/* 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 */