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DIY-Multiprotocol-TX-Module/Multiprotocol/MT99xx_ccnrf.ino

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/*
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 MT99xx, Eachine H7, Yi Zhan i6S and LS114/124
// Last sync with Goebish mt99xx_nrf24l01.c dated 2016-01-29
#if defined(MT99XX_CCNRF_INO)
#include "iface_xn297.h"
#define MT99XX_BIND_COUNT 928
#define MT99XX_PACKET_PERIOD_FY805 2460
#define MT99XX_PACKET_PERIOD_MT 2625
#define MT99XX_PACKET_PERIOD_YZ 3125
#define MT99XX_PACKET_PERIOD_A180 3400 // timing changes between the packets 2 x 27220 then 1x 26080, it seems that it is only on the first RF channel which jitters by 1.14ms but hard to pinpoint with XN297dump
#define MT99XX_PACKET_PERIOD_DRAGON 1038 // there is a pause of 2x1038 between two packets, no idea why and how since it is not even stable on a same dump...
#define MT99XX_PACKET_PERIOD_DRAGON_TELEM 10265 // long pause to receive the telemetry packets, 3 are sent by the RX one after the other
#define MT99XX_INITIAL_WAIT 500
#define MT99XX_PACKET_SIZE 9
//#define FORCE_A180_ID
//#define FORCE_DRAGON_ID
enum {
MT99XX_DATA,
MT99XX_RX,
MT99XX_CHECK,
};
enum{
// flags going to packet[6] (MT99xx, H7)
FLAG_MT_RATE1 = 0x01, // (H7 & A180 high rate)
FLAG_MT_RATE2 = 0x02, // (MT9916 only)
FLAG_MT_VIDEO = 0x10,
FLAG_MT_SNAPSHOT= 0x20,
FLAG_MT_FLIP = 0x80,
};
enum{
// flags going to packet[6] (LS)
FLAG_LS_INVERT = 0x01,
FLAG_LS_RATE = 0x02,
FLAG_LS_HEADLESS= 0x10,
FLAG_LS_SNAPSHOT= 0x20,
FLAG_LS_VIDEO = 0x40,
FLAG_LS_FLIP = 0x80,
};
enum{
// flags going to packet[7] (FY805)
FLAG_FY805_HEADLESS= 0x10,
};
enum{
// flags going to packet[6] (A180)
FLAG_A180_3D6G = 0x01,
FLAG_A180_RATE = 0x02,
};
enum{
// flags going to packet[6] (DRAGON)
FLAG_DRAGON_RATE = 0x01,
FLAG_DRAGON_RTH = 0x80,
FLAG_DRAGON_UNK = 0x04,
};
const uint8_t h7_mys_byte[] = {
0x01, 0x11, 0x02, 0x12, 0x03, 0x13, 0x04, 0x14,
0x05, 0x15, 0x06, 0x16, 0x07, 0x17, 0x00, 0x10
};
const uint8_t ls_mys_byte[] = {
0x05, 0x15, 0x25, 0x06, 0x16, 0x26,
0x07, 0x17, 0x27, 0x00, 0x10, 0x20,
0x01, 0x11, 0x21, 0x02, 0x12, 0x22,
0x03, 0x13, 0x23, 0x04, 0x14, 0x24
};
const uint8_t yz_p4_seq[] = {0xa0, 0x20, 0x60};
#ifdef MT99XX_HUB_TELEMETRY
const uint8_t DRAGON_seq[] = {0x20, 0x60, 0x20, 0x80};
#endif
static void __attribute__((unused)) MT99XX_send_packet()
{
static uint8_t seq_num=0;
if(IS_BIND_IN_PROGRESS)
{
//Bind packet
packet[0] = 0x20;
switch(sub_protocol)
{
case YZ:
packet_period = MT99XX_PACKET_PERIOD_YZ;
