mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 19:58:13 +00:00
Xerall protocol
This commit is contained in:
Pascal Langer
parent
a7b68dc2aa
commit
246e808cb4
@ -196,5 +196,6 @@
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85,0,E016H,Std,1,Stop,Flip,n-a,HLess,RTH
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87,0,IKEA
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89,0,LOSI
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90,0,MouldKg,Analog
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90,1,MouldKg,Digit,E,F
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90,0,MouldKg,Analog,0
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90,1,MouldKg,Digit,0
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91,0,Xerall,Tank,0,FlGr,TakLan,Rate,HLess,Photo,Video,TrimR,TrimE,TrimA
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@ -87,4 +87,4 @@
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88,WILLIFM
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89,Losi
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90,MouldKg,Analog,Digit
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91,XERALL
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91,Xerall
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@ -102,7 +102,7 @@ const char STR_IKEAANSLUTA[]="Ansluta";
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const char STR_CONFIG[] ="Config";
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const char STR_LOSI[] ="Losi";
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const char STR_MOULDKG[] ="MouldKg";
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const char STR_XERALL[] ="XERALL";
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const char STR_XERALL[] ="Xerall";
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const char STR_SUBTYPE_FLYSKY[] = "\x04""Std\0""V9x9""V6x6""V912""CX20";
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const char STR_SUBTYPE_HUBSAN[] = "\x04""H107""H301""H501";
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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 3
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#define VERSION_REVISION 2
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#define VERSION_PATCH_LEVEL 94
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#define VERSION_PATCH_LEVEL 95
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#define MODE_SERIAL 0
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283
Multiprotocol/XERALL_nrf24l01.ino
Normal file
283
Multiprotocol/XERALL_nrf24l01.ino
Normal file
@ -0,0 +1,283 @@
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/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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// compatible with XERALL
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#if defined(XERALL_NRF24L01_INO)
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#include "iface_xn297.h"
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//#define XERALL_ORIGINAL_ID
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#define XERALL_PACKET_PERIOD 2500 //2046
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#define XERALL_PACKET_SIZE 10
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#define XERALL_NUM_RF_CHANNELS 4
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#define XERALL_BIND_COUNT 15000 //about 30sec
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// flags going to packet[6]
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#define XERALL_FLAG_VIDEO 0x80
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#define XERALL_FLAG_PHOTO 0x40
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// flags going to packet[7]
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#define XERALL_FLAG_RATE 0x80
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#define XERALL_FLAG_FLIGHT_GROUND 0x20
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#define XERALL_FLAG_HEADING_HOLD 0x04
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#define XERALL_FLAG_ONE_BUTTON 0x02
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enum {
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XERALL_DATA,
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XERALL_RX,
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XERALL_CHECK,
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};
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static void __attribute__((unused)) XERALL_send_packet()
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{
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if(bind_phase)
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bind_phase--;
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else
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{ // Hopping frequency
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if(packet_sent==0)
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{
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XN297_Hopping(hopping_frequency_no);
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hopping_frequency_no++;
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hopping_frequency_no &= (XERALL_NUM_RF_CHANNELS-1);
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}
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packet_sent++;
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if(IS_BIND_IN_PROGRESS)
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{
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if(packet_sent > 24)
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packet_sent=0; // Hopp after 25 packets
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}
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else
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{
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if(packet_sent > 18)
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packet_sent = 0; // Hopp after 19 packets
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}
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// Packet
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if(IS_BIND_IN_PROGRESS && (bind_counter&0x10)) // Alternate bind and normal packets
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{ // Bind packet: 01 56 06 23 00 13 20 40 02 00 and 01 F9 58 31 00 13 20 40 05 00
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if(packet[0] != 0x01)
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{
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XN297_SetTXAddr((uint8_t *)"\x01\x01\x01\x01\x09", 5); // Bind address
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XN297_SetRXAddr((uint8_t *)"\x01\x01\x01\x01\x09", XERALL_PACKET_SIZE);
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}
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packet[0] = 0x01;
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for(uint8_t i=0;i<5;i++)
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packet[i+1] = rx_tx_addr[i];
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packet[9] = 0;
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}
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else
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{
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if(packet[0] != 0x08)
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{
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XN297_SetTXAddr(rx_tx_addr, 5);
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XN297_SetRXAddr(rx_tx_addr, XERALL_PACKET_SIZE);
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}
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// Normal packet: 08 32 7C 1C 20 20 20 40 0A 00
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packet[0] = 0x08;
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//Throttle
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packet[1] = convert_channel_16b_limit(THROTTLE ,0,0x32)<<1; //00..64 but only even values
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//Rudder
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packet[2] = (0xFF-convert_channel_8b(RUDDER))&0xF8; //F8..00 -> 5 bits
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//Elevator
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uint8_t ch = convert_channel_8b(ELEVATOR)>>3;
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packet[2] |= ch>>2; //00..07 -> 3 bits high
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packet[3] = ch<<6; //00,40,80,C0 -> 2 bits low
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//Aileron
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packet[3] |= ((0xFF-convert_channel_8b(AILERON))>>3)<<1; //5 bits
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//Trim Rudder 0x00..0x20..0x3F
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packet[4] = convert_channel_8b(CH11)>>2;
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//Trim Elevator 0x00..0x20..0x3F
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packet[5] = convert_channel_8b(CH12)>>2;
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}
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}
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// Flags + Trim Aileron
