/*
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/>.
Works with Traxxas 6519 receivers https://traxxas.com/sites/default/files/24CompGuide-2016.jpg .
*/
#if defined(TRAXXAS_CYRF6936_INO)
#include "iface_cyrf6936.h"
#define TRAXXAS_TQ1_FORCE_ID
//#define TRAXXAS_TQ2_FORCE_ID
#define TRAXXAS_DEBUG
#define TRAXXAS_BIND_CHANNEL 0x2B
#define TRAXXAS_CHECK_CHANNEL 0x22
#define TRAXXAS_PACKET_SIZE 16
#define TRAXXAS_TQ1_BIND_CHANNEL 0x04
#define TRAXXAS_TQ1_CHECK_CHANNEL 0x34
enum {
TRAXXAS_BIND_PREP_RX=0,
TRAXXAS_BIND_RX,
TRAXXAS_BIND_TX1,
TRAXXAS_PREP_RX,
TRAXXAS_RX,
TRAXXAS_PREP_DATA,
TRAXXAS_DATA,
TRAXXAS_TQ1_BIND,
TRAXXAS_TQ1_DATA1,
TRAXXAS_TQ1_DATA2,
};
const uint8_t PROGMEM TRAXXAS_init_vals[][2] = {
//Init from dump
{CYRF_32_AUTO_CAL_TIME, 0x3C}, // Default init value
{CYRF_35_AUTOCAL_OFFSET, 0x14}, // Default init value
{CYRF_1B_TX_OFFSET_LSB, 0x55}, // Default init value
{CYRF_1C_TX_OFFSET_MSB, 0x05}, // Default init value
{CYRF_28_CLK_EN, 0x02}, // Force Receive Clock Enable
{CYRF_03_TX_CFG, 0x08 | CYRF_BIND_POWER}, // 8DR Mode, 32 chip codes
{CYRF_0B_PWR_CTRL, 0x00}, // PMU
{CYRF_06_RX_CFG, 0x88 | 0x02}, // AGC enabled, Fast Turn Mode enabled, adding overwrite enable to not lockup RX
{CYRF_1E_RX_OVERRIDE, 0x08}, // Reject packets with 0 seed
};
static void __attribute__((unused)) TRAXXAS_cyrf_bind_config()
{
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[0]);
CYRF_WriteRegister(CYRF_15_CRC_SEED_LSB, 0x5A);
CYRF_WriteRegister(CYRF_16_CRC_SEED_MSB, 0x5A);
CYRF_ConfigRFChannel(TRAXXAS_BIND_CHANNEL);
}
static void __attribute__((unused)) TRAXXAS_cyrf_check_config()
{
CYRF_ConfigRFChannel(TRAXXAS_CHECK_CHANNEL);
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[9]);
CYRF_WriteRegister(CYRF_15_CRC_SEED_LSB, 0xA5);
CYRF_WriteRegister(CYRF_16_CRC_SEED_MSB, 0xA5);
}
static void __attribute__((unused)) TRAXXAS_cyrf_data_config()
{
CYRF_ConfigRFChannel(hopping_frequency[0]);
#ifdef TRAXXAS_FORCE_ID // data taken from TX dump
CYRF_WriteRegister(CYRF_15_CRC_SEED_LSB, 0x1B);
CYRF_WriteRegister(CYRF_16_CRC_SEED_MSB, 0x3F);
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[6]);
#else
uint16_t addr=TRAXXAS_EEPROM_OFFSET+RX_num*3;
CYRF_WriteRegister(CYRF_15_CRC_SEED_LSB, cyrfmfg_id[0] - eeprom_read_byte((EE_ADDR)(addr + 0)));
CYRF_WriteRegister(CYRF_16_CRC_SEED_MSB, cyrfmfg_id[1] - eeprom_read_byte((EE_ADDR)(addr + 1)));
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[eeprom_read_byte((EE_ADDR)(addr + 2)) % 20]);
#endif
CYRF_SetTxRxMode(TX_EN);
}
static void __attribute__((unused)) TRAXXAS_send_data_packet()
{
packet[0] = 0x01;
memset(&packet[1],0x00,TRAXXAS_PACKET_SIZE-1);
//Next RF channel ? 0x00 -> keep current, 0x0E change to F=15
//packet[1] = hopping_frequency[0] - 1;
//6 channels
uint16_t ch;
for(uint8_t i=0; i<6; i++)
{
ch = convert_channel_16b_nolimit(i,500,1000,false);
packet[2+i*2]=ch>>8;
packet[3+i*2]=ch;
}
CYRF_SetPower(0x08);
CYRF_WriteDataPacket(packet);
}
static void __attribute__((unused)) TRAXXAS_TQ1_send_data_packet()
{
memcpy(&packet[1], cyrfmfg_id, 4);
if(IS_BIND_IN_PROGRESS)
{
packet_length = 8;
packet[0] = 0x2A; // Bind packet
packet[5] = 0xA0; // Bind phase 0
packet[6] = TRAXXAS_TQ1_BIND_CHANNEL-1; // Not sure...
