DIY-Multiprotocol-TX-Module/Multiprotocol/JIABAILE_nrf24l01.ino

/*
 This project is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

Multiprotocol is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
 */
#if defined(JIABAILE_NRF24L01_INO)

#include "iface_xn297.h"

//#define FORCE_JIABAILE_ORIGINAL_ID
//#define FORCE_JIABAILE_GYRO_ORIGINAL_ID

#define JIABAILE_PAYLOAD_SIZE			8
#define JIABAILE_RX_PAYLOAD_SIZE		7
#define JIABAILE_RF_NUM_CHANNELS		3
#define JIABAILE_BIND_PACKET_PERIOD		12700
#define JIABAILE_PACKET_PERIOD			2408
#define JIABAILE_GYRO_PACKET_PERIOD		8205
#define JIABAILE_BIND_COUNT				160		//2 sec
#define JIABAILE_WRITE_TIME				1000

enum {
	JIABAILE_BIND=0,
	JIABAILE_RX,
	JIABAILE_PREP_DATA,
	JIABAILE_DATA,
};

static uint8_t __attribute__((unused)) JIABAILE_channel(uint8_t num)
{
	uint8_t val=convert_channel_16b_limit(num,0,100);
	if(val > 50+num)
	{
		packet[3] |= 0x01;
		return val-50;
	}
	if(val < 50-num)
	{
		packet[3] |= 0x02;
		return 50-val;
	}
	return 0;
}

static void __attribute__((unused)) JIABAILE_send_packet()
{
	if(!(sub_protocol == JIABAILE_GYRO && IS_BIND_IN_PROGRESS))
	{
		hopping_frequency_no++;
		if(hopping_frequency_no > 2)
			hopping_frequency_no = 0;
		XN297_Hopping(hopping_frequency_no);
	}

	if(sub_protocol == JIABAILE_STD)
	{//Std
		memcpy(packet,rx_tx_addr,3);
		memset(&packet[3], 0x00, 4);
		if(IS_BIND_DONE)
		{//Normal
			packet[4] = convert_channel_16b_limit(RUDDER,0,50)-25;	//ST Trim
			packet[6] = JIABAILE_channel(AILERON);					//ST
			packet[3] ^= 0x03;										//Reverse ST channel
			packet[3] <<= 2;										//Move ST channel where it should be
			packet[5] = JIABAILE_channel(ELEVATOR);					//TH
			packet[3] |= GET_FLAG(CH5_SW,  0x20)					//Low speed
						|GET_FLAG(CH7_SW,  0x40)					//Flash light
						|GET_FLAG(!CH6_SW,  0x80);					//Light
			if(!CH5_SW && Channel_data[CH5] > CHANNEL_MIN_COMMAND)
				packet[3] |= 0x10;									//Mid speed
		}
		else
		{
			bind_counter--;
			if(!bind_counter)
			{
				BIND_DONE;
				phase = JIABAILE_PREP_DATA;
			}
		}
		packet[7] = 0x55 + hopping_frequency[hopping_frequency_no];
		for(uint8_t i=0;i<JIABAILE_PAYLOAD_SIZE-1;i++)
			packet[7] += packet[i];
	}
	else
	{//Gyro
		if(bind_counter)
		{
			bind_counter--;
			if(!bind_counter)
			{
				BIND_DONE;
				XN297_SetTXAddr(rx_tx_addr, 4);
			}
		}
		uint8_t crc_pos;
		if(IS_BIND_IN_PROGRESS)
		{
			memcpy(packet,rx_tx_addr,4);
			packet[4] = hopping_frequency[1];
			packet[5] = hopping_frequency[2];
			crc_pos = 6;
			packet[7] = 0x55;
		}
		else
		{
			packet[0] = convert_channel_16b_limit(CH2,0x60,0xA0);	//Throttle
			packet[1] = convert_channel_16b_limit(CH1,0x40,0xC0);	//Steering
			if(Channel_data[CH5] < CHANNEL_MIN_COMMAND)
				packet[2] = 0x02;										//High speed
			else if(CH5_SW)
				packet[2] = 0x00;										//Low speed
			else
				packet[2] = 0x01;										//Mid speed
			packet[3] = convert_channel_8b(CH3) ^0xFF;					//Gyro
			uint8_t val = GET_FLAG(CH6_SW,  0x04)						//Light
						 |GET_FLAG(CH7_SW,  0x08);						//Flash
			if(Channel_data[CH4] > CHANNEL_MAX_COMMAND)
				val |= 0x01;											//Trim right
			else if(Channel_data[CH4] < CHANNEL_MIN_COMMAND)
				val |= 0x02;											//Trim left
			packet[4] = val;
			packet[5] = packet[6] = 0x00;								//?
			crc_pos = 7;
		}
		uint8_t sum=0;
		for(uint8_t i=0; i<crc_pos; i++)
			sum += packet[i];
		sum ^= 0xFF;
		packet[crc_pos] = sum;	
	}
	
