gomaomao/DIY-Multiprotocol-TX-Module
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Disable channel mapping + telemetry inversion

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This commit is contained in:
pascallanger 2019-10-08 18:52:47 +02:00
parent 897c8b6ec5
commit 0b19fa0bdf
8 changed files with 101 additions and 35 deletions
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4
Multiprotocol/DSM_cyrf6936.ino
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@ -273,8 +273,8 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
/* Spektrum own remotes transmit normal values during bind and actually use this (e.g. Nano CP X) to
select the transmitter mode (e.g. computer vs non-computer radio), so always send normal output */
#ifdef DSM_THROTTLE_KILL_CH
if(CH_TAER[idx]==THROTTLE && kill_ch<=604)
{//Activate throttle kill only if DSM_THROTTLE_KILL_CH below -50%
if(idx==CH1 && kill_ch<=604)
{//Activate throttle kill only if channel is throttle and DSM_THROTTLE_KILL_CH below -50%
if(kill_ch<CHANNEL_MIN_100) // restrict val to 0...400
kill_ch=0;
else

2
Multiprotocol/FlySky_a7105.ino
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@ -145,7 +145,7 @@ static void __attribute__((unused)) flysky_build_packet(uint8_t init)
for(i = 0; i < 8; i++)
{
uint16_t temp=convert_channel_ppm(CH_AETR[i]);
if(sub_protocol == CX20 && CH_AETR[i]==ELEVATOR)
if(sub_protocol == CX20 && i==CH2) //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)

4
Multiprotocol/Hisky_nrf24l01.ino
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@ -123,8 +123,8 @@ static void __attribute__((unused)) build_ch_data()
for (i = 0; i< 8; i++) {
j=CH_AETR[i];
temp=convert_channel_16b_limit(j,0,1000);
if (j == THROTTLE) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
temp = 1000 -temp;
if (j == CH3) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
temp = 1000 - temp;
if (j == CH7)
temp = temp < 400 ? 0 : 3; // Gyro mode, 0 - 6 axis, 3 - 3 axis
packet[i] = (uint8_t)(temp&0xFF);

11
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 0
#define VERSION_PATCH_LEVEL 9
#define VERSION_PATCH_LEVEL 10
//******************
// Protocols
@ -829,11 +829,13 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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.
Stream[26] = sub_protocol bits 6 & 7|RxNum bits 4 & 5|Disable_CH_Mapping 3|Disable_Telemetry 2|future use 1|future use 0;
Stream[26] = sub_protocol bits 6 & 7|RxNum bits 4 & 5|Disable_Telemetry 3|Disable_CH_Mapping 2|Future_Use 1|Telem_Invert 0;
sub_protocol is 0..255 (bits 0..5 + bits 6..7)
RxNum value is 0..63 (bits 0..3 + bits 4..5)
Disable_CH_Mapping => 0x08 0=enable, 1=disable
Disable_Telemetry => 0x04 0=enable, 1=disable
Disable_Telemetry => 0x08 0=enable, 1=disable
Disable_CH_Mapping => 0x04 0=enable, 1=disable
Future_Use => 0x02 0= , 1=
Telem_Invert => 0x01 0=normal, 1=invert
Stream[27.. 36] = between 0 and 9 bytes for additional protocol data
*/
/*
@ -855,6 +857,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
0x08 = Module is in binding mode
0x10 = Module waits a bind event to load the protocol
0x20 = Current protocol supports failsafe
0x40 = Current protocol supports disable channel mapping
0x80 = Data buffer is almost full
[3] major
[4] minor

