/*
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 .
*/
// Compatible with GD005 C-17 and GD006 DA62 planes.
#if defined(GD00X_NRF24L01_INO)
#include "iface_nrf24l01.h"
//#define FORCE_GD00X_ORIGINAL_ID
#define GD00X_INITIAL_WAIT 500
#define GD00X_PACKET_PERIOD 3500
#define GD00X_RF_BIND_CHANNEL 2
#define GD00X_PAYLOAD_SIZE 15
#define GD00X_BIND_COUNT 857 //3sec
#define GD00X_V2_BIND_PACKET_PERIOD 5110
#define GD00X_V2_RF_BIND_CHANNEL 0x43
#define GD00X_V2_PAYLOAD_SIZE 6
// flags going to packet[11]
#define GD00X_FLAG_DR 0x08
#define GD00X_FLAG_LIGHT 0x04
// flags going to packet[4]
#define GD00X_V2_FLAG_DR 0x40
#define GD00X_V2_FLAG_LIGHT 0x80
static void __attribute__((unused)) GD00X_send_packet()
{
static uint8_t prev_CH6=false;
if(sub_protocol==GD_V1)
{
packet[0] = IS_BIND_IN_PROGRESS?0xAA:0x55;
memcpy(packet+1,rx_tx_addr,4);
uint16_t channel=convert_channel_ppm(AILERON);
packet[5 ] = channel;
packet[6 ] = channel>>8;
channel=convert_channel_ppm(THROTTLE);
packet[7 ] = channel;
packet[8 ] = channel>>8;
channel=convert_channel_ppm(CH5); // TRIM
packet[9 ] = channel;
packet[10] = channel>>8;
packet[11] = GD00X_FLAG_DR // Force high rate
| GET_FLAG(CH6_SW, GD00X_FLAG_LIGHT);
packet[12] = 0x00;
packet[13] = 0x00;
packet[14] = 0x00;
}
else
{//GD_V2
if(IS_BIND_IN_PROGRESS)
for(uint8_t i=0; i<5;i++)
packet[i]=rx_tx_addr[i];
else
{
packet[0]=convert_channel_16b_limit(THROTTLE,0,100); // 0..100
// Deadband is needed on aileron
uint16_t aileron=limit_channel_100(AILERON); // 204<->1844
#define GD00X_V2_DB_MIN 1024-40
#define GD00X_V2_DB_MAX 1024+40
if(aileron>GD00X_V2_DB_MIN && aileronGD00X_V2_DB_MAX)
packet[1]=0x1F-((aileron-GD00X_V2_DB_MAX)*(0x20)/(CHANNEL_MAX_100+1-GD00X_V2_DB_MAX)); // 1F..00
else
packet[1]=0x3F-((aileron-CHANNEL_MIN_100)*(0x1F)/(GD00X_V2_DB_MIN-CHANNEL_MIN_100)); // 3F..21
// Trims must be in a seperate channel for this model
packet[2]=0x3F-(convert_channel_8b(CH5)>>2); // Trim: 0x3F..0x20..0x00
uint8_t seq=((packet_count*3)/7)%5;
packet[4]=seq | GD00X_V2_FLAG_DR;
if(CH6_SW!=prev_CH6)
{ // LED switch is temporary
len=43;
prev_CH6=CH6_SW;
}
if(len)
{ // Send the light flag for a couple of packets
packet[4] |= GD00X_V2_FLAG_LIGHT;
len--;
}
packet[3]=(packet[0]+packet[1]+packet[2]+packet[4])^(crc8);
if( (packet_count%12) == 0 )
hopping_frequency_no ^= 1; // Toggle between the 2 frequencies
packet_count++;
if(packet_count>34) packet_count=0; // Full period
if( seq == (((packet_count*3)/7)%5) )
{
if(packet_period==2700)
packet_period=3000;
else
packet_period=2700;
}
else
packet_period=4300;
}
packet[5]='D';
}
// Power on, TX mode, CRC enabled
XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
if(IS_BIND_DONE)
{
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
if(sub_protocol==GD_V1)
