src/basic/ELRS.bas

   1 rem --  Change ExpressLRS parameters
   2
   3 rem --  License https://www.gnu.org/licenses/gpl-3.0.en.html
   4
   5 rem --  basic script for radios running ErskTx R223A6 or later, based roughly on ELRS.lua
   6
   7 rem -- Original author: spinorkit
   8
   9 rem -- See https://openrcforums.com/forum/viewtopic.php?f=7&t=4676&sid=25e7416b867f2c94a6382fbff922d082
  10 rem -- Description of the ErskyTx Basic dialect: https://openrcforums.com/forum/viewtopic.php?t=10325
  11 rem -- N.B. ErskyTx Basic uses 0 based indexing into arrays in contrast to lua's 1 based indexing
  12
  13 rem -- Note: ErskyTx uses 400000 baud to talk to crossfire modules, and therefore ELRS.
  14 rem -- If you have a 2018 R9M module (with the ACCST logo on the back), you need the
  15 rem -- resistor mod for reliable communuication:
  16 rem -- https://www.expresslrs.org/hardware/inverter-mod/
  17
  18 array byte rxBuf[64]
  19 array byte transmitBuffer[64]
  20 array byte commitSha[8]
  21 array byte intToHex[17]
  22
  23 array byte paramNames[96]
  24 array params[16]
  25 array paramMaxs[16]
  26 array paramMins[16]
  27
  28 array validAirRates127[8]
  29 array validAirRates128[8]
  30 array validAirRates[8]
  31
  32
  33 const kAirRateParamIdx  0
  34 const kTLMintervalParamIdx  1
  35 const kMaxPowerParamIdx  2
  36 const kRFfreqParamIdx  3
  37 const kWifiUpdateParamIdx  4
  38 const kNParams  5
  39 const kNSX127Rates 4
  40 const kNSX128Rates 5
  41
  42 rem -- states
  43 const kInitializing 0
  44 const kReceivedParams 1
  45 const kWaitForUpdate 2
  46
  47 rem -- max param name len is 11 = 10 + null
  48 const kMaxParamNameLen  11
  49 const kMinCommandInterval10ms  100
  50 const PARAMETER_WRITE  0x2D
  51 const kQuestionMark 63
  52
  53 if init = 0
  54    init = 1
  55
  56    strtoarray(intToHex,"0123456789abcdef")
  57
  58    rem -- try to detect e.g. Taranis style Tx
  59    isTaranisStyle = sysflags() & 0x20
  60
  61    eventLeft = EVT_LEFT_FIRST
  62    eventRight = EVT_RIGHT_FIRST
  63    eventUp = EVT_UP_FIRST
  64    eventDown = EVT_DOWN_FIRST
  65
  66    eventLeftRept = EVT_LEFT_REPT
  67    eventRightRept = EVT_RIGHT_REPT
  68    eventUpRept = EVT_UP_REPT
  69    eventDownRept = EVT_DOWN_REPT
  70
  71    activateBtn = EVT_MENU_BREAK
  72
  73    if isTaranisStyle # 0
  74       eventLeft = EVT_UP_FIRST
  75       eventRight = EVT_DOWN_FIRST
  76       eventUp = EVT_MENU_BREAK
  77       eventDown = EVT_LEFT_FIRST
  78
  79       eventLeftRept = EVT_UP_REPT
  80       eventRightRept = EVT_DOWN_REPT
  81       eventUpRept = eventUp
  82       eventDownRept = eventDown
  83
  84       activateBtn = EVT_BTN_BREAK
  85    end
  86
  87    pktsRead = 0
  88    pktsSent = 0
  89    pktsGood = 0
  90    elrsPkts = 0
  91
  92    lastChangeTime = gettime()
  93
  94    rem -- Note: list indexes must match to param handling in tx_main!
  95    rem -- list = {AirRate, TLMinterval, MaxPower, RFfreq, Bind, WebServer},
  96
  97    strtoarray(commitSha,"??????")
