/*
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 WLToys V2x2, JXD JD38x, JD39x, JJRC H6C, Yizhan Tarantula X6 ...
// Last sync with hexfet new_protocols/v202_nrf24l01.c dated 2015-03-15
#if defined(V2X2_NRF24L01_INO)
#include "iface_nrf24l01.h"
#define V2X2_MR101_FORCE_ID
#define V2X2_BIND_COUNT 1000
// Timeout for callback in uSec, 4ms=4000us for V202
#define V2X2_PACKET_PERIOD 4000
//
// Time to wait for packet to be sent (no ACK, so very short)
#define V2X2_PACKET_CHKTIME 100
#define V2X2_PAYLOADSIZE 16
//
enum {
V2X2_FLAG_CAMERA = 0x01, // also automatic Missile Launcher and Hoist in one direction
V2X2_FLAG_VIDEO = 0x02, // also Sprayer, Bubbler, Missile Launcher(1), and Hoist in the other dir.
V2X2_FLAG_FLIP = 0x04,
V2X2_FLAG_UNK9 = 0x08,
V2X2_FLAG_LIGHT = 0x10,
V2X2_FLAG_UNK10 = 0x20,
V2X2_FLAG_BIND = 0xC0,
// flags going to byte 10
V2X2_FLAG_HEADLESS = 0x02,
V2X2_FLAG_MAG_CAL_X = 0x08,
V2X2_FLAG_MAG_CAL_Y = 0x20,
V2X2_FLAG_EMERGENCY = 0x80, // JXD-506
// flags going to byte 11 (JXD-506)
V2X2_FLAG_START_STOP = 0x40,
V2X2_FLAG_CAMERA_UP = 0x01,
V2X2_FLAG_CAMERA_DN = 0x02,
};
//
// This is frequency hopping table for V202 protocol
// The table is the first 4 rows of 32 frequency hopping
// patterns, all other rows are derived from the first 4.
// For some reason the protocol avoids channels, dividing
// by 16 and replaces them by subtracting 3 from the channel
// number in this case.
// The pattern is defined by 5 least significant bits of
// sum of 3 bytes comprising TX id
const uint8_t PROGMEM freq_hopping[][16] = {
{ 0x27, 0x1B, 0x39, 0x28, 0x24, 0x22, 0x2E, 0x36,
0x19, 0x21, 0x29, 0x14, 0x1E, 0x12, 0x2D, 0x18 }, // 00
{ 0x2E, 0x33, 0x25, 0x38, 0x19, 0x12, 0x18, 0x16,
0x2A, 0x1C, 0x1F, 0x37, 0x2F, 0x23, 0x34, 0x10 }, // 01
{ 0x11, 0x1A, 0x35, 0x24, 0x28, 0x18, 0x25, 0x2A,
0x32, 0x2C, 0x14, 0x27, 0x36, 0x34, 0x1C, 0x17 }, // 02
{ 0x22, 0x27, 0x17, 0x39, 0x34, 0x28, 0x2B, 0x1D,
0x18, 0x2A, 0x21, 0x38, 0x10, 0x26, 0x20, 0x1F } // 03
};
static void __attribute__((unused)) V2X2_RF_init()
{
NRF24L01_Initialize();
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x3F); // Enable all data pipes
if(sub_protocol==V2X2_MR101)
NRF24L01_SetBitrate(NRF24L01_BR_250K);
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, (uint8_t *)"\x66\x88\x68\x68\x68", 5);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\x66\x88\x68\x68\x68", 5);
}
static void __attribute__((unused)) V2X2_set_tx_id(void)
{
uint8_t sum;
sum = rx_tx_addr[1] + rx_tx_addr[2] + rx_tx_addr[3];
// Higher 3 bits define increment to corresponding row
uint8_t increment = (sum & 0x1e) >> 2;
// Base row is defined by lowest 2 bits
sum &=0x03;
for (uint8_t i = 0; i < 16; ++i) {
uint8_t val = pgm_read_byte_near(&freq_hopping[sum][i]) + increment;
// Strange avoidance of channels divisible by 16
hopping_frequency[i] = (val & 0x0f) ? val : val - 3;
}
#ifdef V2X2_MR101_FORCE_ID
if(sub_protocol==V2X2_MR101)
{
rx_tx_addr[1]=0x83;
rx_tx_addr[2]=0x03;
rx_tx_addr[3]=0xAE;
memcpy(hopping_frequency,"\x05\x12\x08\x0C\x04\x0E\x10",7);
}
#endif
}
