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Pascal Langer
2017-11-20 16:01:12 +01:00
parent 47207dcead
commit 8ea70a1b77
36 changed files with 5485 additions and 292 deletions
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36
Multiprotocol/Symax_nrf24l01.ino
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@@ -13,7 +13,6 @@
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/
// compatible with Syma X5C-1, X11, X11C, X12 and for sub protocol X5C Syma X5C (original), X2
// Last sync with hexfet new_protocols/cx10_nrf24l01.c dated 2015-09-28
#if defined(SYMAX_NRF24L01_INO)
@@ -30,6 +29,7 @@
#define SYMAX_FLAG_VIDEO 0x02
#define SYMAX_FLAG_PICTURE 0x04
#define SYMAX_FLAG_HEADLESS 0x08
#define SYMAX_XTRM_RATES 0x10
#define SYMAX_PAYLOADSIZE 10 // receive data pipes set to this size, but unused
#define SYMAX_MAX_PACKET_LENGTH 16 // X11,X12,X5C-1 10-byte, X5C 16-byte
@@ -58,6 +58,7 @@ static void __attribute__((unused)) SYMAX_read_controls()
{
// Protocol is registered AETRF, that is
// Aileron is channel 1, Elevator - 2, Throttle - 3, Rudder - 4, Flip control - 5
// Extended (trim-added) Rates - 6, Photo - 7, Video - 8, Headless - 9
aileron = convert_channel_s8b(AILERON);
elevator = convert_channel_s8b(ELEVATOR);
throttle = convert_channel_8b(THROTTLE);
@@ -67,6 +68,9 @@ static void __attribute__((unused)) SYMAX_read_controls()
// Channel 5
if (Servo_AUX1)
flags = SYMAX_FLAG_FLIP;
// Channel 6
if (Servo_AUX2)
flags |= SYMAX_XTRM_RATES;
// Channel 7
if (Servo_AUX3)
flags |= SYMAX_FLAG_PICTURE;
@@ -75,7 +79,10 @@ static void __attribute__((unused)) SYMAX_read_controls()
flags |= SYMAX_FLAG_VIDEO;
// Channel 9
if (Servo_AUX5)
{
flags |= SYMAX_FLAG_HEADLESS;
flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible
}
}
#define X5C_CHAN2TRIM(X) ((((X) & 0x80 ? 0xff - (X) : 0x80 + (X)) >> 2) + 0x20)
@@ -98,9 +105,18 @@ static void __attribute__((unused)) SYMAX_build_packet_x5c(uint8_t bind)
packet[1] = rudder;
packet[2] = elevator ^ 0x80; // reversed from default
packet[3] = aileron;
packet[4] = X5C_CHAN2TRIM(rudder ^ 0x80);// drive trims for extra control range
packet[5] = X5C_CHAN2TRIM(elevator);
packet[6] = X5C_CHAN2TRIM(aileron ^ 0x80);
if (flags & SYMAX_XTRM_RATES)
{ // drive trims for extra control range
packet[4] = X5C_CHAN2TRIM(rudder ^ 0x80);
packet[5] = X5C_CHAN2TRIM(elevator);
packet[6] = X5C_CHAN2TRIM(aileron ^ 0x80);
}
else
{
packet[4] = 0x00;
packet[5] = 0x00;
packet[6] = 0x00;
}
packet[7] = 0xae;
packet[8] = 0xa9;
packet[9] = 0x00;
@@ -138,9 +154,15 @@ static void __attribute__((unused)) SYMAX_build_packet(uint8_t bind)
packet[2] = rudder;
packet[3] = aileron;
packet[4] = (flags & SYMAX_FLAG_VIDEO ? 0x80 : 0x00) | (flags & SYMAX_FLAG_PICTURE ? 0x40 : 0x00);
packet[5] = (elevator >> 2) | 0xc0; //always high rates (bit 7 is rate control)
packet[6] = (rudder >> 2) | (flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00);
packet[7] = (aileron >> 2) | (flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00);
packet[5] = 0xc0; //always high rates (bit 7 is rate control)
packet[6] = flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00;
packet[7] = flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00;
if (flags & SYMAX_XTRM_RATES)
{ // use trims to extend controls
packet[5] |= elevator >> 2;
packet[6] |= rudder >> 2;
packet[7] |= aileron >> 2;
}
packet[8] = 0x00;
}
packet[9] = SYMAX_checksum(packet);