mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 20:58:10 +00:00
295 lines
8.3 KiB
C++
295 lines
8.3 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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// Merged CG023 and H8_3D protocols
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// compatible with EAchine 3D X4, CG023/CG031, Attop YD-822/YD-829/YD-829C and H8_3D/JJRC H20
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#if defined(CG023_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define CG023_PACKET_PERIOD 8200 // Timeout for callback in uSec
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#define CG023_INITIAL_WAIT 500
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#define CG023_PACKET_SIZE 15 // packets have 15-byte payload
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#define CG023_RF_BIND_CHANNEL 0x2D
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#define CG023_BIND_COUNT 1000 // 8 seconds
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#define YD829_PACKET_PERIOD 4100 // Timeout for callback in uSec
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#define H8_3D_PACKET_PERIOD 1800 // Timeout for callback in uSec
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#define H8_3D_PACKET_SIZE 20
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#define H8_3D_RF_NUM_CHANNELS 4
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enum CG023_FLAGS {
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// flags going to packet[13]
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CG023_FLAG_FLIP = 0x01,
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CG023_FLAG_EASY = 0x02,
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CG023_FLAG_VIDEO = 0x04,
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CG023_FLAG_STILL = 0x08,
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CG023_FLAG_LED_OFF = 0x10,
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CG023_FLAG_RATE_LOW = 0x00,
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CG023_FLAG_RATE_MID = 0x20,
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CG023_FLAG_RATE_HIGH= 0x40,
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};
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enum YD829_FLAGS {
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// flags going to packet[13] (YD-829)
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YD829_FLAG_FLIP = 0x01,
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YD829_MASK_RATE = 0x0C,
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YD829_FLAG_RATE_MID = 0x04,
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YD829_FLAG_RATE_HIGH= 0x08,
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YD829_FLAG_HEADLESS = 0x20,
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YD829_FLAG_VIDEO = 0x40,
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YD829_FLAG_STILL = 0x80,
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};
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enum H8_3D_FLAGS {
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// flags going to packet[17]
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H8_3D_FLAG_FLIP = 0x01,
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H8_3D_FLAG_RATE_MID = 0x02,
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H8_3D_FLAG_RATE_HIGH = 0x04,
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H8_3D_FLAG_HEADLESS = 0x10, // RTH + headless on H8, headless on JJRC H20
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H8_3D_FLAG_RTH = 0x40, // 360 flip mode on H8 3D, RTH on JJRC H20
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};
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enum H8_3D_FLAGS_2 {
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// flags going to packet[18]
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H8_3D_FLAG_CALIBRATE = 0x20, // accelerometer calibration
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};
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enum CG023_PHASES {
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CG023_BIND = 0,
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CG023_DATA
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};
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void CG023_send_packet(uint8_t bind)
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{
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// throttle : 0x00 - 0xFF
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throttle=convert_channel_8b(THROTTLE);
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// rudder
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rudder = convert_channel_8b_scale(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right)
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if (rudder<=0x80)
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rudder=0x80-rudder; // yaw left : 0x00 (neutral) - 0x3C (left)
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// elevator : 0xBB - 0x7F - 0x43
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elevator = convert_channel_8b_scale(ELEVATOR, 0x43, 0xBB);
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// aileron : 0x43 - 0x7F - 0xBB
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aileron = convert_channel_8b_scale(AILERON, 0x43, 0xBB);
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packet[1] = rx_tx_addr[0];
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packet[2] = rx_tx_addr[1];
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if(sub_protocol==H8_3D)
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{
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packet[0] = 0x13;
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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[8] = (rx_tx_addr[0]+rx_tx_addr[1]+rx_tx_addr[2]+rx_tx_addr[3]) & 0xff; // txid checksum
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memset(&packet[9], 0, 10);
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if (bind)
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{
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packet[5] = 0x00;
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packet[6] = 0x00;
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packet[7] = 0x01;
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}
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else
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{
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packet[5] = hopping_frequency_no;
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packet[6] = 0x08;
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packet[7] = 0x03;
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packet[9] = throttle;
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packet[10] = rudder;
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packet[11] = elevator;
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packet[12] = aileron;
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// neutral trims
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packet[13] = 0x20;
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packet[14] = 0x20;
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packet[15] = 0x20;
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packet[16] = 0x20;
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packet[17] = H8_3D_FLAG_RATE_HIGH;
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if(Servo_data[AUX1] > PPM_SWITCH)
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packet[17] |= H8_3D_FLAG_FLIP;
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if(Servo_data[AUX2] > PPM_SWITCH)
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packet[17] |= H8_3D_FLAG_HEADLESS;
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if(Servo_data[AUX3] > PPM_SWITCH)
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packet[17] |= H8_3D_FLAG_RTH; // 180/360 flip mode on H8 3D
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// both sticks bottom left: calibrate acc
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if(packet[9] <= 0x05 && packet[10] >= 0xa7 && packet[11] <= 0x57 && packet[12] >= 0xa7)
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packet[18] = H8_3D_FLAG_CALIBRATE;
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}
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uint8_t sum = packet[9];
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for (uint8_t i=10; i < H8_3D_PACKET_SIZE-1; i++)
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sum += packet[i];
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packet[19] = sum; // data checksum
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}
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else
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{ // CG023 and YD829
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if (bind)
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packet[0]= 0xaa;
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else
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packet[0]= 0x55;
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// transmitter id
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// unknown
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packet[3] = 0x00;
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packet[4] = 0x00;
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packet[5] = throttle;
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packet[6] = rudder;
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packet[7] = elevator;
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packet[8] = aileron;
