mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-10-31 03:14:16 +00:00
263 lines
6.7 KiB
C++
263 lines
6.7 KiB
C++
/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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#if defined(HUBSAN_A7105_INO)
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#include "iface_a7105.h"
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enum{
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HUBSAN_FLAG_VIDEO = 0x01, // record video
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HUBSAN_FLAG_FLIP = 0x08,
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HUBSAN_FLAG_LIGHT = 0x04
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};
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uint32_t sessionid;
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const uint32_t txid = 0xdb042679;
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enum {
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BIND_1,
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BIND_2,
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BIND_3,
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BIND_4,
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BIND_5,
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BIND_6,
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BIND_7,
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BIND_8,
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DATA_1,
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DATA_2,
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DATA_3,
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DATA_4,
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DATA_5,
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};
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#define WAIT_WRITE 0x80
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void update_crc()
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{
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uint8_t sum = 0;
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for(uint8_t i = 0; i < 15; i++)
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sum += packet[i];
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packet[15] = (256 - (sum % 256)) & 0xFF;
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}
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void hubsan_build_bind_packet(uint8_t state)
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{
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packet[0] = state;
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packet[1] = channel;
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packet[2] = (sessionid >> 24) & 0xFF;
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packet[3] = (sessionid >> 16) & 0xFF;
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packet[4] = (sessionid >> 8) & 0xFF;
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packet[5] = (sessionid >> 0) & 0xFF;
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packet[6] = 0x08;
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packet[7] = 0xe4;
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packet[8] = 0xea;
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packet[9] = 0x9e;
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packet[10] = 0x50;
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packet[11] = (txid >> 24) & 0xFF;
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packet[12] = (txid >> 16) & 0xFF;
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packet[13] = (txid >> 8) & 0xFF;
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packet[14] = (txid >> 0) & 0xFF;
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update_crc();
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}
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//cc : throttle observed range: 0x00 - 0xFF (smaller is down)
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//ee : rudder observed range: 0x34 - 0xcc (smaller is right)52-204-60%
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//gg : elevator observed range: 0x3e - 0xbc (smaller is up)62-188 -50%
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//ii : aileron observed range: 0x45 - 0xc3 (smaller is right)69-195-50%
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void hubsan_build_packet()
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{
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static uint8_t vtx_freq = 0;
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memset(packet, 0, 16);
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if(vtx_freq != option || packet_count==100) // set vTX frequency (H107D)
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{
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vtx_freq = option;
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packet[0] = 0x40;
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packet[1] = (option>0xF2)?0x17:0x16;
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packet[2] = option+0x0D; // 5645 - 5900 MHz
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packet[3] = 0x82;
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packet_count++;
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}
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else //20 00 00 00 80 00 7d 00 84 02 64 db 04 26 79 7b
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{
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packet[0] = 0x20;
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packet[2] = convert_channel_8b(THROTTLE);//throtle
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}
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packet[4] = 0xFF - convert_channel_8b(RUDDER);//Rudder is reversed
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packet[6] = 0xFF - convert_channel_8b(ELEVATOR); //Elevator is reversed
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packet[8] = convert_channel_8b(AILERON);//aileron
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if( packet_count < 100) {
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packet[9] = 0x02 | HUBSAN_FLAG_LIGHT | HUBSAN_FLAG_FLIP;
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packet_count++;
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}
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else
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{
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packet[9] = 0x02;
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// Channel 5
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if( Servo_data[AUX1] >= PPM_SWITCH)
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packet[9] |= HUBSAN_FLAG_FLIP;
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// Channel 6
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if( Servo_data[AUX2] >= PPM_SWITCH)
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packet[9] |= HUBSAN_FLAG_LIGHT;
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// Channel 8
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if( Servo_data[AUX4] > PPM_SWITCH)
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packet[9] |= HUBSAN_FLAG_VIDEO;
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}
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packet[10] = 0x64;
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packet[11] = (txid >> 24) & 0xFF;
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packet[12] = (txid >> 16) & 0xFF;
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packet[13] = (txid >> 8) & 0xFF;
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packet[14] = (txid >> 0) & 0xFF;
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update_crc();
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}
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uint8_t hubsan_check_integrity()
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{
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uint8_t sum = 0;
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for(int i = 0; i < 15; i++)
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sum += packet[i];
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return packet[15] == ((256 - (sum % 256)) & 0xFF);
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}
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uint16_t ReadHubsan()
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{
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static uint8_t txState=0;
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static uint8_t rfMode=0;
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uint16_t delay;
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uint8_t i;
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switch(phase) {
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case BIND_1:
