mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-18 22:05:17 +03:00
Change code style to the K&R. Delete "USE_RX_A7105" macro.
This commit is contained in:
e.vladisenko
parent
4a0c89baf7
commit
ab5c71b84f
6 changed files with 532 additions and 625 deletions
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@ -1,19 +1,19 @@
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/*
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/*
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* This file is part of Cleanflight.
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* This file is part of Cleanflight.
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*
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* Cleanflight 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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* 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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* 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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* (at your option) any later version.
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*
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* Cleanflight 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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* 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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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* GNU General Public License for more details.
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*
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*
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* You should have received a copy of the GNU General Public License
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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*/
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#include <stdbool.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdint.h>
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@ -21,7 +21,7 @@
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#include <platform.h>
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#include <platform.h>
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#ifdef USE_RX_A7105
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#ifdef USE_RX_FLYSKY
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#include "drivers/rx_a7105.h"
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#include "drivers/rx_a7105.h"
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#include "drivers/bus_spi.h"
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#include "drivers/bus_spi.h"
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@ -32,7 +32,6 @@
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#include "drivers/exti.h"
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#include "drivers/exti.h"
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#include "drivers/time.h"
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#include "drivers/time.h"
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#ifdef RX_PA_TXEN_PIN
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#ifdef RX_PA_TXEN_PIN
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static IO_t txEnIO = IO_NONE;
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static IO_t txEnIO = IO_NONE;
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#endif
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#endif
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@ -42,22 +41,19 @@ static extiCallbackRec_t a7105extiCallbackRec;
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static volatile uint32_t timeEvent = 0;
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static volatile uint32_t timeEvent = 0;
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static volatile bool occurEvent = false;
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static volatile bool occurEvent = false;
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void a7105extiHandler(extiCallbackRec_t* cb)
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void a7105extiHandler(extiCallbackRec_t* cb)
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{
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{
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UNUSED(cb);
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UNUSED(cb);
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if (IORead (rxIntIO) != 0)
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{
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if (IORead (rxIntIO) != 0) {
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timeEvent = micros();
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timeEvent = micros();
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occurEvent = true;
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occurEvent = true;
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}
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}
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}
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}
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void A7105Init (uint32_t id) {
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void A7105Init (uint32_t id)
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{
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spiDeviceByInstance(RX_SPI_INSTANCE);
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spiDeviceByInstance(RX_SPI_INSTANCE);
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rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
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rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
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IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
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IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
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#ifdef STM32F7
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#ifdef STM32F7
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EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
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EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
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@ -79,20 +75,19 @@ void A7105Init (uint32_t id)
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A7105WriteID(id);
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A7105WriteID(id);
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}
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}
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void A7105Config (const uint8_t *regsTable, uint8_t size)
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void A7105Config (const uint8_t *regsTable, uint8_t size)
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{
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{
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if (regsTable)
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if (regsTable) {
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{
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uint32_t timeout = 1000;
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uint32_t timeout = 1000;
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for (uint8_t i = 0; i < size; i++)
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for (uint8_t i = 0; i < size; i++) {
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{
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if (regsTable[i] != 0xFF) {A7105WriteReg ((A7105Reg_t)i, regsTable[i]);}
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if (regsTable[i] != 0xFF) { A7105WriteReg ((A7105Reg_t)i, regsTable[i]); }
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}
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}
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A7105Strobe(A7105_STANDBY);
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A7105Strobe(A7105_STANDBY);
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A7105WriteReg(A7105_02_CALC, 0x01);
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A7105WriteReg(A7105_02_CALC, 0x01);
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while ((A7105ReadReg(A7105_02_CALC) != 0) || timeout--) {}
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while ((A7105ReadReg(A7105_02_CALC) != 0) || timeout--) {}
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A7105ReadReg(A7105_22_IF_CALIB_I);
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A7105ReadReg(A7105_22_IF_CALIB_I);
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@ -103,58 +98,54 @@ void A7105Config (const uint8_t *regsTable, uint8_t size)
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}
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}
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}
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}
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bool A7105RxTxFinished (uint32_t *timeStamp) {
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bool A7105RxTxFinished (uint32_t *timeStamp)
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{
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bool result = false;
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bool result = false;
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if (occurEvent)
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{
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if (occurEvent) {
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if (timeStamp) *timeStamp = timeEvent;
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if (timeStamp) {
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*timeStamp = timeEvent;
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}
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occurEvent = false;
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occurEvent = false;
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result = true;
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result = true;
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}
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}
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return result;
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return result;
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}
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}
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void A7105SoftReset (void)
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void A7105SoftReset (void)
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{
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{
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rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
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rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
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}
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}
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uint8_t A7105ReadReg (A7105Reg_t reg)
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uint8_t A7105ReadReg (A7105Reg_t reg)
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{
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{
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return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
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return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
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}
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}
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void A7105WriteReg (A7105Reg_t reg, uint8_t data)
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void A7105WriteReg (A7105Reg_t reg, uint8_t data)
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{
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{
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rxSpiWriteCommand((uint8_t)reg, data);
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rxSpiWriteCommand((uint8_t)reg, data);
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}
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}
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void A7105Strobe (A7105State_t state)
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void A7105Strobe (A7105State_t state)
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{
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{
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if (A7105_TX == state || A7105_RX == state)
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if (A7105_TX == state || A7105_RX == state) {
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{
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EXTIEnable(rxIntIO, true);
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EXTIEnable(rxIntIO, true);
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}
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} else {
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else
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{
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EXTIEnable(rxIntIO, false);
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EXTIEnable(rxIntIO, false);
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}
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}
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#ifdef RX_PA_TXEN_PIN
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#ifdef RX_PA_TXEN_PIN
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if (A7105_TX == state)
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if (A7105_TX == state) {
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IOHi(txEnIO); /* enable PA */
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IOHi(txEnIO); /* enable PA */
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else
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} else {
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IOLo(txEnIO); /* disable PA */
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IOLo(txEnIO); /* disable PA */
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}
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#endif
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#endif
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rxSpiWriteByte((uint8_t)state);
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rxSpiWriteByte((uint8_t)state);
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}
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}
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void A7105WriteID(uint32_t id)
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void A7105WriteID(uint32_t id)
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{
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{
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uint8_t data[4];
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uint8_t data[4];
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@ -165,37 +156,37 @@ void A7105WriteID(uint32_t id)
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rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
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rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
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}
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}
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uint32_t A7105ReadID (void)
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uint32_t A7105ReadID (void)
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{
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{
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uint32_t id;
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uint32_t id;
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uint8_t data[4];
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uint8_t data[4];
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rxSpiReadCommandMulti ( (uint8_t)A7105_06_ID_DATA | 0x40, 0xFF, &data[0], sizeof(data));
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rxSpiReadCommandMulti ( (uint8_t)A7105_06_ID_DATA | 0x40, 0xFF, &data[0], sizeof(data));
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id = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3] << 0;
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id = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3] << 0;
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return id;
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return id;
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}
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}
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void A7105ReadFIFO (uint8_t *data, uint8_t num)
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void A7105ReadFIFO (uint8_t *data, uint8_t num)
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{
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{
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if (data)
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if (data) {
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{
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if(num > 64){
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if(num > 64) num = 64;
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num = 64;
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A7105Strobe(A7105_RST_RDPTR); /* reset read pointer */
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}
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A7105Strobe(A7105_RST_RDPTR); /* reset read pointer */
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rxSpiReadCommandMulti((uint8_t)A7105_05_FIFO_DATA | 0x40, 0xFF, data, num);
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rxSpiReadCommandMulti((uint8_t)A7105_05_FIFO_DATA | 0x40, 0xFF, data, num);
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}
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}
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}
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}
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void A7105WriteFIFO (uint8_t *data, uint8_t num)
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void A7105WriteFIFO (uint8_t *data, uint8_t num)
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{
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{
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if (data)
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if (data) {
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{
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if(num > 64) {
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if(num > 64) num = 64;
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num = 64;
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A7105Strobe(A7105_RST_WRPTR); /* reset write pointer */
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}
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A7105Strobe(A7105_RST_WRPTR); /* reset write pointer */
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rxSpiWriteCommandMulti((uint8_t)A7105_05_FIFO_DATA, data, num);
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rxSpiWriteCommandMulti((uint8_t)A7105_05_FIFO_DATA, data, num);
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}
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}
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}
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}
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#endif /* USE_RX_FLYSKY */
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#endif /* USE_RX_FLYSKY */
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@ -1,121 +1,111 @@
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/*
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/*
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* This file is part of Cleanflight.
