/*
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 Cheerson CX-10 blue & newer red pcb, CX-10A, CX11, CX-10 green pcb, DM007, Floureon FX-10, JXD 509 (Q282), Q222, Q242 and Q282
// Last sync with hexfet new_protocols/cx10_nrf24l01.c dated 2015-11-26
#if defined(CX10_NRF24L01_INO)
#include "iface_nrf24l01.h"
#define CX10_BIND_COUNT 4360 // 6 seconds
#define CX10_PACKET_SIZE 15
#define CX10A_PACKET_SIZE 19 // CX10 blue board packets have 19-byte payload
#define Q2X2_PACKET_SIZE 21
#define CX10_PACKET_PERIOD 1316 // Timeout for callback in uSec
#define CX10A_PACKET_PERIOD 6000
#define CX10_INITIAL_WAIT 500
// flags
#define CX10_FLAG_FLIP 0x10 // goes to rudder channel
#define CX10_FLAG_MODE_MASK 0x03
#define CX10_FLAG_HEADLESS 0x04
// flags2
#define CX10_FLAG_VIDEO 0x02
#define CX10_FLAG_SNAPSHOT 0x04
// frequency channel management
#define CX10_RF_BIND_CHANNEL 0x02
#define CX10_NUM_RF_CHANNELS 4
enum {
CX10_BIND1 = 0,
CX10_BIND2,
CX10_DATA
};
static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
{
uint8_t offset = 0;
if(sub_protocol == CX10_BLUE)
offset = 4;
packet[0] = bind ? 0xAA : 0x55;
packet[1] = rx_tx_addr[0];
packet[2] = rx_tx_addr[1];
packet[3] = rx_tx_addr[2];
packet[4] = rx_tx_addr[3];
// packet[5] to [8] (aircraft id) is filled during bind for blue board
uint16_t aileron= convert_channel_16b_limit(AILERON ,1000,2000);
uint16_t elevator=convert_channel_16b_limit(ELEVATOR,2000,1000);
uint16_t throttle=convert_channel_16b_limit(THROTTLE,1000,2000);
uint16_t rudder= convert_channel_16b_limit(RUDDER ,2000,1000);
// Channel 5 - flip flag
packet[12+offset] = GET_FLAG(CH5_SW,CX10_FLAG_FLIP); // flip flag applied on rudder
// Channel 6 - rate mode is 2 lsb of packet 13
if(CH6_SW) // rate 3 / headless on CX-10A
flags = 0x02;
else
if(Channel_data[CH6] < CHANNEL_MIN_COMMAND)
flags = 0x00; // rate 1
else
flags = 0x01; // rate 2
uint8_t flags2=0; // packet 14
uint8_t video_state=packet[14] & 0x21;
switch(sub_protocol)
{
case CX10_BLUE:
flags |= GET_FLAG(!CH7_SW, 0x10) // Channel 7 - picture
|GET_FLAG( CH8_SW, 0x08); // Channel 8 - video
break;
case F_Q282:
case F_Q242:
case F_Q222:
memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
flags2 = GET_FLAG(CH5_SW, 0x80) // Channel 5 - FLIP
|GET_FLAG(!CH6_SW, 0x40) // Channel 6 - LED
|GET_FLAG(CH9_SW, 0x08) // Channel 9 - HEADLESS
|GET_FLAG(CH11_SW, 0x04) // Channel 11 - XCAL
|GET_FLAG(CH12_SW, 0x02); // Channel 12 - YCAL or Start/Stop motors on JXD 509
if(sub_protocol==F_Q242)
{
flags=2;
flags2|= GET_FLAG(CH7_SW,0x01) // Channel 7 - picture
|GET_FLAG(CH8_SW,0x10); // Channel 8 - video
packet[17]=0x00;
packet[18]=0x00;
}
else
{ // F_Q282 & F_Q222
flags=3; // expert
if(CH8_SW) // Channel 8 - F_Q282 video / F_Q222 Module 1
{
if (!(video_state & 0x20)) video_state ^= 0x21;
}
else
if (video_state & 0x20) video_state &= 0x01;
flags2 |= video_state
|GET_FLAG(CH7_SW,0x10); // Channel 7 - F_Q282 picture / F_Q222 Module 2
}
if(CH10_SW) flags |=0x80; // Channel 10 - RTH
break;
case DM007:
aileron = 3000 - aileron;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS
flags2= GET_FLAG(CH7_SW,CX10_FLAG_SNAPSHOT) // Channel 7 - picture
|GET_FLAG(CH8_SW,CX10_FLAG_VIDEO); // Channel 8 - video
if(CH9_SW) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless
break;
case JC3015_2:
aileron = 3000 - aileron;
elevator = 3000 - elevator;
//FLIP|MODE|LED|DFLIP
if(CH8_SW) packet[12] &= ~CX10_FLAG_FLIP;
