Merge pull request #7339 from phobos-/frsky-x-lbt

Implemented FRSKY X EU LBT

src/main/drivers/rx/rx_spi.h

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

src/main/interface/cli.c

@@ -2622,6 +2622,7 @@ 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

src/main/interface/settings.c

@@ -228,6 +228,7 @@ static const char * const lookupTableRxSpi[] = {
     "INAV",
     "FRSKY_D",
     "FRSKY_X",
+    "FRSKY_X_LBT",
     "FLYSKY",
     "FLYSKY_2A",
     "KN",

src/main/rx/cc2500_frsky_shared.c

@@ -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:

src/main/rx/cc2500_frsky_x.c

@@ -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]);
@@ -294,6 +296,19 @@ 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;
@@ -347,18 +362,9 @@ 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 >= packetLength) {
-            if (ccLen > 32) {
+                cc2500ReadFifo(packet, packetLength);
-                ccLen = 32;
+                if (isValidPacket(packet)) {
-            }
-            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)) {
                     missingPackets = 0;
                     timeoutUs = 1;
                     receiveDelayUs = 0;
@@ -377,7 +383,7 @@ 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];
 
@@ -406,7 +412,7 @@ 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;
@@ -428,8 +434,6 @@ 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);
@@ -453,7 +457,7 @@ 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);
@@ -524,7 +528,6 @@ 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;
@@ -533,8 +536,20 @@ 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);

src/main/rx/cc2500_frsky_x.h

@@ -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);

src/main/rx/rx_spi.c

@@ -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;

src/main/rx/rx_spi.h

@@ -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,