	// Send
	XN297_SetPower();
	XN297_SetTxRxMode(TX_EN);
	XN297_WritePayload(packet, JIABAILE_PAYLOAD_SIZE);
	#if 0
		debug("B%d ",bind_counter);
		debug("H%d RF%d",hopping_frequency_no,hopping_frequency[hopping_frequency_no]);
		for(uint8_t i=0; i < JIABAILE_PAYLOAD_SIZE; i++)
			debug(" %02X", packet[i]);
		debugln();
	#endif
}

static void __attribute__((unused)) JIABAILE_initialize_txid()
{
	if(sub_protocol == JIABAILE_STD)
	{//Std
		rx_tx_addr[0] = rx_tx_addr[3];
		#ifdef FORCE_JIABAILE_ORIGINAL_ID
			memcpy(rx_tx_addr,(uint8_t *)"\xCB\x03\xA5",3);
			//memcpy(rx_tx_addr,(uint8_t *)"\x3D\x08\xA2",3);
			//Normal frequencies are calculated from the car ID...
			//memcpy(&hopping_frequency[3],(uint8_t *)"\x23\x2D\x4B",3);	//35,45,75
			memcpy(&hopping_frequency[3],(uint8_t *)"\x24\x43\x4C",3);	//36,67,76
		#endif
		//Bind frequencies
		memcpy(hopping_frequency,(uint8_t *)"\x07\x27\x45",3);	//7,39,69
	}
	else
	{//Gyro
		rx_tx_addr[0] += RX_num;
		uint8_t val = (rx_tx_addr[0] & 0x0F) + 5;	//5..20
		for(uint8_t i=0; i<3; i++)
			hopping_frequency[i] = val+ 20*i;		//hopping_frequency[1,2] could be whatever but...
		#ifdef FORCE_JIABAILE_GYRO_ORIGINAL_ID
			if(RX_num)
			{
				memcpy(rx_tx_addr,(uint8_t *)"\x7D\x82\x28\xC2",4);
				memcpy(hopping_frequency,(uint8_t *)"\x12\x1B\x35",3);	//18,27,53
			}
			else
			{
				memcpy(rx_tx_addr,(uint8_t *)"\x0C\xF3\x59\xB3",4);
				memcpy(hopping_frequency,(uint8_t *)"\x11\x1C\x36",3);	//17,28,54
			}
		#endif
		debugln("ID: %02X %02X %02X %02X, HOP: %2d %2d %2d",rx_tx_addr[0],rx_tx_addr[1],rx_tx_addr[2],rx_tx_addr[3],hopping_frequency[0],hopping_frequency[1],hopping_frequency[2]);
	}
}

static void __attribute__((unused)) JIABAILE_RF_init()
{
	XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M);
	//Bind address
	if(sub_protocol == JIABAILE_STD)
	{//Std
		memcpy(rx_id,(uint8_t*)"\xA7\x07\x57\xA7\x26", 5);
		XN297_SetTXAddr(rx_id, 5);
		XN297_SetRXAddr(rx_id, JIABAILE_RX_PAYLOAD_SIZE);
	}
	else
	{//Gyro
		XN297_SetTXAddr((uint8_t*)"\x14\x41\x11\x13", 4);
		XN297_RFChannel(0x29);	//41
	}
}

uint16_t JIABAILE_callback()
{
	uint8_t sum;
	uint16_t addr;

