gomaomao/DIY-Multiprotocol-TX-Module
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SLT/SLT6X new subprotocol

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pascallanger
2026-08-03 23:51:35 +02:00
parent 3d50a39efb
commit 0a7f74dc06
8 changed files with 193 additions and 20 deletions
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151
Multiprotocol/SLT_ccnrf.ino
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@@ -28,6 +28,9 @@
#define SLT_NFREQCHANNELS 15
#define SLT_TXID_SIZE 4
#define SLT_BIND_CHANNEL 0x50
#define SLT6_CH_MIN 182 // 10-bit AETR minimum (captures: 180-185, symmetric around 512)
#define SLT6_CH_MAX 842 // 10-bit AETR maximum (captures: 829-843, symmetric around 512)
#define SLT6_SW_THRESHOLD 273 // ~33% of half-range (820/3) for 3-position switch zones
enum{
// flags going to packet[6] (Q200)
@@ -54,9 +57,32 @@ enum {
SLT_BIND2,
};
// SLT6 sub-cycle states: 3 sub-cycles per triple, each with 2 copies
enum {
SLT6_BUILD_A=0, // Build packet, configure for 7B sub-cycle
SLT6_DATA_A1, // Send 7B copy 1
SLT6_DATA_A2, // Send 7B copy 2, configure for 6B sub-cycle
SLT6_DATA_B1, // Send 6B copy 1
SLT6_DATA_B2, // Send 6B copy 2, configure for 5B sub-cycle
SLT6_DATA_C1, // Send 5B copy 1
SLT6_DATA_C2, // Send 5B copy 2
SLT6_BIND, // Send bind packet
};
// SLT6 address XOR values for the 3 sub-cycles
#define SLT6_ADDR_XOR_A 0x00 // 7B sub-cycle: base address
#define SLT6_ADDR_XOR_B 0x06 // 6B sub-cycle: byte[0] XOR 0x06
#define SLT6_ADDR_XOR_C 0x09 // 5B sub-cycle: byte[0] XOR 0x09
// SLT6 timing (from capture 12b, in microseconds)
#define SLT6_TIMING_SUBCYCLE 5994 // ~6000us between sub-cycle starts
#define SLT6_TIMING_PAIR 1633 // ~1633us between the two copies within a sub-cycle
#define SLT6_TIMING_BUILD 1000 // Build+config time at start of each triple
#define SLT6_TIMING_TRIPLE (3 * SLT6_TIMING_SUBCYCLE) // ~18ms triple period
static void __attribute__((unused)) SLT_RF_init()
{
NRF250K_Init();
NRF250K_Init(option == 0); // SLT: option==0 uses NRF24L01, option!=0 uses CC2500 with freq tuning
NRF250K_SetTXAddr(rx_tx_addr, SLT_TXID_SIZE);
}
@@ -152,8 +178,6 @@ static void __attribute__((unused)) SLT_build_packet()
packet[5] = convert_channel_8b(CH5);
packet[6] = convert_channel_8b(CH6);
//->V1 stops here
if(sub_protocol == Q200)
packet[6] = GET_FLAG(CH9_SW , FLAG_Q200_FMODE)
|GET_FLAG(CH10_SW, FLAG_Q200_FLIP)
@@ -188,6 +212,47 @@ static void __attribute__((unused)) SLT_build_packet()
calib_counter = 0;
}
// SLT6: build 7-byte data packet from current channel values
static void __attribute__((unused)) SLT6_build_packet()
{
// aileron, elevator, throttle, rudder (10-bit, limited range)
uint8_t e = 0;
for (uint8_t i = 0; i < 4; ++i)
{
uint16_t v = convert_channel_16b_limit(CH_AETR[i], SLT6_CH_MIN, SLT6_CH_MAX);
packet[i] = v;
e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
}
packet[4] = e;
// Flight mode: 3 positions at ~33% each
if(Channel_data[CH5] > CHANNEL_MID + SLT6_SW_THRESHOLD)
packet[5] = 0xD0;
else if(Channel_data[CH5] < CHANNEL_MID - SLT6_SW_THRESHOLD)
packet[5] = 0x30;
else
packet[5] = 0x80;
// Panic: only active when CH6 is below -33%, center and up = no panic
if(Channel_data[CH6] < CHANNEL_MID - SLT6_SW_THRESHOLD)
packet[6] = 0x30;
else
packet[6] = 0xD0;
}
// SLT6: configure radio for a sub-cycle (set address and channel)
static void __attribute__((unused)) SLT6_configure_radio(uint8_t addr_xor, uint8_t hop_offset)
