/* 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/>. */ #if defined(LOLI_NRF24L01_INO) #include "iface_nrf24l01.h" #define LOLI_BIND_CHANNEL 33 #define LOLI_PACKET_SIZE 11 #define LOLI_NUM_CHANNELS 5 static void __attribute__((unused)) LOLI_init() { NRF24L01_Initialize(); NRF24L01_FlushTx(); NRF24L01_FlushRx(); 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_WriteReg(NRF24L01_03_SETUP_AW, 0x03); // 5-bytes RX/TX address NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t*)"LOVE!", 5); NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t*)"LOVE!", 5); NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // No retransmits NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, LOLI_PACKET_SIZE); // RX FIFO size NRF24L01_SetBitrate(NRF24L01_BR_250K); // 250Kbps NRF24L01_SetPower(); NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit NRF24L01_SetTxRxMode(TX_EN); } // flags going to packet[1] for packet type 0xa2 (Rx config) #define LOLI_FLAG_PWM7 0x02 #define LOLI_FLAG_PWM2 0x04 #define LOLI_FLAG_PWM1 0x08 #define LOLI_FLAG_SBUS 0x40 #define LOLI_FLAG_PPM 0x80 // flags going to packet[2] for packet type 0xa2 (Rx config) #define LOLI_FLAG_SW8 0x01 #define LOLI_FLAG_SW7 0x02 #define LOLI_FLAG_SW6 0x04 #define LOLI_FLAG_SW5 0x08 #define LOLI_FLAG_SW4 0x10 #define LOLI_FLAG_SW3 0x20 #define LOLI_FLAG_SW2 0x40 #define LOLI_FLAG_SW1 0x80 #ifdef LOLI_NRF24L01_INO uint8_t LOLI_P1, LOLI_P2; #endif static void __attribute__((unused)) LOLI_send_packet() { if(IS_BIND_IN_PROGRESS) { packet[0] = 0xa0; memcpy(&packet[1], hopping_frequency, LOLI_NUM_CHANNELS); memcpy(&packet[6], rx_tx_addr, 5); rf_ch_num = LOLI_BIND_CHANNEL; } else { //Check RX config uint8_t P1=0; uint8_t P2=0; //ch1: PWM/PPM if(Channel_data[CH1+8] > CHANNEL_MAX_COMMAND) P1|=LOLI_FLAG_PWM1; else if(Channel_data[CH1+8] > CHANNEL_SWITCH) P1|=LOLI_FLAG_PPM; //ch2: PWM if(Channel_data[CH2+8] > CHANNEL_MAX_COMMAND) P1|=LOLI_FLAG_PWM2; //ch5: SBUS if(Channel_data[CH7+8] > CHANNEL_SWITCH) P1|=LOLI_FLAG_SBUS; //ch7: PWM if(Channel_data[CH7+8] > CHANNEL_MAX_COMMAND) P1|=LOLI_FLAG_PWM7; //switches for(uint8_t i=0;i<8;i++) if(Channel_data[i+8]<CHANNEL_MIN_COMMAND) P2 |= 1 << (7-i); if(LOLI_P1!=P1 || LOLI_P2!=P2) flags=10; if(flags) {// Send RX config since P1 or P2 have changed LOLI_P1=P1;LOLI_P2=P2; packet[0] = 0xa2; packet[1] = LOLI_P1; // CH1:LOLI_FLAG_PPM || LOLI_FLAG_PWM1, CH2:LOLI_FLAG_PWM2, CH5:LOLI_FLAG_SBUS, CH7:LOLI_FLAG_PWM7 packet[2] = LOLI_P2; // CHx switch bit(8-x)=1 flags--; } else {// Normal packet #ifdef FAILSAFE_ENABLE packet[0] = IS_FAILSAFE_VALUES_on ? 0xa0 : 0xa1; #else packet[0] = 0xa1; #endif //Build channels uint8_t ch=0, offset=1; uint16_t val; for(uint8_t i=0;i<2;i++) { val = convert_channel_10b(ch++, IS_FAILSAFE_VALUES_on); packet[offset++] = val >> 2; packet[offset ] = val << 6; val = convert_channel_10b(ch++, IS_FAILSAFE_VALUES_on); packet[offset++]|= val >> 4; packet[offset ] = val << 4; val = convert_channel_10b(ch++, IS_FAILSAFE_VALUES_on); packet[offset++]|= val >> 6; packet[offset ] = val << 2; val = convert_channel_10b(ch++, IS_FAILSAFE_VALUES_on); packet[offset++]|= val >> 8; packet[offset++] = val & 0xff; } FAILSAFE_VALUES_off; // Failsafe values are sent if they were available } if (++hopping_frequency_no > LOLI_NUM_CHANNELS-1) hopping_frequency_no = 0; rf_ch_num = hopping_frequency[hopping_frequency_no]; } #if 