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Merge pull request #3745 from mikeller/added_frsky_spi_rx_midelicf3

Browse source 
Added FrSky SPI RX and MIDELICF3 target.
This commit is contained in:
Martin Budden 2017-08-04 08:49:21 +01:00 • committed by GitHub
commit ac03d2983b
14 changed files with 1283 additions and 22 deletions
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3
src/main/config/parameter_group_ids.h
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@ -111,7 +111,8 @@
#define PG_SPI_PIN_CONFIG 520
#define PG_ESCSERIAL_CONFIG 521
#define PG_CAMERA_CONTROL_CONFIG 522
#define PG_BETAFLIGHT_END 522
#define PG_FRSKY_D_CONFIG 523
#define PG_BETAFLIGHT_END 523
// OSD configuration (subject to change)

85
src/main/drivers/cc2500.c Normal file
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@ -0,0 +1,85 @@
/*
* CC2500 SPI drivers
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#ifdef USE_RX_CC2500
#include "build/build_config.h"
#include "cc2500.h"
#include "io.h"
#include "rx_spi.h"
#include "system.h"
#include "time.h"
#define NOP 0xFF
uint8_t cc2500_readFifo(uint8_t *dpbuffer, uint8_t len)
{
return rxSpiReadCommandMulti(CC2500_3F_RXFIFO | CC2500_READ_BURST, NOP, dpbuffer, len);
}
uint8_t cc2500_writeFifo(uint8_t *dpbuffer, uint8_t len)
{
uint8_t ret;
cc2500_strobe(CC2500_SFTX); // 0x3B SFTX
ret = rxSpiWriteCommandMulti(CC2500_3F_TXFIFO | CC2500_WRITE_BURST,
dpbuffer, len);
cc2500_strobe(CC2500_STX); // 0x35
return ret;
}
uint8_t cc2500_ReadRegisterMulti(uint8_t address, uint8_t *data, uint8_t length)
{
return rxSpiReadCommandMulti(address, NOP, data, length);
}
uint8_t cc2500_WriteRegisterMulti(uint8_t address, uint8_t *data,
uint8_t length)
{
return rxSpiWriteCommandMulti(address, data, length);
}
uint8_t cc2500_readReg(uint8_t reg)
{
return rxSpiReadCommand(reg | 0x80, NOP);
}
void cc2500_strobe(uint8_t address) { rxSpiWriteByte(address); }
uint8_t cc2500_writeReg(uint8_t address, uint8_t data)
{
return rxSpiWriteCommand(address, data);
}
void CC2500_SetPower(uint8_t power)
{
const uint8_t patable[8] = {
0xC5, // -12dbm
0x97, // -10dbm
0x6E, // -8dbm
0x7F, // -6dbm
0xA9, // -4dbm
0xBB, // -2dbm
0xFE, // 0dbm
0xFF // 1.5dbm
};
if (power > 7)
power = 7;
cc2500_writeReg(CC2500_3E_PATABLE, patable[power]);
}
uint8_t CC2500_Reset()
{
cc2500_strobe(CC2500_SRES);
delayMicroseconds(1000); // 1000us
// CC2500_SetTxRxMode(TXRX_OFF);
// RX_EN_off;//off tx
// TX_EN_off;//off rx
return cc2500_readReg(CC2500_0E_FREQ1) == 0xC4; // check if reset
}
#endif

