多协议高频头¶
简介¶
1.2 serial Protocol¶
比特率 100000
1.2.1 Stream[0]¶
- 0x55 Sub_Protocol values are 0..31 Stream contains channels
- 0x54 Sub_Protocol values are 32..63 Stream contains channels
- 0x57 sub_protocol values are 0..31 Stream contains failsafe
- 0x56 sub_protocol values are 32..63 Stream contains failsafe
1.2.2 Stream[1]¶
sub_protocol is 0..31 (bits 0..4)
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| BindBit | AutoBB | RangC | sub_protocol | ||||
- 位 7: 绑定标志位(BindBit)
- 0 No
- 1 Yes
- 位 6: 自动绑定标志位(AutoBindBit)
- 0 No
- 1 Yes
- 位 5 : (RangeCheck)
- 0 No
- 1 Yes
- 位 4:0 : 协议序号(sub_protocol)
- 当Byte 0为0x54，该直加上32才为对应的协议序号
1.2.3 Stream[2]¶
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| PowerV | Type | RxNum | |||||
- 位 7： Power value
- 0 : low
- 1 : hight
- 位 6:4 : Type Value
- sub_protocol==Flysky
- 0 : flasky
- 1 : V9x9
- 2 : V6x6
- 3 : V912
- 4 : CX20
- sub_protocol==FRSKYX
- 0 : CH_16
- 1 : CH_8
- 2 : EU_16
- 3 :EU_8
- sub_protocol==FRSKYX_RX
- 0 : FCC
- 1 : LBT
- sub_protocol==Hubsan
- 0 : H107
- 1 : H301
- 2 : H501
- sub_protocol==Hisky
- 0 : Hisky
- 1 : HK310
- sub_protocol==DSM
- 0 : DSM2_22
- 1 : DSM2_11
- 2 : DSMX_22
- 3 : DSMX_11
- 4 : DSM_AUTO
- sub_protocol==YD717
- 0 : YD717
- 1 : SKYWLKR
- 2 : SYMAX4
- 3 : XINXUN
- 4 : NIHUI
- sub_protocol==KN
- 0 : WLTOYS
- 1 : FEILUN
- sub_protocol–SYMAX
- 0 : SYMAX
- 1 : SYMAX5C
- sub_protocol==CX10
- 0 : CX10_GREEN
- 1 : CX10_BLUE
- 2 : DM007
- 3 : —-
- 4 : JC3015_1
- 5 : JC3015_2
- 6 : MK33041
- sub_protocol==Q2X2
- 0 : Q222
- 1 : Q242
- 3 : Q282
- sub_protocol==CG023
- 0 : CG023
- 1 : YD829
- sub_protocol==BAYANG
- 0 : BAYANG
- 1 : H8S3D
- 2 : X16_AH
- 3 : IRDRONE
- 4 : DHD_D4
- sub_protocol==MT99XX
- 0 : MT99
- 1 : H7
- 2 : YZ
- 3 : LS
- 4 : FY805
- sub_protocol==MJXQ
- 0 : WLH08
- 1 : X600
- 2 : X800
- 3 : H26D
- 4 : E010
- 5 : H26WH
- 6 : PHOENIX
- sub_protocol==HONTAI
- 0 : HONTAI
- 1 : JJRCX1
- 2 : X5C1
- 3 : FQ777_951
- sub_protocol==AFHDS2A
- 0 : PWM_IBUS
- 1 : PPM_IBUS
- 2 : PWM_SBUS
- 3 : PPM_SBUS
- sub_protocol==V2X2
- 0 : V2X2
- 1 : JXD506
- sub_protocol==FY326
- 0 : FY326
- 1 : FY319
- sub_protocol==WK2x01
- 0 : WK2801
- 1 : WK2401
- 2 : W6_5_1
- 3 : W6_6_1
- 4 : W6_HEL
- 5 : W6_HEL_I
- sub_protocol==Q303
- 0 : Q303
- 1 : CX35
- 2 : CX10D
- 3 : CX10WD
- sub_protocol==CABELL
- 0 : CABELL_V3
- 1 : CABELL_V3_TELEMETRY
- 6 : CABELL_SET_FAIL_SAFE
- 7 : CABELL_UNBIND
- sub_protocol==H8_3D
- 0 : H8_3D
- 1 : H20H
- 2 : H20MINI
- 3 : H30MINI
- sub_protocol==CORONA
- 0 : COR_V1
- 1 : COR_V2
- 2 : FD_V3
- sub_protocol==HITEC
- 0 : OPT_FW
- 1 : OPT_HUB
- 2 : MINIMA
- sub_protocol==SLT
- 0 : SLT_V1
- 1 : SLT_V2
- 2 : Q100
- 3 : Q200
- 4 : MR100 4
- sub_protocol==E01X
- 0 : E012
- 1 : E015
- 2 : E016H
- sub_protocol==GD00X
- 0 : GD_V1
- 1 : GD_V2
- sub_protocol==REDPINE
- 0 : RED_FAST
- 1 : RED_SLOW
- sub_protocol==TRAXXAS
- 0 : RX6519
- sub_protocol==Flysky
- 位 3:0 : RxNum
1.2.3 : Stream[3]¶
option protocol,values is -128..127
1.2.4 : Stream[4] 到 Steam[25]¶
16 Channels on 11 bits (0..2047)，16个通道，每个通道占用11位，值得范围为0~2047
16 Channels * 11Bits = 22 bytes
| 通道直 | 百分比 |
|---|---|
| 0 | -125% |
| 204 | -100% |
| 1024 | +0%% |
| 1843 | +100% |
| 2047 | +125% |
Values are concatenated to fit in 22 bytes like in SBUS protocol. Failsafe values have exactly the same range/values than normal channels except the extremes where 0=no pulse, 2047=hold. If failsafe is not set or RX then failsafe packets should not be sent.
1.3 遥测协议(Telemetry protocol)¶
| Stream | 0 | 1 | 2 | 3 | 4 | 4+n | 3+leng |
| DATA | 0x4D | 0x50 | Type | leng | data[0] | data[n] | data[leng-1] |
- Stream[0]:head 该数值固定为0x4D
- Stream[1]:head 该数值固定为0x50
- Stream[2]:Type
- 0x01 : Multimodule Status
- 0x02 : Frksy S.port telemetry(Frsky S.port 遥测的回传数据)
- 0x03 : Frsky Hub telemetry
- 0x04 : Spektrum telemetry data
- 0x05 : DSM bind data
- 0x06 : Flysky AFHDS2 telemetry data
- 0x0A : Hitec telemetry data
- 0x0B : Spectrum Scanner telemetry data
- 0x0C : Flysky AFHDS2 telemetry data
- 0x0D : RX channels forwarding
1.3.1 高频头的状态信息(Multimodule Status)¶
| Stream | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| DATA | 0x4D | 0x50 | 0x01 | 5 | Flag | major | minor | revision | patchlevel |
- Stream[4]: 状态标志(Flags)
- 0位 :Imput signal
- 1 : detected
- 0 : No detected
- 1位 :Serial mode
- 1 : enabled
- 0 : Disable
- 2位 : Protocol Status
- 1 : valid
- 0 : unvalid
- 3位 :
- 1 : Module is in binding mode
- 0 : Unbinding
- 4位
- 1 : Module waits a bind event to load the protocol
- 0 :
- 5位
- 1 :Failsafe supported by currently running protocol
- 0 :不支持失控保护
- 0位 :Imput signal
- Stream[5-8]: version of multi code ,should be displayed as major.minor.revision.patchlevel
1.3.2 Frksy S.port telemetry¶
| Stream | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| DATA | 0x4D | 0x50 | 0x02 | 0x09 | PhsicId | primid | Id | |
| Stream | 8 | 9 | 10 | 11 | 12 |
| DATA | data[0] | data[1] | data[2] | data[3] | crc |
- Stream[4]:物理Id(PhsicalId),也称端口号(Instance)
- Stream[5]:primid,用于指示当前遥测数据包的数据类型
- 0x10 :表明当前为传感器的数据.
- Stream[6-7]: 传感器Id,每个传感器都有一个唯一的Id.
- ALT_FIRST_ID 0x0100
- ALT_LAST_ID 0x010f
- VARIO_FIRST_ID 0x0110
- VARIO_LAST_ID 0x011f
- CURR_FIRST_ID 0x0200
- CURR_LAST_ID 0x020f
- VFAS_FIRST_ID 0x0210
- VFAS_LAST_ID 0x021f
- CELLS_FIRST_ID 0x0300
- CELLS_LAST_ID 0x030f
- T1_FIRST_ID 0x0400
- T1_LAST_ID 0x040f
- T2_FIRST_ID 0x0410
- T2_LAST_ID 0x041f
- RPM_FIRST_ID 0x0500
- RPM_LAST_ID 0x050f
- FUEL_FIRST_ID 0x0600
- FUEL_LAST_ID 0x060f
- ACCX_FIRST_ID 0x0700
- ACCX_LAST_ID 0x070f
- ACCY_FIRST_ID 0x0710
- ACCY_LAST_ID 0x071f
- ACCZ_FIRST_ID 0x0720
- ACCZ_LAST_ID 0x072f
- GPS_LONG_LATI_FIRST_ID 0x0800
- GPS_LONG_LATI_LAST_ID 0x080f
- GPS_ALT_FIRST_ID 0x0820
- GPS_ALT_LAST_ID 0x082f
- GPS_SPEED_FIRST_ID 0x0830
- GPS_SPEED_LAST_ID 0x083f
- GPS_COURS_FIRST_ID 0x0840
- GPS_COURS_LAST_ID 0x084f
- GPS_TIME_DATE_FIRST_ID 0x0850
- GPS_TIME_DATE_LAST_ID 0x085f
- A3_FIRST_ID 0x0900
- A3_LAST_ID 0x090f
- A4_FIRST_ID 0x0910
- A4_LAST_ID 0x091f
- AIR_SPEED_FIRST_ID 0x0a00
- AIR_SPEED_LAST_ID 0x0a0f
- RBOX_BATT1_FIRST_ID 0x0b00
- RBOX_BATT1_LAST_ID 0x0b0f
- RBOX_BATT2_FIRST_ID 0x0b10
- RBOX_BATT2_LAST_ID 0x0b1f
- RBOX_STATE_FIRST_ID 0x0b20
- RBOX_STATE_LAST_ID 0x0b2f
- RBOX_CNSP_FIRST_ID 0x0b30
- RBOX_CNSP_LAST_ID 0x0b3f
- SD1_FIRST_ID 0x0b40
- SD1_LAST_ID 0x0b4f
- ESC_POWER_FIRST_ID 0x0b50
- ESC_POWER_LAST_ID 0x0b5f
- ESC_RPM_CONS_FIRST_ID 0x0b60
- ESC_RPM_CONS_LAST_ID 0x0b6f
- ESC_TEMPERATURE_FIRST_ID 0x0b70
- ESC_TEMPERATURE_LAST_ID 0x0b7f
- X8R_FIRST_ID 0x0c20
- X8R_LAST_ID 0x0c2f
- S6R_FIRST_ID 0x0c30
- S6R_LAST_ID 0x0c3f
- GASSUIT_TEMP1_FIRST_ID 0x0d00
- GASSUIT_TEMP1_LAST_ID 0x0d0f
- GASSUIT_TEMP2_FIRST_ID 0x0d10
- GASSUIT_TEMP2_LAST_ID 0x0d1f
- GASSUIT_SPEED_FIRST_ID 0x0d20
- GASSUIT_SPEED_LAST_ID 0x0d2f
- GASSUIT_RES_VOL_FIRST_ID 0x0d30
- GASSUIT_RES_VOL_LAST_ID 0x0d3f
- GASSUIT_RES_PERC_FIRST_ID 0x0d40
- GASSUIT_RES_PERC_LAST_ID 0x0d4f
- GASSUIT_FLOW_FIRST_ID 0x0d50
- GASSUIT_FLOW_LAST_ID 0x0d5f
- GASSUIT_MAX_FLOW_FIRST_ID 0x0d60
- GASSUIT_MAX_FLOW_LAST_ID 0x0d6f
- GASSUIT_AVG_FLOW_FIRST_ID 0x0d70
- GASSUIT_AVG_FLOW_LAST_ID 0x0d7f
- SBEC_POWER_FIRST_ID 0x0e50
- SBEC_POWER_LAST_ID 0x0e5f
- DIY_FIRST_ID 0x5100
- DIY_LAST_ID 0x52ff
- DIY_STREAM_FIRST_ID 0x5000
- DIY_STREAM_LAST_ID 0x50ff
- FACT_TEST_ID 0xf000
- RSSI_ID 0xf101
- ADC1_ID 0xf102
- ADC2_ID 0xf103
- SP2UART_A_ID 0xfd00
- SP2UART_B_ID 0xfd01
- BATT_ID 0xf104
- RAS_ID 0xf105
- XJT_VERSION_ID 0xf106
- FUEL_QTY_FIRST_ID 0x0a10
- FUEL_QTY_LAST_ID 0x0a1f
- Stream[8-11]:用于存储传感器的数据，如果当前传感器的数据不足16个字节，则用0补其，如果超过16 个字节，则下一次传输.
- Stream[12]:用于数据校验.
RSSI Sensor
- Stream[4]:PhsicId 0x98
- Stream[5]: primid 0x10
- Stream[8-11]: 1个字节(有效数据为1个字节，data[0]),其余为0
XJT VERSION
- Stream[8-11]: 2个字节（有效数据为2个字节, data[0],data[1])
RAS Sensor
- Stream[8-11]: 1个字节
ADC1/ADC2/BATT Sensor
- Stream[8-11]: 1个字节
GPS Sensor
经纬度，精确到分。
- Stream[8-11]: 4个字节 存储经度/纬度数据
- bit[31]:经纬度标志位
- 1: 经度 (longitude)
- 0: 纬度 (latitude)
- bit[30]:正负数标志位
- 1: 负数,对于经度表示W，纬度为S
- 0: 正数,对于经度表示E，纬度为N
- bit[29:0]: 经度/纬度数据
- 经纬度（打包后） = 经纬度（打包前） * 60 * 10000
- bit[31]:经纬度标志位
时间数据年月日，时分秒
RBOX_BATT1/RBOX_BATT2 Sensor
- Stream[8-11]: 4个字节
CELLS Sensor:电压测量，最多支持6节电池。每次传输2个电压数据,最多3次可以传 完。
- Stream[8-11]: 4个字节
- Stream[8]: [3:0]电池的总节数,[7:4]当前节数
- Stream[9-11]:3个字节，低12位存储，高12位存储