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feat: trainer SBUS processing in IDLE IRQ (#5672)
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@3djc
3djc authored Nov 25, 2024
1 parent b35baec commit 7594a47
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Showing 5 changed files with 65 additions and 102 deletions.
109 changes: 41 additions & 68 deletions radio/src/sbus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,54 +19,63 @@
* GNU General Public License for more details.
*/

#include "edgetx.h"
#include "sbus.h"

#include "edgetx.h"
#include "timers_driver.h"

#define SBUS_FRAME_GAP_DELAY_US 500
#define SBUS_FRAME_SIZE 25
#define SBUS_START_BYTE 0x0F
#define SBUS_END_BYTE 0x00
#define SBUS_FLAGS_IDX 23
#define SBUS_FRAMELOST_BIT 2
#define SBUS_FAILSAFE_BIT 3

#define SBUS_START_BYTE 0x0F
#define SBUS_END_BYTE 0x00
#define SBUS_FLAGS_IDX 23
#define SBUS_FRAMELOST_BIT 2
#define SBUS_FAILSAFE_BIT 3
#define SBUS_CH_BITS 11
#define SBUS_CH_MASK ((1 << SBUS_CH_BITS) - 1)

#define SBUS_CH_BITS 11
#define SBUS_CH_MASK ((1<<SBUS_CH_BITS) - 1)
#define SBUS_CH_CENTER 0x3E0

#define SBUS_CH_CENTER 0x3E0
static const etx_serial_driver_t* _sbus_drv = nullptr;
static void* _sbus_ctx = nullptr;
static bool _sbus_aux_enabled = false;

static int (*_sbusAuxGetByte)(void*, uint8_t*) = nullptr;
static void* _sbusAuxGetByteCtx = nullptr;
static void sbusProcessFrame(int16_t* pulses, uint8_t* sbus, uint32_t size);

void sbusSetAuxGetByte(void* ctx, int (*fct)(void*, uint8_t*))
void sbusSetReceiveCtx(void* ctx, const etx_serial_driver_t* drv)
{
_sbusAuxGetByte = nullptr;
_sbusAuxGetByteCtx = ctx;
_sbusAuxGetByte = fct;
_sbus_ctx = ctx;
_sbus_drv = drv;
}

int sbusAuxGetByte(uint8_t* byte)
void sbusAuxFrameReceived(void*)
{
auto _getByte = _sbusAuxGetByte;
auto _ctx = _sbusAuxGetByteCtx;

if (_getByte) {
return _getByte(_ctx, byte);
}

return -1;
if (!_sbus_aux_enabled) return;
sbusFrameReceived(nullptr);
}

static int (*sbusGetByte)(uint8_t*) = nullptr;
void sbusAuxSetEnabled(bool enabled) { _sbus_aux_enabled = enabled; }

void sbusSetGetByte(int (*fct)(uint8_t*))
void sbusFrameReceived(void*)
{
sbusGetByte = fct;
if (!_sbus_drv || !_sbus_ctx || !_sbus_drv->copyRxBuffer ||
!_sbus_drv->getBufferedBytes)
return;

if (_sbus_drv->getBufferedBytes(_sbus_ctx) != SBUS_FRAME_SIZE) {
_sbus_drv->clearRxBuffer(_sbus_ctx);
return;
}

uint8_t frame[SBUS_FRAME_SIZE];
int received = _sbus_drv->copyRxBuffer(_sbus_ctx, frame, SBUS_FRAME_SIZE);
if (received < 0) return;

sbusProcessFrame(trainerInput, frame, received);
}

// Range for pulses (ppm input) is [-512:+512]
void processSbusFrame(uint8_t * sbus, int16_t * pulses, uint32_t size)
static void sbusProcessFrame(int16_t* pulses, uint8_t* sbus, uint32_t size)
{
if (size != SBUS_FRAME_SIZE || sbus[0] != SBUS_START_BYTE ||
sbus[SBUS_FRAME_SIZE - 1] != SBUS_END_BYTE) {
Expand All @@ -77,55 +86,19 @@ void processSbusFrame(uint8_t * sbus, int16_t * pulses, uint32_t size)
return; // SBUS invalid frame or failsafe mode
}

sbus++; // skip start byte
sbus++; // skip start byte

uint32_t inputbitsavailable = 0;
uint32_t inputbits = 0;
for (uint32_t i=0; i<MAX_TRAINER_CHANNELS; i++) {
for (uint32_t i = 0; i < MAX_TRAINER_CHANNELS; i++) {
while (inputbitsavailable < SBUS_CH_BITS) {
inputbits |= *sbus++ << inputbitsavailable;
inputbitsavailable += 8;
}
*pulses++ = ((int32_t) (inputbits & SBUS_CH_MASK) - SBUS_CH_CENTER) * 5 / 8;
*pulses++ = ((int32_t)(inputbits & SBUS_CH_MASK) - SBUS_CH_CENTER) * 5 / 8;
inputbitsavailable -= SBUS_CH_BITS;
inputbits >>= SBUS_CH_BITS;
}

trainerResetTimer();
}

void processSbusInput()
{

// TODO: place this outside of the function
static uint8_t SbusIndex = 0;
static uint32_t SbusTimer;
static uint8_t SbusFrame[SBUS_FRAME_SIZE];

uint32_t active = 0;

