gomaomao/DIY-Multiprotocol-TX-Module
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Failsafe: default for PPM and set on radio for Serial

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Pascal Langer
2017-12-07 16:02:18 +01:00
parent ebd44d9628
commit 4418cab3a5
12 changed files with 255 additions and 237 deletions
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55
Multiprotocol/Multiprotocol.ino
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@@ -79,6 +79,9 @@ uint16_t Servo_data[NUM_CHN];
uint8_t Servo_AUX;
uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
uint16_t servo_mid;
#ifdef FAILSAFE_ENABLE
uint16_t Failsafe_data[NUM_CHN];
#endif
// Protocol variables
uint8_t cyrfmfg_id[6];//for dsm2 and devo
@@ -101,6 +104,7 @@ uint8_t flags;
uint16_t crc;
uint8_t crc8;
uint16_t seed;
uint16_t failsafe_count;
//
uint16_t state;
uint8_t len;
@@ -329,14 +333,6 @@ void setup()
SCLK_off;
#endif
// Set servos positions
for(uint8_t i=0;i<NUM_CHN;i++)
Servo_data[i]=1500;
Servo_data[THROTTLE]=servo_min_100;
#ifdef ENABLE_PPM
memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
#endif
//Wait for every component to start
delayMilliseconds(100);
@@ -359,6 +355,14 @@ void setup()
#endif
debug("Mode switch reads as %d", mode_select);
// Set default channels' value
for(uint8_t i=0;i<NUM_CHN;i++)
Servo_data[i]=1500;
Servo_data[THROTTLE]=servo_min_100;
#ifdef ENABLE_PPM
memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
#endif
// Update LED
LED_off;
LED_output;
@@ -754,6 +758,10 @@ static void protocol_init()
MProtocol_id = RX_num + MProtocol_id_master;
set_rx_tx_addr(MProtocol_id);
#ifdef FAILSAFE_ENABLE
InitFailsafe();
#endif
blink=millis();
if(IS_BIND_BUTTON_FLAG_on)
@@ -1077,7 +1085,16 @@ void update_serial_data()
POWER_FLAG_on; //power high
option=rx_ok_buff[3];
#ifdef FAILSAFE_ENABLE
bool failsafe=false;
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
}
#endif
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) ) )
{ // New model has been selected
CHANGE_PROTOCOL_FLAG_on; //change protocol
@@ -1106,7 +1123,7 @@ void update_serial_data()
for(uint8_t i=0;i<3;i++)
cur_protocol[i] = rx_ok_buff[i];
// decode channel values
// decode channel/failsafe values
volatile uint8_t *p=rx_ok_buff+3;
uint8_t dec=-3;
for(uint8_t i=0;i<NUM_CHN;i++)
@@ -1118,7 +1135,13 @@ void update_serial_data()
p++;
}
p++;
Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
uint16_t temp=((*((uint32_t *)p))>>dec)&0x7FF;
#ifdef FAILSAFE_ENABLE
if(failsafe)
Failsafe_data[i]=temp; //value range 0..2047, 0=hold, 2047=no pulses
else
#endif
Servo_data[i]=(temp*5)/8+860; //value range 860<->2140 -125%<->+125%
}
RX_DONOTUPDTAE_off;
#ifdef ORANGE_TX
@@ -1136,6 +1159,10 @@ void update_serial_data()
#else
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
#endif
#ifdef FAILSAFE_ENABLE
if(failsafe)
debug("RX_FS:%d,%d,%d,%d",Failsafe_data[0],Failsafe_data[1],Failsafe_data[2],Failsafe_data[3]);
#endif
}
void modules_reset()
@@ -1501,7 +1528,11 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
idx=0;discard_frame=0;
RX_MISSED_BUFF_off; // If rx_buff was good it's not anymore...
rx_buff[0]=UDR0;
if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok
#ifdef FAILSAFE_ENABLE
if((rx_buff[0]&0xFC)==0x54) // If 1st byte is 0x54, 0x55, 0x56 or 0x57 it looks ok
#else
if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok
#endif
{
TX_RX_PAUSE_on;
tx_pause();