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REALACC/WLV8Tx : WLtoys Cars 284019-A and 284191

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Protocol: REALACC
Sub Proto: WL_V8Tx
Ch1: Steering
CH2: Throttle
CH3: GY TRIM (Rate)
CH4: TH TRIM (Rate)
CH5: Steering Trim
This commit is contained in:
MRC3742
2026-08-03 08:36:17 -04:00
committed by GitHub
parent 3e75c27e95
commit 9e0efe321c
7 changed files with 232 additions and 36 deletions
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230
Multiprotocol/REALACC_nrf24l01.ino
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@@ -19,6 +19,7 @@ Multiprotocol is distributed in the hope that it will be useful,
#include "iface_xn297.h"
//#define FORCE_REALACC_ORIGINAL_ID
//#define FORCE_REALACC_WLV8TX_ID
#define REALACC_INITIAL_WAIT 500
#define REALACC_PACKET_PERIOD 2268
@@ -28,30 +29,68 @@ Multiprotocol is distributed in the hope that it will be useful,
#define REALACC_BIND_COUNT 50
#define REALACC_RF_NUM_CHANNELS 5
#ifndef MULTI_AIR
#define WLV8TX_PACKET_PERIOD 16279
#define WLV8TX_BIND2_PAYLOAD_SIZE 12
#define WLV8TX_RX_PAYLOAD_SIZE 6
enum
{
REALACC_WLV8TX_BIND_TX = 0,
REALACC_WLV8TX_BIND_RX_SETUP,
REALACC_WLV8TX_BIND_RX_CHECK,
REALACC_WLV8TX_DATA
};
static uint8_t realacc_phase;
static bool realacc_wlv8tx_rx_b3;
#endif
static uint8_t realacc_bind_packet[REALACC_BIND_PAYLOAD_SIZE];
static void __attribute__((unused)) REALACC_send_packet()
{
packet[ 0]= 0xDC; // DC/D6/DE
packet[ 1]= convert_channel_8b(AILERON); // 00..80..FF
packet[ 2]= convert_channel_8b(ELEVATOR); // 00..80..FF
packet[ 3]= convert_channel_8b(THROTTLE); // 00..FF
packet[ 4]= convert_channel_8b(RUDDER); // 00..80..FF
packet[ 5]= 0x20; // Trim
packet[ 6]= 0x20; // Trim
packet[ 7]= 0x20; // Trim
packet[ 8]= 0x20; // Trim
packet[ 9]= 0x88; // Change at each power up: C5 A2 77 F0 84 58, fixed for the E017 = 88
packet[10]= 0x04 // Flag1: R11=04, E017=0C
| 0x02 // Rate1=0, Rate2=1, Rate3=2
| GET_FLAG(CH8_SW, 0x20); // Headless
packet[11]= 0x00 // Flag2
| GET_FLAG(CH7_SW, 0x01) // Calib
| GET_FLAG(CH9_SW, 0x20) // Return
| GET_FLAG(CH10_SW,0x80); // Throttle cut
packet[12]= 0x00 // Flag3
| GET_FLAG(CH5_SW, 0x01) // Flip
| GET_FLAG(CH11_SW,0x02) // Rotating
| GET_FLAG(CH6_SW, 0x80); // Light
#ifndef MULTI_AIR
if(sub_protocol == REALACC_WLV8TX)
{
packet[ 0]= 0xDC; // DC
packet[ 1]= 0x80; // not used
packet[ 2]= 0x80; // not used
packet[ 3]= convert_channel_16b_limit(CH2,0x0F,0xF1); // Throttle 0F..80..F7 (spring center)
packet[ 4]= convert_channel_16b_limit(CH1,0xE7,0x19); // Steering E7..80..1F (reversed)
packet[ 5]=(convert_channel_8b(CH3) >> 2); // GY Trim (Rate) 02..20..3D
packet[ 6]= 0x20; // Constant?
packet[ 7]= (convert_channel_8b(CH4) >> 2); // TH Trim (Rate) 02..20..3D
packet[ 8]=((convert_channel_8b(CH5) >> 2) ^ 0x3F); // ST Trim (R..C..L) 3F..20..01 (reversed)
packet[ 9]= 0x77; // Change at each power up? 07 0D 25 50 77 82 89 A5 E4
packet[10]= 0x0C; // WL-V8Tx: fixed value = 0C
packet[11]= 0x00; // Constant?
packet[12]= 0x00; // Constant?
