GW008 protocol addition

Protocol number: 32
No sub_protocol

Multiprotocol/GW008_nrf24l01.ino

@@ -0,0 +1,157 @@
+/*
+ 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/>.
+ */
+// Compatible with Global Drone GW008 protocol.
+// There are 3 versions of this small quad, this protocol is for the one with a XNS104 IC in the stock Tx and PAN159CY IC in the quad (SOCs with built-in xn297 compatible RF).
+// The xn297 version is compatible with the CX10 protocol (green pcb).
+// The LT8910 version is not supported yet.
+
+#if defined(GW008_NRF24L01_INO)
+
+#include "iface_nrf24l01.h"
+
+#define GW008_INITIAL_WAIT    500
+#define GW008_PACKET_PERIOD   2400
+#define GW008_RF_BIND_CHANNEL 2
+#define GW008_PAYLOAD_SIZE    15
+
+enum {
+	GW008_BIND1,
+	GW008_BIND2,
+	GW008_DATA
+};
+
+static void __attribute__((unused)) send_packet(uint8_t bind)
+{
+	packet[0] = rx_tx_addr[0];
+	if(bind)
+	{
+		packet[1] = 0x55;
+		packet[2] = hopping_frequency[0];
+		packet[3] = hopping_frequency[1];
+		packet[4] = hopping_frequency[2];
+		packet[5] = hopping_frequency[3];
+		memset(&packet[6], 0, 7);
+		packet[13] = 0xaa;
+	}
+	else
+	{
+		packet[1] = 0x01 | GET_FLAG(AUX1, 0x40); // flip
+		packet[2] = convert_channel_8b_scale(AILERON , 200, 0); // aileron
+		packet[3] = convert_channel_8b_scale(ELEVATOR, 0, 200); // elevator
+		packet[4] = convert_channel_8b_scale(RUDDER  , 200, 0); // rudder
+		packet[5] = convert_channel_8b_scale(THROTTLE, 0, 200); // throttle
+		packet[6] = 0xaa;
+		packet[7] = 0x02; // max rate
+		packet[8] = 0x00;
+		packet[9] = 0x00;
+		packet[10]= 0x00;
+		packet[11]= 0x00;
+		packet[12]= 0x00;
+		packet[13]= rx_tx_addr[2];
+	}
+	packet[14] = rx_tx_addr[1];
+
+	// Power on, TX mode, CRC enabled
+	XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
+	NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? GW008_RF_BIND_CHANNEL : hopping_frequency[(hopping_frequency_no++)/2]);
+	hopping_frequency_no %= 8;
+
+	NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
+	NRF24L01_FlushTx();
+	XN297_WriteEnhancedPayload(packet, GW008_PAYLOAD_SIZE, 0, 0x3c7d);
+
+	NRF24L01_SetPower();	// Set tx_power
+}
+
+static void __attribute__((unused)) GW008_init()
+{
+	NRF24L01_Initialize();
+	NRF24L01_SetTxRxMode(TX_EN);
+	XN297_SetTXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", 5);
+	XN297_SetRXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", 5);
+	NRF24L01_FlushTx();
+	NRF24L01_FlushRx();
+	NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);     // Clear data ready, data sent, and retransmit
+	NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00);      // No Auto Acknowldgement on all data pipes
+	NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);
+	NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, GW008_PAYLOAD_SIZE+2); // payload + 2 bytes for pcf
+	NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
+	NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
+	NRF24L01_SetBitrate(NRF24L01_BR_1M);
+	NRF24L01_SetPower();
+	NRF24L01_Activate(0x73);                         // Activate feature register
+	NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00);      // Disable dynamic payload length on all pipes
+	NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01);    // Set feature bits on
+	NRF24L01_Activate(0x73);
+}
+
+static void __attribute__((unused)) GW008_initialize_txid()
+{
+	uint32_t lfsr = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
+    for(uint8_t i=0; i<4; i++)
+        hopping_frequency[i] = 0x10 + ((lfsr >> (i*8)) % 0x37);
+}
+
+uint16_t GW008_callback()
+{
+	switch(phase)
+	{
+		case GW008_BIND1:
+			if((NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) &&	// RX fifo data ready
+				XN297_ReadEnhancedPayload(packet, GW008_PAYLOAD_SIZE) == GW008_PAYLOAD_SIZE &&	// check payload size
+				packet[0] == rx_tx_addr[0] && packet[14] == rx_tx_addr[1])			// check tx id
+			{
+				NRF24L01_SetTxRxMode(TXRX_OFF);
+				NRF24L01_SetTxRxMode(TX_EN);
+				rx_tx_addr[2] = packet[13];
+				BIND_DONE;
+				phase = GW008_DATA;
+			}
+			else
+			{
+				NRF24L01_SetTxRxMode(TXRX_OFF);
+				NRF24L01_SetTxRxMode(TX_EN);
+				send_packet(1);
+				phase = GW008_BIND2;
+				return 300;
+			}
+			break;
+		case GW008_BIND2:
+			// switch to RX mode
+			NRF24L01_SetTxRxMode(TXRX_OFF);
+			NRF24L01_FlushRx();
+			NRF24L01_SetTxRxMode(RX_EN);
+			XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) 
+						| _BV(NRF24L01_00_PWR_UP) | _BV(NRF24L01_00_PRIM_RX)); 
+			phase = GW008_BIND1;
+			return 5000;
+			break;
+		case GW008_DATA:
+			send_packet(0);
+			break;
+	}
+	return GW008_PACKET_PERIOD;
+}
+
+uint16_t initGW008()
+{
+	GW008_initialize_txid();
+	phase = GW008_BIND1;
+	GW008_init();
+	hopping_frequency_no = 0;
+	return GW008_INITIAL_WAIT;
+}
+
+#endif