mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 17:58:13 +00:00
296 lines
8.5 KiB
C++
296 lines
8.5 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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// compatible with Cheerson CX-10 blue & newer red pcb, CX-10A, CX11, CX-10 green pcb, DM007, Floureon FX-10, JXD 509 (Q282)
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// Last sync with hexfet new_protocols/cx10_nrf24l01.c dated 2015-11-26
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#if defined(CX10_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define CX10_BIND_COUNT 4360 // 6 seconds
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#define CX10_PACKET_SIZE 15
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#define CX10A_PACKET_SIZE 19 // CX10 blue board packets have 19-byte payload
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#define Q2X2_PACKET_SIZE 21
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#define CX10_PACKET_PERIOD 1316 // Timeout for callback in uSec
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#define CX10A_PACKET_PERIOD 6000
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#define CX10_INITIAL_WAIT 500
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// flags
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#define CX10_FLAG_FLIP 0x10 // goes to rudder channel
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#define CX10_FLAG_MODE_MASK 0x03
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#define CX10_FLAG_HEADLESS 0x04
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// flags2
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#define CX10_FLAG_VIDEO 0x02
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#define CX10_FLAG_SNAPSHOT 0x04
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// frequency channel management
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#define CX10_RF_BIND_CHANNEL 0x02
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#define CX10_NUM_RF_CHANNELS 4
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enum {
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CX10_BIND1 = 0,
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CX10_BIND2,
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CX10_DATA
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};
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static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
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{
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uint8_t offset = 0;
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if(sub_protocol == CX10_BLUE)
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offset = 4;
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packet[0] = bind ? 0xAA : 0x55;
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packet[1] = rx_tx_addr[0];
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packet[2] = rx_tx_addr[1];
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packet[3] = rx_tx_addr[2];
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packet[4] = rx_tx_addr[3];
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// packet[5] to [8] (aircraft id) is filled during bind for blue board
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uint16_t aileron=Servo_data[AILERON];
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uint16_t elevator=3000-Servo_data[ELEVATOR];
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uint16_t rudder=3000-Servo_data[RUDDER];
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packet[9+offset]= lowByte(Servo_data[THROTTLE]);
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packet[10+offset]= highByte(Servo_data[THROTTLE]);
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// Channel 5 - flip flag
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packet[12+offset] = GET_FLAG(Servo_AUX1,CX10_FLAG_FLIP); // flip flag applied on rudder
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// Channel 6 - rate mode is 2 lsb of packet 13
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if(Servo_data[AUX2] > PPM_MAX_COMMAND) // rate 3 / headless on CX-10A
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flags = 0x02;
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else
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if(Servo_data[AUX2] < PPM_MIN_COMMAND)
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flags = 0x00; // rate 1
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else
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flags = 0x01; // rate 2
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uint8_t flags2=0; // packet 14
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uint8_t video_state=packet[14] & 0x21;
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switch(sub_protocol)
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{
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case CX10_BLUE:
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flags |= GET_FLAG(!Servo_AUX3, 0x10) // Channel 7 - picture
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|GET_FLAG( Servo_AUX4, 0x08); // Channel 8 - video
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break;
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case Q282:
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case Q242:
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case Q222:
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aileron = 3000 - aileron;
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rudder = 3000 - rudder;
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memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
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//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
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flags2 = GET_FLAG(Servo_AUX1, 0x80) // Channel 5 - FLIP
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|GET_FLAG(Servo_AUX2, 0x40) // Channel 6 - LED
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|GET_FLAG(Servo_AUX5, 0x08) // Channel 9 - HEADLESS
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|GET_FLAG(Servo_AUX7, 0x04) // Channel 11 - XCAL
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|GET_FLAG(Servo_AUX8, 0x02); // Channel 12 - YCAL or Start/Stop motors on JXD 509
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if(sub_protocol==Q282)
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{
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flags=3;
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if(Servo_AUX4) // Channel 8 - video
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{
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if (!(video_state & 0x20)) video_state ^= 0x21;
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}
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else
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if (video_state & 0x20) video_state &= 0x01;
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flags2 |= video_state
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|GET_FLAG(Servo_AUX3,0x10); // Channel 7 - picture
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}
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else if(sub_protocol==Q242)
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{
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flags=2;
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flags2|= GET_FLAG(Servo_AUX3,0x01) // Channel 7 - picture
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|GET_FLAG(Servo_AUX4,0x10); // Channel 8 - video
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packet[17]=0x00;
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packet[18]=0x00;
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}
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else
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{ // Q222
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flags=0;
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}
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if(Servo_AUX6) flags |=0x80; // Channel 10 - RTH
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break;
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case DM007:
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aileron = 3000 - aileron;
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//FLIP|MODE|PICTURE|VIDEO|HEADLESS
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flags2= GET_FLAG(Servo_AUX3,CX10_FLAG_SNAPSHOT) // Channel 7 - picture
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|GET_FLAG(Servo_AUX4,CX10_FLAG_VIDEO); // Channel 8 - video
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if(Servo_AUX5) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless
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break;
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case JC3015_2:
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aileron = 3000 - aileron;
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elevator = 3000 - elevator;
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//FLIP|MODE|LED|DFLIP
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if(Servo_AUX4) packet[12] &= ~CX10_FLAG_FLIP;
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case JC3015_1:
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//FLIP|MODE|PICTURE|VIDEO
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flags2= GET_FLAG(Servo_AUX3,_BV(3)) // Channel 7
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|GET_FLAG(Servo_AUX4,_BV(4)); // Channel 8
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break;
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case MK33041:
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elevator = 3000 - elevator;
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//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
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flags|=GET_FLAG(Servo_AUX3,_BV(7)) // Channel 7 - picture