	switch(phase)
	{
		case JIABAILE_BIND:
			phase++;		// JIABAILE_RX but is overwritten if RX or bind timeout
			if(XN297_IsRX())
			{
				if(XN297_ReadPayload(packet_in, JIABAILE_RX_PAYLOAD_SIZE))
				{//CRC OK
					#ifdef DEBUG_SERIAL
						debug("RX");
						for(uint8_t i=0; i < JIABAILE_RX_PAYLOAD_SIZE; i++)
							debug(" %02X", packet_in[i]);
						debugln();
					#endif
					//RX: CB 03 A5 9D 05 A2 68
					if(memcmp(packet_in,rx_tx_addr,3)==0)
					{//TX ID match
						//Check packet
						sum=0xAA + hopping_frequency[hopping_frequency_no];
						for(uint8_t i=0; i < JIABAILE_RX_PAYLOAD_SIZE-1; i++)
							sum+=packet_in[i];
						if(sum==packet_in[6])
						{
							//Write the RXID
							#ifdef DEBUG_SERIAL
								debug("RXID ");
								for(uint8_t i=0; i < 3; i++)
									debug(" %02X", packet_in[3+i]);
								debugln();
							#endif
							addr=JIABAILE_EEPROM_OFFSET+RX_num*3;
							for(uint8_t i=0;i<3;i++)
								eeprom_write_byte((EE_ADDR)(addr+i),packet_in[3+i]);
							//Switch to normal mode
							BIND_DONE;
							phase = JIABAILE_PREP_DATA;
						}
			#ifdef DEBUG_SERIAL
						else
							debug("Wrong Sum");
					}
					else
						debug("Wrong TX ID");
				}
				else
					debug("Bad CRC");
				debugln("");
			#else
					}
				}
			#endif
			}
			XN297_SetTxRxMode(TXRX_OFF);
			JIABAILE_send_packet();
			return JIABAILE_WRITE_TIME;
		case JIABAILE_RX:
			//Wait for the packet transmission to finish
			while(XN297_IsPacketSent()==false);
			//Switch to RX
			XN297_SetTxRxMode(TXRX_OFF);
			XN297_SetTxRxMode(RX_EN);
			phase = JIABAILE_BIND;
			return JIABAILE_BIND_PACKET_PERIOD - JIABAILE_WRITE_TIME;
		case JIABAILE_PREP_DATA:
			//Read the RXID
			addr=JIABAILE_EEPROM_OFFSET+RX_num*3;
			for(uint8_t i=0;i<3;i++)
				rx_id[i+1] = eeprom_read_byte((EE_ADDR)(addr+i));
			#ifdef DEBUG_SERIAL
				debug("RXID ");
				for(uint8_t i=0; i < 3; i++)
					debug(" %02X", rx_id[i+1]);
			#endif
			XN297_SetTxRxMode(TXRX_OFF);
			XN297_SetTXAddr(rx_id, 5);
			//Set the normal frequencies
			sum=rx_id[1]&0x07;
			hopping_frequency[0] = (sum>4?30:8) + sum;
			if(sum==4 || sum ==7)
				hopping_frequency[0]++;
			hopping_frequency[1] = 40 + sum;
			if((sum & 0x06) == 0x06)
				hopping_frequency[1] += 21;
			hopping_frequency[2] = 70 + sum;
			#ifdef DEBUG_SERIAL
				debug(" RF");
				for(uint8_t i=0; i < 3; i++)
					debug(" %d", hopping_frequency[i]);
				debugln();
			#endif
			phase++;
		default:	//JIABAILE_DATA
			#ifdef MULTI_SYNC
				telemetry_set_input_sync(packet_period);
			#endif
			JIABAILE_send_packet();
			break;
	}
	return packet_period;
}

void JIABAILE_init()
{
	JIABAILE_initialize_txid();
	JIABAILE_RF_init();
	if(sub_protocol == JIABAILE_STD)
	{//Std
		if(IS_BIND_IN_PROGRESS)
		{
			phase = JIABAILE_BIND;
			bind_counter = JIABAILE_BIND_COUNT;
		}
		else
			phase = JIABAILE_PREP_DATA;
		packet_period = JIABAILE_PACKET_PERIOD;
	}
	else
	{//Gyro
		phase = JIABAILE_DATA;
		bind_counter = IS_BIND_IN_PROGRESS?JIABAILE_BIND_COUNT>>2:1;
		packet_period = JIABAILE_GYRO_PACKET_PERIOD;
	}	
	hopping_frequency_no = 0;
}

