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SLT new sub_protocol V1_4CH

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pascallanger
2024-04-15 14:13:37 +02:00
parent f35be2984a
commit 873279dbe9
6 changed files with 105 additions and 63 deletions
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142
Multiprotocol/SLT_ccnrf.ino
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@@ -21,11 +21,12 @@
//#define SLT_Q200_FORCE_ID
// For code readability
#define SLT_PAYLOADSIZE_V1 7
#define SLT_PAYLOADSIZE_V2 11
#define SLT_NFREQCHANNELS 15
#define SLT_TXID_SIZE 4
#define SLT_BIND_CHANNEL 0x50
#define SLT_PAYLOADSIZE_V1 7
#define SLT_PAYLOADSIZE_V1_4 5
#define SLT_PAYLOADSIZE_V2 11
#define SLT_NFREQCHANNELS 15
#define SLT_TXID_SIZE 4
#define SLT_BIND_CHANNEL 0x50
enum{
// flags going to packet[6] (Q200)
@@ -93,6 +94,12 @@ static void __attribute__((unused)) SLT_set_freq(void)
}
}
}
#if 0
debug("CH:");
for (uint8_t i = 0; i < SLT_NFREQCHANNELS; ++i)
debug(" %02X", hopping_frequency[i]);
debugln();
#endif
//Bind channel
hopping_frequency[SLT_NFREQCHANNELS]=SLT_BIND_CHANNEL;
@@ -129,44 +136,47 @@ static void __attribute__((unused)) SLT_build_packet()
uint8_t e = 0; // byte where extension 2 bits for every 10-bit channel are packed
for (uint8_t i = 0; i < 4; ++i)
{
uint16_t v = convert_channel_10b(CH_AETR[i], false);
if(sub_protocol>SLT_V2 && (i==CH2 || i==CH3) )
uint16_t v = convert_channel_10b(sub_protocol != SLT_V1_4 ? CH_AETR[i] : i, false);
if(sub_protocol>SLT_V2 && (i==CH2 || i==CH3) && sub_protocol != SLT_V1_4)
v=1023-v; // reverse throttle and elevator channels for Q100/Q200/MR100 protocols
packet[i] = v;
e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
}
// Extra bits for AETR
packet[4] = e;
//->V1_4CH stops here
// 8-bit channels
packet[5] = convert_channel_8b(CH5);
packet[6] = convert_channel_8b(CH6);
if(sub_protocol!=SLT_V1)
{
if(sub_protocol==Q200)
packet[6] = GET_FLAG(CH9_SW , FLAG_Q200_FMODE)
|GET_FLAG(CH10_SW, FLAG_Q200_FLIP)
|GET_FLAG(CH11_SW, FLAG_Q200_VIDON)
|GET_FLAG(CH12_SW, FLAG_Q200_VIDOFF);
else if(sub_protocol==MR100 || sub_protocol==Q100)
packet[6] = GET_FLAG(CH9_SW , FLAG_MR100_FMODE)
|GET_FLAG(CH10_SW, FLAG_MR100_FLIP)
|GET_FLAG(CH11_SW, FLAG_MR100_VIDEO) // Does not exist on the Q100 but...
|GET_FLAG(CH12_SW, FLAG_MR100_PICTURE); // Does not exist on the Q100 but...
packet[7]=convert_channel_8b(CH7);
packet[8]=convert_channel_8b(CH8);
packet[9]=0xAA; //normal mode for Q100/Q200, unknown for V2/MR100
packet[10]=0x00; //normal mode for Q100/Q200, unknown for V2/MR100
if((sub_protocol==Q100 || sub_protocol==Q200) && CH13_SW)
{//Calibrate
packet[9]=0x77; //enter calibration
if(calib_counter>=20 && calib_counter<=25) // 7 packets for Q100 / 3 packets for Q200
packet[10]=0x20; //launch calibration
calib_counter++;
if(calib_counter>250) calib_counter=250;
}
else
calib_counter=0;
//->V1 stops here
if(sub_protocol==Q200)
packet[6] = GET_FLAG(CH9_SW , FLAG_Q200_FMODE)
|GET_FLAG(CH10_SW, FLAG_Q200_FLIP)
|GET_FLAG(CH11_SW, FLAG_Q200_VIDON)
|GET_FLAG(CH12_SW, FLAG_Q200_VIDOFF);
else if(sub_protocol==MR100 || sub_protocol==Q100)
packet[6] = GET_FLAG(CH9_SW , FLAG_MR100_FMODE)
|GET_FLAG(CH10_SW, FLAG_MR100_FLIP)
|GET_FLAG(CH11_SW, FLAG_MR100_VIDEO) // Does not exist on the Q100 but...
|GET_FLAG(CH12_SW, FLAG_MR100_PICTURE); // Does not exist on the Q100 but...
