SLT/SLT6X new subprotocol

Multiprotocol/Multi.txt

@@ -8,7 +8,7 @@
 8,YD717,YD717,SKYWLKR,SYMAX4,XINXUN,NIHUI
 9,KN,WLTOYS,FEILUN
 10,SymaX,SYMAX,SYMAX5C
-11,SLT,SLT_V1,SLT_V2,Q100,Q200,MR100,V1_4CH,RF_SIM
+11,SLT,SLT_V1,SLT_V2,Q100,Q200,MR100,V1_4CH,RF_SIM,SLT6TX
 12,CX10,GREEN,BLUE,DM007,---,J3015_1,J3015_2,MK33041
 13,CG023,CG023,YD829
 14,Bayang,Bayang,H8S3D,X16_AH,IRDRONE,DHD_D4,QX100

Multiprotocol/Multi_Protos.ino

@@ -139,7 +139,7 @@ const char STR_SUBTYPE_DEVO[] =       "\x04""8ch\0""10ch""12ch""6ch\0""7ch\0";
 const char STR_SUBTYPE_YD717[] =      "\x07""Std\0   ""SkyWlkr""Syma X4""XINXUN\0""NIHUI\0 ";
 const char STR_SUBTYPE_KN[] =         "\x06""WLtoys""FeiLun";
 const char STR_SUBTYPE_SYMAX[] =      "\x03""Std""X5C";
-const char STR_SUBTYPE_SLT[] =        "\x06""V1_6ch""V2_8ch""Q100\0 ""Q200\0 ""MR100\0""V1_4ch""RF_SIM";
+const char STR_SUBTYPE_SLT[] =        "\x06""V1_6ch""V2_8ch""Q100\0 ""Q200\0 ""MR100\0""V1_4ch""RF_SIM""SLT6TX";
 const char STR_SUBTYPE_CX10[] =       "\x07""Green\0 ""Blue\0  ""DM007\0 ""-\0     ""JC3015a""JC3015b""MK33041";
 const char STR_SUBTYPE_CG023[] =      "\x05""Std\0 ""YD829";
 const char STR_SUBTYPE_BAYANG[] =     "\x07""Std\0   ""H8S3D\0 ""X16 AH\0""IRDrone""DHD D4\0""QX100\0 ";
@@ -488,7 +488,7 @@ const mm_protocol_definition multi_protocols[] = {
 		{PROTO_SKYARTEC,   STR_SKYARTEC,  NO_SUBTYPE,            0, OPTION_RFTUNE,  0, 1, SW_CC2500, SKYARTEC_init,   SKYARTEC_callback   },
 	#endif
 	#if defined(SLT_CCNRF_INO)
-		{PROTO_SLT,        STR_SLT,       STR_SUBTYPE_SLT,       7, OPTION_RFTUNE,  0, 1, SW_NRF,    SLT_init,        SLT_callback        },
+		{PROTO_SLT,        STR_SLT,       STR_SUBTYPE_SLT,       8, OPTION_RFTUNE,  0, 1, SW_NRF,    SLT_init,        SLT_callback        },
 	#endif
 	#if defined(SYMAX_NRF24L01_INO)
 		{PROTO_SYMAX,      STR_SYMAX,     STR_SUBTYPE_SYMAX,     2, OPTION_NONE,    0, 0, SW_NRF,    SYMAX_init,      SYMAX_callback      },

Multiprotocol/Multiprotocol.h

@@ -19,7 +19,7 @@
 #define VERSION_MAJOR		1
 #define VERSION_MINOR		3
 #define VERSION_REVISION	4
-#define VERSION_PATCH_LEVEL	61
+#define VERSION_PATCH_LEVEL	62
 
 #define MODE_SERIAL 0
 
@@ -216,6 +216,7 @@ enum SLT
 	MR100		= 4,
 	SLT_V1_4	= 5,
 	RF_SIM		= 6,
+	SLT6TX		= 7,
 };
 enum CX10
 {
@@ -1149,6 +1150,7 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
 			MR100		4
 			SLT_V1_4CH	5
 			RF_SIM		6
+			SLT6TX		7
 		sub_protocol==E01X
 			E012		0
 			E015		1

Multiprotocol/NRF250K_EMU.ino

@@ -16,13 +16,25 @@
 
 #include "iface_nrf250k.h"
 
