Merge pull request #4060 from vladisenko/v3.2-eachi
Add support FlySky receiver over SPI and "EachiWhoop" target
This commit is contained in:
commit
c62dcf4db8
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@ -115,7 +115,8 @@
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#define PG_CAMERA_CONTROL_CONFIG 522
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#define PG_FRSKY_D_CONFIG 523
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#define PG_MAX7456_CONFIG 524
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#define PG_BETAFLIGHT_END 524
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#define PG_FLYSKY_CONFIG 525
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#define PG_BETAFLIGHT_END 525
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// OSD configuration (subject to change)
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@ -0,0 +1,192 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
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||||
*
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||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <platform.h>
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#ifdef USE_RX_FLYSKY
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#include "drivers/rx_a7105.h"
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#include "drivers/bus_spi.h"
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#include "drivers/rx_spi.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/nvic.h"
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#include "drivers/exti.h"
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#include "drivers/time.h"
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#ifdef RX_PA_TXEN_PIN
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static IO_t txEnIO = IO_NONE;
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#endif
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static IO_t rxIntIO = IO_NONE;
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static extiCallbackRec_t a7105extiCallbackRec;
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static volatile uint32_t timeEvent = 0;
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static volatile bool occurEvent = false;
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void a7105extiHandler(extiCallbackRec_t* cb)
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{
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UNUSED(cb);
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if (IORead (rxIntIO) != 0) {
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timeEvent = micros();
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occurEvent = true;
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}
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}
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void A7105Init (uint32_t id) {
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spiDeviceByInstance(RX_SPI_INSTANCE);
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rxIntIO = IOGetByTag(IO_TAG(RX_IRQ_PIN)); /* config receiver IRQ pin */
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IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
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#ifdef STM32F7
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EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
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EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_PULLDOWN));
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#else
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IOConfigGPIO(rxIntIO, IOCFG_IPD);
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EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
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EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
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#endif
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EXTIEnable(rxIntIO, false);
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#ifdef RX_PA_TXEN_PIN
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txEnIO = IOGetByTag(IO_TAG(RX_PA_TXEN_PIN));
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IOInit(txEnIO, OWNER_RX_SPI_CS, 0);
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IOConfigGPIO(txEnIO, IOCFG_OUT_PP);
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#endif
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A7105SoftReset();
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A7105WriteID(id);
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}
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void A7105Config (const uint8_t *regsTable, uint8_t size)
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{
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if (regsTable) {
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uint32_t timeout = 1000;
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for (uint8_t i = 0; i < size; i++) {
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if (regsTable[i] != 0xFF) {A7105WriteReg ((A7105Reg_t)i, regsTable[i]);}
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}
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A7105Strobe(A7105_STANDBY);
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A7105WriteReg(A7105_02_CALC, 0x01);
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while ((A7105ReadReg(A7105_02_CALC) != 0) || timeout--) {}
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A7105ReadReg(A7105_22_IF_CALIB_I);
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A7105WriteReg(A7105_24_VCO_CURCAL, 0x13);
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A7105WriteReg(A7105_25_VCO_SBCAL_I, 0x09);
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A7105Strobe(A7105_STANDBY);
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}
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}
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bool A7105RxTxFinished (uint32_t *timeStamp) {
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bool result = false;
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if (occurEvent) {
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if (timeStamp) {
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*timeStamp = timeEvent;
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}
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occurEvent = false;
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result = true;
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}
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return result;
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}
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void A7105SoftReset (void)
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{
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rxSpiWriteCommand((uint8_t)A7105_00_MODE, 0x00);
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}
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uint8_t A7105ReadReg (A7105Reg_t reg)
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{
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return rxSpiReadCommand((uint8_t)reg | 0x40, 0xFF);
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}
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void A7105WriteReg (A7105Reg_t reg, uint8_t data)
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{
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rxSpiWriteCommand((uint8_t)reg, data);
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}
