mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 20:08:11 +00:00
Added FrSkyX protocol, Added MT99xx YZ sub protocol, Ram usage optimization
This commit is contained in:
pascallanger
parent
c5b1e73312
commit
b393d2666d
@ -42,8 +42,7 @@ enum {
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DSM2_CH2_READ_B = BIND_COUNT1 + 10,
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};
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const uint8_t pncodes[5][9][8] = {
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const uint8_t PROGMEM pncodes[5][9][8] = {
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/* Note these are in order transmitted (LSB 1st) */
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{ /* Row 0 */
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/* Col 0 */ {0x03, 0xBC, 0x6E, 0x8A, 0xEF, 0xBD, 0xFE, 0xF8},
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@ -102,6 +101,12 @@ const uint8_t pncodes[5][9][8] = {
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},
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};
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static void __attribute__((unused)) read_code(uint8_t *buf, uint8_t row, uint8_t col, uint8_t len)
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{
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for(uint8_t i=0;i<len;i++)
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buf[i]=pgm_read_byte_near( &pncodes[row][col][i] );
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}
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//
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uint8_t chidx;
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uint8_t sop_col;
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@ -109,8 +114,6 @@ uint8_t data_col;
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uint16_t cyrf_state;
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uint8_t crcidx;
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uint8_t binding;
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uint16_t crc;
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/*
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#ifdef USE_FIXED_MFGID
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const uint8_t cyrfmfg_id[6] = {0x5e, 0x28, 0xa3, 0x1b, 0x00, 0x00}; //dx8
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@ -309,17 +312,20 @@ static void __attribute__((unused)) cyrf_config()
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static void __attribute__((unused)) initialize_bind_state()
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{
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const uint8_t pn_bind[] = { 0xc6,0x94,0x22,0xfe,0x48,0xe6,0x57,0x4e };
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uint8_t data_code[32];
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uint8_t code[32];
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CYRF_ConfigRFChannel(BIND_CHANNEL); //This seems to be random?
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uint8_t pn_row = get_pn_row(BIND_CHANNEL);
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//printf("Ch: %d Row: %d SOP: %d Data: %d\n", BIND_CHANNEL, pn_row, sop_col, data_col);
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CYRF_ConfigCRCSeed(crc);
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CYRF_ConfigSOPCode(pncodes[pn_row][sop_col]);
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memcpy(data_code, pncodes[pn_row][data_col], 16);
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memcpy(data_code + 16, pncodes[0][8], 8);
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memcpy(data_code + 24, pn_bind, 8);
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CYRF_ConfigDataCode(data_code, 32);
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read_code(code,pn_row,sop_col,8);
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CYRF_ConfigSOPCode(code);
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read_code(code,pn_row,data_col,16);
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read_code(code+16,0,8,8);
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memcpy(code + 24, "\xc6\x94\x22\xfe\x48\xe6\x57\x4e", 8);
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CYRF_ConfigDataCode(code, 32);
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build_bind_packet();
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}
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@ -349,12 +355,17 @@ static void __attribute__((unused)) cyrf_configdata()
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static void __attribute__((unused)) set_sop_data_crc()
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{
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uint8_t code[16];
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uint8_t pn_row = get_pn_row(hopping_frequency[chidx]);
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//printf("Ch: %d Row: %d SOP: %d Data: %d\n", ch[chidx], pn_row, sop_col, data_col);
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CYRF_ConfigRFChannel(hopping_frequency[chidx]);
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CYRF_ConfigCRCSeed(crcidx ? ~crc : crc);
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CYRF_ConfigSOPCode(pncodes[pn_row][sop_col]);
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CYRF_ConfigDataCode(pncodes[pn_row][data_col], 16);
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read_code(code,pn_row,sop_col,8);
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CYRF_ConfigSOPCode(code);
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read_code(code,pn_row,data_col,16);
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CYRF_ConfigDataCode(code, 16);
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if(sub_protocol == DSMX)
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chidx = (chidx + 1) % 23;
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else
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@ -1,21 +1,315 @@
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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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/* **************************
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* By Midelic on RCGroups *
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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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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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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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#if defined(FRSKYX_CC2500_INO)
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#include "iface_cc2500.h"
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#include "iface_cc2500.h"
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uint8_t chanskip;
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uint8_t calData[48][3];
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uint8_t channr;
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uint8_t pass_ = 1 ;
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uint8_t counter_rst;
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uint8_t ctr;
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uint8_t FS_flag=0;
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// uint8_t ptr[4]={0x01,0x12,0x23,0x30};
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//uint8_t ptr[4]={0x00,0x11,0x22,0x33};
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const PROGMEM uint8_t hop_data[]={
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0x02, 0xD4, 0xBB, 0xA2, 0x89,
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0x70, 0x57, 0x3E, 0x25, 0x0C,
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0xDE, 0xC5, 0xAC, 0x93, 0x7A,
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0x61, 0x48, 0x2F, 0x16, 0xE8,
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0xCF, 0xB6, 0x9D, 0x84, 0x6B,
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0x52, 0x39, 0x20, 0x07, 0xD9,
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0xC0, 0xA7, 0x8E, 0x75, 0x5C,
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0x43, 0x2A, 0x11, 0xE3, 0xCA,
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0xB1, 0x98, 0x7F, 0x66, 0x4D,
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0x34, 0x1B, 0x00, 0x1D, 0x03
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};
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uint8_t hop(uint8_t byte)
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{
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return pgm_read_byte_near(&hop_data[byte]);
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}
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uint16_t initFrSkyX()
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{
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while(!chanskip)
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{
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randomSeed((uint32_t)analogRead(A6) << 10 | analogRead(A7));
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chanskip=random(0xfefefefe)%47;
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}
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while((chanskip-ctr)%4)
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ctr=(ctr+1)%4;
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counter_rst=(chanskip-ctr)>>2;
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//for test***************
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//rx_tx_addr[3]=0xB3;
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//rx_tx_addr[2]=0xFD;
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//************************
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frskyX_init();
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//
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if(IS_AUTOBIND_FLAG_on)
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{
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state = FRSKY_BIND;
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initialize_data(1);
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}
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else
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{
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state = FRSKY_DATA1;
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initialize_data(0);
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}
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return 10000;
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}
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uint16_t ReadFrSkyX()
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{
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switch(state)
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{
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default:
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set_start(47);
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CC2500_SetPower();
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cc2500_strobe(CC2500_SFRX);
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//
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frskyX_build_bind_packet();
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeFifo(packet, packet[0]+1);
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state++;
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return 9000;
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case FRSKY_BIND_DONE:
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initialize_data(0);
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channr=0;
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BIND_DONE;
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state++;
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break;
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case FRSKY_DATA1:
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LED_ON;
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CC2500_SetTxRxMode(TX_EN);
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set_start(channr);
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CC2500_SetPower();
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cc2500_strobe(CC2500_SFRX);
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channr = (channr+chanskip)%47;
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeFifo(packet, packet[0]+1);
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//
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frskyX_data_frame();
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state++;
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return 5500;
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case FRSKY_DATA2:
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CC2500_SetTxRxMode(RX_EN);
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cc2500_strobe(CC2500_SIDLE);
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state++;
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return 200;
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case FRSKY_DATA3:
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cc2500_strobe(CC2500_SRX);
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state++;
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return 3000;
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case FRSKY_DATA4:
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len = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
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if (len &&(len<MAX_PKT))
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{
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cc2500_readFifo(pkt, len);
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#if defined TELEMETRY
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frsky_check_telemetry(pkt,len); //check if valid telemetry packets
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//parse telemetry packets here
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//The same telemetry function used by FrSky(D8).
