SPort_Send sequencer

Multiprotocol/Binary_Signature.ino

@@ -0,0 +1,181 @@
+/*
+ This project is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Multiprotocol 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.
+
+ You should have received a copy of the GNU General Public License
+ along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/************************/
+/** Firmware Signature **/
+/************************/
+
+/*
+The firmware signature is appended to the compiled binary image in order to provide information
+about the options used to compile the firmware file.  This information is then used by Multi-module 
+flashing tools to verify that the image is correct / valid.
+
+In order for the build process to determine the options used to build the firmware this file conditionally
+declares 'flag' variables for the options we are interested in.
+
+When the pre-compiler parses the source code these variables are either present or not in the parsed cpp file,
+typically '$build_dir$/preproc/ctags_target_for_gcc_minus_e.cpp'.
+
+Once the .bin file is compiled an additional command-line tool scans the parsed cpp file, detects the flags,
+assembles the signature, and finally appends to the end of the binary file.
+
+The signature is 24 bytes long:
+multi-x[8-byte hex code]-[8-byte version number]
+
+For example:
+multi-x1234abcd-01020199
+
+The 8-byte hex code is a 32-bit bitmask value indicating the configuration options, currently:
+
+Bit(s)  Option                  Comment
+1-2     Module type             Read as a two-bit value indicating a number from 0-3 which maps to a module type (AVR, STM32, OrangeRX)
+3-7     Channel order           Read as a five-bit value indicating a number from 0-23 which maps to as channel order (AETR, TAER, RETA, etc)
+8       Bootloader support      Indicates whether or not the firmware was built with support for the bootloader
+9       CHECK_FOR_BOOTLOADER    
+10      INVERT_TELEMETRY
+11      MULTI_STATUS
+12      MULTI_TELEMETRY
+13      DEBUG_SERIAL
+
+The 8-byte version number is the version number zero-padded to a fixed width of two-bytes per segment and no separator.  
+E.g. 1.2.3.45 becomes 01020345.
+
+Module types are mapped to the following decimal / binary values:
+
+Module Type     Decimal Value   Binary Valsue
+AVR             0               00
+STM32           1               01
+OrangeRX        2               10
+
+Channel orders are mapped to the following decimal / binary values:
+
+Channel Order	  Decimal Value	  Binary Value
+AETR	          0	              00000
+AERT	          1	              00001
+ARET	          2	              00010
+ARTE	          3	              00011
+ATRE	          4	              00100
+ATER	          5	              00101
+EATR	          6	              00110
+EART	          7	              00111
+ERAT	          8	              01000
+ERTA	          9	              01001
+ETRA	          10	            01010
+ETAR	          11	            01011
+TEAR	          12	            01100
+TERA	          13	            01101
+TREA	          14	            01110
+TRAE	          15	            01111
+TARE	          16	            10000
+TAER	          17	            10001
+RETA	          18	            10010
+REAT	          19	            10011
+RAET	          20	            10100
+RATE	          21	            10101
+RTAE	          22	            10110
+RTEA	          23	            10111
+
+*/
+ 
+// Set the flags for detecting and writing the firmware signature
+#if defined (CHECK_FOR_BOOTLOADER)
+    bool firmwareFlag_CHECK_FOR_BOOTLOADER = true;
+#endif
+#if defined (INVERT_TELEMETRY)
+    bool firmwareFlag_INVERT_TELEMETRY = true;
+#endif
+#if defined (MULTI_STATUS)
+    bool firmwareFlag_MULTI_STATUS = true;
+#endif
+#if defined (MULTI_TELEMETRY)
+    bool firmwareFlag_MULTI_TELEMETRY = true;
+#endif
+#if defined (DEBUG_SERIAL)
+    bool firmwareFlag_DEBUG_SERIAL = true;
+#endif
+
+// Channel order flags
+#if defined (AETR)
+    bool firmwareFlag_ChannelOrder_AETR = true;
+#endif
+#if defined (AERT)
+    bool firmwareFlag_ChannelOrder_AERT = true;
+#endif
+#if defined (ARET)
+    bool firmwareFlag_ChannelOrder_ARET = true;
+#endif
+#if defined (ARTE)
+    bool firmwareFlag_ChannelOrder_ARTE = true;
+#endif
+#if defined (ATRE)
+    bool firmwareFlag_ChannelOrder_ATRE = true;
+#endif
+#if defined (ATER)
+    bool firmwareFlag_ChannelOrder_ATER = true;
+#endif
+#if defined (EATR)
+    bool firmwareFlag_ChannelOrder_EATR = true;
+#endif
+#if defined (EART)
+    bool firmwareFlag_ChannelOrder_EART = true;
+#endif
+#if defined (ERAT)
+    bool firmwareFlag_ChannelOrder_ERAT = true;
+#endif
+#if defined (ERTA)
+    bool firmwareFlag_ChannelOrder_ERTA = true;
+#endif
+#if defined (ETRA)
+    bool firmwareFlag_ChannelOrder_ETRA = true;
+#endif
+#if defined (ETAR)
+    bool firmwareFlag_ChannelOrder_ETAR = true;
+#endif
+#if defined (TEAR)
+    bool firmwareFlag_ChannelOrder_TEAR = true;
+#endif
+#if defined (TERA)
+    bool firmwareFlag_ChannelOrder_TERA = true;
+#endif
+#if defined (TREA)
+    bool firmwareFlag_ChannelOrder_TREA = true;
+#endif
+#if defined (TRAE)
+    bool firmwareFlag_ChannelOrder_TRAE = true;
+#endif
+#if defined (TARE)
+    bool firmwareFlag_ChannelOrder_TARE = true;
+#endif
+#if defined (TAER)
+    bool firmwareFlag_ChannelOrder_TAER = true;
+#endif
+#if defined (RETA)
+    bool firmwareFlag_ChannelOrder_RETA = true;
+#endif
+#if defined (REAT)
+    bool firmwareFlag_ChannelOrder_REAT = true;
+#endif
+#if defined (RAET)
+    bool firmwareFlag_ChannelOrder_RAET = true;
+#endif
+#if defined (RATE)
+    bool firmwareFlag_ChannelOrder_RATE = true;
+#endif
+#if defined (RTAE)
+    bool firmwareFlag_ChannelOrder_RTAE = true;
+#endif
+#if defined (RTEA)
+    bool firmwareFlag_ChannelOrder_RTEA = true;
+#endif

