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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* This file is part of Cleanflight.
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*
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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
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
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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
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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||||
*
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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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*/
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* This file is part of Cleanflight.
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*
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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
|
||||
* 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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||||
*
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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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||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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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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*/
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#include <stdbool.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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#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/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/time.h"
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#ifdef RX_PA_TXEN_PIN
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static IO_t txEnIO = IO_NONE;
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#endif
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@ -42,20 +41,17 @@ static extiCallbackRec_t a7105extiCallbackRec;
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static volatile uint32_t timeEvent = 0;
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static volatile bool occurEvent = false;
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void a7105extiHandler(extiCallbackRec_t* cb)
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{
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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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occurEvent = true;
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}
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}
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void A7105Init (uint32_t id)
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{
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void A7105Init (uint32_t id) {
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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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IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
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@ -79,20 +75,19 @@ void A7105Init (uint32_t id)
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A7105WriteID(id);
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}
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void A7105Config (const uint8_t *regsTable, uint8_t size)
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{
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if (regsTable)
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{
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if (regsTable) {
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uint32_t timeout = 1000;
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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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for (uint8_t i = 0; i < size; i++) {
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if (regsTable[i] != 0xFF) {A7105WriteReg ((A7105Reg_t)i, regsTable[i]);}
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}
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A7105Strobe(A7105_STANDBY);
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A7105WriteReg(A7105_02_CALC, 0x01);
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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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@ -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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bool A7105RxTxFinished (uint32_t *timeStamp)
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{
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bool A7105RxTxFinished (uint32_t *timeStamp) {
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bool result = false;
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if (occurEvent)
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{
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if (timeStamp) *timeStamp = timeEvent;
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if (occurEvent) {
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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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result = true;
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}
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return result;
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}
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void A7105SoftReset (void)
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{
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rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
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}
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uint8_t A7105ReadReg (A7105Reg_t reg)
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{
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return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
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}
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void A7105WriteReg (A7105Reg_t reg, uint8_t data)
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{
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rxSpiWriteCommand((uint8_t)reg, data);
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}
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void A7105Strobe (A7105State_t state)
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{
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if (A7105_TX == state || A7105_RX == state)
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{
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if (A7105_TX == state || A7105_RX == state) {
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EXTIEnable(rxIntIO, true);
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}
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else
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{
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} else {
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EXTIEnable(rxIntIO, false);
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}
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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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else
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} else {
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IOLo(txEnIO); /* disable PA */
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}
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#endif
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rxSpiWriteByte((uint8_t)state);
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}
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void A7105WriteID(uint32_t id)
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{
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uint8_t data[4];
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@ -165,7 +156,6 @@ void A7105WriteID(uint32_t id)
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rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
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}
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uint32_t A7105ReadID (void)
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{
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uint32_t id;
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@ -175,27 +165,28 @@ uint32_t A7105ReadID (void)
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return id;
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}
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void A7105ReadFIFO (uint8_t *data, uint8_t num)
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{
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if (data)
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{
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if(num > 64) num = 64;
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if (data) {
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if(num > 64){
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num = 64;
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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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}
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}
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void A7105WriteFIFO (uint8_t *data, uint8_t num)
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{
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if (data)
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{
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if(num > 64) num = 64;
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if (data) {
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if(num > 64) {
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num = 64;
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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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}
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}
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#endif /* USE_RX_FLYSKY */
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@ -1,27 +1,24 @@
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/*
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* This file is part of Cleanflight.
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*
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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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* 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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*
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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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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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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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*/
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#ifndef _RX_A7105_
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#define _RX_A7105_
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* This file is part of Cleanflight.