packet[1] = 0x15;
packet[2] = 0x05;
packet[3] = 0x06;
break;
case LS:
packet[1] = 0x14;
packet[2] = 0x05;
packet[3] = 0x11;
break;
case FY805:
packet_period = MT99XX_PACKET_PERIOD_FY805;
packet[1] = 0x15;
packet[2] = 0x12;
packet[3] = 0x17;
break;
case A180:
packet_period = MT99XX_PACKET_PERIOD_A180;
default: // MT99 & H7 & A180 & DRAGON
packet[1] = 0x14;
packet[2] = 0x03;
packet[3] = 0x25;
break;
}
packet[4] = rx_tx_addr[0];
packet[5] = rx_tx_addr[1];
packet[6] = rx_tx_addr[2];
packet[7] = crc8; // checksum offset
packet[8] = 0xAA; // fixed
}
else
{
if(sub_protocol != YZ)
{ // MT99XX & H7 & LS & FY805 & A180 & DRAGON
packet[0] = convert_channel_16b_limit(THROTTLE,0xE1,0x00); // throttle
packet[1] = convert_channel_16b_limit(RUDDER ,0x00,0xE1); // rudder
packet[2] = convert_channel_16b_limit(AILERON ,0xE1,0x00); // aileron
packet[3] = convert_channel_16b_limit(ELEVATOR,0x00,0xE1); // elevator
packet[4] = 0x20; // pitch trim (0x3f-0x20-0x00)
packet[5] = 0x20; // roll trim (0x00-0x20-0x3f)
packet[6] = GET_FLAG( CH5_SW, FLAG_MT_FLIP );
packet[7] = h7_mys_byte[hopping_frequency_no]; // next rf channel index ?
switch(sub_protocol)
{
case MT99:
packet[6] |= 0x40 | FLAG_MT_RATE2 // max rate on MT99xx
| GET_FLAG( CH7_SW, FLAG_MT_SNAPSHOT )
| GET_FLAG( CH8_SW, FLAG_MT_VIDEO );
break;
case H7:
packet[6] |= FLAG_MT_RATE1; // max rate on H7
break;
case LS:
packet[6] |= FLAG_LS_RATE // max rate
| GET_FLAG( CH6_SW, FLAG_LS_INVERT ) // invert
| GET_FLAG( CH7_SW, FLAG_LS_SNAPSHOT ) // snapshot
| GET_FLAG( CH8_SW, FLAG_LS_VIDEO ) // video
| GET_FLAG( CH9_SW, FLAG_LS_HEADLESS ); // Headless
packet[7] = ls_mys_byte[seq_num++];
if(seq_num >= sizeof(ls_mys_byte))
seq_num=0;
break;
case FY805:
packet[6]=0x20;
//Rate 0x01?
//Flip ?
packet[7]=0x01
|GET_FLAG( CH5_SW, FLAG_MT_FLIP )
|GET_FLAG( CH9_SW, FLAG_FY805_HEADLESS ); //HEADLESS
crc8=0;
break;
case A180:
packet[6] = FLAG_A180_RATE
| GET_FLAG( CH5_SW, FLAG_A180_3D6G );
packet[7] = 0x00;
break;
case DRAGON:
if(CH5_SW) // Advanced mode
packet[5] |= 0x80;
else
if(Channel_data[CH5] > CHANNEL_MIN_COMMAND) // Beginner mode
packet[5] |= 0x40;
packet[6] = FLAG_DRAGON_RATE
| GET_FLAG( CH6_SW, FLAG_DRAGON_RTH );
#ifdef MT99XX_HUB_TELEMETRY
//Telemetry
if(hopping_frequency_no == 0)
{
seq_num++;
seq_num &= 0x03;
packet_count++;
if(packet_count > 11)
packet_count = 0;
}
if(packet_count > 10) // Telemetry packet request every 10 or 11 packets
{
packet[6] |= 0x04; // Request telemetry flag
phase = MT99XX_RX;
}
