/*
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 <http://www.gnu.org/licenses/>.
*/
// 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