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Code Issues Wiki Activity

NRF24 iNav protocol improvements and fixes (#551)

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This commit is contained in:
Martin Budden 2016-09-03 01:41:47 +01:00 • committed by Konstantin Sharlaimov
parent 4a190acce0
commit bd0f266475
10 changed files with 150 additions and 84 deletions
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15
src/main/drivers/logging.c
View file

@ -21,9 +21,11 @@
#include "platform.h"
#include "build/build_config.h"
#include "logging.h"
#ifdef BOOTLOG
#include "logging.h"
#include "system.h"
#define MAX_BOOTLOG_ENTRIES 64
@ -130,4 +132,15 @@ void addBootlogEvent6(bootLogEventCode_e eventCode, uint16_t eventFlags, uint16_
event.params.u16[3] = param4;
addBootlogEntry(&event);
}
#else
const char * getBootlogEventDescription(bootLogEventCode_e eventCode) {UNUSED(eventCode);return NULL;}
void initBootlog(void) {}
int getBootlogEventCount(void) {return 0;}
bootLogEntry_t * getBootlogEvent(int index) {UNUSED(index);return NULL;}
void addBootlogEvent2(bootLogEventCode_e eventCode, uint16_t eventFlags)
{UNUSED(eventCode);UNUSED(eventFlags);}
void addBootlogEvent4(bootLogEventCode_e eventCode, uint16_t eventFlags, uint32_t param1, uint32_t param2)
{UNUSED(eventCode);UNUSED(eventFlags);UNUSED(param1);UNUSED(param2);}
void addBootlogEvent6(bootLogEventCode_e eventCode, uint16_t eventFlags, uint16_t param1, uint16_t param2, uint16_t param3, uint16_t param4)
{UNUSED(eventCode);UNUSED(eventFlags);UNUSED(param1);UNUSED(param2);UNUSED(param3);UNUSED(param4);}
#endif

4
src/main/drivers/logging.h
View file

@ -17,8 +17,6 @@
#pragma once
#ifdef BOOTLOG
#include "logging_codes.h"
typedef struct bootLogEntry_s {
@ -38,5 +36,3 @@ const char * getBootlogEventDescription(bootLogEventCode_e eventCode);
void addBootlogEvent2(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags);
void addBootlogEvent4(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags, uint32_t param1, uint32_t param2);
void addBootlogEvent6(bootLogEventCode_e eventCode, bootLogFlags_e eventFlags, uint16_t param1, uint16_t param2, uint16_t param3, uint16_t param4);
#endif

3
src/main/drivers/logging_codes.h
View file

@ -17,8 +17,6 @@
#pragma once
#ifdef BOOTLOG
typedef enum {
BOOT_EVENT_FLAGS_NONE = 0,
BOOT_EVENT_FLAGS_WARNING = 1 << 0,
@ -52,4 +50,3 @@ typedef enum {
BOOT_EVENT_CODE_COUNT
} bootLogEventCode_e;
#endif