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// throttle trim : 0x30 - 0x20 - 0x10
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packet[9] = 0x20; // neutral
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// neutral trims
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packet[10] = 0x20;
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packet[11] = 0x40;
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packet[12] = 0x40;
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if(sub_protocol==CG023)
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{
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// rate
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packet[13] = CG023_FLAG_RATE_HIGH;
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// flags
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if(Servo_data[AUX1] > PPM_SWITCH)
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packet[13] |= CG023_FLAG_FLIP;
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if(Servo_data[AUX2] > PPM_SWITCH)
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packet[13] |= CG023_FLAG_LED_OFF;
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if(Servo_data[AUX3] > PPM_SWITCH)
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packet[13] |= CG023_FLAG_STILL;
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if(Servo_data[AUX4] > PPM_SWITCH)
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packet[13] |= CG023_FLAG_VIDEO;
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if(Servo_data[AUX5] > PPM_SWITCH)
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packet[13] |= CG023_FLAG_EASY;
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}
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else
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{// YD829
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// rate
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packet[13] = YD829_FLAG_RATE_HIGH;
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// flags
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if(Servo_data[AUX1] > PPM_SWITCH)
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packet[13] |= YD829_FLAG_FLIP;
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if(Servo_data[AUX3] > PPM_SWITCH)
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packet[13] |= YD829_FLAG_STILL;
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if(Servo_data[AUX4] > PPM_SWITCH)
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packet[13] |= YD829_FLAG_VIDEO;
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if(Servo_data[AUX5] > PPM_SWITCH)
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packet[13] |= YD829_FLAG_HEADLESS;
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}
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packet[14] = 0;
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}
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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, sub_protocol==H8_3D?hopping_frequency[0]:CG023_RF_BIND_CHANNEL);
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else
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{
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if(sub_protocol==H8_3D)
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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 %= H8_3D_RF_NUM_CHANNELS;
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}
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else // CG023 and YD829
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency_no);
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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, sub_protocol==H8_3D ? H8_3D_PACKET_SIZE:CG023_PACKET_SIZE);
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NRF24L01_SetPower(); // Set tx_power
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}
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void CG023_init()
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{
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NRF24L01_Initialize();
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NRF24L01_SetTxRxMode(TX_EN);
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if(sub_protocol==H8_3D)
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XN297_SetTXAddr((uint8_t *)"\xC4\x57\x09\x65\x21", 5);
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else // CG023 and YD829
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XN297_SetTXAddr((uint8_t *)"\x26\xA8\x67\x35\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 Acknowldgement 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_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_SetPower();
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}
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uint16_t CG023_callback()
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{
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switch (phase)
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{
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case CG023_BIND:
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if (bind_counter == 0)
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{
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phase = CG023_DATA;
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BIND_DONE;
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}
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else
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{
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CG023_send_packet(1);
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bind_counter--;
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}
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break;
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case CG023_DATA:
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CG023_send_packet(0);
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break;
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}
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if(sub_protocol==CG023)
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return CG023_PACKET_PERIOD;
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else
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if(sub_protocol==YD829)
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return YD829_PACKET_PERIOD;
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return H8_3D_PACKET_PERIOD;
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}
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void CG023_initialize_txid()
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{
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if(sub_protocol==H8_3D)
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{
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rx_tx_addr[0] = 0xa0 + (rx_tx_addr[0] % 0x10);
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rx_tx_addr[1] = 0xb0 + (rx_tx_addr[1] % 0x20);
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rx_tx_addr[2] = rx_tx_addr[2] % 0x20;
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rx_tx_addr[3] = rx_tx_addr[3] % 0x11;
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hopping_frequency[0] = 0x06 + (((rx_tx_addr[0]>>8) + (rx_tx_addr[0]&0x0f)) % 0x0f);
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hopping_frequency[1] = 0x15 + (((rx_tx_addr[1]>>8) + (rx_tx_addr[1]&0x0f)) % 0x0f);
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hopping_frequency[2] = 0x24 + (((rx_tx_addr[2]>>8) + (rx_tx_addr[2]&0x0f)) % 0x0f);
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hopping_frequency[3] = 0x33 + (((rx_tx_addr[3]>>8) + (rx_tx_addr[3]&0x0f)) % 0x0f);
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}
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else
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{ // CG023 and YD829
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rx_tx_addr[0]= 0x80 | (rx_tx_addr[0] % 0x40);
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if( rx_tx_addr[0] == 0xAA) // avoid using same freq for bind and data channel
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rx_tx_addr[0] ++;
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hopping_frequency_no = rx_tx_addr[0] - 0x7D; // rf channel for data packets
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}
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}
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uint16_t initCG023(void)
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{
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BIND_IN_PROGRESS; // autobind protocol
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bind_counter = CG023_BIND_COUNT;
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CG023_initialize_txid();
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CG023_init();
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phase=CG023_BIND;
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if(sub_protocol==CG023)
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return CG023_INITIAL_WAIT+CG023_PACKET_PERIOD;
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else
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if(sub_protocol==YD829)
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return CG023_INITIAL_WAIT+YD829_PACKET_PERIOD;
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return CG023_INITIAL_WAIT+H8_3D_PACKET_PERIOD;
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}
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#endif
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