mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 21:58:10 +00:00
249 lines
7.6 KiB
C++
249 lines
7.6 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 3D X4, CG023/CG031, Attop YD-822/YD-829/YD-829C and H8_3D/JJRC H20/H22
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// Merged CG023 and H8_3D protocols
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// Last sync with hexfet new_protocols/cg023_nrf24l01.c dated 2015-10-03
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// Last sync with hexfet new_protocols/h8_3d_nrf24l01.c dated 2015-11-18
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#if defined(H8_3D_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define H8_3D_PACKET_PERIOD 1800
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#define H20H_PACKET_PERIOD 9340
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#define H20MINI_PACKET_PERIOD 3100
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#define H8_3D_INITIAL_WAIT 500
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#define H8_3D_PACKET_SIZE 20
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#define H8_3D_RF_NUM_CHANNELS 4
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#define H20H_BIND_RF 0x49
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#define H8_3D_BIND_COUNT 1000
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enum H8_3D_FLAGS {
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// flags going to packet[17]
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H8_3D_FLAG_FLIP = 0x01,
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H8_3D_FLAG_RATE_MID = 0x02,
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H8_3D_FLAG_RATE_HIGH = 0x04,
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H8_3D_FLAG_LIGTH = 0x08, // Light on H22
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H8_3D_FLAG_HEADLESS = 0x10, // RTH + headless on H8, headless on JJRC H20, RTH on H22
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H8_3D_FLAG_RTH = 0x20, // 360 flip mode on H8 3D and H22, RTH on JJRC H20
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};
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enum H8_3D_FLAGS_2 {
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// flags going to packet[18]
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H8_3D_FLAG_VIDEO = 0x80,
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H8_3D_FLAG_PICTURE = 0x40,
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H8_3D_FLAG_CALIBRATE1 = 0x20, // H8 3D acc calibration, H20,H20H headless calib
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H8_3D_FLAG_CALIBRATE2 = 0x10, // H11D, H20, H20H acc calibration
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H8_3D_FLAG_CAM_DN = 0x08,
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H8_3D_FLAG_CAM_UP = 0x04,
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};
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static void __attribute__((unused)) H8_3D_send_packet()
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{
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if(sub_protocol==H20H)
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packet[0] = 0x14;
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else // H8_3D, H20MINI, H30MINI
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packet[0] = 0x13;
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packet[1] = rx_tx_addr[0];
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packet[2] = rx_tx_addr[1];
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packet[3] = rx_tx_addr[2];
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packet[4] = rx_tx_addr[3];
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packet[8] = rx_tx_addr[0]+rx_tx_addr[1]+rx_tx_addr[2]+rx_tx_addr[3]; // txid checksum
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memset(&packet[9], 0, 10);
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if (IS_BIND_IN_PROGRESS)
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{
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packet[5] = 0x00;
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packet[6] = 0x00;
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packet[7] = 0x01;
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}
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else
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{
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packet[5] = hopping_frequency_no;
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packet[7] = 0x03;
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rudder = convert_channel_16b_limit(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right)
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if(sub_protocol!=H20H)
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{ // H8_3D, H20MINI, H30MINI
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packet[6] = 0x08;
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packet[9] = convert_channel_8b(THROTTLE); // throttle : 0x00 - 0xFF
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packet[15] = 0x20; // trims
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packet[16] = 0x20; // trims
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if (rudder<=0x80)
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rudder=0x80-rudder; // yaw left : 0x00 (neutral) - 0x3C (left)
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if(rudder==0x01 || rudder==0x81)
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rudder=0x00; // Small deadband
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}
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else
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{ //H20H
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packet[6] = hopping_frequency_no == 0 ? 8 - packet_count : 16 - packet_count;
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packet[9] = convert_channel_16b_limit(THROTTLE, 0x43, 0xBB); // throttle : 0x43 - 0x7F - 0xBB
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packet[15]= 0x40; // trims
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packet[16]= 0x40; // trims
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rudder--; // rudder : 0x43 - 0x7F - 0xBB
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if (rudder>=0x7F-1 && rudder<=0x7F+1)
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rudder=0x7F; // Small deadband
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}
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packet[10] = rudder;
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packet[11] = convert_channel_16b_limit(ELEVATOR, 0x43, 0xBB); // elevator : 0x43 - 0x7F - 0xBB
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packet[12] = convert_channel_16b_limit(AILERON, 0x43, 0xBB); // aileron : 0x43 - 0x7F - 0xBB
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// neutral trims
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packet[13] = 0x20;
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packet[14] = 0x20;
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// flags
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packet[17] = H8_3D_FLAG_RATE_HIGH
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| GET_FLAG(CH5_SW,H8_3D_FLAG_FLIP)
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| GET_FLAG(CH6_SW,H8_3D_FLAG_LIGTH) //H22 light
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| GET_FLAG(CH9_SW,H8_3D_FLAG_HEADLESS)
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| GET_FLAG(CH10_SW,H8_3D_FLAG_RTH); // 180/360 flip mode on H8 3D
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packet[18] = GET_FLAG(CH7_SW,H8_3D_FLAG_PICTURE)
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| GET_FLAG(CH8_SW,H8_3D_FLAG_VIDEO)
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| GET_FLAG(CH11_SW,H8_3D_FLAG_CALIBRATE1)
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| GET_FLAG(CH12_SW,H8_3D_FLAG_CALIBRATE2);
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if(Channel_data[CH13]<CHANNEL_MIN_COMMAND)
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packet[18] |= H8_3D_FLAG_CAM_DN;
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if(CH13_SW)
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packet[18] |= H8_3D_FLAG_CAM_UP;
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}
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uint8_t sum = packet[9];
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for (uint8_t i=10; i < H8_3D_PACKET_SIZE-1; i++)
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sum += packet[i];
