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HoTT: add LBT and telemetry improvment

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This commit is contained in:
Pascal Langer 2020-05-31 23:54:13 +02:00
parent 8df3687684
commit 1f65025036
3 changed files with 151 additions and 78 deletions
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208
Multiprotocol/HOTT_cc2500.ino
View File

@ -29,17 +29,19 @@ enum {
HOTT_START = 0x00,
HOTT_CAL = 0x01,
HOTT_DATA1 = 0x02,
HOTT_RX1 = 0x03,
HOTT_RX2 = 0x04,
HOTT_DATA2 = 0x03,
HOTT_RX1 = 0x04,
HOTT_RX2 = 0x05,
};
#ifdef HOTT_FW_TELEMETRY
#define HOTT_SENSOR_TYPE 6
#define HOTT_SENSOR_SEARCH_PERIOD 120
#define HOTT_SENSOR_SEARCH_PERIOD 2000
uint8_t HOTT_sensor_cur=0;
uint8_t HOTT_sensor_pages=0;
uint8_t HOTT_sensor_valid=false;
uint8_t HOTT_sensor_ok[HOTT_SENSOR_TYPE];
uint8_t HOTT_sensor_seq=0;
#endif
#define HOTT_FREQ0_VAL 0x6E
@ -112,7 +114,7 @@ static void __attribute__((unused)) HOTT_tune_freq()
CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
CC2500_WriteReg(CC2500_0F_FREQ0, HOTT_FREQ0_VAL + HOTT_COARSE);
prev_option = option ;
phase = HOTT_START; // Restart the tune process if option is changed to get good tuned values
phase = HOTT_START; // Restart the tune process if option is changed to get good tuned values
}
}
@ -143,36 +145,37 @@ static void __attribute__((unused)) HOTT_init()
for(uint8_t i=0; i<HOTT_NUM_RF_CHANNELS; i++)
hopping_frequency[i]=pgm_read_byte_near( &HOTT_hop[num_ch][i] );
#ifdef HOTT_FORCE_ID
memcpy(rx_tx_addr,"\x7C\x94\x00\x0D\x50",5);
memcpy(rx_tx_addr,"\x7C\x94\x00\x0D\x50",5); //TX1
memcpy(rx_tx_addr,"\xEA\x4D\x00\x01\x50",5); //TX2
#endif
memset(&packet[30],0xFF,9);
packet[39]=0x07; // unknown and constant
packet[39]=0x07; // unknown and constant
if(IS_BIND_IN_PROGRESS)
{
packet[28] = 0x80; // unknown 0x80 when bind starts then when RX replies start normal, 0x89/8A/8B/8C/8D/8E during normal packets
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets
memset(&packet[40],0xFA,5);
memcpy(&packet[45],rx_tx_addr,5);
}
else
{
packet[28] = 0x8C; // unknown 0x80 when bind starts then when RX replies start normal, 0x89/8A/8B/8C/8D/8E during normal packets, 0x0F->config menu
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x01->config menu, 0x0A->no more RX telemetry
memcpy(&packet[40],rx_tx_addr,5);
uint8_t addr=HOTT_EEPROM_OFFSET+RX_num*5;
debug("RXID: ");
for(uint8_t i=0;i<5;i++)
{
packet[45+i]=eeprom_read_byte((EE_ADDR)(addr+i));
debug(" %02X",packet[45+i]);
}
debugln("");
}
}
static void __attribute__((unused)) HOTT_data_packet()
static void __attribute__((unused)) HOTT_prep_data_packet()
{
packet[2] = hopping_frequency_no;
packet[3] = 0x00; // used for failsafe but may also be used for additional channels
packet[3] = 0x00; // used for failsafe but may also be used for additional channels
#ifdef FAILSAFE_ENABLE
static uint8_t failsafe_count=0;
if(IS_FAILSAFE_VALUES_on && IS_BIND_DONE)
@ -219,39 +222,42 @@ static void __attribute__((unused)) HOTT_data_packet()
packet[i] = val;
packet[i+1] = val>>8;
}
#ifdef HOTT_FW_TELEMETRY
static uint8_t prev_SerialRX_val=0;
if(HoTT_SerialRX)
