mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 21:58:10 +00:00
358 lines
9.9 KiB
C++
358 lines
9.9 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 MT99xx, Eachine H7, Yi Zhan i6S and LS114/124
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// Last sync with Goebish mt99xx_nrf24l01.c dated 2016-01-29
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#if defined(MT99XX_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define MT99XX_BIND_COUNT 928
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#define MT99XX_PACKET_PERIOD_FY805 2460
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#define MT99XX_PACKET_PERIOD_MT 2625
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#define MT99XX_PACKET_PERIOD_YZ 3125
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#define MT99XX_PACKET_PERIOD_A180 3400 // timing changes between the packets 2 x 27220 then 1x 26080, it seems that it is only on the first RF channel which jitters by 1.14ms but hard to pinpoint with XN297dump
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#define MT99XX_PACKET_PERIOD_DRAGON 1038 // there is a pause of 2x1038 between the packets 3 and 4 from what XN297dump detects which I think are used for telemetry
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#define MT99XX_INITIAL_WAIT 500
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#define MT99XX_PACKET_SIZE 9
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//#define FORCE_A180_ID
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//#define FORCE_DRAGON_ID
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enum{
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// flags going to packet[6] (MT99xx, H7)
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FLAG_MT_RATE1 = 0x01, // (H7 & A180 high rate)
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FLAG_MT_RATE2 = 0x02, // (MT9916 only)
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FLAG_MT_VIDEO = 0x10,
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FLAG_MT_SNAPSHOT= 0x20,
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FLAG_MT_FLIP = 0x80,
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};
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enum{
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// flags going to packet[6] (LS)
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FLAG_LS_INVERT = 0x01,
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FLAG_LS_RATE = 0x02,
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FLAG_LS_HEADLESS= 0x10,
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FLAG_LS_SNAPSHOT= 0x20,
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FLAG_LS_VIDEO = 0x40,
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FLAG_LS_FLIP = 0x80,
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};
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enum{
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// flags going to packet[7] (FY805)
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FLAG_FY805_HEADLESS= 0x10,
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};
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enum{
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// flags going to packet[6] (A180)
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FLAG_A180_3D6G = 0x01,
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FLAG_A180_RATE = 0x02,
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};
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enum{
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// flags going to packet[6] (DRAGON)
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FLAG_DRAGON_RATE = 0x01,
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FLAG_DRAGON_RTH = 0x80,
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FLAG_DRAGON_UNK = 0x04,
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};
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enum {
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MT99XX_INIT = 0,
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MT99XX_BIND,
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MT99XX_DATA
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};
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const uint8_t h7_mys_byte[] = {
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0x01, 0x11, 0x02, 0x12, 0x03, 0x13, 0x04, 0x14,
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0x05, 0x15, 0x06, 0x16, 0x07, 0x17, 0x00, 0x10
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};
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const uint8_t ls_mys_byte[] = {
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0x05, 0x15, 0x25, 0x06, 0x16, 0x26,
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0x07, 0x17, 0x27, 0x00, 0x10, 0x20,
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0x01, 0x11, 0x21, 0x02, 0x12, 0x22,
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0x03, 0x13, 0x23, 0x04, 0x14, 0x24
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};
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const uint8_t yz_p4_seq[] = {0xa0, 0x20, 0x60};
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static void __attribute__((unused)) MT99XX_send_packet()
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{
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static uint8_t seq_num=0;
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if(IS_BIND_IN_PROGRESS)
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{
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//Bind packet
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packet[0] = 0x20;
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switch(sub_protocol)
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{
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case YZ:
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packet_period = MT99XX_PACKET_PERIOD_YZ;
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packet[1] = 0x15;
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packet[2] = 0x05;
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packet[3] = 0x06;
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break;
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case LS:
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packet[1] = 0x14;
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packet[2] = 0x05;
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packet[3] = 0x11;
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break;
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case FY805:
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packet_period = MT99XX_PACKET_PERIOD_FY805;
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packet[1] = 0x15;
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packet[2] = 0x12;
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packet[3] = 0x17;
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break;
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case A180:
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packet_period = MT99XX_PACKET_PERIOD_A180;
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default: // MT99 & H7 & A180 & DRAGON
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packet[1] = 0x14;
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packet[2] = 0x03;
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packet[3] = 0x25;
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break;
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}
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packet[4] = rx_tx_addr[0];
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packet[5] = rx_tx_addr[1];
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packet[6] = rx_tx_addr[2];
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packet[7] = crc8; // checksum offset
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packet[8] = 0xAA; // fixed
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}
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else
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{
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if(sub_protocol != YZ)
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{ // MT99XX & H7 & LS & FY805 & A180 & DRAGON
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packet[0] = convert_channel_16b_limit(THROTTLE,0xE1,0x00); // throttle
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packet[1] = convert_channel_16b_limit(RUDDER ,0x00,0xE1); // rudder
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packet[2] = convert_channel_16b_limit(AILERON ,0xE1,0x00); // aileron
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packet[3] = convert_channel_16b_limit(ELEVATOR,0x00,0xE1); // elevator
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packet[4] = 0x20; // pitch trim (0x3f-0x20-0x00)
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packet[5] = 0x20; // roll trim (0x00-0x20-0x3f)
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packet[6] = GET_FLAG( CH5_SW, FLAG_MT_FLIP );
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packet[7] = h7_mys_byte[hopping_frequency_no]; // next rf channel index ?
