/*
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/>.
*/
#if defined(DEVO_CYRF6936_INO)
#include "iface_cyrf6936.h"
//For Debug
//#define NO_SCRAMBLE
#define DEVO_PKTS_PER_CHANNEL 4
#define DEVO_BIND_COUNT 0x1388
#define DEVO_NUM_WAIT_LOOPS (100 / 5) //each loop is ~5us. Do not wait more than 100us
enum {
DEVO_BIND,
DEVO_BIND_SENDCH,
DEVO_BOUND,
DEVO_BOUND_1,
DEVO_BOUND_2,
DEVO_BOUND_3,
DEVO_BOUND_4,
DEVO_BOUND_5,
DEVO_BOUND_6,
DEVO_BOUND_7,
DEVO_BOUND_8,
DEVO_BOUND_9,
DEVO_BOUND_10,
};
static void __attribute__((unused)) DEVO_scramble_pkt()
{
#ifdef NO_SCRAMBLE
return;
#else
for(uint8_t i = 0; i < 15; i++)
packet[i + 1] ^= cyrfmfg_id[i % 4];
#endif
}
static void __attribute__((unused)) DEVO_add_pkt_suffix()
{
uint8_t bind_state;
#ifdef ENABLE_PPM
if(mode_select && (option&0x01)==0 && IS_BIND_DONE) //PPM mode and option not already set and bind is finished
{
BIND_SET_INPUT;
BIND_SET_PULLUP; // set pullup
if(IS_BIND_BUTTON_on)
{
eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+RX_num),0x01); // Set fixed id mode for the current model
option |= 0x01;
}
BIND_SET_OUTPUT;
}
#endif //ENABLE_PPM
if(prev_option!=option && IS_BIND_DONE)
{
MProtocol_id = RX_num + MProtocol_id_master;
bind_counter=DEVO_BIND_COUNT;
}
if (option&0x01)
{
if (bind_counter > 0)
bind_state = 0xc0;
else
bind_state = 0x80;
}
else
bind_state = 0x00;
packet[10] = bind_state | (DEVO_PKTS_PER_CHANNEL - packet_count - 1);
packet[11] = *(hopping_frequency_ptr + 1);
packet[12] = *(hopping_frequency_ptr + 2);
packet[13] = MProtocol_id & 0xff;
packet[14] = (MProtocol_id >> 8) & 0xff;
packet[15] = (MProtocol_id >> 16) & 0xff;
}
static void __attribute__((unused)) DEVO_build_beacon_pkt(uint8_t upper)
{
packet[0] = (num_ch << 4) | 0x07;
uint8_t max = 8, offset = 0, enable = 0;
if (upper)
{
packet[0] += 1;
max = 4;
offset = 8;
}
for(uint8_t i = 0; i < max; i++)
{
#ifdef FAILSAFE_ENABLE
uint16_t failsafe=Failsafe_data[CH_EATR[i+offset]];
if(i + offset < num_ch && failsafe!=FAILSAFE_CHANNEL_HOLD && IS_FAILSAFE_VALUES_on)
{
enable |= 0x80 >> i;
packet[i+1] = ((failsafe*25)>>8)-100;
}
else
#else
(void)offset;
#endif
packet[i+1] = 0;
}
packet[9] = enable;
DEVO_add_pkt_suffix();
}
static void __attribute__((unused)) DEVO_build_bind_pkt()
{
packet[0] = (num_ch << 4) | 0x0a;
packet[1] = bind_counter & 0xff;
packet[2] = (bind_counter >> 8);
packet[3] = *hopping_frequency_ptr;
packet[4] = *(hopping_frequency_ptr + 1);
packet[5] = *(hopping_frequency_ptr + 2);
packet[6] = cyrfmfg_id[0];
packet[7] = cyrfmfg_id[1];
packet[8] = cyrfmfg_id[2];
packet[9] = cyrfmfg_id[3];
DEVO_add_pkt_suffix();
//The fixed-id portion is scrambled in the bind packet
//I assume it is ignored
packet[13] ^= cyrfmfg_id[0];
packet[14] ^= cyrfmfg_id[1];
packet[15] ^= cyrfmfg_id[2];
}
static void __attribute__((unused)) DEVO_build_data_pkt()
{
static uint8_t ch_idx=0;
packet[0] = (num_ch << 4) | (0x0b + ch_idx);
uint8_t sign = 0x0b;
for (uint8_t i = 0; i < 4; i++)
{
int16_t value=convert_channel_16b_nolimit(CH_EATR[ch_idx * 4 + i],-1600,1600,false);//range -1600..+1600
if(value < 0)
{
value = -value;
sign |= 1 << (7 - i);
}
packet[2 * i + 1] = value & 0xff;
packet[2 * i + 2] = (value >> 8) & 0xff;
}
packet[9] = sign;
ch_idx++;
if (ch_idx * 4 >= num_ch)
ch_idx = 0;
DEVO_add_pkt_suffix();
}
#if defined DEVO_HUB_TELEMETRY
static uint32_t __attribute__((unused)) DEVO_text_to_int(uint8_t *ptr, uint8_t len)
{
uint32_t value = 0;
for(uint8_t i = 0; i < len; i++)
value = value * 10 + (ptr[i] - '0');
return value;
}
static void __attribute__((unused)) DEVO_float_to_ints(uint8_t *ptr, uint16_t *value, uint16_t *decimal)
{
bool seen_decimal = false;
*value = 0;
*decimal = 0;
for(uint8_t i = 0; i < 7; i++)
{
if(ptr[i] == '.')
