/
cc2500_sfhss.c
executable file
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/
cc2500_sfhss.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include "platform.h"
#ifdef USE_RX_SFHSS_SPI
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "pg/rx_spi.h"
#include "drivers/rx/rx_cc2500.h"
#include "drivers/io.h"
#include "drivers/time.h"
#include "fc/config.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/cc2500_common.h"
#include "rx/cc2500_frsky_common.h"
#include "rx/cc2500_sfhss.h"
//void cliPrintLinef(const char *format, ...);
#define BIND_CH 15
#define SFHSS_PACKET_LEN 15
#define BIND_TUNE_STEP 4
#define SFHSSCH2CHANNR(ch) (ch * 6 + 16)
#define GET_CHAN(x) ((int)((x[5]>>3) & 0x1f))
#define GET_CODE(x) (((x[11] & 0x7)<<2 ) | ((x[12]>>6) & 0x3))
#define GET_COMMAND(x) (x[12] & 0xf)
#define GET_CH1(x) ((uint16_t)(((x[5] & 0x07)<<9 | x[6]<<1) | (x[7] & 0x80)>>7))
#define GET_CH2(x) (uint16_t)(((x[7] & 0x7f)<<5 | (x[8] & 0xf8)>>3))
#define GET_CH3(x) (uint16_t)(((x[8] & 0x07)<<9 | x[9]<<1) | (x[10] & 0x80)>>7)
#define GET_CH4(x) (uint16_t)(((x[10] & 0x7f)<<5 | (x[11] & 0xf8)>>3))
#define GET_TXID1(x) (uint8_t)(x[1])
#define GET_TXID2(x) (uint8_t)(x[2])
#define SET_STATE(x) {protocolState = x; DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_STATE, x);}
#define NEXT_CH_TIME_HUNT 500000 /* hunt */
#define NEXT_CH_TIME_SYNC0 6800 /* sync no recv */
#define NEXT_CH_TIME_SYNC1 3500 /* sync ch1-4 recv */
#define NEXT_CH_TIME_SYNC2 500 /* sync ch5-8 recv */
static int8_t sfhss_channel = 0;
static int8_t sfhss_code = 0;
static timeMs_t start_time;
static uint8_t protocolState;
static uint32_t missingPackets;
static uint8_t calData[32][3];
static timeMs_t timeTunedMs;
static int8_t bindOffset_max = 0;
static int8_t bindOffset_min = 0;
static void initialise()
{
cc2500Reset();
cc2500WriteReg(CC2500_02_IOCFG0, 0x01);
cc2500WriteReg(CC2500_03_FIFOTHR, 0x07);
cc2500WriteReg(CC2500_04_SYNC1, 0xD3);
cc2500WriteReg(CC2500_05_SYNC0, 0x91);
cc2500WriteReg(CC2500_06_PKTLEN, 0x0D);
cc2500WriteReg(CC2500_07_PKTCTRL1, 0x04);
cc2500WriteReg(CC2500_08_PKTCTRL0, 0x0C);
cc2500WriteReg(CC2500_09_ADDR, 0x29);
cc2500WriteReg(CC2500_0B_FSCTRL1, 0x06);
cc2500WriteReg(CC2500_0C_FSCTRL0, (rxFrSkySpiConfigMutable()->bindOffset));
cc2500WriteReg(CC2500_0D_FREQ2, 0x5C);
cc2500WriteReg(CC2500_0E_FREQ1, 0x4E);
cc2500WriteReg(CC2500_0F_FREQ0, 0xC4);
cc2500WriteReg(CC2500_10_MDMCFG4, 0x7C);
cc2500WriteReg(CC2500_11_MDMCFG3, 0x43);
cc2500WriteReg(CC2500_12_MDMCFG2, 0x03);
cc2500WriteReg(CC2500_13_MDMCFG1, 0x23);
cc2500WriteReg(CC2500_14_MDMCFG0, 0x3B);
cc2500WriteReg(CC2500_15_DEVIATN, 0x44);
cc2500WriteReg(CC2500_17_MCSM1, 0x0F);
cc2500WriteReg(CC2500_18_MCSM0, 0x08);
cc2500WriteReg(CC2500_19_FOCCFG, 0x1D);
cc2500WriteReg(CC2500_1A_BSCFG, 0x6C);
cc2500WriteReg(CC2500_1B_AGCCTRL2, 0x03);
cc2500WriteReg(CC2500_1C_AGCCTRL1, 0x40);
