gomaomao/DIY-Multiprotocol-TX-Module
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SLT Fix?

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pascallanger 2016-11-16 21:17:03 +00:00 committed by GitHub
parent 6ad9fb8f27
commit 7c22110c96
1 changed files with 193 additions and 202 deletions
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63
Multiprotocol/SLT_nrf24l01.ino
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@ -12,7 +12,7 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/ */
// Last sync with hexfet new_protocols/slt_nrf24l01.c dated 2015-02-13 // Last sync with deviation main github branch
#if defined(SLT_NRF24L01_INO) #if defined(SLT_NRF24L01_INO)
@ -24,8 +24,7 @@
#define SLT_TXID_SIZE 4 #define SLT_TXID_SIZE 4
enum { enum {
SLT_INIT2 = 0, SLT_BIND=0,
SLT_BIND,
SLT_DATA1, SLT_DATA1,
SLT_DATA2, SLT_DATA2,
SLT_DATA3 SLT_DATA3
@ -45,24 +44,18 @@ static void __attribute__((unused)) SLT_init()
NRF24L01_SetPower(); NRF24L01_SetPower();
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t*)"\xC3\xC3\xAA\x55", 4); NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t*)"\xC3\xC3\xAA\x55", 4);
NRF24L01_FlushRx(); NRF24L01_FlushRx();
} NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, SLT_TXID_SIZE);
static void __attribute__((unused)) SLT_init2()
{
NRF24L01_FlushTx(); NRF24L01_FlushTx();
packet_sent = 0;
hopping_frequency_no = 0;
// Turn radio power on // Turn radio power on
NRF24L01_SetTxRxMode(TX_EN); NRF24L01_SetTxRxMode(TX_EN);
} }
static void __attribute__((unused)) SLT_set_tx_id(void) static void __attribute__((unused)) SLT_set_freq(void)
{ {
// Frequency hopping sequence generation // Frequency hopping sequence generation
for (uint8_t i = 0; i < 4; ++i) for (uint8_t i = 0; i < SLT_TXID_SIZE; ++i)
{ {
uint8_t next_i = (i+1) % 4; // is & 3 better than % 4 ? uint8_t next_i = (i+1) % SLT_TXID_SIZE; // is & 3 better than % 4 ?
uint8_t base = i < 2 ? 0x03 : 0x10; uint8_t base = i < 2 ? 0x03 : 0x10;
hopping_frequency[i*4 + 0] = (rx_tx_addr[i] & 0x3f) + base; hopping_frequency[i*4 + 0] = (rx_tx_addr[i] & 0x3f) + base;
hopping_frequency[i*4 + 1] = (rx_tx_addr[i] >> 2) + base; hopping_frequency[i*4 + 1] = (rx_tx_addr[i] >> 2) + base;
@ -72,8 +65,9 @@ static void __attribute__((unused)) SLT_set_tx_id(void)
} }
// unique // unique
uint8_t done = 0;
for (uint8_t i = 0; i < SLT_NFREQCHANNELS; ++i) for (uint8_t i = 0; i < SLT_NFREQCHANNELS; ++i)
{
uint8_t done = 0;
while (!done) while (!done)
{ {
done = 1; done = 1;
@ -86,8 +80,7 @@ static void __attribute__((unused)) SLT_set_tx_id(void)
hopping_frequency[i] = hopping_frequency[i] - 0x50 + 0x03; hopping_frequency[i] = hopping_frequency[i] - 0x50 + 0x03;
} }
} }
}
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 4);
} }
static void __attribute__((unused)) SLT_wait_radio() static void __attribute__((unused)) SLT_wait_radio()
@ -111,7 +104,8 @@ static void __attribute__((unused)) SLT_build_packet()
{ {
// aileron, elevator, throttle, rudder, gear, pitch // 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]);
packet[i] = v; packet[i] = v;
e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0); e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
@ -131,19 +125,19 @@ static void __attribute__((unused)) SLT_build_packet()
static void __attribute__((unused)) SLT_send_bind_packet() static void __attribute__((unused)) SLT_send_bind_packet()
{ {
SLT_wait_radio(); SLT_wait_radio();
BIND_IN_PROGRESS; // autobind protocol BIND_IN_PROGRESS; //Limit TX power to bind level
NRF24L01_SetPower(); NRF24L01_SetPower();
BIND_DONE;
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x7E\xB8\x63\xA9", 4); NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x7E\xB8\x63\xA9", 4);
NRF24L01_WriteReg(NRF24L01_05_RF_CH, 0x50); NRF24L01_WriteReg(NRF24L01_05_RF_CH, 0x50);
SLT_send_data(rx_tx_addr, 4); SLT_send_data(rx_tx_addr, SLT_TXID_SIZE);
// NB: we should wait until the packet's sent before changing TX address! // W²ait until the packet's sent before changing TX address!
SLT_wait_radio(); SLT_wait_radio();
BIND_DONE; NRF24L01_SetPower(); //Change power back to normal level
NRF24L01_SetPower(); NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, SLT_TXID_SIZE);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 4);
} }
uint16_t SLT_callback() uint16_t SLT_callback()
@ -151,11 +145,6 @@ uint16_t SLT_callback()
uint16_t delay_us = 20000; // 3 packets with 1ms intervals every 22ms uint16_t delay_us = 20000; // 3 packets with 1ms intervals every 22ms
switch (phase) switch (phase)
{ {
case SLT_INIT2:
SLT_init2();
phase = SLT_BIND;
delay_us = 150;
break;
case SLT_BIND: case SLT_BIND:
SLT_send_bind_packet(); SLT_send_bind_packet();
phase = SLT_DATA1; phase = SLT_DATA1;
@ -163,20 +152,20 @@ uint16_t SLT_callback()
break; break;
case SLT_DATA1: case SLT_DATA1:
SLT_build_packet(); SLT_build_packet();
SLT_send_data(packet, 7); SLT_send_data(packet, SLT_PAYLOADSIZE);
phase = SLT_DATA2; phase = SLT_DATA2;
delay_us = 1000; delay_us = 1000;
break; break;
case SLT_DATA2: case SLT_DATA2:
SLT_send_data(packet, 7); SLT_send_data(packet, SLT_PAYLOADSIZE);
phase = SLT_DATA3; phase = SLT_DATA3;
delay_us = 1000; delay_us = 1000;
break; break;
case SLT_DATA3: case SLT_DATA3:
SLT_send_data(packet, 7); SLT_send_data(packet, SLT_PAYLOADSIZE);
if (++counter >= 100) if (++packet_count >= 100)
{ {
counter = 0; packet_count = 0;
phase = SLT_BIND; phase = SLT_BIND;
delay_us = 1000; delay_us = 1000;
} }
@ -192,10 +181,12 @@ uint16_t SLT_callback()
uint16_t initSLT() uint16_t initSLT()
{ {
counter = 0; packet_count = 0;
packet_sent = 0;
hopping_frequency_no = 0;
SLT_set_freq();
SLT_init(); SLT_init();
phase = SLT_INIT2; phase = SLT_BIND;
SLT_set_tx_id();
return 50000; return 50000;
} }