153
src/main/drivers/cc2500.h Normal file
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@ -0,0 +1,153 @@
/*
CC2500 SPI drivers
*/
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include "rx_spi.h"
enum {
CC2500_00_IOCFG2 = 0x00, // GDO2 output pin configuration
CC2500_01_IOCFG1 = 0x01, // GDO1 output pin configuration
CC2500_02_IOCFG0 = 0x02, // GDO0 output pin configuration
CC2500_03_FIFOTHR = 0x03, // RX FIFO and TX FIFO thresholds
CC2500_04_SYNC1 = 0x04, // Sync word, high byte
CC2500_05_SYNC0 = 0x05, // Sync word, low byte
CC2500_06_PKTLEN = 0x06, // Packet length
CC2500_07_PKTCTRL1 = 0x07, // Packet automation control
CC2500_08_PKTCTRL0 = 0x08, // Packet automation control
CC2500_09_ADDR = 0x09, // Device address
CC2500_0A_CHANNR = 0x0A, // Channel number
CC2500_0B_FSCTRL1 = 0x0B, // Frequency synthesizer control
CC2500_0C_FSCTRL0 = 0x0C, // Frequency synthesizer control
CC2500_0D_FREQ2 = 0x0D, // Frequency control word, high byte
CC2500_0E_FREQ1 = 0x0E, // Frequency control word, middle byte
CC2500_0F_FREQ0 = 0x0F, // Frequency control word, low byte
CC2500_10_MDMCFG4 = 0x10, // Modem configuration
CC2500_11_MDMCFG3 = 0x11, // Modem configuration
CC2500_12_MDMCFG2 = 0x12, // Modem configuration
CC2500_13_MDMCFG1 = 0x13, // Modem configuration
CC2500_14_MDMCFG0 = 0x14, // Modem configuration
CC2500_15_DEVIATN = 0x15, // Modem deviation setting
CC2500_16_MCSM2 = 0x16, // Main Radio Cntrl State Machine config
CC2500_17_MCSM1 = 0x17, // Main Radio Cntrl State Machine config
CC2500_18_MCSM0 = 0x18, // Main Radio Cntrl State Machine config
CC2500_19_FOCCFG = 0x19, // Frequency Offset Compensation config
CC2500_1A_BSCFG = 0x1A, // Bit Synchronization configuration
CC2500_1B_AGCCTRL2 = 0x1B, // AGC control
CC2500_1C_AGCCTRL1 = 0x1C, // AGC control
CC2500_1D_AGCCTRL0 = 0x1D, // AGC control
CC2500_1E_WOREVT1 = 0x1E, // High byte Event 0 timeout
CC2500_1F_WOREVT0 = 0x1F, // Low byte Event 0 timeout
CC2500_20_WORCTRL = 0x20, // Wake On Radio control
CC2500_21_FREND1 = 0x21, // Front end RX configuration
CC2500_22_FREND0 = 0x22, // Front end TX configuration
CC2500_23_FSCAL3 = 0x23, // Frequency synthesizer calibration
CC2500_24_FSCAL2 = 0x24, // Frequency synthesizer calibration
CC2500_25_FSCAL1 = 0x25, // Frequency synthesizer calibration
CC2500_26_FSCAL0 = 0x26, // Frequency synthesizer calibration
CC2500_27_RCCTRL1 = 0x27, // RC oscillator configuration
CC2500_28_RCCTRL0 = 0x28, // RC oscillator configuration
CC2500_29_FSTEST = 0x29, // Frequency synthesizer cal control
CC2500_2A_PTEST = 0x2A, // Production test
CC2500_2B_AGCTEST = 0x2B, // AGC test
CC2500_2C_TEST2 = 0x2C, // Various test settings
CC2500_2D_TEST1 = 0x2D, // Various test settings
CC2500_2E_TEST0 = 0x2E, // Various test settings
// Status registers
CC2500_30_PARTNUM = 0x30, // Part number
CC2500_31_VERSION = 0x31, // Current version number
CC2500_32_FREQEST = 0x32, // Frequency offset estimate
CC2500_33_LQI = 0x33, // Demodulator estimate for link quality
CC2500_34_RSSI = 0x34, // Received signal strength indication
CC2500_35_MARCSTATE = 0x35, // Control state machine state
CC2500_36_WORTIME1 = 0x36, // High byte of WOR timer
CC2500_37_WORTIME0 = 0x37, // Low byte of WOR timer
CC2500_38_PKTSTATUS = 0x38, // Current GDOx status and packet status
CC2500_39_VCO_VC_DAC = 0x39, // Current setting from PLL cal module
CC2500_3A_TXBYTES = 0x3A, // Underflow and # of bytes in TXFIFO
CC2500_3B_RXBYTES = 0x3B, // Overflow and # of bytes in RXFIFO
// Multi byte memory locations
CC2500_3E_PATABLE = 0x3E,
CC2500_3F_TXFIFO = 0x3F,
CC2500_3F_RXFIFO = 0x3F
};
// Definitions for burst/single access to registers
#define CC2500_WRITE_SINGLE 0x00
#define CC2500_WRITE_BURST 0x40
#define CC2500_READ_SINGLE 0x80
#define CC2500_READ_BURST 0xC0
// Strobe commands
#define CC2500_SRES 0x30 // Reset chip.
#define CC2500_SFSTXON \
0x31 // Enable and calibrate frequency synthesizer (if MCSM0.FS_AUTOCAL=1).
// If in RX/TX: Go to a wait state where only the synthesizer is
// running (for quick RX / TX turnaround).
#define CC2500_SXOFF 0x32 // Turn off crystal oscillator.
#define CC2500_SCAL 0x33 // Calibrate frequency synthesizer and turn it off
// (enables quick start).
#define CC2500_SRX \
0x34 // Enable RX. Perform calibration first if coming from IDLE and
// MCSM0.FS_AUTOCAL=1.
#define CC2500_STX \
0x35 // In IDLE state: Enable TX. Perform calibration first if
// MCSM0.FS_AUTOCAL=1. If in RX state and CCA is enabled:
// Only go to TX if channel is clear.
#define CC2500_SIDLE \
0x36 // Exit RX / TX, turn off frequency synthesizer and exit
// Wake-On-Radio mode if applicable.
#define CC2500_SAFC 0x37 // Perform AFC adjustment of the frequency synthesizer
#define CC2500_SWOR 0x38 // Start automatic RX polling sequence (Wake-on-Radio)
#define CC2500_SPWD 0x39 // Enter power down mode when CSn goes high.
#define CC2500_SFRX 0x3A // Flush the RX FIFO buffer.
#define CC2500_SFTX 0x3B // Flush the TX FIFO buffer.
#define CC2500_SWORRST 0x3C // Reset real time clock.
#define CC2500_SNOP \
0x3D // No operation. May be used to pad strobe commands to two
// bytes for simpler software.
//----------------------------------------------------------------------------------
// Chip Status Byte
//----------------------------------------------------------------------------------
// Bit fields in the chip status byte
#define CC2500_STATUS_CHIP_RDYn_BM 0x80
#define CC2500_STATUS_STATE_BM 0x70
#define CC2500_STATUS_FIFO_BYTES_AVAILABLE_BM 0x0F
// Chip states
#define CC2500_STATE_IDLE 0x00
#define CC2500_STATE_RX 0x10
#define CC2500_STATE_TX 0x20
#define CC2500_STATE_FSTXON 0x30
#define CC2500_STATE_CALIBRATE 0x40
#define CC2500_STATE_SETTLING 0x50
#define CC2500_STATE_RX_OVERFLOW 0x60
#define CC2500_STATE_TX_UNDERFLOW 0x70
//----------------------------------------------------------------------------------
// Other register bit fields
//----------------------------------------------------------------------------------
#define CC2500_LQI_CRC_OK_BM 0x80
#define CC2500_LQI_EST_BM 0x7F
// void FrskyRXspiInit();
uint8_t cc2500_readFifo(uint8_t *dpbuffer, uint8_t len);
uint8_t cc2500_writeFifo(uint8_t *dpbuffer, uint8_t len);
uint8_t cc2500_ReadRegisterMulti(uint8_t address, uint8_t *data,
uint8_t length);
uint8_t CC2500_WriteRegisterMulti(uint8_t address, uint8_t *data,
uint8_t length);
uint8_t cc2500_readReg(uint8_t reg);
void cc2500_strobe(uint8_t address);
uint8_t cc2500_writeReg(uint8_t address, uint8_t data);
void CC2500_SetPower(uint8_t power);
uint8_t CC2500_Reset();

