mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-11 00:18:12 +00:00
cec654a75b
* Added CABELL Protocol * Added additional disclaimer to license. * Revert "Added additional disclaimer to license." This reverts commit a00bc9956a155a1a73dbbcd21fd19633d6d121ff. * Added additional disclaimer * Added CABELL_NRF24L01_INO define to config * Updated available protocol list Added CABELL protocol * Removed unused variables * Changed changel range to 45 channels that comply with USA FCC part 97 rules. This change allows licenced HAMs to operate under part 97 rules instead of part 15. These channels are still in the ISM band, but overlap with the part 97 amateur portion of the band. * Changed protocol number to 33 Was previously 30, but the main branch has now allocated up to 32, so changing to 33 * Corrected permutation calculation * Added sub-protocol for setting failsafe values * Opened up a free bit in the option byte for future use * Fixed packet errors when trying to unbind when in bind mode This use case didn't really make any sense, but it should not cause packet errors, so fixed it. * RSSI Telemetry for CABELL protocol * Pins back to stock configuration * Split checksum into MSB and LSB fields to avoid endian issue * struct change for checksum * Added analog values to telemetry packet that could be used for LIPO voltage * Added MODE_CABELL to frsk_link_frame * Updated packet layout comments * Fixed telemetry conditional compiles in CABELL protocol * Telemetry working; moved power override bit * Changed telemetry to 250 kbps and adjustable packet period - imporves reliability/range * Changed CABELL protocol number to 34 * Fixed typos in comments * Fix ATMEGA BASH_SERIAL buffer overrun Changed the compare to TXBUFFER_SIZE to >= If next wasn't set to zero until > TXBUFFER_SIZE then the next time the routines get called the the array index references outside the buffer (e.g tail+1) * Revert "Fix ATMEGA BASH_SERIAL buffer overrun" This reverts commit ba4526ee89c2b5a946a659eea2c9581c36254809. * Updated documentation for CABELL V3 Protocol * Updated Documentation for the CABELL V3 Protocol
806 lines
20 KiB
C
806 lines
20 KiB
C
/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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//******************
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// Version
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//******************
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 1
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#define VERSION_REVISION 6
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#define VERSION_PATCH_LEVEL 36
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//******************
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// Protocols
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//******************
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enum PROTOCOLS
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{
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MODE_SERIAL = 0, // Serial commands
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MODE_FLYSKY = 1, // =>A7105
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MODE_HUBSAN = 2, // =>A7105
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MODE_FRSKYD = 3, // =>CC2500
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MODE_HISKY = 4, // =>NRF24L01
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MODE_V2X2 = 5, // =>NRF24L01
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MODE_DSM = 6, // =>CYRF6936
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MODE_DEVO = 7, // =>CYRF6936
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MODE_YD717 = 8, // =>NRF24L01
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MODE_KN = 9, // =>NRF24L01
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MODE_SYMAX = 10, // =>NRF24L01
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MODE_SLT = 11, // =>NRF24L01
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MODE_CX10 = 12, // =>NRF24L01
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MODE_CG023 = 13, // =>NRF24L01
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MODE_BAYANG = 14, // =>NRF24L01
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MODE_FRSKYX = 15, // =>CC2500
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MODE_ESKY = 16, // =>NRF24L01
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MODE_MT99XX = 17, // =>NRF24L01
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MODE_MJXQ = 18, // =>NRF24L01
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MODE_SHENQI = 19, // =>NRF24L01
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MODE_FY326 = 20, // =>NRF24L01
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MODE_SFHSS = 21, // =>CC2500
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MODE_J6PRO = 22, // =>CYRF6936
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MODE_FQ777 = 23, // =>NRF24L01
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MODE_ASSAN = 24, // =>NRF24L01
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MODE_FRSKYV = 25, // =>CC2500
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MODE_HONTAI = 26, // =>NRF24L01
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MODE_OPENLRS = 27, // =>OpenLRS hardware
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MODE_AFHDS2A = 28, // =>A7105
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MODE_Q2X2 = 29, // =>NRF24L01, extension of CX-10 protocol
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MODE_WK2x01 = 30, // =>CYRF6936
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MODE_Q303 = 31, // =>NRF24L01
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MODE_GW008 = 32, // =>NRF24L01
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MODE_DM002 = 33, // =>NRF24L01
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MODE_CABELL = 34, // =>NRF24L01
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MODE_ESKY150 = 35, // =>NRF24L01
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MODE_H8_3D = 36, // =>NRF24L01
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};
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enum Flysky
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{
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Flysky = 0,
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V9X9 = 1,
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V6X6 = 2,
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V912 = 3,
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CX20 = 4
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};
