mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 18:38:13 +00:00
Devo fix
This commit is contained in:
pascallanger
parent
c2b9376313
commit
e7ed80d3e0
@ -21,16 +21,13 @@
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//For Debug
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//#define NO_SCRAMBLE
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#define PKTS_PER_CHANNEL 4
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#define DEVO_BIND_COUNT 0x1388
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//#define TELEMETRY_ENABLE 0x30
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#define NUM_WAIT_LOOPS (100 / 5) //each loop is ~5us. Do not wait more than 100us
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//
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//#define TELEM_ON 0
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//#define TELEM_OFF 1
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enum Devo_PhaseState
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{
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#define DEVO_PKTS_PER_CHANNEL 4
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#define DEVO_BIND_COUNT 0x1388
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#define DEVO_NUM_WAIT_LOOPS (100 / 5) //each loop is ~5us. Do not wait more than 100us
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enum {
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DEVO_BIND,
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DEVO_BIND_SENDCH,
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DEVO_BOUND,
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@ -46,7 +43,7 @@ enum Devo_PhaseState
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DEVO_BOUND_10,
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};
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const uint8_t sopcodes[][8] = {
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const uint8_t PROGMEM DEVO_sopcodes[][8] = {
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/* Note these are in order transmitted (LSB 1st) */
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/* 0 */ {0x3C,0x37,0xCC,0x91,0xE2,0xF8,0xCC,0x91}, //0x91CCF8E291CC373C
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/* 1 */ {0x9B,0xC5,0xA1,0x0F,0xAD,0x39,0xA2,0x0F}, //0x0FA239AD0FA1C59B
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@ -60,27 +57,28 @@ const uint8_t sopcodes[][8] = {
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/* 9 */ {0x97,0xE5,0x14,0x72,0x7F,0x1A,0x14,0x72}, //0x72141A7F7214E597
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};
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uint8_t txState;
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uint8_t pkt_num;
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uint8_t ch_idx;
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uint8_t use_fixed_id;
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uint8_t failsafe_pkt;
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static void __attribute__((unused)) DEVO_ConfigSOPCode(uint8_t val)
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{
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uint8_t code[8];
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for(uint8_t i=0;i<8;i++)
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code[i]=pgm_read_byte_near(&DEVO_sopcodes[val][i]);
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CYRF_ConfigSOPCode(code);
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}
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static void __attribute__((unused)) scramble_pkt()
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static void __attribute__((unused)) DEVO_scramble_pkt()
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{
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#ifdef NO_SCRAMBLE
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return;
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#else
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uint8_t i;
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for(i = 0; i < 15; i++)
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for(uint8_t i = 0; i < 15; i++)
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packet[i + 1] ^= cyrfmfg_id[i % 4];
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#endif
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}
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static void __attribute__((unused)) add_pkt_suffix()
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static void __attribute__((unused)) DEVO_add_pkt_suffix()
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{
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uint8_t bind_state;
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if (use_fixed_id)
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if (option)
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{
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if (bind_counter > 0)
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bind_state = 0xc0;
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@ -89,7 +87,7 @@ static void __attribute__((unused)) add_pkt_suffix()
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}
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else
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bind_state = 0x00;
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packet[10] = bind_state | (PKTS_PER_CHANNEL - pkt_num - 1);
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packet[10] = bind_state | (DEVO_PKTS_PER_CHANNEL - packet_count - 1);
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packet[11] = *(hopping_frequency_ptr + 1);
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packet[12] = *(hopping_frequency_ptr + 2);
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packet[13] = fixed_id & 0xff;
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@ -97,59 +95,50 @@ static void __attribute__((unused)) add_pkt_suffix()
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packet[15] = (fixed_id >> 16) & 0xff;
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}
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static void __attribute__((unused)) build_beacon_pkt(uint8_t upper)
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static void __attribute__((unused)) DEVO_build_beacon_pkt(uint8_t upper)
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{
