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Added AFHDS2A BS4/BS6 support

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This commit is contained in:
pascallanger 2025-03-20 14:49:34 +01:00
parent d091c57e10
commit db5f1f8899
8 changed files with 185 additions and 115 deletions
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7
Lua_scripts/MultiChan.txt
View File

@ -54,10 +54,9 @@
28,1,Flysky_AFHDS2A,PPM_IBUS,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14
28,2,Flysky_AFHDS2A,PWM_SBUS,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14
28,3,Flysky_AFHDS2A,PPM_SBUS,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14
28,4,Flysky_AFHDS2A,PWM_IB16,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14,CH15,CH16
28,5,Flysky_AFHDS2A,PPM_IB16,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14,CH15,CH16
28,6,Flysky_AFHDS2A,PWM_SB16,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14,CH15,CH16
28,7,Flysky_AFHDS2A,PPM_SB16,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14,CH15,CH16
28,4,Flysky_AFHDS2A,Gyro_Off,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,ST_Ga,TH_Ga,Prio,Calib
28,5,Flysky_AFHDS2A,Gyro_On,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,ST_Ga,TH_Ga,Prio,Calib
28,6,Flysky_AFHDS2A,G_On_Rev,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,ST_Ga,TH_Ga,Prio,Calib
56,0,Flysky2A_RX,RX,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14
56,1,Flysky2A_RX,CPPM,0,CH5,CH6,CH7,CH8,CH9,CH10,CH11,CH12,CH13,CH14
53,0,Height,5ch,0,Gear

14
Multiprotocol/AFHDS2A_Rx_a7105.ino
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@ -183,8 +183,18 @@ uint16_t AFHDS2A_RX_callback()
case AFHDS2A_RX_DATA:
if (AFHDS2A_RX_data_ready()) {
A7105_ReadData(AFHDS2A_RX_TXPACKET_SIZE);
if (memcmp(&packet[1], rx_id, 4) == 0 && memcmp(&packet[5], rx_tx_addr, 4) == 0) {
if (packet[0] == 0x58 && packet[37] == 0x00 && (telemetry_link&0x7F) == 0) { // standard packet, send channels to TX
if (memcmp(&packet[1], rx_id, 4) == 0 && memcmp(&packet[5], rx_tx_addr, 4) == 0)
{
#if 0
//if(packet[0] == 0xAA)
{
for(uint8_t i=0;i<AFHDS2A_RX_TXPACKET_SIZE;i++)
debug(" %02X",packet[i]);
debugln("");
}
#endif
if (packet[0] == 0x58 && packet[37] == 0x00 && (telemetry_link&0x7F) == 0)
{ // standard packet, send channels to TX
int rssi = min(A7105_ReadReg(A7105_1D_RSSI_THOLD),160);
RX_RSSI = map16b(rssi, 160, 8, 0, 128);
AFHDS2A_RX_build_telemetry_packet();

