Relay Mode

mLRS/Common/mavlink/olliw_dev.xml

@@ -129,5 +129,22 @@
       <field type="uint8_t" name="rx_used_ser_bandwidth" units="c%" invalid="UINT8_MAX">Receive bandwidth consumption. Values: 0..100, UINT8_MAX: invalid/unknown.</field>
       <field type="uint8_t" name="txbuf" units="c%" invalid="UINT8_MAX">For compatibility with legacy method. UINT8_MAX: unknown.</field>
     </message>
+    <message id="60049" name="MLRS_MAIN_RADIO_STATS">
+      <wip/>
+      <!-- WIP -->
+      <description>mLRS specific.</description>
+      <field type="uint8_t" name="uplink_rssi">crsf_cvt_rssi_tx(stats.received_rssi);             OpenTX -> 1RSS</field>
+      <field type="uint8_t" name="uplink_LQ">stats.received_LQ;                                   OpenTx -> RQly</field>
+      <field type="uint8_t" name="active_antenna">stats.received_antenna;                         OpenTx -> ANT</field>
+      <field type="uint8_t" name="mode">crsf_cvt_mode(Config.Mode);                               OpenTx -> RFMD</field>
+      <field type="uint8_t" name="uplink_transmit_power_enum">crsf_cvt_power(sx.RfPower_dbm());   OpenTx -> TPw2</field>
+      <field type="uint8_t" name="downlink_rssi">crsf_cvt_rssi_tx(stats.GetLastRssi());           OpenTx -> TRSS</field>
+      <field type="uint8_t" name="downlink_LQ">txstats.GetLQ();                                   OpenTx -> TQly</field>
+      <field type="int8_t"  name="downlink_snr">stats.GetLastSnr();                               OpenTx -> TSNR</field>
+      <field type="uint8_t" name="uplink_rssi_percent">crsf_cvt_rssi_percent(stats.GetLastRssi());      OpenTx -> TRSP</field>
+      <field type="uint8_t" name="uplink_fps">crsf_cvt_fps(Config.Mode); // *10 in OpenTx               OpenTx -> TFPS</field>
+      <field type="uint8_t" name="downlink_rssi_percent">crsf_cvt_rssi_percent(stats.received_rssi);    OpenTx -> RRSP</field>
+      <field type="uint8_t" name="uplink_transmit_power_dbm">sx.RfPower_dbm();                          OpenTx -> TPWR</field>
+    </message>
   </messages>
 </mavlink>

mLRS/Common/setup.h

@@ -169,13 +169,14 @@ void setup_configure_metadata(void)
     SetupMetaData.Rx_Diversity_allowed_mask = 0b00010; // antenna1, not editable
 #endif
 
-    // Rx OutMode: "sbus,crsf,sbus inv"
+    // Rx OutMode: "sbus,crsf,sbus inv,crsf tx"
 #ifdef DEVICE_HAS_OUT
-    SetupMetaData.Rx_OutMode_allowed_mask = 0b111; // all
+    SetupMetaData.Rx_OutMode_allowed_mask = 0b1111; // all
+    //SetupMetaData.Rx_OutMode_allowed_mask = 0b0111; // sbus,crsf,sbus inv
 #elif defined DEVICE_HAS_OUT_NORMAL
-    SetupMetaData.Rx_OutMode_allowed_mask = 0b110; // crsf,sbus inv
+    SetupMetaData.Rx_OutMode_allowed_mask = 0b0110; // crsf,sbus inv
 #elif defined DEVICE_HAS_OUT_INVERTED
-    SetupMetaData.Rx_OutMode_allowed_mask = 0b001; // sbus, not editable
+    SetupMetaData.Rx_OutMode_allowed_mask = 0b0001; // sbus, not editable
 #else
     SetupMetaData.Rx_OutMode_allowed_mask = 0; // not available, do not display
 #endif

mLRS/Common/setup_types.h

@@ -245,6 +245,7 @@ typedef enum {
     OUT_CONFIG_SBUS = 0,
     OUT_CONFIG_CRSF,
     OUT_CONFIG_SBUS_INVERTED,
+    OUT_CONFIG_CRSF_TX_JRPIN5,
     OUT_CONFIG_NUM,
 } RX_OUT_CONFIG_ENUM;
 