69
Multiprotocol/Multiprotocol.ino
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@ -132,7 +132,7 @@ uint8_t num_ch;
//Channel mapping for protocols
uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
//uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
// Mode_select variables
@ -1402,6 +1402,15 @@ static void protocol_init()
void update_serial_data()
{
static bool prev_ch_mapping=false;
#ifdef TELEMETRY
#ifdef INVERT_TELEMETRY
static bool prev_inv_telem=true;
#else
static bool prev_inv_telem=false;
#endif
#endif
RX_DONOTUPDATE_on;
RX_FLAG_off; //data is being processed
@ -1473,21 +1482,67 @@ void update_serial_data()
if(rx_ok_buff[0]&0x02)
{ // Packet contains failsafe instead of channels
failsafe=true;
rx_ok_buff[0]&=0xFD; //remove the failsafe flag
FAILSAFE_VALUES_on; //failsafe data has been received
rx_ok_buff[0]&=0xFD; // Remove the failsafe flag
FAILSAFE_VALUES_on; // Failsafe data has been received
debugln("Failsafe received");
}
#endif
//DISABLE_CH_MAP_off;
DISABLE_CH_MAP_off;
DISABLE_TELEM_off;
if(rx_len>26)
{//Additional flag received at the end
rx_ok_buff[0]=(rx_ok_buff[26]&0xF0) | (rx_ok_buff[0]&0x0F); // Additional protocol numbers and RX_Num available -> store them in rx_ok_buff[0]
//if(rx_ok_buff[26]&0x08)
// DISABLE_CH_MAP_on;
if(rx_ok_buff[26]&0x04)
if(rx_ok_buff[26]&0x08)
DISABLE_TELEM_on;
if(rx_ok_buff[26]&0x04)
DISABLE_CH_MAP_on;
#if defined TELEMETRY
if((rx_ok_buff[26]&0x01) ^ prev_inv_telem)
{ //value changed
if(rx_ok_buff[26]&0x01)
{ // Invert telemetry
debugln("Invert telem %d,%d",rx_ok_buff[26]&0x01,prev_inv_telem);
#ifdef ORANGE_TX
PORTC.PIN3CTRL |= 0x40 ;
#endif
#ifdef STM32_BOARD
TX_INV_on;
RX_INV_on;
#endif
}
else
{ // Normal telemetry
debugln("Normal telem %d,%d",rx_ok_buff[26]&0x01,prev_inv_telem);
#ifdef ORANGE_TX
PORTC.PIN3CTRL &= 0xBF ;
#endif
#ifdef STM32_BOARD
TX_INV_off;
RX_INV_off;
#endif
}
prev_inv_telem=rx_ok_buff[26]&0x01;
}
#endif
}
if(prev_ch_mapping!=IS_DISABLE_CH_MAP_on)
{
prev_ch_mapping=IS_DISABLE_CH_MAP_on;
if(IS_DISABLE_CH_MAP_on)
{
for(uint8_t i=0;i<4;i++)
CH_AETR[i]=CH_TAER[i]=CH_EATR[i]=i;
debugln("DISABLE_CH_MAP_on");
}
else
{
CH_AETR[0]=AILERON;CH_AETR[1]=ELEVATOR;CH_AETR[2]=THROTTLE;CH_AETR[3]=RUDDER;
CH_TAER[0]=THROTTLE;CH_TAER[1]=AILERON;CH_TAER[2]=ELEVATOR;CH_TAER[3]=RUDDER;
CH_EATR[0]=ELEVATOR;CH_EATR[1]=AILERON;CH_EATR[2]=THROTTLE;CH_EATR[3]=RUDDER;
debugln("DISABLE_CH_MAP_off");
}
}
if( (rx_ok_buff[0] != cur_protocol[0]) || ((rx_ok_buff[1]&0x5F) != (cur_protocol[1]&0x5F)) || ( (rx_ok_buff[2]&0x7F) != (cur_protocol[2]&0x7F) ) )

4
Multiprotocol/SFHSS_cc2500.ino
View File

@ -173,8 +173,8 @@ static void __attribute__((unused)) SFHSS_build_data_packet()
else
{ //Use channel value
ch[i]=(ch[i]>>1)+2560;
if(CH_AETR[ch_offset+i]==THROTTLE && ch[i]<3072) // Throttle
ch[i]+=1024;
//if(IS_DISABLE_CH_MAP_off && ch_offset+i==CH3 && ch[i]<3072) // Throttle
// ch[i]+=1024;
}
}
}

2
Multiprotocol/SLT_nrf24l01.ino
View File

@ -141,7 +141,7 @@ static void __attribute__((unused)) SLT_build_packet()
for (uint8_t i = 0; i < 4; ++i)
{
uint16_t v = convert_channel_10b(CH_AETR[i]);
if(sub_protocol>SLT_V2 && (CH_AETR[i]==THROTTLE || CH_AETR[i]==ELEVATOR) )
if(sub_protocol>SLT_V2 && (i==CH1 || i==CH3) )
v=1023-v; // reverse throttle and elevator channels for Q100/Q200/MR100 protocols
packet[i] = v;
e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);

40
Multiprotocol/Telemetry.ino
View File

@ -94,23 +94,31 @@ static void multi_send_status()
else
if (IS_BIND_IN_PROGRESS)
flags |= 0x08;
#ifdef FAILSAFE_ENABLE
//Is failsafe supported?
switch (protocol)
{
case PROTO_HISKY:
if(sub_protocol!=HK310)
break;
case PROTO_AFHDS2A:
case PROTO_DEVO:
case PROTO_SFHSS:
case PROTO_WK2x01:
case PROTO_FRSKYX:
flags |= 0x20; //Yes
default:
switch (protocol)
{
case PROTO_HISKY:
if(sub_protocol!=HK310)
break;
}
#endif
case PROTO_AFHDS2A:
case PROTO_DEVO:
case PROTO_SFHSS:
case PROTO_WK2x01:
#ifdef FAILSAFE_ENABLE
flags |= 0x20; //Failsafe supported
#endif
case PROTO_DSM:
case PROTO_SLT:
case PROTO_FLYSKY:
case PROTO_ESKY:
case PROTO_J6PRO:
flags |= 0x40; //Disable_ch_mapping supported
break;
case PROTO_FRSKYX:
#ifdef FAILSAFE_ENABLE
flags |= 0x20; //Failsafe supported
#endif
break;
}
if(IS_DATA_BUFFER_LOW_on)
flags |= 0x80;
}