mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 16:28:10 +00:00
355 lines
9.4 KiB
C++
355 lines
9.4 KiB
C++
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/* **************************
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* By Midelic on RCGroups *
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**************************
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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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#if defined(FRSKYX_CC2500_INO)
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#include "iface_cc2500.h"
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uint8_t FrX_chanskip;
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uint8_t FrX_send_seq ;
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uint8_t FrX_receive_seq ;
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#define FRX_FAILSAFE_TIMEOUT 1032
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static void __attribute__((unused)) frskyX_set_start(uint8_t ch )
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{
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteReg(CC2500_25_FSCAL1, calData[ch]);
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CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[ch]);
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}
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static void __attribute__((unused)) frskyX_init()
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{
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FRSKY_init_cc2500((sub_protocol&2)?FRSKYXEU_cc2500_conf:FRSKYX_cc2500_conf); // LBT or FCC
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//
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for(uint8_t c=0;c < 48;c++)
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{//calibrate hop channels
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteReg(CC2500_0A_CHANNR,hopping_frequency[c]);
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CC2500_Strobe(CC2500_SCAL);
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delayMicroseconds(900);//
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calData[c] = CC2500_ReadReg(CC2500_25_FSCAL1);
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}
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//#######END INIT########
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}
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static void __attribute__((unused)) frskyX_initialize_data(uint8_t adr)
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{
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CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
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CC2500_WriteReg(CC2500_18_MCSM0, 0x8);
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CC2500_WriteReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
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CC2500_WriteReg(CC2500_07_PKTCTRL1,0x05);
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}
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//**CRC**
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const uint16_t PROGMEM frskyX_CRC_Short[]={
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0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
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0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7 };
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static uint16_t __attribute__((unused)) frskyX_CRCTable(uint8_t val)
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{
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uint16_t word ;
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word = pgm_read_word(&frskyX_CRC_Short[val&0x0F]) ;
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val /= 16 ;
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return word ^ (0x1081 * val) ;
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}
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static uint16_t __attribute__((unused)) frskyX_crc_x(uint8_t *data, uint8_t len)
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{
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uint16_t crc = 0;
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for(uint8_t i=0; i < len; i++)
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crc = (crc<<8) ^ frskyX_CRCTable((uint8_t)(crc>>8) ^ *data++);
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return crc;
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}
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static void __attribute__((unused)) frskyX_build_bind_packet()
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{
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packet[0] = (sub_protocol & 2 ) ? 0x20 : 0x1D ; // LBT or FCC
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packet[1] = 0x03;
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packet[2] = 0x01;
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//
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packet[3] = rx_tx_addr[3];
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packet[4] = rx_tx_addr[2];
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int idx = ((state -FRSKY_BIND) % 10) * 5;
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packet[5] = idx;
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packet[6] = hopping_frequency[idx++];
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packet[7] = hopping_frequency[idx++];
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packet[8] = hopping_frequency[idx++];
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packet[9] = hopping_frequency[idx++];
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packet[10] = hopping_frequency[idx++];
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packet[11] = 0x02;
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packet[12] = RX_num;
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//
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uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
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memset(&packet[13], 0, limit - 13);
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uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
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//
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packet[limit++] = lcrc >> 8;
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packet[limit] = lcrc;
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//
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}
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// 0-2047, 0 = 817, 1024 = 1500, 2047 = 2182
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//64=860,1024=1500,1984=2140//Taranis 125%
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static uint16_t __attribute__((unused)) frskyX_scaleForPXX( uint8_t i )
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{ //mapped 860,2140(125%) range to 64,1984(PXX values);
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uint16_t chan_val=(((Servo_data[i]-servo_min_125)*3)>>1)+64;
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if(i>7) chan_val|=2048; // upper channels offset
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return chan_val;
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}
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#ifdef FAILSAFE_ENABLE
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static uint16_t __attribute__((unused)) frskyX_scaleForPXX_FS( uint8_t i )
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{ //mapped 1,2046(125%) range to 64,1984(PXX values);
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uint16_t chan_val=((Failsafe_data[i]*15)>>4)+64;
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if(Failsafe_data[i]==FAILSAFE_CHANNEL_NOPULSES)
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chan_val=FAILSAFE_CHANNEL_NOPULSES;
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else if(Failsafe_data[i]==FAILSAFE_CHANNEL_HOLD)
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chan_val=FAILSAFE_CHANNEL_HOLD;
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if(i>7) chan_val|=2048; // upper channels offset
