mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-07-12 17:57:53 +00:00
461 lines
12 KiB
C++
461 lines
12 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 EAchine H8 mini, H10, BayangToys X6/X7/X9, JJRC JJ850 ...
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// Last sync with hexfet new_protocols/bayang_nrf24l01.c dated 2015-12-22
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#if defined(BAYANG_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#ifdef ENABLE_BAYANG_TELEMETRY
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#define BAYANG_PACKET_PERIOD_TELEM 3200
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uint32_t bayang_telemetry_last_rx = 0;
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#endif
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#define BAYANG_BIND_COUNT 1000
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#define BAYANG_PACKET_PERIOD 2000
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#define BAYANG_INITIAL_WAIT 500
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#define BAYANG_PACKET_SIZE 15
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#define BAYANG_RF_NUM_CHANNELS 4
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#define BAYANG_RF_BIND_CHANNEL 0
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#define BAYANG_ADDRESS_LENGTH 5
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enum BAYANG_FLAGS {
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// flags going to packet[2]
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BAYANG_FLAG_RTH = 0x01,
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BAYANG_FLAG_HEADLESS = 0x02,
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#ifdef ENABLE_BAYANG_TELEMETRY
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BAYANG_FLAG_TELEMETRY = 0x04,
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#endif
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BAYANG_FLAG_FLIP = 0x08,
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BAYANG_FLAG_VIDEO = 0x10,
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BAYANG_FLAG_PICTURE = 0x20,
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// flags going to packet[3]
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BAYANG_FLAG_INVERTED = 0x80, // inverted flight on Floureon H101
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#ifdef ENABLE_BAYANG_TELEMETRY
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BAYANG_FLAG_FLIGHT_MODE0 = 0x01,
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BAYANG_FLAG_FLIGHT_MODE1 = 0x02,
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BAYANG_FLAG_DATA_SELECT0 = 0x04,
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BAYANG_FLAG_DATA_SELECT1 = 0x08,
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BAYANG_FLAG_DATA_SELECT2 = 0x10,
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BAYANG_FLAG_DATA_ADJUST0 = 0x20,
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BAYANG_FLAG_DATA_ADJUST1 = 0x40,
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#endif
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};
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static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
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{
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uint8_t i;
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if (bind)
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{
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packet[0]= 0xA4;
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for(i=0;i<5;i++)
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packet[i+1]=rx_tx_addr[i];
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for(i=0;i<4;i++)
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packet[i+6]=hopping_frequency[i];
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packet[10] = rx_tx_addr[0]; // txid[0]
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packet[11] = rx_tx_addr[1]; // txid[1]
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}
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else
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{
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int telem_enabled = 0;
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#ifdef ENABLE_BAYANG_TELEMETRY
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telem_enabled = (sub_protocol == BAYANG_TELEM);
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// telem_enabled &= Servo_AUX8; // enable telem with a switch
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#endif
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uint16_t val;
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packet[0] = 0xA5;
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packet[1] = 0xFA; // normal mode is 0xf7, expert 0xfa
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//Flags packet[2]
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packet[2] = 0x00;
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if(Servo_AUX1)
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packet[2] = BAYANG_FLAG_FLIP;
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if(Servo_AUX2)
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packet[2] |= BAYANG_FLAG_RTH;
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if(Servo_AUX3)
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packet[2] |= BAYANG_FLAG_PICTURE;
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if(Servo_AUX4)
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packet[2] |= BAYANG_FLAG_VIDEO;
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if(Servo_AUX5)
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packet[2] |= BAYANG_FLAG_HEADLESS;
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#ifdef ENABLE_BAYANG_TELEMETRY
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if (telem_enabled)
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{
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packet[2] |= BAYANG_FLAG_TELEMETRY;
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}
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#endif
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//Flags packet[3]
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packet[3] = 0x00;
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if(Servo_AUX6)
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packet[3] = BAYANG_FLAG_INVERTED;
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#ifdef ENABLE_BAYANG_TELEMETRY
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if (telem_enabled)
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{
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static uint8_t dataselect = 2;
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uint8_t dataselect_old = dataselect;
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uint16_t partitions[4] ={1200,1400,1600,1800}; // 5 options (previous data set, data 1, data 2, data 3, next data set)
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for (uint8_t i = 0; i < 4; ++i)
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{
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int16_t hysteresis = 0;
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if (dataselect_old*2 == (i*2+1) - 1)
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{
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hysteresis = 25;
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}
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else if (dataselect_old*2 == (i*2+1) + 1)
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{
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hysteresis = -25;
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}
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if (Servo_data[AUX7] <= partitions[i] + hysteresis)
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{
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dataselect = i;
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break;
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}
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else
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{
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dataselect = i+1;
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}
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}
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// data adjust 1333 1666 - aux 6
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static uint8_t dataadjust = 1;
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uint8_t dataadjust_old = dataadjust;
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partitions[0] = 1333; // three options (decreaes, do nothing, increase)
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partitions[1] = 1666;
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for (uint8_t i = 0; i < 2; ++i)
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{
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int16_t hysteresis = 0;
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if (dataadjust_old*2 == (i*2+1) - 1)