{
hopping_frequency_no++;
hopping_frequency_no &= 3; // 4 RF channels
}
}
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
XN297_WritePayload(packet, packet_length);
NRF24L01_SetPower(); // Set tx_power
}
static void __attribute__((unused)) GD00X_init()
{
NRF24L01_Initialize();
NRF24L01_SetTxRxMode(TX_EN);
if(sub_protocol==GD_V1)
XN297_SetTXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", 5);
else
XN297_SetTXAddr((uint8_t*)"GDKNx", 5);
NRF24L01_WriteReg(NRF24L01_05_RF_CH, sub_protocol==GD_V1?GD00X_RF_BIND_CHANNEL:GD00X_V2_RF_BIND_CHANNEL); // Bind channel
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); // Enable data pipe 0 only
NRF24L01_SetBitrate(NRF24L01_BR_250K); // 250Kbps
NRF24L01_SetPower();
}
static void __attribute__((unused)) GD00X_initialize_txid()
{
if(sub_protocol==GD_V1)
{
uint8_t start=76+(rx_tx_addr[0]&0x03);
for(uint8_t i=0; i<4;i++)
hopping_frequency[i]=start-(i<<1);
#ifdef FORCE_GD00X_ORIGINAL_ID
rx_tx_addr[0]=0x1F; // or 0xA5 or 0x26
rx_tx_addr[1]=0x39; // or 0x37 or 0x35
rx_tx_addr[2]=0x12; // Constant on 3 TXs
rx_tx_addr[3]=0x13; // Constant on 3 TXs
for(uint8_t i=0; i<4;i++)
hopping_frequency[i]=79-(i<<1); // or 77 or 78
#endif
}
else
{
//Generate 64 different IDs
rx_tx_addr[1]=0x00;
rx_tx_addr[2]=0x00;
rx_tx_addr[1+((rx_tx_addr[3]&0x10)>>4)]=rx_tx_addr[3]&0x8F;
rx_tx_addr[0]=0x65;
rx_tx_addr[3]=0x95;
rx_tx_addr[4]=0x47; //'G'
crc8=rx_tx_addr[0]^rx_tx_addr[1]^rx_tx_addr[2];
//hopping calculation
hopping_frequency[0]=(0x15+(crc8^rx_tx_addr[3]))&0x1F;
if( hopping_frequency[0] == 0x0F )
hopping_frequency[0]=0x0E;
else if( (hopping_frequency[0]&0xFE) == 0x10 )
hopping_frequency[0]+=2;
hopping_frequency[1]=0x20+hopping_frequency[0];
#ifdef FORCE_GD00X_ORIGINAL_ID
//ID 1
rx_tx_addr[0]=0x65;
rx_tx_addr[1]=0x00;
rx_tx_addr[2]=0x00;
rx_tx_addr[3]=0x95;
rx_tx_addr[4]=0x47; //'G'
hopping_frequency[0]=0x05;
hopping_frequency[1]=0x25;
//ID 2
rx_tx_addr[0]=0xFD;
rx_tx_addr[1]=0x09;
rx_tx_addr[2]=0x00;
rx_tx_addr[3]=0x65;
rx_tx_addr[4]=0x47; //'G'
hopping_frequency[0]=0x06;
hopping_frequency[1]=0x26;
//ID 3
rx_tx_addr[0]=0x67;
rx_tx_addr[1]=0x0F;
rx_tx_addr[2]=0x00;
rx_tx_addr[3]=0x69;
rx_tx_addr[4]=0x47; //'G'
hopping_frequency[0]=0x16;
hopping_frequency[1]=0x36;
#endif
}
}
uint16_t GD00X_callback()
{
if(IS_BIND_IN_PROGRESS)
if(--bind_counter==0)
BIND_DONE;
GD00X_send_packet();
return packet_period;
}
uint16_t initGD00X()
{
BIND_IN_PROGRESS; // autobind protocol
GD00X_initialize_txid();
GD00X_init();
hopping_frequency_no = 0;
bind_counter=GD00X_BIND_COUNT;
packet_period=sub_protocol==GD_V1?GD00X_PACKET_PERIOD:GD00X_V2_BIND_PACKET_PERIOD;
packet_length=sub_protocol==GD_V1?GD00X_PAYLOAD_SIZE:GD00X_V2_PAYLOAD_SIZE;
packet_count=0;
len=0;
return GD00X_INITIAL_WAIT;
}
#endif