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Cleanup of code (whitespaces/defines etc). Added initial text for docs about XBus and its configurations.
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Stefan Grufman
parent
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commit
67cce3b9a0
2 changed files with 102 additions and 71 deletions
17
docs/Rx.md
17
docs/Rx.md
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@ -22,6 +22,21 @@ Allows you to use MSP commands as the RC input. Only 8 channel support to maint
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16 channels via serial currently supported.
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## XBus
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The firmware currently supports the MODE B version of the XBus protocol.
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Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
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See here for info on JR's XBus protocol: http://www.jrpropo.com/english/propo/XBus/
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Tested hardware: JR XG14 + RG731BX with NAZE32 (rev4)
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With the current CLI configuration:
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`set serialrx_provider=5`
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`set serial_port_2_scenario=3`
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`feature RX_SERIAL`
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This will set the FW to use serial RX, with XBUS_MODE_B as provider and finally the scenario to be used for serial port 2.
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Please note that your config may vary depending on hw used.
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### OpenTX configuration
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If using OpenTX set the transmitter module to D16 mode and select CH1-16 on the transmitter before binding to allow reception
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@ -53,6 +68,8 @@ For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` cli setting as
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| SBUS | 2 |
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| SUMD | 3 |
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| SUMH | 4 |
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| XBUS_MODE_B | 5 |
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#### PPM/PWM input filtering.
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@ -30,7 +30,9 @@
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#include "rx/rx.h"
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#include "rx/xbus.h"
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// driver for xbus mode B receiver
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//
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// Serial driver for JR's XBus (MODE B) receiver
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//
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#define XBUS_CHANNEL_COUNT 12
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@ -39,12 +41,30 @@
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#define XBUS_CRC_BYTE_1 25
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#define XBUS_CRC_BYTE_2 26
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#define XBUS_CRC_AND_VALUE 0x8000
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#define XBUS_CRC_XOR_VALUE 0x1021
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#define XBUS_BAUDRATE 115200
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#define XBUS_MAX_FRAME_TIME 5000
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// NOTE!
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// This is actually based on ID+LENGTH (nibble each)
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// 0xA - Multiplex ID (also used by JR, no idea why)
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// 0x1 - 12 channels
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// 0x2 - 16 channels
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// However, the JR XG14 that is used for test at the moment
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// does only use 0xA1 as its output. This is why the implementation
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// is based on these numbers only. Maybe update this in the future?
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#define XBUS_START_OF_FRAME_BYTE (0xA1)
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// Pulse length convertion from [0...4095] to µs:
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// 800µs -> 0x000
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// 1500µs -> 0x800
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// 2200µs -> 0xFFF
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// Total range is: 2200 - 800 = 1400 <==> 4095
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// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
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#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
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static bool xbusFrameReceived = false;
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static bool xbusDataIncoming = false;
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static uint8_t xbusFramePosition;
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@ -52,7 +72,6 @@ static uint8_t xbusFramePosition;
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static volatile uint8_t xbusFrame[XBUS_FRAME_SIZE];
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static uint16_t xbusChannelData[XBUS_CHANNEL_COUNT];
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static void xbusDataReceive(uint16_t c);
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static uint16_t xbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
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@ -75,14 +94,14 @@ bool xbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
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xbusFramePosition = 0;
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break;
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default:
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return false;
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return false;
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break;
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}
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xbusPort = openSerialPort(FUNCTION_SERIAL_RX, xbusDataReceive, XBUS_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED);
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if (callback) {
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*callback = xbusReadRawRC;
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}
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}
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return xbusPort != NULL;
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}
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@ -90,81 +109,76 @@ bool xbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
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// The xbus mode B CRC calculations
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static uint16_t xbusCRC16(uint16_t crc, uint8_t value)
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{
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uint8_t i;
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crc = crc ^ (int16_t)value<<8;
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for (i = 0; i < 8; i++)
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{
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if(crc & 0x8000) {
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crc = crc << 1^0x1021;
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} else {
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crc = crc << 1;
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}
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}
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return crc;
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uint8_t i;
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crc = crc ^ (int16_t)value << 8;
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for (i = 0; i < 8; i++)
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{
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if (crc & XBUS_CRC_AND_VALUE) {
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crc = crc << 1 ^ XBUS_CRC_XOR_VALUE;