11
src/main/fc/cli.c
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@ -116,6 +116,7 @@ extern uint8_t __config_end;
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "rx/frsky_d.h"
#include "scheduler/scheduler.h"
@ -2109,6 +2110,13 @@ static void cliBeeper(char *cmdline)
}
#endif
#ifdef FRSKY_BIND
void cliFrSkyBind(char *cmdline){
UNUSED(cmdline);
frSkyDBind();
}
#endif
static void printMap(uint8_t dumpMask, const rxConfig_t *rxConfig, const rxConfig_t *defaultRxConfig)
{
bool equalsDefault = true;
@ -3483,6 +3491,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
#ifdef FRSKY_BIND
CLI_COMMAND_DEF("frsky_bind", NULL, NULL, cliFrSkyBind),
#endif
#ifdef LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif

10
src/main/fc/settings.c
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@ -63,6 +63,7 @@
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "rx/frsky_d.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
@ -728,7 +729,14 @@ const clivalue_t valueTable[] = {
#endif
#ifdef USE_ESC_SENSOR
{ "esc_sensor_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ESC_SENSOR_CONFIG, offsetof(escSensorConfig_t, halfDuplex) },
{ "esc_sensor_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ESC_SENSOR_CONFIG, offsetof(escSensorConfig_t, halfDuplex) },
#endif
#ifdef USE_RX_FRSKYD
{ "frsky_d_autobind", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_FRSKY_D_CONFIG, offsetof(frSkyDConfig_t, autoBind) },
{ "frsky_d_tx_id", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = 2, PG_FRSKY_D_CONFIG, offsetof(frSkyDConfig_t, bindTxId) },
{ "frsky_d_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -127, 127 }, PG_FRSKY_D_CONFIG, offsetof(frSkyDConfig_t, bindOffset) },
{ "frsky_d_bind_hop_data", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = 50, PG_FRSKY_D_CONFIG, offsetof(frSkyDConfig_t, bindHopData) },
#endif
{ "led_inversion", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, ((1 << STATUS_LED_NUMBER) - 1) }, PG_STATUS_LED_CONFIG, offsetof(statusLedConfig_t, inversion) },
#ifdef USE_DASHBOARD