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* This file is part of Cleanflight.
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*
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* Cleanflight 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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* 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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* 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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* (at your option) any later version.
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*
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* Cleanflight 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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* 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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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* GNU General Public License for more details.
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*
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*
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* You should have received a copy of the GNU General Public License
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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*/
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#ifndef _RX_A7105_
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#define _RX_A7105_
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#pragma once
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/* A7105 states for strobe */
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/* A7105 states for strobe */
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typedef enum
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typedef enum {
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{
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A7105_SLEEP = 0x80,
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A7105_SLEEP = 0x80,
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A7105_IDLE = 0x90,
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A7105_IDLE = 0x90,
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A7105_STANDBY = 0xA0,
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A7105_STANDBY = 0xA0,
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A7105_PLL = 0xB0,
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A7105_PLL = 0xB0,
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A7105_RX = 0xC0,
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A7105_RX = 0xC0,
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A7105_TX = 0xD0,
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A7105_TX = 0xD0,
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A7105_RST_WRPTR = 0xE0,
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A7105_RST_WRPTR = 0xE0,
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A7105_RST_RDPTR = 0xF0
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A7105_RST_RDPTR = 0xF0
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} A7105State_t;
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} A7105State_t;
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/* Register addresses */
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/* Register addresses */
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typedef enum
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typedef enum {
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{
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A7105_00_MODE = 0x00,
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A7105_00_MODE = 0x00,
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A7105_01_MODE_CONTROL = 0x01,
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A7105_01_MODE_CONTROL = 0x01,
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A7105_02_CALC = 0x02,
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A7105_02_CALC = 0x02,
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A7105_03_FIFOI = 0x03,
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A7105_03_FIFOI = 0x03,
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A7105_04_FIFOII = 0x04,
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A7105_04_FIFOII = 0x04,
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A7105_05_FIFO_DATA = 0x05,
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A7105_05_FIFO_DATA = 0x05,
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A7105_06_ID_DATA = 0x06,
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A7105_06_ID_DATA = 0x06,
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A7105_07_RC_OSC_I = 0x07,
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A7105_07_RC_OSC_I = 0x07,
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A7105_08_RC_OSC_II = 0x08,
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A7105_08_RC_OSC_II = 0x08,
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A7105_09_RC_OSC_III = 0x09,
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A7105_09_RC_OSC_III = 0x09,
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A7105_0A_CK0_PIN = 0x0A,
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A7105_0A_CK0_PIN = 0x0A,
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A7105_0B_GPIO1_PIN_I = 0x0B,
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A7105_0B_GPIO1_PIN_I = 0x0B,
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A7105_0C_GPIO2_PIN_II = 0x0C,
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A7105_0C_GPIO2_PIN_II = 0x0C,
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A7105_0D_CLOCK = 0x0D,
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A7105_0D_CLOCK = 0x0D,
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A7105_0E_DATA_RATE = 0x0E,
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A7105_0E_DATA_RATE = 0x0E,
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A7105_0F_PLL_I = 0x0F,
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A7105_0F_PLL_I = 0x0F,
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A7105_0F_CHANNEL = 0x0F,
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A7105_0F_CHANNEL = 0x0F,
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A7105_10_PLL_II = 0x10,
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A7105_10_PLL_II = 0x10,
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A7105_11_PLL_III = 0x11,
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A7105_11_PLL_III = 0x11,
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A7105_12_PLL_IV = 0x12,
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A7105_12_PLL_IV = 0x12,
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A7105_13_PLL_V = 0x13,
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A7105_13_PLL_V = 0x13,
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A7105_14_TX_I = 0x14,
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A7105_14_TX_I = 0x14,
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A7105_15_TX_II = 0x15,
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A7105_15_TX_II = 0x15,
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A7105_16_DELAY_I = 0x16,
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A7105_16_DELAY_I = 0x16,
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A7105_17_DELAY_II = 0x17,
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A7105_17_DELAY_II = 0x17,
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A7105_18_RX = 0x18,
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A7105_18_RX = 0x18,
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A7105_19_RX_GAIN_I = 0x19,
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A7105_19_RX_GAIN_I = 0x19,
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A7105_1A_RX_GAIN_II = 0x1A,
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A7105_1A_RX_GAIN_II = 0x1A,
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A7105_1B_RX_GAIN_III = 0x1B,
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A7105_1B_RX_GAIN_III = 0x1B,
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A7105_1C_RX_GAIN_IV = 0x1C,
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A7105_1C_RX_GAIN_IV = 0x1C,
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A7105_1D_RSSI_THOLD = 0x1D,
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A7105_1D_RSSI_THOLD = 0x1D,
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A7105_1E_ADC = 0x1E,
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A7105_1E_ADC = 0x1E,
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A7105_1F_CODE_I = 0x1F,
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A7105_1F_CODE_I = 0x1F,
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A7105_20_CODE_II = 0x20,
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A7105_20_CODE_II = 0x20,
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A7105_21_CODE_III = 0x21,
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A7105_21_CODE_III = 0x21,
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A7105_22_IF_CALIB_I = 0x22,
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A7105_22_IF_CALIB_I = 0x22,
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A7105_23_IF_CALIB_II = 0x23,
|
A7105_23_IF_CALIB_II = 0x23,
|
||||||
A7105_24_VCO_CURCAL = 0x24,
|
A7105_24_VCO_CURCAL = 0x24,
|
||||||
A7105_25_VCO_SBCAL_I = 0x25,
|
A7105_25_VCO_SBCAL_I = 0x25,
|
||||||
A7105_26_VCO_SBCAL_II = 0x26,
|
A7105_26_VCO_SBCAL_II = 0x26,
|
||||||
A7105_27_BATTERY_DET = 0x27,
|
A7105_27_BATTERY_DET = 0x27,
|
||||||
A7105_28_TX_TEST = 0x28,
|
A7105_28_TX_TEST = 0x28,
|
||||||
A7105_29_RX_DEM_TEST_I = 0x29,
|
A7105_29_RX_DEM_TEST_I = 0x29,
|
||||||
A7105_2A_RX_DEM_TEST_II = 0x2A,
|
A7105_2A_RX_DEM_TEST_II = 0x2A,
|
||||||
A7105_2B_CPC = 0x2B,
|
A7105_2B_CPC = 0x2B,
|
||||||
A7105_2C_XTAL_TEST = 0x2C,
|
A7105_2C_XTAL_TEST = 0x2C,
|
||||||
A7105_2D_PLL_TEST = 0x2D,
|
A7105_2D_PLL_TEST = 0x2D,
|
||||||
A7105_2E_VCO_TEST_I = 0x2E,
|
A7105_2E_VCO_TEST_I = 0x2E,
|
||||||
A7105_2F_VCO_TEST_II = 0x2F,
|
A7105_2F_VCO_TEST_II = 0x2F,
|
||||||
A7105_30_IFAT = 0x30,
|
A7105_30_IFAT = 0x30,
|
||||||
A7105_31_RSCALE = 0x31,
|
A7105_31_RSCALE = 0x31,
|
||||||
A7105_32_FILTER_TEST = 0x32,
|
A7105_32_FILTER_TEST = 0x32,
|
||||||
} A7105Reg_t;
|
} A7105Reg_t;
|
||||||
|
|
||||||
|
|
||||||
/* Register: A7105_00_MODE */
|
/* Register: A7105_00_MODE */
|
||||||
#define A7105_MODE_FECF 0x40 /* [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.) */
|
#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
|
||||||
#define A7105_MODE_CRCF 0x20 /* [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.) */
|
#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
|
||||||
#define A7105_MODE_CER 0x10 /* [0]: RF chip is disabled. [1]: RF chip is enabled. */
|
#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
|
||||||
#define A7105_MODE_XER 0x08 /* [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled. */
|
#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
|
||||||
#define A7105_MODE_PLLER 0x04 /* [0]: PLL is disabled. [1]: PLL is enabled. */
|
#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
|
||||||
#define A7105_MODE_TRSR 0x02 /* [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable). */
|
#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
|
||||||
#define A7105_MODE_TRER 0x01 /* [0]: TRX is disabled. [1]: TRX is enabled. */
|
#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
|
||||||
|
|
||||||
|
void A7105Init(uint32_t id);
|
||||||
|
void A7105SoftReset(void);
|
||||||
|
void A7105Config(const uint8_t *regsTable, uint8_t size);
|
||||||
|
|
||||||
void A7105Init (uint32_t id);
|
uint8_t A7105ReadReg(A7105Reg_t reg);
|
||||||
void A7105SoftReset (void);
|
void A7105WriteReg(A7105Reg_t reg, uint8_t data);
|
||||||
void A7105Config (const uint8_t *regsTable, uint8_t size);
|
void A7105Strobe(A7105State_t state);
|
||||||
|
|
||||||
uint8_t A7105ReadReg (A7105Reg_t reg);
|
|
||||||
void A7105WriteReg (A7105Reg_t reg, uint8_t data);
|
|
||||||
void A7105Strobe (A7105State_t state);
|
|
||||||
|
|
||||||
void A7105WriteID(uint32_t id);
|
void A7105WriteID(uint32_t id);
|
||||||
uint32_t A7105ReadID (void);
|
uint32_t A7105ReadID(void);
|
||||||
|
|
||||||
void A7105ReadFIFO (uint8_t *data, uint8_t num);
|
void A7105ReadFIFO(uint8_t *data, uint8_t num);
|
||||||
void A7105WriteFIFO (uint8_t *data, uint8_t num);
|
void A7105WriteFIFO(uint8_t *data, uint8_t num);
|
||||||
|
|
||||||
bool A7105RxTxFinished (uint32_t *timeStamp);
|
bool A7105RxTxFinished(uint32_t *timeStamp);
|
||||||
|
|
||||||
|
|
||||||
#endif /* _RX_A7105_ */
|
|
||||||
|
|
|
||||||
|
|
@ -1,19 +1,19 @@
|
||||||
/*
|
/*
|
||||||
* This file is part of Cleanflight.