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enum Hubsan
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{
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H107 = 0,
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H301 = 1,
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H501 = 2,
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};
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enum AFHDS2A
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{
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PWM_IBUS = 0,
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PPM_IBUS = 1,
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PWM_SBUS = 2,
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PPM_SBUS = 3,
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};
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enum Hisky
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{
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Hisky = 0,
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HK310 = 1
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};
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enum DSM
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{
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DSM2_22 = 0,
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DSM2_11 = 1,
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DSMX_22 = 2,
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DSMX_11 = 3,
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DSM_AUTO = 4
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};
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enum YD717
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{
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YD717 = 0,
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SKYWLKR = 1,
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SYMAX4 = 2,
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XINXUN = 3,
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NIHUI = 4
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};
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enum KN
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{
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WLTOYS = 0,
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FEILUN = 1
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};
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enum SYMAX
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{
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SYMAX = 0,
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SYMAX5C = 1
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};
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enum SLT
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{
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SLT = 0,
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VISTA = 1
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};
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enum CX10
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{
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CX10_GREEN = 0,
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CX10_BLUE = 1, // also compatible with CX10-A, CX12
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DM007 = 2,
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JC3015_1 = 4,
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JC3015_2 = 5,
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MK33041 = 6,
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};
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enum Q2X2
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{
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Q222 = 8,
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Q242 = 9,
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Q282 = 10,
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};
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enum CG023
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{
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CG023 = 0,
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YD829 = 1,
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};
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enum BAYANG
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{
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BAYANG = 0,
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H8S3D = 1,
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X16_AH = 2,
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IRDRONE = 3,
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};
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enum MT99XX
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{
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MT99 = 0,
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H7 = 1,
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YZ = 2,
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LS = 3,
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FY805 = 4
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};
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enum MJXQ
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{
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WLH08 = 0,
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X600 = 1,
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X800 = 2,
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H26D = 3,
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E010 = 4,
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H26WH = 5,
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};
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enum FRSKYX
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{
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CH_16 = 0,
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CH_8 = 1,
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EU_16 = 2,
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EU_8 = 3,
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};
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enum HONTAI
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{
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FORMAT_HONTAI = 0,
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FORMAT_JJRCX1 = 1,
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FORMAT_X5C1 = 2,
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FORMAT_FQ777_951 =3
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};
