├── CREDITS ├── LICENSE.TXT ├── README.md └── coptermanager ├── a7105.cpp ├── a7105.h ├── common.h ├── config.h ├── coptermanager.ino ├── diagnostics.cpp ├── diagnostics.h ├── hubsan.cpp ├── hubsan.h ├── macros.h ├── manager.cpp ├── manager.h └── session.h /CREDITS: -------------------------------------------------------------------------------- 1 | # CREDITS 2 | 3 | * PhracturedBlue for creating the deviation firmware and reverse engineering the hubsan protocol: https://bitbucket.org/PhracturedBlue/deviation 4 | * shinyshez for the Arduino/A7105 instructions and original code: http://www.instructables.com/id/Easy-Android-controllable-PC-Interfaceable-Relati/ 5 | * Cass May for 4 wire SPI mode instructions and code: https://github.com/cassm/a7105 6 | * Prof. G.K. Egan (gke) and goebish for decoding telemetry data: https://github.com/gke/TxAdapter_gke & https://github.com/goebish 7 | -------------------------------------------------------------------------------- /LICENSE.TXT: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Coptermanager 2 | 3 | A set of applications to program your quadrocopters. Contains code for the transmitter station (arduino board with A7105 chip), a server application to control your drones in the browser and execute custom code using a JavaScript API, and a node.js package for connecting to a local or remote transmitter station. 4 | 5 | ## Overview 6 | 7 | * [coptermanager-arduino](https://github.com/andihit/coptermanager-arduino): arduino application which communicates with the quadrocopters 8 | * [coptermanager_server](https://github.com/andihit/coptermanager_server): web interface and HTTP API for controlling multiple quadrocopters 9 | * [coptermanager-client](https://github.com/andihit/coptermanager-client): client library to control quadrocopters with javascript (node.js) 10 | 11 | ## Possible setups 12 | 13 | ### Variant 1: full stack solution 14 | 15 | This setup is recommended. It allows you to control multiple quadrocopters with just a single arduino board and transmitter chip. You can open the webinterface and start programming right away, inside the browser. Furthermore you can connect other apps to the HTTP API (e.g. apps for mobile devices). 16 | 17 | ### Variant 2: coptermanager-arduino and coptermanager-client 18 | 19 | It is also possible to talk directly from the client to the arduino board. The JavaScript API is identical to variant 1. 20 | 21 | ## Setup instructions 22 | 23 | 1. Follow the [instructions to build the transmitter station](http://www.instructables.com/id/Easy-Android-controllable-PC-Interfaceable-Relati/step5/Building-the-Arduino-driven-radio/) with a small modification: 24 | * instead of 3 wire SPI use 4 wire SPI: 25 | * skip step 10 "Put an additional wire from the 'SDIO' pin of the A7105 to the 'MISO' pin of the due." 26 | * **instead wire 'gio1' of the A7105 chip to the 'MISO' port of the arduino due** 27 | * test some resistor values (as written in the tutorial) - mine didn't work with 22K Ohm, but it works with 10K Ohm 28 | 29 | 2. Open the source code of this project and send it to your arduino board 30 | 31 | ### Pictures 32 | 33 | ![](http://andihit.github.io/coptermanager-arduino/images/board1.jpg) 34 | ![](http://andihit.github.io/coptermanager-arduino/images/board2.jpg) 35 | (Note: the floppy cable isn't required - I didn't have any male-to-female cables for the SPI port of the arduino due so I had to improvise...) 36 | 37 | ## Documentation 38 | 39 | ### Protocol 40 | 41 | **coptermanager-arduino** listens on the serial port for new commands. The protocol is very simple: each command contains 3 bytes - `copterid`, `command` and `value`. The response is always a one byte. 42 | 43 | #### List of commands: 44 | 45 | | Name | Code | Command value | Description | 46 | | ------------------ | ---- | ---------------------------------- | ------------------------------------------------------------------------------------------------------------------- | 47 | | COPTER_BIND | 0x01 | copter type (see below) | Initiate binding process. Timing is very important here, so during this time (max. 500ms) the processor is blocked. Return values the copterid | 48 | | COPTER_THROTTLE | 0x02 | throttle value (range 0x00 - 0xFF) | set throttle (top/down) value | 49 | | COPTER_RUDDER | 0x03 | rudder value (range 0x34 - 0xCC) | set rudder (rotate left/right) value | 50 | | COPTER_AILERON | 0x04 | aileron value (range 0x45 - 0xC3) | set aileron (drift left/right) value | 51 | | COPTER_ELEVATOR | 0x05 | elevator value (range 0x3E - 0xBC) | set elevator (forward/backward) value | 52 | | COPTER_LED | 0x06 | enable or disable (1 or 0) | enable/disable leds | 53 | | COPTER_FLIP | 0x07 | enable or disable (1 or 0) | enable/disable flips | 54 | | COPTER_VIDEO | 0x08 | enable or disable (1 or 0) | enable/disable video (if the copter has a camera) | 55 | | COPTER_GETSTATE | 0x09 | - | get binding state | 56 | | COPTER_EMERGENCY | 0x0A | - | set emergency mode on: in this mode all values are set to default (the copter will fall down like a rock) and no further commands will be accepted (except COPTER_DISCONNECT) | 57 | | COPTER_DISCONNECT | 0x0B | - | disconnect copter | 58 | | COPTER_LISTCOPTERS | 0x0C | - | get bitmask of connected copters (LSB = copterid 1, bit 1 = copterid 2, ...) | 59 | 60 | #### List of copter types: 61 | 62 | | Name | Code | Description | 63 | | --------- | ---- | ----------------------------------------------------------------------------- | 64 | | HUBSAN_X4 | 0x01 | The Hubsan X4 (tested with the V2, but should work with V1 and maybe FPV too) | 65 | 66 | #### List of response codes: 67 | 68 | | Name | Code | Description | 69 | | ---------------------------- | ---- | --------------------------------------------------------------------- | 70 | | PROTOCOL_OK | 0x00 | Success | 71 | | PROTOCOL_UNBOUND | 0xE0 | Copter is unbound | 72 | | PROTOCOL_BOUND | 0xE1 | Copter is bound | 73 | | PROTOCOL_INVALID_COPTER_TYPE | 0xF0 | Invalid copter type. See table above on valid copter types | 74 | | PROTOCOL_ALL_SLOTS_FULL | 0xF1 | All copter slots are full. Configurable inside config.h `NUM_COPTERS` | 75 | | PROTOCOL_INVALID_SLOT | 0xF2 | Invalid copterid. Range 1 - `NUM_COPTERS` | 76 | | PROTOCOL_VALUE_OUT_OF_RANGE | 0xF3 | Value out of range | 77 | | PROTOCOL_EMERGENCY_MODE_ON | 0xF4 | If emergency mode is on, only the disconnect command is supported | 78 | | PROTOCOL_UNKNOWN_COMMAND | 0xF5 | Unkown command | 79 | 80 | #### Example session: 81 | 82 | ``` 83 | > 0x00 0x01 0x01 # bind a hubsan x4 84 | < 0x01 # assigned copterid is 0x01 85 | > 0x01 0x02 0x0F # set throttle of copter #1 to 0x0F 86 | < 0x00 # success 87 | > 0x01 0x06 0x00 # set of copter #1 off 88 | < 0x00 # success 89 | > 0x01 0x0B 0x00 # disconnect copter #1 90 | < 0x00 # success 91 | ``` 92 | 93 | In this session `>` indicates a request and `<` the response. The protocol is binary: spaces are just for readability, and values must be transmitted as their value and *not* as ASCII strings. 