/* 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/>. Thanks to Goebish ,Ported from his deviation firmware */ #if defined(V761_NRF24L01_INO) #include "iface_xn297.h" //#define V761_FORCE_ID #define V761_PACKET_PERIOD 7060 // Timeout for callback in uSec #define V761_INITIAL_WAIT 500 #define V761_PACKET_SIZE 8 #define V761_RXPAYLOAD_SIZE 3 #define V761_BIND_COUNT 200 #define V761_BIND_FREQ 0x28 #define V761_RF_NUM_CHANNELS 3 #define TOPRC_BIND_FREQ 0x2A #define TOPRC_PACKET_PERIOD 14120 // Timeout for callback in uSec #define V761_WRITE_TIME 450 #define V761_TELEM_PACKET_PERIOD 14088 // Timeout for callback in uSec //#define V761_TELEM_DEBUG enum { V761_BIND1 = 0, V761_BIND2, V761_RX_CHECK, V761_DATA, V761_RX }; static void __attribute__((unused)) V761_set_checksum() { uint8_t checksum = packet[0]; for(uint8_t i=1; i<V761_PACKET_SIZE-2; i++) checksum += packet[i]; if(phase == V761_BIND1) { packet[6] = checksum ^ 0xff; packet[7] = packet[6]; } else { checksum += packet[6]; packet[7] = checksum ^ 0xff; } } static void __attribute__((unused)) V761_send_packet() { static bool calib=false, prev_ch6=false; if(phase != V761_DATA) { memcpy(packet, rx_tx_addr, 4); packet[4] = hopping_frequency[1]; packet[5] = hopping_frequency[2]; if(phase == V761_BIND2) packet[6] = 0xF0; // ? } else { #ifdef V761_TELEM_DEBUG debug_time(""); debugln(" Ph:%d",hopping_frequency_no); #endif XN297_Hopping(hopping_frequency_no++); if(hopping_frequency_no >= V761_RF_NUM_CHANNELS) { hopping_frequency_no = 0; packet_sent++; packet_sent &= 0x03; } packet[0] = convert_channel_8b(THROTTLE); // Throttle packet[2] = convert_channel_8b(ELEVATOR)>>1; // Elevator if(sub_protocol == V761_4CH || sub_protocol == V761_TOPRC) { packet[1] = convert_channel_8b(AILERON)>>1; // Aileron packet[3] = convert_channel_8b(RUDDER)>>1; // Rudder } else { packet[1] = convert_channel_8b(RUDDER)>>1; // Rudder packet[3] = convert_channel_8b(AILERON)>>1; // Aileron } packet[5] = packet_sent<<6; // 0X, 4X, 8X, CX packet[4] = 0x20; // Trims 00..20..40, 0X->20 4X->TrAil 8X->TrEle CX->TrRud if(CH5_SW) // Mode Expert Gyro off flags = 0x0c; else if(Channel_data[CH5] < CHANNEL_MIN_COMMAND) flags = 0x08; // Beginer mode (Gyro on, yaw and pitch rate limited) else flags = 0x0a; // Mid Mode ( Gyro on no rate limits) if(!prev_ch6 && CH6_SW) // -100% -> 100% launch gyro calib calib=!calib; prev_ch6 = CH6_SW; if(calib) flags |= 0x01; // Gyro calibration packet[5] |= flags; packet[6] = GET_FLAG(CH7_SW, 0x20) // Flip |GET_FLAG(CH8_SW, 0x08) // RTH activation |GET_FLAG(CH9_SW, 0x10); // RTH on/off if(sub_protocol == V761_3CH) packet[6] |= 0x80; // Unknown, set on original V761-1 dump but not on eachine dumps, keeping for compatibility } V761_set_checksum(); #if 0 debug("H:%02X P:",hopping_frequency_no); for(uint8_t i=0;i<V761_PACKET_SIZE;i++) debug(" %02X",packet[i]); debugln(""); #endif // Send XN297_SetPower(); XN297_SetTxRxMode(TX_EN); XN297_WritePayload(packet, V761_PACKET_SIZE); } static void __attribute__((unused)) V761_RF_init() { XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M); } static void __attribute__((unused)) V761_initialize_txid() { #ifdef V761_FORCE_ID if(sub_protocol == V761_TOPRC) { //Dump from air on TopRCHobby TX memcpy(rx_tx_addr,(uint8_t *)"\xD5\x01\x00\x00",4); memcpy(hopping_frequency,(uint8_t *)"\x2E\x41",2); } else { switch(RX_num%5) { case 1: //Dump from air on Protonus TX memcpy(rx_tx_addr,(uint8_t *)"\xE8\xE4\x45\x09",4); memcpy(hopping_frequency,(uint8_t *)"\x0D\x21",2); break; case 2: //Dump from air on mshagg2 TX memcpy(rx_tx_addr,(uint8_t *)"\xAE\xD1\x45\x09",4); memcpy(hopping_frequency,(uint8_t *)"\x13\x1D",2); break; case 3: //Dump from air on MikeHRC Eachine TX memcpy(rx_tx_addr,(uint8_t *)"\x08\x03\x00\xA0",4); memcpy(hopping_frequency,(uint8_t *)"\x0D\x21",2); break; case 4: //Dump from air on Crashanium Eachine TX memcpy(rx_tx_addr,(uint8_t *)"\x58\x08\x00\xA0",4); memcpy(hopping_frequency,(uint8_t *)"\x0D\x31",2); break; default: //Dump from SPI memcpy(rx_tx_addr,(uint8_t *)"\x6f\x2c\xb1\x93",4); memcpy(hopping_frequency,(uint8_t *)"\x14\x1e",2); break; } } #else //Tested with Eachine RX rx_tx_addr[0]+=RX_num; hopping_frequency[0]=(rx_tx_addr[0]&0x0F)+0x05; hopping_frequency[1]=hopping_frequency[0]+0x05+(RX_num%0x2D); #endif hopping_frequency[2]=hopping_frequency[0]+0x37; debugln("ID: %02X %02X %02X %02X , HOP: %02X %02X %02X",rx_tx_addr[0],rx_tx_addr[1],rx_tx_addr[2],rx_tx_addr[3],hopping_frequency[0],hopping_frequency[1],hopping_frequency[2]); } uint16_t V761_callback() { static bool rx = false; static uint8_t packet_telem = 0; switch(phase) { case V761_BIND1: if(bind_counter) bind_counter--; packet_sent ++; XN297_RFChannel(sub_protocol == V761_TOPRC ? TOPRC_BIND_FREQ : V761_BIND_FREQ); XN297_SetTXAddr(rx_id, 4); V761_send_packet(); if(packet_sent >= 20) { packet_sent = 0; phase = V761_BIND2; } return 15730; case V761_BIND2: if(bind_counter) bind_counter--; packet_sent ++; XN297_Hopping(0); XN297_SetTXAddr(rx_tx_addr, 4); V761_send_packet(); if(bind_counter == 0) { packet_sent = 0; BIND_DONE; phase = V761_DATA; #ifdef V761_HUB_TELEMETRY XN297_SetRXAddr(rx_tx_addr, V761_RXPAYLOAD_SIZE); #endif } else if(packet_sent >= 20) { packet_sent = 0; phase = V761_BIND1; } return 15730; #ifdef V761_HUB_TELEMETRY case V761_RX_CHECK: rx = XN297_IsRX(); // Needed for the NRF24L01 since otherwise the bit gets cleared XN297_SetTxRxMode(TXRX_OFF); if(packet_count > 4*63) // Around 3.5sec with no telemetry { telemetry_lost = 1; packet_period = V761_PACKET_PERIOD; } else { packet_count++; if(!telemetry_lost && !rx && (packet_count%64) == 0) {// Should have received a telem packet but... Send telem to the radio to keep it alive telemetry_link = 1; #ifdef V761_TELEM_DEBUG debugln("Miss"); #endif } } phase++; #endif case V761_DATA: #ifdef MULTI_SYNC telemetry_set_input_sync(packet_period); #endif V761_send_packet(); #ifdef V761_HUB_TELEMETRY if(sub_protocol == V761_TOPRC) break; if(rx) { // Check if a packet has been received #ifdef V761_TELEM_DEBUG debug("RX "); #endif if(XN297_ReadPayload(packet_in, V761_RXPAYLOAD_SIZE)) { // packet with good CRC and length #ifdef V761_TELEM_DEBUG debug("OK:"); for(uint8_t i=0;i<V761_RXPAYLOAD_SIZE;i++) debug(" %02X",packet_in[i]); debug(" pps:%d", packet_count); #endif // packet_in[] = AA 00 55 -> battery ok // packet_in[] = 55 00 AA -> low battery crc8 = 0; for(uint8_t i=0;i<V761_RXPAYLOAD_SIZE;i++) crc8 ^= packet_in[i]; if(crc8 == 0xFF) { v_lipo1 = packet_in[0] >> 1; telemetry_link = 1; telemetry_lost = 0; packet_count = 0; packet_period = V761_TELEM_PACKET_PERIOD; } #ifdef V761_TELEM_DEBUG else // Bad packet debug(" NOK"); #endif } #ifdef V761_TELEM_DEBUG else // Bad packet debug("NOK"); debugln(""); #endif rx = false; } phase++; return V761_WRITE_TIME; case V761_RX: { // Wait for packet to be sent before switching to receive mode uint16_t start=(uint16_t)micros(); while ((uint16_t)((uint16_t)micros()-(uint16_t)start) < 500) if(XN297_IsPacketSent()) break; } XN297_SetTxRxMode(RX_EN); phase = V761_RX_CHECK; return packet_period - V761_WRITE_TIME; #else break; #endif } return packet_period; } void V761_init(void) { V761_initialize_txid(); V761_RF_init(); if(sub_protocol == V761_TOPRC) { memcpy(rx_id,(uint8_t*)"\x20\x21\x05\x0A",4); packet_period = TOPRC_PACKET_PERIOD; } else { memcpy(rx_id,(uint8_t*)"\x34\x43\x10\x10",4); packet_period = V761_PACKET_PERIOD; } if(IS_BIND_IN_PROGRESS) { bind_counter = V761_BIND_COUNT; phase = V761_BIND1; } else { XN297_SetTXAddr(rx_tx_addr, 4); #ifdef V761_HUB_TELEMETRY XN297_SetRXAddr(rx_tx_addr, V761_RXPAYLOAD_SIZE); #endif phase = V761_DATA; } hopping_frequency_no = 0; packet_sent = 0; #ifdef V761_HUB_TELEMETRY packet_count = 0; telemetry_lost = 1; RX_RSSI = 100; // Dummy value #endif } #endif