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Add GW008 protocol, from goebish #184

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merged 1 commit into from Feb 26, 2017
Merged

Add GW008 protocol, from goebish #184

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5 changes: 5 additions & 0 deletions src/protocol/Makefile.inc
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Expand Up @@ -42,6 +42,7 @@ PROTO_MODULES += $(ODIR)/protocol/assan.mod
PROTO_MODULES += $(ODIR)/protocol/fq777.mod
PROTO_MODULES += $(ODIR)/protocol/inav.mod
PROTO_MODULES += $(ODIR)/protocol/q303.mod
PROTO_MODULES += $(ODIR)/protocol/gw008.mod

ALL += $(PROTO_MODULES)
else #BUILD_TARGET
Expand Down Expand Up @@ -212,5 +213,9 @@ $(ODIR)/protocol/inav.mod : $(ODIR)/inav_nrf24l01.bin
$(ODIR)/protocol/q303.mod : $(ODIR)/q303_nrf24l01.bin
@echo Building 'q303' module
/bin/mkdir -p $(ODIR)/protocol/ 2>/dev/null; /bin/cp $< $@

$(ODIR)/protocol/gw008.mod : $(ODIR)/gw008_nrf24l01.bin
@echo Building 'gw008' module
/bin/mkdir -p $(ODIR)/protocol/ 2>/dev/null; /bin/cp $< $@

endif #BUILD_TARGET
296 changes: 296 additions & 0 deletions src/protocol/gw008_nrf24l01.c
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@@ -0,0 +1,296 @@
/*
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.

Deviation 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 Deviation. If not, see <http://www.gnu.org/licenses/>.
*/


#ifdef MODULAR
//Allows the linker to properly relocate
#define GW008_Cmds PROTO_Cmds
#pragma long_calls
#endif
#include "common.h"
#include "interface.h"
#include "mixer.h"
#include "config/model.h"
#include "config/tx.h" // for Transmitter
#include "music.h"
#include "telemetry.h"

#ifdef MODULAR
//Some versions of gcc applythis to definitions, others to calls
//So just use long_calls everywhere
//#pragma long_calls_off
extern unsigned _data_loadaddr;
const unsigned long protocol_type = (unsigned long)&_data_loadaddr;
#endif

#ifdef PROTO_HAS_NRF24L01

#include "iface_nrf24l01.h"

#ifdef EMULATOR
#define USE_FIXED_MFGID
#define dbgprintf printf
#else
//printf inside an interrupt handler is really dangerous
//this shouldn't be enabled even in debug builds without explicitly
//turning it on
#define dbgprintf if(0) printf
#endif

#define INITIAL_WAIT 500
#define PACKET_PERIOD 2400
#define RF_BIND_CHANNEL 2
#define PAYLOAD_SIZE 15

static u8 packet[PAYLOAD_SIZE];
static u8 rf_chans[4];
static u8 current_chan;
static u8 phase;
static u8 tx_power;
static u8 rxid;
static u8 txid[2];

enum {
BIND1,
BIND2,
DATA
};

// For code readability
enum {
CHANNEL1 = 0, // Aileron
CHANNEL2, // Elevator
CHANNEL3, // Throttle
CHANNEL4, // Rudder
CHANNEL5, //
CHANNEL6, // Flip
};

#define GET_FLAG(ch, mask) (Channels[ch] > 0 ? mask : 0)

// Bit vector from bit position
#define BV(bit) (1 << bit)

#define CHAN_RANGE (CHAN_MAX_VALUE - CHAN_MIN_VALUE)

static u16 scale_channel(u8 ch, u16 destMin, u16 destMax)
{
s32 chanval = Channels[ch];
s32 range = (s32) destMax - (s32) destMin;

if (chanval < CHAN_MIN_VALUE)
chanval = CHAN_MIN_VALUE;
else if (chanval > CHAN_MAX_VALUE)
chanval = CHAN_MAX_VALUE;
return (range * (chanval - CHAN_MIN_VALUE)) / CHAN_RANGE + destMin;
}

