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https://github.com/iNavFlight/inav.git
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Added support for nrf24 id to support permanent binding
This commit is contained in:
Martin Budden
parent
bec10bd591
commit
ad2bcee53a
3 changed files with 18 additions and 12 deletions
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@ -653,9 +653,11 @@ const clivalue_t valueTable[] = {
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#endif
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#ifdef USE_RX_NRF24
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{ "nrf24rx_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.nrf24rx_protocol, .config.lookup = { TABLE_NRF24_RX }, 0 },
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{ "nrf24rx_id", VAR_UINT32 | MASTER_VALUE, &masterConfig.rxConfig.nrf24rx_id, .config.minmax = { 0, 0 }, 0 },
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#endif
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{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, 0 },
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#ifdef TELEMETRY
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{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.telemetry_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.telemetry_inversion, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLatitude, .config.minmax = { -90.0, 90.0 }, 0 },
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@ -664,6 +666,7 @@ const clivalue_t valueTable[] = {
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{ "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.frsky_unit, .config.lookup = { TABLE_UNIT }, 0 },
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{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, 0 },
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{ "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0, 120 }, 0 },
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#endif
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{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0, 20000 }, 0 },
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{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, 0 },
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@ -742,12 +745,16 @@ const clivalue_t valueTable[] = {
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, .config.minmax = { 0, ACC_MAX }, 0 },
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#ifdef BARO
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{ "baro_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.barometerConfig.use_median_filtering, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, .config.minmax = { 0, BARO_MAX }, 0 },
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#endif
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#ifdef MAG
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{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, .config.minmax = { 0, MAG_MAX }, 0 },
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{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000, 18000 }, 0 },
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{ "mag_hold_rate_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.mag_hold_rate_limit, .config.minmax = { MAG_HOLD_RATE_LIMIT_MIN, MAG_HOLD_RATE_LIMIT_MAX }, 0 },
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#endif
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 }, 0 },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 }, 0 },
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@ -2448,7 +2455,8 @@ static void cliSet(char *cmdline)
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value = atoi(eqptr);
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valuef = fastA2F(eqptr);
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if (valuef >= valueTable[i].config.minmax.min && valuef <= valueTable[i].config.minmax.max) { // note: compare float value
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if ((valuef >= valueTable[i].config.minmax.min && valuef <= valueTable[i].config.minmax.max) // note: compare float value
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|| (valueTable[i].config.minmax.min == 0 && valueTable[i].config.minmax.max == 0)) { // setting both min and max to zero allows full range
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if ((valueTable[i].type & VALUE_TYPE_MASK) == VAR_FLOAT)
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tmp.float_value = valuef;
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@ -47,7 +47,7 @@
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* H8_3D Protocol
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* No auto acknowledgment
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* Payload size is 20, static
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* Data rate is 1Kbps
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* Data rate is 1Mbps
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* Bind Phase
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* uses address {0xab,0xac,0xad,0xae,0xaf}, converted by XN297 to {0x41, 0xbd, 0x42, 0xd4, 0xc2}
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* hops between 4 channels
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@ -80,7 +80,6 @@ STATIC_UNIT_TESTED uint8_t payloadSize;
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#define CRC_LEN 2
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#define RX_TX_ADDR_LEN 5
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//STATIC_UNIT_TESTED uint8_t rxTxAddr[RX_TX_ADDR_LEN] = {0xc4, 0x57, 0x09, 0x65, 0x21};
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STATIC_UNIT_TESTED uint8_t rxTxAddrXN297[RX_TX_ADDR_LEN] = {0x41, 0xbd, 0x42, 0xd4, 0xc2}; // converted XN297 address
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#define TX_ID_LEN 4
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STATIC_UNIT_TESTED uint8_t txId[TX_ID_LEN];
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@ -250,7 +249,7 @@ nrf24_received_t h8_3dDataReceived(uint8_t *payload)
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return ret;
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}
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void h8_3dNrf24Init(nrf24_protocol_t protocol, uint32_t nrf24_id)
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void h8_3dNrf24Init(nrf24_protocol_t protocol, const uint32_t *nrf24rx_id)
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{
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UNUSED(protocol);
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protocolState = STATE_BIND;
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@ -261,11 +260,11 @@ void h8_3dNrf24Init(nrf24_protocol_t protocol, uint32_t nrf24_id)
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NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_1Mbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
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// RX_ADDR for pipes P1-P5 are left at default values
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddrXN297, RX_TX_ADDR_LEN);
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if (nrf24_id == 0) {
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if (nrf24rx_id == NULL || *nrf24rx_id == 0) {
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h8_3dRfChannelIndex = H8_3D_RF_BIND_CHANNEL_START;
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NRF24L01_SetChannel(H8_3D_RF_BIND_CHANNEL_START);
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} else {
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h8_3dSetBound((uint8_t*)&nrf24_id);
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h8_3dSetBound((uint8_t*)nrf24rx_id);
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}
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payloadSize = H8_3D_PROTOCOL_PAYLOAD_SIZE + CRC_LEN; // payload + 2 bytes CRC
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@ -277,6 +276,6 @@ void h8_3dNrf24Init(nrf24_protocol_t protocol, uint32_t nrf24_id)
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void h8_3dInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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{
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rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT;
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h8_3dNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, 0);
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h8_3dNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, &rxConfig->nrf24rx_id);
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}
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#endif
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@ -220,18 +220,18 @@ nrf24_received_t refDataReceived(uint8_t *payload)
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return ret;
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}
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void refNrf24Init(nrf24_protocol_t protocol, uint32_t nrf24_id)
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void refNrf24Init(nrf24_protocol_t protocol, const uint32_t *nrf24rx_id)
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{
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UNUSED(protocol);
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NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV( NRF24L01_00_CONFIG_CRCO)); // sets PWR_UP, EN_CRC, CRCO - 2 byte CRC
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NRF24L01_Setup();
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if (nrf24_id == 0) {
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if (nrf24rx_id == NULL || *nrf24rx_id == 0) {
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protocolState = STATE_BIND;
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NRF24L01_SetChannel(REF_RF_BIND_CHANNEL);
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} else {
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memcpy(rxTxAddr, (uint8_t*)nrf24_id, sizeof(uint32_t));
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memcpy(rxTxAddr, nrf24rx_id, sizeof(uint32_t));
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rxTxAddr[4] = 0xD2;
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refSetBound();
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}
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@ -246,8 +246,7 @@ void refNrf24Init(nrf24_protocol_t protocol, uint32_t nrf24_id)
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void refInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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{
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rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT;
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//refNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, rxConfig->nrf24rx_id);
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refNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, 0);
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refNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, &rxConfig->nrf24rx_id);
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}
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#endif
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