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M-Link: still work in progress

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Pascal Langer 2021-01-11 12:13:03 +01:00
parent 49f004e53f
commit b51dedcea1
2 changed files with 272 additions and 134 deletions
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4
Multiprotocol/CYRF6936_SPI.ino
View File

@ -98,14 +98,14 @@ void CYRF_SetTxRxMode(uint8_t mode)
{
if(mode==TXRX_OFF)
{
if(protocol!=PROTO_WFLY)
if( protocol!=PROTO_WFLY && protocol!=PROTO_MLINK )
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x24); // 4=IDLE, 8=TX, C=RX
CYRF_WriteRegister(CYRF_0E_GPIO_CTRL,0x00); // XOUT=0 PACTL=0
}
else
{
//Set the post tx/rx state
if(protocol!=PROTO_WFLY)
if( protocol!=PROTO_WFLY && protocol!=PROTO_MLINK )
CYRF_WriteRegister(CYRF_0F_XACT_CFG, mode == TX_EN ? 0x28 : 0x2C); // 4=IDLE, 8=TX, C=RX
if(mode == TX_EN)
#ifdef ORANGE_TX_BLUE

402
Multiprotocol/MLINK_cyrf6936.ino
View File

@ -17,6 +17,8 @@
#include "iface_cyrf6936.h"
#undef MLINK_HUB_TELEMETRY
#define MLINK_FORCE_ID
#define MLINK_BIND_COUNT 696 // around 20s
#define MLINK_NUM_FREQ 78
@ -28,11 +30,17 @@ enum {
MLINK_BIND_PREP_RX,
MLINK_BIND_RX,
MLINK_PREP_DATA,
MLINK_RF,
MLINK_SEND,
MLINK_SEND1,
MLINK_CHECK1,
MLINK_SEND2,
MLINK_CHECK2,
MLINK_SEND3,
MLINK_CHECK3,
MLINK_RX,
MLINK_CHECK4,
};
uint8_t MLINK_Data_Code[16], MLINK_Offset;
uint8_t MLINK_Data_Code[16], MLINK_CRC_Init, MLINK_Unk_6_2;
const uint8_t PROGMEM MLINK_init_vals[][2] = {
//Init from dump
@ -45,7 +53,7 @@ const uint8_t PROGMEM MLINK_init_vals[][2] = {
//{ CYRF_0C_XTAL_CTRL, 0x00 }, // Set to GPIO on reset
//{ CYRF_0D_IO_CFG, 0x00 }, // Set to GPIO on reset
//{ CYRF_0E_GPIO_CTRL, 0x00 }, // Set by the CYRF_SetTxRxMode function
//{ CYRF_0F_XACT_CFG, 0x04 }, // end state idle -> Set by the CYRF_SetTxRxMode function
{ CYRF_0F_XACT_CFG, 0x04 }, // end state idle
{ CYRF_10_FRAMING_CFG, 0x00 }, // SOP disabled
{ CYRF_11_DATA32_THOLD, 0x05 }, // not used???
