mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
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Getting the CFlie protocol working. Configurations are hard coded to match the default CrazyFlie firmware.
This commit is contained in:
James Hagerman
parent
0377aa88e2
commit
7d02d736db
@ -13,6 +13,7 @@ Multiprotocol is distributed in the hope that it will be useful,
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Most of this code was ported from theseankelly's related DeviationTX work.
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#if defined(CFLIE_NRF24L01_INO)
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@ -212,8 +213,7 @@ static uint16_t dbg_cnt = 0;
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static uint8_t packet_ack()
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{
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if (++dbg_cnt > 50) {
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// dbgprintf("S: %02x\n", NRF24L01_ReadReg(NRF24L01_07_STATUS));
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debugln("S: %02x\n", NRF24L01_ReadReg(NRF24L01_07_STATUS));
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// debugln("S: %02x\n", NRF24L01_ReadReg(NRF24L01_07_STATUS));
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dbg_cnt = 0;
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}
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switch (NRF24L01_ReadReg(NRF24L01_07_STATUS) & (BV(NRF24L01_07_TX_DS) | BV(NRF24L01_07_MAX_RT))) {
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@ -267,7 +267,7 @@ static void send_search_packet()
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}
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// Frac 16.16
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#define FRAC_MANTISSA 16
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#define FRAC_MANTISSA 16 // This means, not IEEE 754...
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#define FRAC_SCALE (1 << FRAC_MANTISSA)
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// Convert fractional 16.16 to float32
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@ -277,7 +277,7 @@ static void frac2float(int32_t n, float* res)
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*res = 0.0;
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return;
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}
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uint32_t m = n < 0 ? -n : n;
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uint32_t m = n < 0 ? -n : n; // Figure out mantissa?
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int i;
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for (i = (31-FRAC_MANTISSA); (m & 0x80000000) == 0; i--, m <<= 1);
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m <<= 1; // Clear implicit leftmost 1
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@ -293,7 +293,6 @@ static void send_crtp_rpyt_packet()
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int32_t f_roll;
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int32_t f_pitch;
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int32_t f_yaw;
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int32_t thrust_truncated;
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uint16_t thrust;
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uint16_t val;
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@ -309,47 +308,48 @@ static void send_crtp_rpyt_packet()
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// Channels in AETR order
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// Roll, aka aileron, float +- 50.0 in degrees
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// float roll = -(float) Channels[0]*50.0/10000;
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val = convert_channel_10b(AILERON);
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val = convert_channel_16b_limit(AILERON, -10000, 10000);
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// f_roll = -Channels[0] * FRAC_SCALE / (10000 / 50);
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f_roll = -val * FRAC_SCALE / (10000 / 50);
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f_roll = val * FRAC_SCALE / (10000 / 50);
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frac2float(f_roll, &cpkt.roll); // TODO: Remove this and use the correct Mode switch below...
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// debugln("Roll: raw, converted: %d, %d, %d, %0.2f", Channel_data[AILERON], val, f_roll, cpkt.roll);
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// Pitch, aka elevator, float +- 50.0 degrees
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//float pitch = -(float) Channels[1]*50.0/10000;
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val = convert_channel_10b(ELEVATOR);
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val = convert_channel_16b_limit(ELEVATOR, -10000, 10000);
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// f_pitch = -Channels[1] * FRAC_SCALE / (10000 / 50);
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f_pitch = -val * FRAC_SCALE / (10000 / 50);
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frac2float(f_pitch, &cpkt.pitch); // TODO: Remove this and use the correct Mode switch below...
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// debugln("Pitch: raw, converted: %d, %d, %d, %0.2f", Channel_data[ELEVATOR], val, f_pitch, cpkt.pitch);
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// Thrust, aka throttle 0..65535, working range 5535..65535
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// No space for overshoot here, hard limit Channel3 by -10000..10000
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// thrust_truncated = Channels[2];
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thrust_truncated = convert_channel_10b(THROTTLE);
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// Android Crazyflie app puts out a throttle range of 0-80%: 0..52000
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thrust = convert_channel_16b_limit(THROTTLE, 0, 32767) * 2;
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// TODO: Figure this out:
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// if (thrust_truncated < CHAN_MIN_VALUE) {
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// thrust_truncated = CHAN_MIN_VALUE;
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// } else if (thrust_truncated > CHAN_MAX_VALUE) {
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// thrust_truncated = CHAN_MAX_VALUE;
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// }
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thrust = thrust_truncated*3L + 35535L;
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// Crazyflie needs zero thrust to unlock
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if (thrust < 6000)
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if (thrust < 900)
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cpkt.thrust = 0;
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else
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cpkt.thrust = thrust;
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// debugln("Thrust: raw, converted: %d, %u, %u", Channel_data[THROTTLE], thrust, cpkt.thrust);
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// Yaw, aka rudder, float +- 400.0 deg/s
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// float yaw = -(float) Channels[3]*400.0/10000;
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val = convert_channel_10b(RUDDER);
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val = convert_channel_16b_limit(RUDDER, -10000, 10000);
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// f_yaw = - Channels[3] * FRAC_SCALE / (10000 / 400);
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f_yaw = - val * FRAC_SCALE / (10000 / 400);
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f_yaw = val * FRAC_SCALE / (10000 / 400);
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frac2float(f_yaw, &cpkt.yaw);
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// debugln("Yaw: raw, converted: %d, %d, %d, %0.2f", Channel_data[RUDDER], val, f_yaw, cpkt.yaw);
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// Switch on/off?