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enum V2X2
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{
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V2X2 = 0,
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JXD506 = 1,
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};
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enum FY326
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{
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FY326 = 0,
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FY319 = 1,
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};
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enum WK2x01
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{
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WK2801 = 0,
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WK2401 = 1,
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W6_5_1 = 2,
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W6_6_1 = 3,
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W6_HEL = 4,
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W6_HEL_I= 5,
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};
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enum Q303
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{
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Q303 = 0,
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CX35 = 1,
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CX10D = 2,
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CX10WD = 3,
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};
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enum CABELL
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{
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CABELL_V3 = 0,
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CABELL_V3_TELEMETRY = 1,
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CABELL_SET_FAIL_SAFE= 6,
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CABELL_UNBIND = 7,
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};
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enum H8_3D
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{
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H8_3D = 0,
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H20H = 1,
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H20MINI = 2,
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H30MINI = 3,
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};
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#define NONE 0
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#define P_HIGH 1
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#define P_LOW 0
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#define AUTOBIND 1
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#define NO_AUTOBIND 0
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struct PPM_Parameters
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{
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uint8_t protocol : 6;
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uint8_t sub_proto : 3;
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uint8_t rx_num : 4;
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uint8_t power : 1;
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uint8_t autobind : 1;
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uint8_t option;
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};
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// Telemetry
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enum MultiPacketTypes {
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MULTI_TELEMETRY_STATUS = 1,
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MULTI_TELEMETRY_SPORT = 2,
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MULTI_TELEMETRY_HUB = 3,
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MULTI_TELEMETRY_DSM = 4,
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MULTI_TELEMETRY_DSMBIND = 5,
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MULTI_TELEMETRY_AFHDS2A = 6,
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MULTI_TELEMETRY_INPUTSYNC=8,
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MULTI_COMMAND_CONFIG = 0x80,
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MULTI_COMMAND_FAILSAFE =0x81,
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};
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enum FailSafeMode {
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FAILSAFE_NOTSET = 0,
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FAILSAFE_HOLD = 1,
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FAILSAFE_CUSTOM = 2,
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FAILSAFE_NOPULSES = 3,
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FAILSAFE_RECEIVER = 4,
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// Use during update so we can get away with only one copy of Failsafe channels
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FAILSEFASE_INVALID = 0xfe
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};
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#define FAILSAFE_CHANNEL_HOLD 0
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#define FAILSAFE_CHANNEL_NOPULSES 2047
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// Macros
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#define NOP() __asm__ __volatile__("nop")
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//***************
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//*** Flags ***
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//***************
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#define RX_FLAG_on protocol_flags |= _BV(0)
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#define RX_FLAG_off protocol_flags &= ~_BV(0)
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#define IS_RX_FLAG_on ( ( protocol_flags & _BV(0) ) !=0 )
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//
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#define CHANGE_PROTOCOL_FLAG_on protocol_flags |= _BV(1)
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#define CHANGE_PROTOCOL_FLAG_off protocol_flags &= ~_BV(1)
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#define IS_CHANGE_PROTOCOL_FLAG_on ( ( protocol_flags & _BV(1) ) !=0 )
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//
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#define POWER_FLAG_on protocol_flags |= _BV(2)
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#define POWER_FLAG_off protocol_flags &= ~_BV(2)