{ CYRF_12_DATA64_THOLD, 0x0F }, // 64 Chip Data PN Code Correlator Threshold
@ -72,58 +80,37 @@ static void __attribute__((unused)) MLINK_cyrf_config()
CYRF_SetTxRxMode(TX_EN);
}
static uint8_t __attribute__((unused)) MLINK_BR(uint8_t byte)
{
uint8_t result = 0;
for(uint8_t i=0;i<8;i++)
{
result = (result<<1) | (byte & 0x01);
byte >>= 1;
}
return result;
}
static void __attribute__((unused)) MLINK_CRC(uint8_t byte)
{
crc8 = crc8 ^ MLINK_BR(byte); // Reflected in
for ( uint8_t j = 0; j < 8; j++ )
if ( crc8 & 0x80 )
crc8 = (crc8<<1) ^ 0x31;
else
crc8 <<= 1;
}
static void __attribute__((unused)) MLINK_send_bind_data_packet()
{
uint8_t p_c=packet_count>>1;
memset(packet, p_c<0x16?0x00:0xFF, MLINK_PACKET_SIZE);
memset(packet, p_c<0x16?0x00:0xFF, MLINK_PACKET_SIZE-1);
packet[0]=0x0F; // bind
packet[1]=p_c;
switch(p_c)
{
case 0x00:
packet[2]=0x40; //unknown
packet[4]=0x01; //unknown
packet[5]=0x03; //unknown
packet[6]=0xE3; //unknown
packet[2]=0x40; //unknown but seems constant
packet[4]=0x01; //unknown but seems constant
packet[5]=0x03; //unknown but seems constant
packet[6]=0xE3; //unknown but seems constant
break;
case 0x05:
packet[6]=0x07; //unknown
packet[6]=MLINK_CRC_Init; //CRC init value
break;
case 0x06:
packet[2]=0x3A; //unknown
packet[2]=MLINK_Unk_6_2; //unknown and different
//Start of hopping frequencies
for(uint8_t i=0;i<4;i++)
packet[i+3]=hopping_frequency[i];
break;
case 0x15:
packet[6]=0x51; //unknown
packet[6]=0x51; //unknown but seems constant
break;
case 0x16:
packet[2]=0x51; //unknown
packet[3]=0xEC; //unknown
packet[4]=0x05; //unknown
packet[2]=0x51; //unknown but seems constant
packet[3]=0xEC; //unknown but seems constant
packet[4]=0x05; //unknown but seems constant
break;
case 0x1A:
packet[1]=0xFF;
@ -145,18 +132,26 @@ static void __attribute__((unused)) MLINK_send_bind_data_packet()
if(i+p_c_5<MLINK_NUM_FREQ)
packet[i+2]=hopping_frequency[i+p_c_5];
}
else
if(p_c>0x19)
{
packet[1]=0xFF;
memset(&packet[2], 0x00, MLINK_PACKET_SIZE-3);
}
//Calculate CRC
crc8=0xFF; // Init = 0xFF
for(uint8_t i=0;i<MLINK_PACKET_SIZE-1;i++)
MLINK_CRC(packet[i]);
packet[7] = MLINK_BR(crc8); // CRC reflected out
crc8_update(bit_reverse(packet[i]));
packet[7] = bit_reverse(crc8); // CRC reflected out
//Debug
debug("P(%02d):",p_c);
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet[i]);
debugln("");
#if 1
debug("P(%02d):",p_c);
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet[i]);
debugln("");
#endif
//Send packet
CYRF_WriteDataPacketLen(packet, MLINK_PACKET_SIZE);
@ -164,61 +159,92 @@ static void __attribute__((unused)) MLINK_send_bind_data_packet()
static void __attribute__((unused)) MLINK_build_data_packet()
{
static uint8_t tog=0;
if(hopping_frequency_no==0)
tog=1;
//Channels to be sent
uint8_t ch[3];
switch(packet_count%6)
if(phase==MLINK_SEND1 || ((hopping_frequency_no%5==0) && (phase==MLINK_SEND2)))
{
case 0:
packet[0] = 0x88;
ch[0]=4; ch[1]=2; ch[2]=0;
break;
case 1:
packet[0] = 0x80;
ch[0]=5; ch[1]=3; ch[2]=1;
break;
case 2:
