Split off xn297 code.

Makefile

@@ -427,6 +427,11 @@ COMMON_SRC = \
             io/statusindicator.c \
             rx/ibus.c \
             rx/msp.c \
+            rx/nrf24.c \
+            rx/nrf24_cx10.c \
+            rx/nrf24_syma.c \
+            rx/nrf24_v202.c \
+            rx/nrf24_h8_3d.c \
             rx/pwm.c \
             rx/rx.c \
             rx/sbus.c \

src/main/common/maths.c

@@ -439,3 +439,17 @@ void sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
         result[i] = sqrtf(beta[i]);
     }
 }
+
+uint16_t crc16_ccitt(uint16_t crc, unsigned char a)
+{
+    crc ^= a << 8;
+    for (int ii = 0; ii < 8; ++ii) {
+        if (crc & 0x8000) {
+            crc = (crc << 1) ^ 0x1021;
+        } else {
+            crc = crc << 1;
+        }
+    }
+    return crc;
+}
+

src/main/common/maths.h

@@ -168,3 +168,4 @@ float acos_approx(float x);
 #endif
 
 void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
+uint16_t crc16_ccitt(uint16_t crc, unsigned char a);

src/main/drivers/rx_xn297.c

@@ -0,0 +1,77 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This file borrows heavily from project Deviation,
+// see http://deviationtx.com
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "drivers/rx_nrf24l01.h"
+#include "common/maths.h"
+
+
+static const uint8_t xn297_data_scramble[30] = {
+    0xbc, 0xe5, 0x66, 0x0d, 0xae, 0x8c, 0x88, 0x12,
+    0x69, 0xee, 0x1f, 0xc7, 0x62, 0x97, 0xd5, 0x0b,
+    0x79, 0xca, 0xcc, 0x1b, 0x5d, 0x19, 0x10, 0x24,
+    0xd3, 0xdc, 0x3f, 0x8e, 0xc5, 0x2f
+};
+
+static uint8_t bitReverse(uint8_t bIn)
+{
+    uint8_t bOut = 0;
+    for (int ii = 0; ii < 8; ++ii) {
+        bOut = (bOut << 1) | (bIn & 1);
+        bIn >>= 1;
+    }
+    return bOut;
+}
+
+void XN297_UnscramblePayload(uint8_t* data, int len)
+{
+    for (uint8_t ii = 0; ii < len; ++ii) {
+        data[ii] = bitReverse(data[ii] ^ xn297_data_scramble[ii]);
+    }
+}
+
+
+#define RX_TX_ADDR_LEN     5
+#define PROTOCOL_PAYLOAD_SIZE_15       15
+#define PROTOCOL_PAYLOAD_SIZE_19       19
+
+uint8_t XN297_WritePayload(uint8_t *data, int len, const uint8_t *rxAddr)
+{
+    uint8_t packet[NRF24L01_MAX_PAYLOAD_SIZE];
+    uint16_t crc = 0xb5d2;
+    for (int ii = 0; ii < RX_TX_ADDR_LEN; ++ii) {
+        packet[ii] = rxAddr[RX_TX_ADDR_LEN - 1 - ii];
+        crc = crc16_ccitt(crc, packet[ii]);
+    }
+    for (int ii = 0; ii < len; ++ii) {
+        // bit-reverse bytes in packet
+        const uint8_t bOut = bitReverse(data[ii]);
+        packet[ii + RX_TX_ADDR_LEN] = bOut ^ xn297_data_scramble[ii];
+        crc = crc16_ccitt(crc, packet[ii + RX_TX_ADDR_LEN]);
+    }
+    const uint16_t crcXor = (len == PROTOCOL_PAYLOAD_SIZE_15) ? 0x9BA7 : 0x61B1;
+    crc ^= crcXor;
+    packet[RX_TX_ADDR_LEN + len] = crc >> 8;
+    packet[RX_TX_ADDR_LEN + len + 1] = crc & 0xff;
+    return NRF24L01_WritePayload(packet, RX_TX_ADDR_LEN + len + 2);
+}
+

src/main/drivers/rx_xn297.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+void XN297_UnscramblePayload(uint8_t* data, int len);
+uint8_t XN297_WritePayload(uint8_t *data, int len, const uint8_t *rxAddr);
+

src/main/rx/nrf24_cx10.c

@@ -28,6 +28,7 @@
 #ifdef USE_RX_CX10
 
 #include "drivers/rx_nrf24l01.h"
+#include "drivers/rx_xn297.h"
 #include "drivers/system.h"
 
 #include "rx/nrf24.h"
@@ -68,10 +69,6 @@
 #define FLAG_VIDEO      0x02
 #define FLAG_PICTURE    0x04
 