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#endif
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}
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state = FRSKY_DATA1;
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return 300;
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}
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return 1;
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}
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void set_start(uint8_t ch )
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{
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_23_FSCAL3, calData[ch][0]);
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cc2500_writeReg(CC2500_24_FSCAL2, calData[ch][1]);
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cc2500_writeReg(CC2500_25_FSCAL1, calData[ch][2]);
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cc2500_writeReg(CC2500_0A_CHANNR, ch==47?0:pgm_read_word(&hop_data[ch]));
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}
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void frskyX_init()
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{
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CC2500_Reset();
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cc2500_writeReg(CC2500_02_IOCFG0, 0x06);
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cc2500_writeReg(CC2500_00_IOCFG2, 0x06);
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cc2500_writeReg(CC2500_17_MCSM1, 0x0C);
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cc2500_writeReg(CC2500_18_MCSM0, 0x18);
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cc2500_writeReg(CC2500_06_PKTLEN, 0x1E);
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cc2500_writeReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500_writeReg(CC2500_08_PKTCTRL0, 0x01);
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cc2500_writeReg(CC2500_3E_PATABLE, 0xff);
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cc2500_writeReg(CC2500_0B_FSCTRL1, 0x0A);
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cc2500_writeReg(CC2500_0C_FSCTRL0, 0x00);
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cc2500_writeReg(CC2500_0D_FREQ2, 0x5c);
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cc2500_writeReg(CC2500_0E_FREQ1, 0x76);
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cc2500_writeReg(CC2500_0F_FREQ0, 0x27);
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cc2500_writeReg(CC2500_10_MDMCFG4, 0x7B);
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cc2500_writeReg(CC2500_11_MDMCFG3, 0x61);
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cc2500_writeReg(CC2500_12_MDMCFG2, 0x13);
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cc2500_writeReg(CC2500_13_MDMCFG1, 0x23);
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cc2500_writeReg(CC2500_14_MDMCFG0, 0x7a);
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cc2500_writeReg(CC2500_15_DEVIATN, 0x51);
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cc2500_writeReg(CC2500_19_FOCCFG, 0x16);
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cc2500_writeReg(CC2500_1A_BSCFG, 0x6c);
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cc2500_writeReg(CC2500_1B_AGCCTRL2,0x43);
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cc2500_writeReg(CC2500_1C_AGCCTRL1,0x40);
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cc2500_writeReg(CC2500_1D_AGCCTRL0,0x91);
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cc2500_writeReg(CC2500_21_FREND1, 0x56);
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cc2500_writeReg(CC2500_22_FREND0, 0x10);
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cc2500_writeReg(CC2500_23_FSCAL3, 0xa9);
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cc2500_writeReg(CC2500_24_FSCAL2, 0x0A);
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cc2500_writeReg(CC2500_25_FSCAL1, 0x00);
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cc2500_writeReg(CC2500_26_FSCAL0, 0x11);
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cc2500_writeReg(CC2500_29_FSTEST, 0x59);
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cc2500_writeReg(CC2500_2C_TEST2, 0x88);
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cc2500_writeReg(CC2500_2D_TEST1, 0x31);
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cc2500_writeReg(CC2500_2E_TEST0, 0x0B);
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cc2500_writeReg(CC2500_03_FIFOTHR, 0x07);
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cc2500_writeReg(CC2500_09_ADDR, 0x00);
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cc2500_writeReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500_writeReg(CC2500_0C_FSCTRL0, option);
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cc2500_strobe(CC2500_SIDLE);
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//
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for(uint8_t c=0;c < 47;c++){//calibrate hop channels
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_0A_CHANNR,pgm_read_word(&hop_data[c]));
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cc2500_strobe(CC2500_SCAL);
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delayMicroseconds(900);//
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calData[c][0] = cc2500_readReg(CC2500_23_FSCAL3);
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calData[c][1] = cc2500_readReg(CC2500_24_FSCAL2);
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calData[c][2] = cc2500_readReg(CC2500_25_FSCAL1);
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}
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_0A_CHANNR,0x00);
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cc2500_strobe(CC2500_SCAL);
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delayMicroseconds(900);
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calData[47][0] = cc2500_readReg(CC2500_23_FSCAL3);
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calData[47][1] = cc2500_readReg(CC2500_24_FSCAL2);
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calData[47][2] = cc2500_readReg(CC2500_25_FSCAL1);
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//#######END INIT########
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}
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void initialize_data(uint8_t adr)
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{
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cc2500_writeReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
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cc2500_writeReg(CC2500_18_MCSM0, 0x8);
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cc2500_writeReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
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cc2500_writeReg(CC2500_07_PKTCTRL1,0x05);
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}
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void frskyX_build_bind_packet()
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{
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crc=0;
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packet[0] = 0x1D;
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packet[1] = 0x03;
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packet[2] = 0x01;
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//
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packet[3] = crc_Byte(rx_tx_addr[3]);
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packet[4] = crc_Byte(rx_tx_addr[2]);
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int idx = ((state -FRSKY_BIND) % 10) * 5;
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packet[5] = crc_Byte(idx);
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packet[6] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[7] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[8] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[9] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[10] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[11] = crc_Byte(0x02);
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packet[12] = crc_Byte(RX_num);
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//
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for(uint8_t i=13;i<28;i++)
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packet[i]=crc_Byte(0);
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//
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packet[28]=highByte(crc);
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packet[29]=lowByte(crc);
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//
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}
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void frskyX_data_frame()
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{
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//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
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//
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uint8_t lpass = pass_ ;
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uint16_t chan_0 ;
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uint16_t chan_1 ;
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uint8_t flag2 = 0;
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uint8_t startChan = 0;
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crc = 0;
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//static uint8_t p = 0;
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//
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packet[0] = 0x1D;
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packet[1] = rx_tx_addr[3];
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packet[2] = rx_tx_addr[2];
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packet[3] = crc_Byte(0x02);
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//
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packet[4] = crc_Byte((ctr<<6)+channr); //*64
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packet[5] = crc_Byte(counter_rst);
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packet[6] = crc_Byte(RX_num);
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// FLAGS 00 - standard packet
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//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
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//20 - range check packet
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packet[7] = crc_Byte(FS_flag);
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packet[8] = crc_Byte(flag2);
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//
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if ( lpass & 1 )
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startChan += 8 ;
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for(uint8_t i = 0; i <12 ; i+=3)
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{//12 bytes
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chan_0 = scaleForPXX(startChan);
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if(lpass & 1 )
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chan_0+=2048;
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packet[9+i] = crc_Byte(lowByte(chan_0));//3 bytes*4
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startChan++;
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chan_1 = scaleForPXX(startChan);
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if(lpass & 1 )
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chan_1+= 2048;
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startChan++;
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packet[9+i+1]=crc_Byte((((chan_0>>8) & 0x0F)|(chan_1 << 4)));
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packet[9+i+2]=crc_Byte(chan_1>>4);
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}
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//packet[21]=crc_Byte(0x08);//first
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packet[21]=crc_Byte(0x80);//??? when received first telemetry frame is changed to 0x80
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//packet[21]=crc_Byte(ptr[p]);//???
