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flySky2A.c
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#include "STC15.h"
#include <string.h>
#include <intrins.h>
#include <stdio.h>
/////////////////////////////////////////////////////
//引脚
/////////////////////////////////////////////////////
sbit LED = P3^2;
sbit KEY = P3^3;
sbit PPM_OUT = P3^0;
//不可更改
//sbit A7105_SCK = P1^5;
//sbit A7105_SDA = P1^3; //MOSI
//sbit A7105_GIO2 = P1^4; //MISO
//sbit A7105_GIO1 = P1^1;
sbit A7105_CS = P1^2;
/////////////////////////////////////////////////////
//数据类型
/////////////////////////////////////////////////////
typedef unsigned char uint8_t;
typedef unsigned int uint16_t;
typedef unsigned long uint32_t;
typedef enum
{
false = 0,
true = 1
}bool;
typedef uint16_t tick_t ;
typedef union
{
uint16_t raw;
struct
{
uint8_t h; //高8位
uint8_t l; //低8位,51里大端模式
}parse;
}halfword_t;
/////////////////////////////////////////////////////
//宏
/////////////////////////////////////////////////////
//#define FOSC 12000000 //晶振频率(M)
//#define FOSC 11059200 //晶振频率(M)
//#define FOSC 30000000 //晶振频率(M)
//#define FOSC 20000000 //晶振频率(M)
#define FOSC 24000000 //晶振频率(M)
//
#define _BIT(_bit) (1<<_bit)
#define READ_BIT(_byte,_bit) (_byte&(1<<_bit))
#define CLR_BIT(_byte,_bit) (_byte &= ~(1<<_bit))
#define SET_BIT(_byte,_bit) (_byte |= (1<<_bit))
#define gpio_setMode_IO(_port,_pin) do{ CLR_BIT(P##_port##M0,_pin); CLR_BIT(P##_port##M1,_pin);}while(0) //准双向口
#define gpio_setMode_PP(_port,_pin) do{ SET_BIT(P##_port##M0,_pin); CLR_BIT(P##_port##M1,_pin);}while(0) //推挽输出
#define gpio_setMode_FL(_port,_pin) do{ CLR_BIT(P##_port##M0,_pin); SET_BIT(P##_port##M1,_pin);}while(0) //高阻输入
#define gpio_setMode_OD(_port,_pin) do{ SET_BIT(P##_port##M0,_pin); SET_BIT(P##_port##M1,_pin);}while(0) //开漏输入
#define ID_ADDR_RAM 0xF1
#define MAX_FLYSKY_2A_CHANNEL_COUNT 14
#define FLYSKY_FREQUENCY_COUNT 16
#define FLYSKY_2A_PAYLOAD_SIZE 37
#define FLYSKY_2A_CHANNEL_COUNT 8//MAX_FLYSKY_2A_CHANNEL_COUNT
#define TX_DELAY (500*2)
/*********A7105****************/
/**
* A7105 states for strobe
*/
typedef enum
{
A7105_SLEEP = 0x80,
A7105_IDLE = 0x90,
A7105_STANDBY = 0xA0,
A7105_PLL = 0xB0,
A7105_RX = 0xC0,