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*
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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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* 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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*
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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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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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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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*/
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#pragma once
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/* A7105 states for strobe */
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typedef enum
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{
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typedef enum {
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A7105_SLEEP = 0x80,
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A7105_IDLE = 0x90,
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A7105_STANDBY = 0xA0,
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@ -32,10 +29,8 @@ typedef enum
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A7105_RST_RDPTR = 0xF0
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} A7105State_t;
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/* Register addresses */
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typedef enum
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{
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typedef enum {
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A7105_00_MODE = 0x00,
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A7105_01_MODE_CONTROL = 0x01,
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A7105_02_CALC = 0x02,
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@ -90,32 +85,27 @@ typedef enum
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A7105_32_FILTER_TEST = 0x32,
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} A7105Reg_t;
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/* Register: A7105_00_MODE */
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#define A7105_MODE_FECF 0x40 /* [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.) */
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#define A7105_MODE_CRCF 0x20 /* [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.) */
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#define A7105_MODE_CER 0x10 /* [0]: RF chip is disabled. [1]: RF chip is enabled. */
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#define A7105_MODE_XER 0x08 /* [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled. */
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#define A7105_MODE_PLLER 0x04 /* [0]: PLL is disabled. [1]: PLL is enabled. */
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#define A7105_MODE_TRSR 0x02 /* [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable). */
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#define A7105_MODE_TRER 0x01 /* [0]: TRX is disabled. [1]: TRX is enabled. */
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#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
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#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
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#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
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#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
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#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
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#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
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#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
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void A7105Init(uint32_t id);
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void A7105SoftReset(void);
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void A7105Config(const uint8_t *regsTable, uint8_t size);
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void A7105Init (uint32_t id);
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void A7105SoftReset (void);
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void A7105Config (const uint8_t *regsTable, uint8_t size);
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uint8_t A7105ReadReg (A7105Reg_t reg);
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void A7105WriteReg (A7105Reg_t reg, uint8_t data);
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void A7105Strobe (A7105State_t state);
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uint8_t A7105ReadReg(A7105Reg_t reg);
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void A7105WriteReg(A7105Reg_t reg, uint8_t data);
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void A7105Strobe(A7105State_t state);
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void A7105WriteID(uint32_t id);
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uint32_t A7105ReadID (void);
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uint32_t A7105ReadID(void);
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void A7105ReadFIFO (uint8_t *data, uint8_t num);
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void A7105WriteFIFO (uint8_t *data, uint8_t num);
