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Merge pull request #4333 from mikeller/fix_line_endings 

Fixed line endings for some DOS formatted files.
This commit is contained in:
Michael Keller 2017-10-12 00:31:53 +13:00 committed by GitHub
parent ecec6615e7 68388b0631
commit 4e325d9290
7 changed files with 1054 additions and 1054 deletions
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384
src/main/drivers/rx_a7105.c
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@ -1,192 +1,192 @@
/*
* 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 <platform.h>
#ifdef USE_RX_FLYSKY
#include "drivers/rx_a7105.h"
#include "drivers/bus_spi.h"
#include "drivers/rx_spi.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "drivers/exti.h"
#include "drivers/time.h"
#ifdef RX_PA_TXEN_PIN
static IO_t txEnIO = IO_NONE;
#endif
static IO_t rxIntIO = IO_NONE;
static extiCallbackRec_t a7105extiCallbackRec;
static volatile uint32_t timeEvent = 0;
static volatile bool occurEvent = false;
void a7105extiHandler(extiCallbackRec_t* cb)
{
UNUSED(cb);
if (IORead (rxIntIO) != 0) {
timeEvent = micros();
occurEvent = true;
}
}
void A7105Init (uint32_t id) {
spiDeviceByInstance(RX_SPI_INSTANCE);
rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
#ifdef STM32F7
EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_PULLDOWN));
#else
IOConfigGPIO(rxIntIO, IOCFG_IPD);
EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
#endif
EXTIEnable(rxIntIO, false);
#ifdef RX_PA_TXEN_PIN
txEnIO = IOGetByTag(IO_TAG(RX_PA_TXEN_PIN));
IOInit(txEnIO, OWNER_RX_SPI_CS, 0);
IOConfigGPIO(txEnIO, IOCFG_OUT_PP);
#endif
A7105SoftReset();
A7105WriteID(id);
}
void A7105Config (const uint8_t *regsTable, uint8_t size)
{
if (regsTable) {
uint32_t timeout = 1000;
for (uint8_t i = 0; i < size; i++) {
if (regsTable[i] != 0xFF) {A7105WriteReg ((A7105Reg_t)i, regsTable[i]);}
}
A7105Strobe(A7105_STANDBY);
A7105WriteReg(A7105_02_CALC, 0x01);
while ((A7105ReadReg(A7105_02_CALC) != 0) || timeout--) {}
A7105ReadReg(A7105_22_IF_CALIB_I);
A7105WriteReg(A7105_24_VCO_CURCAL, 0x13);
A7105WriteReg(A7105_25_VCO_SBCAL_I, 0x09);
A7105Strobe(A7105_STANDBY);
}
}
bool A7105RxTxFinished (uint32_t *timeStamp) {
bool result = false;
if (occurEvent) {
if (timeStamp) {
*timeStamp = timeEvent;
}
occurEvent = false;
result = true;
}
return result;
}
void A7105SoftReset (void)
{
rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
}
uint8_t A7105ReadReg (A7105Reg_t reg)
{
return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
}
void A7105WriteReg (A7105Reg_t reg, uint8_t data)
{
rxSpiWriteCommand((uint8_t)reg, data);
}
void A7105Strobe (A7105State_t state)
{
if (A7105_TX == state || A7105_RX == state) {
EXTIEnable(rxIntIO, true);
} else {
EXTIEnable(rxIntIO, false);
}
#ifdef RX_PA_TXEN_PIN
if (A7105_TX == state) {
IOHi(txEnIO); /* enable PA */
} else {
IOLo(txEnIO); /* disable PA */
}
#endif
rxSpiWriteByte((uint8_t)state);
}
void A7105WriteID(uint32_t id)
{
uint8_t data[4];
data[0] = (id >> 24) & 0xFF;
data[1] = (id >> 16) & 0xFF;
data[2] = (id >> 8) & 0xFF;
data[3] = (id >> 0) & 0xFF;
rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
}
uint32_t A7105ReadID (void)
{
uint32_t id;
uint8_t data[4];
rxSpiReadCommandMulti ( (uint8_t)A7105_06_ID_DATA | 0x40, 0xFF, &data[0], sizeof(data));
id = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3] << 0;
return id;
}
void A7105ReadFIFO (uint8_t *data, uint8_t num)
{
if (data) {
if(num > 64){
num = 64;
}
A7105Strobe(A7105_RST_RDPTR); /* reset read pointer */
rxSpiReadCommandMulti((uint8_t)A7105_05_FIFO_DATA | 0x40, 0xFF, data, num);
}
}
void A7105WriteFIFO (uint8_t *data, uint8_t num)
{
if (data) {
if(num > 64) {
num = 64;
}
A7105Strobe(A7105_RST_WRPTR); /* reset write pointer */
rxSpiWriteCommandMulti((uint8_t)A7105_05_FIFO_DATA, data, num);
}
}
#endif /* USE_RX_FLYSKY */
/*
* 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 <platform.h>
#ifdef USE_RX_FLYSKY
#include "drivers/rx_a7105.h"
#include "drivers/bus_spi.h"
#include "drivers/rx_spi.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "drivers/exti.h"
#include "drivers/time.h"
#ifdef RX_PA_TXEN_PIN
static IO_t txEnIO = IO_NONE;
#endif
static IO_t rxIntIO = IO_NONE;
static extiCallbackRec_t a7105extiCallbackRec;
static volatile uint32_t timeEvent = 0;
static volatile bool occurEvent = false;
void a7105extiHandler(extiCallbackRec_t* cb)
{
UNUSED(cb);
if (IORead (rxIntIO) != 0) {
timeEvent = micros();
occurEvent = true;
}
}
void A7105Init (uint32_t id) {
spiDeviceByInstance(RX_SPI_INSTANCE);
rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
#ifdef STM32F7
EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_PULLDOWN));
#else
IOConfigGPIO(rxIntIO, IOCFG_IPD);
EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
#endif
EXTIEnable(rxIntIO, false);
#ifdef RX_PA_TXEN_PIN
txEnIO = IOGetByTag(IO_TAG(RX_PA_TXEN_PIN));
IOInit(txEnIO, OWNER_RX_SPI_CS, 0);
IOConfigGPIO(txEnIO, IOCFG_OUT_PP);
#endif
A7105SoftReset();
A7105WriteID(id);
}
void A7105Config (const uint8_t *regsTable, uint8_t size)
{
if (regsTable) {
uint32_t timeout = 1000;
for (uint8_t i = 0; i < size; i++) {
if (regsTable[i] != 0xFF) {A7105WriteReg ((A7105Reg_t)i, regsTable[i]);}
}
A7105Strobe(A7105_STANDBY);
A7105WriteReg(A7105_02_CALC, 0x01);
while ((A7105ReadReg(A7105_02_CALC) != 0) || timeout--) {}
A7105ReadReg(A7105_22_IF_CALIB_I);
A7105WriteReg(A7105_24_VCO_CURCAL, 0x13);
A7105WriteReg(A7105_25_VCO_SBCAL_I, 0x09);
A7105Strobe(A7105_STANDBY);
}
}
bool A7105RxTxFinished (uint32_t *timeStamp) {
bool result = false;
if (occurEvent) {
if (timeStamp) {
*timeStamp = timeEvent;
}
occurEvent = false;
result = true;
}
return result;
}
void A7105SoftReset (void)
{
rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
}
uint8_t A7105ReadReg (A7105Reg_t reg)
{
return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
}
void A7105WriteReg (A7105Reg_t reg, uint8_t data)
{
rxSpiWriteCommand((uint8_t)reg, data);
}
void A7105Strobe (A7105State_t state)
{
if (A7105_TX == state || A7105_RX == state) {
EXTIEnable(rxIntIO, true);
} else {
EXTIEnable(rxIntIO, false);
}
#ifdef RX_PA_TXEN_PIN
if (A7105_TX == state) {
IOHi(txEnIO); /* enable PA */
} else {
IOLo(txEnIO); /* disable PA */
}
#endif
rxSpiWriteByte((uint8_t)state);
}
void A7105WriteID(uint32_t id)
{
uint8_t data[4];
data[0] = (id >> 24) & 0xFF;
data[1] = (id >> 16) & 0xFF;
data[2] = (id >> 8) & 0xFF;
data[3] = (id >> 0) & 0xFF;
rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
}
uint32_t A7105ReadID (void)
{
uint32_t id;
uint8_t data[4];
rxSpiReadCommandMulti ( (uint8_t)A7105_06_ID_DATA | 0x40, 0xFF, &data[0], sizeof(data));
id = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3] << 0;
return id;
}
void A7105ReadFIFO (uint8_t *data, uint8_t num)
{
if (data) {
if(num > 64){
num = 64;
}
A7105Strobe(A7105_RST_RDPTR); /* reset read pointer */
rxSpiReadCommandMulti((uint8_t)A7105_05_FIFO_DATA | 0x40, 0xFF, data, num);
}
}
void A7105WriteFIFO (uint8_t *data, uint8_t num)
{
if (data) {
if(num > 64) {
num = 64;
}
A7105Strobe(A7105_RST_WRPTR); /* reset write pointer */
rxSpiWriteCommandMulti((uint8_t)A7105_05_FIFO_DATA, data, num);
}
}
#endif /* USE_RX_FLYSKY */

222
src/main/drivers/rx_a7105.h
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/*
* 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
/* A7105 states for strobe */
typedef enum {
A7105_SLEEP = 0x80,
A7105_IDLE = 0x90,
A7105_STANDBY = 0xA0,
A7105_PLL = 0xB0,
A7105_RX = 0xC0,
A7105_TX = 0xD0,
A7105_RST_WRPTR = 0xE0,
A7105_RST_RDPTR = 0xF0
} A7105State_t;
/* Register addresses */
typedef enum {
A7105_00_MODE = 0x00,
A7105_01_MODE_CONTROL = 0x01,
A7105_02_CALC = 0x02,
A7105_03_FIFOI = 0x03,
A7105_04_FIFOII = 0x04,
A7105_05_FIFO_DATA = 0x05,
A7105_06_ID_DATA = 0x06,
A7105_07_RC_OSC_I = 0x07,
A7105_08_RC_OSC_II = 0x08,
A7105_09_RC_OSC_III = 0x09,
A7105_0A_CK0_PIN = 0x0A,
A7105_0B_GPIO1_PIN_I = 0x0B,
A7105_0C_GPIO2_PIN_II = 0x0C,
A7105_0D_CLOCK = 0x0D,
A7105_0E_DATA_RATE = 0x0E,
A7105_0F_PLL_I = 0x0F,
A7105_0F_CHANNEL = 0x0F,
A7105_10_PLL_II = 0x10,
A7105_11_PLL_III = 0x11,
A7105_12_PLL_IV = 0x12,
A7105_13_PLL_V = 0x13,
A7105_14_TX_I = 0x14,
A7105_15_TX_II = 0x15,
A7105_16_DELAY_I = 0x16,
A7105_17_DELAY_II = 0x17,
A7105_18_RX = 0x18,
A7105_19_RX_GAIN_I = 0x19,
A7105_1A_RX_GAIN_II = 0x1A,
A7105_1B_RX_GAIN_III = 0x1B,
A7105_1C_RX_GAIN_IV = 0x1C,
A7105_1D_RSSI_THOLD = 0x1D,
A7105_1E_ADC = 0x1E,
A7105_1F_CODE_I = 0x1F,
A7105_20_CODE_II = 0x20,
A7105_21_CODE_III = 0x21,
A7105_22_IF_CALIB_I = 0x22,
A7105_23_IF_CALIB_II = 0x23,
A7105_24_VCO_CURCAL = 0x24,
A7105_25_VCO_SBCAL_I = 0x25,
A7105_26_VCO_SBCAL_II = 0x26,
A7105_27_BATTERY_DET = 0x27,
A7105_28_TX_TEST = 0x28,
A7105_29_RX_DEM_TEST_I = 0x29,
A7105_2A_RX_DEM_TEST_II = 0x2A,
A7105_2B_CPC = 0x2B,
A7105_2C_XTAL_TEST = 0x2C,
A7105_2D_PLL_TEST = 0x2D,
A7105_2E_VCO_TEST_I = 0x2E,
A7105_2F_VCO_TEST_II = 0x2F,
A7105_30_IFAT = 0x30,
A7105_31_RSCALE = 0x31,
A7105_32_FILTER_TEST = 0x32,
} A7105Reg_t;
/* Register: A7105_00_MODE */
#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
void A7105Init(uint32_t id);
void A7105SoftReset(void);
void A7105Config(const uint8_t *regsTable, uint8_t size);
uint8_t A7105ReadReg(A7105Reg_t reg);
void A7105WriteReg(A7105Reg_t reg, uint8_t data);
void A7105Strobe(A7105State_t state);
void A7105WriteID(uint32_t id);
uint32_t A7105ReadID(void);
void A7105ReadFIFO(uint8_t *data, uint8_t num);
void A7105WriteFIFO(uint8_t *data, uint8_t num);