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void A7105Strobe (A7105State_t state)
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{
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if (A7105_TX == state || A7105_RX == state) {
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EXTIEnable(rxIntIO, true);
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} else {
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EXTIEnable(rxIntIO, false);
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}
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#ifdef RX_PA_TXEN_PIN
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if (A7105_TX == state) {
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IOHi(txEnIO); /* enable PA */
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} else {
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IOLo(txEnIO); /* disable PA */
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}
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#endif
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rxSpiWriteByte((uint8_t)state);
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}
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void A7105WriteID(uint32_t id)
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{
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uint8_t data[4];
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data[0] = (id >> 24) & 0xFF;
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data[1] = (id >> 16) & 0xFF;
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data[2] = (id >> 8) & 0xFF;
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data[3] = (id >> 0) & 0xFF;
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rxSpiWriteCommandMulti((uint8_t)A7105_06_ID_DATA, &data[0], sizeof(data));
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}
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uint32_t A7105ReadID (void)
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{
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uint32_t id;
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uint8_t data[4];
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rxSpiReadCommandMulti ( (uint8_t)A7105_06_ID_DATA | 0x40, 0xFF, &data[0], sizeof(data));
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id = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3] << 0;
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return id;
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}
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void A7105ReadFIFO (uint8_t *data, uint8_t num)
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{
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if (data) {
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if(num > 64){
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num = 64;
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}
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A7105Strobe(A7105_RST_RDPTR); /* reset read pointer */
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rxSpiReadCommandMulti((uint8_t)A7105_05_FIFO_DATA | 0x40, 0xFF, data, num);
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}
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}
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void A7105WriteFIFO (uint8_t *data, uint8_t num)
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{
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if (data) {
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if(num > 64) {
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num = 64;
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}
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A7105Strobe(A7105_RST_WRPTR); /* reset write pointer */
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rxSpiWriteCommandMulti((uint8_t)A7105_05_FIFO_DATA, data, num);
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}
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}
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#endif /* USE_RX_FLYSKY */
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@ -0,0 +1,111 @@
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/*
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* This file is part of Cleanflight.
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||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
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#pragma once
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/* A7105 states for strobe */
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typedef enum {
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A7105_SLEEP = 0x80,
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A7105_IDLE = 0x90,
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A7105_STANDBY = 0xA0,
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A7105_PLL = 0xB0,
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A7105_RX = 0xC0,
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A7105_TX = 0xD0,
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A7105_RST_WRPTR = 0xE0,
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A7105_RST_RDPTR = 0xF0
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} A7105State_t;
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/* Register addresses */
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typedef enum {
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A7105_00_MODE = 0x00,
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A7105_01_MODE_CONTROL = 0x01,
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A7105_02_CALC = 0x02,
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A7105_03_FIFOI = 0x03,
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A7105_04_FIFOII = 0x04,
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A7105_05_FIFO_DATA = 0x05,
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A7105_06_ID_DATA = 0x06,
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A7105_07_RC_OSC_I = 0x07,
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A7105_08_RC_OSC_II = 0x08,
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A7105_09_RC_OSC_III = 0x09,
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A7105_0A_CK0_PIN = 0x0A,
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A7105_0B_GPIO1_PIN_I = 0x0B,
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A7105_0C_GPIO2_PIN_II = 0x0C,
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A7105_0D_CLOCK = 0x0D,
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A7105_0E_DATA_RATE = 0x0E,
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A7105_0F_PLL_I = 0x0F,
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A7105_0F_CHANNEL = 0x0F,
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A7105_10_PLL_II = 0x10,
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A7105_11_PLL_III = 0x11,
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A7105_12_PLL_IV = 0x12,
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A7105_13_PLL_V = 0x13,
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A7105_14_TX_I = 0x14,
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A7105_15_TX_II = 0x15,
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A7105_16_DELAY_I = 0x16,
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A7105_17_DELAY_II = 0x17,
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A7105_18_RX = 0x18,
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A7105_19_RX_GAIN_I = 0x19,
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A7105_1A_RX_GAIN_II = 0x1A,
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A7105_1B_RX_GAIN_III = 0x1B,