case JC3015_1:
//FLIP|MODE|PICTURE|VIDEO
flags2= GET_FLAG(CH7_SW,_BV(3)) // Channel 7
|GET_FLAG(CH8_SW,_BV(4)); // Channel 8
break;
case MK33041:
elevator = 3000 - elevator;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
flags|=GET_FLAG(CH7_SW,_BV(7)) // Channel 7 - picture
|GET_FLAG(CH10_SW,_BV(2)); // Channel 10 - rth
flags2=GET_FLAG(CH8_SW,_BV(0)) // Channel 8 - video
|GET_FLAG(CH9_SW,_BV(5)); // Channel 9 - headless
break;
}
packet[5+offset] = lowByte(aileron);
packet[6+offset] = highByte(aileron);
packet[7+offset] = lowByte(elevator);
packet[8+offset] = highByte(elevator);
packet[9+offset] = lowByte(throttle);
packet[10+offset]= highByte(throttle);
packet[11+offset]= lowByte(rudder);
packet[12+offset]|= highByte(rudder);
packet[13+offset]=flags;
packet[14+offset]=flags2;
// Power on, TX mode, 2byte CRC
// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
if (bind)
NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
else
{
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no++]);
hopping_frequency_no %= CX10_NUM_RF_CHANNELS;
}
// clear packet status bits and TX FIFO
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
XN297_WritePayload(packet, packet_length);
NRF24L01_SetPower();
}
static void __attribute__((unused)) CX10_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 Acknowledgment on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, packet_length); // rx pipe 0 (used only for blue board)
NRF24L01_WriteReg(NRF24L01_05_RF_CH, CX10_RF_BIND_CHANNEL);
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_SetPower();
}
uint16_t CX10_callback()
{
switch (phase) {
case CX10_BIND1:
if (bind_counter == 0)
{
phase = CX10_DATA;
BIND_DONE;
}
else
{
CX10_Write_Packet(1);
bind_counter--;
}
break;
case CX10_BIND2:
if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
{ // RX fifo data ready
XN297_ReadPayload(packet, packet_length);
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
if(packet[9] == 1)
{
BIND_DONE;
phase = CX10_DATA;
}
}
else
{
// switch to TX mode
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_FlushTx();
NRF24L01_SetTxRxMode(TX_EN);
CX10_Write_Packet(1);
delayMicroseconds(400);
// 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));
}
break;
case CX10_DATA:
CX10_Write_Packet(0);
break;
}
return packet_period;
}
static void __attribute__((unused)) CX10_initialize_txid()
{
rx_tx_addr[1]%= 0x30;
if(sub_protocol&0x08) //F_Q2X2 protocols
{
uint8_t offset=0; //F_Q282
if(sub_protocol==F_Q242)
offset=2;
if(sub_protocol==F_Q222)
offset=3;
for(uint8_t i=0;i<4;i++)
hopping_frequency[i]=0x46+2*i+offset;
}
else
{
hopping_frequency[0] = 0x03 + (rx_tx_addr[0] & 0x0F);
hopping_frequency[1] = 0x16 + (rx_tx_addr[0] >> 4);
hopping_frequency[2] = 0x2D + (rx_tx_addr[1] & 0x0F);
hopping_frequency[3] = 0x40 + (rx_tx_addr[1] >> 4);
}
}
uint16_t initCX10(void)
{
BIND_IN_PROGRESS; // autobind protocol
if(sub_protocol==CX10_BLUE)
{
packet_length = CX10A_PACKET_SIZE;
packet_period = CX10A_PACKET_PERIOD;
phase = CX10_BIND2;
for(uint8_t i=0; i<4; i++)
packet[5+i] = 0xff; // clear aircraft id
packet[9] = 0;
}
else
{
if(sub_protocol&0x08) //F_Q2X2 protocols
packet_length = Q2X2_PACKET_SIZE;
else
packet_length = CX10_PACKET_SIZE;
packet_period = CX10_PACKET_PERIOD;
phase = CX10_BIND1;
bind_counter = CX10_BIND_COUNT;
}
CX10_initialize_txid();
CX10_init();
return CX10_INITIAL_WAIT+packet_period;
}
#endif