bool A7105RxTxFinished(uint32_t *timeStamp);
/*
* 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
/* A7105 states for strobe */
typedef enum {
A7105_SLEEP = 0x80,
A7105_IDLE = 0x90,
A7105_STANDBY = 0xA0,
A7105_PLL = 0xB0,
A7105_RX = 0xC0,
A7105_TX = 0xD0,
A7105_RST_WRPTR = 0xE0,
A7105_RST_RDPTR = 0xF0
} A7105State_t;
/* Register addresses */
typedef enum {
A7105_00_MODE = 0x00,
A7105_01_MODE_CONTROL = 0x01,
A7105_02_CALC = 0x02,
A7105_03_FIFOI = 0x03,
A7105_04_FIFOII = 0x04,
A7105_05_FIFO_DATA = 0x05,
A7105_06_ID_DATA = 0x06,
A7105_07_RC_OSC_I = 0x07,
A7105_08_RC_OSC_II = 0x08,
A7105_09_RC_OSC_III = 0x09,
A7105_0A_CK0_PIN = 0x0A,
A7105_0B_GPIO1_PIN_I = 0x0B,
A7105_0C_GPIO2_PIN_II = 0x0C,
A7105_0D_CLOCK = 0x0D,
A7105_0E_DATA_RATE = 0x0E,
A7105_0F_PLL_I = 0x0F,
A7105_0F_CHANNEL = 0x0F,
A7105_10_PLL_II = 0x10,
A7105_11_PLL_III = 0x11,
A7105_12_PLL_IV = 0x12,
A7105_13_PLL_V = 0x13,
A7105_14_TX_I = 0x14,
A7105_15_TX_II = 0x15,
A7105_16_DELAY_I = 0x16,
A7105_17_DELAY_II = 0x17,
A7105_18_RX = 0x18,
A7105_19_RX_GAIN_I = 0x19,
A7105_1A_RX_GAIN_II = 0x1A,
A7105_1B_RX_GAIN_III = 0x1B,
A7105_1C_RX_GAIN_IV = 0x1C,
A7105_1D_RSSI_THOLD = 0x1D,
A7105_1E_ADC = 0x1E,
A7105_1F_CODE_I = 0x1F,
A7105_20_CODE_II = 0x20,
A7105_21_CODE_III = 0x21,
A7105_22_IF_CALIB_I = 0x22,
A7105_23_IF_CALIB_II = 0x23,
A7105_24_VCO_CURCAL = 0x24,
A7105_25_VCO_SBCAL_I = 0x25,
A7105_26_VCO_SBCAL_II = 0x26,
A7105_27_BATTERY_DET = 0x27,
A7105_28_TX_TEST = 0x28,
A7105_29_RX_DEM_TEST_I = 0x29,
A7105_2A_RX_DEM_TEST_II = 0x2A,
A7105_2B_CPC = 0x2B,
A7105_2C_XTAL_TEST = 0x2C,
A7105_2D_PLL_TEST = 0x2D,
A7105_2E_VCO_TEST_I = 0x2E,
A7105_2F_VCO_TEST_II = 0x2F,
A7105_30_IFAT = 0x30,
A7105_31_RSCALE = 0x31,
A7105_32_FILTER_TEST = 0x32,
} A7105Reg_t;
/* Register: A7105_00_MODE */
#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
void A7105Init(uint32_t id);
void A7105SoftReset(void);
void A7105Config(const uint8_t *regsTable, uint8_t size);
uint8_t A7105ReadReg(A7105Reg_t reg);
void A7105WriteReg(A7105Reg_t reg, uint8_t data);
void A7105Strobe(A7105State_t state);
void A7105WriteID(uint32_t id);
uint32_t A7105ReadID(void);
void A7105ReadFIFO(uint8_t *data, uint8_t num);
void A7105WriteFIFO(uint8_t *data, uint8_t num);
bool A7105RxTxFinished(uint32_t *timeStamp);

900
src/main/rx/flysky.c
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@ -1,450 +1,450 @@
/*
* 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 <string.h>
#include "platform.h"
#ifdef USE_RX_FLYSKY
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_eeprom.h"
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/flysky.h"
#include "rx/flysky_defs.h"
#include "drivers/rx_a7105.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/io.h"
#include "sensors/battery.h"
#if FLYSKY_CHANNEL_COUNT > MAX_FLYSKY_CHANNEL_COUNT
#error "FlySky AFHDS protocol support 8 channel max"
#endif
#if FLYSKY_2A_CHANNEL_COUNT > MAX_FLYSKY_2A_CHANNEL_COUNT
#error "FlySky AFHDS 2A protocol support 14 channel max"
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, PG_FLYSKY_CONFIG, 0);
PG_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, .txId = 0, .rfChannelMap = {0}, .protocol = 0);
static const uint8_t flySkyRegs[] = {
0xff, 0x42, 0x00, 0x14, 0x00, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x00,
0x62, 0x80, 0x80, 0x00, 0x0a, 0x32, 0xc3, 0x0f,
0x13, 0xc3, 0x00, 0xff, 0x00, 0x00, 0x3b, 0x00,
0x17, 0x47, 0x80, 0x03, 0x01, 0x45, 0x18, 0x00,
0x01, 0x0f
};
static const uint8_t flySky2ARegs[] = {
0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x4f,
0x62, 0x80, 0xff, 0xff, 0x2a, 0x32, 0xc3, 0x1f,
0x1e, 0xff, 0x00, 0xff, 0x00, 0x00, 0x3b, 0x00,
0x17, 0x47, 0x80, 0x03, 0x01, 0x45, 0x18, 0x00,
0x01, 0x0f
};
static const uint8_t flySky2ABindChannels[] = {
0x0D, 0x8C
};
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};
static rx_spi_protocol_e protocol = RX_SPI_A7105_FLYSKY_2A;
static const timings_t *timings = &flySky2ATimings;
static uint32_t timeout = 0;
static uint32_t timeLastPacket = 0;
static uint32_t timeLastBind = 0;
static uint32_t timeTxRequest = 0;
static uint32_t countTimeout = 0;
static uint32_t countPacket = 0;
static uint32_t txId = 0;
static uint32_t rxId = 0;
static bool bound = false;
static bool sendTelemetry = false;
static bool waitTx = false;
static uint16_t errorRate = 0;
static uint16_t rssi_dBm = 0;
static uint8_t rfChannelMap[FLYSKY_FREQUENCY_COUNT] = {0};
static uint8_t getNextChannel (uint8_t step)
{
static uint8_t channel = 0;
channel = (channel + step) & 0x0F;
return rfChannelMap[channel];
}
static 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 < FLYSKY_FREQUENCY_COUNT; i++) {
rfChannelMap[i] = flySkyRfChannels[channelRow][i] - channelOffset;
}
}