A7105_TX = 0xD0,
A7105_RST_WRPTR = 0xE0,
A7105_RST_RDPTR = 0xF0
} a7105_state_t;
/**
* Register addresses
*/
typedef enum
{
A7105_00_MODE = 0x00,
A7105_01_MODE_CONTROL = 0x01,
A7105_02_CALC = 0x02,
A7105_03_FIFOI = 0x03,
A7105_04_FIFOII = 0x04,
A7105_05_FIFO_DATA = 0x05,
A7105_06_ID_DATA = 0x06,
A7105_07_RC_OSC_I = 0x07,
A7105_08_RC_OSC_II = 0x08,
A7105_09_RC_OSC_III = 0x09,
A7105_0A_CK0_PIN = 0x0A,
A7105_0B_GPIO1_PIN_I = 0x0B,
A7105_0C_GPIO2_PIN_II = 0x0C,
A7105_0D_CLOCK = 0x0D,
A7105_0E_DATA_RATE = 0x0E,
A7105_0F_PLL_I = 0x0F,
A7105_0F_CHANNEL = 0x0F,
A7105_10_PLL_II = 0x10,
A7105_11_PLL_III = 0x11,
A7105_12_PLL_IV = 0x12,
A7105_13_PLL_V = 0x13,
A7105_14_TX_I = 0x14,
A7105_15_TX_II = 0x15,
A7105_16_DELAY_I = 0x16,
A7105_17_DELAY_II = 0x17,
A7105_18_RX = 0x18,
A7105_19_RX_GAIN_I = 0x19,
A7105_1A_RX_GAIN_II = 0x1A,
A7105_1B_RX_GAIN_III = 0x1B,
A7105_1C_RX_GAIN_IV = 0x1C,
A7105_1D_RSSI_THOLD = 0x1D,
A7105_1E_ADC = 0x1E,
A7105_1F_CODE_I = 0x1F,
A7105_20_CODE_II = 0x20,
A7105_21_CODE_III = 0x21,
A7105_22_IF_CALIB_I = 0x22,
A7105_23_IF_CALIB_II = 0x23,
A7105_24_VCO_CURCAL = 0x24,
A7105_25_VCO_SBCAL_I = 0x25,
A7105_26_VCO_SBCAL_II = 0x26,
A7105_27_BATTERY_DET = 0x27,
A7105_28_TX_TEST = 0x28,
A7105_29_RX_DEM_TEST_I = 0x29,
A7105_2A_RX_DEM_TEST_II = 0x2A,
A7105_2B_CPC = 0x2B,
A7105_2C_XTAL_TEST = 0x2C,
A7105_2D_PLL_TEST = 0x2D,
A7105_2E_VCO_TEST_I = 0x2E,
A7105_2F_VCO_TEST_II = 0x2F,
A7105_30_IFAT = 0x30,
A7105_31_RSCALE = 0x31,
A7105_32_FILTER_TEST = 0x32,
} a7105_reg_t;
/* Register: A7105_00_MODE */
#define A7105_MODE_FECF 0x40 // [0]: FEC pass. [1]: FEC error. (FECF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CRCF 0x20 // [0]: CRC pass. [1]: CRC error. (CRCF is read only, it is updated internally while receiving every packet.)
#define A7105_MODE_CER 0x10 // [0]: RF chip is disabled. [1]: RF chip is enabled.
#define A7105_MODE_XER 0x08 // [0]: Crystal oscillator is disabled. [1]: Crystal oscillator is enabled.
#define A7105_MODE_PLLER 0x04 // [0]: PLL is disabled. [1]: PLL is enabled.
#define A7105_MODE_TRSR 0x02 // [0]: RX state. [1]: TX state. Serviceable if TRER=1 (TRX is enable).
#define A7105_MODE_TRER 0x01 // [0]: TRX is disabled. [1]: TRX is enabled.