  98
  99    strtoarray(paramNames,"Pkt Rate:\0\0TLM Ratio:\0Power:\0\0\0\0\0RF freq:")
 100
 101    paramMins[kAirRateParamIdx] = 0
 102    paramMaxs[kAirRateParamIdx] = 3
 103    paramMins[kTLMintervalParamIdx] = 0
 104    paramMaxs[kTLMintervalParamIdx] = 7
 105    paramMins[kMaxPowerParamIdx] = 0
 106    paramMaxs[kMaxPowerParamIdx] = 7
 107    paramMins[kRFfreqParamIdx] = 0
 108    paramMaxs[kRFfreqParamIdx] = 0
 109    paramMins[kWifiUpdateParamIdx] = 0
 110    paramMaxs[kWifiUpdateParamIdx] = 1
 111
 112
 113    rem -- 433/868/915 (SX127x) '25 Hz', '50 Hz', '100 Hz', '200 Hz'
 114    validAirRates127[0] = 6
 115    validAirRates127[1] = 5
 116    validAirRates127[2] = 4
 117    validAirRates127[3] = 2
 118
 119    rem -- 2.4 GHz (SX128x) '50 Hz', '150 Hz', '250 Hz', '500 Hz'
 120    validAirRates128[0] = 6
 121    validAirRates128[1] = 5
 122    validAirRates128[2] = 3
 123    validAirRates128[3] = 1
 124    validAirRates128[4] = 0
 125
 126    band24GHz = 0
 127    nValidAirRates = kNSX127Rates
 128
 129    i = 0
 130    while i < kNParams
 131       params[i]  = -1
 132       i += 1
 133    end
 134
 135
 136    bindMode = 0
 137    wifiupdatemode = 0
 138
 139    UartGoodPkts = 0
 140    UartBadPkts = 0
 141
 142    StopUpdate = 0
 143
 144    kNTotalParams =  5
 145    kNumEditParams = 3
 146
 147    selectedParam = 0
 148
 149    incDecParam = 0
 150
 151    state = kInitializing
 152
 153    rem -- purge the crossfire packet fifo
 154    result = crossfirereceive(count, command, rxBuf)
 155    while result = 1
 156    result = crossfirereceive(count, command, rxBuf)
 157    end
 158
 159    rem gosub requestDeviceData
 160 end
 161 goto main
 162
 163 sendPacket:
 164    result = crossfiresend(sendCommand, sendLength, transmitBuffer)
 165    if result = 1
 166       pktsSent += 1
 167    end
 168    return
 169
 170 sendPingPacket:
 171    rem -- crossfireTelemetryPush(0x2D, {0xEE, 0xEA, 0x00, 0x00}) ping until we get a resp
 172    sendCommand = PARAMETER_WRITE
 173    sendLength = 4
 174    transmitBuffer[0]=0xEE
 175    transmitBuffer[1]=0xEA
 176    transmitBuffer[2]=0x00
 177    transmitBuffer[3]=0x00
 178
 179    gosub sendPacket
 180    return
 181
 182 sendWifiUpdatePacket:
 183    sendCommand = PARAMETER_WRITE
 184    sendLength = 4
 185    transmitBuffer[0]=0xEE
 186    transmitBuffer[1]=0xEA
 187    transmitBuffer[2]=0xFE
 188    transmitBuffer[3]=0x01
 189    gosub sendPacket
 190    return
 191
 192
 193 sendParamIncDecPacket:
 194    if state # kReceivedParams then return
 195    rem -- if gettime() - lastChangeTime < kMinCommandInterval10ms then return
 196
 197    origValue = params[selectedParam]
 198    if selectedParam = kAirRateParamIdx
 199       rem -- find the index of the current value
 200       AirRateIdx = params[kAirRateParamIdx]
 201       i = 0
 202       if band24GHz = 1
 203          nValidAirRates = kNSX128Rates
 204          while i < nValidAirRates
 205             validAirRates[i] = validAirRates128[i]
 206             i += 1
 207          end
 208       else
 209          nValidAirRates = kNSX127Rates
 210          while i < nValidAirRates
 211             validAirRates[i] = validAirRates127[i]