{
seen_decimal = true;
continue;
}
if(ptr[i] < '0' || ptr[i] > '9')
{
if(*value != 0 || seen_decimal)
return;
}
else
{
if(seen_decimal)
*decimal = *decimal * 10 + (ptr[i] - '0');
else
*value = *value * 10 + (ptr[i] - '0');
}
}
}
static void __attribute__((unused)) DEVO_parse_telemetry_packet()
{ // Telemetry packets every 2.4ms
DEVO_scramble_pkt(); //This will unscramble the packet
debugln("RX");
if ((((uint32_t)packet[15] << 16) | ((uint32_t)packet[14] << 8) | packet[13]) != (MProtocol_id & 0x00ffffff))
return; // ID does not match
if((telemetry_link & 3) != 0)
{
debugln("S%d",telemetry_link);
return; // Previous telemetry not sent yet...
}
//Debug telem RX
//for(uint8_t i=0;i<12;i++)
// debug("%02X ",packet[i]);
//debugln("");
#if defined HUB_TELEMETRY
//Telemetry https://github.com/DeviationTX/deviation/blob/5efb6a28bea697af9a61b5a0ed2528cc8d203f90/src/protocol/devo_cyrf6936.c#L232
uint16_t val, dec;
uint32_t val32;
switch(packet[0])
{
case 0x30: // Volt and RPM packet
//RSSI and voltage
TX_RSSI = CYRF_ReadRegister(CYRF_13_RSSI) & 0x1F;
TX_RSSI = (TX_RSSI << 1) + TX_RSSI;
RX_RSSI = TX_RSSI;
telemetry_link |= 1;
v_lipo1 = packet[1] << 1;
v_lipo2 = packet[3] << 1;
//packet[5] = 127; // 12.7V
if(packet[5] != 0)
{
val = (packet[5]*11)/21; // OpenTX strange transformation??
dec = val;
val /= 10;
dec -= val*10;
frsky_send_user_frame(0x3A, val, 0x00); // volt3
frsky_send_user_frame(0x3B, dec, 0x00); // volt3
}
val = packet[7] * 120; // change to RPM
frsky_send_user_frame(0x03, val, val>>8); // RPM
break;
case 0x31: // Temperature packet
//memcpy(&packet[1],"\x29\x2A\x2B\x00\x00\x00\x00\x00\x00\x00\x00\x00",12); // 21°, 22°, 23°
for(uint8_t i=0; i<2;i++)
if(packet[i+1]!=0xff)
{
val = packet[i+1];
val -= 20;
frsky_send_user_frame(0x02 + i*3, val, val>>8); // temp 1 & 2
}
break;
// GPS Data
case 0x32: // Longitude
//memcpy(&packet[1],"\x30\x33\x30\x32\x30\x2e\x38\x32\x37\x30\x45\xfb",12); // 030°20.8270E in ddmm.mmmm
//memcpy(&packet[1],"\x31\x31\x37\x31\x31\x2e\x35\x39\x34\x37\x57\xfb",12); // RX705 sends 117°11.5947W which should be 11706.95685W in ddmm.mmmm
val = DEVO_text_to_int(&packet[1], 3)*100; // dd00
val32 = DEVO_text_to_int(&packet[4], 2) * 10000 + DEVO_text_to_int(&packet[7], 4); // mmmmmm
if(option&0x02) // if RX705 GPS format
val32 = (val32*3)/5; // then * 6/10 correction
dec = val32/10000;
val = val + dec; // dddmm
frsky_send_user_frame(0x12 , val, val>>8);
val = val32 - dec*10000; // .mmmm
frsky_send_user_frame(0x12+8, val, val>>8);
frsky_send_user_frame(0x1A+8, packet[11], 0x00); // 'E'/'W'
break;
case 0x33: // Latitude
//memcpy(&packet[1],"\x35\x39\x35\x34\x2e\x37\x37\x37\x36\x4e\x07\x00",12); // 59°54.776N in ddmm.mmmm
