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atbetaflight
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Implemented FRSKY X EU LBT

This commit is contained in:
phobos- 2018-12-12 15:53:21 +01:00
parent 4778ad6c0f
commit dfe1e8d3aa
8 changed files with 120 additions and 84 deletions
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2
src/main/drivers/rx/rx_spi.h
View File

@ -22,7 +22,7 @@
#include <stdint.h>
#define RX_SPI_MAX_PAYLOAD_SIZE 32
#define RX_SPI_MAX_PAYLOAD_SIZE 35
struct rxSpiConfig_s;

1
src/main/interface/cli.c
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@ -2614,6 +2614,7 @@ void cliRxSpiBind(char *cmdline){
#endif
#if defined(USE_RX_FRSKY_SPI_X)
case RX_SPI_FRSKY_X:
case RX_SPI_FRSKY_X_LBT:
#endif
#endif // USE_RX_FRSKY_SPI
#ifdef USE_RX_SFHSS_SPI

1
src/main/interface/settings.c
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@ -227,6 +227,7 @@ static const char * const lookupTableRxSpi[] = {
"INAV",
"FRSKY_D",
"FRSKY_X",
"FRSKY_X_LBT",
"FLYSKY",
"FLYSKY_2A",
"KN",

25
src/main/rx/cc2500_frsky_shared.c
View File

@ -85,14 +85,11 @@ PG_RESET_TEMPLATE(rxFrSkySpiConfig_t, rxFrSkySpiConfig,
static void initialise() {
cc2500Reset();
cc2500WriteReg(CC2500_02_IOCFG0, 0x01);
cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
cc2500WriteReg(CC2500_18_MCSM0, 0x18);
cc2500WriteReg(CC2500_07_PKTCTRL1, 0x04);
cc2500WriteReg(CC2500_3E_PATABLE, 0xFF);
cc2500WriteReg(CC2500_0C_FSCTRL0, 0x00);
cc2500WriteReg(CC2500_0D_FREQ2, 0x5C);
cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
cc2500WriteReg(CC2500_13_MDMCFG1, 0x23);
cc2500WriteReg(CC2500_14_MDMCFG0, 0x7A);
cc2500WriteReg(CC2500_19_FOCCFG, 0x16);
@ -115,6 +112,9 @@ static void initialise() {
switch (spiProtocol) {
case RX_SPI_FRSKY_D:
cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
cc2500WriteReg(CC2500_06_PKTLEN, 0x19);
cc2500WriteReg(CC2500_08_PKTCTRL0, 0x05);
cc2500WriteReg(CC2500_0B_FSCTRL1, 0x08);
@ -125,6 +125,9 @@ static void initialise() {
break;
case RX_SPI_FRSKY_X:
cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
cc2500WriteReg(CC2500_06_PKTLEN, 0x1E);
cc2500WriteReg(CC2500_08_PKTCTRL0, 0x01);
cc2500WriteReg(CC2500_0B_FSCTRL1, 0x0A);
@ -133,6 +136,19 @@ static void initialise() {
cc2500WriteReg(CC2500_12_MDMCFG2, 0x13);
cc2500WriteReg(CC2500_15_DEVIATN, 0x51);
break;
case RX_SPI_FRSKY_X_LBT:
cc2500WriteReg(CC2500_17_MCSM1, 0x0E);
cc2500WriteReg(CC2500_0E_FREQ1, 0x80);
cc2500WriteReg(CC2500_0F_FREQ0, 0x00);
cc2500WriteReg(CC2500_06_PKTLEN, 0x23);
cc2500WriteReg(CC2500_08_PKTCTRL0, 0x01);
cc2500WriteReg(CC2500_0B_FSCTRL1, 0x08);
cc2500WriteReg(CC2500_10_MDMCFG4, 0x7B);
cc2500WriteReg(CC2500_11_MDMCFG3, 0xF8);
cc2500WriteReg(CC2500_12_MDMCFG2, 0x03);
cc2500WriteReg(CC2500_15_DEVIATN, 0x53);
break;
default:
@ -420,11 +436,12 @@ bool frSkySpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeConfig_t *rxRuntime
break;
case RX_SPI_FRSKY_X:
case RX_SPI_FRSKY_X_LBT:
rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT_FRSKY_X;
handlePacket = frSkyXHandlePacket;
setRcData = frSkyXSetRcData;
frSkyXInit();
frSkyXInit(spiProtocol);
break;
default:

