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Flysky AFHDS2A: 16 channels + LQI

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Use the 2 new sub protocols to extend the protocol to 16 channels on IBUS
This commit is contained in:
Pascal Langer
2020-07-15 23:58:41 +02:00
parent f8ac406a94
commit d6da230369
8 changed files with 97 additions and 53 deletions
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105
Multiprotocol/AFHDS2A_a7105.ino
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@@ -78,8 +78,6 @@ enum{
static void AFHDS2A_update_telemetry()
{
if(packet[0]==0xAA && packet[9]==0xFD)
return; // ignore packets which contain the RX configuration: FD FF 32 00 01 00 FF FF FF 05 DC 05 DE FA FF FF FF FF FF FF FF FF FF FF FF FF FF FF
// Read TX RSSI
int16_t temp=256-(A7105_ReadReg(A7105_1D_RSSI_THOLD)*8)/5; // value from A7105 is between 8 for maximum signal strength to 160 or less
if(temp<0) temp=0;
@@ -183,37 +181,64 @@ static void AFHDS2A_build_packet(uint8_t type)
{
case AFHDS2A_PACKET_STICKS:
packet[0] = 0x58;
for(uint8_t ch=0; ch<14; ch++)
//16 channels + RX_LQI on channel 17
for(uint8_t ch=0; ch<num_ch; ch++)
{
uint16_t channelMicros = convert_channel_ppm(CH_AETR[ch]);
packet[9 + ch*2] = channelMicros&0xFF;
packet[10 + ch*2] = (channelMicros>>8)&0xFF;
if(ch == 16 // CH17=RX_LQI
#ifdef AFHDS2A_LQI_CH
|| ch == (AFHDS2A_LQI_CH-1) // override channel with LQI
#endif
)
val = 2000 - 10*RX_LQI;
else
val = convert_channel_ppm(CH_AETR[ch]);
if(ch<14)
{
packet[9 + ch*2] = val;
packet[10 + ch*2] = (val>>8)&0x0F;
}
else
{
packet[10 + (ch-14)*6] |= (val)<<4;
packet[12 + (ch-14)*6] |= (val)&0xF0;
packet[14 + (ch-14)*6] |= (val>>4)&0xF0;
}
}
#ifdef AFHDS2A_LQI_CH
// override channel with LQI
val = 2000 - 10*RX_LQI;
packet[9+((AFHDS2A_LQI_CH-1)*2)] = val & 0xff;
packet[10+((AFHDS2A_LQI_CH-1)*2)] = (val >> 8) & 0xff;
#endif
break;
case AFHDS2A_PACKET_FAILSAFE:
packet[0] = 0x56;
for(uint8_t ch=0; ch<14; ch++)
for(uint8_t ch=0; ch<num_ch; ch++)
{
#ifdef FAILSAFE_ENABLE
uint16_t failsafeMicros = Failsafe_data[CH_AETR[ch]];
if( failsafeMicros!=FAILSAFE_CHANNEL_HOLD && failsafeMicros!=FAILSAFE_CHANNEL_NOPULSES)
if(ch<16)
val = Failsafe_data[CH_AETR[ch]];
else
val = FAILSAFE_CHANNEL_NOPULSES;
if(val!=FAILSAFE_CHANNEL_HOLD && val!=FAILSAFE_CHANNEL_NOPULSES)
{ // Failsafe values
failsafeMicros = (((failsafeMicros<<2)+failsafeMicros)>>3)+860;
packet[9 + ch*2] = failsafeMicros & 0xff;
packet[10+ ch*2] = ( failsafeMicros >> 8) & 0xff;
val = (((val<<2)+val)>>3)+860;
if(ch<14)
{
packet[9 + ch*2] = val;
packet[10 + ch*2] = (val>>8)&0x0F;
}
else
{
packet[10 + (ch-14)*6] &= 0x0F;
packet[10 + (ch-14)*6] |= (val)<<4;
packet[12 + (ch-14)*6] &= 0x0F;
packet[12 + (ch-14)*6] |= (val)&0xF0;
packet[14 + (ch-14)*6] &= 0x0F;
packet[14 + (ch-14)*6] |= (val>>4)&0xF0;
}
}
else
#endif
{ // no values
packet[9 + ch*2] = 0xff;
packet[10+ ch*2] = 0xff;
}
if(ch<14)
{ // no values
packet[9 + ch*2] = 0xff;
packet[10+ ch*2] = 0xff;
}
}
break;
case AFHDS2A_PACKET_SETTINGS:
@@ -224,17 +249,14 @@ static void AFHDS2A_build_packet(uint8_t type)
if(val<50 || val>400) val=50; // default is 50Hz
packet[11]= val;
packet[12]= val >> 8;
if(sub_protocol == PPM_IBUS || sub_protocol == PPM_SBUS)
packet[13] = 0x01; // PPM output enabled
else
packet[13] = 0x00;
packet[13] = sub_protocol & 0x01; // 1 -> PPM output enabled
packet[14]= 0x00;
for(uint8_t i=15; i<37; i++)
packet[i] = 0xff;
packet[18] = 0x05; // ?
packet[19] = 0xdc; // ?
packet[20] = 0x05; // ?
if(sub_protocol == PWM_SBUS || sub_protocol == PPM_SBUS)
if(sub_protocol&2)
packet[21] = 0xdd; // SBUS output enabled
else
packet[21] = 0xde; // IBUS
@@ -352,24 +374,19 @@ uint16_t ReadAFHDS2A()
if(packet[0] == 0xAA && packet[9] == 0xFC)
packet_type=AFHDS2A_PACKET_SETTINGS; // RX is asking for settings
else
if(packet[0] == 0xAA || packet[0] == 0xAC)
{
if((packet[0] == 0xAA && packet[9]!=0xFD) || packet[0] == 0xAC)
{// Normal telemetry packet, ignore packets which contain the RX configuration: AA FD FF 32 00 01 00 FF FF FF 05 DC 05 DE FA FF FF FF FF FF FF FF FF FF FF FF FF FF FF
if(!memcmp(&packet[1], rx_tx_addr, 4))
{ // TX address validated
#ifdef AFHDS2A_LQI_CH
if(packet[0]==0xAA && packet[9]!=0xFD)
{// Normal telemetry packet
for(uint8_t sensor=0; sensor<7; sensor++)
{//read LQI value for RX output
uint8_t index = 9+(4*sensor);
if(packet[index]==AFHDS2A_SENSOR_RX_ERR_RATE && packet[index+2]<=100)
{
RX_LQI=packet[index+2];
break;
}
}
for(uint8_t sensor=0; sensor<7; sensor++)
{//read LQI value for RX output
uint8_t index = 9+(4*sensor);
if(packet[index]==AFHDS2A_SENSOR_RX_ERR_RATE && packet[index+2]<=100)
{
RX_LQI=packet[index+2];
break;
}
#endif
}
#if defined(AFHDS2A_FW_TELEMETRY) || defined(AFHDS2A_HUB_TELEMETRY)
AFHDS2A_update_telemetry();
#endif
@@ -416,6 +433,10 @@ uint16_t initAFHDS2A()
rx_id[i]=eeprom_read_byte((EE_ADDR)(addr+i));
}
hopping_frequency_no = 0;
if(sub_protocol&0x04)
num_ch=17;
else
num_ch=14;
return 50000;
}
#endif