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Added support for FRM303, enhancement 2863 #2875

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merged 2 commits into from
Feb 27, 2023
Merged

Added support for FRM303, enhancement 2863 #2875

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ad04f28
Add FRM303 support.
richardclli Feb 10, 2023
0de2393
chore: Formatting
pfeerick Feb 27, 2023
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101 changes: 51 additions & 50 deletions radio/src/pulses/afhds3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,17 +73,15 @@ static uint8_t _phyMode_channels[] = {
// EMPTY_DT,
// };

//enum used by command response -> translate to ModuleState
enum MODULE_READY_E
{
// enum used by command response -> translate to ModuleState
enum MODULE_READY_E {
MODULE_STATUS_UNKNOWN = 0x00,
MODULE_STATUS_NOT_READY = 0x01,
MODULE_STATUS_READY = 0x02
};

enum ModuleState
{
STATE_NOT_READY = 0x00, //virtual
enum ModuleState {
STATE_NOT_READY = 0x00, // virtual
STATE_HW_ERROR = 0x01,
STATE_BINDING = 0x02,
STATE_SYNC_RUNNING = 0x03,
Expand All @@ -94,7 +92,7 @@ enum ModuleState
STATE_UPDATING_RX = 0x08,
STATE_UPDATING_RX_FAILED = 0x09,
STATE_RF_TESTING = 0x0a,
STATE_READY = 0x0b, //virtual
STATE_READY = 0x0b, // virtual
STATE_HW_TEST = 0xff,
};

Expand All @@ -108,14 +106,12 @@ enum MODULE_MODE_E {
MODULE_MODE_UNKNOWN = 0xFF
};

enum CMD_RESULT
{
enum CMD_RESULT {
FAILURE = 0x01,
SUCCESS = 0x02,
};

enum CHANNELS_DATA_MODE
{
enum CHANNELS_DATA_MODE {
CHANNELS = 0x01,
FAIL_SAFE = 0x02,
};
Expand All @@ -126,45 +122,45 @@ PACK(struct ChannelsData {
int16_t data[AFHDS3_MAX_CHANNELS];
});

union ChannelsData_u
{
union ChannelsData_u {
ChannelsData data;
uint8_t buffer[sizeof(ChannelsData)];
};

PACK(struct TelemetryData
{
PACK(struct TelemetryData {
uint8_t sensorType;
uint8_t length;
uint8_t type;
uint8_t semsorID;
uint8_t data[8];
});

enum MODULE_POWER_SOURCE
{
enum MODULE_POWER_SOURCE {
INTERNAL = 0x01,
EXTERNAL = 0x02,
};

PACK(struct ModuleVersion
{
enum DeviceAddress {
TRANSMITTER = 0x01,
FRM303 = 0x04,
IRM301 = 0x05,
};

PACK(struct ModuleVersion {
uint32_t productNumber;
uint32_t hardwereVersion;
uint32_t bootloaderVersion;
uint32_t firmwareVersion;
uint32_t rfVersion;
});

PACK(struct CommandResult_s
{
PACK(struct CommandResult_s {
uint16_t command;
uint8_t result;
uint8_t respLen;
});

union AfhdsFrameData
{
union AfhdsFrameData {
uint8_t value;
// Config_s Config;
ChannelsData Channels;
Expand All @@ -183,32 +179,33 @@ class ProtoState
* @param moduleIndex index of module one of INTERNAL_MODULE, EXTERNAL_MODULE
* @param resetFrameCount flag if current frame count should be reseted
*/
void init(uint8_t moduleIndex, void* buffer, etx_module_state_t* mod_st);
void init(uint8_t moduleIndex, void* buffer, etx_module_state_t* mod_st,
uint8_t fAddr);

/**
* Fills DMA buffers with frame to be send depending on actual state
*/
void setupFrame();
/**
* Fills DMA buffers with frame to be send depending on actual state
*/
void setupFrame();

/**
* Sends prepared buffers
*/
void sendFrame() { trsp.sendBuffer(); }
/**
* Sends prepared buffers
*/
void sendFrame() { trsp.sendBuffer(); }

/**
/**
* Gets actual module status into provided buffer
* @param statusText target buffer for status
*/
void getStatusString(char * statusText) const;
void getStatusString(char* statusText) const;

/**
/**
* Sends stop command to prevent any further module operations
*/
void stop();
void stop();

Config_u* getConfig() { return &cfg; }
Config_u* getConfig() { return &cfg; }

void applyConfigFromModel();
void applyConfigFromModel();

protected:

Expand Down Expand Up @@ -468,10 +465,11 @@ void ProtoState::setupFrame()
}
}

void ProtoState::init(uint8_t moduleIndex, void* buffer, etx_module_state_t* mod_st)
void ProtoState::init(uint8_t moduleIndex, void* buffer,
etx_module_state_t* mod_st, uint8_t fAddr)
{
module_index = moduleIndex;
trsp.init(buffer, mod_st);
trsp.init(buffer, mod_st, fAddr);

