SBUS

companion/src/firmwares/opentx/opentxTaranisSimulator.cpp

@@ -108,6 +108,7 @@ inline int geteepromsize() {
 #include "radio/src/keys.cpp"
 #include "radio/src/bmp.cpp"
 #include "radio/src/haptic.cpp"
+#include "radio/src/sbus.cpp"
 #include "radio/src/targets/taranis/haptic_driver.cpp"
 // TODO Because FatFS in not C++ there cannot be namespaces there and the functions are defined several times!
 #undef SDCARD

radio/src/Makefile

@@ -683,7 +683,7 @@ ifeq ($(PCB), TARANIS)
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp eeprom_conversions.cpp
   LCDSRC = lcd_common.cpp lcd_taranis.cpp
   PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp
-  CPPSRC += audio_arm.cpp
+  CPPSRC += audio_arm.cpp sbus.cpp
   CPPSRC += targets/taranis/pulses_driver.cpp targets/taranis/keys_driver.cpp targets/taranis/adc_driver.cpp targets/taranis/trainer_driver.cpp targets/taranis/audio_driver.cpp targets/taranis/uart3_driver.cpp targets/taranis/telemetry_driver.cpp
   CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp
   SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/CMSIS/Device/ST/STM32F2xx/Source/Templates/system_stm32f2xx.c

radio/src/myeeprom.h

@@ -308,6 +308,7 @@ enum uartModes {
   UART_MODE_NONE,
   UART_MODE_TELEMETRY_MIRROR,
   UART_MODE_TELEMETRY,
+  UART_MODE_SBUS_TRAINER,
 #if defined(DEBUG)
   UART_MODE_DEBUG,
 #endif

radio/src/opentx.cpp

@@ -2216,6 +2216,10 @@ void doMixerCalculations()
 
   getADC();
 
+#if defined(PCBTARANIS)
+  processSbusInput();
+#endif
+
   getSwitchesPosition(!s_mixer_first_run_done);
 
 #if defined(CPUARM)

radio/src/opentx.h

@@ -949,6 +949,10 @@ void checkAll();
   void getADC();
 #endif
 
+#if defined(PCBTARANIS)
+void processSbusInput();
+#endif
+
 extern void backlightOn();
 
 enum Analogs {

radio/src/sbus.cpp

@@ -0,0 +1,88 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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.
+ *
+ */
+
+#include "opentx.h"
+
+Fifo<28> sbusFifo;
+uint8_t SbusFrame[28] ;
+uint16_t SbusTimer ;
+uint8_t SbusIndex = 0 ;
+
+void processSbusFrame(uint8_t *sbus, int16_t *pulses)
+{
+  uint32_t inputbitsavailable = 0;
+  uint32_t inputbits = 0;
+
+  if (*sbus++ != 0x0F) {
+    return; // not a valid SBUS frame
+  }
+
+  for (uint32_t i=0; i<NUM_TRAINER; i++) {
+    while (inputbitsavailable < 11) {
+      inputbits |= *sbus++ << inputbitsavailable;
+      inputbitsavailable += 8;
+    }
+    *pulses++ = ((int32_t) (inputbits & 0x7FF) - 0x3E0) * 5 / 8;
+    inputbitsavailable -= 11;
+    inputbits >>= 11;
+  }
+}
+
+#define SBUS_DELAY 1000 // 500uS
+void processSbusInput()
+{
+  uint8_t rxchar;
+  uint32_t active = 0;
+  while (sbusFifo.pop(rxchar)) {
+    active = 1;
+    SbusFrame[SbusIndex++] = rxchar;
+    if (SbusIndex > 27) {
+      SbusIndex = 27;
+    }
+  }
+  if (active) {
+    SbusTimer = getTmr2MHz();
+    return;
+  }
+  else {
+    if (SbusIndex) {
+      if ((uint16_t) (getTmr2MHz() - SbusTimer) > SBUS_DELAY) {
+        processSbusFrame(SbusFrame, g_ppmIns);
+        SbusIndex = 0;
+      }
+    }
+  }
+}

radio/src/targets/taranis/uart3_driver.cpp

@@ -36,9 +36,10 @@
 
 #include "../../opentx.h"
 
-bool uart3Telemetry = false;
+uint8_t uart3Mode = UART_MODE_NONE;
 Fifo<512> uart3TxFifo;
 extern Fifo<512> telemetryFifo;
+extern Fifo<28> sbusFifo;
 
 void uart3Setup(unsigned int baudrate)
 {
@@ -79,7 +80,8 @@ void uart3Setup(unsigned int baudrate)
 void uart3Init(unsigned int mode, unsigned int protocol)
 {
   USART_DeInit(USART3);
-  uart3Telemetry = false;
+
+  uart3Mode = false;
 
   switch (mode) {
     case UART_MODE_TELEMETRY_MIRROR:
@@ -93,10 +95,15 @@ void uart3Init(unsigned int mode, unsigned int protocol)
     case UART_MODE_TELEMETRY:
       if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
         uart3Setup(FRSKY_D_BAUDRATE);
-        uart3Telemetry = true;
       }
       break;
+    case UART_MODE_SBUS_TRAINER:
+      uart3Setup(100000);
+      USART3->CR1 |= USART_CR1_M | USART_CR1_PCE ;
+      break;
   }
+
+  uart3Mode = mode;
 }
 
 void uart3Putc(const char c)
@@ -108,7 +115,7 @@ void uart3Putc(const char c)
 #if defined(DEBUG)
 void debugPutc(const char c)
 {
-  if (g_eeGeneral.uart3Mode == UART_MODE_DEBUG) {
+  if (uart3Mode == UART_MODE_DEBUG) {
     uart3Putc(c);
   }
 }
@@ -135,8 +142,15 @@ extern "C" void USART3_IRQHandler(void)
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
     uint8_t data = USART3->DR;
 
