mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 17:38:13 +00:00
422 lines
11 KiB
C++
422 lines
11 KiB
C++
/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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#if defined(DEVO_CYRF6936_INO)
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#include "iface_cyrf6936.h"
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#define DEVO_NUM_CHANNELS 8
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//For Debug
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//#define NO_SCRAMBLE
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#define PKTS_PER_CHANNEL 4
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#define DEVO_BIND_COUNT 0x1388
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//#define TELEMETRY_ENABLE 0x30
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#define NUM_WAIT_LOOPS (100 / 5) //each loop is ~5us. Do not wait more than 100us
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//
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//#define TELEM_ON 0
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//#define TELEM_OFF 1
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enum Devo_PhaseState
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{
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DEVO_BIND,
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DEVO_BIND_SENDCH,
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DEVO_BOUND,
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DEVO_BOUND_1,
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DEVO_BOUND_2,
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DEVO_BOUND_3,
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DEVO_BOUND_4,
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DEVO_BOUND_5,
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DEVO_BOUND_6,
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DEVO_BOUND_7,
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DEVO_BOUND_8,
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DEVO_BOUND_9,
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DEVO_BOUND_10,
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};
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const uint8_t sopcodes[][8] = {
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/* Note these are in order transmitted (LSB 1st) */
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/* 0 */ {0x3C,0x37,0xCC,0x91,0xE2,0xF8,0xCC,0x91}, //0x91CCF8E291CC373C
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/* 1 */ {0x9B,0xC5,0xA1,0x0F,0xAD,0x39,0xA2,0x0F}, //0x0FA239AD0FA1C59B
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/* 2 */ {0xEF,0x64,0xB0,0x2A,0xD2,0x8F,0xB1,0x2A}, //0x2AB18FD22AB064EF
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/* 3 */ {0x66,0xCD,0x7C,0x50,0xDD,0x26,0x7C,0x50}, //0x507C26DD507CCD66
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/* 4 */ {0x5C,0xE1,0xF6,0x44,0xAD,0x16,0xF6,0x44}, //0x44F616AD44F6E15C
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/* 5 */ {0x5A,0xCC,0xAE,0x46,0xB6,0x31,0xAE,0x46}, //0x46AE31B646AECC5A
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/* 6 */ {0xA1,0x78,0xDC,0x3C,0x9E,0x82,0xDC,0x3C}, //0x3CDC829E3CDC78A1
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/* 7 */ {0xB9,0x8E,0x19,0x74,0x6F,0x65,0x18,0x74}, //0x7418656F74198EB9
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/* 8 */ {0xDF,0xB1,0xC0,0x49,0x62,0xDF,0xC1,0x49}, //0x49C1DF6249C0B1DF
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/* 9 */ {0x97,0xE5,0x14,0x72,0x7F,0x1A,0x14,0x72}, //0x72141A7F7214E597
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};
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uint8_t txState;
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uint8_t pkt_num;
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uint8_t ch_idx;
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uint8_t use_fixed_id;
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uint8_t failsafe_pkt;
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static void __attribute__((unused)) scramble_pkt()
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{
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#ifdef NO_SCRAMBLE
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return;
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#else
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uint8_t i;
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for(i = 0; i < 15; i++)
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packet[i + 1] ^= cyrfmfg_id[i % 4];
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#endif
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}
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static void __attribute__((unused)) add_pkt_suffix()
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{
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uint8_t bind_state;
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if (use_fixed_id)
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{
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if (bind_counter > 0)
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bind_state = 0xc0;
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else
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bind_state = 0x80;
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}
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else
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bind_state = 0x00;
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packet[10] = bind_state | (PKTS_PER_CHANNEL - pkt_num - 1);
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packet[11] = *(hopping_frequency_ptr + 1);
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packet[12] = *(hopping_frequency_ptr + 2);
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packet[13] = fixed_id & 0xff;
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packet[14] = (fixed_id >> 8) & 0xff;
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packet[15] = (fixed_id >> 16) & 0xff;
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}
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static void __attribute__((unused)) build_beacon_pkt(uint8_t upper)
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{
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packet[0] = ((DEVO_NUM_CHANNELS << 4) | 0x07);
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// uint8_t enable = 0;
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uint8_t max = 8;
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// int offset = 0;
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if (upper)
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{
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packet[0] += 1;
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max = 4;
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// offset = 8;
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}
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for(uint8_t i = 0; i < max; i++)
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packet[i+1] = 0;
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// packet[9] = enable;
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packet[9] = 0;
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add_pkt_suffix();
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}
