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139 lines
5.4 KiB
C
139 lines
5.4 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_DSM Spektrum/JR DSMx satellite receiver functions
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* @brief PIOS interface to bind and read Spektrum/JR DSMx satellite receiver
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* @{
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*
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* @file pios_dsm_priv.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Spektrum/JR DSMx satellite receiver private structures.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_DSM_PRIV_H
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#define PIOS_DSM_PRIV_H
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#include <pios.h>
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#include <pios_stm32.h>
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#include <pios_usart_priv.h>
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/*
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* Currently known DSMx (DSM2, DSMJ, DSMX) satellite serial port settings:
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* 115200bps serial stream, 8 bits, no parity, 1 stop bit
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* size of each frame: 16 bytes
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* data resolution: 10 or 11 bits
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* number of frames: 1 or 2
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* frame period: 11ms or 22ms
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*
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* Currently known DSMx frame structure:
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* 2 bytes - depend on protocol version:
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* for DSM2/DSMJ:
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* 1 byte - lost frame counter (8 bit)
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* 1 byte - data format (for master receiver bound with 3 or 5 pulses),
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* or unknown (for slave receiver bound with 4 or 6 pulses,
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* some sources call it also the lost frame counter)
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* for DSMX:
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* 1 byte - unknown data (does not look like lost frame counter)
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* 1 byte - unknown data, has been seen only 0xB2 so far
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* 14 bytes - up to 7 channels (16 bit word per channel) with encoded channel
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* number, channel value, the "2nd frame in a sequence" flag.
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* Unused channels have FF FF instead of data bytes.
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*
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* Data format identification:
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* - for DSM2/DSMJ: [0 0 0 R 0 0 N1 N0]
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* where
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* R is data resolution (0 - 10 bits, 1 - 11 bits),
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* N1..N0 is the number of frames required to receive all channel
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* data (01 or 10 are known to the moment, which means 1 or 2 frames).
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* Three values for the transmitter information byte have been seen
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* thus far: 0x01, 0x02, 0x12.
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* - for DSMX this byte contains just 0xB2 or 0xA2 value for any resolution.
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* It is not known at the moment how to find the exact resolution from the
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* DSMX data stream. The frame number (1 or 2) and 10/11 bit resolution were
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* found in different data streams. So it is safer at the moment to ask user
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* explicitly choose the resolution.
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* Also some weird throttle channel (0) behavior was found in some streams
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* from DX8 transmitter (all zeroes). Thus DSMX needs special processing.
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*
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* Channel data are:
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* - for 10 bit: [F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
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* - for 11 bit: [F C3 C2 C1 C0 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
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* where
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* F is normally 0 but set to 1 for the first channel of the 2nd frame,
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* C3 to C0 is the channel number, 4 bit, zero-based, in any order,
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* Dx..D0 - channel data (10 or 11 bits)
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*
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* DSM2 protocol bug: in some cases in 2-frame format some bytes of the
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* frame can contain invalid values from the previous frame. They usually
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* are the last 5 bytes and can be equal to FF or other data from last
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* frame. There is no explicit workaround currently known.
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*
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* Binding: the number of pulses within bind window after power up defines
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* if this receiver is a master (provides receiver capabilities info to
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* the transmitter to choose data format) or slave (does not respond to
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* the transmitter which falls back to the old DSM mode in that case).
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* Currently known are 3(4) pulses for low resolution (10 bit) DSM2 mode,
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* 5(6) pulses for high resolution (11 bit) DSM2 mode, and also 7(8) and
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* 9(10) pulses for DSMX modes. Thus only 3, 5, 7 or 9 pulses should be
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* used for stand-alone satellite receiver to be bound correctly as the
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* master.
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*/
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#define DSM_CHANNELS_PER_FRAME 7
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#define DSM_FRAME_LENGTH (1+1+DSM_CHANNELS_PER_FRAME*2)
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#define DSM_DSM2_RES_MASK 0x0010
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#define DSM_2ND_FRAME_MASK 0x8000
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/*
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* Include lost frame counter and provide it as a last channel value
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* for debugging. Currently is not used by the receiver layer.
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*/
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//#define DSM_LOST_FRAME_COUNTER
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/* DSM protocol variations */
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enum pios_dsm_proto {
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PIOS_DSM_PROTO_DSM2,
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PIOS_DSM_PROTO_DSMX10BIT,
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PIOS_DSM_PROTO_DSMX11BIT,
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};
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/* DSM receiver instance configuration */
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struct pios_dsm_cfg {
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struct stm32_gpio bind;
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};
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extern const struct pios_rcvr_driver pios_dsm_rcvr_driver;
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extern int32_t PIOS_DSM_Init(uint32_t *dsm_id,
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const struct pios_dsm_cfg *cfg,
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const struct pios_com_driver *driver,
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uint32_t lower_id,
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enum pios_dsm_proto proto,
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uint8_t bind);
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#endif /* PIOS_DSM_PRIV_H */
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/**
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* @}
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* @}
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*/
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