gomaomao/DIY-Multiprotocol-TX-Module
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Bugs protocol fix?

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Pascal Langer
2018-11-06 21:43:55 +01:00
parent 2589c67f6c
commit e51f91f041
3 changed files with 67 additions and 56 deletions
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80
Multiprotocol/Bugs_a7105.ino
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@@ -175,9 +175,6 @@ static uint32_t __attribute__((unused)) BUGS_rxid_to_radioid(uint16_t rxid)
#define BUGS_PACKET_SIZE 22
#define BUGS_NUM_RFCHAN 16
static uint8_t BUGS_armed, BUGS_arm_flags;
static uint8_t BUGS_arm_channel_previous;
enum {
BUGS_BIND_1,
BUGS_BIND_2,
@@ -191,25 +188,25 @@ static void __attribute__((unused)) BUGS_check_arming()
{
uint8_t arm_channel = BUGS_CH_SW_ARM;
if (arm_channel != BUGS_arm_channel_previous)
if (arm_channel != arm_channel_previous)
{
BUGS_arm_channel_previous = arm_channel;
arm_channel_previous = arm_channel;
if (arm_channel)
{
BUGS_armed = 1;
BUGS_arm_flags ^= BUGS_FLAG_ARM;
armed = 1;
arm_flags ^= BUGS_FLAG_ARM;
}
else
{
BUGS_armed = 0;
BUGS_arm_flags ^= BUGS_FLAG_DISARM;
armed = 0;
arm_flags ^= BUGS_FLAG_DISARM;
}
}
}
static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
{
uint8_t force_values = bind | !BUGS_armed;
uint8_t force_values = bind | !armed;
uint8_t change_channel = ((packet_count & 0x1) << 6);
uint16_t aileron = convert_channel_16b_limit(AILERON,800,0);
uint16_t elevator = convert_channel_16b_limit(ELEVATOR,800,0);
@@ -225,7 +222,7 @@ static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
if(bind)
{
packet[4] = change_channel | 0x80;
packet[5] = 0x02 | BUGS_arm_flags
packet[5] = 0x02 | arm_flags
| GET_FLAG(BUGS_CH_SW_ANGLE, BUGS_FLAG_ANGLE);
}
else
@@ -234,7 +231,7 @@ static void __attribute__((unused)) BUGS_build_packet(uint8_t bind)
| GET_FLAG(BUGS_CH_SW_FLIP, BUGS_FLAG_FLIP)
| GET_FLAG(BUGS_CH_SW_PICTURE, BUGS_FLAG_PICTURE)
| GET_FLAG(BUGS_CH_SW_VIDEO, BUGS_FLAG_VIDEO);
packet[5] = 0x02 | BUGS_arm_flags
packet[5] = 0x02 | arm_flags
| GET_FLAG(BUGS_CH_SW_ANGLE, BUGS_FLAG_ANGLE)
| GET_FLAG(BUGS_CH_SW_LED, BUGS_FLAG_LED);
}
@@ -309,19 +306,20 @@ static void __attribute__((unused)) BUGS_increment_counts()
}
}
#define BUGS_DELAY_POST_TX 1100
#define BUGS_DELAY_WAIT_TX 500
#define BUGS_DELAY_WAIT_RX 2000
#define BUGS_DELAY_POST_RX 2000
#define BUGS_PACKET_PERIOD 6100
#define BUGS_DELAY_TX 2000
#define BUGS_DELAY_POST_RX 1500
#define BUGS_DELAY_BIND_RST 200
// FIFO config is one less than desired value
#define BUGS_FIFO_SIZE_RX 15
#define BUGS_FIFO_SIZE_TX 21
uint16_t ReadBUGS(void)
{
uint8_t mode, timeout, base_adr;
uint8_t mode, base_adr;
uint16_t rxid;
uint32_t radio_id;
uint16_t start;
// keep frequency tuning updated
#ifndef FORCE_FLYSKY_TUNING
@@ -336,19 +334,15 @@ uint16_t ReadBUGS(void)
A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_TX);
