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WFLY2: Failsafe working for values, hold and no pulse

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This commit is contained in:
Pascal Langer 2021-01-29 15:41:47 +01:00
parent 66704b5a13
commit 983debe6ce
3 changed files with 39 additions and 11 deletions
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2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 2
#define VERSION_PATCH_LEVEL 14
#define VERSION_PATCH_LEVEL 15
//******************
// Protocols

46
Multiprotocol/WFLY2_a7105.ino
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@ -116,12 +116,38 @@ static void __attribute__((unused)) WFLY2_build_packet()
//packet[0] = 0x00; // Normal packet
#ifdef FAILSAFE_ENABLE
if(IS_FAILSAFE_VALUES_on)
{//Failsafe packet
packet[0] = 0x01; //Failsafe packet
packet[5] = 0x58; // unknown, values are counting 58,59,5A,5B and rollover
packet[6] = 0x55; // unknown and constant
#define WFLY2_NUM_FS_PKTS 2 //the original TX sends 4 but that's not needed...
if(IS_FAILSAFE_VALUES_on && packet_sent >= WFLY2_NUM_FS_PKTS) //Failsafe packet arrived from radio
packet_sent = 0; // send FS config packets
if(packet_sent < WFLY2_NUM_FS_PKTS)
{// Send failsafe packets
packet[0] = 0x01; //Failsafe packet
packet[5] = 0x08 | packet_sent;
/*if(packet_sent > 1) // needed when more than 2 FS packets are sent
{
packet[5] |= 0x50; // all channels in failsafe
packet[6] = 0x55; // all channels in failsafe
}
else*/
{
uint8_t val=0;
for(uint8_t i = 0; i < 6; i++)
{
val >>= 2;
if(Failsafe_data[i+packet_sent*6] == FAILSAFE_CHANNEL_NOPULSES) //no pulse value = 2
val |= 0x80;
else if(Failsafe_data[i+packet_sent*6] != FAILSAFE_CHANNEL_HOLD) //hold value = 0
val |= 0x40; //fs value = 1
//debug("ch%d=%04X, val=%02X | ",i+1+packet_sent*6, Failsafe_data[i+packet_sent*6],val);
if(i==1)
packet[5] |= val;
}
packet[6] = val;
}
offset=2;
packet_sent++;
//debugln("5=%02X, 6=%02X", packet[5], packet[6]);
}
#endif
@ -136,11 +162,12 @@ static void __attribute__((unused)) WFLY2_build_packet()
packet[7 + offset + i*3] |= (temp>>4)&0xF0; // high byte
}
//Unknown bytes 20+offset..31
#ifdef FAILSAFE_ENABLE
FAILSAFE_VALUES_off;
if(packet_sent >= WFLY2_NUM_FS_PKTS)
FAILSAFE_VALUES_off;
#endif
//Unknown bytes 20+offset..31
}
}
@ -230,7 +257,7 @@ uint16_t ReadWFLY2()
if((status & 0x21)==0)
{ // Packet received and CRC OK
//Debug
#if 1
#if 0
debug("T:");
for(uint8_t i=0; i<WFLY2_PACKET_SIZE-20; i++) // Can't send the full telemetry at full speed
debug(" %02X", packet[i]);
@ -303,6 +330,7 @@ uint16_t initWFLY2()
hopping_frequency_no=0;
rf_ch_num = 0;
bind_counter = WFLY2_BIND_COUNT;
packet_sent = 255;
phase = WFLY2_DATA;
#ifdef WFLY2_HUB_TELEMETRY
packet_count = 0;

2
Protocols_Details.md
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@ -341,7 +341,7 @@ Receivers: RF201S,RF206S,RF207S,RF209S
Extended limits supported
Failsafe is only supported by value per channel, it's not yet possible to set Hold or No pulse.
Failsafe fully supported (value, hold and no pulse).
Telemetry enabled for A1=RX_Batt (Ratio 12.7), A2=Ext_Batt (Ratio 12.7), RX RSSI, TX RSSI, TX LQI (100=all telem packets received...0=no telem packets).