744
src/main/rx/frsky_d.c Normal file
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@ -0,0 +1,744 @@
/*
* 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/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#ifdef USE_RX_FRSKYD
#include "build/build_config.h"
#include "common/utils.h"
#include "drivers/cc2500.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/frsky_d.h"
#include "sensors/battery.h"
#include "fc/config.h"
#include "config/feature.h"
#include "config/parameter_group_ids.h"
#include "telemetry/frsky.h"
#define RC_CHANNEL_COUNT 8
#define MAX_MISSING_PKT 100
#define SYNC 9000
#define FS_THR 960
#define FLED_on \
{ \
IOHi(IOGetByTag(IO_TAG(FRSKY_LED_PIN))); \
}
#define FLED_off \
{ \
IOLo(IOGetByTag(IO_TAG(FRSKY_LED_PIN))); \
}
#define GDO_1 IORead(IOGetByTag(IO_TAG(GDO_0_PIN)))
#if defined(PA_LNA)
#define TX_EN_on \
{ \
IOHi(IOGetByTag(IO_TAG(TX_EN_PIN))); \
}
#define TX_EN_off \
{ \
IOLo(IOGetByTag(IO_TAG(TX_EN_PIN))); \
}
#define RX_EN_on \
{ \
IOHi(IOGetByTag(IO_TAG(RX_EN_PIN))); \
}
#define RX_EN_off \
{ \
IOLo(IOGetByTag(IO_TAG(RX_EN_PIN))); \
}
#if defined(DIVERSITY)
#define ANT_SEL_on \
{ \
IOHi(IOGetByTag(IO_TAG(ANT_SEL_PIN))); \
}
#define ANT_SEL_off \
{ \
IOLo(IOGetByTag(IO_TAG(ANT_SEL_PIN))); \
}
#endif
#endif
static uint8_t ccLen;
static uint8_t channr;
static uint32_t missingPackets;
static uint8_t calData[255][3];
static uint32_t time_tune;
static bool eol;
static uint8_t listLength;
static uint8_t bindIdx;
static uint8_t cnt;
static uint16_t Servo_data[RC_CHANNEL_COUNT];
static uint16_t c[8];
static uint32_t t_out;
static uint8_t Lqi;
static uint32_t packet_timer;
static uint8_t protocol_state;
static int16_t word_temp;
static uint32_t start_time;
static IO_t GdoPin;
static IO_t BindPin = DEFIO_IO(NONE);
static IO_t FrskyLedPin;
#if defined(PA_LNA)
static IO_t TxEnPin;
static IO_t RxEnPin;
static IO_t AntSelPin;
static uint8_t pass;
#endif
bool bindRequested = false;
#ifdef FRSKY_TELEMETRY
static uint8_t frame[20];
static int16_t RSSI_dBm;
static uint8_t telemetry_id;
static uint8_t telemetryRX;
static uint8_t v1; // A1
static uint8_t v2; // A2
static uint32_t time_t;
#if defined(HUB)
#define MAX_SERIAL_BYTES 64
uint8_t hub_index;
uint8_t idxx = 0;
uint8_t idx_ok = 0;
uint8_t telemetry_expected_id = 0;
uint8_t srx_data[MAX_SERIAL_BYTES]; // buffer for telemetry serial data
#endif
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(frSkyDConfig_t, frSkyDConfig, PG_FRSKY_D_CONFIG,
0);
PG_RESET_TEMPLATE(frSkyDConfig_t, frSkyDConfig, .autoBind = false,
.bindHopData = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
.bindTxId = {0, 0}, .bindOffset = 0);
rx_spi_received_e ret;
enum {
STATE_INIT = 0,
STATE_BIND,
STATE_BIND_TUNING,
STATE_BIND_BINDING1,
STATE_BIND_BINDING2,
STATE_BIND_COMPLETE,
STATE_STARTING,
STATE_UPDATE,
STATE_DATA,
STATE_TELEM
};
#if defined(FRSKY_TELEMETRY)
static void compute_RSSIdbm(uint8_t *packet)
{
if (packet[ccLen - 2] >= 128) {
RSSI_dBm = ((((uint16_t)packet[ccLen - 2]) * 18) >> 5) - 82;
} else {
RSSI_dBm = ((((uint16_t)packet[ccLen - 2]) * 18) >> 5) + 65;
}
}
#if defined(HUB)
static uint8_t frsky_append_hub_data(uint8_t *buf)
{
if (telemetry_id == telemetry_expected_id)
idx_ok = idxx;
else // rx re-requests last packet
idxx = idx_ok;
telemetry_expected_id = (telemetry_id + 1) & 0x1F;
uint8_t index = 0;
for (uint8_t i = 0; i < 10; i++) {
if (idxx == hub_index) {
break;
}
buf[i] = srx_data[idxx];
idxx = (idxx + 1) & (MAX_SERIAL_BYTES - 1);
index++;
}
return index;
}
static void frSkyTelemetryInitFrameSpi(void) { hub_index = 0; }
static void frSkyTelemetryWriteSpi(uint8_t ch) { srx_data[hub_index++] = ch; }
#endif
static void telemetry_build_frame(uint8_t *packet)
{
#ifdef USE_ADC
// if(feature(FEATURE_VBAT)){
// v1 =vbat;
// v2=0;
// }
// else
v1 = 0;
#endif
uint8_t bytes_used = 0;
telemetry_id = packet[4];
frame[0] = 0x11; // length
frame[1] = frSkyDConfig()->bindTxId[0];
frame[2] = frSkyDConfig()->bindTxId[1];
frame[3] = v1; // A1 voltages
frame[4] = v2; // A2
frame[5] = (uint8_t)RSSI_dBm;
#if defined(HUB)
bytes_used = frsky_append_hub_data(&frame[8]);
#endif
frame[6] = bytes_used;
frame[7] = telemetry_id;
}
#endif
#if defined(PA_LNA)
static void RX_enable()
{
TX_EN_off;
RX_EN_on;
}
static void TX_enable()
{
RX_EN_off;
TX_EN_on;
}
#endif
void frSkyDBind() { bindRequested = true; }
static void initialize()
{
CC2500_Reset();
cc2500_writeReg(CC2500_02_IOCFG0, 0x01);
cc2500_writeReg(CC2500_17_MCSM1, 0x0C);
cc2500_writeReg(CC2500_18_MCSM0, 0x18);
cc2500_writeReg(CC2500_06_PKTLEN, 0x19);
cc2500_writeReg(CC2500_08_PKTCTRL0, 0x05);
cc2500_writeReg(CC2500_3E_PATABLE, 0xFF);
cc2500_writeReg(CC2500_0B_FSCTRL1, 0x08);
cc2500_writeReg(CC2500_0C_FSCTRL0, 0x00);
cc2500_writeReg(CC2500_0D_FREQ2, 0x5C);
cc2500_writeReg(CC2500_0E_FREQ1, 0x76);
cc2500_writeReg(CC2500_0F_FREQ0, 0x27);
cc2500_writeReg(CC2500_10_MDMCFG4, 0xAA);
cc2500_writeReg(CC2500_11_MDMCFG3, 0x39);
cc2500_writeReg(CC2500_12_MDMCFG2, 0x11);
cc2500_writeReg(CC2500_13_MDMCFG1, 0x23);
cc2500_writeReg(CC2500_14_MDMCFG0, 0x7A);
cc2500_writeReg(CC2500_15_DEVIATN, 0x42);
