mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2026-01-10 10:13:17 +00:00
Hubsan protocol
Added subprotocol H107 (0) Added subprotocol H301 (1) Added subprotocol H501 (2)
This commit is contained in:
Pascal Langer
@@ -20,24 +20,48 @@
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#include "iface_a7105.h"
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enum{
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// flags going to packet[9] (Normal)
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HUBSAN_FLAG_VIDEO= 0x01, // record video
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HUBSAN_FLAG_FLIP = 0x08, // enable flips
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HUBSAN_FLAG_LED = 0x04 // enable LEDs
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// flags going to packet[9] (H107)
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HUBSAN_FLAG_VIDEO= 0x01, // record video
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HUBSAN_FLAG_FLIP = 0x08, // enable flips
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HUBSAN_FLAG_LED = 0x04 // enable LEDs
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};
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enum{
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// flags going to packet[9] (Plus series)
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HUBSAN_FLAG_HEADLESS = 0x08, // headless mode
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// flags going to packet[9] (H107 Plus series)
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HUBSAN_FLAG_HEADLESS = 0x08, // headless mode
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};
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enum{
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// flags going to packet[13] (Plus series)
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HUBSAN_FLAG_SNAPSHOT = 0x01,
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HUBSAN_FLAG_FLIP_PLUS = 0x80,
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// flags going to packet[9] (H301)
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FLAG_H301_VIDEO = 0x01,
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FLAG_H301_STAB = 0x02,
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FLAG_H301_LED = 0x10,
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FLAG_H301_RTH = 0x40,
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};
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uint32_t sessionid,id_data;
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enum{
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// flags going to packet[13] (H107 Plus series)
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HUBSAN_FLAG_SNAPSHOT = 0x01,
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HUBSAN_FLAG_FLIP_PLUS = 0x80,
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};
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enum{
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// flags going to packet[9] (H501S)
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FLAG_H501_VIDEO = 0x01,
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FLAG_H501_LED = 0x04,
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FLAG_H501_RTH = 0x20,
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FLAG_H501_HEADLESS1 = 0x40,
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FLAG_H501_GPS_HOLD = 0x80,
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};
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enum{
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// flags going to packet[13] (H501S)
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FLAG_H501_SNAPSHOT = 0x01,
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FLAG_H501_HEADLESS2 = 0x02,
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FLAG_H501_ALT_HOLD = 0x08,
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};
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uint32_t hubsan_id_data;
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enum {
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BIND_1,
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@@ -54,7 +78,7 @@ enum {
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DATA_4,
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DATA_5,
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};
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#define WAIT_WRITE 0x80
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#define HUBSAN_WAIT_WRITE 0x80
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static void __attribute__((unused)) hubsan_update_crc()
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{
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@@ -72,11 +96,11 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
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memset(packet, 0, 16);
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packet[0] = bind_state;
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packet[1] = channel;
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packet[2] = (sessionid >> 24) & 0xFF;
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packet[3] = (sessionid >> 16) & 0xFF;
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packet[4] = (sessionid >> 8) & 0xFF;
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packet[5] = (sessionid >> 0) & 0xFF;
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if(id_data == ID_NORMAL)
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packet[2] = (MProtocol_id >> 24) & 0xFF;
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packet[3] = (MProtocol_id >> 16) & 0xFF;
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packet[4] = (MProtocol_id >> 8) & 0xFF;
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packet[5] = (MProtocol_id >> 0) & 0xFF;
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if(hubsan_id_data == ID_NORMAL && sub_protocol != H501)
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{
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packet[6] = 0x08;
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packet[7] = 0xe4;
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@@ -108,7 +132,7 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
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//ii : aileron observed range: 0x45 - 0xc3 (smaller is right)69-195-50%
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static void __attribute__((unused)) hubsan_build_packet()
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{
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static uint8_t vtx_freq = 0;
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static uint8_t vtx_freq = 0, h501_packet = 0;
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memset(packet, 0, 16);
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if(vtx_freq != option || packet_count==100) // set vTX frequency (H107D)
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{
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@@ -127,8 +151,8 @@ static void __attribute__((unused)) hubsan_build_packet()
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packet[4] = 0xFF - convert_channel_8b(RUDDER); //Rudder is reversed
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packet[6] = 0xFF - convert_channel_8b(ELEVATOR); //Elevator is reversed
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packet[8] = convert_channel_8b(AILERON); //Aileron
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if(id_data == ID_NORMAL)
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{
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if(hubsan_id_data == ID_NORMAL && sub_protocol==H107)
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{// H107/L/C/D, H102D
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if( packet_count < 100)
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{
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packet[9] = 0x02 | HUBSAN_FLAG_LED | HUBSAN_FLAG_FLIP; // sends default value for the 100 first packets
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@@ -150,22 +174,56 @@ static void __attribute__((unused)) hubsan_build_packet()
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packet[12] = 0x04;
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packet[13] = 0x26;
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packet[14] = 0x79;
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} else if(sub_protocol==H301)
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{// H301
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if( packet_count < 100)
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{
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packet[9] = FLAG_H301_STAB; // sends default value for the 100 first packets
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packet_count++;
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}
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else
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{
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packet[9] = GET_FLAG(Servo_AUX2, FLAG_H301_LED)
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| GET_FLAG(Servo_AUX3, FLAG_H301_STAB)
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| GET_FLAG(Servo_AUX4, FLAG_H301_VIDEO)
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| GET_FLAG(Servo_AUX1, FLAG_H301_RTH);
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}
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packet[10] = 0x18; // ?
