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https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
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E016H subprotocol addition to E01X
Protocol E01X (45) Subprotocol E016H (2) Channels: CH5=STOP CH6=FLIP CH8=HEADLESS CH9=RTH
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Pascal Langer
parent
869a01b57f
commit
536d7f6124
@ -33,31 +33,47 @@
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#define E015_PACKET_SIZE 10
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#define E015_BIND_PACKET_SIZE 9
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#define E016H_PACKET_PERIOD 4080
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#define E016H_PACKET_SIZE 10
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#define E016H_BIND_CHANNEL 80
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#define E016H_NUM_CHANNELS 4
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//Channels
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#define E01X_ARM_SW CH5_SW
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#define E01X_FLIP_SW CH6_SW
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#define E01X_LED_SW CH7_SW
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#define E01X_HEADLESS_SW CH8_SW
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#define E01X_RTH_SW CH9_SW
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#define E01X_ARM_SW CH5_SW
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#define E016H_STOP_SW CH5_SW
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#define E01X_FLIP_SW CH6_SW
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#define E01X_LED_SW CH7_SW
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#define E01X_HEADLESS_SW CH8_SW
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#define E01X_RTH_SW CH9_SW
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// E012 flags packet[1]
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#define E012_FLAG_FLIP 0x40
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#define E012_FLAG_HEADLESS 0x10
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#define E012_FLAG_RTH 0x04
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#define E012_FLAG_FLIP 0x40
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#define E012_FLAG_HEADLESS 0x10
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#define E012_FLAG_RTH 0x04
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// E012 flags packet[7]
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#define E012_FLAG_EXPERT 0x02
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#define E012_FLAG_EXPERT 0x02
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// E015 flags packet[6]
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#define E015_FLAG_DISARM 0x80
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#define E015_FLAG_ARM 0x40
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#define E015_FLAG_DISARM 0x80
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#define E015_FLAG_ARM 0x40
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// E015 flags packet[7]
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#define E015_FLAG_FLIP 0x80
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#define E015_FLAG_HEADLESS 0x10
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#define E015_FLAG_RTH 0x08
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#define E015_FLAG_LED 0x04
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#define E015_FLAG_EXPERT 0x02
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#define E015_FLAG_FLIP 0x80
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#define E015_FLAG_HEADLESS 0x10
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#define E015_FLAG_RTH 0x08
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#define E015_FLAG_LED 0x04
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#define E015_FLAG_EXPERT 0x02
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#define E015_FLAG_INTERMEDIATE 0x01
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// E016H flags packet[1]
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#define E016H_FLAG_STOP 0x20
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#define E016H_FLAG_FLIP 0x04
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// E016H flags packet[3]
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#define E016H_FLAG_HEADLESS 0x10
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#define E016H_FLAG_RTH 0x04
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// E016H flags packet[7]
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#define E016H_FLAG_TAKEOFF 0x80
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#define E016H_FLAG_HIGHRATE 0x08
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static void __attribute__((unused)) E015_check_arming()
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{
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uint8_t arm_channel = E01X_ARM_SW;
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@ -80,6 +96,7 @@ static void __attribute__((unused)) E015_check_arming()
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static void __attribute__((unused)) E01X_send_packet(uint8_t bind)
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{
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uint8_t can_flip = 0;
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if(sub_protocol==E012)
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{
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packet_length=E012_PACKET_SIZE;
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@ -114,7 +131,7 @@ static void __attribute__((unused)) E01X_send_packet(uint8_t bind)
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packet[13] = 0x56;
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packet[14] = rx_tx_addr[2];
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}
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else
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else if(sub_protocol==E015)
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{ // E015
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if(bind)
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{
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@ -152,9 +169,58 @@ static void __attribute__((unused)) E01X_send_packet(uint8_t bind)
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packet_length=E015_PACKET_SIZE;
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}
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}
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else
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{ // E016H
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packet_length=E016H_PACKET_SIZE;
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if(bind)
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{
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rf_ch_num=E016H_BIND_CHANNEL;
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memcpy(packet, &rx_tx_addr[1], 4);
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memcpy(&packet[4], hopping_frequency, 4);
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packet[8] = 0x23;
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}
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else
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{
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// trim commands
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packet[0] = 0;
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// aileron
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uint16_t val = convert_channel_16b_limit(AILERON, 0x3ff, 0);
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can_flip |= (val < 0x100) || (val > 0x300);
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packet[1] = val >> 8;
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packet[2] = val & 0xff;
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// elevator
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val = convert_channel_16b_limit(ELEVATOR, 0x3ff, 0);
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can_flip |= (val < 0x100) || (val > 0x300);
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packet[3] = val >> 8;
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packet[4] = val & 0xff;
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// throttle
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val = convert_channel_16b_limit(THROTTLE, 0, 0x3ff);
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packet[5] = val >> 8;
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packet[6] = val & 0xff;
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// rudder
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val = convert_channel_16b_limit(RUDDER, 0x3ff, 0);
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packet[7] = val >> 8;
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packet[8] = val & 0xff;
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// flags
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packet[1] |= GET_FLAG(E016H_STOP_SW, E016H_FLAG_STOP)
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| (can_flip ? GET_FLAG(E01X_FLIP_SW, E016H_FLAG_FLIP) : 0);
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packet[3] |= GET_FLAG(E01X_HEADLESS_SW, E016H_FLAG_HEADLESS)