-// XN297 emulation layer
-STATIC_UNIT_TESTED uint8_t XN297_WritePayload(uint8_t* data, int len);
-STATIC_UNIT_TESTED void XN297_UnscramblePayload(uint8_t* data, int len);
-
 static nrf24_protocol_t cx10Protocol;
 
 typedef enum {
@@ -227,7 +224,7 @@ nrf24_received_t cx10DataReceived(uint8_t *payload)
         payload[9] = 0x01;
         NRF24L01_SetChannel(CX10_RF_BIND_CHANNEL);
         NRF24L01_FlushTx();
-        XN297_WritePayload(payload, payloadSize);
+        XN297_WritePayload(payload, payloadSize, rxAddr);
         NRF24L01_SetTxMode();// enter transmit mode to send the packet
         // wait for the ACK packet to send before changing channel
         static const int fifoDelayUs = 100;
@@ -238,7 +235,7 @@ nrf24_received_t cx10DataReceived(uint8_t *payload)
         // send out an ACK on each of the hopping channels, required by CX10 transmitter
         for (uint8_t ii = 0; ii < RF_CHANNEL_COUNT; ++ii) {
             NRF24L01_SetChannel(cx10RfChannels[ii]);
-            XN297_WritePayload(payload, payloadSize);
+            XN297_WritePayload(payload, payloadSize, rxAddr);
             NRF24L01_SetTxMode();// enter transmit mode to send the packet
             // wait for the ACK packet to send before changing channel
             while (!(NRF24L01_ReadReg(NRF24L01_17_FIFO_STATUS) & BV(NRF24L01_17_FIFO_STATUS_TX_EMPTY))) {
@@ -279,70 +276,5 @@ void cx10Init(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
     rxRuntimeConfig->channelCount = CX10_RC_CHANNEL_COUNT;
     cx10Nrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol);
 }
-
-
-// XN297 emulation layer
-
-static const uint8_t xn297_data_scramble[30] = {
-    0xbc, 0xe5, 0x66, 0x0d, 0xae, 0x8c, 0x88, 0x12,
-    0x69, 0xee, 0x1f, 0xc7, 0x62, 0x97, 0xd5, 0x0b,
-    0x79, 0xca, 0xcc, 0x1b, 0x5d, 0x19, 0x10, 0x24,
-    0xd3, 0xdc, 0x3f, 0x8e, 0xc5, 0x2f
-};
-
-static uint8_t bitReverse(uint8_t bIn)
-{
-    uint8_t bOut = 0;
-    for (int ii = 0; ii < 8; ++ii) {
-        bOut = (bOut << 1) | (bIn & 1);
-        bIn >>= 1;
-    }
-    return bOut;
-}
-
-static uint16_t crc16_update(uint16_t crc, unsigned char a)
-{
-    static const uint16_t crcPolynomial = 0x1021;
-    crc ^= a << 8;
-    for (int ii = 0; ii < 8; ++ii) {
-        if (crc & 0x8000) {
-            crc = (crc << 1) ^ crcPolynomial;
-        } else {
-            crc = crc << 1;
-        }
-    }
-    return crc;
-}
-
-STATIC_UNIT_TESTED uint8_t XN297_WritePayload(uint8_t* data, int len)
-{
-    uint8_t packet[NRF24L01_MAX_PAYLOAD_SIZE];
-    uint16_t crc = 0xb5d2;
-    for (int ii = 0; ii < RX_TX_ADDR_LEN; ++ii) {
-        packet[ii] = rxAddr[RX_TX_ADDR_LEN - 1 - ii];
-        crc = crc16_update(crc, packet[ii]);
-    }
-    for (int ii = 0; ii < len; ++ii) {
-        // bit-reverse bytes in packet
-        const uint8_t bOut = bitReverse(data[ii]);
-        packet[ii + RX_TX_ADDR_LEN] = bOut ^ xn297_data_scramble[ii];
-        crc = crc16_update(crc, packet[ii + RX_TX_ADDR_LEN]);
-    }
-    const uint16_t crcXor = (len == CX10_PROTOCOL_PAYLOAD_SIZE) ? 0x9BA7 : 0x61B1;
-    crc ^= crcXor;
-    packet[RX_TX_ADDR_LEN + len] = crc >> 8;
-    packet[RX_TX_ADDR_LEN + len + 1] = crc & 0xff;
-    return NRF24L01_WritePayload(packet, RX_TX_ADDR_LEN + len + 2);
-}
-
-STATIC_UNIT_TESTED void XN297_UnscramblePayload(uint8_t* data, int len)
-{
-    for (uint8_t ii = 0; ii < len; ++ii) {
-        data[ii] = bitReverse(data[ii] ^ xn297_data_scramble[ii]);
-    }
-}
-
-// End of XN297 emulation
-
 #endif
 

src/main/rx/nrf24_h8_3d.c

@@ -28,6 +28,7 @@
 #ifdef USE_RX_H8_3D
 
 #include "drivers/rx_nrf24l01.h"
+#include "drivers/rx_xn297.h"
 #include "drivers/system.h"
 
