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CX10 channel modifications

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pascallanger 2016-11-25 10:28:18 +01:00
parent f14d4b8ac3
commit 245d27ea71
1 changed files with 19 additions and 14 deletions
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29
Multiprotocol/CX10_nrf24l01.ino
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@ -57,21 +57,14 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
packet[3] = rx_tx_addr[2]; packet[3] = rx_tx_addr[2];
packet[4] = rx_tx_addr[3]; packet[4] = rx_tx_addr[3];
// packet[5] to [8] (aircraft id) is filled during bind for blue board // packet[5] to [8] (aircraft id) is filled during bind for blue board
packet[5+offset] = lowByte(Servo_data[AILERON]); uint16_t aileron=Servo_data[AILERON];
packet[6+offset]= highByte(Servo_data[AILERON]); uint16_t elevator=3000-Servo_data[ELEVATOR];
packet[7+offset]= lowByte(Servo_data[ELEVATOR]); uint16_t rudder=3000-Servo_data[RUDDER];
packet[8+offset]= highByte(Servo_data[ELEVATOR]);
packet[9+offset]= lowByte(Servo_data[THROTTLE]); packet[9+offset]= lowByte(Servo_data[THROTTLE]);
packet[10+offset]= highByte(Servo_data[THROTTLE]); packet[10+offset]= highByte(Servo_data[THROTTLE]);
packet[11+offset]= lowByte(Servo_data[RUDDER]);
packet[12+offset]= highByte(Servo_data[RUDDER]);
// Channel 5 - flip flag // Channel 5 - flip flag
if(Servo_AUX1) packet[12+offset] = GET_FLAG(Servo_AUX1,CX10_FLAG_FLIP); // flip flag applied on rudder
packet[12+offset] |= CX10_FLAG_FLIP; // flip flag
//flags=0; // packet 13
uint8_t flags2=0; // packet 14
// Channel 6 - rate mode is 2 lsb of packet 13 // Channel 6 - rate mode is 2 lsb of packet 13
if(Servo_data[AUX2] > PPM_MAX_COMMAND) // rate 3 / headless on CX-10A if(Servo_data[AUX2] > PPM_MAX_COMMAND) // rate 3 / headless on CX-10A
@ -81,6 +74,7 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
flags = 0x00; // rate 1 flags = 0x00; // rate 1
else else
flags = 0x01; // rate 2 flags = 0x01; // rate 2
uint8_t flags2=0; // packet 14
uint8_t video_state=packet[14] & 0x21; uint8_t video_state=packet[14] & 0x21;
switch(sub_protocol) switch(sub_protocol)
@ -92,6 +86,8 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
case Q282: case Q282:
case Q242: case Q242:
case Q222: case Q222:
aileron = 3000 - aileron;
rudder = 3000 - rudder;
memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6); memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL //FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
flags2 = GET_FLAG(Servo_AUX1, 0x80) // Channel 5 - FLIP flags2 = GET_FLAG(Servo_AUX1, 0x80) // Channel 5 - FLIP
@ -123,17 +119,19 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
else else
{ // Q222 { // Q222
flags=0; flags=0;
packet[12] &= ~CX10_FLAG_FLIP;
} }
if(Servo_AUX6) flags |=0x80; // Channel 10 - RTH if(Servo_AUX6) flags |=0x80; // Channel 10 - RTH
break; break;
case DM007: case DM007:
aileron = 3000 - aileron;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS //FLIP|MODE|PICTURE|VIDEO|HEADLESS
flags2= GET_FLAG(Servo_AUX3,CX10_FLAG_SNAPSHOT) // Channel 7 - picture flags2= GET_FLAG(Servo_AUX3,CX10_FLAG_SNAPSHOT) // Channel 7 - picture
|GET_FLAG(Servo_AUX4,CX10_FLAG_VIDEO); // Channel 8 - video |GET_FLAG(Servo_AUX4,CX10_FLAG_VIDEO); // Channel 8 - video
if(Servo_AUX5) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless if(Servo_AUX5) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless
break; break;
case JC3015_2: case JC3015_2:
aileron = 3000 - aileron;
elevator = 3000 - elevator;
//FLIP|MODE|LED|DFLIP //FLIP|MODE|LED|DFLIP
if(Servo_AUX4) packet[12] &= ~CX10_FLAG_FLIP; if(Servo_AUX4) packet[12] &= ~CX10_FLAG_FLIP;
case JC3015_1: case JC3015_1:
@ -142,6 +140,7 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
|GET_FLAG(Servo_AUX4,_BV(4)); // Channel 8 |GET_FLAG(Servo_AUX4,_BV(4)); // Channel 8
break; break;
case MK33041: case MK33041:
elevator = 3000 - elevator;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH //FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
flags|=GET_FLAG(Servo_AUX3,_BV(7)) // Channel 7 - picture flags|=GET_FLAG(Servo_AUX3,_BV(7)) // Channel 7 - picture
|GET_FLAG(Servo_AUX6,_BV(2)); // Channel 10 - rth |GET_FLAG(Servo_AUX6,_BV(2)); // Channel 10 - rth
@ -149,6 +148,12 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
|GET_FLAG(Servo_AUX5,_BV(5)); // Channel 9 - headless |GET_FLAG(Servo_AUX5,_BV(5)); // Channel 9 - headless
break; break;
} }
packet[5+offset] = lowByte(aileron);
packet[6+offset]= highByte(aileron);
packet[7+offset]= lowByte(elevator);
packet[8+offset]= highByte(elevator);
packet[11+offset]= lowByte(rudder);
packet[12+offset]|= highByte(rudder);
packet[13+offset]=flags; packet[13+offset]=flags;
packet[14+offset]=flags2; packet[14+offset]=flags2;