RadioLink / DumboRC command packages for P Series

Lua_scripts/DumboRC P Series.lua

@@ -0,0 +1,305 @@
+local toolName = "TNS|DumboRC P series|TNE"
+
+-- EdgeTX/Multi bridge:
+-- Multi_Buffer[4] is RF payload length, [5..12] is RF payload.
+-- Multi rewrites the 00 00 token and checksum from its hop state.
+-- Special1 payload: 18 00 00 arg_l arg_h 00. Args: 1 poll, 2 Set GY EPA, 3 Set FS.
+-- Special2 payload: 28 00 00 gyro0 gyro1 gyro2 gyro3 00.
+-- Gyro word: bit0 enable, bit1 phase, bits2..5 SEN channel selector
+-- (0=NULL, 1..7=CH2..CH8), bits6..13 SEN, bits14..21 PCA,
+-- bits22..29 AGS, bits30..31 servo frequency (67HZ,250HZ,50HZ,300HZ).
+
+local PROTO_RLINK = 74
+local SUB_DUMBORC_P = 4
+
+local TX_READY = 4
+local TX_PAYLOAD = 5
+local TX_MAX_PAYLOAD = 8
+local RX_READY = 14
+local RX_PAYLOAD = 15
+local RX_MAX_PAYLOAD = 32
+local colorLcd = type(lcd.RGB) == "function"
+
+local servoHz = { "67HZ", "250HZ", "50HZ", "300HZ" }
+
+local gyro = { enable = 0, phase = 0, senCh = 0, sen = 0, pca = 0, ags = 0, flags = 0 }
+local lines = {}
+local sel = 1
+local top = 1
+local edit = false
+local blink = 0
+local moduleOk = false
+local haveValues = false
+
+local function limit(v, mn, mx)
+  if v < mn then return mn end
+  if v > mx then return mx end
+  return v
+end
+
+local function byte(v)
+  return limit(math.floor(tonumber(v) or 0), 0, 255)
+end
+
+local function gyroRaw(v)
+  return limit(math.floor(tonumber(v) or 0), 0, 200)
+end
+
+local function gyroText(v)
+  local raw = gyroRaw(v)
+  return tostring(math.floor(raw / 2)) .. (raw % 2 == 0 and ".0" or ".5")
+end
+
+local function screenLines()
+  if colorLcd then return limit(math.floor(((LCD_H or 272) - 46) / 20), 8, 12) end
+  return 6
+end
+
+local function drawTitle(title)
+  if colorLcd and lcd.drawFilledRectangle then
+    lcd.drawFilledRectangle(0, 0, LCD_W, 30, COLOR_THEME_SECONDARY1)
+    lcd.drawText(3, 5, title, COLOR_THEME_PRIMARY2)
+  elseif lcd.drawScreenTitle then
+    lcd.drawScreenTitle(title, 0, 0)
+  else
+    lcd.drawText(0, 0, title, INVERS)
+  end
+end
+
+local function findModule()
+  for i = 0, 1 do
+    local m = model.getModule(i)
+    if m and m["Type"] == 6 and m["protocol"] == PROTO_RLINK and m["subProtocol"] == SUB_DUMBORC_P then
+      return true
+    end
+  end
+  return false
+end
+
+local function initBuffer()
+  multiBuffer(0, string.byte("R"))
+  if multiBuffer(0) ~= string.byte("R") then
+    error("Not enough memory!")
+    return
+  end
+  multiBuffer(1, string.byte("L"))
+  multiBuffer(2, string.byte("n"))
+  multiBuffer(3, string.byte("k"))
+  multiBuffer(TX_READY, 0)
+  multiBuffer(RX_READY, 0)
+end
+
+local function release()
+  for i = 0, RX_PAYLOAD + RX_MAX_PAYLOAD - 1 do
+    multiBuffer(i, 0)
+  end
+end
+
+local function sendPayload(payload)
+  local len = #payload
+  if len < 1 or len > TX_MAX_PAYLOAD or multiBuffer(TX_READY) ~= 0 then
+    return false
+  end
+  for i = 1, TX_MAX_PAYLOAD do
+    multiBuffer(TX_PAYLOAD + i - 1, 0)
+  end
+  for i = 1, #payload do
+    multiBuffer(TX_PAYLOAD + i - 1, byte(payload[i]))
+  end
+  multiBuffer(TX_READY, len)
+  return true
+end
+
+local function sendSpecial1(arg)
+  return sendPayload({ 0x18, 0, 0, arg % 256, math.floor(arg / 256), 0 })
+end
+
+local function gyroSelector()
+  if gyro.senCh < 2 or gyro.senCh > 8 then return 0 end
+  return gyro.senCh - 1
+end
+
+local function sendGyro()
+  local sen = gyroRaw(gyro.sen)
+  local pca = gyroRaw(gyro.pca)
+  local ags = gyroRaw(gyro.ags)
+  local b0 = gyro.enable + gyro.phase * 2 + gyroSelector() * 4 + (sen % 4) * 64
+  local b1 = math.floor(sen / 4) + (pca % 4) * 64
+  local b2 = math.floor(pca / 4) + (ags % 4) * 64
+  local b3 = math.floor(ags / 4) + limit(gyro.flags, 0, 3) * 64
+  sendPayload({ 0x28, 0, 0, b0, b1, b2, b3, 0 })
+end
+
+local function decodeGyroBytes(b0, b1, b2, b3)
+  b0 = byte(b0); b1 = byte(b1); b2 = byte(b2); b3 = byte(b3)
+  gyro.enable = b0 % 2
+  gyro.phase = math.floor(b0 / 2) % 2
+  local selector = math.floor(b0 / 4) % 16
+  gyro.senCh = selector == 0 and 0 or limit(selector + 1, 2, 8)
+  gyro.sen = gyroRaw(math.floor(b0 / 64) + (b1 % 64) * 4)
+  gyro.pca = gyroRaw(math.floor(b1 / 64) + (b2 % 64) * 4)
+  gyro.ags = gyroRaw(math.floor(b2 / 64) + (b3 % 64) * 4)
+  gyro.flags = math.floor(b3 / 64) % 4
+  haveValues = true
+end
+
+local function pollRx()
+  local len = multiBuffer(RX_READY)
+  if not len or len == 0 then return end
+  if len > RX_MAX_PAYLOAD then
