mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 21:48:12 +00:00
984aa3f413
- Change how PPM is handled with a resolution of 2048 and scaled to match serial input range. PPM is now fully scaled for all protocols which was not the case before. If you are using PPM, you might have to adjust the end points depending on the protocols. - Change all range conversions to use 2048 where possible - Updated all protocols with new range functions - Protocols which are taking advantage of 2048 are Assan, FrSky V/D/X, DSM, Devo, WK2x01 - Renamed AUX xto CHx for code readbility
410 lines
10 KiB
C++
410 lines
10 KiB
C++
/*
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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(Q303_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define Q303_BIND_COUNT 1500
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#define Q303_INITIAL_WAIT 500
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#define Q303_RF_BIND_CHANNEL 0x02
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#define Q303_BTN_TAKEOFF 1
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#define Q303_BTN_DESCEND 2
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#define Q303_BTN_SNAPSHOT 4
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#define Q303_BTN_VIDEO 8
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#define Q303_BTN_RTH 16
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#define Q303_BTN_VTX 32
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static uint8_t __attribute__((unused)) cx10wd_getButtons()
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{
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#define CX10WD_FLAG_LAND 0x20
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#define CX10D_FLAG_LAND 0x80
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#define CX10WD_FLAG_TAKEOFF 0x40
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static uint8_t BTN_state;
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static uint8_t command;
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// startup
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if(packet_count < 50)
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{
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BTN_state = 0;
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command = 0;
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packet_count++;
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}
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// auto land
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else if((Channel_data[CH5]<CHANNEL_MIN_COMMAND) && !(BTN_state & Q303_BTN_DESCEND))
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{
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BTN_state |= Q303_BTN_DESCEND;
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BTN_state &= ~Q303_BTN_TAKEOFF;
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switch(sub_protocol)
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{
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case CX10WD:
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command ^= CX10WD_FLAG_LAND;
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break;
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case CX10D:
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command ^= CX10D_FLAG_LAND;
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break;
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}
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}
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// auto take off
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else if(CH5_SW && !(BTN_state & Q303_BTN_TAKEOFF))
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{
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BTN_state |= Q303_BTN_TAKEOFF;
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BTN_state &= ~Q303_BTN_DESCEND;
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command ^= CX10WD_FLAG_TAKEOFF;
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}
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return command;
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}
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static uint8_t __attribute__((unused)) cx35_lastButton()
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{
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#define CX35_CMD_RATE 0x09
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#define CX35_CMD_TAKEOFF 0x0e
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#define CX35_CMD_DESCEND 0x0f
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#define CX35_CMD_SNAPSHOT 0x0b
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#define CX35_CMD_VIDEO 0x0c
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#define CX35_CMD_RTH 0x11
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#define CX35_CMD_VTX 0x10
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static uint8_t BTN_state;
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static uint8_t command;
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// simulate 2 keypress on rate button just after bind
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if(packet_count < 50)
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{
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BTN_state = 0;
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packet_count++;
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command = 0x00; // startup
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}
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else if(packet_count < 150)
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{
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packet_count++;
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command = CX35_CMD_RATE; // 1st keypress
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}
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else if(packet_count < 250)
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{
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packet_count++;
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command |= 0x20; // 2nd keypress
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}
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// descend
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else if(!(GET_FLAG(CH5_SW, 1)) && !(BTN_state & Q303_BTN_DESCEND))
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{
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BTN_state |= Q303_BTN_DESCEND;
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BTN_state &= ~Q303_BTN_TAKEOFF;
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command = CX35_CMD_DESCEND;
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}
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// take off
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else if(GET_FLAG(CH5_SW,1) && !(BTN_state & Q303_BTN_TAKEOFF))
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{
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BTN_state |= Q303_BTN_TAKEOFF;
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BTN_state &= ~Q303_BTN_DESCEND;
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command = CX35_CMD_TAKEOFF;
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}
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// RTH
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else if(GET_FLAG(CH10_SW,1) && !(BTN_state & Q303_BTN_RTH))
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{
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BTN_state |= Q303_BTN_RTH;
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if(command == CX35_CMD_RTH)
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command |= 0x20;
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else
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command = CX35_CMD_RTH;
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}
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else if(!(GET_FLAG(CH10_SW,1)) && (BTN_state & Q303_BTN_RTH))
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{
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BTN_state &= ~Q303_BTN_RTH;
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if(command == CX35_CMD_RTH)
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command |= 0x20;
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else
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command = CX35_CMD_RTH;
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}
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// video
