/* This project 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. Multiprotocol 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 Multiprotocol. If not, see . */ // Last sync with hexfet new_protocols/flysky_a7105.c dated 2015-09-28 #if defined(FLYSKY_A7105_INO) #include "iface_a7105.h" //FlySky constants & variables #define FLYSKY_BIND_COUNT 2500 enum { // flags going to byte 10 FLAG_V9X9_VIDEO = 0x40, FLAG_V9X9_CAMERA= 0x80, // flags going to byte 12 FLAG_V9X9_FLIP = 0x10, FLAG_V9X9_LED = 0x20, }; enum { // flags going to byte 13 FLAG_V6X6_HLESS1= 0x80, // flags going to byte 14 FLAG_V6X6_VIDEO = 0x01, FLAG_V6X6_YCAL = 0x02, FLAG_V6X6_XCAL = 0x04, FLAG_V6X6_RTH = 0x08, FLAG_V6X6_CAMERA= 0x10, FLAG_V6X6_HLESS2= 0x20, FLAG_V6X6_LED = 0x40, FLAG_V6X6_FLIP = 0x80, }; enum { // flags going to byte 14 FLAG_V912_TOPBTN= 0x40, FLAG_V912_BTMBTN= 0x80, }; const uint8_t PROGMEM V912_X17_SEQ[10] = { 0x14, 0x31, 0x40, 0x49, 0x49, // sometime first byte is 0x15 ? 0x49, 0x49, 0x49, 0x49, 0x49, }; static void __attribute__((unused)) flysky_apply_extension_flags() { switch(sub_protocol) { case V9X9: if(CH5_SW) packet[12] |= FLAG_V9X9_FLIP; if(CH6_SW) packet[12] |= FLAG_V9X9_LED; if(CH7_SW) packet[10] |= FLAG_V9X9_CAMERA; if(CH8_SW) packet[10] |= FLAG_V9X9_VIDEO; break; case V6X6: packet[13] = 0x03; // 3 = 100% rate (0=40%, 1=60%, 2=80%) packet[14] = 0x00; if(CH5_SW) packet[14] |= FLAG_V6X6_FLIP; if(CH6_SW) packet[14] |= FLAG_V6X6_LED; if(CH7_SW) packet[14] |= FLAG_V6X6_CAMERA; if(CH8_SW) packet[14] |= FLAG_V6X6_VIDEO; if(CH9_SW) { packet[13] |= FLAG_V6X6_HLESS1; packet[14] |= FLAG_V6X6_HLESS2; } if(CH10_SW) packet[14] |= FLAG_V6X6_RTH; if(CH11_SW) packet[14] |= FLAG_V6X6_XCAL; if(CH12_SW) packet[14] |= FLAG_V6X6_YCAL; packet[15] = 0x10; // unknown packet[16] = 0x10; // unknown packet[17] = 0xAA; // unknown packet[18] = 0xAA; // unknown packet[19] = 0x60; // unknown, changes at irregular interval in stock TX packet[20] = 0x02; // unknown break; case V912: packet_count++; if( packet_count > 9) packet_count = 0; packet[12] |= 0x20; // bit 6 is always set ? packet[13] = 0x00; // unknown packet[14] = 0x00; if(CH5_SW) packet[14] = FLAG_V912_BTMBTN; if(CH6_SW) packet[14] |= FLAG_V912_TOPBTN; packet[15] = 0x27; // [15] and [16] apparently hold an analog channel with a value lower than 1000 packet[16] = 0x03; // maybe it's there for a pitch channel for a CP copter ? packet[17] = pgm_read_byte( &V912_X17_SEQ[packet_count] ) ; // not sure what [17] & [18] are for if(packet_count == 0) // V912 Rx does not even read those bytes... [17-20] packet[18] = 0x02; else packet[18] = 0x00; packet[19] = 0x00; // unknown packet[20] = 0x00; // unknown break; case CX20: packet[19] = 0x00; // unknown packet[20] = (hopping_frequency_no<<4)|0x0A; break; default: break; } } static void __attribute__((unused)) flysky_build_packet(uint8_t init) { uint8_t i; //servodata timing range for flysky. //-100% =~ 0x03e8//=1000us(min) //+100% =~ 0x07ca//=1994us(max) //Center = 0x5d9//=1497us(center) //channel order AIL;ELE;THR;RUD;CH5;CH6;CH7;CH8 packet[0] = init ? 0xaa : 0x55; packet[1] = rx_tx_addr[3]; packet[2] = rx_tx_addr[2]; packet[3] = rx_tx_addr[1]; packet[4] = rx_tx_addr[0]; for(i = 0; i < 8; i++) { uint16_t temp=convert_channel_ppm(CH_AETR[i]); if(sub_protocol == CX20 && CH_AETR[i]==ELEVATOR) temp=3000-temp; packet[5 + i*2]=temp&0xFF; //low byte of servo timing(1000-2000us) packet[6 + i*2]=(temp>>8)&0xFF; //high byte of servo timing(1000-2000us) } flysky_apply_extension_flags(); } uint16_t ReadFlySky() { #ifndef FORCE_FLYSKY_TUNING A7105_AdjustLOBaseFreq(1); #endif if(IS_BIND_IN_PROGRESS) { flysky_build_packet(1); A7105_WriteData(21, 1); bind_counter--; if (bind_counter==0) BIND_DONE; } else { flysky_build_packet(0); A7105_WriteData(21, hopping_frequency[hopping_frequency_no & 0x0F]); A7105_SetPower(); } hopping_frequency_no++; if(sub_protocol==CX20) return 3984; else return 1510; //1460 on deviation but not working with the latest V911 bricks... Turnigy 9X v2 is 1533, Flysky TX for 9XR/9XR Pro is 1510, V911 TX is 1490. } const uint8_t PROGMEM tx_channels[8][4] = { { 0x12, 0x34, 0x56, 0x78}, { 0x18, 0x27, 0x36, 0x45}, { 0x41, 0x82, 0x36, 0x57}, { 0x84, 0x13, 0x65, 0x72}, { 0x87, 0x64, 0x15, 0x32}, { 0x76, 0x84, 0x13, 0x52}, { 0x71, 0x62, 0x84, 0x35}, { 0x71, 0x86, 0x43, 0x52} }; uint16_t initFlySky() { uint8_t chanrow; uint8_t chanoffset; uint8_t temp; A7105_Init(); // limit offset to 9 as higher values don't work with some RX (ie V912) // limit offset to 9 as CX20 repeats the same channels after that if ((rx_tx_addr[3]&0xF0) > 0x90) rx_tx_addr[3]=rx_tx_addr[3]-0x70; // Build frequency hop table chanrow=rx_tx_addr[3] & 0x0F; chanoffset=rx_tx_addr[3]/16; for(uint8_t i=0;i<16;i++) { temp=pgm_read_byte_near(&tx_channels[chanrow>>1][i>>2]); if(i&0x02) temp&=0x0F; else temp>>=4; temp*=0x0A; if(i&0x01) temp+=0x50; if(sub_protocol==CX20) { if(temp==0x0A) temp+=0x37; if(temp==0xA0) { if (chanoffset<4) temp=0x37; else if (chanoffset<9) temp=0x2D; else temp=0x29; } } hopping_frequency[((chanrow&1)?15-i:i)]=temp-chanoffset; } hopping_frequency_no=0; packet_count=0; if(IS_BIND_IN_PROGRESS) bind_counter = FLYSKY_BIND_COUNT; else bind_counter = 0; return 2400; } #endif