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Updated CFlie protocol #723

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Updated CFlie protocol #723

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bb6d5c2
Updating CFLIE protocol - CPPM EMU as default istead of CRTP RPYT, al…
matejkarasek Aug 16, 2022
0e08b45
Reenabling protocols removed earlier
matejkarasek Aug 19, 2022
3433dd2
Merge branch 'master' into CFlie_improved
matejkarasek Jan 17, 2023
7e671b9
Enable custom address and radio channel
matejkarasek Oct 4, 2023
ec79d1f
fixed subtype labels
matejkarasek Feb 2, 2024
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152 changes: 70 additions & 82 deletions Multiprotocol/CFlie_nrf24l01.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "iface_nrf24l01.h"

#define CFLIE_BIND_COUNT 60
//#define CFLIE_USE_CRTP_RPYT

//=============================================================================
// CRTP (Crazy RealTime Protocol) Implementation
Expand Down Expand Up @@ -220,8 +221,8 @@ static uint8_t packet_ack()

static void set_rate_channel(uint8_t rate, uint8_t channel)
{
NRF24L01_WriteReg(NRF24L01_05_RF_CH, channel); // Defined by model id
NRF24L01_SetBitrate(rate); // Defined by model id
NRF24L01_WriteReg(NRF24L01_05_RF_CH, channel);
NRF24L01_SetBitrate(rate);
}

static void send_search_packet()
Expand All @@ -232,23 +233,26 @@ static void send_search_packet()
NRF24L01_WriteReg(NRF24L01_07_STATUS, (BV(NRF24L01_07_TX_DS) | BV(NRF24L01_07_MAX_RT)));
NRF24L01_FlushTx();

if (rf_ch_num++ > 125)
{
rf_ch_num = 0;
switch(data_rate)
{
case NRF24L01_BR_250K:
data_rate = NRF24L01_BR_1M;
break;
case NRF24L01_BR_1M:
data_rate = NRF24L01_BR_2M;
break;
case NRF24L01_BR_2M:
data_rate = NRF24L01_BR_250K;
break;
}
}
set_rate_channel(data_rate, rf_ch_num);
// if (sub_protocol == CFLIE_AUTO)
// {
// if (rf_ch_num++ > 125)
// {
// rf_ch_num = 0;
// switch(data_rate)
// {
// case NRF24L01_BR_250K:
// data_rate = NRF24L01_BR_1M;
// break;
// case NRF24L01_BR_1M:
// data_rate = NRF24L01_BR_2M;
// break;
// case NRF24L01_BR_2M:
// data_rate = NRF24L01_BR_250K;
// break;
// }
// }
// }
set_rate_channel(data_rate, rf_ch_num);

NRF24L01_WritePayload(buf, sizeof(buf));

Expand Down Expand Up @@ -355,7 +359,7 @@ static void send_crtp_rpyt_packet()
send_packet();
}

/*static void send_crtp_cppm_emu_packet()
static void send_crtp_cppm_emu_packet()
{
struct CommanderPacketCppmEmu {
struct {
Expand All @@ -376,7 +380,7 @@ static void send_crtp_rpyt_packet()

// Make sure the number of aux channels in use is capped to MAX_CPPM_AUX_CHANNELS
// uint8_t numAuxChannels = Model.num_channels - 4;
uint8_t numAuxChannels = 2; // TODO: Figure this out correctly
uint8_t numAuxChannels = 4;
if(numAuxChannels > MAX_CPPM_AUX_CHANNELS)
{
numAuxChannels = MAX_CPPM_AUX_CHANNELS;
Expand All @@ -385,16 +389,16 @@ static void send_crtp_rpyt_packet()
cpkt.hdr.numAuxChannels = numAuxChannels;

// Remap AETR to AERT (RPYT)
cpkt.channelRoll = convert_channel_16b_limit(AILERON,1000,2000);
cpkt.channelRoll = convert_channel_16b_limit(AILERON,2000,1000);
cpkt.channelPitch = convert_channel_16b_limit(ELEVATOR,1000,2000);
// Note: T & R Swapped:
cpkt.channelYaw = convert_channel_16b_limit(RUDDER, 1000, 2000);
cpkt.channelThrust = convert_channel_16b_limit(THROTTLE, 1000, 2000);