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packet[0] = ((DEVO_NUM_CHANNELS << 4) | 0x07);
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// uint8_t enable = 0;
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packet[0] = (DEVO_NUM_CHANNELS << 4) | 0x07;
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uint8_t max = 8;
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// int offset = 0;
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if (upper)
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{
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packet[0] += 1;
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max = 4;
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// offset = 8;
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}
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for(uint8_t i = 0; i < max; i++)
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packet[i+1] = 0;
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// packet[9] = enable;
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packet[9] = 0;
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add_pkt_suffix();
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DEVO_add_pkt_suffix();
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}
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#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
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static void __attribute__((unused)) build_bind_pkt()
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static void __attribute__((unused)) DEVO_build_bind_pkt()
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{
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uint8_t *p = packet ;
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FORCE_INDIRECT(p) ;
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p[0] = (DEVO_NUM_CHANNELS << 4) | 0x0a;
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p[1] = bind_counter & 0xff;
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p[2] = (bind_counter >> 8);
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p[3] = *hopping_frequency_ptr;
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p[4] = *(hopping_frequency_ptr + 1);
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p[5] = *(hopping_frequency_ptr + 2);
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p[6] = cyrfmfg_id[0];
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p[7] = cyrfmfg_id[1];
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p[8] = cyrfmfg_id[2];
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p[9] = cyrfmfg_id[3];
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add_pkt_suffix();
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packet[0] = (DEVO_NUM_CHANNELS << 4) | 0x0a;
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packet[1] = bind_counter & 0xff;
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packet[2] = (bind_counter >> 8);
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packet[3] = *hopping_frequency_ptr;
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packet[4] = *(hopping_frequency_ptr + 1);
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packet[5] = *(hopping_frequency_ptr + 2);
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packet[6] = cyrfmfg_id[0];
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packet[7] = cyrfmfg_id[1];
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packet[8] = cyrfmfg_id[2];
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packet[9] = cyrfmfg_id[3];
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DEVO_add_pkt_suffix();
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//The fixed-id portion is scrambled in the bind packet
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//I assume it is ignored
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p[13] ^= cyrfmfg_id[0];
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p[14] ^= cyrfmfg_id[1];
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p[15] ^= cyrfmfg_id[2];
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packet[13] ^= cyrfmfg_id[0];
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packet[14] ^= cyrfmfg_id[1];
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packet[15] ^= cyrfmfg_id[2];
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}
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static void __attribute__((unused)) build_data_pkt()
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static void __attribute__((unused)) DEVO_build_data_pkt()
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{
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uint8_t i;
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static uint8_t ch_idx=0;
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packet[0] = (DEVO_NUM_CHANNELS << 4) | (0x0b + ch_idx);
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uint8_t sign = 0x0b;
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for (i = 0; i < 4; i++)
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for (uint8_t i = 0; i < 4; i++)
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{
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//
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int16_t value= map(Servo_data[ch_idx * 4 + i],servo_min_125,servo_max_125,-1600,1600);//range -1600...+1600
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//s32 value = (s32)Channels[ch_idx * 4 + i] * 0x640 / CHAN_MAX_VALUE;//10000
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int16_t value=map(Servo_data[ch_idx * 4 + i],servo_min_125,servo_max_125,-1600,1600);//range -1600..+1600
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if(value < 0)
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{
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value = -value;
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@ -159,13 +148,13 @@ static void __attribute__((unused)) build_data_pkt()
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packet[2 * i + 2] = (value >> 8) & 0xff;
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}
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packet[9] = sign;
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ch_idx = ch_idx + 1;
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ch_idx++;
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if (ch_idx * 4 >= DEVO_NUM_CHANNELS)
