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Added CABELL Protocol
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Dennis
parent
f56c9deb00
commit
f28cb609f3
321
Multiprotocol/CABELL_nrf224l01.ino
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321
Multiprotocol/CABELL_nrf224l01.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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//
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// My own personal protocol
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#if defined(CABELL_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define CABELL_BIND_COUNT 2000 // At least 2000 so that if TX toggles the serial bind flag then bind mode is never exited
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#define CABELL_PACKET_PERIOD 3000 // Do not set too low or else next packet may not be finished transmitting before the channel is changed next time around
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#define CABELL_NUM_CHANNELS 16
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#define CABELL_MIN_CHANNELS 4
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#define CABELL_PAYLOAD_BYTES 24 // 12 bits per value
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#define CABELL_BIND_RADIO_ADDR 0xA4B7C123F7LL
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#define CABELL_OPTION_MASK_CHANNEL_REDUCTION 0x0F
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#define CABELL_OPTION_MASK_RECIEVER_OUTPUT_MODE 0x70
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#define CABELL_OPTION_SHIFT_RECIEVER_OUTPUT_MODE 4
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#define CABELL_OPTION_MASK_MAX_POWER_OVERRIDE 0x80
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typedef struct {
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enum RxMode_t : uint8_t { // Note bit 8 is used to indicate if the packet is the first of 2 on the channel. Mask out this bit before using the enum
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normal = 0,
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bind = 1,
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unBind = 127
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} RxMode;
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uint8_t reserved = 0;
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uint8_t option;
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/* mask 0x0F : Channel reduction. The number of channels to not send (subtracted frim the 16 max channels) at least 4 are always sent
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* mask 0x70>>4 : Reciever outout mode
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* 1 = Single PPM on individual pins for each channel
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* 2 = SUM PPM on channel 1 pin
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* mask 0x80>>7 Unused by RX. Contains max power override flag
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*/
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uint8_t modelNum;
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uint16_t checkSum;
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uint8_t payloadValue [CABELL_PAYLOAD_BYTES] = {0}; //12 bits per channel value, unsigned
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} CABELL_RxTxPacket_t;
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//-----------------------------------------------------------------------------------------
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static uint8_t __attribute__((unused)) CABELL_getNextChannel (uint8_t seqArray[], uint8_t seqArraySize, uint8_t prevChannel) {
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/* Possible channels are in 5 bands, each band comprised of seqArraySize channels
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* seqArray contains seqArraySize elements in the relative order in which we should progress through the band
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*
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* Each time the channel is changes, bands change in a way so that the next channel will be in a
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* different non-adjacent band. Both the band changes and the index in seqArray is incremented.
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*/
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prevChannel = constrain(prevChannel,1,seqArraySize * 5); // Constain the values just in case something bogus was sent in.
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prevChannel--; // Subtract one becasue 1 was added to the return value
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uint8_t currBand = prevChannel / seqArraySize;
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uint8_t nextBand = (currBand + 3) % 5;
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uint8_t prevChannalSeqArrayValue = prevChannel % seqArraySize;
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uint8_t prevChannalSeqArrayPosition = 0;
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for (int x = 0; x < seqArraySize; x++) { // Find the position of the previous channel in the array
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if (seqArray[x] == prevChannalSeqArrayValue) {
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prevChannalSeqArrayPosition = x;
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}
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}
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uint8_t nextChannalSeqArrayPosition = prevChannalSeqArrayPosition + 1;
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if (nextChannalSeqArrayPosition >= seqArraySize) nextChannalSeqArrayPosition = 0;
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return (seqArraySize * nextBand) + seqArray[nextChannalSeqArrayPosition] + 1; // Add one so we dont use channel 0 as it may bleed below 2.400 GHz
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}
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//-----------------------------------------------------------------------------------------
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static void __attribute__((unused)) CABELL_send_packet(uint8_t bindMode)
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{
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CABELL_RxTxPacket_t TxPacket;
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static uint8_t currentChannel = 0;
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uint8_t maskFirstPacketOnChannelBit = 0x80;
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uint8_t channelReduction = constrain((option & CABELL_OPTION_MASK_CHANNEL_REDUCTION),0,CABELL_NUM_CHANNELS-CABELL_MIN_CHANNELS); // Max 12 - cannot reduce below 4 channels
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if (bindMode) {
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channelReduction = 0; // Send full packet to bind as higher channels will contain bind info
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}
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uint8_t packetSize = sizeof(TxPacket) - ((((channelReduction - (channelReduction%2))/ 2)) * 3); // reduce 3 bytes per 2 channels, but not last channel if it is odd