/////////////////////////////////////////////////////
//flySky2A相关数据类型
/////////////////////////////////////////////////////
typedef struct {
uint8_t type;
uint8_t number;
uint8_t valueL;
uint8_t valueH;
} flySky2ASens_t;
typedef struct {
uint8_t type;
uint32_t txId;
uint32_t rxId;
flySky2ASens_t sens[7];
} flySky2ATelemetryPkt_t;
typedef struct {
uint8_t type; //1
uint32_t txId; //5
uint32_t rxId; //9
uint8_t state; //10
uint8_t reserved1; //11
uint8_t rfChannelMap[16]; //
uint8_t reserved2[10];
} flySky2ABindPkt_t;
typedef struct {
uint8_t type; //1
uint32_t txId; //5
uint32_t rxId; //9
uint8_t dat[28];
} flySky2ARcDataPkt_t;
typedef struct {
uint8_t type;
uint32_t txId;
uint8_t dat[16];
} flySkyRcDataPkt_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
};
typedef struct {
tick_t packet;
tick_t firstPacket;
tick_t syncPacket;
tick_t telemetry;
} timings_t;
/////////////////////////////////////////////////////
//变量
/////////////////////////////////////////////////////
code uint8_t flySky2ARegs[] = {
0xff, 0x62, 0x00, 0x25, 0x00, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x01, 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
};
code uint8_t flySky2ABindChannels[] = {
0x0D, 0x8C
};
//code timings_t flySky2ATimings = {3850, 4850, 5775, 57000};
//对频参数
data uint32_t txId = 0;
data uint32_t rxId = 0;
data uint8_t rfChannelMap[FLYSKY_FREQUENCY_COUNT];
data uint8_t packet[FLYSKY_2A_PAYLOAD_SIZE];
//通道数据,1000-2000
//[173->998],[1812->2012],[993->1500]
halfword_t rcData[FLYSKY_2A_CHANNEL_COUNT] = {
1500,
1500,
1000,
1500,
1000,
1000,
1000,
1000,
};
bit sbus_busy = 0;
data uint8_t sbus_cnt = 0;
uint8_t sbus_buffer[22]; //22个通道数据
halfword_t sbusData[FLYSKY_2A_CHANNEL_COUNT];
data tick_t timeLastSBUSPacket;
data uint8_t cnt33ms = 0; //32.768ms
data uint8_t cnt33ms_led = 0; //32.768ms
bit bound = false;
data uint8_t timeBindRequest = 0;
data tick_t timeout = 0; //下个包的超时时间
data tick_t timeLastPacket = 0; //上一次收到包的时间
data uint8_t countTimeout = 0; //接收超时次数
data uint8_t countPacket = 0; //接收包计数
bit waitTx = false; //等待发送
data tick_t timeTxRequest; //请求发送的时间
bit sendTelemetry = false; //发送回传包请求
data uint8_t errorRate = 0; //误码率
//data uint16_t rssi_dBm = 0; //
data tick_t txrx_finished_time;
//bit txrx_finished = false;
data uint8_t adc_voltage = 0;
/////////////////////////////////////////////////////
//common
/////////////////////////////////////////////////////
tick_t micros()
{
register uint8_t th;
register uint8_t tl;
do
{
th = CH;
tl = CL;
}while(th != CH);
return (((tick_t)th<<8) + tl);
}
/*********************EEPROM**************************/
//每个扇区512字节
//STC15W408AS的EEPROM:10个扇区,0000H-13FFH
//IAP15W408AS: 16个扇区,0000H-1FFFH
//IAP15W4K61S4: 122个扇区,0000H-F3FFH
#if FOSC < 1000000
#define ENABLE_IAP 0x87 //SYSCLK<1 MHz
#elif FOSC < 2000000
#define ENABLE_IAP 0x86 //SYSCLK<2 MHz
#elif FOSC < 3000000
#define ENABLE_IAP 0x85 //SYSCLK<3 MHz
#elif FOSC < 6000000
#define ENABLE_IAP 0x84 //SYSCLK<6 MHz
#elif FOSC < 12000000
#define ENABLE_IAP 0x83 //SYSCLK<12 MHz
#elif FOSC < 20000000
#define ENABLE_IAP 0x82 //SYSCLK<20 MHz
#elif FOSC < 24000000
#define ENABLE_IAP 0x81 //SYSCLK<24 MHz
#elif FOSC < 30000000
#define ENABLE_IAP 0x80 //SYSCLK<30 MHz
#else
#define ENABLE_IAP 0x80 //???
