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AFHDS2A update RF channels and Failsafe

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You need to bind all the RXs again...
This commit is contained in:
Pascal Langer 2019-04-26 17:51:14 +02:00
parent 467756df48
commit 5538d4d1c4
2 changed files with 17 additions and 25 deletions
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38
Multiprotocol/AFHDS2A_a7105.ino
View File

@ -42,33 +42,25 @@ static void AFHDS2A_calc_channels()
while (idx < AFHDS2A_NUMFREQ)
{
uint8_t i;
uint8_t count_1_42 = 0, count_43_85 = 0, count_86_128 = 0, count_129_168 = 0;
uint8_t band_no = ((((idx<<1) | ((idx>>1) & 0b01)) + rx_tx_addr[3]) & 0b11);
rnd = rnd * 0x0019660D + 0x3C6EF35F; // Randomization
uint8_t next_ch = ((rnd >> (idx%32)) % 0xa8) + 1;
// Keep the distance 2 between the channels - either odd or even
if (((next_ch ^ MProtocol_id) & 0x01 )== 0)
continue;
// Check that it's not duplicate and spread uniformly
uint8_t next_ch = band_no*41 + 1 + ((rnd >> idx) % 41); // Channel range: 1..164
for (i = 0; i < idx; i++)
{
if(hopping_frequency[i] == next_ch)
break;
if(hopping_frequency[i] <= 42)
count_1_42++;
else if (hopping_frequency[i] <= 85)
count_43_85++;
else if (hopping_frequency[i] <= 128)
count_86_128++;
// Keep the distance 5 between the channels
uint8_t distance;
if (next_ch > hopping_frequency[i])
distance = next_ch - hopping_frequency[i];
else
count_129_168++;
distance = hopping_frequency[i] - next_ch;
if (distance < 5) break;
}
if (i != idx)
continue;
if ((next_ch <= 42 && count_1_42 < 5)
||(next_ch >= 43 && next_ch <= 85 && count_43_85 < 5)
||(next_ch >= 86 && next_ch <=128 && count_86_128 < 5)
||(next_ch >= 129 && count_129_168 < 5))
if (i != idx) continue;
hopping_frequency[idx++] = next_ch;
}
}
@ -200,9 +192,9 @@ static void AFHDS2A_build_packet(uint8_t type)
{
#ifdef FAILSAFE_ENABLE
uint16_t failsafeMicros = Failsafe_data[CH_AETR[ch]];
failsafeMicros = (((failsafeMicros<<2)+failsafeMicros)>>3)+860;
if( failsafeMicros!=FAILSAFE_CHANNEL_HOLD+860)
if( failsafeMicros!=FAILSAFE_CHANNEL_HOLD && failsafeMicros!=FAILSAFE_CHANNEL_NOPULSES)
{ // Failsafe values
failsafeMicros = (((failsafeMicros<<2)+failsafeMicros)>>3)+860;
packet[9 + ch*2] = failsafeMicros & 0xff;
packet[10+ ch*2] = ( failsafeMicros >> 8) & 0xff;
}

2
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 2
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 37
#define VERSION_PATCH_LEVEL 38
//******************
// Protocols