42
src/main/drivers/rx_nrf24l01.h
View file

@ -67,6 +67,13 @@ enum {
NRF24L01_00_CONFIG_PWR_UP = 1,
NRF24L01_00_CONFIG_PRIM_RX = 0,
NRF24L01_01_EN_AA_ENAA_P5 = 5,
NRF24L01_01_EN_AA_ENAA_P4 = 4,
NRF24L01_01_EN_AA_ENAA_P3 = 3,
NRF24L01_01_EN_AA_ENAA_P2 = 2,
NRF24L01_01_EN_AA_ENAA_P1 = 1,
NRF24L01_01_EN_AA_ENAA_P0 = 0,
NRF24L01_02_EN_RXADDR_ERX_P5 = 5,
NRF24L01_02_EN_RXADDR_ERX_P4 = 4,
NRF24L01_02_EN_RXADDR_ERX_P3 = 3,
@ -110,7 +117,40 @@ enum {
NRF24L01_03_SETUP_AW_4BYTES = 0x02,
NRF24L01_03_SETUP_AW_5BYTES = 0x03,
NRF24L01_04_SETUP_RETR_500uS = 0x10,
NRF24L01_04_SETUP_RETR_ARD_250us = 0x00,
NRF24L01_04_SETUP_RETR_ARD_500us = 0x10,
NRF24L01_04_SETUP_RETR_ARD_750us = 0x20,
NRF24L01_04_SETUP_RETR_ARD_1000us = 0x30,
NRF24L01_04_SETUP_RETR_ARD_1250us = 0x40,
NRF24L01_04_SETUP_RETR_ARD_1500us = 0x50,
NRF24L01_04_SETUP_RETR_ARD_1750us = 0x60,
NRF24L01_04_SETUP_RETR_ARD_2000us = 0x70,
NRF24L01_04_SETUP_RETR_ARD_2250us = 0x80,
NRF24L01_04_SETUP_RETR_ARD_2500us = 0x90,
NRF24L01_04_SETUP_RETR_ARD_2750us = 0xa0,
NRF24L01_04_SETUP_RETR_ARD_3000us = 0xb0,
NRF24L01_04_SETUP_RETR_ARD_3250us = 0xc0,
NRF24L01_04_SETUP_RETR_ARD_3500us = 0xd0,
NRF24L01_04_SETUP_RETR_ARD_3750us = 0xe0,
NRF24L01_04_SETUP_RETR_ARD_4000us = 0xf0,
NRF24L01_04_SETUP_RETR_ARC_0 = 0x00,
NRF24L01_04_SETUP_RETR_ARC_1 = 0x01,
NRF24L01_04_SETUP_RETR_ARC_2 = 0x02,
NRF24L01_04_SETUP_RETR_ARC_3 = 0x03,
NRF24L01_04_SETUP_RETR_ARC_4 = 0x04,
NRF24L01_04_SETUP_RETR_ARC_5 = 0x05,
NRF24L01_04_SETUP_RETR_ARC_6 = 0x06,
NRF24L01_04_SETUP_RETR_ARC_7 = 0x07,
NRF24L01_04_SETUP_RETR_ARC_8 = 0x08,
NRF24L01_04_SETUP_RETR_ARC_9 = 0x09,
NRF24L01_04_SETUP_RETR_ARC_10 = 0x0a,
NRF24L01_04_SETUP_RETR_ARC_11 = 0x0b,
NRF24L01_04_SETUP_RETR_ARC_12 = 0x0c,
NRF24L01_04_SETUP_RETR_ARC_13 = 0x0d,
NRF24L01_04_SETUP_RETR_ARC_14 = 0x0e,
NRF24L01_04_SETUP_RETR_ARC_15 = 0x0f,
NRF24L01_06_RF_SETUP_RF_DR_2Mbps = 0x08,
NRF24L01_06_RF_SETUP_RF_DR_1Mbps = 0x00,

2
src/main/io/serial_cli.c
View file

@ -707,7 +707,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_RX_NRF24
{ "nrf24rx_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.nrf24rx_protocol, .config.lookup = { TABLE_NRF24_RX }, 0 },
{ "nrf24rx_id", VAR_UINT32 | MASTER_VALUE, &masterConfig.rxConfig.nrf24rx_id, .config.minmax = { 0, 0 }, 0 },
{ "nrf24rx_channel_count", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.nrf24rx_channel_count, .config.minmax = { 0, 8 }, 0 },
{ "nrf24rx_rf_channel_count", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.nrf24rx_rf_channel_count, .config.minmax = { 0, 8 }, 0 },
#endif
#ifdef SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, 0 },