55
src/main/rx/cc2500_frsky_x.c
View File

@ -152,8 +152,10 @@ static bool telemetryEnabled = false;
#endif
#endif // USE_RX_FRSKY_SPI_TELEMETRY
static uint8_t packetLength;
static uint16_t telemetryDelayUs;
static uint16_t calculateCrc(uint8_t *data, uint8_t len) {
static uint16_t calculateCrc(const uint8_t *data, uint8_t len) {
uint16_t crc = 0;
for (unsigned i = 0; i < len; i++) {
crc = (crc << 8) ^ (crcTable[((uint8_t)(crc >> 8) ^ *data++) & 0xFF]);
@ -290,6 +292,19 @@ void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
}
}
bool isValidPacket(const uint8_t *packet)
{
uint16_t lcrc = calculateCrc(&packet[3], (packetLength - 7));
if ((lcrc >> 8) == packet[packetLength - 4] && (lcrc & 0x00FF) == packet[packetLength - 3] &&
(packet[0] == packetLength - 3) &&
(packet[1] == rxFrSkySpiConfig()->bindTxId[0]) &&
(packet[2] == rxFrSkySpiConfig()->bindTxId[1]) &&
(rxFrSkySpiConfig()->rxNum == 0 || packet[6] == 0 || packet[6] == rxFrSkySpiConfig()->rxNum)) {
return true;
}
return false;
}
rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const protocolState)
{
static unsigned receiveTelemetryRetryCount = 0;
@ -343,18 +358,9 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
case STATE_DATA:
if (cc2500getGdo() && (frameReceived == false)){
uint8_t ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F; // read 2 times to avoid reading errors
if (ccLen > 32) {
ccLen = 32;
}
if (ccLen) {
cc2500ReadFifo(packet, ccLen);
uint16_t lcrc= calculateCrc(&packet[3], (ccLen - 7));
if((lcrc >> 8) == packet[ccLen-4] && (lcrc&0x00FF) == packet[ccLen - 3]){ // check calculateCrc
if (packet[0] == 0x1D) {
if ((packet[1] == rxFrSkySpiConfig()->bindTxId[0]) &&
(packet[2] == rxFrSkySpiConfig()->bindTxId[1]) &&
(rxFrSkySpiConfig()->rxNum == 0 || packet[6] == 0 || packet[6] == rxFrSkySpiConfig()->rxNum)) {
if (ccLen >= packetLength) {
cc2500ReadFifo(packet, packetLength);
if (isValidPacket(packet)) {
missingPackets = 0;
timeoutUs = 1;
receiveDelayUs = 0;
@ -373,7 +379,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
telemetryReceived = true; // now telemetry can be sent
skipChannels = false;
}
cc2500setRssiDbm(packet[ccLen - 2]);
cc2500setRssiDbm(packet[packetLength - 2]);
telemetrySequenceMarker_t *inFrameMarker = (telemetrySequenceMarker_t *)&packet[21];
@ -402,7 +408,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
receiveTelemetryRetryCount = 0;
remoteToAckId = (remoteAckId + 1) % TELEMETRY_SEQUENCE_LENGTH;
uint8_t remoteNextAckId;
uint8_t remoteNextAckId = remoteToAckId;
while (telemetryRxBuffer[remoteToAckId].needsProcessing && remoteToAckId != remoteAckId) {
remoteNextAckId = remoteToAckId;
remoteToAckId = (remoteToAckId + 1) % TELEMETRY_SEQUENCE_LENGTH;
@ -424,8 +430,6 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
packetTimerUs = micros();
frameReceived = true; // no need to process frame again.
}
}
}
if (!frameReceived) {
packetErrors++;
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_BAD_FRAME, packetErrors);
@ -449,7 +453,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
break;
#ifdef USE_RX_FRSKY_SPI_TELEMETRY
case STATE_TELEMETRY:
if(cmpTimeUs(micros(), packetTimerUs) >= receiveDelayUs + 400) { // if received or not received in this time sent telemetry data
if (cmpTimeUs(micros(), packetTimerUs) >= receiveDelayUs + telemetryDelayUs) { // if received or not received in this time sent telemetry data
cc2500Strobe(CC2500_SIDLE);
cc2500SetPower(6);
cc2500Strobe(CC2500_SFRX);
@ -520,7 +524,6 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
}
missingPackets++;
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_MISSING_PACKETS, missingPackets);
*protocolState = STATE_DATA;
}
break;
@ -529,8 +532,20 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
return ret;
}
void frSkyXInit(void)
void frSkyXInit(const rx_spi_protocol_e spiProtocol)
{
switch(spiProtocol) {
case RX_SPI_FRSKY_X:
packetLength = 32;
telemetryDelayUs = 400;
break;
case RX_SPI_FRSKY_X_LBT:
packetLength = 35;
telemetryDelayUs = 1400;
break;
default:
break;
}
#if defined(USE_TELEMETRY_SMARTPORT)
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryEnabled = initSmartPortTelemetryExternal(frSkyXTelemetryWriteFrame);

2
src/main/rx/cc2500_frsky_x.h
View File

@ -27,5 +27,5 @@
void frSkyXSetRcData(uint16_t *rcData, const uint8_t *payload);
void frSkyXInit(void);
void frSkyXInit(const rx_spi_protocol_e spiProtocol);
rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const protocolState);

1
src/main/rx/rx_spi.c
View File

@ -132,6 +132,7 @@ STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
#endif
#if defined(USE_RX_FRSKY_SPI_X)
case RX_SPI_FRSKY_X:
case RX_SPI_FRSKY_X_LBT:
#endif
protocolInit = frSkySpiInit;
protocolDataReceived = frSkySpiDataReceived;

1
src/main/rx/rx_spi.h
View File

@ -36,6 +36,7 @@ typedef enum {
RX_SPI_NRF24_INAV,
RX_SPI_FRSKY_D,
RX_SPI_FRSKY_X,
RX_SPI_FRSKY_X_LBT,
RX_SPI_A7105_FLYSKY,
RX_SPI_A7105_FLYSKY_2A,
RX_SPI_NRF24_KN,