEIVER_BIND = 0,
-        DSM_RECEIVER_SYNC_A = 0x1,
+        DSM_RECEIVER_BIND2,
-        DSM_RECEIVER_SYNC_B = 0x2,
+        DSM_RECEIVER_SYNC_A,
-        DSM_RECEIVER_RECV = 0x3,
+        DSM_RECEIVER_SYNC_B,
+        DSM_RECEIVER_RECV,
     #ifdef USE_RX_SPEKTRUM_TELEMETRY
-        DSM_RECEIVER_TLM = 0x4,
+        DSM_RECEIVER_TLM,
     #endif
     } dsm_receiver_status_e;
 
@@ -75,6 +76,8 @@ extern "C" {
         uint32_t timeout;
         uint32_t timeLastPacket;
 
+        uint16_t bindPackets;
+
     #ifdef USE_RX_SPEKTRUM_TELEMETRY
         uint32_t timeLastTelemetry;
         bool sendTelemetry;
@@ -375,6 +378,7 @@ extern "C" {
     void cyrf6936SetSopCode(const uint8_t ) {}
     void cyrf6936SetDataCode(const uint8_t ) {}
     void cyrf6936StartRecv(void) {}
+    void cyrf6936SendLen(uint8_t *, const uint8_t ) {}
     void cyrf6936RecvLen(uint8_t *data, const uint8_t length)
     {
         if (length == packetLen) {