//memcpy(&packet[1],"\x31\x37\x31\x31\x2e\x35\x39\x34\x37\x4e\xfb\x00",12); // RX705 sends 17°11.5947N which should be 1706.95685N in ddmm.mmmm
val = DEVO_text_to_int(&packet[1], 2)*100; // dd00
val32 = DEVO_text_to_int(&packet[3], 2) * 10000 + DEVO_text_to_int(&packet[6], 4); // mmmmmm
if(option&0x02) // if RX705 GPS format
val32 = (val32*3)/5; // then * 6/10 correction
dec = val32/10000;
val = val + dec; // dddmm
frsky_send_user_frame(0x13 , val, val>>8);
val = val32 - dec*10000; // .mmmm
frsky_send_user_frame(0x13+8, val, val>>8);
frsky_send_user_frame(0x1B+8, packet[10], 0x00); // 'N'/'S'
break;
case 0x34: // Altitude
//memcpy(&packet[1],"\x31\x32\x2e\x38\x00\x00\x00\x4d\x4d\x4e\x45\xfb",12); // 12.8 MMNE
DEVO_float_to_ints(&packet[1], &val, &dec);
frsky_send_user_frame(0x10, val, val>>8);
frsky_send_user_frame(0x21, dec, dec>>8);
break;
case 0x35: // Speed
//memcpy(&packet[1],"\x00\x00\x00\x00\x00\x00\x30\x2e\x30\x30\x00\x00",12); // 0.0
DEVO_float_to_ints(&packet[1], &val, &dec);
frsky_send_user_frame(0x11 , val, val>>8);
frsky_send_user_frame(0x11+8, dec, dec>>8);
break;
case 0x36: // Time
//memcpy(&packet[1],"\x31\x38\x32\x35\x35\x32\x31\x35\x31\x30\x31\x32",12); // "182552151012" = 2012-10-15 18:25:52 (UTC)
if(packet[1]!=0)
{
frsky_send_user_frame(0x15, DEVO_text_to_int(&packet[9], 2), DEVO_text_to_int(&packet[7], 2)); // month, day
val = 2000 + DEVO_text_to_int(&packet[11], 2); // year
frsky_send_user_frame(0x16, val, val>>8);
frsky_send_user_frame(0x17, DEVO_text_to_int(&packet[1], 2), DEVO_text_to_int(&packet[3], 2)); // hour, min
frsky_send_user_frame(0x18, DEVO_text_to_int(&packet[5], 2), 0x00); // second
}
break;
}
#else
if(packet[0] == 0x30)
{
TX_RSSI = CYRF_ReadRegister(CYRF_13_RSSI) & 0x1F;
TX_RSSI = (TX_RSSI << 1) + TX_RSSI;
RX_RSSI = TX_RSSI;
telemetry_link |= 1;
v_lipo1 = packet[1] << 1;
v_lipo2 = packet[3] << 1;
}
#endif
}
#endif
static void __attribute__((unused)) DEVO_cyrf_set_bound_sop_code()
{
/* crc == 0 isn't allowed, so use 1 if the math results in 0 */
uint8_t crc = (cyrfmfg_id[0] + (cyrfmfg_id[1] >> 6) + cyrfmfg_id[2]);
if(! crc)
crc = 1;
uint8_t sopidx = (0xff &((cyrfmfg_id[0] << 2) + cyrfmfg_id[1] + cyrfmfg_id[2])) % 10;
CYRF_SetTxRxMode(TX_EN);
CYRF_ConfigCRCSeed((crc << 8) + crc);
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[sopidx]);
CYRF_SetPower(0x08);
}
const uint8_t PROGMEM DEVO_init_vals[][2] = {
{ CYRF_1D_MODE_OVERRIDE, 0x38 },
{ CYRF_03_TX_CFG, 0x08 },
{ CYRF_06_RX_CFG, 0x4A },
{ CYRF_0B_PWR_CTRL, 0x00 },
{ CYRF_10_FRAMING_CFG, 0xA4 },
{ CYRF_11_DATA32_THOLD, 0x05 },
{ CYRF_12_DATA64_THOLD, 0x0E },
{ CYRF_1B_TX_OFFSET_LSB, 0x55 },
{ CYRF_1C_TX_OFFSET_MSB, 0x05 },
{ CYRF_32_AUTO_CAL_TIME, 0x3C },
{ CYRF_35_AUTOCAL_OFFSET, 0x14 },
{ CYRF_39_ANALOG_CTRL, 0x01 },