123
Multiprotocol/AFHDS2A_a7105.ino
View File

@ -93,15 +93,17 @@ static void AFHDS2A_update_telemetry()
if (option & 0x80)
{// forward 0xAA and 0xAC telemetry to TX, skip rx and tx id to save space
packet_in[0]= TX_RSSI;
#if 0
debug("T(%02X)=",packet[0]);
for(uint8_t i=9;i < AFHDS2A_RXPACKET_SIZE; i++)
{
packet_in[i-8]=packet[i];
debug(" %02X",packet[i]);
}
debugln("");
#endif
packet_in[29]=packet[0]; // 0xAA Normal telemetry, 0xAC Extended telemetry
telemetry_link=2;
debugln("");
return;
}
#endif
@ -186,16 +188,9 @@ static void AFHDS2A_build_packet(uint8_t type)
case AFHDS2A_PACKET_STICKS:
packet[0] = 0x58;
//16 channels + RX_LQI on channel 17
for(uint8_t ch=0; ch<num_ch; ch++)
for(uint8_t ch=0; ch<17; ch++)
{
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]);
val = convert_channel_ppm(sub_protocol<AFHDS2A_GYRO_OFF?CH_AETR[ch]:ch); // No remapping for BS receivers
if(ch<14)
{
packet[9 + ch*2] = val;
@ -203,24 +198,30 @@ static void AFHDS2A_build_packet(uint8_t type)
}
else
{
if(ch == 16) //CH17=RX_LQI
val = 2000 - 10*RX_LQI;
packet[10 + (ch-14)*6] |= (val)<<4;
packet[12 + (ch-14)*6] |= (val)&0xF0;
packet[14 + (ch-14)*6] |= (val>>4)&0xF0;
}
}
{
uint8_t next_hop = (hopping_frequency_no+1)&0x0F;
packet[34] |= next_hop<<4;
packet[36] |= next_hop?0x80:0x90;
}
break;
case AFHDS2A_PACKET_FAILSAFE:
packet[0] = 0x56;
for(uint8_t ch=0; ch<num_ch; ch++)
{
#ifdef FAILSAFE_ENABLE
if(ch<16)
val = Failsafe_data[CH_AETR[ch]];
else
val = FAILSAFE_CHANNEL_NOPULSES;
if(val!=FAILSAFE_CHANNEL_HOLD && val!=FAILSAFE_CHANNEL_NOPULSES)
for(uint8_t ch=0; ch<16; ch++)
{ // Failsafe values
#ifdef FAILSAFE_ENABLE
val = Failsafe_data[protocol==PROTO_AFHDS2A?CH_AETR[ch]:ch]; // No remapping for BS receivers
if(val!=FAILSAFE_CHANNEL_HOLD && val!=FAILSAFE_CHANNEL_NOPULSES)
val = (((val<<2)+val)>>3)+860;
else
#endif
val = 0x0FFF;
if(ch<14)
{
packet[9 + ch*2] = val;
@ -228,22 +229,11 @@ static void AFHDS2A_build_packet(uint8_t type)
}
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
if(ch<14)
{ // no values
packet[9 + ch*2] = 0xff;
packet[10+ ch*2] = 0xff;
}
}
break;
case AFHDS2A_PACKET_SETTINGS:
packet[0] = 0xaa;
@ -253,10 +243,13 @@ 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;
memset(&packet[15],0xFF,22);
#ifndef MULTI_AIR
if(sub_protocol < AFHDS2A_GYRO_OFF)
{
#endif
packet[13] = sub_protocol & 0x01; // 1 -> PPM output enabled
packet[14]= 0x00;