static void send_packet(u8 bind)
{
packet[0] = txid[0];
if(bind) {
packet[1] = 0x55;
packet[2] = rf_chans[0];
packet[3] = rf_chans[1];
packet[4] = rf_chans[2];
packet[5] = rf_chans[3];
memset(&packet[6], 0, 7);
packet[13] = 0xaa;
}
else {
packet[1] = 0x01 | GET_FLAG(CHANNEL6, 0x40); // flip
packet[2] = scale_channel(CHANNEL1, 200, 0); // aileron
packet[3] = scale_channel(CHANNEL2, 0, 200); // elevator
packet[4] = scale_channel(CHANNEL4, 200, 0); // rudder
packet[5] = scale_channel(CHANNEL3, 0, 200); // throttle
packet[6] = 0xaa;
packet[7] = 0x02; // max rate
packet[8] = 0x00;
packet[9] = 0x00;
packet[10]= 0x00;
packet[11]= 0x00;
packet[12]= 0x00;
packet[13]= rxid;
}
packet[14] = txid[1];

// Power on, TX mode, CRC enabled
XN297_Configure(BV(NRF24L01_00_EN_CRC) | BV(NRF24L01_00_CRCO) | BV(NRF24L01_00_PWR_UP));
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? RF_BIND_CHANNEL : rf_chans[(current_chan++)/2]);
current_chan %= 8;

NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
NRF24L01_FlushTx();
XN297_WriteEnhancedPayload(packet, PAYLOAD_SIZE, 0, 0x3c7d);

if (tx_power != Model.tx_power) {
//Keep transmit power updated
tx_power = Model.tx_power;
NRF24L01_SetPower(tx_power);
}
}

static void gw008_init()
{
NRF24L01_Initialize();
NRF24L01_SetTxRxMode(TX_EN);
XN297_SetTXAddr((u8*)"\xcc\xcc\xcc\xcc\xcc", 5);
XN297_SetRXAddr((u8*)"\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 Acknowldgement on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, PAYLOAD_SIZE+2); // payload + 2 bytes for pcf
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
NRF24L01_SetBitrate(NRF24L01_BR_1M);
NRF24L01_SetPower(Model.tx_power);
NRF24L01_Activate(0x73); // Activate feature register
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01); // Set feature bits on
NRF24L01_Activate(0x73);

// Check for Beken BK2421/BK2423 chip
// It is done by using Beken specific activate code, 0x53
// and checking that status register changed appropriately
// There is no harm to run it on nRF24L01 because following
// closing activate command changes state back even if it
// does something on nRF24L01
NRF24L01_Activate(0x53); // magic for BK2421 bank switch
dbgprintf("Trying to switch banks\n");
if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & 0x80) {
dbgprintf("BK2421 detected\n");
// Beken registers don't have such nice names, so we just mention
// them by their numbers
// It's all magic, eavesdropped from real transfer and not even from the
// data sheet - it has slightly different values
NRF24L01_WriteRegisterMulti(0x00, (u8 *) "\x40\x4B\x01\xE2", 4);
NRF24L01_WriteRegisterMulti(0x01, (u8 *) "\xC0\x4B\x00\x00", 4);
NRF24L01_WriteRegisterMulti(0x02, (u8 *) "\xD0\xFC\x8C\x02", 4);
NRF24L01_WriteRegisterMulti(0x03, (u8 *) "\x99\x00\x39\x21", 4);
NRF24L01_WriteRegisterMulti(0x04, (u8 *) "\xD9\x96\x82\x1B", 4);
NRF24L01_WriteRegisterMulti(0x05, (u8 *) "\x24\x06\x7F\xA6", 4);
NRF24L01_WriteRegisterMulti(0x0C, (u8 *) "\x00\x12\x73\x00", 4);
NRF24L01_WriteRegisterMulti(0x0D, (u8 *) "\x46\xB4\x80\x00", 4);
NRF24L01_WriteRegisterMulti(0x04, (u8 *) "\xDF\x96\x82\x1B", 4);
NRF24L01_WriteRegisterMulti(0x04, (u8 *) "\xD9\x96\x82\x1B", 4);
} else {
dbgprintf("nRF24L01 detected\n");
}
NRF24L01_Activate(0x53); // switch bank back
}

static void initialize_txid()
{
u32 lfsr = 0xb2c54a2ful;
u8 i,j;

