/*
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 XK TX X4 and model A160S.
#if defined(XK2_CCNRF_INO)
#include "iface_xn297.h"
//#define FORCE_XK2_ID
//#define FORCE_XK2_P10_ID
#define XK2_RF_BIND_CHANNEL 71
#define XK2_P10_RF_BIND_CHANNEL 69
#define XK2_PAYLOAD_SIZE 9
#define XK2_PACKET_PERIOD 4911
#define XK2_RF_NUM_CHANNELS 4
enum {
XK2_BIND1,
XK2_BIND2,
XK2_DATA_PREP,
XK2_DATA
};
static void __attribute__((unused)) XK2_send_packet()
{
static uint8_t trim_ch=0;
if(IS_BIND_IN_PROGRESS)
{
packet[0] = 0x9D;
//TXID
memcpy(&packet[1], rx_tx_addr, 3);
//RXID
//memcpy(&packet[4], rx_id , 3);
//Unknown
packet[7] = 0x00;
//Checksum seed
packet[8] = 0xC0;
}
else
{
XN297_Hopping(hopping_frequency_no);
hopping_frequency_no++;
hopping_frequency_no &= 0x03;
//Channels
packet[0] = convert_channel_16b_limit(AILERON ,0x00,0x64); //Aileron
packet[1] = convert_channel_16b_limit(ELEVATOR,0x00,0x64); //Elevator
packet[2] = convert_channel_16b_limit(THROTTLE,0x00,0x64); //Throttle
packet[3] = convert_channel_16b_limit(RUDDER ,0x00,0x64); //Rudder
//Center the trims
trim_ch++;
if(trim_ch > 2) trim_ch = 0;
packet[4] = 0x20 + 0x40 * trim_ch; //Trims are A=01..20..3F/E=41..60..7F/R=81..A0..BF, E0 appears when telemetry is received, C1 when p[6] changes from 00->08, C0 when p[6] changes from 08->00
if(trim_ch == 2) //Drive rudder trim since otherwise there is no control...
{
packet[4] = 0x80 + (convert_channel_8b(RUDDER)>>2);
if(packet[4] <= 0x81) packet[4] = 0x81;
}
//Flags
packet[5] = GET_FLAG(CH5_SW, 0x01) //Rate
| GET_FLAG(CH6_SW, 0x08) //Mode
| GET_FLAG(CH7_SW, 0x20) //Hover
| GET_FLAG(CH8_SW, 0x40); //Light
//Telemetry not received=00, Telemetry received=01 but sometimes switch to 1 even if telemetry is not there...
packet[6] = 0x00;
//RXID checksum
packet[7] = crc8; //Sum RX_ID[0..2]
//Checksum seed
packet[8] = num_ch; //Based on TX ID
}
//Checksum
for(uint8_t i=0; i<XK2_PAYLOAD_SIZE-1; i++)
packet[8] += packet[i];
if(sub_protocol == XK2_P10)
packet[8] += 0x10;
// Send
XN297_SetFreqOffset();
XN297_SetPower();
XN297_SetTxRxMode(TX_EN);
XN297_WritePayload(packet, XK2_PAYLOAD_SIZE);
#if 0
debug("P");
for(uint8_t i=0; i<XK2_PAYLOAD_SIZE; i++)
debug(" %02X",packet[i]);
debugln();
#endif
}
static void __attribute__((unused)) XK2_RF_init()
{
XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_250K);
XN297_SetTXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", 5);
XN297_SetRXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", XK2_PAYLOAD_SIZE);
XN297_HoppingCalib(XK2_RF_NUM_CHANNELS);
XN297_RFChannel(sub_protocol==XK2_X4?XK2_RF_BIND_CHANNEL:XK2_P10_RF_BIND_CHANNEL);
}
static void __attribute__((unused)) XK2_initialize_txid()
{
rx_tx_addr[0] = rx_tx_addr[3]; // Use RX_num
num_ch = 0x21 + rx_tx_addr[0] - rx_tx_addr[1] + rx_tx_addr[2];