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switch(sub_protocol)
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{
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case MT99:
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packet[6] |= 0x40 | FLAG_MT_RATE2 // max rate on MT99xx
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| GET_FLAG( CH7_SW, FLAG_MT_SNAPSHOT )
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| GET_FLAG( CH8_SW, FLAG_MT_VIDEO );
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break;
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case H7:
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packet[6] |= FLAG_MT_RATE1; // max rate on H7
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break;
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case LS:
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packet[6] |= FLAG_LS_RATE // max rate
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| GET_FLAG( CH6_SW, FLAG_LS_INVERT ) // invert
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| GET_FLAG( CH7_SW, FLAG_LS_SNAPSHOT ) // snapshot
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| GET_FLAG( CH8_SW, FLAG_LS_VIDEO ) // video
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| GET_FLAG( CH9_SW, FLAG_LS_HEADLESS ); // Headless
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packet[7] = ls_mys_byte[seq_num++];
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if(seq_num >= sizeof(ls_mys_byte))
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seq_num=0;
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break;
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case FY805:
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packet[6]=0x20;
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//Rate 0x01?
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//Flip ?
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packet[7]=0x01
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|GET_FLAG( CH5_SW, FLAG_MT_FLIP )
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|GET_FLAG( CH9_SW, FLAG_FY805_HEADLESS ); //HEADLESS
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crc8=0;
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break;
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case A180:
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packet[6] = FLAG_A180_RATE
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| GET_FLAG( CH5_SW, FLAG_A180_3D6G );
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packet[7] = 0x00;
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break;
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case DRAGON:
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if(CH5_SW) // Advanced mode
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packet[5] |= 0x80;
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else
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if(Channel_data[CH5] > CHANNEL_MIN_COMMAND) // Beginner mode
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packet[5] |= 0x40;
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packet[6] = FLAG_DRAGON_RATE
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| GET_FLAG( CH6_SW, FLAG_DRAGON_RTH );
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//packet[6] |= 0x04; // On the 1st rf channel, 1x4, 11x0, 2x4, 11x0, 2x4, 10x0, 2x4, 11x0, 2x4, 11x0, 2x4, 10x0, 2x4, 11x0, 2x4, 11x0 and restart... Not sure what's on the other channels
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packet[7] = 0x20; // On the 1st rf channel, seq: 20 80 20 60 20 80 20 60... Not sure what's on the other channels
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break;
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}
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uint8_t result=crc8;
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for(uint8_t i=0; i<8; i++)
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result += packet[i];
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packet[8] = result;
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}
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else
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{ // YZ
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packet[0] = convert_channel_16b_limit(THROTTLE,0x00,0x64); // throttle
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packet[1] = convert_channel_16b_limit(RUDDER ,0x64,0x00); // rudder
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packet[2] = convert_channel_16b_limit(ELEVATOR,0x00,0x64); // elevator
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packet[3] = convert_channel_16b_limit(AILERON ,0x64,0x00); // aileron
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if(packet_count++ >= 23)
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{
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seq_num ++;
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if(seq_num > 2)
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seq_num = 0;
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packet_count=0;
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}
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packet[4] = yz_p4_seq[seq_num];
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packet[5] = 0x02 // expert ? (0=unarmed, 1=normal)
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| GET_FLAG(CH8_SW, 0x10) //VIDEO
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| GET_FLAG(CH5_SW, 0x80) //FLIP
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| GET_FLAG(CH9_SW, 0x04) //HEADLESS
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| GET_FLAG(CH7_SW, 0x20); //SNAPSHOT
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packet[6] = GET_FLAG(CH6_SW, 0x80); //LED
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packet[7] = packet[0];
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for(uint8_t idx = 1; idx < MT99XX_PACKET_SIZE-2; idx++)
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packet[7] += packet[idx];
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packet[8] = 0xff;
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}
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}
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if(sub_protocol == LS)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 0x2D); // LS always transmits on the same channel
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else
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if(sub_protocol==FY805)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 0x4B); // FY805 always transmits on the same channel
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else // MT99 & H7 & YZ & A180 & DRAGON
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx();
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XN297_WritePayload(packet, MT99XX_PACKET_SIZE);
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if(sub_protocol == DRAGON)
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{
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if(hopping_frequency_no == 6)
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packet_period = 3 * MT99XX_PACKET_PERIOD_DRAGON; // hole probably for the telemetry
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else
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packet_period = MT99XX_PACKET_PERIOD_DRAGON;
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}
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hopping_frequency_no++;