cc2500WriteReg(CC2500_1D_AGCCTRL0, 0x91);
cc2500WriteReg(CC2500_21_FREND1, 0x56);
cc2500WriteReg(CC2500_22_FREND0, 0x10);
cc2500WriteReg(CC2500_23_FSCAL3, 0xA9);
cc2500WriteReg(CC2500_24_FSCAL2, 0x0A);
cc2500WriteReg(CC2500_25_FSCAL1, 0x00);
cc2500WriteReg(CC2500_26_FSCAL0, 0x11);
cc2500WriteReg(CC2500_29_FSTEST, 0x59);
cc2500WriteReg(CC2500_2C_TEST2, 0x88);
cc2500WriteReg(CC2500_2D_TEST1, 0x31);
cc2500WriteReg(CC2500_2E_TEST0, 0x0B);
cc2500WriteReg(CC2500_3E_PATABLE, 0xFF);
for (unsigned c = 0; c < 30; c++) {
//calibrate all channels
cc2500Strobe(CC2500_SIDLE);
cc2500WriteReg(CC2500_0A_CHANNR, SFHSSCH2CHANNR(c));
cc2500Strobe(CC2500_SCAL);
delayMicroseconds(900);
calData[c][0] = cc2500ReadReg(CC2500_23_FSCAL3);
calData[c][1] = cc2500ReadReg(CC2500_24_FSCAL2);
calData[c][2] = cc2500ReadReg(CC2500_25_FSCAL1);
}
}
static bool sfhssRecv(uint8_t *packet)
{
uint8_t ccLen;
if (!(cc2500getGdo())) {
return false;
}
ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen < SFHSS_PACKET_LEN) {
return false;
}
cc2500ReadFifo(packet, SFHSS_PACKET_LEN);
return true;
}
static bool sfhssPacketParse(uint8_t *packet, bool check_txid)
{
if (!(packet[SFHSS_PACKET_LEN - 1] & 0x80)) {
return false; /* crc fail */
}
if (packet[0] != 0x81) {
return false; /* sfhss header fail */
}
if (GET_CHAN(packet) != sfhss_channel) {
return false; /* channel fail */
}
if (check_txid) {
if ((rxFrSkySpiConfigMutable()->bindTxId[0] != GET_TXID1(packet)) ||
(rxFrSkySpiConfigMutable()->bindTxId[1] != GET_TXID2(packet))) {
return false; /* txid fail */
}
}
cc2500setRssiDbm(packet[SFHSS_PACKET_LEN - 2]);
sfhss_code = GET_CODE(packet);
return true;
}
void sfhssRx(void)
{
cc2500Strobe(CC2500_SIDLE);
cc2500WriteReg(CC2500_23_FSCAL3, calData[sfhss_channel][0]);
cc2500WriteReg(CC2500_24_FSCAL2, calData[sfhss_channel][1]);
cc2500WriteReg(CC2500_25_FSCAL1, calData[sfhss_channel][2]);
cc2500WriteReg(CC2500_0A_CHANNR, SFHSSCH2CHANNR(sfhss_channel));
cc2500Strobe(CC2500_SFRX);
cc2500Strobe(CC2500_SRX);
}
static void initTuneRx(void)
{
timeTunedMs = millis();
bindOffset_min = -64;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MIN, bindOffset_min);
cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)bindOffset_min);
sfhss_channel = BIND_CH;
sfhssRx();
}
static bool tune1Rx(uint8_t *packet)
{
if (bindOffset_min >= 126) {
bindOffset_min = -126;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MIN, bindOffset_min);
}
if ((millis() - timeTunedMs) > 220) { // 220ms
timeTunedMs = millis();
bindOffset_min += BIND_TUNE_STEP << 2;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MIN, bindOffset_min);
cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)bindOffset_min);
cc2500Strobe(CC2500_SRX);
}
if (sfhssRecv(packet)) {
if (sfhssPacketParse(packet, false)) {
if ((packet[SFHSS_PACKET_LEN - 1] & 0x7F) > 40 ) { /* lqi */