-    if (uart3Telemetry && !(status & USART_FLAG_ERRORS)) {
+    if (!(status & USART_FLAG_ERRORS)) {
-      telemetryFifo.push(data);
+      switch (uart3Mode) {
+        case UART_MODE_TELEMETRY:
+          telemetryFifo.push(data);
+          break;
+        case UART_MODE_SBUS_TRAINER:
+          sbusFifo.push(data);
+          break;
+      }
     }
 
     status = USART3->SR;

radio/src/translations/cz.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "VYP\0           ""S-Port Mirror\0 ""Telemetrie\0    ""Debug\0         "
+#define TR_UART3MODES          "VYP\0           ""S-Port Mirror\0 ""Telemetrie\0    ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "Není\0          ""Pot s aretací\0 ""Vícepol. přep.\0""Potenciometr\0"

radio/src/translations/de.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "AUS\0           ""S-Port DataOut\0""Telemetrie\0    ""Debug\0         "
+#define TR_UART3MODES          "AUS\0           ""S-Port DataOut\0""Telemetrie\0    ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES           "\017" 
 #define TR_POTTYPES            "Kein\0          ""Poti mit Raste ""Stufen-Schalter""Poti ohne Raste\0"

radio/src/translations/en.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""Debug\0         "
+#define TR_UART3MODES          "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""SBUS Trainer\0  ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "None\0          ""Pot with detent""Multipos Switch""Pot\0"

radio/src/translations/es.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""Debug\0         "
+#define TR_UART3MODES          "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "None\0          ""Pot with detent""Multipos Switch""Pot\0"

radio/src/translations/fi.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "POIS\0          ""S-Port Pelik\0  ""Telemetry\0     ""Debug\0         "
+#define TR_UART3MODES          "POIS\0          ""S-Port Pelik\0  ""Telemetry\0     ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "None\0          ""Pot with detent""Monias. Kytkin\0""Potikka\0"

radio/src/translations/fr.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "OFF\0           ""Recopie S-Port\0""Telemetrie\0    ""Debug\0         "
+#define TR_UART3MODES          "OFF\0           ""Recopie S-Port\0""Telemetrie\0    ""Ecolage SBUS\0  ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "Rien\0          ""Pot avec centre""Inter multi-pos""Potentiomètre\0"

radio/src/translations/it.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "ch1ch2ch3ch4"
                                
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "OFF\0           ""Replica Porta-S""Telemetria\0    ""Debug\0         "
+#define TR_UART3MODES          "OFF\0           ""Replica Porta-S""Telemetria\0    ""Trainer\0       ""Debug\0         "
                                
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "None\0          ""Pot. con centro""Inter. Multipos""Potenziometro\0 "

radio/src/translations/pl.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "KN1KN2KN3KN4"
 
 #define LEN_UART3MODES         "\017"
-#define TR_UART3MODES          "Wyłącz\0        ""S-Port Mirror\0 ""Telemetry\0     ""Debug\0         "
+#define TR_UART3MODES          "Wyłącz\0        ""S-Port Mirror\0 ""Telemetry\0     ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES           "\017"
 #define TR_POTTYPES            "Brak\0          ""Poten z zapadką""Przeł.Wielopoz.""Potencjometr\0"

radio/src/translations/pt.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN        "CH1CH2CH3CH4"
 
 #define LEN_UART3MODES   "\017"
-#define TR_UART3MODES    "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""Debug\0         "
+#define TR_UART3MODES    "OFF\0           ""S-Port Mirror\0 ""Telemetry\0     ""Trainer\0       ""Debug\0         "
 
 #define LEN_POTTYPES     "\017"
 #define TR_POTTYPES      "None\0          ""Pot with detent""Multipos Switch""Pot\0"

radio/src/translations/se.h.txt

@@ -80,7 +80,7 @@
 #define TR_TRNCHN              "KN1KN2KN3KN4"
 
 #define LEN_UART3MODES         "\022"
-#define TR_UART3MODES          "Av\0               ""Spegling av S-Port""Telemetri\0        ""Debug\0            "
+#define TR_UART3MODES          "Av\0               ""Spegling av S-Port""Telemetri\0        ""Trainer\0          ""Debug\0            "
 
 #define LEN_POTTYPES           "\020"
 #define TR_POTTYPES            "Ingen\0          ""Mittläges-pot\0  ""Flerlägesväljare""Potentiometer\0"