}
else
#endif
{
packet[ 0]= 0xDC; // DC/D6/DE
packet[ 1]= convert_channel_8b(AILERON); // 00..80..FF
packet[ 2]= convert_channel_8b(ELEVATOR); // 00..80..FF
packet[ 3]= convert_channel_8b(THROTTLE); // 00..FF
packet[ 4]= convert_channel_8b(RUDDER); // 00..80..FF
packet[ 5]= 0x20; // Trim
packet[ 6]= 0x20; // Trim
packet[ 7]= 0x20; // Trim
packet[ 8]= 0x20; // Trim
packet[ 9]= 0x88; // Change at each power up: C5 A2 77 F0 84 58, fixed for the E017 = 88
packet[10]= 0x04 // Flag1: R11=04, E017=0C
| 0x02 // Rate1=0, Rate2=1, Rate3=2
| GET_FLAG(CH8_SW, 0x20); // Headless
packet[11]= 0x00 // Flag2
| GET_FLAG(CH7_SW, 0x01) // Calib
| GET_FLAG(CH9_SW, 0x20) // Return
| GET_FLAG(CH10_SW,0x80); // Throttle cut
packet[12]= 0x00 // Flag3
| GET_FLAG(CH5_SW, 0x01) // Flip
| GET_FLAG(CH11_SW,0x02) // Rotating
| GET_FLAG(CH6_SW, 0x80); // Light
}
XN297_Hopping(hopping_frequency_no);
hopping_frequency_no++;
hopping_frequency_no %= REALACC_RF_NUM_CHANNELS;
@@ -60,11 +99,24 @@ static void __attribute__((unused)) REALACC_send_packet()
static void __attribute__((unused)) REALACC_send_bind_packet()
{
packet[0] = 0xB1; // B0/B1
memcpy(&packet[1],rx_tx_addr,4); // Address
memcpy(&packet[5],hopping_frequency,5); // RF frequencies
XN297_WriteEnhancedPayload(packet, REALACC_BIND_PAYLOAD_SIZE,1);
#ifndef MULTI_AIR
if(sub_protocol == REALACC_WLV8TX && realacc_wlv8tx_rx_b3)
{ // WLV8TX bind sent after RX packet B3 acknowledged
packet[0] = 0xB4;
packet[1] = rx_id[1];
packet[2] = rx_id[2];
memcpy(&packet[3], realacc_bind_packet, 4); // Original TX ID before XOR
memcpy(&packet[7], hopping_frequency, 5); // RF frequencies
XN297_WriteEnhancedPayload(packet, WLV8TX_BIND2_PAYLOAD_SIZE,1);
}
else
#endif
{ // initial bind sent for all models
packet[0] = 0xB1; // B0/B1
memcpy(&packet[1],realacc_bind_packet,4); // Address
memcpy(&packet[5],hopping_frequency,5); // RF frequencies
XN297_WriteEnhancedPayload(packet, REALACC_BIND_PAYLOAD_SIZE,1);
}
}
static void __attribute__((unused)) REALACC_initialize_txid()
@@ -97,13 +149,26 @@ static void __attribute__((unused)) REALACC_initialize_txid()
hopping_frequency[4]=0x3F;
}
#endif
#ifdef FORCE_REALACC_WLV8TX_ID
{
rx_tx_addr[0]=0x32;
rx_tx_addr[1]=0xE9;
rx_tx_addr[2]=0xDE;
rx_tx_addr[3]=0x0A;
hopping_frequency[0]=0x45;
hopping_frequency[1]=0x42;
hopping_frequency[2]=0x38;
hopping_frequency[3]=0x3C;
hopping_frequency[4]=0x4A;
}
#endif
memcpy(realacc_bind_packet, rx_tx_addr, 4);
#if 0
debug("ID: %02X %02X %02X %02X, C: ",rx_tx_addr[0],rx_tx_addr[1],rx_tx_addr[2],rx_tx_addr[3]);
for(uint8_t i=0; i<REALACC_RF_NUM_CHANNELS; i++)
debug(" %02X",hopping_frequency[i]);
debugln("");
#endif
}
static void __attribute__((unused)) REALACC_RF_init()
@@ -113,12 +178,82 @@ static void __attribute__((unused)) REALACC_RF_init()
XN297_RFChannel(REALACC_BIND_RF_CHANNEL); // Set bind channel
}
#ifndef MULTI_AIR
static void __attribute__((unused)) REALACC_wlv8tx_process_rx()
{
if(!XN297_IsRX())
return;
uint8_t len = XN297_ReadEnhancedPayload(packet_in, WLV8TX_RX_PAYLOAD_SIZE);
if(len != 3)
return;
if(packet_in[0] == 0xB3 && !realacc_wlv8tx_rx_b3)
{
realacc_wlv8tx_rx_b3 = true;
rx_id[1] = packet_in[1];
rx_id[2] = packet_in[2];
rx_tx_addr[2] ^= packet_in[1];
rx_tx_addr[3] ^= packet_in[2];
rx_tx_addr[3] |= 0x80;
}
else if(packet_in[0] == 0xB5 && realacc_wlv8tx_rx_b3)