 212             i += 1
 213          end
 214       end
 215       i = 0
 216       while i < nValidAirRates
 217          if validAirRates[i] = AirRateIdx then break
 218          i += 1
 219       end
 220       i += incDecParam
 221       if i >= nValidAirRates
 222          i = nValidAirRates-1
 223       elseif i < 0
 224          i = 0
 225       end
 226       value = validAirRates[i]
 227    else
 228       value = params[selectedParam]
 229       value += incDecParam
 230       if value > paramMaxs[selectedParam]
 231          value = paramMaxs[selectedParam]
 232       elseif value < paramMins[selectedParam]
 233          value = paramMins[selectedParam]
 234       end
 235    end
 236
 237    if value = origValue then return
 238
 239    sendCommand = PARAMETER_WRITE
 240    sendLength = 4
 241    transmitBuffer[0]=0xEE
 242    transmitBuffer[1]=0xEA
 243    transmitBuffer[2]=selectedParam+1
 244    transmitBuffer[3]=value
 245
 246    state = kWaitForUpdate
 247    lastChangeTime = gettime()
 248 elrsPkts += 1
 249
 250    gosub sendPacket
 251    return
 252
 253 checkForPackets:
 254    command = 0
 255    count = 0
 256
 257    rem -- N/B. rxBuf[0] maps to data[1] in ELRS.lua
 258    result = crossfirereceive(count, command, rxBuf)
 259    while result = 1
 260       if (command = 0x2D) & (rxBuf[0] = 0xEA) & (rxBuf[1] = 0xEE)
 261          pktsRead += 1
 262
 263          if ((rxBuf[2] = 0xFF) & (count = 12))
 264             bindMode = (rxBuf[3] & 1)
 265             wifiupdatemode = (rxBuf[3] & 2)
 266
 267             if StopUpdate = 0
 268                params[kAirRateParamIdx] = rxBuf[4]
 269                params[kTLMintervalParamIdx] = rxBuf[5]
 270                params[kMaxPowerParamIdx] = rxBuf[6]
 271                params[kRFfreqParamIdx] = rxBuf[7]-1
 272
 273                band24GHz = 0
 274                if rxBuf[7] = 6
 275                   band24GHz = 1
 276                end
 277
 278                state = kReceivedParams
 279                rem -- elrsPkts += 1
 280             end
 281
 282                                 UartBadPkts = rxBuf[8]
 283                                 UartGoodPkts = rxBuf[9] * 256 + rxBuf[10]
 284
 285          elseif ((rxBuf[2] = 0xFE) & (count = 9))
 286             rem -- First half of commit sha - 6 hexadecimal digits
 287             i = 0
 288             while i < 6
 289                j = rxBuf[i+3]
 290                if j >= 0 & j < 16
 291                   commitSha[i] = intToHex[j]
 292                else
 293                   commitSha[i] = kQuestionMark
 294                end
 295                i += 1
 296             end
 297          end
 298       end
 299
 300       result = crossfirereceive(count, command, rxBuf)
 301    end
 302    return
 303
 304 nextParameter:
 305    selectedParam += 1
 306    if selectedParam >= kNTotalParams then selectedParam = 0
 307    if selectedParam = kRFfreqParamIdx then selectedParam += 1
 308 return
 309
 310 previousParameter:
 311    selectedParam -= 1
 312    if selectedParam < 0 then selectedParam = kNTotalParams - 1
 313    if selectedParam = kRFfreqParamIdx then selectedParam -= 1
