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Add H20H format to H8_3D protocol #266

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merged 4 commits into from May 8, 2017
Merged

Add H20H format to H8_3D protocol #266

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caceea4
Add H20H format option
goebish May 6, 2017
59358c2
Fix packet period
goebish May 6, 2017
dc44415
Fix emulator build
goebish May 6, 2017
f9cb322
Cleanup
goebish May 7, 2017
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203 changes: 158 additions & 45 deletions src/protocol/h8_3d_nrf24l01.c
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Expand Up @@ -41,29 +41,46 @@
#ifdef EMULATOR
#define USE_FIXED_MFGID
#define BIND_COUNT 10
#define PACKET_PERIOD 450
#define dbgprintf printf
#else
#define BIND_COUNT 1000
#define PACKET_PERIOD 1800 // Timeout for callback in uSec
//printf inside an interrupt handler is really dangerous
//this shouldn't be enabled even in debug builds without explicitly
//turning it on
#define dbgprintf if(0) printf
#endif

#define PACKET_PERIOD 1800 // Timeout for callback in uSec
#define H20H_PACKET_PERIOD 9340
#define INITIAL_WAIT 500
#define PACKET_SIZE 20
#define RF_NUM_CHANNELS 4
#define ADDRESS_LENGTH 5
#define H20H_BIND_RF 0x49

static const char * const h8_3d_opts[] = {
_tr_noop("Format"), "H8 3D", "H20H", NULL,
NULL
};

enum {
PROTOOPTS_FORMAT = 0,
LAST_PROTO_OPT,
};

enum{
FORMAT_H8_3D,
FORMAT_H20H,
};
ctassert(LAST_PROTO_OPT <= NUM_PROTO_OPTS, too_many_protocol_opts);

// For code readability
enum {
CHANNEL1 = 0, // Aileron
CHANNEL2, // Elevator
CHANNEL3, // Throttle
CHANNEL4, // Rudder
CHANNEL5, // LED Light
CHANNEL5, // LED Light / motors on/off (H20H)
CHANNEL6, // Flip
CHANNEL7, // Picture snapshot
CHANNEL8, // Video recording
Expand Down Expand Up @@ -91,7 +108,7 @@ enum {
FLAG_FLIP = 0x01,
FLAG_RATE_MID = 0x02,
FLAG_RATE_HIGH= 0x04,
FLAG_LED = 0x08,
FLAG_LED = 0x08, // motors on/off (H20H)
FLAG_HEADLESS = 0x10, // RTH + headless on H8, headless on JJRC H20
FLAG_RTH = 0x20, // 360� flip mode on H8 3D, RTH on JJRC H20
};
Expand All @@ -100,21 +117,31 @@ enum {
// flags going to packet[18]
FLAG_CAM_UP = 0x04,
FLAG_CAM_DOWN = 0x08,
FLAG_CALIBRATE2=0x10, // acc calib. (H11D, H20)
FLAG_CALIBRATE= 0x20, // acc calib. (H8 3D), headless calib (H20)
FLAG_CALIBRATE2=0x10, // acc calib. (H11D, H20, H20H)
FLAG_CALIBRATE= 0x20, // acc calib. (H8 3D), headless calib (H20, H20H)
FLAG_SNAPSHOT = 0x40,
FLAG_VIDEO = 0x80,
};

static u16 counter;
static u8 phase;
static u16 packet_period;
static u8 packet[PACKET_SIZE];
static u8 tx_power;
static u8 txid[4];
static u8 rf_chan;
static u8 rf_channels[RF_NUM_CHANNELS];
static const u8 rx_tx_addr[ADDRESS_LENGTH] = { 0xc4, 0x57, 0x09, 0x65, 0x21};
static const u8 h20h_rx_tx_addr[ADDRESS_LENGTH] = {0xee, 0xdd, 0xcc, 0xbb, 0x11};

// captured from H20H stock transmitters
static const struct {
u8 txid[4];
u8 rfchan[2];
}
h20h_tx_rf_map[] = {{{0x83, 0x3c, 0x60, 0x00}, {0x47, 0x3e}},
{{0x5c, 0x2b, 0x60, 0x00}, {0x4a, 0x3c}},
{{0x57, 0x07, 0x00, 0x00}, {0x41, 0x48}}};

// Bit vector from bit position
#define BV(bit) (1 << bit)
Expand Down Expand Up @@ -163,10 +190,27 @@ static s16 scale_channel(u8 ch)
return (range * (chanval - CHAN_MIN_VALUE)) / CHAN_RANGE + destMin;
}

static s16 h20h_scale_channel(u8 ch)
{
s32 chanval = Channels[ch];
s16 destMin=0x43, destMax=0xbb;
s32 range = destMax - destMin;
if (chanval < CHAN_MIN_VALUE) chanval = CHAN_MIN_VALUE;
else if (chanval > CHAN_MAX_VALUE) chanval = CHAN_MAX_VALUE;
return (range * (chanval - CHAN_MIN_VALUE)) / CHAN_RANGE + destMin;
}