Multiprotocol/FrSkyX_cc2500.ino

@@ -20,9 +20,19 @@
 #include "iface_cc2500.h"
 
 uint8_t FrSkyX_chanskip;
-uint8_t FrSkyX_TX_Seq ;
+uint8_t FrSkyX_TX_Seq, FrSkyX_TX_IN_Seq;
 uint8_t FrSkyX_RX_Seq ;
 
+#ifdef SPORT_SEND
+	struct t_FrSkyX_TX_Frame
+	{
+		uint8_t count;
+		uint8_t payload[6];
+	} ;
+	// Store FrskyX telemetry
+	struct t_FrSkyX_TX_Frame FrSkyX_TX_Frames[4] ;
+#endif
+
 #define FrSkyX_FAILSAFE_TIMEOUT 1032
 
 static void __attribute__((unused)) FrSkyX_set_start(uint8_t ch )
@@ -178,30 +188,70 @@ static void __attribute__((unused)) FrSkyX_build_packet()
 	else
 		chan_offset^=0x08;
 	
-	//sequence
+	//sequence and send SPort
-	packet[21] = (FrSkyX_RX_Seq << 4) | FrSkyX_TX_Seq ;//=8 at startup
-
 	uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
 	for (uint8_t i=22;i<limit;i++)
 		packet[i]=0;
+	packet[21] = FrSkyX_RX_Seq << 4;//TX=8 at startup
 	#ifdef SPORT_SEND
+		if (FrSkyX_TX_IN_Seq!=0xFF)
+		{//RX has replied at least once
+			debugln("R:%X,T:%X",FrSkyX_TX_IN_Seq,FrSkyX_TX_Seq);
+			if (FrSkyX_TX_IN_Seq & 0x08)
+			{//Request init
+				debugln("Init");
+				FrSkyX_TX_Seq = 0 ;	
+				for(uint8_t i=0;i<4;i++)
+					FrSkyX_TX_Frames[i].count=0;	// discard frames in current output buffer
+			}
+			else if (FrSkyX_TX_IN_Seq & 0x04)
+			{//Retransmit the requested packet
+				debugln("Retr:%d",FrSkyX_TX_IN_Seq&0x03);
+				for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;i++)
+					packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].payload[i];
+				packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;
+				packet[21] |= FrSkyX_TX_IN_Seq&0x03;
+			}
+			else if ( FrSkyX_TX_Seq != 0x08 )
+			{
+				if(FrSkyX_TX_IN_Seq==FrSkyX_TX_Seq)
+				{//Send packet from the incoming radio buffer
 					uint8_t nbr_bytes=0;
 					for (uint8_t i=23;i<limit;i++)
 					{
 						if(SportHead==SportTail)
 							break; //buffer empty
-			packet[i]=SportData[SportHead];
+						FrSkyX_TX_Frames[FrSkyX_TX_Seq].payload[i-23]=packet[i]=SportData[SportHead];
 						SportHead=(SportHead+1) & (MAX_SPORT_BUFFER-1);
 						nbr_bytes++;
 					}
-		packet[22]=nbr_bytes;
+					FrSkyX_TX_Frames[FrSkyX_TX_Seq].count=packet[22]=nbr_bytes;
-		if(nbr_bytes)
+					packet[21] |= FrSkyX_TX_Seq;
-		{
+					FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ;	// Next iteration send next packet
+				}
+				else
+				{//Retransmit the last packet
+					debugln("Retr:%d",FrSkyX_TX_IN_Seq);
+					for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;i++)
+						packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].payload[i];
+					packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;
+					packet[21] |= FrSkyX_TX_IN_Seq;
+				}
+			}
+			else
+				packet[21] |= 0x08 ;							//FrSkyX_TX_Seq=8 at startup
+		}
+		if(packet[22])
+		{//Debug
 			debug("SPort_out: ");
-			for(uint8_t i=0;i<nbr_bytes;i++)
+			for(uint8_t i=0;i<packet[22];i++)
 				debug("%02X ",packet[23+i]);
 			debugln("");
 		}
+	#else
+		packet[21] |= FrSkyX_TX_Seq ;//TX=8 at startup
+		if ( !(FrSkyX_TX_IN_Seq & 0xF8) )
+			FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ;		// Next iteration send next packet
 	#endif // SPORT_SEND
 
 	uint16_t lcrc = FrSkyX_crc(&packet[3], limit-3);
@@ -274,8 +324,12 @@ uint16_t ReadFrSkyX()
 				// restart sequence on missed packet - might need count or timeout instead of one missed
 				if(packet_count>100)
 				{//~1sec
-					FrSkyX_TX_Seq = 0x08 ;
+					FrSkyX_TX_Seq = 0x08 ;			// Request init
-					//FrSkyX_RX_Seq = 0 ;
+					FrSkyX_TX_IN_Seq = 0xFF ;		// No sequence received yet
+					#ifdef SPORT_SEND
+						for(uint8_t i=0;i<4;i++)
+							FrSkyX_TX_Frames[i].count=0;	// discard frames in current output buffer
+					#endif
 					packet_count=0;
 					#if defined TELEMETRY
 						telemetry_lost=1;
@@ -284,8 +338,6 @@ uint16_t ReadFrSkyX()
 				CC2500_Strobe(CC2500_SFRX);			//flush the RXFIFO
 			}
 			FrSkyX_build_packet();
-			if ( FrSkyX_TX_Seq != 0x08 )
-				FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ;
 			state = FRSKY_DATA1;
 			return 500;
 	}		
@@ -316,8 +368,13 @@ uint16_t initFrSkyX()
 		state = FRSKY_DATA1;
 		FrSkyX_initialize_data(0);
 	}
-	FrSkyX_TX_Seq = 0x08 ;
+	FrSkyX_TX_Seq = 0x08 ;					// Request init
-	FrSkyX_RX_Seq = 0 ;
+	FrSkyX_TX_IN_Seq = 0xFF ;				// No sequence received yet
+	#ifdef SPORT_SEND
+		for(uint8_t i=0;i<4;i++)
+			FrSkyX_TX_Frames[i].count=0;	// discard frames in current output buffer
+	#endif
+	FrSkyX_RX_Seq = 0 ;						// Seq 0 to start with
 	return 10000;
 }	
 #endif

Multiprotocol/Multiprotocol.h

@@ -19,7 +19,7 @@
 #define VERSION_MAJOR		1
 #define VERSION_MINOR		3
 #define VERSION_REVISION	0
-#define VERSION_PATCH_LEVEL	2
+#define VERSION_PATCH_LEVEL	4
 