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else if(GET_FLAG(CH8_SW,1) && !(BTN_state & Q303_BTN_VIDEO))
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{
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BTN_state |= Q303_BTN_VIDEO;
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if(command == CX35_CMD_VIDEO)
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command |= 0x20;
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else
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command = CX35_CMD_VIDEO;
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}
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else if(!(GET_FLAG(CH8_SW,1)) && (BTN_state & Q303_BTN_VIDEO))
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{
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BTN_state &= ~Q303_BTN_VIDEO;
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if(command == CX35_CMD_VIDEO)
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command |= 0x20;
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else
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command = CX35_CMD_VIDEO;
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}
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// snapshot
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else if(GET_FLAG(CH7_SW,1) && !(BTN_state & Q303_BTN_SNAPSHOT))
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{
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BTN_state |= Q303_BTN_SNAPSHOT;
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if(command == CX35_CMD_SNAPSHOT)
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command |= 0x20;
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else
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command = CX35_CMD_SNAPSHOT;
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}
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// vtx channel
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else if(GET_FLAG(CH6_SW,1) && !(BTN_state & Q303_BTN_VTX))
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{
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BTN_state |= Q303_BTN_VTX;
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if(command == CX35_CMD_VTX)
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command |= 0x20;
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else
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command = CX35_CMD_VTX;
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}
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if(!(GET_FLAG(CH7_SW,1)))
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BTN_state &= ~Q303_BTN_SNAPSHOT;
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if(!(GET_FLAG(CH6_SW,1)))
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BTN_state &= ~Q303_BTN_VTX;
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return command;
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}
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static void __attribute__((unused)) Q303_send_packet(uint8_t bind)
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{
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uint16_t aileron, elevator, throttle, rudder, slider;
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if(bind)
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{
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packet[0] = 0xaa;
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memcpy(&packet[1], rx_tx_addr + 1, 4);
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memset(&packet[5], 0, packet_length-5);
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}
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else
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{
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packet[0] = 0x55;
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// sticks
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switch(sub_protocol)
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{
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case Q303:
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case CX35:
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aileron = convert_channel_16b_limit(AILERON, 0, 1000);
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elevator = convert_channel_16b_limit(ELEVATOR, 1000, 0);
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throttle = convert_channel_16b_limit(THROTTLE, 0, 1000);
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rudder = convert_channel_16b_limit(RUDDER, 1000, 0);
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if(sub_protocol == CX35)
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aileron = 1000 - aileron;
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packet[1] = aileron >> 2; // 8 bits
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packet[2] = (aileron & 0x03) << 6 // 2 bits
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| (elevator >> 4); // 6 bits
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packet[3] = (elevator & 0x0f) << 4 // 4 bits
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| (throttle >> 6); // 4 bits
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packet[4] = (throttle & 0x3f) << 2 // 6 bits
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| (rudder >> 8); // 2 bits
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packet[5] = rudder & 0xff; // 8 bits
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break;
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case CX10D:
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case CX10WD:
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aileron = convert_channel_16b_limit(AILERON, 2000, 1000);
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elevator = convert_channel_16b_limit(ELEVATOR, 2000, 1000);
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throttle = convert_channel_16b_limit(THROTTLE, 1000, 2000);
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rudder = convert_channel_16b_limit(RUDDER, 1000, 2000);
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packet[1] = aileron & 0xff;
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packet[2] = aileron >> 8;
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packet[3] = elevator & 0xff;
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packet[4] = elevator >> 8;
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packet[5] = throttle & 0xff;
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packet[6] = throttle >> 8;
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packet[7] = rudder & 0xff;
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packet[8] = rudder >> 8;
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break;
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}
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// buttons
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switch(sub_protocol)
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{
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case Q303:
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packet[6] = 0x10; // trim(s) ?
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packet[7] = 0x10; // trim(s) ?
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packet[8] = 0x03 // high rate (0-3)
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| GET_FLAG(CH5_SW, 0x40)
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| GET_FLAG(CH10_SW, 0x80);
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packet[9] = 0x40 // always set
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| GET_FLAG(CH9_SW,0x08)
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| GET_FLAG(CH6_SW, 0x80)
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| GET_FLAG(CH7_SW,0x10)
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| GET_FLAG(CH8_SW, 0x01);
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if(Channel_data[CH11] < CHANNEL_MIN_COMMAND)
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packet[9] |= 0x04; // gimbal down
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else if(CH11_SW)
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packet[9] |= 0x20; // gimbal up
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break;
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case CX35:
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slider = convert_channel_16b_limit(CH11, 731, 342);
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packet[6] = slider >> 2;
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packet[7] = ((slider & 3) << 6)
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| 0x3e; // ?? 6 bit left (always 111110 ?)