for(uint8_t i=15; i<37; i++)
packet[i] = 0xff;
packet[14] = 0x00; // ?
packet[18] = 0x05; // ?
packet[19] = 0xdc; // ?
packet[20] = 0x05; // ?
@ -264,6 +257,29 @@ static void AFHDS2A_build_packet(uint8_t type)
packet[21] = 0xdd; // SBUS output enabled
else
packet[21] = 0xde; // IBUS
#ifndef MULTI_AIR
}
else
{//BS receivers
if(sub_protocol == AFHDS2A_GYRO_OFF)
{
memset(&packet[15],0x00,4);
packet[22] = 0xFC; // ?
}
else
{//AFHDS2A_GYRO_ON & AFHDS2A_GYRO_ON_REV
packet[15] = convert_channel_16b_limit(CH13,0,100); // ST Gain
packet[16] = convert_channel_16b_limit(CH14,0,100); // TH Gain
packet[17] = convert_channel_16b_limit(CH15,0,100); // Priority
if(sub_protocol == AFHDS2A_GYRO_ON_REV)
packet[17] |= 0x80; // Reverse
packet[18] = CH16_SW?(0x32|0x80):0x32; // Calib|50?
packet[19] = 0x64; // 100?
packet[20] = 0x64; // 100?
packet[22] = 0xFE; // ?
}
}
#endif
break;
}
packet[37] = 0x00;
@ -283,6 +299,9 @@ uint16_t AFHDS2A_callback()
static uint16_t packet_counter;
uint8_t data_rx=0;
uint16_t start;
#ifndef MULTI_AIR
static uint16_t Prev_Channel[4] = { 0,0,0,0 };
#endif
#ifndef FORCE_AFHDS2A_TUNING
A7105_AdjustLOBaseFreq(1);
#endif
@ -367,10 +386,39 @@ uint16_t AFHDS2A_callback()
AFHDS2A_build_packet(packet_type);
data_rx=A7105_ReadReg(A7105_00_MODE); // Check if something has been received...
A7105_WriteData(AFHDS2A_TXPACKET_SIZE, hopping_frequency[hopping_frequency_no++]);
if(hopping_frequency_no >= AFHDS2A_NUMFREQ)
hopping_frequency_no = 0;
if(!(packet_counter % 1313))
hopping_frequency_no &= 0x0F; // AFHDS2A_NUMFREQ
#if 0
for(uint8_t i=0; i<AFHDS2A_TXPACKET_SIZE; i++)
debug(" %02X",packet[i]);
debugln("");
#endif
#ifndef MULTI_AIR
if(sub_protocol > AFHDS2A_GYRO_OFF)
{//Gyro is on
//Check if gyro settings have changed
uint16_t val;
for(uint8_t i=0;i<4;i++)
{
val = Channel_data[CH13+i] - Prev_Channel[i];
if(val&0x8000) val ^= 0xFFFF;
if(val > 10)
{//This setting has significantly changed
Prev_Channel[i] = Channel_data[CH13+i];
packet_sent = 5;
}
}
}
if(packet_sent && (packet_counter%5)==0)
{//Inform the RX of the change
packet_type = AFHDS2A_PACKET_SETTINGS;
packet_sent--;
}
else
#endif
if(!(packet_counter % 1313))
{//Send settings every 5s
packet_type = AFHDS2A_PACKET_SETTINGS;
}
else
{
#ifdef FAILSAFE_ENABLE
@ -448,9 +496,6 @@ void AFHDS2A_init()
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;
packet_sent = 0;
}
#endif