94 | 95 | #### Debugging: 96 | 97 | In `config.h` there are 2 debug modes available: `DEBUG` and `SERIAL_ASCII`. The first one enables debug messages and the last one enables write and read operations as ASCII strings. With `SERIAL_ASCII` turned on the requests are in the format `AABBCC` where `AA` is the copterid, `BB` the command and `CC` the command value in hexadecimal format with ASCII characters (don't prefix them with `0x`!). Example request: `000101` (transmitted as ASCII characters, e.g. wrote in the arduino IDE's serial monitor, with no line ending) to bind the hubsan. 98 | -------------------------------------------------------------------------------- /coptermanager/a7105.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This project is free software: you can redistribute it and/or modify 3 | it under the terms of the GNU General Public License as published by 4 | the Free Software Foundation, either version 3 of the License, or 5 | (at your option) any later version. 6 | 7 | Deviation is distributed in the hope that it will be useful, 8 | but WITHOUT ANY WARRANTY; without even the implied warranty of 9 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 10 | GNU General Public License for more details. 11 | 12 | You should have received a copy of the GNU General Public License 13 | along with Deviation. If not, see . 14 | */ 15 | 16 | #include 17 | #include 18 | #include "a7105.h" 19 | #include "macros.h" 20 | 21 | #define PROTOSPI_xfer(x) SPI.transfer(x) 22 | #define PROTOSPI_read3wire() SPI.transfer(0) 23 | 24 | inline static void CS_HI() { 25 | digitalWrite(CS_PIN, HIGH); 26 | } 27 | 28 | inline static void CS_LO() { 29 | digitalWrite(CS_PIN, LOW); 30 | } 31 | 32 | // Set CS pin mode, initialse and set sensible defaults for SPI, set GIO1 as output on chip 33 | void A7105_Setup() { 34 | // initialise the cs lock pin 35 | pinMode(CS_PIN, OUTPUT); 36 | 37 | // initialise SPI, set mode and byte order 38 | SPI.begin(); 39 | SPI.setDataMode(SPI_MODE0); 40 | SPI.setBitOrder(MSBFIRST); 41 | 42 | // set GIO1 to SDO (MISO) by writing to reg GIO1S 43 | // (this instructs the chip to use GIO1 as the output pin) 44 | A7105_WriteReg(A7105_0B_GPIO1_PIN1, 0x19); // 0b11001 45 | } 46 | 47 | void A7105_WriteReg(u8 address, u8 data) 48 | { 49 | CS_LO(); 50 | PROTOSPI_xfer(address); 51 | PROTOSPI_xfer(data); 52 | CS_HI(); 53 | } 54 | 55 | u8 A7105_ReadReg(u8 address) 56 | { 57 | u8 data; 58 | CS_LO(); 59 | PROTOSPI_xfer(0x40 | address); 60 | /* Wait for tx completion before spi shutdown */ 61 | data = PROTOSPI_read3wire(); 62 | CS_HI(); 63 | return data; 64 | } 65 | 66 | void A7105_WriteData(u8 *dpbuffer, u8 len, u8 channel) 67 | { 68 | int i; 69 | CS_LO(); 70 | PROTOSPI_xfer(A7105_RST_WRPTR); 71 | PROTOSPI_xfer(0x05); 72 | for (i = 0; i < len; i++) 73 | PROTOSPI_xfer(dpbuffer[i]); 74 | CS_HI(); 75 | 76 | A7105_WriteReg(0x0F, channel); 77 | 78 | CS_LO(); 79 | PROTOSPI_xfer(A7105_TX); 80 | CS_HI(); 81 | } 82 | void A7105_ReadData(u8 *dpbuffer, u8 len) 83 | { 84 | A7105_Strobe(A7105_RST_RDPTR); //A7105_RST_RDPTR 85 | for(int i = 0; i < len; i++) 86 | dpbuffer[i] = A7105_ReadReg(0x05); 87 | return; 88 | } 89 | 90 | /* 91 | * we use 4 wire SPI mode (gio1 as output pin) 92 | */ 93 | void A7105_SetTxRxMode(enum TXRX_State mode) 94 | { 95 | } 96 | 97 | int A7105_Reset() 98 | { 99 | // this writes a null value to register 0x00, which triggers the reset 100 | A7105_WriteReg(0x00, 0x00); 101 | usleep(1000); 102 | // set gpio1 to SDO (MISO) by writing to reg GIO1S 103 | A7105_WriteReg(A7105_0B_GPIO1_PIN1, 0x19); // 0b11001 104 | A7105_SetTxRxMode(TXRX_OFF); 105 | int result = A7105_ReadReg(0x10) == 0x9E; 106 | A7105_Strobe(A7105_STANDBY); 107 | return result; 108 | } 109 | 110 | void A7105_WriteID(u32 id) 111 | { 112 | CS_LO(); 113 | PROTOSPI_xfer(0x06); 114 | PROTOSPI_xfer((id >> 24) & 0xFF); 115 | PROTOSPI_xfer((id >> 16) & 0xFF); 116 | PROTOSPI_xfer((id >> 8) & 0xFF); 117 | PROTOSPI_xfer((id >> 0) & 0xFF); 118 | CS_HI(); 119 | } 120 | 121 | void A7105_SetPower(int power) 122 | { 123 | /* 124 | Power amp is ~+16dBm so: 125 | TXPOWER_100uW = -23dBm == PAC=0 TBG=0 126 | TXPOWER_300uW = -20dBm == PAC=0 TBG=1 127 | TXPOWER_1mW = -16dBm == PAC=0 TBG=2 128 | TXPOWER_3mW = -11dBm == PAC=0 TBG=4 129 | TXPOWER_10mW = -6dBm == PAC=1 TBG=5 130 | TXPOWER_30mW = 0dBm == PAC=2 TBG=7 131 | TXPOWER_100mW = 1dBm == PAC=3 TBG=7 132 | TXPOWER_150mW = 1dBm == PAC=3 TBG=7 133 | */ 134 | u8 pac, tbg; 135 | switch(power) { 136 | case 0: pac = 0; tbg = 0; break; 137 | case 1: pac = 0; tbg = 1; break; 138 | case 2: pac = 0; tbg = 2; break; 139 | case 3: pac = 0; tbg = 4; break; 140 | case 4: pac = 1; tbg = 5; break; 141 | case 5: pac = 2; tbg = 7; break; 142 | case 6: pac = 3; tbg = 7; break; 143 | case 7: pac = 3; tbg = 7; break; 144 | default: pac = 0; tbg = 0; break; 145 | }; 146 | A7105_WriteReg(0x28, (pac << 3) | tbg); 147 | } 148 | 149 | void A7105_Strobe(enum A7105_State state) 150 | { 151 | CS_LO(); 152 | PROTOSPI_xfer(state); 153 | CS_HI(); 154 | } 155 | -------------------------------------------------------------------------------- /coptermanager/a7105.h: -------------------------------------------------------------------------------- 1 | #ifndef A7105_H 2 | #define A7105_H 3 | 4 | #include "common.h" 5 | 6 | enum A7105_State { 7 | A7105_SLEEP = 0x80, 8 | A7105_IDLE = 0x90, 9 | A7105_STANDBY = 0xA0, 10 | A7105_PLL = 0xB0, 11 | A7105_RX = 0xC0, 12 | A7105_TX = 0xD0, 13 | A7105_RST_WRPTR = 0xE0, 14 | A7105_RST_RDPTR = 0xF0, 15 | }; 16 | 17 | enum { 18 | A7105_00_MODE = 0x00, 19 | A7105_01_MODE_CONTROL = 0x01, 20 | A7105_02_CALC = 0x02, 21 | A7105_03_FIFOI = 0x03, 22 | A7105_04_FIFOII = 0x04, 23 | A7105_05_FIFO_DATA = 0x05, 24 | A7105_06_ID_DATA = 0x06, 25 | A7105_07_RC_OSC_I = 0x07, 26 | A7105_08_RC_OSC_II = 0x08, 27 | A7105_09_RC_OSC_III = 0x09, 28 | A7105_0A_CK0_PIN = 0x0A, 29 | A7105_0B_GPIO1_PIN1 = 0x0B, 30 | A7105_0C_GPIO2_PIN_II = 0x0C, 31 | A7105_0D_CLOCK = 0x0D, 32 | A7105_0E_DATA_RATE = 0x0E, 33 | A7105_0F_PLL_I = 0x0F, 34 | A7105_10_PLL_II = 0x10, 35 | A7105_11_PLL_III = 0x11, 36 | A7105_12_PLL_IV = 0x12, 37 | A7105_13_PLL_V = 0x13, 38 | A7105_14_TX_I = 0x14, 39 | A7105_15_TX_II = 0x15, 40 | A7105_16_DELAY_I = 0x16, 41 | A7105_17_DELAY_II = 0x17, 42 | A7105_18_RX = 0x18, 43 | A7105_19_RX_GAIN_I = 0x19, 44 | A7105_1A_RX_GAIN_II = 0x1A, 45 | A7105_1B_RX_GAIN_III = 0x1B, 46 | A7105_1C_RX_GAIN_IV = 0x1C, 47 | A7105_1D_RSSI_THOLD = 0x1D, 48 | A7105_1E_ADC = 0x1E, 49 | A7105_1F_CODE_I = 0x1F, 50 | A7105_20_CODE_II = 0x20, 51 | A7105_21_CODE_III = 0x21, 52 | A7105_22_IF_CALIB_I = 0x22, 53 | A7105_23_IF_CALIB_II = 0x23, 54 | A7105_24_VCO_CURCAL = 0x24, 55 | A7105_25_VCO_SBCAL_I = 0x25, 56 | A7105_26_VCO_SBCAL_II = 0x26, 57 | A7105_27_BATTERY_DET = 0x27, 58 | A7105_28_TX_TEST = 0x28, 59 | A7105_29_RX_DEM_TEST_I = 0x29, 60 | A7105_2A_RX_DEM_TEST_II = 0x2A, 61 | A7105_2B_CPC = 0x2B, 62 | A7105_2C_XTAL_TEST = 0x2C, 63 | A7105_2D_PLL_TEST = 0x2D, 64 | A7105_2E_VCO_TEST_I = 0x2E, 65 | A7105_2F_VCO_TEST_II = 0x2F, 66 | A7105_30_IFAT = 0x30, 67 | A7105_31_RSCALE = 0x31, 68 | A7105_32_FILTER_TEST = 0x32, 69 | }; 70 | #define A7105_0F_CHANNEL A7105_0F_PLL_I 71 | 72 | enum A7105_MASK { 73 | A7105_MASK_FBCF = 1 << 4, 74 | A7105_MASK_VBCF = 1 << 3, 75 | }; 76 | 77 | void A7105_Setup(); 78 | void A7105_Initialize(); 79 | void A7105_WriteReg(u8 addr, u8 value); 80 | void