 //******************
 // Protocols
@@ -303,7 +303,7 @@ enum FRSKYX_RX
 
 struct PPM_Parameters
 {
-	uint8_t protocol : 6;
+	uint8_t protocol : 7;
 	uint8_t sub_proto : 3;
 	uint8_t rx_num : 4;
 	uint8_t power : 1;
@@ -589,8 +589,12 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
   Total of 26 bytes
   Stream[0]   = 0x55	sub_protocol values are 0..31	Stream contains channels
   Stream[0]   = 0x54	sub_protocol values are 32..63	Stream contains channels
+  Stream[0]   = 0x51	sub_protocol values are 64..95	Stream contains channels
+  Stream[0]   = 0x50	sub_protocol values are 96..127	Stream contains channels
   Stream[0]   = 0x57	sub_protocol values are 0..31	Stream contains failsafe
   Stream[0]   = 0x56	sub_protocol values are 32..63	Stream contains failsafe
+  Stream[0]   = 0x53	sub_protocol values are 64..95	Stream contains failsafe
+  Stream[0]   = 0x52	sub_protocol values are 96..127	Stream contains failsafe
   Stream[0]  |= 0x20	any of the above + 8 additional bytes at the end of the stream available for the current sub_protocol
    header
   Stream[1]   = sub_protocol|BindBit|RangeCheckBit|AutoBindBit;

Multiprotocol/Multiprotocol.ino

@@ -1483,9 +1483,13 @@ void update_serial_data()
 			BIND_IN_PROGRESS;					//launch bind right away if in autobind mode or bind is set
 		else
 			BIND_DONE;
-		protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F);	//protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0]
+		protocol=rx_ok_buff[1]&0x1F;			//protocol no (0-31)
+		if(!(rx_ok_buff[0]&1))
+			protocol+=32;						//protocol no (0-63)
+		if(!(rx_ok_buff[0]&4))
+			protocol+=64;						//protocol no (0-127)
 		sub_protocol=(rx_ok_buff[2]>>4)& 0x07;	//subprotocol no (0-7) bits 4-6
-		RX_num=rx_ok_buff[2]& 0x0F;				// rx_num bits 0---3
+		RX_num=rx_ok_buff[2]& 0x0F;				// rx_num bits 0-3
 	}
 	else
 		if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) )		// Bind flag has been set
@@ -1936,39 +1940,32 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
 				rx_buff[0]=UDR0;
 				#ifdef SERIAL_DATA_ENABLE
 					#ifdef FAILSAFE_ENABLE
-						if((rx_buff[0]&0xDC)==0x54)	// If 1st byte is 0x74, 0x75, 0x76, 0x77, 0x54, 0x55, 0x56 or 0x57 it looks ok
+						if((rx_buff[0]&0xD8)==0x50)					// If 1st byte is 0x74, 0x75, 0x76, 0x77, 0x54, 0x55, 0x56 or 0x57 it looks ok
 					#else
-						if((rx_buff[0]&0xDE)==0x54)	// If 1st byte is 0x74, 0x75, 0x54 or 0x55 it looks ok
+						if((rx_buff[0]&0xDA)==0x50)					// If 1st byte is 0x74, 0x75, 0x54 or 0x55 it looks ok
 					#endif
 				#else
 					#ifdef FAILSAFE_ENABLE
-						if((rx_buff[0]&0xFC)==0x54)	// If 1st byte is 0x58, 0x54, 0x55, 0x56 or 0x57 it looks ok
+						if((rx_buff[0]&0xF8)==0x50)					// If 1st byte is 0x58, 0x54, 0x55, 0x56 or 0x57 it looks ok
 					#else