cc2500_writeReg(CC2500_19_FOCCFG, 0x16);
cc2500_writeReg(CC2500_1A_BSCFG, 0x6C);
cc2500_writeReg(CC2500_1B_AGCCTRL2, 0x03);
cc2500_writeReg(CC2500_1C_AGCCTRL1, 0x40);
cc2500_writeReg(CC2500_1D_AGCCTRL0, 0x91);
cc2500_writeReg(CC2500_21_FREND1, 0x56);
cc2500_writeReg(CC2500_22_FREND0, 0x10);
cc2500_writeReg(CC2500_23_FSCAL3, 0xA9);
cc2500_writeReg(CC2500_24_FSCAL2, 0x0A);
cc2500_writeReg(CC2500_25_FSCAL1, 0x00);
cc2500_writeReg(CC2500_26_FSCAL0, 0x11);
cc2500_writeReg(CC2500_29_FSTEST, 0x59);
cc2500_writeReg(CC2500_2C_TEST2, 0x88);
cc2500_writeReg(CC2500_2D_TEST1, 0x31);
cc2500_writeReg(CC2500_2E_TEST0, 0x0B);
cc2500_writeReg(CC2500_03_FIFOTHR, 0x07);
cc2500_writeReg(CC2500_09_ADDR, 0x00);
cc2500_strobe(CC2500_SIDLE);
cc2500_writeReg(CC2500_07_PKTCTRL1, 0x04);
cc2500_writeReg(CC2500_0C_FSCTRL0, 0);
for (uint8_t c = 0; c < 0xFF; c++) {
cc2500_strobe(CC2500_SIDLE);
cc2500_writeReg(CC2500_0A_CHANNR, c);
cc2500_strobe(CC2500_SCAL);
delayMicroseconds(900);
calData[c][0] = cc2500_readReg(CC2500_23_FSCAL3);
calData[c][1] = cc2500_readReg(CC2500_24_FSCAL2);
calData[c][2] = cc2500_readReg(CC2500_25_FSCAL1);
}
}
static void initialize_data(uint8_t adr)
{
cc2500_writeReg(CC2500_0C_FSCTRL0, (uint8_t)frSkyDConfig()->bindOffset);
cc2500_writeReg(CC2500_18_MCSM0, 0x8);
cc2500_writeReg(CC2500_09_ADDR, adr ? 0x03 : frSkyDConfig()->bindTxId[0]);
cc2500_writeReg(CC2500_07_PKTCTRL1, 0x0D);
cc2500_writeReg(CC2500_19_FOCCFG, 0x16);
delay(10);
}
static void initTuneRx(void)
{
cc2500_writeReg(CC2500_19_FOCCFG, 0x14);
time_tune = millis();
frSkyDConfigMutable()->bindOffset = -126;
cc2500_writeReg(CC2500_0C_FSCTRL0, (uint8_t)frSkyDConfig()->bindOffset);
cc2500_writeReg(CC2500_07_PKTCTRL1, 0x0C);
cc2500_writeReg(CC2500_18_MCSM0, 0x8);
cc2500_strobe(CC2500_SIDLE);
cc2500_writeReg(CC2500_23_FSCAL3, calData[0][0]);
cc2500_writeReg(CC2500_24_FSCAL2, calData[0][1]);
cc2500_writeReg(CC2500_25_FSCAL1, calData[0][2]);
cc2500_writeReg(CC2500_0A_CHANNR, 0);
cc2500_strobe(CC2500_SFRX);
cc2500_strobe(CC2500_SRX);
}
static bool tuneRx(uint8_t *packet)
{
if (frSkyDConfig()->bindOffset >= 126) {
frSkyDConfigMutable()->bindOffset = -126;
}
if ((millis() - time_tune) > 50) {
time_tune = millis();
frSkyDConfigMutable()->bindOffset += 5;
cc2500_writeReg(CC2500_0C_FSCTRL0, (uint8_t)frSkyDConfig()->bindOffset);
}
if (GDO_1) {
ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen) {
cc2500_readFifo(packet, ccLen);
if (packet[ccLen - 1] & 0x80) {
if (packet[2] == 0x01) {
Lqi = packet[ccLen - 1] & 0x7F;
if (Lqi < 50) {
return true;
}
}
}
}
}
return false;
}
static void initGetBind(void)
{
cc2500_strobe(CC2500_SIDLE);
cc2500_writeReg(CC2500_23_FSCAL3, calData[0][0]);
cc2500_writeReg(CC2500_24_FSCAL2, calData[0][1]);
cc2500_writeReg(CC2500_25_FSCAL1, calData[0][2]);
cc2500_writeReg(CC2500_0A_CHANNR, 0);
cc2500_strobe(CC2500_SFRX);
delayMicroseconds(20); // waiting flush FIFO
cc2500_strobe(CC2500_SRX);
eol = false;
listLength = 0;
bindIdx = 0x05;
}
static bool getBind1(uint8_t *packet)
{
// len|bind |tx
// id|03|01|idx|h0|h1|h2|h3|h4|00|00|00|00|00|00|00|00|00|00|00|00|00|00|00|CHK1|CHK2|RSSI|LQI/CRC|
// Start by getting bind packet 0 and the txid
if (GDO_1) {
ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen) {
cc2500_readFifo(packet, ccLen);
if (packet[ccLen - 1] & 0x80) {
if (packet[2] == 0x01) {
if (packet[5] == 0x00) {
frSkyDConfigMutable()->bindTxId[0] = packet[3];
frSkyDConfigMutable()->bindTxId[1] = packet[4];
for (uint8_t n = 0; n < 5; n++) {
frSkyDConfigMutable()->bindHopData[packet[5] + n] =
packet[6 + n];
}
return true;
}
}
}
}
}
return false;
}
static bool getBind2(uint8_t *packet)
{
if (bindIdx <= 120) {
if (GDO_1) {
ccLen =
cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen) {
cc2500_readFifo(packet, ccLen);
if (packet[ccLen - 1] & 0x80) {
if (packet[2] == 0x01) {
if ((packet[3] == frSkyDConfig()->bindTxId[0]) &&
(packet[4] == frSkyDConfig()->bindTxId[1])) {
if (packet[5] == bindIdx) {
#if defined(DJTS)
if (packet[5] == 0x2D) {
for (uint8_t i = 0; i < 2; i++) {
frSkyDConfigMutable()
->bindHopData[packet[5] + i] =
packet[6 + i];
}
listLength = 47;
eol = true;
bindIdx = bindIdx + 5;
return false;
}
#endif
for (uint8_t n = 0; n < 5; n++) {
if (packet[6 + n] == packet[ccLen - 3] ||
(packet[6 + n] == 0)) {
if (bindIdx >= 0x2D) {
eol = true;
listLength = packet[5] + n;
break;
}
}
frSkyDConfigMutable()
->bindHopData[packet[5] + n] =
packet[6 + n];
}
bindIdx = bindIdx + 5;
return false;
}
}
}
}
}
}
if (eol) {
return true;
}
}
return false;
}
static void nextChannel(uint8_t skip)
{
channr += skip;
if (channr >= listLength)
channr -= listLength;
cc2500_strobe(CC2500_SIDLE);
cc2500_writeReg(CC2500_23_FSCAL3,
calData[frSkyDConfig()->bindHopData[channr]][0]);
cc2500_writeReg(CC2500_24_FSCAL2,
calData[frSkyDConfig()->bindHopData[channr]][1]);
cc2500_writeReg(CC2500_25_FSCAL1,
calData[frSkyDConfig()->bindHopData[channr]][2]);
cc2500_writeReg(CC2500_0A_CHANNR, frSkyDConfig()->bindHopData[channr]);
cc2500_strobe(CC2500_SFRX);
}
static bool bindButtonPressed(void)
{
if (!IORead(BindPin)) {
delayMicroseconds(10);
return true;
}
return false;
}