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{
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hysteresis = 25;
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}
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else if (dataadjust_old*2 == (i*2+1) + 1)
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{
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hysteresis = -25;
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}
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if (Servo_data[AUX8] <= partitions[i] + hysteresis)
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{
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dataadjust = i;
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break;
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}
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else
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{
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dataadjust = i+1;
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}
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}
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static uint8_t flightmode = 0;
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// flight mode 1250 1500 1750 - aux 1
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uint8_t flightmode_old = flightmode;
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partitions[0] = 1250; // 4 flight modes
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partitions[1] = 1500;
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partitions[2] = 1750;
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for (uint8_t i = 0; i < 3; ++i)
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{
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int16_t hysteresis = 0;
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if (flightmode_old*2 == (i*2+1) - 1)
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{
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hysteresis = 25;
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}
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else if (flightmode_old*2 == (i*2+1) + 1)
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{
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hysteresis = -25;
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}
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if (Servo_data[AUX9] <= partitions[i] + hysteresis)
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{
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flightmode = i;
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break;
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}
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else
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{
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flightmode = i+1;
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}
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}
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packet[3] |= (flightmode & 0x3);
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packet[3] |= (dataselect & 0x7) << 2;
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packet[3] |= (dataadjust & 0x3) << 5;
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}
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#endif
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//Aileron
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val = convert_channel_10b(AILERON);
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packet[4] = (val>>8) + ((val>>2) & 0xFC);
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packet[5] = val & 0xFF;
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//Elevator
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val = convert_channel_10b(ELEVATOR);
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packet[6] = (val>>8) + ((val>>2) & 0xFC);
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packet[7] = val & 0xFF;
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//Throttle
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val = convert_channel_10b(THROTTLE);
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packet[8] = (val>>8) + 0x7C;
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packet[9] = val & 0xFF;
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//Rudder
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val = convert_channel_10b(RUDDER);
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packet[10] = (val>>8) + (val>>2 & 0xFC);
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packet[11] = val & 0xFF;
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}
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packet[12] = rx_tx_addr[2]; // txid[2]
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packet[13] = 0x0A;
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packet[14] = 0;
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for (uint8_t i=0; i < BAYANG_PACKET_SIZE-1; i++)
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packet[14] += packet[i];
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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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NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? BAYANG_RF_BIND_CHANNEL:hopping_frequency[hopping_frequency_no++]);
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hopping_frequency_no%=BAYANG_RF_NUM_CHANNELS;
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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, BAYANG_PACKET_SIZE);
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NRF24L01_SetPower(); // Set tx_power
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}
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static void __attribute__((unused)) BAYANG_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 *)"\x00\x00\x00\x00\x00", BAYANG_ADDRESS_LENGTH);
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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_11_RX_PW_P0, BAYANG_PACKET_SIZE); // rx pipe 0
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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);
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
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NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
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NRF24L01_SetPower();
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}
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uint16_t BAYANG_callback()
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{
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if(IS_BIND_DONE_on)
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{
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#ifdef ENABLE_BAYANG_TELEMETRY
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if(sub_protocol == BAYANG_TELEM)
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{
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Bayang_process();
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// Return 0 here so that Bayang_process is called as often as possible
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// to check for the incomming telemetry data. When telemetry is enabled
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// the packet period is handled in the Bayang_process function.
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return 0;
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}
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else
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#endif
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{
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BAYANG_send_packet(0);
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}
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}
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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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XN297_SetTXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
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XN297_SetRXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
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BIND_DONE;
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}
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else
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{
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BAYANG_send_packet(1);
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bind_counter--;
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}
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}
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return BAYANG_PACKET_PERIOD;
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}
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static void __attribute__((unused)) BAYANG_initialize_txid()
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{
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//Could be using txid[0..2] but using rx_tx_addr everywhere instead...
