mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 16:38:12 +00:00
Bugs protocol fix?
This commit is contained in:
Pascal Langer
parent
2589c67f6c
commit
e51f91f041
@ -26,8 +26,6 @@
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#define BUGSMINI_NUM_RF_CHANNELS 15
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#define BUGSMINI_ADDRESS_SIZE 5
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static uint8_t BUGSMINI_armed, BUGSMINI_arm_flags;
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static uint8_t BUGSMINI_arm_channel_previous;
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static uint8_t BUGSMINI_txid[3];
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static uint8_t BUGSMINI_txhash;
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@ -79,18 +77,18 @@ static void __attribute__((unused)) BUGSMINI_check_arming()
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{
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uint8_t arm_channel = BUGSMINI_CH_SW_ARM;
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if (arm_channel != BUGSMINI_arm_channel_previous)
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if (arm_channel != arm_channel_previous)
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{
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BUGSMINI_arm_channel_previous = arm_channel;
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arm_channel_previous = arm_channel;
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if (arm_channel)
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{
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BUGSMINI_armed = 1;
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BUGSMINI_arm_flags ^= BUGSMINI_FLAG_ARM;
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armed = 1;
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arm_flags ^= BUGSMINI_FLAG_ARM;
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}
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else
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{
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BUGSMINI_armed = 0;
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BUGSMINI_arm_flags ^= BUGSMINI_FLAG_DISARM;
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armed = 0;
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arm_flags ^= BUGSMINI_FLAG_DISARM;
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}
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}
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}
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@ -101,7 +99,7 @@ static void __attribute__((unused)) BUGSMINI_send_packet(uint8_t bind)
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uint16_t aileron = convert_channel_16b_limit(AILERON,500,0);
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uint16_t elevator = convert_channel_16b_limit(ELEVATOR,0,500);
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uint16_t throttle = BUGSMINI_armed ? convert_channel_16b_limit(THROTTLE,0,500) : 0;
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uint16_t throttle = armed ? convert_channel_16b_limit(THROTTLE,0,500) : 0;
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uint16_t rudder = convert_channel_16b_limit(RUDDER,500,0);
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packet[1] = BUGSMINI_txid[0];
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@ -136,9 +134,9 @@ static void __attribute__((unused)) BUGSMINI_send_packet(uint8_t bind)
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| BUGSMINI_FLAG_MODE
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| GET_FLAG(BUGSMINI_CH_SW_PICTURE, BUGSMINI_FLAG_PICTURE)
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| GET_FLAG(BUGSMINI_CH_SW_VIDEO, BUGSMINI_FLAG_VIDEO);
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if(BUGSMINI_armed)
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if(armed)
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packet[12] |= GET_FLAG(BUGSMINI_CH_SW_FLIP, BUGSMINI_FLAG_FLIP);
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packet[13] = BUGSMINI_arm_flags
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packet[13] = arm_flags
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| GET_FLAG(BUGSMINI_CH_SW_LED, BUGSMINI_FLAG_LED)
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| GET_FLAG(BUGSMINI_CH_SW_ANGLE, BUGSMINI_FLAG_ANGLE);
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@ -355,9 +353,12 @@ uint16_t initBUGSMINI()
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XN297_SetRXAddr(rx_tx_addr, 5);
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phase = BUGSMINI_DATA1;
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}
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BUGSMINI_armed = 0;
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BUGSMINI_arm_flags = BUGSMINI_FLAG_DISARM; // initial value from captures
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BUGSMINI_arm_channel_previous = BUGSMINI_CH_SW_ARM;
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armed = 0;
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arm_flags = BUGSMINI_FLAG_DISARM; // initial value from captures
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arm_channel_previous = BUGSMINI_CH_SW_ARM;
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#ifdef BUGS_HUB_TELEMETRY
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init_frskyd_link_telemetry();
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#endif
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return BUGSMINI_INITIAL_WAIT;
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}
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@ -175,9 +175,6 @@ static uint32_t __attribute__((unused)) BUGS_rxid_to_radioid(uint16_t rxid)
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#define BUGS_PACKET_SIZE 22
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#define BUGS_NUM_RFCHAN 16
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static uint8_t BUGS_armed, BUGS_arm_flags;
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static uint8_t BUGS_arm_channel_previous;
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enum {
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BUGS_BIND_1,
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BUGS_BIND_2,
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@ -191,25 +188,25 @@ static void __attribute__((unused)) BUGS_check_arming()
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{
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uint8_t arm_channel = BUGS_CH_SW_ARM;
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if (arm_channel != BUGS_arm_channel_previous)
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if (arm_channel != arm_channel_previous)
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{
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BUGS_arm_channel_previous = arm_channel;
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arm_channel_previous = arm_channel;
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if (arm_channel)
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{
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BUGS_armed = 1;
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BUGS_arm_flags ^= BUGS_FLAG_ARM;
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armed = 1;
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arm_flags ^= BUGS_FLAG_ARM;
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}
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else
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{
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BUGS_armed = 0;
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BUGS_arm_flags ^= BUGS_FLAG_DISARM;
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armed = 0;
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arm_flags ^= BUGS_FLAG_DISARM;