|
* This file is part of Cleanflight.
|
||||||
*
|
*
|
||||||
* Cleanflight is free software: you can redistribute it and/or modify
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
* it under the terms of the GNU General Public License as published by
|
* it under the terms of the GNU General Public License as published by
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
* (at your option) any later version.
|
* (at your option) any later version.
|
||||||
*
|
*
|
||||||
* Cleanflight is distributed in the hope that it will be useful,
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
* GNU General Public License for more details.
|
* GNU General Public License for more details.
|
||||||
*
|
*
|
||||||
* You should have received a copy of the GNU General Public License
|
* You should have received a copy of the GNU General Public License
|
||||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
#include "platform.h"
|
#include "platform.h"
|
||||||
|
|
@ -41,22 +41,18 @@
|
||||||
|
|
||||||
#include "sensors/battery.h"
|
#include "sensors/battery.h"
|
||||||
|
|
||||||
|
#if FLYSKY_CHANNEL_COUNT > MAX_FLYSKY_CHANNEL_COUNT
|
||||||
#if FLYSKY_CHANNEL_COUNT > 8
|
|
||||||
#error "FlySky AFHDS protocol support 8 channel max"
|
#error "FlySky AFHDS protocol support 8 channel max"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if FLYSKY_2A_CHANNEL_COUNT > 14
|
#if FLYSKY_2A_CHANNEL_COUNT > MAX_FLYSKY_2A_CHANNEL_COUNT
|
||||||
#error "FlySky AFHDS 2A protocol support 14 channel max"
|
#error "FlySky AFHDS 2A protocol support 14 channel max"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
PG_REGISTER_WITH_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, PG_FLYSKY_CONFIG, 0);
|
PG_REGISTER_WITH_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, PG_FLYSKY_CONFIG, 0);
|
||||||
PG_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, .txId = 0, .rfChannelMap = {0}, .protocol = 0);
|
PG_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, .txId = 0, .rfChannelMap = {0}, .protocol = 0);
|
||||||
|
|
||||||
|
static const uint8_t flySkyRegs[] = {
|
||||||
static const uint8_t flySkyRegs[] =
|
|
||||||
{
|
|
||||||
0xff, 0x42, 0x00, 0x14, 0x00, 0xff, 0xff, 0x00,
|
0xff, 0x42, 0x00, 0x14, 0x00, 0xff, 0xff, 0x00,
|
||||||
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
|
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
|
||||||
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x00,
|
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x00,
|
||||||
|
|
@ -66,9 +62,7 @@ static const uint8_t flySkyRegs[] =
|
||||||
0x01, 0x0f
|
0x01, 0x0f
|
||||||
};
|
};
|
||||||
|
|
||||||
|
static const uint8_t flySky2ARegs[] = {
|
||||||
static const uint8_t flySky2ARegs[] =
|
|
||||||
{
|
|
||||||
0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
|
0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
|
||||||
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
|
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
|
||||||
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x4f,
|
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x4f,
|
||||||
|
|
@ -78,37 +72,31 @@ static const uint8_t flySky2ARegs[] =
|
||||||
0x01, 0x0f
|
0x01, 0x0f
|
||||||
};
|
};
|
||||||
|
|
||||||
|
static const uint8_t flySky2ABindChannels[] = {
|
||||||
static const uint8_t flySky2ABindChannels[] =
|
|
||||||
{
|
|
||||||
0x0D, 0x8C
|
0x0D, 0x8C
|
||||||
};
|
};
|
||||||
|
|
||||||
|
static const uint8_t flySkyRfChannels[16][16] = {
|
||||||
static const uint8_t flySkyRfChannels[16][16] =
|
{ 0x0a, 0x5a, 0x14, 0x64, 0x1e, 0x6e, 0x28, 0x78, 0x32, 0x82, 0x3c, 0x8c, 0x46, 0x96, 0x50, 0xa0},
|
||||||
{
|
{ 0xa0, 0x50, 0x96, 0x46, 0x8c, 0x3c, 0x82, 0x32, 0x78, 0x28, 0x6e, 0x1e, 0x64, 0x14, 0x5a, 0x0a},
|
||||||
{0x0a, 0x5a, 0x14, 0x64, 0x1e, 0x6e, 0x28, 0x78, 0x32, 0x82, 0x3c, 0x8c, 0x46, 0x96, 0x50, 0xa0},
|
{ 0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x46, 0x96, 0x1e, 0x6e, 0x3c, 0x8c, 0x28, 0x78, 0x32, 0x82},
|
||||||
{0xa0, 0x50, 0x96, 0x46, 0x8c, 0x3c, 0x82, 0x32, 0x78, 0x28, 0x6e, 0x1e, 0x64, 0x14, 0x5a, 0x0a},
|
{ 0x82, 0x32, 0x78, 0x28, 0x8c, 0x3c, 0x6e, 0x1e, 0x96, 0x46, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a},
|
||||||
{0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x46, 0x96, 0x1e, 0x6e, 0x3c, 0x8c, 0x28, 0x78, 0x32, 0x82},
|
{ 0x28, 0x78, 0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96},
|
||||||
{0x82, 0x32, 0x78, 0x28, 0x8c, 0x3c, 0x6e, 0x1e, 0x96, 0x46, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a},
|
{ 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a, 0x78, 0x28},
|
||||||
{0x28, 0x78, 0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96},
|
{ 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96, 0x14, 0x64},
|
||||||
{0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a, 0x78, 0x28},
|
{ 0x64, 0x14, 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50},
|
||||||
{0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96, 0x14, 0x64},
|
{ 0x50, 0xa0, 0x46, 0x96, 0x3c, 0x8c, 0x28, 0x78, 0x0a, 0x5a, 0x32, 0x82, 0x1e, 0x6e, 0x14, 0x64},
|
||||||
{0x64, 0x14, 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50},
|
{ 0x64, 0x14, 0x6e, 0x1e, 0x82, 0x32, 0x5a, 0x0a, 0x78, 0x28, 0x8c, 0x3c, 0x96, 0x46, 0xa0, 0x50},
|
||||||
{0x50, 0xa0, 0x46, 0x96, 0x3c, 0x8c, 0x28, 0x78, 0x0a, 0x5a, 0x32, 0x82, 0x1e, 0x6e, 0x14, 0x64},
|
{ 0x46, 0x96, 0x3c, 0x8c, 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
||||||
{0x64, 0x14, 0x6e, 0x1e, 0x82, 0x32, 0x5a, 0x0a, 0x78, 0x28, 0x8c, 0x3c, 0x96, 0x46, 0xa0, 0x50},
|
{ 0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50, 0x8c, 0x3c, 0x96, 0x46},
|
||||||
{0x46, 0x96, 0x3c, 0x8c, 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
{ 0x46, 0x96, 0x0a, 0x5a, 0x3c, 0x8c, 0x14, 0x64, 0x50, 0xa0, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82},
|
||||||
{0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50, 0x8c, 0x3c, 0x96, 0x46},
|
{ 0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0xa0, 0x50, 0x64, 0x14, 0x8c, 0x3c, 0x5a, 0x0a, 0x96, 0x46},
|
||||||
{0x46, 0x96, 0x0a, 0x5a, 0x3c, 0x8c, 0x14, 0x64, 0x50, 0xa0, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82},
|
{ 0x46, 0x96, 0x0a, 0x5a, 0x50, 0xa0, 0x3c, 0x8c, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
||||||
{0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0xa0, 0x50, 0x64, 0x14, 0x8c, 0x3c, 0x5a, 0x0a, 0x96, 0x46},
|
{ 0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0x8c, 0x3c, 0xa0, 0x50, 0x5a, 0x0a, 0x96, 0x46}
|
||||||