mLRS/Common/theory_of_operation.h

@@ -0,0 +1,102 @@
+//*******************************************************
+// Copyright (c) MLRS project
+// GPL3
+// https://www.gnu.org/licenses/gpl-3.0.de.html
+// OlliW @ www.olliw.eu
+//*******************************************************
+// Theory of Operation
+//*******************************************************
+// Documents the operation and functioning of certain mechanisms.
+/*
+
+
+
+
+==============================
+Relay Mode
+==============================
+
+Two pairs of tx module and receiver are daisy chained. It may be more than two pairs, but let's stick
+to only two for the sake of the discussion.
+
+For notation:
+
+radio <-CRSF-> secondary <- air -> secondary <-CRSF,serial-> main      <- air -> main     <-CRSF,serial-> flight
+               tx module           receiver                  tx module           receiver                 controller
+
+The relay mode is enabled by setting Rx_Out_Mode = "crsf tx" in the secondary receiver. This has a chain
+of consequences in the operation of the secondary receiver and the two tx modules.
+
+Secondary Receiver:
+
+Relay mode is enabled by Rx_Out_Mode = "crsf tx".
+
+- OUT port is configured to use tx inverted, and 400k baud
+- rc data is send with address CRSF_ADDRESS_RECEIVER (instead of CRSF_ADDRESS_FLIGHT_CONTROLLER)
+- rc data is adjusted by the channel order, but no other modifications are done (like failsafe, rssi, etc)
+- no other CRSF frames are send (like link statistics)
+- injection of mavlink frames into the outgoing stream (serial tx) is disabled
+  (no flow control via RADIO_STATUS, no RC_CHANNELS_OVERRIDE, etc)
+- mavlink mavftp fakery is disabled
+
+Main Tx Module:
+
+It determines its relay mode from the address of the received CRSF frames. When it receives a CRSF frame
+with address CRSF_ADDRESS_FLIGHT_CONTROLLER (or CRSF_ADDRESS_BROADCAST) it assumes business as usual. If
+it receives a CRSF frame with address CRSF_ADDRESS_RECEIVER it however determines that it is the main tx module
+in a relay setup.
+
+- function crsf.IsRelayMain() returns true
+- all emission of CRSF frames is disabled. This implies that the IN pin is never becoming Tx and remains all
+  time in Rx configuration. This is to ensure that there are no electrical shorts with the receiver's Tx output.
+- any received CRSF frame except of the rc date (CRSF_FRAME_ID_CHANNELS) are ignored
+- handling of telemetry mavlink messages is disabled, i.e., the mavlink stream is not processed and CRSF telemetry
+  data are not extracted (reduced cpu load)
+- the mavlink message MLRS_MAIN_RADIO_STATS is injected into the outgoing mavlink stream, with 10 Hz rate
+  (it has a size of 24 bytes, so this additional data increases data rate by 10*24 = 240 bytes/sec)
+
+Secondary Tx Module:
+
+It determines its relay mode as follows: When it receives MLRS_MAIN_RADIO_STATS mavlink messages it determines
+that it is the secondary tx module in a relay module, otherwise it assumes business as usual.
+
+- function crsf.IsRelaySecondary() returns true
+- the CRSF link statistic frames (CRSF_FRAME_ID_LINK_STATISTICS, CRSF_FRAME_ID_LINK_STATISTICS_TX,
+  CRSF_FRAME_ID_LINK_STATISTICS_RX) send the info obtained from the MLRS_MAIN_RADIO_STATS mavlink
+  messages (instead of that of the secondary tx module and receiver pair).
+- if enabled, the RADIO_STATUS mavlink message is emitted with sysid and compid of 51, 69 (instead of
+  51, 68), to distinguish them.
+
+Inner Tx Modules:
+
+In a chain of three or more pairs, the inner tx modules will be both in state crsf.IsRelayMain() == true
+and crsf.IsRelaySecondary() == true. This can be used to identify them as inner tx modules.
+
+- emission of MLRS_MAIN_RADIO_STATS messages is disabled. This ensures that the secondary tx module connected to
+  the radio receives the correct link statistics, namely that of the main tx module.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+*/
+
+

mLRS/CommonRx/mavlink_interface_rx.h

@@ -263,6 +263,8 @@ void tRxMavlink::Do(void)
     // parse serial in -> link out
     parse_serial_in_link_out();
 