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void A7105ReadFIFO(uint8_t *data, uint8_t num);
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void A7105WriteFIFO(uint8_t *data, uint8_t num);
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bool A7105RxTxFinished (uint32_t *timeStamp);
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#endif /* _RX_A7105_ */
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bool A7105RxTxFinished(uint32_t *timeStamp);
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@ -1,19 +1,19 @@
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/*
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* This file is part of Cleanflight.
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*
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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
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
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* 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/>.
|
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*/
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* This file is part of Cleanflight.
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||||
*
|
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* 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.
|
||||
*
|
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* 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/>.
|
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*/
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#include <string.h>
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#include "platform.h"
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@ -41,22 +41,18 @@
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#include "sensors/battery.h"
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#if FLYSKY_CHANNEL_COUNT > 8
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#if FLYSKY_CHANNEL_COUNT > MAX_FLYSKY_CHANNEL_COUNT
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#error "FlySky AFHDS protocol support 8 channel max"
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#endif
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#if FLYSKY_2A_CHANNEL_COUNT > 14
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#if FLYSKY_2A_CHANNEL_COUNT > MAX_FLYSKY_2A_CHANNEL_COUNT
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#error "FlySky AFHDS 2A protocol support 14 channel max"
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#endif
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PG_REGISTER_WITH_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, PG_FLYSKY_CONFIG, 0);
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PG_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, .txId = 0, .rfChannelMap = {0}, .protocol = 0);
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static const uint8_t flySkyRegs[] =
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{
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static const uint8_t flySkyRegs[] = {
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0xff, 0x42, 0x00, 0x14, 0x00, 0xff, 0xff, 0x00,
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0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
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0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x00,
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@ -66,9 +62,7 @@ static const uint8_t flySkyRegs[] =
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0x01, 0x0f
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};
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static const uint8_t flySky2ARegs[] =
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{
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static const uint8_t flySky2ARegs[] = {
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0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
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0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
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0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x4f,
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@ -78,37 +72,31 @@ static const uint8_t flySky2ARegs[] =
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0x01, 0x0f
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};
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static const uint8_t flySky2ABindChannels[] =
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{
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static const uint8_t flySky2ABindChannels[] = {
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0x0D, 0x8C
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};
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static const uint8_t flySkyRfChannels[16][16] =
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{
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{0x0a, 0x5a, 0x14, 0x64, 0x1e, 0x6e, 0x28, 0x78, 0x32, 0x82, 0x3c, 0x8c, 0x46, 0x96, 0x50, 0xa0},
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{0xa0, 0x50, 0x96, 0x46, 0x8c, 0x3c, 0x82, 0x32, 0x78, 0x28, 0x6e, 0x1e, 0x64, 0x14, 0x5a, 0x0a},
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{0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x46, 0x96, 0x1e, 0x6e, 0x3c, 0x8c, 0x28, 0x78, 0x32, 0x82},
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{0x82, 0x32, 0x78, 0x28, 0x8c, 0x3c, 0x6e, 0x1e, 0x96, 0x46, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a},