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A7105_1C_RX_GAIN_IV = 0x1C,
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A7105_1D_RSSI_THOLD = 0x1D,
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A7105_1E_ADC = 0x1E,
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A7105_1F_CODE_I = 0x1F,
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A7105_20_CODE_II = 0x20,
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A7105_21_CODE_III = 0x21,
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A7105_22_IF_CALIB_I = 0x22,
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A7105_23_IF_CALIB_II = 0x23,
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A7105_24_VCO_CURCAL = 0x24,
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A7105_25_VCO_SBCAL_I = 0x25,
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A7105_26_VCO_SBCAL_II = 0x26,
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A7105_27_BATTERY_DET = 0x27,
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A7105_28_TX_TEST = 0x28,
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A7105_29_RX_DEM_TEST_I = 0x29,
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A7105_2A_RX_DEM_TEST_II = 0x2A,
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A7105_2B_CPC = 0x2B,
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A7105_2C_XTAL_TEST = 0x2C,
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A7105_2D_PLL_TEST = 0x2D,
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A7105_2E_VCO_TEST_I = 0x2E,
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A7105_2F_VCO_TEST_II = 0x2F,
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A7105_30_IFAT = 0x30,
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A7105_31_RSCALE = 0x31,
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A7105_32_FILTER_TEST = 0x32,
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} A7105Reg_t;
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/* Register: A7105_00_MODE */
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#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
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#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
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#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
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#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
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#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
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#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
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#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
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void A7105Init(uint32_t id);
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void A7105SoftReset(void);
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void A7105Config(const uint8_t *regsTable, uint8_t size);
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uint8_t A7105ReadReg(A7105Reg_t reg);
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void A7105WriteReg(A7105Reg_t reg, uint8_t data);
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void A7105Strobe(A7105State_t state);
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void A7105WriteID(uint32_t id);
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uint32_t A7105ReadID(void);
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void A7105ReadFIFO(uint8_t *data, uint8_t num);
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void A7105WriteFIFO(uint8_t *data, uint8_t num);
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bool A7105RxTxFinished(uint32_t *timeStamp);
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@ -188,7 +188,9 @@ static const char * const lookupTableRxSpi[] = {
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"CX10A",
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"H8_3D",
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"INAV",
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"FRSKY_D"
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"FRSKY_D",
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"FLYSKY",
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"FLYSKY_2A"
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};
|
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#endif
|
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|
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|
|
|
@ -0,0 +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"
|
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#include "build/debug.h"
|
||||
|
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#include "common/maths.h"
|
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#include "common/utils.h"
|
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#include "config/config_eeprom.h"
|
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#include "config/parameter_group_ids.h"
|
||||
#include "fc/config.h"
|
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|
||||
#include "rx/rx.h"
|
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#include "rx/rx_spi.h"
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#include "rx/flysky.h"
|
||||
#include "rx/flysky_defs.h"
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||||
|
||||
#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
|
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#error "FlySky AFHDS protocol support 8 channel max"
|
||||
#endif
|
||||
|
||||
#if FLYSKY_2A_CHANNEL_COUNT > MAX_FLYSKY_2A_CHANNEL_COUNT
|
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#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 */
|
|
@ -0,0 +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);
|
|
@ -0,0 +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
|
||||
};
|
|
@ -39,6 +39,8 @@
|
|||
#include "rx/nrf24_v202.h"
|
||||
#include "rx/nrf24_h8_3d.h"
|
||||
#include "rx/nrf24_inav.h"
|
||||
#include "rx/flysky.h"
|
||||
|
||||
|
||||
uint16_t rxSpiRcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
STATIC_UNIT_TESTED uint8_t rxSpiPayload[RX_SPI_MAX_PAYLOAD_SIZE];
|
||||
|
@ -115,6 +117,14 @@ STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol)
|
|||
protocolDataReceived = frSkyDDataReceived;
|
||||
protocolSetRcDataFromPayload = frSkyDSetRcData;
|
||||
break;
|
||||
#endif
|
||||
#ifdef USE_RX_FLYSKY
|
||||
case RX_SPI_A7105_FLYSKY:
|
||||
case RX_SPI_A7105_FLYSKY_2A:
|
||||
protocolInit = flySkyInit;
|
||||
protocolDataReceived = flySkyDataReceived;
|
||||
protocolSetRcDataFromPayload = flySkySetRcDataFromPayload;
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
return true;
|
||||
|
|
|
@ -30,6 +30,8 @@ typedef enum {
|
|||
RX_SPI_NRF24_H8_3D,
|
||||
RX_SPI_NRF24_INAV,
|
||||
RX_SPI_FRSKY_D,
|
||||
RX_SPI_A7105_FLYSKY,
|
||||
RX_SPI_A7105_FLYSKY_2A,
|
||||
RX_SPI_PROTOCOL_COUNT
|
||||
} rx_spi_protocol_e;
|
||||
|
||||
|
|
|
@ -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/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*/
|
||||
};
|
|
@ -0,0 +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) )
|
|
@ -0,0 +1,11 @@
|
|||
F3_TARGETS += $(TARGET)
|
||||
FEATURES = VCP
|
||||
|
||||
TARGET_SRC = \
|
||||
drivers/accgyro/accgyro_mpu.c \
|
||||
drivers/accgyro/accgyro_mpu6500.c \
|
||||
drivers/accgyro/accgyro_spi_mpu6500.c \
|
||||
drivers/barometer/barometer_bmp280.c \
|
||||
drivers/barometer/barometer_ms5611.c \
|
||||
drivers/rx_a7105.c \
|
||||
rx/flysky.c
|
Loading…
Reference in New Issue