//RF frequencies for X4: 65=0x41, 69=0x45, 73=0x49, 77=0x4D
//RF frequencies for P10: 67, unknown
uint8_t start = 65;
if(sub_protocol == XK2_P10) start += 2;
for(uint8_t i=0;i<XK2_RF_NUM_CHANNELS;i++)
hopping_frequency[i] = start + i*4;
#ifdef FORCE_XK2_ID
if(rx_tx_addr[3]&1)
{//Pascal
rx_tx_addr[0] = 0x66;
rx_tx_addr[1] = 0x4F;
rx_tx_addr[2] = 0x47;
num_ch = 0x7F;
//hopping frequencies 65=0x41, 69=0x45, 73=0x49, 77=0x4D
}
else
{//Marc
rx_tx_addr[0] = 0x36;
rx_tx_addr[1] = 0x49;
rx_tx_addr[2] = 0x6B;
num_ch = 0x79;
//hopping frequencies 65=0x41, 69=0x45, 73=0x49, 77=0x4D
}
#endif
#ifdef FORCE_XK2_P10_ID
rx_tx_addr[0] = 0xE8;
rx_tx_addr[1] = 0x25;
rx_tx_addr[2] = 0x3B;
num_ch = 0x1F;
//hopping frequencies 67=0x43, =0x, =0x, =0x
#endif
rx_tx_addr[3] = rx_tx_addr[4] = 0xCC;
debugln("ID: %02X %02X %02X %02X %02X, OFFSET: %02X, HOP: %02X %02X %02X %02X",rx_tx_addr[0],rx_tx_addr[1],rx_tx_addr[2],rx_tx_addr[3],rx_tx_addr[4],num_ch,hopping_frequency[0],hopping_frequency[1],hopping_frequency[2],hopping_frequency[3]);
}
uint16_t XK2_callback()
{
switch(phase)
{
case XK2_BIND1:
// switch to RX mode
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(RX_EN);
phase++;
return 5000;
case XK2_BIND2:
if(XN297_IsRX())
{
XN297_ReadPayload(packet, XK2_PAYLOAD_SIZE);
#if 0
debug("RX");
for(uint8_t i=0; i<XK2_PAYLOAD_SIZE; i++)
debug(" %02X",packet[i]);
debugln("");
#endif
crc8 = 0xBF;
for(uint8_t i=0; i<XK2_PAYLOAD_SIZE-1; i++)
crc8 += packet[i];
if(sub_protocol == XK2_P10)
crc8 += 0x10;
if(crc8 != packet[8])
{
phase = XK2_BIND1;
return 1000;
}
if(packet[0] == 0x9B)
phase++;
else
{
//checksum of RX_ID
crc8 = packet[4] + packet[5] + packet[6];
debugln("W:RX_ID=%02X",crc8);
eeprom_write_byte((EE_ADDR)(XK2_EEPROM_OFFSET+RX_num),crc8);
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(TX_EN);
bind_counter = 10; //send 10 bind end packets
phase = XK2_DATA;
}
}
return 1000;
case XK2_DATA_PREP:
crc8 = eeprom_read_byte((EE_ADDR)(XK2_EEPROM_OFFSET+RX_num));
debugln("R:RX_ID=%02X",crc8);
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(TX_EN);
XN297_SetTXAddr(rx_tx_addr, 5);
BIND_DONE;
phase++;
case XK2_DATA:
#ifdef MULTI_SYNC
telemetry_set_input_sync(XK2_PACKET_PERIOD);
#endif
if(bind_counter)
{
bind_counter--;
if(bind_counter == 0)
{
phase = XK2_DATA_PREP;
//phase = XK2_BIND1;
}
}
XK2_send_packet();
break;
}
return XK2_PACKET_PERIOD;
}
void XK2_init()
{
//BIND_IN_PROGRESS; // autobind protocol
XK2_initialize_txid();
XK2_RF_init();
if(IS_BIND_IN_PROGRESS)
phase = XK2_BIND1;
else
phase = XK2_DATA_PREP;
bind_counter = 0;
hopping_frequency_no = 0;
}
#endif
/*
XK A160 Piper CUB
Bind
----
Plane sends these packets:
RX: 0us C=71 S=Y A= CC CC CC CC CC P(9)= 9C BB CC DD 38 12 10 00 19
P[0] = 9C bind phase 1
P[1] = Dummy TX_ID
P[2] = Dummy TX_ID
P[3] = Dummy TX_ID