{0x46, 0x96, 0x0a, 0x5a, 0x50, 0xa0, 0x3c, 0x8c, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
|
||||||
{0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0x8c, 0x3c, 0xa0, 0x50, 0x5a, 0x0a, 0x96, 0x46}
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
const timings_t flySkyTimings = {.packet = 1500, .firstPacket = 1900, .syncPacket = 2250, .telemetry = 0xFFFFFFFF};
|
||||||
const timings_t flySkyTimings = { .packet = 1500, .firstPacket = 1900, .syncPacket = 2250, .telemetry = 0xFFFFFFFF };
|
const timings_t flySky2ATimings = {.packet = 3850, .firstPacket = 4850, .syncPacket = 5775, .telemetry = 57000};
|
||||||
const timings_t flySky2ATimings = { .packet = 3850, .firstPacket = 4850, .syncPacket = 5775, .telemetry = 57000 };
|
|
||||||
|
|
||||||
|
|
||||||
static rx_spi_protocol_e protocol = RX_SPI_A7105_FLYSKY_2A;
|
static rx_spi_protocol_e protocol = RX_SPI_A7105_FLYSKY_2A;
|
||||||
static const timings_t *timings = &flySky2ATimings;
|
static const timings_t *timings = &flySky2ATimings;
|
||||||
|
|
@ -118,259 +106,109 @@ static uint32_t countTimeout = 0;
|
||||||
static uint32_t countPacket = 0;
|
static uint32_t countPacket = 0;
|
||||||
static uint32_t txId = 0;
|
static uint32_t txId = 0;
|
||||||
static uint32_t rxId = 0;
|
static uint32_t rxId = 0;
|
||||||
static bool binded = false;
|
static bool bound = false;
|
||||||
static bool sendTelemetry = false;
|
static bool sendTelemetry = false;
|
||||||
static uint16_t errorRate = 0;
|
static uint16_t errorRate = 0;
|
||||||
static uint16_t rssi_dBm = 0;
|
static uint16_t rssi_dBm = 0;
|
||||||
static uint8_t rfChannelMap[NUMFREQ];
|
static uint8_t rfChannelMap[FLYSKY_FREQUENCY_COUNT];
|
||||||
|
|
||||||
|
|
||||||
static inline rx_spi_received_e flySkyReadAndProcess (uint8_t *payload, const uint32_t timeStamp);
|
static uint8_t getNextChannel (uint8_t step)
|
||||||
static inline rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp);
|
|
||||||
static inline void flySkyCalculateRfChannels (void);
|
|
||||||
static inline bool isValidPacket (const uint8_t *packet);
|
|
||||||
static inline void buildAndWriteTelemetry (uint8_t *packet);
|
|
||||||
static inline uint8_t getNextChannel (uint8_t step);
|
|
||||||
static void checkRSSI (void);
|
|
||||||
static void resetTimeout (const uint32_t timeStamp);
|
|
||||||
static inline void checkTimeout (void);
|
|
||||||
|
|
||||||
void flySkyInit (const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
|
|
||||||
{
|
{
|
||||||
protocol = rxConfig->rx_spi_protocol;
|
static uint8_t channel = 0;
|
||||||
if (protocol != flySkyConfig()->protocol) { PG_RESET(flySkyConfig); }
|
channel = (channel + step) & 0x0F;
|
||||||
|
return rfChannelMap[channel];
|
||||||
IO_t bindIO = IOGetByTag(IO_TAG(RX_FLYSKY_BIND_PIN));
|
|
||||||
IOInit(bindIO, OWNER_RX_SPI_CS, 0);
|
|
||||||
IOConfigGPIO(bindIO, IOCFG_IPU);
|
|
||||||
|
|
||||||
uint8_t startRxChannel;
|
|
||||||
|
|
||||||
if (protocol == RX_SPI_A7105_FLYSKY_2A)
|
|
||||||
{
|
|
||||||
rxRuntimeConfig->channelCount = FLYSKY_2A_CHANNEL_COUNT;
|
|
||||||
timings = &flySky2ATimings;
|
|
||||||
rxId = U_ID_0 ^ U_ID_1 ^ U_ID_2;
|
|
||||||
startRxChannel = flySky2ABindChannels[0];
|
|
||||||
A7105Init(0x5475c52A);
|
|
||||||
A7105Config(flySky2ARegs, sizeof(flySky2ARegs));
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
rxRuntimeConfig->channelCount = FLYSKY_CHANNEL_COUNT;
|
|
||||||
timings = &flySkyTimings;
|
|
||||||
startRxChannel = 0;
|
|
||||||
A7105Init(0x5475c52A);
|
|
||||||
A7105Config(flySkyRegs, sizeof(flySkyRegs));
|
|
||||||
}
|
|
||||||
|
|
||||||
if ( !IORead(bindIO) || flySkyConfig()->txId == 0)
|
|
||||||
{
|
|
||||||
binded = false;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
binded = true;
|
|
||||||
txId = flySkyConfig()->txId; /* load TXID */
|
|
||||||
memcpy (rfChannelMap, flySkyConfig()->rfChannelMap, NUMFREQ); /* load channel map */
|
|
||||||
startRxChannel = getNextChannel(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
A7105WriteReg(A7105_0F_CHANNEL, startRxChannel);
|
|
||||||
A7105Strobe(A7105_RX); /* start listening */
|
|
||||||
|
|
||||||
resetTimeout(micros());
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void flySkyCalculateRfChannels (void)
|
||||||
void flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload)
|
|
||||||
{
|
{
|
||||||
if (rcData && payload)
|
uint32_t channelRow = txId & 0x0F;
|
||||||
{
|
uint32_t channelOffset = ((txId & 0xF0) >> 4) + 1;
|
||||||
uint32_t channelCount;
|
|
||||||
channelCount = (protocol == RX_SPI_A7105_FLYSKY_2A) ? (FLYSKY_2A_CHANNEL_COUNT) : (FLYSKY_CHANNEL_COUNT);
|
if (channelOffset > 9) {
|
||||||
for (uint8_t i = 0; i < channelCount; i++)
|
channelOffset = 9; // from sloped soarer findings, bug in flysky protocol
|
||||||
{
|
}
|
||||||
rcData[i] = payload[2 * i + 1] << 8 | payload [2 * i + 0];
|
|
||||||
|
for (uint32_t i = 0; i < FLYSKY_FREQUENCY_COUNT; i++) {
|
||||||
|
rfChannelMap[i] = flySkyRfChannels[channelRow][i] - channelOffset;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void resetTimeout (const uint32_t timeStamp)
|
||||||
|
{
|
||||||
|
timeLastPacket = timeStamp;
|
||||||
|
timeout = timings->firstPacket;
|
||||||
|
countTimeout = 0;
|
||||||
|
countPacket++;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void checkTimeout (void)
|
||||||
|
{
|
||||||
|
static uint32_t timeMeasuareErrRate = 0;
|
||||||
|
static uint32_t timeLastTelemetry = 0;
|
||||||
|
uint32_t time = micros();
|
||||||
|
|
||||||
|
if ((time - timeMeasuareErrRate) > (100 * timings->packet)) {
|
||||||
|
if (countPacket > 100) {
|
||||||
|
countPacket = 100;
|
||||||
|
}
|
||||||
|
errorRate = 100 - countPacket;
|
||||||
|
countPacket = 0;
|
||||||
|
timeMeasuareErrRate = time;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((time - timeLastTelemetry) > timings->telemetry) {
|
||||||
|
timeLastTelemetry = time;
|
||||||
|
sendTelemetry = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((time - timeLastPacket) > timeout) {
|
||||||
|
uint32_t stepOver = (time - timeLastPacket) / timings->packet;
|
||||||
|
|
||||||
|
timeLastPacket = (stepOver > 1) ? (time) : (timeLastPacket + timeout);
|
||||||
|
|
||||||
|
A7105Strobe(A7105_STANDBY);
|
||||||
|
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(stepOver % FLYSKY_FREQUENCY_COUNT));
|
||||||
|
A7105Strobe(A7105_RX);
|
||||||
|
|
||||||
|
if(countTimeout > 31) {
|
||||||
|
timeout = timings->syncPacket;
|
||||||
|
rssi = 0;
|
||||||
|
} else {
|
||||||
|
timeout = timings->packet;
|
||||||
|