A7105_WriteData(u8 *dpbuffer, u8 len, u8 channel); 81 | void A7105_ReadData(u8 *dpbuffer, u8 len); 82 | u8 A7105_ReadReg(u8 addr); 83 | int A7105_Reset(); 84 | void A7105_WriteID(u32 id); 85 | void A7105_Strobe(enum A7105_State); 86 | void A7105_SetPower(int power); 87 | void A7105_SetTxRxMode(enum TXRX_State); 88 | 89 | 90 | #endif 91 | -------------------------------------------------------------------------------- /coptermanager/common.h: -------------------------------------------------------------------------------- 1 | #ifndef COMMON_H 2 | #define COMMON_H 3 | 4 | #include 5 | #include "config.h" 6 | 7 | #ifdef DEBUG 8 | #define DEBUG_MSG(x) Serial.println (x) 9 | #else 10 | #define DEBUG_MSG(x) (void)0 11 | #endif 12 | 13 | typedef int8_t s8; 14 | typedef int16_t s16; 15 | typedef int32_t s32; 16 | typedef uint8_t u8; 17 | typedef uint16_t u16; 18 | typedef uint32_t u32; 19 | typedef uint64_t u64; 20 | 21 | enum TxPower { 22 | TXPOWER_100uW, 23 | TXPOWER_300uW, 24 | TXPOWER_1mW, 25 | TXPOWER_3mW, 26 | TXPOWER_10mW, 27 | TXPOWER_30mW, 28 | TXPOWER_100mW, 29 | TXPOWER_150mW, 30 | TXPOWER_LAST, 31 | }; 32 | 33 | enum TXRX_State { 34 | TXRX_OFF, 35 | TX_EN, 36 | RX_EN, 37 | }; 38 | 39 | #define NUM_PROTO_OPTS 4 40 | 41 | struct Model { 42 | s16 proto_opts[NUM_PROTO_OPTS]; 43 | enum TxPower tx_power; 44 | }; 45 | 46 | #endif 47 | -------------------------------------------------------------------------------- /coptermanager/config.h: -------------------------------------------------------------------------------- 1 | #ifndef CONFIG_H 2 | #define CONFIG_H 3 | 4 | // SPI CS PIN 5 | #define CS_PIN 10 6 | 7 | // serial port baudrate 8 | #define BAUDRATE 115200 9 | 10 | // number of copter slots, max. 8 (otherwise COPTER_LISTCOPTERS command won't work) 11 | #define NUM_COPTERS 8 12 | 13 | // max time of unbound state in ms 14 | #define MAX_UNBOUND_TIME 1000*60 15 | 16 | // max time of bound state in ms (should be greater than akku capacity) 17 | #define MAX_BOUND_TIME 1000*60*10 18 | 19 | //#define DEBUG 20 | //#define DEBUG_TELEMETRY 21 | //#define SERIAL_ASCII 22 | //#define FIXED_CHANNEL 0x6E 23 | 24 | #endif 25 | -------------------------------------------------------------------------------- /coptermanager/coptermanager.ino: -------------------------------------------------------------------------------- 1 | // some .ino file must include the SPI library, otherwise it's not available inside a7105.cpp 2 | #include 3 | #include "common.h" 4 | #include "manager.h" 5 | #include "diagnostics.h" 6 | 7 | void setup() 8 | { 9 | pinMode(13, OUTPUT); 10 | digitalWrite(13, LOW); 11 | manager_init(); 12 | delay(500); 13 | digitalWrite(13, HIGH); 14 | delay(500); 15 | digitalWrite(13, LOW); 16 | } 17 | 18 | int hex2int(byte *arr, int startpos, int endpos) 19 | { 20 | int base = 1; 21 | int ret = 0; 22 | for(int i = endpos; i >= startpos; i--) { 23 | int val = 0; 24 | if (arr[i] >= 'A' && arr[i] <= 'F') 25 | val = 10 + (arr[i] - 'A'); 26 | else if (arr[i] >= 'a' && arr[i] <= 'f') 27 | val = 10 + (arr[i] - 'a'); 28 | else if (arr[i] >= '0' && arr[i] <= '9') 29 | val = arr[i] - '0'; 30 | 31 | ret += val * base; 32 | base *= 16; 33 | } 34 | return ret; 35 | } 36 | 37 | void send_response(int result_code, int* response) 38 | { 39 | #ifdef SERIAL_ASCII 40 | Serial.print("command result "); 41 | Serial.print(String(result_code, HEX)); 42 | for (int i=1; i <= response[0]; i++) { 43 | Serial.print(" "+String(response[i], HEX)); 44 | } 45 | Serial.println(); 46 | #else 47 | int sum = result_code; 48 | Serial.write(result_code); 49 | for (int i=1; i <= response[0]; i++) { 50 | Serial.write(response[i]); 51 | sum += response[i]; 52 | } 53 | Serial.write((256 - (sum % 256)) & 0xFF); 54 | #endif 55 | } 56 | 57 | int response[7] = {0}; 58 | void loop() 59 | { 60 | #ifdef SERIAL_ASCII 61 | if (Serial.available() >= 6) { 62 | byte data[6]; 63 | Serial.readBytes(data, 6); 64 | int copterid = hex2int(data, 0, 1); 65 | int command = hex2int(data, 2, 3); 66 | int value = hex2int(data, 4, 5); 67 | int checksum = calculate_checksum(copterid, command, value); // don't use checksum when SERIAL_ASCII is enabled 68 | #else 69 | if (Serial.available() >= 4) { 70 | int copterid = Serial.read(); 71 | int command = Serial.read(); 72 | int value = Serial.read(); 73 | int checksum = Serial.read(); 74 | #endif 75 | 76 | DEBUG_MSG("read values " + String(copterid) + " " + String(command) + " " + String(value)); 77 | int result_code = manager_processcommand(copterid, command, value, checksum, response); 78 | send_response(result_code, response); 79 | } 80 | 81 | manager_loop(); 82 | } 83 | -------------------------------------------------------------------------------- /coptermanager/diagnostics.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | Thanks to Cass May, https://github.com/cassm/a7105 3 | */ 4 | 5 | #include 6 | #include "diagnostics.h" 7 | #include "a7105.h" 8 | #include "hubsan.h" 9 | 10 | u8 receivedpacket[16]; 11 | u8 no_allowed_channels = sizeof(allowed_channels)/sizeof(allowed_channels[0]); 12 | 13 | // print the contents of packet in a human-readable way 14 | void printpacket(u8 packet[]) { 15 | int j; 16 | Serial.print("Packet received: "); 17 | for (j = 0 ; j < 16 ; j++) { 18 | if (packet[j] < 10) 19 | Serial.print("0"); 20 | Serial.print(packet[j], HEX); 21 | Serial.print(" "); 22 | } 23 | Serial.println(""); 24 | } 25 | 26 | // Eavesdrop on a hubsan exchange. This must be started prior to the binding exchange. 27 | void eavesdrop() { 28 | u8 prebind_packet[16]; 29 | int wait_start, wait_end; 30 | 31 | Serial.println("Eavesdropping..."); 32 | 33 | // use findchannel to locate the channel which is currently being broadcast on 34 | u8 sess_channel = A7105_findchannel(); 35 | 36 | // strobe to receiver mode, intercept a packet 37 | A7105_Strobe(A7105_RX); 38 | while(A7105_ReadReg(A7105_00_MODE) & 0x01) 39 | delayMicroseconds(1); 40 | A7105_ReadData(prebind_packet, 16); 41 | 42 | // use the data from the packet to switch the chip over to the transactions session ID 43 | A7105_WriteID((prebind_packet[2] << 24) | (prebind_packet[3] << 16) | (prebind_packet[4] << 8) | prebind_packet[5]); 44 | 45 | // It is now acceptable to allow the Tx to bind with an Rx 46 | 47 | // measure haw long it takes for the next packet to arrive 48 | wait_start = micros(); 49 | while(true) { 50 | A7105_Strobe(A7105_RX); 51 | while(A7105_ReadReg(A7105_00_MODE) & 0x01) { 52 | delayMicroseconds(1); 53 | 54 | // if it takes more than 5 seconds, we can assume that the session has been terminated 55 | if ((micros()-wait_start) > 5000000) { 56 | Serial.println("Session terminated. Rescanning..."); 57 | // ...and therefore start listening for pre-bind packets again 58 | return; 59 | } 60 | } 61 | 62 | // record the end time, retrieve the packet 63 | wait_end = micros(); 64 | A7105_ReadData(receivedpacket, 16); 65 | 66 | // print the packet along with the time interval between it and the previous packet 67 | int timeinterval = (wait_end - wait_start)/1000; 68 | if (timeinterval < 10) 69 | Serial.print("0"); 70 | Serial.print(timeinterval); 71 | 72 | // start timing for the next packet 73 | wait_start = micros(); 74 | Serial.print("us: "); 75 | printpacket(receivedpacket); 76 | } 77 | } 78 | 79 | // find which channel the binding exchange is taking place on 80 | u8 A7105_findchannel() { 81 | int pack_count; 82 | while (true) { 83 | // scan all allowed channels 84 | for (int i = 0 ; i < no_allowed_channels ; i++) { 85 | pack_count = 0; 86 | A7105_WriteReg(A7105_0F_CHANNEL, allowed_channels[i]); 87 | 88 | // Listen on channel 89 | for (int j = 0 ; j < 20 ; j++) 90 | pack_count += A7105_sniffchannel(); 91 | 92 | // if channel has more than 3 packets, assume channel is correct 93 | if (pack_count > 3) { 94 | Serial.println("Channel found: "+String(allowed_channels[i], HEX)); 95 | return allowed_channels[i]; 96 | } 97 | } 98 | } 99 | } 100 | 101 | // sniffs the currently set channel, prints packets to serial 102 | int A7105_sniffchannel() { 103 | // put chip in receiver mode 104 | A7105_Strobe(A7105_RX); 105 | 106 | // wait for packet to arrive 107 | delayMicroseconds(3000); 108 | 109 | // if flag is high, buffer has filled, meaning a packet has been intercepted 110 | if(!