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//p=(p+1)%4;//repeating 4 bytes sequence pattern every 4th frame.
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pass_=lpass+1;
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for (uint8_t i=22;i<28;i++)
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packet[i]=crc_Byte(0);
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packet[28]=highByte(crc);
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packet[29]=lowByte(crc);
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}
|
||||
|
||||
uint16_t scaleForPXX( uint8_t i )
|
||||
{ //mapped 860,2140(125%) range to 64,1984(PXX values);
|
||||
return (uint16_t)(((Servo_data[i]-PPM_MIN)*3)>>1)+64;
|
||||
}
|
||||
|
||||
uint8_t crc_Byte( uint8_t byte )
|
||||
{
|
||||
crc = (crc<<8) ^ pgm_read_word(&CRCTable[((uint8_t)(crc>>8) ^ byte) & 0xFF]);
|
||||
return byte;
|
||||
}
|
||||
#endif
|
||||
@ -20,7 +20,6 @@
|
||||
//##########Variables########
|
||||
//uint32_t state;
|
||||
//uint8_t len;
|
||||
uint8_t telemetry_counter=0;
|
||||
|
||||
/*
|
||||
enum {
|
||||
@ -128,8 +127,6 @@ static void __attribute__((unused)) frsky2way_build_bind_packet()
|
||||
packet[17] = 0x01;
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void __attribute__((unused)) frsky2way_data_frame()
|
||||
{//pachet[4] is telemetry user frame counter(hub)
|
||||
//11 d7 2d 22 00 01 c9 c9 ca ca 88 88 ca ca c9 ca 88 88
|
||||
@ -138,7 +135,11 @@ static void __attribute__((unused)) frsky2way_data_frame()
|
||||
packet[1] = rx_tx_addr[3];
|
||||
packet[2] = rx_tx_addr[2];
|
||||
packet[3] = counter;//
|
||||
packet[4]=telemetry_counter;
|
||||
#if defined TELEMETRY
|
||||
packet[4] = telemetry_counter;
|
||||
#else
|
||||
packet[4] = 0x00;
|
||||
#endif
|
||||
|
||||
packet[5] = 0x01;
|
||||
//
|
||||
|
||||
@ -37,29 +37,16 @@ enum{
|
||||
FLAG_MT_FLIP = 0x80,
|
||||
};
|
||||
|
||||
enum{
|
||||
// flags going to ?????? (Yi Zhan i6S)ROLL
|
||||
BLABLA,
|
||||
};
|
||||
|
||||
enum {
|
||||
MT99XX_INIT = 0,
|
||||
MT99XX_BIND,
|
||||
MT99XX_DATA
|
||||
};
|
||||
|
||||
static uint8_t __attribute__((unused)) MT99XX_calcChecksum()
|
||||
{
|
||||
uint8_t result=checksum_offset;
|
||||
for(uint8_t i=0; i<8; i++)
|
||||
result += packet[i];
|
||||
return result;
|
||||
}
|
||||
|
||||
static void __attribute__((unused)) MT99XX_send_packet()
|
||||
{
|
||||
static const uint8_t yz_p4_seq[] = {0xa0, 0x20, 0x60};
|
||||
static const uint8_t mys_byte[] = {
|
||||
const uint8_t yz_p4_seq[] = {0xa0, 0x20, 0x60};
|
||||
const uint8_t mys_byte[] = {
|
||||
0x01, 0x11, 0x02, 0x12, 0x03, 0x13, 0x04, 0x14,
|
||||
0x05, 0x15, 0x06, 0x16, 0x07, 0x17, 0x00, 0x10
|
||||
};
|
||||
@ -71,8 +58,8 @@ static void __attribute__((unused)) MT99XX_send_packet()
|
||||
packet[1] = convert_channel_8b_scale(RUDDER ,0x00,0xE1); // rudder
|
||||
packet[2] = convert_channel_8b_scale(AILERON ,0x00,0xE1); // aileron
|
||||
packet[3] = convert_channel_8b_scale(ELEVATOR,0x00,0xE1); // elevator
|
||||
packet[4] = convert_channel_8b_scale(AUX5,0x00,0x3F); // pitch trim (0x3f-0x20-0x00)
|
||||
packet[5] = convert_channel_8b_scale(AUX6,0x00,0x3F); // roll trim (0x00-0x20-0x3f)
|
||||
packet[4] = 0x20; // pitch trim (0x3f-0x20-0x00)
|
||||
packet[5] = 0x20; // roll trim (0x00-0x20-0x3f)
|
||||
packet[6] = GET_FLAG( Servo_AUX1, FLAG_MT_FLIP )
|
||||
| GET_FLAG( Servo_AUX3, FLAG_MT_SNAPSHOT )
|
||||
| GET_FLAG( Servo_AUX4, FLAG_MT_VIDEO );
|
||||
@ -84,7 +71,10 @@ static void __attribute__((unused)) MT99XX_send_packet()
|
||||
// low nibble: index in chan list ?
|
||||
// high nibble: 0->start from start of list, 1->start from end of list ?
