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DSM Forward Programming: work in progress

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Pascal Langer 2020-09-09 10:45:14 +02:00
parent 9b07f12f90
commit a2213fd6dc
4 changed files with 504 additions and 2 deletions
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470
Lua_scripts/DSM FwdPrg.lua Normal file
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@ -0,0 +1,470 @@
local toolName = "TNS|DSM Forward Programming|TNE"
---- #########################################################################
---- # #
---- # Copyright (C) OpenTX #
-----# #
---- # License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html #
---- # #
---- # 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. #
---- # #
---- #########################################################################
--###############################################################################
-- Multi buffer for DSM description
-- Multi_Buffer[0..2]=="DSM" -> Lua script is running
-- Multi_Buffer[3]==0x70+len -> TX to RX data ready to be sent
-- Multi_Buffer[4..9]=6 bytes of TX to RX data
-- Multi_Buffer[10..25]=16 bytes of RX to TX data
--
-- To start operation:
-- Write 0x00 at address 3
-- Write 0x00 at address 10
-- Write "DSM" at address 0..2
--###############################################################################
local RX_VERSION, WAIT_CMD, MENU_TITLE, MENU_LINES, MENU_VALUES, VALUE_CHANGING, VALUE_CHANGING_WAIT, VALUE_CHANGED = 0, 1, 2, 3, 4, 5, 6, 7
local MENU, LIST_MENU_NOCHANGING, LIST_MENU2, PERCENTAGE_VALUE = 0x1C, 0x6C, 0x4C, 0xC0
local Phase = RX_VERSION
local Waiting_RX = 0
local Prev_Menu = 0
local Cur_Menu = -1
local Next_line = -1
local RX_Version = ""
local Menu_Title = ""
local Menu_Line = {}
local Next_Menu = {}
local Menu_Value = {}
local Menu_Type = {}
local Menu_Value_Max = {}
local Menu_Value_Min = {}
local Menu_Value_Def = {}
local Text = {}
local Retry=100
local Selected_Line=-1
local Menu_Edit = nil
local Blink = 0
local Value_Changed=0
local function conv_int16(number)
if number >= 0x8000 then
return number - 0x10000
end
return number
end
local function DSM_Release()
multiBuffer( 0, 0 )
end
local function DSM_Send(...)
local arg = {...}
for i = 1 , #arg do
multiBuffer( 3+i, arg[i])
end
multiBuffer( 3, 0x70+#arg)
end
local function DSM_Menu(event)
local Speed = 0
if event == EVT_VIRTUAL_NEXT then
if Menu_Edit == nil then
-- not changing a value
if Selected_Line ~= -1 and Selected_Line < 6 then
for line = Selected_Line + 1, 6, 1 do
if Menu_Line[line] ~= "" and Next_Menu[line] ~= Cur_Menu then
Selected_Line=line
break
end
end
end
else
-- need to inc the value
if Menu_Value[Selected_Line] < Menu_Value_Max[Selected_Line] then
Speed = getRotEncSpeed()
if Speed == ROTENC_MIDSPEED then
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] + 5
elseif Speed == ROTENC_HIGHSPEED then
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] + 15
else
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] + 1
end
if Menu_Value[Selected_Line] > Menu_Value_Max[Selected_Line] then
Menu_Value[Selected_Line] = Menu_Value_Max[Selected_Line]
end
if Menu_Type[Selected_Line] ~= LIST_MENU_NOCHANGING then
Phase = VALUE_CHANGING
Waiting_RX = 0
end
end
end
elseif event == EVT_VIRTUAL_PREV then
if Menu_Edit == nil then
if Selected_Line > 0 then
for line = Selected_Line-1, 0, -1 do
if Menu_Line[line] ~= "" and Next_Menu[line] ~= Cur_Menu then
Selected_Line=line
break
end
end
end
else
-- need to dec the value
