Multiprotocol/SHENQI_nrf24l01.ino

   1 /*
   2  This project is free software: you can redistribute it and/or modify
   3  it under the terms of the GNU General Public License as published by
   4  the Free Software Foundation, either version 3 of the License, or
   5  (at your option) any later version.
   6
   7  Multiprotocol is distributed in the hope that it will be useful,
   8  but WITHOUT ANY WARRANTY; without even the implied warranty of
   9  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  10  GNU General Public License for more details.
  11
  12  You should have received a copy of the GNU General Public License
  13  along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
  14  */
  15
  16 #if defined(SHENQI_NRF24L01_INO)
  17
  18 #include "iface_nrf24l01.h"
  19
  20 const uint8_t PROGMEM SHENQI_Freq[] = {
  21                         50,50,20,60,30,40,
  22                         10,30,40,20,60,10,
  23                         50,20,50,40,10,60,
  24                         30,30,60,10,40,50,
  25                         20,10,60,20,50,30,
  26                         40,40,30,50,20,60,
  27                         10,10,20,30,40,50,
  28                         60,60,50,40,30,20,
  29                         10,60,10,50,30,40,
  30                         20,10,40,30,60,20 };
  31
  32 void SHENQI_RF_init()
  33 {
  34     NRF24L01_Initialize();
  35
  36         LT8900_Config(4, 8, _BV(LT8900_CRC_ON)|_BV(LT8900_PACKET_LENGTH_EN), 0xAA);
  37         LT8900_SetChannel(2);
  38         LT8900_SetAddress((uint8_t *)"\x9A\x9A\x9A\x9A",4);
  39         LT8900_SetTxRxMode(RX_EN);
  40 }
  41
  42 void SHENQI_send_packet()
  43 {
  44         packet[0]=0x00;
  45         if(packet_count==0)
  46         {
  47                 uint8_t bind_addr[4];
  48                 bind_addr[0]=rx_tx_addr[0];
  49                 bind_addr[1]=rx_tx_addr[1];
  50                 bind_addr[2]=0x9A;
  51                 bind_addr[3]=0x9A;
  52                 LT8900_SetAddress(bind_addr,4);
  53                 LT8900_SetChannel(2);
  54                 packet[1]=rx_tx_addr[2];
  55                 packet[2]=rx_tx_addr[3];
  56                 packet_period=2508;
  57         }
  58         else
  59         {
  60                 #ifdef MULTI_SYNC
  61                         if(packet_count==1)
  62                                 telemetry_set_input_sync(3000+2508+6*1750);
  63                 #endif
  64                 LT8900_SetAddress(rx_tx_addr,4);
  65                 packet[1]=255-convert_channel_8b(RUDDER);
  66                 packet[2]=255-convert_channel_16b_limit(THROTTLE,0x60,0xA0);
  67                 uint8_t freq=pgm_read_byte_near(&SHENQI_Freq[hopping_frequency_no])+(rx_tx_addr[2]&0x0F);
  68                 LT8900_SetChannel(freq);
  69                 hopping_frequency_no++;
  70                 if(hopping_frequency_no==60)
  71                         hopping_frequency_no=0;
  72                 packet_period=1750;
  73         }
  74         // Send packet + 1 retransmit - not sure why but needed (not present on original TX...)
  75         LT8900_WritePayload(packet,3);
  76         while(NRF24L01_packet_ack()!=PKT_ACKED);
  77         LT8900_WritePayload(packet,3);
  78
  79         packet_count++;
  80         if(packet_count==7)
  81         {
  82                 packet_count=0;
  83                 packet_period=3000;
  84         }
  85         // Set power
  86         NRF24L01_SetPower();
  87 }
  88
  89 uint16_t SHENQI_callback()
  90 {
  91         if(IS_BIND_DONE)
  92         {
  93                 SHENQI_send_packet();
  94         }
  95         else
  96         {
  97                 if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
  98                 {
  99                         if(LT8900_ReadPayload(packet, 3))
 100                         {
 101                                 BIND_DONE;
 102                                 rx_tx_addr[0]=packet[1];
 103                                 rx_tx_addr[1]=packet[2];
 104                                 LT8900_SetTxRxMode(TX_EN);
 105                                 packet_period=14000;
 106                         }
 107                         NRF24L01_FlushRx();
 108                 }
 109         }
 110     return packet_period;
 111 }
 112
 113 void SHENQI_init()
 114 {
 115         BIND_IN_PROGRESS;       // autobind protocol
 116         SHENQI_RF_init();
 117         hopping_frequency_no = 0;
 118         packet_count=0;
 119         packet_period=500;
 120 }
 121
 122 #endif