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Switch all protocols to use a resolution of 2048

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- Change how PPM is handled with a resolution of 2048 and scaled to match serial input range. PPM is now fully scaled for all protocols which was not the case before. If you are using PPM, you might have to adjust the end points depending on the protocols.
 - Change all range conversions to use 2048 where possible
 - Updated all protocols with new range functions
 - Protocols which are taking advantage of 2048 are Assan, FrSky V/D/X, DSM, Devo, WK2x01
 - Renamed AUX xto CHx for code readbility
This commit is contained in:
Pascal Langer 2018-01-08 19:37:14 +01:00
parent 11287cb9c0
commit 984aa3f413
39 changed files with 462 additions and 506 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Multiprotocol/A7105_SPI.ino
View File

@ -195,7 +195,7 @@ void A7105_AdjustLOBaseFreq(uint8_t cmd)
} }
} }
if(offset==1024) // Use channel 15 as an input if(offset==1024) // Use channel 15 as an input
offset=map(Channel_data[14],CHANNEL_MIN_100,CHANNEL_MAX_100,-300,300); offset=convert_channel_16b_nolimit(CH15,-300,300);
if(old_offset==offset) // offset is the same as before... if(old_offset==offset) // offset is the same as before...
return; return;

8
Multiprotocol/AFHDS2A_a7105.ino
View File

@ -171,8 +171,9 @@ static void AFHDS2A_build_packet(uint8_t type)
packet[0] = 0x58; packet[0] = 0x58;
for(uint8_t ch=0; ch<14; ch++) for(uint8_t ch=0; ch<14; ch++)
{ {
packet[9 + ch*2] = Servo_data[CH_AETR[ch]]&0xFF; uint16_t channelMicros = convert_channel_ppm(CH_AETR[ch]);
packet[10 + ch*2] = (Servo_data[CH_AETR[ch]]>>8)&0xFF; packet[9 + ch*2] = channelMicros&0xFF;
packet[10 + ch*2] = (channelMicros>>8)&0xFF;
} }
break; break;
case AFHDS2A_PACKET_FAILSAFE: case AFHDS2A_PACKET_FAILSAFE:
@ -180,7 +181,8 @@ static void AFHDS2A_build_packet(uint8_t type)
for(uint8_t ch=0; ch<14; ch++) for(uint8_t ch=0; ch<14; ch++)
{ {
#ifdef FAILSAFE_ENABLE #ifdef FAILSAFE_ENABLE
uint16_t failsafeMicros = (Failsafe_data[CH_AETR[ch]]*5)/8+860; 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+860)
{ // Failsafe values { // Failsafe values
packet[9 + ch*2] = failsafeMicros & 0xff; packet[9 + ch*2] = failsafeMicros & 0xff;

13
Multiprotocol/ASSAN_nrf24l01.ino
View File

@ -50,16 +50,13 @@ void ASSAN_init()
void ASSAN_send_packet() void ASSAN_send_packet()
{ {
uint16_t temp;
for(uint8_t i=0;i<8;i++) for(uint8_t i=0;i<8;i++)
{ {
if(mode_select != MODE_SERIAL) // If in PPM mode extend the output to 1000...2000µs uint16_t val=Channel_data[i];
temp=convert_channel_16b_nolim(i,1000,2000); val=((val<<2)+val)+(860<<3); // PPM value <<3
else
temp=Servo_data[i]; packet[2*i]=val>>8;
temp<<=3; packet[2*i+1]=val;
packet[2*i]=temp>>8;
packet[2*i+1]=temp;
} }
for(uint8_t i=0;i<ASSAN_ADDRESS_LENGTH;i++) for(uint8_t i=0;i<ASSAN_ADDRESS_LENGTH;i++)
packet[16+i]=packet[23-i]; packet[16+i]=packet[23-i];

15
Multiprotocol/Arduino.ino
View File

@ -12,13 +12,12 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/ */
#ifndef STM32_BOARD
/************************************/ /************************************/
/************************************/ /************************************/
/** Arduino replacement routines **/ /** Arduino replacement routines **/
/************************************/ /************************************/
// replacement map() // replacement map()
int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) int16_t map16b( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
{ {
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; // return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
long y ; long y ;
@ -29,6 +28,7 @@ int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t
return x + out_min ; return x + out_min ;
} }
#ifndef STM32_BOARD
// replacement millis() and micros() // replacement millis() and micros()
// These work polled, no interrupts // These work polled, no interrupts
// micros() MUST be called at least once every 32 milliseconds // micros() MUST be called at least once every 32 milliseconds
@ -38,6 +38,17 @@ uint32_t TotalMicros ;
uint32_t TotalMillis ; uint32_t TotalMillis ;
uint8_t Correction ; uint8_t Correction ;
int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
{
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
long y ;
x -= in_min ;
y = out_max - out_min ;
y *= x ;
x = y / (in_max - in_min) ;
return x + out_min ;
}
uint32_t micros() uint32_t micros()
{ {
uint16_t elapsed ; uint16_t elapsed ;

18
Multiprotocol/Bayang_nrf24l01.ino
View File

@ -90,28 +90,28 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
//Flags packet[2] //Flags packet[2]
packet[2] = 0x00; packet[2] = 0x00;
if(Servo_AUX1) if(CH5_SW)
packet[2] = BAYANG_FLAG_FLIP; packet[2] = BAYANG_FLAG_FLIP;
if(Servo_AUX2) if(CH6_SW)
packet[2] |= BAYANG_FLAG_RTH; packet[2] |= BAYANG_FLAG_RTH;
if(Servo_AUX3) if(CH7_SW)
packet[2] |= BAYANG_FLAG_PICTURE; packet[2] |= BAYANG_FLAG_PICTURE;
if(Servo_AUX4) if(CH8_SW)
packet[2] |= BAYANG_FLAG_VIDEO; packet[2] |= BAYANG_FLAG_VIDEO;
if(Servo_AUX5) if(CH9_SW)
{ {
packet[2] |= BAYANG_FLAG_HEADLESS; packet[2] |= BAYANG_FLAG_HEADLESS;
dyntrim = 0; dyntrim = 0;
} }
//Flags packet[3] //Flags packet[3]
packet[3] = 0x00; packet[3] = 0x00;
if(Servo_AUX6) if(CH10_SW)
packet[3] = BAYANG_FLAG_INVERTED; packet[3] = BAYANG_FLAG_INVERTED;
if(Servo_AUX7) if(CH11_SW)
dyntrim = 0; dyntrim = 0;
if(Servo_AUX8) if(CH12_SW)
packet[3] |= BAYANG_FLAG_TAKE_OFF; packet[3] |= BAYANG_FLAG_TAKE_OFF;
if(Servo_AUX9) if(CH13_SW)
packet[3] |= BAYANG_FLAG_EMG_STOP; packet[3] |= BAYANG_FLAG_EMG_STOP;
//Aileron //Aileron
val = convert_channel_10b(AILERON); val = convert_channel_10b(AILERON);

2
Multiprotocol/CABELL_nrf224l01.ino
View File

@ -208,7 +208,7 @@ static void __attribute__((unused)) CABELL_send_packet(uint8_t bindMode)
case 3 : adjusted_x = THROTTLE; break; case 3 : adjusted_x = THROTTLE; break;
default : adjusted_x = x; break; default : adjusted_x = x; break;
} }
holdValue = map(limit_channel_100(adjusted_x),servo_min_100,servo_max_100,1000,2000); // valid channel values are 1000 to 2000 holdValue = convert_channel_16b_limit(adjusted_x,1000,2000); // valid channel values are 1000 to 2000
if (bindMode) if (bindMode)
{ {
switch (adjusted_x) switch (adjusted_x)

24
Multiprotocol/CG023_nrf24l01.ino
View File

@ -54,13 +54,13 @@ static void __attribute__((unused)) CG023_send_packet(uint8_t bind)
// throttle : 0x00 - 0xFF // throttle : 0x00 - 0xFF
throttle=convert_channel_8b(THROTTLE); throttle=convert_channel_8b(THROTTLE);
// rudder // rudder
rudder = convert_channel_8b_scale(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right) rudder = convert_channel_16b_limit(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right)
if (rudder<=0x80) if (rudder<=0x80)
rudder=0x80-rudder; // yaw left : 0x00 (neutral) - 0x3C (left) rudder=0x80-rudder; // yaw left : 0x00 (neutral) - 0x3C (left)
// elevator : 0xBB - 0x7F - 0x43 // elevator : 0xBB - 0x7F - 0x43
elevator = convert_channel_8b_scale(ELEVATOR, 0x43, 0xBB); elevator = convert_channel_16b_limit(ELEVATOR, 0x43, 0xBB);
// aileron : 0x43 - 0x7F - 0xBB // aileron : 0x43 - 0x7F - 0xBB
aileron = convert_channel_8b_scale(AILERON, 0x43, 0xBB); aileron = convert_channel_16b_limit(AILERON, 0x43, 0xBB);
if (bind) if (bind)
packet[0]= 0xaa; packet[0]= 0xaa;
@ -86,20 +86,20 @@ static void __attribute__((unused)) CG023_send_packet(uint8_t bind)
{ {
// rate // rate
packet[13] = CG023_FLAG_RATE_HIGH packet[13] = CG023_FLAG_RATE_HIGH
| GET_FLAG(Servo_AUX1,CG023_FLAG_FLIP) | GET_FLAG(CH5_SW,CG023_FLAG_FLIP)
| GET_FLAG(Servo_AUX2,CG023_FLAG_LED_OFF) | GET_FLAG(CH6_SW,CG023_FLAG_LED_OFF)
| GET_FLAG(Servo_AUX3,CG023_FLAG_STILL) | GET_FLAG(CH7_SW,CG023_FLAG_STILL)
| GET_FLAG(Servo_AUX4,CG023_FLAG_VIDEO) | GET_FLAG(CH8_SW,CG023_FLAG_VIDEO)
| GET_FLAG(Servo_AUX5,CG023_FLAG_EASY); | GET_FLAG(CH9_SW,CG023_FLAG_EASY);
} }
else else
{// YD829 {// YD829
// rate // rate
packet[13] = YD829_FLAG_RATE_HIGH packet[13] = YD829_FLAG_RATE_HIGH
| GET_FLAG(Servo_AUX1,YD829_FLAG_FLIP) | GET_FLAG(CH5_SW,YD829_FLAG_FLIP)
| GET_FLAG(Servo_AUX3,YD829_FLAG_STILL) | GET_FLAG(CH7_SW,YD829_FLAG_STILL)
| GET_FLAG(Servo_AUX4,YD829_FLAG_VIDEO) | GET_FLAG(CH8_SW,YD829_FLAG_VIDEO)
| GET_FLAG(Servo_AUX5,YD829_FLAG_HEADLESS); | GET_FLAG(CH9_SW,YD829_FLAG_HEADLESS);
} }
packet[14] = 0; packet[14] = 0;