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// TODO: Figure out what this means:
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// TODO: Get X or + mode working again:
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// if (Channels[4] >= 0) {
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frac2float(f_roll, &cpkt.roll);
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frac2float(f_pitch, &cpkt.pitch);
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// frac2float(f_roll, &cpkt.roll);
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// frac2float(f_pitch, &cpkt.pitch);
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// } else {
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// // Rotate 45 degrees going from X to + mode or opposite.
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// // 181 / 256 = 0.70703125 ~= sqrt(2) / 2
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@ -396,16 +396,16 @@ static void send_crtp_cppm_emu_packet()
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cpkt.hdr.numAuxChannels = numAuxChannels;
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// Remap AETR to AERT (RPYT)
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cpkt.channelRoll = convert_channel_10b(AILERON);
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cpkt.channelPitch = convert_channel_10b(ELEVATOR);
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cpkt.channelRoll = convert_channel_16b_limit(AILERON,1000,2000);
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cpkt.channelPitch = convert_channel_16b_limit(ELEVATOR,1000,2000);
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// Note: T & R Swapped:
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cpkt.channelYaw = convert_channel_10b(RUDDER);
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cpkt.channelThrust = convert_channel_10b(THROTTLE);
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cpkt.channelYaw = convert_channel_16b_limit(RUDDER, 1000, 2000);
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cpkt.channelThrust = convert_channel_16b_limit(THROTTLE, 1000, 2000);
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// Rescale the rest of the aux channels - RC channel 4 and up
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for (uint8_t i = 4; i < 14; i++)
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{
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cpkt.channelAux[i] = convert_channel_10b(i);
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cpkt.channelAux[i] = convert_channel_16b_limit(i, 1000, 2000);
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}
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// Total size of the commander packet is a 1-byte header, 4 2-byte channels and
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@ -437,6 +437,7 @@ static void send_cmd_packet()
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// send_crtp_rpyt_packet();
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// }
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// send_crtp_cppm_emu_packet(); // oh maAAAn
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send_crtp_rpyt_packet();
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}
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@ -690,11 +691,9 @@ static int cflie_init()
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// closing activate command changes state back even if it
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// does something on nRF24L01
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NRF24L01_Activate(0x53); // magic for BK2421 bank switch
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// dbgprintf("Trying to switch banks\n");
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debugln("CFlie: Trying to switch banks\n");
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// debugln("CFlie: Trying to switch banks\n");
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if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & 0x80) {
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// dbgprintf("BK2421 detected\n");
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debugln("CFlie: BK2421 detected\n");
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// debugln("CFlie: BK2421 detected\n");
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long nul = 0;
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// Beken registers don't have such nice names, so we just mention
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// them by their numbers
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@ -717,10 +716,8 @@ static int cflie_init()
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NRF24L01_WriteRegisterMulti(0x0E, (uint8_t *) "\x41\x10\x04\x82\x20\x08\x08\xF2\x7D\xEF\xFF", 11);
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NRF24L01_WriteRegisterMulti(0x04, (uint8_t *) "\xC7\x96\x9A\x1B", 4);
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NRF24L01_WriteRegisterMulti(0x04, (uint8_t *) "\xC1\x96\x9A\x1B", 4);
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}
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else {
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// dbgprintf("nRF24L01 detected\n");
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debugln("CFlie: nRF24L01 detected");
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} else {
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// debugln("CFlie: nRF24L01 detected");
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}
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NRF24L01_Activate(0x53); // switch bank back
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@ -895,7 +892,6 @@ static uint8_t initialize_rx_tx_addr()
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uint16_t initCFlie(void)
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{
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BIND_IN_PROGRESS; // autobind protocol
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phase = initialize_rx_tx_addr();
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@ -904,7 +900,7 @@ uint16_t initCFlie(void)
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int delay = cflie_init();
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debugln("CFlie init!");
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// debugln("CFlie init!");
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return delay;
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}
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