|
||||
packet[7] = mys_byte[hopping_frequency_no];
|
||||
packet[8] = MT99XX_calcChecksum();
|
||||
uint8_t result=checksum_offset;
|
||||
for(uint8_t i=0; i<8; i++)
|
||||
result += packet[i];
|
||||
packet[8] = result;
|
||||
}
|
||||
else
|
||||
{ // YZ
|
||||
@ -100,8 +90,12 @@ static void __attribute__((unused)) MT99XX_send_packet()
|
||||
packet_count=0;
|
||||
}
|
||||
packet[4] = yz_p4_seq[yz_seq_num];
|
||||
packet[5] = 0x02; // expert ? (0=unarmed, 1=normal)
|
||||
packet[6] = 0x80;
|
||||
packet[5] = 0x02 // expert ? (0=unarmed, 1=normal)
|
||||
| GET_FLAG(Servo_AUX4, 0x10) //VIDEO
|
||||
| GET_FLAG(Servo_AUX1, 0x80) //FLIP
|
||||
| GET_FLAG(Servo_AUX5, 0x04) //HEADLESS
|
||||
| GET_FLAG(Servo_AUX3, 0x20); //SNAPSHOT
|
||||
packet[6] = GET_FLAG(Servo_AUX2, 0x80); //LED
|
||||
packet[7] = packet[0];
|
||||
for(uint8_t idx = 1; idx < MT99XX_PACKET_SIZE-2; idx++)
|
||||
packet[7] += packet[idx];
|
||||
@ -138,6 +132,9 @@ static void __attribute__((unused)) MT99XX_init()
|
||||
else
|
||||
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
|
||||
NRF24L01_SetPower();
|
||||
|
||||
XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP) | (sub_protocol == YZ ? BV(XN297_UNSCRAMBLED):0) );
|
||||
|
||||
XN297_SetTXAddr((uint8_t *)"\0xCC\0xCC\0xCC\0xCC\0xCC", 5);
|
||||
}
|
||||
|
||||
@ -210,8 +207,8 @@ uint16_t initMT99XX(void)
|
||||
packet[2] = 0x05;
|
||||
packet[3] = 0x06;
|
||||
}
|
||||
packet[4] = rx_tx_addr[0]; // 1th byte for data state tx address
|
||||
packet[5] = rx_tx_addr[1]; // 2th byte for data state tx address (always 0x00 on Yi Zhan ?)
|
||||
packet[4] = rx_tx_addr[0]; // 1st byte for data state tx address
|
||||
packet[5] = rx_tx_addr[1]; // 2nd byte for data state tx address (always 0x00 on Yi Zhan ?)
|
||||
packet[6] = 0x00; // 3th byte for data state tx address (always 0x00 ?)
|
||||
packet[7] = checksum_offset; // checksum offset
|
||||
packet[8] = 0xAA; // fixed
|
||||
|
||||
@ -47,7 +47,7 @@ uint8_t Servo_AUX;
|
||||
// PPM variable
|
||||
volatile uint16_t PPM_data[NUM_CHN];
|
||||
|
||||
// NRF variables
|
||||
// Protocol variables
|
||||
uint8_t rx_tx_addr[5];
|
||||
uint8_t phase;
|
||||
uint16_t bind_counter;
|
||||
@ -64,6 +64,7 @@ uint8_t hopping_frequency_no=0;
|
||||
uint8_t rf_ch_num;
|
||||
uint8_t throttle, rudder, elevator, aileron;
|
||||
uint8_t flags;
|
||||
uint16_t crc;
|
||||
//
|
||||
uint32_t state;
|
||||
uint8_t len;
|
||||
@ -91,13 +92,14 @@ uint8_t prev_protocol=0;
|
||||
#define MAX_PKT 27
|
||||
uint8_t pkt[MAX_PKT];//telemetry receiving packets
|
||||
#if defined(TELEMETRY)
|
||||
uint8_t pktt[MAX_PKT];//telemetry receiving packets
|
||||
volatile uint8_t tx_head;
|
||||
volatile uint8_t tx_tail;
|
||||
uint8_t v_lipo;
|
||||
int16_t RSSI_dBm;
|
||||
//const uint8_t RSSI_offset=72;//69 71.72 values db
|
||||
uint8_t telemetry_link=0;
|
||||
uint8_t pktt[MAX_PKT];//telemetry receiving packets
|
||||
volatile uint8_t tx_head;
|
||||
volatile uint8_t tx_tail;
|
||||
uint8_t v_lipo;
|
||||
int16_t RSSI_dBm;
|
||||
//const uint8_t RSSI_offset=72;//69 71.72 values db
|
||||
uint8_t telemetry_link=0;
|
||||
uint8_t telemetry_counter=0;
|
||||
#endif
|
||||
|
||||
// Callback
|
||||
|
||||
@ -257,6 +257,7 @@ uint8_t NRF24L01_packet_ack()
|
||||
|
||||
///////////////
|
||||
// XN297 emulation layer
|
||||
uint8_t xn297_scramble_enabled;
|
||||
uint8_t xn297_addr_len;
|
||||
uint8_t xn297_tx_addr[5];
|
||||
uint8_t xn297_rx_addr[5];
|
||||
@ -269,9 +270,16 @@ static const uint8_t xn297_scramble[] = {
|
||||
0x1b, 0x5d, 0x19, 0x10, 0x24, 0xd3, 0xdc, 0x3f,
|
||||
0x8e, 0xc5, 0x2f};
|
||||
|
||||
static const uint16_t xn297_crc_xorout[] = {
|
||||
0x0000, 0x3448, 0x9BA7, 0x8BBB, 0x85E1, 0x3E8C, // 1st entry is missing, probably never needed
|
||||
0x451E, 0x18E6, 0x6B24, 0xE7AB, 0x3828, 0x814B, // it's used for 3-byte address w/ 0 byte payload only
|
||||
const uint16_t PROGMEM xn297_crc_xorout[] = {
|
||||
0x0000, 0x3d5f, 0xa6f1, 0x3a23, 0xaa16, 0x1caf,
|
||||
0x62b2, 0xe0eb, 0x0821, 0xbe07, 0x5f1a, 0xaf15,
|
||||
0x4f0a, 0xad24, 0x5e48, 0xed34, 0x068c, 0xf2c9,
|
||||
0x1852, 0xdf36, 0x129d, 0xb17c, 0xd5f5, 0x70d7,
|
||||
0xb798, 0x5133, 0x67db, 0xd94e};
|
||||
|
||||
const uint16_t PROGMEM xn297_crc_xorout_scrambled[] = {
|
||||
0x0000, 0x3448, 0x9BA7, 0x8BBB, 0x85E1, 0x3E8C,
|
||||
0x451E, 0x18E6, 0x6B24, 0xE7AB, 0x3828, 0x814B,
|
||||
0xD461, 0xF494, 0x2503, 0x691D, 0xFE8B, 0x9BA7,
|
||||
0x8B17, 0x2920, 0x8B5F, 0x61B1, 0xD391, 0x7401,
|
||||
0x2138, 0x129F, 0xB3A0, 0x2988};
|
||||
@ -327,16 +335,21 @@ void XN297_SetRXAddr(const uint8_t* addr, uint8_t len)
|
||||
memcpy(buf, addr, len);
|
||||
memcpy(xn297_rx_addr, addr, len);
|
||||
for (uint8_t i = 0; i < xn297_addr_len; ++i)
|
||||
buf[i] = xn297_rx_addr[i] ^ xn297_scramble[xn297_addr_len-i-1];
|
||||
{
|
||||
buf[i] = xn297_rx_addr[i];
|
||||
if(xn297_scramble_enabled)
|
||||
buf[i] ^= xn297_scramble[xn297_addr_len-i-1];
|
||||
}
|
||||
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, len-2);
|
||||
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, buf, 5);
|
||||
}
|
||||
|
||||
void XN297_Configure(uint8_t flags)