58
Multiprotocol/CX10_nrf24l01.ino
View File

@ -57,18 +57,18 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
packet[3] = rx_tx_addr[2]; packet[3] = rx_tx_addr[2];
packet[4] = rx_tx_addr[3]; packet[4] = rx_tx_addr[3];
// packet[5] to [8] (aircraft id) is filled during bind for blue board // packet[5] to [8] (aircraft id) is filled during bind for blue board
uint16_t aileron=map(limit_channel_100(AILERON),servo_min_100,servo_max_100,1000,2000); uint16_t aileron= convert_channel_16b_limit(AILERON ,1000,2000);
uint16_t elevator=map(limit_channel_100(ELEVATOR),servo_min_100,servo_max_100,2000,1000); uint16_t elevator=convert_channel_16b_limit(ELEVATOR,2000,1000);
uint16_t throttle=map(limit_channel_100(THROTTLE),servo_min_100,servo_max_100,1000,2000); uint16_t throttle=convert_channel_16b_limit(THROTTLE,1000,2000);
uint16_t rudder=map(limit_channel_100(RUDDER),servo_min_100,servo_max_100,2000,1000); uint16_t rudder= convert_channel_16b_limit(RUDDER ,2000,1000);
// Channel 5 - flip flag // Channel 5 - flip flag
packet[12+offset] = GET_FLAG(Servo_AUX1,CX10_FLAG_FLIP); // flip flag applied on rudder packet[12+offset] = GET_FLAG(CH5_SW,CX10_FLAG_FLIP); // flip flag applied on rudder
// Channel 6 - rate mode is 2 lsb of packet 13 // Channel 6 - rate mode is 2 lsb of packet 13
if(Servo_data[AUX2] > PPM_MAX_COMMAND) // rate 3 / headless on CX-10A if(CH6_SW) // rate 3 / headless on CX-10A
flags = 0x02; flags = 0x02;
else else
if(Servo_data[AUX2] < PPM_MIN_COMMAND) if(Channel_data[CH6] < CHANNEL_MIN_COMMAND)
flags = 0x00; // rate 1 flags = 0x00; // rate 1
else else
flags = 0x01; // rate 2 flags = 0x01; // rate 2
@ -78,66 +78,66 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
switch(sub_protocol) switch(sub_protocol)
{ {
case CX10_BLUE: case CX10_BLUE:
flags |= GET_FLAG(!Servo_AUX3, 0x10) // Channel 7 - picture flags |= GET_FLAG(!CH7_SW, 0x10) // Channel 7 - picture
|GET_FLAG( Servo_AUX4, 0x08); // Channel 8 - video |GET_FLAG( CH8_SW, 0x08); // Channel 8 - video
break; break;
case Q282: case Q282:
case Q242: case Q242:
case Q222: case Q222:
memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6); memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL //FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
flags2 = GET_FLAG(Servo_AUX1, 0x80) // Channel 5 - FLIP flags2 = GET_FLAG(CH5_SW, 0x80) // Channel 5 - FLIP
|GET_FLAG(!Servo_AUX2, 0x40) // Channel 6 - LED |GET_FLAG(!CH6_SW, 0x40) // Channel 6 - LED
|GET_FLAG(Servo_AUX5, 0x08) // Channel 9 - HEADLESS |GET_FLAG(CH9_SW, 0x08) // Channel 9 - HEADLESS
|GET_FLAG(Servo_AUX7, 0x04) // Channel 11 - XCAL |GET_FLAG(CH11_SW, 0x04) // Channel 11 - XCAL
|GET_FLAG(Servo_AUX8, 0x02); // Channel 12 - YCAL or Start/Stop motors on JXD 509 |GET_FLAG(CH12_SW, 0x02); // Channel 12 - YCAL or Start/Stop motors on JXD 509
if(sub_protocol==Q242) if(sub_protocol==Q242)
{ {
flags=2; flags=2;
flags2|= GET_FLAG(Servo_AUX3,0x01) // Channel 7 - picture flags2|= GET_FLAG(CH7_SW,0x01) // Channel 7 - picture
|GET_FLAG(Servo_AUX4,0x10); // Channel 8 - video |GET_FLAG(CH8_SW,0x10); // Channel 8 - video
packet[17]=0x00; packet[17]=0x00;
packet[18]=0x00; packet[18]=0x00;
} }
else else
{ // Q282 & Q222 { // Q282 & Q222
flags=3; // expert flags=3; // expert
if(Servo_AUX4) // Channel 8 - Q282 video / Q222 Module 1 if(CH8_SW) // Channel 8 - Q282 video / Q222 Module 1
{ {
if (!(video_state & 0x20)) video_state ^= 0x21; if (!(video_state & 0x20)) video_state ^= 0x21;
} }
else else
if (video_state & 0x20) video_state &= 0x01; if (video_state & 0x20) video_state &= 0x01;
flags2 |= video_state flags2 |= video_state
|GET_FLAG(Servo_AUX3,0x10); // Channel 7 - Q282 picture / Q222 Module 2 |GET_FLAG(CH7_SW,0x10); // Channel 7 - Q282 picture / Q222 Module 2
} }
if(Servo_AUX6) flags |=0x80; // Channel 10 - RTH if(CH10_SW) flags |=0x80; // Channel 10 - RTH
break; break;
case DM007: case DM007:
aileron = 3000 - aileron; aileron = 3000 - aileron;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS //FLIP|MODE|PICTURE|VIDEO|HEADLESS
flags2= GET_FLAG(Servo_AUX3,CX10_FLAG_SNAPSHOT) // Channel 7 - picture flags2= GET_FLAG(CH7_SW,CX10_FLAG_SNAPSHOT) // Channel 7 - picture
|GET_FLAG(Servo_AUX4,CX10_FLAG_VIDEO); // Channel 8 - video |GET_FLAG(CH8_SW,CX10_FLAG_VIDEO); // Channel 8 - video
if(Servo_AUX5) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless if(CH9_SW) flags |= CX10_FLAG_HEADLESS; // Channel 9 - headless
break; break;
case JC3015_2: case JC3015_2:
aileron = 3000 - aileron; aileron = 3000 - aileron;
elevator = 3000 - elevator; elevator = 3000 - elevator;
//FLIP|MODE|LED|DFLIP //FLIP|MODE|LED|DFLIP
if(Servo_AUX4) packet[12] &= ~CX10_FLAG_FLIP; if(CH8_SW) packet[12] &= ~CX10_FLAG_FLIP;
case JC3015_1: case JC3015_1:
//FLIP|MODE|PICTURE|VIDEO //FLIP|MODE|PICTURE|VIDEO
flags2= GET_FLAG(Servo_AUX3,_BV(3)) // Channel 7 flags2= GET_FLAG(CH7_SW,_BV(3)) // Channel 7
|GET_FLAG(Servo_AUX4,_BV(4)); // Channel 8 |GET_FLAG(CH8_SW,_BV(4)); // Channel 8
break; break;
case MK33041: case MK33041:
elevator = 3000 - elevator; elevator = 3000 - elevator;
//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH //FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
flags|=GET_FLAG(Servo_AUX3,_BV(7)) // Channel 7 - picture flags|=GET_FLAG(CH7_SW,_BV(7)) // Channel 7 - picture
|GET_FLAG(Servo_AUX6,_BV(2)); // Channel 10 - rth |GET_FLAG(CH10_SW,_BV(2)); // Channel 10 - rth
flags2=GET_FLAG(Servo_AUX4,_BV(0)) // Channel 8 - video flags2=GET_FLAG(CH8_SW,_BV(0)) // Channel 8 - video
|GET_FLAG(Servo_AUX5,_BV(5)); // Channel 9 - headless |GET_FLAG(CH9_SW,_BV(5)); // Channel 9 - headless
break; break;
} }
packet[5+offset] = lowByte(aileron); packet[5+offset] = lowByte(aileron);

101
Multiprotocol/Common.ino
View File

@ -35,30 +35,73 @@ void InitFailsafe()
#endif #endif
} }
#endif #endif
#ifdef ENABLE_PPM
void InitPPM()
{
for(uint8_t i=0;i<NUM_CHN;i++)
PPM_data[i]=PPM_MAX_100+PPM_MIN_100;
PPM_data[THROTTLE]=PPM_MIN_100*2;
}
#endif
void InitChannel() void InitChannel()
{ {
for(uint8_t i=0;i<NUM_CHN;i++) for(uint8_t i=0;i<NUM_CHN;i++)
Channel_data[i]=1024; Channel_data[i]=1024;
#ifdef FAILSAFE_ENABLE #ifdef FAILSAFE_THROTTLE_LOW_VAL
Channel_data[THROTTLE]=(uint16_t)FAILSAFE_THROTTLE_LOW_VAL; //0=-125%, 204=-100% Channel_data[THROTTLE]=(uint16_t)FAILSAFE_THROTTLE_LOW_VAL; //0=-125%, 204=-100%
#else #else
Channel_data[THROTTLE]=204; Channel_data[THROTTLE]=204;
#endif #endif
} }
/************************/ /************************/
/** Convert routines **/ /** Convert routines **/
/************************/ /************************/
// Channel value is converted to 8bit values full scale // Revert a channel and store it
void reverse_channel(uint8_t num)
{
uint16_t val=2048-Channel_data[num];
if(val>=2048) val=2047;
Channel_data[num]=val;
}
// Channel value is converted to ppm 860<->2140 -125%<->+125% and 988<->2012 -100%<->+100%
uint16_t convert_channel_ppm(uint8_t num)
{
uint16_t val=Channel_data[num];
return (((val<<2)+val)>>3)+860; //value range 860<->2140 -125%<->+125%
}
// Channel value 100% is converted to 10bit values 0<->1023
uint16_t convert_channel_10b(uint8_t num)
{
uint16_t val=Channel_data[num];
val=((val<<2)+val)>>3;
if(val<=128) return 0;
if(val>=1152) return 1023;
return val-128;
}
// Channel value 100% is converted to 8bit values 0<->255
uint8_t convert_channel_8b(uint8_t num) uint8_t convert_channel_8b(uint8_t num)
{ {
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255)); uint16_t val=Channel_data[num];
val=((val<<2)+val)>>5;
if(val<=32) return 0;
if(val>=288) return 255;
return val-32;
} }
// Channel value is converted to 8bit values to provided values scale // Channel value 100% is converted to value scaled
uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max) int16_t convert_channel_16b_limit(uint8_t num,int16_t min,int16_t max)
{ {
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max)); int32_t val=limit_channel_100(num); // 204<->1844
val=(val-CHANNEL_MIN_100)*(max-min)/(CHANNEL_MAX_100-CHANNEL_MIN_100)+min;
return (uint16_t)val;
}
// Channel value -125%<->125% is scaled to 16bit value with no limit
int16_t convert_channel_16b_nolimit(uint8_t num, int16_t min, int16_t max)
{
int32_t val=Channel_data[num]; // 0<->2047
val=(val-CHANNEL_MIN_100)*(max-min)/(CHANNEL_MAX_100-CHANNEL_MIN_100)+min;
return (uint16_t)val;
} }
// Channel value is converted sign + magnitude 8bit values // Channel value is converted sign + magnitude 8bit values
@ -69,27 +112,25 @@ uint8_t convert_channel_s8b(uint8_t num)
return (ch < 128 ? 127-ch : ch); return (ch < 128 ? 127-ch : ch);
} }
// Channel value is converted to 10bit values // Channel value is limited to 100%
uint16_t convert_channel_10b(uint8_t num) uint16_t limit_channel_100(uint8_t num)
{ {
return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023)); if(Channel_data[num]>=CHANNEL_MAX_100)
} return CHANNEL_MAX_100;
if (Channel_data[num]<=CHANNEL_MIN_100)
// Channel value is multiplied by 1.5 return CHANNEL_MIN_100;
uint16_t convert_channel_frsky(uint8_t num) return Channel_data[num];
{
return Servo_data[num] + Servo_data[num]/2;
} }
// Channel value is converted for HK310 // Channel value is converted for HK310
void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high) void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
{ {
uint16_t temp=0xFFFF-(4*Servo_data[num])/3; uint16_t temp=0xFFFF-(3440+((Channel_data[num]*5)>>1))/3;
*low=(uint8_t)(temp&0xFF); *low=(uint8_t)(temp&0xFF);
*high=(uint8_t)(temp>>8); *high=(uint8_t)(temp>>8);
} }
// Failsafe value is converted for HK310
#ifdef FAILSAFE_ENABLE #ifdef FAILSAFE_ENABLE
// Failsafe value is converted for HK310
void convert_failsafe_HK310(uint8_t num, uint8_t *low, uint8_t *high) void convert_failsafe_HK310(uint8_t num, uint8_t *low, uint8_t *high)
{ {
uint16_t temp=0xFFFF-(3440+((Failsafe_data[num]*5)>>1))/3; uint16_t temp=0xFFFF-(3440+((Failsafe_data[num]*5)>>1))/3;
@ -98,27 +139,11 @@ void convert_failsafe_HK310(uint8_t num, uint8_t *low, uint8_t *high)
} }
#endif #endif
// Channel value is converted to 16bit values // Channel value for FrSky (PPM is multiplied by 1.5)
uint16_t convert_channel_16b(uint8_t num, int16_t out_min, int16_t out_max) uint16_t convert_channel_frsky(uint8_t num)
{ {
return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,out_min,out_max)); uint16_t val=Channel_data[num];
} return ((val*15)>>4)+1290;
// Channel value is converted to 16bit values with no limit
uint16_t convert_channel_16b_nolim(uint8_t num, int16_t out_min, int16_t out_max)
{
return (uint16_t) (map(Servo_data[num],servo_min_100,servo_max_100,out_min,out_max));
}
// Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch)
{
if(Servo_data[ch]>servo_max_100)
return servo_max_100;
else
if (Servo_data[ch]<servo_min_100)
return servo_min_100;
return Servo_data[ch];
} }
/******************************/ /******************************/

5
Multiprotocol/Corona_cc2500.ino
View File

@ -120,8 +120,9 @@ static void __attribute__((unused)) CORONA_send_packet()
memset(packet+9, 0x00, 4); memset(packet+9, 0x00, 4);
for(uint8_t i=0; i<8; i++) for(uint8_t i=0; i<8; i++)
{ // Channel values are packed { // Channel values are packed
packet[i+1] = Servo_data[i]; uint16_t val=convert_channel_ppm(i);
packet[9 + (i>>1)] |= (i&0x01)?(Servo_data[i]>>4)&0xF0:(Servo_data[i]>>8)&0x0F; packet[i+1] = val;
packet[9 + (i>>1)] |= (i&0x01)?(val>>4)&0xF0:(val>>8)&0x0F;
} }
//TX ID //TX ID

22
Multiprotocol/DM002_nrf24l01.ino
View File

@ -52,19 +52,19 @@ static void __attribute__((unused)) DM002_send_packet(uint8_t bind)
{ {
packet[0]=0x55; packet[0]=0x55;
// Throttle : 0 .. 200 // Throttle : 0 .. 200
packet[1]=convert_channel_8b_scale(THROTTLE,0,200); packet[1]=convert_channel_16b_limit(THROTTLE,0,200);
// Other channels min 0x57, mid 0x7F, max 0xA7 // Other channels min 0x57, mid 0x7F, max 0xA7
packet[2] = convert_channel_8b_scale(RUDDER,0x57,0xA7); packet[2] = convert_channel_16b_limit(RUDDER,0x57,0xA7);
packet[3] = convert_channel_8b_scale(AILERON, 0x57,0xA7); packet[3] = convert_channel_16b_limit(AILERON, 0x57,0xA7);
packet[4] = convert_channel_8b_scale(ELEVATOR, 0xA7, 0x57); packet[4] = convert_channel_16b_limit(ELEVATOR, 0xA7, 0x57);
// Features // Features
packet[9] = GET_FLAG(Servo_AUX1,DM002_FLAG_FLIP) packet[9] = GET_FLAG(CH5_SW,DM002_FLAG_FLIP)
| GET_FLAG(!Servo_AUX2,DM002_FLAG_LED) | GET_FLAG(!CH6_SW,DM002_FLAG_LED)
| GET_FLAG(Servo_AUX3,DM002_FLAG_CAMERA1) | GET_FLAG(CH7_SW,DM002_FLAG_CAMERA1)
| GET_FLAG(Servo_AUX4,DM002_FLAG_CAMERA2) | GET_FLAG(CH8_SW,DM002_FLAG_CAMERA2)
| GET_FLAG(Servo_AUX5,DM002_FLAG_HEADLESS) | GET_FLAG(CH9_SW,DM002_FLAG_HEADLESS)
| GET_FLAG(Servo_AUX6,DM002_FLAG_RTH) | GET_FLAG(CH10_SW,DM002_FLAG_RTH)
| GET_FLAG(!Servo_AUX7,DM002_FLAG_HIGH); | GET_FLAG(!CH11_SW,DM002_FLAG_HIGH);
// Packet counter // Packet counter
if(packet_count&0x03) if(packet_count&0x03)
{ {

9
Multiprotocol/DSM_cyrf6936.ino
View File

@ -245,7 +245,6 @@ static void __attribute__((unused)) DSM_update_channels()
static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper) static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
{ {
uint16_t max = 2047;
uint8_t bits = 11; uint8_t bits = 11;
if(prev_option!=option) if(prev_option!=option)
@ -261,10 +260,7 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
packet[0] = (0xff ^ cyrfmfg_id[2]); packet[0] = (0xff ^ cyrfmfg_id[2]);
packet[1] = (0xff ^ cyrfmfg_id[3]); packet[1] = (0xff ^ cyrfmfg_id[3]);
if(sub_protocol==DSM2_22) if(sub_protocol==DSM2_22)
{ bits=10; // Only DSM_22 is using a resolution of 1024
max=1023; // Only DSM_22 is using a resolution of 1024
bits=10;
}
} }
for (uint8_t i = 0; i < 7; i++) for (uint8_t i = 0; i < 7; i++)
@ -276,7 +272,8 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
/* Spektrum own remotes transmit normal values during bind and actually /* Spektrum own remotes transmit normal values during bind and actually
* use this (e.g. Nano CP X) to select the transmitter mode (e.g. computer vs * use this (e.g. Nano CP X) to select the transmitter mode (e.g. computer vs
* non-computer radio, so always end normal output */ * non-computer radio, so always end normal output */
value=map(Servo_data[CH_TAER[idx]],servo_min_125,servo_max_125,0,max); value=Channel_data[CH_TAER[idx]];
if(bits==10) value>>=1;
value |= (upper && i==0 ? 0x8000 : 0) | (idx << bits); value |= (upper && i==0 ? 0x8000 : 0) | (idx << bits);
} }
packet[i*2+2] = (value >> 8) & 0xff; packet[i*2+2] = (value >> 8) & 0xff;

