gomaomao/DIY-Multiprotocol-TX-Module
1
0
Fork 0
mirror of https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git synced 2025-02-04 22:38:14 +00:00
Code Issues Projects Releases Wiki Activity
DIY-Multiprotocol-TX-Module/Multiprotocol/OMP_cc2500.ino

301 lines
8.0 KiB
C++
Raw Blame History

/*
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(OMP_CC2500_INO)
#include "iface_nrf250k.h"
//#define FORCE_OMP_ORIGINAL_ID
//#define OMP_TELEM_DEBUG
#define OMP_INITIAL_WAIT 500
#define OMP_PACKET_PERIOD 5000
#define OMP_RF_BIND_CHANNEL 35
#define OMP_RF_NUM_CHANNELS 8
#define OMP_PAYLOAD_SIZE 16
#define OMP_BIND_COUNT 600 //3sec
static void __attribute__((unused)) OMP_send_packet()
{
#ifdef OMP_HUB_TELEMETRY
if(option==0) option=1; // Select the CC2500 by default
PE1_off; PE2_on; // CC2500 antenna RF2
#endif
if(IS_BIND_IN_PROGRESS)
{
memcpy(packet,"BND",3);
memcpy(&packet[3],rx_tx_addr,5);
memcpy(&packet[8],hopping_frequency,8);
}
else
{
memset(packet,0x00,OMP_PAYLOAD_SIZE);
#ifdef OMP_HUB_TELEMETRY
//RX telem request every 7*5=35ms
packet_sent++;
packet_sent %= OMP_RF_NUM_CHANNELS-1; // Change telem RX channels every time
if(packet_sent==0)
{
packet[0] |= 0x40; // |0x40 to request RX telemetry
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
}
#endif
//hopping frequency
packet[0 ] |= hopping_frequency_no;
XN297L_Hopping(hopping_frequency_no);
hopping_frequency_no++;
hopping_frequency_no &= OMP_RF_NUM_CHANNELS-1; // 8 RF channels
//flags
packet[1 ] = 0x08 //unknown
| GET_FLAG(CH5_SW, 0x20); // HOLD
packet[2 ] = 0x40; //unknown
if(Channel_data[CH6] > CHANNEL_MAX_COMMAND)
packet[2 ] |= 0x20; // IDLE2
else if(Channel_data[CH6] > CHANNEL_MIN_COMMAND)
packet[1 ] |= 0x40; // IDLE1
if(Channel_data[CH7] > CHANNEL_MAX_COMMAND)
packet[2 ] |= 0x08; // 3D
else if(Channel_data[CH7] > CHANNEL_MIN_COMMAND)
packet[2 ] |= 0x04; // ATTITUDE
//trims??
//packet[3..6]
//channels TAER packed 11bits
uint16_t channel=convert_channel_16b_limit(THROTTLE,0,2047);
packet[7 ] = channel;
packet[8 ] = channel>>8;
channel=convert_channel_16b_limit(AILERON,2047,0);
packet[8 ] |= channel<<3;
packet[9 ] = channel>>5;
channel=convert_channel_16b_limit(ELEVATOR,0,2047);
packet[9] |= channel<<6;
packet[10] = channel>>2;
packet[11] = channel>>10;
channel=convert_channel_16b_limit(RUDDER,2047,0);
packet[11] |= channel<<1;
packet[12] = channel>>7;
//unknown
//packet[13..15]
packet[15] = 0x04;
}
XN297L_SetPower(); // Set tx_power
XN297L_SetFreqOffset(); // Set frequency offset
XN297L_WriteEnhancedPayload(packet, OMP_PAYLOAD_SIZE, packet_sent!=0);
}
static void __attribute__((unused)) OMP_init()
{
//Config CC2500
#ifdef OMP_HUB_TELEMETRY
if(option==0)
option=1; // Select the CC2500
#endif
XN297L_Init();
XN297L_SetTXAddr((uint8_t*)"FLPBD", 5);
XN297L_HoppingCalib(OMP_RF_NUM_CHANNELS); // Calibrate all channels
XN297L_RFChannel(OMP_RF_BIND_CHANNEL); // Set bind channel
#ifdef OMP_HUB_TELEMETRY
//Config NRF
option=0; // Select the NRF
XN297L_Init();
XN297_Configure(_BV(NRF24L01_00_EN_CRC));
XN297_SetRXAddr(rx_tx_addr, 5); // Set the RX address
NRF24L01_SetTxRxMode(TXRX_OFF); // Turn it off for now
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, OMP_PAYLOAD_SIZE + 4); // packet length +4 bytes of PCF+CRC
#endif
}
static void __attribute__((unused)) OMP_initialize_txid()
{
calc_fh_channels(OMP_RF_NUM_CHANNELS);
#ifdef FORCE_OMP_ORIGINAL_ID
rx_tx_addr[0]=0x4E;
rx_tx_addr[1]=0x72;
rx_tx_addr[2]=0x8E;
rx_tx_addr[3]=0x70;
rx_tx_addr[4]=0x62;
for(uint8_t i=0; i<OMP_RF_NUM_CHANNELS;i++)