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packet[12] = 0x5c; // ?
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packet[14] = 0xf6; // ?
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}
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else
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{ //ID_PLUS
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packet[3] = 0x64;
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packet[5] = 0x64;
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packet[7] = 0x64;
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packet[9] = 0x06;
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//FLIP|LIGHT|PICTURE|VIDEO|HEADLESS
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if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO;
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if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS;
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packet[10]= 0x19;
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packet[12]= 0x5C; // ghost channel ?
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packet[13] = 0;
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if(Servo_AUX3) packet[13] = HUBSAN_FLAG_SNAPSHOT;
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if(Servo_AUX1) packet[13] |= HUBSAN_FLAG_FLIP_PLUS;
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packet[14]= 0x49; // ghost channel ?
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{ //ID_PLUS && H501
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packet[3] = sub_protocol==H501 ? 0x00:0x64;
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packet[5] = sub_protocol==H501 ? 0x00:0x64;
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packet[7] = sub_protocol==H501 ? 0x00:0x64;
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if(sub_protocol==H501)
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{ // H501S
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packet[9] = 0x02
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| GET_FLAG(Servo_AUX2, FLAG_H501_LED)
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| GET_FLAG(Servo_AUX4, FLAG_H501_VIDEO)
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| GET_FLAG(Servo_AUX1, FLAG_H501_RTH)
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| GET_FLAG(Servo_AUX7, FLAG_H501_GPS_HOLD)
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| GET_FLAG(Servo_AUX5, FLAG_H501_HEADLESS1);
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//packet[10]= 0x1A;
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packet[13] = GET_FLAG(Servo_AUX6, FLAG_H501_HEADLESS2)
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| GET_FLAG(Servo_AUX8, FLAG_H501_ALT_HOLD)
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| GET_FLAG(Servo_AUX3, FLAG_H501_SNAPSHOT);
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}
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else
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{ // H107P/C+/D+
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packet[9] = 0x06;
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//FLIP|LIGHT|PICTURE|VIDEO|HEADLESS
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if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO;
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if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS;
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packet[10]= 0x19;
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packet[12]= 0x5C; // ghost channel ?
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packet[13] = 0;
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if(Servo_AUX3) packet[13] = HUBSAN_FLAG_SNAPSHOT;
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if(Servo_AUX1) packet[13] |= HUBSAN_FLAG_FLIP_PLUS;
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packet[14]= 0x49; // ghost channel ?