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{0x28, 0x78, 0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96},
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{0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a, 0x78, 0x28},
|
||||
{0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96, 0x14, 0x64},
|
||||
{0x64, 0x14, 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50},
|
||||
{0x50, 0xa0, 0x46, 0x96, 0x3c, 0x8c, 0x28, 0x78, 0x0a, 0x5a, 0x32, 0x82, 0x1e, 0x6e, 0x14, 0x64},
|
||||
{0x64, 0x14, 0x6e, 0x1e, 0x82, 0x32, 0x5a, 0x0a, 0x78, 0x28, 0x8c, 0x3c, 0x96, 0x46, 0xa0, 0x50},
|
||||
{0x46, 0x96, 0x3c, 0x8c, 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
||||
{0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50, 0x8c, 0x3c, 0x96, 0x46},
|
||||
{0x46, 0x96, 0x0a, 0x5a, 0x3c, 0x8c, 0x14, 0x64, 0x50, 0xa0, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82},
|
||||
{0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0xa0, 0x50, 0x64, 0x14, 0x8c, 0x3c, 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}
|
||||
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, 0x50, 0xa0, 0x14, 0x64, 0x46, 0x96, 0x1e, 0x6e, 0x3c, 0x8c, 0x28, 0x78, 0x32, 0x82},
|
||||
{ 0x82, 0x32, 0x78, 0x28, 0x8c, 0x3c, 0x6e, 0x1e, 0x96, 0x46, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a},
|
||||
{ 0x28, 0x78, 0x0a, 0x5a, 0x50, 0xa0, 0x14, 0x64, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96},
|
||||
{ 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x64, 0x14, 0xa0, 0x50, 0x5a, 0x0a, 0x78, 0x28},
|
||||
{ 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x3c, 0x8c, 0x32, 0x82, 0x46, 0x96, 0x14, 0x64},
|
||||
{ 0x64, 0x14, 0x96, 0x46, 0x82, 0x32, 0x8c, 0x3c, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50},
|
||||
{ 0x50, 0xa0, 0x46, 0x96, 0x3c, 0x8c, 0x28, 0x78, 0x0a, 0x5a, 0x32, 0x82, 0x1e, 0x6e, 0x14, 0x64},
|
||||
{ 0x64, 0x14, 0x6e, 0x1e, 0x82, 0x32, 0x5a, 0x0a, 0x78, 0x28, 0x8c, 0x3c, 0x96, 0x46, 0xa0, 0x50},
|
||||
{ 0x46, 0x96, 0x3c, 0x8c, 0x50, 0xa0, 0x28, 0x78, 0x0a, 0x5a, 0x1e, 0x6e, 0x32, 0x82, 0x14, 0x64},
|
||||
{ 0x64, 0x14, 0x82, 0x32, 0x6e, 0x1e, 0x5a, 0x0a, 0x78, 0x28, 0xa0, 0x50, 0x8c, 0x3c, 0x96, 0x46},
|
||||
{ 0x46, 0x96, 0x0a, 0x5a, 0x3c, 0x8c, 0x14, 0x64, 0x50, 0xa0, 0x28, 0x78, 0x1e, 0x6e, 0x32, 0x82},
|
||||
{ 0x82, 0x32, 0x6e, 0x1e, 0x78, 0x28, 0xa0, 0x50, 0x64, 0x14, 0x8c, 0x3c, 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 flySky2ATimings = { .packet = 3850, .firstPacket = 4850, .syncPacket = 5775, .telemetry = 57000 };
|
||||
|
||||
const timings_t flySkyTimings = {.packet = 1500, .firstPacket = 1900, .syncPacket = 2250, .telemetry = 0xFFFFFFFF};
|
||||
const timings_t flySky2ATimings = {.packet = 3850, .firstPacket = 4850, .syncPacket = 5775, .telemetry = 57000};
|
||||
|
||||
static rx_spi_protocol_e protocol = RX_SPI_A7105_FLYSKY_2A;
|
||||
static const timings_t *timings = &flySky2ATimings;
|
||||
|
|
@ -118,259 +106,109 @@ static uint32_t countTimeout = 0;
|
|||
static uint32_t countPacket = 0;
|
||||
static uint32_t txId = 0;
|
||||
static uint32_t rxId = 0;
|
||||
static bool binded = false;
|
||||
static bool bound = false;
|
||||
static bool sendTelemetry = false;
|
||||
static uint16_t errorRate = 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 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)
|
||||
static uint8_t getNextChannel (uint8_t step)
|
||||
{
|
||||
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)
|
||||
{
|
||||
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 uint8_t channel = 0;
|
||||
channel = (channel + step) & 0x0F;
|
||||
return rfChannelMap[channel];
|
||||
}
|
||||
|
||||
|
||||
void flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload)
|
||||
static void flySkyCalculateRfChannels (void)
|
||||
{
|
||||
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];
|
||||
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 < FLYSKY_FREQUENCY_COUNT; i++) {
|
||||
rfChannelMap[i] = flySkyRfChannels[channelRow][i] - channelOffset;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rx_spi_received_e flySkyDataReceived (uint8_t *payload)
|
||||
static void resetTimeout (const uint32_t timeStamp)
|
||||
{
|
||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||
uint32_t timeStamp;
|
||||
timeLastPacket = timeStamp;
|
||||
timeout = timings->firstPacket;
|
||||
countTimeout = 0;
|
||||
countPacket++;
|
||||
}
|
||||
|
||||
if (A7105RxTxFinished(&timeStamp))
|
||||
{
|
||||
uint8_t modeReg = A7105ReadReg(A7105_00_MODE);
|
||||
static void checkTimeout (void)
|
||||
{
|
||||
static uint32_t timeMeasuareErrRate = 0;
|
||||
static uint32_t timeLastTelemetry = 0;
|
||||
uint32_t time = micros();
|
||||
|
||||
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) /* TX complete */
|
||||
{
|
||||
if (binded) { A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1)); }
|
||||
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);
|
||||
}
|
||||
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(); }
|
||||
|
||||
if (result == RX_SPI_RECEIVED_BIND)
|
||||
{
|
||||
flySkyConfigMutable()->txId = txId; /* store TXID */
|
||||
memcpy (flySkyConfigMutable()->rfChannelMap, rfChannelMap, NUMFREQ);/* store channel map */
|
||||
flySkyConfigMutable()->protocol = protocol;
|
||||
writeEEPROM();
|
||||
if(countTimeout > 31) {
|
||||
timeout = timings->syncPacket;
|
||||
rssi = 0;
|
||||
} else {
|
||||
timeout = timings->packet;
|
||||
countTimeout++;
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
static inline rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
||||
static void checkRSSI (void)
|
||||
{
|