packet[0] = 0x0A;
ch[0]=16; ch[1]=14; ch[2]=12;
break;
case 3:
packet[0] = 0x09;
ch[0]=10; ch[1]=8; ch[2]=6;
break;
case 4:
packet[0] = 0x02;
ch[0]=16; ch[1]=15; ch[2]=13;
break;
case 5:
packet[0] = 0x01;
ch[0]=11; ch[1]=9; ch[2]=7;
break;
if((hopping_frequency_no&1)==0)
packet[0] = 0x09; //10,8,6
else
packet[0] = 0x01; //11,9,7
}
else
if(phase==MLINK_SEND2)
{
if(tog)
packet[0] = 0x02; //x,15,13
else
packet[0] = 0x0A; //x,14,12
tog^=1;
}
else
{//phase==MLINK_SEND3
if((hopping_frequency_no&1)==0)
packet[0] = 0x88; //4,2,0
else
packet[0] = 0x80; //5,3,1
}
//Start channel
uint8_t ch=4+6*(packet[0]&3);
if((packet[0]&0x08)==0)
ch++;
//Channels 426..1937..3448
for(uint8_t i=0;i<3;i++)
{
uint16_t tmp=ch[i]<16 ? convert_channel_16b_nolimit(ch[i],426,3448,false) : 0x0000;
uint16_t tmp=ch<16 ? convert_channel_16b_nolimit(ch,426,3448,false) : 0x0000;
ch-=2; // switch to next channel
packet[i*2+1]=tmp>>8;
packet[i*2+2]=tmp;
}
//Calculate CRC
crc8=MLINK_BR(hopping_frequency_no + MLINK_Offset); // Init = relected freq index + offset
crc8=bit_reverse(hopping_frequency_no + MLINK_CRC_Init); // Init = relected freq index + offset
for(uint8_t i=0;i<MLINK_PACKET_SIZE-1;i++)
MLINK_CRC(packet[i]);
packet[7] = MLINK_BR(crc8); // CRC reflected out
crc8_update(bit_reverse(packet[i]));
packet[7] = bit_reverse(crc8); // CRC reflected out
/* //Debug
debug("P(%02d,%02d):",packet_count,hopping_frequency_no);
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet[i]);
debugln("");*/
//Debug
#if 0
debug("P(%02d):",hopping_frequency_no);
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet[i]);
debugln("");
#endif
}
#ifdef MLINK_HUB_TELEMETRY
static void __attribute__((unused)) MLINK_Send_Telemetry()
{
if(packet[0]==0x03)
{//Basic telemetry
//Incoming packet values
RX_RSSI = packet_in[2*2]; // Looks to be the RX RSSI value
RX_LQI = packet_in[5*2]; // Looks to be connection lost
}
// Read TX RSSI
TX_RSSI = CYRF_ReadRegister(CYRF_13_RSSI)&0x1F;
telemetry_counter++; // TX LQI counter
telemetry_link = 1;
if(telemetry_lost)
{
telemetry_lost = 0;
packet_count = 100;
telemetry_counter = 100;
}
}
#endif
uint16_t ReadMLINK()
{
uint8_t status;//,len,sum=0,check=0;
uint8_t start;
uint16_t sum=0;
//uint16_t sum=0;
//static uint8_t retry;
switch(phase)
@ -234,20 +260,32 @@ uint16_t ReadMLINK()
{
CYRF_ReadDataPacketLen(packet, len*2);
debug("RX=");
for(uint8_t i=0;i<8*2;i++)
debug(" %02X",packet[i]);
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet[i*2]);
debugln("");
//Check CRC
crc8=0xFF; // Init = 0xFF
for(uint8_t i=0;i<MLINK_PACKET_SIZE-1;i++)
MLINK_CRC(packet[i*2]);
if(packet[14] == MLINK_BR(crc8)) // CRC is ok
{
crc8_update(bit_reverse(packet[i<<1]));
if(packet[14] == bit_reverse(crc8))
{// CRC is ok
debugln("CRC ok");
packet_count=3;
if(packet[0]==0x7F)
packet_count=3; // Start sending bind payload
else if(packet_count > 0x19*2)
{
if(packet[0] == 0x8F)
packet_count++;
else if(packet[0] == 0x9F)
packet_count=0x80; // End bind
else
packet_count=0; // Restart bind...
