Add dji sbus fast (#483)

* Added idle interupt to callback to UART driver, Added uart interrupt callback to the serial driver which is required for Spektrum SRXL2 protocol * Added rx configuration for DJI_HDL receiver, * Added DJI_HDL to the RX protocol list for CLI * Bugfix * Simplified configuration of fast SBus * remove DJI_HDL from CLI
emuflight · Mar 19, 2021 · 11d9f38 · 11d9f38
1 parent 0e89169
commit 11d9f38
Show file tree

Hide file tree

Showing 5 changed files with 32 additions and 8 deletions.
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
@@ -607,6 +607,9 @@ const clivalue_t valueTable[] = {
 #ifdef USE_SPEKTRUM_BIND
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
     { "spektrum_sat_bind_autoreset", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
+    #endif
+#if defined(USE_SERIALRX_SBUS)
+    { "sbus_baud_fast",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_baud_fast) },
 #endif
     { "airmode_start_throttle_percent",     VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },

diff --git a/src/main/pg/rx.c b/src/main/pg/rx.c
@@ -68,6 +68,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig) {
                    .rc_smoothing_input_type = RC_SMOOTHING_INPUT_BIQUAD,
                    .rc_smoothing_derivative_type = RC_SMOOTHING_DERIVATIVE_BIQUAD,
                    .showAlteredRc = 0,
+                   .sbus_baud_fast = false,
                   );
 #ifdef RX_CHANNELS_TAER
     parseRcChannels("TAER1234", rxConfig);

diff --git a/src/main/pg/rx.h b/src/main/pg/rx.h
@@ -59,6 +59,7 @@ typedef struct rxConfig_s {
     uint8_t rc_smoothing_derivative_type;   // Derivative filter type (0 = OFF, 1 = PT1, 2 = BIQUAD)
 
     uint8_t showAlteredRc;               // allow you to see rate dynamics in the configurator
+    uint8_t sbus_baud_fast; // Select SBus fast baud rate
 } rxConfig_t;
 
 PG_DECLARE(rxConfig_t, rxConfig);
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
@@ -67,6 +67,7 @@ typedef enum {
     SERIALRX_TARGET_CUSTOM = 11,
     SERIALRX_FPORT = 12,
     SERIALRX_GHST = 13,
+    SERIALRX_SRXL2 = 14,
 } SerialRXType;
 
 #define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT          12

diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c
@@ -57,6 +57,12 @@
  */
 
 #define SBUS_TIME_NEEDED_PER_FRAME 3000
+#define SBUS_BAUDRATE                 100000
+#define SBUS_RX_REFRESH_RATE          11000
+#define SBUS_TIME_NEEDED_PER_FRAME    3000
+
+#define SBUS_FAST_BAUDRATE              200000
+#define SBUS_FAST_RX_REFRESH_RATE       6000
 
 #define SBUS_STATE_FAILSAFE (1 << 0)
 #define SBUS_STATE_SIGNALLOSS (1 << 1)
@@ -80,6 +86,7 @@ enum {
     DEBUG_SBUS_FRAME_TIME,
 };
 
+static uint32_t sbusTimeNeededPreFrame = SBUS_TIME_NEEDED_PER_FRAME;
 
 struct sbusFrame_s {
     uint8_t syncByte;
@@ -155,11 +162,21 @@ static uint8_t sbusFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) {
 bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) {
     static uint16_t sbusChannelData[SBUS_MAX_CHANNEL];
     static sbusFrameData_t sbusFrameData;
+    static uint32_t sbusBaudRate;
     rxRuntimeConfig->channelData = sbusChannelData;
     rxRuntimeConfig->frameData = &sbusFrameData;
     sbusChannelsInit(rxConfig, rxRuntimeConfig);
     rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL;
-    rxRuntimeConfig->rxRefreshRate = 11000;
+
+    if (rxConfig->sbus_baud_fast) {
+        rxRuntimeConfig->rxRefreshRate = SBUS_FAST_RX_REFRESH_RATE;
+        sbusBaudRate  = SBUS_FAST_BAUDRATE;
+    } else {
+        rxRuntimeConfig->rxRefreshRate = SBUS_RX_REFRESH_RATE;
+        sbusBaudRate  = SBUS_BAUDRATE;
+        sbusTimeNeededPreFrame = SBUS_TIME_NEEDED_PER_FRAME;
+    }
+
     rxRuntimeConfig->rcFrameStatusFn = sbusFrameStatus;
     const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
     if (!portConfig) {
@@ -171,13 +188,14 @@ bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) {
     bool portShared = false;
 #endif
     serialPort_t *sBusPort = openSerialPort(portConfig->identifier,
-                                            FUNCTION_RX_SERIAL,
-                                            sbusDataReceive,
-                                            &sbusFrameData,
-                                            SBUS_BAUDRATE,
-                                            portShared ? MODE_RXTX : MODE_RX,
-                                            SBUS_PORT_OPTIONS | (rxConfig->serialrx_inverted ? 0 : SERIAL_INVERTED) | (rxConfig->halfDuplex ? SERIAL_BIDIR : 0)
-                                           );
+        FUNCTION_RX_SERIAL,
+        sbusDataReceive,
+        &sbusFrameData,
+        sbusBaudRate,
+        portShared ? MODE_RXTX : MODE_RX,
+        SBUS_PORT_OPTIONS | (rxConfig->serialrx_inverted ? 0 : SERIAL_INVERTED) | (rxConfig->halfDuplex ? SERIAL_BIDIR : 0)
+        );
+
     if (rxConfig->rssi_src_frame_errors) {
         rssiSource = RSSI_SOURCE_FRAME_ERRORS;
     }