||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||
A7105State_t newState = A7105_RX;
|
||||
uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
|
||||
static uint8_t buf[FLYSKY_RSSI_SAMPLE_COUNT] = {0};
|
||||
static int16_t sum = 0;
|
||||
static uint16_t currentIndex = 0;
|
||||
|
||||
uint8_t bytesToRead = (binded) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + NUMFREQ);
|
||||
A7105ReadFIFO(packet, bytesToRead);
|
||||
uint8_t adcValue = A7105ReadReg(A7105_1D_RSSI_THOLD);
|
||||
|
||||
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);
|
||||
sum += adcValue;
|
||||
sum -= buf[currentIndex];
|
||||
buf[currentIndex] = adcValue;
|
||||
currentIndex = (currentIndex + 1) % FLYSKY_RSSI_SAMPLE_COUNT;
|
||||
|
||||
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);
|
||||
rssi_dBm = 50 + sum / (3 * FLYSKY_RSSI_SAMPLE_COUNT); // range about [95...52], -dBm
|
||||
|
||||
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;
|
||||
int16_t tmp = 2280 - 24 * rssi_dBm;// convert to [0...1023]
|
||||
rssi = (uint16_t) constrain(tmp, 0, 1023);// external variable from "rx/rx.h"
|
||||
}
|
||||
|
||||
|
||||
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)
|
||||
{
|
||||
static bool isValidPacket (const uint8_t *packet) {
|
||||
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
|
||||
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
|
||||
}
|
||||
|
||||
|
||||
static inline void buildAndWriteTelemetry (uint8_t *packet)
|
||||
static void buildAndWriteTelemetry (uint8_t *packet)
|
||||
{
|
||||
if (packet)
|
||||
{
|
||||
static uint8_t bytesToWrite = FLYSKY_2A_PAYLOAD_SIZE; /* first time write full packet to buffer a7105 */
|
||||
if (packet) {
|
||||
static uint8_t bytesToWrite = FLYSKY_2A_PAYLOAD_SIZE; // first time write full packet to buffer a7105
|
||||
flySky2ATelemetryPkt_t *telemertyPacket = (flySky2ATelemetryPkt_t*) packet;
|
||||
uint16_t voltage = 10 * getBatteryVoltage();
|
||||
|
||||
|
|
@ -395,102 +233,216 @@ static inline void buildAndWriteTelemetry (uint8_t *packet)
|
|||
|
||||
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 void checkRSSI (void)
|
||||
static rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
|
||||
{
|
||||
static uint8_t buf[RSSI_SAMPLE_COUNT] = {0};
|
||||
static int16_t sum = 0;
|
||||
static uint16_t currentIndex = 0;
|
||||
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
|
||||
A7105State_t newState = A7105_RX;
|
||||
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;
|
||||
sum -= buf[currentIndex];
|
||||
buf[currentIndex] = adcValue;
|
||||
currentIndex = (currentIndex + 1) % RSSI_SAMPLE_COUNT;
|
||||
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);
|
||||
|
||||
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] */
|
||||
rssi = (uint16_t) constrain(tmp, 0, 1023); /* external variable from "rx/rx.h" */
|
||||
}
|
||||
|
||||
|
||||
static inline uint8_t getNextChannel (uint8_t step)
|
||||
{
|
||||
static uint8_t channel = 0;
|
||||
channel = (channel + step) & 0x0F;
|
||||
return rfChannelMap[channel];
|
||||
}
|
||||
|
||||
|
||||
static inline void flySkyCalculateRfChannels (void)
|
||||
{
|
||||
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 (rcPacket->type == FLYSKY_2A_PACKET_RC_DATA) {
|
||||
if (payload) {
|
||||
memcpy(payload, rcPacket->data, 2*FLYSKY_2A_CHANNEL_COUNT);
|
||||
}
|
||||
|
||||
if ((time - timeLastTelemetry) > timings->telemetry)
|
||||
{
|
||||
timeLastTelemetry = time;
|
||||
sendTelemetry = true;
|
||||
if (sendTelemetry) {
|
||||
buildAndWriteTelemetry(packet);
|
||||
newState = A7105_TX;
|
||||
sendTelemetry = false;
|
||||
}
|
||||
|
||||
if ((time - timeLastPacket) > timeout)
|
||||
{
|
||||
uint32_t stepOver = (time - timeLastPacket) / timings->packet;
|
||||
result = RX_SPI_RECEIVED_DATA;
|
||||
}
|
||||
|
||||
timeLastPacket = (stepOver > 1) ? (time) : (timeLastPacket + timeout);
|
||||
if (newState != A7105_TX) {
|
||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case FLYSKY_2A_PACKET_BIND1:
|
||||
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_STANDBY);
|
||||
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(stepOver % NUMFREQ));
|
||||
A7105Strobe(A7105_RX);
|
||||
return result;
|
||||
}
|
||||
|
||||
if(countTimeout > 31)
|
||||
{
|
||||
timeout = timings->syncPacket;
|
||||
rssi = 0;
|
||||
void flySkyInit (const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
|
||||
{
|
||||
protocol = rxConfig->rx_spi_protocol;
|
||||
|
||||
if (protocol != flySkyConfig()->protocol) {
|
||||
PG_RESET(flySkyConfig);
|
||||
}
|
||||
else
|
||||
{
|
||||
timeout = timings->packet;
|
||||
countTimeout++;
|
||||
|
||||
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 */
|
||||
|
|
|
|||
|
|
@ -1,43 +1,36 @@
|
|||
/*
|
||||
* 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 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/>.
|
||||
*/
|
||||
|
||||
#ifndef _FLYSKY_H_
|
||||
#define _FLYSKY_H_
|
||||
#pragma once
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
typedef struct flySkyConfig_s
|
||||
{
|
||||
typedef struct flySkyConfig_s {
|
||||
uint32_t txId;
|
||||
uint8_t rfChannelMap[16];
|
||||
rx_spi_protocol_e protocol;
|
||||
} flySkyConfig_t;
|
||||
|
||||
|
||||
PG_DECLARE(flySkyConfig_t, flySkyConfig);
|
||||
|
||||
|
||||
struct rxConfig_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);
|
||||
rx_spi_received_e flySkyDataReceived(uint8_t *payload);
|
||||
|
||||
|
||||
#endif /* _FLYSKY_H_ */
|
||||
|
|
|
|||
|
|
@ -1,62 +1,57 @@
|
|||
/*
|
||||
* 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 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/>.