static void resetTimeout (const uint32_t timeStamp)
{
timeLastPacket = timeStamp;
timeout = timings->firstPacket;
countTimeout = 0;
countPacket++;
}
static void checkTimeout (void)
{
static uint32_t timeMeasuareErrRate = 0;
static uint32_t timeLastTelemetry = 0;
uint32_t time = micros();
if ((time - timeMeasuareErrRate) > (101 * timings->packet)) {
errorRate = (countPacket >= 100) ? (0) : (100 - countPacket);
countPacket = 0;
timeMeasuareErrRate = time;
}
if ((time - timeLastTelemetry) > timings->telemetry) {
timeLastTelemetry = time;
sendTelemetry = true;
}
if ((time - timeLastPacket) > timeout) {
uint32_t stepOver = (time - timeLastPacket) / timings->packet;
timeLastPacket = (stepOver > 1) ? (time) : (timeLastPacket + timeout);
A7105Strobe(A7105_STANDBY);
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(stepOver % FLYSKY_FREQUENCY_COUNT));
A7105Strobe(A7105_RX);
if(countTimeout > 31) {
timeout = timings->syncPacket;
rssi = 0;
} else {
timeout = timings->packet;
countTimeout++;
}
}
}
static void checkRSSI (void)
{
static uint8_t buf[FLYSKY_RSSI_SAMPLE_COUNT] = {0};
static int16_t sum = 0;
static uint16_t currentIndex = 0;
uint8_t adcValue = A7105ReadReg(A7105_1D_RSSI_THOLD);
sum += adcValue;
sum -= buf[currentIndex];
buf[currentIndex] = adcValue;
currentIndex = (currentIndex + 1) % FLYSKY_RSSI_SAMPLE_COUNT;
rssi_dBm = 50 + sum / (3 * FLYSKY_RSSI_SAMPLE_COUNT); // range about [95...52], -dBm
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 bool isValidPacket (const uint8_t *packet) {
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
}
static void buildAndWriteTelemetry (uint8_t *packet)
{
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();
telemertyPacket->type = FLYSKY_2A_PACKET_TELEMETRY;
telemertyPacket->sens[0].type = SENSOR_INT_V;
telemertyPacket->sens[0].number = 0;
telemertyPacket->sens[0].valueL = voltage & 0xFF;
telemertyPacket->sens[0].valueH = (voltage >> 8) & 0xFF;
telemertyPacket->sens[1].type = SENSOR_RSSI;
telemertyPacket->sens[1].number = 0;
telemertyPacket->sens[1].valueL = rssi_dBm & 0xFF;
telemertyPacket->sens[1].valueH = (rssi_dBm >> 8) & 0xFF;
telemertyPacket->sens[2].type = SENSOR_ERR_RATE;
telemertyPacket->sens[2].number = 0;
telemertyPacket->sens[2].valueL = errorRate & 0xFF;
telemertyPacket->sens[2].valueH = (errorRate >> 8) & 0xFF;
memset (&telemertyPacket->sens[3], 0xFF, 4 * sizeof(flySky2ASens_t));
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
}
}
static rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
{
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
uint8_t bytesToRead = (bound) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + FLYSKY_FREQUENCY_COUNT);
A7105ReadFIFO(packet, bytesToRead);
switch (packet[0]) {
case FLYSKY_2A_PACKET_RC_DATA:
case FLYSKY_2A_PACKET_FS_SETTINGS: // failsafe settings
case FLYSKY_2A_PACKET_SETTINGS: // receiver settings
if (isValidPacket(packet)) {
checkRSSI();
resetTimeout(timeStamp);
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
if (rcPacket->type == FLYSKY_2A_PACKET_RC_DATA) {
if (payload) {
memcpy(payload, rcPacket->data, 2*FLYSKY_2A_CHANNEL_COUNT);
}
if (sendTelemetry) {
buildAndWriteTelemetry(packet);
sendTelemetry = false;
timeTxRequest = timeStamp;
waitTx = true;
}
result = RX_SPI_RECEIVED_DATA;
}
if (!waitTx) {
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
timeTxRequest = timeLastBind = timeStamp;
waitTx = true;
A7105WriteFIFO(packet, FLYSKY_2A_PAYLOAD_SIZE);
}
break;
default:
break;
}
if (!waitTx){
A7105Strobe(A7105_RX);
}
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));
timeLastBind = timeStamp;
}
A7105Strobe(A7105_RX);
return result;
}
void flySkyInit (const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
{
protocol = rxConfig->rx_spi_protocol;
if (protocol != flySkyConfig()->protocol) {
PG_RESET(flySkyConfig);
}
IO_t bindIO = IOGetByTag(IO_TAG(RX_FLYSKY_BIND_PIN));
IOInit(bindIO, OWNER_RX_SPI_CS, 0);
IOConfigGPIO(bindIO, IOCFG_IPU);
uint8_t startRxChannel;
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
rxRuntimeConfig->channelCount = FLYSKY_2A_CHANNEL_COUNT;
timings = &flySky2ATimings;
rxId = U_ID_0 ^ U_ID_1 ^ U_ID_2;
startRxChannel = flySky2ABindChannels[0];
A7105Init(0x5475c52A);
A7105Config(flySky2ARegs, sizeof(flySky2ARegs));
} else {
rxRuntimeConfig->channelCount = FLYSKY_CHANNEL_COUNT;
timings = &flySkyTimings;
startRxChannel = 0;
A7105Init(0x5475c52A);
A7105Config(flySkyRegs, sizeof(flySkyRegs));
}
if ( !IORead(bindIO) || flySkyConfig()->txId == 0) {
bound = false;
} else {
bound = true;
txId = flySkyConfig()->txId; // load TXID
memcpy (rfChannelMap, flySkyConfig()->rfChannelMap, FLYSKY_FREQUENCY_COUNT);// load channel map
startRxChannel = getNextChannel(0);
}
