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ESky: addition of sub-protocol ET4

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Pascal Langer
2020-03-21 15:16:01 +01:00
parent a4e9082f53
commit 62250d2f25
6 changed files with 96 additions and 37 deletions
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105
Multiprotocol/ESky_nrf24l01.ino
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@@ -18,8 +18,13 @@
#include "iface_nrf24l01.h"
//#define ESKY_ET4_FORCE_ID
#define ESKY_BIND_COUNT 1000
#define ESKY_PACKET_PERIOD 3333
#define ESKY_STD_PACKET_PERIOD 3333
#define ESKY_ET4_PACKET_PERIOD 1190
#define ESKY_ET4_TOTAL_PACKET_PERIOD 20300
#define ESKY_ET4_BIND_PACKET_PERIOD 5000
#define ESKY_PAYLOAD_SIZE 13
#define ESKY_PACKET_CHKTIME 100 // Time to wait for packet to be sent (no ACK, so very short)
@@ -63,28 +68,37 @@ static void __attribute__((unused)) ESKY_init()
static void __attribute__((unused)) ESKY_init2()
{
NRF24L01_FlushTx();
hopping_frequency_no = 0;
uint16_t channel_ord = rx_tx_addr[0] % 74;
hopping_frequency[12] = 10 + (uint8_t)channel_ord; //channel_code
uint8_t channel1, channel2;
channel1 = 10 + (uint8_t)((37 + channel_ord*5) % 74);
channel2 = 10 + (uint8_t)(( channel_ord*5) % 74) ;
if(sub_protocol==ESKY_STD)
{
uint16_t channel_ord = rx_tx_addr[0] % 74;
hopping_frequency[12] = 10 + (uint8_t)channel_ord; //channel_code
uint8_t channel1, channel2;
channel1 = 10 + (uint8_t)((37 + channel_ord*5) % 74);
channel2 = 10 + (uint8_t)(( channel_ord*5) % 74) ;
hopping_frequency[0] = channel1;
hopping_frequency[1] = channel1;
hopping_frequency[2] = channel1;
hopping_frequency[3] = channel2;
hopping_frequency[4] = channel2;
hopping_frequency[5] = channel2;
//end_bytes
hopping_frequency[6] = 6;
hopping_frequency[7] = channel1*2;
hopping_frequency[8] = channel2*2;
hopping_frequency[9] = 6;
hopping_frequency[10] = channel1*2;
hopping_frequency[11] = channel2*2;
hopping_frequency[0] = channel1;
hopping_frequency[1] = channel1;
hopping_frequency[2] = channel1;
hopping_frequency[3] = channel2;
hopping_frequency[4] = channel2;
hopping_frequency[5] = channel2;
//end_bytes
hopping_frequency[6] = 6;
hopping_frequency[7] = channel1*2;
hopping_frequency[8] = channel2*2;
hopping_frequency[9] = 6;
hopping_frequency[10] = channel1*2;
hopping_frequency[11] = channel2*2;
}
else
{ // ESKY_ET4
hopping_frequency[0] = 0x29; //41
hopping_frequency[1] = 0x12; //18
hopping_frequency[6] = 0x87; //135 payload end byte
hopping_frequency[12] = 0x84; //132 indicates which channels to use
}
// Turn radio power on
NRF24L01_SetTxRxMode(TX_EN);
}
@@ -111,20 +125,32 @@ static void __attribute__((unused)) ESKY_send_packet(uint8_t bind)
}
else
{
// Regular packet
// Each data packet is repeated 3 times on one channel, and 3 times on another channel
// For arithmetic simplicity, channels are repeated in rf_channels array
if (hopping_frequency_no == 0)
if (packet_count == 0)
for (uint8_t i = 0; i < 6; i++)
{
uint16_t val=convert_channel_ppm(CH_AETR[i]);
packet[i*2] = val>>8; //high byte of servo timing(1000-2000us)
packet[i*2+1] = val&0xFF; //low byte of servo timing(1000-2000us)
}
rf_ch = hopping_frequency[hopping_frequency_no];
packet[12] = hopping_frequency[hopping_frequency_no+6]; // end_bytes
hopping_frequency_no++;
if (hopping_frequency_no > 6) hopping_frequency_no = 0;
if(sub_protocol==ESKY_STD)
{
// Regular packet
// Each data packet is repeated 3 times on one channel, and 3 times on another channel
// For arithmetic simplicity, channels are repeated in rf_channels array
rf_ch = hopping_frequency[packet_count];
packet[12] = hopping_frequency[packet_count+6]; // end_bytes
packet_count++;
if (packet_count > 6) packet_count = 0;
}
else
{ // ESKY_ET4
// Regular packet
// Each data packet is repeated 14 times alternating between 2 channels
rf_ch = hopping_frequency[packet_count&1];
packet_count++;
if(packet_count>14) packet_count=0;
packet[12] = hopping_frequency[6]; // end_byte
}
}
NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch);
NRF24L01_FlushTx();
@@ -137,9 +163,17 @@ uint16_t ESKY_callback()
if(IS_BIND_DONE)
{
#ifdef MULTI_SYNC
telemetry_set_input_sync(ESKY_PACKET_PERIOD);
if(packet_count==0)
telemetry_set_input_sync(sub_protocol==ESKY_STD?ESKY_STD_PACKET_PERIOD*6:ESKY_ET4_TOTAL_PACKET_PERIOD);
#endif
ESKY_send_packet(0);
if(sub_protocol==ESKY_ET4)
{
if(packet_count==0)
return ESKY_ET4_TOTAL_PACKET_PERIOD-ESKY_ET4_PACKET_PERIOD*13;
else
return ESKY_ET4_PACKET_PERIOD;
}
}
else
{
@@ -150,16 +184,25 @@ uint16_t ESKY_callback()
BIND_DONE;
}
}
return ESKY_PACKET_PERIOD;
return ESKY_STD_PACKET_PERIOD;
}
uint16_t initESKY(void)
{
bind_counter = ESKY_BIND_COUNT;
rx_tx_addr[2] = rx_tx_addr[3]; // Model match
#ifdef ESKY_ET4_FORCE_ID
if(sub_protocol==ESKY_ET4)
{
rx_tx_addr[0]=0x72;
rx_tx_addr[1]=0xBB;
rx_tx_addr[2]=0xCC;
}
#endif
rx_tx_addr[3] = 0xBB;
ESKY_init();
ESKY_init2();
packet_count=0;
return 50000;
}