gomaomao/DIY-Multiprotocol-TX-Module
1
0
Fork 0
mirror of https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git synced 2025-07-12 09:47:54 +00:00
Code Issues Projects Releases Wiki Activity

Changes to Hubsan protocol to match with goebish - deviaiton 45b5f7d date Dec 20th, 2016

Browse Source
This commit is contained in:
mbarsalou 2017-02-05 17:25:46 -09:00
parent e80fb904ce
commit fd936be4ef
1 changed files with 115 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

145
Multiprotocol/Hubsan_a7105.ino
View File

@ -31,12 +31,44 @@ enum{
HUBSAN_FLAG_HEADLESS = 0x08, // headless mode
};
enum{
// flags going to packet[9] (H301)
HUBSAN_FLAG_H301_VIDEO = 0x01,
HUBSAN_FLAG_H301_STAB = 0x02,
HUBSAN_FLAG_H301_LED = 0x10,
HUBSAN_FLAG_H301_RTH = 0x40,
};
enum{
// flags going to packet[13] (Plus series)
HUBSAN_FLAG_SNAPSHOT = 0x01,
HUBSAN_FLAG_FLIP_PLUS = 0x80,
};
enum{
// flags going to packet[9] (H501S)
HUBSAN_FLAG_H501_VIDEO = 0x01,
HUBSAN_FLAG_H501_LED = 0x04,
HUBSAN_FLAG_H501_RTH = 0x20,
HUBSAN_FLAG_H501_HEADLESS1 = 0x40,
HUBSAN_FLAG_H501_GPS_HOLD = 0x80,
};
enum {
HUBSAN_FORMAT_H107 = 0,
HUBSAN_FORMAT_H301,
HUBSAN_FORMAT_H501,
};
enum{
// flags going to packet[13] (H501S)
HUBSAN_FLAG_H501_SNAPSHOT = 0x01,
HUBSAN_FLAG_H501_HEADLESS2 = 0x02,
HUBSAN_FLAG_H501_ALT_HOLD = 0x08,
};
uint32_t sessionid,id_data;
enum {
@ -76,7 +108,7 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
packet[3] = (sessionid >> 16) & 0xFF;
packet[4] = (sessionid >> 8) & 0xFF;
packet[5] = (sessionid >> 0) & 0xFF;
if(id_data == ID_NORMAL)
if(id_data == ID_NORMAL && (sub_protocol != HUBSAN_FORMAT_H501))
{
packet[6] = 0x08;
packet[7] = 0xe4;
@ -89,8 +121,8 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
packet[13] = 0x26;
packet[14] = 0x79;
}
else
{ //ID_PLUS
else if(id_data == ID_PLUS || (sub_protocol == HUBSAN_FORMAT_H501))
{ //ID_PLUS or H501
if(phase >= BIND_3)
{
packet[7] = 0x62;
@ -108,7 +140,8 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
//ii : aileron observed range: 0x45 - 0xc3 (smaller is right)69-195-50%
static void __attribute__((unused)) hubsan_build_packet()
{
static uint8_t vtx_freq = 0;
static uint32_t h501_packet = 0;
static uint8_t vtx_freq = 0;
memset(packet, 0, 16);
if(vtx_freq != option || packet_count==100) // set vTX frequency (H107D)
{
@ -117,7 +150,8 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[1] = (vtx_freq>0xF2)?0x17:0x16;
packet[2] = vtx_freq+0x0D; // 5645 - 5900 MHz
packet[3] = 0x82;
packet_count++;
packet_count++;
h501_packet = 0;
}
else //20 00 00 00 80 00 7d 00 84 02 64 db 04 26 79 7b
{
@ -127,7 +161,7 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[4] = 0xFF - convert_channel_8b(RUDDER); //Rudder is reversed
packet[6] = 0xFF - convert_channel_8b(ELEVATOR); //Elevator is reversed
packet[8] = convert_channel_8b(AILERON); //Aileron
if(id_data == ID_NORMAL)
if(id_data == ID_NORMAL && (sub_protocol == HUBSAN_FORMAT_H107)) // H107/L/C/D, H102D
{
if( packet_count < 100)
{
@ -145,27 +179,58 @@ static void __attribute__((unused)) hubsan_build_packet()
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; // H102D
}
packet[10] = 0x64;
//const uint32_t txid = 0xdb042679;
//const uint32_t txid = 0xdb042679;
packet[11] = 0xDB;
packet[12] = 0x04;
packet[13] = 0x26;
packet[14] = 0x79;
}
else
{ //ID_PLUS
packet[3] = 0x64;
packet[5] = 0x64;
packet[7] = 0x64;
packet[9] = 0x06;
//FLIP|LIGHT|PICTURE|VIDEO|HEADLESS
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO;
if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS;
packet[10]= 0x19;
packet[12]= 0x5C; // ghost channel ?
packet[13] = 0;
if(Servo_AUX3) packet[13] = HUBSAN_FLAG_SNAPSHOT;
if(Servo_AUX1) packet[13] |= HUBSAN_FLAG_FLIP_PLUS;