if Menu_Value[Selected_Line] > Menu_Value_Min[Selected_Line] then
Speed = getRotEncSpeed()
if Speed == ROTENC_MIDSPEED then
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] - 5
elseif Speed == ROTENC_HIGHSPEED then
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] - 15
else
Menu_Value[Selected_Line] = Menu_Value[Selected_Line] - 1
end
if Menu_Value[Selected_Line] < Menu_Value_Min[Selected_Line] then
Menu_Value[Selected_Line] = Menu_Value_Min[Selected_Line]
end
if Menu_Type[Selected_Line] ~= LIST_MENU_NOCHANGING then
Phase = VALUE_CHANGING
Waiting_RX = 0
end
end
end
elseif event == EVT_VIRTUAL_ENTER then
if Selected_Line ~= -1 then
if Menu_Type[Selected_Line] == MENU then -- Menu entry
if Next_Menu[Selected_Line] ~= nil then -- Next menu exist
Cur_Menu = Next_Menu[Selected_Line]
Phase = MENU_TITLE
Waiting_RX = 0
end
else
-- value entry
if Menu_Edit == Selected_Line then
Menu_Edit = nil
Value_Changed=0
Phase = VALUE_CHANGED
Waiting_RX = 0
else
Menu_Edit = Selected_Line
end
end
end
elseif event == EVT_VIRTUAL_PREV_PAGE then
killEvents(event)
if Cur_Menu ~= 0 then
Cur_Menu = Prev_Menu
Phase = MENU_TITLE
Waiting_RX = 0
end
end
end
local function DSM_Send_Receive()
if Waiting_RX == 0 then
Waiting_RX = 1
-- Need to send a request
if Phase == RX_VERSION then -- request RX version
DSM_Send(0x11,0x06,0x00,0x14,0x00,0x00)
elseif Phase == WAIT_CMD then -- keep connection open
DSM_Send(0x00,0x04,0x00,0x00)
elseif Phase == MENU_TITLE then -- request menu title
if Cur_Menu == -1 then
DSM_Send(0x12,0x06,0x00,0x14,0x00,0x00)
Cur_Menu = 0
else
DSM_Send(0x16,0x06,0x10,Cur_Menu,0x00,0x01) -- last byte is 0 or 1=unknown...
end
elseif Phase == MENU_LINES then -- request menu lines
if Cur_Line == -1 then
DSM_Send(0x13,0x04,0x10,Cur_Menu) -- line 0
elseif Cur_Line >= 0x80 then
local last_byte={0x40,0x01,0x02,0x04,0x00,0x00} -- unknown...
DSM_Send(0x20,0x06,Cur_Line-0x80,Cur_Line-0x80,0x00,last_byte[Cur_Line-0x80+1]) -- line X
else
DSM_Send(0x14,0x06,0x10,Cur_Menu,0x00,Cur_Line) -- line X
end
elseif Phase == MENU_VALUES then -- request menu values
DSM_Send(0x15,0x06,0x10,Cur_Menu,0x10,Cur_Line) -- line X
elseif Phase == VALUE_CHANGING then -- send value
local value=Menu_Value[Selected_Line]
if value < 0 then
value = 0x10000 + value
end
DSM_Send(0x18,0x06,0x10,Selected_Line,bit32.rshift(value,8),bit32.band(value,0xFF)) -- send current value
Phase = VALUE_CHANGING_WAIT
elseif Phase == VALUE_CHANGED then -- send value
if Value_Changed == 0 then
local value=Menu_Value[Selected_Line]
if value < 0 then
value = 0x10000 + value
end
DSM_Send(0x18,0x06,0x10,Selected_Line,bit32.rshift(value,8),bit32.band(value,0xFF)) -- send current value
Value_Changed = Value_Changed + 1
Waiting_RX = 0
elseif Value_Changed == 1 then
DSM_Send(0x19,0x06,0x10,Selected_Line) -- validate
-- Value_Changed = Value_Changed + 1
-- Waiting_RX = 0
--elseif Value_Changed == 2 then
-- DSM_Send(0x1B,0x06,0x10,Selected_Line) -- validate again?
-- Value_Changed = Value_Changed + 1
end
elseif Phase == VALUE_CHANGING_WAIT then
DSM_Send(0x1A,0x06,0x10,Selected_Line)
end
multiBuffer(10,0x00);
Retry = 50
elseif multiBuffer(10) == 0x09 then
-- Answer received
--if multiBuffer(11) == 0x00 then -- waiting for commands?
if multiBuffer(11) == 0x01 then -- read version
RX_Version = multiBuffer(14).."."..multiBuffer(15).."."..multiBuffer(16)
Phase = MENU_TITLE
elseif multiBuffer(11) == 0x02 then -- read menu title
Menu_Title = Text[multiBuffer(14)+multiBuffer(15)*256]
if Menu_Title == nil then -- missing text...