static bool doBind()
{
return frSkyDConfig()->autoBind || bindRequested || bindButtonPressed();
}
void frskyD_Rx_SetRCdata(uint16_t *rcData, const uint8_t *packet)
{
c[0] = (uint16_t)(((packet[10] & 0x0F) << 8 | packet[6]));
c[1] = (uint16_t)(((packet[10] & 0xF0) << 4 | packet[7]));
c[2] = (uint16_t)(((packet[11] & 0x0F) << 8 | packet[8]));
c[3] = (uint16_t)(((packet[11] & 0xF0) << 4 | packet[9]));
c[4] = (uint16_t)(((packet[16] & 0x0F) << 8 | packet[12]));
c[5] = (uint16_t)(((packet[16] & 0xF0) << 4 | packet[13]));
c[6] = (uint16_t)(((packet[17] & 0x0F) << 8 | packet[14]));
c[7] = (uint16_t)(((packet[17] & 0xF0) << 4 | packet[15]));
for (uint8_t i = 0; i < 8; i++) {
word_temp = 0.667 * c[i];
if ((word_temp > 800) && (word_temp < 2200))
Servo_data[i] = word_temp;
rcData[i] = Servo_data[i];
}
}
rx_spi_received_e frskyD_Rx_DataReceived(uint8_t *packet)
{
ret = RX_SPI_RECEIVED_NONE;
switch (protocol_state) {
case STATE_INIT:
if ((millis() - start_time) > 10) {
initialize();
protocol_state = STATE_BIND;
}
break;
case STATE_BIND:
if (doBind()) {
bindRequested = false;
FLED_on;
initTuneRx();
protocol_state = STATE_BIND_TUNING;
} else {
protocol_state = STATE_STARTING;
}
break;
case STATE_BIND_TUNING:
if (tuneRx(packet)) {
initGetBind();
initialize_data(1);
protocol_state = STATE_BIND_BINDING1;
}
break;
case STATE_BIND_BINDING1:
if (getBind1(packet)) {
protocol_state = STATE_BIND_BINDING2;
}
break;
case STATE_BIND_BINDING2:
if (getBind2(packet)) {
cc2500_strobe(CC2500_SIDLE);
protocol_state = STATE_BIND_COMPLETE;
}
break;
case STATE_BIND_COMPLETE:
if (!frSkyDConfig()->autoBind) {
writeEEPROM();
} else {
uint8_t ctr = 40;
while (ctr--) {
FLED_on;
delay(50);
FLED_off;
delay(50);
}
}
protocol_state = STATE_STARTING;
break;
case STATE_STARTING:
listLength = 47;
initialize_data(0);
protocol_state = STATE_UPDATE;
nextChannel(1); //
cc2500_strobe(CC2500_SRX);
ret = RX_SPI_RECEIVED_BIND;
break;
case STATE_UPDATE:
packet_timer = micros();
protocol_state = STATE_DATA;
if (bindRequested) {
packet_timer = 0;
t_out = 50;
missingPackets = 0;
protocol_state = STATE_INIT;
break;
}
// here FS code could be
case STATE_DATA:
if (GDO_1) {
ccLen =
cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen > 20)
ccLen = 20;
if (ccLen == 20) {
cc2500_readFifo(packet, ccLen);
if (packet[ccLen - 1] & 0x80) {
missingPackets = 0;
t_out = 1;
if (packet[0] == 0x11) {
if ((packet[1] == frSkyDConfig()->bindTxId[0]) &&
(packet[2] == frSkyDConfig()->bindTxId[1])) {
FLED_on;
nextChannel(1);
#ifdef FRSKY_TELEMETRY
if ((packet[3] % 4) == 2) {
telemetryRX = 1;
time_t = micros();
compute_RSSIdbm(packet);
telemetry_build_frame(packet);
protocol_state = STATE_TELEM;
} else
#endif
{
cc2500_strobe(CC2500_SRX);
protocol_state = STATE_UPDATE;
}
ret = RX_SPI_RECEIVED_DATA;
packet_timer = micros();
}
}
}
}
}
if ((micros() - packet_timer) > (t_out * SYNC)) {
#ifdef PA_LNA
RX_enable();
#endif
if (t_out == 1) {
#ifdef DIVERSITY // SE4311 chip
if (missingPackets >= 2) {
if (pass & 0x01) {
ANT_SEL_on;
} else {
ANT_SEL_off;
}
pass++;
}
#endif
if (missingPackets > MAX_MISSING_PKT)
t_out = 50;
missingPackets++;
nextChannel(1);
} else {
if (cnt++ & 0x01) {
FLED_off;
} else
FLED_on;
nextChannel(13);
}
cc2500_strobe(CC2500_SRX);
protocol_state = STATE_UPDATE;
}
break;
#ifdef FRSKY_TELEMETRY
case STATE_TELEM:
if (telemetryRX) {
if ((micros() - time_t) >= 1380) {
cc2500_strobe(CC2500_SIDLE);
CC2500_SetPower(6);
cc2500_strobe(CC2500_SFRX);
#if defined(PA_LNA)
TX_enable();
#endif
cc2500_strobe(CC2500_SIDLE);
cc2500_writeFifo(frame, frame[0] + 1);
protocol_state = STATE_DATA;
ret = RX_SPI_RECEIVED_DATA;
packet_timer = micros();
telemetryRX = 0;
}
}
break;
#endif
}
return ret;
}
void frskyD_Rx_Setup(rx_spi_protocol_e protocol)
{
UNUSED(protocol);
// gpio init here
GdoPin = IOGetByTag(IO_TAG(GDO_0_PIN));
BindPin = IOGetByTag(IO_TAG(BINDPLUG_PIN));
FrskyLedPin = IOGetByTag(IO_TAG(FRSKY_LED_PIN));
#if defined(PA_LNA)
RxEnPin = IOGetByTag(IO_TAG(RX_EN_PIN));
TxEnPin = IOGetByTag(IO_TAG(TX_EN_PIN));
IOInit(RxEnPin, OWNER_RX_BIND, 0);
IOInit(TxEnPin, OWNER_RX_BIND, 0);
IOConfigGPIO(RxEnPin, IOCFG_OUT_PP);
IOConfigGPIO(TxEnPin, IOCFG_OUT_PP);
#endif
#if defined(DIVERSITY)
AntSelPin = IOGetByTag(IO_TAG(ANT_SEL_PIN));
IOInit(AntSelPin, OWNER_RX_BIND, 0);
IOConfigGPIO(AntSelPin, IOCFG_OUT_PP);
#endif
//
IOInit(GdoPin, OWNER_RX_BIND, 0);
IOInit(BindPin, OWNER_RX_BIND, 0);
IOInit(FrskyLedPin, OWNER_LED, 0);
//
IOConfigGPIO(GdoPin, IOCFG_IN_FLOATING);
IOConfigGPIO(BindPin, IOCFG_IPU);
IOConfigGPIO(FrskyLedPin, IOCFG_OUT_PP);
start_time = millis();
packet_timer = 0;
t_out = 50;
missingPackets = 0;
protocol_state = STATE_INIT;
#if defined(DIVERSITY)
ANT_SEL_on;
#endif
#if defined(PA_LNA)
RX_enable();
#endif
#if defined(HUB)
initFrSkyExternalTelemetry(&frSkyTelemetryInitFrameSpi,
&frSkyTelemetryWriteSpi);
#endif
// if(!frskySpiDetect())//detect spi working routine
// return;
}
void frskyD_Rx_Init(const rxConfig_t *rxConfig,
rxRuntimeConfig_t *rxRuntimeConfig)
{
rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT;
frskyD_Rx_Setup((rx_spi_protocol_e)rxConfig->rx_spi_protocol);
}
#endif