2
Multiprotocol/Devo_cyrf6936.ino
View File

@ -148,7 +148,7 @@ static void __attribute__((unused)) DEVO_build_data_pkt()
uint8_t sign = 0x0b; uint8_t sign = 0x0b;
for (uint8_t i = 0; i < 4; i++) for (uint8_t i = 0; i < 4; i++)
{ {
int16_t value=map(Servo_data[CH_EATR[ch_idx * 4 + i]],servo_min_100,servo_max_100,-1600,1600);//range -1600..+1600 int16_t value=convert_channel_16b_nolimit(CH_EATR[ch_idx * 4 + i],-1600,1600);//range -1600..+1600
if(value < 0) if(value < 0)
{ {
value = -value; value = -value;

20
Multiprotocol/ESky150_nrf24l01.ino
View File

@ -84,19 +84,19 @@ static void __attribute__((unused)) ESKY150_bind_init()
static void __attribute__((unused)) ESKY150_send_packet() static void __attribute__((unused)) ESKY150_send_packet()
{ {
// Build packet // Build packet
uint16_t throttle=convert_channel_16b(THROTTLE,1000,2000); uint16_t throttle=convert_channel_16b_limit(THROTTLE,1000,2000);
uint16_t aileron=convert_channel_16b(AILERON,1000,2000); uint16_t aileron=convert_channel_16b_limit(AILERON,1000,2000);
uint16_t elevator=convert_channel_16b(ELEVATOR,1000,2000); uint16_t elevator=convert_channel_16b_limit(ELEVATOR,1000,2000);
uint16_t rudder=convert_channel_16b(RUDDER,1000,2000); uint16_t rudder=convert_channel_16b_limit(RUDDER,1000,2000);
//set unused channels to zero, for compatibility with older 4 channel models //set unused channels to zero, for compatibility with older 4 channel models
uint8_t flight_mode=0; uint8_t flight_mode=0;
uint16_t aux_ch6=0; uint16_t aux_ch6=0;
uint8_t aux_ch7=0; uint8_t aux_ch7=0;
if(option==1) if(option==1)
{ {
flight_mode=ESKY150_convert_2bit_channel(AUX1); flight_mode=ESKY150_convert_2bit_channel(CH5);
aux_ch6=convert_channel_16b(AUX2,1000,2000); aux_ch6=convert_channel_16b_limit(CH6,1000,2000);
aux_ch7=ESKY150_convert_2bit_channel(AUX3); aux_ch7=ESKY150_convert_2bit_channel(CH7);
} }
packet[0] = hopping_frequency[0]; packet[0] = hopping_frequency[0];
packet[1] = hopping_frequency[1]; packet[1] = hopping_frequency[1];
@ -137,13 +137,13 @@ static void __attribute__((unused)) ESKY150_send_packet()
uint8_t ESKY150_convert_2bit_channel(uint8_t num) uint8_t ESKY150_convert_2bit_channel(uint8_t num)
{ {
if(Servo_data[num] > PPM_MAX_COMMAND) if(Channel_data[num] > CHANNEL_MAX_COMMAND)
return 0x03; return 0x03;
else else
if(Servo_data[num] < PPM_MIN_COMMAND) if(Channel_data[num] < CHANNEL_MIN_COMMAND)
return 0x00; return 0x00;
else else
if(Servo_data[num] > PPM_SWITCH) if(Channel_data[num] > CHANNEL_SWITCH)
return 0x02; return 0x02;
return 0x01; return 0x01;
} }

5
Multiprotocol/ESky_nrf24l01.ino
View File

@ -119,8 +119,9 @@ static void __attribute__((unused)) ESKY_send_packet(uint8_t bind)
{ {
for (uint8_t i = 0; i < 6; i++) for (uint8_t i = 0; i < 6; i++)
{ {
packet[i*2] = Servo_data[CH_AETR[i]]>>8; //high byte of servo timing(1000-2000us) uint16_t val=convert_channel_ppm(CH_AETR[i]);
packet[i*2+1] = Servo_data[CH_AETR[i]]&0xFF; //low byte of servo timing(1000-2000us) packet[i*2] = val>>8; //high byte of servo timing(1000-2000us)
packet[i*2+1] = val&0xFF; //low byte of servo timing(1000-2000us)
} }
} }
rf_ch = hopping_frequency[hopping_frequency_no]; rf_ch = hopping_frequency[hopping_frequency_no];

16
Multiprotocol/FQ777_nrf24l01.ino
View File

@ -125,15 +125,15 @@ static void __attribute__((unused)) FQ777_send_packet(uint8_t bind)
else // roll else // roll
trim_val = 0x60; trim_val = 0x60;
packet_ori[0] = convert_channel_8b_scale(THROTTLE,0,0x64); packet_ori[0] = convert_channel_16b_limit(THROTTLE,0,0x64);
packet_ori[1] = convert_channel_8b_scale(RUDDER,0,0x64); packet_ori[1] = convert_channel_16b_limit(RUDDER,0,0x64);
packet_ori[2] = convert_channel_8b_scale(ELEVATOR,0,0x64); packet_ori[2] = convert_channel_16b_limit(ELEVATOR,0,0x64);
packet_ori[3] = convert_channel_8b_scale(AILERON,0,0x64); packet_ori[3] = convert_channel_16b_limit(AILERON,0,0x64);
packet_ori[4] = trim_val; // calculated above packet_ori[4] = trim_val; // calculated above
packet_ori[5] = GET_FLAG(Servo_AUX1, FQ777_FLAG_FLIP) packet_ori[5] = GET_FLAG(CH5_SW, FQ777_FLAG_FLIP)
| GET_FLAG(Servo_AUX3, FQ777_FLAG_HEADLESS) | GET_FLAG(CH7_SW, FQ777_FLAG_HEADLESS)
| GET_FLAG(!Servo_AUX2, FQ777_FLAG_RETURN) | GET_FLAG(!CH6_SW, FQ777_FLAG_RETURN)
| GET_FLAG(Servo_AUX4,FQ777_FLAG_EXPERT); | GET_FLAG(CH8_SW,FQ777_FLAG_EXPERT);
packet_ori[6] = 0x00; packet_ori[6] = 0x00;
// calculate checksum // calculate checksum
uint8_t checksum = 0; uint8_t checksum = 0;

18
Multiprotocol/FY326_nrf24l01.ino
View File

@ -43,15 +43,15 @@ static void __attribute__((unused)) FY326_send_packet(uint8_t bind)
if(bind) if(bind)
packet[1] = 0x55; packet[1] = 0x55;
else else
packet[1] = GET_FLAG(Servo_AUX3, 0x80) // Headless packet[1] = GET_FLAG(CH7_SW, 0x80) // Headless
| GET_FLAG(Servo_AUX2, 0x40) // RTH | GET_FLAG(CH6_SW, 0x40) // RTH
| GET_FLAG(Servo_AUX1, 0x02) // Flip | GET_FLAG(CH5_SW, 0x02) // Flip
| GET_FLAG(Servo_AUX5, 0x01) // Calibrate | GET_FLAG(CH9_SW, 0x01) // Calibrate
| GET_FLAG(Servo_AUX4, 0x04); // Expert | GET_FLAG(CH8_SW, 0x04); // Expert
packet[2] = convert_channel_8b_scale(AILERON, 0, 200); // aileron packet[2] = convert_channel_16b_limit(AILERON, 0, 200); // aileron
packet[3] = convert_channel_8b_scale(ELEVATOR, 0, 200); // elevator packet[3] = convert_channel_16b_limit(ELEVATOR, 0, 200); // elevator
packet[4] = convert_channel_8b_scale(RUDDER, 0, 200); // rudder packet[4] = convert_channel_16b_limit(RUDDER, 0, 200); // rudder
packet[5] = convert_channel_8b_scale(THROTTLE, 0, 200); // throttle packet[5] = convert_channel_16b_limit(THROTTLE, 0, 200); // throttle
if(sub_protocol==FY319) if(sub_protocol==FY319)
{ {
packet[6] = convert_channel_8b(AILERON); packet[6] = convert_channel_8b(AILERON);

36
Multiprotocol/FlySky_a7105.ino
View File

@ -58,37 +58,37 @@ static void __attribute__((unused)) flysky_apply_extension_flags()
switch(sub_protocol) switch(sub_protocol)
{ {
case V9X9: case V9X9:
if(Servo_AUX1) if(CH5_SW)
packet[12] |= FLAG_V9X9_FLIP; packet[12] |= FLAG_V9X9_FLIP;
if(Servo_AUX2) if(CH6_SW)
packet[12] |= FLAG_V9X9_LED; packet[12] |= FLAG_V9X9_LED;
if(Servo_AUX3) if(CH7_SW)
packet[10] |= FLAG_V9X9_CAMERA; packet[10] |= FLAG_V9X9_CAMERA;
if(Servo_AUX4) if(CH8_SW)
packet[10] |= FLAG_V9X9_VIDEO; packet[10] |= FLAG_V9X9_VIDEO;
break; break;
case V6X6: case V6X6:
packet[13] = 0x03; // 3 = 100% rate (0=40%, 1=60%, 2=80%) packet[13] = 0x03; // 3 = 100% rate (0=40%, 1=60%, 2=80%)
packet[14] = 0x00; packet[14] = 0x00;
if(Servo_AUX1) if(CH5_SW)
packet[14] |= FLAG_V6X6_FLIP; packet[14] |= FLAG_V6X6_FLIP;
if(Servo_AUX2) if(CH6_SW)
packet[14] |= FLAG_V6X6_LED; packet[14] |= FLAG_V6X6_LED;
if(Servo_AUX3) if(CH7_SW)
packet[14] |= FLAG_V6X6_CAMERA; packet[14] |= FLAG_V6X6_CAMERA;
if(Servo_AUX4) if(CH8_SW)
packet[14] |= FLAG_V6X6_VIDEO; packet[14] |= FLAG_V6X6_VIDEO;
if(Servo_AUX5) if(CH9_SW)
{ {
packet[13] |= FLAG_V6X6_HLESS1; packet[13] |= FLAG_V6X6_HLESS1;
packet[14] |= FLAG_V6X6_HLESS2; packet[14] |= FLAG_V6X6_HLESS2;
} }
if(Servo_AUX6) if(CH10_SW)
packet[14] |= FLAG_V6X6_RTH; packet[14] |= FLAG_V6X6_RTH;
if(Servo_AUX7) if(CH11_SW)
packet[14] |= FLAG_V6X6_XCAL; packet[14] |= FLAG_V6X6_XCAL;
if(Servo_AUX8) if(CH12_SW)
packet[14] |= FLAG_V6X6_YCAL; packet[14] |= FLAG_V6X6_YCAL;
packet[15] = 0x10; // unknown packet[15] = 0x10; // unknown
packet[16] = 0x10; // unknown packet[16] = 0x10; // unknown
@ -105,9 +105,9 @@ static void __attribute__((unused)) flysky_apply_extension_flags()
packet[12] |= 0x20; // bit 6 is always set ? packet[12] |= 0x20; // bit 6 is always set ?
packet[13] = 0x00; // unknown packet[13] = 0x00; // unknown
packet[14] = 0x00; packet[14] = 0x00;
if(Servo_AUX1) if(CH5_SW)
packet[14] = FLAG_V912_BTMBTN; packet[14] = FLAG_V912_BTMBTN;
if(Servo_AUX2) if(CH6_SW)
packet[14] |= FLAG_V912_TOPBTN; packet[14] |= FLAG_V912_TOPBTN;
packet[15] = 0x27; // [15] and [16] apparently hold an analog channel with a value lower than 1000 packet[15] = 0x27; // [15] and [16] apparently hold an analog channel with a value lower than 1000
packet[16] = 0x03; // maybe it's there for a pitch channel for a CP copter ? packet[16] = 0x03; // maybe it's there for a pitch channel for a CP copter ?
@ -136,7 +136,7 @@ static void __attribute__((unused)) flysky_build_packet(uint8_t init)
//-100% =~ 0x03e8//=1000us(min) //-100% =~ 0x03e8//=1000us(min)
//+100% =~ 0x07ca//=1994us(max) //+100% =~ 0x07ca//=1994us(max)
//Center = 0x5d9//=1497us(center) //Center = 0x5d9//=1497us(center)
//channel order AIL;ELE;THR;RUD;AUX1;AUX2;AUX3;AUX4 //channel order AIL;ELE;THR;RUD;CH5;CH6;CH7;CH8
packet[0] = init ? 0xaa : 0x55; packet[0] = init ? 0xaa : 0x55;
packet[1] = rx_tx_addr[3]; packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2]; packet[2] = rx_tx_addr[2];
@ -144,11 +144,9 @@ static void __attribute__((unused)) flysky_build_packet(uint8_t init)
packet[4] = rx_tx_addr[0]; packet[4] = rx_tx_addr[0];
for(i = 0; i < 8; i++) for(i = 0; i < 8; i++)
{ {
uint16_t temp=Servo_data[CH_AETR[i]]; uint16_t temp=convert_channel_ppm(CH_AETR[i]);
if(sub_protocol == CX20 && CH_AETR[i]==ELEVATOR) if(sub_protocol == CX20 && CH_AETR[i]==ELEVATOR)
temp=servo_mid-temp; //reverse channel temp=3000-temp;
if(mode_select != MODE_SERIAL) //if in PPM mode extend the output to 1000...2000µs
temp=map(temp,servo_min_100,servo_max_100,1000,2000);
packet[5 + i*2]=temp&0xFF; //low byte of servo timing(1000-2000us) packet[5 + i*2]=temp&0xFF; //low byte of servo timing(1000-2000us)
packet[6 + i*2]=(temp>>8)&0xFF; //high byte of servo timing(1000-2000us) packet[6 + i*2]=(temp>>8)&0xFF; //high byte of servo timing(1000-2000us)
} }