Menu_Title = "Unknown_"..string.format("%X",multiBuffer(14)+multiBuffer(15)*256)
end
for line = 0, 6 do -- clear menu
Menu_Line[line] = ""
Next_Menu[line] = nil
Menu_Type[line] = nil
end
Menu_Edit = nil
Blink = 0
Prev_Menu = multiBuffer(20)
Cur_Line = -1
Selected_Line = -1
Phase = MENU_LINES
elseif multiBuffer(11) == 0x03 then -- read menu lines
Cur_Line = multiBuffer(14)
Menu_Type[Cur_Line] = multiBuffer(15) -- not quite sure yet: 1C is text menu only, 4C/6C is text menu followed by text list, C0 is text menu followed by percentage value
Menu_Line[Cur_Line] = Text[multiBuffer(16)+multiBuffer(17)*256]
if Menu_Line[Cur_Line] == nil then -- missing text...
Menu_Line[Cur_Line] = "Unknown_"..string.format("%X",multiBuffer(16)+multiBuffer(17)*256)
end
Next_Menu[Cur_Line] = multiBuffer(18)
if Selected_Line == -1 and Next_Menu[Cur_Line] ~= Cur_Menu then -- Auto select first line of the menu
Selected_Line = multiBuffer(14)
end
Menu_Value_Min[Cur_Line] = conv_int16(multiBuffer(20)+multiBuffer(21)*256)
Menu_Value_Max[Cur_Line] = conv_int16(multiBuffer(22)+multiBuffer(23)*256)
Menu_Value_Def[Cur_Line] = conv_int16(multiBuffer(24)+multiBuffer(25)*256)
if Menu_Type[Cur_Line] == 0x1C then
-- nothing to do on menu entries
elseif Menu_Type[Cur_Line] == LIST_MENU_NOCHANGING or Menu_Type[Cur_Line] == LIST_MENU2 then
Menu_Value[Cur_Line] = Menu_Value_Def[Cur_Line] - Menu_Value_Min[Cur_Line] -- use default value not sure if needed
Menu_Value_Def[Cur_Line] = Menu_Value_Min[Cur_Line] -- pointer to the start of the list in Text
Menu_Value_Max[Cur_Line] = Menu_Value_Max[Cur_Line] - Menu_Value_Min[Cur_Line] -- max index
Menu_Value_Min[Cur_Line] = 0 -- min index
else -- default to numerical value
Menu_Value[Cur_Line] = Menu_Value_Def[Cur_Line] -- use default value not sure if needed
end
if Menu_Type[Cur_Line] ~= 0x1C then -- value to follow
Menu_Line[Cur_Line] = Menu_Line[Cur_Line]..":"
end
Phase = MENU_LINES
elseif multiBuffer(11) == 0x04 then -- read menu values
Cur_Line = multiBuffer(14)
Menu_Value[Cur_Line] = conv_int16(multiBuffer(16)+multiBuffer(17)*256)
Phase = MENU_VALUES
elseif multiBuffer(11) == 0x05 then -- unknown... need to get through the lines...