#define GET_FLAG(ch, mask) (Channels[ch] > 0 ? mask : 0)
static void send_packet(u8 bind)
{
packet[0] = 0x13;
switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
packet[0] = 0x13;
break;
case FORMAT_H20H:
packet[0] = 0x14;
break;
}
packet[1] = txid[0];
packet[2] = txid[1];
packet[3] = txid[2];
Expand All @@ -179,46 +223,93 @@ static void send_packet(u8 bind)
packet[7] = 0x01;
} else {
packet[5] = rf_chan;
packet[6] = 0x08;
packet[7] = 0x03;
packet[9] = scale_channel( CHANNEL3); // throttle
packet[10] = scale_channel( CHANNEL4); // rudder
packet[11]= scale_channel( CHANNEL2); // elevator
packet[12]= scale_channel( CHANNEL1); // aileron
switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
packet[6] = 0x08;
packet[9] = scale_channel( CHANNEL3); // throttle
packet[10] = scale_channel( CHANNEL4); // rudder
packet[11]= scale_channel( CHANNEL2); // elevator
packet[12]= scale_channel( CHANNEL1); // aileron
packet[15] = 0x20; // trims
packet[16] = 0x20; // trims
break;
case FORMAT_H20H:
packet[6] = rf_chan == 0 ? 8 - counter : 16 - counter;
packet[9] = h20h_scale_channel(CHANNEL3); // throttle
packet[10] = h20h_scale_channel( CHANNEL4); // rudder
packet[11]= h20h_scale_channel( CHANNEL2); // elevator
packet[12]= h20h_scale_channel( CHANNEL1); // aileron
packet[15] = 0x40; // trims
packet[16] = 0x40; // trims
break;
}
// neutral trims
packet[13] = 0x20;
packet[14] = 0x20;
packet[15] = 0x20;
packet[16] = 0x20;

// flags
packet[17] = FLAG_RATE_HIGH
| GET_FLAG( CHANNEL_LED, FLAG_LED)
| GET_FLAG( CHANNEL_LED, FLAG_LED) // emergency stop on H20H
| GET_FLAG( CHANNEL_FLIP, FLAG_FLIP)
| GET_FLAG( CHANNEL_HEADLESS, FLAG_HEADLESS)
| GET_FLAG( CHANNEL_RTH, FLAG_RTH); // 180/360 flip mode on H8 3D
packet[18] = GET_FLAG( CHANNEL_SNAPSHOT, FLAG_SNAPSHOT)
| GET_FLAG( CHANNEL_VIDEO, FLAG_VIDEO);
// camera gimball
// camera gimball
if(Channels[CHANNEL_GIMBALL] < CHAN_MIN_VALUE / 2)
packet[18] |= FLAG_CAM_DOWN;
else if(Channels[CHANNEL_GIMBALL] > CHAN_MAX_VALUE / 2)
packet[18] |= FLAG_CAM_UP;

// both sticks bottom left: calibrate acc
if(packet[9] <= 0x05 && packet[10] >= 0xa7 && packet[11] <= 0x57 && packet[12] >= 0xa7)
packet[18] |= FLAG_CALIBRATE;

// both sticks bottom right: calib2
if(packet[9] <= 0x05 && (packet[10] >= 0x27 && packet[10] <= 0x3c) && packet[11] <= 0x57 && packet[12] <= 0x57)
packet[18] |= FLAG_CALIBRATE2;
// calibration
switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
// both sticks bottom left: calibrate acc
if(packet[9] <= 0x05 && packet[10] >= 0xa7 && packet[11] <= 0x57 && packet[12] >= 0xa7)
packet[18] |= FLAG_CALIBRATE;

// both sticks bottom right: calib2
else if(packet[9] <= 0x05 && (packet[10] >= 0x27 && packet[10] <= 0x3c) && packet[11] <= 0x57 && packet[12] <= 0x57)
packet[18] |= FLAG_CALIBRATE2;
break;
case FORMAT_H20H:
// calibrate acc
if(packet[9] < 0x46 && packet[10] < 0x46 && packet[11] < 0x46 && packet[12] < 0x46)
packet[18] |= FLAG_CALIBRATE2;

// calibrate (reset) headless
else if(packet[9] < 0x46 && packet[10] > 0xb8 && packet[11] < 0x46 && packet[12] > 0xb8)
packet[18] |= FLAG_CALIBRATE;

break;
}
}
packet[19] = checksum(); // data checksum

// Power on, TX mode, 2byte CRC
// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP));

NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? rf_channels[0] : rf_channels[rf_chan++]);
rf_chan %= sizeof(rf_channels);

switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? rf_channels[0] : rf_channels[rf_chan++]);
rf_chan %= sizeof(rf_channels);
break;
case FORMAT_H20H:
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? H20H_BIND_RF : rf_channels[(u8)(counter/8)]);
if(!bind) {
counter++;
if(counter>15) {
counter = 0;
rf_chan = 0;
}
else if(counter > 7) {
rf_chan = 1;
}
}
break;
}

NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
Expand All @@ -241,8 +332,14 @@ static void h8_3d_init()
NRF24L01_Initialize();
NRF24L01_SetTxRxMode(TX_EN);

XN297_SetTXAddr(rx_tx_addr, ADDRESS_LENGTH);

switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
XN297_SetTXAddr(rx_tx_addr, ADDRESS_LENGTH);
break;
case FORMAT_H20H:
XN297_SetTXAddr(h20h_rx_tx_addr, ADDRESS_LENGTH);
break;
}
NRF24L01_FlushTx();
NRF24L01_FlushRx();
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowldgement on all data pipes
Expand Down Expand Up @@ -310,40 +407,49 @@ static u16 h8_3d_callback()
send_packet(0);
break;
}
return PACKET_PERIOD;
return packet_period;
}

static void initialize_txid()
{
u32 lfsr = 0xb2c54a2ful;

u8 i,j,ch;

#ifndef USE_FIXED_MFGID
u8 var[12];
MCU_SerialNumber(var, 12);
dbgprintf("Manufacturer id: ");
for (int i = 0; i < 12; ++i) {
for (i = 0; i < 12; ++i) {
dbgprintf("%02X", var[i]);
rand32_r(&lfsr, var[i]);
}
dbgprintf("\r\n");
#endif

if (Model.fixed_id) {
for (u8 i = 0, j = 0; i < sizeof(Model.fixed_id); ++i, j += 8)
for (i = 0, j = 0; i < sizeof(Model.fixed_id); ++i, j += 8)
rand32_r(&lfsr, (Model.fixed_id >> j) & 0xff);
}
// Pump zero bytes for LFSR to diverge more
for (u8 i = 0; i < sizeof(lfsr); ++i) rand32_r(&lfsr, 0);

// tx id
txid[0] = (lfsr >> 24) & 0xFF;
txid[1] = (lfsr >> 16) & 0xFF;
txid[2] = (lfsr >> 8) & 0xFF;
txid[3] = lfsr & 0xFF;

// rf channels
for(u8 ch=0; ch<4; ch++)
rf_channels[ch] = 6 + (0x0f*ch) + (((txid[ch] >> 4) + (txid[ch] & 0x0f)) % 0x0f);
for (i = 0; i < sizeof(lfsr); ++i) rand32_r(&lfsr, 0);

switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
// tx id
txid[0] = (lfsr >> 24) & 0xFF;
txid[1] = (lfsr >> 16) & 0xFF;
txid[2] = (lfsr >> 8) & 0xFF;
txid[3] = lfsr & 0xFF;

// rf channels
for(ch=0; ch<4; ch++)
rf_channels[ch] = 6 + (0x0f*ch) + (((txid[ch] >> 4) + (txid[ch] & 0x0f)) % 0x0f);
break;
case FORMAT_H20H:
memcpy(txid, h20h_tx_rf_map[Model.fixed_id % (sizeof(h20h_tx_rf_map)/sizeof(h20h_tx_rf_map[0]))].txid, 4);
memcpy(rf_channels, h20h_tx_rf_map[Model.fixed_id % (sizeof(h20h_tx_rf_map)/sizeof(h20h_tx_rf_map[0]))].rfchan, 2);
break;
}
}

static void initialize()
Expand All @@ -355,7 +461,14 @@ static void initialize()
initialize_txid();
h8_3d_init();
phase = H8_3D_INIT1;

switch (Model.proto_opts[PROTOOPTS_FORMAT]) {
case FORMAT_H8_3D:
packet_period = PACKET_PERIOD;
break;
case FORMAT_H20H:
packet_period = H20H_PACKET_PERIOD;
break;
}
PROTOCOL_SetBindState(BIND_COUNT * PACKET_PERIOD / 1000);
CLOCK_StartTimer(INITIAL_WAIT, h8_3d_callback);
}
Expand All @@ -373,7 +486,7 @@ const void *H8_3D_Cmds(enum ProtoCmds cmd)
case PROTOCMD_NUMCHAN: return (void *) 11L;
case PROTOCMD_DEFAULT_NUMCHAN: return (void *)11L;
case PROTOCMD_CURRENT_ID: return Model.fixed_id ? (void *)((unsigned long)Model.fixed_id) : 0;
case PROTOCMD_GETOPTIONS: return 0;
case PROTOCMD_GETOPTIONS: return h8_3d_opts;
case PROTOCMD_TELEMETRYSTATE: return (void *)(long)PROTO_TELEM_UNSUPPORTED;
default: break;
}
Expand Down