{//Text mode
uint8_t sensor=HoTT_SerialRX_val&0xF0;
if((sensor&0x80) && sensor!=0xF0 && (HoTT_SerialRX_val&0x0F) >= 0x07)
{//Valid Text query
if(sensor==0x80) HoTT_SerialRX_val&=0x0F; // RX only
if(prev_SerialRX_val!=HoTT_SerialRX_val)
{
prev_SerialRX_val=HoTT_SerialRX_val;
packet[28] = HoTT_SerialRX_val; // send the button being pressed only once
if(IS_BIND_DONE)
{
static uint8_t prev_SerialRX_val=0;
if(HoTT_SerialRX)
{//Text mode
uint8_t sensor=HoTT_SerialRX_val&0xF0;
if((sensor&0x80) && sensor!=0xF0 && (HoTT_SerialRX_val&0x0F) >= 0x07)
{//Valid Text query
if(sensor==0x80) HoTT_SerialRX_val&=0x0F; // RX only
if(prev_SerialRX_val!=HoTT_SerialRX_val)
{
prev_SerialRX_val=HoTT_SerialRX_val;
packet[28] = HoTT_SerialRX_val; // send the button being pressed only once
}
else
packet[28] = HoTT_SerialRX_val | 0x0F; // no button pressed
packet[29] = 0x01; // 0x01->Text config menu
}
else
packet[28] = HoTT_SerialRX_val | 0x0F; // no button pressed
packet[29] = 0x01; // 0x01->Text config menu
}
else
{
packet[28] = 0x89+HOTT_sensor_cur; // 0x89/8A/8B/8C/8D/8E during normal packets
packet[29] = ((HOTT_sensor_seq+1)<<3) | 2; // Telemetry packet sequence
//debugln("28=%02X,29=%02X",packet[28],packet[29]);
}
}
else
{
packet[28] = 0x89+HOTT_sensor_cur; // 0x89/8A/8B/8C/8D/8E during normal packets
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x01->text config menu, 0x0A->no more RX telemetry
}
#else
packet[28] = 0x80; // no sensor
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x01->text config menu, 0x0A->no more RX telemetry
#endif
{
packet[28] = 0x80; // no sensor
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x01->text config menu, 0x0A->no more RX telemetry
}
CC2500_SetTxRxMode(TX_EN);
CC2500_SetPower();
CC2500_WriteReg(CC2500_06_PKTLEN, 0x32);
CC2500_WriteData(packet, HOTT_TX_PACKET_LEN);
CC2500_WriteReg(CC2500_06_PKTLEN, HOTT_TX_PACKET_LEN);
CC2500_WriteRegisterMulti(CC2500_3F_TXFIFO, packet, HOTT_TX_PACKET_LEN);
#if 0
debug("RF:%02X P:",rf_ch_num);
for(uint8_t i=0;i<HOTT_TX_PACKET_LEN;i++)
@ -266,7 +272,7 @@ static void __attribute__((unused)) HOTT_data_packet()
uint16_t ReadHOTT()
{
#ifdef HOTT_FW_TELEMETRY
static uint8_t pps_counter=0;
static uint8_t pps_counter=0, HOTT_sensor_rx=0;
#endif
switch(phase)
@ -285,28 +291,72 @@ uint16_t ReadHOTT()
hopping_frequency_no = 0;
rf_ch_num=hopping_frequency[hopping_frequency_no];
counter = 0;
CC2500_SetTxRxMode(RX_EN);
phase = HOTT_DATA1;
}
return 2000;
/* Work cycle: 10ms */
case HOTT_DATA1:
//TX
//Set RF freq, setup LBT and prep packet
#ifdef MULTI_SYNC
telemetry_set_input_sync(HOTT_PACKET_PERIOD);
#endif
//Clear all
CC2500_Strobe(CC2500_SIDLE);
CC2500_Strobe(CC2500_SNOP);
CC2500_Strobe(CC2500_SFTX);
CC2500_Strobe(CC2500_SFRX);
CC2500_WriteReg(CC2500_04_SYNC1, 0xD3);
CC2500_WriteReg(CC2500_05_SYNC0, 0x91);
//Set RF freq
HOTT_tune_freq();
HOTT_tune_chan_fast();
HOTT_data_packet();
phase = HOTT_RX1;
return 4500;
//Setup LBT
CC2500_WriteReg(CC2500_1B_AGCCTRL2, 0xFF);
CC2500_WriteReg(CC2500_1C_AGCCTRL1, 0x0C);
CC2500_Strobe(CC2500_SRX);
//Prep packet
HOTT_prep_data_packet();
//Listen
CC2500_WriteReg(CC2500_17_MCSM1, 0x10); //??