2
Multiprotocol/FrSkyX_cc2500.ino
View File

@ -105,7 +105,7 @@ static void __attribute__((unused)) frskyX_build_bind_packet()
//64=860,1024=1500,1984=2140//Taranis 125% //64=860,1024=1500,1984=2140//Taranis 125%
static uint16_t __attribute__((unused)) frskyX_scaleForPXX( uint8_t i ) static uint16_t __attribute__((unused)) frskyX_scaleForPXX( uint8_t i )
{ //mapped 860,2140(125%) range to 64,1984(PXX values); { //mapped 860,2140(125%) range to 64,1984(PXX values);
uint16_t chan_val=(((Servo_data[i]-servo_min_125)*3)>>1)+64; uint16_t chan_val=convert_channel_frsky(i)-1226;
if(i>7) chan_val|=2048; // upper channels offset if(i>7) chan_val|=2048; // upper channels offset
return chan_val; return chan_val;
} }

10
Multiprotocol/GW008_nrf24l01.ino
View File

@ -47,11 +47,11 @@ static void __attribute__((unused)) send_packet(uint8_t bind)
} }
else else
{ {
packet[1] = 0x01 | GET_FLAG(AUX1, 0x40); // flip packet[1] = 0x01 | GET_FLAG(CH5, 0x40); // flip
packet[2] = convert_channel_8b_scale(AILERON , 200, 0); // aileron packet[2] = convert_channel_16b_limit(AILERON , 200, 0); // aileron
packet[3] = convert_channel_8b_scale(ELEVATOR, 0, 200); // elevator packet[3] = convert_channel_16b_limit(ELEVATOR, 0, 200); // elevator
packet[4] = convert_channel_8b_scale(RUDDER , 200, 0); // rudder packet[4] = convert_channel_16b_limit(RUDDER , 200, 0); // rudder
packet[5] = convert_channel_8b_scale(THROTTLE, 0, 200); // throttle packet[5] = convert_channel_16b_limit(THROTTLE, 0, 200); // throttle
packet[6] = 0xaa; packet[6] = 0xaa;
packet[7] = 0x02; // max rate packet[7] = 0x02; // max rate
packet[8] = 0x00; packet[8] = 0x00;

28
Multiprotocol/H8_3D_nrf24l01.ino
View File

@ -74,7 +74,7 @@ static void __attribute__((unused)) H8_3D_send_packet(uint8_t bind)
packet[5] = hopping_frequency_no; packet[5] = hopping_frequency_no;
packet[7] = 0x03; packet[7] = 0x03;
rudder = convert_channel_8b_scale(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right) rudder = convert_channel_16b_limit(RUDDER,0x44,0xBC); // yaw right : 0x80 (neutral) - 0xBC (right)
if(sub_protocol!=H20H) if(sub_protocol!=H20H)
{ // H8_3D, H20MINI, H30MINI { // H8_3D, H20MINI, H30MINI
packet[6] = 0x08; packet[6] = 0x08;
@ -89,7 +89,7 @@ static void __attribute__((unused)) H8_3D_send_packet(uint8_t bind)
else else
{ //H20H { //H20H
packet[6] = hopping_frequency_no == 0 ? 8 - packet_count : 16 - packet_count; packet[6] = hopping_frequency_no == 0 ? 8 - packet_count : 16 - packet_count;
packet[9] = convert_channel_8b_scale(THROTTLE, 0x43, 0xBB); // throttle : 0x43 - 0x7F - 0xBB packet[9] = convert_channel_16b_limit(THROTTLE, 0x43, 0xBB); // throttle : 0x43 - 0x7F - 0xBB
packet[15]= 0x40; // trims packet[15]= 0x40; // trims
packet[16]= 0x40; // trims packet[16]= 0x40; // trims
rudder--; // rudder : 0x43 - 0x7F - 0xBB rudder--; // rudder : 0x43 - 0x7F - 0xBB
@ -97,24 +97,24 @@ static void __attribute__((unused)) H8_3D_send_packet(uint8_t bind)
rudder=0x7F; // Small deadband rudder=0x7F; // Small deadband
} }
packet[10] = rudder; packet[10] = rudder;
packet[11] = convert_channel_8b_scale(ELEVATOR, 0x43, 0xBB); // elevator : 0x43 - 0x7F - 0xBB packet[11] = convert_channel_16b_limit(ELEVATOR, 0x43, 0xBB); // elevator : 0x43 - 0x7F - 0xBB
packet[12] = convert_channel_8b_scale(AILERON, 0x43, 0xBB); // aileron : 0x43 - 0x7F - 0xBB packet[12] = convert_channel_16b_limit(AILERON, 0x43, 0xBB); // aileron : 0x43 - 0x7F - 0xBB
// neutral trims // neutral trims
packet[13] = 0x20; packet[13] = 0x20;
packet[14] = 0x20; packet[14] = 0x20;
// flags // flags
packet[17] = H8_3D_FLAG_RATE_HIGH packet[17] = H8_3D_FLAG_RATE_HIGH
| GET_FLAG(Servo_AUX1,H8_3D_FLAG_FLIP) | GET_FLAG(CH5_SW,H8_3D_FLAG_FLIP)
| GET_FLAG(Servo_AUX2,H8_3D_FLAG_LIGTH) //H22 light | GET_FLAG(CH6_SW,H8_3D_FLAG_LIGTH) //H22 light
| GET_FLAG(Servo_AUX5,H8_3D_FLAG_HEADLESS) | GET_FLAG(CH9_SW,H8_3D_FLAG_HEADLESS)
| GET_FLAG(Servo_AUX6,H8_3D_FLAG_RTH); // 180/360 flip mode on H8 3D | GET_FLAG(CH10_SW,H8_3D_FLAG_RTH); // 180/360 flip mode on H8 3D
packet[18] = GET_FLAG(Servo_AUX3,H8_3D_FLAG_PICTURE) packet[18] = GET_FLAG(CH7_SW,H8_3D_FLAG_PICTURE)
| GET_FLAG(Servo_AUX4,H8_3D_FLAG_VIDEO) | GET_FLAG(CH8_SW,H8_3D_FLAG_VIDEO)
| GET_FLAG(Servo_AUX7,H8_3D_FLAG_CALIBRATE1) | GET_FLAG(CH11_SW,H8_3D_FLAG_CALIBRATE1)
| GET_FLAG(Servo_AUX8,H8_3D_FLAG_CALIBRATE2); | GET_FLAG(CH12_SW,H8_3D_FLAG_CALIBRATE2);
if(Servo_data[AUX9]<PPM_MIN_COMMAND) if(Channel_data[CH13]<CHANNEL_MIN_COMMAND)
packet[18] |= H8_3D_FLAG_CAM_DN; packet[18] |= H8_3D_FLAG_CAM_DN;
if(Servo_data[AUX9]>PPM_MAX_COMMAND) if(CH13_SW)
packet[18] |= H8_3D_FLAG_CAM_UP; packet[18] |= H8_3D_FLAG_CAM_UP;
} }
uint8_t sum = packet[9]; uint8_t sum = packet[9];

8
Multiprotocol/Hisky_nrf24l01.ino
View File

@ -122,10 +122,10 @@ static void __attribute__((unused)) build_ch_data()
uint8_t i,j; uint8_t i,j;
for (i = 0; i< 8; i++) { for (i = 0; i< 8; i++) {
j=CH_AETR[i]; j=CH_AETR[i];
temp=map(limit_channel_100(j),servo_min_100,servo_max_100,0,1000); temp=convert_channel_16b_limit(j,0,1000);
if (j == THROTTLE) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose if (j == THROTTLE) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
temp = 1000 -temp; temp = 1000 -temp;
if (j == AUX3) if (j == CH7)
temp = temp < 400 ? 0 : 3; // Gyro mode, 0 - 6 axis, 3 - 3 axis temp = temp < 400 ? 0 : 3; // Gyro mode, 0 - 6 axis, 3 - 3 axis
packet[i] = (uint8_t)(temp&0xFF); packet[i] = (uint8_t)(temp&0xFF);
packet[i<4?8:9]>>=2; packet[i<4?8:9]>>=2;
@ -156,7 +156,7 @@ uint16_t hisky_cb()
{ // send failsafe every 100ms { // send failsafe every 100ms
convert_failsafe_HK310(RUDDER, &packet[0],&packet[1]); convert_failsafe_HK310(RUDDER, &packet[0],&packet[1]);
convert_failsafe_HK310(THROTTLE,&packet[2],&packet[3]); convert_failsafe_HK310(THROTTLE,&packet[2],&packet[3]);
convert_failsafe_HK310(AUX1, &packet[4],&packet[5]); convert_failsafe_HK310(CH5, &packet[4],&packet[5]);
packet[7]=0xAA; packet[7]=0xAA;
packet[8]=0x5A; packet[8]=0x5A;
} }
@ -165,7 +165,7 @@ uint16_t hisky_cb()
{ {
convert_channel_HK310(RUDDER, &packet[0],&packet[1]); convert_channel_HK310(RUDDER, &packet[0],&packet[1]);
convert_channel_HK310(THROTTLE,&packet[2],&packet[3]); convert_channel_HK310(THROTTLE,&packet[2],&packet[3]);
convert_channel_HK310(AUX1, &packet[4],&packet[5]); convert_channel_HK310(CH5, &packet[4],&packet[5]);
packet[7]=0x55; packet[7]=0x55;
packet[8]=0x67; packet[8]=0x67;
} }

68
Multiprotocol/Hontai_nrf24l01.ino
View File

@ -69,60 +69,60 @@ static void __attribute__((unused)) HONTAI_send_packet(uint8_t bind)
else else
{ {
memset(packet,0,HONTAI_PACKET_SIZE); memset(packet,0,HONTAI_PACKET_SIZE);
packet[3] = convert_channel_8b_scale(THROTTLE, 0, 127) << 1; // Throttle packet[3] = convert_channel_16b_limit(THROTTLE, 0, 127) << 1; // Throttle
packet[4] = convert_channel_8b_scale(AILERON, 63, 0); // Aileron packet[4] = convert_channel_16b_limit(AILERON, 63, 0); // Aileron
packet[5] = convert_channel_8b_scale(ELEVATOR, 0, 63); // Elevator packet[5] = convert_channel_16b_limit(ELEVATOR, 0, 63); // Elevator
packet[6] = convert_channel_8b_scale(RUDDER, 0, 63); // Rudder packet[6] = convert_channel_16b_limit(RUDDER, 0, 63); // Rudder
if(sub_protocol == FORMAT_X5C1) if(sub_protocol == FORMAT_X5C1)
packet[7] = convert_channel_8b_scale(AILERON, 0, 63)-31; // Aileron trim packet[7] = convert_channel_16b_limit(AILERON, 0, 63)-31; // Aileron trim
else else
packet[7] = convert_channel_8b_scale(AILERON, 0, 32)-16; // Aileron trim packet[7] = convert_channel_16b_limit(AILERON, 0, 32)-16; // Aileron trim
packet[8] = convert_channel_8b_scale(RUDDER, 0, 32)-16; // Rudder trim packet[8] = convert_channel_16b_limit(RUDDER, 0, 32)-16; // Rudder trim
if (sub_protocol == FORMAT_X5C1) if (sub_protocol == FORMAT_X5C1)
packet[9] = convert_channel_8b_scale(ELEVATOR, 0, 63)-31; // Elevator trim packet[9] = convert_channel_16b_limit(ELEVATOR, 0, 63)-31; // Elevator trim
else else
packet[9] = convert_channel_8b_scale(ELEVATOR, 0, 32)-16; // Elevator trim packet[9] = convert_channel_16b_limit(ELEVATOR, 0, 32)-16; // Elevator trim
switch(sub_protocol) switch(sub_protocol)
{ {
case FORMAT_HONTAI: case FORMAT_HONTAI:
packet[0] = 0x0B; packet[0] = 0x0B;
packet[3] |= GET_FLAG(Servo_AUX3, 0x01); // Picture packet[3] |= GET_FLAG(CH7_SW, 0x01); // Picture
packet[4] |= GET_FLAG(Servo_AUX6, 0x80) // RTH packet[4] |= GET_FLAG(CH10_SW, 0x80) // RTH
| GET_FLAG(Servo_AUX5, 0x40); // Headless | GET_FLAG(CH9_SW, 0x40); // Headless
packet[5] |= GET_FLAG(Servo_AUX7, 0x80) // Calibrate packet[5] |= GET_FLAG(CH11_SW, 0x80) // Calibrate
| GET_FLAG(Servo_AUX1, 0x40); // Flip | GET_FLAG(CH5_SW, 0x40); // Flip
packet[6] |= GET_FLAG(Servo_AUX4, 0x80); // Video packet[6] |= GET_FLAG(CH8_SW, 0x80); // Video
break; break;
case FORMAT_JJRCX1: case FORMAT_JJRCX1:
packet[0] = GET_FLAG(Servo_AUX2, 0x02); // Arm packet[0] = GET_FLAG(CH6_SW, 0x02); // Arm
packet[3] |= GET_FLAG(Servo_AUX3, 0x01); // Picture packet[3] |= GET_FLAG(CH7_SW, 0x01); // Picture
packet[4] |= 0x80; // unknown packet[4] |= 0x80; // unknown
packet[5] |= GET_FLAG(Servo_AUX7, 0x80) // Calibrate packet[5] |= GET_FLAG(CH11_SW, 0x80) // Calibrate
| GET_FLAG(Servo_AUX1, 0x40); // Flip | GET_FLAG(CH5_SW, 0x40); // Flip
packet[6] |= GET_FLAG(Servo_AUX4, 0x80); // Video packet[6] |= GET_FLAG(CH8_SW, 0x80); // Video
packet[8] = 0xC0 // high rate, no rudder trim packet[8] = 0xC0 // high rate, no rudder trim
| GET_FLAG(Servo_AUX6, 0x02) // RTH | GET_FLAG(CH10_SW, 0x02) // RTH
| GET_FLAG(Servo_AUX5, 0x01); // Headless | GET_FLAG(CH9_SW, 0x01); // Headless
break; break;
case FORMAT_X5C1: case FORMAT_X5C1:
packet[0] = 0x0B; packet[0] = 0x0B;
packet[3] |= GET_FLAG(Servo_AUX3, 0x01); // Picture packet[3] |= GET_FLAG(CH7_SW, 0x01); // Picture
packet[4] = 0x80 // unknown packet[4] = 0x80 // unknown
| GET_FLAG(Servo_AUX2, 0x40); // Lights | GET_FLAG(CH6_SW, 0x40); // Lights
packet[5] |= GET_FLAG(Servo_AUX7, 0x80) // Calibrate packet[5] |= GET_FLAG(CH11_SW, 0x80) // Calibrate
| GET_FLAG(Servo_AUX1, 0x40); // Flip | GET_FLAG(CH5_SW, 0x40); // Flip
packet[6] |= GET_FLAG(Servo_AUX4, 0x80); // Video packet[6] |= GET_FLAG(CH8_SW, 0x80); // Video
packet[8] = 0xC0 // high rate, no rudder trim packet[8] = 0xC0 // high rate, no rudder trim
| GET_FLAG(Servo_AUX6, 0x02) // RTH | GET_FLAG(CH10_SW, 0x02) // RTH
| GET_FLAG(Servo_AUX5, 0x01); // Headless | GET_FLAG(CH9_SW, 0x01); // Headless
break; break;
case FORMAT_FQ777_951: case FORMAT_FQ777_951:
packet[0] = GET_FLAG(Servo_AUX3, 0x01) // Picture packet[0] = GET_FLAG(CH7_SW, 0x01) // Picture
| GET_FLAG(Servo_AUX4, 0x02); // Video | GET_FLAG(CH8_SW, 0x02); // Video
packet[3] |= GET_FLAG(Servo_AUX1, 0x01); // Flip packet[3] |= GET_FLAG(CH5_SW, 0x01); // Flip
packet[4] |= 0xC0; // High rate (mid=0xa0, low=0x60) packet[4] |= 0xC0; // High rate (mid=0xa0, low=0x60)
packet[5] |= GET_FLAG(Servo_AUX7, 0x80); // Calibrate packet[5] |= GET_FLAG(CH11_SW, 0x80); // Calibrate
packet[6] |= GET_FLAG(Servo_AUX5, 0x40); // Headless packet[6] |= GET_FLAG(CH9_SW, 0x40); // Headless
break; break;
} }
} }