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#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
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static void __attribute__((unused)) build_bind_pkt()
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{
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uint8_t *p = packet ;
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FORCE_INDIRECT(p) ;
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p[0] = (DEVO_NUM_CHANNELS << 4) | 0x0a;
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p[1] = bind_counter & 0xff;
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p[2] = (bind_counter >> 8);
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p[3] = *hopping_frequency_ptr;
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p[4] = *(hopping_frequency_ptr + 1);
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p[5] = *(hopping_frequency_ptr + 2);
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p[6] = cyrfmfg_id[0];
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p[7] = cyrfmfg_id[1];
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p[8] = cyrfmfg_id[2];
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p[9] = cyrfmfg_id[3];
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add_pkt_suffix();
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//The fixed-id portion is scrambled in the bind packet
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//I assume it is ignored
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p[13] ^= cyrfmfg_id[0];
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p[14] ^= cyrfmfg_id[1];
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p[15] ^= cyrfmfg_id[2];
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}
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static void __attribute__((unused)) build_data_pkt()
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{
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uint8_t i;
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packet[0] = (DEVO_NUM_CHANNELS << 4) | (0x0b + ch_idx);
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uint8_t sign = 0x0b;
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for (i = 0; i < 4; i++)
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{
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//
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int16_t value= map(Servo_data[ch_idx * 4 + i],PPM_MIN,PPM_MAX,-1600,1600);//range -1600...+1600
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//s32 value = (s32)Channels[ch_idx * 4 + i] * 0x640 / CHAN_MAX_VALUE;//10000
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if(value < 0)
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{
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value = -value;
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sign |= 1 << (7 - i);
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}
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packet[2 * i + 1] = value & 0xff;
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packet[2 * i + 2] = (value >> 8) & 0xff;
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}
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packet[9] = sign;
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ch_idx = ch_idx + 1;
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if (ch_idx * 4 >= DEVO_NUM_CHANNELS)
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ch_idx = 0;
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add_pkt_suffix();
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}
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static void __attribute__((unused)) cyrf_set_bound_sop_code()
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{
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/* crc == 0 isn't allowed, so use 1 if the math results in 0 */
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uint8_t crc = (cyrfmfg_id[0] + (cyrfmfg_id[1] >> 6) + cyrfmfg_id[2]);
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if(! crc)
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crc = 1;
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uint8_t sopidx = (0xff &((cyrfmfg_id[0] << 2) + cyrfmfg_id[1] + cyrfmfg_id[2])) % 10;
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CYRF_SetTxRxMode(TX_EN);
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CYRF_ConfigCRCSeed((crc << 8) + crc);
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CYRF_ConfigSOPCode(sopcodes[sopidx]);
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CYRF_SetPower(0x08);
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}
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const uint8_t PROGMEM devo_init_vals[][2] = {
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{CYRF_06_RX_CFG, 0x4A },
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{CYRF_0B_PWR_CTRL, 0x00 },
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{CYRF_0D_IO_CFG, 0x04 },
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{CYRF_0E_GPIO_CTRL, 0x20 },
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{CYRF_10_FRAMING_CFG, 0xA4 },
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{CYRF_11_DATA32_THOLD, 0x05 },
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{CYRF_12_DATA64_THOLD, 0x0E },
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{CYRF_1B_TX_OFFSET_LSB, 0x55 },
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{CYRF_1C_TX_OFFSET_MSB, 0x05 },
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{CYRF_32_AUTO_CAL_TIME, 0x3C },
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{CYRF_35_AUTOCAL_OFFSET, 0x14 },
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{CYRF_39_ANALOG_CTRL, 0x01 },
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{CYRF_1E_RX_OVERRIDE, 0x10 },
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{CYRF_1F_TX_OVERRIDE, 0x00 },
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{CYRF_01_TX_LENGTH, 0x10 },
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{CYRF_0C_XTAL_CTRL, 0xC0 },
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{CYRF_0F_XACT_CFG, 0x10 },
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{CYRF_27_CLK_OVERRIDE, 0x02 },
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{CYRF_28_CLK_EN, 0x02 },
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{CYRF_0F_XACT_CFG, 0x28 }
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};
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static void __attribute__((unused)) cyrf_init()
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{
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/* Initialise CYRF chip */
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CYRF_WriteRegister(CYRF_1D_MODE_OVERRIDE, 0x39);
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CYRF_SetPower(0x08);
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for(uint8_t i = 0; i < sizeof(devo_init_vals) / 2; i++)
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CYRF_WriteRegister(pgm_read_byte( &devo_init_vals[i][0]), pgm_read_byte( &devo_init_vals[i][1]) );
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// CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);
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// CYRF_WriteRegister(CYRF_0B_PWR_CTRL, 0x00);
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// CYRF_WriteRegister(CYRF_0D_IO_CFG, 0x04);