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case BIND_3:
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case BIND_5:
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case BIND_7:
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hubsan_build_bind_packet(phase == BIND_7 ? 9 : (phase == BIND_5 ? 1 : phase + 1 - BIND_1));
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A7105_Strobe(A7105_STANDBY);
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A7105_WriteData(16, channel);
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phase |= WAIT_WRITE;
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return 3000;
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case BIND_1 | WAIT_WRITE:
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case BIND_3 | WAIT_WRITE:
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case BIND_5 | WAIT_WRITE:
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case BIND_7 | WAIT_WRITE:
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//wait for completion
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for(i = 0; i< 20; i++) {
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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_Strobe(A7105_RX);
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phase &= ~WAIT_WRITE;
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phase++;
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return 4500; //7.5msec elapsed since last write
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case BIND_2:
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case BIND_4:
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case BIND_6:
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A7105_SetTxRxMode(TX_EN);
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if(A7105_ReadReg(A7105_00_MODE) & 0x01) {
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phase = BIND_1;
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return 4500; //No signal, restart binding procedure. 12msec elapsed since last write
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}
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A7105_ReadData();
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phase++;
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if (phase == BIND_5)
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A7105_WriteID(((uint32_t)packet[2] << 24) | ((uint32_t)packet[3] << 16) | ((uint32_t)packet[4] << 8) | packet[5]);
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return 500; //8msec elapsed time since last write;
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case BIND_8:
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A7105_SetTxRxMode(TX_EN);
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if(A7105_ReadReg(A7105_00_MODE) & 0x01) {
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phase = BIND_7;
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return 15000; //22.5msec elapsed since last write
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}
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A7105_ReadData();
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if(packet[1] == 9) {
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phase = DATA_1;
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A7105_WriteReg(A7105_1F_CODE_I, 0x0F);
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BIND_DONE;
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return 28000; //35.5msec elapsed since last write
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} else {
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phase = BIND_7;
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return 15000; //22.5 msec elapsed since last write
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}
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case DATA_1:
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case DATA_2:
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case DATA_3:
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case DATA_4:
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case DATA_5:
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if( txState == 0) { // send packet
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rfMode = A7105_TX;
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if( phase == DATA_1)
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A7105_SetPower(); //Keep transmit power in sync
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hubsan_build_packet();
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A7105_Strobe(A7105_STANDBY);
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A7105_WriteData(16, phase == DATA_5 ? channel + 0x23 : channel);
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if (phase == DATA_5)
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phase = DATA_1;
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else
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phase++;
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delay=3000;
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}
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else {
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#if defined(TELEMETRY)
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if( rfMode == A7105_TX) {// switch to rx mode 3ms after packet sent
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for( i=0; i<10; i++)
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{
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if( !(A7105_ReadReg(A7105_00_MODE) & 0x01)) {// wait for tx completion
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A7105_SetTxRxMode(RX_EN);
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A7105_Strobe(A7105_RX);
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rfMode = A7105_RX;
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break;
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}
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}
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}
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if( rfMode == A7105_RX) { // check for telemetry frame
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for( i=0; i<10; i++) {
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if( !(A7105_ReadReg(A7105_00_MODE) & 0x01)) { // data received
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A7105_ReadData();
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if( !(A7105_ReadReg(A7105_00_MODE) & 0x01)){ // data received
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v_lipo=packet[13];// hubsan lipo voltage 8bits the real value is h_lipo/10(0x2A=42-4.2V)
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telemetry_link=1;
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}
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A7105_Strobe(A7105_RX);
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break;
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}
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}
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}
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#endif
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delay=1000;
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}
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if (++txState == 8) { // 3ms + 7*1ms
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A7105_SetTxRxMode(TX_EN);
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txState = 0;
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}
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return delay;
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}
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return 0;
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}
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uint16_t initHubsan() {
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const uint8_t allowed_ch[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82};
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A7105_Init(INIT_HUBSAN); //hubsan_init();
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randomSeed((uint32_t)analogRead(A0) << 10 | analogRead(A4));
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sessionid = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
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channel = allowed_ch[random(0xfefefefe) % sizeof(allowed_ch)];
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BIND_IN_PROGRESS; // autobind protocol
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phase = BIND_1;
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packet_count=0;
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return 10000;
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}
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#endif
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