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Code Issues Wiki Activity

Added FrSky SPI RX and MIDELICF3 target.

Browse source 
add MIDELICF1/MIDELICF3 targets

added more files/target mods

typo error/cosmetics

mod telemetry files

cosmetics

update to full telemetry

Add images

telemetry select default

info readme

activate full telemetry

added FrskyRX main files

added info

cosmetics

fix telemetry buffer range

fix range

fix telemetry buffer

typo fix

added MIDELICF3V2 target

cosmetics

a2 telemetry fix

change status LED pin for production board

telemetry fix

telemetry fix

forgot  to add bind via cli

Fixes to make MIDELICF3 build.

Switched FrSky bind information to PG.

Added 'autoBind' as a config setting.

Some fixups.

Fixed binding (Langkawi edit).

Made FrSky binding non-blocking.

Fixups before PR.

Fixed telemetry integration.
This commit is contained in:
midelic 2017-05-04 20:14:11 +03:00 • committed by Michael Keller
parent 8b4ab25efa
commit fbd712a255
14 changed files with 1283 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

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
View file

@ -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);