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//packet[6]
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// 0x20 -> 0x60 short press photo/video => |0x40 -> momentary
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// 0x20 -> 0xA0 long press photo/video => |0x80 -> toggle
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// 0xA0 -> 0xE0 short press photo/video => |0x40 -> momentary
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// 0x20 -> 0x00..0x20..0x3F Trim Aileron
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packet[6] = (convert_channel_8b(CH13)>>2)
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| GET_FLAG(CH9_SW,XERALL_FLAG_PHOTO)
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| GET_FLAG(CH10_SW,XERALL_FLAG_VIDEO);
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// Flags
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// 0x40 -> 0x44 Heading hold mode => |0x04 -> toggle
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// 0x40 -> 0xC0 High/low speed => |0x80 -> toggle
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// 0x40 -> 0x42 One button takeoff/landing/emergency => |0x02 -> toggle
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// 0x40 -> 0x60 Flight/Ground => |0x20 -> toggle
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packet[7] = 0x40
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| GET_FLAG(CH5_SW,XERALL_FLAG_FLIGHT_GROUND)
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| GET_FLAG(CH6_SW,XERALL_FLAG_ONE_BUTTON)
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| GET_FLAG(CH7_SW,XERALL_FLAG_RATE)
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| GET_FLAG(CH8_SW,XERALL_FLAG_HEADING_HOLD);
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// CRC
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uint8_t sum = 0;
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for(uint8_t i=1;i<8;i++)
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sum += packet[i];
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packet[8] = sum;
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//0x00 -> 0x1A on first telemetry packet received
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//packet[9] = 0x00;
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// Send
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XN297_SetPower();
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XN297_SetTxRxMode(TXRX_OFF);
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XN297_SetTxRxMode(TX_EN);
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XN297_WriteEnhancedPayload(packet, XERALL_PACKET_SIZE, 0);
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#if 0
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debug("H:%d,P:",hopping_frequency_no);
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for(uint8_t i=0; i<XERALL_PACKET_SIZE; i++)
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debug("%02X ", packet[i]);
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debugln();
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#endif
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}
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static void __attribute__((unused)) XERALL_RF_init()
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{
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XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M);
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}
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static void __attribute__((unused)) XERALL_initialize_txid()
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{
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rx_tx_addr[0] = rx_tx_addr[3];
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#ifdef XERALL_ORIGINAL_ID
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// Pascal
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if(RX_num)
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{
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rx_tx_addr[0]=0x56;
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rx_tx_addr[1]=0x06;
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rx_tx_addr[2]=0x23;
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rx_tx_addr[3]=0x00;
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rx_tx_addr[4]=0x13;
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}
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else
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{
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// Alfons
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rx_tx_addr[0]=0xF9;
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rx_tx_addr[1]=0x58;
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rx_tx_addr[2]=0x31;
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rx_tx_addr[3]=0x00;
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rx_tx_addr[4]=0x13;
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}
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#endif
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rx_tx_addr[3] = 0x00;
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rx_tx_addr[4] = 0x13;
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hopping_frequency[0] = 56; // 0x38
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hopping_frequency[1] = 46; // 0x2E
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hopping_frequency[2] = 61; // 0x3D
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hopping_frequency[3] = 51; // 0x33
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}
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#define XERALL_WRITE_WAIT 600
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#define XERALL_CHECK_WAIT 300
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uint16_t XERALL_callback()
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{
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static uint8_t wait = 0;
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switch(phase)
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{
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case XERALL_DATA:
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#ifdef MULTI_SYNC
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telemetry_set_input_sync(XERALL_PACKET_PERIOD);
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#endif
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if (bind_counter == 0)
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BIND_DONE;
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else
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bind_counter--;
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XERALL_send_packet();
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phase++;
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return XERALL_WRITE_WAIT;
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case XERALL_RX:
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// switch to RX mode
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XN297_SetTxRxMode(TXRX_OFF);
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XN297_SetTxRxMode(RX_EN);
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phase++;
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return XERALL_PACKET_PERIOD-XERALL_WRITE_WAIT-XERALL_CHECK_WAIT;
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case XERALL_CHECK:
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if( XN297_IsRX() )
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{ // RX fifo data ready
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uint8_t len = XN297_ReadEnhancedPayload(packet_in, XERALL_PACKET_SIZE);
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if(len != 255) // CRC OK
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{
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#if 0
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debug("RX(%d):",len);
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for(uint8_t i=0; i<len; i++)
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debug("%02X ", packet_in[i]);
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debugln();
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#endif
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if(len == XERALL_PACKET_SIZE && packet_in[0] == 0x11)
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{ // Request for ack packet
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// Ack the telem packet
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XN297_SetTxRxMode(TXRX_OFF);
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XN297_SetTxRxMode(TX_EN);
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XN297_WriteEnhancedPayload(packet, 0, 0);
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packet[9] = packet_in[9];
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if(packet[0] == 0x01) // Last packet sent was a bind packet
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{// Build bind response
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packet[0] = 0x02;
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for(uint8_t i=1; i<5; i++)
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packet[i] = packet_in[i]; // Tank ID???