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#define IS_POWER_FLAG_on ( ( protocol_flags & _BV(2) ) !=0 )
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//
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#define RANGE_FLAG_on protocol_flags |= _BV(3)
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#define RANGE_FLAG_off protocol_flags &= ~_BV(3)
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#define IS_RANGE_FLAG_on ( ( protocol_flags & _BV(3) ) !=0 )
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//
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#define AUTOBIND_FLAG_on protocol_flags |= _BV(4)
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#define AUTOBIND_FLAG_off protocol_flags &= ~_BV(4)
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#define IS_AUTOBIND_FLAG_on ( ( protocol_flags & _BV(4) ) !=0 )
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//
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#define BIND_BUTTON_FLAG_on protocol_flags |= _BV(5)
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#define BIND_BUTTON_FLAG_off protocol_flags &= ~_BV(5)
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#define IS_BIND_BUTTON_FLAG_on ( ( protocol_flags & _BV(5) ) !=0 )
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//PPM RX OK
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#define PPM_FLAG_off protocol_flags &= ~_BV(6)
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#define PPM_FLAG_on protocol_flags |= _BV(6)
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#define IS_PPM_FLAG_on ( ( protocol_flags & _BV(6) ) !=0 )
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//Bind flag
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#define BIND_IN_PROGRESS protocol_flags &= ~_BV(7)
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#define BIND_DONE protocol_flags |= _BV(7)
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#define IS_BIND_DONE_on ( ( protocol_flags & _BV(7) ) !=0 )
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//
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#define BAD_PROTO_off protocol_flags2 &= ~_BV(0)
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#define BAD_PROTO_on protocol_flags2 |= _BV(0)
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#define IS_BAD_PROTO_on ( ( protocol_flags2 & _BV(0) ) !=0 )
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//
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#define RX_DONOTUPDTAE_off protocol_flags2 &= ~_BV(1)
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#define RX_DONOTUPDTAE_on protocol_flags2 |= _BV(1)
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#define IS_RX_DONOTUPDTAE_on ( ( protocol_flags2 & _BV(1) ) !=0 )
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//
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#define RX_MISSED_BUFF_off protocol_flags2 &= ~_BV(2)
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#define RX_MISSED_BUFF_on protocol_flags2 |= _BV(2)
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#define IS_RX_MISSED_BUFF_on ( ( protocol_flags2 & _BV(2) ) !=0 )
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//TX Pause
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#define TX_MAIN_PAUSE_off protocol_flags2 &= ~_BV(3)
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#define TX_MAIN_PAUSE_on protocol_flags2 |= _BV(3)
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#define IS_TX_MAIN_PAUSE_on ( ( protocol_flags2 & _BV(3) ) !=0 )
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#define TX_RX_PAUSE_off protocol_flags2 &= ~_BV(4)
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#define TX_RX_PAUSE_on protocol_flags2 |= _BV(4)
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#define IS_TX_RX_PAUSE_on ( ( protocol_flags2 & _BV(4) ) !=0 )
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#define IS_TX_PAUSE_on ( ( protocol_flags2 & (_BV(4)|_BV(3)) ) !=0 )
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//Signal OK
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#define INPUT_SIGNAL_off protocol_flags2 &= ~_BV(5)
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#define INPUT_SIGNAL_on protocol_flags2 |= _BV(5)
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#define IS_INPUT_SIGNAL_on ( ( protocol_flags2 & _BV(5) ) !=0 )
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#define IS_INPUT_SIGNAL_off ( ( protocol_flags2 & _BV(5) ) ==0 )
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//Bind from channel
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#define BIND_CH_PREV_off protocol_flags2 &= ~_BV(6)
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#define BIND_CH_PREV_on protocol_flags2 |= _BV(6)
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#define IS_BIND_CH_PREV_on ( ( protocol_flags2 & _BV(6) ) !=0 )
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#define IS_BIND_CH_PREV_off ( ( protocol_flags2 & _BV(6) ) ==0 )
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//Wait for bind
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#define WAIT_BIND_off protocol_flags2 &= ~_BV(7)
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#define WAIT_BIND_on protocol_flags2 |= _BV(7)
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#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
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#define IS_WAIT_BIND_off ( ( protocol_flags2 & _BV(7) ) ==0 )
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//Configuration
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#define IS_TELEMTRY_INVERSION_ON (multi_config & 0x01)
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#define IS_MULTI_TELEMETRY_ON (multi_config & 0x02)
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#define IS_EXTRA_TELEMETRY_ON (multi_config & 0x04)
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// Failsafe
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#define failsafeToPPM(i) (Failsafe_data[i]* 5/8+860)
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#define isNormalFailsafeChanel(i) (Failsafe_data[i] != FAILSAFE_CHANNEL_HOLD && Failsafe_data[i] != FAILSAFE_CHANNEL_NOPULSES)
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//Status messages
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#if defined(STM32_BOARD) && defined (SERIAL_DEBUG)
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#define debug(msg, ...) {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.write(buf);}
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#else
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#define debug(...)