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uint8_t maxPayloadValueIndex = sizeof(TxPacket.payloadValue) - (sizeof(TxPacket) - packetSize);
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if (sub_protocol == CABELL_UNBIND) {
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TxPacket.RxMode = CABELL_RxTxPacket_t::RxMode_t::unBind;
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TxPacket.option = option & (~CABELL_OPTION_MASK_CHANNEL_REDUCTION); //remove channel reduction if in unBind mode
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} else {
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TxPacket.RxMode = (bindMode) ? CABELL_RxTxPacket_t::RxMode_t::bind : CABELL_RxTxPacket_t::RxMode_t::normal;
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TxPacket.option = (bindMode) ? (option & (~CABELL_OPTION_MASK_CHANNEL_REDUCTION)) : option; //remove channel reduction if in bind mode
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}
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TxPacket.reserved = 0;
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TxPacket.modelNum = RX_num;
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TxPacket.checkSum = TxPacket.modelNum + TxPacket.option + TxPacket.RxMode + TxPacket.reserved; // Start Calculate checksum
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int adjusted_x;
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int payloadIndex = 0;
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uint16_t holdValue;
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for (int x = 0;(x < CABELL_NUM_CHANNELS - channelReduction); x++) {
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switch (x) {
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case 0 : adjusted_x = ELEVATOR; break;
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case 1 : adjusted_x = AILERON; break;
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case 2 : adjusted_x = RUDDER; break;
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case 3 : adjusted_x = THROTTLE; break;
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default : adjusted_x = x; break;
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}
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holdValue = map(limit_channel_100(adjusted_x),servo_min_100,servo_max_100,1000,2000); // valid channel values are 1000 to 2000
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if (bindMode) {
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switch (adjusted_x) {
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case THROTTLE : holdValue = 1000; break; // always set throttle to off when binding for safety
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//tx address sent for bind
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case 11 : holdValue = 1000 + rx_tx_addr[0]; break;
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case 12 : holdValue = 1000 + rx_tx_addr[1]; break;
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case 13 : holdValue = 1000 + rx_tx_addr[2]; break;
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case 14 : holdValue = 1000 + rx_tx_addr[3]; break;
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case 15 : holdValue = 1000 + rx_tx_addr[4]; break;
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// case 11 : holdValue = 1000 + ((((uint64_t)CABELL_normal_addr)>>32) & 0x00000000000000FF); break;
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// case 12 : holdValue = 1000 + ((((uint64_t)CABELL_normal_addr)>>24) & 0x00000000000000FF); break;
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// case 13 : holdValue = 1000 + ((((uint64_t)CABELL_normal_addr)>>16) & 0x00000000000000FF); break;
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// case 14 : holdValue = 1000 + ((((uint64_t)CABELL_normal_addr)>>8) & 0x00000000000000FF); break;
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// case 15 : holdValue = 1000 + ((((uint64_t)CABELL_normal_addr)) & 0x00000000000000FF); break;
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}
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}
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// use 12 bits per value
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if (x % 2) { //output channel number is ODD
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holdValue = holdValue<<4;
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payloadIndex--;
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} else {
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holdValue &= 0x0FFF;
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}
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TxPacket.payloadValue[payloadIndex] |= (uint8_t)(holdValue & 0x00FF);
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payloadIndex++;
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TxPacket.payloadValue[payloadIndex] |= (uint8_t)((holdValue>>8) & 0x00FF);
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payloadIndex++;
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}
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for(int x = 0; x < maxPayloadValueIndex ; x++) {
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TxPacket.checkSum = TxPacket.checkSum + TxPacket.payloadValue[x]; // Finish Calculate checksum
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}
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// Set channel for next transmission
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rf_ch_num = CABELL_getNextChannel (hopping_frequency,CABELL_NUM_CHANNELS, rf_ch_num);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH,rf_ch_num);
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx(); //just in case things got hung up
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uint8_t* p = reinterpret_cast<uint8_t*>(&TxPacket.RxMode);
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*p &= 0x7F; // Make sure 8th bit is clear
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*p |= (packet_count++)<<7; // This causes the 8th bit of the first byte to toggle with each xmit so consecrutive payloads are not identical.
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// This is a work around for a reported bug in clone NRF24L01 chips that mis-took this case for a re-transmit of the same packet.
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NRF24L01_WritePayload((uint8_t*)&TxPacket, packetSize);
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}
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//-----------------------------------------------------------------------------------------
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static void __attribute__((unused)) CABELL_getChannelSequence (uint8_t outArray[], uint8_t numChannels, uint64_t permutation) {
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/* This procedure initializes an array with the sequence progression of channels.
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* This is not the actual channels itself, but the sequence base to be used within bands of
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* channels.
