From c63b4b3ed0f8c1ade6b90234f278accc62f40e0a Mon Sep 17 00:00:00 2001 From: midelic Date: Mon, 19 Sep 2016 21:34:48 +0100 Subject: [PATCH] Add new protocol --- Multiprotocol/Hontai_nrf24l01.ino | 247 ++++++++++++++++++++++++++++++ 1 file changed, 247 insertions(+) create mode 100644 Multiprotocol/Hontai_nrf24l01.ino diff --git a/Multiprotocol/Hontai_nrf24l01.ino b/Multiprotocol/Hontai_nrf24l01.ino new file mode 100644 index 0000000..08ce83a --- /dev/null +++ b/Multiprotocol/Hontai_nrf24l01.ino @@ -0,0 +1,247 @@ +/* + 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 . + */ + +#if defined(HONTAI_NRF24L01_INO) + +#include "iface_nrf24l01.h" + +#define HONTAI_BIND_COUNT 80 +#define HONTAI_PACKET_PERIOD 13500 + +#define HONTAI_INITIAL_WAIT 500 +#define HONTAI_BIND_HONTAI_PACKET_SIZE 10 +#define HONTAI_PACKET_SIZE 12 +#define HONTAI_RF_BIND_CHANNEL 0 + +enum{ + HONTAI_FLAG_FLIP = 0x01, + HONTAI_FLAG_PICTURE = 0x02, + HONTAI_FLAG_VIDEO = 0x04, + HONTAI_FLAG_HEADLESS = 0x08, + HONTAI_FLAG_RTH = 0x10, + HONTAI_FLAG_CALIBRATE = 0x20, +}; + +// proudly swiped from http://www.drdobbs.com/implementing-the-ccitt-cyclical-redundan/199904926 +#define HONTAI_POLY 0x8408 +static void __attribute__((unused)) crc16(uint8_t *data_p, uint8_t length) +{ + uint16_t crc = 0xffff; + + length -= 2; + do + { + for (uint8_t i = 0, data = (uint8_t)*data_p++; + i < 8; + i++, data >>= 1) + { + if ((crc & 0x01) ^ (data & 0x01)) + crc = (crc >> 1) ^ HONTAI_POLY; + else + crc >>= 1; + } + } while (--length); + + crc = ~crc; + *data_p++ = crc & 0xff; + *data_p = crc >> 8; +} + +static void __attribute__((unused)) HONTAI_send_packet(uint8_t bind) +{ + uint8_t packet_size; + if (bind) + { + memcpy(packet, rx_tx_addr, 5); + memset(&packet[5], 0, 3); + packet_size=HONTAI_BIND_HONTAI_PACKET_SIZE; + } + else + { + if(sub_protocol == FORMAT_JJRCX1) + packet[0] = GET_FLAG(Servo_AUX2, 0x02); // Arm + else + packet[0] = 0x0b; + + packet[1] = 0x00; + packet[2] = 0x00; + packet[3] = (convert_channel_8b_scale(THROTTLE, 0, 127) << 1) // Throttle + | GET_FLAG(Servo_AUX3, 0x01); // Picture + packet[4] = convert_channel_8b_scale(AILERON, 63, 0); // Aileron + if(sub_protocol == FORMAT_HONTAI) + { + packet[4] |= GET_FLAG(Servo_AUX6, 0x80) // RTH + | GET_FLAG(Servo_AUX5, 0x40); // Headless + } + else + { + packet[4] |= 0x80; // not sure what this bit does + if (sub_protocol == FORMAT_X5C1) + packet[4] |= GET_FLAG(Servo_AUX2, 0x40); // Lights (X5C1) + } + packet[5] = convert_channel_8b_scale(ELEVATOR, 0, 63) // Elevator + | GET_FLAG(Servo_AUX7, 0x80) // Calibrate + | GET_FLAG(Servo_AUX1, 0x40); // Flip + packet[6] = convert_channel_8b_scale(RUDDER, 0, 63) // Rudder + | GET_FLAG(Servo_AUX4, 0x80); // Video + if(sub_protocol == FORMAT_X5C1) + packet[7] = convert_channel_8b_scale(AILERON, 0, 63)-31; // Aileron trim + else + packet[7] = convert_channel_8b_scale(AILERON, 0, 32)-16; // Aileron trim + if(sub_protocol == FORMAT_HONTAI) + packet[8] = convert_channel_8b_scale(RUDDER, 0, 32)-16; // Rudder trim + else + { + packet[8] = 0xc0 // Always in expert mode + | GET_FLAG(Servo_AUX6, 0x02) // RTH + | GET_FLAG(Servo_AUX5, 0x01); // Headless + } + if (sub_protocol == FORMAT_X5C1) + packet[9] = convert_channel_8b_scale(ELEVATOR, 0, 63)-31; // Elevator trim + else + packet[9] = convert_channel_8b_scale(ELEVATOR, 0, 32)-16; // Elevator trim + + packet_size=HONTAI_PACKET_SIZE; + } + crc16(packet, packet_size); + + // Power on, TX mode, 2byte CRC + if(sub_protocol == FORMAT_JJRCX1) + NRF24L01_SetTxRxMode(TX_EN); + else + XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP)); + + NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? HONTAI_RF_BIND_CHANNEL : hopping_frequency[hopping_frequency_no++]); + hopping_frequency_no %= 3; + + NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); + NRF24L01_FlushTx(); + + if(sub_protocol == FORMAT_JJRCX1) + NRF24L01_WritePayload(packet, packet_size); + else + XN297_WritePayload(packet, packet_size); + + NRF24L01_SetPower(); +} + +static void __attribute__((unused)) HONTAI_init() +{ + NRF24L01_Initialize(); + + NRF24L01_SetTxRxMode(TX_EN); + + if(sub_protocol == FORMAT_JJRCX1) + NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t*)"\xd2\xb5\x99\xb3\x4a", 5); + else + XN297_SetTXAddr((const uint8_t*)"\xd2\xb5\x99\xb3\x4a", 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_SetBitrate(NRF24L01_BR_1M); // 1Mbps + NRF24L01_SetPower(); + NRF24L01_Activate(0x73); // Activate feature register + if(sub_protocol == FORMAT_JJRCX1) + { + NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0xff); // JJRC uses dynamic payload length + NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x3f); // match other stock settings even though AA disabled... + NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x07); + } + else + { + NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits + NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes + NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x00); + } + NRF24L01_Activate(0x73); // Deactivate feature register +} + +const uint8_t PROGMEM hopping_frequency_nonels[][3] = { + {0x05, 0x19, 0x28}, // Hontai + {0x0a, 0x1e, 0x2d}}; // JJRC X1 + +const uint8_t PROGMEM addr_vals[4][16] = { + {0x24, 0x26, 0x2a, 0x2c, 0x32, 0x34, 0x36, 0x4a, 0x4c, 0x4e, 0x54, 0x56, 0x5a, 0x64, 0x66, 0x6a}, + {0x92, 0x94, 0x96, 0x9a, 0xa4, 0xa6, 0xac, 0xb2, 0xb4, 0xb6, 0xca, 0xcc, 0xd2, 0xd4, 0xd6, 0xda}, + {0x93, 0x95, 0x99, 0x9b, 0xa5, 0xa9, 0xab, 0xad, 0xb3, 0xb5, 0xc9, 0xcb, 0xcd, 0xd3, 0xd5, 0xd9}, + {0x25, 0x29, 0x2b, 0x2d, 0x33, 0x35, 0x49, 0x4b, 0x4d, 0x59, 0x5b, 0x65, 0x69, 0x6b, 0x6d, 0x6e}}; + +static void __attribute__((unused)) HONTAI_init2() +{ + uint8_t data_tx_addr[5]; + + //TX address + data_tx_addr[0] = pgm_read_byte_near( &addr_vals[0][ rx_tx_addr[3] & 0x0f]); + data_tx_addr[1] = pgm_read_byte_near( &addr_vals[1][(rx_tx_addr[3] >> 4) & 0x0f]); + data_tx_addr[2] = pgm_read_byte_near( &addr_vals[2][ rx_tx_addr[4] & 0x0f]); + data_tx_addr[3] = pgm_read_byte_near( &addr_vals[3][(rx_tx_addr[4] >> 4) & 0x0f]); + data_tx_addr[4] = 0x24; + if(sub_protocol == FORMAT_JJRCX1) + NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, data_tx_addr, sizeof(data_tx_addr)); + else + XN297_SetTXAddr(data_tx_addr, sizeof(data_tx_addr)); + + //Hopping frequency table + for(uint8_t i=0;i<3;i++) + hopping_frequency[i]=pgm_read_byte_near( &hopping_frequency_nonels[sub_protocol == FORMAT_JJRCX1?1:0][i] ); + hopping_frequency_no=0; +} + +static void __attribute__((unused)) HONTAI_initialize_txid() +{ + rx_tx_addr[4] = rx_tx_addr[2]; + if(sub_protocol == FORMAT_HONTAI) + { + rx_tx_addr[0] = 0x4c; // first three bytes some kind of model id? - set same as stock tx + rx_tx_addr[1] = 0x4b; + rx_tx_addr[2] = 0x3a; + } + else + { + rx_tx_addr[0] = 0x4b; // JJRC X1 + rx_tx_addr[1] = 0x59; + rx_tx_addr[2] = 0x3a; + } +} + +uint16_t HONTAI_callback() +{ + if(bind_counter!=0) + { + HONTAI_send_packet(1); + bind_counter--; + if (bind_counter == 0) + { + HONTAI_init2(); + BIND_DONE; + } + } + else + HONTAI_send_packet(0); + + return HONTAI_PACKET_PERIOD; +} + +uint16_t initHONTAI() +{ + BIND_IN_PROGRESS; // autobind protocol + bind_counter = HONTAI_BIND_COUNT; + HONTAI_initialize_txid(); + HONTAI_init(); + return HONTAI_INITIAL_WAIT; +} +#endif