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YD717 4-in-1 V2 compatibility

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pascallanger 2016-08-31 10:19:55 +02:00
parent 03640e6d37
commit 8b5bc18142
1 changed files with 30 additions and 92 deletions
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96
Multiprotocol/YD717_nrf24l01.ino
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@ -34,13 +34,6 @@
#define YD717_PAYLOADSIZE 8 // receive data pipes set to this size, but unused
enum {
YD717_INIT1 = 0,
YD717_BIND2,
YD717_BIND3,
YD717_DATA
};
static void __attribute__((unused)) yd717_send_packet(uint8_t bind)
{
uint8_t rudder_trim, elevator_trim, aileron_trim;
@ -132,116 +125,61 @@ static void __attribute__((unused)) yd717_init()
// CRC, radio on
NRF24L01_SetTxRxMode(TX_EN);
NRF24L01_WriteReg(NRF24L01_00_CONFIG, BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_PWR_UP));
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x3F); // Auto Acknoledgement on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x3F); // Enable all data pipes
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // Disable Acknoledgement on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x00); // Disable all data pipes
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03); // 5-byte RX/TX address
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x1A); // 500uS retransmit t/o, 10 tries
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // No retransmit
NRF24L01_WriteReg(NRF24L01_05_RF_CH, YD717_RF_CHANNEL); // Channel 3C
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_SetPower();
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
NRF24L01_WriteReg(NRF24L01_0C_RX_ADDR_P2, 0xC3); // LSB byte of pipe 2 receive address
NRF24L01_WriteReg(NRF24L01_0D_RX_ADDR_P3, 0xC4);
NRF24L01_WriteReg(NRF24L01_0E_RX_ADDR_P4, 0xC5);
NRF24L01_WriteReg(NRF24L01_0F_RX_ADDR_P5, 0xC6);
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, YD717_PAYLOADSIZE); // bytes of data payload for pipe 1
NRF24L01_WriteReg(NRF24L01_12_RX_PW_P1, YD717_PAYLOADSIZE);
NRF24L01_WriteReg(NRF24L01_13_RX_PW_P2, YD717_PAYLOADSIZE);
NRF24L01_WriteReg(NRF24L01_14_RX_PW_P3, YD717_PAYLOADSIZE);
NRF24L01_WriteReg(NRF24L01_15_RX_PW_P4, YD717_PAYLOADSIZE);
NRF24L01_WriteReg(NRF24L01_16_RX_PW_P5, YD717_PAYLOADSIZE);
NRF24L01_WriteReg(NRF24L01_17_FIFO_STATUS, 0x00); // Just in case, no real bits to write here
NRF24L01_Activate(0x73); // Activate feature register
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x3F); // Enable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x07); // Set feature bits on
NRF24L01_Activate(0x73);
// set tx id
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
}
static void __attribute__((unused)) YD717_init1()
{
// for bind packets set address to prearranged value known to receiver
uint8_t bind_rx_tx_addr[] = {0x65, 0x65, 0x65, 0x65, 0x65};
uint8_t i;
if( sub_protocol==SYMAX4 )
for(i=0; i < 5; i++)
for(uint8_t i=0; i < 5; i++)
bind_rx_tx_addr[i] = 0x60;
else
if( sub_protocol==NIHUI )
for(i=0; i < 5; i++)
for(uint8_t i=0; i < 5; i++)
bind_rx_tx_addr[i] = 0x64;
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, bind_rx_tx_addr, 5);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, bind_rx_tx_addr, 5);
}
static void __attribute__((unused)) YD717_init2()
{
// set rx/tx address for data phase
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
}
uint16_t yd717_callback()
{
switch (phase)
{
case YD717_INIT1:
yd717_send_packet(0); // receiver doesn't re-enter bind mode if connection lost...check if already bound
phase = YD717_BIND3;
break;
case YD717_BIND2:
if (counter == 0)
{
if (NRF24L01_packet_ack() == PKT_PENDING)
return YD717_PACKET_CHKTIME; // packet send not yet complete
YD717_init2(); // change to data phase rx/tx address
if(IS_BIND_DONE_on)
yd717_send_packet(0);
phase = YD717_BIND3;
else
{
if (bind_counter == 0)
{
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5); // set address
yd717_send_packet(0);
BIND_DONE; // bind complete
}
else
{
if (NRF24L01_packet_ack() == PKT_PENDING)
return YD717_PACKET_CHKTIME; // packet send not yet complete;
yd717_send_packet(1);
counter--;
bind_counter--;
}
break;
case YD717_BIND3:
switch (NRF24L01_packet_ack())
{
case PKT_PENDING:
return YD717_PACKET_CHKTIME; // packet send not yet complete
case PKT_ACKED:
phase = YD717_DATA;
BIND_DONE; // bind complete
break;
case PKT_TIMEOUT:
YD717_init1(); // change to bind rx/tx address
counter = YD717_BIND_COUNT;
phase = YD717_BIND2;
yd717_send_packet(1);
}
break;
case YD717_DATA:
if (NRF24L01_packet_ack() == PKT_PENDING)
return YD717_PACKET_CHKTIME; // packet send not yet complete
yd717_send_packet(0);
break;
}
return YD717_PACKET_PERIOD; // Packet every 8ms
}
uint16_t initYD717()
{
BIND_IN_PROGRESS; // autobind protocol
rx_tx_addr[4] = 0xC1; // always uses first data port
yd717_init();
phase = YD717_INIT1;
BIND_IN_PROGRESS; // autobind protocol
bind_counter = YD717_BIND_COUNT;
// Call callback in 50ms
return YD717_INITIAL_WAIT;