4
src/main/io/serial_msp.c
View file

@ -1063,7 +1063,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(0); // for compatibility with betaflight
serialize8(masterConfig.rxConfig.nrf24rx_protocol);
serialize32(masterConfig.rxConfig.nrf24rx_id);
serialize8(masterConfig.rxConfig.nrf24rx_channel_count);
serialize8(masterConfig.rxConfig.nrf24rx_rf_channel_count);
break;
case MSP_FAILSAFE_CONFIG:
@ -1605,7 +1605,7 @@ static bool processInCommand(void)
masterConfig.rxConfig.nrf24rx_id = read32();
}
if (currentPort->dataSize > 21) {
masterConfig.rxConfig.nrf24rx_channel_count = read8();
masterConfig.rxConfig.nrf24rx_rf_channel_count = read8();
}
break;

142
src/main/rx/nrf24_inav.c
View file

@ -34,6 +34,13 @@
#include "telemetry/ltm.h"
// debug build flags
//#define NO_RF_CHANNEL_HOPPING
//#define USE_BIND_ADDRESS_FOR_DATA_STATE
//#define USE_AUTO_ACKKNOWLEDGEMENT
#undef TELEMETRY_NRF24_LTM
/*
* iNav Protocol
@ -43,31 +50,34 @@
* ACK payload is used for handshaking in bind phase and telemetry in data phase
*
* Bind payload size is 16 bytes
* Data payload size is 8, 16 or 20 bytes dependent on variant of protocol, (small payload is read more quickly (marginal benefit))
* Data payload size is 8, 16 or 18 bytes dependent on variant of protocol, (small payload is read more quickly (marginal benefit))
*
* Bind Phase
* uses address {0x4b,0x5c,0x6d,0x7e,0x8f}
* uses channel 0x4c (76)
*
* Data Phase
* 1) uses the address received in bind packet
* 1) Uses the address received in bind packet
*
* 2) hops between RF channels generated from the address received in bind packet
* number of RF hopping channels is set during bind handshaking:
* the transmitter requests a number of bind channels in payload[7]
* the receiver sets ackPayload[7] with the number of hopping channels actually allocated - the transmitter must use this value.
* 2) Hops between RF channels generated from the address received in bind packet.
* The number of RF hopping channels is set during bind handshaking:
* the transmitter requests a number of bind channels in payload[7]
* the receiver sets ackPayload[7] with the number of hopping channels actually allocated - the transmitter must
* use this value.
* All receiver variants must support the 16 byte payload. Support for the 8 and 18 byte payload is optional.
*
* 3) Uses the payload size negotiated in the bind phase, payload size may be 8, 16 or 18 bytes
* i) for 8 byte payload there are 6 channels: AETR with resolution of 1 (10-bit channels), and AUX1 and AUX2 with resolution of 4 (8-bit) channels
* ii) for 16 byte payload there are 16 channels: eight 10-bit analog channels, two 8-bit analog channels, and six digital channels as follows:
* Channels 0 to 3, are the AETR channels, values 1000 to 2000 with resolution of 1 (10-bit channels)
* Channel AUX1 by deviation convention is used for rate, values 1000, 1500, 2000
* Channels AUX2 to AUX6 are binary channels, values 1000 or 2000,
* by deviation convention used for flip, picture, video, headless, and return to home
* Channels AUX7 to AUX10 are analog channels, values 1000 to 2000 with resolution of 1 (10-bit channels)
* Channels AUX11 and AUX12 are analog channels, values 1000 to 2000 with resolution of 4 (8-bit channels)
* iii) For 18 byte payload there are 18 channels, the first 16 channelsar are as for 16 byte payload, and then there are two additional channels,
* AUX13 and AUX14 both with resolution of 4 (8-bit channels)