// Drain input first (if existing)
uint8_t rxchar;
auto _getByte = sbusGetByte;
while (_getByte && (_getByte(&rxchar) > 0)) {
active = 1;
if (SbusIndex > SBUS_FRAME_SIZE - 1) {
SbusIndex = SBUS_FRAME_SIZE - 1;
}
SbusFrame[SbusIndex++] = rxchar;
}

// Data has been received
if (active) {
SbusTimer = timersGetUsTick();
return;
}

// Check if end-of-frame is detected
if (SbusIndex) {
if ((uint32_t)(timersGetUsTick() - SbusTimer) > SBUS_FRAME_GAP_DELAY_US) {
processSbusFrame(SbusFrame, trainerInput, SbusIndex);
SbusIndex = 0;
}
}
}
19 changes: 9 additions & 10 deletions radio/src/sbus.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,18 +21,17 @@

#pragma once

#include "hal/serial_driver.h"

#define SBUS_BAUDRATE 100000
#define SBUS_FRAME_SIZE 25

// Setup SBUS AUX serial input
void sbusSetAuxGetByte(void* ctx, int (*fct)(void*, uint8_t*));
// SBUS serial driver + context
void sbusSetReceiveCtx(void* ctx, const etx_serial_driver_t* drv);

// SBUS AUX serial getter:
// if set, it will fetch data from the handler set
// with sbusSetAuxGetByte()
int sbusAuxGetByte(uint8_t* byte);
// SBUS AUX idle callback
void sbusAuxFrameReceived(void* param);

// Setup general SBUS input source
void sbusSetGetByte(int (*fct)(uint8_t*));
// Enable / disable SBUS AUX
void sbusAuxSetEnabled(bool enabled);

void processSbusInput();
void sbusFrameReceived(void* param);
6 changes: 4 additions & 2 deletions radio/src/serial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,8 +218,10 @@ static void serialSetCallBacks(int mode, void* ctx, const etx_serial_port_t* por
#endif

case UART_MODE_SBUS_TRAINER:
sbusSetAuxGetByte(ctx, getByte);
// TODO: setRxCb (see MODE_LUA)
sbusSetReceiveCtx(ctx, drv);
if (drv && drv->setIdleCb) {
drv->setIdleCb(ctx, sbusAuxFrameReceived, nullptr);
}
break;

case UART_MODE_TELEMETRY:
Expand Down
3 changes: 0 additions & 3 deletions radio/src/tasks/mixer_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,9 +122,6 @@ constexpr uint8_t MIXER_MAX_PERIOD = MAX_REFRESH_RATE / 1000 /*ms*/;

void execMixerFrequentActions()
{
// SBUS trainer
processSbusInput();

#if defined(IMU)
gyro.wakeup();
#endif
Expand Down
30 changes: 11 additions & 19 deletions radio/src/trainer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,15 +103,14 @@ void stopTrainer()
break;

case TRAINER_MODE_MASTER_SERIAL:
sbusSetGetByte(nullptr);
sbusAuxSetEnabled(false);
break;

case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
trainer_stop_module_cppm();
break;

case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
sbusSetGetByte(nullptr);
trainer_stop_module_sbus();
break;
}
Expand Down Expand Up @@ -141,7 +140,7 @@ void checkTrainerSettings()
break;

case TRAINER_MODE_MASTER_SERIAL:
sbusSetGetByte(sbusAuxGetByte);
sbusAuxSetEnabled(true);
break;

case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
Expand All @@ -150,7 +149,6 @@ void checkTrainerSettings()

case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
trainer_init_module_sbus();
sbusSetGetByte(sbus_trainer_get_byte);
break;
}

Expand Down Expand Up @@ -190,7 +188,15 @@ static void trainer_init_module_sbus()
}

if (sbus_trainer_mod_st) {
modulePortSetPower(EXTERNAL_MODULE,true);
// configure IDLE IRQ callback
auto drv = modulePortGetSerialDrv(sbus_trainer_mod_st->rx);
auto ctx = modulePortGetCtx(sbus_trainer_mod_st->rx);

sbusSetReceiveCtx(ctx, drv);
drv->setIdleCb(ctx, sbusFrameReceived, nullptr);

// switch ON
modulePortSetPower(EXTERNAL_MODULE, true);
}
}

Expand All @@ -201,17 +207,3 @@ static void trainer_stop_module_sbus()
modulePortSetPower(EXTERNAL_MODULE,false);
sbus_trainer_mod_st = nullptr;
}

static int sbus_trainer_get_byte(uint8_t* data)
{
if (!sbus_trainer_mod_st) return 0;

auto serial_driver = modulePortGetSerialDrv(sbus_trainer_mod_st->rx);
auto ctx = modulePortGetCtx(sbus_trainer_mod_st->rx);

if (ctx) {
return serial_driver->getByte(ctx, data);
}

return 0;
}

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