#endif
/*
// CAR RX debug code

static void __attribute__((unused)) JIABAILE_RF_init()
{
	XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M);
	//Bind address
	memcpy(rx_id,(uint8_t*)"\xA7\x07\x57\xA7\x26", 5);
	XN297_SetTXAddr(rx_id, 5);
	XN297_SetRXAddr(rx_id, JIABAILE_PAYLOAD_SIZE);
	XN297_RFChannel(7);
	rx_tx_addr[0] = 0x00;
	rx_tx_addr[1] = RX_num;
	rx_tx_addr[2] = 0x00;
}

uint16_t JIABAILE_callback()
{
	switch(phase)
	{
		case JIABAILE_BIND:
			if(XN297_IsRX())
			{
				if(XN297_ReadPayload(packet_in, JIABAILE_PAYLOAD_SIZE))
				{//CRC OK
					XN297_SetTxRxMode(TXRX_OFF);
					#ifdef DEBUG_SERIAL
						debug("RX Bind");
						for(uint8_t i=0; i < JIABAILE_PAYLOAD_SIZE; i++)
							debug(" %02X", packet_in[i]);
						debugln();
					#endif
					memcpy(packet,packet_in,3);
					memcpy(&packet[3],rx_tx_addr,3);
					packet[6]=0xAA + 7;
					for(uint8_t i=0; i < JIABAILE_RX_PAYLOAD_SIZE-1; i++)
						packet[6]+=packet[i];
					XN297_SetTxRxMode(TX_EN);
					memcpy(&rx_id[1],rx_tx_addr,3);
					bind_counter = 10;
					phase = JIABAILE_RX;
				}
			}
			return JIABAILE_WRITE_TIME;
		case JIABAILE_RX:
			if(bind_counter)
			{
				bind_counter--;
				XN297_WritePayload(packet, JIABAILE_RX_PAYLOAD_SIZE);
				#ifdef DEBUG_SERIAL
					debug("TX Bind");
					for(uint8_t i=0; i < JIABAILE_RX_PAYLOAD_SIZE; i++)
						debug(" %02X", packet[i]);
					debugln();
				#endif
				return JIABAILE_PACKET_PERIOD;
			}
			//Wait for the packet transmission to finish
			//while(XN297_IsPacketSent()==false);
			//Switch to RX
			XN297_SetTxRxMode(TXRX_OFF);
			XN297_SetRXAddr(rx_id, JIABAILE_PAYLOAD_SIZE);
			hopping_frequency_no++;
			if(hopping_frequency_no>84)
				hopping_frequency_no = 0;
			debug(".");
			XN297_RFChannel(hopping_frequency_no);
			XN297_SetTxRxMode(RX_EN);
			phase = JIABAILE_DATA;
			return JIABAILE_BIND_PACKET_PERIOD;
		case JIABAILE_DATA:
			if(XN297_IsRX())
			{
				debugln("");
				if(XN297_ReadPayload(packet_in, JIABAILE_PAYLOAD_SIZE))
				{//CRC OK
					#ifdef DEBUG_SERIAL
						debug("CH=%d=%02X P:",hopping_frequency_no,hopping_frequency_no);
						for(uint8_t i=0; i < JIABAILE_PAYLOAD_SIZE; i++)
							debug(" %02X", packet_in[i]);
					#endif
					//Check packet
					uint8_t sum=0x55 + hopping_frequency_no;
					for(uint8_t i=0; i < JIABAILE_PAYLOAD_SIZE-1; i++)
						sum+=packet_in[i];
					if(sum==packet_in[7])
					{
						debug("Good channel");
					}
					else
						debug("Wrong Sum");
				}
				else
					debug("Bad CRC");
				debugln("");
			}
			phase = JIABAILE_RX;
			break;
	}
	return JIABAILE_PACKET_PERIOD;
}

void JIABAILE_init()
{
	JIABAILE_RF_init();
	XN297_SetTxRxMode(TXRX_OFF);
	XN297_SetTxRxMode(RX_EN);
	phase = JIABAILE_BIND;
	hopping_frequency_no = 7;
}
*/