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} else {
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crc = crc << 1;
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}
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}
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return crc;
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}
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static void xbusUnpackFrame(void)
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{
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// Calculate the CRC of the incoming frame
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uint16_t crc = 0;
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uint16_t inCrc = 0;
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uint8_t i = 0;
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uint16_t value;
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uint8_t frameAddr;
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// Calculate on all bytes except the final two CRC bytes
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for (i=0; i<XBUS_FRAME_SIZE-2; i++)
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{
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inCrc = xbusCRC16(inCrc, xbusFrame[i]);
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}
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// Get the received CRC
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crc = ((uint16_t)xbusFrame[XBUS_CRC_BYTE_1])<<8;
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crc = crc + ((uint16_t)xbusFrame[XBUS_CRC_BYTE_2]);
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if (crc == inCrc)
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{
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// Unpack the data, we have a valid frame
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for (i=0; i<XBUS_CHANNEL_COUNT; i++) {
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frameAddr = 1+i*2;
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value = ((uint16_t)xbusFrame[frameAddr])<<8;
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value = value + ((uint16_t)xbusFrame[frameAddr+1]);
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// Scale
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// 800µs 0x000
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// 1500µs 0x800
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// 2200µs 0xFFF
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// 2200 - 800 = 1400 <==> 4095
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// 4095 / 3 = 1365 (close enough)
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xbusChannelData[i] = 818 + value/3;
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}
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xbusFrameReceived = true;
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}
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// Calculate the CRC of the incoming frame
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uint16_t crc = 0;
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uint16_t inCrc = 0;
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uint8_t i = 0;
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uint16_t value;
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uint8_t frameAddr;
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// Calculate on all bytes except the final two CRC bytes
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for (i = 0; i < XBUS_FRAME_SIZE - 2; i++)
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{
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inCrc = xbusCRC16(inCrc, xbusFrame[i]);
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}
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// Get the received CRC
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crc = ((uint16_t)xbusFrame[XBUS_CRC_BYTE_1]) << 8;
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crc = crc + ((uint16_t)xbusFrame[XBUS_CRC_BYTE_2]);
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if (crc == inCrc)
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{
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// Unpack the data, we have a valid frame
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for (i = 0; i < XBUS_CHANNEL_COUNT; i++) {
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frameAddr = 1 + i * 2;
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value = ((uint16_t)xbusFrame[frameAddr]) << 8;
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value = value + ((uint16_t)xbusFrame[frameAddr + 1]);
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// Convert to internal format
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xbusChannelData[i] = XBUS_CONVERT_TO_USEC(value);
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}
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xbusFrameReceived = true;
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}
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}
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// Receive ISR callback
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static void xbusDataReceive(uint16_t c)
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{
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// Check if we shall start a frame?
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if ((xbusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
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xbusDataIncoming = true;
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}
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// Only do this if we are receiving to a frame
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if (xbusDataIncoming == true) {
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// Store in frame copy
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xbusFrame[xbusFramePosition] = (uint8_t)c;
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xbusFramePosition++;
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}
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{
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// Check if we shall start a frame?
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if ((xbusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
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xbusDataIncoming = true;
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}
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// Only do this if we are receiving to a frame
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if (xbusDataIncoming == true) {
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// Store in frame copy
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xbusFrame[xbusFramePosition] = (uint8_t)c;
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xbusFramePosition++;
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}
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// Done?
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if (xbusFramePosition == XBUS_FRAME_SIZE) {
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xbusUnpackFrame();
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xbusUnpackFrame();
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xbusDataIncoming = false;
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xbusFramePosition = 0;
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}
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@ -180,12 +194,12 @@ static uint16_t xbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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{
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uint16_t data;
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// Mark frame as read
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if (xbusFrameReceived) {
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// Mark frame as read
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if (xbusFrameReceived) {
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xbusFrameReceived = false;
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}
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// Deliver the data wanted
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// Deliver the data wanted
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if (chan >= rxRuntimeConfig->channelCount) {
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return 0;
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}
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