A7105WriteReg(A7105_0F_CHANNEL, startRxChannel);
A7105Strobe(A7105_RX); // start listening
resetTimeout(micros());
}
void flySkySetRcDataFromPayload (uint16_t *rcData, const uint8_t *payload)
{
if (rcData && payload) {
uint32_t channelCount;
channelCount = (protocol == RX_SPI_A7105_FLYSKY_2A) ? (FLYSKY_2A_CHANNEL_COUNT) : (FLYSKY_CHANNEL_COUNT);
for (uint8_t i = 0; i < channelCount; i++) {
rcData[i] = payload[2 * i + 1] << 8 | payload [2 * i + 0];
}
}
}
rx_spi_received_e flySkyDataReceived (uint8_t *payload)
{
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
uint32_t timeStamp;
if (A7105RxTxFinished(&timeStamp)) {
uint8_t modeReg = A7105ReadReg(A7105_00_MODE);
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) { // TX complete
if (bound) {
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
}
A7105Strobe(A7105_RX);
} else if ((modeReg & (A7105_MODE_CRCF|A7105_MODE_TRER)) == 0) { // RX complete, CRC pass
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
result = flySky2AReadAndProcess(payload, timeStamp);
} else {
result = flySkyReadAndProcess(payload, timeStamp);
}
} else {
A7105Strobe(A7105_RX);
}
}
if (waitTx && (micros() - timeTxRequest) > TX_DELAY) {
A7105Strobe(A7105_TX);
waitTx = false;
}
if (bound) {
checkTimeout();
} else {
if ((micros() - timeLastBind) > BIND_TIMEOUT && rfChannelMap[0] != 0 && txId != 0) {
result = RX_SPI_RECEIVED_BIND;
bound = true;
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 */
/*
* 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 <string.h>
#include "platform.h"
#ifdef USE_RX_FLYSKY
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_eeprom.h"
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/flysky.h"
#include "rx/flysky_defs.h"
#include "drivers/rx_a7105.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/io.h"
#include "sensors/battery.h"
#if FLYSKY_CHANNEL_COUNT > MAX_FLYSKY_CHANNEL_COUNT
#error "FlySky AFHDS protocol support 8 channel max"
#endif
#if FLYSKY_2A_CHANNEL_COUNT > MAX_FLYSKY_2A_CHANNEL_COUNT
#error "FlySky AFHDS 2A protocol support 14 channel max"
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, PG_FLYSKY_CONFIG, 0);
PG_RESET_TEMPLATE(flySkyConfig_t, flySkyConfig, .txId = 0, .rfChannelMap = {0}, .protocol = 0);
static const uint8_t flySkyRegs[] = {
0xff, 0x42, 0x00, 0x14, 0x00, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x00,
0x62, 0x80, 0x80, 0x00, 0x0a, 0x32, 0xc3, 0x0f,
0x13, 0xc3, 0x00, 0xff, 0x00, 0x00, 0x3b, 0x00,
0x17, 0x47, 0x80, 0x03, 0x01, 0x45, 0x18, 0x00,
0x01, 0x0f
};
static const uint8_t flySky2ARegs[] = {
0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x03, 0x19, 0x05, 0x00, 0x50,
0x9e, 0x4b, 0x00, 0x02, 0x16, 0x2b, 0x12, 0x4f,
0x62, 0x80, 0xff, 0xff, 0x2a, 0x32, 0xc3, 0x1f,
0x1e, 0xff, 0x00, 0xff, 0x00, 0x00, 0x3b, 0x00,
0x17, 0x47, 0x80, 0x03, 0x01, 0x45, 0x18, 0x00,
0x01, 0x0f
};
static const uint8_t flySky2ABindChannels[] = {
0x0D, 0x8C
};
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};
static rx_spi_protocol_e protocol = RX_SPI_A7105_FLYSKY_2A;
static const timings_t *timings = &flySky2ATimings;
static uint32_t timeout = 0;
static uint32_t timeLastPacket = 0;
static uint32_t timeLastBind = 0;
static uint32_t timeTxRequest = 0;
static uint32_t countTimeout = 0;
static uint32_t countPacket = 0;
static uint32_t txId = 0;
static uint32_t rxId = 0;
static bool bound = false;
static bool sendTelemetry = false;
static bool waitTx = false;
static uint16_t errorRate = 0;
static uint16_t rssi_dBm = 0;
static uint8_t rfChannelMap[FLYSKY_FREQUENCY_COUNT] = {0};
static uint8_t getNextChannel (uint8_t step)
{
static uint8_t channel = 0;
channel = (channel + step) & 0x0F;
return rfChannelMap[channel];
}
static 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 < FLYSKY_FREQUENCY_COUNT; i++) {
rfChannelMap[i] = flySkyRfChannels[channelRow][i] - channelOffset;
}
}
static void resetTimeout (const uint32_t timeStamp)
{
timeLastPacket = timeStamp;
timeout = timings->firstPacket;
countTimeout = 0;
countPacket++;
}
static void checkTimeout (void)
{
static uint32_t timeMeasuareErrRate = 0;
static uint32_t timeLastTelemetry = 0;
uint32_t time = micros();
if ((time - timeMeasuareErrRate) > (101 * timings->packet)) {
errorRate = (countPacket >= 100) ? (0) : (100 - countPacket);
countPacket = 0;
timeMeasuareErrRate = time;
}
if ((time - timeLastTelemetry) > timings->telemetry) {
timeLastTelemetry = time;
sendTelemetry = true;
}
if ((time - timeLastPacket) > timeout) {
uint32_t stepOver = (time - timeLastPacket) / timings->packet;
timeLastPacket = (stepOver > 1) ? (time) : (timeLastPacket + timeout);
A7105Strobe(A7105_STANDBY);
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(stepOver % FLYSKY_FREQUENCY_COUNT));
A7105Strobe(A7105_RX);
