mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 22:58:10 +00:00
261 lines
7.0 KiB
C++
261 lines
7.0 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 WLToys V2x2, JXD JD38x, JD39x, JJRC H6C, Yizhan Tarantula X6 ...
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// Last sync with hexfet new_protocols/v202_nrf24l01.c dated 2015-03-15
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#if defined(V2X2_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define V2X2_MR101_FORCE_ID
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#define V2X2_BIND_COUNT 1000
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// Timeout for callback in uSec, 4ms=4000us for V202
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#define V2X2_PACKET_PERIOD 4000
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//
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// Time to wait for packet to be sent (no ACK, so very short)
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#define V2X2_PACKET_CHKTIME 100
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#define V2X2_PAYLOADSIZE 16
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//
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enum {
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V2X2_FLAG_CAMERA = 0x01, // also automatic Missile Launcher and Hoist in one direction
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V2X2_FLAG_VIDEO = 0x02, // also Sprayer, Bubbler, Missile Launcher(1), and Hoist in the other dir.
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V2X2_FLAG_FLIP = 0x04,
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V2X2_FLAG_UNK9 = 0x08,
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V2X2_FLAG_LIGHT = 0x10,
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V2X2_FLAG_UNK10 = 0x20,
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V2X2_FLAG_BIND = 0xC0,
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// flags going to byte 10
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V2X2_FLAG_HEADLESS = 0x02,
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V2X2_FLAG_MAG_CAL_X = 0x08,
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V2X2_FLAG_MAG_CAL_Y = 0x20,
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V2X2_FLAG_EMERGENCY = 0x80, // JXD-506
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// flags going to byte 11 (JXD-506)
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V2X2_FLAG_START_STOP = 0x40,
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V2X2_FLAG_CAMERA_UP = 0x01,
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V2X2_FLAG_CAMERA_DN = 0x02,
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};
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//
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// This is frequency hopping table for V202 protocol
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// The table is the first 4 rows of 32 frequency hopping
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// patterns, all other rows are derived from the first 4.
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// For some reason the protocol avoids channels, dividing
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// by 16 and replaces them by subtracting 3 from the channel
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// number in this case.
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// The pattern is defined by 5 least significant bits of
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// sum of 3 bytes comprising TX id
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const uint8_t PROGMEM freq_hopping[][16] = {
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{ 0x27, 0x1B, 0x39, 0x28, 0x24, 0x22, 0x2E, 0x36,
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0x19, 0x21, 0x29, 0x14, 0x1E, 0x12, 0x2D, 0x18 }, // 00
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{ 0x2E, 0x33, 0x25, 0x38, 0x19, 0x12, 0x18, 0x16,
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0x2A, 0x1C, 0x1F, 0x37, 0x2F, 0x23, 0x34, 0x10 }, // 01
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{ 0x11, 0x1A, 0x35, 0x24, 0x28, 0x18, 0x25, 0x2A,
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0x32, 0x2C, 0x14, 0x27, 0x36, 0x34, 0x1C, 0x17 }, // 02
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{ 0x22, 0x27, 0x17, 0x39, 0x34, 0x28, 0x2B, 0x1D,
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0x18, 0x2A, 0x21, 0x38, 0x10, 0x26, 0x20, 0x1F } // 03
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};
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static void __attribute__((unused)) V2X2_RF_init()
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{
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NRF24L01_Initialize();
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x3F); // Enable all data pipes
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if(sub_protocol==V2X2_MR101)
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NRF24L01_SetBitrate(NRF24L01_BR_250K);
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t *)"\x66\x88\x68\x68\x68", 5);
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x66\x88\x68\x68\x68", 5);
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}
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static void __attribute__((unused)) V2X2_set_tx_id(void)
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{
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uint8_t sum;
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sum = rx_tx_addr[1] + rx_tx_addr[2] + rx_tx_addr[3];
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// Higher 3 bits define increment to corresponding row
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uint8_t increment = (sum & 0x1e) >> 2;
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// Base row is defined by lowest 2 bits
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sum &=0x03;
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for (uint8_t i = 0; i < 16; ++i) {
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uint8_t val = pgm_read_byte_near(&freq_hopping[sum][i]) + increment;
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// Strange avoidance of channels divisible by 16
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hopping_frequency[i] = (val & 0x0f) ? val : val - 3;
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}
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#ifdef V2X2_MR101_FORCE_ID
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if(sub_protocol==V2X2_MR101)
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{
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rx_tx_addr[1]=0x83;
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rx_tx_addr[2]=0x03;
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rx_tx_addr[3]=0xAE;
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memcpy(hopping_frequency,"\x05\x12\x08\x0C\x04\x0E\x10",7);
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}
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#endif
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}
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static void __attribute__((unused)) V2X2_send_packet()
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{
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uint8_t rf_ch = hopping_frequency[hopping_frequency_no >> 1];
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hopping_frequency_no = (hopping_frequency_no + 1) & 0x1F;
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if(sub_protocol==V2X2_MR101 && hopping_frequency_no>13)
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hopping_frequency_no=0;
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch);
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uint8_t flags2=0;
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if (IS_BIND_IN_PROGRESS)
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{
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flags = V2X2_FLAG_BIND;
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packet[0] = 0;
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packet[1] = 0;
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packet[2] = 0;
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packet[3] = 0;
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packet[4] = 0;
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packet[5] = 0;
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packet[6] = 0;
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}
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else
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{
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packet[0] = convert_channel_8b(THROTTLE);
