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pascallanger
242
Multiprotocol/Hisky_nrf24l01.ino
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242
Multiprotocol/Hisky_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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#if defined(HISKY_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define BIND_COUNT 1000
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#define TXID_SIZE 5
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#define FREQUENCE_NUM 20
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//
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uint8_t bind_buf_arry[4][10];
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// HiSky protocol uses TX id as an address for nRF24L01, and uses frequency hopping sequence
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// which does not depend on this id and is passed explicitly in binding sequence. So we are free
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// to generate this sequence as we wish. It should be in the range [02..77]
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void calc_fh_channels(uint32_t seed)
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{
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uint8_t idx = 0;
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uint32_t rnd = seed;
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while (idx < FREQUENCE_NUM)
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{
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uint8_t i;
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uint8_t count_2_26 = 0, count_27_50 = 0, count_51_74 = 0;
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rnd = rnd * 0x0019660D + 0x3C6EF35F; // Randomization
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// Use least-significant byte. 73 is prime, so channels 76..77 are unused
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uint8_t next_ch = ((rnd >> 8) % 73) + 2;
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// Keep the distance 2 between the channels - either odd or even
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if (((next_ch ^ (uint8_t)seed) & 0x01 )== 0)
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continue;
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// Check that it's not duplicated and spread uniformly
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for (i = 0; i < idx; i++) {
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if(hopping_frequency[i] == next_ch)
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break;
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if(hopping_frequency[i] <= 26)
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count_2_26++;
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else if (hopping_frequency[i] <= 50)
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count_27_50++;
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else
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count_51_74++;
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}
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if (i != idx)
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continue;
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if ( (next_ch <= 26 && count_2_26 < 8) || (next_ch >= 27 && next_ch <= 50 && count_27_50 < 8) || (next_ch >= 51 && count_51_74 < 8) )
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hopping_frequency[idx++] = next_ch;//find hopping frequency
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}
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}
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void build_binding_packet(void)
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{
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uint8_t i;
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uint16_t sum=0;
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uint8_t sum_l,sum_h;
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for(i=0;i<5;i++)
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sum += rx_tx_addr[i];
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sum_l = (uint8_t)sum;//low byte
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sum >>= 8;
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sum_h = (uint8_t)sum;//high bye
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bind_buf_arry[0][0] = 0xff;
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bind_buf_arry[0][1] = 0xaa;
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bind_buf_arry[0][2] = 0x55;
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for(i=3;i<8;i++)
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bind_buf_arry[0][i] = rx_tx_addr[i-3];
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for(i=1;i<4;i++)
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{
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bind_buf_arry[i][0] = sum_l;
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bind_buf_arry[i][1] = sum_h;
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bind_buf_arry[i][2] = i-1;
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}
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for(i=0;i<7;i++)
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{ bind_buf_arry[1][i+3] = hopping_frequency[i];
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bind_buf_arry[2][i+3] = hopping_frequency[i+7];
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bind_buf_arry[3][i+3] = hopping_frequency[i+14];
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}
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}
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void hisky_init()
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{
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NRF24L01_Initialize();
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NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowledgement
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable p0 rx
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NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03); // 5-byte RX/TX address (byte -2)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 81); // binding packet must be set in channel 81
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
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NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, 10); // payload size = 10
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if(sub_protocol==HK310)
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NRF24L01_SetBitrate(NRF24L01_BR_250K); // 250Kbps
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else
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NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_SetPower(); // Set power
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NRF24L01_SetTxRxMode(TX_EN); // TX mode, 2-bytes CRC, radio on
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}
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// HiSky channel sequence: AILE ELEV THRO RUDD GEAR PITCH, channel data value is from 0 to 1000
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// Channel 7 - Gyro mode, 0 - 6 axis, 3 - 3 axis
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void build_ch_data()
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{
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uint16_t temp;
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uint8_t i,j;
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uint8_t ch[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4};
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for (i = 0; i< 8; i++) {
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j=ch[i];
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temp=map(limit_channel_100(j),PPM_MIN_100,PPM_MAX_100,0,1000);
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if (j == THROTTLE) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
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temp = 1000 -temp;
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if (j == AUX3)
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temp = temp < 400 ? 0 : 3; // Gyro mode, 0 - 6 axis, 3 - 3 axis
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packet[i] = (uint8_t)(temp&0xFF);
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packet[i<4?8:9]>>=2;
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packet[i<4?8:9]|=(temp>>2)&0xc0;
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}
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}
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uint16_t hisky_cb()
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{
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phase++;
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if(sub_protocol==HK310)
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switch(phase)
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{
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case 1:
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NRF24L01_SetPower();
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phase=2;
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break;
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case 4:
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phase=6;
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break;
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case 7: // build packet and send failsafe every 100ms
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convert_channel_HK310(hopping_frequency_no!=0?RUDDER:AUX2,&packet[0],&packet[1]);
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convert_channel_HK310(hopping_frequency_no!=0?THROTTLE:AUX3,&packet[2],&packet[3]);
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convert_channel_HK310(hopping_frequency_no!=0?AUX1:AUX4,&packet[4],&packet[5]);
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packet[7]=hopping_frequency_no!=0?0x55:0xAA;
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packet[8]=hopping_frequency_no!=0?0x67:0x5A;
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phase=8;
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break;
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}
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switch(phase)
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{
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case 1:
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NRF24L01_FlushTx();
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break;
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case 2:
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if (bind_counter != 0)
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{
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//Set TX id and channel for bind packet
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x12\x23\x23\x45\x78", 5);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 81);
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}
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break;
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case 3:
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if (bind_counter != 0)
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{
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bind_counter--;//
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if (! bind_counter) //Binding complete
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BIND_DONE;//
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//Send bind packet
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NRF24L01_WritePayload(bind_buf_arry[binding_idx],10);
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binding_idx++;
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if (binding_idx >= 4)
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binding_idx = 0;
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}
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break;
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case 4:
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if (bind_counter != 0)
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NRF24L01_FlushTx();
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break;
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case 5:
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//Set TX power
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NRF24L01_SetPower();
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break;
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case 6:
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//Set TX id and channel for normal packet
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
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hopping_frequency_no++;
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if (hopping_frequency_no >= FREQUENCE_NUM)
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hopping_frequency_no = 0;
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break;
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case 7:
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//Build normal packet
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build_ch_data();
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break;
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case 8:
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break;
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default:
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//Send normal packet
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phase = 0;
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NRF24L01_WritePayload(packet,10);
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break;
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}
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return 1000; // send 1 binding packet and 1 data packet per 9ms
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}
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// Generate internal id from TX id and manufacturer id (STM32 unique id)
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void initialize_tx_id()
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{
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//Generate frequency hopping table
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if(sub_protocol==HK310)
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for(uint8_t i=0;i<FREQUENCE_NUM;i++)
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hopping_frequency[i]=i; // Sequential order hop channels...
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else
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calc_fh_channels(MProtocol_id);
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}
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uint16_t initHiSky()
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{
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initialize_tx_id();
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build_binding_packet();
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hisky_init();
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phase = 0;
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hopping_frequency_no = 0;
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binding_idx = 0;
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if(IS_AUTOBIND_FLAG_on)
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bind_counter = BIND_COUNT;
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else
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bind_counter = 0;
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return 1000;
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}
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#endif
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