packet[14]= 0x49; // ghost channel ?
else if(sub_protocol == HUBSAN_FORMAT_H301)
{
if(packet_count < 100)
{
packet[9] = HUBSAN_FLAG_H301_STAB;
packet_count++;
}
else
{
packet[9] = HUBSAN_FLAG_H301_LED;
if(Servo_AUX1) packet[9] |= HUBSAN_FLAG_H301_STAB; // channel 6
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_H301_VIDEO; // channel 8
if(Servo_AUX6) packet[9] |= HUBSAN_FLAG_H301_RTH; // channel 10
}
packet[10] = 0x18; // ?
packet[12] = 0x5c; // ?
packet[14] = 0xf6; // ?
} // 364
else if(id_data == ID_PLUS || (sub_protocol == HUBSAN_FORMAT_H501))
{
packet[3] = sub_protocol == HUBSAN_FORMAT_H501 ? 0x00 : 0x64;
packet[5] = sub_protocol == HUBSAN_FORMAT_H501 ? 0x00 : 0x64;
packet[7] = sub_protocol == HUBSAN_FORMAT_H501 ? 0x00 : 0x64;
if( sub_protocol == HUBSAN_FORMAT_H501)
{ // H501S
packet[9] = 0x02;
if(Servo_AUX1) packet[9] |= HUBSAN_FLAG_H501_LED; // channel 5
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_H501_VIDEO; // channel 8
if(Servo_AUX6) packet[9] |= HUBSAN_FLAG_H501_RTH; // channel 10
if(Servo_AUX7) packet[9] |= HUBSAN_FLAG_H501_GPS_HOLD; // channel 11
if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_H501_HEADLESS1; // channel 9
packet[13] = HUBSAN_FLAG_H501_HEADLESS2; // channel 9
if(Servo_AUX2) packet[13] |= HUBSAN_FLAG_H501_ALT_HOLD; // channel 6
if(Servo_AUX3) packet[13] |= HUBSAN_FLAG_H501_SNAPSHOT; // channel 7
}
else
{ // H107P / C+ / D+
packet[9] = 0x06;
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; // channel 8
if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS; // channel 9
packet[10] = sub_protocol == HUBSAN_FORMAT_H501 ? 0x1a : 0x19;
packet[12] = 0x5C; // ghost channel ?
packet[13] = HUBSAN_FLAG_SNAPSHOT; // channel 7
if(Servo_AUX2) packet[13] |= HUBSAN_FLAG_FLIP_PLUS; // channel 6
packet[14] = 0x49; // ghost channel ?
}
if(packet_count < 100)
{ // set channels to neutral for first 100 packets
packet[2] = 0x80; // throttle neutral is at mid stick on plus series
@ -176,23 +241,39 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[13]= 0x00;
packet_count++;
}
}
if(sub_protocol == HUBSAN_FORMAT_H501)
{
h501_packet++;
if(h501_packet == 10)
{
memset(packet, 0, 16);
packet[0] = 0xe8;
}
else if(h501_packet == 20)
{
memset(packet, 0, 16);
packet[0] = 0xe9;
}
if(h501_packet >= 20) h501_packet = 0;
}
}
hubsan_update_crc();
}
} // 414
#ifdef HUBSAN_HUB_TELEMETRY
static uint8_t __attribute__((unused)) hubsan_check_integrity()
static uint8_t __attribute__((unused)) hubsan_check_integrity()
{
if( (packet[0]&0xFE) != 0xE0 )
return 0;
uint8_t sum = 0;
uint8_t sum = 0;
for(uint8_t i = 0; i < 15; i++)
sum += packet[i];
return ( packet[15] == (uint8_t)(-sum) );
}
#endif
uint16_t ReadHubsan()
// 440
uint16_t ReadHubsan()
{
#ifdef HUBSAN_HUB_TELEMETRY
static uint8_t rfMode=0;
@ -205,13 +286,13 @@ uint16_t ReadHubsan()
switch(phase) {
case BIND_1:
bind_count++;
if(bind_count >= 20)
if(bind_count == 20 &&sub_protocol != HUBSAN_FORMAT_H501)
{
if(id_data == ID_NORMAL)
id_data = ID_PLUS;
else
id_data = ID_NORMAL;
A7105_WriteID(id_data);
A7105_WriteID(id_data);
bind_count = 0;
}
case BIND_3:
@ -300,7 +381,7 @@ uint16_t ReadHubsan()
{
if( !(A7105_ReadReg(A7105_00_MODE) & 0x01)) {// wait for tx completion
A7105_SetTxRxMode(RX_EN);
A7105_Strobe(A7105_RX);
A7105_Strobe(A7105_RX);
rfMode = A7105_RX;
break;
}
@ -340,6 +421,7 @@ uint16_t ReadHubsan()
return 0;
}
// 577
uint16_t initHubsan() {
const uint8_t allowed_ch[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82};
A7105_Init();
@ -351,10 +433,13 @@ uint16_t initHubsan() {
phase = BIND_1;
packet_count=0;
id_data=ID_NORMAL;
// 605 - 613 left out on purpose
#ifdef HUBSAN_HUB_TELEMETRY
init_hub_telemetry();
#endif
return 10000;
}
#endif