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packet[1] = convert_channel_s8b(RUDDER);
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packet[2] = convert_channel_s8b(ELEVATOR);
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packet[3] = convert_channel_s8b(AILERON);
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// Trims, middle is 0x40
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packet[4] = 0x40; // yaw
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packet[5] = 0x40; // pitch
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packet[6] = 0x40; // roll
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//Flags
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flags=0;
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// Channel 5
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if (CH5_SW) flags = V2X2_FLAG_FLIP;
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if(sub_protocol!=V2X2_MR101)
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{//V2X2 & JXD506
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// Channel 6
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if (CH6_SW) flags |= V2X2_FLAG_LIGHT;
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// Channel 7
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if (CH7_SW) flags |= V2X2_FLAG_CAMERA;
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// Channel 8
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if (CH8_SW) flags |= V2X2_FLAG_VIDEO;
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//Flags2
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// Channel 9
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if (CH9_SW)
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flags2 = V2X2_FLAG_HEADLESS;
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if(sub_protocol==JXD506)
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{
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// Channel 11
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if (CH11_SW)
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flags2 |= V2X2_FLAG_EMERGENCY;
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}
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else
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{//V2X2
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// Channel 10
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if (CH10_SW)
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flags2 |= V2X2_FLAG_MAG_CAL_X;
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// Channel 11
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if (CH11_SW)
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flags2 |= V2X2_FLAG_MAG_CAL_Y;
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}
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}
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}
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// TX id
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packet[7] = rx_tx_addr[1];
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packet[8] = rx_tx_addr[2];
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packet[9] = rx_tx_addr[3];
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// flags
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packet[10] = flags2;
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packet[11] = 0x00;
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packet[12] = 0x00;
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packet[13] = 0x00;
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if(sub_protocol==JXD506)
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{
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// Channel 10
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if (CH10_SW)
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packet[11] = V2X2_FLAG_START_STOP;
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// Channel 12
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if(CH12_SW)
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packet[11] |= V2X2_FLAG_CAMERA_UP;
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else if(Channel_data[CH12] < CHANNEL_MIN_COMMAND)
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packet[11] |= V2X2_FLAG_CAMERA_DN;
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packet[12] = 0x40;
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packet[13] = 0x40;
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}
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else if(sub_protocol==V2X2_MR101)
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{
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if (CH10_SW) packet[11] = 0x04; // Motors start/stop
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if (CH11_SW) packet[11] |= 0x40; // Auto Land=-100% Takeoff=+100%
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if (CH7_SW) flags |= 0x02; // Picture
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if (CH8_SW) flags |= 0x01; // Video
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if(IS_BIND_IN_PROGRESS)
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flags = 0x80;
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flags |= (hopping_frequency_no & 0x01)<<6;
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}
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packet[14] = flags;
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uint8_t sum = packet[0];
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for (uint8_t i = 1; i < 15; ++i)
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sum += packet[i];
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packet[15] = sum;
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NRF24L01_FlushTx();
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NRF24L01_WritePayload(packet, V2X2_PAYLOADSIZE);
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//packet_sent = 1;
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if (! hopping_frequency_no)
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NRF24L01_SetPower();
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}
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uint16_t V2X2_callback()
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{
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//if (packet_sent && NRF24L01_packet_ack() != PKT_ACKED)
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// return V2X2_PACKET_CHKTIME;
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#ifdef MULTI_SYNC
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telemetry_set_input_sync(V2X2_PACKET_PERIOD);
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#endif
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if(bind_counter)
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{
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if (--bind_counter == 0)
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{
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BIND_DONE;
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if(sub_protocol==V2X2_MR101)
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{
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#ifdef V2X2_MR101_FORCE_ID
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\xC9\x59\xD2\x65\x34", 5);
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memcpy(hopping_frequency,"\x03\x05\x15\x0D\x06\x14\x0B",7);
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#endif
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}
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hopping_frequency_no = 0;
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}
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}
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V2X2_send_packet();
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// Packet every 4ms
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return V2X2_PACKET_PERIOD;
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}
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void V2X2_init()
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{
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if(sub_protocol==V2X2_MR101)
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BIND_IN_PROGRESS;
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//packet_sent = 0;
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hopping_frequency_no = 0;
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bind_counter = V2X2_BIND_COUNT;
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V2X2_RF_init();
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V2X2_set_tx_id();
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}
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#endif
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