mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-12-21 16:53:15 +00:00
Updates
Implemented debug output on uart1 for stm32 Replaced hardcoded eeprom offsets with documented constats Fixed a bug affecting telemetry on Atmega328p using the invert_telemetry flag.
This commit is contained in:
Pascal Langer
@@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 1
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#define VERSION_REVISION 6
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#define VERSION_PATCH_LEVEL 29
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#define VERSION_PATCH_LEVEL 30
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//******************
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// Protocols
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//******************
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@@ -224,14 +224,29 @@ struct PPM_Parameters
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// Telemetry
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enum MultiPacketTypes {
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MULTI_TELEMETRY_STATUS = 1,
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MULTI_TELEMETRY_SPORT = 2,
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MULTI_TELEMETRY_HUB = 3,
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MULTI_TELEMETRY_DSM = 4,
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MULTI_TELEMETRY_DSMBIND = 5,
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MULTI_TELEMETRY_AFHDS2A = 6,
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MULTI_TELEMETRY_STATUS = 1,
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MULTI_TELEMETRY_SPORT = 2,
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MULTI_TELEMETRY_HUB = 3,
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MULTI_TELEMETRY_DSM = 4,
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MULTI_TELEMETRY_DSMBIND = 5,
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MULTI_TELEMETRY_AFHDS2A = 6,
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MULTI_TELEMETRY_INPUTSYNC=8,
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MULTI_COMMAND_CONFIG = 0x80,
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MULTI_COMMAND_FAILSAFE =0x81,
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};
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enum FailSafeMode {
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FAILSAFE_NOTSET = 0,
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FAILSAFE_HOLD = 1,
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FAILSAFE_CUSTOM = 2,
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FAILSAFE_NOPULSES = 3,
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FAILSAFE_RECEIVER = 4,
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// Use during update so we can get away with only one copy of Failsafe channels
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FAILSEFASE_INVALID = 0xfe
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};
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#define FAILSAFE_CHANNEL_HOLD 0
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#define FAILSAFE_CHANNEL_NOPULSES 2047
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// Macros
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#define NOP() __asm__ __volatile__("nop")
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@@ -306,6 +321,23 @@ enum MultiPacketTypes {
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#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
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#define IS_WAIT_BIND_off ( ( protocol_flags2 & _BV(7) ) ==0 )
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//Configuration
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#define IS_TELEMTRY_INVERSION_ON (multi_config & 0x01)
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#define IS_MULTI_TELEMETRY_ON (multi_config & 0x02)
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#define IS_EXTRA_TELEMETRY_ON (multi_config & 0x04)
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// Failsafe
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#define failsafeToPPM(i) (Failsafe_data[i]* 5/8+860)
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#define isNormalFailsafeChanel(i) (Failsafe_data[i] != FAILSAFE_CHANNEL_HOLD && Failsafe_data[i] != FAILSAFE_CHANNEL_NOPULSES)
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//Status messages
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#if defined(STM32_BOARD) && defined (SERIAL_DEBUG)
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#define debug(msg, ...) {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); for(int i=0;buf[i] !=0; i++) StatusSerial_write(buf[i]);}
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#else
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#define debug(...)
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#undef SERIAL_DEBUG
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#endif
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//********************
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//*** Blink timing ***
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@@ -443,6 +475,14 @@ enum {
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#define SPEED_57600 2
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#define SPEED_125K 3
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/** EEPROM Layout */
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#define EEPROM_ID_OFFSET 10 // Module ID (4 bytes)
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#define EEPROM_ID_VALID_OFFSET 20 // 1 byte flag that ID is valid
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#define MODELMODE_EEPROM_OFFSET 30 // Autobind mode, 1 byte per model, end is 46
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#define AFHDS2A_EEPROM_OFFSET 50 // RX ID, 4 byte per model id, end is 114
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#define CONFIG_EEPROM_OFFSET 120 // Current configuration of the multimodule
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//****************************************
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//*** MULTI protocol serial definition ***
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//****************************************
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@@ -637,7 +677,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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version of multi code, should be displayed as major.minor.revision.patchlevel
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*/
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/*
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Multiprotocol telemetry definition for OpenTX
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Multiprotocol telemetry/command definition for OpenTX
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Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically.
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Serial: 100000 Baud 8e2 (same as input)
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@@ -657,6 +697,8 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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[4-xx] data
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Commands from TX to multi cannot be longer than 22 bytes (RXLen -4byte header)
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Type = 0x01 Multimodule Status:
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[4] Flags
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0x01 = Input signal detected
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@@ -686,12 +728,53 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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Type 0x05 DSM bind data
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data[0-16] DSM bind data
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technically DSM bind data is only 10 bytes but multi send 16
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like with telemtry, check length field)
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technically DSM bind data is only 10 bytes but multi sends 16
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like with telemtery, check length field)
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Type 0x06 Flysky AFHDS2 telemetry data
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length: 29
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data[0] = RSSI value
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data[1-28] telemetry data
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Type 0x08 Input synchronisation
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Informs the TX about desired rate and current delay
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length: 4
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data[0-1] Desired refresh rate in µs
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data[2-3] Time (µs) between last serial servo input received and servo input needed (lateness), TX should adjust its
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sending time to minimise this value.
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data[4] Interval of this message in ms
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data[5] Input delay target in 10µs
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Note that there are protocols (AFHDS2A) that have a refresh rate that is smaller than the maximum achievable
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refresh rate via the serial protocol, in this case, the TX should double the rate and also subract this
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refresh rate from the input lag if the input lag is more than the desired refresh rate.
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The remote should try to get to zero of (inputdelay+target*10).
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Commands from TX to module use values > 127 for command type
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Type 0x80 Module Configuration
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This sent from the TX to Multi to configure inversion and multi telemetry type
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length: 1
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data[0] flags
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0x01 Telemetry inversion (1 = inverted)
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0x02 Use Multi telemetry protocol (if 0 use multi status)
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0x04 Send extra telemetry (type 0x08) to allow input synchronisation
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Type 0x81 Failsafe data
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length: 23
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data[0] Failsafe mode:
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0 - Failsafe not set
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1 - Failsafe hold, keep last received values
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2 - Failsafe custom, use the values from the channels
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3 - Failsafe nopulses, stop sending pulses from the receiver
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4 - Failsafe receiver, use receiver stored values
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Many of these many modes don't work with all protocols, fallback to best
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available method
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data[1-22] Failsafe data, encoded like normal channel data, with the expection
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that 0 means hold for that channel and 2047 means no pulses
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*/
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