38
Multiprotocol/Hubsan_a7105.ino
View File

@ -162,11 +162,11 @@ static void __attribute__((unused)) hubsan_build_packet()
{ {
packet[9] = 0x02; packet[9] = 0x02;
// Channel 5 // Channel 5
if(Servo_AUX1) packet[9] |= HUBSAN_FLAG_FLIP; if(CH5_SW) packet[9] |= HUBSAN_FLAG_FLIP;
// Channel 6 // Channel 6
if(Servo_AUX2) packet[9] |= HUBSAN_FLAG_LED; if(CH6_SW) packet[9] |= HUBSAN_FLAG_LED;
// Channel 8 // Channel 8
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; // H102D if(CH8_SW) packet[9] |= HUBSAN_FLAG_VIDEO; // H102D
} }
packet[10] = 0x64; packet[10] = 0x64;
//const uint32_t txid = 0xdb042679; //const uint32_t txid = 0xdb042679;
@ -183,10 +183,10 @@ static void __attribute__((unused)) hubsan_build_packet()
} }
else else
{ {
packet[9] = GET_FLAG(Servo_AUX2, FLAG_H301_LED) packet[9] = GET_FLAG(CH6_SW, FLAG_H301_LED)
| GET_FLAG(Servo_AUX3, FLAG_H301_STAB) | GET_FLAG(CH7_SW, FLAG_H301_STAB)
| GET_FLAG(Servo_AUX4, FLAG_H301_VIDEO) | GET_FLAG(CH8_SW, FLAG_H301_VIDEO)
| GET_FLAG(Servo_AUX1, FLAG_H301_RTH); | GET_FLAG(CH5_SW, FLAG_H301_RTH);
} }
packet[10] = 0x18; // ? packet[10] = 0x18; // ?
packet[12] = 0x5c; // ? packet[12] = 0x5c; // ?
@ -201,27 +201,27 @@ static void __attribute__((unused)) hubsan_build_packet()
if(sub_protocol==H501) if(sub_protocol==H501)
{ // H501S { // H501S
packet[9] = 0x02 packet[9] = 0x02
| GET_FLAG(Servo_AUX2, FLAG_H501_LED) | GET_FLAG(CH6_SW, FLAG_H501_LED)
| GET_FLAG(Servo_AUX4, FLAG_H501_VIDEO) | GET_FLAG(CH8_SW, FLAG_H501_VIDEO)
| GET_FLAG(Servo_AUX1, FLAG_H501_RTH) | GET_FLAG(CH5_SW, FLAG_H501_RTH)
| GET_FLAG(Servo_AUX7, FLAG_H501_GPS_HOLD) | GET_FLAG(CH11_SW, FLAG_H501_GPS_HOLD)
| GET_FLAG(Servo_AUX5, FLAG_H501_HEADLESS1); | GET_FLAG(CH9_SW, FLAG_H501_HEADLESS1);
//packet[10]= 0x1A; //packet[10]= 0x1A;
packet[13] = GET_FLAG(Servo_AUX6, FLAG_H501_HEADLESS2) packet[13] = GET_FLAG(CH10_SW, FLAG_H501_HEADLESS2)
| GET_FLAG(Servo_AUX8, FLAG_H501_ALT_HOLD) | GET_FLAG(CH12_SW, FLAG_H501_ALT_HOLD)
| GET_FLAG(Servo_AUX3, FLAG_H501_SNAPSHOT); | GET_FLAG(CH7_SW, FLAG_H501_SNAPSHOT);
} }
else else
{ // H107P/C+/D+ { // H107P/C+/D+
packet[9] = 0x06; packet[9] = 0x06;
//FLIP|LIGHT|PICTURE|VIDEO|HEADLESS //FLIP|LIGHT|PICTURE|VIDEO|HEADLESS
if(Servo_AUX4) packet[9] |= HUBSAN_FLAG_VIDEO; if(CH8_SW) packet[9] |= HUBSAN_FLAG_VIDEO;
if(Servo_AUX5) packet[9] |= HUBSAN_FLAG_HEADLESS; if(CH9_SW) packet[9] |= HUBSAN_FLAG_HEADLESS;
packet[10]= 0x19; packet[10]= 0x19;
packet[12]= 0x5C; // ghost channel ? packet[12]= 0x5C; // ghost channel ?
packet[13] = 0; packet[13] = 0;
if(Servo_AUX3) packet[13] = HUBSAN_FLAG_SNAPSHOT; if(CH7_SW) packet[13] = HUBSAN_FLAG_SNAPSHOT;
if(Servo_AUX1) packet[13] |= HUBSAN_FLAG_FLIP_PLUS; if(CH5_SW) packet[13] |= HUBSAN_FLAG_FLIP_PLUS;
packet[14]= 0x49; // ghost channel ? packet[14]= 0x49; // ghost channel ?
} }
if(packet_count < 100) if(packet_count < 100)

14
Multiprotocol/KN_nrf24l01.ino
View File

@ -138,19 +138,19 @@ static void __attribute__((unused)) kn_update_packet_control_data()
packet[6] = (value >> 8) & 0xFF; packet[6] = (value >> 8) & 0xFF;
packet[7] = value & 0xFF; packet[7] = value & 0xFF;
// Trims, middle is 0x64 (100) range 0-200 // Trims, middle is 0x64 (100) range 0-200
packet[8] = convert_channel_8b_scale(AUX5,0,200); // 0x64; // T packet[8] = convert_channel_16b_limit(CH9,0,200); // 0x64; // T
packet[9] = convert_channel_8b_scale(AUX6,0,200); // 0x64; // A packet[9] = convert_channel_16b_limit(CH10,0,200); // 0x64; // A
packet[10] = convert_channel_8b_scale(AUX7,0,200); // 0x64; // E packet[10] = convert_channel_16b_limit(CH11,0,200); // 0x64; // E
packet[11] = 0x64; // R packet[11] = 0x64; // R
flags=0; flags=0;
if (Servo_AUX1) if (CH5_SW)
flags = KN_FLAG_DR; flags = KN_FLAG_DR;
if (Servo_AUX2) if (CH6_SW)
flags |= KN_FLAG_TH; flags |= KN_FLAG_TH;
if (Servo_AUX3) if (CH7_SW)
flags |= KN_FLAG_IDLEUP; flags |= KN_FLAG_IDLEUP;
if (Servo_AUX4) if (CH8_SW)
flags |= KN_FLAG_GYRO3; flags |= KN_FLAG_GYRO3;
packet[12] = flags; packet[12] = flags;

70
Multiprotocol/MJXQ_nrf24l01.ino
View File

@ -80,19 +80,19 @@ const uint8_t PROGMEM E010_map_rfchan[][2] = {
#define MJXQ_TILT_UP 0x10 #define MJXQ_TILT_UP 0x10
static uint8_t __attribute__((unused)) MJXQ_pan_tilt_value() static uint8_t __attribute__((unused)) MJXQ_pan_tilt_value()
{ {
// Servo_AUX8 PAN // H26D // CH12_SW PAN // H26D
// Servo_AUX9 TILT // CH13_SW TILT
uint8_t pan = 0; uint8_t pan = 0;
packet_count++; packet_count++;
if(packet_count & MJXQ_PAN_TILT_COUNT) if(packet_count & MJXQ_PAN_TILT_COUNT)
{ {
if(Servo_data[AUX8]>PPM_MAX_COMMAND) if(CH12_SW)
pan=MJXQ_PAN_UP; pan=MJXQ_PAN_UP;
if(Servo_data[AUX8]<PPM_MIN_COMMAND) if(Channel_data[CH12]<CHANNEL_MIN_COMMAND)
pan=MJXQ_PAN_DOWN; pan=MJXQ_PAN_DOWN;
if(Servo_data[AUX9]>PPM_MAX_COMMAND) if(CH13_SW)
pan+=MJXQ_TILT_UP; pan+=MJXQ_TILT_UP;
if(Servo_data[AUX9]<PPM_MIN_COMMAND) if(Channel_data[CH13]<CHANNEL_MIN_COMMAND)
pan+=MJXQ_TILT_DOWN; pan+=MJXQ_TILT_DOWN;
} }
return pan; return pan;
@ -105,9 +105,9 @@ static void __attribute__((unused)) MJXQ_send_packet(uint8_t bind)
packet[1] = convert_channel_s8b(RUDDER); packet[1] = convert_channel_s8b(RUDDER);
packet[4] = 0x40; // rudder does not work well with dyntrim packet[4] = 0x40; // rudder does not work well with dyntrim
packet[2] = 0x80 ^ convert_channel_s8b(ELEVATOR); packet[2] = 0x80 ^ convert_channel_s8b(ELEVATOR);
packet[5] = (Servo_AUX5 || Servo_AUX10) ? 0x40 : MJXQ_CHAN2TRIM(packet[2]); // trim elevator packet[5] = (CH9_SW || CH14_SW) ? 0x40 : MJXQ_CHAN2TRIM(packet[2]); // trim elevator
packet[3] = convert_channel_s8b(AILERON); packet[3] = convert_channel_s8b(AILERON);
packet[6] = (Servo_AUX5 || Servo_AUX10) ? 0x40 : MJXQ_CHAN2TRIM(packet[3]); // trim aileron packet[6] = (CH9_SW || CH14_SW) ? 0x40 : MJXQ_CHAN2TRIM(packet[3]); // trim aileron
packet[7] = rx_tx_addr[0]; packet[7] = rx_tx_addr[0];
packet[8] = rx_tx_addr[1]; packet[8] = rx_tx_addr[1];
packet[9] = rx_tx_addr[2]; packet[9] = rx_tx_addr[2];
@ -119,16 +119,16 @@ static void __attribute__((unused)) MJXQ_send_packet(uint8_t bind)
packet[14] = 0xC0; // bind value packet[14] = 0xC0; // bind value
// Servo_AUX1 FLIP // CH5_SW FLIP
// Servo_AUX2 LED / ARM // CH6_SW LED / ARM
// Servo_AUX3 PICTURE // CH7_SW PICTURE
// Servo_AUX4 VIDEO // CH8_SW VIDEO
// Servo_AUX5 HEADLESS // CH9_SW HEADLESS
// Servo_AUX6 RTH // CH10_SW RTH
// Servo_AUX7 AUTOFLIP // X800, X600 // CH11_SW AUTOFLIP // X800, X600
// Servo_AUX8 PAN // CH12_SW PAN
// Servo_AUX9 TILT // CH13_SW TILT
// Servo_AUX10 XTRM // Dyntrim, don't use if high. // CH14_SW XTRM // Dyntrim, don't use if high.
switch(sub_protocol) switch(sub_protocol)
{ {
case H26WH: case H26WH:
@ -137,45 +137,45 @@ static void __attribute__((unused)) MJXQ_send_packet(uint8_t bind)
// fall through on purpose - no break // fall through on purpose - no break
case WLH08: case WLH08:
case E010: case E010:
packet[10] += GET_FLAG(Servo_AUX6, 0x02) //RTH packet[10] += GET_FLAG(CH10_SW, 0x02) //RTH
| GET_FLAG(Servo_AUX5, 0x01); //HEADLESS | GET_FLAG(CH9_SW, 0x01); //HEADLESS
if (!bind) if (!bind)
{ {
packet[14] = 0x04 packet[14] = 0x04
| GET_FLAG(Servo_AUX1, 0x01) //FLIP | GET_FLAG(CH5_SW, 0x01) //FLIP
| GET_FLAG(Servo_AUX3, 0x08) //PICTURE | GET_FLAG(CH7_SW, 0x08) //PICTURE
| GET_FLAG(Servo_AUX4, 0x10) //VIDEO | GET_FLAG(CH8_SW, 0x10) //VIDEO
| GET_FLAG(!Servo_AUX2, 0x20); // LED or air/ground mode | GET_FLAG(!CH6_SW, 0x20); // LED or air/ground mode
if(sub_protocol==H26WH) if(sub_protocol==H26WH)
{ {
packet[10] |=0x40; //High rate packet[10] |=0x40; //High rate
packet[14] &= ~0x24; // unset air/ground & arm flags packet[14] &= ~0x24; // unset air/ground & arm flags
packet[14] |= GET_FLAG(Servo_AUX2, 0x02); // arm packet[14] |= GET_FLAG(CH6_SW, 0x02); // arm
} }
} }
break; break;
case X600: case X600:
packet[10] = GET_FLAG(!Servo_AUX2, 0x02); //LED packet[10] = GET_FLAG(!CH6_SW, 0x02); //LED
packet[11] = GET_FLAG(Servo_AUX6, 0x01); //RTH packet[11] = GET_FLAG(CH10_SW, 0x01); //RTH
if (!bind) if (!bind)
{ {
packet[14] = 0x02 // always high rates by bit2 = 1 packet[14] = 0x02 // always high rates by bit2 = 1
| GET_FLAG(Servo_AUX1, 0x04) //FLIP | GET_FLAG(CH5_SW, 0x04) //FLIP
| GET_FLAG(Servo_AUX7, 0x10) //AUTOFLIP | GET_FLAG(CH11_SW, 0x10) //AUTOFLIP
| GET_FLAG(Servo_AUX5, 0x20); //HEADLESS | GET_FLAG(CH9_SW, 0x20); //HEADLESS
} }
break; break;
case X800: case X800:
default: default:
packet[10] = 0x10 packet[10] = 0x10
| GET_FLAG(!Servo_AUX2, 0x02) //LED | GET_FLAG(!CH6_SW, 0x02) //LED
| GET_FLAG(Servo_AUX7, 0x01); //AUTOFLIP | GET_FLAG(CH11_SW, 0x01); //AUTOFLIP
if (!bind) if (!bind)
{ {
packet[14] = 0x02 // always high rates by bit2 = 1 packet[14] = 0x02 // always high rates by bit2 = 1
| GET_FLAG(Servo_AUX1, 0x04) //FLIP | GET_FLAG(CH5_SW, 0x04) //FLIP
| GET_FLAG(Servo_AUX3, 0x08) //PICTURE | GET_FLAG(CH7_SW, 0x08) //PICTURE
| GET_FLAG(Servo_AUX4, 0x10); //VIDEO | GET_FLAG(CH8_SW, 0x10); //VIDEO
} }
break; break;
} }