39
src/main/rx/frsky_d.h Normal file
View file

@ -0,0 +1,39 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include "rx_spi.h"
typedef struct frSkyDConfig_s {
bool autoBind;
uint8_t bindHopData[50];
uint8_t bindTxId[2];
int8_t bindOffset;
} frSkyDConfig_t;
PG_DECLARE(frSkyDConfig_t, frSkyDConfig);
struct rxConfig_s;
struct rxRuntimeConfig_s;
void frskyD_Rx_Init(const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);
void frskyD_Rx_SetRCdata(uint16_t *rcData, const uint8_t *payload);
rx_spi_received_e frskyD_Rx_DataReceived(uint8_t *payload);
void frSkyDBind();

12
src/main/rx/rx_spi.c
View file

@ -24,6 +24,7 @@
#include "build/build_config.h"
#include "drivers/cc2500.h"
#include "drivers/rx_nrf24l01.h"
#include "config/feature.h"
@ -32,13 +33,13 @@
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/frsky_d.h"
#include "rx/nrf24_cx10.h"
#include "rx/nrf24_syma.h"
#include "rx/nrf24_v202.h"
#include "rx/nrf24_h8_3d.h"
#include "rx/nrf24_inav.h"
uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
STATIC_UNIT_TESTED uint8_t rxSpiNewPacketAvailable; // set true when a new packet is received
@ -53,7 +54,9 @@ static protocolSetRcDataFromPayloadFnPtr protocolSetRcDataFromPayload;
STATIC_UNIT_TESTED uint16_t rxSpiReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
{
BUILD_BUG_ON(NRF24L01_MAX_PAYLOAD_SIZE > RX_SPI_MAX_PAYLOAD_SIZE);
if (channel >= rxRuntimeConfig->channelCount) {
return 0;
}
@ -105,6 +108,13 @@ STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
protocolDataReceived = inavNrf24DataReceived;
protocolSetRcDataFromPayload = inavNrf24SetRcDataFromPayload;
break;
#endif
#ifdef USE_RX_FRSKYD
case RX_SPI_FRSKYD:
protocolInit = frskyD_Rx_Init;
protocolDataReceived = frskyD_Rx_DataReceived;
protocolSetRcDataFromPayload = frskyD_Rx_SetRCdata;
break;
#endif
}
return true;

1
src/main/rx/rx_spi.h
View file

@ -29,6 +29,7 @@ typedef enum {
RX_SPI_NRF24_CX10A,
RX_SPI_NRF24_H8_3D,
RX_SPI_NRF24_INAV,
RX_SPI_FRSKYD,
RX_SPI_PROTOCOL_COUNT
} rx_spi_protocol_e;

34
src/main/target/MIDELICF3/target.c Normal file
View file

@ -0,0 +1,34 @@
/*
* 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/>.
*/
#include <stdint.h>
#include <platform.h>
#include "drivers/io.h"
#include "drivers/dma.h"
#include "drivers/timer.h"
#include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM15, CH1, PA2, TIM_USE_MOTOR, 1), // DMA1_CH5
DEF_TIM(TIM2 , CH4, PA3, TIM_USE_MOTOR, 1), // DMA1_CH7
DEF_TIM(TIM3, CH4, PB7, TIM_USE_MOTOR, 1), // DMA1_CH3
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 1), // DMA1_CH2
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR | TIM_USE_LED, 1), // DMA2_CH5
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, 1), // DMA2_CH1
};

133
src/main/target/MIDELICF3/target.h Normal file
View file

@ -0,0 +1,133 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define TARGET_BOARD_IDENTIFIER "MIF3"
#define LED0_PIN PB5
#define BEEPER PC14
#define GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define USE_EXTI
#define MPU_INT_EXTI PA13
#define USE_MPU_DATA_READY_SIGNAL
#define USE_VCP
#define USE_UART1
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART2_TX_PIN PB3
#define UART2_RX_PIN PB4
//#define UART3_TX_PIN PB10
#define SERIAL_PORT_COUNT 3
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C_DEVICE (I2CDEV_1)
#define I2C1_SDA PA14
#define I2C1_SCL PA15
#define USE_SPI
#define USE_SPI_DEVICE_1
#define SPI1_NSS_PIN PA4
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define USE_SPI_DEVICE_2
#define SPI2_NSS_PIN PB12
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define USE_SDCARD
#define USE_SDCARD_SPI2
#define SDCARD_SPI_INSTANCE SPI2
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
// // Divide to under 25MHz for normal operation:
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2
#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
#define USE_ADC
#define ADC_INSTANCE ADC1
#define VBAT_ADC_PIN PA0
#define CURRENT_METER_ADC_PIN PA1
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define USE_RX_CC2500
#define USE_RX_SPI
#define RX_SPI_INSTANCE SPI1
#define RX_NSS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOA
#define USE_RX_FRSKYD
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_FRSKYD
#define DEFAULT_RX_FEATURE FEATURE_RX_SPI
#define FRSKY_BIND
#define FRSKY_TELEMETRY
#define HUB
#define PA_LNA
#define DIVERSITY
#define RX_NSS_PIN SPI1_NSS_PIN
#define RX_SCK_PIN SPI1_SCK_PIN
#define RX_MISO_PIN SPI1_MISO_PIN
#define RX_MOSI_PIN SPI1_MOSI_PIN
#define GDO_0_PIN PB0
#define ANT_SEL_PIN PB2
#define TX_EN_PIN PB1
#define RX_EN_PIN PB11
#define FRSKY_LED_PIN PB6
#define BINDPLUG_PIN PC13
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_HARDWARE 0
#define DEFAULT_FEATURES (FEATURE_AIRMODE | FEATURE_TELEMETRY)
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))