}
else
{
packet_length = 16;
packet[0] = 0x02; // Normal packet
packet[5] = 0xA2; // Bind phase 2 = completed?
//4 channels
uint16_t ch;
for(uint8_t i=0; i<4; i++)
{
ch = convert_channel_ppm(i);
packet[6+i*2]=ch;
packet[7+i*2]=ch>>8;
}
packet[14] = hopping_frequency[0]-1; // Not sure...
}
uint8_t xor_value=0;
for(uint8_t i=0; i<packet_length-1; i++)
xor_value ^= packet[i];
packet[packet_length-1] = xor_value;
CYRF_SetPower(0x08);
CYRF_WriteDataPacketLen(packet, packet_length);
#ifdef TRAXXAS_DEBUG
debug("P:");
for(uint8_t i=0; i<packet_length; i++)
debug(" %02X",packet[i]);
debugln("");
#endif
}
uint16_t TRAXXAS_callback()
{
uint8_t status;
switch(phase)
{
//TQ2
case TRAXXAS_BIND_PREP_RX:
case TRAXXAS_PREP_RX:
//debugln("PREP_RX");
if(phase == TRAXXAS_BIND_PREP_RX)
TRAXXAS_cyrf_bind_config();
else
TRAXXAS_cyrf_check_config();
CYRF_SetTxRxMode(RX_EN); //Receive mode
CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x83); //Prepare to receive
packet_count=100; //Timeout for RX
phase++; // TRAXXAS_BIND_RX or TRAXXAS_RX
return 7000;
case TRAXXAS_BIND_RX:
case TRAXXAS_RX:
//debugln("RX");
//Read data from RX
status = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
if((status & 0x03) == 0x02) // RXC=1, RXE=0 then 2nd check is required (debouncing)
status |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
#ifdef TRAXXAS_DEBUG
//debugln("s=%02X",status);
#endif
CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80); // need to set RXOW before data read
if((status & 0x07) == 0x02)
{ // Data received with no errors
len=CYRF_ReadRegister(CYRF_09_RX_COUNT);
#ifdef TRAXXAS_DEBUG
debugln("L=%02X",len)
#endif
if(len==TRAXXAS_PACKET_SIZE)
{
CYRF_ReadDataPacketLen(packet, TRAXXAS_PACKET_SIZE);
#ifdef TRAXXAS_DEBUG
debug("RX=");
for(uint8_t i=0;i<TRAXXAS_PACKET_SIZE;i++)
debug(" %02X",packet[i]);
debugln("");
#endif
uint16_t addr=TRAXXAS_EEPROM_OFFSET+RX_num*3;
if(phase == TRAXXAS_BIND_RX)
{
// Store RX ID
for(uint8_t i=0;i<2;i++)
eeprom_write_byte((EE_ADDR)(addr+i),packet[i+1]);
//Store SOP index
eeprom_write_byte((EE_ADDR)(addr+2),packet[7]);
}
else
{
//check RX ID and SOP
if(eeprom_read_byte((EE_ADDR)(addr + 0)) != packet[1] || eeprom_read_byte((EE_ADDR)(addr + 1)) != packet[2] || eeprom_read_byte((EE_ADDR)(addr + 2)) != packet[7])
{ // Not our RX
phase++; // TRAXXAS_PREP_DATA
return 10000-7000-500;
}
}
// Replace RX ID by TX ID
for(uint8_t i=0;i<6;i++)
packet[i+1]=cyrfmfg_id[i];
//packet[7 ] = 0xEE; // Not needed ??
