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M-Link Failsafe

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Pascal Langer
2021-02-06 09:58:36 +01:00
parent be1591c489
commit 17750e774a
3 changed files with 74 additions and 35 deletions
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99
Multiprotocol/MLINK_cyrf6936.ino
View File

@@ -156,45 +156,84 @@ static void __attribute__((unused)) MLINK_send_bind_packet()
static void __attribute__((unused)) MLINK_send_data_packet()
{
static uint8_t tog=0;
if(hopping_frequency_no==0)
tog=1;
//Channels to be sent
if(phase==MLINK_SEND1 || ((hopping_frequency_no%5==0) && (phase==MLINK_SEND2)))
uint8_t start;
#ifdef FAILSAFE_ENABLE
static uint8_t fs=0;
if(IS_FAILSAFE_VALUES_on && phase==MLINK_SEND1)
{
if((hopping_frequency_no&1)==0)
packet[0] = 0x09; //10,8,6
else
packet[0] = 0x01; //11,9,7
fs=10; // Original radio is sending 70 packets
FAILSAFE_VALUES_off;
}
if(fs)
{// Failsafe packets
switch(phase)
{
case MLINK_SEND2:
packet[0]=0x06;
start=17;
break;
case MLINK_SEND3:
packet[0]=0x84;
start=5;
fs--;
break;
default: //MLINK_SEND1:
packet[0]=0x05;
start=11;
break;
}
//Pack 6 channels per packet
for(uint8_t i=0;i<6;i++)
{
uint8_t val=start<16 ? convert_channel_16b_nolimit(start,426 >> 4,3448 >> 4,true) : 0x00;
start--; // switch to next channel
packet[i+1]=val;
}
}
else
if(phase==MLINK_SEND2)
#endif
{// Normal packets
if(hopping_frequency_no==0)
tog=1;
//Channels to be sent
if(phase==MLINK_SEND1 || ((hopping_frequency_no%5==0) && (phase==MLINK_SEND2)))
{
if(tog)
packet[0] = 0x02; //x,15,13
if((hopping_frequency_no&1)==0)
packet[0] = 0x09; //10,8,6
else
packet[0] = 0x0A; //x,14,12
tog^=1;
packet[0] = 0x01; //11,9,7
}
else
{//phase==MLINK_SEND3
if((hopping_frequency_no&1)==0)
packet[0] = 0x88; //4,2,0
if(phase==MLINK_SEND2)
{
if(tog)
packet[0] = 0x02; //x,15,13
else
packet[0] = 0x0A; //x,14,12
tog^=1;
}
else
packet[0] = 0x80; //5,3,1
}
{//phase==MLINK_SEND3
if((hopping_frequency_no&1)==0)
packet[0] = 0x88; //4,2,0
else
packet[0] = 0x80; //5,3,1
}
//Start channel
uint8_t ch=4+6*(packet[0]&3);
if((packet[0]&0x08)==0)
ch++;
//Channels 426..1937..3448
for(uint8_t i=0;i<3;i++)
{
uint16_t tmp=ch<16 ? convert_channel_16b_nolimit(ch,426,3448,false) : 0x0000;
ch-=2; // switch to next channel
packet[i*2+1]=tmp>>8;
packet[i*2+2]=tmp;
//Start channel
start=4+6*(packet[0]&3);
if((packet[0]&0x08)==0)
start++;
//Channels 426..1937..3448
for(uint8_t i=0;i<3;i++)
{
uint16_t val=start<16 ? convert_channel_16b_nolimit(start,426,3448,false) : 0x0000;
start-=2; // switch to next channel
packet[i*2+1]=val>>8;
packet[i*2+2]=val;
}
}
//Calculate CRC

4
Multiprotocol/Multiprotocol.h
View File

@@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 2
#define VERSION_PATCH_LEVEL 28
#define VERSION_PATCH_LEVEL 29
//******************
// Protocols
@@ -467,7 +467,7 @@ enum MultiPacketTypes
//***************
//*** Tests ***
//***************
#define IS_FAILSAFE_PROTOCOL ( (protocol==PROTO_HISKY && sub_protocol==HK310) || protocol==PROTO_AFHDS2A || protocol==PROTO_DEVO || protocol==PROTO_FUTABA || protocol==PROTO_WK2x01 || protocol== PROTO_HOTT || protocol==PROTO_FRSKYX || protocol==PROTO_FRSKYX2 || protocol==PROTO_FRSKY_R9 || protocol==PROTO_WFLY2 || protocol==PROTO_LOLI)
#define IS_FAILSAFE_PROTOCOL ( (protocol==PROTO_HISKY && sub_protocol==HK310) || protocol==PROTO_AFHDS2A || protocol==PROTO_DEVO || protocol==PROTO_FUTABA || protocol==PROTO_WK2x01 || protocol== PROTO_HOTT || protocol==PROTO_FRSKYX || protocol==PROTO_FRSKYX2 || protocol==PROTO_FRSKY_R9 || protocol==PROTO_WFLY2 || protocol==PROTO_LOLI || protocol==PROTO_MLINK)
#define IS_CHMAP_PROTOCOL ( (protocol==PROTO_HISKY && sub_protocol==HK310) || protocol==PROTO_AFHDS2A || protocol==PROTO_DEVO || protocol==PROTO_FUTABA || protocol==PROTO_WK2x01 || protocol== PROTO_DSM || protocol==PROTO_SLT || protocol==PROTO_FLYSKY || (protocol==PROTO_KYOSHO && sub_protocol==KYOSHO_HYPE) || protocol==PROTO_ESKY || protocol==PROTO_J6PRO || protocol==PROTO_PELIKAN || protocol==PROTO_SKYARTEC || protocol==PROTO_ESKY150V2 || protocol==PROTO_DSM_RX)
//***************