44
Multiprotocol/MT99xx_nrf24l01.ino
View File

@ -79,13 +79,13 @@ static void __attribute__((unused)) MT99XX_send_packet()
if(sub_protocol != YZ) if(sub_protocol != YZ)
{ // MT99XX & H7 & LS { // MT99XX & H7 & LS
packet[0] = convert_channel_8b_scale(THROTTLE,0xE1,0x00); // throttle packet[0] = convert_channel_16b_limit(THROTTLE,0xE1,0x00); // throttle
packet[1] = convert_channel_8b_scale(RUDDER ,0x00,0xE1); // rudder packet[1] = convert_channel_16b_limit(RUDDER ,0x00,0xE1); // rudder
packet[2] = convert_channel_8b_scale(AILERON ,0xE1,0x00); // aileron packet[2] = convert_channel_16b_limit(AILERON ,0xE1,0x00); // aileron
packet[3] = convert_channel_8b_scale(ELEVATOR,0x00,0xE1); // elevator packet[3] = convert_channel_16b_limit(ELEVATOR,0x00,0xE1); // elevator
packet[4] = 0x20; // pitch trim (0x3f-0x20-0x00) packet[4] = 0x20; // pitch trim (0x3f-0x20-0x00)
packet[5] = 0x20; // roll trim (0x00-0x20-0x3f) packet[5] = 0x20; // roll trim (0x00-0x20-0x3f)
packet[6] = GET_FLAG( Servo_AUX1, FLAG_MT_FLIP ); packet[6] = GET_FLAG( CH5_SW, FLAG_MT_FLIP );
packet[7] = h7_mys_byte[hopping_frequency_no]; // next rf channel index ? packet[7] = h7_mys_byte[hopping_frequency_no]; // next rf channel index ?
if(sub_protocol==H7) if(sub_protocol==H7)
@ -93,8 +93,8 @@ static void __attribute__((unused)) MT99XX_send_packet()
else else
if(sub_protocol==MT99) if(sub_protocol==MT99)
packet[6] |= 0x40 | FLAG_MT_RATE2 packet[6] |= 0x40 | FLAG_MT_RATE2
| GET_FLAG( Servo_AUX3, FLAG_MT_SNAPSHOT ) | GET_FLAG( CH7_SW, FLAG_MT_SNAPSHOT )
| GET_FLAG( Servo_AUX4, FLAG_MT_VIDEO ); // max rate on MT99xx | GET_FLAG( CH8_SW, FLAG_MT_VIDEO ); // max rate on MT99xx
else else
if(sub_protocol==FY805) if(sub_protocol==FY805)
{ {
@ -102,17 +102,17 @@ static void __attribute__((unused)) MT99XX_send_packet()
//Rate 0x01? //Rate 0x01?
//Flip ? //Flip ?
packet[7]=0x01 packet[7]=0x01
|GET_FLAG( Servo_AUX1, FLAG_MT_FLIP ) |GET_FLAG( CH5_SW, FLAG_MT_FLIP )
|GET_FLAG( Servo_AUX5, FLAG_FY805_HEADLESS ); //HEADLESS |GET_FLAG( CH9_SW, FLAG_FY805_HEADLESS ); //HEADLESS
checksum_offset=0; checksum_offset=0;
} }
else //LS else //LS
{ {
packet[6] |= FLAG_LS_RATE // max rate packet[6] |= FLAG_LS_RATE // max rate
| GET_FLAG( Servo_AUX2, FLAG_LS_INVERT ) //INVERT | GET_FLAG( CH6_SW, FLAG_LS_INVERT ) //INVERT
| GET_FLAG( Servo_AUX3, FLAG_LS_SNAPSHOT ) //SNAPSHOT | GET_FLAG( CH7_SW, FLAG_LS_SNAPSHOT ) //SNAPSHOT
| GET_FLAG( Servo_AUX4, FLAG_LS_VIDEO ) //VIDEO | GET_FLAG( CH8_SW, FLAG_LS_VIDEO ) //VIDEO
| GET_FLAG( Servo_AUX5, FLAG_LS_HEADLESS ); //HEADLESS | GET_FLAG( CH9_SW, FLAG_LS_HEADLESS ); //HEADLESS
packet[7] = ls_mys_byte[ls_counter++]; packet[7] = ls_mys_byte[ls_counter++];
if(ls_counter >= sizeof(ls_mys_byte)) if(ls_counter >= sizeof(ls_mys_byte))
ls_counter=0; ls_counter=0;
@ -125,10 +125,10 @@ static void __attribute__((unused)) MT99XX_send_packet()
} }
else else
{ // YZ { // YZ
packet[0] = convert_channel_8b_scale(THROTTLE,0x00,0x64); // throttle packet[0] = convert_channel_16b_limit(THROTTLE,0x00,0x64); // throttle
packet[1] = convert_channel_8b_scale(RUDDER ,0x64,0x00); // rudder packet[1] = convert_channel_16b_limit(RUDDER ,0x64,0x00); // rudder
packet[2] = convert_channel_8b_scale(ELEVATOR,0x00,0x64); // elevator packet[2] = convert_channel_16b_limit(ELEVATOR,0x00,0x64); // elevator
packet[3] = convert_channel_8b_scale(AILERON ,0x64,0x00); // aileron packet[3] = convert_channel_16b_limit(AILERON ,0x64,0x00); // aileron
if(packet_count++ >= 23) if(packet_count++ >= 23)
{ {
yz_seq_num ++; yz_seq_num ++;
@ -138,11 +138,11 @@ static void __attribute__((unused)) MT99XX_send_packet()
} }
packet[4] = yz_p4_seq[yz_seq_num]; packet[4] = yz_p4_seq[yz_seq_num];
packet[5] = 0x02 // expert ? (0=unarmed, 1=normal) packet[5] = 0x02 // expert ? (0=unarmed, 1=normal)
| GET_FLAG(Servo_AUX4, 0x10) //VIDEO | GET_FLAG(CH8_SW, 0x10) //VIDEO
| GET_FLAG(Servo_AUX1, 0x80) //FLIP | GET_FLAG(CH5_SW, 0x80) //FLIP
| GET_FLAG(Servo_AUX5, 0x04) //HEADLESS | GET_FLAG(CH9_SW, 0x04) //HEADLESS
| GET_FLAG(Servo_AUX3, 0x20); //SNAPSHOT | GET_FLAG(CH7_SW, 0x20); //SNAPSHOT
packet[6] = GET_FLAG(Servo_AUX2, 0x80); //LED packet[6] = GET_FLAG(CH6_SW, 0x80); //LED
packet[7] = packet[0]; packet[7] = packet[0];
for(uint8_t idx = 1; idx < MT99XX_PACKET_SIZE-2; idx++) for(uint8_t idx = 1; idx < MT99XX_PACKET_SIZE-2; idx++)
packet[7] += packet[idx]; packet[7] += packet[idx];

48
Multiprotocol/MultiOrange.h
View File

@ -6,54 +6,6 @@
#include <string.h> #include <string.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
/*static void protocol_init(void) ;
static void update_channels_aux(void) ;
static uint32_t random_id(uint16_t adress, uint8_t create_new) ;
static void update_serial_data(void) ;
static void Mprotocol_serial_init(void) ;
static void update_led_status(void) ;
static void set_rx_tx_addr(uint32_t id) ;
uint16_t limit_channel_100(uint8_t ch) ;
void initTXSerial( uint8_t speed);
void Serial_write(uint8_t data);
extern void NRF24L01_Reset(void ) ;
extern void A7105_Reset(void ) ;
extern void CC2500_Reset(void ) ;
extern uint8_t CYRF_Reset(void ) ;
extern void CYRF_SetTxRxMode(uint8_t mode) ;
extern void frskyUpdate(void) ;
extern uint16_t initDsm2(void) ;
extern uint16_t ReadDsm2(void) ;
extern uint16_t DevoInit(void) ;
extern uint16_t devo_callback(void) ;
extern uint16_t initJ6Pro(void) ;
extern uint16_t ReadJ6Pro(void) ;
extern uint16_t WK_setup(void) ;
extern uint16_t WK_cb(void) ;
extern void randomSeed(unsigned int seed) ;
extern long random(long howbig) ;
extern long map(long x, long in_min, long in_max, long out_min, long out_max) ;
extern uint32_t millis(void) ;
extern uint32_t micros(void) ;
extern void delayMicroseconds(uint16_t x) ;
extern void delayMilliseconds(unsigned long ms) ;
extern void init(void) ;
extern void modules_reset() ;
extern uint8_t Update_All() ;
extern void tx_pause() ;
extern void tx_resume() ;
extern void TelemetryUpdate() ;
extern uint16_t initDsm() ;
extern uint16_t ReadDsm() ;
extern void setup() ;
extern void loop() ;
*/
#define yield() #define yield()
#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L ) #define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )

24
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1 #define VERSION_MAJOR 1
#define VERSION_MINOR 2 #define VERSION_MINOR 2
#define VERSION_REVISION 0 #define VERSION_REVISION 0
#define VERSION_PATCH_LEVEL 5 #define VERSION_PATCH_LEVEL 7
//****************** //******************
// Protocols // Protocols
//****************** //******************
@ -364,16 +364,18 @@ enum MultiPacketTypes
//*** AUX flags *** //*** AUX flags ***
//******************* //*******************
#define GET_FLAG(ch, mask) ( ch ? mask : 0) #define GET_FLAG(ch, mask) ( ch ? mask : 0)
#define Servo_AUX1 (Servo_AUX & _BV(0)) #define CH5_SW (Channel_AUX & _BV(0))
#define Servo_AUX2 (Servo_AUX & _BV(1)) #define CH6_SW (Channel_AUX & _BV(1))
#define Servo_AUX3 (Servo_AUX & _BV(2)) #define CH7_SW (Channel_AUX & _BV(2))
#define Servo_AUX4 (Servo_AUX & _BV(3)) #define CH8_SW (Channel_AUX & _BV(3))
#define Servo_AUX5 (Servo_AUX & _BV(4)) #define CH9_SW (Channel_AUX & _BV(4))
#define Servo_AUX6 (Servo_AUX & _BV(5)) #define CH10_SW (Channel_AUX & _BV(5))
#define Servo_AUX7 (Servo_AUX & _BV(6)) #define CH11_SW (Channel_AUX & _BV(6))
#define Servo_AUX8 (Servo_AUX & _BV(7)) #define CH12_SW (Channel_AUX & _BV(7))
#define Servo_AUX9 (Servo_data[AUX9 ]>PPM_SWITCH) #define CH13_SW (Channel_data[CH13]>CHANNEL_SWITCH)
#define Servo_AUX10 (Servo_data[AUX10]>PPM_SWITCH) #define CH14_SW (Channel_data[CH14]>CHANNEL_SWITCH)
#define CH15_SW (Channel_data[CH15]>CHANNEL_SWITCH)
#define CH16_SW (Channel_data[CH16]>CHANNEL_SWITCH)
//************************ //************************
//*** Power settings *** //*** Power settings ***