countTimeout++;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void checkRSSI (void)
|
||||||
rx_spi_received_e flySkyDataReceived (uint8_t *payload)
|
|
||||||
{
|
{
|
||||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
static uint8_t buf[FLYSKY_RSSI_SAMPLE_COUNT] = {0};
|
||||||
uint32_t timeStamp;
|
static int16_t sum = 0;
|
||||||
|
static uint16_t currentIndex = 0;
|
||||||
|
|
||||||
if (A7105RxTxFinished(&timeStamp))
|
uint8_t adcValue = A7105ReadReg(A7105_1D_RSSI_THOLD);
|
||||||
{
|
|
||||||
uint8_t modeReg = A7105ReadReg(A7105_00_MODE);
|
|
||||||
|
|
||||||
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) /* TX complete */
|
sum += adcValue;
|
||||||
{
|
sum -= buf[currentIndex];
|
||||||
if (binded) { A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1)); }
|
buf[currentIndex] = adcValue;
|
||||||
A7105Strobe(A7105_RX);
|
currentIndex = (currentIndex + 1) % FLYSKY_RSSI_SAMPLE_COUNT;
|
||||||
}
|
|
||||||
else if ((modeReg & (A7105_MODE_CRCF|A7105_MODE_TRER)) == 0) /* RX complete, CRC pass */
|
|
||||||
{
|
|
||||||
if (protocol == RX_SPI_A7105_FLYSKY_2A)
|
|
||||||
{
|
|
||||||
result = flySky2AReadAndProcess(payload, timeStamp);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
result = flySkyReadAndProcess(payload, timeStamp);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
A7105Strobe(A7105_RX);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (binded) { checkTimeout(); }
|
rssi_dBm = 50 + sum / (3 * FLYSKY_RSSI_SAMPLE_COUNT); // range about [95...52], -dBm
|
||||||
|
|
||||||
if (result == RX_SPI_RECEIVED_BIND)
|
int16_t tmp = 2280 - 24 * rssi_dBm;// convert to [0...1023]
|
||||||
{
|
rssi = (uint16_t) constrain(tmp, 0, 1023);// external variable from "rx/rx.h"
|
||||||
flySkyConfigMutable()->txId = txId; /* store TXID */
|
|
||||||
memcpy (flySkyConfigMutable()->rfChannelMap, rfChannelMap, NUMFREQ);/* store channel map */
|
|
||||||
flySkyConfigMutable()->protocol = protocol;
|
|
||||||
writeEEPROM();
|
|
||||||
}
|
|
||||||
|
|
||||||
return result;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static bool isValidPacket (const uint8_t *packet) {
|
||||||
static inline rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
|
||||||
{
|
|
||||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
|
||||||
A7105State_t newState = A7105_RX;
|
|
||||||
uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
|
|
||||||
|
|
||||||
uint8_t bytesToRead = (binded) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + NUMFREQ);
|
|
||||||
A7105ReadFIFO(packet, bytesToRead);
|
|
||||||
|
|
||||||
switch (packet[0])
|
|
||||||
{
|
|
||||||
case FLYSKY_2A_PACKET_RC_DATA:
|
|
||||||
case FLYSKY_2A_PACKET_FS_SETTINGS: /* failsafe settings */
|
|
||||||
case FLYSKY_2A_PACKET_SETTINGS: /* receiver settings */
|
|
||||||
if (isValidPacket(packet))
|
|
||||||
{
|
|
||||||
checkRSSI();
|
|
||||||
resetTimeout(timeStamp);
|
|
||||||
|
|
||||||
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
|
|
||||||
if (rcPacket->type == FLYSKY_2A_PACKET_RC_DATA)
|
|
||||||
{
|
|
||||||
if (payload) memcpy(payload, rcPacket->data, 2*FLYSKY_2A_CHANNEL_COUNT);
|
|
||||||
|
|
||||||
if (sendTelemetry)
|
|
||||||
{
|
|
||||||
buildAndWriteTelemetry(packet);
|
|
||||||
newState = A7105_TX;
|
|
||||||
sendTelemetry = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
result = RX_SPI_RECEIVED_DATA;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (newState != A7105_TX)
|
|
||||||
{
|
|
||||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case FLYSKY_2A_PACKET_BIND1:
|
|
||||||
case FLYSKY_2A_PACKET_BIND2:
|
|
||||||
if (!binded)
|
|
||||||
{
|
|
||||||
resetTimeout(timeStamp);
|
|
||||||
|
|
||||||
flySky2ABindPkt_t *bindPacket = (flySky2ABindPkt_t*) packet;
|
|
||||||
|
|
||||||
if (bindPacket->rfChannelMap[0] != 0xFF)
|
|
||||||
{
|
|
||||||
memcpy(rfChannelMap, bindPacket->rfChannelMap, NUMFREQ); /* get TX channels */
|
|
||||||
}
|
|
||||||
|
|
||||||
txId = bindPacket->txId;
|
|
||||||
bindPacket->rxId = rxId;
|
|
||||||
memset(bindPacket->rfChannelMap, 0xFF, 26); /* erase channelMap and 10 bytes after it */
|
|
||||||
|
|
||||||
binded = ((bindPacket->state != 0) && (bindPacket->state != 1));
|
|
||||||
if (binded) { result = RX_SPI_RECEIVED_BIND; } /* bind complete */
|
|
||||||
|
|
||||||
A7105WriteFIFO(packet, FLYSKY_2A_PAYLOAD_SIZE);
|
|
||||||
|
|
||||||
newState = A7105_TX;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
A7105Strobe(newState);
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static inline rx_spi_received_e flySkyReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
|
||||||
{
|
|
||||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
|
||||||
uint8_t packet[FLYSKY_PAYLOAD_SIZE];
|
|
||||||
|
|
||||||
uint8_t bytesToRead = (binded) ? (5 + 2*FLYSKY_CHANNEL_COUNT) : (5);
|
|
||||||
A7105ReadFIFO(packet, bytesToRead);
|
|
||||||
|
|
||||||
const flySkyRcDataPkt_t *rcPacket = (const flySkyRcDataPkt_t*) packet;
|
|
||||||
|
|
||||||
if (binded && rcPacket->type == FLYSKY_PACKET_RC_DATA && rcPacket->txId == txId)
|
|
||||||
{
|
|
||||||
checkRSSI();
|
|
||||||
resetTimeout(timeStamp);
|
|
||||||
|
|
||||||
if (payload) { memcpy(payload, rcPacket->data, 2*FLYSKY_CHANNEL_COUNT); }
|
|
||||||
|
|
||||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
|
||||||
|
|
||||||
result = RX_SPI_RECEIVED_DATA;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!binded && rcPacket->type == FLYSKY_PACKET_BIND)
|
|
||||||
{
|
|
||||||
resetTimeout(timeStamp);
|
|
||||||
|
|
||||||
txId = rcPacket->txId;
|
|
||||||
flySkyCalculateRfChannels();
|
|
||||||
|
|
||||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(0));
|
|
||||||
|
|
||||||
binded = true;
|
|
||||||
|
|
||||||
result = RX_SPI_RECEIVED_BIND;
|
|
||||||
}
|
|
||||||
|
|
||||||
A7105Strobe(A7105_RX);
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static inline bool isValidPacket (const uint8_t *packet)
|
|
||||||
{
|
|
||||||
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
|
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
|
||||||
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
|
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void buildAndWriteTelemetry (uint8_t *packet)
|
||||||
static inline void buildAndWriteTelemetry (uint8_t *packet)
|
|
||||||
{
|
{
|
||||||
if (packet)
|
if (packet) {
|
||||||
{
|
static uint8_t bytesToWrite = FLYSKY_2A_PAYLOAD_SIZE; // first time write full packet to buffer a7105
|
||||||
static uint8_t bytesToWrite = FLYSKY_2A_PAYLOAD_SIZE; /* first time write full packet to buffer a7105 */
|
|
||||||
