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DIY-Multiprotocol-TX-Module/Multiprotocol/Bayang_nrf24l01.ino
Brian b1ac10a4c4 Add Silverware's analog aux channel feature to Bayang protocol (#215) 
* Expanded Bayang protocol to have Option 2, which adds two analog auxiliary channels driven by channels 14 and 15. The expert byte is taken over, as is the extra txid byte, which is not used by Silverware.

* Change Bayang options - Bit 0 (LSB) enables telemetry and Bit 1 selects analog aux channels

* Changed Bayang protocol bind to ensure binding only when telemetry and analog aux option selections match on RX and TX

* Add details for Bayang protocol update
2019-03-03 20:47:58 +01:00

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/*
This project is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Multiprotocol is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/
// Compatible with EAchine H8 mini, H10, BayangToys X6/X7/X9, JJRC JJ850 ...
// Last sync with hexfet new_protocols/bayang_nrf24l01.c dated 2015-12-22
#if defined(BAYANG_NRF24L01_INO)
#include "iface_nrf24l01.h"
#define BAYANG_BIND_COUNT 1000
#define BAYANG_PACKET_PERIOD 1000
#define BAYANG_INITIAL_WAIT 500
#define BAYANG_PACKET_SIZE 15
#define BAYANG_RF_NUM_CHANNELS 4
#define BAYANG_RF_BIND_CHANNEL 0
#define BAYANG_RF_BIND_CHANNEL_X16_AH 10
#define BAYANG_ADDRESS_LENGTH 5
enum BAYANG_FLAGS {
// flags going to packet[2]
BAYANG_FLAG_RTH = 0x01,
BAYANG_FLAG_HEADLESS = 0x02,
BAYANG_FLAG_FLIP = 0x08,
BAYANG_FLAG_VIDEO = 0x10,
BAYANG_FLAG_PICTURE = 0x20,
// flags going to packet[3]
BAYANG_FLAG_INVERTED = 0x80, // inverted flight on Floureon H101
BAYANG_FLAG_TAKE_OFF = 0x20, // take off / landing on X16 AH
BAYANG_FLAG_EMG_STOP = 0x04|0x08, // 0x08 for VISUO XS809H-W-HD-G
};
enum BAYANG_OPTION_FLAGS {
BAYANG_OPTION_FLAG_TELEMETRY = 0x01,
BAYANG_OPTION_FLAG_ANALOGAUX = 0x02,
};
static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
{
uint8_t i;
if (bind)
{
#ifdef BAYANG_HUB_TELEMETRY
if(option & BAYANG_OPTION_FLAG_TELEMETRY)
if(option & BAYANG_OPTION_FLAG_ANALOGAUX)
packet[0]= 0xA1; // telemetry and analog aux are enabled
else
packet[0]= 0xA3; // telemetry is enabled
else if(option & BAYANG_OPTION_FLAG_ANALOGAUX)
packet[0]= 0xA2; // analog aux is enabled
else
#else
if(option & BAYANG_OPTION_FLAG_ANALOGAUX)
packet[0]= 0xA2; // analog aux is enabled
else
#endif
packet[0]= 0xA4;
for(i=0;i<5;i++)
packet[i+1]=rx_tx_addr[i];
for(i=0;i<4;i++)
packet[i+6]=hopping_frequency[i];
switch (sub_protocol)
{
case X16_AH:
packet[10] = 0x00;
packet[11] = 0x00;
break;
case IRDRONE:
packet[10] = 0x30;
packet[11] = 0x01;
break;
default:
packet[10] = rx_tx_addr[0]; // txid[0]
packet[11] = rx_tx_addr[1]; // txid[1]
break;
}
}
else
{
uint16_t val;
uint8_t dyntrim = 1;
switch (sub_protocol)
{
case X16_AH:
case IRDRONE:
packet[0] = 0xA6;
break;
default:
packet[0] = 0xA5;
break;
}
if (option & BAYANG_OPTION_FLAG_ANALOGAUX)
{
// Analog aux channel 1 (channel 14)
packet[1] = convert_channel_8b(CH14);
}
else
packet[1] = 0xFA; // normal mode is 0xf7, expert 0xfa
//Flags packet[2]
packet[2] = 0x00;
if(CH5_SW)
packet[2] = BAYANG_FLAG_FLIP;
if(CH6_SW)
packet[2] |= BAYANG_FLAG_RTH;
if(CH7_SW)
packet[2] |= BAYANG_FLAG_PICTURE;
if(CH8_SW)
packet[2] |= BAYANG_FLAG_VIDEO;
if(CH9_SW)
{
packet[2] |= BAYANG_FLAG_HEADLESS;
dyntrim = 0;
}
//Flags packet[3]
packet[3] = 0x00;
if(CH10_SW)
packet[3] = BAYANG_FLAG_INVERTED;
if(CH11_SW)
dyntrim = 0;
if(CH12_SW)
packet[3] |= BAYANG_FLAG_TAKE_OFF;
if(CH13_SW)
packet[3] |= BAYANG_FLAG_EMG_STOP;
//Aileron
val = convert_channel_10b(AILERON);
packet[4] = (val>>8) + (dyntrim ? ((val>>2) & 0xFC) : 0x7C);
packet[5] = val & 0xFF;
//Elevator
val = convert_channel_10b(ELEVATOR);
packet[6] = (val>>8) + (dyntrim ? ((val>>2) & 0xFC) : 0x7C);
packet[7] = val & 0xFF;
//Throttle
val = convert_channel_10b(THROTTLE);
packet[8] = (val>>8) + 0x7C;
packet[9] = val & 0xFF;
//Rudder
val = convert_channel_10b(RUDDER);
packet[10] = (val>>8) + (dyntrim ? ((val>>2) & 0xFC) : 0x7C);
packet[11] = val & 0xFF;
}
switch (sub_protocol)
{
case H8S3D:
packet[12] = rx_tx_addr[2]; // txid[2]
packet[13] = 0x34;
break;
case X16_AH:
packet[12] = 0;
packet[13] = 0;
break;
case IRDRONE:
packet[12] = 0xE0;
packet[13] = 0x2E;