81
Multiprotocol/Multiprotocol.ino
View File

@ -75,11 +75,8 @@ uint8_t packet[40];
#define NUM_CHN 16 #define NUM_CHN 16
// Servo data // Servo data
uint16_t Servo_data[NUM_CHN];
uint16_t Channel_data[NUM_CHN]; uint16_t Channel_data[NUM_CHN];
uint8_t Servo_AUX; uint8_t Channel_AUX;
uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
uint16_t servo_mid;
#ifdef FAILSAFE_ENABLE #ifdef FAILSAFE_ENABLE
uint16_t Failsafe_data[NUM_CHN]; uint16_t Failsafe_data[NUM_CHN];
#endif #endif
@ -128,10 +125,10 @@ uint8_t RX_num;
#endif #endif
//Channel mapping for protocols //Channel mapping for protocols
const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8, AUX9, AUX10}; const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
// Mode_select variables // Mode_select variables
uint8_t mode_select; uint8_t mode_select;
@ -362,21 +359,14 @@ void setup()
((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) + ((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) +
((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8); ((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8);
#endif #endif
//mode_select=1;
debugln("Mode switch reads as %d", mode_select); debugln("Mode switch reads as %d", mode_select);
// Set default channels' value // Set default channels' value
for(uint8_t i=0;i<NUM_CHN;i++)
{
Servo_data[i]=1500;
#ifdef ENABLE_PPM
PPM_data[i]=PPM_MAX_100+PPM_MIN_100;
#endif
}
Servo_data[THROTTLE]=servo_min_100;
#ifdef ENABLE_PPM
PPM_data[THROTTLE]=PPM_MIN_100*2;
#endif
InitChannel(); InitChannel();
#ifdef ENABLE_PPM
InitPPM();
#endif
// Update LED // Update LED
LED_off; LED_off;
@ -444,8 +434,6 @@ void setup()
BIND_IN_PROGRESS; // Force a bind at protocol startup BIND_IN_PROGRESS; // Force a bind at protocol startup
} }
mode_select++; mode_select++;
servo_max_100=PPM_MAX_100; servo_min_100=PPM_MIN_100;
servo_max_125=PPM_MAX_125; servo_min_125=PPM_MIN_125;
protocol_init(); protocol_init();
@ -475,8 +463,6 @@ void setup()
for(uint8_t i=0;i<3;i++) for(uint8_t i=0;i<3;i++)
cur_protocol[i]=0; cur_protocol[i]=0;
protocol=0; protocol=0;
servo_max_100=SERIAL_MAX_100; servo_min_100=SERIAL_MIN_100;
servo_max_125=SERIAL_MAX_125; servo_min_125=SERIAL_MIN_125;
#ifdef CHECK_FOR_BOOTLOADER #ifdef CHECK_FOR_BOOTLOADER
Mprotocol_serial_init(1); // Configure serial and enable RX interrupt Mprotocol_serial_init(1); // Configure serial and enable RX interrupt
#else #else
@ -484,7 +470,6 @@ void setup()
#endif #endif
#endif //ENABLE_SERIAL #endif //ENABLE_SERIAL
} }
servo_mid=servo_min_100+servo_max_100; //In fact 2* mid_value
debugln("Init complete"); debugln("Init complete");
} }
@ -594,21 +579,14 @@ uint8_t Update_All()
{ {
for(uint8_t i=0;i<PPM_chan_max;i++) for(uint8_t i=0;i<PPM_chan_max;i++)
{ // update servo data without interrupts to prevent bad read { // update servo data without interrupts to prevent bad read
uint16_t temp_ppm ; uint16_t val;
cli(); // disable global int cli(); // disable global int
temp_ppm = PPM_data[i]; val = PPM_data[i];
sei(); // enable global int sei(); // enable global int
val=map16b(val,PPM_MIN_100*2,PPM_MAX_100*2,CHANNEL_MIN_100,CHANNEL_MAX_100);
uint16_t temp_ppm2; if(val&0x8000) val=CHANNEL_MIN_125;
temp_ppm2=map(temp_ppm,PPM_MIN_100,PPM_MAX_100,CHANNEL_MIN_100,CHANNEL_MAX_100); else if(val>CHANNEL_MAX_125) val=CHANNEL_MAX_125;
if(temp_ppm2&0x8000) temp_ppm2=CHANNEL_MIN_125; Channel_data[i]=val;
else if(temp_ppm2>CHANNEL_MAX_125) temp_ppm2=CHANNEL_MAX_125;
Channel_data[i]=temp_ppm2;
temp_ppm>>=1;
if(temp_ppm<PPM_MIN_125) temp_ppm=PPM_MIN_125;
else if(temp_ppm>PPM_MAX_125) temp_ppm=PPM_MAX_125;
Servo_data[i]= temp_ppm ;
} }
PPM_FLAG_off; // wait for next frame before update PPM_FLAG_off; // wait for next frame before update
update_channels_aux(); update_channels_aux();
@ -624,13 +602,13 @@ uint8_t Update_All()
TelemetryUpdate(); TelemetryUpdate();
#endif #endif
#ifdef ENABLE_BIND_CH #ifdef ENABLE_BIND_CH
if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && Servo_data[BIND_CH-1]>PPM_MAX_COMMAND && Servo_data[THROTTLE]<(servo_min_100+25)) if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && Channel_data[BIND_CH-1]>CHANNEL_MAX_COMMAND && Channel_data[THROTTLE]<(CHANNEL_MIN_100+50))
{ // Autobind is on and BIND_CH went up and Throttle is low { // Autobind is on and BIND_CH went up and Throttle is low
CHANGE_PROTOCOL_FLAG_on; //reload protocol CHANGE_PROTOCOL_FLAG_on; //reload protocol
BIND_IN_PROGRESS; //enable bind BIND_IN_PROGRESS; //enable bind
BIND_CH_PREV_on; BIND_CH_PREV_on;
} }
if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_on && Servo_data[BIND_CH-1]<PPM_MIN_COMMAND) if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_on && Channel_data[BIND_CH-1]<CHANNEL_MIN_COMMAND)
{ // Autobind is on and BIND_CH went down { // Autobind is on and BIND_CH went down
BIND_CH_PREV_off; BIND_CH_PREV_off;
//Request protocol to terminate bind //Request protocol to terminate bind
@ -651,27 +629,28 @@ uint8_t Update_All()
return 0; return 0;
} }
// Update channels direction and Servo_AUX flags based on servo AUX positions // Update channels direction and Channel_AUX flags based on servo AUX positions
static void update_channels_aux(void) static void update_channels_aux(void)
{ {
//Reverse channels direction //Reverse channels direction
#ifdef REVERSE_AILERON #ifdef REVERSE_AILERON
Servo_data[AILERON]=servo_mid-Servo_data[AILERON]; reverse_channel(AILREON);
#endif #endif
#ifdef REVERSE_ELEVATOR #ifdef REVERSE_ELEVATOR
Servo_data[ELEVATOR]=servo_mid-Servo_data[ELEVATOR]; reverse_channel(ELEVATOR);
#endif #endif
#ifdef REVERSE_THROTTLE #ifdef REVERSE_THROTTLE
Servo_data[THROTTLE]=servo_mid-Servo_data[THROTTLE]; reverse_channel(THROTTLE);
#endif #endif
#ifdef REVERSE_RUDDER #ifdef REVERSE_RUDDER
Servo_data[RUDDER]=servo_mid-Servo_data[RUDDER]; reverse_channel(RUDDER);
#endif #endif
//Calc AUX flags //Calc AUX flags
Servo_AUX=0; Channel_AUX=0;
for(uint8_t i=0;i<8;i++) for(uint8_t i=0;i<8;i++)
if(Servo_data[AUX1+i]>PPM_SWITCH) if(Channel_data[CH5+i]>CHANNEL_SWITCH)
Servo_AUX|=1<<i; Channel_AUX|=1<<i;
} }
// Update led status based on binding and serial // Update led status based on binding and serial
@ -883,7 +862,6 @@ static void protocol_init()
case MODE_DSM: case MODE_DSM:
PE2_on; //antenna RF4 PE2_on; //antenna RF4
next_callback = initDsm(); next_callback = initDsm();
//Servo_data[2]=1500;//before binding
remote_callback = ReadDsm; remote_callback = ReadDsm;
break; break;
#endif #endif
@ -1083,6 +1061,7 @@ static void protocol_init()
#endif #endif
} }
} }
debugln("Protocol selected: %d, sub proto %d, rxnum %d, option %d", protocol, sub_protocol, RX_num, option);
#if defined(WAIT_FOR_BIND) && defined(ENABLE_BIND_CH) #if defined(WAIT_FOR_BIND) && defined(ENABLE_BIND_CH)
if( IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && (cur_protocol[1]&0x80)==0 && mode_select == MODE_SERIAL) if( IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && (cur_protocol[1]&0x80)==0 && mode_select == MODE_SERIAL)
@ -1176,7 +1155,6 @@ void update_serial_data()
protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F); //protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0] protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F); //protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0]
sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6 sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0---3 RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0---3
debugln("New protocol selected: %d, sub proto %d, rxnum %d, option %d", protocol, sub_protocol, RX_num, option);
} }
else else
if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set
@ -1218,10 +1196,7 @@ void update_serial_data()
Failsafe_data[i]=temp; //value range 0..2047, 0=no pulses, 2047=hold Failsafe_data[i]=temp; //value range 0..2047, 0=no pulses, 2047=hold
else else
#endif #endif
{
Channel_data[i]=temp; //value range 0..2047, 0=-125%, 2047=+125% Channel_data[i]=temp; //value range 0..2047, 0=-125%, 2047=+125%
Servo_data[i]=(temp*5)/8+860; //value range 860<->2140 -125%<->+125%
}
} }
RX_DONOTUPDATE_off; RX_DONOTUPDATE_off;
#ifdef ORANGE_TX #ifdef ORANGE_TX
@ -1710,5 +1685,3 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
} }
} }
#endif #endif

62
Multiprotocol/Q303_nrf24l01.ino
View File

@ -45,7 +45,7 @@ static uint8_t __attribute__((unused)) cx10wd_getButtons()
packet_count++; packet_count++;
} }
// auto land // auto land
else if((Servo_data[AUX1] < PPM_MIN_COMMAND) && !(BTN_state & Q303_BTN_DESCEND)) else if((Channel_data[CH5]<CHANNEL_MIN_COMMAND) && !(BTN_state & Q303_BTN_DESCEND))
{ {
BTN_state |= Q303_BTN_DESCEND; BTN_state |= Q303_BTN_DESCEND;
BTN_state &= ~Q303_BTN_TAKEOFF; BTN_state &= ~Q303_BTN_TAKEOFF;
@ -60,7 +60,7 @@ static uint8_t __attribute__((unused)) cx10wd_getButtons()
} }
} }
// auto take off // auto take off
else if(Servo_AUX1 && !(BTN_state & Q303_BTN_TAKEOFF)) else if(CH5_SW && !(BTN_state & Q303_BTN_TAKEOFF))
{ {
BTN_state |= Q303_BTN_TAKEOFF; BTN_state |= Q303_BTN_TAKEOFF;
BTN_state &= ~Q303_BTN_DESCEND; BTN_state &= ~Q303_BTN_DESCEND;
@ -100,21 +100,21 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
command |= 0x20; // 2nd keypress command |= 0x20; // 2nd keypress
} }
// descend // descend
else if(!(GET_FLAG(Servo_AUX1, 1)) && !(BTN_state & Q303_BTN_DESCEND)) else if(!(GET_FLAG(CH5_SW, 1)) && !(BTN_state & Q303_BTN_DESCEND))
{ {
BTN_state |= Q303_BTN_DESCEND; BTN_state |= Q303_BTN_DESCEND;
BTN_state &= ~Q303_BTN_TAKEOFF; BTN_state &= ~Q303_BTN_TAKEOFF;
command = CX35_CMD_DESCEND; command = CX35_CMD_DESCEND;
} }
// take off // take off
else if(GET_FLAG(Servo_AUX1,1) && !(BTN_state & Q303_BTN_TAKEOFF)) else if(GET_FLAG(CH5_SW,1) && !(BTN_state & Q303_BTN_TAKEOFF))
{ {
BTN_state |= Q303_BTN_TAKEOFF; BTN_state |= Q303_BTN_TAKEOFF;
BTN_state &= ~Q303_BTN_DESCEND; BTN_state &= ~Q303_BTN_DESCEND;
command = CX35_CMD_TAKEOFF; command = CX35_CMD_TAKEOFF;
} }
// RTH // RTH
else if(GET_FLAG(Servo_AUX6,1) && !(BTN_state & Q303_BTN_RTH)) else if(GET_FLAG(CH10_SW,1) && !(BTN_state & Q303_BTN_RTH))
{ {
BTN_state |= Q303_BTN_RTH; BTN_state |= Q303_BTN_RTH;
if(command == CX35_CMD_RTH) if(command == CX35_CMD_RTH)
@ -122,7 +122,7 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
else else
command = CX35_CMD_RTH; command = CX35_CMD_RTH;
} }
else if(!(GET_FLAG(Servo_AUX6,1)) && (BTN_state & Q303_BTN_RTH)) else if(!(GET_FLAG(CH10_SW,1)) && (BTN_state & Q303_BTN_RTH))
{ {
BTN_state &= ~Q303_BTN_RTH; BTN_state &= ~Q303_BTN_RTH;
if(command == CX35_CMD_RTH) if(command == CX35_CMD_RTH)
@ -131,7 +131,7 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
command = CX35_CMD_RTH; command = CX35_CMD_RTH;
} }
// video // video
else if(GET_FLAG(Servo_AUX4,1) && !(BTN_state & Q303_BTN_VIDEO)) else if(GET_FLAG(CH8_SW,1) && !(BTN_state & Q303_BTN_VIDEO))
{ {
BTN_state |= Q303_BTN_VIDEO; BTN_state |= Q303_BTN_VIDEO;
if(command == CX35_CMD_VIDEO) if(command == CX35_CMD_VIDEO)
@ -139,7 +139,7 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
else else
command = CX35_CMD_VIDEO; command = CX35_CMD_VIDEO;
} }
else if(!(GET_FLAG(Servo_AUX4,1)) && (BTN_state & Q303_BTN_VIDEO)) else if(!(GET_FLAG(CH8_SW,1)) && (BTN_state & Q303_BTN_VIDEO))
{ {
BTN_state &= ~Q303_BTN_VIDEO; BTN_state &= ~Q303_BTN_VIDEO;
if(command == CX35_CMD_VIDEO) if(command == CX35_CMD_VIDEO)
@ -148,7 +148,7 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
command = CX35_CMD_VIDEO; command = CX35_CMD_VIDEO;
} }
// snapshot // snapshot
else if(GET_FLAG(Servo_AUX3,1) && !(BTN_state & Q303_BTN_SNAPSHOT)) else if(GET_FLAG(CH7_SW,1) && !(BTN_state & Q303_BTN_SNAPSHOT))
{ {
BTN_state |= Q303_BTN_SNAPSHOT; BTN_state |= Q303_BTN_SNAPSHOT;
if(command == CX35_CMD_SNAPSHOT) if(command == CX35_CMD_SNAPSHOT)
@ -157,7 +157,7 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
command = CX35_CMD_SNAPSHOT; command = CX35_CMD_SNAPSHOT;
} }
// vtx channel // vtx channel
else if(GET_FLAG(Servo_AUX2,1) && !(BTN_state & Q303_BTN_VTX)) else if(GET_FLAG(CH6_SW,1) && !(BTN_state & Q303_BTN_VTX))
{ {
BTN_state |= Q303_BTN_VTX; BTN_state |= Q303_BTN_VTX;
if(command == CX35_CMD_VTX) if(command == CX35_CMD_VTX)
@ -166,9 +166,9 @@ static uint8_t __attribute__((unused)) cx35_lastButton()
command = CX35_CMD_VTX; command = CX35_CMD_VTX;
} }
if(!(GET_FLAG(Servo_AUX3,1))) if(!(GET_FLAG(CH7_SW,1)))
BTN_state &= ~Q303_BTN_SNAPSHOT; BTN_state &= ~Q303_BTN_SNAPSHOT;
if(!(GET_FLAG(Servo_AUX2,1))) if(!(GET_FLAG(CH6_SW,1)))
BTN_state &= ~Q303_BTN_VTX; BTN_state &= ~Q303_BTN_VTX;
return command; return command;
@ -191,10 +191,10 @@ static void __attribute__((unused)) Q303_send_packet(uint8_t bind)
{ {
case Q303: case Q303:
case CX35: case CX35:
aileron = convert_channel_16b(AILERON, 0, 1000); aileron = convert_channel_16b_limit(AILERON, 0, 1000);
elevator = convert_channel_16b(ELEVATOR, 1000, 0); elevator = convert_channel_16b_limit(ELEVATOR, 1000, 0);
throttle = convert_channel_16b(THROTTLE, 0, 1000); throttle = convert_channel_16b_limit(THROTTLE, 0, 1000);
rudder = convert_channel_16b(RUDDER, 1000, 0); rudder = convert_channel_16b_limit(RUDDER, 1000, 0);
if(sub_protocol == CX35) if(sub_protocol == CX35)
aileron = 1000 - aileron; aileron = 1000 - aileron;
packet[1] = aileron >> 2; // 8 bits packet[1] = aileron >> 2; // 8 bits
@ -208,10 +208,10 @@ static void __attribute__((unused)) Q303_send_packet(uint8_t bind)
break; break;
case CX10D: case CX10D:
case CX10WD: case CX10WD:
aileron = convert_channel_16b(AILERON, 2000, 1000); aileron = convert_channel_16b_limit(AILERON, 2000, 1000);
elevator = convert_channel_16b(ELEVATOR, 2000, 1000); elevator = convert_channel_16b_limit(ELEVATOR, 2000, 1000);
throttle = convert_channel_16b(THROTTLE, 1000, 2000); throttle = convert_channel_16b_limit(THROTTLE, 1000, 2000);
rudder = convert_channel_16b(RUDDER, 1000, 2000); rudder = convert_channel_16b_limit(RUDDER, 1000, 2000);
packet[1] = aileron & 0xff; packet[1] = aileron & 0xff;
packet[2] = aileron >> 8; packet[2] = aileron >> 8;
packet[3] = elevator & 0xff; packet[3] = elevator & 0xff;
@ -230,21 +230,21 @@ static void __attribute__((unused)) Q303_send_packet(uint8_t bind)
packet[6] = 0x10; // trim(s) ? packet[6] = 0x10; // trim(s) ?
packet[7] = 0x10; // trim(s) ? packet[7] = 0x10; // trim(s) ?
packet[8] = 0x03 // high rate (0-3) packet[8] = 0x03 // high rate (0-3)
| GET_FLAG(Servo_AUX1, 0x40) | GET_FLAG(CH5_SW, 0x40)
| GET_FLAG(Servo_AUX6, 0x80); | GET_FLAG(CH10_SW, 0x80);
packet[9] = 0x40 // always set packet[9] = 0x40 // always set
| GET_FLAG(Servo_AUX5,0x08) | GET_FLAG(CH9_SW,0x08)
| GET_FLAG(Servo_AUX2, 0x80) | GET_FLAG(CH6_SW, 0x80)
| GET_FLAG(Servo_AUX3,0x10) | GET_FLAG(CH7_SW,0x10)
| GET_FLAG(Servo_AUX4, 0x01); | GET_FLAG(CH8_SW, 0x01);
if(Servo_data[AUX7] < PPM_MIN_COMMAND) if(Channel_data[CH11] < CHANNEL_MIN_COMMAND)
packet[9] |= 0x04; // gimbal down packet[9] |= 0x04; // gimbal down
else if(Servo_data[AUX7] > PPM_MAX_COMMAND) else if(CH11_SW)
packet[9] |= 0x20; // gimbal up packet[9] |= 0x20; // gimbal up
break; break;
case CX35: case CX35:
slider = convert_channel_16b(AUX7, 731, 342); slider = convert_channel_16b_limit(CH11, 731, 342);
packet[6] = slider >> 2; packet[6] = slider >> 2;
packet[7] = ((slider & 3) << 6) packet[7] = ((slider & 3) << 6)
| 0x3e; // ?? 6 bit left (always 111110 ?) | 0x3e; // ?? 6 bit left (always 111110 ?)
@ -253,13 +253,13 @@ static void __attribute__((unused)) Q303_send_packet(uint8_t bind)
break; break;
case CX10D: case CX10D:
packet[8] |= GET_FLAG(Servo_AUX2, 0x10); packet[8] |= GET_FLAG(CH6_SW, 0x10);
packet[9] = 0x02; // rate (0-2) packet[9] = 0x02; // rate (0-2)
packet[10]= cx10wd_getButtons(); // auto land / take off management packet[10]= cx10wd_getButtons(); // auto land / take off management
break; break;
case CX10WD: case CX10WD:
packet[8] |= GET_FLAG(Servo_AUX2, 0x10); packet[8] |= GET_FLAG(CH6_SW, 0x10);
packet[9] = 0x02 // rate (0-2) packet[9] = 0x02 // rate (0-2)
| cx10wd_getButtons(); // auto land / take off management | cx10wd_getButtons(); // auto land / take off management
packet[10] = 0x00; packet[10] = 0x00;