flySky2ATelemetryPkt_t *telemertyPacket = (flySky2ATelemetryPkt_t*) packet;
|
flySky2ATelemetryPkt_t *telemertyPacket = (flySky2ATelemetryPkt_t*) packet;
|
||||||
uint16_t voltage = 10 * getBatteryVoltage();
|
uint16_t voltage = 10 * getBatteryVoltage();
|
||||||
|
|
||||||
|
|
@ -395,102 +233,216 @@ static inline void buildAndWriteTelemetry (uint8_t *packet)
|
||||||
|
|
||||||
A7105WriteFIFO(packet, bytesToWrite);
|
A7105WriteFIFO(packet, bytesToWrite);
|
||||||
|
|
||||||
bytesToWrite = 9 + 3 * sizeof(flySky2ASens_t); /* next time write only bytes that could change, the others are already set as 0xFF in buffer a7105 */
|
bytesToWrite = 9 + 3 * sizeof(flySky2ASens_t);// next time write only bytes that could change, the others are already set as 0xFF in buffer a7105
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
||||||
static void checkRSSI (void)
|
|
||||||
{
|
{
|
||||||
static uint8_t buf[RSSI_SAMPLE_COUNT] = {0};
|
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||||
static int16_t sum = 0;
|
A7105State_t newState = A7105_RX;
|
||||||
static uint16_t currentIndex = 0;
|
uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
|
||||||
|
|
||||||
uint8_t adcValue = A7105ReadReg(A7105_1D_RSSI_THOLD);
|
uint8_t bytesToRead = (bound) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + FLYSKY_FREQUENCY_COUNT);
|
||||||
|
A7105ReadFIFO(packet, bytesToRead);
|
||||||
|
|
||||||
sum += adcValue;
|
switch (packet[0]) {
|
||||||
sum -= buf[currentIndex];
|
case FLYSKY_2A_PACKET_RC_DATA:
|
||||||
buf[currentIndex] = adcValue;
|
case FLYSKY_2A_PACKET_FS_SETTINGS: // failsafe settings
|
||||||
currentIndex = (currentIndex + 1) % RSSI_SAMPLE_COUNT;
|
case FLYSKY_2A_PACKET_SETTINGS: // receiver settings
|
||||||
|
if (isValidPacket(packet)) {
|
||||||
|
checkRSSI();
|
||||||
|
resetTimeout(timeStamp);
|
||||||
|
|
||||||
rssi_dBm = 50 + sum / (3 * RSSI_SAMPLE_COUNT); /* range about [95...52], -dBm */
|
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
|
||||||
|
|
||||||
int16_t tmp = 2280 - 24 * rssi_dBm; /* convert to [0...1023] */
|
if (rcPacket->type == FLYSKY_2A_PACKET_RC_DATA) {
|
||||||
rssi = (uint16_t) constrain(tmp, 0, 1023); /* external variable from "rx/rx.h" */
|
if (payload) {
|
||||||
}
|
memcpy(payload, rcPacket->data, 2*FLYSKY_2A_CHANNEL_COUNT);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (sendTelemetry) {
|
||||||
|
buildAndWriteTelemetry(packet);
|
||||||
|
newState = A7105_TX;
|
||||||
|
sendTelemetry = false;
|
||||||
|
}
|
||||||
|
|
||||||
static inline uint8_t getNextChannel (uint8_t step)
|
result = RX_SPI_RECEIVED_DATA;
|
||||||
{
|
}
|
||||||
static uint8_t channel = 0;
|
|
||||||
channel = (channel + step) & 0x0F;
|
|
||||||
return rfChannelMap[channel];
|
|
||||||
}
|
|
||||||
|
|
||||||
|
if (newState != A7105_TX) {
|
||||||
static inline void flySkyCalculateRfChannels (void)
|
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
||||||
{
|
}
|
||||||
uint32_t channelRow = txId & 0x0F;
|
|
||||||
uint32_t channelOffset = ((txId & 0xF0) >> 4) + 1;
|
|
||||||
if (channelOffset > 9) channelOffset = 9; /* from sloped soarer findings, bug in flysky protocol */
|
|
||||||
for (uint32_t i = 0; i < NUMFREQ; i++)
|
|
||||||
{
|
|
||||||
rfChannelMap[i] = flySkyRfChannels[channelRow][i] - channelOffset;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static void resetTimeout (const uint32_t timeStamp)
|
|
||||||
{
|
|
||||||
timeLastPacket = timeStamp;
|
|
||||||
timeout = timings->firstPacket;
|
|
||||||
countTimeout = 0;
|
|
||||||
countPacket++;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static inline void checkTimeout (void)
|
|
||||||
{
|
|
||||||
static uint32_t timeMeasuareErrRate = 0;
|
|
||||||
static uint32_t timeLastTelemetry = 0;
|
|
||||||
uint32_t time = micros();
|
|
||||||
|
|
||||||
if ((time - timeMeasuareErrRate) > (100 * timings->packet))
|
|
||||||
{
|
|
||||||
if (countPacket > 100) countPacket = 100;
|
|
||||||
errorRate = 100 - countPacket;
|
|
||||||
countPacket = 0;
|
|
||||||
timeMeasuareErrRate = time;
|
|
||||||
}
|
|
||||||
|
|
||||||
if ((time - timeLastTelemetry) > timings->telemetry)
|
|
||||||
{
|
|
||||||
timeLastTelemetry = time;
|
|
||||||
sendTelemetry = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
if ((time - timeLastPacket) > timeout)
|
|
||||||
{
|
|
||||||
uint32_t stepOver = (time - timeLastPacket) / timings->packet;
|
|
||||||
|
|
||||||
timeLastPacket = (stepOver > 1) ? (time) : (timeLastPacket + timeout);
|
|
||||||
|
|
||||||
A7105Strobe(A7105_STANDBY);
|
|
||||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(stepOver % NUMFREQ));
|
|
||||||
A7105Strobe(A7105_RX);
|
|
||||||
|
|
||||||
if(countTimeout > 31)
|
|
||||||
{
|
|
||||||
timeout = timings->syncPacket;
|
|
||||||
rssi = 0;
|
|
||||||
}
|
}
|
||||||
else
|
break;
|
||||||
{
|
|
||||||
timeout = timings->packet;
|
case FLYSKY_2A_PACKET_BIND1:
|
||||||
countTimeout++;
|
case FLYSKY_2A_PACKET_BIND2:
|
||||||
|
if (!bound) {
|
||||||
|
resetTimeout(timeStamp);
|
||||||
|
|
||||||
|
flySky2ABindPkt_t *bindPacket = (flySky2ABindPkt_t*) packet;
|
||||||
|
|
||||||
|
if (bindPacket->rfChannelMap[0] != 0xFF) {
|
||||||
|
memcpy(rfChannelMap, bindPacket->rfChannelMap, FLYSKY_FREQUENCY_COUNT); // get TX channels
|
||||||
|
}
|
||||||
|
|
||||||
|
txId = bindPacket->txId;
|
||||||
|
bindPacket->rxId = rxId;
|
||||||
|
memset(bindPacket->rfChannelMap, 0xFF, 26); // erase channelMap and 10 bytes after it
|
||||||
|
|
||||||
|
bound = ((bindPacket->state != 0) && (bindPacket->state != 1));
|
||||||
|
|
||||||
|
if (bound) { // bind complete
|
||||||
|
result = RX_SPI_RECEIVED_BIND;
|
||||||
|
}
|
||||||
|
|
||||||
|
A7105WriteFIFO(packet, FLYSKY_2A_PAYLOAD_SIZE);
|
||||||
|
|
||||||
|
newState = A7105_TX;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
A7105Strobe(newState);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
static rx_spi_received_e flySkyReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
||||||
|
{
|
||||||
|
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||||
|
uint8_t packet[FLYSKY_PAYLOAD_SIZE];
|
||||||
|
|
||||||
|
uint8_t bytesToRead = (bound) ? (5 + 2*FLYSKY_CHANNEL_COUNT) : (5);
|
||||||
|
A7105ReadFIFO(packet, bytesToRead);
|
||||||
|
|
||||||
|
const flySkyRcDataPkt_t *rcPacket = (const flySkyRcDataPkt_t*) packet;
|
||||||
|
|
||||||
|
if (bound && rcPacket->type == FLYSKY_PACKET_RC_DATA && rcPacket->txId == txId) {
|
||||||
|
checkRSSI();
|
||||||
|
resetTimeout(timeStamp);
|
||||||
|
|
||||||
|
if (payload) {
|
||||||
|
memcpy(payload, rcPacket->data, 2*FLYSKY_CHANNEL_COUNT);
