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-
-Walkera WK-0701 transmitter is supplied with a ready to fly Walkera
-helicopters such as HM36, HM37, HM60. The walkera0701 module enables to use
-this transmitter as joystick
-
-Devel homepage and download:
-http://zub.fei.tuke.sk/walkera-wk0701/
-
-or use cogito:
-cg-clone http://zub.fei.tuke.sk/GIT/walkera0701-joystick
-
-
-Connecting to PC:
-
-At back side of transmitter S-video connector can be found. Modulation
-pulses from processor to HF part can be found at pin 2 of this connector,
-pin 3 is GND. Between pin 3 and CPU 5k6 resistor can be found. To get
-modulation pulses to PC, signal pulses must be amplified.
-
-Cable: (walkera TX to parport)
-
-Walkera WK-0701 TX S-VIDEO connector:
- (back side of TX)
- __ __ S-video: canon25
- / |_| \ pin 2 (signal) NPN parport
- / O 4 3 O \ pin 3 (GND) LED ________________ 10 ACK
- ( O 2 1 O ) | C
- \ ___ / 2 ________________________|\|_____|/
- | [___] | |/| B |\
- ------- 3 __________________________________|________________ 25 GND
- E
-
-
-I use green LED and BC109 NPN transistor.
-
-Software:
-
-Build kernel with walkera0701 module. Module walkera0701 need exclusive
-access to parport, modules like lp must be unloaded before loading
-walkera0701 module, check dmesg for error messages. Connect TX to PC by
-cable and run jstest /dev/input/js0 to see values from TX. If no value can
-be changed by TX "joystick", check output from /proc/interrupts. Value for
-(usually irq7) parport must increase if TX is on.
-
-
-
-Technical details:
-
-Driver use interrupt from parport ACK input bit to measure pulse length
-using hrtimers.
-
-Frame format:
-Based on walkera WK-0701 PCM Format description by Shaul Eizikovich.
-(downloaded from http://www.smartpropoplus.com/Docs/Walkera_Wk-0701_PCM.pdf)
-
-Signal pulses:
- (ANALOG)
- SYNC BIN OCT
- +---------+ +------+
- | | | |
---+ +------+ +---
-
-Frame:
- SYNC , BIN1, OCT1, BIN2, OCT2 ... BIN24, OCT24, BIN25, next frame SYNC ..
-
-pulse length:
- Binary values: Analog octal values:
-
- 288 uS Binary 0 318 uS 000
- 438 uS Binary 1 398 uS 001
- 478 uS 010
- 558 uS 011
- 638 uS 100
- 1306 uS SYNC 718 uS 101
- 798 uS 110
- 878 uS 111
-
-24 bin+oct values + 1 bin value = 24*4+1 bits = 97 bits
-
-(Warning, pulses on ACK are inverted by transistor, irq is raised up on sync
-to bin change or octal value to bin change).
-
-Binary data representations:
-
-One binary and octal value can be grouped to nibble. 24 nibbles + one binary
-values can be sampled between sync pulses.
-
-Values for first four channels (analog joystick values) can be found in
-first 10 nibbles. Analog value is represented by one sign bit and 9 bit
-absolute binary value. (10 bits per channel). Next nibble is checksum for
-first ten nibbles.
-
-Next nibbles 12 .. 21 represents four channels (not all channels can be
-directly controlled from TX). Binary representations ar the same as in first
-four channels. In nibbles 22 and 23 is a special magic number. Nibble 24 is
-checksum for nibbles 12..23.
-
-After last octal value for nibble 24 and next sync pulse one additional
-binary value can be sampled. This bit and magic number is not used in
-software driver. Some details about this magic numbers can be found in
-Walkera_Wk-0701_PCM.pdf.
-
-Checksum calculation:
-
-Summary of octal values in nibbles must be same as octal value in checksum
-nibble (only first 3 bits are used). Binary value for checksum nibble is
-calculated by sum of binary values in checked nibbles + sum of octal values
-in checked nibbles divided by 8. Only bit 0 of this sum is used.
-