 314 return
 315
 316 decrementParameter:
 317 incDecParam = -1;
 318 gosub sendParamIncDecPacket
 319 return
 320
 321 incrementParameter:
 322 incDecParam = 1;
 323 gosub sendParamIncDecPacket
 324 return
 325
 326 main:
 327    gosub checkForPackets
 328
 329         if state = kInitializing
 330                 rem -- crossfireTelemetryPush(0x2D, {0xEE, 0xEA, 0x00, 0x00}) -- ping until we get a resp
 331       gosub sendPingPacket
 332         end
 333
 334    if (Event = eventDown) | (Event = eventDownRept)
 335       gosub nextParameter
 336    elseif (Event = eventUp) | (Event = eventUpRept)
 337       gosub previousParameter
 338    elseif (Event = eventLeft) | (Event = eventLeftRept)
 339       gosub decrementParameter
 340    elseif (Event = eventRight) | (Event = eventRightRept)
 341       gosub incrementParameter
 342    elseif Event = activateBtn
 343       if selectedParam = kWifiUpdateParamIdx then gosub sendWifiUpdatePacket
 344    end
 345
 346    drawclear()
 347    valueXPos = 60
 348    ygap = 10
 349    yPos = 0
 350    drawtext(0, yPos, "ELRS", INVERS)
 351    if wifiupdatemode = 2
 352       drawtext(30, yPos, "http://10.0.0.1")
 353    elseif bindMode = 1
 354       drawtext(30, yPos, "Bind not needed")
 355    else
 356    rem UartBadPkts = 250
 357    rem UartGoodPkts = 250
 358       drawnumber(86,yPos, UartBadPkts)
 359       drawtext(86, yPos, ":")
 360       drawnumber(106,yPos, UartGoodPkts)
 361       drawtext(28, yPos, commitSha)
 362    end
 363    rem if param = selectedParam then attr = INVERS
 364
 365    param = 0
 366    idx = params[param]+1
 367    yPos = (param+1)*ygap
 368    drawtext(0, yPos, "Pkt Rate:")
 369    rem -- drawtext(valueXPos,yPos,"------\0AUTO  \0 500Hz\0 250Hz\0 200Hz\0 150Hz\0 100Hz\0  50Hz\0  25Hz\0   4Hz"[AirRateIdx*7],(param=selectedParam)*INVERS)
 370    drawtext(valueXPos,yPos,"------\0 500Hz\0 250Hz\0 200Hz\0 150Hz\0 100Hz\0  50Hz\0  25Hz\0   4Hz"[idx*7],(param=selectedParam)*INVERS)
 371
 372    param += 1
 373    idx = params[param]+1
 374    yPos = (param+1)*ygap
 375    drawtext(0, yPos, "TLM Ratio:")
 376    drawtext(valueXPos,yPos,"------\0   Off\0 1:128\0  1:64\0  1:32\0  1:16\0   1:8\0   1:4\0   1:2"[idx*7],(param=selectedParam)*INVERS)
 377
 378    param += 1
 379    idx = params[param]+1
 380    yPos = (param+1)*ygap
 381    drawtext(0, yPos, "Power:")
 382    drawtext(valueXPos,yPos,"------ \0  10 mW\0  25 mW\0  50 mW\0 100 mW\0 250 mW\0 500 mW\0    1 W\0    2 W"[idx*8],(param=selectedParam)*INVERS)
 383
 384    param += 1
 385    idx = params[param]+1
 386    yPos = (param+1)*ygap
 387    drawtext(0, yPos, "RF freq:")
 388    drawtext(valueXPos,yPos,"------  \0 915 AU \0 915 FCC\0 868 EU \0 433 AU \0 433 EU \0 2G4 ISM"[idx*9],(param=selectedParam)*INVERS)
 389
 390    param += 1
 391    idx = params[param]+1
 392    yPos = (param+1)*ygap
 393    drawtext(0, yPos, "Wifi:")
 394    drawtext(valueXPos,yPos,"Update\0Update\0"[idx*7],(param=selectedParam)*INVERS)
 395
 396 rem   param += 1
 397 rem   yPos = (param+1)*ygap
 398 rem   drawtext(0,yPos,"elrsPkts:")
 399 rem   drawnumber(valueXPos+15,yPos,elrsPkts)
 400
 401    stop
 402
 403 exit:
 404    finish