(A7105_ReadReg(A7105_00_MODE) & 0x01)) { 111 | 112 | // accept and print packet 113 | A7105_ReadData(receivedpacket, 16); 114 | printpacket(receivedpacket); 115 | return 1; 116 | } 117 | else 118 | return 0; 119 | } 120 | 121 | // version of sniffchannel which sniffs a channel other than the one which is currently set. 122 | void A7105_sniffchannel(u8 _channel) { 123 | Serial.print("Switching to channel "); 124 | Serial.println(_channel); 125 | Serial.println(""); 126 | A7105_WriteReg(A7105_0F_CHANNEL, _channel); 127 | while (1) { 128 | A7105_sniffchannel(); 129 | } 130 | } 131 | 132 | // function to sniff a list of channels and see what is being broadcast on them 133 | // attempts sniffing 20 times on each channel before looping, print any results to serial 134 | void A7105_scanchannels(const u8 channels[]) { 135 | int packetsreceived; 136 | for (int i = 0 ; i < no_allowed_channels ; i++) { 137 | packetsreceived = 0; 138 | Serial.println(""); 139 | Serial.print("Switching to channel "); 140 | Serial.println(channels[i], HEX); 141 | Serial.println(""); 142 | A7105_WriteReg(A7105_0F_CHANNEL, channels[i]); 143 | for (int j = 0 ; j < 20 ; j++) { 144 | packetsreceived += A7105_sniffchannel(); 145 | } 146 | if (packetsreceived) { 147 | Serial.print(packetsreceived); 148 | Serial.print(" packets received on channel "); 149 | Serial.println(channels[i], HEX); 150 | } 151 | else { 152 | Serial.print("Channel "); 153 | Serial.print(channels[i], HEX); 154 | Serial.println(" is clear."); 155 | } 156 | } 157 | } 158 | -------------------------------------------------------------------------------- /coptermanager/diagnostics.h: -------------------------------------------------------------------------------- 1 | #ifndef DIAGNOSTICS_H 2 | #define DIAGNOSTICS_H 3 | 4 | #include "common.h" 5 | 6 | void printpacket(u8 packet[]); 7 | void eavesdrop(); 8 | u8 A7105_findchannel(); 9 | int A7105_sniffchannel(); 10 | void A7105_sniffchannel(u8 _channel); 11 | void A7105_scanchannels(const u8 channels[]); 12 | 13 | #endif 14 | -------------------------------------------------------------------------------- /coptermanager/hubsan.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This project is free software: you can redistribute it and/or modify 3 | it under the terms of the GNU General Public License as published by 4 | the Free Software Foundation, either version 3 of the License, or 5 | (at your option) any later version. 6 | 7 | Deviation is distributed in the hope that it will be useful, 8 | but WITHOUT ANY WARRANTY; without even the implied warranty of 9 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 10 | GNU General Public License for more details. 11 | 12 | You should have received a copy of the GNU General Public License 13 | along with Deviation. If not, see . 14 | */ 15 | 16 | #include 17 | #include "hubsan.h" 18 | #include "common.h" 19 | #include "macros.h" 20 | #include "a7105.h" 21 | 22 | static struct Model Model = { 23 | {0, 0, 0, 0}, 24 | TXPOWER_10mW 25 | }; 26 | 27 | #define TELEM_ON 0 28 | #define TELEM_OFF 1 29 | 30 | enum{ 31 | FLAG_VIDEO= 0x01, // record video 32 | FLAG_FLIP = 0x08, // enable flips 33 | FLAG_LED = 0x04 // enable LEDs 34 | }; 35 | 36 | #define VTX_STEP_SIZE "5" 37 | 38 | enum { 39 | PROTOOPTS_VTX_FREQ = 0, 40 | PROTOOPTS_TELEMETRY, 41 | LAST_PROTO_OPT, 42 | }; 43 | 44 | enum { 45 | BIND_1, 46 | BIND_2, 47 | BIND_3, 48 | BIND_4, 49 | BIND_5, 50 | BIND_6, 51 | BIND_7, 52 | BIND_8, 53 | DATA_1, 54 | DATA_2, 55 | DATA_3, 56 | DATA_4, 57 | DATA_5, 58 | }; 59 | #define WAIT_WRITE 0x80 60 | 61 | static int hubsan_init() 62 | { 63 | u8 if_calibration1; 64 | u8 vco_calibration0; 65 | u8 vco_calibration1; 66 | //u8 vco_current; 67 | 68 | A7105_WriteID(0x55201041); 69 | A7105_WriteReg(A7105_01_MODE_CONTROL, 0x63); 70 | A7105_WriteReg(A7105_03_FIFOI, 0x0f); 71 | A7105_WriteReg(A7105_0D_CLOCK, 0x05); 72 | A7105_WriteReg(A7105_0E_DATA_RATE, 0x04); 73 | A7105_WriteReg(A7105_15_TX_II, 0x2b); 74 | A7105_WriteReg(A7105_18_RX, 0x62); 75 | A7105_WriteReg(A7105_19_RX_GAIN_I, 0x80); 76 | A7105_WriteReg(A7105_1C_RX_GAIN_IV, 0x0A); 77 | A7105_WriteReg(A7105_1F_CODE_I, 0x07); 78 | A7105_WriteReg(A7105_20_CODE_II, 0x17); 79 | A7105_WriteReg(A7105_29_RX_DEM_TEST_I, 0x47); 80 | 81 | A7105_Strobe(A7105_STANDBY); 82 | 83 | //IF Filter Bank Calibration 84 | A7105_WriteReg(0x02, 1); 85 | //vco_current = 86 | A7105_ReadReg(0x02); 87 | u32 ms = CLOCK_getms(); 88 | CLOCK_ResetWatchdog(); 89 | while(CLOCK_getms() - ms < 500) { 90 | if(! A7105_ReadReg(0x02)) 91 | break; 92 | } 93 | if (CLOCK_getms() - ms >= 500) { 94 | DEBUG_MSG("calibration failed"); 95 | return 0; 96 | } 97 | if_calibration1 = A7105_ReadReg(A7105_22_IF_CALIB_I); 98 | A7105_ReadReg(A7105_24_VCO_CURCAL); 99 | if(if_calibration1 & A7105_MASK_FBCF) { 100 | //Calibration failed...what do we do? 101 | return 0; 102 | } 103 | 104 | //VCO Current Calibration 105 | //A7105_WriteReg(0x24, 0x13); //Recomended calibration from A7105 Datasheet 106 | 107 | //VCO Bank Calibration 108 | //A7105_WriteReg(0x26, 0x3b); //Recomended limits from A7105 Datasheet 109 | 110 | //VCO Bank Calibrate channel 0? 111 | //Set Channel 112 | A7105_WriteReg(A7105_0F_CHANNEL, 0); 113 | //VCO Calibration 114 | A7105_WriteReg(0x02, 2); 115 | ms = CLOCK_getms(); 116 | CLOCK_ResetWatchdog(); 117 | while(CLOCK_getms() - ms < 500) { 118 | if(! A7105_ReadReg(0x02)) 119 | break; 120 | } 121 | if (CLOCK_getms() - ms >= 500) { 122 | return 0; 123 | } 124 | vco_calibration0 = A7105_ReadReg(A7105_25_VCO_SBCAL_I); 125 | if (vco_calibration0 & A7105_MASK_VBCF) { 126 | //Calibration failed...what do we do? 127 | return 0; 128 | } 129 | 130 | //Calibrate channel 0xa0? 