mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 22:48:12 +00:00
984aa3f413
- Change how PPM is handled with a resolution of 2048 and scaled to match serial input range. PPM is now fully scaled for all protocols which was not the case before. If you are using PPM, you might have to adjust the end points depending on the protocols. - Change all range conversions to use 2048 where possible - Updated all protocols with new range functions - Protocols which are taking advantage of 2048 are Assan, FrSky V/D/X, DSM, Devo, WK2x01 - Renamed AUX xto CHx for code readbility
290 lines
8.5 KiB
C++
290 lines
8.5 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 Cheerson CX-10 blue & newer red pcb, CX-10A, CX11, CX-10 green pcb, DM007, Floureon FX-10, JXD 509 (Q282)
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// Last sync with hexfet new_protocols/cx10_nrf24l01.c dated 2015-11-26
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#if defined(CX10_NRF24L01_INO)
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#include "iface_nrf24l01.h"
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#define CX10_BIND_COUNT 4360 // 6 seconds
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#define CX10_PACKET_SIZE 15
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#define CX10A_PACKET_SIZE 19 // CX10 blue board packets have 19-byte payload
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#define Q2X2_PACKET_SIZE 21
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#define CX10_PACKET_PERIOD 1316 // Timeout for callback in uSec
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#define CX10A_PACKET_PERIOD 6000
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#define CX10_INITIAL_WAIT 500
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// flags
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#define CX10_FLAG_FLIP 0x10 // goes to rudder channel
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#define CX10_FLAG_MODE_MASK 0x03
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#define CX10_FLAG_HEADLESS 0x04
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// flags2
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#define CX10_FLAG_VIDEO 0x02
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#define CX10_FLAG_SNAPSHOT 0x04
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// frequency channel management
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#define CX10_RF_BIND_CHANNEL 0x02
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#define CX10_NUM_RF_CHANNELS 4
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enum {
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CX10_BIND1 = 0,
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CX10_BIND2,
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CX10_DATA
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};
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static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
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{
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uint8_t offset = 0;
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if(sub_protocol == CX10_BLUE)
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offset = 4;
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packet[0] = bind ? 0xAA : 0x55;
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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[5] to [8] (aircraft id) is filled during bind for blue board
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uint16_t aileron= convert_channel_16b_limit(AILERON ,1000,2000);
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uint16_t elevator=convert_channel_16b_limit(ELEVATOR,2000,1000);
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uint16_t throttle=convert_channel_16b_limit(THROTTLE,1000,2000);
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uint16_t rudder= convert_channel_16b_limit(RUDDER ,2000,1000);
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// Channel 5 - flip flag
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packet[12+offset] = GET_FLAG(CH5_SW,CX10_FLAG_FLIP); // flip flag applied on rudder
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// Channel 6 - rate mode is 2 lsb of packet 13
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if(CH6_SW) // rate 3 / headless on CX-10A
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flags = 0x02;
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else
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if(Channel_data[CH6] < CHANNEL_MIN_COMMAND)
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flags = 0x00; // rate 1
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else
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flags = 0x01; // rate 2
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uint8_t flags2=0; // packet 14
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uint8_t video_state=packet[14] & 0x21;
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switch(sub_protocol)
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{
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case CX10_BLUE:
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flags |= GET_FLAG(!CH7_SW, 0x10) // Channel 7 - picture
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|GET_FLAG( CH8_SW, 0x08); // Channel 8 - video
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break;
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case Q282:
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case Q242:
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case Q222:
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memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
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//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
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flags2 = GET_FLAG(CH5_SW, 0x80) // Channel 5 - FLIP
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|GET_FLAG(!CH6_SW, 0x40) // Channel 6 - LED
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|GET_FLAG(CH9_SW, 0x08) // Channel 9 - HEADLESS
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|GET_FLAG(CH11_SW, 0x04) // Channel 11 - XCAL
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|GET_FLAG(CH12_SW, 0x02); // Channel 12 - YCAL or Start/Stop motors on JXD 509
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if(sub_protocol==Q242)
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{
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flags=2;
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flags2|= GET_FLAG(CH7_SW,0x01) // Channel 7 - picture
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|GET_FLAG(CH8_SW,0x10); // Channel 8 - video
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packet[17]=0x00;
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packet[18]=0x00;
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}
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else
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{ // Q282 & Q222
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flags=3; // expert
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if(CH8_SW) // Channel 8 - Q282 video / Q222 Module 1
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{
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if (!(video_state & 0x20)) video_state ^= 0x21;
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}
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else
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if (video_state & 0x20) video_state &= 0x01;
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flags2 |= video_state
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|GET_FLAG(CH7_SW,0x10); // Channel 7 - Q282 picture / Q222 Module 2
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}
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if(CH10_SW) flags |=0x80; // Channel 10 - RTH
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break;
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case DM007:
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aileron = 3000 - aileron;
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//FLIP|MODE|PICTURE|VIDEO|HEADLESS
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flags2= GET_FLAG(CH7_SW,CX10_FLAG_SNAPSHOT) // Channel 7 - picture
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|GET_FLAG(CH8_SW,CX10_FLAG_VIDEO); // Channel 8 - video
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if(CH9_SW) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless
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break;
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case JC3015_2:
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aileron = 3000 - aileron;
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elevator = 3000 - elevator;
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//FLIP|MODE|LED|DFLIP
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if(CH8_SW) packet[12] &= ~CX10_FLAG_FLIP;
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case JC3015_1:
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//FLIP|MODE|PICTURE|VIDEO
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flags2= GET_FLAG(CH7_SW,_BV(3)) // Channel 7
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|GET_FLAG(CH8_SW,_BV(4)); // Channel 8
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break;
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case MK33041:
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elevator = 3000 - elevator;
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//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