-						if((rx_buff[0]&0xFE)==0x54)	// If 1st byte is 0x58, 0x54 or 0x55 it looks ok
+						if((rx_buff[0]&0xFA)==0x50)					// If 1st byte is 0x54 or 0x55 it looks ok
 					#endif
 				#endif
 				{
-					uint16_t max_time;
 					#ifdef SERIAL_DATA_ENABLE
 						if(rx_buff[0]&0x20)
-						{
-							max_time=8500;
 							len=34;
-						}
 						else
 					#endif
-						{
-							max_time=6500;
 							len=26;
-						}
 					TX_RX_PAUSE_on;
 					tx_pause();
 					#if defined STM32_BOARD
-						TIMER2_BASE->CCR2=TIMER2_BASE->CNT+max_time;// Full message should be received within timer of 3250us
+						TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300;	// Next byte should show up within 15??s=1.5 byte
 						TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC2IF;	// Clear Timer2/Comp2 interrupt flag
 						TIMER2_BASE->DIER |= TIMER_DIER_CC2IE;		// Enable Timer2/Comp2 interrupt
 					#else
-						OCR1B = TCNT1+max_time;						// Full message should be received within timer of 3250us
+						OCR1B = TCNT1 + 300;						// Next byte should show up within 15??s=1.5 byte
 						TIFR1 = OCF1B_bm ;							// clear OCR1B match flag
 						SET_TIMSK1_OCIE1B ;							// enable interrupt on compare B match
 					#endif
@@ -1978,16 +1975,21 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
 			else
 			{
 				rx_buff[idx++]=UDR0;								// Store received byte
+				#if defined STM32_BOARD
+					TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300;		// Next byte should show up within 15??s=1.5 byte
+				#else
+					OCR1B = TCNT1 + 300;							// Next byte should show up within 15??s=1.5 byte
+				#endif
 				if(idx>=len)
 				{	// A full frame has been received
 					if(!IS_RX_DONOTUPDATE_on)
 					{ //Good frame received and main is not working on the buffer
 						memcpy((void*)rx_ok_buff,(const void*)rx_buff,len);// Duplicate the buffer
-						RX_FLAG_on;			// flag for main to process servo data
+						RX_FLAG_on;									// Flag for main to process servo data
 					}
 					else
-						RX_MISSED_BUFF_on;	// notify that rx_buff is good
+						RX_MISSED_BUFF_on;							// Notify that rx_buff is good
-					discard_frame=1; 		// start again
+					discard_frame=1; 								// Start again
 				}
 			}
 		}
@@ -2074,20 +2076,3 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
 		}
 	}
 #endif
-
-// Set the flags for detecting and writing the firmware signature
-#if defined (CHECK_FOR_BOOTLOADER)
-    bool firmwareFlag_CHECK_FOR_BOOTLOADER = true;
-#endif
-#if defined (MULTI_STATUS)
-    bool firmwareFlag_MULTI_STATUS = true;
-#endif
-#if defined (MULTI_TELEMETRY)
-    bool firmwareFlag_MULTI_TELEMETRY = true;
-#endif
-#if defined (INVERT_TELEMETRY)
-    bool firmwareFlag_INVERT_TELEMETRY = true;
-#endif
-#if defined (DEBUG_SERIAL)
-    bool firmwareFlag_DEBUG_SERIAL = true;
-#endif