+#if defined(CC2500_INSTALLED) && defined(NRF24L01_INSTALLED)
+	extern bool xn297_rf;
+#endif
+
 uint8_t cc2500_nrf_tx_addr[5], cc2500_nrf_addr_len;
 
 static void __attribute__((unused)) NRF250K_SetTXAddr(uint8_t* addr, uint8_t len)
 {
 	if (len > 5) len = 5;
 	if (len < 3) len = 3;
-	#if defined(CC2500_INSTALLED)
+	#if defined(CC2500_INSTALLED) && defined(NRF24L01_INSTALLED)
+		cc2500_nrf_addr_len = len;
+		memcpy(cc2500_nrf_tx_addr, addr, len);
+		if(xn297_rf == XN297_NRF)
+		{
+			NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, len-2);
+			NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, addr, len);
+		}
+	#elif defined(CC2500_INSTALLED)
 		cc2500_nrf_addr_len = len;
 		memcpy(cc2500_nrf_tx_addr, addr, len);
 	#elif defined(NRF24L01_INSTALLED)
@@ -33,6 +45,22 @@ static void __attribute__((unused)) NRF250K_SetTXAddr(uint8_t* addr, uint8_t len
 
 static void __attribute__((unused)) NRF250K_WritePayload(uint8_t* msg, uint8_t len)
 {
+	#if defined(NRF24L01_INSTALLED)
+		#if defined(CC2500_INSTALLED)
+			if(xn297_rf == XN297_NRF)
+		#endif
+		{
+			if(len<=32)
+			{
+				NRF24L01_FlushTx();
+				NRF24L01_WriteReg(NRF24L01_07_STATUS, _BV(NRF24L01_07_TX_DS) | _BV(NRF24L01_07_RX_DR) | _BV(NRF24L01_07_MAX_RT));
+				NRF24L01_WritePayload(msg, len);
+			}
+			#if defined(CC2500_INSTALLED)
+				return;
+			#endif
+		}
+	#endif
 	#if defined(CC2500_INSTALLED)
 		#if defined(ESKY150V2_CC2500_INO)
 			uint8_t buf[158];
@@ -106,13 +134,6 @@ static void __attribute__((unused)) NRF250K_WritePayload(uint8_t* msg, uint8_t l
 			CC2500_WriteRegisterMulti(CC2500_3F_TXFIFO, buff, last);
 			CC2500_Strobe(CC2500_STX);
 		}
-	#elif defined(NRF24L01_INSTALLED)
-		if(len<=32)
-		{
-			NRF24L01_FlushTx();
-			NRF24L01_WriteReg(NRF24L01_07_STATUS, _BV(NRF24L01_07_TX_DS) | _BV(NRF24L01_07_RX_DR) | _BV(NRF24L01_07_MAX_RT));
-			NRF24L01_WritePayload(msg, len);
-		}
 	#endif
 }
 

Multiprotocol/SLT_ccnrf.ino

@@ -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

Multiprotocol/_Config.h

@@ -858,6 +858,7 @@ const PPM_Parameters PPM_prot[14*NBR_BANKS]=	{
 		MR100
 		V1_4CH
 		RF_SIM
+		SLT6TX
 	PROTO_SYMAX
 		SYMAX
 		SYMAX5C

Multiprotocol/iface_nrf250k.h

@@ -13,7 +13,7 @@
 
 //////////////
 // Functions
-#define NRF250K_Init()			XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_250K)
+#define NRF250K_Init(X)			XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_250K, X)
 #define NRF250K_HoppingCalib(X)	XN297_HoppingCalib(X)
 #define NRF250K_Hopping(X)		XN297_Hopping(X)
 #define NRF250K_RFChannel(X)	XN297_RFChannel(X)

Protocols_Details.md

@@ -146,7 +146,7 @@ CFlie|AIR|38|CFlie||||||||NRF24L01|
 [Shenqi](Protocols_Details.md#Shenqi---19)||19|Shenqi||||||||NRF24L01|LT8900
 [Shenqi2](Protocols_Details.md#Shenqi2---105)||105|Shenqi2||||||||NRF24L01|XN297
 [Skyartec](Protocols_Details.md#Skyartec---68)||68|||||||||CC2500|CC2500
-[SLT](Protocols_Details.md#SLT---11)||11|SLT_V1|SLT_V2|Q100|Q200|MR100|V1_4CH|RF_SIM||NRF24L01|CC2500
+[SLT](Protocols_Details.md#SLT---11)||11|SLT_V1|SLT_V2|Q100|Q200|MR100|V1_4CH|RF_SIM|SLT6TX|NRF24L01|CC2500
 [SymaX](Protocols_Details.md#Symax---10)||10|SYMAX|SYMAX5C|||||||NRF24L01|
 [Traxxas](Protocols_Details.md#Traxxas---43)||43|TQ2|TQ1|||||||CYRF6936|
 [V2x2](Protocols_Details.md#V2X2---5)||5|V2x2|JXD506|MR101||||||NRF24L01|
@@ -1532,6 +1532,16 @@ Please save radio-profile with a new name without setting reset-button in RF8. T
 
 Find the [Reset21] section and change Input=INT:-1 to Input=INT:9 
 
+### Sub_protocol SLT6TX - *7*
+Models: Blade Revolution 90 FP helicopter (SLT6 transmitter)
+
+CH1|CH2|CH3|CH4|CH5|CH6
+---|---|---|---|---|---
+A|E|T|R|FMODE|PANIC
+
+FMODE: flight mode switch (3-position)
+
+PANIC: panic/recovery button
 
 ## V911S - *46*