if(countTimeout > 31) {
timeout = timings->syncPacket;
rssi = 0;
} else {
timeout = timings->packet;
countTimeout++;
}
}
}
static void checkRSSI (void)
{
static uint8_t buf[FLYSKY_RSSI_SAMPLE_COUNT] = {0};
static int16_t sum = 0;
static uint16_t currentIndex = 0;
uint8_t adcValue = A7105ReadReg(A7105_1D_RSSI_THOLD);
sum += adcValue;
sum -= buf[currentIndex];
buf[currentIndex] = adcValue;
currentIndex = (currentIndex + 1) % FLYSKY_RSSI_SAMPLE_COUNT;
rssi_dBm = 50 + sum / (3 * FLYSKY_RSSI_SAMPLE_COUNT); // range about [95...52], -dBm
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 bool isValidPacket (const uint8_t *packet) {
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
return (rcPacket->rxId == rxId && rcPacket->txId == txId);
}
static void buildAndWriteTelemetry (uint8_t *packet)
{
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();
telemertyPacket->type = FLYSKY_2A_PACKET_TELEMETRY;
telemertyPacket->sens[0].type = SENSOR_INT_V;
telemertyPacket->sens[0].number = 0;
telemertyPacket->sens[0].valueL = voltage & 0xFF;
telemertyPacket->sens[0].valueH = (voltage >> 8) & 0xFF;
telemertyPacket->sens[1].type = SENSOR_RSSI;
telemertyPacket->sens[1].number = 0;
telemertyPacket->sens[1].valueL = rssi_dBm & 0xFF;
telemertyPacket->sens[1].valueH = (rssi_dBm >> 8) & 0xFF;
telemertyPacket->sens[2].type = SENSOR_ERR_RATE;
telemertyPacket->sens[2].number = 0;
telemertyPacket->sens[2].valueL = errorRate & 0xFF;
telemertyPacket->sens[2].valueH = (errorRate >> 8) & 0xFF;
memset (&telemertyPacket->sens[3], 0xFF, 4 * sizeof(flySky2ASens_t));
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
}
}
static rx_spi_received_e flySky2AReadAndProcess (uint8_t *payload, const uint32_t timeStamp)
{
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
uint8_t bytesToRead = (bound) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + FLYSKY_FREQUENCY_COUNT);
A7105ReadFIFO(packet, bytesToRead);
switch (packet[0]) {
case FLYSKY_2A_PACKET_RC_DATA:
case FLYSKY_2A_PACKET_FS_SETTINGS: // failsafe settings
case FLYSKY_2A_PACKET_SETTINGS: // receiver settings
if (isValidPacket(packet)) {
checkRSSI();
resetTimeout(timeStamp);
const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
if (rcPacket->type == FLYSKY_2A_PACKET_RC_DATA) {
if (payload) {
memcpy(payload, rcPacket->data, 2*FLYSKY_2A_CHANNEL_COUNT);
}
if (sendTelemetry) {
buildAndWriteTelemetry(packet);
sendTelemetry = false;
timeTxRequest = timeStamp;
waitTx = true;
}
result = RX_SPI_RECEIVED_DATA;
}
if (!waitTx) {
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
timeTxRequest = timeLastBind = timeStamp;
waitTx = true;
A7105WriteFIFO(packet, FLYSKY_2A_PAYLOAD_SIZE);
}
break;
default:
break;
}
if (!waitTx){
A7105Strobe(A7105_RX);
}
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));
timeLastBind = timeStamp;
}
A7105Strobe(A7105_RX);
return result;
}
void flySkyInit (const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
{
protocol = rxConfig->rx_spi_protocol;
if (protocol != flySkyConfig()->protocol) {
PG_RESET(flySkyConfig);
}
IO_t bindIO = IOGetByTag(IO_TAG(RX_FLYSKY_BIND_PIN));
IOInit(bindIO, OWNER_RX_SPI_CS, 0);
IOConfigGPIO(bindIO, IOCFG_IPU);
uint8_t startRxChannel;
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
rxRuntimeConfig->channelCount = FLYSKY_2A_CHANNEL_COUNT;
timings = &flySky2ATimings;
rxId = U_ID_0 ^ U_ID_1 ^ U_ID_2;
startRxChannel = flySky2ABindChannels[0];
A7105Init(0x5475c52A);
A7105Config(flySky2ARegs, sizeof(flySky2ARegs));
} else {
rxRuntimeConfig->channelCount = FLYSKY_CHANNEL_COUNT;
timings = &flySkyTimings;
startRxChannel = 0;
A7105Init(0x5475c52A);
A7105Config(flySkyRegs, sizeof(flySkyRegs));
}
if ( !IORead(bindIO) || flySkyConfig()->txId == 0) {
bound = false;
} else {
bound = true;
txId = flySkyConfig()->txId; // load TXID
memcpy (rfChannelMap, flySkyConfig()->rfChannelMap, FLYSKY_FREQUENCY_COUNT);// load channel map
startRxChannel = getNextChannel(0);
}
A7105WriteReg(A7105_0F_CHANNEL, startRxChannel);
A7105Strobe(A7105_RX); // start listening
resetTimeout(micros());
}
void flySkySetRcDataFromPayload (uint16_t *rcData, const uint8_t *payload)
{
if (rcData && payload) {
uint32_t channelCount;
channelCount = (protocol == RX_SPI_A7105_FLYSKY_2A) ? (FLYSKY_2A_CHANNEL_COUNT) : (FLYSKY_CHANNEL_COUNT);
for (uint8_t i = 0; i < channelCount; i++) {
rcData[i] = payload[2 * i + 1] << 8 | payload [2 * i + 0];
}
}
}
rx_spi_received_e flySkyDataReceived (uint8_t *payload)
{
rx_spi_received_e result = RX_SPI_RECEIVED_NONE;
uint32_t timeStamp;
if (A7105RxTxFinished(&timeStamp)) {
uint8_t modeReg = A7105ReadReg(A7105_00_MODE);
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) { // TX complete
if (bound) {
A7105WriteReg(A7105_0F_CHANNEL, getNextChannel(1));