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ch_idx = 0;
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add_pkt_suffix();
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DEVO_add_pkt_suffix();
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}
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static void __attribute__((unused)) cyrf_set_bound_sop_code()
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static void __attribute__((unused)) DEVO_cyrf_set_bound_sop_code()
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{
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/* crc == 0 isn't allowed, so use 1 if the math results in 0 */
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uint8_t crc = (cyrfmfg_id[0] + (cyrfmfg_id[1] >> 6) + cyrfmfg_id[2]);
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@ -174,94 +163,62 @@ static void __attribute__((unused)) cyrf_set_bound_sop_code()
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uint8_t sopidx = (0xff &((cyrfmfg_id[0] << 2) + cyrfmfg_id[1] + cyrfmfg_id[2])) % 10;
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CYRF_SetTxRxMode(TX_EN);
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CYRF_ConfigCRCSeed((crc << 8) + crc);
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CYRF_ConfigSOPCode(sopcodes[sopidx]);
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DEVO_ConfigSOPCode(sopidx);
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CYRF_SetPower(0x08);
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}
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const uint8_t PROGMEM devo_init_vals[][2] = {
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{CYRF_06_RX_CFG, 0x4A },
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{CYRF_0B_PWR_CTRL, 0x00 },
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{CYRF_0D_IO_CFG, 0x04 },
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{CYRF_0E_GPIO_CTRL, 0x20 },
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{CYRF_10_FRAMING_CFG, 0xA4 },
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{CYRF_11_DATA32_THOLD, 0x05 },
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{CYRF_12_DATA64_THOLD, 0x0E },
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{CYRF_1B_TX_OFFSET_LSB, 0x55 },
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{CYRF_1C_TX_OFFSET_MSB, 0x05 },
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{CYRF_32_AUTO_CAL_TIME, 0x3C },
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{CYRF_35_AUTOCAL_OFFSET, 0x14 },
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{CYRF_39_ANALOG_CTRL, 0x01 },
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{CYRF_1E_RX_OVERRIDE, 0x10 },
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{CYRF_1F_TX_OVERRIDE, 0x00 },
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{CYRF_01_TX_LENGTH, 0x10 },
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{CYRF_0C_XTAL_CTRL, 0xC0 },
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{CYRF_0F_XACT_CFG, 0x10 },
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{CYRF_27_CLK_OVERRIDE, 0x02 },
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{CYRF_28_CLK_EN, 0x02 },
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{CYRF_0F_XACT_CFG, 0x28 }
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const uint8_t PROGMEM DEVO_init_vals[][2] = {
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{ CYRF_1D_MODE_OVERRIDE, 0x38 },
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{ CYRF_03_TX_CFG, 0x08 },
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{ CYRF_06_RX_CFG, 0x4A },
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{ CYRF_0B_PWR_CTRL, 0x00 },
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{ CYRF_10_FRAMING_CFG, 0xA4 },
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{ CYRF_11_DATA32_THOLD, 0x05 },
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{ CYRF_12_DATA64_THOLD, 0x0E },
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{ CYRF_1B_TX_OFFSET_LSB, 0x55 },
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{ CYRF_1C_TX_OFFSET_MSB, 0x05 },
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{ CYRF_32_AUTO_CAL_TIME, 0x3C },
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{ CYRF_35_AUTOCAL_OFFSET, 0x14 },
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{ CYRF_39_ANALOG_CTRL, 0x01 },
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{ CYRF_1E_RX_OVERRIDE, 0x10 },
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{ CYRF_1F_TX_OVERRIDE, 0x00 },
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{ CYRF_01_TX_LENGTH, 0x10 },
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{ CYRF_0F_XACT_CFG, 0x10 },
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{ CYRF_27_CLK_OVERRIDE, 0x02 },
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{ CYRF_28_CLK_EN, 0x02 },
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{ CYRF_0F_XACT_CFG, 0x28 }
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};
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static void __attribute__((unused)) cyrf_init()
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static void __attribute__((unused)) DEVO_cyrf_init()
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{
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/* Initialise CYRF chip */
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CYRF_WriteRegister(CYRF_1D_MODE_OVERRIDE, 0x39);
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CYRF_SetPower(0x08);
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for(uint8_t i = 0; i < sizeof(devo_init_vals) / 2; i++)
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CYRF_WriteRegister(pgm_read_byte( &devo_init_vals[i][0]), pgm_read_byte( &devo_init_vals[i][1]) );
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// CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);
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// CYRF_WriteRegister(CYRF_0B_PWR_CTRL, 0x00);
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// CYRF_WriteRegister(CYRF_0D_IO_CFG, 0x04);
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// CYRF_WriteRegister(CYRF_0E_GPIO_CTRL, 0x20);
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// CYRF_WriteRegister(CYRF_10_FRAMING_CFG, 0xA4);
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// CYRF_WriteRegister(CYRF_11_DATA32_THOLD, 0x05);
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// CYRF_WriteRegister(CYRF_12_DATA64_THOLD, 0x0E);