#endif
#define CMD_IDLE 0 //空闲模式
#define CMD_READ 1 //字节读取
#define CMD_PROGRAM 2 //字节编程
#define CMD_ERASE 3 //扇区擦除
#define IAP_SECTOR_SIZE 512 //扇区大小,删除时会删除整个扇区
#define EEPROM_ADDRESS 0*IAP_SECTOR_SIZE //用于EEPROM的起始地址
void IapIdle()
{
IAP_CONTR = 0; //关闭IAP功能
IAP_CMD = 0;
IAP_TRIG = 0;
IAP_ADDRH = 0x80;
IAP_ADDRL = 0;
}
void IapEraseSector(uint16_t addr)
{
IAP_CONTR = ENABLE_IAP; //使能IAP
IAP_CMD = CMD_ERASE; //设置IAP命令
IAP_ADDRL = addr; //设置IAP低地址
IAP_ADDRH = addr >> 8; //设置IAP高地址
IAP_TRIG = 0x5a; //写触发命令(0x5a)
IAP_TRIG = 0xa5; //写触发命令(0xa5)
_nop_(); //等待ISP/IAP/EEPROM操作完成
IapIdle();
}
void eeprom_write_byte(uint16_t addr,uint8_t dat)
{
IAP_CONTR = ENABLE_IAP;
IAP_CMD = CMD_PROGRAM;
IAP_ADDRL = addr;
IAP_ADDRH = addr >> 8;
IAP_DATA = dat;
IAP_TRIG = 0x5a;
IAP_TRIG = 0xa5;
_nop_();
IapIdle();
}
uint8_t eeprom_read_byte(uint16_t addr)
{
uint8_t dat;
IAP_CONTR = ENABLE_IAP;
IAP_CMD = CMD_READ;
IAP_ADDRL = addr;
IAP_ADDRH = addr>>8;
IAP_TRIG = 0x5A;
IAP_TRIG = 0xA5;
_nop_();
dat = IAP_DATA;
IapIdle();
return dat;
}
void eeprom_write(uint16_t addr,const void *buffer,uint16_t len)
{
uint8_t *p = (uint8_t*)buffer;
while(len--)
{
eeprom_write_byte(addr++,*p++);
}
}
void eeprom_read(uint16_t addr,void *buffer,uint16_t len)
{
uint8_t *p = (uint8_t*)buffer;
while(len--)
{
*p++ = eeprom_read_byte(addr++);
}
}
//addr为扇区首地址
void eeprom_erase(uint16_t addr,uint16_t len)
{
uint8_t num = (len+IAP_SECTOR_SIZE-1)/IAP_SECTOR_SIZE;
while(num--)
{
IapEraseSector(addr);
addr += IAP_SECTOR_SIZE;
}
}
/*********************SPI**************************/
//定义寄存器位
#define SSIG 0x80 //SPCTL.7
#define SPEN 0x40 //SPCTL.6
#define DORD 0x20 //SPCTL.5
#define MSTR 0x10 //SPCTL.4
#define CPOL 0x08 //SPCTL.3
#define CPHA 0x04 //SPCTL.2
#define SPIF 0x80 //SPSTAT.7
#define WCOL 0x40 //SPSTAT.6
#define SPI_LSB 0 //定义为1时低位先行,为0时高位先行
#define SPI_CPOL 0 //定义空闲时的电平
//定义时钟相位
//0 前时钟沿采样，后时钟沿输出
//1 前时钟沿输出，后时钟沿采样
//SPI总线速率@15W/15F
#define SPI_SPEED_4 0 //CPU_CLK/4
#define SPI_SPEED_8 1 //CPU_CLK/8
#define SPI_SPEED_16 2 //CPU_CLK/16
#define SPI_SPEED_32 3 //CPU_CLK/32
#define SPI_CPHA 0
#define SPI_WOK (SPSTAT & SPIF) //发送完成
void SPI_Init()
{
SPSTAT = SPIF | WCOL;
//SPI使能，主机，方向，空闲电平，时序，速度
SPCTL = (SPI_LSB<<5)|(SPI_CPOL<<3)|(SPI_CPHA<<2) | SPI_SPEED_4; //忽略ss脚,主模式,
SPCTL |= SSIG|SPEN| MSTR; //忽略ss脚,主模式,
}
#define SPI_RW(_v) do{SPDAT = (_v); while(!SPI_WOK);SPSTAT = SPIF | WCOL;}while(0)
#define SPI_DATA (SPDAT)
/********************UART*****************/
