/*
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 EAchine 3D X4, CG023/CG031, Attop YD-822/YD-829/YD-829C and H8_3D/JJRC H20/H22
// Merged CG023 and H8_3D protocols
// Last sync with hexfet new_protocols/cg023_nrf24l01.c dated 2015-10-03
// Last sync with hexfet new_protocols/h8_3d_nrf24l01.c dated 2015-11-18
#if defined(H8_3D_NRF24L01_INO)
#include "iface_nrf24l01.h"
#define H8_3D_PACKET_PERIOD 1800
#define H20H_PACKET_PERIOD 9340
#define H20MINI_PACKET_PERIOD 3100
#define H8_3D_INITIAL_WAIT 500
#define H8_3D_PACKET_SIZE 20
#define H8_3D_RF_NUM_CHANNELS 4
#define H20H_BIND_RF 0x49
#define H8_3D_BIND_COUNT 1000
enum H8_3D_FLAGS {
// flags going to packet[17]
H8_3D_FLAG_FLIP = 0x01,
H8_3D_FLAG_RATE_MID = 0x02,
H8_3D_FLAG_RATE_HIGH = 0x04,
H8_3D_FLAG_LIGTH = 0x08, // Light on H22
H8_3D_FLAG_HEADLESS = 0x10, // RTH + headless on H8, headless on JJRC H20, RTH on H22
H8_3D_FLAG_RTH = 0x20, // 360 flip mode on H8 3D and H22, RTH on JJRC H20
};
enum H8_3D_FLAGS_2 {
// flags going to packet[18]
H8_3D_FLAG_VIDEO = 0x80,
H8_3D_FLAG_PICTURE = 0x40,
H8_3D_FLAG_CALIBRATE1 = 0x20, // H8 3D acc calibration, H20,H20H headless calib
H8_3D_FLAG_CALIBRATE2 = 0x10, // H11D, H20, H20H acc calibration
H8_3D_FLAG_CAM_DN = 0x08,
H8_3D_FLAG_CAM_UP = 0x04,
};
static void __attribute__((unused)) H8_3D_send_packet(uint8_t bind)
{
if(sub_protocol==H20H)
packet[0] = 0x14;
else // H8_3D, H20MINI, H30MINI
packet[0] = 0x13;
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[8] = rx_tx_addr[0]+rx_tx_addr[1]+rx_tx_addr[2]+rx_tx_addr[3]; // txid checksum
memset(&packet[9], 0, 10);
if (bind)
{
packet[5] = 0x00;
packet[6] = 0x00;
packet[7] = 0x01;
}
else
{
packet[5] = hopping_frequency_no;
packet[7] = 0x03;
rudder = convert_channel_16b_limit(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right)
if(sub_protocol!=H20H)
{ // H8_3D, H20MINI, H30MINI
packet[6] = 0x08;
packet[9] = convert_channel_8b(THROTTLE); // throttle : 0x00 - 0xFF
packet[15] = 0x20; // trims
packet[16] = 0x20; // trims
if (rudder<=0x80)
rudder=0x80-rudder; // yaw left : 0x00 (neutral) - 0x3C (left)
if(rudder==0x01 || rudder==0x81)
rudder=0x00; // Small deadband
}
else
{ //H20H
packet[6] = hopping_frequency_no == 0 ? 8 - packet_count : 16 - packet_count;
packet[9] = convert_channel_16b_limit(THROTTLE, 0x43, 0xBB); // throttle : 0x43 - 0x7F - 0xBB
packet[15]= 0x40; // trims
packet[16]= 0x40; // trims
rudder--; // rudder : 0x43 - 0x7F - 0xBB
if (rudder>=0x7F-1 && rudder<=0x7F+1)
rudder=0x7F; // Small deadband
}
packet[10] = rudder;
packet[11] = convert_channel_16b_limit(ELEVATOR, 0x43, 0xBB); // elevator : 0x43 - 0x7F - 0xBB
packet[12] = convert_channel_16b_limit(AILERON, 0x43, 0xBB); // aileron : 0x43 - 0x7F - 0xBB
// neutral trims
packet[13] = 0x20;
packet[14] = 0x20;
// flags
packet[17] = H8_3D_FLAG_RATE_HIGH
| GET_FLAG(CH5_SW,H8_3D_FLAG_FLIP)
| GET_FLAG(CH6_SW,H8_3D_FLAG_LIGTH) //H22 light
| GET_FLAG(CH9_SW,H8_3D_FLAG_HEADLESS)
| GET_FLAG(CH10_SW,H8_3D_FLAG_RTH); // 180/360 flip mode on H8 3D
packet[18] = GET_FLAG(CH7_SW,H8_3D_FLAG_PICTURE)
| GET_FLAG(CH8_SW,H8_3D_FLAG_VIDEO)
| GET_FLAG(CH11_SW,H8_3D_FLAG_CALIBRATE1)
| GET_FLAG(CH12_SW,H8_3D_FLAG_CALIBRATE2);
if(Channel_data[CH13]<CHANNEL_MIN_COMMAND)
packet[18] |= H8_3D_FLAG_CAM_DN;
if(CH13_SW)