Cur_Line = 0x80 + multiBuffer(12)
Phase = MENU_LINES
elseif multiBuffer(11) == 0x00 and Phase == VALUE_CHANGING then
Phase = VALUE_CHANGING_WAIT
end
-- Data processed
Waiting_RX = 0
multiBuffer(10,0x00)
Retry = 50
else
Retry = Retry - 1
if Retry <= 0 then
-- Retry the RX request
Retry = 50
Waiting_RX = 0
if Phase ~= RX_VERSION and Phase ~= VALUE_CHANGING_WAIT then
Phase = WAIT_CMD
end
end
end
end
local function DSM_Display()
local line
lcd.clear()
if LCD_W == 480 then
--Draw title
lcd.drawFilledRectangle(0, 0, LCD_W, 30, TITLE_BGCOLOR)
lcd.drawText(1, 5, "DSM Forward Programming", MENU_TITLE_COLOR)
--Draw RX Menu
if Phase == RX_VERSION then
lcd.drawText(10,50,"No compatible DSM RX...", BLINK)
else
local attrib=0;
lcd.drawText(50,32,Menu_Title)
for line = 0, 6 do
if line == Selected_Line then
attrib = INVERS
else
attrib = 0
end
if Menu_Type[line] ~= nil and Menu_Type[line] ~= MENU then
local text=""
if Menu_Type[line] == LIST_MENU_NOCHANGING or Menu_Type[line] == LIST_MENU2 then
text = Text[Menu_Value[line]+Menu_Value_Def[line]]
if text == nil then
text = "Unknown_"..Menu_Value[line]+Menu_Value_Def[line]
end
elseif Menu_Type[line] == PERCENTAGE_VALUE then
text = Menu_Value[line].." %"
else
text = Menu_Value[line]
end
if Menu_Edit == Selected_Line then
Blink = Blink + 1
if Blink > 25 then
attrib = 0
if Blink > 50 then
Blink = 0
end
end
end
lcd.drawText(240,32+20*(line+2),text,attrib)
attrib = 0
end
lcd.drawText(10,32+20*(line+2),Menu_Line[line], attrib)
end
lcd.drawText(10,252,"RX v"..RX_Version)
end
else
-- --Draw RX Menu on LCD_W=128
-- if multiBuffer( 4 ) == 0xFF then
-- lcd.drawText(2,17,"No compatible DSM RX...",SMLSIZE)
-- else
-- if Retry_128 ~= 0 then
-- --Intro page
-- Retry_128 = Retry_128 - 1
-- lcd.drawScreenTitle("DSM Forward Programming",0,0)
-- lcd.drawText(2,17,"Press Prev Page for previous Menu" ,SMLSIZE)
-- else
-- --Menu page
-- for line = 0, 7, 1 do
-- for i = 0, 21-1, 1 do
-- value=multiBuffer( line*21+6+i )
-- if value > 0x80 then
-- value = value - 0x80
-- lcd.drawText(2+i*6,1+8*line,string.char(value).." ",SMLSIZE+INVERS)
-- else
-- lcd.drawText(2+i*6,1+8*line,string.char(value),SMLSIZE)
-- end
-- end
-- end
-- end
-- end
end
end
-- Init
local function DSM_Init()
--Set protocol to talk to
multiBuffer( 0, string.byte('D') )
--test if value has been written
if multiBuffer( 0 ) ~= string.byte('D') then
error("Not enough memory!")
return 2
end
--Init TX buffer
multiBuffer( 3, 0x00 )
--Init RX buffer
multiBuffer( 10, 0x00 )
--Init telemetry
multiBuffer( 0, string.byte('D') )
multiBuffer( 1, string.byte('S') )
multiBuffer( 2, string.byte('M') )
--Text to be displayed -> need to use a file instead?
Text[0x0036]="Throttle"
Text[0x0037]="Aileron"
Text[0x0038]="Elevator"
Text[0x0039]="Rudder"
Text[0x003A]="Gear"
for i=1,7 do -- 3B..41
Text[0x003A+i]="Aux"..i
end
for i=1,8 do -- 41..49
Text[0x0041+i]="XPlus-"..i
end
Text[0x004A]="Failsafe"
Text[0x004B]="Main Menu"
Text[0x004E]="Position"
Text[0x0050]="Outputs"
Text[0x005F]="Hold Last"
Text[0x0060]="Preset"
Text[0x0090]="Apply"
Text[0x0093]="Complete"
Text[0x0094]="Done"
Text[0x0097]="Factory Reset"
Text[0x009A]="Capture Failsafe Positions"
Text[0x009C]="Custom Failsafe"
Text[0x00A5]="First Time Setup"
Text[0x00F9]="Gyro settings"
Text[0x0100]="Make sure the model has been"
Text[0x0101]="configured, including wing type,"
Text[0x0102]="reversing, travel, trimmed, etc."
Text[0x0103]="before continuing setup."
Text[0x0104]=""
Text[0x0105]=""
Text[0x019C]="Enter Receiver Bind Mode"
Text[0x020A]="Restore from Backup"
Text[0x0209]="Save to Backup"
Text[0x0227]="Other settings"
Text[0x022B]="WARNING!"
Text[0x022C]="This will reset the"
Text[0x022D]="configuration to factory"
Text[0x022E]="defaults. This does not"
Text[0x022F]="affect the backup config."