A7105_WriteData(BUGS_PACKET_SIZE, hopping_frequency[hopping_frequency_no]);
phase = BUGS_BIND_2;
packet_period = BUGS_DELAY_POST_TX;
packet_period = BUGS_DELAY_TX;
break;
case BUGS_BIND_2:
// wait here a bit for tx complete because
// need to start rx immediately to catch return packet
timeout = 20;
while (A7105_ReadReg(A7105_00_MODE) & 0x01)
if (timeout-- == 0)
{
packet_period = BUGS_DELAY_WAIT_TX; // don't proceed until transmission complete
//Wait for TX completion
start=micros();
while ((uint16_t)micros()-start < 500) // Wait max 500µs, using serial+telemetry exit in about 60µs
if(!(A7105_ReadReg(A7105_00_MODE) & 0x01))
break;
}
A7105_SetTxRxMode(RX_EN);
A7105_WriteReg(A7105_0F_PLL_I, hopping_frequency[hopping_frequency_no] - 2);
A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_RX);
@@ -356,7 +350,7 @@ uint16_t ReadBUGS(void)
BUGS_increment_counts();
phase = BUGS_BIND_3;
packet_period = BUGS_DELAY_WAIT_RX;
packet_period = BUGS_PACKET_PERIOD-BUGS_DELAY_TX-BUGS_DELAY_POST_RX;
break;
case BUGS_BIND_3:
@@ -397,19 +391,15 @@ uint16_t ReadBUGS(void)
A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_TX);
A7105_WriteData(BUGS_PACKET_SIZE, hopping_frequency[hopping_frequency_no]);
phase = BUGS_DATA_2;
packet_period = BUGS_DELAY_POST_TX;
packet_period = BUGS_DELAY_TX;
break;
case BUGS_DATA_2:
// wait here a bit for tx complete because
// need to start rx immediately to catch return packet
timeout = 20;
while (A7105_ReadReg(A7105_00_MODE) & 0x01)
if (timeout-- == 0)
{
packet_period = BUGS_DELAY_WAIT_TX; // don't proceed until transmission complete
//Wait for TX completion
start=micros();
while ((uint16_t)micros()-start < 500) // Wait max 500µs, using serial+telemetry exit in about 60µs
if(!(A7105_ReadReg(A7105_00_MODE) & 0x01))
break;
}
A7105_SetTxRxMode(RX_EN);
A7105_WriteReg(A7105_0F_PLL_I, hopping_frequency[hopping_frequency_no] - 2);
A7105_WriteReg(A7105_03_FIFOI, BUGS_FIFO_SIZE_RX);
@@ -417,7 +407,7 @@ uint16_t ReadBUGS(void)
BUGS_increment_counts();
phase = BUGS_DATA_3;
packet_period = BUGS_DELAY_WAIT_RX;
packet_period = BUGS_PACKET_PERIOD-BUGS_DELAY_TX-BUGS_DELAY_POST_RX;
break;
case BUGS_DATA_3:
@@ -447,6 +437,13 @@ uint16_t ReadBUGS(void)
uint16_t initBUGS(void)
{
uint32_t radio_id=0;
uint8_t base_adr=BUGS_EEPROM_OFFSET+RX_num*4;
for(uint8_t i=0; i<4; i++)
radio_id|=eeprom_read_byte((EE_ADDR)(base_adr+i))<<(i*8);
if(radio_id==0xffffffff)
BIND_IN_PROGRESS;
BUGS_set_radio_data();
if (IS_BIND_IN_PROGRESS)
phase = BUGS_BIND_1;
@@ -457,9 +454,12 @@ uint16_t initBUGS(void)
hopping_frequency_no = 0;
packet_count = 0;
BUGS_armed = 0;
BUGS_arm_flags = BUGS_FLAG_DISARM; // initial value from captures
BUGS_arm_channel_previous = BUGS_CH_SW_ARM;
armed = 0;
arm_flags = BUGS_FLAG_DISARM; // initial value from captures
arm_channel_previous = BUGS_CH_SW_ARM;
#ifdef BUGS_HUB_TELEMETRY
init_frskyd_link_telemetry();
#endif
return 10000;
}