//timer2作为波特率发生器
void uart_init_sbus() //UART1初始化
{
SCON = 0xda; //9位可变波特率,校验位初始为1
RI=0;
TI = 0;
//设置波特率发生器（T2 1T）
T2L = 65536-FOSC/4/100000; //100kbps
T2H = (65536-FOSC/4/100000)>>8;
AUXR = 0x14;
AUXR |= 0x01;
REN = 0;
ES = 1; //允许串口中断
EA = 1; //打开总中断
}
#define SBUS_PUTC(_c) do{ACC = (_c);if (P)TB8 = 1;else TB8 = 0;SBUF = ACC;}while(0)
//获取校验位
//偶校验
/********************TIMER0*****************/
/**********************
16BIT 最大值 65536/F(us)
F(M) 1T(ms) 12T(ms)
8 8.192 98.304
12 5.461 65.536
24 2.731 32.768
35 1.872 22.469
***********************/
#define TIMER_16BIT_12T_US(_) (uint16_t)(65536 - (_)*(FOSC/12000000))
#define TIMER_16BIT_1T_US(_) (uint16_t)(65536 - _*(FOSC/1000000))
#define AUXR_T0x12 0x80
#define AUXR_T1x12 0x20
void timer0_init()
{
//定时器0
AUXR &= ~AUXR_T0x12; //12T
//AUXR |= AUXR_T0x12; //1T
TMOD &= 0xF0; //16位自动重载
TL0 = TIMER_16BIT_12T_US(400);
TH0 = TIMER_16BIT_12T_US(400)>>8; //4ms
ET0 = 1;
TR0 = 1;
EA = 1; //打开总中断
}
/********************PCA*****************/
//系统时间,下降沿捕获
void pca_init()
{
CCON = 0; //初始化PCA控制寄存器
//PCA定时器停止
//清除CF标志
//清除模块中断标志
CL = 0; //复位PCA寄存器
CH = 0;
//CMOD = 0x00; //设置PCA时钟源，禁止PCA定时器溢出中断
CMOD = 0x01; //设置PCA时钟源,使能PCA定时器溢出中断
CR = 1; //PCA定时器开始工作
CCAPM0 = 0x10; //PCA模块0为16位捕获模式(下降沿捕获,可测从低电平开始的整个周期),禁止捕获中断
}
/********************ADC*****************/
#define ADC_POWER 0x80 //ADC电源控制位
#define ADC_FLAG 0x10 //ADC完成标志
#define ADC_START 0x08 //ADC起始控制位
#define ADC_SPEEDLL 0x00 //540个时钟
#define ADC_SPEEDL 0x20 //360个时钟
#define ADC_SPEEDH 0x40 //180个时钟
#define ADC_SPEEDHH 0x60 //90个时钟
#define ADC_BEGIN(_ch) do{ADC_CONTR = ADC_POWER | ADC_SPEEDLL | _ch | ADC_START;}while(0)
void adc_init()
{
P1ASF = 0x01; //设置P1口为AD口
ADC_RES = 0; //清除结果寄存器
ADC_CONTR = ADC_POWER | ADC_SPEEDLL;
ADC_BEGIN(0);
}
/////////////////////////////////////////////////////
//A7105
/////////////////////////////////////////////////////
void A7105SoftReset(void)
{
A7105_CS = 0;
SPI_RW(A7105_00_MODE);
SPI_RW(0);
A7105_CS = 1;
}
#define A7105ReadReg_D(_reg,_ret) do{A7105_CS = 0;SPI_RW((_reg) | 0x40);SPI_RW(0xFF);A7105_CS = 1;_ret = SPI_DATA;}while(0)
uint8_t A7105ReadReg(uint8_t reg)
{
A7105_CS = 0;
SPI_RW(reg | 0x40);
SPI_RW(0xFF);
A7105_CS = 1;
return SPI_DATA;
}
#define A7105WriteReg_D(_reg,_dat) do{A7105_CS = 0;SPI_RW((_reg));SPI_RW(_dat);A7105_CS = 1;}while(0)
void A7105WriteReg(uint8_t reg, uint8_t dat)
{
A7105_CS = 0;
SPI_RW(reg);
SPI_RW(dat);
A7105_CS = 1;
}