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#undef SERIAL_DEBUG
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#endif
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//********************
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//*** Blink timing ***
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//********************
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#define BLINK_BIND_TIME 100
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#define BLINK_SERIAL_TIME 500
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#define BLINK_PPM_TIME 1000
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#define BLINK_BAD_PROTO_TIME_HIGH 50
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#define BLINK_BAD_PROTO_TIME_LOW 1000
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#define BLINK_WAIT_BIND_TIME_HIGH 1000
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#define BLINK_WAIT_BIND_TIME_LOW 100
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//*******************
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//*** AUX flags ***
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//*******************
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#define GET_FLAG(ch, mask) ( ch ? mask : 0)
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#define Servo_AUX1 (Servo_AUX & _BV(0))
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#define Servo_AUX2 (Servo_AUX & _BV(1))
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#define Servo_AUX3 (Servo_AUX & _BV(2))
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#define Servo_AUX4 (Servo_AUX & _BV(3))
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#define Servo_AUX5 (Servo_AUX & _BV(4))
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#define Servo_AUX6 (Servo_AUX & _BV(5))
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#define Servo_AUX7 (Servo_AUX & _BV(6))
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#define Servo_AUX8 (Servo_AUX & _BV(7))
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//************************
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//*** Power settings ***
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//************************
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enum {
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TXPOWER_100uW,
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TXPOWER_300uW,
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TXPOWER_1mW,
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TXPOWER_3mW,
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TXPOWER_10mW,
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TXPOWER_30mW,
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TXPOWER_100mW,
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TXPOWER_150mW
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};
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// A7105 power
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// Power amp is ~+16dBm so:
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enum A7105_POWER
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{
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A7105_POWER_0 = 0x00<<3 | 0x00, // TXPOWER_100uW = -23dBm == PAC=0 TBG=0
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A7105_POWER_1 = 0x00<<3 | 0x01, // TXPOWER_300uW = -20dBm == PAC=0 TBG=1
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A7105_POWER_2 = 0x00<<3 | 0x02, // TXPOWER_1mW = -16dBm == PAC=0 TBG=2
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A7105_POWER_3 = 0x00<<3 | 0x04, // TXPOWER_3mW = -11dBm == PAC=0 TBG=4
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A7105_POWER_4 = 0x01<<3 | 0x05, // TXPOWER_10mW = -6dBm == PAC=1 TBG=5
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A7105_POWER_5 = 0x02<<3 | 0x07, // TXPOWER_30mW = 0dBm == PAC=2 TBG=7
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A7105_POWER_6 = 0x03<<3 | 0x07, // TXPOWER_100mW = 1dBm == PAC=3 TBG=7
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A7105_POWER_7 = 0x03<<3 | 0x07 // TXPOWER_150mW = 1dBm == PAC=3 TBG=7
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};
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#define A7105_HIGH_POWER A7105_POWER_7
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#define A7105_LOW_POWER A7105_POWER_3
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#define A7105_RANGE_POWER A7105_POWER_0
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#define A7105_BIND_POWER A7105_POWER_0
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// NRF Power
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// Power setting is 0..3 for nRF24L01
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// Claimed power amp for nRF24L01 from eBay is 20dBm.
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enum NRF_POWER
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{ // Raw w 20dBm PA
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NRF_POWER_0 = 0x00, // 0 : -18dBm (16uW) 2dBm (1.6mW)
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NRF_POWER_1 = 0x01, // 1 : -12dBm (60uW) 8dBm (6mW)
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NRF_POWER_2 = 0x02, // 2 : -6dBm (250uW) 14dBm (25mW)
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NRF_POWER_3 = 0x03 // 3 : 0dBm (1mW) 20dBm (100mW)
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};
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#define NRF_HIGH_POWER NRF_POWER_2
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#define NRF_LOW_POWER NRF_POWER_1
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#define NRF_RANGE_POWER NRF_POWER_0
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#define NRF_BIND_POWER NRF_POWER_0
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||
|
||
// CC2500 power output from the chip itself
|
||
// The numbers do not take into account any outside amplifier
|
||
enum CC2500_POWER
|
||
{
|
||
CC2500_POWER_0 = 0x00, // –55dbm or less
|
||
CC2500_POWER_1 = 0x50, // -30dbm
|
||
CC2500_POWER_2 = 0x44, // –28dbm
|
||
CC2500_POWER_3 = 0xC0, // –26dbm
|
||
CC2500_POWER_4 = 0x84, // –24dbm
|
||
CC2500_POWER_5 = 0x81, // –22dbm
|
||
CC2500_POWER_6 = 0x46, // –20dbm
|
||
CC2500_POWER_7 = 0x93, // –18dbm
|
||
CC2500_POWER_8 = 0x55, // –16dbm
|
||
CC2500_POWER_9 = 0x8D, // –14dbm
|
||
CC2500_POWER_10 = 0xC6, // -12dbm
|
||
CC2500_POWER_11 = 0x97, // -10dbm
|
||
CC2500_POWER_12 = 0x6E, // -8dbm
|
||
CC2500_POWER_13 = 0x7F, // -6dbm
|
||
CC2500_POWER_14 = 0xA9, // -4dbm
|
||
CC2500_POWER_15 = 0xBB, // -2dbm
|
||
CC2500_POWER_16 = 0xFE, // 0dbm
|
||
CC2500_POWER_17 = 0xFF // +1dbm
|
||
};
|
||
#define CC2500_HIGH_POWER CC2500_POWER_17
|
||
#define CC2500_LOW_POWER CC2500_POWER_13
|
||
#define CC2500_RANGE_POWER CC2500_POWER_1
|
||
#define CC2500_BIND_POWER CC2500_POWER_1
|
||
|
||
// CYRF power
|
||
enum CYRF_POWER
|
||
{
|
||
CYRF_POWER_0 = 0x00, // -35dbm
|
||
CYRF_POWER_1 = 0x01, // -30dbm
|
||
CYRF_POWER_2 = 0x02, // -24dbm
|
||
CYRF_POWER_3 = 0x03, // -18dbm
|
||
CYRF_POWER_4 = 0x04, // -13dbm
|
||
CYRF_POWER_5 = 0x05, // -5dbm
|
||
CYRF_POWER_6 = 0x06, // 0dbm
|
||
CYRF_POWER_7 = 0x07 // +4dbm
|
||
};
|
||
#define CYRF_HIGH_POWER CYRF_POWER_7
|
||
#define CYRF_LOW_POWER CYRF_POWER_3
|
||
#define CYRF_RANGE_POWER CYRF_POWER_1 // 1/30 of the full power distance
|
||
#define CYRF_BIND_POWER CYRF_POWER_0
|
||
|
||
enum TXRX_State {
|
||
TXRX_OFF,
|
||
TX_EN,
|
||
RX_EN
|
||
};
|
||
|
||
// Packet ack status values
|
||
enum {
|
||
PKT_PENDING = 0,
|
||
PKT_ACKED,
|
||
PKT_TIMEOUT
|
||
};
|
||
|
||
// baudrate defines for serial
|
||
#define SPEED_100K 0
|
||
#define SPEED_9600 1
|
||
#define SPEED_57600 2
|
||
#define SPEED_125K 3
|
||
|
||
/** EEPROM Layout */
|
||
#define EEPROM_ID_OFFSET 10 // Module ID (4 bytes)
|
||
#define EEPROM_ID_VALID_OFFSET 20 // 1 byte flag that ID is valid
|
||
#define MODELMODE_EEPROM_OFFSET 30 // Autobind mode, 1 byte per model, end is 46
|
||
#define AFHDS2A_EEPROM_OFFSET 50 // RX ID, 4 byte per model id, end is 114
|
||
#define CONFIG_EEPROM_OFFSET 120 // Current configuration of the multimodule
|
||
|
||
|
||
//****************************************
|
||
//*** MULTI protocol serial definition ***
|
||
//****************************************
|
||
/*
|
||
**************************
|
||
16 channels serial protocol
|
||
**************************
|
||
Serial: 100000 Baud 8e2 _ xxxx xxxx p --
|
||
Total of 26 bytes
|
||
Stream[0] = 0x55 sub_protocol values are 0..31
|
||
Stream[0] = 0x54 sub_protocol values are 32..63
|
||
header
|
||
Stream[1] = sub_protocol|BindBit|RangeCheckBit|AutoBindBit;
|
||
sub_protocol is 0..31 (bits 0..4), value should be added with 32 if Stream[0] = 0x54
|
||
=> Reserved 0
|
||
Flysky 1
|
||
Hubsan 2
|
||
FrskyD 3
|
||
Hisky 4
|
||
V2x2 5
|
||
DSM 6
|
||
Devo 7
|
||
YD717 8
|
||
KN 9
|
||
SymaX 10
|
||
SLT 11
|
||
CX10 12
|
||
CG023 13
|
||
Bayang 14
|
||
FrskyX 15
|
||
ESky 16
|
||
MT99XX 17
|
||
MJXQ 18
|
||
SHENQI 19
|
||
FY326 20
|
||
SFHSS 21
|
||
J6PRO 22
|
||
FQ777 23
|
||
ASSAN 24
|
||
FrskyV 25
|
||
HONTAI 26
|
||
OpenLRS 27
|
||
AFHDS2A 28
|
||
Q2X2 29
|
||
WK2x01 30
|
||
Q303 31
|
||
GW008 32
|
||
DM002 33
|
||
CABELL 34
|
||
ESKY150 35
|
||
H8_3D 36
|
||
BindBit=> 0x80 1=Bind/0=No
|
||
AutoBindBit=> 0x40 1=Yes /0=No
|
||
RangeCheck=> 0x20 1=Yes /0=No
|
||
Stream[2] = RxNum | Power | Type;
|
||
RxNum value is 0..15 (bits 0..3)
|
||
Type is 0..7 <<4 (bit 4..6)
|
||
sub_protocol==Flysky
|
||
Flysky 0
|
||
V9x9 1
|
||
V6x6 2
|
||
V912 3
|
||
CX20 4
|
||
sub_protocol==Hubsan
|
||
H107 0
|
||
H301 1
|
||
H501 2
|
||
sub_protocol==Hisky
|
||
Hisky 0
|
||
HK310 1
|
||
sub_protocol==DSM
|
||
DSM2_22 0
|
||
DSM2_11 1
|
||
DSMX_22 2
|
||
DSMX_11 3
|
||
DSM_AUTO 4
|
||
sub_protocol==YD717
|
||
YD717 0
|
||
SKYWLKR 1
|
||
SYMAX4 2
|
||
XINXUN 3
|
||
NIHUI 4
|
||
sub_protocol==KN
|
||
WLTOYS 0
|
||
FEILUN 1
|
||
sub_protocol==SYMAX
|
||
SYMAX 0
|
||
SYMAX5C 1
|
||
sub_protocol==CX10
|
||
CX10_GREEN 0
|
||
CX10_BLUE 1 // also compatible with CX10-A, CX12
|
||
DM007 2
|
||
--- 3
|
||
JC3015_1 4
|
||
JC3015_2 5
|
||
MK33041 6
|
||
sub_protocol==Q2X2
|
||
Q222 0
|
||
Q242 1
|
||
Q282 2
|
||
sub_protocol==SLT
|
||
SLT 0
|
||
VISTA 1
|
||
sub_protocol==CG023
|
||
CG023 0
|
||
YD829 1
|
||
sub_protocol==BAYANG
|
||
BAYANG 0
|
||
H8S3D 1
|
||
X16_AH 2
|