{
SLT_wait_radio();
// Set TX address with XOR on byte[0]
uint8_t addr[SLT_TXID_SIZE];
memcpy(addr, rx_tx_addr, SLT_TXID_SIZE);
addr[0] ^= addr_xor;
NRF250K_SetTXAddr(addr, SLT_TXID_SIZE);
// Set RF channel
NRF250K_Hopping((hopping_frequency_no + hop_offset) % SLT_NFREQCHANNELS);
}
static void __attribute__((unused)) SLT_send_bind_packet()
{
SLT_wait_radio();
@@ -197,7 +262,7 @@ static void __attribute__((unused)) SLT_send_bind_packet()
BIND_DONE;
NRF250K_SetTXAddr((uint8_t *)"\x7E\xB8\x63\xA9", SLT_TXID_SIZE);
memcpy((void*)packet, (void*)rx_tx_addr, SLT_TXID_SIZE);
if(phase == SLT_BIND2)
if(phase == SLT_BIND2 || phase == SLT6_BIND)
SLT_send_packet(SLT_TXID_SIZE);
else // SLT_BIND1
SLT_send_packet(SLT_PAYLOADSIZE_V2);
@@ -210,8 +275,71 @@ static void __attribute__((unused)) SLT_send_bind_packet()
#define SLT_V1_TIMING_BIND2 1000
#define SLT_V2_TIMING_BIND1 6507
#define SLT_V2_TIMING_BIND2 2112
// SLT6 callback: triple-address state machine
// Each triple: 3 sub-cycles (7B, 6B, 5B), each sent twice, with different addresses and channels
static uint16_t __attribute__((unused)) SLT6_callback()
{
switch (phase)
{
case SLT6_BUILD_A:
#ifdef MULTI_SYNC
telemetry_set_input_sync(SLT6_TIMING_TRIPLE);
#endif
SLT6_build_packet();
NRF250K_SetPower();
SLT6_configure_radio(SLT6_ADDR_XOR_A, 0); // 7B sub-cycle: base address, hop+0
phase = SLT6_DATA_A1;
return SLT6_TIMING_BUILD;
case SLT6_DATA_A1:
SLT_send_packet(7);
phase = SLT6_DATA_A2;
return SLT6_TIMING_PAIR; // 1633us between copies
case SLT6_DATA_A2:
SLT_send_packet(7);
SLT6_configure_radio(SLT6_ADDR_XOR_B, 3); // 6B sub-cycle: XOR 0x06 address, hop+3
phase = SLT6_DATA_B1;
return SLT6_TIMING_SUBCYCLE - SLT6_TIMING_PAIR; // 4361us to next sub-cycle TX
case SLT6_DATA_B1:
SLT_send_packet(6);
phase = SLT6_DATA_B2;
return SLT6_TIMING_PAIR;
case SLT6_DATA_B2:
SLT_send_packet(6);
SLT6_configure_radio(SLT6_ADDR_XOR_C, 6); // 5B sub-cycle: XOR 0x09 address, hop+6
phase = SLT6_DATA_C1;
return SLT6_TIMING_SUBCYCLE - SLT6_TIMING_PAIR; // 4361us
case SLT6_DATA_C1:
SLT_send_packet(5);
phase = SLT6_DATA_C2;
return SLT6_TIMING_PAIR;
case SLT6_DATA_C2:
SLT_send_packet(5);
// Advance hopping for next triple
if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
hopping_frequency_no = 0;
if (++packet_count >= 100)
{// Send bind packet periodically
packet_count = 0;
phase = SLT6_BIND;
return SLT_V1_TIMING_BIND2;
}
phase = SLT6_BUILD_A;
return SLT6_TIMING_SUBCYCLE - SLT6_TIMING_PAIR - SLT6_TIMING_BUILD; // Gap before next build
case SLT6_BIND:
SLT_send_bind_packet();
phase = SLT6_BUILD_A;
return SLT6_TIMING_SUBCYCLE - SLT6_TIMING_PAIR - SLT6_TIMING_BUILD;
}
return SLT6_TIMING_TRIPLE;
}
uint16_t SLT_callback()
{
// SLT6 has its own state machine
if(sub_protocol == SLT6TX)
return SLT6_callback();
switch (phase)
{
case SLT_BUILD:
@@ -285,7 +413,15 @@ void SLT_init()
packet_sent = 0;
hopping_frequency_no = 0;
if(sub_protocol == SLT_V1)
if(sub_protocol == SLT6TX)
{
hopping_frequency_no = 1; // SLT6 starts hopping at index 1 (verified from captures)
// packet_length not used for SLT6 (lengths vary per sub-cycle)
#ifdef MULTI_SYNC
packet_period = SLT6_TIMING_TRIPLE;
#endif
}
else if(sub_protocol == SLT_V1)
{
packet_length = SLT_PAYLOADSIZE_V1;
#ifdef MULTI_SYNC
@@ -326,7 +462,10 @@ void SLT_init()
SLT_RF_init();
SLT_set_freq();
phase = SLT_BUILD;
if(sub_protocol == SLT6TX)
phase = SLT6_BUILD_A;
else
phase = SLT_BUILD;
}
#endif