#ifndef USE_FIXED_MFGID
u8 var[12];
MCU_SerialNumber(var, 12);
dbgprintf("Manufacturer id: ");
for(i = 0; i < 12; ++i) {
dbgprintf("%02X", var[i]);
rand32_r(&lfsr, var[i]);
}
dbgprintf("\r\n");
#endif

if(Model.fixed_id) {
for (i = 0, j = 0; i < sizeof(Model.fixed_id); ++i, j += 8)
rand32_r(&lfsr, (Model.fixed_id >> j) & 0xff);
}
// Pump zero bytes for LFSR to diverge more
for(i=0; i<sizeof(lfsr); ++i)
rand32_r(&lfsr, 0);

for(i=0; i<4; i++)
rf_chans[i] = 0x10 + ((lfsr >> (i*8)) % 0x37);

txid[0] = lfsr & 0xff;
txid[1] = lfsr >> 8;
}

MODULE_CALLTYPE
static u16 gw008_callback()
{
switch(phase) {
case BIND1:
if((NRF24L01_ReadReg(NRF24L01_07_STATUS) & BV(NRF24L01_07_RX_DR)) && // RX fifo data ready
XN297_ReadEnhancedPayload(packet, PAYLOAD_SIZE) == PAYLOAD_SIZE && // check payload size
packet[0] == txid[0] && packet[14] == txid[1]) { // check tx id
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
rxid = packet[13];
PROTOCOL_SetBindState(0);
phase = DATA;
} else {
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
send_packet(1);
phase = BIND2;
return 300;
}
break;
case BIND2:
// 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));
phase = BIND1;
return 5000;
break;
case DATA:
send_packet(0);
break;
}
return PACKET_PERIOD;
}

static void initialize()
{
CLOCK_StopTimer();
initialize_txid();
tx_power = Model.tx_power;
phase = BIND1;
gw008_init();
current_chan = 0;
PROTOCOL_SetBindState(0xffffffff);
CLOCK_StartTimer(INITIAL_WAIT, gw008_callback);
}

const void *GW008_Cmds(enum ProtoCmds cmd)
{
switch(cmd) {
case PROTOCMD_INIT: initialize(); return 0;
case PROTOCMD_DEINIT:
case PROTOCMD_RESET:
CLOCK_StopTimer();
return (void *)(NRF24L01_Reset() ? 1L : -1L);
case PROTOCMD_CHECK_AUTOBIND: return (void *)1L; // always Autobind
case PROTOCMD_BIND: initialize(); return 0;
case PROTOCMD_NUMCHAN: return (void *) 6L; // A, E, T, R, N/A, flip
case PROTOCMD_DEFAULT_NUMCHAN: return (void *)6L;
case PROTOCMD_CURRENT_ID: return Model.fixed_id ? (void *)((unsigned long)Model.fixed_id) : 0;
case PROTOCMD_GETOPTIONS: return (void*)0L;
case PROTOCMD_TELEMETRYSTATE: return (void *)(long)PROTO_TELEM_UNSUPPORTED;
default: break;
}
return 0;
}
#endif
2 changes: 2 additions & 0 deletions src/protocol/iface_nrf24l01.h
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Expand Up @@ -148,6 +148,8 @@ void XN297_SetRXAddr(const u8* addr, int len);
void XN297_Configure(u8 flags);
void XN297_SetScrambledMode(const u8 mode);
u8 XN297_WritePayload(u8* msg, int len);
u8 XN297_WriteEnhancedPayload(u8* msg, int len, int noack, u16 crc_xorout);
u8 XN297_ReadPayload(u8* msg, int len);
u8 XN297_ReadEnhancedPayload(u8* msg, int len);

#endif
1 change: 1 addition & 0 deletions src/protocol/protocol.h
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Expand Up @@ -51,6 +51,7 @@ PROTODEF(PROTOCOL_ASSAN, NRF24L01, AETRG, ASSAN_Cmds, "ASSAN")
PROTODEF(PROTOCOL_FQ777, NRF24L01, AETRG, FQ777_Cmds, "FQ777")
PROTODEF(PROTOCOL_INAV, NRF24L01, AETRG, INAV_Cmds, "iNAV")
PROTODEF(PROTOCOL_Q303, NRF24L01, AETRG, Q303_Cmds, "Q303")
PROTODEF(PROTOCOL_GW008, NRF24L01, AETRG, GW008_Cmds, "GW008")
#endif //PROTO_HAS_NRF24L01

PROTODEF(PROTOCOL_PPM, TX_MODULE_LAST, NULL, PPMOUT_Cmds, "PPM")
Expand Down