//clear local vars because it is member of union
moduleData = &g_model.moduleData[module_index];
Expand Down Expand Up @@ -853,6 +851,10 @@ static void* initModule(uint8_t module)
etx_module_state_t* mod_st = nullptr;
etx_serial_init params(_uartParams);
uint16_t period = AFHDS3_UART_COMMAND_TIMEOUT * 1000;
uint8_t fAddr = (module == INTERNAL_MODULE ? DeviceAddress::IRM301
: DeviceAddress::FRM303)
<< 4 |
DeviceAddress::TRANSMITTER;

params.baudrate = AFHDS3_UART_BAUDRATE;
params.polarity =
Expand All @@ -871,7 +873,7 @@ static void* initModule(uint8_t module)
if (!mod_st) return nullptr;

auto p_state = &protoState[module];
p_state->init(module, pulsesGetModuleBuffer(module), mod_st);
p_state->init(module, pulsesGetModuleBuffer(module), mod_st, fAddr);
mod_st->user_data = (void*)p_state;

mixerSchedulerSetPeriod(module, period);
Expand All @@ -885,7 +887,8 @@ static void deinitModule(void* ctx)
modulePortDeInit(mod_st);
}

static void sendPulses(void* ctx, uint8_t* buffer, int16_t* channels, uint8_t nChannels)
static void sendPulses(void* ctx, uint8_t* buffer, int16_t* channels,
uint8_t nChannels)
{
(void)buffer;
(void)channels;
Expand All @@ -898,13 +901,11 @@ static void sendPulses(void* ctx, uint8_t* buffer, int16_t* channels, uint8_t nC
}

etx_proto_driver_t ProtoDriver = {
.protocol = PROTOCOL_CHANNELS_AFHDS3,
.init = initModule,
.deinit = deinitModule,
.sendPulses = sendPulses,
.processData = processTelemetryData,
.protocol = PROTOCOL_CHANNELS_AFHDS3,
.init = initModule,
.deinit = deinitModule,
.sendPulses = sendPulses,
.processData = processTelemetryData,
};

}


} // namespace afhds3
36 changes: 14 additions & 22 deletions radio/src/pulses/afhds3_transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,18 +51,9 @@ enum AfhdsSpecialChars {
// ESC_ESC must be used
};

enum DeviceAddress
{
TRANSMITTER = 0x01,
// MODULE = 0x03,
MODULE = 0x05,
};

//Address used in transmitted frames - it constrains of target address and source address
const uint8_t FrameAddress = DeviceAddress::TRANSMITTER | (DeviceAddress::MODULE << 4);

void FrameTransport::init(void* buffer)
void FrameTransport::init(void* buffer, uint8_t fAddr)
{
frameAddress = fAddr;
trsp_buffer = (uint8_t*)buffer;
clear();
}
Expand Down Expand Up @@ -100,24 +91,25 @@ void FrameTransport::putBytes(uint8_t* data, int length)
}
}

void FrameTransport::putFrame(COMMAND command, FRAME_TYPE frameType, uint8_t* data,
uint8_t dataLength, uint8_t frameIndex)
void FrameTransport::putFrame(COMMAND command, FRAME_TYPE frameType,
uint8_t* data, uint8_t dataLength,
uint8_t frameIndex)
{
//header
// header
data_ptr = trsp_buffer;

crc = 0;
sendByte(START);

uint8_t buffer[] = {FrameAddress, frameIndex, frameType, command};
uint8_t buffer[] = {frameAddress, frameIndex, frameType, command};
putBytes(buffer, 4);

//payload
// payload
if (dataLength > 0) {
putBytes(data, dataLength);
}

//footer
// footer
uint8_t crcValue = crc ^ 0xff;
putBytes(&crcValue, 1);
sendByte(END);
Expand Down Expand Up @@ -223,9 +215,9 @@ void CommandFifo::enqueue(COMMAND command, FRAME_TYPE frameType, bool useData,
}
}

void Transport::init(void* buffer, etx_module_state_t* mod_st)
void Transport::init(void* buffer, etx_module_state_t* mod_st, uint8_t fAddr)
{
trsp.init(buffer);
trsp.init(buffer, fAddr);
this->mod_st = mod_st;
}

Expand Down Expand Up @@ -362,13 +354,13 @@ bool Transport::handleReply(uint8_t* buffer, uint8_t len)
bool Transport::processTelemetryData(uint8_t byte, uint8_t* rxBuffer,
uint8_t& rxBufferCount, uint8_t maxSize)
{
bool has_frame = trsp.processTelemetryData(byte, rxBuffer, rxBufferCount, maxSize);
bool has_frame =
trsp.processTelemetryData(byte, rxBuffer, rxBufferCount, maxSize);
if (has_frame && handleReply(rxBuffer, rxBufferCount)) {
rxBufferCount = 0;
return false;
}

return has_frame;
}

};
}; // namespace afhds3
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