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packet[19] = sum; // data checksum
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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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if(sub_protocol!=H20H)
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{ // H8_3D, H20MINI, H30MINI
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, IS_BIND_IN_PROGRESS ? hopping_frequency[0] : hopping_frequency[hopping_frequency_no++]);
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hopping_frequency_no %= H8_3D_RF_NUM_CHANNELS;
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}
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else
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{ //H20H
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, IS_BIND_IN_PROGRESS ? H20H_BIND_RF : hopping_frequency[packet_count>>3]);
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if(IS_BIND_DONE)
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{
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packet_count++;
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if(packet_count>15)
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{
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packet_count = 0;
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hopping_frequency_no = 0;
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}
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else
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if(packet_count > 7)
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hopping_frequency_no = 1;
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}
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}
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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, H8_3D_PACKET_SIZE);
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NRF24L01_SetPower(); // Set tx_power
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}
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static void __attribute__((unused)) H8_3D_RF_init()
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{
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NRF24L01_Initialize();
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if(sub_protocol==H20H)
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XN297_SetTXAddr((uint8_t *)"\xEE\xDD\xCC\xBB\x11", 5);
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else // H8_3D, H20MINI, H30MINI
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XN297_SetTXAddr((uint8_t *)"\xC4\x57\x09\x65\x21", 5);
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}
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uint16_t H8_3D_callback()
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{
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if(bind_counter)
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{
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bind_counter--;
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if (bind_counter == 0)
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{
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BIND_DONE;
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packet_count=0;
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}
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}
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#ifdef MULTI_SYNC
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else
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telemetry_set_input_sync(packet_period);
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#endif
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H8_3D_send_packet();
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return packet_period;
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}
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// captured from H20H stock transmitters
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const uint8_t PROGMEM h20h_tx_rf_map[3][6] = {{/*ID*/0x83, 0x3c, 0x60, 0x00, /*RF*/0x47, 0x3e},
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{/*ID*/0x5c, 0x2b, 0x60, 0x00, /*RF*/0x4a, 0x3c},
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{/*ID*/0x57, 0x07, 0x00, 0x00, /*RF*/0x41, 0x48} };
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// captured from H20 Mini / H30 Mini stock transmitters
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const uint8_t PROGMEM h20mini_tx_rf_map[4][8] = {{/*ID*/0xb4, 0xbb, 0x09, 0x00, /*RF*/0x3e, 0x45, 0x47, 0x4a},
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{/*ID*/0x94, 0x9d, 0x0b, 0x00, /*RF*/0x3e, 0x43, 0x49, 0x4a},
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{/*ID*/0xd1, 0xd0, 0x00, 0x00, /*RF*/0x3f, 0x42, 0x46, 0x4a},
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{/*ID*/0xcb, 0xcd, 0x04, 0x00, /*RF*/0x41, 0x43, 0x46, 0x4a}};
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static void __attribute__((unused)) H8_3D_initialize_txid()
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{
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uint8_t id_num=rx_tx_addr[4];
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switch(sub_protocol)
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{
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case H8_3D:
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for(uint8_t i=0; i<4; i++)
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hopping_frequency[i] = 6 + (0x0f*i) + (((rx_tx_addr[i] >> 4) + (rx_tx_addr[i] & 0x0f)) % 0x0f);
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break;
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case H20H:
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id_num%=3; // 3 different IDs
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for(uint8_t i=0; i<4; i++)
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{
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rx_tx_addr[i] = pgm_read_byte_near(&h20h_tx_rf_map[id_num][i]);
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if(i<2)
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hopping_frequency[i] = pgm_read_byte_near(&h20h_tx_rf_map[id_num][i+4]);
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}
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break;
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case H20MINI:
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case H30MINI:
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id_num%=4; // 4 different IDs
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for(uint8_t i=0; i<4; i++)
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{
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rx_tx_addr[i] = pgm_read_byte_near(&h20mini_tx_rf_map[id_num][i]);
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hopping_frequency[i] = pgm_read_byte_near(&h20mini_tx_rf_map[id_num][i+4]);
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}
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break;
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}
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}
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void H8_3D_init(void)
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{
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BIND_IN_PROGRESS; // autobind protocol
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bind_counter = H8_3D_BIND_COUNT;
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H8_3D_initialize_txid();
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H8_3D_RF_init();
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switch(sub_protocol)
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{
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case H8_3D:
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packet_period=H8_3D_PACKET_PERIOD;
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break;
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case H20H:
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packet_period=H20H_PACKET_PERIOD;
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break;
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case H20MINI:
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case H30MINI:
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packet_period=H20MINI_PACKET_PERIOD;
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break;
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}
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}
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#endif
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