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

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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
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119
Multiprotocol/Hubsan_a7105.ino
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@ -31,12 +31,44 @@ enum{
HUBSAN_FLAG_HEADLESS = 0x08, // headless mode 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{ enum{
// flags going to packet[13] (Plus series) // flags going to packet[13] (Plus series)
HUBSAN_FLAG_SNAPSHOT = 0x01, HUBSAN_FLAG_SNAPSHOT = 0x01,
HUBSAN_FLAG_FLIP_PLUS = 0x80, 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; uint32_t sessionid,id_data;
enum { enum {
@ -76,7 +108,7 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
packet[3] = (sessionid >> 16) & 0xFF; packet[3] = (sessionid >> 16) & 0xFF;
packet[4] = (sessionid >> 8) & 0xFF; packet[4] = (sessionid >> 8) & 0xFF;
packet[5] = (sessionid >> 0) & 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[6] = 0x08;
packet[7] = 0xe4; packet[7] = 0xe4;
@ -89,8 +121,8 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
packet[13] = 0x26; packet[13] = 0x26;
packet[14] = 0x79; packet[14] = 0x79;
} }
else else if(id_data == ID_PLUS || (sub_protocol == HUBSAN_FORMAT_H501))
{ //ID_PLUS { //ID_PLUS or H501
if(phase >= BIND_3) if(phase >= BIND_3)
{ {
packet[7] = 0x62; packet[7] = 0x62;
@ -108,6 +140,7 @@ static void __attribute__((unused)) hubsan_build_bind_packet(uint8_t bind_state)
//ii : aileron observed range: 0x45 - 0xc3 (smaller is right)69-195-50% //ii : aileron observed range: 0x45 - 0xc3 (smaller is right)69-195-50%
static void __attribute__((unused)) hubsan_build_packet() static void __attribute__((unused)) hubsan_build_packet()
{ {
static uint32_t h501_packet = 0;
static uint8_t vtx_freq = 0; static uint8_t vtx_freq = 0;
memset(packet, 0, 16); memset(packet, 0, 16);
if(vtx_freq != option || packet_count==100) // set vTX frequency (H107D) if(vtx_freq != option || packet_count==100) // set vTX frequency (H107D)
@ -118,6 +151,7 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[2] = vtx_freq+0x0D; // 5645 - 5900 MHz packet[2] = vtx_freq+0x0D; // 5645 - 5900 MHz
packet[3] = 0x82; 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 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[4] = 0xFF - convert_channel_8b(RUDDER); //Rudder is reversed
packet[6] = 0xFF - convert_channel_8b(ELEVATOR); //Elevator is reversed packet[6] = 0xFF - convert_channel_8b(ELEVATOR); //Elevator is reversed
packet[8] = convert_channel_8b(AILERON); //Aileron 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) if( packet_count < 100)
{ {
@ -151,21 +185,52 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[13] = 0x26; packet[13] = 0x26;
packet[14] = 0x79; packet[14] = 0x79;
} }
else if(sub_protocol == HUBSAN_FORMAT_H301)
{
if(packet_count < 100)
{
packet[9] = HUBSAN_FLAG_H301_STAB;
packet_count++;
}
else else
{ //ID_PLUS {
packet[3] = 0x64; packet[9] = HUBSAN_FLAG_H301_LED;
packet[5] = 0x64; if(Servo_AUX1) packet[9] |= HUBSAN_FLAG_H301_STAB; // channel 6
packet[7] = 0x64; 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; packet[9] = 0x06;
//FLIP|LIGHT|PICTURE|VIDEO|HEADLESS if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; // channel 8
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS; // channel 9
if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS; packet[10] = sub_protocol == HUBSAN_FORMAT_H501 ? 0x1a : 0x19;
packet[10]= 0x19;
packet[12] = 0x5C; // ghost channel ? packet[12] = 0x5C; // ghost channel ?
packet[13] = 0; packet[13] = HUBSAN_FLAG_SNAPSHOT; // channel 7
if(Servo_AUX3) packet[13] = HUBSAN_FLAG_SNAPSHOT; if(Servo_AUX2) packet[13] |= HUBSAN_FLAG_FLIP_PLUS; // channel 6
if(Servo_AUX1) packet[13] |= HUBSAN_FLAG_FLIP_PLUS;
packet[14] = 0x49; // ghost channel ? packet[14] = 0x49; // ghost channel ?
}
if(packet_count < 100) if(packet_count < 100)
{ // set channels to neutral for first 100 packets { // set channels to neutral for first 100 packets
packet[2] = 0x80; // throttle neutral is at mid stick on plus series packet[2] = 0x80; // throttle neutral is at mid stick on plus series
@ -176,9 +241,24 @@ static void __attribute__((unused)) hubsan_build_packet()
packet[13]= 0x00; packet[13]= 0x00;
packet_count++; 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(); hubsan_update_crc();
} } // 414
#ifdef HUBSAN_HUB_TELEMETRY #ifdef HUBSAN_HUB_TELEMETRY
static uint8_t __attribute__((unused)) hubsan_check_integrity() static uint8_t __attribute__((unused)) hubsan_check_integrity()
@ -192,6 +272,7 @@ static uint8_t __attribute__((unused)) hubsan_check_integrity()
} }
#endif #endif
// 440
uint16_t ReadHubsan() uint16_t ReadHubsan()
{ {
#ifdef HUBSAN_HUB_TELEMETRY #ifdef HUBSAN_HUB_TELEMETRY
@ -205,7 +286,7 @@ uint16_t ReadHubsan()
switch(phase) { switch(phase) {
case BIND_1: case BIND_1:
bind_count++; bind_count++;
if(bind_count >= 20) if(bind_count == 20 &&sub_protocol != HUBSAN_FORMAT_H501)
{ {
if(id_data == ID_NORMAL) if(id_data == ID_NORMAL)
id_data = ID_PLUS; id_data = ID_PLUS;
@ -340,6 +421,7 @@ uint16_t ReadHubsan()
return 0; return 0;
} }
// 577
uint16_t initHubsan() { uint16_t initHubsan() {
const uint8_t allowed_ch[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82}; const uint8_t allowed_ch[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82};
A7105_Init(); A7105_Init();
@ -351,10 +433,13 @@ uint16_t initHubsan() {
phase = BIND_1; phase = BIND_1;
packet_count=0; packet_count=0;
id_data=ID_NORMAL; id_data=ID_NORMAL;
// 605 - 613 left out on purpose
#ifdef HUBSAN_HUB_TELEMETRY #ifdef HUBSAN_HUB_TELEMETRY
init_hub_telemetry(); init_hub_telemetry();
#endif #endif
return 10000; return 10000;
} }
#endif #endif