#define A7105Strobe(_s) do{ A7105_CS = 0;SPI_RW(_s);A7105_CS = 1; }while(0)
//void A7105Strobe(uint8_t state)
//{
// A7105_CS = 0;
// SPI_RW(state);
// A7105_CS = 1;
//}
void A7105WriteID(uint32_t id)
{
A7105_CS = 0;
SPI_RW(A7105_06_ID_DATA);
SPI_RW((id >> 24));
SPI_RW((id >> 16));
SPI_RW((id >> 8));
SPI_RW((id >> 0));
A7105_CS = 1;
}
uint32_t A7105ReadID()
{
uint32_t id = 0;
A7105_CS = 0;
SPI_RW(A7105_06_ID_DATA | 0x40);
SPI_RW(0xFF); id |= SPI_DATA;id<<=8;
SPI_RW(0xFF); id |= SPI_DATA;id<<=8;
SPI_RW(0xFF); id |= SPI_DATA;id<<=8;
SPI_RW(0xFF); id |= SPI_DATA;
A7105_CS = 1;
return id;
}
void A7105WriteFIFO (uint8_t *dat, uint8_t num)
{
A7105Strobe(A7105_RST_WRPTR); // reset write pointer
A7105_CS = 0;
SPI_RW(A7105_05_FIFO_DATA);
while(num--)
{
SPI_RW(*dat);
dat++;
}
A7105_CS = 1;
}
void A7105ReadFIFO (uint8_t *dat, uint8_t num)
{
A7105Strobe(A7105_RST_RDPTR); // reset read pointer
A7105_CS = 0;
SPI_RW(A7105_05_FIFO_DATA | 0x40);
while(num--)
{
SPI_RW(0xFF);
*dat++=SPI_DATA;
}
A7105_CS = 1;
}
void A7105Init(uint32_t id)
{
A7105SoftReset();
A7105WriteID(id);
}
void A7105Config(const uint8_t *regsTable, uint8_t len)
{
uint8_t i;
if (regsTable) {
uint16_t t = 1000;
for (i = 0; i < len; i++) {
if (regsTable[i] != 0xFF) {
A7105WriteReg (i, regsTable[i]);
}
}
A7105Strobe(A7105_STANDBY);
A7105WriteReg(A7105_02_CALC, 0x01);
while ((A7105ReadReg(A7105_02_CALC) != 0) && t--) {}
A7105ReadReg(A7105_22_IF_CALIB_I);
A7105WriteReg(A7105_24_VCO_CURCAL, 0x13);
A7105WriteReg(A7105_25_VCO_SBCAL_I, 0x09);
A7105Strobe(A7105_STANDBY);
}
}
/////////////////////////////////////////////////////
//flySky2A
/////////////////////////////////////////////////////
uint8_t getNextChannel(uint8_t step)
{
static data uint8_t channel = 0;
channel = (channel + step) & 0x0F;
return rfChannelMap[channel];
}
#define resetTimeout(_ts) do{timeLastPacket = (_ts);timeout = 4850*2;countTimeout = 0;countPacket++;}while(0)
//void resetTimeout(tick_t timeStamp)
//{
// timeLastPacket = timeStamp;
// timeout = 4850*2;
// countTimeout = 0;
// countPacket++;
//}
//txId和rxId校验
//bool isValidPacket(const uint8_t *packet)
//{
// //const flySky2ARcDataPkt_t *rcPacket = (const flySky2ARcDataPkt_t*) packet;
// //return (rcPacket->rxId == rxId && rcPacket->txId == txId);
// return true;
//}
void buildAndWriteTelemetry(uint8_t *packet)
{
if (packet) {
static data uint8_t bytesToWrite = FLYSKY_2A_PAYLOAD_SIZE; // first time write full packet to buffer a7105
flySky2ATelemetryPkt_t *telemertyPacket = (flySky2ATelemetryPkt_t*) packet;