2
Multiprotocol/Multi.txt
View File

@ -25,7 +25,7 @@
25,FrskyV
26,HONTAI,HONTAI,JJRCX1,X5C1,FQ777_951,XKK170
27,OpnLrs
28,AFHDS2A,PWM_IBUS,PPM_IBUS,PWM_SBUS,PPM_SBUS,PWM_IB16,PPM_IB16,PWM_SB16,PPM_SB16
28,AFHDS2A,PWM_IBUS,PPM_IBUS,PWM_SBUS,PPM_SBUS,Gyro_Off,Gyro_On,G_On_Rev
29,Q2X2,Q222,Q242,Q282
30,WK2x01,WK2801,WK2401,W6_5_1,W6_6_1,W6_HEL,W6_HEL_I
31,Q303,Q303,CX35,CX10D,CX10WD

4
Multiprotocol/Multi_Protos.ino
View File

@ -147,7 +147,7 @@ const char STR_SUBTYPE_MT992[] = "\x04""PA18""SU35";
const char STR_SUBTYPE_MJXQ[] = "\x07""WLH08\0 ""X600\0 ""X800\0 ""H26D\0 ""E010\0 ""H26WH\0 ""Phoenix";
const char STR_SUBTYPE_FY326[] = "\x05""Std\0 ""FY319";
const char STR_SUBTYPE_HONTAI[] = "\x06""Std\0 ""JJRCX1""X5C1\0 ""FQ_951""XKK170";
const char STR_SUBTYPE_AFHDS2A[] = "\x08""PWM,IBUS""PPM,IBUS""PWM,SBUS""PPM,SBUS""PWM,IB16""PPM,IB16""PWM,SB16""PPM,SB16";
const char STR_SUBTYPE_AFHDS2A[] = "\x08""PWM,IBUS""PPM,IBUS""PWM,SBUS""PPM,SBUS""Gyro_Off""Gyro_On\0""G_On_Rev";
const char STR_SUBTYPE_Q2X2[] = "\x04""Q222""Q242""Q282";
const char STR_SUBTYPE_WK2x01[] = "\x06""WK2801""WK2401""W6_5_1""W6_6_1""W6_HeL""W6_HeI";
const char STR_SUBTYPE_Q303[] = "\x06""Std\0 ""CX35\0 ""CX10D\0""CX10WD";
@ -307,7 +307,7 @@ const mm_protocol_definition multi_protocols[] = {
{PROTO_FLYSKY, STR_FLYSKY, STR_SUBTYPE_FLYSKY, 5, OPTION_NONE, 0, 1, SW_A7105, FLYSKY_init, FLYSKY_callback },
#endif
#if defined(AFHDS2A_A7105_INO)
{PROTO_AFHDS2A, STR_AFHDS2A, STR_SUBTYPE_AFHDS2A, 8, OPTION_SRVFREQ, 1, 1, SW_A7105, AFHDS2A_init, AFHDS2A_callback },
{PROTO_AFHDS2A, STR_AFHDS2A, STR_SUBTYPE_AFHDS2A, 7, OPTION_SRVFREQ, 1, 1, SW_A7105, AFHDS2A_init, AFHDS2A_callback },
#endif
#if defined(AFHDS2A_RX_A7105_INO)
{PROTO_AFHDS2A_RX, STR_AFHDS2A_RX,STR_CPPM, NBR_CPPM, OPTION_NONE, 0, 0, SW_A7105, AFHDS2A_RX_init, AFHDS2A_RX_callback },

9
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 4
#define VERSION_PATCH_LEVEL 46
#define VERSION_PATCH_LEVEL 47
#define MODE_SERIAL 0
@ -163,10 +163,9 @@ enum AFHDS2A
PPM_IBUS = 1,
PWM_SBUS = 2,
PPM_SBUS = 3,
PWM_IB16 = 4,
PPM_IB16 = 5,
PWM_SB16 = 6,
PPM_SB16 = 7,
AFHDS2A_GYRO_OFF = 4,
AFHDS2A_GYRO_ON = 5,
AFHDS2A_GYRO_ON_REV = 6,
};
enum Hisky
{

14
Multiprotocol/_Config.h
View File

@ -211,7 +211,7 @@
#define FRSKYL_CC2500_INO
#define FRSKYD_CC2500_INO
#define FRSKYV_CC2500_INO
#define FRSKYX_CC2500_INO
#define FRSKYX_CC2500_INO //Include FRSKYX2 protocol
#define FRSKY_RX_CC2500_INO
#define HITEC_CC2500_INO
#define HOTT_CC2500_INO
@ -302,11 +302,6 @@
//Enable DSM Forward Programming
#define DSM_FWD_PGM
//AFHDS2A specific settings
//-------------------------
//When enabled (remove the "//"), the below setting makes LQI (Link Quality Indicator) available on one of the RX ouput channel (5-14).
//#define AFHDS2A_LQI_CH 14
/**************************/
/*** FAILSAFE SETTINGS ***/
/**************************/
@ -568,10 +563,9 @@ const PPM_Parameters PPM_prot[14*NBR_BANKS]= {
PPM_IBUS
PWM_SBUS
PPM_SBUS
PWM_IB16
PPM_IB16
PWM_SB16
PPM_SB16
AFHDS2A_GYRO_OFF
AFHDS2A_GYRO_ON
AFHDS2A_GYRO_ON_REV
PROTO_AFHDS2A_RX
NONE
PROTO_ASSAN

63
Protocols_Details.md
View File

@ -88,7 +88,7 @@ CFlie|38|CFlie||||||||NRF24L01|
[ESky150](Protocols_Details.md#ESKY150---35)|35|||||||||NRF24L01|
[ESky150V2](Protocols_Details.md#ESKY150V2---69)|69|||||||||CC2500|NRF51822
[Flysky](Protocols_Details.md#FLYSKY---1)|1|Flysky|V9x9|V6x6|V912|CX20||||A7105|
[Flysky AFHDS2A](Protocols_Details.md#FLYSKY-AFHDS2A---28)|28|PWM_IBUS|PPM_IBUS|PWM_SBUS|PPM_SBUS|PWM_IBUS16|PPM_IBUS16|PWM_SBUS16|PPM_SBUS16|A7105|
[Flysky AFHDS2A](Protocols_Details.md#FLYSKY-AFHDS2A---28)|28|PWM_IBUS|PPM_IBUS|PWM_SBUS|PPM_SBUS|Gyro_Off|Gyro_On|Gyro_On_Rev||A7105|
[Flysky AFHDS2A RX](Protocols_Details.md#FLYSKY-AFHDS2A-RX---56)|56|Multi|CPPM|||||||A7105|
[FQ777](Protocols_Details.md#FQ777---23)|23|||||||||NRF24L01|SSV7241
[FrskyD](Protocols_Details.md#FRSKYD---3)|3|D8|Cloned|||||||CC2500|
@ -227,36 +227,59 @@ Telemetry enabled protocol:
- if using erskyTX and OpenTX: full telemetry information available
- if telemetry is incomplete (missing RX RSSI for example), it means that you have to upgrade your RX firmware to version 1.6 or later. You can do it from an original Flysky TX or using a STLink like explained in [this tutorial](https://www.rcgroups.com/forums/showthread.php?2677694-How-to-upgrade-Flysky-Turnigy-iA6B-RX-to-firmware-1-6-with-a-ST-Link).
LQI: Link Quality Indicator which is sent back to the RX on CH17
Option is used to change the servo refresh rate. A value of 0 gives 50Hz (min), 70 gives 400Hz (max). Specific refresh rate value can be calculated like this option=(refresh_rate-50)/5.
**RX_Num is used to give a number a given RX. You must use a different RX_Num per RX. A maximum of 64 AFHDS2A RXs are supported.**
AFHDS2A_LQI_CH is a feature which is disabled by defaut in the _config.h file. When enabled, it makes LQI (Link Quality Indicator) available on one of the RX ouput channel (5-14).
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14
---|---|---|---|---|---|---|---|---|---|---|---|---|---
A|E|T|R|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14
RX output will match the Flysky standard AETR independently of the input configuration AETR, RETA... unless on OpenTX 2.3.3+ you use the "Disable channel mapping" feature on the GUI.
### Sub_protocol PWM_IBUS - *0*
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
A|E|T|R|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14CH15|CH16|LQI
RX output will match the Flysky standard AETR.
### Sub_protocol PPM_IBUS - *1*
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
A|E|T|R|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14CH15|CH16|LQI
RX output will match the Flysky standard AETR.
### Sub_protocol PWM_SBUS - *2*
### Sub_protocol PPM_SBUS - *3*
As stated above.
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
A|E|T|R|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14CH15|CH16|LQI
### Sub_protocol PWM_IBUS16 - *4*
### Sub_protocol PPM_IBUS16 - *5*
### Sub_protocol PWM_SBUS16 - *6*
### Sub_protocol PPM_SBUS16 - *7*
RX output will match the Flysky standard AETR.
3 additional channels. Need recent or updated RXs.
### Sub_protocol Gyro_Off - *3*
RXs: FS-BS6, FS-BS4
CH15|CH16|CH17
---|---|---
CH15|CH16|LQI
Gyro is off
LQI: Link Quality Indicator
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|-|-|-|-|LQI
### Sub_protocol Gyro_On - *4*
RXs: FS-BS6, FS-BS4
Gyro is on
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|ST_Gain|TH_Gain|Priority|Calib|LQI
### Sub_protocol Gyro_On_Rev - *5*
RXs: FS-BS6, FS-BS4
Gyro is on and reversed
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16|CH17
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|ST_Gain|TH_Gain|Priority|Calib|LQI
## FLYSKY AFHDS2A RX - *56*
The Flysky AFHDS2A receiver protocol enables master/slave trainning, separate access from 2 different radios to the same model,...