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|GET_FLAG(Servo_AUX6,_BV(2)); // Channel 10 - rth
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flags2=GET_FLAG(Servo_AUX4,_BV(0)) // Channel 8 - video
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|GET_FLAG(Servo_AUX5,_BV(5)); // Channel 9 - headless
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break;
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}
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packet[5+offset] = lowByte(aileron);
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packet[6+offset]= highByte(aileron);
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packet[7+offset]= lowByte(elevator);
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packet[8+offset]= highByte(elevator);
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packet[11+offset]= lowByte(rudder);
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packet[12+offset]|= highByte(rudder);
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packet[13+offset]=flags;
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packet[14+offset]=flags2;
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// Power on, TX mode, 2byte CRC
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// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
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XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
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if (bind)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
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else
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{
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no++]);
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hopping_frequency_no %= CX10_NUM_RF_CHANNELS;
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}
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// clear packet status bits and TX FIFO
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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();
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}
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static void __attribute__((unused)) CX10_init()
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{
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NRF24L01_Initialize();
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NRF24L01_SetTxRxMode(TX_EN);
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XN297_SetTXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc",5);
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XN297_SetRXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc",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 Acknowledgment on all data pipes
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only
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NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, packet_length); // rx pipe 0 (used only for blue board)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
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NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_SetPower();
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}
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uint16_t CX10_callback()
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{
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switch (phase) {
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case CX10_BIND1:
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if (bind_counter == 0)
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{
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phase = CX10_DATA;
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BIND_DONE;
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}
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else
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{
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CX10_Write_Packet(1);
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bind_counter--;
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}
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break;
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case CX10_BIND2:
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if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
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{ // RX fifo data ready
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XN297_ReadPayload(packet, packet_length);
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_SetTxRxMode(TX_EN);
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if(packet[9] == 1)
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{
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BIND_DONE;
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phase = CX10_DATA;
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}
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}
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else
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{
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// switch to TX mode
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_FlushTx();
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NRF24L01_SetTxRxMode(TX_EN);
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CX10_Write_Packet(1);
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delayMicroseconds(400);
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// switch to RX mode
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_FlushRx();
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NRF24L01_SetTxRxMode(RX_EN);
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XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP) | _BV(NRF24L01_00_PRIM_RX));
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}
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break;
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case CX10_DATA:
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CX10_Write_Packet(0);
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break;
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}
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return packet_period;
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}
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static void __attribute__((unused)) CX10_initialize_txid()
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{
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rx_tx_addr[1]%= 0x30;
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if(sub_protocol&0x08) //Q2X2 protocols
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{
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uint8_t offset=0; //Q282
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if(sub_protocol==Q242)
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offset=2;
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if(sub_protocol==Q222)
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offset=3;
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for(uint8_t i=0;i<4;i++)
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hopping_frequency[i]=0x46+2*i+offset;
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}
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else
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{
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hopping_frequency[0] = 0x03 + (rx_tx_addr[0] & 0x0F);
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hopping_frequency[1] = 0x16 + (rx_tx_addr[0] >> 4);
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hopping_frequency[2] = 0x2D + (rx_tx_addr[1] & 0x0F);
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hopping_frequency[3] = 0x40 + (rx_tx_addr[1] >> 4);
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}
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}
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uint16_t initCX10(void)
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{
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if(sub_protocol==CX10_BLUE)
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{
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packet_length = CX10A_PACKET_SIZE;
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packet_period = CX10A_PACKET_PERIOD;
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phase = CX10_BIND2;
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for(uint8_t i=0; i<4; i++)
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packet[5+i] = 0xff; // clear aircraft id
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packet[9] = 0;
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}
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else
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{
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if(sub_protocol&0x08) //Q2X2 protocols
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packet_length = Q2X2_PACKET_SIZE;
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else
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packet_length = CX10_PACKET_SIZE;
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packet_period = CX10_PACKET_PERIOD;
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phase = CX10_BIND1;
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bind_counter = CX10_BIND_COUNT;
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}
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CX10_initialize_txid();
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CX10_init();
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BIND_IN_PROGRESS; // autobind protocol
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return CX10_INITIAL_WAIT+packet_period;
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}
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#endif
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