* a) For 8 byte payload there are 6 channels: AETR with resolution of 1 (10-bits are used for the channel data), and AUX1
* and AUX2 with resolution of 4 (8-bits are used for the channel data)
* b) For 16 byte payload there are 16 channels: eight 10-bit analog channels, two 8-bit analog channels, and six digital channels as follows:
* Channels 0 to 3, are the AETR channels, values 1000 to 2000 with resolution of 1 (10-bit channels)
* Channel AUX1 by deviation convention is used for rate, values 1000, 1500, 2000
* Channels AUX2 to AUX6 are binary channels, values 1000 or 2000,
* by deviation convention these channels are used for: flip, picture, video, headless, and return to home
* Channels AUX7 to AUX10 are analog channels, values 1000 to 2000 with resolution of 1 (10-bit channels)
* Channels AUX11 and AUX12 are analog channels, values 1000 to 2000 with resolution of 4 (8-bit channels)
* c) For 18 byte payload there are 18 channels, the first 16 channelsar are as for 16 byte payload, and then there are two
* additional channels: AUX13 and AUX14 both with resolution of 4 (8-bit channels)
*/
#define RC_CHANNEL_COUNT 16 // standard variant of the protocol has 16 RC channels
@ -96,21 +106,22 @@ STATIC_UNIT_TESTED protocol_state_t protocolState;
STATIC_UNIT_TESTED uint8_t ackPayload[NRF24L01_MAX_PAYLOAD_SIZE];
#define INAV_PROTOCOL_PAYLOAD_SIZE 16
#define INAV_PROTOCOL_PAYLOAD_SIZE_MAX 20
STATIC_UNIT_TESTED const uint8_t payloadSize = INAV_PROTOCOL_PAYLOAD_SIZE_MAX;
#define INAV_PROTOCOL_PAYLOAD_SIZE_MIN 8
#define INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT 16
#define INAV_PROTOCOL_PAYLOAD_SIZE_MAX 18
STATIC_UNIT_TESTED const uint8_t payloadSize = INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT;
uint8_t receivedPowerSnapshot;
#define RX_TX_ADDR_LEN 5
// set rxTxAddr to the bind address
STATIC_UNIT_TESTED uint8_t rxTxAddr[RX_TX_ADDR_LEN] = {0x4b,0x5c,0x6d,0x7e,0x8f};
uint32_t *nrf24rxIdPtr;
#define RX_TX_ADDR_4 0xD2 // rxTxAddr[4] always set to this value in
#define RX_TX_ADDR_4 0xD2 // rxTxAddr[4] always set to this value
// radio channels for frequency hopping
#define INAV_RF_CHANNEL_COUNT_MAX 8
#define INAV_RF_CHANNEL_HOPPING_COUNT_DEFAULT 4
STATIC_UNIT_TESTED uint8_t inavRfChannelHoppingCount;
STATIC_UNIT_TESTED const uint8_t inavRfChannelHoppingCount = INAV_RF_CHANNEL_HOPPING_COUNT_DEFAULT;
STATIC_UNIT_TESTED uint8_t inavRfChannelCount;
STATIC_UNIT_TESTED uint8_t inavRfChannelIndex;
STATIC_UNIT_TESTED uint8_t inavRfChannels[INAV_RF_CHANNEL_COUNT_MAX];
@ -130,10 +141,10 @@ STATIC_UNIT_TESTED bool inavCheckBindPacket(const uint8_t *payload)
rxTxAddr[2] = payload[4];
rxTxAddr[3] = payload[5];
rxTxAddr[4] = payload[6];
inavRfChannelHoppingCount = payload[7];
/*inavRfChannelHoppingCount = payload[7]; // !!TODO not yet implemented on transmitter
if (inavRfChannelHoppingCount > INAV_RF_CHANNEL_COUNT_MAX) {
inavRfChannelHoppingCount = INAV_RF_CHANNEL_COUNT_MAX;
}
}*/
if (nrf24rxIdPtr != NULL && *nrf24rxIdPtr == 0) {
// copy the rxTxAddr so it can be saved
memcpy(nrf24rxIdPtr, rxTxAddr, sizeof(uint32_t));
@ -157,7 +168,7 @@ void inavNrf24SetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload)
lowBits >>= 2;
rcData[NRF24_YAW] = PWM_RANGE_MIN + ((payload[5] << 2) | (lowBits & 0x03)); // Rudder
if (payloadSize == 8) {
if (payloadSize == INAV_PROTOCOL_PAYLOAD_SIZE_MIN) {
// small payload variant of protocol, supports 6 channels
rcData[NRF24_AUX1] = PWM_RANGE_MIN + (payload[7] << 2);
rcData[NRF24_AUX2] = PWM_RANGE_MIN + (payload[1] << 2);