+    multiBuffer(RX_READY, 0)
+    return
+  end
+
+  local p = {}
+  for i = 1, len do
+    p[i] = multiBuffer(RX_PAYLOAD + i - 1)
+  end
+  multiBuffer(RX_READY, 0)
+
+  if len == 7 and p[1] == 0x01 then
+    decodeGyroBytes(p[3], p[4], p[5], p[6])
+  end
+end
+
+local function chText()
+  if gyro.senCh == 0 then return "NULL" end
+  return "CH" .. gyro.senCh
+end
+
+local function rebuildLines()
+  lines = {
+    { "Poll RX", "action", function() sendSpecial1(1) end },
+    { "Gyro", "toggle", "enable" },
+    { "Phase", "toggle", "phase" },
+    { "SEN Ch", "channel", "senCh" },
+    { "SEN", "percent", "sen" },
+    { "PCA", "percent", "pca" },
+    { "AGS", "percent", "ags" },
+    { "Servo Hz", "flags", "flags" },
+    { "Send Gyro", "action", sendGyro },
+    { "Set GY EPA", "action", function() sendSpecial1(2) end },
+    { "Set FS", "action", function() sendSpecial1(3) end },
+  }
+end
+
+local function lineValue(line)
+  if line[2] == "action" then return ">" end
+  if not haveValues then return "--" end
+  if line[2] == "toggle" then return gyro[line[3]] == 0 and "Off" or "On" end
+  if line[2] == "channel" then return chText() end
+  if line[2] == "percent" then return gyroText(gyro[line[3]]) end
+  if line[2] == "flags" then return servoHz[gyro.flags + 1] or tostring(gyro.flags) end
+  return ""
+end
+
+local function changeValue(dir, fast)
+  local line = lines[sel]
+  if not line then return end
+  local step = fast and 20 or 1
+  haveValues = true
+
+  if line[2] == "toggle" then
+    gyro[line[3]] = dir > 0 and 1 or 0
+  elseif line[2] == "channel" then
+    local vals = { 0, 2, 3, 4, 5, 6, 7, 8 }
+    local pos = 1
+    for i = 1, #vals do
+      if vals[i] == gyro.senCh then pos = i end
+    end
+    gyro.senCh = vals[limit(pos + dir, 1, #vals)]
+  elseif line[2] == "percent" then
+    gyro[line[3]] = gyroRaw(gyro[line[3]] + dir * step)
+  elseif line[2] == "flags" then
+    gyro.flags = limit(gyro.flags + dir, 0, 3)
+  end
+end
+
+local function fastRotary()
+  return getRotEncSpeed() > 1
+end
+
+local function handleEvent(event)
+  local nextEvent = edit and EVT_VIRTUAL_INC or EVT_VIRTUAL_NEXT
+  local prevEvent = edit and EVT_VIRTUAL_DEC or EVT_VIRTUAL_PREV
+  if event == nextEvent then
+    if edit then changeValue(1, fastRotary()) else sel = limit(sel + 1, 1, #lines) end
+  elseif event == prevEvent then
+    if edit then changeValue(-1, fastRotary()) else sel = limit(sel - 1, 1, #lines) end
+  elseif event == EVT_VIRTUAL_NEXT_PAGE then
+    if edit then changeValue(1, true) else sel = limit(sel + screenLines(), 1, #lines) end
+  elseif event == EVT_VIRTUAL_PREV_PAGE then
+    if edit then changeValue(-1, true) else sel = limit(sel - screenLines(), 1, #lines) end
+    killEvents(event)
+  elseif event == EVT_VIRTUAL_ENTER then
+    local line = lines[sel]
+    if line and line[2] == "action" then
+      line[3]()
+    elseif line then
+      edit = not edit
+    end
+  end
+
+  local count = screenLines()
+  if sel < top then top = sel end
+  if sel >= top + count then top = sel - count + 1 end
+end
+
+local function draw()
+  lcd.clear()
+  drawTitle("DumboRC P series")
+
+  local font = colorLcd and 0 or SMLSIZE
+  local x = 2
+  local y = colorLcd and 34 or 9
+  local dy = colorLcd and 20 or 8
+  local valueX = colorLcd and 150 or 82
+
+  if not moduleOk then
+    if colorLcd then
+      lcd.drawText(x, y + dy, "Select Multi RadLink/Dumbo_P", font + BLINK)
+    else
+      lcd.drawText(x, y + dy, "Select RadLink", font + BLINK)
+      lcd.drawText(x, y + dy * 2, "Dumbo_P", font + BLINK)
+    end
+    return
+  end
+
+  for i = top, math.min(#lines, top + screenLines() - 1) do
+    local attr = font
+    if i == sel then
+      attr = attr + INVERS
+      if edit then
+        blink = (blink + 1) % 30
+        if blink > 15 then attr = font end
+      end
+    end
+    local yy = y + (i - top) * dy
+    lcd.drawText(x, yy, lines[i][1], attr)
+    lcd.drawText(valueX, yy, lineValue(lines[i]), attr)
+  end
+end
+
+local function init()
+  moduleOk = type(multiBuffer) == "function" and findModule()
+  rebuildLines()
+  if moduleOk then initBuffer() end
+end
+
+local function run(event)
+  if event == nil then
+    error("Cannot be run as a model script!")
+    return 2
+  elseif event == EVT_VIRTUAL_EXIT then
+    if moduleOk then release() end
+    return 2
+  end
+  if moduleOk then
+    pollRx()
+    handleEvent(event)
+  end
+  draw()
+  return 0
+end
+
+return { init = init, run = run }