// Rescale the rest of the aux channels - RC channel 4 and up
for (uint8_t i = 4; i < 14; i++)
for (uint8_t i = 0; i < 10; i++)
{
cpkt.channelAux[i] = convert_channel_16b_limit(i, 1000, 2000);
cpkt.channelAux[i] = convert_channel_16b_limit(i+4, 2000, 1000);
}

// Total size of the commander packet is a 1-byte header, 4 2-byte channels and
Expand All @@ -409,25 +413,19 @@ static void send_crtp_rpyt_packet()
memcpy(&packet[2], (char*)&cpkt, commanderPacketSize); // Why not use sizeof(cpkt) here??
tx_payload_len = 2 + commanderPacketSize; // CRTP header, commander type, and packet
send_packet();
}*/
}

static void send_cmd_packet()
{
// TODO: Fix this so we can actually configure the packet type
// switch(Model.proto_opts[PROTOOPTS_CRTP_MODE])
// {
// case CRTP_MODE_CPPM:
// send_crtp_cppm_emu_packet();
// break;
// case CRTP_MODE_RPYT:
// send_crtp_rpyt_packet();
// break;
// default:
// send_crtp_rpyt_packet();
// }

// send_crtp_cppm_emu_packet(); // oh maAAAn
send_crtp_rpyt_packet();
#if defined(CFLIE_USE_CRTP_RPYT)
{
send_crtp_rpyt_packet();
}
#else
{
send_crtp_cppm_emu_packet();
}
#endif
}

// State machine for setting up CRTP logging
Expand Down Expand Up @@ -791,55 +789,45 @@ static uint8_t CFLIE_initialize_rx_tx_addr()
rx_tx_addr[0] =
rx_tx_addr[1] =
rx_tx_addr[2] =
rx_tx_addr[3] =
rx_tx_addr[4] = 0xE7; // CFlie uses fixed address

// if (Model.fixed_id) {
// rf_ch_num = Model.fixed_id % 100;
// switch (Model.fixed_id / 100) {
// case 0:
// data_rate = NRF24L01_BR_250K;
// break;
// case 1:
// data_rate = NRF24L01_BR_1M;
// break;
// case 2:
// data_rate = NRF24L01_BR_2M;
// break;
// default:
// break;
// }

// if (Model.proto_opts[PROTOOPTS_TELEMETRY] == TELEM_ON_CRTPLOG) {
// return CFLIE_INIT_CRTP_LOG;
// } else {
// return CFLIE_INIT_DATA;
// }
// } else {
// data_rate = NRF24L01_BR_250K;
// rf_ch_num = 10;
// return CFLIE_INIT_SEARCH;
// }

// Default 1
data_rate = NRF24L01_BR_1M;
rf_ch_num = 10;

// Default 2
// data_rate = NRF24L01_BR_2M;
// rf_ch_num = 110;
rx_tx_addr[3] = 0xE7;

unsigned x10 = (RX_num / 10U) % 10;
unsigned x1 = RX_num - x10*10;

switch (sub_protocol) {
case CFLIE_2Mbps:
data_rate = NRF24L01_BR_2M;
rf_ch_num = option; // "RF channel" in the transmitter <0, 125>
rx_tx_addr[4] = x10*16 + x1; // "Receiver" in the transmitter <0, 63>
break;
case CFLIE_1Mbps:
data_rate = NRF24L01_BR_1M;
rf_ch_num = option; // "RF channel" in the transmitter <0, 125>
rx_tx_addr[4] = x10*16 + x1; // "Receiver" in the transmitter <0, 63>
break;
case CFLIE_250kbps:
data_rate = NRF24L01_BR_250K;
rf_ch_num = option; // "RF channel" in the transmitter <0, 125>
rx_tx_addr[4] = x10*16 + x1; // "Receiver" in the transmitter <0, 63>
break;
default:
data_rate = NRF24L01_BR_2M;
rf_ch_num = 80;
rx_tx_addr[4] = 0xE7; // CFlie uses fixed address
}

return CFLIE_INIT_SEARCH;
}

void CFLIE_init(void)
{
BIND_IN_PROGRESS; // autobind protocol

phase = CFLIE_initialize_rx_tx_addr();
crtp_log_setup_state = CFLIE_CRTP_LOG_SETUP_STATE_INIT;
packet_count=0;
phase = CFLIE_initialize_rx_tx_addr();
crtp_log_setup_state = CFLIE_CRTP_LOG_SETUP_STATE_INIT;
packet_count=0;