|
||||
void XN297_Configure(uint16_t flags)
|
||||
{
|
||||
xn297_scramble_enabled = !(flags & BV(XN297_UNSCRAMBLED));
|
||||
xn297_crc = !!(flags & BV(NRF24L01_00_EN_CRC));
|
||||
flags &= ~(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO));
|
||||
NRF24L01_WriteReg(NRF24L01_00_CONFIG, flags);
|
||||
NRF24L01_WriteReg(NRF24L01_00_CONFIG, flags & 0xFF);
|
||||
}
|
||||
|
||||
void XN297_WritePayload(uint8_t* msg, uint8_t len)
|
||||
@ -352,12 +365,20 @@ void XN297_WritePayload(uint8_t* msg, uint8_t len)
|
||||
buf[last++] = 0x55;
|
||||
}
|
||||
for (uint8_t i = 0; i < xn297_addr_len; ++i)
|
||||
buf[last++] = xn297_tx_addr[xn297_addr_len-i-1] ^ xn297_scramble[i];
|
||||
|
||||
for (uint8_t i = 0; i < len; ++i) {
|
||||
{
|
||||
buf[last] = xn297_tx_addr[xn297_addr_len-i-1];
|
||||
if(xn297_scramble_enabled)
|
||||
buf[last] ^= xn297_scramble[i];
|
||||
last++;
|
||||
}
|
||||
for (uint8_t i = 0; i < len; ++i)
|
||||
{
|
||||
// bit-reverse bytes in packet
|
||||
uint8_t b_out = bit_reverse(msg[i]);
|
||||
buf[last++] = b_out ^ xn297_scramble[xn297_addr_len+i];
|
||||
buf[last] = b_out;
|
||||
if(xn297_scramble_enabled)
|
||||
buf[last] ^= xn297_scramble[xn297_addr_len+i];
|
||||
last++;
|
||||
}
|
||||
if (xn297_crc)
|
||||
{
|
||||
@ -365,7 +386,10 @@ void XN297_WritePayload(uint8_t* msg, uint8_t len)
|
||||
uint16_t crc = 0xb5d2;
|
||||
for (uint8_t i = offset; i < last; ++i)
|
||||
crc = crc16_update(crc, buf[i]);
|
||||
crc ^= xn297_crc_xorout[xn297_addr_len - 3 + len];
|
||||
if(xn297_scramble_enabled)
|
||||
crc ^= pgm_read_word(&xn297_crc_xorout_scrambled[xn297_addr_len - 3 + len]);
|
||||
else
|
||||
crc ^= pgm_read_word(&xn297_crc_xorout[xn297_addr_len - 3 + len]);
|
||||
buf[last++] = crc >> 8;
|
||||
buf[last++] = crc & 0xff;
|
||||
}
|
||||
@ -374,9 +398,14 @@ void XN297_WritePayload(uint8_t* msg, uint8_t len)
|
||||
|
||||
void XN297_ReadPayload(uint8_t* msg, uint8_t len)
|
||||
{
|
||||
// TODO: if xn297_crc==1, check CRC before filling *msg
|
||||
NRF24L01_ReadPayload(msg, len);
|
||||
for(uint8_t i=0; i<len; i++)
|
||||
msg[i] = bit_reverse(msg[i]) ^ bit_reverse(xn297_scramble[i+xn297_addr_len]);
|
||||
{
|
||||
msg[i] = bit_reverse(msg[i]);
|
||||
if(xn297_scramble_enabled)
|
||||
msg[i] ^= bit_reverse(xn297_scramble[i+xn297_addr_len]);
|
||||
}
|
||||
}
|
||||
|
||||
// End of XN297 emulation
|
||||
|
||||
@ -1,166 +1,337 @@
|
||||
//*************************************
|
||||
// FrSky Telemetry serial code *
|
||||
// By Midelic on RCG *
|
||||
// By Midelic on RCGroups *
|
||||
//*************************************
|
||||
|
||||
#if defined TELEMETRY
|
||||
#if defined FRSKYX_CC2500_INO
|
||||
#define SPORT_TELEMETRY
|
||||
#endif
|
||||
#if defined FRSKY_CC2500_INO
|
||||
#define HUB_TELEMETRY
|
||||
#endif
|
||||
#if defined SPORT_TELEMETRY
|
||||
#define SPORT_TELEMETRY
|
||||
#define SPORT_TIME 12000
|
||||
uint32_t last=0;
|
||||
uint8_t sport_counter=0;
|
||||
uint8_t RxBt=0;
|
||||
uint8_t rssi;
|
||||
uint8_t ADC2;
|
||||
#endif
|
||||
#if defined HUB_TELEMETRY
|
||||
#define MAX_PKTX 10
|
||||
uint8_t pktx[MAX_PKTX];
|
||||
uint8_t index;
|
||||
uint8_t prev_index;
|
||||
uint8_t pass = 0;
|
||||
#endif
|
||||
#define USER_MAX_BYTES 6
|
||||
uint8_t frame[18];
|
||||
|
||||
#define USER_MAX_BYTES 6
|
||||
#define MAX_PKTX 10
|
||||
uint8_t frame[18];
|
||||
uint8_t pass = 0;
|
||||
uint8_t index;
|
||||
uint8_t prev_index;
|
||||
uint8_t pktx[MAX_PKTX];
|
||||
|
||||
void frskySendStuffed()
|
||||
{
|
||||
Serial_write(0x7E);
|
||||
for (uint8_t i = 0; i < 9; i++)
|
||||
void frskySendStuffed()
|
||||
{
|
||||
|
||||
if ((frame[i] == 0x7e) || (frame[i] == 0x7d))
|
||||
Serial_write(0x7E);
|
||||
for (uint8_t i = 0; i < 9; i++)
|
||||
{
|
||||
Serial_write(0x7D);
|
||||
frame[i] ^= 0x20;
|
||||
if ((frame[i] == 0x7e) || (frame[i] == 0x7d))
|
||||
{
|
||||
Serial_write(0x7D);
|
||||
frame[i] ^= 0x20;
|
||||
}
|
||||
Serial_write(frame[i]);
|
||||
}
|
||||
Serial_write(frame[i]);
|
||||
Serial_write(0x7E);
|
||||
}
|
||||
Serial_write(0x7E);
|
||||
}
|
||||
|
||||
void compute_RSSIdbm(){
|
||||
RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>5);
|
||||
if(pktt[len-2] >=128)
|
||||
RSSI_dBm -= 82;
|
||||
else
|
||||
RSSI_dBm += 65;
|
||||
}
|
||||
void compute_RSSIdbm(){
|
||||
|
||||
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
{
|
||||
if(pkt[1] != rx_tx_addr[3] || pkt[2] != rx_tx_addr[2] || len != pkt[0] + 3)
|
||||
{//only packets with the required id and packet length
|
||||
for(uint8_t i=3;i<6;i++)
|
||||
pktt[i]=0;
|
||||
return;
|
||||
RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>5);
|
||||
if(pktt[len-2] >=128)
|
||||
RSSI_dBm -= 82;
|
||||
else
|
||||
RSSI_dBm += 65;
|
||||
}
|
||||
else
|
||||
|
||||
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
{
|
||||
for (uint8_t i=3;i<len;i++)
|
||||
pktt[i]=pkt[i];
|
||||
telemetry_link=1;
|
||||
if(pktt[6]>0)
|
||||
telemetry_counter=(telemetry_counter+1)%32;
|
||||
}
|
||||
}
|
||||
|
||||
void frsky_link_frame()
|
||||
{
|
||||
frame[0] = 0xFE;
|
||||
if ((cur_protocol[0]&0x1F)==MODE_FRSKY)
|
||||
{
|
||||
