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@@ -94,4 +94,5 @@ | |
| 95,BlueFly | ||
| 96,BumbleB | ||
| 97,SGF22 | ||
| 98,Kyosho3 | ||
| 98,Kyosho3 | ||
| 99,XK2 | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,201 @@ | ||
| /* | ||
| 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 XK TX X4 and model A160S. | ||
|
|
||
| #if defined(XK2_CCNRF_INO) | ||
|
|
||
| #include "iface_xn297.h" | ||
|
|
||
| #define FORCE_XK2_ID | ||
|
|
||
| #define XK2_RF_BIND_CHANNEL 71 | ||
| #define XK2_PAYLOAD_SIZE 9 | ||
| #define XK2_PACKET_PERIOD 4911 | ||
| #define XK2_RF_NUM_CHANNELS 4 | ||
|
|
||
| enum { | ||
| XK2_BIND1, | ||
| XK2_BIND2, | ||
| XK2_DATA_PREP, | ||
| XK2_DATA | ||
| }; | ||
|
|
||
| static void __attribute__((unused)) XK2_send_packet() | ||
| { | ||
| static uint8_t trim_ch=0; | ||
|
|
||
| if(IS_BIND_IN_PROGRESS) | ||
| { | ||
| packet[0] = 0x9D; | ||
| //TXID | ||
| memcpy(&packet[1], rx_tx_addr, 3); | ||
| //RXID | ||
| //memcpy(&packet[4], rx_id , 3); | ||
| //Unknown | ||
| packet[7] = 0x00; | ||
| //Checksum seed | ||
| packet[8] = 0xC0; //Constant? | ||
| } | ||
| else | ||
| { | ||
| XN297_Hopping(hopping_frequency_no); | ||
| hopping_frequency_no++; | ||
| hopping_frequency_no &= 0x03; | ||
| //Channels | ||
| packet[0] = convert_channel_16b_limit(AILERON ,0x00,0x64); //Aileron | ||
| packet[1] = convert_channel_16b_limit(ELEVATOR,0x00,0x64); //Elevator | ||
| packet[2] = convert_channel_16b_limit(THROTTLE,0x00,0x64); //Throttle | ||
| packet[3] = convert_channel_16b_limit(RUDDER ,0x00,0x64); //Rudder | ||
| //Center the trims | ||
| trim_ch++; | ||
| if(trim_ch > 2) trim_ch = 0; | ||
| packet[4] = 0x20 + 0x40 * trim_ch; //Trims are A=01..20..3F/E=41..60..7F/R=81..A0..BF, E0 appears when telemetry is received, C1 when p[6] changes from 00->08, C0 when p[6] changes from 08->00 | ||
| if(trim_ch == 2) //Drive rudder trim since otherwise there is no control... | ||
| { | ||
| packet[4] = 0x80 + (convert_channel_8b(RUDDER)>>2); | ||
| if(packet[4] <= 0x81) packet[4] = 0x81; | ||
| } | ||
| //Flags | ||
| packet[5] = GET_FLAG(CH5_SW, 0x01) //Rate | ||
| | GET_FLAG(CH6_SW, 0x08) //Mode | ||
| | GET_FLAG(CH7_SW, 0x20); //Hover | ||
| //Telemetry not received=00, Telemetry received=01 but sometimes switch to 1 even if telemetry is not there... | ||
| packet[6] = 0x00; | ||
| //Unknown | ||
| packet[7] = 0x5A; //Constant? | ||
| //Checksum seed | ||
| packet[8] = 0x7F; //Constant? | ||
| } | ||
| //Checksum | ||
| for(uint8_t i=0; i<XK2_PAYLOAD_SIZE-1; i++) | ||
| packet[8] += packet[i]; | ||
|
|
||
| // Send | ||
| XN297_SetPower(); | ||
| XN297_SetTxRxMode(TX_EN); | ||
| XN297_WritePayload(packet, XK2_PAYLOAD_SIZE); | ||
| #if 0 | ||
| debug("P"); | ||
| for(uint8_t i=0; i<XK2_PAYLOAD_SIZE; i++) | ||
| debug(" %02X",packet[i]); | ||