Lua_scripts/MultiChan.txt

@@ -163,8 +163,9 @@
 72,0,Q90C,Std,0,FMode,VTX+
 74,0,RadioLink,Surface,0,CH5,CH6,CH7,CH8,FS_CH1,FS_CH2,FS_CH3,FS_CH4,FS_CH5,FS_CH6,FS_CH7,FS_CH8
 74,1,RadioLink,Air,0,CH5,CH6,CH7,CH8,FS_CH1,FS_CH2,FS_CH3,FS_CH4,FS_CH5,FS_CH6,FS_CH7,FS_CH8
-74,2,RadioLink,DumboRC,0,CH5,CH6,CH7,CH8,FS_CH1,FS_CH2,FS_CH3,FS_CH4,FS_CH5,FS_CH6,FS_CH7,FS_CH8
+74,2,RadioLink,DumboRC,0,CH5,CH6,CH7,CH8GY,CH9,CH10,n-a,n-a,n-a,n-a,n-a,n-a
 74,3,RadioLink,RC4G,0,CH5,FS_CH1,FS_CH2,FS_CH3,FS_CH4
+74,4,RadioLink,Dumbo_P,0,CH5,CH6,CH7,CH8GY,CH9,CH10,n-a,n-a,n-a,n-a,n-a,n-a
 76,0,Realacc,Std,1,Flip,Light,Calib,HLess,RTH,ThCut,Rotat
 50,0,Redpine,Fast,0,sCH5,sCH6,sCH7,sCH8,sCH9,sCH10,sCH11,sCH12,sCH13,sCH14,sCH15,sCH16
 50,1,Redpine,Slow,0,sCH5,sCH6,sCH7,sCH8,sCH9,sCH10,sCH11,sCH12,sCH13,sCH14,sCH15,sCH16

Lua_scripts/MultiChannelsUpdater.lua

@@ -280,7 +280,7 @@ local function Multi_Init()
   end
 
   --Exceptions on first 4 channels...
-  if ( protocol == 73 or (protocol == 74 and sub_protocol == 0) or (protocol == 60 and sub_protocol == 2) or protocol == 89) then -- Kyosho or RadioLink Surface or Pelikan/SCX24 or Losi
+  if ( protocol == 73 or (protocol == 74 and (sub_protocol == 0 or sub_protocol == 2 or sub_protocol == 4)) or (protocol == 60 and sub_protocol == 2) or protocol == 89) then -- Kyosho or RadioLink (Surface or DumboRC/P) or Pelikan/SCX24 or Losi
     channel_names[1] = "ST"
     channel_names[2] = "THR"
     channel_names[3] = "CH3"