9
src/main/target/MIDELICF3/target.mk Normal file
View file

@ -0,0 +1,9 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro/accgyro_mpu.c \
drivers/accgyro/accgyro_mpu6050.c \
drivers/cc2500.c \
rx/frsky_d.c

64
src/main/telemetry/frsky.c
View file

@ -74,9 +74,10 @@ static serialPortConfig_t *portConfig;
#define FRSKY_BAUDRATE 9600
#define FRSKY_INITIAL_PORT_MODE MODE_TX
static bool frskyTelemetryEnabled = false;
static portSharing_e frskyPortSharing;
static frSkyTelemetryWriteFn *frSkyTelemetryWrite = NULL;
static frSkyTelemetryInitFrameFn *frSkyTelemetryInitFrame = NULL;
#define CYCLETIME 125
@ -129,28 +130,30 @@ static portSharing_e frskyPortSharing;
static uint32_t lastCycleTime = 0;
static uint8_t cycleNum = 0;
static void sendDataHead(uint8_t id)
{
serialWrite(frskyPort, PROTOCOL_HEADER);
serialWrite(frskyPort, id);
frSkyTelemetryWrite(PROTOCOL_HEADER);
frSkyTelemetryWrite(id);
}
static void sendTelemetryTail(void)
{
serialWrite(frskyPort, PROTOCOL_TAIL);
frSkyTelemetryWrite(PROTOCOL_TAIL);
}
static void serializeFrsky(uint8_t data)
{
// take care of byte stuffing
if (data == 0x5e) {
serialWrite(frskyPort, 0x5d);
serialWrite(frskyPort, 0x3e);
frSkyTelemetryWrite(0x5d);
frSkyTelemetryWrite(0x3e);
} else if (data == 0x5d) {
serialWrite(frskyPort, 0x5d);
serialWrite(frskyPort, 0x3d);
} else
serialWrite(frskyPort, data);
frSkyTelemetryWrite(0x5d);
frSkyTelemetryWrite(0x3d);
} else{
frSkyTelemetryWrite(data);
}
}
static void serialize16(int16_t a)
@ -456,20 +459,38 @@ static void sendHeading(void)
serialize16(0);
}
void frSkyTelemetryWriteSerial(uint8_t ch)
{
serialWrite(frskyPort, ch);
}
void initFrSkyTelemetry(void)
{
portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_FRSKY);
frskyPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_FRSKY);
}
void initFrSkyExternalTelemetry(frSkyTelemetryInitFrameFn *frSkyTelemetryInitFrameExternal, frSkyTelemetryWriteFn *frSkyTelemetryWriteExternal)
{
frSkyTelemetryInitFrame = frSkyTelemetryInitFrameExternal;
frSkyTelemetryWrite = frSkyTelemetryWriteExternal;
}
void deinitFrSkyExternalTelemetry(void)
{
frSkyTelemetryInitFrame = NULL;
frSkyTelemetryWrite = NULL;
}
void freeFrSkyTelemetryPort(void)
{
closeSerialPort(frskyPort);
frskyPort = NULL;
frskyTelemetryEnabled = false;
frSkyTelemetryWrite = NULL;
}
void configureFrSkyTelemetryPort(void)
static void configureFrSkyTelemetryPort(void)
{
if (!portConfig) {
return;
@ -480,7 +501,7 @@ void configureFrSkyTelemetryPort(void)
return;
}
frskyTelemetryEnabled = true;
frSkyTelemetryWrite = frSkyTelemetryWriteSerial;
}
bool hasEnoughTimeLapsedSinceLastTelemetryTransmission(uint32_t currentMillis)
@ -488,17 +509,22 @@ bool hasEnoughTimeLapsedSinceLastTelemetryTransmission(uint32_t currentMillis)
return currentMillis - lastCycleTime >= CYCLETIME;
}
bool checkFrSkySerialTelemetryEnabled(void)
{
return frSkyTelemetryWrite == &frSkyTelemetryWriteSerial;
}
void checkFrSkyTelemetryState(void)
{
if (portConfig && telemetryCheckRxPortShared(portConfig)) {
if (!frskyTelemetryEnabled && telemetrySharedPort != NULL) {
if (!checkFrSkySerialTelemetryEnabled() && telemetrySharedPort != NULL) {
frskyPort = telemetrySharedPort;
frskyTelemetryEnabled = true;
frSkyTelemetryWrite = &frSkyTelemetryWriteSerial;
}
} else {
bool newTelemetryEnabledValue = telemetryDetermineEnabledState(frskyPortSharing);
if (newTelemetryEnabledValue == frskyTelemetryEnabled) {
if (newTelemetryEnabledValue == checkFrSkySerialTelemetryEnabled()) {
return;
}
@ -511,7 +537,7 @@ void checkFrSkyTelemetryState(void)
void handleFrSkyTelemetry(void)
{
if (!frskyTelemetryEnabled) {
if (frSkyTelemetryWrite == NULL) {
return;
}
@ -525,6 +551,10 @@ void handleFrSkyTelemetry(void)
cycleNum++;
if (frSkyTelemetryInitFrame) {
frSkyTelemetryInitFrame();
}
// Sent every 125ms
sendAccel();
sendVario();

7
src/main/telemetry/frsky.h
View file

@ -22,10 +22,13 @@ typedef enum {
FRSKY_VFAS_PRECISION_HIGH
} frskyVFasPrecision_e;
typedef void frSkyTelemetryInitFrameFn(void);
typedef void frSkyTelemetryWriteFn(uint8_t ch);
void handleFrSkyTelemetry(void);
void checkFrSkyTelemetryState(void);
void initFrSkyTelemetry(void);
void configureFrSkyTelemetryPort(void);
void freeFrSkyTelemetryPort(void);
void initFrSkyExternalTelemetry(frSkyTelemetryInitFrameFn *frSkyTelemetryInitFrameExternal, frSkyTelemetryWriteFn *frSkyTelemetryWriteExternal);
void deinitFrSkyExternalTelemetry(void);