{
BIND_DONE;
XN297_SetTXAddr(rx_tx_addr, 4);
XN297_SetTxRxMode(TXRX_OFF);
realacc_phase = REALACC_WLV8TX_DATA;
}
}
#endif
uint16_t REALACC_callback()
{
#ifdef MULTI_SYNC
telemetry_set_input_sync(REALACC_PACKET_PERIOD);
#endif
XN297_SetPower();
#ifdef MULTI_AIR
if(sub_protocol == REALACC_WLV8TX)
{
SUB_PROTO_INVALID;
return 10000;
}
#else
if(sub_protocol == REALACC_WLV8TX)
{
if(realacc_phase == REALACC_WLV8TX_DATA)
{
XN297_SetTxRxMode(TX_EN);
REALACC_send_packet();
return WLV8TX_PACKET_PERIOD;
}
if(realacc_phase == REALACC_WLV8TX_BIND_RX_SETUP)
{
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(RX_EN);
realacc_phase = REALACC_WLV8TX_BIND_RX_CHECK;
return WLV8TX_PACKET_PERIOD/3;
}
if(realacc_phase == REALACC_WLV8TX_BIND_RX_CHECK)
{
REALACC_wlv8tx_process_rx();
if(realacc_phase == REALACC_WLV8TX_DATA)
return WLV8TX_PACKET_PERIOD;
realacc_phase = REALACC_WLV8TX_BIND_TX;
return WLV8TX_PACKET_PERIOD/3;
}
//Bind Phase
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(TX_EN);
REALACC_send_bind_packet();
realacc_phase = REALACC_WLV8TX_BIND_RX_SETUP;
return WLV8TX_PACKET_PERIOD/3;
}
#endif
XN297_SetTxRxMode(TX_EN);
if(IS_BIND_IN_PROGRESS)
{
@@ -139,7 +274,20 @@ void REALACC_init()
BIND_IN_PROGRESS; // autobind protocol
REALACC_initialize_txid();
REALACC_RF_init();
bind_counter=REALACC_BIND_COUNT;
#ifndef MULTI_AIR
if(sub_protocol == REALACC_WLV8TX)
{
rx_id[1] = 0;
rx_id[2] = 0;
realacc_wlv8tx_rx_b3 = false;
realacc_phase = REALACC_WLV8TX_BIND_TX;
memcpy(packet, realacc_bind_packet, 4);
packet[3] |= 0x80;
XN297_SetRXAddr(packet, 4);
}
else
#endif
bind_counter=REALACC_BIND_COUNT;
hopping_frequency_no=0;
}
@@ -161,6 +309,19 @@ void REALACC_init()
// Bx indicates bind packet, why x=0?
// 4F B9 A1 17 = ID = address of normal packets
// 45 38 3C 41 3F = 69, 56, 60, 65, 63 = RF channels to be used
// WLtoys Car 284019A V8-Tx
// ------> TX sends
// P(10)= B1 32 E9 DE 0A 45 42 38 3C 4A
// B1 indicates bind packet
// 32 E9 DE 0A = ID -> address of normal TX packets before bind
// 45 42 38 3C 4A = 69, 66, 56, 60, 74 -> RF channels to be used
// P(12)= B4 D4 E9 32 E9 DE 0A 45 42 38 3C 4A -> B4 designates TX found RX?, P(10) to P(12), TX inserts packet[1] and [2] from RX
// 32 E9 0A E3 = ID -> address of normal TX packets after bind (XOR rx_tx_addr[2],[3] with values from RX)
// ------> RX returns
// 32 E9 DE 8A = -> RX ID address returning bind info, same as TX address except (packet[3]|0x80)
// P(3)= B3 D4 E9 = B3=bind initiates Tx found, D4=XOR with rx_tx_addr[2], E9=XOR with rx_tx_addr[3]
// P(3)= B5 D4 E9 = B5=bind completed
// P(6)= 40 83 00 00 00 00 = RX returns on some hopping channels - unknown? telemetry? not used on this model?
// Normal
// TX1
// ---
@@ -185,3 +346,14 @@ void REALACC_init()
// 0C : |0x20=headless, |0x01=rate2, |0x02=rate3
// 00 : |0x01=calib, |0x20=return, |0x80=unknown
// 00 : |0x80=light, |0x01=flip, |0x02=Rotating
// WLtoys Car 284019A V8-Tx
// ---
// Address = 32 E9 DE 0A (before bind), 32 E9 0A E3 (after bind and XOR)
// P(13)= DC 80 80 80 80 20 20 20 20 77 0C 00 00
// Dx = normal packet, why C ?
// 80 80 80 80 : AE=80 TR 00..80..FF
// 20 20 20 20 : Gyro Rate, Constant?, Throttle Rate, Steer Trim
// 77 : changing every time the TX restart
// 0C : Constant?
// 00 : Constant?
// 00 : Constant?