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packet[8] = 0x80; // always set
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packet[9] = cx35_lastButton();
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break;
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case CX10D:
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packet[8] |= GET_FLAG(CH6_SW, 0x10);
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packet[9] = 0x02; // rate (0-2)
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packet[10]= cx10wd_getButtons(); // auto land / take off management
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break;
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case CX10WD:
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packet[8] |= GET_FLAG(CH6_SW, 0x10);
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packet[9] = 0x02 // rate (0-2)
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| cx10wd_getButtons(); // auto land / take off management
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packet[10] = 0x00;
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break;
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}
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}
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// Power on, TX mode, CRC enabled
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XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? Q303_RF_BIND_CHANNEL : hopping_frequency[hopping_frequency_no++]);
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hopping_frequency_no %= rf_ch_num;
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx();
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XN297_WritePayload(packet, packet_length);
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NRF24L01_SetPower(); // Set tx_power
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}
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static void __attribute__((unused)) Q303_init()
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{
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const uint8_t bind_address[] = {0xcc,0xcc,0xcc,0xcc,0xcc};
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NRF24L01_Initialize();
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NRF24L01_SetTxRxMode(TX_EN);
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switch(sub_protocol)
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{
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case CX35:
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case CX10D:
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case CX10WD:
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XN297_SetScrambledMode(XN297_SCRAMBLED);
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NRF24L01_SetBitrate(NRF24L01_BR_1M);
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break;
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case Q303:
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XN297_SetScrambledMode(XN297_UNSCRAMBLED);
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NRF24L01_SetBitrate(NRF24L01_BR_250K);
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break;
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}
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XN297_SetTXAddr(bind_address, 5);
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NRF24L01_FlushTx();
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NRF24L01_FlushRx();
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
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NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowldgement on all data pipes
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);
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NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
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NRF24L01_SetPower();
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NRF24L01_Activate(0x73); // Activate feature register
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NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
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NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01); // Set feature bits on
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NRF24L01_Activate(0x73);
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}
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static void __attribute__((unused)) Q303_initialize_txid()
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{
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uint8_t i,offset;
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rx_tx_addr[0] = 0x55;
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switch(sub_protocol)
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{
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case Q303:
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case CX10WD:
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offset = rx_tx_addr[1] & 3;
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for(i=0; i<4; i++)
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hopping_frequency[i] = 0x46 + i*2 + offset;
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break;
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case CX35:
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case CX10D:
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// not thoroughly figured out rx_tx_addr/channels mapping yet
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// for now 5 msb of rx_tx_addr[1] must be cleared
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rx_tx_addr[1] &= 7;
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offset = 6+(rx_tx_addr[1]*3);
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hopping_frequency[0] = 0x14; // works only if rx_tx_addr[1] < 8
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for(i=1; i<16; i++)
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{
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hopping_frequency[i] = hopping_frequency[i-1] + offset;
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if(hopping_frequency[i] > 0x41)
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hopping_frequency[i] -= 0x33;
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if(hopping_frequency[i] < 0x14)
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hopping_frequency[i] += offset;
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}
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// CX35 tx uses only 4 of those channels (#0,3,6,9)
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if(sub_protocol == CX35)
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for(i=0; i<4; i++)
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hopping_frequency[i] = hopping_frequency[i*3];
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break;
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}
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}
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uint16_t Q303_callback()
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{
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if(IS_BIND_DONE)
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Q303_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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XN297_SetTXAddr(rx_tx_addr, 5);
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packet_count = 0;
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BIND_DONE;
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}
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else
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{
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Q303_send_packet(1);
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bind_counter--;
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}
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}
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return packet_period;
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}
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uint16_t initQ303()
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{
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Q303_initialize_txid();
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Q303_init();
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bind_counter = Q303_BIND_COUNT;
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switch(sub_protocol)
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{
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case Q303:
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packet_period = 1500;
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packet_length = 10;
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rf_ch_num = 4;
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break;
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case CX35:
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packet_period = 3000;
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packet_length = 10;
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rf_ch_num = 4;
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break;
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case CX10D:
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packet_period = 3000;
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packet_length = 11;
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rf_ch_num = 16;
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break;
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case CX10WD:
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packet_period = 3000;
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packet_length = 11;
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rf_ch_num = 4;
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break;
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}
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hopping_frequency_no = 0;
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BIND_IN_PROGRESS; // autobind protocol
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return Q303_INITIAL_WAIT;
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}
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#endif
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