compute_RSSIdbm();
|
||||
frame[1] = pktt[3];
|
||||
frame[2] = pktt[4];
|
||||
frame[3] = (uint8_t)RSSI_dBm;
|
||||
frame[4] = pktt[5]*2;
|
||||
}
|
||||
else
|
||||
if ((cur_protocol[0]&0x1F)==MODE_HUBSAN)
|
||||
{
|
||||
frame[1] = v_lipo*2; //v_lipo; common 0x2A=42/10=4.2V
|
||||
frame[2] = frame[1];
|
||||
frame[3] = 0x00;
|
||||
frame[4] = (uint8_t)RSSI_dBm;
|
||||
}
|
||||
frame[5] = frame[6] = frame[7] = frame[8] = 0;
|
||||
frskySendStuffed();
|
||||
}
|
||||
|
||||
#if defined HUB_TELEMETRY
|
||||
void frsky_user_frame()
|
||||
{
|
||||
uint8_t indexx = 0, c=0, j=8, n=0, i;
|
||||
|
||||
if(pktt[6]>0 && pktt[6]<=MAX_PKTX)
|
||||
{//only valid hub frames
|
||||
frame[0] = 0xFD;
|
||||
frame[1] = 0;
|
||||
frame[2] = pktt[7];
|
||||
|
||||
switch(pass)
|
||||
{
|
||||
case 0:
|
||||
indexx=pktt[6];
|
||||
for(i=0;i<indexx;i++)
|
||||
{
|
||||
if(pktt[j]==0x5E)
|
||||
{
|
||||
if(c++)
|
||||
{
|
||||
c=0;
|
||||
n++;
|
||||
j++;
|
||||
}
|
||||
}
|
||||
pktx[i]=pktt[j++];
|
||||
}
|
||||
indexx = indexx-n;
|
||||
pass=1;
|
||||
|
||||
case 1:
|
||||
index=indexx;
|
||||
prev_index = indexx;
|
||||
if(index<USER_MAX_BYTES)
|
||||
{
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[i];
|
||||
pktt[6]=0;
|
||||
pass=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
index = USER_MAX_BYTES;
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[i];
|
||||
pass=2;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
index = prev_index - index;
|
||||
prev_index=0;
|
||||
if(index<MAX_PKTX-USER_MAX_BYTES) //10-6=4
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[USER_MAX_BYTES+i];
|
||||
pass=0;
|
||||
pktt[6]=0;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if(!index)
|
||||
if(pkt[1] != rx_tx_addr[3] || pkt[2] != rx_tx_addr[2] || len != pkt[0] + 3)
|
||||
{//only packets with the required id and packet length
|
||||
for(uint8_t i=3;i<6;i++)
|
||||
pktt[i]=0;
|
||||
return;
|
||||
frame[1] = index;
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint8_t i=3;i<len;i++)
|
||||
pktt[i]=pkt[i];
|
||||
telemetry_link=1;
|
||||
if(pktt[6]>0)
|
||||
telemetry_counter=(telemetry_counter+1)%32;
|
||||
}
|
||||
}
|
||||
|
||||
void frsky_link_frame()
|
||||
{
|
||||
frame[0] = 0xFE;
|
||||
if ((cur_protocol[0]&0x1F)==MODE_FRSKY)
|
||||
{
|
||||
compute_RSSIdbm();
|
||||
frame[1] = pktt[3];
|
||||
frame[2] = pktt[4];
|
||||
frame[3] = (uint8_t)RSSI_dBm;
|
||||
frame[4] = pktt[5]*2;
|
||||
}
|
||||
else
|
||||
if ((cur_protocol[0]&0x1F)==MODE_HUBSAN)
|
||||
{
|
||||
frame[1] = v_lipo*2; //v_lipo; common 0x2A=42/10=4.2V
|
||||
frame[2] = frame[1];
|
||||
frame[3] = 0x00;
|
||||
frame[4] = (uint8_t)RSSI_dBm;
|
||||
}
|
||||
frame[5] = frame[6] = frame[7] = frame[8] = 0;
|
||||
frskySendStuffed();
|
||||
}
|
||||
else
|
||||
pass=0;
|
||||
}
|
||||
#endif
|
||||
|
||||
void frskyUpdate()
|
||||
{
|
||||
if(telemetry_link)
|
||||
{
|
||||
frsky_link_frame();
|
||||
telemetry_link=0;
|
||||
return;
|
||||
}
|
||||
#if defined HUB_TELEMETRY
|
||||
if(!telemetry_link && (cur_protocol[0]&0x1F) != MODE_HUBSAN )
|
||||
frsky_user_frame();
|
||||
void frsky_user_frame()
|
||||
{
|
||||
uint8_t indexx = 0, c=0, j=8, n=0, i;
|
||||
|
||||
if(pktt[6]>0 && pktt[6]<=MAX_PKTX)
|
||||
{//only valid hub frames
|
||||
frame[0] = 0xFD;
|
||||
frame[1] = 0;
|
||||
frame[2] = pktt[7];
|
||||
|
||||
switch(pass)
|
||||
{
|
||||
case 0:
|
||||
indexx=pktt[6];
|
||||
for(i=0;i<indexx;i++)
|
||||
{
|
||||
if(pktt[j]==0x5E)
|
||||
{
|
||||
if(c++)
|
||||
{
|
||||
c=0;
|
||||
n++;
|
||||
j++;
|
||||
}
|
||||
}
|
||||
pktx[i]=pktt[j++];
|
||||
}
|
||||
indexx = indexx-n;
|
||||
pass=1;
|
||||
|
||||
case 1:
|
||||
index=indexx;
|
||||
prev_index = indexx;
|
||||
if(index<USER_MAX_BYTES)
|
||||
{
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[i];
|
||||
pktt[6]=0;
|
||||
pass=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
index = USER_MAX_BYTES;
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[i];
|
||||
pass=2;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
index = prev_index - index;
|
||||
prev_index=0;
|
||||
if(index<MAX_PKTX-USER_MAX_BYTES) //10-6=4
|
||||
for(i=0;i<index;i++)
|
||||
frame[i+3]=pktx[USER_MAX_BYTES+i];
|
||||
pass=0;
|
||||
pktt[6]=0;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if(!index)
|
||||
return;
|
||||
frame[1] = index;
|
||||
frskySendStuffed();
|
||||
}
|
||||
else
|
||||
pass=0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#if defined SPORT_TELEMETRY
|
||||
|
||||
/* SPORT details serial
|
||||
100K 8E2 normal-multiprotocol
|
||||
-every 12ms-
|
||||
1 2 3 4 5 6 7 8 9 CRC DESCR
|
||||
7E 98 10 05 F1 20 23 0F 00 A6 SWR_ID
|
||||
7E 98 10 01 F1 33 00 00 00 C9 RSSI_ID
|
||||
7E 98 10 04 F1 58 00 00 00 A1 BATT_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
|
||||
|
||||
|
||||
Telemetry frames(RF) SPORT info 15 bytes
|
||||
SPORT frame 6+3 bytes
|
||||
[00] PKLEN 0E 0E 0E 0E
|
||||
[01] TXID1 DD DD DD DD
|
||||
[02] TXID2 6D 6D 6D 6D
|
||||
[03] CONST 02 02 02 02
|
||||
[04] RS/RB 2C D0 2C CE //D0;CE=2*RSSI;....2C = RX battery voltage(5V from Bec)
|
||||