 #include "rx/nrf24.h"
@@ -71,9 +72,6 @@
 #define FLAG_CAMERA_UP  0x04 // on payload[18]
 #define FLAG_CAMERA_DOWN 0x08 // on payload[18]
 
-// XN297 emulation layer
-static void XN297_UnscramblePayload(uint8_t* data, int len);
-
 typedef enum {
     STATE_BIND = 0,
     STATE_DATA
@@ -101,7 +99,7 @@ STATIC_UNIT_TESTED uint8_t h8_3dRfChannels[H8_3D_RF_CHANNEL_COUNT];
 static uint32_t hopTimeout = BIND_HOP_TIMEOUT;
 static uint32_t timeOfLastHop;
 
-void setBound(const uint8_t* txId);
+void h8_3dSetBound(const uint8_t* txId);
 
 void h8_3dNrf24Init(nrf24_protocol_t protocol, const uint8_t* nrf24_id)
 {
@@ -120,7 +118,7 @@ void h8_3dNrf24Init(nrf24_protocol_t protocol, const uint8_t* nrf24_id)
         h8_3dRfChannelIndex = H8_3D_RF_BIND_CHANNEL_START;
         NRF24L01_SetChannel(H8_3D_RF_BIND_CHANNEL_START);
     } else {
-        setBound(nrf24_id);
+        h8_3dSetBound(nrf24_id);
     }
 
     NRF24L01_WriteReg(NRF24L01_08_OBSERVE_TX, 0x00);
@@ -206,7 +204,7 @@ static void hopToNextChannel(void)
 }
 
 // The hopping channels are determined by the txId
-void setHoppingChannels(const uint8_t* txId)
+void h8_3dSetHoppingChannels(const uint8_t* txId)
 {
     h8_3dRfChannels[0] = 0x06 + ((txId[0]>>4) +(txId[0] & 0x0f)) % 0x0f;
     h8_3dRfChannels[1] = 0x15 + ((txId[1]>>4) +(txId[1] & 0x0f)) % 0x0f;
@@ -217,9 +215,9 @@ void setHoppingChannels(const uint8_t* txId)
     h8_3dRfChannels[3] = 0x15 + ((txId[1]>>8) +(txId[1] & 0x0f)) % 0x0f;
 }
 
-void setBound(const uint8_t* txId)
+void h8_3dSetBound(const uint8_t* txId)
 {
-    setHoppingChannels(txId);
+    h8_3dSetHoppingChannels(txId);
     protocolState = STATE_DATA;
     hopTimeout = DATA_HOP_TIMEOUT;
     h8_3dRfChannelIndex = 0;
@@ -244,7 +242,7 @@ nrf24_received_t h8_3dDataReceived(uint8_t *payload)
             const bool bindPacket = h8_3dCheckBindPacket(payload);
             if (bindPacket) {
                 ret = NRF24_RECEIVED_BIND;
-                setBound(txId);
+                h8_3dSetBound(txId);
             }
         }
         break;
@@ -266,28 +264,4 @@ void h8_3dInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
     rxRuntimeConfig->channelCount = H8_3D_RC_CHANNEL_COUNT;
     h8_3dNrf24Init((nrf24_protocol_t)rxConfig->nrf24rx_protocol, rxConfig->nrf24rx_id);
 }
-
-static const uint8_t xn297_data_scramble[30] = {
-    0xbc, 0xe5, 0x66, 0x0d, 0xae, 0x8c, 0x88, 0x12,
-    0x69, 0xee, 0x1f, 0xc7, 0x62, 0x97, 0xd5, 0x0b,
-    0x79, 0xca, 0xcc, 0x1b, 0x5d, 0x19, 0x10, 0x24,
-    0xd3, 0xdc, 0x3f, 0x8e, 0xc5, 0x2f
-};
-
-static uint8_t bitReverse(uint8_t bIn)
-{
-    uint8_t bOut = 0;
-    for (int ii = 0; ii < 8; ++ii) {
-        bOut = (bOut << 1) | (bIn & 1);
-        bIn >>= 1;
-    }
-    return bOut;
-}
-
-static void XN297_UnscramblePayload(uint8_t* data, int len)
-{
-    for (uint8_t ii = 0; ii < len; ++ii) {
-        data[ii] = bitReverse(data[ii] ^ xn297_data_scramble[ii]);
-    }
-}
 #endif

src/main/target/CC3D/target.h

@@ -104,9 +104,9 @@
 #define USE_RX_CX10
 #define USE_RX_H8_3D
 #endif
-#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C
+//#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C
 //#define NRF24_DEFAULT_PROTOCOL NRF24RX_V202_1M
-//#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D
+#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D
 
 #define USE_SOFTSPI
 #define USE_NRF24_SOFTSPI