{ CYRF_1E_RX_OVERRIDE, 0x10 },
{ CYRF_1F_TX_OVERRIDE, 0x00 },
{ CYRF_01_TX_LENGTH, 0x10 },
{ CYRF_0F_XACT_CFG, 0x10 },
{ CYRF_27_CLK_OVERRIDE, 0x02 },
{ CYRF_28_CLK_EN, 0x02 },
{ CYRF_0F_XACT_CFG, 0x28 }
};
static void __attribute__((unused)) DEVO_cyrf_init()
{
/* Initialise CYRF chip */
for(uint8_t i = 0; i < sizeof(DEVO_init_vals) / 2; i++)
CYRF_WriteRegister(pgm_read_byte( &DEVO_init_vals[i][0]), pgm_read_byte( &DEVO_init_vals[i][1]) );
}
static void __attribute__((unused)) DEVO_set_radio_channels()
{
CYRF_FindBestChannels(hopping_frequency, 3, 4, 4, 80, FIND_CHANNEL_ANY);
hopping_frequency[3] = hopping_frequency[0];
hopping_frequency[4] = hopping_frequency[1];
}
static void __attribute__((unused)) DEVO_BuildPacket()
{
static uint8_t failsafe_pkt=0;
switch(phase)
{
case DEVO_BIND:
if(bind_counter)
bind_counter--;
DEVO_build_bind_pkt();
phase = DEVO_BIND_SENDCH;
break;
case DEVO_BIND_SENDCH:
if(bind_counter)
bind_counter--;
DEVO_build_data_pkt();
DEVO_scramble_pkt();
if (bind_counter == 0)
{
phase = DEVO_BOUND;
BIND_DONE;
}
else
phase = DEVO_BIND;
break;
case DEVO_BOUND:
case DEVO_BOUND_1:
case DEVO_BOUND_2:
case DEVO_BOUND_3:
case DEVO_BOUND_4:
case DEVO_BOUND_5:
case DEVO_BOUND_6:
case DEVO_BOUND_7:
case DEVO_BOUND_8:
case DEVO_BOUND_9:
DEVO_build_data_pkt();
DEVO_scramble_pkt();
phase++;
if (bind_counter)
{
bind_counter--;
if (bind_counter == 0)
BIND_DONE;
}
break;
case DEVO_BOUND_10:
DEVO_build_beacon_pkt(num_ch > 8 ? failsafe_pkt : 0);
failsafe_pkt = failsafe_pkt ? 0 : 1;
DEVO_scramble_pkt();
phase = DEVO_BOUND_1;
break;
}
packet_count++;
if(packet_count == DEVO_PKTS_PER_CHANNEL)
packet_count = 0;
}
uint16_t DEVO_callback()
{
static uint8_t txState=0;
#if defined DEVO_HUB_TELEMETRY
int delay;
if (txState == 0)
{
#ifdef MULTI_SYNC
telemetry_set_input_sync(2400);
#endif
DEVO_BuildPacket();
CYRF_WriteDataPacket(packet);
txState = 1;
return 900;
}
if (txState == 1)
{
int i = 0;
uint8_t reg;
while (! ((reg = CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS)) & 0x02))
{
if (++i >= DEVO_NUM_WAIT_LOOPS)
break;
}
if (((reg & 0x22) == 0x20) || (CYRF_ReadRegister(CYRF_02_TX_CTRL) & 0x80))
{
CYRF_Reset();
DEVO_cyrf_init();
DEVO_cyrf_set_bound_sop_code();
CYRF_ConfigRFChannel(*hopping_frequency_ptr);
//printf("Rst CYRF\n");
delay = 1500;
txState = 15;
}
else
{
if (phase == DEVO_BOUND)
{
/* exit binding state */
phase = DEVO_BOUND_3;
DEVO_cyrf_set_bound_sop_code();
}
if((packet_count != 0) && (bind_counter == 0))
{
CYRF_SetTxRxMode(RX_EN); //Receive mode
CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x87); //0x80??? //Prepare to receive
txState = 2;
return 1300;
}
}
if(packet_count == 0)
{
CYRF_SetPower(0x08); //Keep tx power updated
