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Xerall: few improvements

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Pascal Langer
2021-09-04 11:48:41 +02:00
parent 901f8ca6b0
commit d6ecac1302
5 changed files with 37 additions and 20 deletions
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2
Multiprotocol/Multiprotocol.h
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@@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 2
#define VERSION_PATCH_LEVEL 95
#define VERSION_PATCH_LEVEL 96
#define MODE_SERIAL 0

2
Multiprotocol/Validate.h
View File

@@ -238,8 +238,6 @@
#define SX1276_INSTALLED
#undef ENABLE_PPM
#undef SEND_CPPM
#undef IKEAANSLUTA_CC2500_INO
#undef MOULDKG_NRF24L01_INO
#endif
//Make sure protocols are selected correctly

30
Multiprotocol/XERALL_nrf24l01.ino
View File

@@ -56,7 +56,7 @@ static void __attribute__((unused)) XERALL_send_packet()
if(IS_BIND_IN_PROGRESS)
{
if(packet_sent > 24)
packet_sent=0; // Hopp after 25 packets
packet_sent=0; // Hopp after 25 packets
}
else
{
@@ -87,15 +87,15 @@ static void __attribute__((unused)) XERALL_send_packet()
// Normal packet: 08 32 7C 1C 20 20 20 40 0A 00
packet[0] = 0x08;
//Throttle
packet[1] = convert_channel_16b_limit(THROTTLE ,0,0x32)<<1; //00..64 but only even values
packet[1] = convert_channel_16b_limit(THROTTLE ,0,0x32)<<1; //00..64 but only even values
//Rudder
packet[2] = (0xFF-convert_channel_8b(RUDDER))&0xF8; //F8..00 -> 5 bits
packet[2] = (0xFF-convert_channel_8b(RUDDER))&0xF8; //F8..00 -> 5 bits
//Elevator
uint8_t ch = convert_channel_8b(ELEVATOR)>>3;
packet[2] |= ch>>2; //00..07 -> 3 bits high
packet[3] = ch<<6; //00,40,80,C0 -> 2 bits low
packet[2] |= ch>>2; //00..07 -> 3 bits high
packet[3] = ch<<6; //00,40,80,C0 -> 2 bits low
//Aileron
packet[3] |= ((0xFF-convert_channel_8b(AILERON))>>3)<<1; //5 bits
packet[3] |= ((0xFF-convert_channel_8b(AILERON))>>3)<<1; //5 bits
//Trim Rudder 0x00..0x20..0x3F
packet[4] = convert_channel_8b(CH11)>>2;
@@ -129,7 +129,7 @@ static void __attribute__((unused)) XERALL_send_packet()
uint8_t sum = 0;
for(uint8_t i=1;i<8;i++)
sum += packet[i];
packet[8] = sum;
packet[8] = sum & 0x0F;
//0x00 -> 0x1A on first telemetry packet received
//packet[9] = 0x00;
@@ -236,23 +236,23 @@ uint16_t XERALL_callback()
XN297_SetTXAddr(rx_tx_addr, 5);
}
wait = 0;
phase = XERALL_DATA; // Resume data
phase = XERALL_DATA;
break;
}
if(len == XERALL_PACKET_SIZE && packet_in[0] == 0x12)
else if(len == XERALL_PACKET_SIZE && packet_in[0] == 0x12)
{
BIND_DONE;
bind_phase = 0;
wait = 0;
phase = XERALL_DATA; // Resume data
break;
}
if(len == 0)
else if(len == 0)
wait = 5; // The quad wants to talk let's pause sending data...
}
// switch to RX mode
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(RX_EN);
if(wait)
{ // switch to RX mode
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(RX_EN);
}
}
if(wait)
{