/* This project is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Multiprotocol is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. */ // compatible with DM002 #if defined(DM002_NRF24L01_INO) #include "iface_nrf24l01.h" #define DM002_PACKET_PERIOD 6100 // Timeout for callback in uSec #define DM002_INITIAL_WAIT 500 #define DM002_PACKET_SIZE 12 // packets have 12-byte payload #define DM002_RF_BIND_CHANNEL 0x27 #define DM002_BIND_COUNT 655 // 4 seconds enum DM002_FLAGS { // flags going to packet[9] DM002_FLAG_FLIP = 0x01, DM002_FLAG_LED = 0x02, DM002_FLAG_MEDIUM = 0x04, DM002_FLAG_HIGH = 0x08, DM002_FLAG_RTH = 0x10, DM002_FLAG_HEADLESS = 0x20, DM002_FLAG_CAMERA1 = 0x40, DM002_FLAG_CAMERA2 = 0x80, }; static void __attribute__((unused)) DM002_send_packet(uint8_t bind) { memcpy(packet+5,(uint8_t *)"\x00\x7F\x7F\x7F\x00\x00\x00",7); if(bind) { packet[0] = 0xAA; packet[1] = rx_tx_addr[0]; packet[2] = rx_tx_addr[1]; packet[3] = rx_tx_addr[2]; packet[4] = rx_tx_addr[3]; } else { packet[0]=0x55; // Throttle : 0 .. 200 packet[1]=convert_channel_8b_scale(THROTTLE,0,200); // Other channels min 0x57, mid 0x7F, max 0xA7 packet[2] = convert_channel_8b_scale(RUDDER,0x57,0xA7); packet[3] = convert_channel_8b_scale(AILERON, 0x57,0xA7); packet[4] = convert_channel_8b_scale(ELEVATOR, 0xA7, 0x57); // Features packet[9] = GET_FLAG(Servo_AUX1,DM002_FLAG_FLIP) | GET_FLAG(!Servo_AUX2,DM002_FLAG_LED) | GET_FLAG(Servo_AUX3,DM002_FLAG_CAMERA1) | GET_FLAG(Servo_AUX4,DM002_FLAG_CAMERA2) | GET_FLAG(Servo_AUX5,DM002_FLAG_HEADLESS) | GET_FLAG(Servo_AUX6,DM002_FLAG_RTH) | GET_FLAG(!Servo_AUX7,DM002_FLAG_HIGH); // Packet counter if(packet_count&0x03) { packet_count++; hopping_frequency_no++; hopping_frequency_no&=4; } packet_count&=0x0F; packet[10] = packet_count; packet_count++; } //CRC for(uint8_t i=0;i<DM002_PACKET_SIZE-1;i++) packet[11]+=packet[i]; // Power on, TX mode, 2byte CRC // Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP)); if (bind) NRF24L01_WriteReg(NRF24L01_05_RF_CH, DM002_RF_BIND_CHANNEL); else NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]); // clear packet status bits and TX FIFO NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); NRF24L01_FlushTx(); XN297_WritePayload(packet, DM002_PACKET_SIZE); NRF24L01_SetPower(); // Set tx_power } static void __attribute__((unused)) DM002_init() { NRF24L01_Initialize(); NRF24L01_SetTxRxMode(TX_EN); XN297_SetTXAddr((uint8_t *)"\x26\xA8\x67\x35\xCC", 5); NRF24L01_FlushTx(); NRF24L01_FlushRx(); NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowldgement on all data pipes NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps NRF24L01_SetPower(); } uint16_t DM002_callback() { if(IS_BIND_DONE_on) DM002_send_packet(0); else { if (bind_counter == 0) { BIND_DONE; XN297_SetTXAddr(rx_tx_addr, 5); } else { DM002_send_packet(1); bind_counter--; } } return DM002_PACKET_PERIOD; } static void __attribute__((unused)) DM002_initialize_txid() { // Only 2 IDs/RFs are available, RX_NUM is used to switch between them if(rx_tx_addr[3]&1) { memcpy(hopping_frequency,(uint8_t *)"\x34\x39\x43\x48",4); memcpy(rx_tx_addr,(uint8_t *)"\x47\x93\x00\x00\xD5",5); } else { memcpy(hopping_frequency,(uint8_t *)"\x35\x39\x3B\x3D",4); memcpy(rx_tx_addr,(uint8_t *)"\xAC\xA1\x00\x00\xD5",5); } } uint16_t initDM002(void) { BIND_IN_PROGRESS; // autobind protocol bind_counter = DM002_BIND_COUNT; DM002_initialize_txid(); DM002_init(); return DM002_INITIAL_WAIT; } #endif