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HoTT: Failsafe

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Failsafe MUST be configured once with the desired channel values (hold or position) while the RX is up (wait 10+sec for the RX to learn the config) and then failsafe MUST be set to RX/Receiver otherwise the servos will jitter!!!
This commit is contained in:
pascallanger
2019-11-07 01:03:57 +01:00
parent c048e97d3a
commit c4c5ffec4f
5 changed files with 77 additions and 18 deletions
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47
Multiprotocol/HOTT_cc2500.ino
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@@ -133,7 +133,7 @@ static void __attribute__((unused)) HOTT_init()
memcpy(rx_tx_addr,"\x7C\x94\x00\x0D\x50",5);
#endif
memset(&packet[30],0xFF,9);
packet[39]=0x07; // unknown
packet[39]=0x07; // unknown and constant
if(IS_BIND_IN_PROGRESS)
{
packet[28] = 0x80; // unknown 0x80 when bind starts then when RX replies start normal, 0x89/8A/8B/8C/8D/8E during normal packets
@@ -144,7 +144,7 @@ static void __attribute__((unused)) HOTT_init()
else
{
packet[28] = 0x8C; // unknown 0x80 when bind starts then when RX replies start normal, 0x89/8A/8B/8C/8D/8E during normal packets
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x8C&0x0A->no telemetry
packet[29] = 0x02; // unknown 0x02 when bind starts then when RX replies cycle in sequence 0x1A/22/2A/0A/12, 0x02 during normal packets, 0x0A->no more RX telemetry
memcpy(&packet[40],rx_tx_addr,5);
uint8_t addr=HOTT_EEPROM_OFFSET+RX_num*5;
@@ -157,13 +157,50 @@ static void __attribute__((unused)) HOTT_data_packet()
{
packet[2] = hopping_frequency_no;
packet[3] = 0x00; // unknown, may be for additional channels?
packet[3] = 0x00; // used for failsafe but may also be used for additional channels
#ifdef FAILSAFE_ENABLE
static uint8_t failsafe_count=0;
if(IS_FAILSAFE_VALUES_on && IS_BIND_DONE)
{
failsafe_count++;
if(failsafe_count>=3)
{
FAILSAFE_VALUES_off;
failsafe_count=0;
}
}
else
failsafe_count=0;
#endif
// Channels value are PPM*2, -100%=1100µs, +100%=1900µs, order TAER
uint16_t val;
for(uint8_t i=4;i<28;i+=2)
{
uint16_t val=Channel_data[(i-4)>>1];
val=(((val<<2)+val)>>2)+860*2; //value range 860<->2140 *2 <-> -125%<->+125%
val=Channel_data[(i-4)>>1];
val=(((val<<2)+val)>>2)+860*2; // value range 860<->2140 *2 <-> -125%<->+125%
#ifdef FAILSAFE_ENABLE
if(failsafe_count==1)
{ // first failsafe packet
packet[3]=0x40;
uint16_t fs=Failsafe_data[(i-4)>>1];
if( fs == FAILSAFE_CHANNEL_HOLD || fs == FAILSAFE_CHANNEL_NOPULSES)
val|=0x8000; // channel hold flag
else
{
val=(((fs<<2)+fs)>>2)+860*2; // value range 860<->2140 *2 <-> -125%<->+125%
val|=0x4000; // channel specific position flag
}
}
else if(failsafe_count==2)
{ // second failsafe packet=timing?
packet[3]=0x50;
if(i==4)
val=2;
else
val=0;
}
#endif
packet[i] = val;
packet[i+1] = val>>8;
}