+    if (out.IsRelaySecondary()) return; // don't inject anything in this case
+
     if (Setup.Rx.SendRadioStatus && connected()) {
         // we currently know that if we determine inject_radio_status here it will be executed immediately
         switch (Setup.Rx.SendRadioStatus) {
@@ -404,6 +406,7 @@ void tRxMavlink::parse_link_in_serial_out(char c)
     if (result.res == FASTMAVLINK_PARSE_RESULT_OK) {
         fmav_frame_buf_to_msg(&msg_serial_out, &result, buf_link_in); // requires RESULT_OK
 
+if (!out.IsRelaySecondary()) { // don't do mavftp faking in this case
 #if MAVLINK_OPT_FAKE_PARAMFTP > 0
         // if it's a mavftp call to @PARAM/param.pck we fake the url
         // this will make ArduPilot to response with a NACK:FileNotFound
@@ -434,6 +437,7 @@ void tRxMavlink::parse_link_in_serial_out(char c)
             }
         }
 #endif
+}
 
 #ifdef DEVICE_HAS_DRONECAN
         // Two issues, which have been resolved but are present in some versions of

mLRS/CommonRx/out.cpp

@@ -53,6 +53,9 @@ void tOutBase::Configure(uint8_t new_config)
     case OUT_CONFIG_CRSF:
         config_crsf(false);
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        config_crsf_tx_jrpin5(false);
+        break;
     }
 
     initialized = false;
@@ -69,6 +72,9 @@ void tOutBase::Configure(uint8_t new_config)
     case OUT_CONFIG_CRSF:
         initialized = config_crsf(true);
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        initialized = config_crsf_tx_jrpin5(true);
+        break;
     }
 }
 
@@ -85,6 +91,9 @@ void tOutBase::Do(void)
     case OUT_CONFIG_CRSF:
         do_crsf();
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        do_crsf_tx_jrpin5();
+        break;
     }
 }
 
@@ -100,6 +109,10 @@ void tOutBase::SendRcData(tRcData* const rc_orig, bool frame_missed, bool failsa
     memcpy(&rc, rc_orig, sizeof(tRcData)); // copy rc data, to not modify it !!
     channel_order.Apply(&rc);
 
+    if (config == OUT_CONFIG_CRSF_TX_JRPIN5) { // send it straight out
+        send_crsf_tx_rcdata(&rc);
+    }
+
     uint8_t failsafe_mode = setup->FailsafeMode;
 
     if (failsafe) {
@@ -165,6 +178,9 @@ void tOutBase::SendRcData(tRcData* const rc_orig, bool frame_missed, bool failsa
     case OUT_CONFIG_CRSF:
         send_crsf_rcdata(&rc);
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        // done in the above
+        break;
     }
 }
 
@@ -181,6 +197,9 @@ void tOutBase::SendLinkStatistics(tOutLinkStats* const lstats)
         link_stats_available = true;
         link_stats_set_tstart = true;
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        // do not send since irrelevant
+        break;
     }
 }
 
@@ -208,6 +227,8 @@ void tOutBase::SendLinkStatisticsDisconnected(void)
         link_stats_available = true;
         link_stats_set_tstart = true;
         break;
+    case OUT_CONFIG_CRSF_TX_JRPIN5:
+        break;
     }
 }
 
