mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-07-04 04:27:53 +00:00
267 lines
8.2 KiB
Arduino
267 lines
8.2 KiB
Arduino
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/*
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This project is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
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Deviation is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License along with Deviation. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* This protocol is for the HM Hobby HM830 RC Paper Airplane
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Protocol spec:
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Channel data:
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AA BB CC DD EE FF GG
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AA : Throttle Min=0x00 max =0x64
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BB :
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bit 0,1,2: Left/Right magnitude, bit 5 Polarity (set = right)
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bit 6: Accelerate
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bit 7: Right button (also the ABC Button)
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CC : bit 0 seems to be impacted by the Right button
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DD
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EE
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FF : Trim (bit 0-5: Magnitude, bit 6 polarity (set = right)
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GG : Checksum (CRC8 on bytes AA-FF), init = 0xa5, poly = 0x01
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*/
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#ifdef HM830_NRF24L01_INO
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#include "iface_nrf24l01.h"
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enum {
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HM830_BIND1A = 0,
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HM830_BIND2A,
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HM830_BIND3A,
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HM830_BIND4A,
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HM830_BIND5A,
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HM830_BIND6A,
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HM830_BIND7A,
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HM830_DATA1,
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HM830_DATA2,
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HM830_DATA3,
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HM830_DATA4,
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HM830_DATA5,
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HM830_DATA6,
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HM830_DATA7,
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HM830_BIND1B = 0x80,
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HM830_BIND2B,
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HM830_BIND3B,
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HM830_BIND4B,
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HM830_BIND5B,
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HM830_BIND6B,
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HM830_BIND7B,
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};
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static uint8_t init_vals_hm830[][2] = {
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{NRF24L01_17_FIFO_STATUS, 0x00},
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{NRF24L01_16_RX_PW_P5, 0x07},
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{NRF24L01_15_RX_PW_P4, 0x07},
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{NRF24L01_14_RX_PW_P3, 0x07},
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{NRF24L01_13_RX_PW_P2, 0x07},
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{NRF24L01_12_RX_PW_P1, 0x07},
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{NRF24L01_11_RX_PW_P0, 0x07},
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{NRF24L01_0F_RX_ADDR_P5, 0xC6},
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{NRF24L01_0E_RX_ADDR_P4, 0xC5},
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{NRF24L01_0D_RX_ADDR_P3, 0xC4},
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{NRF24L01_0C_RX_ADDR_P2, 0xC3},
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{NRF24L01_09_CD, 0x00},
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{NRF24L01_08_OBSERVE_TX, 0x00},
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{NRF24L01_07_STATUS, 0x07},
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// {NRF24L01_06_RF_SETUP, 0x07},
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{NRF24L01_05_RF_CH, 0x18},
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{NRF24L01_04_SETUP_RETR, 0x3F},
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{NRF24L01_03_SETUP_AW, 0x03},
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{NRF24L01_02_EN_RXADDR, 0x3F},
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{NRF24L01_01_EN_AA, 0x3F},
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{NRF24L01_00_CONFIG, 0x0E},
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};
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static uint8_t count;
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static uint8_t rf_ch[] = {0x08, 0x35, 0x12, 0x3f, 0x1c, 0x49, 0x26};
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static uint8_t bind_addr[] = {0xaa, 0xbb, 0xcc, 0xdd, 0xee, 0xc2};
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static uint8_t crc8(uint32_t result, uint8_t *data, int len) {
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int polynomial = 0x01;
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for(int i = 0; i < len; i++) {
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result = result ^ data[i];
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for(int j = 0; j < 8; j++) {
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if(result & 0x80) { result = (result << 1) ^ polynomial; }
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else { result = result << 1; }
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}
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}
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return result & 0xff;
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}
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static void HM830_init() {
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NRF24L01_Initialize();
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for (uint32_t i = 0; i < sizeof(init_vals_hm830) / sizeof(init_vals_hm830[0]); i++) { NRF24L01_WriteReg(init_vals_hm830[i][0], init_vals_hm830[i][1]); }
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NRF24L01_SetTxRxMode(TX_EN);
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NRF24L01_SetBitrate(0);
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, bind_addr, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, bind_addr+1, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, bind_addr, 5);
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NRF24L01_Activate(0x73); //Enable FEATURE
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NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x07);
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NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x3F);
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//NRF24L01_ReadReg(NRF24L01_07_STATUS) ==> 0x07
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NRF24L01_Activate(0x53); // switch bank back
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NRF24L01_FlushTx();
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//NRF24L01_ReadReg(NRF24L01_07_STATUS) ==> 0x0e
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x0e);
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//NRF24L01_ReadReg(NRF24L01_00_CONFIG); ==> 0x0e
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x0e);
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NRF24L01_ReadReg(NRF24L01_01_EN_AA); // No Auto Acknoledgement
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}
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static void build_bind_packet_hm830() {
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for(int i = 0; i < 6; i++) { packet[i] = rx_tx_addr[i]; }
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packet[6] = crc8(0xa5, packet, 6);
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}
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static void build_data_packet() {
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uint8_t ail_sign = 0, trim_sign = 0;
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throttle = (uint32_t)Servo_data[THROTTLE] * 50 / PPM_MAX + 50;
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if (throttle < 0) { throttle = 0; }
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aileron = (uint32_t)Servo_data[AILERON] * 8 / PPM_MAX;
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if (aileron < 0) { aileron = -aileron; ail_sign = 1; }
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if (aileron > 7) { aileron = 7; }