CFLIE_RF_init();
CFLIE_RF_init();
}

#endif
#endif
5 changes: 3 additions & 2 deletions Multiprotocol/Multi_Protos.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,7 @@ const char STR_SUBTYPE_MOULKG[] = "\x06""Analog""Digit\0";
const char STR_SUBTYPE_KF606[] = "\x06""KF606\0""MIG320""ZCZ50\0";
const char STR_SUBTYPE_E129[] = "\x04""E129""C186";
const char STR_SUBTYPE_FX[] = "\x04""816\0""620\0""9630";
const char STR_SUBTYPE_CFLIE[] = "\x07""Default""2Mbps\0 ""1Mbps\0 ""250kbps";
#define NO_SUBTYPE nullptr

#ifdef SEND_CPPM
Expand Down Expand Up @@ -227,7 +228,7 @@ const mm_protocol_definition multi_protocols[] = {
{PROTO_CABELL, STR_CABELL, STR_SUBTYPE_CABELL, 8, OPTION_OPTION, 0, 0, SW_NRF, CABELL_init, CABELL_callback },
#endif
#if defined(CFLIE_NRF24L01_INO)
{PROTO_CFLIE, STR_CFLIE, NO_SUBTYPE, 0, OPTION_NONE, 0, 0, SW_NRF, CFLIE_init, CFLIE_callback }, // review protocol
{PROTO_CFLIE, STR_CFLIE, STR_SUBTYPE_CFLIE, 4, OPTION_RFCHAN, 0, 0, SW_NRF, CFLIE_init, CFLIE_callback }, // review protocol
#endif
#if defined(CG023_NRF24L01_INO)
{PROTO_CG023, STR_CG023, STR_SUBTYPE_CG023, 2, OPTION_NONE, 0, 0, SW_NRF, CG023_init, CG023_callback },
Expand Down Expand Up @@ -553,4 +554,4 @@ uint16_t PROTOLIST_callback()
}
return 1000;
}
#endif
#endif
7 changes: 7 additions & 0 deletions Multiprotocol/Multiprotocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -463,6 +463,13 @@ enum FX
FX620 = 1,
FX9630 = 2,
};
enum CFLIE
{
CFLIE_DEFAULT = 0,
CFLIE_2Mbps = 1,
CFLIE_1Mbps = 2,
CFLIE_250kbps = 3,
};

#define NONE 0
#define P_HIGH 1
Expand Down
13 changes: 8 additions & 5 deletions Multiprotocol/_Config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@
#define BAYANG_RX_NRF24L01_INO
#define BUGSMINI_NRF24L01_INO
#define CABELL_NRF24L01_INO
//#define CFLIE_NRF24L01_INO
#define CFLIE_NRF24L01_INO
#define CG023_NRF24L01_INO
#define CX10_NRF24L01_INO //Include Q2X2 protocol
#define DM002_NRF24L01_INO
Expand All @@ -230,9 +230,9 @@
#define ESKY150_NRF24L01_INO
#define FQ777_NRF24L01_INO
#define FX_NRF24L01_INO
#define FY326_NRF24L01_INO
#define GW008_NRF24L01_INO
#define HISKY_NRF24L01_INO
//#define FY326_NRF24L01_INO
//#define GW008_NRF24L01_INO
//#define HISKY_NRF24L01_INO
#define HONTAI_NRF24L01_INO
#define H8_3D_NRF24L01_INO
#define JJRC345_NRF24L01_INO
Expand Down Expand Up @@ -576,7 +576,10 @@ const PPM_Parameters PPM_prot[14*NBR_BANKS]= {
CABELL_SET_FAIL_SAFE
CABELL_UNBIND
PROTO_CFLIE
NONE
CFLIE_DEFAULT
CFLIE_2Mbps
CFLIE_1Mbps
CFLIE_250kbps
PROTO_CG023
CG023
YD829
Expand Down