packet[8 ] = hopping_frequency[0] - 1;
packet[10] = 0x01; // Must change otherwise bind doesn't complete
//packet[13] = 0x05; // Not needed ??
packet_count=12;
CYRF_SetTxRxMode(TX_EN);
phase=TRAXXAS_BIND_TX1;
return 10000;
}
}
if(phase == TRAXXAS_BIND_RX)
{
if( --packet_count == 0 )
{ // Retry RX
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Enable RX abort
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x24); // Force end state
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x00); // Disable RX abort
if(--bind_counter != 0)
phase=TRAXXAS_BIND_PREP_RX; // Retry receiving bind packet
else
phase=TRAXXAS_PREP_DATA; // Abort binding
}
return 700;
}
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Enable RX abort
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x24); // Force end state
CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x00); // Disable RX abort
phase++; // TRAXXAS_PREP_DATA
return 10000-7000-500;
case TRAXXAS_BIND_TX1:
//debugln("BIND_TX1");
CYRF_WriteDataPacketLen(packet, TRAXXAS_PACKET_SIZE);
#ifdef TRAXXAS_DEBUG
debug("P=");
for(uint8_t i=0;i<TRAXXAS_PACKET_SIZE;i++)
debug(" %02X",packet[i]);
debugln("");
#endif
if(--packet_count==0) // Switch to normal mode
phase=TRAXXAS_PREP_DATA;
break;
case TRAXXAS_PREP_DATA:
//debugln("PREP_DATA");
BIND_DONE;
TRAXXAS_cyrf_data_config();
phase++;
return 500;
case TRAXXAS_DATA:
//debugln_time("DATA");
#ifdef MULTI_SYNC
telemetry_set_input_sync(10000);
#endif
TRAXXAS_send_data_packet();
phase = TRAXXAS_PREP_RX;
return 1000;
//TQ1
case TRAXXAS_TQ1_BIND:
if(bind_counter)
{
CYRF_ConfigRFChannel(TRAXXAS_TQ1_BIND_CHANNEL);
TRAXXAS_TQ1_send_data_packet();
bind_counter--;
if(bind_counter == 0)
{
BIND_DONE;
phase++;
}
}
return 10000;
case TRAXXAS_TQ1_DATA1:
#ifdef MULTI_SYNC
telemetry_set_input_sync(19900);
#endif
CYRF_ConfigRFChannel(TRAXXAS_TQ1_CHECK_CHANNEL);
TRAXXAS_TQ1_send_data_packet();
phase++;
return 7100;
case TRAXXAS_TQ1_DATA2:
CYRF_ConfigRFChannel(hopping_frequency[0]);
TRAXXAS_TQ1_send_data_packet();
phase = TRAXXAS_TQ1_DATA1;
return 12800;
}
return 10000;
}
void TRAXXAS_init()
{
//Config CYRF registers
uint8_t init;
if(sub_protocol == TRAXXAS_TQ1)
{
//CYRF_WriteRegister(CYRF_06_RX_CFG, 0x48 | 0x02);
//CYRF_WriteRegister(CYRF_26_XTAL_CFG, 0x08);
init = 5;
}
else //TQ2
{
init = sizeof(TRAXXAS_init_vals) / 2;
for(uint8_t i = 0; i < init; i++)
CYRF_WriteRegister(pgm_read_byte_near(&TRAXXAS_init_vals[i][0]), pgm_read_byte_near(&TRAXXAS_init_vals[i][1]));
}
//Read CYRF ID
CYRF_GetMfgData(cyrfmfg_id);
//Find a free channel
if(sub_protocol == TRAXXAS_TQ1)
{
cyrfmfg_id[3]+=RX_num; // Not needed for TQ2 since the TX and RX have to match
//CYRF_FindBestChannels(hopping_frequency,1,1,0x0B,0x30, FIND_CHANNEL_ANY); // Complete guess
