mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 21:48:12 +00:00
c02f273d57
This new feature is available: - in serial mode and when binding from the GUI. As soon as the Bind window is closed = serial bind bit was set and cleared, the current bind operation will be terminated. - if the bind was initiated from the Bind on channel feature (bind channel goes high) then as soon as the bind channel goes low the current bind operation will be terminated. Tested on ersky9x which does open a bind window, not sure about OpenTX... Some protocols (Hubsan, Assan, FY326, Shenqi...) which are waiting for model/RX to reply will stay in bind mode.
306 lines
8.7 KiB
C++
306 lines
8.7 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_INITIAL_WAIT 500
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#define MT99XX_PACKET_SIZE 9
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#define checksum_offset rf_ch_num
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#define channel_offset phase
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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 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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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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static 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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static void __attribute__((unused)) MT99XX_send_packet()
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{
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const uint8_t yz_p4_seq[] = {0xa0, 0x20, 0x60};
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static uint8_t yz_seq_num=0;
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static uint8_t ls_counter=0;
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if(sub_protocol != YZ)
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{ // MT99XX & H7 & LS
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packet[0] = convert_channel_8b_scale(THROTTLE,0xE1,0x00); // throttle
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packet[1] = convert_channel_8b_scale(RUDDER ,0x00,0xE1); // rudder
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packet[2] = convert_channel_8b_scale(AILERON ,0xE1,0x00); // aileron
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packet[3] = convert_channel_8b_scale(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( Servo_AUX1, FLAG_MT_FLIP );
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packet[7] = h7_mys_byte[hopping_frequency_no]; // next rf channel index ?
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if(sub_protocol==H7)
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packet[6]|=FLAG_MT_RATE1; // max rate on H7
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else
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if(sub_protocol==MT99)
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packet[6] |= 0x40 | FLAG_MT_RATE2
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| GET_FLAG( Servo_AUX3, FLAG_MT_SNAPSHOT )
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| GET_FLAG( Servo_AUX4, FLAG_MT_VIDEO ); // max rate on MT99xx
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else
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if(sub_protocol==FY805)
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{
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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( Servo_AUX1, FLAG_MT_FLIP )
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|GET_FLAG( Servo_AUX5, FLAG_FY805_HEADLESS ); //HEADLESS
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checksum_offset=0;
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}
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else //LS
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{
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packet[6] |= FLAG_LS_RATE // max rate
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| GET_FLAG( Servo_AUX2, FLAG_LS_INVERT ) //INVERT
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| GET_FLAG( Servo_AUX3, FLAG_LS_SNAPSHOT ) //SNAPSHOT
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| GET_FLAG( Servo_AUX4, FLAG_LS_VIDEO ) //VIDEO
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| GET_FLAG( Servo_AUX5, FLAG_LS_HEADLESS ); //HEADLESS
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packet[7] = ls_mys_byte[ls_counter++];
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if(ls_counter >= sizeof(ls_mys_byte))
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ls_counter=0;
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}
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uint8_t result=checksum_offset;
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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_8b_scale(THROTTLE,0x00,0x64); // throttle
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packet[1] = convert_channel_8b_scale(RUDDER ,0x64,0x00); // rudder
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packet[2] = convert_channel_8b_scale(ELEVATOR,0x00,0x64); // elevator
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packet[3] = convert_channel_8b_scale(AILERON ,0x64,0x00); // aileron
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if(packet_count++ >= 23)
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{
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yz_seq_num ++;
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if(yz_seq_num > 2)
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yz_seq_num = 0;
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packet_count=0;
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}
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packet[4] = yz_p4_seq[yz_seq_num];
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packet[5] = 0x02 // expert ? (0=unarmed, 1=normal)
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| GET_FLAG(Servo_AUX4, 0x10) //VIDEO
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| GET_FLAG(Servo_AUX1, 0x80) //FLIP
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| GET_FLAG(Servo_AUX5, 0x04) //HEADLESS
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| GET_FLAG(Servo_AUX3, 0x20); //SNAPSHOT
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packet[6] = GET_FLAG(Servo_AUX2, 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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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
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no] + channel_offset);
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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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hopping_frequency_no++;
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if(sub_protocol == YZ)
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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_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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NRF24L01_SetTxRxMode(TX_EN);
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NRF24L01_FlushTx();
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XN297_SetTXAddr((uint8_t *)"\xCC\xCC\xCC\xCC\xCC", 5);
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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_WriteReg(NRF24L01_03_SETUP_AW, 0x03); // 5 bytes address
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no auto retransmit
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if(sub_protocol == YZ)
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NRF24L01_SetBitrate(NRF24L01_BR_250K); // 250Kbps (nRF24L01+ only)
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else
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NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_SetPower();
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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[3] = 0xCC;
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rx_tx_addr[4] = 0xCC;
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if(sub_protocol == YZ)
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{
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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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}
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else
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if(sub_protocol == FY805)
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{
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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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}
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else
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if(sub_protocol == LS)
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rx_tx_addr[0] = 0xCC;
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else //MT99 & H7
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rx_tx_addr[2] = 0x00;
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checksum_offset = rx_tx_addr[0] + rx_tx_addr[1] + rx_tx_addr[2];
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channel_offset = (((checksum_offset & 0xf0)>>4) + (checksum_offset & 0x0f)) % 8;
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}
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uint16_t MT99XX_callback()
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{
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if(IS_BIND_DONE_on)
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MT99XX_send_packet();
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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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// set tx address for data packets
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XN297_SetTXAddr(rx_tx_addr, 5);
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BIND_DONE;
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}
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else
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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
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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); // bind packet
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hopping_frequency_no++;
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if(sub_protocol == YZ)
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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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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 initMT99XX(void)
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{
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BIND_IN_PROGRESS; // autobind protocol
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bind_counter = MT99XX_BIND_COUNT;
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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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hopping_frequency_no=0;
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MT99XX_initialize_txid();
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MT99XX_init();
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packet[0] = 0x20;
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packet_period = MT99XX_PACKET_PERIOD_MT;
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switch(sub_protocol)
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{ // MT99 & H7
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case MT99:
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case H7:
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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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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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}
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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] = checksum_offset; // checksum offset
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packet[8] = 0xAA; // fixed
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packet_count=0;
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return MT99XX_INITIAL_WAIT+MT99XX_PACKET_PERIOD_MT;
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}
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#endif
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