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}
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}
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}
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static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
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{
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uint8_t force_values = bind | !BUGS_armed;
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uint8_t force_values = bind | !armed;
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uint8_t change_channel = ((packet_count & 0x1) << 6);
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uint16_t aileron = convert_channel_16b_limit(AILERON,800,0);
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uint16_t elevator = convert_channel_16b_limit(ELEVATOR,800,0);
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@ -225,7 +222,7 @@ static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
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if(bind)
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{
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packet[4] = change_channel | 0x80;
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packet[5] = 0x02 | BUGS_arm_flags
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packet[5] = 0x02 | arm_flags
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| GET_FLAG(BUGS_CH_SW_ANGLE, BUGS_FLAG_ANGLE);
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}
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else
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@ -234,7 +231,7 @@ static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
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| GET_FLAG(BUGS_CH_SW_FLIP, BUGS_FLAG_FLIP)
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| GET_FLAG(BUGS_CH_SW_PICTURE, BUGS_FLAG_PICTURE)
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| GET_FLAG(BUGS_CH_SW_VIDEO, BUGS_FLAG_VIDEO);
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packet[5] = 0x02 | BUGS_arm_flags
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packet[5] = 0x02 | arm_flags
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| GET_FLAG(BUGS_CH_SW_ANGLE, BUGS_FLAG_ANGLE)
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| GET_FLAG(BUGS_CH_SW_LED, BUGS_FLAG_LED);
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}
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@ -309,19 +306,20 @@ static void __attribute__((unused)) BUGS_increment_counts()
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}
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}
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#define BUGS_DELAY_POST_TX 1100
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#define BUGS_DELAY_WAIT_TX 500
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#define BUGS_DELAY_WAIT_RX 2000
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#define BUGS_DELAY_POST_RX 2000
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#define BUGS_PACKET_PERIOD 6100
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#define BUGS_DELAY_TX 2000
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#define BUGS_DELAY_POST_RX 1500
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#define BUGS_DELAY_BIND_RST 200
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// FIFO config is one less than desired value
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#define BUGS_FIFO_SIZE_RX 15
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#define BUGS_FIFO_SIZE_TX 21
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uint16_t ReadBUGS(void)
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{
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uint8_t mode, timeout, base_adr;
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uint8_t mode, base_adr;
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uint16_t rxid;
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uint32_t radio_id;
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uint16_t start;
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// keep frequency tuning updated
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#ifndef FORCE_FLYSKY_TUNING
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@ -336,19 +334,15 @@ uint16_t ReadBUGS(void)
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A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_TX);
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A7105_WriteData(BUGS_PACKET_SIZE, hopping_frequency[hopping_frequency_no]);
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phase = BUGS_BIND_2;
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packet_period = BUGS_DELAY_POST_TX;
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packet_period = BUGS_DELAY_TX;
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break;
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case BUGS_BIND_2:
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// wait here a bit for tx complete because
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// need to start rx immediately to catch return packet
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timeout = 20;
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while (A7105_ReadReg(A7105_00_MODE) & 0x01)
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if (timeout-- == 0)
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{
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packet_period = BUGS_DELAY_WAIT_TX; // don't proceed until transmission complete
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//Wait for TX completion
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start=micros();
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while ((uint16_t)micros()-start < 500) // Wait max 500µs, using serial+telemetry exit in about 60µs
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if(!(A7105_ReadReg(A7105_00_MODE) & 0x01))
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break;
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}
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A7105_SetTxRxMode(RX_EN);
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A7105_WriteReg(A7105_0F_PLL_I, hopping_frequency[hopping_frequency_no] - 2);
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A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_RX);
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@ -356,7 +350,7 @@ uint16_t ReadBUGS(void)
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BUGS_increment_counts();
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phase = BUGS_BIND_3;
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packet_period = BUGS_DELAY_WAIT_RX;
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packet_period = BUGS_PACKET_PERIOD-BUGS_DELAY_TX-BUGS_DELAY_POST_RX;
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break;
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case BUGS_BIND_3:
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@ -397,19 +391,15 @@ uint16_t ReadBUGS(void)
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A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_TX);
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A7105_WriteData(BUGS_PACKET_SIZE, hopping_frequency[hopping_frequency_no]);
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phase = BUGS_DATA_2;
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packet_period = BUGS_DELAY_POST_TX;
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packet_period = BUGS_DELAY_TX;
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break;
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case BUGS_DATA_2:
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// wait here a bit for tx complete because
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// need to start rx immediately to catch return packet