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uint8_t turbo = (uint32_t)Servo_data[ELEVATOR] > 0 ? 1 : 0;
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uint8_t trim = ((uint32_t)Servo_data[RUDDER] * 0x1f / PPM_MAX);
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if (trim < 0) { trim = -trim; trim_sign = 1; }
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if (trim > 0x1f) { trim = 0x1f; }
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uint8_t rbutton = (uint32_t)Servo_data[4] > 0 ? 1 : 0;
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packet[0] = throttle;
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packet[1] = aileron;
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if (ail_sign) { packet[1] |= 0x20; }
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if (turbo) { packet[1] |= 0x40; }
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if (rbutton) { packet[1] |= 0x80; }
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packet[5] = trim;
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if (trim_sign) { packet[5] |= 0x20;}
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packet[6] = crc8(0xa5, packet, 6);
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}
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static void send_packet_hm830() {
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NRF24L01_ReadReg(NRF24L01_17_FIFO_STATUS);
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NRF24L01_WritePayload(packet, 7);
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}
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static uint16_t handle_binding() {
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uint8_t status = NRF24L01_ReadReg(NRF24L01_07_STATUS);
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if (status & 0x20) {
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//Binding complete
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phase = HM830_DATA1 + ((phase&0x7F)-HM830_BIND1A);
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count = 0;
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, rx_tx_addr+1, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
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NRF24L01_FlushTx();
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build_data_packet();
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uint8_t rb = NRF24L01_ReadReg(NRF24L01_07_STATUS); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_07_STATUS, rb);
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rb = NRF24L01_ReadReg(NRF24L01_00_CONFIG); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, rb);
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send_packet_hm830();
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return 14000;
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}
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switch (phase) {
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case HM830_BIND1A:
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//Look for a Rx that is already bound
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NRF24L01_SetPower();
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, rx_tx_addr+1, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch[0]);
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build_bind_packet_hm830();
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break;
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case HM830_BIND1B:
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//Look for a Rx that is not yet bound
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, bind_addr, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, bind_addr+1, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, bind_addr, 5);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch[0]);
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break;
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case HM830_BIND2A:
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case HM830_BIND3A:
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case HM830_BIND4A:
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case HM830_BIND5A:
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case HM830_BIND6A:
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case HM830_BIND7A:
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case HM830_BIND2B:
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case HM830_BIND3B:
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case HM830_BIND4B:
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case HM830_BIND5B:
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case HM830_BIND6B:
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case HM830_BIND7B:
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch[(phase&0x7F)-HM830_BIND1A]);
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break;
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}
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NRF24L01_FlushTx();
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uint8_t rb = NRF24L01_ReadReg(NRF24L01_07_STATUS); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_07_STATUS, rb);
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rb = NRF24L01_ReadReg(NRF24L01_00_CONFIG); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, rb);
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send_packet_hm830();
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phase++;
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if (phase == HM830_BIND7B+1) { phase = HM830_BIND1A; }
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else if (phase == HM830_BIND7A+1) { phase = HM830_BIND1B; }
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return 20000;
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}
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static uint16_t handle_data() {
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uint8_t status = NRF24L01_ReadReg(NRF24L01_07_STATUS);
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if (count <= 0 || !(status & 0x20)) {
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if(count < 0 || ! (status & 0x20)) {
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count = 0;
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//We didn't get a response on this channel, try the next one
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phase++;
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if (phase-HM830_DATA1 > 6) { phase = HM830_DATA1; }
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch[0]);
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NRF24L01_FlushTx();
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build_data_packet();
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uint8_t rb = NRF24L01_ReadReg(NRF24L01_07_STATUS); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_07_STATUS, rb);
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rb = NRF24L01_ReadReg(NRF24L01_00_CONFIG); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, rb);
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send_packet_hm830();
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return 14000;
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}
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}
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build_data_packet();
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count++;
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if(count == 98) {
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count = -1;
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NRF24L01_SetPower();
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}
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uint8_t rb = NRF24L01_ReadReg(NRF24L01_07_STATUS); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_07_STATUS, rb);
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rb = NRF24L01_ReadReg(NRF24L01_00_CONFIG); //==> 0x0E
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, rb);
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send_packet_hm830();
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return 20000;
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}
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static uint16_t HM830_callback() {
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if ((phase & 0x7F) < HM830_DATA1) { return handle_binding(); }
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else { return handle_data(); }
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}
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static uint32_t HM830_setup(){
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count = 0;
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// initialize_tx_id
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rx_tx_addr[4] = 0xee;
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rx_tx_addr[5] = 0xc2;
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HM830_init();
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phase = HM830_BIND1A;
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return 500;
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}
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#endif
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