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hopping_frequency[0]=0;
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hopping_frequency[1]=(rx_tx_addr[0]&0x1F)+0x10;
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hopping_frequency[2]=hopping_frequency[1]+0x20;
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hopping_frequency[3]=hopping_frequency[2]+0x20;
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hopping_frequency_no=0;
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}
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uint16_t initBAYANG(void)
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{
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BIND_IN_PROGRESS; // autobind protocol
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bind_counter = BAYANG_BIND_COUNT;
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BAYANG_initialize_txid();
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BAYANG_init();
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return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
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}
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#ifdef ENABLE_BAYANG_TELEMETRY
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extern float telemetry_voltage;
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extern uint8_t telemetry_rx_rssi;
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extern uint8_t telemetry_tx_rssi;
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extern uint8_t telemetry_datamode;
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extern float telemetry_data[3]; // pids
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extern uint8_t telemetry_dataitem;
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extern uint16_t telemetry_uptime;
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extern uint16_t telemetry_flighttime;
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extern uint8_t telemetry_flightmode;
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uint8_t telemetry_tx_rssi_count;
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uint8_t telemetry_tx_rssi_next;
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uint8_t BAYANG_recv_packet() {
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uint8_t received = 0;
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if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) {
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int sum = 0;
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uint16_t roll, pitch, yaw, throttle;
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XN297_ReadPayload(packet, BAYANG_PACKET_SIZE);
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushRx();
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if (packet[0] == 0xA9) {
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//serialDebug.print("data packet");
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for (int i = 0; i < 14; i++) {
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sum += packet[i];
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}
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if ( (sum & 0xFF) == packet[14] ) {
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typedef union {
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uint16_t v;
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uint8_t bytes[2];
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} val;
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val v;
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v.bytes[0] = packet[1];
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v.bytes[1] = packet[2];
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telemetry_voltage = v.v / 100.f;
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telemetry_rx_rssi = packet[3];
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v.bytes[0] = packet[4];
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v.bytes[1] = (packet[6] & 0x0F); // 12 bit # shared with flighttime
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telemetry_uptime = v.v;
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v.bytes[0] = packet[5];
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v.bytes[1] = (packet[6] >> 4);
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telemetry_flighttime = v.v;
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telemetry_flightmode = packet[7] & 0x3; // 0 = level, 1 = acro,
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telemetry_datamode = (packet[7] >> 2) & 0xF; // (0=acro yaw, 1=acro roll/acro pitch, 2=level roll/pitch)
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telemetry_dataitem = (packet[7] >> 6) & 0x3; // (0=acro yaw, 1=acro roll/acro pitch, 2=level roll/pitch)
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v.bytes[0] = packet[8];
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v.bytes[1] = packet[9];
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telemetry_data[0] = v.v/1000.f;
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v.bytes[0] = packet[10];
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v.bytes[1] = packet[11];
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telemetry_data[1] = v.v/1000.f;
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v.bytes[0] = packet[12];
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v.bytes[1] = packet[13];
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telemetry_data[2] = v.v/1000.f;
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}
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}
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received = 1;
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}
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return received;
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}
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typedef enum
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{
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BAYANG_STATE_IDLE,
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BAYANG_STATE_TRANSMITTING,
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BAYANG_STATE_RECEIEVING,
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} BayangState;
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BayangState Bayang_state = BAYANG_STATE_IDLE;
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uint32_t Bayang_next_send = 0;
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void Bayang_process() {
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uint32_t time_micros = micros();
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if (BAYANG_STATE_TRANSMITTING == Bayang_state) {
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if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)) {
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// send finished, switch to rx to receive telemetry
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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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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
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NRF24L01_FlushTx();
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NRF24L01_FlushRx();
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telemetry_tx_rssi_count++;
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Bayang_state = BAYANG_STATE_RECEIEVING;
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}
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}
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else if (BAYANG_STATE_RECEIEVING == Bayang_state) {
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// 250us is about the time it takes to read a packet over spi
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if (time_micros > (Bayang_next_send-250)) {
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// didnt receive telemetry in time
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Bayang_state = BAYANG_STATE_IDLE;
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// if it's been a while since receiving telemetry data,
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// stop sending the telemetry data to the transmitter
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if (millis() - bayang_telemetry_last_rx > 1000)
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telemetry_lost = 1;
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}
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else if (BAYANG_recv_packet()) {
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telemetry_tx_rssi_next++;
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// received telemetry packet
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telemetry_lost = 0;
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bayang_telemetry_last_rx = millis();
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}
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else
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{
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return;
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}
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if (100 == telemetry_tx_rssi_count)
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{
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telemetry_tx_rssi = telemetry_tx_rssi_next;
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telemetry_tx_rssi_next = 0;
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telemetry_tx_rssi_count = 0;
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}
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Bayang_state = BAYANG_STATE_IDLE;
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XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
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NRF24L01_FlushRx();
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}
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else if (time_micros > Bayang_next_send) {
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BAYANG_send_packet(0);
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Bayang_state = BAYANG_STATE_TRANSMITTING;
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Bayang_next_send = time_micros + BAYANG_PACKET_PERIOD_TELEM;
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}
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}
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#endif //ENABLE_BAYANG_TELEMETRY
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#endif
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