Multiprotocol/Multi.txt

@@ -71,7 +71,7 @@
 71,JJRC345,JJRC345,SkyTmblr
 72,Q90C
 73,Kyosho,FHSS,Hype
-74,RadioLink,Surface,Air,DumboRC,RC4G
+74,RadioLink,Surface,Air,DumboRC,RC4G,Dumbo_P
 75,---
 76,Realacc
 77,OMP

Multiprotocol/Multi_Protos.ino

@@ -180,7 +180,7 @@ const char STR_SUBTYPE_WFLY2[] =      "\x05""RF20x";
 const char STR_SUBTYPE_HOTT[] =       "\x07""Sync\0  ""No_Sync";
 const char STR_SUBTYPE_PELIKAN[] =    "\x05""Pro\0 ""Lite\0""SCX24";
 const char STR_SUBTYPE_V761[] =       "\x05""3ch\0 ""4ch\0 ""TOPRC";
-const char STR_SUBTYPE_RLINK[] =      "\x07""Surface""Air\0   ""DumboRC""RC4G\0  ";
+const char STR_SUBTYPE_RLINK[] =      "\x07""Surface""Air\0   ""DumboRC""RC4G\0  ""Dumbo_P";
 const char STR_SUBTYPE_KYOSHO[] =     "\x04""FHSS""Hype";
 const char STR_SUBTYPE_KYOSHO2[] =    "\x05""KT-17";
 const char STR_SUBTYPE_KYOSHO3[] =    "\x03""ASF";
@@ -460,7 +460,7 @@ const mm_protocol_definition multi_protocols[] = {
 		{PROTO_Q90C,       STR_Q90C,      NO_SUBTYPE,            0, OPTION_RFTUNE,  0, 0, SW_NRF,    Q90C_init,       Q90C_callback       },
 	#endif
 	#if defined(RLINK_CC2500_INO)
-		{PROTO_RLINK,      STR_RLINK,     STR_SUBTYPE_RLINK,     4, OPTION_RFTUNE,  0, 0, SW_CC2500, RLINK_init,      RLINK_callback      },
+		{PROTO_RLINK,      STR_RLINK,     STR_SUBTYPE_RLINK,     5, OPTION_RFTUNE,  0, 0, SW_CC2500, RLINK_init,      RLINK_callback      },
 	#endif
 	#if defined(REALACC_NRF24L01_INO)
 		{PROTO_REALACC,    STR_REALACC,   NO_SUBTYPE,            0, OPTION_NONE,    0, 0, SW_NRF,    REALACC_init,    REALACC_callback    },

Multiprotocol/Multiprotocol.h

@@ -473,6 +473,7 @@ enum RLINK
 	RLINK_AIR		= 1,
 	RLINK_DUMBORC	= 2,
 	RLINK_RC4G		= 3,
+	RLINK_DUMBORC_P	= 4,
 };
 enum MOULDKG
 {
@@ -584,6 +585,7 @@ enum MultiPacketTypes
 	MULTI_TELEMETRY_MLINK			= 15,
 	MULTI_TELEMETRY_CONFIG			= 16,
 	MULTI_TELEMETRY_PROTO			= 17,
+	MULTI_TELEMETRY_RLINK			= 18,
 };
 
 // Macros
@@ -1200,6 +1202,8 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
 			RLINK_SURFACE	0
 			RLINK_AIR		1
 			RLINK_DUMBORC	2
+			RLINK_RC4G		3
+			RLINK_DUMBORC_P	4
 
    Power value => 0x80	0=High/1=Low
   Stream[3]   = option_protocol;
@@ -1227,6 +1231,7 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
       FrSkyX and FrSkyX2: Stream[27..34] during normal operation unstuffed SPort data to be sent
 	  HoTT: Stream[27] 1 byte for telemetry type
 	  DSM: Stream[27..33] Forward Programming
+	  RadioLink/DumboRC P: Stream[27..35] raw command payload, used to send failsafe and gyro settings
 */
 /*
   Multiprotocol telemetry/command definition for OpenTX and erskyTX
@@ -1377,5 +1382,9 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
    data[n+2]   = number of sub protocols
    data[n+3]   = sub protocols text length, only sent if nbr_sub != 0
    data[n+4..] = sub protocol names, only sent if nbr_sub != 0
-
+
+  Type 0x12 RadioLink/DumboRC P raw command payload
+   length: variable
+   data[0..] = raw command payload, used to send failsafe and gyro settings
+
 */