packet[7]=convert_channel_8b(CH7);
packet[8]=convert_channel_8b(CH8);
packet[9]=0xAA; //normal mode for Q100/Q200, unknown for V2/MR100
packet[10]=0x00; //normal mode for Q100/Q200, unknown for V2/MR100
if((sub_protocol==Q100 || sub_protocol==Q200) && CH13_SW)
{//Calibrate
packet[9]=0x77; //enter calibration
if(calib_counter>=20 && calib_counter<=25) // 7 packets for Q100 / 3 packets for Q200
packet[10]=0x20; //launch calibration
calib_counter++;
if(calib_counter>250) calib_counter=250;
}
else
calib_counter=0;
}
static void __attribute__((unused)) SLT_send_bind_packet()
@@ -186,6 +196,7 @@ static void __attribute__((unused)) SLT_send_bind_packet()
#define SLT_TIMING_BUILD 1000
#define SLT_V1_TIMING_PACKET 1000
#define SLT_V1_4_TIMING_PACKET 1643
#define SLT_V2_TIMING_PACKET 2042
#define SLT_V1_TIMING_BIND2 1000
#define SLT_V2_TIMING_BIND1 6507
@@ -195,8 +206,9 @@ uint16_t SLT_callback()
switch (phase)
{
case SLT_BUILD:
//debugln_time("b ");
#ifdef MULTI_SYNC
telemetry_set_input_sync(sub_protocol==SLT_V1?20000:13730);
telemetry_set_input_sync(packet_period);
#endif
SLT_build_packet();
NRF250K_SetPower(); //Change power level
@@ -206,42 +218,39 @@ uint16_t SLT_callback()
case SLT_DATA1:
case SLT_DATA2:
phase++;
SLT_send_packet(packet_length);
if(sub_protocol==SLT_V1)
{
SLT_send_packet(SLT_PAYLOADSIZE_V1);
return SLT_V1_TIMING_PACKET;
}
else //V2
if(sub_protocol==SLT_V1_4)
{
SLT_send_packet(SLT_PAYLOADSIZE_V2);
return SLT_V2_TIMING_PACKET;
phase++; //Packets are sent two times only
return SLT_V1_4_TIMING_PACKET;
}
//V2
return SLT_V2_TIMING_PACKET;
case SLT_DATA3:
if(sub_protocol==SLT_V1)
SLT_send_packet(SLT_PAYLOADSIZE_V1);
else //V2
SLT_send_packet(SLT_PAYLOADSIZE_V2);
SLT_send_packet(packet_length);
if (++packet_count >= 100)
{// Send bind packet
packet_count = 0;
if(sub_protocol==SLT_V1)
if(sub_protocol==SLT_V1||sub_protocol==SLT_V1_4)
{
phase=SLT_BIND2;
return SLT_V1_TIMING_BIND2;
}
else //V2
{
phase=SLT_BIND1;
return SLT_V2_TIMING_BIND1;
}
//V2
phase=SLT_BIND1;
return SLT_V2_TIMING_BIND1;
}
else
{// Continue to send normal packets
phase = SLT_BUILD;
if(sub_protocol==SLT_V1)
return 20000-SLT_TIMING_BUILD;
else //V2
return 13730-SLT_TIMING_BUILD;
if(sub_protocol==SLT_V1_4)
return 18000-SLT_TIMING_BUILD-SLT_V1_4_TIMING_PACKET;
//V2
return 13730-SLT_TIMING_BUILD;
}
case SLT_BIND1:
SLT_send_bind_packet();
@@ -252,8 +261,10 @@ uint16_t SLT_callback()
phase = SLT_BUILD;
if(sub_protocol==SLT_V1)
return 20000-SLT_TIMING_BUILD-SLT_V1_TIMING_BIND2;
else //V2
return 13730-SLT_TIMING_BUILD-SLT_V2_TIMING_BIND1-SLT_V2_TIMING_BIND2;
if(sub_protocol==SLT_V1_4)
return 18000-SLT_TIMING_BUILD-SLT_V1_TIMING_BIND2-SLT_V1_4_TIMING_PACKET;
//V2
return 13730-SLT_TIMING_BUILD-SLT_V2_TIMING_BIND1-SLT_V2_TIMING_BIND2;
}
return 19000;
}
@@ -276,6 +287,29 @@ void SLT_init()
SLT_RF_init();
SLT_set_freq();
phase = SLT_BUILD;
if(sub_protocol==SLT_V1)
{
packet_length = SLT_PAYLOADSIZE_V1;
#ifdef MULTI_SYNC
packet_period = 20000+2000;
#endif
}
else if(sub_protocol==SLT_V1_4)
{
packet_length = SLT_PAYLOADSIZE_V1_4;
#ifdef MULTI_SYNC
packet_period = 18000;
#endif
}
else //V2
{
packet_length = SLT_PAYLOADSIZE_V2;
#ifdef MULTI_SYNC
packet_period = 13730+2000;
#endif
}
}
#endif
//SLT v1_4ch timing
//268363 + 1643 / 15 = 18000