added sumd serial receiver support by cesco/Plüschi

src/sumd.c

@@ -0,0 +1,76 @@
+#include "board.h"
+#include "mw.h"
+
+// driver for SUMD receiver using UART2
+
+#define SUMD_SYNCBYTE 0xA8
+#define SUMD_MAX_CHANNEL 8
+#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 -> 17 bytes for 6 channels
+
+static bool sumdFrameDone = false;
+static void sumdDataReceive(uint16_t c);
+static uint16_t sumdReadRawRC(uint8_t chan);
+
+static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
+
+void sumdInit(rcReadRawDataPtr *callback)
+{
+    core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
+    if (callback) 
+        *callback = sumdReadRawRC;
+}
+
+static uint8_t sumd[SUMD_BUFFSIZE] = { 0, };
+static uint8_t sumdSize;
+
+// Receive ISR callback
+static void sumdDataReceive(uint16_t c)
+{
+    uint32_t sumdTime;
+    static uint32_t sumdTimeLast;
+    static uint8_t sumdIndex;
+
+    sumdTime = micros();
+    if ((sumdTime - sumdTimeLast) > 4000) 
+        sumdIndex = 0;
+    sumdTimeLast = sumdTime;
+
+    if (sumdIndex == 0) {
+        if (c != SUMD_SYNCBYTE) 
+            return;
+        else
+            sumdFrameDone = false; // lazy main loop didnt fetch the stuff
+    }
+    if (sumdIndex == 2) 
+        sumdSize = (uint8_t)c;
+    if (sumdIndex < SUMD_BUFFSIZE)
+        sumd[sumdIndex] = (uint8_t)c;
+    sumdIndex++;
+    if (sumdIndex == sumdSize * 2 + 5) {
+        sumdIndex = 0;
+        sumdFrameDone = true;
+    }
+}
+
+bool sumdFrameComplete(void)
+{
+    uint8_t b;
+
+    if (sumdFrameDone) {
+        sumdFrameDone = false;
+        if (sumd[1] == 0x01) {
+            failsafeCnt = 0;
+            if (sumdSize > SUMD_MAX_CHANNEL) 
+                sumdSize = SUMD_MAX_CHANNEL;
+            for (b = 0; b < sumdSize; b++)
+                sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]);
+            return true;
+        }
+    }
+    return false;
+}
+
+static uint16_t sumdReadRawRC(uint8_t chan)
+{
+    return sumdChannelData[mcfg.rcmap[chan]] / 8;
+}