0 debug("P(%02X):",rf_ch_num); for(uint8_t i=0; i<LOLI_PACKET_SIZE; i++) debug(" %02X",packet[i]); debugln(""); #endif //Send packet NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch_num); NRF24L01_SetPower(); NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_SetTxRxMode(TX_EN); NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x0a); // 8bit CRC, TX NRF24L01_FlushTx(); NRF24L01_WritePayload(packet, LOLI_PACKET_SIZE); } enum{ LOLI_BIND1, LOLI_BIND2, LOLI_BIND3, LOLI_PREP_DATA, LOLI_DATA1, LOLI_DATA2, LOLI_SET_RX_CONFIG, LOLI_SET_FAILSAFE }; uint16_t LOLI_callback() { switch (phase) { case LOLI_BIND1: if(bind_counter) { bind_counter--; if(bind_counter==0) { phase=LOLI_PREP_DATA; break; } } // send bind packet NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_SetTxRxMode(TX_EN); NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x0a); // 8bit CRC, TX LOLI_send_packet(); phase++; return 2000; case LOLI_BIND2: // switch to RX mode NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_FlushRx(); NRF24L01_SetTxRxMode(RX_EN); NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x3b); // 8bit CRC, RX phase++; packet_count = 0; return 2000; case LOLI_BIND3: // got bind response ? if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) { NRF24L01_ReadPayload(packet, LOLI_PACKET_SIZE); if (packet[0] == 'O' && packet[1] == 'K') { debugln("Bind OK"); phase++; // LOLI_PREP_DATA break; } } packet_count++; if (packet_count > 50) phase = LOLI_BIND1; return 1000; case LOLI_PREP_DATA: BIND_DONE; NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rx_tx_addr, 5); NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, 5); NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); NRF24L01_FlushRx(); packet_count = 0; //defaut RX config with servo outputs LOLI_P1=0;LOLI_P2=0;flags=10; phase++; case LOLI_DATA1: #ifdef LOLI_HUB_TELEMETRY // Check telemetry if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) { // RX fifo data ready NRF24L01_ReadPayload(packet, LOLI_PACKET_SIZE); #if 0 debug("T:"); for(uint8_t i=0; i<LOLI_PACKET_SIZE; i++) debug(" %02X",packet[i]); debugln(""); #endif RX_RSSI = packet[0]<<1; uint16_t val=((packet[1] << 8) | packet[2])/10; if(val > 255) val=255; v_lipo1 = val; val=((packet[3] << 8) | packet[4])/10; if(val > 255) val=255; v_lipo2 = val; telemetry_link = 1; telemetry_counter++; // TX LQI counter if(telemetry_lost) { telemetry_lost = 0; packet_count = 100; telemetry_counter = 100; } } //LQI packet_count++; if(packet_count>=100) { packet_count=0; TX_LQI=telemetry_counter; if(telemetry_counter==0) telemetry_lost = 1; telemetry_counter = 0; } #endif // Send data packet LOLI_send_packet(); #ifdef LOLI_HUB_TELEMETRY phase ++; return 2000; case LOLI_DATA2: // Switch to RX mode NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_FlushRx(); NRF24L01_SetTxRxMode(RX_EN); NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x3b); // 8bit CRC, RX phase = LOLI_DATA1; return 18000; #else break; #endif } return 20000; } uint16_t initLOLI() { rx_tx_addr[1] %= 0x30; calc_fh_channels(LOLI_NUM_CHANNELS); for (uint8_t i=0; i < LOLI_NUM_CHANNELS; i++) if (hopping_frequency[i] == LOLI_BIND_CHANNEL) hopping_frequency[i]++; if (IS_BIND_IN_PROGRESS) { bind_counter=250; phase = LOLI_BIND1; } else phase = LOLI_PREP_DATA; LOLI_init(); return 500; } #endif