}
A7105Strobe(A7105_RX);
} else if ((modeReg & (A7105_MODE_CRCF|A7105_MODE_TRER)) == 0) { // RX complete, CRC pass
if (protocol == RX_SPI_A7105_FLYSKY_2A) {
result = flySky2AReadAndProcess(payload, timeStamp);
} else {
result = flySkyReadAndProcess(payload, timeStamp);
}
} else {
A7105Strobe(A7105_RX);
}
}
if (waitTx && (micros() - timeTxRequest) > TX_DELAY) {
A7105Strobe(A7105_TX);
waitTx = false;
}
if (bound) {
checkTimeout();
} else {
if ((micros() - timeLastBind) > BIND_TIMEOUT && rfChannelMap[0] != 0 && txId != 0) {
result = RX_SPI_RECEIVED_BIND;
bound = true;
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 */

72
src/main/rx/flysky.h
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@ -1,36 +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/>.
*/
#pragma once
#include <stdbool.h>
#include <stdint.h>
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 flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload);
rx_spi_received_e flySkyDataReceived(uint8_t *payload);
/*
* 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>
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 flySkySetRcDataFromPayload(uint16_t *rcData, const uint8_t *payload);
rx_spi_received_e flySkyDataReceived(uint8_t *payload);

210
src/main/rx/flysky_defs.h
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@ -1,105 +1,105 @@
/*
* 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>
#define MAX_FLYSKY_CHANNEL_COUNT 8
#define MAX_FLYSKY_2A_CHANNEL_COUNT 14
#define FLYSKY_PAYLOAD_SIZE 21
#define FLYSKY_2A_PAYLOAD_SIZE 37
#define FLYSKY_FREQUENCY_COUNT 16
#define FLYSKY_RSSI_SAMPLE_COUNT 16
#ifndef FLYSKY_CHANNEL_COUNT
#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
#define TX_DELAY 500
#define BIND_TIMEOUT 200000
typedef struct __attribute__((packed)) {
uint8_t type;
uint8_t number;
uint8_t valueL;
uint8_t valueH;
} flySky2ASens_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
flySky2ASens_t sens[7];
} flySky2ATelemetryPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
uint8_t state;
uint8_t reserved1;
uint8_t rfChannelMap[16];
uint8_t reserved2[10];
} flySky2ABindPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
uint8_t data[28];
} flySky2ARcDataPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint8_t data[16];
} flySkyRcDataPkt_t;
typedef struct {
uint32_t packet;
uint32_t firstPacket;
uint32_t syncPacket;
uint32_t telemetry;
} timings_t;
enum {
SENSOR_INT_V = 0x00,
SENSOR_TEMP = 0x01,
SENSOR_MOT_RPM = 0x02,
SENSOR_EXT_V = 0x03,
SENSOR_RSSI = 0xFC,
SENSOR_ERR_RATE = 0xFE
};
enum {
FLYSKY_2A_PACKET_RC_DATA = 0x58,
FLYSKY_2A_PACKET_BIND1 = 0xBB,
FLYSKY_2A_PACKET_BIND2 = 0xBC,
FLYSKY_2A_PACKET_FS_SETTINGS = 0x56,
FLYSKY_2A_PACKET_SETTINGS = 0xAA,
FLYSKY_2A_PACKET_TELEMETRY = 0xAA,
FLYSKY_PACKET_RC_DATA = 0x55,
FLYSKY_PACKET_BIND = 0xAA
};
/*
* 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>
#define MAX_FLYSKY_CHANNEL_COUNT 8
#define MAX_FLYSKY_2A_CHANNEL_COUNT 14
#define FLYSKY_PAYLOAD_SIZE 21
#define FLYSKY_2A_PAYLOAD_SIZE 37
#define FLYSKY_FREQUENCY_COUNT 16
#define FLYSKY_RSSI_SAMPLE_COUNT 16
#ifndef FLYSKY_CHANNEL_COUNT
#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
#define TX_DELAY 500
#define BIND_TIMEOUT 200000
typedef struct __attribute__((packed)) {
uint8_t type;
uint8_t number;
uint8_t valueL;
uint8_t valueH;
} flySky2ASens_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
flySky2ASens_t sens[7];
} flySky2ATelemetryPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
uint8_t state;
uint8_t reserved1;
uint8_t rfChannelMap[16];
uint8_t reserved2[10];
} flySky2ABindPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint32_t rxId;
uint8_t data[28];
} flySky2ARcDataPkt_t;
typedef struct __attribute__((packed)) {
uint8_t type;
uint32_t txId;
uint8_t data[16];
} flySkyRcDataPkt_t;
typedef struct {
uint32_t packet;
uint32_t firstPacket;
uint32_t syncPacket;
uint32_t telemetry;
} timings_t;
enum {
SENSOR_INT_V = 0x00,
SENSOR_TEMP = 0x01,
SENSOR_MOT_RPM = 0x02,
SENSOR_EXT_V = 0x03,
SENSOR_RSSI = 0xFC,
SENSOR_ERR_RATE = 0xFE
};
enum {
FLYSKY_2A_PACKET_RC_DATA = 0x58,
FLYSKY_2A_PACKET_BIND1 = 0xBB,
FLYSKY_2A_PACKET_BIND2 = 0xBC,
FLYSKY_2A_PACKET_FS_SETTINGS = 0x56,
FLYSKY_2A_PACKET_SETTINGS = 0xAA,
FLYSKY_2A_PACKET_TELEMETRY = 0xAA,
FLYSKY_PACKET_RC_DATA = 0x55,
FLYSKY_PACKET_BIND = 0xAA
};

68
src/main/target/EACHIF3/target.c
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@ -1,34 +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/timer.h"
#include "drivers/timer_def.h"
#include "drivers/dma.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH4, PA3, TIM_USE_PPM, TIMER_INPUT_ENABLED), /* PPM IN */
DEF_TIM(TIM17,CH1N,PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), /* PWM1 */