CC2500_WriteReg(CC2500_18_MCSM0, 0x18); //??
CC2500_Strobe(CC2500_SRX); //??
phase++; //HOTT_DATA2
return 1095;
case HOTT_DATA2:
//LBT
if((CC2500_ReadReg(CC2500_38_PKTSTATUS | CC2500_READ_BURST)&0x10)==0)
{ //Channel is busy
LBT_POWER_on; // Reduce to low power before transmitting
debugln("Busy %d",rf_ch_num);
}
CC2500_WriteReg(CC2500_17_MCSM1, 0x00); //??
CC2500_WriteReg(CC2500_18_MCSM0, 0x08); //??
CC2500_SetPower();
//Send packet
CC2500_SetTxRxMode(TX_EN);
CC2500_Strobe(CC2500_STX);
phase++; //HOTT_RX1
return 3880;
case HOTT_RX1:
//Clear all
CC2500_Strobe(CC2500_SIDLE);
CC2500_Strobe(CC2500_SFTX);
CC2500_Strobe(CC2500_SFRX);
//RX
if(packet[29] & 0xF8)
{// binary telemetry
CC2500_WriteReg(CC2500_04_SYNC1, 0x2C);
CC2500_WriteReg(CC2500_05_SYNC0, 0x6E);
}
CC2500_SetTxRxMode(RX_EN);
CC2500_WriteReg(CC2500_1B_AGCCTRL2, 0xC7);
CC2500_WriteReg(CC2500_1C_AGCCTRL1, 0x09);
CC2500_WriteReg(CC2500_06_PKTLEN, HOTT_RX_PACKET_LEN);
CC2500_Strobe(CC2500_SRX);
phase = HOTT_RX2;
return 4500;
phase++; //HOTT_RX2
return 4025;
case HOTT_RX2:
//Telemetry
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
@ -317,6 +367,10 @@ uint16_t ReadHOTT()
{ // CRC OK and TX ID matches
if(IS_BIND_IN_PROGRESS)
{
//GR-16: D4 20 F2 E6 F6 31 BD 01 00 90 00 FF 03 00 9E 1B 00 00 00 00 00 00
//GR-12L: D4 20 F2 E6 F6 6E EE 01 00 B1 00 FF 03 00 0E 08 10 00 02 00 00 00
//Vector: D4 20 F2 E6 F6 00 00 3A 01 A1 00 00 1A 24 35 1A 00 24 00 00 00 1A
// -----TXID----- -----RXID----- ---------------Unknown-------------
debug("B:");
for(uint8_t i=0;i<HOTT_RX_PACKET_LEN;i++)
debug(" %02X", packet_in[i]);
@ -341,7 +395,7 @@ uint16_t ReadHOTT()
// Page 0 [15] = RX_RSSI CC2500 formated (a<128:a/2-71dBm, a>=128:(a-256)/2-71dBm)
// Page 0 [16] = RX_LQI in %
// Page 0 [17] = RX_Voltage Min*10 in V
// Page 0 [18,19] = [19]*256+[18]=max lost packet time in ms, max value seems 2s=0x7D0
// Page 0 [18,19] = [19]<<8+[18]=max lost packet time in ms, max value seems 2s=0x7D0
// Page 0 [20] = 0x00 ??