| debugln(); | ||
| #endif | ||
| } | ||
|
|
||
| static void __attribute__((unused)) XK2_RF_init() | ||
| { | ||
| XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_250K); | ||
|
|
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| XN297_SetTXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", 5); | ||
| XN297_SetRXAddr((uint8_t*)"\xcc\xcc\xcc\xcc\xcc", XK2_PAYLOAD_SIZE); | ||
|
|
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| XN297_HoppingCalib(XK2_RF_NUM_CHANNELS); | ||
| XN297_RFChannel(XK2_RF_BIND_CHANNEL); | ||
| } | ||
|
|
||
| static void __attribute__((unused)) XK2_initialize_txid() | ||
| { | ||
| #ifdef FORCE_XK2_ID | ||
| rx_tx_addr[0] = 0x66; | ||
| rx_tx_addr[1] = 0x4F; | ||
| rx_tx_addr[2] = 0x47; | ||
| for(uint8_t i=0;i<XK2_RF_NUM_CHANNELS;i++) | ||
| hopping_frequency[i] = 65 + i*4; //65=0x41, 69=0x45, 73=0x49, 77=0x4D | ||
| #endif | ||
| rx_tx_addr[3] = 0xCC; | ||
| rx_tx_addr[4] = 0xCC; | ||
| } | ||
|
|
||
| uint16_t XK2_callback() | ||
| { | ||
| switch(phase) | ||
| { | ||
| case XK2_BIND1: | ||
| // switch to RX mode | ||
| XN297_SetTxRxMode(TXRX_OFF); | ||
| XN297_SetTxRxMode(RX_EN); | ||
| phase++; | ||
| return 5000; | ||
| case XK2_BIND2: | ||
| if(XN297_IsRX()) | ||
| { | ||
| XN297_ReadPayload(packet, XK2_PAYLOAD_SIZE); | ||
| #if 0 | ||
| debug("RX"); | ||
| for(uint8_t i=0; i<XK2_PAYLOAD_SIZE; i++) | ||
| debug(" %02X",packet[i]); | ||
| debugln(""); | ||
| #endif | ||
| crc8 = 0xBF; | ||
| for(uint8_t i=0; i<XK2_PAYLOAD_SIZE-1; i++) | ||
| crc8 += packet[i]; | ||
| //phase = XK2_BIND1; | ||
| //return 500; | ||
| if(crc8 != packet[8]) | ||
| { | ||
| phase = XK2_BIND1; | ||
| return 1000; | ||
| } | ||
| if(packet[0] == 0x9B) | ||
| phase++; | ||
| else | ||
| { | ||
| XN297_SetTxRxMode(TXRX_OFF); | ||
| XN297_SetTxRxMode(TX_EN); | ||
| bind_counter = 10; | ||
| phase = XK2_DATA; | ||
| } | ||
| } | ||
| return 1000; | ||
| case XK2_DATA_PREP: | ||
| XN297_SetTxRxMode(TXRX_OFF); | ||
| XN297_SetTxRxMode(TX_EN); | ||
| XN297_SetTXAddr(rx_tx_addr, 5); | ||
| BIND_DONE; | ||
| case XK2_DATA: | ||
| #ifdef MULTI_SYNC | ||
| telemetry_set_input_sync(XK2_PACKET_PERIOD); | ||
| #endif | ||
| if(bind_counter) | ||
| { | ||
| bind_counter--; | ||
| if(bind_counter == 0) | ||
| { | ||
| phase = XK2_DATA_PREP; | ||
| //phase = XK2_BIND1; | ||
| } | ||
| } | ||
| XK2_send_packet(); | ||
| break; | ||
| } | ||
| return XK2_PACKET_PERIOD; | ||
| } | ||
|
|
||
| void XK2_init() | ||
| { | ||
| //BIND_IN_PROGRESS; // autobind protocol | ||
| XK2_initialize_txid(); | ||
| XK2_RF_init(); | ||
|
|
||
| if(IS_BIND_IN_PROGRESS) | ||
| phase = XK2_BIND1; | ||
| else | ||
| phase = XK2_DATA_PREP; | ||
| bind_counter = 0; | ||
| hopping_frequency_no = 0; | ||
| } | ||
|
|
||
| #endif | ||
|
|
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