mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 22:48:12 +00:00
296 lines
9.0 KiB
C++
296 lines
9.0 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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// Last sync with deviation main github branch
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#if defined(SLT_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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//#define SLT_Q200_FORCE_ID
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// For code readability
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#define SLT_PAYLOADSIZE_V1 7
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#define SLT_PAYLOADSIZE_V2 11
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#define SLT_NFREQCHANNELS 15
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#define SLT_TXID_SIZE 4
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enum{
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// flags going to packet[6] (Q200)
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FLAG_Q200_FMODE = 0x20,
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FLAG_Q200_VIDON = 0x10,
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FLAG_Q200_FLIP = 0x08,
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FLAG_Q200_VIDOFF= 0x04,
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};
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enum{
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// flags going to packet[6] (MR100 & Q100)
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FLAG_MR100_FMODE = 0x20,
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FLAG_MR100_FLIP = 0x04,
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FLAG_MR100_VIDEO = 0x02,
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FLAG_MR100_PICTURE = 0x01,
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};
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enum {
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SLT_BUILD=0,
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SLT_DATA1,
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SLT_DATA2,
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SLT_DATA3,
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SLT_BIND1,
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SLT_BIND2
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};
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static void __attribute__((unused)) SLT_init()
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{
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NRF24L01_Initialize();
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NRF24L01_WriteReg(NRF24L01_00_CONFIG, _BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO)); // 2-bytes CRC, radio off
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NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknoledgement
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NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0
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NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x02); // 4-byte RX/TX address
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NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // Disable auto retransmit
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NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
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NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, 4); // bytes of data payload for pipe 1
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NRF24L01_SetBitrate(NRF24L01_BR_250K); // 256kbps
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NRF24L01_SetPower();
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if(sub_protocol==SLT_V1)
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t*)"\xC3\xC3\xAA\x55", SLT_TXID_SIZE);
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else // V2
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NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t*)"\x7E\xB8\x63\xA9", SLT_TXID_SIZE);
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NRF24L01_FlushRx();
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, SLT_TXID_SIZE);
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NRF24L01_FlushTx();
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// Turn radio power on
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NRF24L01_SetTxRxMode(TX_EN);
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}
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static void __attribute__((unused)) SLT_set_freq(void)
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{
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// Frequency hopping sequence generation
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for (uint8_t i = 0; i < SLT_TXID_SIZE; ++i)
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{
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uint8_t next_i = (i+1) % SLT_TXID_SIZE; // is & 3 better than % 4 ?
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uint8_t base = i < 2 ? 0x03 : 0x10;
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hopping_frequency[i*4 + 0] = (rx_tx_addr[i] & 0x3f) + base;
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hopping_frequency[i*4 + 1] = (rx_tx_addr[i] >> 2) + base;
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hopping_frequency[i*4 + 2] = (rx_tx_addr[i] >> 4) + (rx_tx_addr[next_i] & 0x03)*0x10 + base;
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hopping_frequency[i*4 + 3] = (rx_tx_addr[i] >> 6) + (rx_tx_addr[next_i] & 0x0f)*0x04 + base;
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}
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// Unique freq
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uint8_t max_freq=0x50; //V1 and V2
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if(sub_protocol==Q200)
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max_freq=45;
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for (uint8_t i = 0; i < SLT_NFREQCHANNELS; ++i)
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{
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if(sub_protocol==Q200 && hopping_frequency[i] >= max_freq)
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hopping_frequency[i] = hopping_frequency[i] - max_freq + 0x03;
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uint8_t done = 0;
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while (!done)
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{
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done = 1;
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for (uint8_t j = 0; j < i; ++j)
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if (hopping_frequency[i] == hopping_frequency[j])
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{
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done = 0;
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hopping_frequency[i] += 7;
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if (hopping_frequency[i] >= max_freq)
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hopping_frequency[i] = hopping_frequency[i] - max_freq + 0x03;
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}
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}
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}
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}
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static void __attribute__((unused)) SLT_wait_radio()
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{
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if (packet_sent)
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while (!(NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)));
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packet_sent = 0;
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}
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static void __attribute__((unused)) SLT_send_packet(uint8_t len)
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{
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SLT_wait_radio();
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NRF24L01_FlushTx();
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NRF24L01_WriteReg(NRF24L01_07_STATUS, _BV(NRF24L01_07_TX_DS) | _BV(NRF24L01_07_RX_DR) | _BV(NRF24L01_07_MAX_RT));
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NRF24L01_WritePayload(packet, len);
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packet_sent = 1;
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}
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static void __attribute__((unused)) SLT_build_packet()
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{
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static uint8_t calib_counter=0;
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// Set radio channel - once per packet batch
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
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if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
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hopping_frequency_no = 0;
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// aileron, elevator, throttle, rudder, gear, pitch
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uint8_t e = 0; // byte where extension 2 bits for every 10-bit channel are packed
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for (uint8_t i = 0; i < 4; ++i)
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{
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uint16_t v = convert_channel_10b(CH_AETR[i]);
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if(sub_protocol>SLT_V2 && (CH_AETR[i]==THROTTLE || CH_AETR[i]==ELEVATOR) )
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v=1023-v; // reverse throttle and elevator channels for Q100/Q200/MR100 protocols
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packet[i] = v;
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e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
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}
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// Extra bits for AETR
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packet[4] = e;
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// 8-bit channels
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packet[5] = convert_channel_8b(CH5);
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packet[6] = convert_channel_8b(CH6);
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if(sub_protocol!=SLT_V1)
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{
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if(sub_protocol==Q200)
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packet[6] = GET_FLAG(CH9_SW , FLAG_Q200_FMODE)
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|GET_FLAG(CH10_SW, FLAG_Q200_FLIP)
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|GET_FLAG(CH11_SW, FLAG_Q200_VIDON)
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|GET_FLAG(CH12_SW, FLAG_Q200_VIDOFF);
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else if(sub_protocol==MR100 || sub_protocol==Q100)
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packet[6] = GET_FLAG(CH9_SW , FLAG_MR100_FMODE)
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|GET_FLAG(CH10_SW, FLAG_MR100_FLIP)
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|GET_FLAG(CH11_SW, FLAG_MR100_VIDEO) // Does not exist on the Q100 but...