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// CYRF_WriteRegister(CYRF_1B_TX_OFFSET_LSB, 0x55);
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// CYRF_WriteRegister(CYRF_1C_TX_OFFSET_MSB, 0x05);
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// CYRF_WriteRegister(CYRF_32_AUTO_CAL_TIME, 0x3C);
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// CYRF_WriteRegister(CYRF_35_AUTOCAL_OFFSET, 0x14);
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// CYRF_WriteRegister(CYRF_39_ANALOG_CTRL, 0x01);
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// CYRF_WriteRegister(CYRF_1E_RX_OVERRIDE, 0x10);
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// CYRF_WriteRegister(CYRF_1F_TX_OVERRIDE, 0x00);
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// CYRF_WriteRegister(CYRF_01_TX_LENGTH, 0x10);
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// CYRF_WriteRegister(CYRF_0C_XTAL_CTRL, 0xC0);
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// CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x10);
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// CYRF_WriteRegister(CYRF_27_CLK_OVERRIDE, 0x02);
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// CYRF_WriteRegister(CYRF_28_CLK_EN, 0x02);
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// CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x28);
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for(uint8_t i = 0; i < sizeof(DEVO_init_vals) / 2; i++)
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CYRF_WriteRegister(pgm_read_byte( &DEVO_init_vals[i][0]), pgm_read_byte( &DEVO_init_vals[i][1]) );
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}
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static void __attribute__((unused)) set_radio_channels()
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static void __attribute__((unused)) DEVO_set_radio_channels()
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{
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//int i;
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CYRF_FindBestChannels(hopping_frequency, 3, 4, 4, 80);
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//printf("Radio Channels:");
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// for (i = 0; i < 3; i++) {
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// printf(" %02x", radio_ch[i]);
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//Serial.print(radio_ch[i]);
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// }
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// printf("\n");
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//Makes code a little easier to duplicate these here
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hopping_frequency[3] = hopping_frequency[0];
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hopping_frequency[4] = hopping_frequency[1];
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}
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static void __attribute__((unused)) DEVO_BuildPacket()
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{
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static uint8_t failsafe_pkt=0;
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switch(phase)
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{
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case DEVO_BIND:
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if(bind_counter>0)
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if(bind_counter)
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bind_counter--;
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build_bind_pkt();
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DEVO_build_bind_pkt();
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phase = DEVO_BIND_SENDCH;
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break;
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case DEVO_BIND_SENDCH:
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if(bind_counter>0)
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if(bind_counter)
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bind_counter--;
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build_data_pkt();
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scramble_pkt();
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DEVO_build_data_pkt();
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DEVO_scramble_pkt();
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if (bind_counter == 0)
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{
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phase = DEVO_BOUND;
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@ -280,10 +237,10 @@ static void __attribute__((unused)) DEVO_BuildPacket()
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case DEVO_BOUND_7:
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case DEVO_BOUND_8:
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case DEVO_BOUND_9:
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build_data_pkt();
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scramble_pkt();
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DEVO_build_data_pkt();
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DEVO_scramble_pkt();
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phase++;
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if (bind_counter > 0)
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if (bind_counter)
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{
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bind_counter--;
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if (bind_counter == 0)
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@ -291,19 +248,20 @@ static void __attribute__((unused)) DEVO_BuildPacket()
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}
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break;
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case DEVO_BOUND_10:
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build_beacon_pkt(DEVO_NUM_CHANNELS > 8 ? failsafe_pkt : 0);
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DEVO_build_beacon_pkt(DEVO_NUM_CHANNELS > 8 ? failsafe_pkt : 0);
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failsafe_pkt = failsafe_pkt ? 0 : 1;
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scramble_pkt();
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DEVO_scramble_pkt();
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phase = DEVO_BOUND_1;