|
||||
*/
|
||||
|
||||
#ifndef _FLYSKY_DEFS_H_
|
||||
#define _FLYSKY_DEFS_H_
|
||||
#pragma once
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#ifndef FLYSKY_CHANNEL_COUNT
|
||||
#define FLYSKY_CHANNEL_COUNT 8
|
||||
#endif
|
||||
|
||||
#ifndef FLYSKY_2A_CHANNEL_COUNT
|
||||
#define FLYSKY_2A_CHANNEL_COUNT 14
|
||||
#endif
|
||||
|
||||
#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 NUMFREQ 16
|
||||
#define RSSI_SAMPLE_COUNT 16
|
||||
|
||||
#define FLYSKY_FREQUENCY_COUNT 16
|
||||
#define FLYSKY_RSSI_SAMPLE_COUNT 16
|
||||
|
||||
typedef struct __attribute__((packed))
|
||||
{
|
||||
#ifndef FLYSKY_CHANNEL_COUNT
|
||||
#define FLYSKY_CHANNEL_COUNT MAX_FLYSKY_CHANNEL_COUNT
|
||||
#endif
|
||||
|
||||
#ifndef FLYSKY_2A_CHANNEL_COUNT
|
||||
#define FLYSKY_2A_CHANNEL_COUNT MAX_FLYSKY_2A_CHANNEL_COUNT
|
||||
#endif
|
||||
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
uint8_t number;
|
||||
uint8_t valueL;
|
||||
uint8_t valueH;
|
||||
} flySky2ASens_t;
|
||||
|
||||
|
||||
typedef struct __attribute__((packed))
|
||||
{
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
uint32_t txId;
|
||||
uint32_t rxId;
|
||||
flySky2ASens_t sens[7];
|
||||
} flySky2ATelemetryPkt_t;
|
||||
|
||||
|
||||
typedef struct __attribute__((packed))
|
||||
{
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
uint32_t txId;
|
||||
uint32_t rxId;
|
||||
|
|
@ -66,35 +61,27 @@ typedef struct __attribute__((packed))
|
|||
uint8_t reserved2[10];
|
||||
} flySky2ABindPkt_t;
|
||||
|
||||
|
||||
typedef struct __attribute__((packed))
|
||||
{
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
uint32_t txId;
|
||||
uint32_t rxId;
|
||||
uint8_t data[28];
|
||||
} flySky2ARcDataPkt_t;
|
||||
|
||||
|
||||
typedef struct __attribute__((packed))
|
||||
{
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
uint32_t txId;
|
||||
uint8_t data[16];
|
||||
} flySkyRcDataPkt_t;
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
typedef struct {
|
||||
uint32_t packet;
|
||||
uint32_t firstPacket;
|
||||
uint32_t syncPacket;
|
||||
uint32_t telemetry;
|
||||
} timings_t;
|
||||
|
||||
|
||||
enum
|
||||
{
|
||||
enum {
|
||||
SENSOR_INT_V = 0x00,
|
||||
SENSOR_TEMP = 0x01,
|
||||
SENSOR_MOT_RPM = 0x02,
|
||||
|
|
@ -103,9 +90,7 @@ enum
|
|||
SENSOR_ERR_RATE = 0xFE
|
||||
};
|
||||
|
||||
|
||||
enum
|
||||
{
|
||||
enum {
|
||||
FLYSKY_2A_PACKET_RC_DATA = 0x58,
|
||||
FLYSKY_2A_PACKET_BIND1 = 0xBB,
|
||||
FLYSKY_2A_PACKET_BIND2 = 0xBC,
|
||||
|
|
@ -115,6 +100,3 @@ enum
|
|||
FLYSKY_PACKET_RC_DATA = 0x55,
|
||||
FLYSKY_PACKET_BIND = 0xAA
|
||||
};
|
||||
|
||||
|
||||
#endif /* _FLYSKY_DEFS_H_ */
|
||||
|
|
|
|||
|
|
@ -49,7 +49,6 @@
|
|||
|
||||
|
||||
#define USE_RX_SPI
|
||||
#define USE_RX_A7105
|
||||
#define USE_RX_FLYSKY
|
||||
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
|
||||
#define FLYSKY_2A_CHANNEL_COUNT 10
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue