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Flysky Hall Stick MOD using UART4 by disabling stick A/D, resolving #140. (#149)

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* Flysky Hall Stick MOD using UART4 by disabling stick A/D.

* Fixed build error.

* Added Flysky hall stick mod in test targets.

* Changed ADC disable for Flysky hall sticks method.
This commit is contained in:
richardclli
2021-06-06 18:09:58 +02:00
committed by GitHub
parent d709b69a3c
commit ea9207bfb8
11 changed files with 649 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/opentx.cpp
+3 -1
View File
@@ -32,6 +32,8 @@
#include "audio_driver.h"
#endif
extern uint16_t get_flysky_hall_adc_value(uint8_t ch);
RadioData g_eeGeneral;
ModelData g_model;
@@ -1102,7 +1104,7 @@ void getADC()
#if defined(FLYSKY_HALL_STICKS)
if (x < 4)
v = get_hall_adc_value(x) >> (1 - ANALOG_SCALE);
v = get_flysky_hall_adc_value(x) >> (1 - ANALOG_SCALE);
else
v = getAnalogValue(x) >> (1 - ANALOG_SCALE);
#else
radio/src/options.h
+3
View File
@@ -98,6 +98,9 @@ static const char * const options[] = {
#if defined(HARDWARE_EXTERNAL_ACCESS_MOD)
"externalaccessmod",
#endif
#if defined(FLYSKY_HALL_STICKS)
"flyskyhallsticks",
#endif
#if defined(BIND_KEY)
"bindkey",
#endif
radio/src/targets/common/arm/stm32/timers_driver.cpp
+6
View File
@@ -20,6 +20,8 @@
#include "opentx.h"
extern void flysky_hall_stick_loop( void );
// Start TIMER at 2000000Hz
void init2MhzTimer()
{
@@ -62,6 +64,10 @@ void interrupt5ms()
DEBUG_TIMER_STOP(debugTimerHaptic);
#endif
#if defined(FLYSKY_HALL_STICKS)
flysky_hall_stick_loop(); // TODO: need to put in 1ms timer loop for best performance
#endif
if (pre_scale == 2) {
pre_scale = 0;
DEBUG_TIMER_START(debugTimerPer10ms);
radio/src/targets/horus/CMakeLists.txt
+8
View File
@@ -1,5 +1,6 @@
option(DISK_CACHE "Enable SD card disk cache" ON)
option(UNEXPECTED_SHUTDOWN "Enable the Unexpected Shutdown screen" ON)
option(FLYSKY_HALL_STICKS "Enable FlySky Hall Sticks" OFF)
option(PXX1 "PXX1 protocol support" ON)
option(PXX2 "PXX2 protocol support" OFF)
option(AFHDS3 "AFHDS3 TX Module" ON)
@@ -179,6 +180,12 @@ if(HARDWARE_EXTERNAL_ACCESS_MOD)
add_definitions(-DHARDWARE_EXTERNAL_ACCESS_MOD)
endif()
if(FLYSKY_HALL_STICKS)
add_definitions(-DFLYSKY_HALL_STICKS)
set(AUX_SERIAL OFF)
set(FLYSKY_HALL_STICKS_DRIVER flyskyHallStick_driver.cpp)
endif()
if(HARDWARE_EXTERNAL_MODULE)
add_definitions(-DHARDWARE_EXTERNAL_MODULE)
endif()
@@ -267,6 +274,7 @@ set(FIRMWARE_TARGET_SRC
${FIRMWARE_TARGET_SRC}
${LCD_DRIVER}
${AUX_SERIAL_DRIVER}
${FLYSKY_HALL_STICKS_DRIVER}
${TOUCH_DRIVER}
board.cpp
backlight_driver.cpp
radio/src/targets/horus/board.cpp
+12
View File
@@ -29,6 +29,8 @@ extern "C" {
}
#endif
extern void flysky_hall_stick_init( void );
HardwareOptions hardwareOptions;
void watchdogInit(unsigned int duration)
@@ -108,6 +110,9 @@ void boardInit()
AUDIO_RCC_AHB1Periph |
KEYS_RCC_AHB1Periph |
ADC_RCC_AHB1Periph |
#if defined(FLYSKY_HALL_STICKS)
FLYSKY_HALL_RCC_AHB1Periph |
#endif
AUX_SERIAL_RCC_AHB1Periph |
AUX2_SERIAL_RCC_AHB1Periph |
TELEMETRY_RCC_AHB1Periph |
@@ -129,6 +134,9 @@ void boardInit()
ADC_RCC_APB1Periph |
TIMER_2MHz_RCC_APB1Periph |
AUDIO_RCC_APB1Periph |
#if defined(FLYSKY_HALL_STICKS)
FLYSKY_HALL_RCC_APB1Periph |
#endif
AUX_SERIAL_RCC_APB1Periph |
AUX2_SERIAL_RCC_APB1Periph |
TELEMETRY_RCC_APB1Periph |
@@ -193,6 +201,10 @@ void boardInit()
lcdInit();
backlightInit();
#if defined(FLYSKY_HALL_STICKS)
flysky_hall_stick_init();
#endif
init2MhzTimer();
init5msTimer();
usbInit();
radio/src/targets/horus/flyskyHallStick_driver.cpp
+545
View File
@@ -0,0 +1,545 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#include "opentx.h"
#define HALLSTICK_BUFF_SIZE ( 512 )
#define FLYSKY_HALL_BAUDRATE ( 921600 )
#define FLYSKY_HALL_CHANNEL_COUNT ( 4 )
#define MAX_ADC_CHANNEL_VALUE ( 4095 )
#define MIN_ADC_CHANNLE_VALUE ( 0 )
#define MIDDLE_ADC_CHANNLE_VALUE ( 2047 )
#define FLYSKY_HALL_PROTOLO_HEAD 0x55
#define FLYSKY_HALL_RESP_TYPE_CALIB 0x0e
#define FLYSKY_HALL_RESP_TYPE_VALUES 0x0c
#define FLYSKY_HALL_ERROR_OFFSET 10
typedef struct
{
signed short min;
signed short mid;
signed short max;
} STRUCT_STICK_CALIBRATION;
typedef struct
{
STRUCT_STICK_CALIBRATION sticksCalibration[4];
unsigned char reststate;
unsigned short CRC16;
} STRUCT_STICK_CALIBRATION_PACK;
typedef struct
{
signed short channel[4];
unsigned char stickState;
unsigned short CRC16;
} STRUCT_CHANNEL_PACK;
typedef union
{
STRUCT_STICK_CALIBRATION_PACK channelPack;
STRUCT_CHANNEL_PACK sticksCalibrationPack;
} UNION_DATA;
typedef struct
{
unsigned char start;
unsigned char senderID:2;
unsigned char receiverID:2;
unsigned char packetID:4;
unsigned char length;
UNION_DATA payload;
} STRUCT_HALLDATA;
typedef struct
{
unsigned char senderID:2;
unsigned char receiverID:2;
unsigned char packetID:4;
} STRUCT_HALLID;
typedef union
{
STRUCT_HALLID hall_Id;
unsigned char ID;
} STRUCT_ID;
typedef union
{
STRUCT_HALLDATA halldat;
unsigned char buffer[30];
} UNION_HALLDATA;
typedef struct
{
unsigned char head;
STRUCT_ID hallID;
unsigned char length;
unsigned char data[HALLSTICK_BUFF_SIZE];
unsigned char reserved[15];
unsigned short checkSum;
unsigned char stickState;
unsigned char startIndex;
unsigned char endIndex;
unsigned char index;
unsigned char dataIndex;
unsigned char deindex;
unsigned char completeFlg;
unsigned char status;
unsigned char recevied;
unsigned char msg_OK;
} STRUCT_HALL;
enum
{
GET_START = 0,
GET_ID,
GET_LENGTH,
GET_DATA,
GET_STATE,
GET_CHECKSUM,
CHECKSUM,
};
enum HALLSTICK_SEND_STATE_E {
HALLSTICK_SEND_STATE_IDLE,
HALLSTICK_STATE_SEND_RESET,
HALLSTICK_STATE_GET_CONFIG,
HALLSTICK_STATE_GET_FIRMWARE,
HALLSTICK_STATE_UPDATE_FW
};
enum TRANSFER_DIR_E {
TRANSFER_DIR_HALLSTICK,
TRANSFER_DIR_TXMCU,
TRANSFER_DIR_HOSTPC,
TRANSFER_DIR_RFMODULE,
};
DMAFifo<HALLSTICK_BUFF_SIZE> hallDMAFifo __DMA (FLYSKY_HALL_DMA_Stream_RX);
Fifo<uint8_t, HALLSTICK_BUFF_SIZE> hallStickTxFifo;
unsigned char HallCmd[264] __DMA;
STRUCT_HALL HallProtocol = { 0 };
STRUCT_HALL HallProtocolTx = { 0 };
signed short hall_raw_values[FLYSKY_HALL_CHANNEL_COUNT];
STRUCT_STICK_CALIBRATION hall_calibration[FLYSKY_HALL_CHANNEL_COUNT] = { {0, 0, 0} };
unsigned short hall_adc_values[FLYSKY_HALL_CHANNEL_COUNT];
/* crc16 implementation according to CCITT standards */
const unsigned short CRC16Table[256]= {
0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
0x1231,0x0210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
0x2462,0x3443,0x0420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
0x3653,0x2672,0x1611,0x0630,0x76d7,0x66f6,0x5695,0x46b4,
0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
0x48c4,0x58e5,0x6886,0x78a7,0x0840,0x1861,0x2802,0x3823,
0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0x0a50,0x3a33,0x2a12,
0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0x0c60,0x1c41,
0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0x0e70,
0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
0x1080,0x00a1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
0x02b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
0x34e2,0x24c3,0x14a0,0x0481,0x7466,0x6447,0x5424,0x4405,
0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
0x26d3,0x36f2,0x0691,0x16b0,0x6657,0x7676,0x4615,0x5634,
0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
0x5844,0x4865,0x7806,0x6827,0x18c0,0x08e1,0x3882,0x28a3,
0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
0x4a75,0x5a54,0x6a37,0x7a16,0x0af1,0x1ad0,0x2ab3,0x3a92,
0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0x0cc1,
0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
};
const uint8_t sticks_mapping[4] = { 0 /*STICK1*/, 1/*STICK2*/, 2/*STICK3*/, 3 /*STICK4*/};
unsigned short calc_crc16(void *pBuffer,unsigned char BufferSize)
{
unsigned short crc16;
crc16 = 0xffff;
while (BufferSize)
{
crc16 = (crc16 << 8) ^ CRC16Table[((crc16>>8) ^ (*(unsigned char *)pBuffer)) & 0x00ff];
pBuffer = (void *)((unsigned char *)pBuffer + 1);
BufferSize--;
}
return crc16;
}
uint16_t get_flysky_hall_adc_value(uint8_t ch)
{
if (ch >= FLYSKY_HALL_CHANNEL_COUNT)
{
return 0;
}
#if defined(FLYSKY_HALL_STICKS_REVERSE)
ch = sticks_mapping[ch];
return MAX_ADC_CHANNEL_VALUE - hall_adc_values[ch];
#else
if (ch < 2)
{
return MAX_ADC_CHANNEL_VALUE - hall_adc_values[ch];
}
return hall_adc_values[ch];
#endif
}
void HallSendBuffer(uint8_t * buffer, uint32_t count)
{
for(uint32_t idx = 0; buffer != HallCmd && idx < count; idx++)
{
HallCmd[idx] = buffer[idx];
}
DMA_InitTypeDef DMA_InitStructure;
DMA_DeInit(FLYSKY_HALL_DMA_Stream_TX);
DMA_InitStructure.DMA_Channel = FLYSKY_HALL_DMA_Channel;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&FLYSKY_HALL_SERIAL_USART->DR);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(HallCmd);
DMA_InitStructure.DMA_BufferSize = count;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(FLYSKY_HALL_DMA_Stream_TX, &DMA_InitStructure);
DMA_Cmd(FLYSKY_HALL_DMA_Stream_TX, ENABLE);
USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Tx, ENABLE);
DMA_ITConfig(FLYSKY_HALL_DMA_Stream_TX, DMA_IT_TC, ENABLE);
/* enable interrupt and set it's priority */
NVIC_EnableIRQ(FLYSKY_HALL_SERIAL_TX_DMA_Stream_IRQn);
NVIC_SetPriority(FLYSKY_HALL_SERIAL_TX_DMA_Stream_IRQn, 7);
}
extern "C" void FLYSKY_HALL_TX_DMA_Stream_IRQHandler(void)
{
DEBUG_INTERRUPT(INT_TELEM_DMA);
if (DMA_GetITStatus(FLYSKY_HALL_DMA_Stream_TX, FLYSKY_HALL_DMA_TX_FLAG_TC))
{
DMA_ClearITPendingBit(FLYSKY_HALL_DMA_Stream_TX, FLYSKY_HALL_DMA_TX_FLAG_TC);
FLYSKY_HALL_SERIAL_USART->CR1 |= USART_CR1_TCIE;
}
}
uint8_t HallGetByte(uint8_t * byte)
{
return hallDMAFifo.pop(*byte);
}
void reset_hall_stick( void )
{
unsigned short crc16 = 0xffff;
HallCmd[0] = FLYSKY_HALL_PROTOLO_HEAD;
HallCmd[1] = 0xD1;
HallCmd[2] = 0x01;
HallCmd[3] = 0x01;
crc16 = calc_crc16(HallCmd, 4);
HallCmd[4] = crc16 & 0xff;
HallCmd[5] = crc16 >>8 & 0xff;
HallSendBuffer( HallCmd, 6);
}
void get_hall_config( void )
{
unsigned short crc16 = 0xffff;
HallCmd[0] = FLYSKY_HALL_PROTOLO_HEAD;
HallCmd[1] = 0xD1;
HallCmd[2] = 0x01;
HallCmd[3] = 0x00;
crc16 = calc_crc16(HallCmd, 4); // 2B 2C
HallCmd[4] = crc16 & 0xff;
HallCmd[5] = crc16 >>8 & 0xff ;
HallSendBuffer( HallCmd, 6);
}
void flysky_hall_stick_init()
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = FLYSKY_HALL_SERIAL_RX_DMA_Stream_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_PinAFConfig(FLYSKY_HALL_SERIAL_GPIO, FLYSKY_HALL_SERIAL_RX_GPIO_PinSource, FLYSKY_HALL_SERIAL_GPIO_AF);
GPIO_PinAFConfig(FLYSKY_HALL_SERIAL_GPIO, FLYSKY_HALL_SERIAL_TX_GPIO_PinSource, FLYSKY_HALL_SERIAL_GPIO_AF);
GPIO_InitStructure.GPIO_Pin = FLYSKY_HALL_SERIAL_TX_GPIO_PIN | FLYSKY_HALL_SERIAL_RX_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(FLYSKY_HALL_SERIAL_GPIO, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = FLYSKY_HALL_BAUDRATE;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(FLYSKY_HALL_SERIAL_USART, &USART_InitStructure);
DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, DISABLE);
USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, DISABLE);
DMA_DeInit(FLYSKY_HALL_DMA_Stream_RX);
DMA_InitTypeDef DMA_InitStructure;
hallDMAFifo.clear();
USART_ITConfig(FLYSKY_HALL_SERIAL_USART, USART_IT_RXNE, DISABLE);
USART_ITConfig(FLYSKY_HALL_SERIAL_USART, USART_IT_TXE, DISABLE);
DMA_InitStructure.DMA_Channel = FLYSKY_HALL_DMA_Channel;
DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&FLYSKY_HALL_SERIAL_USART->DR);
DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(hallDMAFifo.buffer());
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = hallDMAFifo.size();
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(FLYSKY_HALL_DMA_Stream_RX, &DMA_InitStructure);
USART_DMACmd(FLYSKY_HALL_SERIAL_USART, USART_DMAReq_Rx, ENABLE);
USART_Cmd(FLYSKY_HALL_SERIAL_USART, ENABLE);
DMA_Cmd(FLYSKY_HALL_DMA_Stream_RX, ENABLE);
reset_hall_stick();
}
static int parse_ps_state = 0;
void Parse_Character(STRUCT_HALL *hallBuffer, unsigned char ch)
{
if (parse_ps_state != 0) return;
parse_ps_state = 1;
switch( hallBuffer->status )
{
case GET_START:
{
if ( FLYSKY_HALL_PROTOLO_HEAD == ch )
{
hallBuffer->head = FLYSKY_HALL_PROTOLO_HEAD;
hallBuffer->status = GET_ID;
hallBuffer->msg_OK = 0;
}
break;
}
case GET_ID:
{
hallBuffer->hallID.ID = ch;
hallBuffer->status = GET_LENGTH;
break;
}
case GET_LENGTH:
{
hallBuffer->length = ch;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_DATA;
if( 0 == hallBuffer->length )
{
hallBuffer->status = GET_CHECKSUM;
hallBuffer->checkSum=0;
}
break;
}
case GET_DATA:
{
hallBuffer->data[hallBuffer->dataIndex++] = ch;
if( hallBuffer->dataIndex >= hallBuffer->length)
{
hallBuffer->checkSum = 0;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_STATE;
}
break;
}
case GET_STATE:
{
hallBuffer->checkSum = 0;
hallBuffer->dataIndex = 0;
hallBuffer->status = GET_CHECKSUM;
}
case GET_CHECKSUM:
{
hallBuffer->checkSum |= ch << ((hallBuffer->dataIndex++) * 8);
if( hallBuffer->dataIndex >= 2 )
{
hallBuffer->dataIndex = 0;
hallBuffer->status = CHECKSUM;
}
else
{
break;
}
}
case CHECKSUM:
{
if(hallBuffer->checkSum == calc_crc16( (U8*)&hallBuffer->head, hallBuffer->length + 3 ) )
{
hallBuffer->msg_OK = 1;
goto Label_restart;
}
else
{
goto Label_error;
}
}
}
goto exit;
Label_error:
Label_restart:
hallBuffer->status = GET_START;
exit:
parse_ps_state = 0;
return;
}
void convert_hall_to_adc_value( void )
{
uint16_t value;
for ( uint8_t channel = 0; channel < 4; channel++ )
{
if (hall_raw_values[channel] < hall_calibration[channel].mid)
{
value = hall_calibration[channel].mid - (hall_calibration[channel].min+FLYSKY_HALL_ERROR_OFFSET);
value = ( MIDDLE_ADC_CHANNLE_VALUE * (hall_calibration[channel].mid - hall_raw_values[channel] ) ) / ( value );
if (value >= MIDDLE_ADC_CHANNLE_VALUE ) {
value = MIDDLE_ADC_CHANNLE_VALUE;
}
hall_adc_values[channel] = MIDDLE_ADC_CHANNLE_VALUE - value;
}
else
{
value = (hall_calibration[channel].max - FLYSKY_HALL_ERROR_OFFSET) - hall_calibration[channel].mid;
value = ( MIDDLE_ADC_CHANNLE_VALUE * (hall_raw_values[channel] - hall_calibration[channel].mid ) ) / (value );
if (value >= MIDDLE_ADC_CHANNLE_VALUE )
{
value = MIDDLE_ADC_CHANNLE_VALUE;
}
hall_adc_values[channel] = MIDDLE_ADC_CHANNLE_VALUE + value + 1;
}
}
}
/* Run it in 1ms timer routine */
void flysky_hall_stick_loop(void)
{
static tmr10ms_t lastConfigTime = get_tmr10ms();
bool log = 0;
uint8_t byte;
while(HallGetByte(&byte))
{
HallProtocol.index++;
Parse_Character(&HallProtocol, byte);
if ( HallProtocol.msg_OK )
{
HallProtocol.msg_OK = 0;
HallProtocol.stickState = HallProtocol.data[HallProtocol.length - 1];
switch ( HallProtocol.hallID.hall_Id.receiverID )
{
case TRANSFER_DIR_TXMCU:
if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_CALIB) {
memcpy(&hall_calibration, HallProtocol.data, sizeof(hall_calibration));
}
else if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_VALUES) {
memcpy(hall_raw_values, HallProtocol.data, sizeof(hall_raw_values));
convert_hall_to_adc_value();
}
break;
}
}
}
//check periodically if calibration is correct
if (get_tmr10ms() - lastConfigTime > 200)
{
//invalid calibration
if(hall_calibration[0].max - hall_calibration[0].min < 1024) {
TRACE("GET HALL CONFIG");
get_hall_config();
lastConfigTime = get_tmr10ms();
}
if (log)
{
TRACE_NOCRLF("Hall(%0d):", FLYSKY_FLYSKY_HALL_BAUDRATE);
for (int idx = 0; idx < HallProtocol.length + 5; idx++)
{
TRACE_NOCRLF(" %02X", *((uint8_t*)&HallProtocol + idx));
}
TRACE(";");
}
}
}
radio/src/targets/horus/hal.h
+34 -1
View File
@@ -300,7 +300,9 @@
#define PWM_IRQHandler TIM5_IRQHandler
#define PWM_IRQn TIM5_IRQn
#define PWM_GPIOA_PINS (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3)
#define ADC_GPIOA_PINS (STICKS_PWM_ENABLED() ? 0 : (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3))
#if !defined(FLYSKY_HALL_STICKS)
#define ADC_GPIOA_PINS (STICKS_PWM_ENABLED() ? 0 : (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3))
#endif
#define ADC_GPIOC_PINS (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3)
#define ADC_GPIOF_PINS (GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9)
#define ADC_CHANNEL_STICK_LH ADC_Channel_0 // ADC3_IN0
@@ -742,6 +744,37 @@
#define HAPTIC_TIMER_COMPARE_VALUE HAPTIC_GPIO_TIMER->CCR2
#endif
// Flysky Hall Stick
#if defined(FLYSKY_HALL_STICKS)
#if defined (RADIO_TX16S)
#define FLYSKY_HALL_STICKS_REVERSE
#endif
#define FLYSKY_HALL_SERIAL_USART UART4
#define FLYSKY_HALL_SERIAL_GPIO GPIOA
#define FLYSKY_HALL_DMA_Channel DMA_Channel_4
#define FLYSKY_HALL_SERIAL_TX_GPIO_PIN GPIO_Pin_0 // PA.00
#define FLYSKY_HALL_SERIAL_RX_GPIO_PIN GPIO_Pin_1 // PA.01
#define FLYSKY_HALL_SERIAL_TX_GPIO_PinSource GPIO_PinSource0
#define FLYSKY_HALL_SERIAL_RX_GPIO_PinSource GPIO_PinSource1
#define FLYSKY_HALL_SERIAL_GPIO_AF GPIO_AF_UART4
#define FLYSKY_HALL_RCC_AHB1Periph RCC_AHB1Periph_DMA1
#define FLYSKY_HALL_RCC_APB1Periph RCC_APB1Periph_UART4
#define FLYSKY_HALL_SERIAL_USART_IRQHandler UART4_IRQHandler
#define FLYSKY_HALL_SERIAL_USART_IRQn UART4_IRQn
#define FLYSKY_HALL_SERIAL_RX_DMA_Stream_IRQn DMA1_Stream2_IRQn