static void __attribute__((unused)) V2X2_send_packet()
{
uint8_t rf_ch = hopping_frequency[hopping_frequency_no >> 1];
hopping_frequency_no = (hopping_frequency_no + 1) & 0x1F;
if(sub_protocol==V2X2_MR101 && hopping_frequency_no>13)
hopping_frequency_no=0;
NRF24L01_WriteReg(NRF24L01_05_RF_CH, rf_ch);
uint8_t flags2=0;
if (IS_BIND_IN_PROGRESS)
{
flags = V2X2_FLAG_BIND;
packet[0] = 0;
packet[1] = 0;
packet[2] = 0;
packet[3] = 0;
packet[4] = 0;
packet[5] = 0;
packet[6] = 0;
}
else
{
packet[0] = convert_channel_8b(THROTTLE);
packet[1] = convert_channel_s8b(RUDDER);
packet[2] = convert_channel_s8b(ELEVATOR);
packet[3] = convert_channel_s8b(AILERON);
// Trims, middle is 0x40
packet[4] = 0x40; // yaw
packet[5] = 0x40; // pitch
packet[6] = 0x40; // roll
//Flags
flags=0;
// Channel 5
if (CH5_SW) flags = V2X2_FLAG_FLIP;
if(sub_protocol!=V2X2_MR101)
{//V2X2 & JXD506
// Channel 6
if (CH6_SW) flags |= V2X2_FLAG_LIGHT;
// Channel 7
if (CH7_SW) flags |= V2X2_FLAG_CAMERA;
// Channel 8
if (CH8_SW) flags |= V2X2_FLAG_VIDEO;
//Flags2
// Channel 9
if (CH9_SW)
flags2 = V2X2_FLAG_HEADLESS;
if(sub_protocol==JXD506)
{
// Channel 11
if (CH11_SW)
flags2 |= V2X2_FLAG_EMERGENCY;
}
else
{//V2X2
// Channel 10
if (CH10_SW)
flags2 |= V2X2_FLAG_MAG_CAL_X;
// Channel 11
if (CH11_SW)
flags2 |= V2X2_FLAG_MAG_CAL_Y;
}
}
}
// TX id
packet[7] = rx_tx_addr[1];
packet[8] = rx_tx_addr[2];
packet[9] = rx_tx_addr[3];
// flags
packet[10] = flags2;
packet[11] = 0x00;
packet[12] = 0x00;
packet[13] = 0x00;
if(sub_protocol==JXD506)
{
// Channel 10
if (CH10_SW)
packet[11] = V2X2_FLAG_START_STOP;
// Channel 12
if(CH12_SW)
packet[11] |= V2X2_FLAG_CAMERA_UP;
else if(Channel_data[CH12] < CHANNEL_MIN_COMMAND)
packet[11] |= V2X2_FLAG_CAMERA_DN;
packet[12] = 0x40;
packet[13] = 0x40;
}
else if(sub_protocol==V2X2_MR101)
{
if (CH10_SW) packet[11] = 0x04; // Motors start/stop
if (CH11_SW) packet[11] |= 0x40; // Auto Land=-100% Takeoff=+100%
if (CH7_SW) flags |= 0x02; // Picture
if (CH8_SW) flags |= 0x01; // Video
if(IS_BIND_IN_PROGRESS)
flags = 0x80;
flags |= (hopping_frequency_no & 0x01)<<6;
}
packet[14] = flags;
uint8_t sum = packet[0];
for (uint8_t i = 1; i < 15; ++i)
sum += packet[i];
packet[15] = sum;
NRF24L01_FlushTx();
NRF24L01_WritePayload(packet, V2X2_PAYLOADSIZE);
//packet_sent = 1;
if (! hopping_frequency_no)
NRF24L01_SetPower();
}
uint16_t V2X2_callback()
{
//if (packet_sent && NRF24L01_packet_ack() != PKT_ACKED)
// return V2X2_PACKET_CHKTIME;
#ifdef MULTI_SYNC
telemetry_set_input_sync(V2X2_PACKET_PERIOD);
#endif
if(bind_counter)
{
if (--bind_counter == 0)
{
BIND_DONE;
if(sub_protocol==V2X2_MR101)
{
#ifdef V2X2_MR101_FORCE_ID
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, (uint8_t *)"\xC9\x59\xD2\x65\x34", 5);
memcpy(hopping_frequency,"\x03\x05\x15\x0D\x06\x14\x0B",7);
#endif
}
hopping_frequency_no = 0;
}
}
V2X2_send_packet();
// Packet every 4ms
return V2X2_PACKET_PERIOD;
}
void V2X2_init()
{
if(sub_protocol==V2X2_MR101)
BIND_IN_PROGRESS;
//packet_sent = 0;
hopping_frequency_no = 0;
bind_counter = V2X2_BIND_COUNT;
V2X2_RF_init();
V2X2_set_tx_id();
}
#endif