//
// Config menu consists of the different telem pages put all together
@ -355,17 +409,30 @@ uint16_t ReadHOTT()
packet_in[0]= packet_in[HOTT_RX_PACKET_LEN];
packet_in[1]= TX_LQI;
bool send_telem=true;
if(packet[29]==2) // Requesting binary sensor
{
if(packet[29]==1)
{ //Text mode
HOTT_sensor_pages = 0;
HOTT_sensor_valid = false;
packet_in[10] = 0x80; // Marking telem Text mode
packet_in[12] = 0;
for(uint8_t i=0; i<HOTT_SENSOR_TYPE;i++)
packet_in[12] |= HOTT_sensor_ok[i]<<i; // Send detected sensors
}
else
{ //Binary sensor
HOTT_sensor_seq++; // Increment RX sequence counter
HOTT_sensor_seq %= 5; // 5 pages in binary mode per sensor
if(state==0 && HOTT_sensor_ok[0]==false && HOTT_sensor_ok[1]==false && HOTT_sensor_ok[2]==false && HOTT_sensor_ok[3]==false && HOTT_sensor_ok[4]==false && HOTT_sensor_ok[5]==false)
HOTT_sensor_seq=0; // No sensors always ask page 0
if(state)
state--;
if( packet_in[11]==1 ) // Page 1
{
if(packet_sent)
packet_sent--;
if( packet_in[12] == ((HOTT_sensor_cur+9)<<4) ) // The current sensor is responding: 0x90/A0/B0/C0/D0/E0
{
if( packet_in[12] == (HOTT_sensor_cur+9)<<4 )
{ //Requested sensor is sending: 0x90/A0/B0/C0/D0/E0
HOTT_sensor_pages = 0; // Sensor first page received
HOTT_sensor_valid = true; // Data from the expected sensor is being received
HOTT_sensor_ok[HOTT_sensor_cur]=true;
HOTT_sensor_ok[(packet_in[12]>>4)-9]=true;
}
else
{
@ -381,15 +448,6 @@ uint16_t ReadHOTT()
if(packet_in[11] && !HOTT_sensor_valid)
send_telem=false;
}
else
{ //Text mode
HOTT_sensor_pages = 0;
HOTT_sensor_valid = false;
packet_in[10] = 0x80; // Marking telem Text mode
packet_in[12] = 0;
for(uint8_t i=0; i<HOTT_SENSOR_TYPE;i++)
packet_in[12] |= HOTT_sensor_ok[i]<<i; // Send detected sensors
}
debug("T%d=",send_telem);
for(uint8_t i=10;i < HOTT_RX_PACKET_LEN; i++)
{
@ -400,9 +458,7 @@ uint16_t ReadHOTT()
if(send_telem)
telemetry_link=2;
if((HOTT_sensor_pages&0x1E) == 0x1E) // All 4 pages received from the sensor
{
HOTT_sensor_valid=false;
HOTT_sensor_pages=0;
{ //Next sensor
uint8_t loop=0;
do
{
@ -410,8 +466,11 @@ uint16_t ReadHOTT()
HOTT_sensor_cur %= HOTT_SENSOR_TYPE;
loop++;
}
while(HOTT_sensor_ok[HOTT_sensor_cur]==false && loop<HOTT_SENSOR_TYPE+1 && packet_sent==0);
debugln("Sensor:%02X",((HOTT_sensor_cur+9)<<4));
while(HOTT_sensor_ok[HOTT_sensor_cur]==false && loop<HOTT_SENSOR_TYPE+1 && state==0);
HOTT_sensor_valid=false;
HOTT_sensor_pages=0;
HOTT_sensor_seq=0;
debugln("Sensor:%02X",HOTT_sensor_cur+9);
}
}
pps_counter++;
@ -425,16 +484,16 @@ uint16_t ReadHOTT()
TX_LQI=pps_counter;
if(pps_counter==0)
{ // lost connection with RX, power cycle? research sensors again.