rxFrSkySpiConfigMutable()->bindTxId[0] = GET_TXID1(packet);
rxFrSkySpiConfigMutable()->bindTxId[1] = GET_TXID2(packet);
bindOffset_max = bindOffset_min;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MAX, bindOffset_max);
cc2500Strobe(CC2500_SRX);
timeTunedMs = millis();
return true;
}
}
cc2500Strobe(CC2500_SRX);
}
return false;
}
static bool tune2Rx(uint8_t *packet)
{
cc2500LedBlink(100);
if (((millis() - timeTunedMs) > 880) || bindOffset_max > (126 - BIND_TUNE_STEP)) { // 220ms *4
timeTunedMs = millis();
cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)bindOffset_min);
cc2500Strobe(CC2500_SRX);
return true;
}
if (sfhssRecv(packet)) {
if (sfhssPacketParse(packet, true)) {
timeTunedMs = millis();
bindOffset_max += BIND_TUNE_STEP;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MAX, bindOffset_max);
cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)bindOffset_max);
}
cc2500Strobe(CC2500_SRX);
}
return false;
}
static bool tune3Rx(uint8_t *packet)
{
cc2500LedBlink(100);
if (((millis() - timeTunedMs) > 880) || bindOffset_min < (-126 + BIND_TUNE_STEP)) { // 220ms *4
return true;
}
if (sfhssRecv(packet)) {
if (sfhssPacketParse(packet, true)) {
timeTunedMs = millis();
bindOffset_min -= BIND_TUNE_STEP;
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_OFFSET_MIN, bindOffset_min);
cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)bindOffset_min);
}
cc2500Strobe(CC2500_SRX);
}
return false;
}
void sfhssnextChannel(void)
{
do {
sfhss_channel += sfhss_code + 2;
if (sfhss_channel > 29) {
sfhss_channel -= 31;
}
} while ( sfhss_channel < 0);
sfhssRx();
}
void sfhssSpiSetRcData(uint16_t *rcData, const uint8_t *payload)
{
if ( GET_COMMAND(payload) & 0x8 ) {
rcData[4] = GET_CH1(payload);
rcData[5] = GET_CH2(payload);
rcData[6] = GET_CH3(payload);
rcData[7] = GET_CH4(payload);
} else {
rcData[0] = GET_CH1(payload);
rcData[1] = GET_CH2(payload);
rcData[2] = GET_CH3(payload);
rcData[3] = GET_CH4(payload);
}
}
rx_spi_received_e sfhssSpiDataReceived(uint8_t *packet)
{
static uint16_t dataMissingFrame = 0;
static timeUs_t nextFrameReceiveStartTime = 0;
static uint8_t frame_recvd = 0;
timeUs_t currentPacketReceivedTime;
rx_spi_received_e ret = RX_SPI_RECEIVED_NONE;
currentPacketReceivedTime = micros();
switch (protocolState) {
case STATE_INIT:
if ((millis() - start_time) > 10) {
cc2500LedOff();
dataMissingFrame = 0;
initialise();
SET_STATE(STATE_BIND);
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_MISSING_FRAME, dataMissingFrame);
}
break;
case STATE_BIND:
if (cc2500checkBindRequested(true)) {
cc2500LedOn();
initTuneRx();
SET_STATE(STATE_BIND_TUNING1);
} else {
SET_STATE(STATE_HUNT);
sfhssnextChannel();
setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
nextFrameReceiveStartTime = currentPacketReceivedTime + NEXT_CH_TIME_HUNT;
}
break;
case STATE_BIND_TUNING1:
if (tune1Rx(packet)) {
