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https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
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M-Link Failsafe
This commit is contained in:
Pascal Langer
parent
be1591c489
commit
17750e774a
@ -156,45 +156,84 @@ static void __attribute__((unused)) MLINK_send_bind_packet()
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static void __attribute__((unused)) MLINK_send_data_packet()
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{
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static uint8_t tog=0;
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if(hopping_frequency_no==0)
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tog=1;
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//Channels to be sent
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if(phase==MLINK_SEND1 || ((hopping_frequency_no%5==0) && (phase==MLINK_SEND2)))
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uint8_t start;
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#ifdef FAILSAFE_ENABLE
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static uint8_t fs=0;
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if(IS_FAILSAFE_VALUES_on && phase==MLINK_SEND1)
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{
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if((hopping_frequency_no&1)==0)
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packet[0] = 0x09; //10,8,6
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else
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packet[0] = 0x01; //11,9,7
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fs=10; // Original radio is sending 70 packets
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FAILSAFE_VALUES_off;
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}
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if(fs)
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{// Failsafe packets
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switch(phase)
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{
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case MLINK_SEND2:
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packet[0]=0x06;
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start=17;
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break;
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case MLINK_SEND3:
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packet[0]=0x84;
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start=5;
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fs--;
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break;
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default: //MLINK_SEND1:
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packet[0]=0x05;
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start=11;
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break;
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}
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//Pack 6 channels per packet
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for(uint8_t i=0;i<6;i++)
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{
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uint8_t val=start<16 ? convert_channel_16b_nolimit(start,426 >> 4,3448 >> 4,true) : 0x00;
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start--; // switch to next channel
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packet[i+1]=val;
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}
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}
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else
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if(phase==MLINK_SEND2)
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#endif
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{// Normal packets
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if(hopping_frequency_no==0)
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tog=1;
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//Channels to be sent
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if(phase==MLINK_SEND1 || ((hopping_frequency_no%5==0) && (phase==MLINK_SEND2)))
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{
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if(tog)
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packet[0] = 0x02; //x,15,13
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if((hopping_frequency_no&1)==0)
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packet[0] = 0x09; //10,8,6
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else
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packet[0] = 0x0A; //x,14,12
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tog^=1;
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packet[0] = 0x01; //11,9,7
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}
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else
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{//phase==MLINK_SEND3
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if((hopping_frequency_no&1)==0)
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packet[0] = 0x88; //4,2,0
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if(phase==MLINK_SEND2)
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{
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if(tog)
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packet[0] = 0x02; //x,15,13
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else
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packet[0] = 0x0A; //x,14,12
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tog^=1;
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}
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else
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packet[0] = 0x80; //5,3,1
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{//phase==MLINK_SEND3
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if((hopping_frequency_no&1)==0)
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packet[0] = 0x88; //4,2,0
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else
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packet[0] = 0x80; //5,3,1
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}
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//Start channel
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start=4+6*(packet[0]&3);
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if((packet[0]&0x08)==0)
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start++;
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//Channels 426..1937..3448
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for(uint8_t i=0;i<3;i++)
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{
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uint16_t val=start<16 ? convert_channel_16b_nolimit(start,426,3448,false) : 0x0000;
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start-=2; // switch to next channel
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packet[i*2+1]=val>>8;
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packet[i*2+2]=val;
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}
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//Start channel
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uint8_t ch=4+6*(packet[0]&3);
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if((packet[0]&0x08)==0)
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ch++;
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//Channels 426..1937..3448
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for(uint8_t i=0;i<3;i++)
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{
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uint16_t tmp=ch<16 ? convert_channel_16b_nolimit(ch,426,3448,false) : 0x0000;
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ch-=2; // switch to next channel
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packet[i*2+1]=tmp>>8;
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packet[i*2+2]=tmp;
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}
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//Calculate CRC
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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 3
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#define VERSION_REVISION 2
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#define VERSION_PATCH_LEVEL 28
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#define VERSION_PATCH_LEVEL 29
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//******************
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// Protocols
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@ -467,7 +467,7 @@ enum MultiPacketTypes
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//***************
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//*** Tests ***
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//***************
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#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)
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#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)
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#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)
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//***************
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@ -113,7 +113,7 @@ CFlie|38|CFlie||||||||NRF24L01|
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[Kyosho](Protocols_Details.md#Kyosho---73)|73|FHSS|Hype|||||||A7105|
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[LOLI](Protocols_Details.md#LOLI---82)|82|||||||||NRF24L01|
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[MJXq](Protocols_Details.md#MJXQ---18)|18|WLH08|X600|X800|H26D|E010*|H26WH|PHOENIX*||NRF24L01|XN297
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[MLINK](Protocols_Details.md#MLINK---78)|78|Slow||||||||CYRF6936|
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[MLINK](Protocols_Details.md#MLINK---78)|78|||||||||CYRF6936|
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[MT99xx](Protocols_Details.md#MT99XX---17)|17|MT|H7|YZ|LS|FY805||||NRF24L01|XN297
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[NCC1701](Protocols_Details.md#NCC1701---44)|44|NCC1701||||||||NRF24L01|
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[OMP](Protocols_Details.md#OMP---77)|77|||||||||CC2500&NRF24L01|XN297L
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@ -866,9 +866,9 @@ A|E|T|R|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12
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## MLINK - *78*
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Extended limits supported
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Telemetry: the 2 RXs I have are sending different information in different format, I've done something which might work or not so please report
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**Failsafe MUST be configured once with the desired channel values (position) while the RX is up (wait 10+sec for the RX to learn the config) and then failsafe MUST be set to RX/Receiver otherwise the servos will jitter!!!**
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### Sub_protocol Slow - *0*
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Telemetry: the 2 RXs I have are sending different information in different format, I've done something which might work or not so please report
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CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9|CH10|CH11|CH12|CH13|CH14|CH15|CH16
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---|---|---|---|---|---|---|---|---|----|----|----|----|----|----|----
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