DM002 protocol

protocol number 33
sub_protocol none=0
ch5=flip
ch6=led
ch7=headless

Multiprotocol/DM002_nrf24l01.ino

@@ -0,0 +1,141 @@
+/*
+ This project is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Multiprotocol is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
+ */
+// compatible with DM002
+
+#if defined(DM002_NRF24L01_INO)
+
+#include "iface_nrf24l01.h"
+
+#define DM002_PACKET_PERIOD		6100 // Timeout for callback in uSec
+#define DM002_INITIAL_WAIT		500
+#define DM002_PACKET_SIZE		12   // packets have 12-byte payload
+#define DM002_RF_BIND_CHANNEL	0x27
+#define DM002_BIND_COUNT		655  // 4 seconds
+
+
+enum DM002_FLAGS {
+    // flags going to packet[9]
+    DM002_FLAG_FLIP		= 0x01, 
+    DM002_FLAG_LED		= 0x02, 
+    DM002_FLAG_HEADLESS	= 0x10,
+};
+
+static void __attribute__((unused)) DM002_send_packet(uint8_t bind)
+{
+	memcpy(packet+5,(uint8_t *)"\x00\x7F\x7F\x7F\x00\x00\x00",7);
+	if(bind)
+	{
+		packet[0] = 0xAA;
+		packet[1] = rx_tx_addr[0]; 
+		packet[2] = rx_tx_addr[1];
+		packet[3] = rx_tx_addr[2];
+		packet[4] = rx_tx_addr[3];
+	}
+	else
+	{
+		packet[0]=0x55;
+		// Throttle : 0 .. 200
+		packet[1]=convert_channel_8b_scale(THROTTLE,0,200);
+		// Other channels min 0x57, mid 0x7F, max 0xA7
+		packet[2] = convert_channel_8b_scale(RUDDER,0x57,0xA7);
+		packet[3] = convert_channel_8b_scale(ELEVATOR, 0x57,0xA7);
+		packet[4] = convert_channel_8b_scale(AILERON, 0x57,0xA7);
+		// Features
+		packet[9] =  GET_FLAG(Servo_AUX1,DM002_FLAG_FLIP)
+					| GET_FLAG(Servo_AUX2,DM002_FLAG_LED)
+					| GET_FLAG(Servo_AUX3,DM002_FLAG_HEADLESS);
+		// Packet counter
+		if(packet_count&0x03)
+		{
+			packet_count++;
+			hopping_frequency_no++;
+			hopping_frequency_no&=4;
+		}
+		packet_count&=0x0F;
+		packet[10] = packet_count;
+		packet_count++;
+	}
+	//CRC
+	for(uint8_t i=0;i<DM002_PACKET_SIZE-1;i++)
+		packet[11]+=packet[i];
+	
+	// Power on, TX mode, 2byte CRC
+	// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
+	XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
+	if (bind)
+		NRF24L01_WriteReg(NRF24L01_05_RF_CH, DM002_RF_BIND_CHANNEL);
+	else
+		NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
+	// clear packet status bits and TX FIFO
+	NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
+	NRF24L01_FlushTx();
+	XN297_WritePayload(packet, DM002_PACKET_SIZE);
+
+	NRF24L01_SetPower();	// Set tx_power
+}
+
+static void __attribute__((unused)) DM002_init()
+{
+    NRF24L01_Initialize();
+    NRF24L01_SetTxRxMode(TX_EN);
+	XN297_SetTXAddr((uint8_t *)"\x26\xA8\x67\x35\xCC", 5);
+
+    NRF24L01_FlushTx();
+    NRF24L01_FlushRx();
+    NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);     // Clear data ready, data sent, and retransmit
+    NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00);      // No Auto Acknowldgement on all data pipes
+    NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);  // Enable data pipe 0 only
+    NRF24L01_SetBitrate(NRF24L01_BR_1M);             // 1Mbps
+    NRF24L01_SetPower();
+}
+
+uint16_t DM002_callback()
+{
+	if(IS_BIND_DONE_on)
+		DM002_send_packet(0);
+	else
+	{
+		if (bind_counter == 0)
+		{
+			BIND_DONE;
+			XN297_SetTXAddr(rx_tx_addr, 5);
+		}
+		else
+		{
+			DM002_send_packet(1);
+			bind_counter--;
+		}
+	}
+	return	DM002_PACKET_PERIOD;
+}
+
+static void __attribute__((unused)) DM002_initialize_txid()
+{
+	// lani TXID
+	memcpy(rx_tx_addr,(uint8_t *)"\xAC\xA1\x00\x00\xD5",5);
+	// lani hopping_frequency
+	memcpy(hopping_frequency,(uint8_t *)"\x35\x39\x3B\x3D",4);
+}
+
+uint16_t initDM002(void)
+{
+	BIND_IN_PROGRESS;	// autobind protocol
+    bind_counter = DM002_BIND_COUNT;
+	DM002_initialize_txid();
+	DM002_init();
+	return	DM002_INITIAL_WAIT;
+}
+
+#endif