hopping_frequency[i]=(i+3)*5;
#endif
}
#ifdef OMP_HUB_TELEMETRY
static void __attribute__((unused)) OMP_Send_Telemetry(uint8_t v)
{
v_lipo1=v;
telemetry_counter++; //LQI
telemetry_link=1;
if(telemetry_lost)
{
telemetry_lost = 0;
packet_count = 100;
telemetry_counter = 100;
}
}
#endif
enum {
OMP_BIND = 0x00,
OMP_PREPDATA = 0x01,
OMP_DATA = 0x02,
OMP_RX = 0x03,
};
#define OMP_WRITE_TIME 850
uint16_t OMP_callback()
{
switch(phase)
{
case OMP_BIND:
if(--bind_counter==0)
phase++; // OMP_PREPDATA
OMP_send_packet();
return OMP_PACKET_PERIOD;
case OMP_PREPDATA:
BIND_DONE;
XN297L_SetTXAddr(rx_tx_addr, 5);
phase++; // OMP_DATA
case OMP_DATA:
#ifdef MULTI_SYNC
telemetry_set_input_sync(OMP_PACKET_PERIOD);
#endif
OMP_send_packet();
#ifdef OMP_HUB_TELEMETRY
if(packet_sent == 0)
{
phase++; // OMP_RX
return OMP_WRITE_TIME;
}
else if(packet_sent == 1)
{
if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
{ // a packet has been received
if(XN297_ReadEnhancedPayload(packet_in, OMP_PAYLOAD_SIZE) == OMP_PAYLOAD_SIZE)
{ // packet with good CRC and length
#ifdef OMP_TELEM_DEBUG
debug("OK :");
for(uint8_t i=0;i<OMP_PAYLOAD_SIZE;i++)
debug(" %02X",packet_in[i]);
#endif
// packet_in = 01 00 98 2C 03 19 19 F0 49 02 00 00 00 00 00 00
// all bytes are fixed and unknown except 2 and 3 which represent the battery voltage: packet_in[3]*256+packet_in[2]=lipo voltage*100 in V
uint16_t v=((packet_in[3]<<8)+packet_in[2]-400)/50;
if(v>255) v=255;
v_lipo2=v;
OMP_Send_Telemetry(v);
}
else
{ // As soon as the motor spins the telem packets are becoming really bad and the CRC throws most of them in error as it should but...
#ifdef OMP_TELEM_DEBUG
debug("NOK:");
for(uint8_t i=0;i<OMP_PAYLOAD_SIZE;i++)
debug(" %02X",packet_in[i]);
#endif
if(packet_in[0]==0x01 && packet_in[1]==0x00)
{// the start of the packet looks ok...
uint16_t v=((packet_in[3]<<8)+packet_in[2]-400)/50;
if(v<260 && v>180)
{ //voltage is less than 13V and more than 9V (3V/element)
if(v>255) v=255;
uint16_t v1=v-v_lipo2;
if(v1&0x8000) v1=-v1;
if(v1<20) // the batt voltage is within 1V from a good reading...
{
OMP_Send_Telemetry(v); // ok to send
#ifdef OMP_TELEM_DEBUG
debug(" OK");
#endif
}
}
}
else
telemetry_counter++; //LQI
}
#ifdef OMP_TELEM_DEBUG
debugln("");
#endif
}
NRF24L01_SetTxRxMode(TXRX_OFF);
packet_count++;
if(packet_count>=100)
{//LQI calculation
packet_count=0;
TX_LQI=telemetry_counter;
RX_RSSI=telemetry_counter;
if(telemetry_counter==0)
telemetry_lost = 1;
telemetry_counter = 0;
}
}
#endif
return OMP_PACKET_PERIOD;
#ifdef OMP_HUB_TELEMETRY
case OMP_RX:
NRF24L01_WriteReg(NRF24L01_07_STATUS, (1 << NRF24L01_07_RX_DR) //reset the flag(s)
| (1 << NRF24L01_07_TX_DS)
| (1 << NRF24L01_07_MAX_RT));
NRF24L01_FlushRx();
NRF24L01_WriteReg(NRF24L01_00_CONFIG, (1 << NRF24L01_00_PWR_UP) | (1 << NRF24L01_00_PRIM_RX) ); // Start RX
{
uint16_t start=(uint16_t)micros();
while ((uint16_t)((uint16_t)micros()-(uint16_t)start) < 500)
{
if(CC2500_ReadReg(CC2500_35_MARCSTATE | CC2500_READ_BURST) != 0x13)
break;
}
}
NRF_CE_on;
PE1_on;PE2_off; // NRF24L01 antenna RF3
phase = OMP_DATA;
return OMP_PACKET_PERIOD-OMP_WRITE_TIME;
#endif
}
return OMP_PACKET_PERIOD;
}
uint16_t initOMP()
{
OMP_initialize_txid();
OMP_init();
hopping_frequency_no = 0;
packet_sent = 0;
#ifdef OMP_HUB_TELEMETRY
packet_count = 0;
telemetry_lost = 1;
#endif
if(IS_BIND_IN_PROGRESS)
{
bind_counter = OMP_BIND_COUNT;
phase = OMP_BIND;
}
else
phase = OMP_PREPDATA;
return OMP_INITIAL_WAIT;
}
#endif
Reference in New Issue View Git Blame Copy Permalink