@ -196,7 +207,7 @@ void inavNrf24SetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload)
rcData[NRF24_AUX11] = PWM_RANGE_MIN + (payload[14] << 2);
rcData[NRF24_AUX12] = PWM_RANGE_MIN + (payload[15] << 2);
}
if (payloadSize == 18) {
if (payloadSize == INAV_PROTOCOL_PAYLOAD_SIZE_MAX) {
// large payload variant of protocol
// channels AUX13 to AUX16 have 8 bit resolution
rcData[NRF24_AUX13] = PWM_RANGE_MIN + (payload[16] << 2);
@ -217,20 +228,21 @@ static void inavHopToNextChannel(void)
}
// The hopping channels are determined by the low bits of rxTxAddr
STATIC_UNIT_TESTED void inavSetHoppingChannels(uint8_t addr)
STATIC_UNIT_TESTED void inavSetHoppingChannels(void)
{
if (inavRfChannelHoppingCount == 0) {
// just stay on bind channel, useful for debugging
inavRfChannelCount = 1;
inavRfChannels[0] = INAV_RF_BIND_CHANNEL;
return;
}
#ifdef NO_RF_CHANNEL_HOPPING
// just stay on bind channel, useful for debugging
inavRfChannelCount = 1;
inavRfChannels[0] = INAV_RF_BIND_CHANNEL;
#else
inavRfChannelCount = inavRfChannelHoppingCount;
const uint8_t addr = rxTxAddr[0];
uint8_t ch = 0x10 + (addr & 0x07);
for (int ii = 0; ii < INAV_RF_CHANNEL_COUNT_MAX; ++ii) {
inavRfChannels[ii] = ch;
ch += 0x0c;
}
#endif
}
static void inavSetBound(void)
@ -238,18 +250,19 @@ static void inavSetBound(void)
protocolState = STATE_DATA;
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rxTxAddr, RX_TX_ADDR_LEN);
inavSetHoppingChannels(rxTxAddr[0]);
timeOfLastHop = micros();
inavRfChannelIndex = 0;
inavSetHoppingChannels();
NRF24L01_SetChannel(inavRfChannels[0]);
#ifdef DEBUG_NRF24_INAV
debug[0] = inavRfChannels[0];
#endif
}
#if defined(TELEMETRY_NRF24_LTM)
static void writeTelemetryAckPayload(void)
{
#if defined(TELEMETRY_NRF24_LTM)
// set up telemetry data, send back telemetry data in the ACK packet
static uint8_t sequenceNumber = 0;
static ltm_frame_e ltmFrameType = LTM_FRAME_START;
@ -265,12 +278,12 @@ static void writeTelemetryAckPayload(void)
debug[2] = ackPayload[1]; // frame type, 'A', 'S' etc
debug[3] = ackPayload[2]; // pitch for AFrame
#endif
}
#endif
}
static void writeBindAckPayload(uint8_t *payload)
{
#ifdef USE_AUTO_ACKKNOWLEDGEMENT
// send back the payload with the first two bytes set to zero as the ack
payload[0] = 0;
payload[1] = 0;
@ -278,16 +291,19 @@ static void writeBindAckPayload(uint8_t *payload)
payload[7] = inavRfChannelHoppingCount;
// respond to request for payloadSize
switch (payloadSize) {
case 8:
case 16:
case 18:
case INAV_PROTOCOL_PAYLOAD_SIZE_MIN:
case INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT:
case INAV_PROTOCOL_PAYLOAD_SIZE_MAX:
payload[8] = payloadSize;
break;
default:
payload[8] = 16;
payload[8] = INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT;
break;
}
NRF24L01_WriteAckPayload(payload, payloadSize, NRF24L01_PIPE0);
#else
UNUSED(payload);
#endif
}
/*
@ -307,8 +323,8 @@ nrf24_received_t inavNrf24DataReceived(uint8_t *payload)
if (NRF24L01_ReadPayloadIfAvailable(payload, payloadSize)) {
const bool bindPacket = inavCheckBindPacket(payload);
if (bindPacket) {
writeBindAckPayload(payload);
ret = NRF24_RECEIVED_BIND;
writeBindAckPayload(payload);
// got a bind packet, so set the hopping channels and the rxTxAddr and start listening for data
inavSetBound();
}
@ -322,13 +338,11 @@ nrf24_received_t inavNrf24DataReceived(uint8_t *payload)
const bool bindPacket = inavCheckBindPacket(payload);
if (bindPacket) {
// transmitter may still continue to transmit bind packets after we have switched to data mode