break;
default:
packet[12] = rx_tx_addr[2]; // txid[2]
if (option & BAYANG_OPTION_FLAG_ANALOGAUX)
{
// Analog aux channel 2 (channel 15)
packet[13] = convert_channel_8b(CH15);
}
else
packet[13] = 0x0A;
break;
}
packet[14] = 0;
for (uint8_t i=0; i < BAYANG_PACKET_SIZE-1; i++)
packet[14] += packet[i];
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? rf_ch_num:hopping_frequency[hopping_frequency_no++]);
hopping_frequency_no%=BAYANG_RF_NUM_CHANNELS;
// clear packet status bits and TX FIFO
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
XN297_WritePayload(packet, BAYANG_PACKET_SIZE);
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
// Power on, TX mode, 2byte CRC
// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
#ifdef BAYANG_HUB_TELEMETRY
if (option & BAYANG_OPTION_FLAG_TELEMETRY)
{ // switch radio to rx as soon as packet is sent
while (!(NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)));
NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x03);
}
#endif
NRF24L01_SetPower(); // Set tx_power
}
#ifdef BAYANG_HUB_TELEMETRY
static void __attribute__((unused)) BAYANG_check_rx(void)
{
if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
{ // data received from model
XN297_ReadPayload(packet, BAYANG_PACKET_SIZE);
NRF24L01_WriteReg(NRF24L01_07_STATUS, 255);
NRF24L01_FlushRx();
uint8_t check = packet[0];
for (uint8_t i=1; i < BAYANG_PACKET_SIZE-1; i++)
check += packet[i];
// decode data , check sum is ok as well, since there is no crc
if (packet[0] == 0x85 && packet[14] == check)
{
// uncompensated battery volts*100/2
v_lipo1 = (packet[3]<<7) + (packet[4]>>2);
// compensated battery volts*100/2
v_lipo2 = (packet[5]<<7) + (packet[6]>>2);
// reception in packets / sec
RX_RSSI = packet[7];
//Flags
//uint8_t flags = packet[3] >> 3;
// battery low: flags & 1
telemetry_counter++;
if(telemetry_lost==0)
telemetry_link=1;
}
}
}
#endif
static void __attribute__((unused)) BAYANG_init()
{
NRF24L01_Initialize();
NRF24L01_SetTxRxMode(TX_EN);
XN297_SetTXAddr((uint8_t *)"\x00\x00\x00\x00\x00", BAYANG_ADDRESS_LENGTH);
NRF24L01_FlushTx();
NRF24L01_FlushRx();
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowldgement on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, BAYANG_PACKET_SIZE);
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // No retransmits
NRF24L01_SetPower();
NRF24L01_Activate(0x73); // Activate feature register
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01);
NRF24L01_Activate(0x73);
switch (sub_protocol)
{
case X16_AH:
case IRDRONE:
rf_ch_num = BAYANG_RF_BIND_CHANNEL_X16_AH;
break;
default:
rf_ch_num = BAYANG_RF_BIND_CHANNEL;
break;
}
}
uint16_t BAYANG_callback()
{
if(IS_BIND_DONE)
{
if(packet_count==0)
BAYANG_send_packet(0);
packet_count++;
#ifdef BAYANG_HUB_TELEMETRY
if (option & BAYANG_OPTION_FLAG_TELEMETRY)
{ // telemetry is enabled
state++;
if (state > 1000)
{
//calculate telemetry reception packet rate - packets per 1000ms
TX_RSSI = telemetry_counter;
telemetry_counter = 0;
state = 0;
telemetry_lost=0;
}
if (packet_count > 1)
BAYANG_check_rx();
packet_count %= 5;
}
else
#endif
packet_count%=2;
}
else
{
if (bind_counter == 0)
{
XN297_SetTXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
#ifdef BAYANG_HUB_TELEMETRY
XN297_SetRXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
#endif
BIND_DONE;
}
else
{
if(packet_count==0)
BAYANG_send_packet(1);
packet_count++;
packet_count%=4;
bind_counter--;
}
}
return BAYANG_PACKET_PERIOD;
}
static void __attribute__((unused)) BAYANG_initialize_txid()
{
//Could be using txid[0..2] but using rx_tx_addr everywhere instead...
hopping_frequency[0]=0;
hopping_frequency[1]=(rx_tx_addr[3]&0x1F)+0x10;
hopping_frequency[2]=hopping_frequency[1]+0x20;
hopping_frequency[3]=hopping_frequency[2]+0x20;
hopping_frequency_no=0;
}
uint16_t initBAYANG(void)
{
BIND_IN_PROGRESS; // autobind protocol
bind_counter = BAYANG_BIND_COUNT;
BAYANG_initialize_txid();
BAYANG_init();
packet_count=0;
#ifdef BAYANG_HUB_TELEMETRY
init_frskyd_link_telemetry();
telemetry_lost=1; // do not send telemetry to TX right away until we have a TX_RSSI value to prevent warning message...
#endif
return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
}
#endif
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