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if(sub_protocol == YZ || sub_protocol == A180 || sub_protocol == DRAGON )
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hopping_frequency_no++; // skip every other channel
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if(hopping_frequency_no > 15)
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hopping_frequency_no = 0;
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NRF24L01_SetPower();
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}
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static void __attribute__((unused)) MT99XX_RF_init()
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{
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NRF24L01_Initialize();
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if(sub_protocol == YZ)
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XN297_SetScrambledMode(XN297_UNSCRAMBLED);
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XN297_SetTXAddr((uint8_t *)"\xCC\xCC\xCC\xCC\xCC", 5);
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if(sub_protocol == YZ)
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NRF24L01_SetBitrate(NRF24L01_BR_250K); // 250Kbps (nRF24L01+ only)
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XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP) );
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}
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static void __attribute__((unused)) MT99XX_initialize_txid()
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{
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rx_tx_addr[1] = rx_tx_addr[3]; // RX_Num
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switch(protocol)
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{
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case YZ:
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rx_tx_addr[0] = 0x53; // test (SB id)
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rx_tx_addr[1] = 0x00;
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rx_tx_addr[2] = 0x00;
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break;
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case FY805:
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rx_tx_addr[0] = 0x81; // test (SB id)
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rx_tx_addr[1] = 0x0F;
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rx_tx_addr[2] = 0x00;
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break;
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case LS:
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rx_tx_addr[0] = 0xCC;
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break;
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#ifdef FORCE_A180_ID
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case A180:
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rx_tx_addr[0] = 0x84; // MikeHRC ID
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rx_tx_addr[1] = 0x62;
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rx_tx_addr[2] = 0x4A;
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//crc8 = 0x30
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//channel_offset = 0x03;
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break;
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#endif
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#ifdef FORCE_DRAGON_ID
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case DRAGON:
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rx_tx_addr[0] = 0x6C; // Laurie ID
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rx_tx_addr[1] = 0x00;
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rx_tx_addr[2] = 0x22;
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//crc8 = 0x
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//channel_offset = 0x
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break;
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#endif
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default: //MT99 & H7 & A180 & DRAGON
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rx_tx_addr[2] = 0x00;
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break;
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}
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rx_tx_addr[3] = 0xCC;
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rx_tx_addr[4] = 0xCC;
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crc8 = rx_tx_addr[0] + rx_tx_addr[1] + rx_tx_addr[2];
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//memcpy(hopping_frequency,"\x02\x48\x0C\x3e\x16\x34\x20\x2A\x2A\x20\x34\x16\x3e\x0c\x48\x02",16);
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for(uint8_t i=0; i<8; i++)
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{
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hopping_frequency[(i<<1) ]=0x02 + (10*i);
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hopping_frequency[(i<<1)+1]=0x48 - (10*i);
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}
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hopping_frequency_no=0;
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}
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uint16_t MT99XX_callback()
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{
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#ifdef MULTI_SYNC
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telemetry_set_input_sync(packet_period);
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#endif
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if(bind_counter)
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{
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bind_counter--;
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if (bind_counter == 0)
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{
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// set tx address for data packets
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XN297_SetTXAddr(rx_tx_addr, 5);
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uint8_t channel_offset = (((crc8 & 0xf0)>>4) + (crc8 & 0x0f)) % 8;
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for(uint8_t i=0;i<16;i++)
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hopping_frequency[i] += channel_offset;
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BIND_DONE;
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}
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}
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MT99XX_send_packet();
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return packet_period;
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}
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void MT99XX_init(void)
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{
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if(sub_protocol != A180 && sub_protocol != DRAGON)
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BIND_IN_PROGRESS; // autobind protocol
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bind_counter = MT99XX_BIND_COUNT;
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MT99XX_initialize_txid();
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MT99XX_RF_init();
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packet_period = MT99XX_PACKET_PERIOD_MT;
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packet_count=0;
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}
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#endif
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