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|GET_FLAG(CH12_SW, FLAG_MR100_PICTURE); // Does not exist on the Q100 but...
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packet[7]=convert_channel_8b(CH7);
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packet[8]=convert_channel_8b(CH8);
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packet[9]=0xAA; //normal mode for Q100/Q200, unknown for V2/MR100
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packet[10]=0x00; //normal mode for Q100/Q200, unknown for V2/MR100
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if((sub_protocol==Q100 || sub_protocol==Q200) && CH13_SW)
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{//Calibrate
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packet[9]=0x77; //enter calibration
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if(calib_counter>=20 && calib_counter<=25) // 7 packets for Q100 / 3 packets for Q200
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packet[10]=0x20; //launch calibration
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calib_counter++;
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if(calib_counter>250) calib_counter=250;
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}
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else
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calib_counter=0;
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}
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}
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static void __attribute__((unused)) SLT_send_bind_packet()
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{
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SLT_wait_radio();
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BIND_IN_PROGRESS; //Limit TX power to bind level
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NRF24L01_SetPower();
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BIND_DONE;
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x7E\xB8\x63\xA9", SLT_TXID_SIZE);
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, 0x50);
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memcpy((void*)packet,(void*)rx_tx_addr,SLT_TXID_SIZE);
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if(phase==SLT_BIND2)
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SLT_send_packet(SLT_TXID_SIZE);
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else // SLT_BIND1
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SLT_send_packet(SLT_PAYLOADSIZE_V2);
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SLT_wait_radio(); //Wait until the packet's sent before changing TX address!
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NRF24L01_SetPower(); //Change power back to normal level
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if(phase==SLT_BIND2) // after V1 bind and V2 second bind packet
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NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rx_tx_addr, SLT_TXID_SIZE);
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}
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#define SLT_TIMING_BUILD 1000
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#define SLT_V1_TIMING_PACKET 1000
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#define SLT_V2_TIMING_PACKET 2042
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#define SLT_V1_TIMING_BIND2 1000
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#define SLT_V2_TIMING_BIND1 6507
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#define SLT_V2_TIMING_BIND2 2112
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uint16_t SLT_callback()
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{
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switch (phase)
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{
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case SLT_BUILD:
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SLT_build_packet();
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phase++;
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return SLT_TIMING_BUILD;
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case SLT_DATA1:
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case SLT_DATA2:
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phase++;
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if(sub_protocol==SLT_V1)
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{
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SLT_send_packet(SLT_PAYLOADSIZE_V1);
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return SLT_V1_TIMING_PACKET;
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}
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else //V2
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{
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SLT_send_packet(SLT_PAYLOADSIZE_V2);
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return SLT_V2_TIMING_PACKET;
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}
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case SLT_DATA3:
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if(sub_protocol==SLT_V1)
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SLT_send_packet(SLT_PAYLOADSIZE_V1);
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else //V2
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SLT_send_packet(SLT_PAYLOADSIZE_V2);
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if (++packet_count >= 100)
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{// Send bind packet
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packet_count = 0;
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if(sub_protocol==SLT_V1)
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{
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phase=SLT_BIND2;
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return SLT_V1_TIMING_BIND2;
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}
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else //V2
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{
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phase=SLT_BIND1;
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return SLT_V2_TIMING_BIND1;
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}
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}
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else
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{// Continue to send normal packets
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NRF24L01_SetPower(); // Set tx_power
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phase = SLT_BUILD;
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if(sub_protocol==SLT_V1)
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return 20000-SLT_TIMING_BUILD;
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else //V2
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return 13730-SLT_TIMING_BUILD;
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}
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case SLT_BIND1:
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SLT_send_bind_packet();
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phase++;
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return SLT_V2_TIMING_BIND2;
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case SLT_BIND2:
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SLT_send_bind_packet();
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phase = SLT_BUILD;
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if(sub_protocol==SLT_V1)
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return 20000-SLT_TIMING_BUILD-SLT_V1_TIMING_BIND2;
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else //V2
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return 13730-SLT_TIMING_BUILD-SLT_V2_TIMING_BIND1-SLT_V2_TIMING_BIND2;
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}
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return 19000;
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}
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uint16_t initSLT()
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{
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packet_count = 0;
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packet_sent = 0;
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hopping_frequency_no = 0;
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if(sub_protocol==Q200)
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{ //Q200: Force high part of the ID otherwise it won't bind
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rx_tx_addr[0]=0x01;
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rx_tx_addr[1]=0x02;
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#ifdef SLT_Q200_FORCE_ID // ID taken from TX dumps
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rx_tx_addr[0]=0x01;rx_tx_addr[1]=0x02;rx_tx_addr[2]=0x6A;rx_tx_addr[3]=0x31;
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/* rx_tx_addr[0]=0x01;rx_tx_addr[1]=0x02;rx_tx_addr[2]=0x0B;rx_tx_addr[3]=0x57;*/
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#endif
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}
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SLT_set_freq();
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SLT_init();
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phase = SLT_BUILD;
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return 50000;
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}
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#endif
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