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// CYRF_WriteRegister(CYRF_0E_GPIO_CTRL, 0x20);
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// CYRF_WriteRegister(CYRF_10_FRAMING_CFG, 0xA4);
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// CYRF_WriteRegister(CYRF_11_DATA32_THOLD, 0x05);
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// CYRF_WriteRegister(CYRF_12_DATA64_THOLD, 0x0E);
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// CYRF_WriteRegister(CYRF_1B_TX_OFFSET_LSB, 0x55);
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// CYRF_WriteRegister(CYRF_1C_TX_OFFSET_MSB, 0x05);
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// CYRF_WriteRegister(CYRF_32_AUTO_CAL_TIME, 0x3C);
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// CYRF_WriteRegister(CYRF_35_AUTOCAL_OFFSET, 0x14);
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// CYRF_WriteRegister(CYRF_39_ANALOG_CTRL, 0x01);
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// CYRF_WriteRegister(CYRF_1E_RX_OVERRIDE, 0x10);
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// CYRF_WriteRegister(CYRF_1F_TX_OVERRIDE, 0x00);
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// CYRF_WriteRegister(CYRF_01_TX_LENGTH, 0x10);
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// CYRF_WriteRegister(CYRF_0C_XTAL_CTRL, 0xC0);
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// CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x10);
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// CYRF_WriteRegister(CYRF_27_CLK_OVERRIDE, 0x02);
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// CYRF_WriteRegister(CYRF_28_CLK_EN, 0x02);
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// CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x28);
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}
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static void __attribute__((unused)) set_radio_channels()
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{
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//int i;
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CYRF_FindBestChannels(hopping_frequency, 3, 4, 4, 80);
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//printf("Radio Channels:");
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// for (i = 0; i < 3; i++) {
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// printf(" %02x", radio_ch[i]);
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//Serial.print(radio_ch[i]);
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// }
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// printf("\n");
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//Makes code a little easier to duplicate these here
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hopping_frequency[3] = hopping_frequency[0];
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hopping_frequency[4] = hopping_frequency[1];
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}
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static void __attribute__((unused)) DEVO_BuildPacket()
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{
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switch(phase)
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{
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case DEVO_BIND:
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if(bind_counter>0)
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bind_counter--;
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build_bind_pkt();
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phase = DEVO_BIND_SENDCH;
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break;
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case DEVO_BIND_SENDCH:
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if(bind_counter>0)
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bind_counter--;
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build_data_pkt();
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scramble_pkt();
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if (bind_counter == 0)
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{
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phase = DEVO_BOUND;
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BIND_DONE;
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}
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else
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phase = DEVO_BIND;
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break;
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case DEVO_BOUND:
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case DEVO_BOUND_1:
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case DEVO_BOUND_2:
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case DEVO_BOUND_3:
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case DEVO_BOUND_4:
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case DEVO_BOUND_5:
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case DEVO_BOUND_6:
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case DEVO_BOUND_7:
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case DEVO_BOUND_8:
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case DEVO_BOUND_9:
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build_data_pkt();
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scramble_pkt();
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phase++;
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if (bind_counter > 0)
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{
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bind_counter--;
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if (bind_counter == 0)
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BIND_DONE;
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}
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break;
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case DEVO_BOUND_10:
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build_beacon_pkt(DEVO_NUM_CHANNELS > 8 ? failsafe_pkt : 0);
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failsafe_pkt = failsafe_pkt ? 0 : 1;
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scramble_pkt();
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phase = DEVO_BOUND_1;
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break;
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}
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pkt_num++;
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if(pkt_num == PKTS_PER_CHANNEL)
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pkt_num = 0;
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}
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uint16_t devo_callback()
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{
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if (txState == 0)
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{
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txState = 1;
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DEVO_BuildPacket();
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CYRF_WriteDataPacket(packet);
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return 1200;
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}
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txState = 0;
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uint8_t i = 0;
