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https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
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ESKY 150: new protocol
New protocol number 35 No sub protocols option=0->4 channels, option=1->7 channels
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Pascal Langer
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ea860f24a1
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181
Multiprotocol/ESky150_nrf24l01.ino
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181
Multiprotocol/ESky150_nrf24l01.ino
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/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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// ESky protocol for small models since 2014 (150, 300, 150X, ...)
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#if defined(ESKY150_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define ESKY150_PAYLOADSIZE 15
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#define ESKY150_TX_ADDRESS_SIZE 4
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#define ESKY150_BINDING_PACKET_PERIOD 2000
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#define ESKY150_SENDING_PACKET_PERIOD 4800
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static void __attribute__((unused)) ESKY150_init()
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{
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//Original TX always sets for channelx 0x22 and 0x4a
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// Use channels 2..79
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hopping_frequency[0] = rx_tx_addr[3]%37+2;
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hopping_frequency[1] = hopping_frequency[0] + 40;
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NRF24L01_Initialize();
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, (_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO)));
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NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknoledgement
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0
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NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x02); // 4-byte RX/TX address
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0); // Disable retransmit
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NRF24L01_SetPower();
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NRF24L01_SetBitrate(NRF24L01_BR_2M);
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
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NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, ESKY150_PAYLOADSIZE); // bytes of data payload for pipe 0
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, ESKY150_TX_ADDRESS_SIZE);
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NRF24L01_Activate(0x73);
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NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 1); // Dynamic payload for data pipe 0
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// Enable: Dynamic Payload Length, Payload with ACK , W_TX_PAYLOAD_NOACK
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NRF24L01_WriteReg(NRF24L01_1D_FEATURE, _BV(NRF2401_1D_EN_DPL) | _BV(NRF2401_1D_EN_ACK_PAY) | _BV(NRF2401_1D_EN_DYN_ACK));
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NRF24L01_Activate(0x73);
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NRF24L01_FlushTx();
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// Turn radio power on
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NRF24L01_SetTxRxMode(TX_EN);
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}
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static void __attribute__((unused)) ESKY150_bind_init()
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{
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uint8_t ESKY150_addr[ESKY150_TX_ADDRESS_SIZE] = { 0x73, 0x73, 0x74, 0x63 }; //This RX address "sstc" is fixed for ESky2
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// Build packet
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packet[0] = rx_tx_addr[0];
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packet[1] = rx_tx_addr[1];
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packet[2] = rx_tx_addr[2];
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packet[3] = rx_tx_addr[3];
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packet[4] = ESKY150_addr[0];
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packet[5] = ESKY150_addr[1];
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packet[6] = ESKY150_addr[2];
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packet[7] = ESKY150_addr[3];
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packet[8] = rx_tx_addr[0];
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packet[9] = rx_tx_addr[1];
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packet[10] = rx_tx_addr[2];
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packet[11] = rx_tx_addr[3];
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packet[12] = 0;
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packet[13] = 0;
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packet[14] = 0;
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// Bind address
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, ESKY150_addr, ESKY150_TX_ADDRESS_SIZE);
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, ESKY150_addr, ESKY150_TX_ADDRESS_SIZE);
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// Bind Channel 1
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 1);
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}
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static void __attribute__((unused)) ESKY150_send_packet()
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{
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// Build packet
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uint16_t throttle=convert_channel_16b(THROTTLE,1000,2000);
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uint16_t aileron=convert_channel_16b(AILERON,1000,2000);
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uint16_t elevator=convert_channel_16b(ELEVATOR,1000,2000);
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uint16_t rudder=convert_channel_16b(RUDDER,1000,2000);
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//set unused channels to zero, for compatibility with older 4 channel models
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uint8_t flight_mode=0;
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uint16_t aux_ch6=0;
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uint8_t aux_ch7=0;
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if(option==1)
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{
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flight_mode=ESKY150_convert_2bit_channel(AUX1);
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aux_ch6=convert_channel_16b(AUX2,1000,2000);
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aux_ch7=ESKY150_convert_2bit_channel(AUX3);
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}
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packet[0] = hopping_frequency[0];
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packet[1] = hopping_frequency[1];
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packet[2] = ((flight_mode << 6) & 0xC0) | ((aux_ch7 << 4) & 0x30) | ((throttle >> 8) & 0xFF);
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packet[3] = throttle & 0xFF;
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packet[4] = ((aux_ch6 >> 4) & 0xF0) | ((aileron >> 8) & 0xFF); //and 0xFF works as values are anyways not bigger than 12 bits, but faster code like that
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packet[5] = aileron & 0xFF;
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packet[6] = (aux_ch6 & 0xF0) | ((elevator >> 8) & 0xFF); //and 0xFF works as values are anyways not bigger than 12 bits, but faster code like that
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packet[7] = elevator & 0xFF;
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packet[8] = ((aux_ch6 << 4) & 0xF0) | ((rudder >> 8) & 0xFF); //and 0xFF works as values are anyways not bigger than 12 bits, but faster code like that
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packet[9] = rudder & 0xFF;
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// The next 4 Bytes are sint8 trim values (TAER). As trims are already included within normal outputs, these values are set to zero.
