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WK2x01: subprotocols addition

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WK2801 number 0, 8 channels, fixed id is not supported
WK2401 number 1, 4 channels
W6_5_1 number 2, 6 channels
W6_6_1 number 3, 7 channels
W6_HEL number 4, 6 channels, option is used to limit COL
W6_HEL_I number 5, 6 channels, COL inverted, option is used to limit COL
This commit is contained in:
pascallanger
2017-01-03 19:56:20 +01:00
parent fbb919d767
commit 8677e73d75
4 changed files with 24 additions and 16 deletions
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18
Multiprotocol/WK2x01_cyrf6936.ino
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@@ -201,7 +201,7 @@ static void __attribute__((unused)) WK_channels_heli_2601(uint8_t frame, int16_t
//pitch is controlled by rx
//we can only control fmode, pit-reverse and pit/thr rate
uint8_t pit_rev = 0;
if ((option/10)%10)
if (sub_protocol==W6_HEL_I)
pit_rev = 1;
int16_t pit_rate = WK_get_channel(5, 0x400, 0, 0x400);
uint8_t fmode = 1;
@@ -214,7 +214,7 @@ static void __attribute__((unused)) WK_channels_heli_2601(uint8_t frame, int16_t
{
//Pitch curve and range
*v1 = pit_rate;
*v2 = ((option/100) ? -100 : 100) * 0x400 / 100 + 0x400;
*v2 = (int16_t)(option) * 0x400 / 100 + 0x400;
}
packet[7] = (pit_rev << 2); //reverse bits
packet[8] = fmode ? 0x02 : 0x00;
@@ -239,12 +239,12 @@ static void __attribute__((unused)) WK_build_data_pkt_2601()
v1 = WK_get_channel(6, 0x200, 0x200, 0x200);
v2 = 0;
}
if (option%10 == 1)
WK_channels_heli_2601(frame, &v1, &v2);
else if (option%10 == 2)
if (sub_protocol == W6_5_1)
WK_channels_5plus1_2601(frame, &v1, &v2);
else if (sub_protocol == W6_6_1)
WK_channels_6plus1_2601(frame, &v1, &v2);
else
WK_channels_5plus1_2601(frame, &v1, &v2);
WK_channels_heli_2601(frame, &v1, &v2);
if (v1 > 1023)
v1 = 1023;
if (v2 > 1023)
@@ -404,10 +404,10 @@ uint16_t WK_cb()
packet_sent = 1;
if(sub_protocol == WK2801)
WK_BuildPacket_2801();
else if(sub_protocol == WK2601)
WK_BuildPacket_2601();
else
else if(sub_protocol == WK2401)
WK_BuildPacket_2401();
else
WK_BuildPacket_2601();
packet_count = (packet_count + 1) % 12;
CYRF_WriteDataPacket(packet);
return 1600;