131 | //Set Channel 132 | A7105_WriteReg(A7105_0F_CHANNEL, 0xa0); 133 | //VCO Calibration 134 | A7105_WriteReg(A7105_02_CALC, 2); 135 | ms = CLOCK_getms(); 136 | CLOCK_ResetWatchdog(); 137 | while(CLOCK_getms() - ms < 500) { 138 | if(! A7105_ReadReg(A7105_02_CALC)) 139 | break; 140 | } 141 | if (CLOCK_getms() - ms >= 500) 142 | return 0; 143 | vco_calibration1 = A7105_ReadReg(A7105_25_VCO_SBCAL_I); 144 | if (vco_calibration1 & A7105_MASK_VBCF) { 145 | //Calibration failed...what do we do? 146 | } 147 | 148 | //Reset VCO Band calibration 149 | //A7105_WriteReg(0x25, 0x08); 150 | A7105_SetTxRxMode(TX_EN); 151 | 152 | A7105_SetPower(Model.tx_power); 153 | 154 | 155 | A7105_Strobe(A7105_STANDBY); 156 | return 1; 157 | } 158 | 159 | static void update_crc(HubsanSession *session) 160 | { 161 | int sum = 0; 162 | for(int i = 0; i < 15; i++) 163 | sum += session->packet[i]; 164 | session->packet[15] = (256 - (sum % 256)) & 0xff; 165 | } 166 | 167 | static void hubsan_build_bind_packet(HubsanSession *session, u8 state) 168 | { 169 | session->packet[0] = state; 170 | session->packet[1] = session->channel; 171 | session->packet[2] = (session->sessionid >> 24) & 0xff; 172 | session->packet[3] = (session->sessionid >> 16) & 0xff; 173 | session->packet[4] = (session->sessionid >> 8) & 0xff; 174 | session->packet[5] = (session->sessionid >> 0) & 0xff; 175 | session->packet[6] = 0x08; 176 | session->packet[7] = 0xe4; //??? 177 | session->packet[8] = 0xea; 178 | session->packet[9] = 0x9e; 179 | session->packet[10] = 0x50; 180 | session->packet[11] = (session->txid >> 24) & 0xff; 181 | session->packet[12] = (session->txid >> 16) & 0xff; 182 | session->packet[13] = (session->txid >> 8) & 0xff; 183 | session->packet[14] = (session->txid >> 0) & 0xff; 184 | update_crc(session); 185 | } 186 | 187 | static void hubsan_build_packet(HubsanSession *session) 188 | { 189 | static s16 vtx_freq = 0; 190 | memset(session->packet, 0, 16); 191 | if(vtx_freq != Model.proto_opts[PROTOOPTS_VTX_FREQ] || session->packet_count==100) // set vTX frequency (H107D) 192 | { 193 | vtx_freq = Model.proto_opts[PROTOOPTS_VTX_FREQ]; 194 | session->packet[0] = 0x40; 195 | session->packet[1] = (vtx_freq >> 8) & 0xff; 196 | session->packet[2] = vtx_freq & 0xff; 197 | session->packet[3] = 0x82; 198 | session->packet_count++; 199 | } 200 | else //20 00 00 00 80 00 7d 00 84 02 64 db 04 26 79 7b 201 | { 202 | session->packet[0] = 0x20; 203 | session->packet[2] = session->throttle; //Throttle 204 | } 205 | session->packet[4] = 0xff - session->rudder; //Rudder is reversed 206 | session->packet[6] = 0xff - session->elevator; //Elevator is reversed 207 | session->packet[8] = session->aileron; //Aileron 208 | if(session->packet_count < 100) 209 | { 210 | session->packet[9] = 0x02 | FLAG_LED | FLAG_FLIP; // sends default value for the 100 first packets 211 | session->packet_count++; 212 | } 213 | else 214 | { 215 | session->packet[9] = 0x02; 216 | // Channel 5 217 | if(session->led) 218 | session->packet[9] |= FLAG_LED; 219 | // Channel 6 220 | if(session->flip >= 0) 221 | session->packet[9] |= FLAG_FLIP; 222 | // Channel 7 223 | if(session->video >0) // off by default 224 | session->packet[9] |= FLAG_VIDEO; 225 | } 226 | session->packet[10] = 0x64; 227 | session->packet[11] = (session->txid >> 24) & 0xff; 228 | session->packet[12] = (session->txid >> 16) & 0xff; 229 | session->packet[13] = (session->txid >> 8) & 0xff; 230 | session->packet[14] = (session->txid >> 0) & 0xff; 231 | update_crc(session); 232 | } 233 | 234 | static u8 hubsan_check_integrity(HubsanSession *session) 235 | { 236 | int sum = 0; 237 | for(int i = 0; i < 15; i++) 238 | sum += session->packet[i]; 239 | return session->packet[15] == ((256 - (sum % 256)) & 0xff); 240 | } 241 | 242 | enum Tag0xe0 { 243 | TAG, 244 | ROC_MSB, 245 | ROC_LSB, 246 | XUNK3, 247 | XUNK4, 248 | XUNK5, 249 | XUNK6, 250 | XUNK7, 251 | XUNK8, 252 | Z_ACC_MSB, 253 | Z_ACC_LSB, 254 | YAW_GYRO_MSB, 255 | YAW_GYRO_LSB, 256 | VBAT, 257 | CRC0, 258 | CRC1 259 | }; 260 | 261 | enum Tag0xe1 { 262 | TAG1, 263 | PITCH_ACC_MSB, 264 | PITCH_ACC_LSB, 265 | ROLL_ACC_MSB, 266 | ROLL_ACC_LSB, 267 | UNK5, 268 | UNK6, 269 | PITCH_GYRO_MSB, 270 | PITCH_GYRO_LSB, 271 | ROLL_GYRO_MSB, 272 | ROLL_GYRO_LSB, 273 | UNK11, 274 | UNK12, 275 | //VBAT, 276 | //CRC0, 277 | //CRC1 278 | }; 279 | 280 | enum rc { // must be in this order 281 | ROLL, 282 | PITCH, 283 | YAW, 284 | THROTTLE, 285 | AUX1, 286 | AUX2, 287 | AUX3, 288 | AUX4 289 | }; 290 | 291 | static void hubsan_update_telemetry(HubsanSession *session) 292 | { 293 | if(hubsan_check_integrity(session)) { 294 | switch (session->packet[0]) { 295 | case 0xE0: 296 | session->estAltitude = -(session->packet[ROC_MSB] << 8 | session->packet[ROC_LSB]);// 1,2 297 | //session->debug[0] = session->packet[3] << 8 | session->packet[4]; 298 | //session->debug[1] = session->packet[5] << 8 | session->packet[6]; 299 | //session->debug[2] = session->packet[7] << 8 | session->packet[8]; 300 | session->accData[YAW] = session->packet[Z_ACC_MSB] << 8 | session->packet[Z_ACC_LSB]; // OK 301 | session->gyroData[YAW] = session->packet[YAW_GYRO_MSB] << 8 | session->packet[YAW_GYRO_LSB]; 302 | // batteryVolts = session->packet[VBAT]; // only in 0xe1 Packet! (http://www.deviationtx.com/forum/protocol-development/1848-new-hubsan-upgraded-version-on-the-way?start=340#17668) 303 | break; 304 | case 0xE1: 305 | session->accData[PITCH] = session->packet[PITCH_ACC_MSB] << 8 | session->packet[PITCH_ACC_LSB]; 306 | session->accData[ROLL] = session->packet[ROLL_ACC_MSB] << 8 | session->packet[ROLL_ACC_LSB]; 307 | 308 | session->gyroData[PITCH] = session->packet[PITCH_GYRO_MSB] << 8 | session->packet[PITCH_GYRO_LSB]; 309 | session->gyroData[ROLL] = session->packet[ROLL_GYRO_MSB] << 8 | session->packet[ROLL_GYRO_LSB]; 310 | 311 | // use acc as angle alias 312 | session->angle[PITCH] = session->accData[PITCH]; 313 | session->angle[ROLL] = -session->accData[ROLL]; 314 | session->batteryVolts = session->packet[VBAT]; 315 | break; 316 | default: 317 | break; 318 | } 319 | 320 | #ifdef DEBUG_TELEMETRY 321 | Serial.print ("Telemetry data: "); 322 | for(int i=0; i<16;i++) { 323 | if (session->packet[i] <= 15) 324 | Serial.print("0"); 325 | Serial.print(session->packet[i], HEX); 326 | Serial.print(" "); 327 | } 328 | 329 | Serial.print (" Alt: " + String(session->estAltitude)); 330 | Serial.print (", Battery: " + String(session->batteryVolts)); 331 | Serial.print (", Gyro:"); 332 | for(int i=0; i<3; i++) { 333 | Serial.print(" "+String(session->gyroData[i])); 334 | } 335 | Serial.print (", Acc:"); 336 | for(int i=0; i<3; i++) { 337 | Serial.print(" "+String(session->accData[i])); 338 | } 339 | Serial.print (", Angle:"); 340 | for(int i=0; i<3; i++) { 341 | Serial.print(" "+String(session->angle[i])); 342 | } 343 | Serial.println(); 344 | #endif 345 | } 346 | } 347 | 348 | inline boolean A7105_busy(void) { 349 | return A7105_ReadReg(A7105_00_MODE) & 0x01; 350 | } 351 | 352 | u16 hubsan_cb(HubsanSession *session) 353 | { 354 | // odd stages: TX -> RX (sending) 355 | // even stages: RX -> TX (receiving) 356 | 357 | int i; 358 | switch(session->state) { 359 | case BIND_1: 360 | case BIND_3: 361 | case BIND_5: 362 | case BIND_7: 363 | hubsan_build_bind_packet(session, session->state == BIND_7 ? 9 : (session->state == BIND_5 ? 