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timeout = 20;
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while (A7105_ReadReg(A7105_00_MODE) & 0x01)
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if (timeout-- == 0)
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{
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packet_period = BUGS_DELAY_WAIT_TX; // don't proceed until transmission complete
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//Wait for TX completion
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start=micros();
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while ((uint16_t)micros()-start < 500) // Wait max 500µs, using serial+telemetry exit in about 60µs
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if(!(A7105_ReadReg(A7105_00_MODE) & 0x01))
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break;
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}
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A7105_SetTxRxMode(RX_EN);
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A7105_WriteReg(A7105_0F_PLL_I, hopping_frequency[hopping_frequency_no] - 2);
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A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_RX);
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@ -417,7 +407,7 @@ uint16_t ReadBUGS(void)
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BUGS_increment_counts();
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phase = BUGS_DATA_3;
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packet_period = BUGS_DELAY_WAIT_RX;
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packet_period = BUGS_PACKET_PERIOD-BUGS_DELAY_TX-BUGS_DELAY_POST_RX;
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break;
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case BUGS_DATA_3:
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@ -447,6 +437,13 @@ uint16_t ReadBUGS(void)
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uint16_t initBUGS(void)
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{
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uint32_t radio_id=0;
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uint8_t base_adr=BUGS_EEPROM_OFFSET+RX_num*4;
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for(uint8_t i=0; i<4; i++)
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radio_id|=eeprom_read_byte((EE_ADDR)(base_adr+i))<<(i*8);
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if(radio_id==0xffffffff)
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BIND_IN_PROGRESS;
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BUGS_set_radio_data();
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if (IS_BIND_IN_PROGRESS)
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phase = BUGS_BIND_1;
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@ -457,9 +454,12 @@ uint16_t initBUGS(void)
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hopping_frequency_no = 0;
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packet_count = 0;
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BUGS_armed = 0;
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BUGS_arm_flags = BUGS_FLAG_DISARM; // initial value from captures
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BUGS_arm_channel_previous = BUGS_CH_SW_ARM;
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armed = 0;
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arm_flags = BUGS_FLAG_DISARM; // initial value from captures
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arm_channel_previous = BUGS_CH_SW_ARM;
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#ifdef BUGS_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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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 2
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#define VERSION_REVISION 1
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#define VERSION_PATCH_LEVEL 6
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#define VERSION_PATCH_LEVEL 7
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//******************
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// Protocols
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@ -71,6 +71,7 @@ enum PROTOCOLS
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PROTO_BUGSMINI = 42, // =>NRF24L01
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PROTO_TRAXXAS = 43, // =>CYRF6936
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PROTO_NCC1701 = 44, // =>NRF24L01
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PROTO_E01X = 45, // =>NRF24L01
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PROTO_TEST = 63, // =>NRF24L01
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};
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@ -247,6 +248,11 @@ enum HITEC
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OPT_HUB = 1,
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MINIMA = 2,
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};
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enum E01X
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{
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E012 = 0,
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E015 = 1,
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};
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#define NONE 0
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#define P_HIGH 1
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@ -365,7 +371,7 @@ enum MultiPacketTypes
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uint16_t debug_time=0;
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#define debug(msg, ...) {char buf[64]; sprintf(buf, msg, ##__VA_ARGS__); Serial.write(buf);}
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#define debugln(msg, ...) {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.write(buf);}
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#define debug_time(msg) { uint16_t debug_time_TCNT1=TCNT1; debug_time=debug_time_TCNT1-debug_time; debugln(msg "%u", debug_time); debug_time=debug_time_TCNT1; }
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#define debug_time(msg) { uint16_t debug_time_TCNT1=TCNT1; debug_time=debug_time_TCNT1-debug_time; debugln(msg "%u", debug_time>>1); debug_time=debug_time_TCNT1; }
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#else
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#define debug(...) { }
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#define debugln(...) { }
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@ -585,6 +591,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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BUGSMINI 42
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TRAXXAS 43
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NCC1701 44
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E01X 45
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BindBit=> 0x80 1=Bind/0=No
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AutoBindBit=> 0x40 1=Yes /0=No
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RangeCheck=> 0x20 1=Yes /0=No
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@ -712,6 +719,9 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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Q100 2
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Q200 3
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MR100 4
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sub_protocol==E01X
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E012 0
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E015 1
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Power value => 0x80 0=High/1=Low
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Stream[3] = option_protocol;
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