[05] ????? 03 10 21 32 //TX/RX telemetry hand-shake bytes
|
||||
[06] NO.BT 00 00 06 03 //No.of valid SPORT frame bytes in the frame
|
||||
[07] STRM1 00 00 7E 00
|
||||
[08] STRM2 00 00 1A 00
|
||||
[09] STRM3 00 00 10 00
|
||||
[10] STRM4 03 03 03 03
|
||||
[11] STRM5 F1 F1 F1 F1
|
||||
[12] STRM6 D1 D1 D0 D0
|
||||
[13] CHKSUM1
|
||||
[14] CHKSUM2
|
||||
*/
|
||||
|
||||
|
||||
void sportSend(uint8_t *p)
|
||||
{
|
||||
uint16_t crc_s = 0;
|
||||
Serial_write(0x7e);//+9
|
||||
for (uint8_t i = 0; i < 9; i++)
|
||||
{
|
||||
if (i == 8)
|
||||
p[i] = 0xff - crc_s;
|
||||
if ((p[i] == 0x7e) || (p[i] == 0x7d))
|
||||
{
|
||||
Serial_write(0x7d);
|
||||
Serial_write(0x20 ^ p[i]);
|
||||
}
|
||||
else
|
||||
Serial_write(p[i]);
|
||||
if (i>0)
|
||||
{
|
||||
crc_s += p[i]; //0-1FF
|
||||
crc_s += crc_s >> 8; //0-100
|
||||
crc_s &= 0x00ff;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sportIdle()
|
||||
{
|
||||
Serial_write(0x7e);
|
||||
}
|
||||
|
||||
void sportSendFrame()
|
||||
{
|
||||
//at the moment only SWR RSSI,RxBt and A2.
|
||||
sport_counter = (sport_counter + 1) %9;
|
||||
|
||||
for (uint8_t i=5;i<8;i++)
|
||||
frame[i]=0;
|
||||
|
||||
switch (sport_counter)
|
||||
{
|
||||
case 0: // SWR
|
||||
frame[0] = 0x98;
|
||||
frame[1] = 0x10;
|
||||
frame[2] = 0x05;
|
||||
frame[3] = 0xf1;
|
||||
frame[4] = 0x20;//dummy values if swr 20230f00
|
||||
frame[5] = 0x23;
|
||||
frame[6] = 0x0F;
|
||||
frame[7] = 0x00;
|
||||
break;
|
||||
case 1: // RSSI
|
||||
frame[0] = 0x98;
|
||||
frame[1] = 0x10;
|
||||
frame[2] = 0x01;
|
||||
frame[3] = 0xf1;
|
||||
frame[4] = rssi;
|
||||
break;
|
||||
case 2: //BATT
|
||||
frame[0] = 0x98;
|
||||
frame[1] = 0x10;
|
||||
frame[2] = 0x04;
|
||||
frame[3] = 0xf1;
|
||||
frame[4] = RxBt;//a1;
|
||||
break;
|
||||
case 3: //ADC2(A2)
|
||||
frame[0] = 0x1A;
|
||||
frame[1] = 0x10;
|
||||
frame[2] = 0x03;
|
||||
frame[3] = 0xf1;
|
||||
frame[4] = ADC2;//a2;;
|
||||
break;
|
||||
default:
|
||||
sportIdle();
|
||||
return;
|
||||
}
|
||||
sportSend(frame);
|
||||
}
|
||||
|
||||
void process_sport_data()//only for ADC2
|
||||
{
|
||||
uint8_t j=7;
|
||||
if(pktt[6]>0 && pktt[6]<=USER_MAX_BYTES)
|
||||
{
|
||||
for(uint8_t i=0;i<6;i++)
|
||||
if(pktt[j++]==0x03)
|
||||
if(pktt[j]==0xF1)
|
||||
{
|
||||
ADC2=pktt[j+1];
|
||||
break;
|
||||
}
|
||||
pktt[6]=0;//new frame
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void frskyUpdate()
|
||||
{
|
||||
if(telemetry_link && (cur_protocol[0]&0x1F) != MODE_FRSKYX )
|
||||
{
|
||||
frsky_link_frame();
|
||||
telemetry_link=0;
|
||||
return;
|
||||
}
|
||||
#if defined HUB_TELEMETRY
|
||||
if(!telemetry_link && (cur_protocol[0]&0x1F) != MODE_HUBSAN && (cur_protocol[0]&0x1F) != MODE_FRSKYX)
|
||||
{
|
||||
frsky_user_frame();
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
#if defined SPORT_TELEMETRY
|
||||
if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
|
||||
{
|
||||
if(telemetry_link)
|
||||
{
|
||||
process_sport_data();
|
||||
if(pktt[4]>0x36)
|
||||
rssi=pktt[4]/2;
|
||||
else
|
||||
RxBt=pktt[4];
|
||||
telemetry_link=0;
|
||||
}
|
||||
uint32_t now = micros();
|
||||
if ((now - last) > SPORT_TIME)
|
||||
{
|
||||
sportSendFrame();
|
||||
last = now;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -23,31 +23,40 @@
|
||||
|
||||
//Uncomment to enable telemetry
|
||||
#define TELEMETRY
|
||||
#define HUB_TELEMETRY
|
||||
|
||||
//Comment if a module is not installed
|
||||
#define A7105_INSTALLED
|
||||
#define CYRF6936_INSTALLED
|
||||
#define CC2500_INSTALLED
|
||||
#define NFR24L01_INSTALLED
|
||||
|
||||
//Comment a protocol to exclude it from compilation
|
||||
//A7105 protocols
|
||||
#define FLYSKY_A7105_INO
|
||||
#define HUBSAN_A7105_INO
|
||||
//CYRF6936 protocols
|
||||
#define DEVO_CYRF6936_INO
|
||||
#define DSM2_CYRF6936_INO
|
||||
//CC2500 protocols
|
||||
#define FRSKY_CC2500_INO
|
||||
//#define FRSKYX_CC2500_INO
|
||||
//NFR24L01 protocols
|
||||
#define BAYANG_NRF24L01_INO
|
||||
#define CG023_NRF24L01_INO
|
||||
#define CX10_NRF24L01_INO
|
||||
#define ESKY_NRF24L01_INO
|
||||
#define HISKY_NRF24L01_INO
|
||||
#define KN_NRF24L01_INO
|
||||
#define SLT_NRF24L01_INO
|
||||
#define SYMAX_NRF24L01_INO
|
||||
#define V2X2_NRF24L01_INO
|
||||
#define YD717_NRF24L01_INO
|
||||
#define MT99XX_NRF24L01_INO
|
||||
#define MJXQ_NRF24L01_INO
|
||||
#ifdef A7105_INSTALLED
|
||||
#define FLYSKY_A7105_INO
|
||||
#define HUBSAN_A7105_INO
|
||||
#endif
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
#define DEVO_CYRF6936_INO
|
||||
#define DSM2_CYRF6936_INO
|
||||
#endif
|
||||
#ifdef CC2500_INSTALLED
|
||||
#define FRSKY_CC2500_INO
|
||||
#define FRSKYX_CC2500_INO
|
||||
#endif
|
||||
#ifdef NFR24L01_INSTALLED
|
||||
#define BAYANG_NRF24L01_INO
|
||||
#define CG023_NRF24L01_INO
|
||||
#define CX10_NRF24L01_INO
|
||||
#define ESKY_NRF24L01_INO
|
||||
#define HISKY_NRF24L01_INO
|
||||
#define KN_NRF24L01_INO
|
||||
#define SLT_NRF24L01_INO
|
||||
#define SYMAX_NRF24L01_INO
|
||||
#define V2X2_NRF24L01_INO
|
||||
#define YD717_NRF24L01_INO
|
||||
#define MT99XX_NRF24L01_INO
|
||||
#define MJXQ_NRF24L01_INO
|
||||
#endif
|
||||
|
||||