|
||||||
|
}
|
||||||
|
|
||||||
|
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
||||||
|
|
||||||
|
result = RX_SPI_RECEIVED_DATA;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!bound && rcPacket->type == FLYSKY_PACKET_BIND) {
|
||||||
|
resetTimeout(timeStamp);
|
||||||
|
|
||||||
|
txId = rcPacket->txId;
|
||||||
|
flySkyCalculateRfChannels();
|
||||||
|
|
||||||
|
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(0));
|
||||||
|
|
||||||
|
bound = true;
|
||||||
|
|
||||||
|
result = RX_SPI_RECEIVED_BIND;
|
||||||
|
}
|
||||||
|
|
||||||
|
A7105Strobe(A7105_RX);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
void flySkyInit (const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
|
||||||
|
{
|
||||||
|
protocol = rxConfig->rx_spi_protocol;
|
||||||
|
|
||||||
|
if (protocol != flySkyConfig()->protocol) {
|
||||||
|
PG_RESET(flySkyConfig);
|
||||||
|
}
|
||||||
|
|
||||||
|
IO_t bindIO = IOGetByTag(IO_TAG(RX_FLYSKY_BIND_PIN));
|
||||||
|
IOInit(bindIO, OWNER_RX_SPI_CS, 0);
|
||||||
|
IOConfigGPIO(bindIO, IOCFG_IPU);
|
||||||
|
|
||||||
|
uint8_t startRxChannel;
|
||||||
|
|
||||||
|
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
|
||||||
|
rxRuntimeConfig->channelCount = FLYSKY_2A_CHANNEL_COUNT;
|
||||||
|
timings = &flySky2ATimings;
|
||||||
|
rxId = U_ID_0 ^ U_ID_1 ^ U_ID_2;
|
||||||
|
startRxChannel = flySky2ABindChannels[0];
|
||||||
|
A7105Init(0x5475c52A);
|
||||||
|
A7105Config(flySky2ARegs, sizeof(flySky2ARegs));
|
||||||
|
} else {
|
||||||
|
rxRuntimeConfig->channelCount = FLYSKY_CHANNEL_COUNT;
|
||||||
|
timings = &flySkyTimings;
|
||||||
|
startRxChannel = 0;
|
||||||
|
A7105Init(0x5475c52A);
|
||||||
|
A7105Config(flySkyRegs, sizeof(flySkyRegs));
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( !IORead(bindIO) || flySkyConfig()->txId == 0) {
|
||||||
|
bound = false;
|
||||||
|
} else {
|
||||||
|
bound = true;
|
||||||
|
txId = flySkyConfig()->txId; // load TXID
|
||||||
|
memcpy (rfChannelMap, flySkyConfig()->rfChannelMap, FLYSKY_FREQUENCY_COUNT);// load channel map
|
||||||
|
startRxChannel = getNextChannel(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
A7105WriteReg(A7105_0F_CHANNEL, startRxChannel);
|
||||||
|
A7105Strobe(A7105_RX); // start listening
|
||||||
|
|
||||||
|
resetTimeout(micros());
|
||||||
|
}
|
||||||
|
|
||||||
|
void flySkySetRcDataFromPayload (uint16_t *rcData, const uint8_t *payload)
|
||||||
|
{
|
||||||
|
if (rcData && payload) {
|
||||||
|
uint32_t channelCount;
|
||||||
|
channelCount = (protocol == RX_SPI_A7105_FLYSKY_2A) ? (FLYSKY_2A_CHANNEL_COUNT) : (FLYSKY_CHANNEL_COUNT);
|
||||||
|
|
||||||
|
for (uint8_t i = 0; i < channelCount; i++) {
|
||||||
|
rcData[i] = payload[2 * i + 1] << 8 | payload [2 * i + 0];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
rx_spi_received_e flySkyDataReceived (uint8_t *payload)
|
||||||
|
{
|
||||||
|
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||||
|
uint32_t timeStamp;
|
||||||
|
|
||||||
|
if (A7105RxTxFinished(&timeStamp)) {
|
||||||
|
uint8_t modeReg = A7105ReadReg(A7105_00_MODE);
|
||||||
|
|
||||||
|
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) { // TX complete
|
||||||
|
if (bound) {
|
||||||
|
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
||||||
|
}
|
||||||
|
A7105Strobe(A7105_RX);
|
||||||
|
} else if ((modeReg & (A7105_MODE_CRCF|A7105_MODE_TRER)) == 0) { // RX complete, CRC pass
|
||||||
|
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
|
||||||
|
result = flySky2AReadAndProcess(payload, timeStamp);
|
||||||
|
} else {
|
||||||
|
result = flySkyReadAndProcess(payload, timeStamp);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
A7105Strobe(A7105_RX);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (bound) {
|
||||||
|
checkTimeout();
|
||||||
|
}
|
||||||
|
|
||||||
|
if (result == RX_SPI_RECEIVED_BIND) {
|
||||||
|
flySkyConfigMutable()->txId = txId; // store TXID
|
||||||
|
memcpy (flySkyConfigMutable()->rfChannelMap, rfChannelMap, FLYSKY_FREQUENCY_COUNT);// store channel map
|
||||||
|
flySkyConfigMutable()->protocol = protocol;
|
||||||
|
writeEEPROM();
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
#endif /* USE_RX_FLYSKY */
|
#endif /* USE_RX_FLYSKY */
|
||||||
|
|
|
||||||
|
|
@ -1,43 +1,36 @@
|
||||||
/*
|
/*
|
||||||
* This file is part of Cleanflight.
|
* This file is part of Cleanflight.
|
||||||
*
|
*
|
||||||
* Cleanflight is free software: you can redistribute it and/or modify
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
* it under the terms of the GNU General Public License as published by
|
* it under the terms of the GNU General Public License as published by
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
* (at your option) any later version.
|
* (at your option) any later version.
|
||||||
*
|
*
|
||||||
* Cleanflight is distributed in the hope that it will be useful,
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
* GNU General Public License for more details.
|
* GNU General Public License for more details.
|
||||||
*
|
*
|
||||||
* You should have received a copy of the GNU General Public License
|
* You should have received a copy of the GNU General Public License
|
||||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#ifndef _FLYSKY_H_
|
#pragma once
|
||||||
#define _FLYSKY_H_
|
|
||||||
|
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
|
||||||
|
typedef struct flySkyConfig_s {
|
||||||
typedef struct flySkyConfig_s
|
|
||||||
{
|
|
||||||
uint32_t txId;
|
uint32_t txId;
|
||||||
uint8_t rfChannelMap[16];
|
uint8_t rfChannelMap[16];
|
||||||
rx_spi_protocol_e protocol;
|
rx_spi_protocol_e protocol;
|
||||||
} flySkyConfig_t;
|
} flySkyConfig_t;
|
||||||
|
|
||||||
|
|
||||||
PG_DECLARE(flySkyConfig_t, flySkyConfig);
|
PG_DECLARE(flySkyConfig_t, flySkyConfig);
|
||||||
|
|
||||||
|
|
||||||
struct rxConfig_s;
|
struct rxConfig_s;
|
||||||
struct rxRuntimeConfig_s;
|
struct rxRuntimeConfig_s;
|
||||||
void flySkyInit(const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);
|
void flySkyInit(const struct rxConfig_s *rxConfig,
|
||||||
|
struct rxRuntimeConfig_s *rxRuntimeConfig);
|
||||||
void flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload);
|
void flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload);
|
||||||
rx_spi_received_e flySkyDataReceived(uint8_t *payload);
|
rx_spi_received_e flySkyDataReceived(uint8_t *payload);
|
||||||
|
|
||||||
|
|
||||||
#endif /* _FLYSKY_H_ */
|
|
||||||
|
|
|
||||||
|
|
@ -1,120 +1,102 @@
|
||||||
/*
|
/*
|
||||||
* This file is part of Cleanflight.