#define FLYSKY_HALL_SERIAL_TX_DMA_Stream_IRQn DMA1_Stream4_IRQn
#define FLYSKY_HALL_DMA_Stream_RX DMA1_Stream2
#define FLYSKY_HALL_DMA_Stream_TX DMA1_Stream4
#define FLYSKY_HALL_DMA_TX_FLAG_TC DMA_IT_TCIF4
#define FLYSKY_HALL_RX_DMA_Stream_IRQHandler DMA1_Stream2_IRQHandler
#define FLYSKY_HALL_TX_DMA_Stream_IRQHandler DMA1_Stream4_IRQHandler
#endif
// Internal Module
#if !defined(RADIO_FAMILY_T16)
#define EXTERNAL_ANTENNA
radio/util/fwoptions.py
+3
View File
@@ -244,6 +244,7 @@ options_jumper_t16 = {
"internalmulti": ("INTERNAL_MODULE_MULTI", "YES", "NO"),
"bluetooth": ("BLUETOOTH", "YES", "NO"),
"externalaccessmod": ("HARDWARE_EXTERNAL_ACCESS_MOD", "YES", "NO"),
"flyskyhallsticks": ("FLYSKY_HALL_STICKS", "NO", "YES"),
}
options_jumper_t18 = {
@@ -257,6 +258,7 @@ options_jumper_t18 = {
"flexr9m": ("MODULE_PROTOCOL_FLEX", "YES", None),
"bluetooth": ("BLUETOOTH", "YES", "NO"),
"externalaccessmod": ("HARDWARE_EXTERNAL_ACCESS_MOD", "YES", "NO"),
"flyskyhallsticks": ("FLYSKY_HALL_STICKS", "NO", "YES"),
}
options_radiomaster_tx12 = {
@@ -294,4 +296,5 @@ options_radiomaster_tx16s = {
"bluetooth": ("BLUETOOTH", "YES", "NO"),
"internalgps": ("INTERNAL_GPS", "YES", "NO"),
"externalaccessmod": ("HARDWARE_EXTERNAL_ACCESS_MOD", "YES", "NO"),
"flyskyhallsticks": ("FLYSKY_HALL_STICKS", "NO", "YES"),
}
tools/build-gh.sh
+9
View File
@@ -118,12 +118,21 @@ case $FLAVOR in
T16)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=T16 -DINTERNAL_MODULE_MULTI=ON"
;;
T16_FS)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=T16 -DFLYSKY_HALL_STICKS=ON"
;;
T18)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=T18"
;;
T18_FS)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=T18 -DFLYSKY_HALL_STICKS=ON"
;;
TX16S)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=TX16S"
;;
TX16S_FS)
BUILD_OPTIONS+="-DPCB=X10 -DPCBREV=TX16S -DFLYSKY_HALL_STICKS=ON"
;;
esac
cmake ${BUILD_OPTIONS} "${SRCDIR}"
tools/build-jumper.py
+14
View File
@@ -31,12 +31,26 @@ boards = {
"INTERNAL_MODULE_MULTI": "YES",
"DEFAULT_MODE": "2",
},
"T16_FS": {
"PCB": "X10",
"PCBREV": "T16",
"INTERNAL_MODULE_MULTI": "YES",
"DEFAULT_MODE": "2",
"FLYSKY_HALL_STICKS": "YES",
},
"T18": {
"PCB": "X10",
"PCBREV": "T18",
"INTERNAL_MODULE_MULTI": "YES",
"DEFAULT_MODE": "2",
}
"T18_FS": {
"PCB": "X10",
"PCBREV": "T18",
"INTERNAL_MODULE_MULTI": "YES",
"DEFAULT_MODE": "2",
"FLYSKY_HALL_STICKS": "YES",
},
}
translations = [
tools/build-radiomaster.py
+12
View File
@@ -14,11 +14,23 @@ boards = {
"PCBREV": "TX16S",
"DEFAULT_MODE": "1",
},
"TX16S_1_FS": {
"PCB": "X10",
"PCBREV": "TX16S",
"DEFAULT_MODE": "1",
"FLYSKY_HALL_STICKS": "YES",
},
"TX16S_2": {
"PCB": "X10",
"PCBREV": "TX16S",
"DEFAULT_MODE": "2",
},
"TX16S_2_FS": {
"PCB": "X10",
"PCBREV": "TX16S",
"DEFAULT_MODE": "2",
"FLYSKY_HALL_STICKS": "YES",
},
"TX12_1": {
"PCB": "X7",
"PCBREV": "TX12",