hopping_frequency_ptr = hopping_frequency_ptr == &hopping_frequency[2] ? hopping_frequency : hopping_frequency_ptr + 1;
CYRF_ConfigRFChannel(*hopping_frequency_ptr);
}
delay = 1500;
}
if(txState == 2)
{
uint8_t rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
if((rx_state & 0x03) == 0x02)
{ // RXC=1, RXE=0 then 2nd check is required (debouncing)
rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
}
if((rx_state & 0x07) == 0x02)
{ // good data (complete with no errors)
CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80); // need to set RXOW before data read
CYRF_ReadDataPacketLen(packet, CYRF_ReadRegister(CYRF_09_RX_COUNT));
DEVO_parse_telemetry_packet();
}
CYRF_SetTxRxMode(TX_EN); //Write mode
delay = 200;
}
txState = 0;
return delay;
#else
if (txState == 0)
{
#ifdef MULTI_SYNC
telemetry_set_input_sync(2400);
#endif
txState = 1;
DEVO_BuildPacket();
CYRF_WriteDataPacket(packet);
return 1200;
}
txState = 0;
uint8_t i = 0;
while (! (CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02))
if(++i > DEVO_NUM_WAIT_LOOPS)
return 1200;
if (phase == DEVO_BOUND)
{
/* exit binding state */
phase = DEVO_BOUND_3;
DEVO_cyrf_set_bound_sop_code();
}
if(packet_count == 0)
{
CYRF_SetPower(0x08); //Keep tx power updated
hopping_frequency_ptr = hopping_frequency_ptr == &hopping_frequency[2] ? hopping_frequency : hopping_frequency_ptr + 1;
CYRF_ConfigRFChannel(*hopping_frequency_ptr);
}
return 1200;
#endif
}
void DEVO_init()
{
#ifdef ENABLE_PPM
if(mode_select) //PPM mode
{
if(IS_BIND_BUTTON_FLAG_on)
{
option &= 0xFE;
eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+RX_num),option); // reset to autobind mode for the current model
}
else
{
option=eeprom_read_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+RX_num)); // load previous mode: autobind or fixed id
if(option > 3) option = 0; // if invalid then it should be autobind
}
}
#endif //ENABLE_PPM
switch(sub_protocol)
{
case 1:
num_ch=10;
break;
case 2:
num_ch=12;
break;
case 3:
num_ch=6;
break;
case 4:
num_ch=7;
break;
default:
num_ch=8;
break;
}
DEVO_cyrf_init();
CYRF_GetMfgData(cyrfmfg_id);
CYRF_SetTxRxMode(TX_EN);
CYRF_ConfigCRCSeed(0x0000);
CYRF_PROGMEM_ConfigSOPCode(DEVO_j6pro_sopcodes[0]);
DEVO_set_radio_channels();
hopping_frequency_ptr = hopping_frequency;
CYRF_ConfigRFChannel(*hopping_frequency_ptr);
packet_count = 0;
if(option&0x01)
{
phase = DEVO_BOUND_1;
bind_counter = 0;
DEVO_cyrf_set_bound_sop_code();
}
else
{
MProtocol_id = ((uint32_t)(hopping_frequency[0] ^ cyrfmfg_id[0] ^ cyrfmfg_id[3]) << 16)
| ((uint32_t)(hopping_frequency[1] ^ cyrfmfg_id[1] ^ cyrfmfg_id[4]) << 8)
| ((uint32_t)(hopping_frequency[2] ^ cyrfmfg_id[2] ^ cyrfmfg_id[5]) << 0);
MProtocol_id %= 1000000;
bind_counter = DEVO_BIND_COUNT;
phase = DEVO_BIND;
BIND_IN_PROGRESS;
}
}
#endif