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flags|=GET_FLAG(CH7_SW,_BV(7)) // Channel 7 - picture
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|GET_FLAG(CH10_SW,_BV(2)); // Channel 10 - rth
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flags2=GET_FLAG(CH8_SW,_BV(0)) // Channel 8 - video
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|GET_FLAG(CH9_SW,_BV(5)); // Channel 9 - headless
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break;
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}
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packet[5+offset] = lowByte(aileron);
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packet[6+offset] = highByte(aileron);
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packet[7+offset] = lowByte(elevator);
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packet[8+offset] = highByte(elevator);
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packet[9+offset] = lowByte(throttle);
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packet[10+offset]= highByte(throttle);
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packet[11+offset]= lowByte(rudder);
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packet[12+offset]|= highByte(rudder);
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packet[13+offset]=flags;
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packet[14+offset]=flags2;
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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 (bind)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
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else
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{
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no++]);
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hopping_frequency_no %= CX10_NUM_RF_CHANNELS;
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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, packet_length);
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NRF24L01_SetPower();
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}
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static void __attribute__((unused)) CX10_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 *)"\xcc\xcc\xcc\xcc\xcc",5);
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XN297_SetRXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc",5);
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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 Acknowledgment 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_11_RX_PW_P0, packet_length); // rx pipe 0 (used only for blue board)
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NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
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NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
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NRF24L01_SetPower();
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}
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uint16_t CX10_callback()
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{
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switch (phase) {
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case CX10_BIND1:
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if (bind_counter == 0)
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{
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phase = CX10_DATA;
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BIND_DONE;
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}
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else
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{
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CX10_Write_Packet(1);
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bind_counter--;
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}
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break;
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case CX10_BIND2:
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if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
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{ // RX fifo data ready
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XN297_ReadPayload(packet, packet_length);
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_SetTxRxMode(TX_EN);
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if(packet[9] == 1)
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{
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BIND_DONE;
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phase = CX10_DATA;
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}
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}
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else
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{
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// switch to TX mode
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_FlushTx();
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NRF24L01_SetTxRxMode(TX_EN);
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CX10_Write_Packet(1);
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delayMicroseconds(400);
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// switch to RX mode
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NRF24L01_SetTxRxMode(TXRX_OFF);
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NRF24L01_FlushRx();
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NRF24L01_SetTxRxMode(RX_EN);
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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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}
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break;
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case CX10_DATA:
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CX10_Write_Packet(0);
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break;
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}
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return packet_period;
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}
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static void __attribute__((unused)) CX10_initialize_txid()
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{
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rx_tx_addr[1]%= 0x30;
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if(sub_protocol&0x08) //Q2X2 protocols
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{
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uint8_t offset=0; //Q282
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if(sub_protocol==Q242)
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offset=2;
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if(sub_protocol==Q222)
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offset=3;
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for(uint8_t i=0;i<4;i++)
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hopping_frequency[i]=0x46+2*i+offset;
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}
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else
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{
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hopping_frequency[0] = 0x03 + (rx_tx_addr[0] & 0x0F);
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hopping_frequency[1] = 0x16 + (rx_tx_addr[0] >> 4);
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hopping_frequency[2] = 0x2D + (rx_tx_addr[1] & 0x0F);
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hopping_frequency[3] = 0x40 + (rx_tx_addr[1] >> 4);
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}
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}
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uint16_t initCX10(void)
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{
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if(sub_protocol==CX10_BLUE)
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{
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packet_length = CX10A_PACKET_SIZE;
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packet_period = CX10A_PACKET_PERIOD;
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phase = CX10_BIND2;
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for(uint8_t i=0; i<4; i++)
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packet[5+i] = 0xff; // clear aircraft id
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packet[9] = 0;
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}
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else
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{
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if(sub_protocol&0x08) //Q2X2 protocols
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packet_length = Q2X2_PACKET_SIZE;
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else
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packet_length = CX10_PACKET_SIZE;
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packet_period = CX10_PACKET_PERIOD;
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phase = CX10_BIND1;
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bind_counter = CX10_BIND_COUNT;
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}
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CX10_initialize_txid();
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CX10_init();
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BIND_IN_PROGRESS; // autobind protocol
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return CX10_INITIAL_WAIT+packet_period;
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}
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#endif
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