//FIXME:BAT_ADC
halfword_t voltage;
voltage.raw = (uint32_t)adc_voltage*330*11/255*1;
telemertyPacket->type = FLYSKY_2A_PACKET_TELEMETRY;
telemertyPacket->sens[0].type = SENSOR_INT_V;
telemertyPacket->sens[0].number = 0;
telemertyPacket->sens[0].valueL = voltage.parse.l;
telemertyPacket->sens[0].valueH = voltage.parse.h;
//rssi_dBm = 0;
telemertyPacket->sens[1].type = SENSOR_RSSI;
telemertyPacket->sens[1].number = 0;
telemertyPacket->sens[1].valueL = 0;//rssi_dBm & 0xFF;
telemertyPacket->sens[1].valueH = 0;//(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
}
}
bool flySky2AInit()
{
uint8_t startRxChannel;
uint32_t id;
rxId = *((uint32_t*)ID_ADDR_RAM); //使用STC的ID号前4个字节作为rxID
startRxChannel = flySky2ABindChannels[0];
A7105Init(0x5475c52A);
A7105Config(flySky2ARegs, sizeof(flySky2ARegs));
id = A7105ReadID();
if(id != 0x5475c52A)return false; //无线模块异常
if (txId == 0)
{
bound = false; //进入对码模式
}
else
{
bound = true;
startRxChannel = getNextChannel(0);
}
A7105WriteReg(A7105_0F_CHANNEL, startRxChannel);
A7105Strobe(A7105_RX); // start listening
resetTimeout(0);
return true;
}
void config_setup()
{
uint8_t temp1 = 0;
uint8_t temp2 = 0;
uint8_t offset;
temp1 = eeprom_read_byte(EEPROM_ADDRESS);
temp2 = eeprom_read_byte(EEPROM_ADDRESS+1);
if(temp1 == 0x55 && temp2 == 0xAA)
{
offset = 2;
eeprom_read(EEPROM_ADDRESS+offset,&txId,sizeof(txId)); offset += sizeof(txId);
eeprom_read(EEPROM_ADDRESS+offset,rfChannelMap,FLYSKY_FREQUENCY_COUNT);offset += FLYSKY_FREQUENCY_COUNT;
}
else
{
txId = 0;
}
}
////////////////////////////////////////////////
//
////////////////////////////////////////////////
void config_save()
{
uint8_t offset;
eeprom_erase(EEPROM_ADDRESS,512);
eeprom_write_byte(EEPROM_ADDRESS,0x55);
eeprom_write_byte(EEPROM_ADDRESS+1,0xAA);
offset = 2;
eeprom_write(EEPROM_ADDRESS+offset,&txId,sizeof(txId)); offset += sizeof(txId);
eeprom_write(EEPROM_ADDRESS+offset,rfChannelMap,FLYSKY_FREQUENCY_COUNT);offset += FLYSKY_FREQUENCY_COUNT;
}
void Delay500ms() //@24.000MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 46;
j = 153;
k = 245;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
void Delay100ms() //@24.000MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 10;
j = 31;
k = 147;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
void main()
{
Delay500ms();
config_setup();
uart_init_sbus();
adc_init();
pca_init();
timer0_init();
SPI_Init();
A7105_CS = 1;
KEY = 1;
