gomaomao/DIY-Multiprotocol-TX-Module
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SLT: revert to previous version

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pascallanger 2017-02-28 10:33:43 +01:00
parent 47a4261631
commit 29a5397491
1 changed files with 40 additions and 94 deletions
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134
Multiprotocol/SLT_nrf24l01.ino
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@ -20,20 +20,15 @@
// For code readability // For code readability
#define SLT_PAYLOADSIZE 7 #define SLT_PAYLOADSIZE 7
#define SLT_VISTA_PAYLOADSIZE 11
#define SLT_NFREQCHANNELS 15 #define SLT_NFREQCHANNELS 15
#define SLT_TXID_SIZE 4 #define SLT_TXID_SIZE 4
enum { enum {
// flags going to packet[6] SLT_BUILD=0,
SLT_VISTA_FLAG_FLIP = 0x04, SLT_DATA1,
SLT_VISTA_FLAG_MODE = 0x20 SLT_DATA2,
}; SLT_DATA3,
SLT_BIND
enum {
SLT_BIND=0,
SLT_BUILD,
SLT_DATA,
}; };
static void __attribute__((unused)) SLT_init() static void __attribute__((unused)) SLT_init()
@ -108,37 +103,24 @@ static void __attribute__((unused)) SLT_send_data(uint8_t *data, uint8_t len)
static void __attribute__((unused)) SLT_build_packet() static void __attribute__((unused)) SLT_build_packet()
{ {
// aileron, elevator, throttle, rudder, gear, pitch // Set radio channel - once per packet batch
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
hopping_frequency_no = 0;
// aileron, elevator, throttle, rudder, gear, pitch
uint8_t e = 0; // byte where extension 2 bits for every 10-bit channel are packed uint8_t e = 0; // byte where extension 2 bits for every 10-bit channel are packed
for (uint8_t i = 0; i < 4; ++i) for (uint8_t i = 0; i < 4; ++i)
{ {
uint16_t v = convert_channel_10b(CH_AETR[i]); uint16_t v = convert_channel_10b(CH_AETR[i]);
if(sub_protocol==VISTA && CH_AETR[i]==THROTTLE)
v = (uint16_t) map(limit_channel_100(THROTTLE),servo_min_100,servo_max_100,850,150); // Throttel is between 850=0% and 150=100%
packet[i] = v; packet[i] = v;
e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0); e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
} }
// Extra bits for AETR // Extra bits for AETR
packet[4] = e; packet[4] = e;
if(sub_protocol==SLT) // 8-bit channels
{ packet[5] = convert_channel_8b(AUX1);
// 8-bit channels packet[6] = convert_channel_8b(AUX2);
packet[5] = convert_channel_8b(AUX1);
packet[6] = convert_channel_8b(AUX2);
}
else
{ // VISTA
packet[5] = 0xA6;
packet[6] = 0x00;
if(Servo_AUX1)
packet[6] = SLT_VISTA_FLAG_FLIP;
if(Servo_AUX2)
packet[6] |= SLT_VISTA_FLAG_MODE;
packet[7] = 0x00;
packet[8] = 0x7F;
packet[9] = 0xAA;
packet[10] = 0x00;
}
} }
static void __attribute__((unused)) SLT_send_bind_packet() static void __attribute__((unused)) SLT_send_bind_packet()
@ -162,83 +144,47 @@ uint16_t SLT_callback()
{ {
switch (phase) switch (phase)
{ {
case SLT_BIND: case SLT_BUILD:
bind_phase = 0; SLT_build_packet();
SLT_send_bind_packet(); phase++;
if(sub_protocol == VISTA) return 1000;
case SLT_DATA1:
SLT_send_data(packet, SLT_PAYLOADSIZE);
phase++;
return 1000;
case SLT_DATA2:
SLT_send_data(packet, SLT_PAYLOADSIZE);
phase++;
return 1000;
case SLT_DATA3:
SLT_send_data(packet, SLT_PAYLOADSIZE);
if (++packet_count >= 100)
{ {
phase=SLT_DATA; packet_count = 0;
phase++;
return 1000; return 1000;
} }
phase++; // SLT_BUILD else
return 18000; {
case SLT_BUILD:
if(sub_protocol==SLT)
{ // Set radio channel - once per packet batch
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
hopping_frequency_no = 0;
}
SLT_build_packet();
packet_count=0;
phase++; // SLT_DATA
return 1000;
case SLT_DATA:
if(sub_protocol==VISTA)
{ // Change radio channel every 9 packets
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
rf_ch_num++;
if(rf_ch_num>=9)
{
if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
hopping_frequency_no = 0;
rf_ch_num=0;
}
}
SLT_send_data(packet, sub_protocol == VISTA?SLT_VISTA_PAYLOADSIZE:SLT_PAYLOADSIZE);
packet_count++;
if(packet_count >= (sub_protocol == VISTA?5:3))
{ // repeat the same data packet 3(SLT) or 5(VISTA) times
bind_phase++;
NRF24L01_SetPower(); // Set tx_power NRF24L01_SetPower(); // Set tx_power
phase = SLT_BUILD; // Refresh data phase = SLT_BUILD;
if(sub_protocol == VISTA)
return 1000;
else
if(bind_phase>=100)
{ //SLT sends bind packet every 2.2s
phase=SLT_BIND;
return 1000;
}
return 19000; return 19000;
} }
if(sub_protocol == VISTA) case SLT_BIND:
{ //VISTA sends bind packet every 1.5s SLT_send_bind_packet();
if(bind_phase>=150) phase = SLT_BUILD;
phase=SLT_BIND; return 18000;
else
return 2000;
}
return 1000;
} }
return 1000; return 19000;
} }
uint16_t initSLT() uint16_t initSLT()
{ {
packet_count = 0; packet_count = 0;
packet_sent = 0; packet_sent = 0;
rf_ch_num=0;
hopping_frequency_no = 0; hopping_frequency_no = 0;
if(sub_protocol == VISTA) SLT_set_freq();
{
memcpy(rx_tx_addr,"\x00\x00\x23\x00",SLT_TXID_SIZE);
memcpy(hopping_frequency,"\x03\x0A\x11\x18\x1F\x26\x13\x0F\x0B\x10\x08\x16\x1D\x24\x06",15);
}
else
SLT_set_freq();
SLT_init(); SLT_init();
SLT_build_packet();
phase = SLT_BIND; phase = SLT_BIND;
return 50000; return 50000;
} }