2
Multiprotocol/SFHSS_cc2500.ino
View File

@ -182,7 +182,7 @@ static void __attribute__((unused)) SFHSS_build_data_packet()
#endif #endif
{ //Normal data { //Normal data
for(uint8_t i=0;i<4;i++) for(uint8_t i=0;i<4;i++)
ch[i] = convert_channel_16b_nolim(CH_AETR[ch_offset+i],2020,1020); ch[i] = convert_channel_16b_nolimit(CH_AETR[ch_offset+i],2020,1020);
} }

2
Multiprotocol/SHENQI_nrf24l01.ino
View File

@ -65,7 +65,7 @@ void SHENQI_send_packet()
{ {
LT8900_SetAddress(rx_tx_addr,4); LT8900_SetAddress(rx_tx_addr,4);
packet[1]=255-convert_channel_8b(RUDDER); packet[1]=255-convert_channel_8b(RUDDER);
packet[2]=255-convert_channel_8b_scale(THROTTLE,0x60,0xA0); packet[2]=255-convert_channel_16b_limit(THROTTLE,0x60,0xA0);
uint8_t freq=pgm_read_byte_near(&SHENQI_Freq[hopping_frequency_no])+(rx_tx_addr[2]&0x0F); uint8_t freq=pgm_read_byte_near(&SHENQI_Freq[hopping_frequency_no])+(rx_tx_addr[2]&0x0F);
LT8900_SetChannel(freq); LT8900_SetChannel(freq);
hopping_frequency_no++; hopping_frequency_no++;

4
Multiprotocol/SLT_nrf24l01.ino
View File

@ -119,8 +119,8 @@ static void __attribute__((unused)) SLT_build_packet()
// Extra bits for AETR // Extra bits for AETR
packet[4] = e; packet[4] = e;
// 8-bit channels // 8-bit channels
packet[5] = convert_channel_8b(AUX1); packet[5] = convert_channel_8b(CH5);
packet[6] = convert_channel_8b(AUX2); packet[6] = convert_channel_8b(CH6);
} }
static void __attribute__((unused)) SLT_send_bind_packet() static void __attribute__((unused)) SLT_send_bind_packet()

10
Multiprotocol/Symax_nrf24l01.ino
View File

@ -66,19 +66,19 @@ static void __attribute__((unused)) SYMAX_read_controls()
flags=0; flags=0;
// Channel 5 // Channel 5
if (Servo_AUX1) if (CH5_SW)
flags = SYMAX_FLAG_FLIP; flags = SYMAX_FLAG_FLIP;
// Channel 6 // Channel 6
if (Servo_AUX2) if (CH6_SW)
flags |= SYMAX_XTRM_RATES; flags |= SYMAX_XTRM_RATES;
// Channel 7 // Channel 7
if (Servo_AUX3) if (CH7_SW)
flags |= SYMAX_FLAG_PICTURE; flags |= SYMAX_FLAG_PICTURE;
// Channel 8 // Channel 8
if (Servo_AUX4) if (CH8_SW)
flags |= SYMAX_FLAG_VIDEO; flags |= SYMAX_FLAG_VIDEO;
// Channel 9 // Channel 9
if (Servo_AUX5) if (CH9_SW)
{ {
flags |= SYMAX_FLAG_HEADLESS; flags |= SYMAX_FLAG_HEADLESS;
flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible

41
Multiprotocol/TX_Def.h
View File

@ -46,22 +46,15 @@
#define PPM_MIN_125 900 // 125% #define PPM_MIN_125 900 // 125%
#endif #endif
//Serial MIN MAX values
#define SERIAL_MAX_100 2012 // 100%
#define SERIAL_MIN_100 988 // 100%
#define SERIAL_MAX_125 2140 // 125%
#define SERIAL_MIN_125 860 // 125%
//Channel MIN MAX values //Channel MIN MAX values
#define CHANNEL_MAX_100 1844 // 100% #define CHANNEL_MAX_100 1844 // 100%
#define CHANNEL_MIN_100 204 // 100% #define CHANNEL_MIN_100 204 // 100%
#define CHANNEL_MAX_125 2047 // 125% #define CHANNEL_MAX_125 2047 // 125%
#define CHANNEL_MIN_125 0 // 125% #define CHANNEL_MIN_125 0 // 125%
//PPM values used to compare #define CHANNEL_MIN_COMMAND 784 // 1350us
#define PPM_MIN_COMMAND 1250 #define CHANNEL_SWITCH 1104 // 1550us
#define PPM_SWITCH 1550 #define CHANNEL_MAX_COMMAND 1424 // 1750us
#define PPM_MAX_COMMAND 1750
//Channel definitions //Channel definitions
#ifdef AETR #ifdef AETR
@ -212,15 +205,19 @@
#define RUDDER 0 #define RUDDER 0
#endif #endif
#define AUX1 4 #define CH1 0
#define AUX2 5 #define CH2 1
#define AUX3 6 #define CH3 2
#define AUX4 7 #define CH4 3
#define AUX5 8 #define CH5 4
#define AUX6 9 #define CH6 5
#define AUX7 10 #define CH7 6
#define AUX8 11 #define CH8 7
#define AUX9 12 #define CH9 8
#define AUX10 13 #define CH10 9
#define AUX11 14 #define CH11 10
#define AUX12 15 #define CH12 11
#define CH13 12
#define CH14 13
#define CH15 14
#define CH16 15

22
Multiprotocol/V2X2_nrf24l01.ino
View File

@ -173,31 +173,31 @@ static void __attribute__((unused)) V2X2_send_packet(uint8_t bind)
//Flags //Flags
flags=0; flags=0;
// Channel 5 // Channel 5
if (Servo_AUX1) flags = V2X2_FLAG_FLIP; if (CH5_SW) flags = V2X2_FLAG_FLIP;
// Channel 6 // Channel 6
if (Servo_AUX2) flags |= V2X2_FLAG_LIGHT; if (CH6_SW) flags |= V2X2_FLAG_LIGHT;
// Channel 7 // Channel 7
if (Servo_AUX3) flags |= V2X2_FLAG_CAMERA; if (CH7_SW) flags |= V2X2_FLAG_CAMERA;
// Channel 8 // Channel 8
if (Servo_AUX4) flags |= V2X2_FLAG_VIDEO; if (CH8_SW) flags |= V2X2_FLAG_VIDEO;
//Flags2 //Flags2
// Channel 9 // Channel 9
if (Servo_AUX5) if (CH9_SW)
flags2 = V2X2_FLAG_HEADLESS; flags2 = V2X2_FLAG_HEADLESS;
if(sub_protocol==JXD506) if(sub_protocol==JXD506)
{ {
// Channel 11 // Channel 11
if (Servo_AUX7) if (CH11_SW)
flags2 |= V2X2_FLAG_EMERGENCY; flags2 |= V2X2_FLAG_EMERGENCY;
} }
else else
{ {
// Channel 10 // Channel 10
if (Servo_AUX6) if (CH10_SW)
flags2 |= V2X2_FLAG_MAG_CAL_X; flags2 |= V2X2_FLAG_MAG_CAL_X;
// Channel 11 // Channel 11
if (Servo_AUX7) if (CH11_SW)
flags2 |= V2X2_FLAG_MAG_CAL_Y; flags2 |= V2X2_FLAG_MAG_CAL_Y;
} }
} }
@ -213,12 +213,12 @@ static void __attribute__((unused)) V2X2_send_packet(uint8_t bind)
if(sub_protocol==JXD506) if(sub_protocol==JXD506)
{ {
// Channel 10 // Channel 10
if (Servo_AUX6) if (CH10_SW)
packet[11] = V2X2_FLAG_START_STOP; packet[11] = V2X2_FLAG_START_STOP;
// Channel 12 // Channel 12
if(Servo_data[AUX8] > PPM_MAX_COMMAND) if(CH12_SW)
packet[11] |= V2X2_FLAG_CAMERA_UP; packet[11] |= V2X2_FLAG_CAMERA_UP;
else if(Servo_data[AUX8] < PPM_MIN_COMMAND) else if(Channel_data[CH12] < CHANNEL_MIN_COMMAND)
packet[11] |= V2X2_FLAG_CAMERA_DN; packet[11] |= V2X2_FLAG_CAMERA_DN;
packet[12] = 0x40; packet[12] = 0x40;
packet[13] = 0x40; packet[13] = 0x40;

2
Multiprotocol/WK2x01_cyrf6936.ino
View File

@ -79,7 +79,7 @@ static void __attribute__((unused)) WK_build_bind_pkt(const uint8_t *init)
static int16_t __attribute__((unused)) WK_get_channel(uint8_t ch, int32_t scale, int16_t center, int16_t range) static int16_t __attribute__((unused)) WK_get_channel(uint8_t ch, int32_t scale, int16_t center, int16_t range)
{ {
int16_t value = map(Servo_data[CH_AETR[ch]],servo_min_100,servo_max_100,-scale,scale)+center; int16_t value = convert_channel_16b_nolimit(CH_AETR[ch],-scale,scale)+center;
if (value < center - range) value = center - range; if (value < center - range) value = center - range;
if (value > center + range) value = center + range; if (value > center + range) value = center + range;
return value; return value;

10
Multiprotocol/YD717_nrf24l01.ino
View File

@ -87,15 +87,15 @@ static void __attribute__((unused)) yd717_send_packet(uint8_t bind)
// Flags // Flags
flags=0; flags=0;
// Channel 5 // Channel 5
if (Servo_AUX1) flags = YD717_FLAG_FLIP; if (CH5_SW) flags = YD717_FLAG_FLIP;
// Channel 6 // Channel 6
if (Servo_AUX2) flags |= YD717_FLAG_LIGHT; if (CH6_SW) flags |= YD717_FLAG_LIGHT;
// Channel 7 // Channel 7
if (Servo_AUX3) flags |= YD717_FLAG_PICTURE; if (CH7_SW) flags |= YD717_FLAG_PICTURE;
// Channel 8 // Channel 8
if (Servo_AUX4) flags |= YD717_FLAG_VIDEO; if (CH8_SW) flags |= YD717_FLAG_VIDEO;
// Channel 9 // Channel 9
if (Servo_AUX5) flags |= YD717_FLAG_HEADLESS; if (CH9_SW) flags |= YD717_FLAG_HEADLESS;
packet[7] = flags; packet[7] = flags;
} }