HOTT_sensor_cur=0;
HOTT_sensor_cur=3;
HOTT_sensor_seq=0;
HOTT_sensor_valid=false;
for(uint8_t i=0; i<HOTT_SENSOR_TYPE;i++)
HOTT_sensor_ok[i]=false; // no sensors detected
packet_sent=HOTT_SENSOR_SEARCH_PERIOD;
state=HOTT_SENSOR_SEARCH_PERIOD;
}
pps_counter=packet_count=0;
}
#endif
CC2500_Strobe(CC2500_SFRX); //Flush the RXFIFO
phase=HOTT_DATA1;
return 1000;
}
@ -449,13 +508,14 @@ uint16_t initHOTT()
#ifdef HOTT_FW_TELEMETRY
HoTT_SerialRX_val=0;
HoTT_SerialRX=false;
HOTT_sensor_cur=0;
HOTT_sensor_cur=3;
HOTT_sensor_pages=0;
HOTT_sensor_valid=false;
HOTT_sensor_seq=0;
for(uint8_t i=0; i<HOTT_SENSOR_TYPE;i++)
HOTT_sensor_ok[i]=false; // no sensors detected
packet_count=0;
packet_sent=HOTT_SENSOR_SEARCH_PERIOD;
state=HOTT_SENSOR_SEARCH_PERIOD;
#endif
phase = HOTT_START;
return 10000;

2
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 4
#define VERSION_PATCH_LEVEL 5
//******************
// Protocols

19
Protocols_Details.md
View File

@ -119,6 +119,7 @@ CFlie|38|CFlie||||||||NRF24L01|
[PROPEL](Protocols_Details.md#PROPEL---66)|66|74-Z||||||||NRF24L01|
[Q2X2](Protocols_Details.md#Q2X2---29)|29|Q222|Q242|Q282||||||NRF24L01|
[Q303](Protocols_Details.md#Q303---31)|31|Q303|CX35|CX10D|CX10WD|||||NRF24L01|XN297
[Q90C](Protocols_Details.md#Q90C---72)|72|Q90C*||||||||NRF24L01|XN297
[Redpine](Protocols_Details.md#Redpine---50)|50|FAST|SLOW|||||||NRF24L01|
[Scanner](Protocols_Details.md#Scanner---54)|54|||||||||CC2500|
[SFHSS](Protocols_Details.md#SFHSS---21)|21|SFHSS||||||||CC2500|
@ -484,9 +485,9 @@ Basic telemetry using FrSky Hub on er9x, erskyTX, OpenTX and any radio with FrSk
MINIMA, MICRO and RED receivers. Also used by ARES planes.
## HoTT - *57*
Models: Graupner HoTT receivers (tested on GR-12L and GR-16L).
Models: Graupner HoTT receivers (tested on GR-12, GR-12L, GR-16 and Vector).
Extended limits and failsafe supported
Extended limits, failsafe and LBT supported.
Full telemetry and full text config mode are available in OpenTX 2.3.8+.
@ -494,7 +495,7 @@ Full telemetry and full text config mode are available in OpenTX 2.3.8+.
**Failsafe MUST be configured once with the desired channel values (hold or position) while the RX is up (wait 10+sec for the RX to learn the config) and then failsafe MUST be set to RX/Receiver otherwise the servos will jitter!!!**
The RX features configuration are done using the OpenTX script "Graupner HoTT.lua" .
The RX and sensors/FC features configuration are done through the OpenTX script "Graupner HoTT.lua".
Option for this protocol corresponds to fine frequency tuning. This value is different for each Module and **must** be accurate otherwise the link will not be stable.
Check the [Frequency Tuning page](/docs/Frequency_Tuning.md) to determine it.
@ -1279,6 +1280,18 @@ ARM|FLIP
ARM is 3 positions: -100%=land / 0%=manual / +100%=take off
## Q90C - *72*
This protocol is known to be problematic because it's using the xn297L emulation with a transmission speed of 250kbps therefore it doesn't work very well with every modules, this is an hardware issue with the accuracy of the components.
If the model does not respond well to inputs or hard to bind, you can try to switch the emulation from the default NRF24L01 RF component to the CC2500 by using an option value (freq tuning) different from 0. Option in this case is used for fine frequency tuning like any CC2500 protocols so check the [Frequency Tuning page](/docs/Frequency_Tuning.md).
**Only 1 ID available. FMODE and VTX+ are not supported yet. If you have a TX then contact me on GitHub or RCGroups.**
CH1|CH2|CH3|CH4|CH5|CH6
---|---|---|---|---|---
A|E|T|R|FMODE|VTX+
## Redpine - *50*
[Link to the forum](https://www.rcgroups.com/forums/showthread.php?3236043-Redpine-Lowest-latency-RC-protocol)