if(!flySky2AInit()) //无线错误,双闪
{
while(1)
{
LED = 0;
Delay100ms();
LED = 1;
Delay100ms();
LED = 0;
Delay100ms();
LED = 1;
Delay500ms();
Delay500ms();
}
}
timeLastSBUSPacket = micros();
while(1)
{
static data tick_t tick_now;
bit signalReceived = false; //收到通道数据
data uint8_t modeReg;
if(CCF0) //下降沿捕获标志
{
CCF0 = 0;
txrx_finished_time = (CCAP0H<<8)+CCAP0L; //捕获时间
A7105ReadReg_D(A7105_00_MODE,modeReg);
if (((modeReg & A7105_MODE_TRSR) != 0) && ((modeReg & A7105_MODE_TRER) == 0)) // TX complete
{
if (bound)
{
A7105WriteReg_D(A7105_0F_CHANNEL, getNextChannel(1));
}
A7105Strobe(A7105_RX);
}
else if ((modeReg & (A7105_MODE_CRCF|A7105_MODE_TRER)) == 0) // RX complete, CRC pass
{
data uint8_t bytesToRead = (bound) ? (9 + 2*FLYSKY_2A_CHANNEL_COUNT) : (11 + FLYSKY_FREQUENCY_COUNT);
A7105ReadFIFO(packet, bytesToRead);
switch (packet[0])
{
case FLYSKY_2A_PACKET_SETTINGS: // receiver settings
case FLYSKY_2A_PACKET_FS_SETTINGS: // failsafe settings
case FLYSKY_2A_PACKET_RC_DATA:
//if (isValidPacket(packet)) //包校验
{
resetTimeout(txrx_finished_time);
rcData[0].parse.h = packet[9+1], rcData[0].parse.l = packet[9+0];
rcData[1].parse.h = packet[11+1],rcData[1].parse.l = packet[11+0];
rcData[2].parse.h = packet[13+1],rcData[2].parse.l = packet[13+0];
rcData[3].parse.h = packet[15+1],rcData[3].parse.l = packet[15+0];
rcData[4].parse.h = packet[17+1],rcData[4].parse.l = packet[17+0];
rcData[5].parse.h = packet[19+1],rcData[5].parse.l = packet[19+0];
rcData[6].parse.h = packet[21+1],rcData[6].parse.l = packet[21+0];
rcData[7].parse.h = packet[23+1],rcData[7].parse.l = packet[23+0];
if(packet[0] == FLYSKY_2A_PACKET_RC_DATA);
{
if (sendTelemetry)
{
buildAndWriteTelemetry(packet);
timeTxRequest = txrx_finished_time;
waitTx = true;
sendTelemetry = false;
}
signalReceived = true;
}
if (!waitTx)
{
A7105WriteReg_D(A7105_0F_CHANNEL, getNextChannel(1));
}
}
break;
case FLYSKY_2A_PACKET_BIND1:
case FLYSKY_2A_PACKET_BIND2:
if (!bound)
{
data flySky2ABindPkt_t *bindPacket;
resetTimeout(txrx_finished_time);
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
waitTx = true;
timeTxRequest = txrx_finished_time;
cnt33ms = 0; //200ms后对频成功
A7105WriteFIFO(packet, FLYSKY_2A_PAYLOAD_SIZE);
}
break;
default:
break;
}
if (!waitTx)
{
A7105Strobe(A7105_RX);
}
}
else
{
A7105Strobe(A7105_RX);
}
}
if (waitTx && (micros() - timeTxRequest) > TX_DELAY) //请求之后500us发一个包
{
A7105Strobe(A7105_TX);
waitTx = false;
}
//对频按键
if(KEY == 0)
{
if(timeBindRequest)
{