}
else //TRAXXAS_TQ2
CYRF_FindBestChannels(hopping_frequency,1,1,0x02,0x21, FIND_CHANNEL_ANY);
#ifdef TRAXXAS_TQ1_FORCE_ID // data taken from TX dump
if(sub_protocol == TRAXXAS_TQ1)
{
cyrfmfg_id[0]=0xD8; // CYRF MFG ID
cyrfmfg_id[1]=0xAA;
cyrfmfg_id[2]=0x59;
cyrfmfg_id[3]=0xE6;
//cyrfmfg_id[4]=0x44; // Unused
//cyrfmfg_id[5]=0xFB; // Unused
hopping_frequency[0] = 0x0B;
}
#endif
#ifdef TRAXXAS_TQ2_FORCE_ID // data taken from TX dump
if(sub_protocol == TRAXXAS_TQ2)
{
cyrfmfg_id[0]=0x65; // CYRF MFG ID
cyrfmfg_id[1]=0xE2;
cyrfmfg_id[2]=0x5E;
cyrfmfg_id[3]=0x55;
cyrfmfg_id[4]=0x4D;
cyrfmfg_id[5]=0xFE;
hopping_frequency[0] = 0x05; // seen 05 and 0F
}
#endif
#ifdef TRAXXAS_DEBUG
debugln("ID: %02X %02X %02X %02X %02X %02X",cyrfmfg_id[0],cyrfmfg_id[1],cyrfmfg_id[2],cyrfmfg_id[3],cyrfmfg_id[4],cyrfmfg_id[5]);
debugln("RF CH: %02X",hopping_frequency[0]);
#endif
bind_counter=100;
if(sub_protocol == TRAXXAS_TQ1)
{
CYRF_WriteRegister(CYRF_28_CLK_EN, 0x02);
CYRF_WriteRegister(CYRF_32_AUTO_CAL_TIME, 0x3C);
CYRF_WriteRegister(CYRF_35_AUTOCAL_OFFSET, 0x14);
CYRF_WriteRegister(CYRF_26_XTAL_CFG, 0x08);
CYRF_WriteRegister(CYRF_06_RX_CFG, 0x48);
CYRF_WriteRegister(CYRF_1B_TX_OFFSET_LSB, 0x55);
CYRF_WriteRegister(CYRF_1C_TX_OFFSET_MSB, 0x05);
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x21);
CYRF_WriteRegister(CYRF_03_TX_CFG, 0x0C);
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[0]);
CYRF_SetTxRxMode(TX_EN);
CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x21);
if(IS_BIND_IN_PROGRESS)
phase = TRAXXAS_TQ1_BIND;
else
phase = TRAXXAS_TQ1_DATA1;
}
else
{//TRAXXAS_TQ2
if(IS_BIND_IN_PROGRESS)
phase = TRAXXAS_BIND_PREP_RX;
else
phase = TRAXXAS_PREP_DATA;
}
//
// phase = TRAXXAS_BIND_TX1;
// TRAXXAS_cyrf_bind_config();
// CYRF_SetTxRxMode(TX_EN);
// memcpy(packet,(uint8_t *)"\x02\x4A\xA3\x2D\x1A\x49\xFE\x06\x00\x00\x02\x01\x06\x06\x00\x00",TRAXXAS_PACKET_SIZE);
// memcpy(packet,(uint8_t *)"\x02\x49\xAC\x4F\x55\x4D\xFE\x05\x00\x00\x02\x01\x06\x06\x00\x00",TRAXXAS_PACKET_SIZE);
}
/*
Traxxas TQ 2nd generation
-------------------------
Packets 0x02: Bind learn TX/RX addresses
CHANNEL: 0x2B
SOP_CODE: 0x3C 0x37 0xCC 0x91 0xE2 0xF8 0xCC 0x91
CRC_SEED_LSB: 0x5A
CRC_SEED_MSB: 0x5A
RX: 0x02 0x4A 0xA3 0x2D 0x1A 0x49 0xFE 0x06 0x00 0x00 0x02 0x01 0x06 0x06 0x00 0x00
TX: 0x02 0x65 0xE2 0x5E 0x55 0x4D 0xFE 0xEE 0x00 0x00 0x01 0x01 0x06 0x05 0x00 0x00
Notes:
- RX cyrfmfg_id is 0x4A,0xA3,0x2D,0x1A,0x49,0xFE and TX cyrfmfg_id is 0x65,0xE2,0x5E,0x55,0x4D,0xFE
- P[7] changes from 0x06 to 0xEE but not needed to complete the bind -> doesn't care??
- P[8] RF channel - 1 (on packets type 0x03)
- P[9] 0x00 unchanged??
- P[10] needs to be set to 0x01 to complete the bind -> normal packet P[0]??