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}
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if(packet_count < 100)
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{ // set channels to neutral for first 100 packets
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packet[2] = 0x80; // throttle neutral is at mid stick on plus series
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@@ -176,6 +234,21 @@ static void __attribute__((unused)) hubsan_build_packet()
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packet[13]= 0x00;
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packet_count++;
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}
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if(sub_protocol==H501)
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{ // H501S
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h501_packet++;
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if(h501_packet == 10)
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{
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memset(packet, 0, 16);
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packet[0] = 0xe8;
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}
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else if(h501_packet == 20)
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{
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memset(packet, 0, 16);
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packet[0] = 0xe9;
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}
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if(h501_packet >= 20) h501_packet = 0;
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}
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}
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hubsan_update_crc();
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}
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@@ -198,41 +271,42 @@ uint16_t ReadHubsan()
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static uint8_t rfMode=0;
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#endif
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static uint8_t txState=0;
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static uint8_t bind_count=0;
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uint16_t delay;
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uint8_t i;
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switch(phase) {
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switch(phase)
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{
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case BIND_1:
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bind_count++;
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if(bind_count >= 20)
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bind_phase++;
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if(bind_phase >= 20 && sub_protocol != H501)
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{
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if(id_data == ID_NORMAL)
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id_data = ID_PLUS;
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if(hubsan_id_data == ID_NORMAL)
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hubsan_id_data = ID_PLUS;
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else
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id_data = ID_NORMAL;
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A7105_WriteID(id_data);
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bind_count = 0;
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hubsan_id_data = ID_NORMAL;
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A7105_WriteID(hubsan_id_data);
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bind_phase = 0;
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}
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case BIND_3:
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case BIND_5:
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case BIND_7:
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hubsan_build_bind_packet(phase == BIND_7 ? 9 : (phase == BIND_5 ? 1 : phase + 1 - BIND_1));
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A7105_Strobe(A7105_STANDBY);
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A7105_WriteData(16, channel);
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phase |= WAIT_WRITE;
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phase |= HUBSAN_WAIT_WRITE;
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return 3000;
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case BIND_1 | WAIT_WRITE:
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case BIND_3 | WAIT_WRITE:
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case BIND_5 | WAIT_WRITE:
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case BIND_7 | WAIT_WRITE:
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case BIND_1 | HUBSAN_WAIT_WRITE:
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case BIND_3 | HUBSAN_WAIT_WRITE:
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case BIND_5 | HUBSAN_WAIT_WRITE:
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case BIND_7 | HUBSAN_WAIT_WRITE:
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//wait for completion
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for(i = 0; i< 20; i++)
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if(! (A7105_ReadReg(A7105_00_MODE) & 0x01))
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break;
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A7105_SetTxRxMode(RX_EN);
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A7105_Strobe(A7105_RX);
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phase &= ~WAIT_WRITE;
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if(id_data == ID_PLUS)
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phase &= ~HUBSAN_WAIT_WRITE;
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if(hubsan_id_data == ID_PLUS)
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{
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if(phase == BIND_7 && packet[2] == 9)
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{
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@@ -264,7 +338,7 @@ uint16_t ReadHubsan()
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return 15000; //22.5msec elapsed since last write
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}
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A7105_ReadData(16);
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if(packet[1] == 9 && id_data == ID_NORMAL) {
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if(packet[1] == 9 && hubsan_id_data == ID_NORMAL) {
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phase = DATA_1;
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A7105_WriteReg(A7105_1F_CODE_I, 0x0F);
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BIND_DONE;
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@@ -285,7 +359,13 @@ uint16_t ReadHubsan()
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if( phase == DATA_1)
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A7105_SetPower(); //Keep transmit power in sync
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hubsan_build_packet();
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A7105_WriteData(16, phase == DATA_5 && id_data == ID_NORMAL ? channel + 0x23 : channel);
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A7105_Strobe(A7105_STANDBY);
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uint8_t ch;
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if((phase == DATA_5 && hubsan_id_data == ID_NORMAL) && sub_protocol == H107)
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ch = channel + 0x23;
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else
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ch = channel;
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A7105_WriteData(16, ch);
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if (phase == DATA_5)
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phase = DATA_1;
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else
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@@ -340,20 +420,30 @@ uint16_t ReadHubsan()
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return 0;
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}
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uint16_t initHubsan() {
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uint16_t initHubsan()
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{
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const uint8_t allowed_ch[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82};
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A7105_Init();
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sessionid = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
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channel = allowed_ch[random(0xfefefefe) % sizeof(allowed_ch)];
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channel = allowed_ch[MProtocol_id % sizeof(allowed_ch)];
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hubsan_id_data=ID_NORMAL;
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BIND_IN_PROGRESS; // autobind protocol
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phase = BIND_1;
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if(IS_AUTOBIND_FLAG_on || sub_protocol==H107)
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{
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BIND_IN_PROGRESS; // autobind protocol
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phase = BIND_1;
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}
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else
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{
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phase = DATA_1;
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A7105_WriteID(MProtocol_id);
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A7105_WriteReg(A7105_1F_CODE_I, 0x0F);
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}
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packet_count=0;
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id_data=ID_NORMAL;
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#ifdef HUBSAN_HUB_TELEMETRY
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init_frskyd_link_telemetry();
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#endif
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bind_phase=0;
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#ifdef HUBSAN_HUB_TELEMETRY
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init_frskyd_link_telemetry();
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#endif
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return 10000;
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}
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