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*
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* There are numChannels! permutations for arranging the channels
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* one of these permutations will be calculated based on the permutation input
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* permutation should be between 1 and numChannels! but the routine will constrain it
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* if these bounds are exceeded. Typically the radio's unique TX ID shouldbe used.
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*
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* The maximum numChannels is 20. Anything larget than this will cause the uint64_t
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* variables to overflow, yielding unknown resutls (possibly infinate loop?). Therefor
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* this routine constrains the value.
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*/
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uint64_t i; //iterator counts numChannels
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uint64_t indexOfNextSequenceValue;
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uint64_t numChannelsFactorial=1;
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uint8_t sequenceValue;
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numChannels = constrain(numChannels,1,20);
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for (i = 1; i <= numChannels;i++) {
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numChannelsFactorial *= i; // Calculate n!
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outArray[i-1] = i-1; // Initialize array with the sequence
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}
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permutation = constrain(permutation,1,numChannelsFactorial); // k must be between 1 and n! or this algorithm will infinate loop
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//Rearrange the array elements based on the permutation selected
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for (i=0, permutation--; i<numChannels; i++ ) {
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numChannelsFactorial /= ((uint64_t)numChannels)-i;
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indexOfNextSequenceValue = i+(permutation/numChannelsFactorial);
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permutation %= numChannelsFactorial;
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//Copy the value in the selected array position
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sequenceValue = outArray[indexOfNextSequenceValue];
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//Shift the unused elements in the array to make room to move in the one just selected
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for( ; indexOfNextSequenceValue > i; indexOfNextSequenceValue--) {
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outArray[indexOfNextSequenceValue] = outArray[indexOfNextSequenceValue-1];
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}
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// Copy the selected value into it's new array slot
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outArray[i] = sequenceValue;
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}
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}
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//-----------------------------------------------------------------------------------------
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static void __attribute__((unused)) CABELL_setAddress()
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{
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uint64_t CABELL_addr;
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// Serial.print("NORM ID: ");Serial.print((uint32_t)(CABELL_normal_addr>>32)); Serial.print(" ");Serial.println((uint32_t)((CABELL_normal_addr<<32)>>32));
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if (IS_BIND_DONE_on) {
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CABELL_addr = (((uint64_t)rx_tx_addr[0]) << 32) +
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(((uint64_t)rx_tx_addr[1]) << 24) +
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(((uint64_t)rx_tx_addr[2]) << 16) +
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(((uint64_t)rx_tx_addr[3]) << 8) +
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(((uint64_t)rx_tx_addr[4])); // Address to use after binding
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}
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else {
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CABELL_addr = CABELL_BIND_RADIO_ADDR; //static addr for binding
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}
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CABELL_getChannelSequence(hopping_frequency,CABELL_NUM_CHANNELS,CABELL_addr); // Get the sequence for hopping through channels
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rf_ch_num = CABELL_getNextChannel (hopping_frequency,CABELL_NUM_CHANNELS, 1); // initialize the channel sequence
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packet_count=0;
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
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}
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//-----------------------------------------------------------------------------------------
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static void __attribute__((unused)) CABELL_init()
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{
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NRF24L01_Initialize();
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CABELL_SetPower();
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NRF24L01_SetBitrate(NRF24L01_BR_250K);
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NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowledgement on all data pipes
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NRF24L01_SetTxRxMode(TX_EN); //Power up and 16 bit CRC
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CABELL_setAddress();
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx();
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NRF24L01_FlushRx();
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x02);
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NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, 0x20); // 32 byte packet length
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NRF24L01_WriteReg(NRF24L01_12_RX_PW_P1, 0x20); // 32 byte packet length
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NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x5F); // no retransmits