|
* This file is part of Cleanflight.
|
||||||
*
|
*
|
||||||
* Cleanflight is free software: you can redistribute it and/or modify
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
* it under the terms of the GNU General Public License as published by
|
* it under the terms of the GNU General Public License as published by
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
* (at your option) any later version.
|
* (at your option) any later version.
|
||||||
*
|
*
|
||||||
* Cleanflight is distributed in the hope that it will be useful,
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
* GNU General Public License for more details.
|
* GNU General Public License for more details.
|
||||||
*
|
*
|
||||||
* You should have received a copy of the GNU General Public License
|
* You should have received a copy of the GNU General Public License
|
||||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#ifndef _FLYSKY_DEFS_H_
|
#pragma once
|
||||||
#define _FLYSKY_DEFS_H_
|
|
||||||
|
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#define MAX_FLYSKY_CHANNEL_COUNT 8
|
||||||
|
#define MAX_FLYSKY_2A_CHANNEL_COUNT 14
|
||||||
|
|
||||||
|
#define FLYSKY_PAYLOAD_SIZE 21
|
||||||
|
#define FLYSKY_2A_PAYLOAD_SIZE 37
|
||||||
|
|
||||||
|
#define FLYSKY_FREQUENCY_COUNT 16
|
||||||
|
#define FLYSKY_RSSI_SAMPLE_COUNT 16
|
||||||
|
|
||||||
#ifndef FLYSKY_CHANNEL_COUNT
|
#ifndef FLYSKY_CHANNEL_COUNT
|
||||||
#define FLYSKY_CHANNEL_COUNT 8
|
#define FLYSKY_CHANNEL_COUNT MAX_FLYSKY_CHANNEL_COUNT
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#ifndef FLYSKY_2A_CHANNEL_COUNT
|
#ifndef FLYSKY_2A_CHANNEL_COUNT
|
||||||
#define FLYSKY_2A_CHANNEL_COUNT 14
|
#define FLYSKY_2A_CHANNEL_COUNT MAX_FLYSKY_2A_CHANNEL_COUNT
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
typedef struct __attribute__((packed)) {
|
||||||
#define FLYSKY_PAYLOAD_SIZE 21
|
|
||||||
#define FLYSKY_2A_PAYLOAD_SIZE 37
|
|
||||||
#define NUMFREQ 16
|
|
||||||
#define RSSI_SAMPLE_COUNT 16
|
|
||||||
|
|
||||||
|
|
||||||
typedef struct __attribute__((packed))
|
|
||||||
{
|
|
||||||
uint8_t type;
|
uint8_t type;
|
||||||
uint8_t number;
|
uint8_t number;
|
||||||
uint8_t valueL;
|
uint8_t valueL;
|
||||||
uint8_t valueH;
|
uint8_t valueH;
|
||||||
} flySky2ASens_t;
|
} flySky2ASens_t;
|
||||||
|
|
||||||
|
typedef struct __attribute__((packed)) {
|
||||||
typedef struct __attribute__((packed))
|
uint8_t type;
|
||||||
{
|
|
||||||
uint8_t type;
|
|
||||||
uint32_t txId;
|
uint32_t txId;
|
||||||
uint32_t rxId;
|
uint32_t rxId;
|
||||||
flySky2ASens_t sens[7];
|
flySky2ASens_t sens[7];
|
||||||
} flySky2ATelemetryPkt_t;
|
} flySky2ATelemetryPkt_t;
|
||||||
|
|
||||||
|
typedef struct __attribute__((packed)) {
|
||||||
typedef struct __attribute__((packed))
|
uint8_t type;
|
||||||
{
|
|
||||||
uint8_t type;
|
|
||||||
uint32_t txId;
|
uint32_t txId;
|
||||||
uint32_t rxId;
|
uint32_t rxId;
|
||||||
uint8_t state;
|
uint8_t state;
|
||||||
uint8_t reserved1;
|
uint8_t reserved1;
|
||||||
uint8_t rfChannelMap[16];
|
uint8_t rfChannelMap[16];
|
||||||
uint8_t reserved2[10];
|
uint8_t reserved2[10];
|
||||||
} flySky2ABindPkt_t;
|
} flySky2ABindPkt_t;
|
||||||
|
|
||||||
|
typedef struct __attribute__((packed)) {
|
||||||
typedef struct __attribute__((packed))
|
uint8_t type;
|
||||||
{
|
|
||||||
uint8_t type;
|
|
||||||
uint32_t txId;
|
uint32_t txId;
|
||||||
uint32_t rxId;
|
uint32_t rxId;
|
||||||
uint8_t data[28];
|
uint8_t data[28];
|
||||||
} flySky2ARcDataPkt_t;
|
} flySky2ARcDataPkt_t;
|
||||||
|
|
||||||
|
typedef struct __attribute__((packed)) {
|
||||||
typedef struct __attribute__((packed))
|
uint8_t type;
|
||||||
{
|
|
||||||
uint8_t type;
|
|
||||||
uint32_t txId;
|
uint32_t txId;
|
||||||
uint8_t data[16];
|
uint8_t data[16];
|
||||||
} flySkyRcDataPkt_t;
|
} flySkyRcDataPkt_t;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
typedef struct
|
|
||||||
{
|
|
||||||
uint32_t packet;
|
uint32_t packet;
|
||||||
uint32_t firstPacket;
|
uint32_t firstPacket;
|
||||||
uint32_t syncPacket;
|
uint32_t syncPacket;
|
||||||
uint32_t telemetry;
|
uint32_t telemetry;
|
||||||
} timings_t;
|
} timings_t;
|
||||||
|
|
||||||
|
enum {
|
||||||
enum
|
SENSOR_INT_V = 0x00,
|
||||||
{
|
SENSOR_TEMP = 0x01,
|
||||||
SENSOR_INT_V = 0x00,
|
SENSOR_MOT_RPM = 0x02,
|
||||||
SENSOR_TEMP = 0x01,
|
SENSOR_EXT_V = 0x03,
|
||||||
SENSOR_MOT_RPM = 0x02,
|
SENSOR_RSSI = 0xFC,
|
||||||
SENSOR_EXT_V = 0x03,
|
SENSOR_ERR_RATE = 0xFE
|
||||||
SENSOR_RSSI = 0xFC,
|
|
||||||
SENSOR_ERR_RATE = 0xFE
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
enum {
|
||||||
enum
|
FLYSKY_2A_PACKET_RC_DATA = 0x58,
|
||||||
{
|
FLYSKY_2A_PACKET_BIND1 = 0xBB,
|
||||||
FLYSKY_2A_PACKET_RC_DATA = 0x58,
|
FLYSKY_2A_PACKET_BIND2 = 0xBC,
|
||||||
FLYSKY_2A_PACKET_BIND1 = 0xBB,
|
FLYSKY_2A_PACKET_FS_SETTINGS = 0x56,
|
||||||
FLYSKY_2A_PACKET_BIND2 = 0xBC,
|
FLYSKY_2A_PACKET_SETTINGS = 0xAA,
|
||||||
FLYSKY_2A_PACKET_FS_SETTINGS = 0x56,
|
FLYSKY_2A_PACKET_TELEMETRY = 0xAA,
|
||||||
FLYSKY_2A_PACKET_SETTINGS = 0xAA,
|
FLYSKY_PACKET_RC_DATA = 0x55,
|
||||||
FLYSKY_2A_PACKET_TELEMETRY = 0xAA,
|
FLYSKY_PACKET_BIND = 0xAA
|
||||||
FLYSKY_PACKET_RC_DATA = 0x55,
|
|
||||||
FLYSKY_PACKET_BIND = 0xAA
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
#endif /* _FLYSKY_DEFS_H_ */
|
|
||||||
|
|
|
||||||
|
|
@ -49,7 +49,6 @@
|
||||||
|
|
||||||
|
|
||||||
#define USE_RX_SPI
|
#define USE_RX_SPI
|
||||||
#define USE_RX_A7105
|
|
||||||
#define USE_RX_FLYSKY
|
#define USE_RX_FLYSKY
|
||||||
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
|
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
|
||||||
#define FLYSKY_2A_CHANNEL_COUNT 10
|
#define FLYSKY_2A_CHANNEL_COUNT 10
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue