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# Compliling and Programming (STM32)
**If you are Compling for the Arduino ATmega328p version of the Multiprotocol Module please go to the dedicated [Compiling and Programming ATmega328](Compiling.md) page.**
## IMPORTANT NOTE:
Multiprotocol source can be compiled using the Arduino IDE using STM32 Core (Maple) and Arduino ARM-Cortex-M3 libraries.
On all modules with STM32F103 microcontroller, the program flash memory on the microcontroller is large enough to accommodate all the protocols. You do not have to make choices on which protocols to upload. Also, it is likely that you used the Banggood 4-in-1 RF module and you will therefore have access to all the RF modules.Now for programmng multimodule with STM32 chip you have 2 options presented below.
1. Compiling and flashing in Arduino IDE.
1. Flashing precompiled binaries from [here](https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/releases)
- If using one of these TX with multimodule like Turnigy 9X,9XR,9X+ the binary file for flashing is **Multiprotocol_V1.X.X_STM32.bin**.
- If using TARANIS TX the binary file is **Multiprotocol_V1.X.X_STM32_INV.bin**
Flashing precompiled **binaries** is done very simple with the cable setup presented below and an utility(GUI) **ST Flash Loader Demonstrator.**
## Compiling source and flashing in Arduino.
### Install the Arduino IDE and the Multiprotocol project
1. Download the Arduino IDE. The currently supported Arduino version is 1.6.11 available for [Windows]( https://www.arduino.cc/download_handler.php?f=/arduino-1.6.12-windows.exe) and [Mac OSX](http://arduino.cc/download_handler.php?f=/arduino-1.6.12-macosx.zip)
1. It is recommended to upgrade Java to the [latest version](https://www.java.com/en/download/)
1. Download the [STM32 Core](https://github.com/rogerclarkmelbourne/Arduino_STM32/archive/master.zip) and copy the Arduino_STM32 folder to:
- OSX: ```Arduino.app/Contents/Java/hardware``` (you can open Arduino.app by Ctl Clicking on Arduino.app and selecting "Show Package Contents")
- Windows: ```C:\Program Files (x86)\Arduino\hardware```
- Make sure the folder tree structure is like this .....\hardware\Arduino_STM32\.....and **NOT** ...... \hardware\Arduino_STM32-master\Arduino_STM32-master\......So move the folders /rename accordingly.
1. Download the zip file with the Multiprotocol module source code from [here](https://github.com/pascallanger/DIY-Multiprotocol-TX-Module)
1. Unzip and copy the source code folder ```Multiprotocol``` to a folder of your choosing
1. Click on the ```Multiprotocol.ino file``` in the ```Multiprotocol``` folder and the Arduino environment should appear and the Multiprotocol project will be loaded.
### Prepare the Arduino IDE:
1. In order to compile successfully you need also to modify a maple library file. In ```....\hardware\Arduino_STM32\STM32F1\cores\maple\libmaple\usart_f1.c``` comment out the 2 functions as shown below. This is required to have low-level access to the USART interrupt. <br>
```
/* void __irq_usart2(void){
usart_irq(&usart2_rb, USART2_BASE);
}
void __irq_usart3(void) {
usart_irq(&usart3_rb, USART3_BASE);
} */
```
1. Run the IDE, and on the **Tools** menu, select **Board** and then **Boards manager**. <br> Click on the Arduino DUE (32 Bits ARM-Cortex M3) from the list of available boards. You must do this step, it installs the arm-none-eabi-g++ toolchain!
1. Close and reopen the Arduino IDE and load the Multiprotocol project.
1. In arduino IDE under the **Tools** -> **Board:** select the **Generic STM32F103C series** board
1. Click on the **Verify** button to test compile the before you make any changes. <br> If there are any errors check the process above and be sure to have the right version of the Arduino IDE.The binary file generated location is presented at the bottom of Arduino IDE compiling window.Now continue with flashing procedure.
### Flashing the multimodule
There are three options for flashing the firmware. But We will present here only 3 methods ,the 4-th one is presented in advanced topics.
The first (and strongly recommended) is flashing it while it is plugged into and powered by the transmitter.The second is preparing the board for flashing with a USB cable.
The second method is definitely the easiest in the long-term, but it does require the USB bord and setting up the bootloader on the STM32 MCU.
