/* 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 . */ // compatible with Cheerson CX-10 blue & newer red pcb, CX-10A, CX11, CX-10 green pcb, DM007, Floureon FX-10, CX-Stars #if defined(CX10_NRF24L01_INO) #include "iface_nrf24l01.h" #define CX10_BIND_COUNT 4360 // 6 seconds #define CX10_PACKET_SIZE 15 #define CX10A_PACKET_SIZE 19 // CX10 blue board packets have 19-byte payload #define CX10_PACKET_PERIOD 1316 // Timeout for callback in uSec #define CX10A_PACKET_PERIOD 6000 #define INITIAL_WAIT 500 // flags #define CX10_FLAG_FLIP 0x10 // goes to rudder channel #define CX10_FLAG_MODE_MASK 0x03 #define CX10_FLAG_HEADLESS 0x04 // flags2 #define CX10_FLAG_VIDEO 0x02 #define CX10_FLAG_SNAPSHOT 0x04 // frequency channel management #define RF_BIND_CHANNEL 0x02 #define NUM_RF_CHANNELS 4 enum { CX10_INIT1 = 0, CX10_BIND1, CX10_BIND2, CX10_DATA }; void CX10_Write_Packet(uint8_t bind) { uint8_t offset = 0; if(sub_protocol == CX10_BLUE) offset = 4; packet[0] = bind ? 0xAA : 0x55; packet[1] = rx_tx_addr[0]; packet[2] = rx_tx_addr[1]; packet[3] = rx_tx_addr[2]; packet[4] = rx_tx_addr[3]; // packet[5] to [8] (aircraft id) is filled during bind for blue board packet[5+offset] = lowByte(Servo_data[AILERON]); packet[6+offset]= highByte(Servo_data[AILERON]); packet[7+offset]= lowByte(Servo_data[ELEVATOR]); packet[8+offset]= highByte(Servo_data[ELEVATOR]); packet[9+offset]= lowByte(Servo_data[THROTTLE]); packet[10+offset]= highByte(Servo_data[THROTTLE]); packet[11+offset]= lowByte(Servo_data[RUDDER]); packet[12+offset]= highByte(Servo_data[RUDDER]); // Channel 5 - flip flag if(Servo_data[AUX1] > PPM_SWITCH) packet[12+offset] |= CX10_FLAG_FLIP; // flip flag // Channel 6 - mode if(Servo_data[AUX2] > PPM_MAX_COMMAND) // mode 3 / headless on CX-10A packet[13+offset] = 0x02; else if(Servo_data[AUX2] < PPM_MIN_COMMAND) packet[13+offset] = 0x00; // mode 1 else packet[13+offset] = 0x01; // mode 2 flags=0; if(sub_protocol == DM007) { // Channel 7 - snapshot if(Servo_data[AUX3] > PPM_SWITCH) flags |= CX10_FLAG_SNAPSHOT; // Channel 8 - video if(Servo_data[AUX4] > PPM_SWITCH) flags |= CX10_FLAG_VIDEO; // Channel 9 - headless if(Servo_data[AUX5] > PPM_SWITCH) packet[13+offset] |= CX10_FLAG_HEADLESS; } packet[14+offset] = flags; // Power on, TX mode, 2byte CRC // Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP)); if (bind) NRF24L01_WriteReg(NRF24L01_05_RF_CH, RF_BIND_CHANNEL); else { NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no++]); hopping_frequency_no %= NUM_RF_CHANNELS; } // clear packet status bits and TX FIFO NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); NRF24L01_FlushTx(); XN297_WritePayload(packet, packet_length); NRF24L01_SetPower(); } void CX10_init() { NRF24L01_Initialize(); NRF24L01_SetTxRxMode(TX_EN); XN297_SetTXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc",5); XN297_SetRXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc",5); NRF24L01_FlushTx(); NRF24L01_FlushRx(); NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowledgment on all data pipes NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, packet_length); // rx pipe 0 (used only for blue board) NRF24L01_WriteReg(NRF24L01_05_RF_CH, RF_BIND_CHANNEL); NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps NRF24L01_SetPower(); } uint16_t CX10_callback() { switch (phase) { case CX10_INIT1: phase = bind_phase; break; case CX10_BIND1: if (bind_counter == 0) { phase = CX10_DATA; BIND_DONE; } else { CX10_Write_Packet(1); bind_counter--; } break; case CX10_BIND2: if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & BV(NRF24L01_07_RX_DR)) { // RX fifo data ready XN297_ReadPayload(packet, packet_length); NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_SetTxRxMode(TX_EN); if(packet[9] == 1) phase = CX10_BIND1; } else { NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_SetTxRxMode(TX_EN); CX10_Write_Packet(1); delay(1); // used to be 300µs in deviation but not working so 1ms now // switch to RX mode NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_FlushRx(); NRF24L01_SetTxRxMode(RX_EN); XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP) | BV(NRF24L01_00_PRIM_RX)); } break; case CX10_DATA: CX10_Write_Packet(0); break; } return packet_period; } void initialize_txid() { rx_tx_addr[1]%= 0x30; hopping_frequency[0] = 0x03 + (rx_tx_addr[0] & 0x0F); hopping_frequency[1] = 0x16 + (rx_tx_addr[0] >> 4); hopping_frequency[2] = 0x2D + (rx_tx_addr[1] & 0x0F); hopping_frequency[3] = 0x40 + (rx_tx_addr[1] >> 4); } uint16_t initCX10(void) { switch(sub_protocol) { case CX10_GREEN: case DM007: packet_length = CX10_PACKET_SIZE; packet_period = CX10_PACKET_PERIOD; bind_phase = CX10_BIND1; bind_counter = CX10_BIND_COUNT; break; case CX10_BLUE: packet_length = CX10A_PACKET_SIZE; packet_period = CX10A_PACKET_PERIOD; bind_phase = CX10_BIND2; bind_counter=0; for(uint8_t i=0; i<4; i++) packet[5+i] = 0xff; // clear aircraft id packet[9] = 0; break; } initialize_txid(); CX10_init(); phase = CX10_INIT1; BIND_IN_PROGRESS; // autobind protocol return INITIAL_WAIT; } #endif