Text[0x0230]=""
Text[0x0231]="This will overwrite the"
Text[0x0232]="backup memory with your"
Text[0x0233]="current configuartion."
Text[0x0234]=""
Text[0x0235]=""
Text[0x0236]="This will overwrite the"
Text[0x0237]="current config with"
Text[0x0238]="that which is in"
Text[0x0239]="the backup memory."
Text[0x023A]=""
--Lines to be displayed
for line = 0, 6 do -- clear lines
Menu_Line[line]=""
end
end
-- Main
local function DSM_Run(event)
if event == nil then
error("Cannot be run as a model script!")
return 2
elseif event == EVT_VIRTUAL_EXIT then
DSM_Release()
return 2
else
DSM_Menu(event)
DSM_Send_Receive()
DSM_Display()
return 0
end
end
return { init=DSM_Init, run=DSM_Run }

31
Multiprotocol/DSM_cyrf6936.ino
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@ -17,6 +17,8 @@
#include "iface_cyrf6936.h"
//#define DSM_DEBUG_FWD_PGM
//#define DSM_GR300
#define DSM_BIND_CHANNEL 0x0d //13 This can be any odd channel
@ -151,6 +153,7 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
if(sub_protocol==DSM2_22)
bits=10; // Only DSM2_22 is using a resolution of 1024
}
#ifdef DSM_THROTTLE_KILL_CH
uint16_t kill_ch=Channel_data[DSM_THROTTLE_KILL_CH-1];
#endif
@ -189,6 +192,23 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
packet[i*2+2] = (value >> 8) & 0xff;
packet[i*2+3] = (value >> 0) & 0xff;
}
#ifdef DSM_FWD_PGM
if(upper==0 && DSM_SerialRX && (DSM_SerialRX_val[0]&0xF8)==0x70 )
{ // Send forward programming data if available
for(uint8_t i=0; i<(DSM_SerialRX_val[0]&0x07);i++)
{
packet[i*2+4]=0x70+i;
packet[i*2+5]=DSM_SerialRX_val[i+1];
}
DSM_SerialRX=false;
#if DSM_DEBUG_FWD_PGM
debug("FWD=");
for(uint8_t i=4; i<16;i++)
debug(" %02X",packet[i]);
debugln("");
#endif
}
#endif
}
static uint8_t __attribute__((unused)) DSM_Check_RX_packet()
@ -307,9 +327,9 @@ uint16_t ReadDsm()
telemetry_set_input_sync(11000); // Always request 11ms spacing even if we don't use half of it in 22ms mode
#endif
case DSM_CH1_WRITE_B:
DSM_build_data_packet(phase == DSM_CH1_WRITE_B); // build lower or upper channels
case DSM_CH2_WRITE_A:
case DSM_CH2_WRITE_B:
DSM_build_data_packet(phase == DSM_CH1_WRITE_B||phase == DSM_CH2_WRITE_B); // build lower or upper channels
CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS); // clear IRQ flags
CYRF_WriteDataPacket(packet);
#if 0
@ -368,6 +388,15 @@ uint16_t ReadDsm()
if(len>TELEMETRY_BUFFER_SIZE-2)
len=TELEMETRY_BUFFER_SIZE-2;
CYRF_ReadDataPacketLen(packet_in+1, len);
#if DSM_DEBUG_FWD_PGM
//debug(" %02X", packet_in[1]);
if(packet_in[1]==9)
{
for(uint8_t i=0;i<len;i++)
debug(" %02X", packet_in[i+1]);
debugln("");
}
#endif
packet_in[0]=CYRF_ReadRegister(CYRF_13_RSSI)&0x1F;// store RSSI of the received telemetry signal
telemetry_link=1;
}

2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 63
#define VERSION_PATCH_LEVEL 64
//******************
// Protocols

3
Multiprotocol/_Config.h
View File

@ -262,6 +262,9 @@
// For example, a value of -80% applied on channel 14 will instantly kill the motors on the X-Vert.
#define DSM_THROTTLE_KILL_CH 14
//Enable DSM Forward Programming
#define DSM_FWD_PGM
//AFHDS2A specific settings
//-------------------------
//When enabled (remove the "//"), the below setting makes LQI (Link Quality Indicator) available on one of the RX ouput channel (5-14).