//Update this table to set which protocol and all associated settings are called for the corresponding dial number
|
||||
static const PPM_Parameters PPM_prot[15]=
|
||||
|
||||
@ -102,18 +102,7 @@ enum {
|
||||
#define REUSE_TX_PL 0xE3
|
||||
//#define NOP 0xFF
|
||||
|
||||
/*
|
||||
void NRF24L01_Initialize();
|
||||
byte NRF24L01_WriteReg(byte reg, byte data);
|
||||
byte NRF24L01_WriteRegisterMulti(byte reg, byte data[], byte length);
|
||||
byte NRF24L01_WritePayload(byte *data, byte len);
|
||||
byte NRF24L01_ReadReg(byte reg);
|
||||
byte NRF24L01_ReadRegisterMulti(byte reg, byte data[], byte length);
|
||||
byte NRF24L01_ReadPayload(byte *data, byte len);
|
||||
// XN297 emulation layer
|
||||
#define XN297_UNSCRAMBLED 8
|
||||
|
||||
byte NRF24L01_FlushTx();
|
||||
byte NRF24L01_FlushRx();
|
||||
byte NRF24L01_Activate(byte code);
|
||||
|
||||
*/
|
||||
#endif
|
||||
@ -353,41 +353,40 @@ enum {
|
||||
//*******************
|
||||
const uint16_t PROGMEM CRCTable[]=
|
||||
{
|
||||
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
|
||||
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
|
||||
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
|
||||
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
|
||||
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
|
||||
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
|
||||
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
|
||||
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
|
||||
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
|
||||
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
|
||||
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
|
||||
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
|
||||
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
|
||||
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
|
||||
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
|
||||
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
|
||||
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
|
||||
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
|
||||
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
|
||||
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
|
||||
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
|
||||
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
|
||||
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
|
||||
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
|
||||
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
|
||||
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
|
||||
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
|
||||
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
|
||||
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
|
||||
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
|
||||
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
|
||||
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
|
||||
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
|
||||
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
|
||||
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
|
||||
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
|
||||
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
|
||||
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
|
||||
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
|
||||
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
|
||||
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
|
||||
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
|
||||
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
|
||||
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
|
||||
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
|
||||
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
|
||||
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
|
||||
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
|
||||
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
|
||||
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
|
||||
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
|
||||
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
|
||||
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
|
||||
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
|
||||
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
|
||||
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
|
||||
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
|
||||
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
|
||||
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
|
||||
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
|
||||
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
|
||||
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
|
||||
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
|
||||
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
|
||||
};
|
||||
|
||||
|
||||
//****************************************
|
||||
//*** MULTI protocol serial definition ***
|
||||
//****************************************
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user