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return chan_val;
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}
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#endif
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#define FRX_FAILSAFE_TIME 1032
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static void __attribute__((unused)) frskyX_data_frame()
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{
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//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
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//
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static uint8_t chan_offset=0;
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uint16_t chan_0 ;
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uint16_t chan_1 ;
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//
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// data frames sent every 9ms; failsafe every 9 seconds
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#ifdef FAILSAFE_ENABLE
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static uint16_t failsafe_count=0;
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static uint8_t FS_flag=0,failsafe_chan=0;
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if (FS_flag == 0 && failsafe_count > FRX_FAILSAFE_TIME && chan_offset == 0 && IS_FAILSAFE_VALUES_on)
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{
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FS_flag = 0x10;
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failsafe_chan = 0;
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} else if (FS_flag & 0x10 && failsafe_chan < (sub_protocol & 0x01 ? 8-1:16-1))
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{
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FS_flag = 0x10 | ((FS_flag + 2) & 0x0F); //10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
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failsafe_chan ++;
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} else if (FS_flag & 0x10)
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{
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FS_flag = 0;
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failsafe_count = 0;
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}
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failsafe_count++;
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#endif
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packet[0] = (sub_protocol & 0x02 ) ? 0x20 : 0x1D ; // LBT or FCC
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packet[1] = rx_tx_addr[3];
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packet[2] = rx_tx_addr[2];
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packet[3] = 0x02;
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//
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packet[4] = (FrX_chanskip<<6)|hopping_frequency_no;
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packet[5] = FrX_chanskip>>2;
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packet[6] = RX_num;
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//packet[7] = FLAGS 00 - standard packet
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//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
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//20 - range check packet
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#ifdef FAILSAFE_ENABLE
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packet[7] = FS_flag;
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#else
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packet[7] = 0;
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#endif
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packet[8] = 0;
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//
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uint8_t startChan = chan_offset; for(uint8_t i = 0; i <12 ; i+=3)
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{//12 bytes of channel data
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#ifdef FAILSAFE_ENABLE
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if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
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chan_0 = frskyX_scaleForPXX_FS(failsafe_chan);
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else
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#endif
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chan_0 = frskyX_scaleForPXX(startChan);
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startChan++;
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//
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#ifdef FAILSAFE_ENABLE
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if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
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chan_1 = frskyX_scaleForPXX_FS(failsafe_chan);
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else
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#endif
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chan_1 = frskyX_scaleForPXX(startChan);
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startChan++;
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//
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packet[9+i] = lowByte(chan_0); //3 bytes*4
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packet[9+i+1]=(((chan_0>>8) & 0x0F)|(chan_1 << 4));
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packet[9+i+2]=chan_1>>4;
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}
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packet[21] = (FrX_receive_seq << 4) | FrX_send_seq ;//8 at start
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if(sub_protocol & 0x01 ) // in X8 mode send only 8ch every 9ms
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chan_offset = 0 ;
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else
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chan_offset^=0x08;
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uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
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for (uint8_t i=22;i<limit;i++)
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packet[i]=0;
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#if defined SPORT_POLLING
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uint8_t idxs=0;
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if(ok_to_send)
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for (uint8_t i=23;i<limit;i++)
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{//
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if(sport_index==sport_idx)
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{//no new data
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ok_to_send=false;
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break;
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}
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packet[i]=SportData[sport_index];
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sport_index= (sport_index+1)& (MAX_SPORT_BUFFER-1);
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idxs++;
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}
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packet[22]= idxs;
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#ifdef DEBUG_SERIAL
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for(uint8_t i=0;i<idxs;i++)
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{
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Serial.print(packet[23+i],HEX);
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Serial.print(" ");
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}
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Serial.println(" ");
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#endif
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#endif // SPORT_POLLING
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uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
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packet[limit++]=lcrc>>8;//high byte
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packet[limit]=lcrc;//low byte
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}