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| GET_FLAG(E01X_RTH_SW, E016H_FLAG_RTH);
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packet[7] |= E016H_FLAG_HIGHRATE;
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// frequency hopping
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rf_ch_num=hopping_frequency[hopping_frequency_no++ & 0x03];
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}
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// checksum
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packet[9] = packet[0];
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for (uint8_t i=1; i < E016H_PACKET_SIZE-1; i++)
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packet[9] += packet[i];
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}
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// Power on, TX mode, CRC enabled
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HS6200_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
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if(sub_protocol==E016H)
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XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP));
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else //E012 & E015
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HS6200_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch_num);
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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@ -175,8 +241,10 @@ static void __attribute__((unused)) E01X_init()
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NRF24L01_SetTxRxMode(TX_EN);
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if(sub_protocol==E012)
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HS6200_SetTXAddr((uint8_t *)"\x55\x42\x9C\x8F\xC9", E01X_ADDRESS_LENGTH);
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else // E015
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else if(sub_protocol==E015)
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HS6200_SetTXAddr((uint8_t *)"\x62\x54\x79\x38\x53", E01X_ADDRESS_LENGTH);
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else //E016H
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XN297_SetTXAddr((uint8_t *)"\x5a\x53\x46\x30\x31", 5); // bind address
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NRF24L01_FlushTx();
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NRF24L01_FlushRx();
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
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@ -197,7 +265,10 @@ uint16_t E01X_callback()
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{
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if (bind_counter == 0)
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{
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HS6200_SetTXAddr(rx_tx_addr, 5);
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if(sub_protocol==E016H)
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HS6200_SetTXAddr(rx_tx_addr, E01X_ADDRESS_LENGTH);
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else
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XN297_SetTXAddr(rx_tx_addr, E01X_ADDRESS_LENGTH);
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BIND_DONE;
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}
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else
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@ -216,7 +287,25 @@ static void __attribute__((unused)) E012_initialize_txid()
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// rf channels
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uint32_t lfsr=random(0xfefefefe);
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for(uint8_t i=0; i<E012_NUM_RF_CHANNELS; i++)
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hopping_frequency[i] = 0x10 + (((lfsr >> (i*8)) & 0xff) % 0x32);
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{
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hopping_frequency[i] = 0x10 + ((lfsr & 0xff) % 0x32);
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lfsr>>=8;
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}
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}
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static void __attribute__((unused)) E016H_initialize_txid()
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{
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// tx id
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rx_tx_addr[0] = 0xa5;
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rx_tx_addr[1] = 0x00;
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// rf channels
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uint32_t lfsr=random(0xfefefefe);
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for(uint8_t i=0; i<E016H_NUM_CHANNELS; i++)
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{
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hopping_frequency[i] = (lfsr & 0xFF) % 80;
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lfsr>>=8;
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}
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}
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uint16_t initE01X()
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@ -227,14 +316,19 @@ uint16_t initE01X()
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E012_initialize_txid();
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packet_period=E012_PACKET_PERIOD;
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}
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else
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{ // E015
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else if(sub_protocol==E015)
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{
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packet_period=E015_PACKET_PERIOD;
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rf_ch_num=E015_RF_CHANNEL;
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armed = 0;
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arm_flags = 0;
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arm_channel_previous = E01X_ARM_SW;
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}
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else
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{ // E016H
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E016H_initialize_txid();
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packet_period=E016H_PACKET_PERIOD;
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}
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E01X_init();
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bind_counter = E01X_BIND_COUNT;
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hopping_frequency_no = 0;
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@ -42,7 +42,7 @@
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42,BUGSMINI
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43,Traxxas
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44,NCC1701
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45,E01X,E012,E015
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45,E01X,E012,E015,E016H
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46,V911S
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47,GD00X
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63,Test
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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 2
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#define VERSION_REVISION 1
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#define VERSION_PATCH_LEVEL 25
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#define VERSION_PATCH_LEVEL 26
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//******************
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// Protocols
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@ -254,6 +254,7 @@ enum E01X
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{
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E012 = 0,
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E015 = 1,
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E016H = 2,
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};
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#define NONE 0
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@ -727,6 +728,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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sub_protocol==E01X
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E012 0
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E015 1
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E016H 2
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Power value => 0x80 0=High/1=Low
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Stream[3] = option_protocol;
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@ -502,6 +502,7 @@ const PPM_Parameters PPM_prot[14*NBR_BANKS]= {
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PROTO_E01X
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E012
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E015
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E016H
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PROTO_ESKY
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NONE
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PROTO_ESKY150
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