1 : session->state + 1 - BIND_1)); 364 | A7105_Strobe(A7105_STANDBY); 365 | A7105_WriteData(session->packet, 16, session->channel); 366 | session->state |= WAIT_WRITE; 367 | return 3000; 368 | case BIND_1 | WAIT_WRITE: 369 | case BIND_3 | WAIT_WRITE: 370 | case BIND_5 | WAIT_WRITE: 371 | case BIND_7 | WAIT_WRITE: 372 | //wait for completion 373 | for(i = 0; i< 20; i++) { 374 | if(! (A7105_ReadReg(A7105_00_MODE) & 0x01)) 375 | break; 376 | } 377 | if (i == 20) 378 | DEBUG_MSG("Failed to complete write\n"); 379 | A7105_SetTxRxMode(RX_EN); 380 | A7105_Strobe(A7105_RX); 381 | session->state &= ~WAIT_WRITE; 382 | session->state++; 383 | return 4500; //7.5msec elapsed since last write 384 | case BIND_2: 385 | case BIND_4: 386 | case BIND_6: 387 | A7105_SetTxRxMode(TX_EN); 388 | if(A7105_ReadReg(A7105_00_MODE) & 0x01) { 389 | session->state = BIND_1; 390 | //DEBUG_MSG("No signal, restart binding procedure"); 391 | return 4500; //No signal, restart binding procedure. 12msec elapsed since last write 392 | } 393 | A7105_ReadData(session->packet, 16); 394 | session->state++; 395 | if (session->state == BIND_5) 396 | A7105_WriteID((session->packet[2] << 24) | (session->packet[3] << 16) | (session->packet[4] << 8) | session->packet[5]); 397 | 398 | return 500; //8msec elapsed time since last write; 399 | case BIND_8: 400 | A7105_SetTxRxMode(TX_EN); 401 | if(A7105_ReadReg(A7105_00_MODE) & 0x01) { 402 | session->state = BIND_7; 403 | //DEBUG_MSG("Transmittion in progress, waiting"); 404 | return 15000; //22.5msec elapsed since last write 405 | } 406 | A7105_ReadData(session->packet, 16); 407 | if(session->packet[1] == 9) { 408 | session->state = DATA_1; 409 | A7105_WriteReg(A7105_1F_CODE_I, 0x0F); 410 | //PROTOCOL_SetBindState(0); 411 | DEBUG_MSG("copter bound."); 412 | return 28000; //35.5msec elapsed since last write 413 | } else { 414 | session->state = BIND_7; 415 | DEBUG_MSG("Got unknown packet, first 2 bytes: "+String(session->packet[0], HEX) + " " + String(session->packet[1], HEX)); 416 | return 15000; //22.5 msec elapsed since last write 417 | } 418 | case DATA_1: 419 | A7105_SetPower(Model.tx_power); // keep transmit power in sync 420 | case DATA_2: 421 | case DATA_3: 422 | case DATA_4: 423 | case DATA_5: 424 | uint16_t d; 425 | switch (session->telemetryState) { // Goebish - telemetry is every ~0.1S r 10 Tx packets 426 | case doTx: 427 | hubsan_build_packet(session); 428 | A7105_Strobe(A7105_STANDBY); 429 | A7105_WriteData(session->packet, 16, session->state == DATA_5 ? session->channel + 0x23 : session->channel); 430 | d = 3000; // nominal tx time 431 | session->telemetryState = waitTx; 432 | break; 433 | case waitTx: 434 | if(A7105_busy()) 435 | d = 0; 436 | else { // wait for tx completion 437 | A7105_Strobe(A7105_RX); 438 | session->polls = 0; 439 | session->telemetryState = pollRx; 440 | d = 3000; // nominal rx time 441 | } 442 | break; 443 | case pollRx: // check for telemetry 444 | if(A7105_busy()) 445 | d = 1000; 446 | else { 447 | A7105_ReadData(session->packet, 16); 448 | hubsan_update_telemetry(session); 449 | A7105_Strobe(A7105_RX); 450 | d = 1000; 451 | } 452 | 453 | if (++session->polls >= 7) { // 3ms + 3mS + 4*1ms 454 | if (session->state == DATA_5) 455 | session->state = DATA_1; 456 | else 457 | session->state++; 458 | session->telemetryState = doTx; 459 | } 460 | break; 461 | } 462 | return d; 463 | } 464 | return 0; 465 | } 466 | 467 | u16 hubsan_multiple_cb(HubsanSession *session) 468 | { 469 | static HubsanSession *bindingSession = NULL; 470 | int i; 471 | switch(session->state) { 472 | case BIND_1: 473 | bindingSession = session; 474 | A7105_WriteID(0x55201041); 475 | case BIND_3: 476 | case BIND_5: 477 | case BIND_7: 478 | hubsan_build_bind_packet(session, session->state == BIND_7 ? 9 : (session->state == BIND_5 ? 1 : session->state + 1 - BIND_1)); 479 | A7105_Strobe(A7105_STANDBY); 480 | A7105_WriteData(session->packet, 16, session->channel); 481 | session->state |= WAIT_WRITE; 482 | return 3000; 483 | case BIND_1 | WAIT_WRITE: 484 | case BIND_3 | WAIT_WRITE: 485 | case BIND_5 | WAIT_WRITE: 486 | case BIND_7 | WAIT_WRITE: 487 | //wait for completion 488 | for(int i = 0; i < 20; i++) { 489 | if(! (A7105_ReadReg(A7105_00_MODE) & 0x01)) 490 | break; 491 | } 492 | if (i == 20) 493 | DEBUG_MSG("Failed to complete write\n"); 494 | A7105_SetTxRxMode(RX_EN); 495 | A7105_Strobe(A7105_RX); 496 | session->state &= ~WAIT_WRITE; 497 | session->state++; 498 | return 4500; //7.5msec elapsed since last write 499 | case BIND_2: 500 | case BIND_4: 501 | case BIND_6: 502 | A7105_SetTxRxMode(TX_EN); 503 | if(A7105_ReadReg(A7105_00_MODE) & 0x01) { 504 | session->state = BIND_1; 505 | return 4500; //No signal, restart binding procedure. 12msec elapsed since last write 506 | } 507 | A7105_ReadData(session->packet, 16); 508 | session->state++; 509 | if (session->state == BIND_5) 510 | A7105_WriteID((session->packet[2] << 24) | (session->packet[3] << 16) | (session->packet[4] << 8) | session->packet[5]); 511 | 512 | return 500; //8msec elapsed time since last write; 513 | case BIND_8: 514 | A7105_SetTxRxMode(TX_EN); 515 | if(A7105_ReadReg(A7105_00_MODE) & 0x01) { 516 | session->state = BIND_7; 517 | return 15000; //22.5msec elapsed since last write 518 | } 519 | A7105_ReadData(session->packet, 16); 520 | if(session->packet[1] == 9) { 521 | session->state = DATA_1; 522 | A7105_WriteReg(A7105_1F_CODE_I, 0x0F); 523 | bindingSession = NULL; 524 | //PROTOCOL_SetBindState(0); 525 | DEBUG_MSG("another copter bound."); 526 | return 28000; //35.5msec elapsed since last write 527 | } else { 528 | session->state = BIND_7; 529 | return 15000; //22.5 msec elapsed since last write 530 | } 531 | case DATA_1: 532 | A7105_SetPower(Model.tx_power); // keep transmit power in sync 533 | case DATA_2: 534 | case DATA_3: 535 | case DATA_4: 536 | case DATA_5: 537 | if (bindingSession == NULL) { 538 | hubsan_build_packet(session); 539 | A7105_WriteID(session->sessionid); 540 | A7105_WriteData(session->packet, 16, session->state == DATA_5 ? session->channel + 0x23 : session->channel); 541 | 542 | // wait for completion 543 | for(i = 0; i < 20; i++) { 544 | if(!(A7105_ReadReg(A7105_00_MODE) & 0x01)) 545 | break; 546 | } 547 | if (i == 20) 548 | DEBUG_MSG("Failed to complete write\n"); 549 | } 550 | 551 | if (session->state == DATA_5) 552 | session->state = DATA_1; 553 | else 554 | session->state++; 555 | return 10000; 556 | } 557 | return 0; 558 | } 559 | 560 | void hubsan_initialize() 561 | { 562 | CLOCK_StopTimer(); 563 | while(1) { 564 | A7105_Reset(); 565 | CLOCK_ResetWatchdog(); 566 | DEBUG_MSG("hubsan_init()"); 567 | if (hubsan_init()) 568 | break; 569 | } 570 | } 571 | 572 | u32 find_free_sessionid(Session* sessions[], int num_sessions) 573 | { 574 | u32 sessionid; 575 | int isfree = false; 576 | while(!isfree) { 577 | sessionid = rand32_r(0, 0); 578 | isfree = true; 579 | for(int i=0; icopterType == HUBSAN_X4) { 581 | if (((HubsanSession*)sessions[i]->copterSession)->sessionid == sessionid) { 582 | isfree = false; 583 | break; 584 | } 585 | } 586 | } 587 | } 588 | return sessionid; 589 | } 590 | 591 | u8 find_free_channel(Session* sessions[], int num_sessions) 592 | { 593 | u8 channel; 594 | int isfree = false; 595 | while(!isfree) { 596 | channel = allowed_channels[rand32_r(0, 0) % sizeof(allowed_channels)]; 597 | isfree = true; 598 | for(int i=0; icopterType == HUBSAN_X4) { 600 | if (((HubsanSession*)sessions[i]->copterSession)->channel == channel) { 601 | isfree = false; 602 | break; 603 | } 604 | } 605 | } 606 | } 607 | return channel; 608 | } 609 | 610 | HubsanSession* hubsan_bind(int copterid, Session* sessions[], int num_sessions) 611 | { 612 | HubsanSession *session = (HubsanSession*)malloc(sizeof(HubsanSession)); 613 | memset(session, 0, sizeof(HubsanSession)); 614 | 615 | // hubsan default values 616 | session->rudder = session->aileron = session->elevator = 0x7F; 617 | session->led = 1; 618 | 619 | session->txid = 0xdb042679 + copterid; 620 | session->sessionid = find_free_sessionid(sessions, num_sessions); 621 | #ifdef FIXED_CHANNEL 622 | session->channel = FIXED_CHANNEL; 623 | #else 624 | session->channel = find_free_channel(sessions, num_sessions); 625 | #endif 626 | //PROTOCOL_SetBindState(0xFFFFFFFF); 627 | session->state = BIND_1; 628 | session->packet_count=0; 629 | //memset(&Telemetry, 0, sizeof(Telemetry)); 630 | //TELEMETRY_SetType(TELEM_DEVO); 631 | if( Model.proto_opts[PROTOOPTS_VTX_FREQ] == 0) 632 | Model.proto_opts[PROTOOPTS_VTX_FREQ] = 5885; 633 | CLOCK_StartTimer(10000, hubsan_cb); 634 | return session; 635 | } 636 | 637 | int hubsan_get_binding_state(HubsanSession *session) { 638 | return session->state >= DATA_1 && session->state <= DATA_5; 639 | } 640 | -------------------------------------------------------------------------------- /coptermanager/hubsan.h: -------------------------------------------------------------------------------- 1 | #ifndef HUBSAN_H 2 | #define HUBSAN_H 3 | 4 | #include "session.h" 5 | 6 | static const u8 allowed_channels[] = {0x14, 0x1e, 0x28, 0x32, 0x3c, 0x46, 0x50, 0x5a, 0x64, 0x6e, 0x78, 0x82}; 7 | 8 | void hubsan_initialize(); 9 | HubsanSession* hubsan_bind(int copterid, Session* sessions[], int num_sessions); 10 | u16 hubsan_cb(HubsanSession* session); 11 | u16 hubsan_multiple_cb(HubsanSession* session); 12 | int hubsan_get_binding_state(HubsanSession* session); 13 | 14 | #endif 15 | -------------------------------------------------------------------------------- /coptermanager/macros.h: -------------------------------------------------------------------------------- 1 | #ifndef MACROS_H 2 | #define MACROS_H 3 | 4 | #include 5 | 6 | #define CLOCK_StartTimer(x, y) (void)0 7 | #define CLOCK_StopTimer() (void)0 8 | #define CLOCK_ResetWatchdog() (void)0 9 | #define CLOCK_getms() millis() 10 | #define rand32_r(x, y) rand() 11 | #define usleep(x) delayMicroseconds(x) 12 | 13 | #endif 14 | -------------------------------------------------------------------------------- /coptermanager/manager.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "manager.h" 3 | #include "common.h" 4 | #include "a7105.h" 5 | #include "hubsan.h" 6 | #include "session.h" 7 | 8 | static Session* sessions[NUM_COPTERS] = {NULL}; 9 | static int active_sessions_count = 0; 10 | 11 | void manager_init() 12 | { 13 | Serial.begin(BAUDRATE); 14 | while (!Serial); 15 | A7105_Setup(); 16 | hubsan_initialize(); 17 | DEBUG_MSG("initialization successful"); 18 | } 19 | 20 | static int copter_bind(int type, int *response) 21 | { 22 | for (int copterid=1; copterid <= NUM_COPTERS; copterid++) { 23 | if (sessions[copterid-1] == NULL) { 24 | switch(type) { 25 | case HUBSAN_X4: { 26 | Session* session = (Session*)malloc(sizeof(Session)); 27 | session->copterType = HUBSAN_X4; 28 | session->nextRunAt = 0; 29 | session->initTime = millis(); 30 | session->bindTime = 0; 31 | session->emergencyFlag = 0; 32 | session->copterSession = hubsan_bind(copterid, sessions, NUM_COPTERS); 33 | active_sessions_count++; 34 | sessions[copterid-1] = session; 35 | } 36 | break; 37 | 38 | default: 39 | return PROTOCOL_INVALID_COPTER_TYPE; 40 | } 41 | response[0] = 1; 42 | response[1] = copterid; 43 | return PROTOCOL_OK; 44 | } 45 | } 46 | 47 | return PROTOCOL_ALL_SLOTS_FULL; 48 | } 49 | 50 | int manager_process_hubsan_command(Session *session, int command, int value, int* response) 51 | { 52 | HubsanSession *hubsanSession = (HubsanSession*)session->copterSession; 53 | 54 | switch(command) { 55 | case COPTER_THROTTLE: 56 | if (value >= 0x00 && value <= 0xFF) { 57 | hubsanSession->throttle = value; 58 | return PROTOCOL_OK; 59 | } 60 | else { 61 | return PROTOCOL_VALUE_OUT_OF_RANGE; 62 | } 63 | 64 | case COPTER_RUDDER: 65 | if (value >= 0x34 && value <= 0xCC) { 66 | hubsanSession->rudder = value; 67 | return PROTOCOL_OK; 68 | } 69 | else { 70 | return PROTOCOL_VALUE_OUT_OF_RANGE; 71 | } 72 | 73 | case COPTER_AILERON: 74 | if (value >= 0x45 && value <= 0xC3) { 75 | hubsanSession->aileron = value; 76 | return PROTOCOL_OK; 77 | } 78 | else { 79 | return PROTOCOL_VALUE_OUT_OF_RANGE; 80 | } 81 | 82 | case COPTER_ELEVATOR: 83 | if (value >= 0x3e && value <= 0xBC) { 84 | hubsanSession->elevator = value; 85 | return PROTOCOL_OK; 86 | } 87 | else { 88 | return PROTOCOL_VALUE_OUT_OF_RANGE; 89 | } 90 | 91 | case COPTER_LED: 92 | if (value >= 0x00 && value <= 0x01) { 93 | hubsanSession->led = value; 94 | return PROTOCOL_OK; 95 | } 96 | else { 97 | return PROTOCOL_VALUE_OUT_OF_RANGE; 98 | } 99 | 100 | case COPTER_FLIP: 101 | if (value >= 0x00 && value <= 0x01) { 102 | hubsanSession->flip = value; 103 | return PROTOCOL_OK; 104 | } 105 | else { 106 | return PROTOCOL_VALUE_OUT_OF_RANGE; 107 | } 108 | 109 | case COPTER_VIDEO: 110 | if (value >= 0x00 && value <= 0x01) { 111 | hubsanSession->video = value; 112 | return PROTOCOL_OK; 113 | } 114 | else { 115 | return PROTOCOL_VALUE_OUT_OF_RANGE; 116 | } 117 | 118 | case COPTER_GETSTATE: 119 | response[0] = 1; 120 | response[1] = hubsan_get_binding_state(hubsanSession); 121 | return PROTOCOL_OK; 122 | 123 | case COPTER_TELEMETRY: 124 | switch(value) { 125 | case TELEMETRY_ALTITUDE: 126 | response[0] = 2; 127 | response[1] = (hubsanSession->estAltitude >> 8) & 0xFF; 128 | response[2] = (hubsanSession->estAltitude >> 0) & 0xFF; 129 | break; 130 | 131 | case TELEMETRY_VOLTAGE: 132 | response[0] = 1; 133 | response[1] = hubsanSession->batteryVolts; 134 | break; 135 | 136 | case TELEMETRY_GYROSCOPE: 137 | response[0] = 6; 138 | response[1] = (hubsanSession->gyroData[0] >> 8) & 0xFF; 139 | response[2] = (hubsanSession->gyroData[0] >> 0) & 0xFF; 140 | response[3] = (hubsanSession->gyroData[1] >> 8) & 0xFF; 141 | response[4] = (hubsanSession->gyroData[1] >> 0) & 0xFF; 142 | response[5] = (hubsanSession->gyroData[2] >> 8) & 0xFF; 143 | response[6] = (hubsanSession->gyroData[2] >> 0) & 0xFF; 144 | break; 145 | 146 | case TELEMETRY_ACCELEROMETER: 147 | response[0] = 6; 148 | response[1] = (hubsanSession->accData[0] >> 8) & 0xFF; 149 | response[2] = (hubsanSession->accData[0] >> 0) & 0xFF; 150 | response[3] = (hubsanSession->accData[1] >> 8) & 0xFF; 151 | response[4] = (hubsanSession->accData[1] >> 0) & 0xFF; 152 | response[5] = (hubsanSession->accData[2] >> 8) & 0xFF; 153 | response[6] = (hubsanSession->accData[2] >> 0) & 0xFF; 154 | break; 155 | 156 | case TELEMETRY_ANGLE: 157 | response[0] = 6; 158 | response[1] = (hubsanSession->angle[0] >> 8) & 0xFF; 159 | response[2] = (hubsanSession->angle[0] >> 0) & 0xFF; 160 | response[3] = (hubsanSession->angle[1] >> 8) & 0xFF; 161 | response[4] = (hubsanSession->angle[1] >> 0) & 0xFF; 162 | response[5] = (hubsanSession->angle[2] >> 8) & 0xFF; 163 | response[6] = (hubsanSession->angle[2] >> 0) & 0xFF; 164 | break; 165 | 166 | default: 167 | return PROTOCOL_INVALID_TELEMETRY_OPTION; 168 | } 169 | return PROTOCOL_OK; 170 | 171 | case COPTER_EMERGENCY: 172 | hubsanSession->throttle = 0; 173 | hubsanSession->rudder = 0x7F; 174 | hubsanSession->aileron = 0x7F; 175 | hubsanSession->elevator = 0x7F; 176 | hubsanSession->led = 1; 177 | hubsanSession->flip = 0; 178 | hubsanSession->video = 0; 179 | return PROTOCOL_OK; 180 | 181 | case COPTER_DISCONNECT: 182 | return PROTOCOL_OK; 183 | 184 | default: 185 | return PROTOCOL_UNKNOWN_COMMAND; 186 | } 187 | } 188 | 189 | // copterid: 1..NUM_COPTERS 190 | int manager_processcommand(int copterid, int command, int value, int checksum, int* response) 191 | { 192 | // no additional response 193 | response[0] = 0; 194 | 195 | #ifdef DEBUG 196 | if (command == 0xFF) { 197 | Serial.println("INFO:"); 198 | HubsanSession *hubsanSession = (HubsanSession*)sessions[copterid-1]->copterSession; 199 | Serial.println("channel: "+String(hubsanSession->channel)); 200 | Serial.println(); 201 | return PROTOCOL_OK; 202 | } 203 | #endif 204 | 205 | if (checksum != calculate_checksum(copterid, command, value)) { 206 | return PROTOCOL_INVALID_CHECKSUM; 207 | } 208 | else if (command == COPTER_BIND) { 209 | return copter_bind(value, response); 210 | } 211 | else if (command == COPTER_LISTCOPTERS) { 212 | int bitmask = 0; 213 | for (int copterid=1; copterid <= NUM_COPTERS; copterid++) { 214 | if (sessions[copterid-1] != NULL) 215 | bitmask |= 1 << (copterid-1); 216 | } 217 | response[0] = 1; 218 | response[1] = bitmask; 219 | return PROTOCOL_OK; 220 | } 221 | else { 222 | if (copterid < 1 || copterid > NUM_COPTERS || sessions[copterid-1] == NULL) 223 | return PROTOCOL_INVALID_SLOT; 224 | 225 | Session *session = sessions[copterid-1]; 226 | 227 | // if emergency flag is set only allow disconnect command 228 | if (session->emergencyFlag == 1 && command != COPTER_DISCONNECT) 229 | return PROTOCOL_EMERGENCY_MODE_ON; 230 | 231 | int resultCode; 232 | switch(session->copterType) { 233 | case HUBSAN_X4: 234 | resultCode = manager_process_hubsan_command(session, command, value, response); 235 | break; 236 | 237 | default: 238 | return PROTOCOL_INVALID_COPTER_TYPE; 239 | } 240 | 241 | if (command == COPTER_EMERGENCY) { 242 | session->emergencyFlag = 1; 243 | } 244 | else if (resultCode == PROTOCOL_OK && command == COPTER_DISCONNECT) { 245 | free(session->copterSession); 246 | free(session); 247 | sessions[copterid-1] = NULL; 248 | active_sessions_count--; 249 | } 250 | 251 | return resultCode; 252 | } 253 | 254 | return PROTOCOL_UNKNOWN_COMMAND; 255 | } 256 | 257 | int dummy_response[7]; 258 | inline void manager_copterloop(int copterid) 259 | { 260 | Session* session = sessions[copterid-1]; 261 | 262 | if (session->bindTime == 0) { 263 | if ((millis() - session->initTime) > MAX_UNBOUND_TIME) { 264 | DEBUG_MSG("removing inactive copter " + String(copterid) + " (max unbound time reached)"); 265 | manager_processcommand(copterid, COPTER_DISCONNECT, 0, calculate_checksum(copterid, COPTER_DISCONNECT, 0), dummy_response); 266 | return; 267 | } 268 | } 269 | else { 270 | if ((millis() - session->bindTime) > MAX_BOUND_TIME) { 271 | DEBUG_MSG("removing inactive copter " + String(copterid) + " (max bound time reached)"); 272 | manager_processcommand(copterid, COPTER_DISCONNECT, 0, calculate_checksum(copterid, COPTER_DISCONNECT, 0), dummy_response); 273 | return; 274 | } 275 | } 276 | 277 | if (micros() > session->nextRunAt) { 278 | switch(session->copterType) { 279 | case HUBSAN_X4: 280 | HubsanSession *hubsanSession = (HubsanSession*)session->copterSession; 281 | int is_bound = hubsan_get_binding_state(hubsanSession); 282 | int waitTime = active_sessions_count <= 1 ? hubsan_cb(hubsanSession) : hubsan_multiple_cb(hubsanSession); 283 | session->nextRunAt = micros() + waitTime; 284 | if (!is_bound && hubsan_get_binding_state(hubsanSession)) 285 | session->bindTime = millis(); 286 | break; 287 | } 288 | } 289 | } 290 | 291 | void manager_loop() 292 | { 293 | for (int copterid=1; copterid <= NUM_COPTERS; copterid++) { 294 | if (sessions[copterid-1] != NULL) 295 | manager_copterloop(copterid); 296 | } 297 | } 298 | -------------------------------------------------------------------------------- /coptermanager/manager.h: -------------------------------------------------------------------------------- 1 | #ifndef MANAGER_H 2 | #define MANAGER_H 3 | 4 | enum CopterType { 5 | HUBSAN_X4 = 0x01 6 | }; 7 | 8 | enum TelemetryData { 9 | TELEMETRY_ALTITUDE = 0x01, 10 | TELEMETRY_VOLTAGE = 0x02, 11 | TELEMETRY_GYROSCOPE = 0x03, 12 | TELEMETRY_ACCELEROMETER = 0x04, 13 | TELEMETRY_ANGLE = 0x05 14 | }; 15 | 16 | enum Command { 17 | COPTER_BIND = 0x01, 18 | COPTER_THROTTLE = 0x02, 19 | COPTER_RUDDER = 0x03, 20 | COPTER_AILERON = 0x04, 21 | COPTER_ELEVATOR = 0x05, 22 | COPTER_LED = 0x06, 23 | COPTER_FLIP = 0x07, 24 | COPTER_VIDEO = 0x08, 25 | COPTER_GETSTATE = 0x09, 26 | COPTER_TELEMETRY = 0x0A, 27 | COPTER_EMERGENCY = 0x0B, 28 | COPTER_DISCONNECT = 0x0C, 29 | COPTER_LISTCOPTERS = 0x0D 30 | }; 31 | 32 | enum ResultCode { 33 | PROTOCOL_OK = 0x00, 34 | PROTOCOL_INVALID_CHECKSUM = 0xF0, 35 | PROTOCOL_INVALID_COPTER_TYPE = 0xF1, 36 | PROTOCOL_ALL_SLOTS_FULL = 0xF2, 37 | PROTOCOL_INVALID_SLOT = 0xF3, 38 | PROTOCOL_VALUE_OUT_OF_RANGE = 0xF4, 39 | PROTOCOL_EMERGENCY_MODE_ON = 0xF5, 40 | PROTOCOL_NO_TELEMETRY = 0xF6, 41 | PROTOCOL_INVALID_TELEMETRY_OPTION = 0xF7, 42 | PROTOCOL_UNKNOWN_COMMAND = 0xF8 43 | }; 44 | 45 | inline int calculate_checksum(int copterid, int command, int value) 46 | { 47 | int sum = copterid + command + value; 48 | return (256 - (sum % 256)) & 0xFF; 49 | } 50 | 51 | void manager_init(); 52 | int manager_processcommand(int copterid, int command, int value, int checksum, int* response); 53 | void manager_loop(); 54 | 55 | #endif 56 | -------------------------------------------------------------------------------- /coptermanager/session.h: -------------------------------------------------------------------------------- 1 | #ifndef SESSION_H 2 | #define SESSION_H 3 | 4 | #include "common.h" 5 | #include "manager.h" 6 | 7 | enum { 8 | doTx, 9 | waitTx, 10 | pollRx 11 | }; 12 | 13 | struct HubsanSession { 14 | u32 txid; 15 | u8 packet[16]; 16 | u8 channel; 17 | u32 sessionid; 18 | u8 state; 19 | u8 packet_count; 20 | // telemetry 21 | uint8_t telemetryState = doTx; 22 | uint8_t polls; 23 | 24 | u8 throttle; // ascend/descend, observed range: 0x00 - 0xff (smaller is down) 25 | u8 rudder; // rotate left/right, observed range: 0x34 - 0xcc (smaller is right) 26 | u8 aileron; // drift sideways left/right, observed range: 0x45 - 0xc3 (smaller is right) 27 | u8 elevator; // forward/backward, observed range: 0x3e - 0xbc (smaller is up) 28 | int led; 29 | int flip; 30 | int video; 31 | 32 | int16_t estAltitude; 33 | uint8_t batteryVolts; 34 | int16_t gyroData[3]; 35 | int16_t accData[3]; 36 | int16_t angle[3]; 37 | }; 38 | 39 | struct Session { 40 | CopterType copterType; 41 | unsigned long nextRunAt; // us 42 | unsigned long initTime; // ms 43 | unsigned long bindTime; // ms 44 | int emergencyFlag; 45 | void* copterSession; 46 | }; 47 | 48 | #endif 49 | --------------------------------------------------------------------------------