writeBindAckPayload(payload);
ret = NRF24_RECEIVED_BIND;
writeBindAckPayload(payload);
} else {
ret = NRF24_RECEIVED_DATA;
#if defined(TELEMETRY_NRF24_LTM)
writeTelemetryAckPayload();
#endif
}
}
if ((ret == NRF24_RECEIVED_DATA) || (timeNowUs > timeOfLastHop + hopTimeout)) {
@ -343,33 +357,47 @@ nrf24_received_t inavNrf24DataReceived(uint8_t *payload)
static void inavNrf24Setup(nrf24_protocol_t protocol, const uint32_t *nrf24rx_id, int rfChannelHoppingCount)
{
UNUSED(protocol);
UNUSED(rfChannelHoppingCount);
NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV( NRF24L01_00_CONFIG_CRCO)); // sets PWR_UP, EN_CRC, CRCO - 2 byte CRC
NRF24L01_WriteReg(NRF24L01_01_EN_AA, NRF24L01_01_EN_AA_ALL_PIPES); // auto acknowledgment on all pipes
#ifdef USE_AUTO_ACKKNOWLEDGEMENT
NRF24L01_WriteReg(NRF24L01_01_EN_AA, BV(NRF24L01_01_EN_AA_ENAA_P0)); // auto acknowledgment on P0
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, BV(NRF24L01_02_EN_RXADDR_ERX_P0));
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, NRF24L01_03_SETUP_AW_5BYTES); // 5-byte RX/TX address
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // auto retransmit disabled
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, NRF24L01_04_SETUP_RETR_ARD_2500us | NRF24L01_04_SETUP_RETR_ARC_1); // one retry after 2500us
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, BV(NRF24L01_1C_DYNPD_DPL_P0)); // enaable dynamic payload length on P0
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, BV(NRF24L01_1D_FEATURE_EN_DPL) | BV(NRF24L01_1D_FEATURE_EN_ACK_PAY));
nrf24rxIdPtr = (uint32_t*)nrf24rx_id;
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rxTxAddr, RX_TX_ADDR_LEN);
#else
NRF24L01_SetupBasic();
#endif
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
// RX_ADDR for pipes P1-P5 are left at default values
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, payloadSize);
#ifdef USE_BIND_ADDRESS_FOR_DATA_STATE
inavSetBound();
UNUSED(nrf24rx_id);
#else
nrf24rx_id = NULL; // !!TODO remove this once configurator supports setting rx_id
if (nrf24rx_id == NULL || *nrf24rx_id == 0) {
nrf24rxIdPtr = NULL;
protocolState = STATE_BIND;
inavRfChannelCount = 1;
inavRfChannelIndex = 0;
NRF24L01_SetChannel(INAV_RF_BIND_CHANNEL);
} else {
nrf24rxIdPtr = (uint32_t*)nrf24rx_id;
// use the rxTxAddr provided and go straight into DATA_STATE
memcpy(rxTxAddr, nrf24rx_id, sizeof(uint32_t));
rxTxAddr[4] = RX_TX_ADDR_4;
inavRfChannelHoppingCount = rfChannelHoppingCount;
inavSetBound();
}
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
// RX_ADDR for pipes P1-P5 are left at default values
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, payloadSize);
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, NRF24L01_1C_DYNPD_ALL_PIPES); // dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, BV(NRF24L01_1D_FEATURE_EN_DPL) | BV(NRF24L01_1D_FEATURE_EN_ACK_PAY));
#endif
NRF24L01_SetRxMode(); // enter receive mode to start listening for packets
// put a null packet in the transmit buffer to be sent as ACK on first receive
@ -379,7 +407,7 @@ static void inavNrf24Setup(nrf24_protocol_t protocol, const uint32_t *nrf24rx_id
void inavNrf24Init(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT_MAX;
inavNrf24Setup((nrf24_protocol_t)rxConfig->nrf24rx_protocol, &rxConfig->nrf24rx_id, rxConfig->nrf24rx_channel_count);
inavNrf24Setup((nrf24_protocol_t)rxConfig->nrf24rx_protocol, &rxConfig->nrf24rx_id, rxConfig->nrf24rx_rf_channel_count);
}
#endif