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NRF24L01_Activate(0x73); // Activate feature register
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NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x3F); // Enable dynamic payload length on all pipes
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NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x04); // Enable dynamic Payload Length
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NRF24L01_Activate(0x73);
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}
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//-----------------------------------------------------------------------------------------
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static void CABELL_SetPower() // This over-ride the standard Set Power to allow an flag in option to indicate max power setting
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// Note that on many modules max power may actually be worse than the normal high power setting
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// test and only use max if it helps the range
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{
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if(IS_BIND_DONE_on && !IS_RANGE_FLAG_on && (option & CABELL_OPTION_MASK_MAX_POWER_OVERRIDE)) { // If we are not in range or bind mode and power setting override is in effect, then set max power, else standard pawer logic
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if(prev_power != NRF_POWER_3) // prev_power is global variable for NRF24L01; NRF_POWER_3 is max power
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{
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uint8_t rf_setup = NRF24L01_ReadReg(NRF24L01_06_RF_SETUP);
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rf_setup = (rf_setup & 0xF9) | (NRF_POWER_3 << 1);
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NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, rf_setup);
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prev_power=NRF_POWER_3;
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}
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}
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else {
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NRF24L01_SetPower();
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}
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}
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//-----------------------------------------------------------------------------------------
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uint16_t CABELL_callback()
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{
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if(IS_BIND_DONE_on)
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CABELL_send_packet(0);
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else
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{
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if (bind_counter == 0)
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{
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BIND_DONE;
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CABELL_init(); // non-bind address
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}
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else
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{
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CABELL_send_packet(1);
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bind_counter--;
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}
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}
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return CABELL_PACKET_PERIOD;
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}
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//-----------------------------------------------------------------------------------------
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uint16_t initCABELL(void)
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{
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if (IS_BIND_DONE_on) {
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bind_counter = 0;
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||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
bind_counter = CABELL_BIND_COUNT;
|
||||||
|
}
|
||||||
|
CABELL_init();
|
||||||
|
return CABELL_PACKET_PERIOD;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -55,6 +55,7 @@ enum PROTOCOLS
|
|||||||
MODE_OPENLRS = 27, // =>OpenLRS hardware
|
MODE_OPENLRS = 27, // =>OpenLRS hardware
|
||||||
MODE_AFHDS2A = 28, // =>A7105
|
MODE_AFHDS2A = 28, // =>A7105
|
||||||
MODE_Q2X2 = 29, // =>NRF24L01, extension of CX-10 protocol
|
MODE_Q2X2 = 29, // =>NRF24L01, extension of CX-10 protocol
|
||||||
|
MODE_CABELL = 30, // =>NRF24L01
|
||||||
};
|
};
|
||||||
|
|
||||||
enum Flysky
|
enum Flysky
|
||||||
@ -173,6 +174,11 @@ enum FY326
|
|||||||
FY326 = 0,
|
FY326 = 0,
|
||||||
FY319 = 1,
|
FY319 = 1,
|
||||||
};
|
};
|
||||||
|
enum CABELL
|
||||||
|
{
|
||||||
|
CABELL_V3 = 0,
|
||||||
|
CABELL_UNBIND = 7
|
||||||
|
};
|
||||||
|
|
||||||
#define NONE 0
|
#define NONE 0
|
||||||
#define P_HIGH 1
|
#define P_HIGH 1
|
||||||
@ -442,6 +448,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
|
|||||||
OpenLRS 27
|
OpenLRS 27
|
||||||
AFHDS2A 28
|
AFHDS2A 28
|
||||||
Q2X2 29
|
Q2X2 29
|
||||||
|
CABELL 30
|
||||||
BindBit=> 0x80 1=Bind/0=No
|
BindBit=> 0x80 1=Bind/0=No
|
||||||
AutoBindBit=> 0x40 1=Yes /0=No
|
AutoBindBit=> 0x40 1=Yes /0=No
|
||||||
RangeCheck=> 0x20 1=Yes /0=No
|
RangeCheck=> 0x20 1=Yes /0=No
|
||||||
@ -529,6 +536,9 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
|
|||||||
sub_protocol==FY326
|
sub_protocol==FY326
|
||||||
FY326 0
|
FY326 0
|
||||||
FY319 1
|
FY319 1
|
||||||
|
sub_protocol==CABELL
|
||||||
|
CABELL_V3 0,
|
||||||
|
CABELL_UNBIND 7
|
||||||
|
|
||||||
Power value => 0x80 0=High/1=Low
|
Power value => 0x80 0=High/1=Low
|
||||||
Stream[3] = option_protocol;
|
Stream[3] = option_protocol;
|
||||||
|
|||||||
@ -852,6 +852,12 @@ static void protocol_init()
|
|||||||
remote_callback = HONTAI_callback;
|
remote_callback = HONTAI_callback;
|
||||||
break;
|
break;
|
||||||
#endif
|
#endif
|
||||||
|
#if defined(CABELL_NRF24L01_INO)
|
||||||
|
case MODE_CABELL:
|
||||||
|
next_callback=initCABELL();
|
||||||
|
remote_callback = CABELL_callback;
|
||||||
|
break;
|
||||||
|
#endif
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -64,6 +64,7 @@
|
|||||||
#undef FQ777_NRF24L01_INO
|
#undef FQ777_NRF24L01_INO
|
||||||
#undef ASSAN_NRF24L01_INO
|
#undef ASSAN_NRF24L01_INO
|
||||||
#undef HONTAI_NRF24L01_INO
|
#undef HONTAI_NRF24L01_INO
|
||||||
|
#undef CABELL_NRF24L01_INO
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//Make sure telemetry is selected correctly
|
//Make sure telemetry is selected correctly
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user