SET_STATE(STATE_BIND_TUNING2);
}
break;
case STATE_BIND_TUNING2:
if (tune2Rx(packet)) {
SET_STATE(STATE_BIND_TUNING3);
}
break;
case STATE_BIND_TUNING3:
if (tune3Rx(packet)) {
if (((int16_t)bindOffset_max - (int16_t)bindOffset_min) <= 2) {
initTuneRx();
SET_STATE(STATE_BIND_TUNING1); // retry
} else {
rxFrSkySpiConfigMutable()->bindOffset = ((int16_t)bindOffset_max + (int16_t)bindOffset_min) / 2 ;
SET_STATE(STATE_BIND_COMPLETE);
}
}
break;
case STATE_BIND_COMPLETE:
writeEEPROM();
ret = RX_SPI_RECEIVED_BIND;
SET_STATE(STATE_INIT);
break;
case STATE_HUNT:
if (sfhssRecv(packet)) {
if (sfhssPacketParse(packet, true)) {
if (GET_COMMAND(packet) & 0x8) { /* ch=5-8 */
missingPackets = 0;
cc2500LedOn();
frame_recvd = 0x3;
SET_STATE(STATE_SYNC);
nextFrameReceiveStartTime = currentPacketReceivedTime + NEXT_CH_TIME_SYNC2;
return RX_SPI_RECEIVED_NONE;
}
}
cc2500Strobe(CC2500_SRX);
} else if (cmpTimeUs(currentPacketReceivedTime, nextFrameReceiveStartTime) > 0) {
cc2500LedBlink(500);
#if defined(USE_RX_CC2500_SPI_PA_LNA) && defined(USE_RX_CC2500_SPI_DIVERSITY) // SE4311 chip
cc2500switchAntennae();
#endif
sfhssnextChannel();
nextFrameReceiveStartTime += NEXT_CH_TIME_HUNT;
} else if (cc2500checkBindRequested(false)) {
SET_STATE(STATE_INIT);
break;
}
break;
case STATE_SYNC:
if (sfhssRecv(packet)) {
if (sfhssPacketParse(packet, true)) {
missingPackets = 0;
if ( GET_COMMAND(packet) & 0x8 ) {
nextFrameReceiveStartTime = currentPacketReceivedTime + NEXT_CH_TIME_SYNC2;
frame_recvd |= 0x2; /* ch5-8 */
} else {
nextFrameReceiveStartTime = currentPacketReceivedTime + NEXT_CH_TIME_SYNC1;
cc2500Strobe(CC2500_SRX);
frame_recvd |= 0x1; /* ch1-4 */
}
if (GET_COMMAND(packet) & 0x4) {
return RX_SPI_RECEIVED_NONE; /* failsafe data */
}
return RX_SPI_RECEIVED_DATA;
}
cc2500Strobe(CC2500_SRX);
} else if (cmpTimeUs(currentPacketReceivedTime, nextFrameReceiveStartTime) > 0) {
nextFrameReceiveStartTime += NEXT_CH_TIME_SYNC0;
if (frame_recvd != 0x3) {
DEBUG_SET(DEBUG_RX_SFHSS_SPI, DEBUG_DATA_MISSING_FRAME, ++dataMissingFrame);
}
if (frame_recvd == 0) {
if (++missingPackets > MAX_MISSING_PKT) {
SET_STATE(STATE_HUNT);
sfhssnextChannel();
setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
nextFrameReceiveStartTime = currentPacketReceivedTime + NEXT_CH_TIME_HUNT;
break;
}
#if defined(USE_RX_CC2500_SPI_PA_LNA) && defined(USE_RX_CC2500_SPI_DIVERSITY) // SE4311 chip
if (missingPackets >= 2) {
cc2500switchAntennae();
}
#endif
}
frame_recvd = 0;
sfhssnextChannel();
} else if (cc2500checkBindRequested(false)) {
SET_STATE(STATE_INIT);
break;
}
break;
}
return ret;
}
bool sfhssSpiInit(const rxSpiConfig_t *rxSpiConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
UNUSED(rxSpiConfig);
cc2500SpiInit();
rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT_SFHSS;
start_time = millis();
SET_STATE(STATE_INIT);
return true;
}
#endif