packet[18] |= H8_3D_FLAG_CAM_UP;
}
uint8_t sum = packet[9];
for (uint8_t i=10; i < H8_3D_PACKET_SIZE-1; i++)
sum += packet[i];
packet[19] = sum; // data checksum
// 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(sub_protocol!=H20H)
{ // H8_3D, H20MINI, H30MINI
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? hopping_frequency[0] : hopping_frequency[hopping_frequency_no++]);
hopping_frequency_no %= H8_3D_RF_NUM_CHANNELS;
}
else
{ //H20H
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? H20H_BIND_RF : hopping_frequency[packet_count>>3]);
if(!bind)
{
packet_count++;
if(packet_count>15)
{
packet_count = 0;
hopping_frequency_no = 0;
}
else
if(packet_count > 7)
hopping_frequency_no = 1;
}
}
// clear packet status bits and TX FIFO
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
XN297_WritePayload(packet, H8_3D_PACKET_SIZE);
NRF24L01_SetPower(); // Set tx_power
}
static void __attribute__((unused)) H8_3D_init()
{
NRF24L01_Initialize();
NRF24L01_SetTxRxMode(TX_EN);
if(sub_protocol==H20H)
XN297_SetTXAddr((uint8_t *)"\xEE\xDD\xCC\xBB\x11", 5);
else // H8_3D, H20MINI, H30MINI
XN297_SetTXAddr((uint8_t *)"\xC4\x57\x09\x65\x21", 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); // Enable data pipe 0 only
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_SetPower();
}
uint16_t H8_3D_callback()
{
if(IS_BIND_DONE)
{
#ifdef MULTI_SYNC
telemetry_set_input_sync(packet_period);
#endif
H8_3D_send_packet(0);
}
else
{
if (bind_counter == 0)
{
BIND_DONE;
packet_count=0;
}
else
{
H8_3D_send_packet(1);
bind_counter--;
}
}
return packet_period;
}
// captured from H20H stock transmitters
const uint8_t PROGMEM h20h_tx_rf_map[3][6] = {{/*ID*/0x83, 0x3c, 0x60, 0x00, /*RF*/0x47, 0x3e},
{/*ID*/0x5c, 0x2b, 0x60, 0x00, /*RF*/0x4a, 0x3c},
{/*ID*/0x57, 0x07, 0x00, 0x00, /*RF*/0x41, 0x48} };
// captured from H20 Mini / H30 Mini stock transmitters
const uint8_t PROGMEM h20mini_tx_rf_map[4][8] = {{/*ID*/0xb4, 0xbb, 0x09, 0x00, /*RF*/0x3e, 0x45, 0x47, 0x4a},
{/*ID*/0x94, 0x9d, 0x0b, 0x00, /*RF*/0x3e, 0x43, 0x49, 0x4a},
{/*ID*/0xd1, 0xd0, 0x00, 0x00, /*RF*/0x3f, 0x42, 0x46, 0x4a},
{/*ID*/0xcb, 0xcd, 0x04, 0x00, /*RF*/0x41, 0x43, 0x46, 0x4a}};
static void __attribute__((unused)) H8_3D_initialize_txid()
{
uint8_t id_num=rx_tx_addr[4];
switch(sub_protocol)
{
case H8_3D:
for(uint8_t i=0; i<4; i++)
hopping_frequency[i] = 6 + (0x0f*i) + (((rx_tx_addr[i] >> 4) + (rx_tx_addr[i] & 0x0f)) % 0x0f);
break;
case H20H:
id_num%=3; // 3 different IDs
for(uint8_t i=0; i<4; i++)
{
rx_tx_addr[i] = pgm_read_byte_near(&h20h_tx_rf_map[id_num][i]);
if(i<2)
hopping_frequency[i] = pgm_read_byte_near(&h20h_tx_rf_map[id_num][i+4]);
}
break;
case H20MINI:
case H30MINI:
id_num%=4; // 4 different IDs
for(uint8_t i=0; i<4; i++)
{
rx_tx_addr[i] = pgm_read_byte_near(&h20mini_tx_rf_map[id_num][i]);
hopping_frequency[i] = pgm_read_byte_near(&h20mini_tx_rf_map[id_num][i+4]);
}
break;
}
}
uint16_t initH8_3D(void)
{
BIND_IN_PROGRESS; // autobind protocol
bind_counter = H8_3D_BIND_COUNT;
H8_3D_initialize_txid();
H8_3D_init();
switch(sub_protocol)
{
case H8_3D:
packet_period=H8_3D_PACKET_PERIOD;
break;
case H20H:
packet_period=H20H_PACKET_PERIOD;
break;
case H20MINI:
case H30MINI:
packet_period=H20MINI_PACKET_PERIOD;
break;
}
return H8_3D_INITIAL_WAIT;
}
#endif