DEF_TIM(TIM8, CH1, PB6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM2 */
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM3 */
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM4 */
DEF_TIM(TIM16,CH1, PA6, TIM_USE_LED, TIMER_OUTPUT_ENABLED), /* LED_STRIP*/
};
/*
* 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/timer.h"
#include "drivers/timer_def.h"
#include "drivers/dma.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH4, PA3, TIM_USE_PPM, TIMER_INPUT_ENABLED), /* PPM IN */
DEF_TIM(TIM17,CH1N,PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), /* PWM1 */
DEF_TIM(TIM8, CH1, PB6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM2 */
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM3 */
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), /* PWM4 */
DEF_TIM(TIM16,CH1, PA6, TIM_USE_LED, TIMER_OUTPUT_ENABLED), /* LED_STRIP*/
};

252
src/main/target/EACHIF3/target.h
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@ -1,126 +1,126 @@
/*
* 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 "EACH" /* https://github.com/vladisenko/EachiWhoop */
#define LED0_PIN PA8
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define MPU6500_SPI_INSTANCE SPI1
#define SPI1_SCK_PIN PB3
#define SPI1_MISO_PIN PB4
#define SPI1_MOSI_PIN PB5
#define MPU6500_CS_PIN PA5
#define GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW90_DEG
#define ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define USE_RX_SPI
#define USE_RX_FLYSKY
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
#define FLYSKY_2A_CHANNEL_COUNT 10
#define RX_SPI_INSTANCE SPI2
#define RX_IRQ_PIN PB12
#define SPI2_NSS_PIN PA4
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define RX_NSS_PIN SPI2_NSS_PIN
#define RX_FLYSKY_BIND_PIN PA1
#define USE_I2C
#define USE_I2C_DEVICE_2
#define I2C_DEVICE (I2CDEV_2)
#define I2C2_SDA PA10
#define I2C2_SCL PA9
#define BARO
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define SERIAL_PORT_COUNT 3
#define USE_VCP
#define USE_UART1
#define USE_UART2
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART2_RX_PIN PA2
#define UART2_TX_PIN PA3
#define USE_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define ADC_INSTANCE ADC1
#define VBAT_ADC_PIN PA0
#define VBAT_SCALE_DEFAULT 40
#undef GPS
#undef MAG
#undef SONAR
#undef USE_SERVOS
#undef BEEPER
#define BLACKBOX
#define LED_STRIP
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define BRUSHED_MOTORS
#define DEFAULT_RX_FEATURE FEATURE_RX_SPI
#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP)
#define USB_DETECT_PIN PC14
// IO - stm32f303cc in 48pin package
#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(3)|BIT(4))
#define REMAP_TIM16_DMA
#define REMAP_TIM17_DMA
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS ( TIM_N(2) | TIM_N(8) | TIM_N(16) | TIM_N(17) )
/*
* 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 "EACH" /* https://github.com/vladisenko/EachiWhoop */
#define LED0_PIN PA8
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define MPU6500_SPI_INSTANCE SPI1
#define SPI1_SCK_PIN PB3
#define SPI1_MISO_PIN PB4
#define SPI1_MOSI_PIN PB5
#define MPU6500_CS_PIN PA5
#define GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW90_DEG
#define ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define USE_RX_SPI
#define USE_RX_FLYSKY
#define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
#define FLYSKY_2A_CHANNEL_COUNT 10
#define RX_SPI_INSTANCE SPI2
#define RX_IRQ_PIN PB12
#define SPI2_NSS_PIN PA4
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define RX_NSS_PIN SPI2_NSS_PIN
#define RX_FLYSKY_BIND_PIN PA1
#define USE_I2C
#define USE_I2C_DEVICE_2
#define I2C_DEVICE (I2CDEV_2)
#define I2C2_SDA PA10
#define I2C2_SCL PA9
#define BARO
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define SERIAL_PORT_COUNT 3
#define USE_VCP
#define USE_UART1
#define USE_UART2
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART2_RX_PIN PA2
#define UART2_TX_PIN PA3
#define USE_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define ADC_INSTANCE ADC1
#define VBAT_ADC_PIN PA0
#define VBAT_SCALE_DEFAULT 40
#undef GPS
#undef MAG
#undef SONAR
#undef USE_SERVOS
#undef BEEPER
#define BLACKBOX
#define LED_STRIP
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define BRUSHED_MOTORS
#define DEFAULT_RX_FEATURE FEATURE_RX_SPI
#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP)
#define USB_DETECT_PIN PC14
// IO - stm32f303cc in 48pin package
#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(3)|BIT(4))
#define REMAP_TIM16_DMA
#define REMAP_TIM17_DMA
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS ( TIM_N(2) | TIM_N(8) | TIM_N(16) | TIM_N(17) )