packet[7] = DRAGON_seq[seq_num]; // seq: 20 80 20 60 20 80 20 60... 80 changes to 80+batt from telem
if(seq_num==3)
packet[7] |= v_lipo1;
#else
packet[7] = 0x20;
#endif
break;
}
uint8_t result=crc8;
for(uint8_t i=0; i<8; i++)
result += packet[i];
packet[8] = result;
}
else
{ // YZ
packet[0] = convert_channel_16b_limit(THROTTLE,0x00,0x64); // throttle
packet[1] = convert_channel_16b_limit(RUDDER ,0x64,0x00); // rudder
packet[2] = convert_channel_16b_limit(ELEVATOR,0x00,0x64); // elevator
packet[3] = convert_channel_16b_limit(AILERON ,0x64,0x00); // aileron
if(packet_count++ >= 23)
{
seq_num ++;
if(seq_num > 2)
seq_num = 0;
packet_count=0;
}
packet[4] = yz_p4_seq[seq_num];
packet[5] = 0x02 // expert ? (0=unarmed, 1=normal)
| GET_FLAG(CH8_SW, 0x10) //VIDEO
| GET_FLAG(CH5_SW, 0x80) //FLIP
| GET_FLAG(CH9_SW, 0x04) //HEADLESS
| GET_FLAG(CH7_SW, 0x20); //SNAPSHOT
packet[6] = GET_FLAG(CH6_SW, 0x80); //LED
packet[7] = packet[0];
for(uint8_t idx = 1; idx < MT99XX_PACKET_SIZE-2; idx++)
packet[7] += packet[idx];
packet[8] = 0xff;
}
}
//RF freq
if(sub_protocol == LS)
XN297_RFChannel(0x2D); // LS always transmits on the same channel
else
if(sub_protocol==FY805)
XN297_RFChannel(0x4B); // FY805 always transmits on the same channel
else // MT99 & H7 & YZ & A180 & DRAGON
XN297_Hopping(hopping_frequency_no);
hopping_frequency_no++;
if(sub_protocol == YZ || sub_protocol == A180 || sub_protocol == DRAGON )
hopping_frequency_no++; // skip every other channel
if(hopping_frequency_no > 15)
hopping_frequency_no = 0;
// Send
XN297_SetPower();
XN297_SetFreqOffset();
XN297_SetTxRxMode(TX_EN);
XN297_WritePayload(packet, MT99XX_PACKET_SIZE);
}
static void __attribute__((unused)) MT99XX_RF_init()
{
if(sub_protocol == YZ)
XN297_Configure(XN297_CRCEN, XN297_UNSCRAMBLED, XN297_250K);
else
XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M);
XN297_SetTXAddr((uint8_t *)"\xCC\xCC\xCC\xCC\xCC", 5);
XN297_HoppingCalib(16);
#ifdef MT99XX_HUB_TELEMETRY
XN297_SetRXAddr(rx_tx_addr, MT99XX_PACKET_SIZE);
#endif
}
static void __attribute__((unused)) MT99XX_initialize_txid()
{
rx_tx_addr[1] = rx_tx_addr[3]; // RX_Num
switch(protocol)
{
case YZ:
rx_tx_addr[0] = 0x53; // test (SB id)
rx_tx_addr[1] = 0x00;
rx_tx_addr[2] = 0x00;
break;
case FY805:
rx_tx_addr[0] = 0x81; // test (SB id)
rx_tx_addr[1] = 0x0F;
rx_tx_addr[2] = 0x00;
break;
case LS:
rx_tx_addr[0] = 0xCC;
break;
#ifdef FORCE_A180_ID
case A180:
rx_tx_addr[0] = 0x84; // MikeHRC ID
rx_tx_addr[1] = 0x62;
rx_tx_addr[2] = 0x4A;
//crc8 = 0x30
//channel_offset = 0x03;
break;
#endif
#ifdef FORCE_DRAGON_ID