Multiprotocol/Telemetry.ino

@@ -303,9 +303,12 @@ void frsky_check_telemetry(uint8_t *packet_in,uint8_t len)
 		else
 			RxBt = (packet_in[4]<<1) + 1 ;
 
+		//Save outgoing telemetry sequence
+		FrSkyX_TX_IN_Seq=packet_in[5] >> 4;
+
 		//Check incoming telemetry sequence
 		uint8_t packet_seq=packet_in[5] & 0x03;
-		if ( (packet_in[5] & 0x0F) == 0x08 )
+		if ( packet_in[5] & 0x08 )
 		{//Request init
 			FrSkyX_RX_Seq = 0x08 ;
 			FrSkyX_RX_NextFrame = 0x00 ;
@@ -345,6 +348,7 @@ void frsky_check_telemetry(uint8_t *packet_in,uint8_t len)
 		}
 		else
 		{//Not in sequence
+			debugln("NS");
 			struct t_FrSkyX_RX_Frame *q ;
 			uint8_t count ;
 			// packet_in[4] RSSI
@@ -369,11 +373,6 @@ void frsky_check_telemetry(uint8_t *packet_in,uint8_t len)
 			}
 			FrSkyX_RX_Seq = ( FrSkyX_RX_Seq & 0x03 ) | 0x04 ;	// Request re-transmission of original sequence
 		}
-
-		//Check outgoing telemetry sequence
-		if (((packet_in[5] >> 4) & 0x08) == 0x08)
-			FrSkyX_TX_Seq = 0 ;						//Request init
-		//debugln("s:%02X,p:%02X",FrSkyX_TX_Seq,packet_in[5] >> 4);
 	}
 #endif
 }