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while (! (CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02))
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if(++i > NUM_WAIT_LOOPS)
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return 1200;
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if (phase == DEVO_BOUND)
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{
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/* exit binding state */
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phase = DEVO_BOUND_3;
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cyrf_set_bound_sop_code();
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}
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if(pkt_num == 0)
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{
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//Keep tx power updated
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CYRF_SetPower(0x08);
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hopping_frequency_ptr = hopping_frequency_ptr == &hopping_frequency[2] ? hopping_frequency : hopping_frequency_ptr + 1;
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CYRF_ConfigRFChannel(*hopping_frequency_ptr);
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}
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return 1200;
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}
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/*static void __attribute__((unused)) devo_bind()
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{
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fixed_id = Model_fixed_id;
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bind_counter = DEVO_BIND_COUNT;
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use_fixed_id = 1;
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//PROTOCOL_SetBindState(0x1388 * 2400 / 1000); //msecs 12000ms
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}
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static void __attribute__((unused)) generate_fixed_id_bind(){
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if(BIND_0){
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//randomSeed((uint32_t)analogRead(A6)<<10|analogRead(A7));//seed
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uint8_t txid[4];
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//Model_fixed_id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
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Model_fixed_id=0x332211;
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txid[0]= (id &0xFF);
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txid[1] = ((id >> 8) & 0xFF);
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txid[2] = ((id >> 16) & 0xFF);
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//txid[3] = ((id >> 24) & 0xFF);
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eeprom_write_block((const void*)txid,(void*)40,3);
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devo_bind();
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}
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}
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*/
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uint16_t DevoInit()
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{
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CYRF_Reset();
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cyrf_init();
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CYRF_GetMfgData(cyrfmfg_id);
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CYRF_SetTxRxMode(TX_EN);
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CYRF_ConfigCRCSeed(0x0000);
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CYRF_ConfigSOPCode(sopcodes[0]);
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set_radio_channels();
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use_fixed_id = 0;
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failsafe_pkt = 0;
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hopping_frequency_ptr = hopping_frequency;
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//
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CYRF_ConfigRFChannel(*hopping_frequency_ptr);
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//FIXME: Properly setnumber of channels;
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pkt_num = 0;
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ch_idx = 0;
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txState = 0;
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//uint8_t txid[4];
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//
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/*
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if(BIND_0){
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Model_fixed_id=0;
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eeprom_write_block((const void*)0,(void*)40,4);
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while(1){
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LED_ON;
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delay(100);
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LED_OFF;
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delay(100);
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}
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}
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else{
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eeprom_read_block((void*)txid,(const void*)40,3);
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Model_fixed_id=(txid[0] | ((uint32_t)txid[1]<<8) | ((uint32_t)txid[2]<<16));
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}
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*/
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if(! Model_fixed_id)
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{//model fixed ID =0
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fixed_id = ((uint32_t)(hopping_frequency[0] ^ cyrfmfg_id[0] ^ cyrfmfg_id[3]) << 16)
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| ((uint32_t)(hopping_frequency[1] ^ cyrfmfg_id[1] ^ cyrfmfg_id[4]) << 8)
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| ((uint32_t)(hopping_frequency[2] ^ cyrfmfg_id[2] ^ cyrfmfg_id[5]) << 0);
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fixed_id = fixed_id % 1000000;
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bind_counter = DEVO_BIND_COUNT;
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phase = DEVO_BIND;
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//PROTOCOL_SetBindState(0x1388 * 2400 / 1000); //msecs
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}
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else
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{
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fixed_id = Model_fixed_id;
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use_fixed_id = 1;
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phase = DEVO_BOUND_1;
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bind_counter = 0;
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cyrf_set_bound_sop_code();
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}
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return 2400;
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}
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#endif
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