- P[11] unchanged ?? -> no bind if set to 0x00 or 0x81
- P[12] unchanged ?? -> no bind if set to 0x05 or 0x86
- P[13] changes from 0x06 to 0x05 but not needed to complete the bind -> doesn't care??
- P[14..15]=0x00 unchanged??
Packets 0x03: Which RF channel
CHANNEL: 0x22
SOP_CODE: 0x97 0xE5 0x14 0x72 0x7F 0x1A 0x14 0x72
CRC_SEED_LSB: 0xA5
CRC_SEED_MSB: 0xA5
RX: 0x03 0x4A 0xA3 0x2D 0x1A 0x49 0xFE 0x06 0x00 0x00 0x02 0x01 0x06 0x06 0x00 0x00
TX: 0x03 0x65 0xE2 0x5E 0x55 0x4D 0xFE 0xEE 0x0E 0x00 0x01 0x01 0x06 0x05 0x00 0x00
- P[8] RF channel - 1
Packets 0x04: unknown
RX: 0x04 0x4A 0xA3 0x2D 0x1A 0x49 0xFE 0x06 0x00 0x00 0x02 0x01 0x06 0x06 0x00 0x00
Packets 0x01: Normal mode
CHANNEL: 0x05
SOP_CODE: 0xA1 0x78 0xDC 0x3C 0x9E 0x82 0xDC 0x3C
CRC_SEED_LSB: 0x1B
CRC_SEED_MSB: 0x3F
TX3: 0x01 0x00 0x02 0xA8 0x03 0xE7 0x02 0x08 0x00 0x00 0x01 0x01 0x02 0xEE 0x00 0x00
CRC_SEED:
TX ID: \x65\xE2\x5E\x55\x4D\xFE
RX ID: \x4A\xA3\x2D\x1A\x49\xFE CRC 0x1B 0x3F => CRC: 65-4A=1B E2-A3=3F
RX ID: \x4B\xA3\x2D\x1A\x49\xFE CRC 0x1A 0x3F => CRC: 65-4B=1A E2-A3=3F
RX ID: \x00\x00\x2D\x1A\x49\xFE CRC 0x65 0xE2 => CRC: 65-00=65 E2-00=E2
RX ID: \x00\xFF\x2D\x1A\x49\xFE CRC 0x65 0xE3 => CRC: 65-00=65 E2-FF=E3
RX ID: \xFF\x00\x2D\x1A\x49\xFE CRC 0x66 0xE2 => CRC: 65-FF=66 E2-00=E2
SOP Codes:
RX1: 02 4A A3 2D 1A 49 FE 06 00 00 02 01 06 06 00 00
SOP: A1 78 DC 3C 9E 82 DC 3C
RX2: 02 49 AC 4F 55 4D FE 05 00 00 02 01 06 06 00 00
SOP: 5A CC AE 46 B6 31 AE 46
RX3: 02 CA F3 62 55 4D FE 03 00 00 02 01 06 06 00 00
SOP: 66 CD 7C 50 DD 26 7C 50
Dump of SOP Codes:
00: 3C 37 CC 91 E2 F8 CC 91 => bind
01: 9B C5 A1 0F AD 39 A2 0F
02: EF 64 B0 2A D2 8F B1 2A
03: 66 CD 7C 50 DD 26 7C 50
04: 5C E1 F6 44 AD 16 F6 44
05: 5A CC AE 46 B6 31 AE 46
06: A1 78 DC 3C 9E 82 DC 3C
07: B9 8E 19 74 6F 65 18 74
08: DF B1 C0 49 62 DF C1 49
09: 97 E5 14 72 7F 1A 14 72 => check
10: 82 C7 90 36 21 03 FF 17
11: E2 F8 CC 91 3C 37 CC 91 => bind 4 bytes group swapped
12: AD 39 A2 0F 9B C5 A1 0F => 01 4 bytes group swapped
13: D2 8F B1 2A EF 64 B0 2A => 02 4 bytes group swapped
14: DD 26 7C 50 66 CD 7C 50 => 03 4 bytes group swapped
...
19: 62 DF C1 49 DF B1 C0 49 => 08 4 bytes group swapped
20: 00 00 00 33 DE AD BA BE ??over??
*/
/*
Traxxas TQ 1st generation
-------------------------
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/issues/967#issuecomment-2079038576
*/
#endif