}
}
}
}
else
packet_count=0;
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Enable RX abort
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x24); // Force end state
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x00); // Disable RX abort
@ -256,13 +294,14 @@ uint16_t ReadMLINK()
if(packet_count)
return 18136;
case MLINK_BIND_TX:
if(--bind_counter==0 || packet_count>=0x1A*2)
if(--bind_counter==0 || packet_count>=0x1B*2)
{ // Switch to normal mode
BIND_DONE;
phase=MLINK_PREP_DATA;
return 22720;
}
MLINK_send_bind_data_packet();
if(packet_count == 0)
if(packet_count == 0 || packet_count > 0x19*2)
{
phase++; // MLINK_BIND_PREP_RX
return 4700; // Original is 4900
@ -280,58 +319,143 @@ uint16_t ReadMLINK()
CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x82); // Prepare to receive
phase++; //MLINK_BIND_RX
return 28712-4700;
case MLINK_PREP_DATA:
CYRF_ConfigDataCode(MLINK_Data_Code,16);
MLINK_CRC_Init += 0xED;
hopping_frequency_no = 0x00;
packet_count = 0;
MLINK_build_data_packet();
phase++;
case MLINK_RF:
/*sum=0;
start=micros();
while ((uint8_t)((uint8_t)micros()-(uint8_t)start) < 200) // Wait max 200µs for TX to finish
{
if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
break; // Packet transmission complete
sum++;
}
debugln("S:%d",sum);*/
//Set RF channel
CYRF_ConfigRFChannel(hopping_frequency[hopping_frequency_no]);
//Set power
CYRF_SetPower(0x38);
phase++; // MLINK_SEND
return 3100;
case MLINK_SEND:
/*sum=0;
start=micros();
while ((uint8_t)((uint8_t)micros()-(uint8_t)start) < 200) // Wait max 200µs for TX to finish
{
if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
break; // Packet transmission complete
sum++;
}
debugln("SS:%d",sum);*/
//Send packet
#ifdef MLINK_HUB_TELEMETRY
packet_count = 0;
telemetry_lost = 1;
#endif
phase++;
case MLINK_SEND1:
MLINK_build_data_packet();
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x40);
CYRF_WriteRegisterMulti(CYRF_20_TX_BUFFER, packet, MLINK_PACKET_SIZE);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x82);
//Build next packet
packet_count++;
if(packet_count >= 78)
packet_count=0;
if(packet_count%3 == 0)
{//Change RF channel every 3 packets
phase=MLINK_RF;
hopping_frequency_no++;
if(hopping_frequency_no>=MLINK_NUM_FREQ)
hopping_frequency_no=0;
}
#ifdef MULTI_SYNC
telemetry_set_input_sync(6000);
#endif
phase++;
return 4880;
case MLINK_CHECK1:
status=CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS);
//debugln("C1:%02X",status);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x00);
phase++;
return 1111;
case MLINK_SEND2:
MLINK_build_data_packet();
return 6000;
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x40);
CYRF_WriteRegisterMulti(CYRF_20_TX_BUFFER, packet, MLINK_PACKET_SIZE);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x82);
phase++;
return 4617;
case MLINK_CHECK2:
status=CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS);
//debugln("C2:%02X",status);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x00);
phase++;
if(hopping_frequency_no%5==0)
return 1017;
return 1422;
case MLINK_SEND3:
MLINK_build_data_packet();
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x40);
CYRF_WriteRegisterMulti(CYRF_20_TX_BUFFER, packet, MLINK_PACKET_SIZE);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x82);
phase++;
return 4611;
case MLINK_CHECK3:
status=CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS);
//debugln("C3:%02X",status);
CYRF_WriteRegister(CYRF_02_TX_CTRL, 0x00);
//check RX but there is nothing to check...
status=CYRF_ReadRegister(CYRF_05_RX_CTRL);
//debugln("CTRL:%02X",status);
len=CYRF_ReadRegister(CYRF_09_RX_COUNT);
//debugln("L=%02X",len)
if( len && len<=8 )
CYRF_ReadDataPacketLen(packet, len*2);