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bind_phase = 14;
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XN297_SetTXAddr(rx_tx_addr, 5);
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}
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wait = 0;
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phase = XERALL_DATA; // Resume data
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break;
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}
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if(len == XERALL_PACKET_SIZE && packet_in[0] == 0x12)
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{
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BIND_DONE;
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bind_phase = 0;
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wait = 0;
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phase = XERALL_DATA; // Resume data
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break;
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}
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if(len == 0)
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wait = 5; // The quad wants to talk let's pause sending data...
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}
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// switch to RX mode
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XN297_SetTxRxMode(TXRX_OFF);
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XN297_SetTxRxMode(RX_EN);
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}
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if(wait)
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{
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wait--;
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break;
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}
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phase = XERALL_DATA;
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return XERALL_CHECK_WAIT;
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}
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return XERALL_PACKET_PERIOD;
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}
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void XERALL_init(void)
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{
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XERALL_initialize_txid();
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XERALL_RF_init();
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if(IS_BIND_IN_PROGRESS)
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bind_counter = XERALL_BIND_COUNT;
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hopping_frequency_no=0;
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packet_sent = 0;
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bind_phase = 0;
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memset(packet, 0, XERALL_PACKET_SIZE);
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phase = XERALL_DATA;
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}
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#endif
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@ -449,7 +449,7 @@ static uint8_t __attribute__((unused)) XN297_ReadEnhancedPayload(uint8_t* msg, u
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pcf_size = pcf_size >> 1;
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if(pcf_size>32)
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return 255; // Error
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for(int i=0; i< pcf_size; i++)
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for(uint8_t i=0; i< pcf_size; i++)
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{
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msg[i] = bit_reverse((buffer[i+1] << 2) | (buffer[i+2] >> 6));
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if(xn297_scramble_enabled)
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@ -248,6 +248,7 @@
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#define TIGER_NRF24L01_INO
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#define V2X2_NRF24L01_INO
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#define V761_NRF24L01_INO
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#define XERALL_NRF24L01_INO
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#define YD717_NRF24L01_INO
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#define ZSX_NRF24L01_INO
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@ -144,6 +144,7 @@ CFlie|38|CFlie||||||||NRF24L01|
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[WFLY](Protocols_Details.md#WFLY---40)|40|WFR0x||||||||CYRF6936|
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[WFLY2](Protocols_Details.md#WFLY2---79)|79|RF20x||||||||A7105|
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[WK2x01](Protocols_Details.md#WK2X01---30)|30|WK2801|WK2401|W6_5_1|W6_6_1|W6_HEL|W6_HEL_I|||CYRF6936|
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[XERALL](Protocols_Details.md#XERALL---91)|91|Tank||||||||NRF24L01|XN297
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[XK](Protocols_Details.md#XK---62)|62|X450|X420|||||||NRF24L01|XN297
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[YD717](Protocols_Details.md#YD717---8)|8|YD717|SKYWLKR|SYMAX4|XINXUN|NIHUI||||NRF24L01|
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[ZSX](Protocols_Details.md#ZSX---52)|52|280||||||||NRF24L01|XN297
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@ -1918,6 +1919,13 @@ CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9
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---|---|---|---|---|---|---|---|---
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A|E|T|R|GYRO|CALIB|FLIP|RTN_ACT|RTN
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## XERALL - *91*
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Model: Xerall TankCopter
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CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13
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---|---|---|---|---|---|---|---|---|---|---|---|---
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A|E|T|R|Flight/Ground|Takeoff/Land/Emerg|RATE|HEADLESS|Photo|Video|TrimR|TrimE|TrimA
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## YD717 - *8*
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Autobind protocol
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