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uint16_t ReadFrSkyX()
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{
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switch(state)
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{
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default:
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frskyX_set_start(47);
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CC2500_SetPower();
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CC2500_Strobe(CC2500_SFRX);
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//
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frskyX_build_bind_packet();
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteData(packet, packet[0]+1);
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if(IS_BIND_DONE_on)
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state = FRSKY_BIND_DONE;
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else
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state++;
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return 9000;
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case FRSKY_BIND_DONE:
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frskyX_initialize_data(0);
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hopping_frequency_no=0;
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BIND_DONE;
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state++;
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break;
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case FRSKY_DATA1:
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if ( prev_option != option )
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{
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CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
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prev_option = option ;
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}
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CC2500_SetTxRxMode(TX_EN);
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frskyX_set_start(hopping_frequency_no);
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CC2500_SetPower();
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CC2500_Strobe(CC2500_SFRX);
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hopping_frequency_no = (hopping_frequency_no+FrX_chanskip)%47;
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteData(packet, packet[0]+1);
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//
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// frskyX_data_frame();
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state++;
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return 5200;
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case FRSKY_DATA2:
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CC2500_SetTxRxMode(RX_EN);
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CC2500_Strobe(CC2500_SIDLE);
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state++;
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return 200;
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case FRSKY_DATA3:
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CC2500_Strobe(CC2500_SRX);
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state++;
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return 3100;
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case FRSKY_DATA4:
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len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
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if (len && (len<=(0x0E + 3))) //Telemetry frame is 17
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{
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packet_count=0;
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CC2500_ReadData(pkt, len);
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#if defined TELEMETRY
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frsky_check_telemetry(pkt,len); //check if valid telemetry packets
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//parse telemetry packets here
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//The same telemetry function used by FrSky(D8).
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#endif
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}
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else
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{
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packet_count++;
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// restart sequence on missed packet - might need count or timeout instead of one missed
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if(packet_count>100)
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{//~1sec
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// seq_last_sent = 0;
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// seq_last_rcvd = 8;
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FrX_send_seq = 0x08 ;
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// FrX_receive_seq = 0 ;
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packet_count=0;
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#if defined TELEMETRY
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telemetry_lost=1;
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#endif
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}
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CC2500_Strobe(CC2500_SFRX); //flush the RXFIFO
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}
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frskyX_data_frame();
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if ( FrX_send_seq != 0x08 )
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{
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FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;
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}
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state = FRSKY_DATA1;
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return 500;
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}
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return 1;
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}
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uint16_t initFrSkyX()
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{
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set_rx_tx_addr(MProtocol_id_master);
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Frsky_init_hop();
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packet_count=0;
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while(!FrX_chanskip)
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FrX_chanskip=random(0xfefefefe)%47;
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//for test***************
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//rx_tx_addr[3]=0xB3;
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//rx_tx_addr[2]=0xFD;
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//************************
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frskyX_init();
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//
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if(IS_AUTOBIND_FLAG_on)
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{
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state = FRSKY_BIND;
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frskyX_initialize_data(1);
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}
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else
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{
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state = FRSKY_DATA1;
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frskyX_initialize_data(0);
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}
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// seq_last_sent = 0;
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// seq_last_rcvd = 8;
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FrX_send_seq = 0x08 ;
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FrX_receive_seq = 0 ;
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return 10000;
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}
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#endif |