CYRF_WriteRegister(CYRF_05_RX_CTRL,0x00);
//Next channel
hopping_frequency_no++;
if(hopping_frequency_no>=MLINK_NUM_FREQ)
hopping_frequency_no=0;
CYRF_ConfigRFChannel(hopping_frequency[hopping_frequency_no]);
//Receive telemetry
if(hopping_frequency_no%5==0)
{//Receive telemetry
CYRF_SetTxRxMode(RX_EN); // Receive mode
CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x82); // Prepare to receive
phase++; //MLINK_RX
return 8038;
}
else
CYRF_SetPower(0x38);
phase=MLINK_SEND1;
return 4470;
case MLINK_RX:
#ifdef MLINK_HUB_TELEMETRY
//TX LQI calculation
packet_count++;
if(packet_count>=100)
{
packet_count=0;
TX_LQI=telemetry_counter;
if(telemetry_counter==0)
telemetry_lost = 1;
telemetry_counter = 0;
}
#endif
status=CYRF_ReadRegister(CYRF_05_RX_CTRL);//CYRF_07_RX_IRQ_STATUS);
debug("T(%02X):",status);
//status=CYRF_ReadRegister(CYRF_05_RX_CTRL);
//if( (status&0x80) == 0 )
{//Packet received
len=CYRF_ReadRegister(CYRF_09_RX_COUNT);
debug("(%X)",len)
if( len && len<=8 )
{
CYRF_ReadDataPacketLen(packet_in, len*2);
#ifdef MLINK_HUB_TELEMETRY
if(len==8)
{
//Check CRC
crc8=bit_reverse(MLINK_CRC_Init);
for(uint8_t i=0;i<MLINK_PACKET_SIZE-1;i++)
crc8_update(bit_reverse(packet[i<<1]));
if(packet_in[14] == bit_reverse(crc8)) // Packet CRC is ok
{
MLINK_Send_Telemetry();
for(uint8_t i=0;i<8;i++)
debug(" %02X",packet_in[i*2]);
}
}
#endif
}
}
debugln("");
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Enable RX abort
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x24); // Force end state
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x00); // Disable RX abort
CYRF_SetTxRxMode(TX_EN); // Transmit mode
phase++;
return 2434;
case MLINK_CHECK4:
status=CYRF_ReadRegister(CYRF_05_RX_CTRL);
debugln("C4: CTRL:%02X",status);
len=CYRF_ReadRegister(CYRF_09_RX_COUNT);
debugln("L=%02X",len)
if( len && len<=8 )
CYRF_ReadDataPacketLen(packet, len*2);
CYRF_WriteRegister(CYRF_05_RX_CTRL,0x00);
phase=MLINK_SEND2;
return 410;
}
return 1000;
}
@ -343,17 +467,31 @@ uint16_t initMLINK()
#ifdef MLINK_FORCE_ID
//Cockpit SX
memcpy(MLINK_Data_Code,"\x4C\x97\x9D\xBF\xB8\x3D\xB5\xBE",8);
for(uint8_t i=0;i<8;i++)
MLINK_Data_Code[i+8]=MLINK_Data_Code[7-i];
memcpy(hopping_frequency,"\x0D\x41\x09\x43\x17\x2D\x05\x31\x13\x3B\x1B\x3D\x0B\x41\x11\x45\x09\x2B\x17\x4D\x19\x3F\x03\x3F\x0F\x37\x1F\x47\x1B\x49\x07\x35\x27\x2F\x15\x33\x23\x39\x1F\x33\x19\x45\x0D\x2D\x11\x35\x0B\x47\x25\x3D\x21\x37\x1D\x3B\x05\x2F\x21\x39\x23\x4B\x03\x31\x25\x29\x07\x4F\x1D\x4B\x15\x4D\x13\x4F\x0F\x49\x29\x2B\x27\x43",78);
MLINK_Offset = 0xF4;
MLINK_Unk_6_2 = 0x3A; //unknown value sent during bind but doesn't seem to matter
MLINK_CRC_Init = 0x07; //value sent during bind then used to init the CRC
//HFM3
memcpy(MLINK_Data_Code,"\xC0\x90\x8F\xBB\x7C\x8E\x2B\x8E",8);
memcpy(hopping_frequency,"\x05\x41\x27\x4B\x17\x33\x11\x39\x0F\x3F\x05\x2F\x13\x2D\x25\x31\x1F\x2D\x25\x35\x03\x41\x1B\x43\x09\x3D\x1F\x29\x1D\x35\x0D\x3B\x19\x49\x23\x3B\x17\x47\x1D\x2B\x13\x37\x0B\x31\x23\x33\x29\x3F\x07\x37\x07\x43\x11\x2B\x1B\x39\x0B\x4B\x03\x4F\x21\x47\x0F\x4D\x15\x45\x21\x4F\x09\x3D\x19\x2F\x15\x45\x0D\x49\x27\x4D",78);
MLINK_Unk_6_2 = 0x02; //unknown value but doesn't seem to matter
MLINK_CRC_Init = 0x3E; //value sent during bind then used to init the CRC
//Other TX
//MLINK_Unk_6_2 = 0x7e; //unknown value but doesn't seem to matter
//MLINK_CRC_Init = 0xA2; //value sent during bind then used to init the CRC
#endif
for(uint8_t i=0;i<8;i++)
MLINK_Data_Code[i+8]=MLINK_Data_Code[7-i];
debug("ID:")
for(uint8_t i=0;i<16;i++)
debug(" %02X", MLINK_Data_Code[i]);
debugln("");
debugln("CRC init: %02X", MLINK_CRC_Init)
debug("RF:")
for(uint8_t i=0;i<MLINK_NUM_FREQ;i++)
debug(" %02X", hopping_frequency[i]);