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break;
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}
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pkt_num++;
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if(pkt_num == PKTS_PER_CHANNEL)
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pkt_num = 0;
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packet_count++;
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if(packet_count == DEVO_PKTS_PER_CHANNEL)
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packet_count = 0;
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}
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uint16_t devo_callback()
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{
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static uint8_t txState=0;
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if (txState == 0)
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{
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txState = 1;
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@ -314,107 +272,58 @@ uint16_t devo_callback()
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txState = 0;
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uint8_t i = 0;
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while (! (CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02))
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if(++i > NUM_WAIT_LOOPS)
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if(++i > DEVO_NUM_WAIT_LOOPS)
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return 1200;
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if (phase == DEVO_BOUND)
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{
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/* exit binding state */
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phase = DEVO_BOUND_3;
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cyrf_set_bound_sop_code();
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DEVO_cyrf_set_bound_sop_code();
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}
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if(pkt_num == 0)
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if(packet_count == 0)
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{
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//Keep tx power updated
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CYRF_SetPower(0x08);
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CYRF_SetPower(0x08); //Keep tx power updated
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hopping_frequency_ptr = hopping_frequency_ptr == &hopping_frequency[2] ? hopping_frequency : hopping_frequency_ptr + 1;
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CYRF_ConfigRFChannel(*hopping_frequency_ptr);
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}
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return 1200;
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}
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/*static void __attribute__((unused)) devo_bind()
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{
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fixed_id = Model_fixed_id;
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bind_counter = DEVO_BIND_COUNT;
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use_fixed_id = 1;
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//PROTOCOL_SetBindState(0x1388 * 2400 / 1000); //msecs 12000ms
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}
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static void __attribute__((unused)) generate_fixed_id_bind(){
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if(BIND_0){
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//randomSeed((uint32_t)analogRead(A6)<<10|analogRead(A7));//seed
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uint8_t txid[4];
|
||||
//Model_fixed_id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
|
||||
Model_fixed_id=0x332211;
|
||||
txid[0]= (id &0xFF);
|
||||
txid[1] = ((id >> 8) & 0xFF);
|
||||
txid[2] = ((id >> 16) & 0xFF);
|
||||
//txid[3] = ((id >> 24) & 0xFF);
|
||||
eeprom_write_block((const void*)txid,(void*)40,3);
|
||||
devo_bind();
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
uint16_t DevoInit()
|
||||
{
|
||||
CYRF_Reset();
|
||||
cyrf_init();
|
||||
DEVO_cyrf_init();
|
||||
CYRF_GetMfgData(cyrfmfg_id);
|
||||
CYRF_SetTxRxMode(TX_EN);
|
||||
CYRF_ConfigCRCSeed(0x0000);
|
||||
CYRF_ConfigSOPCode(sopcodes[0]);
|
||||
set_radio_channels();
|
||||
use_fixed_id = 0;
|
||||
failsafe_pkt = 0;
|
||||
DEVO_ConfigSOPCode(0);
|
||||
DEVO_set_radio_channels();
|
||||
|
||||
hopping_frequency_ptr = hopping_frequency;
|
||||
//
|
||||
CYRF_ConfigRFChannel(*hopping_frequency_ptr);
|
||||
//FIXME: Properly setnumber of channels;
|
||||
pkt_num = 0;
|
||||
ch_idx = 0;
|
||||
txState = 0;
|
||||
//uint8_t txid[4];
|
||||
//
|
||||
|
||||
/*
|
||||
if(BIND_0){
|
||||
Model_fixed_id=0;
|
||||
eeprom_write_block((const void*)0,(void*)40,4);
|
||||
while(1){
|
||||
LED_ON;
|
||||
delayMilliseconds(100);
|
||||
LED_OFF;
|
||||
delayMilliseconds(100);
|
||||
}
|
||||
}
|
||||
else{
|
||||
eeprom_read_block((void*)txid,(const void*)40,3);
|
||||
Model_fixed_id=(txid[0] | ((uint32_t)txid[1]<<8) | ((uint32_t)txid[2]<<16));
|
||||
}
|
||||
*/
|
||||
packet_count = 0;
|
||||
|
||||
if(! Model_fixed_id)
|
||||
{//model fixed ID =0
|
||||
fixed_id = ((uint32_t)(hopping_frequency[0] ^ cyrfmfg_id[0] ^ cyrfmfg_id[3]) << 16)
|
||||
if(option==0)
|
||||
{
|
||||
MProtocol_id = ((uint32_t)(hopping_frequency[0] ^ cyrfmfg_id[0] ^ cyrfmfg_id[3]) << 16)
|
||||
| ((uint32_t)(hopping_frequency[1] ^ cyrfmfg_id[1] ^ cyrfmfg_id[4]) << 8)
|
||||
| ((uint32_t)(hopping_frequency[2] ^ cyrfmfg_id[2] ^ cyrfmfg_id[5]) << 0);
|
||||
fixed_id = fixed_id % 1000000;
|
||||
bind_counter = DEVO_BIND_COUNT;
|
||||
phase = DEVO_BIND;
|
||||
//PROTOCOL_SetBindState(0x1388 * 2400 / 1000); //msecs
|
||||
BIND_IN_PROGRESS;
|
||||
}
|
||||
else
|
||||
{
|
||||
fixed_id = Model_fixed_id;
|
||||
use_fixed_id = 1;
|
||||
phase = DEVO_BOUND_1;
|
||||
bind_counter = 0;
|
||||
cyrf_set_bound_sop_code();
|
||||
DEVO_cyrf_set_bound_sop_code();
|
||||
}
|
||||
MProtocol_id %= 1000000;
|
||||
|
||||
if(IS_AUTOBIND_FLAG_on)
|
||||
{
|
||||
bind_counter = DEVO_BIND_COUNT;
|
||||
}
|
||||
return 2400;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user