8
src/main/rx/nrf24_syma.c
View file

@ -273,10 +273,8 @@ static void symaNrf24Setup(nrf24_protocol_t protocol)
{
symaProtocol = protocol;
NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV( NRF24L01_00_CONFIG_CRCO)); // sets PWR_UP, EN_CRC, CRCO - 2 byte CRC
NRF24L01_SetupBasic();
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0); // No auto acknowledgment
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, BV(NRF24L01_02_EN_RXADDR_ERX_P0));
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, NRF24L01_03_SETUP_AW_5BYTES); // 5-byte RX/TX address
if (symaProtocol == NRF24RX_SYMA_X) {
payloadSize = SYMA_X_PROTOCOL_PAYLOAD_SIZE;
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
@ -294,10 +292,6 @@ static void symaNrf24Setup(nrf24_protocol_t protocol)
memcpy(symaRfChannels, symaRfChannelsX5C, SYMA_X5C_RF_CHANNEL_COUNT);
}
NRF24L01_SetChannel(symaRfChannels[0]);
NRF24L01_WriteReg(NRF24L01_08_OBSERVE_TX, 0x00);
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, payloadSize);
NRF24L01_SetRxMode(); // enter receive mode to start listening for packets

2
src/main/rx/rx.h
View file

@ -115,7 +115,7 @@ typedef struct rxConfig_s {
uint8_t sbus_inversion; // default sbus (Futaba, FrSKY) is inverted. Support for uninverted OpenLRS (and modified FrSKY) receivers.
uint8_t nrf24rx_protocol; // type of nrf24 protocol (0 = v202 250kbps). Must be enabled by FEATURE_RX_NRF24 first.
uint32_t nrf24rx_id;
uint8_t nrf24rx_channel_count;
uint8_t nrf24rx_rf_channel_count;
uint8_t spektrum_sat_bind; // number of bind pulses for Spektrum satellite receivers
uint8_t spektrum_sat_bind_autoreset; // whenever we will reset (exit) binding mode after hard reboot
uint8_t rssi_channel;

12
src/main/target/CJMCU/target.h
View file

@ -71,14 +71,13 @@
#define USE_RX_CX10
#define USE_RX_H8_3D
#define USE_RX_INAV
//#define USE_RX_SYMA
#define USE_RX_SYMA
//#define USE_RX_V202
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_INAV
#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_CX10A
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D
#define NRF24_DEFAULT_PROTOCOL NRF24RX_CX10A
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_V202_1M
//#define DEBUG_NRF24_INAV
#define DEFAULT_RX_FEATURE FEATURE_RX_NRF24
#define TELEMETRY_LTM
@ -91,10 +90,9 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#undef SKIP_RX_MSP
#define SPEKTRUM_BIND
// UART2, PA3
#define BIND_PIN PA3
#define BIND_PIN PA3 // UART2, PA3
#endif //USE_RX_NRF24
#define BRUSHED_MOTORS