The third method is also highly recommended and involving flashing using TX (firmware).At this methid is available for 9X ,9X pro ,Taranis with ersky9X fimrware.
#### Option 1: Flashing with Tx power(highly recommended)
1. Put the module in the Tx
1. Place a jumper over the BOOT0 pins.Skip this one if you made your own cable for flashing ,see below.
1. Connect your 3.3V/5V FTDI cable (USB - TTL serial) to Multiprotocol serial port. <br> Connect only RX, TX and GND. **Do not connect the 5V or 3.3V between the FTDI cable and the module - the power will be supplied by the transmitter**. Connect the pins as follows:
- Module RX pin to FTDI TX pin
- Module TX pin to FTDI Rx pin
- Module GND to FTDI GND
1. In arduino IDE under the **Tools** -> **Board:** check that you have selected the **Generic STM32F103C series** board
1. Under **Tools** -> **Upload Method:** select **Serial**
1. Click "Upload" and the sketch will be uploaded normally. This is valid for all arduino versions.
1. Once the firmware has uploaded, remove the BOOT0 jumper.
If you have the module inside a box and to be inserted in TX bay, you may build a flashing cable like in the picture below.
You can attach and solder a 5 pin header female and top outside the box.**ALways insert first the USB serial device in USB port , and TX start after.**
<img src="images/Multi_STM32_ flashing.jpg" />
See below my module for reference
<img src="images/Multi_STM32 module.JPG" width="600" height="400" />
#### Option 2: Flashing with USB cable.
This method use USB connector on the STM32 V1.0 board or on the maple clone board.
1. Install first maple USB driver by running the batch file found in Arduino STM32 package folder ```..\hardware\Arduino_STM32\drivers\win\install_drivers.bat```
1. Download the free STM32 flash loader demonstrator from [ST.com](http://www.st.com/en/development-tools/flasher-stm32.html) and using a USB-TTL device (like FTDI cable) flash the STM32duino bootloader available from Roger Clark's great STM32 site [here](https://github.com/rogerclarkmelbourne/STM32duino-bootloader/tree/master/STM32F1/binaries) .Use bootloader **generic_boot20_pa1.bin**
1. Open Arduino IDE,browse to multiprotocol folder,load the sketch multiprotocol.ino.Select the serial COM port(see notes below)
1. In Arduino IDE under "Upload method" select **STM32duino**-bootloader.Click upload ,wait until upload is complete.
Notes:
- When you use multiSTM32_USB for the first time,the USB drivers are not recognized and com port is not open/recognized(arduino IDE port selection is grey/unavailable). After this first time use, any subsequent update of the program, you'll have to select the correct serial port and upload sketches normally in Arduino using USB port.
- More explanations how all these work you find [here](http://www.stm32duino.com/viewtopic.php?f=32&t=1774_)
- If the initial upload fails, make sure you are running the latest [Java version](https://www.java.com/en/download/)
- If using Banggood multiSTM32_USB module, follow instructions from step1(USB drivers on your computer) and jump after, to step 3(most probably generic bootloader is installed on multi module and no need to be installed again).I don't have one for test so this is an educated guess.
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#### Option 3: Flashing with TX radio(firmware)
1. Flash new STM32 bootloader(StmBoot) on multimodule.You have 2 options here.You can use one or the other.
- Flash precompiled binary **StmBoot.ino.generic_stm32f103c** using **ST Flash loader demonstrator** and USB serial device(FTDI) , with same custom cable presented above.This process is the same as flashing with precompiled binaries.For BG(green) module you can folow the paper instructions for flashing coming with the module using bridge pins provided.
- Or you can compile Stmboot files yourself ,**Stmboot.ino** file using arduino IDE ,select Tools ,Upload method : **"Serial"** and press upload button.All this setup is using the same custom cable and USB-serial device(FTDI) as before.
- After this process is complete switch off TX,remove cables FTDI serila device and/or mutimodule jumper used for flashing.The multimodule should be back inthe same state as before.
1. Compile multiprotocol source in arduino IDE ,choose this time Upload method **STM32duino bootloader** ,select **"Export compiled Binary"** to show the binary file in the same folder as source.