case DRAGON:
rx_tx_addr[0] = 0x6C; // Laurie ID
rx_tx_addr[1] = 0x00;
rx_tx_addr[2] = 0x22;
//crc8 = 0x8E
//channel_offset = 0x06
break;
#endif
default: //MT99 & H7 & A180 & DRAGON
rx_tx_addr[2] = 0x00;
break;
}
rx_tx_addr[3] = 0xCC;
rx_tx_addr[4] = 0xCC;
crc8 = rx_tx_addr[0] + rx_tx_addr[1] + rx_tx_addr[2];
//memcpy(hopping_frequency,"\x02\x48\x0C\x3e\x16\x34\x20\x2A\x2A\x20\x34\x16\x3e\x0c\x48\x02",16);
for(uint8_t i=0; i<8; i++)
{
hopping_frequency[(i<<1) ]=0x02 + (10*i);
hopping_frequency[(i<<1)+1]=0x48 - (10*i);
}
hopping_frequency_no=0;
}
uint16_t MT99XX_callback()
{
switch(phase)
{
case MT99XX_DATA:
#ifdef MULTI_SYNC
telemetry_set_input_sync(packet_period);
#endif
if(bind_counter)
{
bind_counter--;
if (bind_counter == 0)
{
// set tx address for data packets
XN297_SetTXAddr(rx_tx_addr, 5);
// set rf channels
uint8_t channel_offset = ((crc8>>4) + (crc8 & 0x0f)) % 8;
for(uint8_t i=0;i<16;i++)
hopping_frequency[i] += channel_offset;
XN297_HoppingCalib(16);
BIND_DONE;
}
}
MT99XX_send_packet();
break;
#ifdef MT99XX_HUB_TELEMETRY
case MT99XX_RX:
//Switch to RX
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(RX_EN);
phase++;
return MT99XX_PACKET_PERIOD_DRAGON_TELEM - MT99XX_PACKET_PERIOD_DRAGON - 500;
case MT99XX_CHECK:
//Check telem
if(XN297_IsRX())
{
//debug("RX");
if(XN297_ReadPayload(packet_in, MT99XX_PACKET_SIZE))
{
// C=48 S=Y A= 6C 00 22 CC CC P(9)= 6C 00 22 27 00 00 00 00 60
// C=48 S=Y A= 6C 00 22 CC CC P(9)= 6C 00 22 28 00 00 00 00 61
// C=18 S=Y A= 6C 00 22 CC CC P(9)= 6C 00 22 24 00 00 00 00 5D
// 6C 00 22 = TX address, 27/28/24=vbatt, check = sum(P[0..7]) + AB
// D2 EE 00 25 00 00 00 00 90 -> check also + AB
//for(uint8_t i=0; i<MT99XX_PACKET_SIZE; i++)
// debug(" %02X",packet_in[i]);
uint8_t check=0xAB;
for(uint8_t i=0; i<8; i++)
check += packet_in[i];
if(packet_in[8] == check && packet_in[0] == rx_tx_addr[0] && packet_in[1] == rx_tx_addr[1] && packet_in[2] == rx_tx_addr[2])
{ // checksum and address are ok
// debug(" OK");
v_lipo1 = packet_in[3];
RX_RSSI=100;
telemetry_link = 1;
}
}
//debugln("");
}
//Switch to TX
XN297_SetTxRxMode(TXRX_OFF);
XN297_SetTxRxMode(TX_EN);
phase=MT99XX_DATA;
return 500;
#endif
}
return packet_period;
}
void MT99XX_init(void)
{
if(sub_protocol != A180 && sub_protocol != DRAGON)
BIND_IN_PROGRESS; // autobind protocol
bind_counter = MT99XX_BIND_COUNT;
MT99XX_initialize_txid();
MT99XX_RF_init();
packet_period = MT99XX_PACKET_PERIOD_MT;
packet_count=0;
phase=MT99XX_DATA;
}
#endif
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