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packet[10] = 0x00;
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packet[11] = 0x00;
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packet[12] = 0x00;
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packet[13] = 0x00;
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// Calculate checksum:
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uint8_t sum = 0;
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for (uint8_t i = 0; i < 14; ++i)
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sum += packet[i];
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packet[14] = sum;
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// Hop on 2 channels
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hopping_frequency_no++;
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hopping_frequency_no&=0x01;
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
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// Clear packet status bits and TX FIFO
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx();
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// Send packet
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NRF24L01_WritePayload(packet, ESKY150_PAYLOADSIZE);
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//Keep transmit power updated
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NRF24L01_SetPower();
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}
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uint8_t ESKY150_convert_2bit_channel(uint8_t num)
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{
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if(Servo_data[num] > PPM_MAX_COMMAND)
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return 0x03;
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else
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if(Servo_data[num] < PPM_MIN_COMMAND)
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return 0x00;
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else
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if(Servo_data[num] > PPM_SWITCH)
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return 0x02;
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return 0x01;
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}
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uint16_t ESKY150_callback()
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{
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if(IS_BIND_DONE_on)
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ESKY150_send_packet();
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else
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{
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NRF24L01_WritePayload(packet, ESKY150_PAYLOADSIZE);
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if (--bind_counter == 0)
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{
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BIND_DONE;
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// Change TX address from bind to normal mode
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, ESKY150_TX_ADDRESS_SIZE);
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}
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return ESKY150_BINDING_PACKET_PERIOD;
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}
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return ESKY150_SENDING_PACKET_PERIOD;
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}
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uint16_t initESKY150(void)
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{
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ESKY150_init();
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if(IS_AUTOBIND_FLAG_on)
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{
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bind_counter=3000;
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ESKY150_bind_init();
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}
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hopping_frequency_no=0;
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return 10000;
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}
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#endif
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@ -32,3 +32,4 @@
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32,GW008
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33,DM002
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34,CABELL,CAB_V3,C_TELEM,-,-,-,-,F_SAFE,UNBIND
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35,ESKY150
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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 1
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#define VERSION_REVISION 6
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#define VERSION_PATCH_LEVEL 30
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#define VERSION_PATCH_LEVEL 31
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//******************
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// Protocols
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//******************
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@ -60,6 +60,7 @@ enum PROTOCOLS
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MODE_GW008 = 32, // =>NRF24L01
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MODE_DM002 = 33, // =>NRF24L01
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MODE_CABELL = 34, // =>NRF24L01
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MODE_ESKY150 = 35, // =>NRF24L01
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};
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enum Flysky
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@ -532,6 +533,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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GW008 32
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DM002 33
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CABELL 34
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ESKY150 35
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BindBit=> 0x80 1=Bind/0=No
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AutoBindBit=> 0x40 1=Yes /0=No
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RangeCheck=> 0x20 1=Yes /0=No
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@ -208,7 +208,7 @@ void setup()
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// Setup diagnostic uart before anything else
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#ifdef SERIAL_DEBUG
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Serial.begin(115200,SERIAL_8N1);
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while (!Serial); // wait for serial port to connect...
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while (!Serial); // Wait for ever for the serial port to connect...
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debug("Multiprotocol version: %d.%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_REVISION, VERSION_PATCH_LEVEL);
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#endif
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@ -1009,6 +1009,12 @@ static void protocol_init()
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remote_callback = CABELL_callback;
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break;
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#endif
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#if defined(ESKY150_NRF24L01_INO)
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case MODE_ESKY150:
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next_callback=initESKY150();
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remote_callback = ESKY150_callback;
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break;
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#endif
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#endif
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}
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}
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@ -139,7 +139,8 @@
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#define Q303_NRF24L01_INO
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#define GW008_NRF24L01_INO
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#define DM002_NRF24L01_INO
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#define CABELL_NRF24L01_INO
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#define CABELL_NRF24L01_INO
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#define ESKY150_NRF24L01_INO
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/**************************/
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/*** FAILSAFE SETTINGS ***/
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@ -411,6 +412,7 @@ const PPM_Parameters PPM_prot[15]= {
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CABELL_V3_TELEMETRY
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CABELL_SET_FAIL_SAFE
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CABELL_UNBIND
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MODE_ESKY150
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*/
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// RX_Num is used for model match. Using RX_Num values different for each receiver will prevent starting a model with the false config loaded...
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@ -494,6 +494,17 @@ CH1|CH2|CH3|CH4|CH5|CH6
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---|---|---|---|---|---
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A|E|T|R|GYRO|PITCH
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## ESKY150 - *35*
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ESky protocol for small models since 2014 (150, 300, 150X, ...)
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Number of channels are set with option. option=0 4 channels and option=1 7 channels. An invalid option value will end up with 4 channels.
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CH1|CH2|CH3|CH4|CH5|CH6|CH7
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---|---|---|---|---|---|---
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A|E|T|R|FMODE|AUX6|AUX7
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FMODE and AUX7 have 4 positions: -100%..-50%=>0, -50%..5%=>1, 5%..50%=>2, 50%..100%=>3
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## FY326 - *20*
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CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9
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