1. Take copy of the resulted binary file, to TX radio SD card ,the firmware folder.
1. Now flash the TX radio with the last firmware(for ersky9x is version P221 "e2" test version or higher).
1. Enter in TX radio maintenance mode(for ersky9X start TX radio with both bottom trims pushed outwards).Select **Update multi** press menu button select also the right com port,update ,then the multiprotocol.bin file (see the correct name) and press menu and again for flashing. You'll see a bar fill slowly .Wait for the procces to be complete.Press exit( or switch off TX) several times to come out of the maintenace mode.
1. Any subsequent update of the multiprotocol will follow 2-3 and 5-6 steps.There is no need anymore USB serial device or cables for flashing.
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## Flashing precompiled binaries:
If you want to flash a pre-compiled binary file (like the Release .bin files) you need specialized software and the same FTDI cable setup already posted [here](Compiling_STM32.md#option-1-flashing-with-tx-powerhighly-recommended).
1. Set BOOT0 jumper(skip this step if you aready made your own cable ,see above)
1. Connect your 3.3V FTDI cable (USB - TTL serial) to Multiprotocol serial port (RX,TX,GND pins when flashing with TX power).
1. Insert first FTDI serial to USB port.Start TX (only if using flashing with TX power method)
1. The other steps regarding power supply the same as previous recommandation regarding jumpers
For uploading binaries(.bin files) there is a specialized software you need to install on your computer.
#### Windows:
Download the **ST Flash Loader Demonstrator** from here: http://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-programmers/flasher-stm32.html
Run the ST Flash Loader program. There are many tutorials on the web on how to use this program.For example: [here](http://www.scienceprog.com/flashing-programs-to-stm32-embedded-bootloader)
#### OSX:
To be checked.
### Report issues for the STM32 board
You can report your problem using the [GitHub issue](https://github.com/midelic/DIY-Multiprotocol-TX-Module/issues) system or go to the [Main thread on RCGROUPS](http://www.rcgroups.com/forums/showthread.php?t=2165676) to ask your question.
Please provide the following information:
- Multiprotocol code version
- STM32 version
- TX type
- Using PPM or Serial, if using er9x or ersky9x the version in use
- Different led status (multimodule and model)
- Explanation of the behavior and reproduction steps

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# Model Setup
This is the page to document model or receiver specific setup instructions.
The Deviation project (on which this project was based) have a useful list of models [here](http://www.deviationtx.com/wiki/supported_models).
# Syma X5C
<img src="http://img2.cheapdrone.co.uk/images/upload/2014/12/X5C%203/SKU115108-7.jpg" Width="200" Height="200" />
## Channel Map
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CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8|CH9
---|---|---|---|---|---|---|---|---
A|E|T|R|FLIP|RATES|PICTURE|VIDEO|HEADLESS
=======
CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8
---|---|---|---|---|---|---|---
A|E|T|R|FLIP|RATES|PICTURE|VIDEO
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CH1|CH2|CH3|CH4|CH5|CH6|CH7|CH8
---|---|---|---|---|---|---|---
A|E|T|R|FLIP|RATES|PICTURE|VIDEO
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## Binding
There are no special binding instructions. The model powers up in Autobind mode and expects the bind sequence from the transmitter within the first 4-5 seconds.
## Tx Setup
A basic 4-channel setup works perfectly, but some improvements are possible:
### Setting up a switch to Flip
1. Choose your "Rates" switch - typically the momentary TRN switch
1. In the Mixer create an entry for CH5
1. Edit this line as follows:
- er9X: Source: sTRN, Weight 100 (or whatever switch you selected)
- OpenTx: Source: SH, Weight 200 (or whatever switch you selected)
### Setting up a swich for high rates
1. Choose your "Rates" switch
1. In the Mixer create an entry for CH6
1. Edit this line as follows:
- er9X: Source: sTHR, Weight 100 (or whatever switch you selected)
- OpenTx: Source: SF, Weight 200 (or whatever switch you selected)
When the switch is in the rear position the rates will be standard, when the switch is forward rates will be high. There is no need to move the throttle stick to the full up and full down position as with the standard controller.
### Setting up Idle-up
One of the most annoying functions on the Syma X5C is that the motors stop when the throttle is pulled back. This can be fixed by implmenting Idle-up on the transmitter (think of this as a very simple version of the Betaflight "Air Mode"). Idle up will ensure that even when the throttle is all the way down, a minimum command is passed to the motor to keep them spinning and to activate the stabilization.
**To do this**:
1. Decide on a switch you will use to activate Idle up
1. In the mixer menu add a line under Throttle and mix in a value of between 4 and 6 to be added to the throttle value if the switch is activated. What this does is effectively prevents the throttle from going down to less than this value.
1. When you want to fly in "idle-up" mode flick the switch and your stabilization will always be active.
1. Remeber to switch off idle-up as soon as the quad lands (or crashes - to avoid damage to the motors)
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### Additional notes on rates:
The SymaX driver can add full trim to the control output. Doing so enables
dramatic rates, steep angles, and high speeds. If CH6 is low, the usual Syma
full rates will be in effect. If CH6 is high, the SymaX extreme trim rates will be
in effect. Be cautious when first trying out the extreme rates.
The extreme rates do not work with with headless mode because in this
mode the trim and the primary control directions may not be aligned - the
primary control directions will be based on the headless mode, but the trims
remain based upon the quadcopter's heading. So extreme rates are disabled
when headless mode is selected.
Be aware that the use of extreme rates and the resulting steep angles will
disorient the gyro responsible for maintaining headless mode, and that the
direction the quadcopter thinks you selected for headless mode may not be
correct after especially wild flights.
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# Inductrix (Horizon Hobby)
<img src="https://s7d5.scene7.com/is/image/horizonhobby/BLH8700_a0" Width="200" Height="200" />
## Binding
For telemetry enabled modules, you should just let the remote autodetect the settings. Otherwise choose DSMX 22ms with 6ch or 7ch. To bind the model, keep the transmitter off, power on the Inductrix. Wait until it flashes fast and then power up the Tx and use Bind.
### Throttle
For Inductrix FPV you might need to adjust the lower end of throttle to be a higher than default, otherwise motors will be spinning on minimal throttle. One way to do this is to set the throttle to 80% output (100% of DSM output) and then to enable the **Throttle Idle Trim Only** under the Model Setup menu. See image below:
<img src="images/Inductrix_Throttle_Setup.png" Width="600" Height="200" />
### Acro and Level Mode
Setup channel 6 with a momemtary button or switch (e.g. SH on the Taranis) and use that switch to switch between modes. Set the output to somewhere between 40% to 60% for best results.
An addition consideration when flying in Acro mode is to reduce stick sensitivity and to add some expo. The screens below show one way of doing this. Customize to your needs.
#### Inputs Screen
The follwing INPUTS screen shows one potential setup to introduce expo for Acro mode. The activation of the expo on Roll, Pitch and Yaw is when the SG switch is not in the back position. Add to taste.
<img src="images/Inductrix_Inputs.png" Width="600" Height="200" />
#### Aileron Rates attached to Switch !SG-up
The next screen shows and example of how the expo (50%) was set up on the stick input and how it is activated by !SG-up:
<img src="images/Inductrix_Aileron_Expo.png" Width="600" Height="200" />
#### Mixer Menu
The next screen shows the mixer menu with the mode change on momentary switch SH and High-Low rates on switch SC:
<img src="images/Inductrix_Mixer.png" Width="600" Height="200" />
# Cheerson CX-20 / Quanum Nova
<img src="http://uaequadcopters.com/images/products/Large/932-cheersoncx20dronquad.jpg" Width="200" Height="155" />
## Channel Map
CH1|CH2|CH3|CH4|CH5|CH6|CH7
---|---|---|---|---|---|---
A|E|T|R|MODE|AUX1|AUX2
## Binding
The Rx powers up in binding mode so the transmitter should be set to autobind. If the Tx signal is lost due to power-off or going out of range the Rx will not re-bind, and requires power-cycling before it will bind again.
## Tx Setup
AETR are simple +100% mixes. Note that the model expects Elevator (CH2) to be reversed, which is handled in the module firmware, so no need to reverse it on the Tx.
### Flight modes
CH5 is used to transmit the flight mode to the APM flight controller by setting the output to a value in a pre-defined range. The original Tx uses a 3-pos switch (SWA) and a 2-pos switch (SWB) to achieve six different combinations, but only five are used - with SWA at 0, 1500 is sent when SWB is at 0 and 1, leaving flight mode 3 unused. However, in the stock CX-20 flight controller settings, both flight mode 3 and 4 are set to the same flight mode, meaning we can configure our new Tx settings to send a value for mode 3 without changing the standard flight mode behaviour. Afterwards, you can optionally use Mission Planner to assign a new flight mode to mode 3 or mode 4, or reconfigure them altogether.
The values, modes, and switch positions for the stock Tx are:
Mode|Stock Tx PWM Value|CX-20 Mode|SWA|SWB
---|---|---|---|---
1|1100|Return to Home|2|0
2|1300|Altitude Sensor|2|1
3||||
4|1500|Manual|0|0 or 1
5|1700|Direction Lock|1|1
6|1900|Stable|1|0
**NB** The CX-20 uses flight mode names which are different to the standard APM flight mode names. The CX-20 modes map to APM modes as follows:
CX-20 Mode|APM Mode
---|---
Manual|Stabilize
Stable|Loiter
Direction Locked|Simple
Altitude Sensor|Altitude Hold
Return to Home|RTL (Return to Launch)
We need to set the Tx up to output these values on CH5 (or very similar values - more information, including the PWM width ranges is documented in the [Arducopter Wiki](http://ardupilot.org/copter/docs/common-rc-transmitter-flight-mode-configuration.html#common-rc-transmitter-flight-mode-configuration)).
One easy way to acheive this is to configure six logical switches mapped to two physical switches, for example the 3-way ID switch and the AIL D/R switch, then configure the logical switches to activate a flgiht mode and to apply a specific weight to the CH5 output.
To simply map the old Tx modes to the new Tx using the same switch positions, use the following configuration. The stock SWA switch is replaced with the ID0/1/2 switch, SWB is replaced with the AIL D/R switch.
#### Logical switches:
Switch|Function|V1|V2
---|---|---|---
L. Switch 1|AND|ID2|!AIL
L. Switch 2|AND|ID2|AIL
L. Switch 3|AND|ID0|!AIL
L. Switch 4|AND|ID0|AIL
L. Switch 5|AND|ID1|AIL
L. Switch 6|AND|ID1|!AIL
#### light modes (using CX-20 names):
Mode|Name|Switch
---|---|---
1|RTL|L1
2|AltSen|L2
3|Manual|L3
4|Manual|L4
5|DirLock|L5
6|Stable|L6
#### Mixer setup:
Channel|Weight|Source|Switch|Multiplex
---|---|---|---|---
CH5|-80%|HALF|L1|REPLACE
|-40%|HALF|L2|REPLACE
|-20%|HALF|L3|REPLACE
|+0%|HALF|L4|REPLACE
|+40%|HALF|L5|REPLACE
|+80%|HALF|L6|REPLACE
**NB** The weight values in this table will get you in the ball park, and will most likely work fine. Because transmitters can vary they should be double-checked in the Mission Planer Radio Calibration screen, and tweaked as necessary.
### CH6 and CH7
CH6 and CH7 can be assigned to switches or pots to provide additionaly functionality such as PID tuning, gimbal control, or APM auto-tune or auto-land.
Replicating the stock setup of two pots, you would assign:
Channel|Weight|Source|Multiplex
---|---|---|---
CH6|+100%|P1|ADD
CH7|+100%|P3|ADD
## Full Mixer Setup
Channel|Source|Weight|Switch|Multiplex
---|---|---|---|---
CH1|+100%|Aileron||
CH2|+100%|Elevator||
CH3|+100%|Throttle||
CH4|+100%|Rudder||
CH5|-80%|HALF|L1|REPLACE
|-40%|HALF|L2|REPLACE
|-20%|HALF|L3|REPLACE
|+0%|HALF|L4|REPLACE
|+40%|HALF|L5|REPLACE
|+80%|HALF|L6|REPLACE
CH6|+100%|P1|
CH7|+100%|P3|
Once you have configured the mixes you should connect Mission Planner to your CX-20 and use the Radio Calibration screen to verify that the channels are correctly assigned, and that the flight modes are correct. Mission planner will give the exact PWM value on CH5, allowing the weights to be adjusted if needed.