P[4] = RX_ID[0]
P[5] = RX_ID[1]
P[6] = RX_ID[2]
P[7] = 00
P[8] = sum P[0..7] + BF
TX responds to plane:
RX 9D 66 4F 47 38 12 10 00 B3
P[0] = 9D bind phase 2
P[1] = TX_ID[0]
P[2] = TX_ID[1]
P[3] = TX_ID[2]
P[4] = RX_ID[0]
P[5] = RX_ID[1]
P[6] = RX_ID[2]
P[7] = 00
P[8] = sum P[0..7] + C0
Planes ack:
RX: 4299us C=71 S=Y A= CC CC CC CC CC P(9)= 9B 66 4F 47 38 12 10 00 B0
RX: 26222us C=71 S=Y A= CC CC CC CC CC P(9)= 9B 66 4F 47 38 12 10 00 B0
RX: 8743us C=71 S=Y A= CC CC CC CC CC P(9)= 9B 66 4F 47 38 12 10 00 B0
P[0] = 9B bind phase 3
P[1] = TX_ID[0]
P[2] = TX_ID[1]
P[3] = TX_ID[2]
P[4] = RX_ID[0]
P[5] = RX_ID[1]
P[6] = RX_ID[2]
P[7] = 00
P[8] = sum P[0..7] + BF
Normal
------
TX sends
C=65,69,73,77 -> only one channel when telemetry is working
250K C=69 S=Y A= 66 4F 47 CC CC P(9)= 32 32 00 32 E0 00 01 5A 50
P[0] = A 00..32..64
P[1] = E 00..32..64
P[2] = T 00..64
P[3] = R 00..32..64
P[4] = alternates 20,60,A0,E0
trims
A 01..20..3F
E 41..60..7F
R 81..A0..BF
telemetry
E0 present when the telemetry works
6g/3d
C1 few times if P[6] flag 00->08
C0 few times if P[6] = flag 08->00
P[5] = flags
01=high rate
20=hover=long_press_left
40=light -> temporary
08=6g/3d=short_press_right sequece also switches for a few packets to C1 if 8 C0 if 0
P[6] = 00 telemetry nok
01 telemetry ok but sometimes switch to 1 also when telemetry is nok...
P[7] = 5A -> sum RX_ID[0..2]
P[8] = sum P[0..7] + TX_ID[0] - TX_ID[1] + TX_ID[2] + 21
Telemetry
RX on channel: 69, Time: 3408us P: 66 4F 47 00 00 00 00 00 C8
P[0] = TX_ID[0]
P[1] = TX_ID[1]
P[2] = TX_ID[2]
P[8] = sum P[0..7] + CC
Timing when plane is not detected:
RF
2469 110713 0
2473 114560 3847
2477 120291 5731
2465 135684 15393
2469 142138 6454
2473 145984 3846
2477 151753 5769
2465 155330 3577
*/
/* P10 Piper CUB
Bind
----
Phase 1
Plane sends these packets:
250K C=69 S=Y A= CC CC CC CC CC P(9)= 9C BB CC DD 84 24 20 00 97
P[0] = 9C bind phase 1
P[1] = Dummy TX_ID
P[2] = Dummy TX_ID
P[3] = Dummy TX_ID
P[4] = RX_ID[0]
P[5] = RX_ID[1]
P[6] = RX_ID[2]
P[7] = 00
P[8] = sum P[0..7] + BF + 10
Normal
------
TX sends
C=67 -> only one channel when telemetry is working
A= E8 25 3B CC CC P(9)= 32 32 00 32 A0 40 01 C8 6E
P[0] = A 00..32..64
P[1] = E 00..32..64
P[2] = T 00..64
P[3] = R 00..32..64
P[4] = alternates 20,60,A0,E0
trims
A 01..20..3F
E 41..60..7F
R 81..A0..BF
telemetry
E0 present when the telemetry works
6g/3d
C1 few times if P[6] flag 00->08
C0 few times if P[6] = flag 08->00
P[5] = flags
01=high rate
20=hover=long_press_left
40=light -> temporary
08=6g/3d=short_press_right sequece also switches for a few packets to C1 if 8 C0 if 0
P[6] = 00 telemetry nok
01 telemetry ok but sometimes switch to 1 also when telemetry is nok...
P[7] = C8 -> sum RX_ID[0..2]
P[8] = sum P[0..7] + TX_ID[0] - TX_ID[1] + TX_ID[2] + 21 +10
*/