@@ -341,6 +362,52 @@ void tOutBase::do_crsf(void)
 }
 
 
+// for relay operation
+
+uint16_t rc_to_crsf_tx(uint16_t rc_ch)
+{
+//    return (((int32_t)(rc_ch) - 1024) * 1920) / 2047 + 1000;
+    return (((int32_t)(rc_ch) - 1024) * (1966 + 4)) / 2047 + 992;
+}
+
+
+void tOutBase::send_crsf_tx_rcdata(tRcData* rc)
+{
+tCrsfRcChannelFrame crsf_buf;
+
+    crsf_buf.ch.ch0 = rc_to_crsf_tx(rc->ch[0]);
+    crsf_buf.ch.ch1 = rc_to_crsf_tx(rc->ch[1]);
+    crsf_buf.ch.ch2 = rc_to_crsf_tx(rc->ch[2]);
+    crsf_buf.ch.ch3 = rc_to_crsf_tx(rc->ch[3]);
+    crsf_buf.ch.ch4 = rc_to_crsf_tx(rc->ch[4]);
+    crsf_buf.ch.ch5 = rc_to_crsf_tx(rc->ch[5]);
+    crsf_buf.ch.ch6 = rc_to_crsf_tx(rc->ch[6]);
+    crsf_buf.ch.ch7 = rc_to_crsf_tx(rc->ch[7]);
+    crsf_buf.ch.ch8 = rc_to_crsf_tx(rc->ch[8]);
+    crsf_buf.ch.ch9 = rc_to_crsf_tx(rc->ch[9]);
+    crsf_buf.ch.ch10 = rc_to_crsf_tx(rc->ch[10]);
+    crsf_buf.ch.ch11 = rc_to_crsf_tx(rc->ch[11]);
+    crsf_buf.ch.ch12 = rc_to_crsf_tx(rc->ch[12]);
+    crsf_buf.ch.ch13 = rc_to_crsf_tx(rc->ch[13]);
+    crsf_buf.ch.ch14 = rc_to_crsf_tx(rc->ch[14]);
+    crsf_buf.ch.ch15 = rc_to_crsf_tx(rc->ch[15]);
+
+    crsf_buf.address = CRSF_ADDRESS_RECEIVER; // this allows main tx module to detect relay mode
+    crsf_buf.len = CRSF_RCCHANNELPACKET_LEN + 2;
+    crsf_buf.frame_id = CRSF_FRAME_ID_RC_CHANNELS;
+
+    crsf_buf.crc = crsf_crc8_update(CRSF_CRC8_INIT, &(crsf_buf.frame_id), CRSF_RCCHANNELPACKET_LEN + 1);
+
+    putbuf((uint8_t*)&crsf_buf, CRSF_RCCHANNELPACKET_LEN + 4);
+}
+
+
+void tOutBase::do_crsf_tx_jrpin5(void)
+{
+    do_crsf();
+}
+
+
 //-------------------------------------------------------
 // FPort
 //-------------------------------------------------------

mLRS/CommonRx/out.h

@@ -60,6 +60,8 @@ class tOutBase
 
     tRcData* GetRcDataPtr(void) { return &rc; }
 
+    bool IsRelaySecondary(void) { return (config == OUT_CONFIG_CRSF_TX_JRPIN5); }
+
   private:
     void send_sbus_rcdata(tRcData* const rc, bool frame_lost, bool failsafe);
     void send_crsf_rcdata(tRcData* const rc);
@@ -82,6 +84,12 @@ class tOutBase
     tOutLinkStats link_stats;
 
     tRcData rc;
+
+    // for relay operation
+
+    void send_crsf_tx_rcdata(tRcData* rc);
+    void do_crsf_tx_jrpin5(void);
+    virtual bool config_crsf_tx_jrpin5(bool enable_flag) { return false; }
 };
 
 

mLRS/CommonRx/out_interface.h

@@ -71,6 +71,17 @@ class tOut : public tOutBase
     }
 #endif
 
+#if defined DEVICE_HAS_OUT
+    bool config_crsf_tx_jrpin5(bool enable_flag) override
+    {
+        if (enable_flag) {
+            uart_setprotocol(400000, XUART_PARITY_NO, UART_STOPBIT_1);
+            out_set_inverted();
+        }
+        return true;
+    }
+#endif
+
     void putbuf(uint8_t* const buf, uint16_t len) override { uart_putbuf(buf, len); }
 
     void SendLinkStatistics(void)