||
IRDRONE 3
|
||
sub_protocol==MT99XX
|
||
MT99 0
|
||
H7 1
|
||
YZ 2
|
||
LS 3
|
||
FY805 4
|
||
sub_protocol==MJXQ
|
||
WLH08 0
|
||
X600 1
|
||
X800 2
|
||
H26D 3
|
||
E010 4
|
||
H26WH 5
|
||
sub_protocol==FRSKYX
|
||
CH_16 0
|
||
CH_8 1
|
||
EU_16 2
|
||
EU_8 3
|
||
sub_protocol==HONTAI
|
||
FORMAT_HONTAI 0
|
||
FORMAT_JJRCX1 1
|
||
FORMAT_X5C1 2
|
||
FORMAT_FQ777_951 3
|
||
sub_protocol==AFHDS2A
|
||
PWM_IBUS 0
|
||
PPM_IBUS 1
|
||
PWM_SBUS 2
|
||
PPM_SBUS 3
|
||
sub_protocol==V2X2
|
||
V2X2 0
|
||
JXD506 1
|
||
sub_protocol==FY326
|
||
FY326 0
|
||
FY319 1
|
||
sub_protocol==WK2x01
|
||
WK2801 0
|
||
WK2401 1
|
||
W6_5_1 2
|
||
W6_6_1 3
|
||
W6_HEL 4
|
||
W6_HEL_I 5
|
||
sub_protocol==Q303
|
||
Q303 0
|
||
CX35 1
|
||
CX10D 2
|
||
CX10WD 3
|
||
sub_protocol==CABELL
|
||
CABELL_V3 0
|
||
CABELL_V3_TELEMETRY 1
|
||
CABELL_SET_FAIL_SAFE 6
|
||
CABELL_UNBIND 7
|
||
sub_protocol==H8_3D
|
||
H8_3D 0
|
||
H20H 1
|
||
H20MINI 2
|
||
H30MINI 3
|
||
|
||
Power value => 0x80 0=High/1=Low
|
||
Stream[3] = option_protocol;
|
||
option_protocol value is -128..127
|
||
Stream[4] to [25] = Channels
|
||
16 Channels on 11 bits (0..2047)
|
||
0 -125%
|
||
204 -100%
|
||
1024 0%
|
||
1843 +100%
|
||
2047 +125%
|
||
Channels bits are concatenated to fit in 22 bytes like in SBUS protocol
|
||
*/
|
||
/*
|
||
Multimodule Status
|
||
Based on #define MULTI_STATUS
|
||
|
||
Serial: 100000 Baud 8e2 (same as input)
|
||
|
||
Format: header (2 bytes) + data (variable)
|
||
[0] = 'M' (0x4d)
|
||
[1] Length (excluding the 2 header bytes)
|
||
[2-xx] data
|
||
|
||
Type = 0x01 Multimodule Status:
|
||
[2] Flags
|
||
0x01 = Input signal detected
|
||
0x02 = Serial mode enabled
|
||
0x04 = protocol is valid
|
||
0x08 = module is in binding mode
|
||
0x10 = module waits a bind event to load the protocol
|
||
[3] major
|
||
[4] minor
|
||
[5] revision
|
||
[6] patchlevel,
|
||
version of multi code, should be displayed as major.minor.revision.patchlevel
|
||
*/
|
||
/*
|
||
Multiprotocol telemetry/command definition for OpenTX
|
||
Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically.
|
||
|
||
Serial: 100000 Baud 8e2 (same as input)
|
||
|
||
TLV Protocol (type, length, value), allows a TX to ignore unknown messages
|
||
|
||
Format: header (4 byte) + data (variable)
|
||
[0] = 'M' (0x4d)
|
||
[1] = 'P' (0x50)
|
||
|
||
The first byte is deliberatly chosen to be different from other telemetry protocols
|
||
(e.g. 0xAA for DSM/Multi, 0xAA for FlySky and 0x7e for Frsky) to allow a TX to detect
|
||
the telemetry format of older versions
|
||
|
||
[2] Type (see below)
|
||
[3] Length (excluding the 4 header bytes)
|
||
|
||
[4-xx] data
|
||
|
||
Commands from TX to multi cannot be longer than 22 bytes (RXLen -4byte header)
|
||
|
||
Type = 0x01 Multimodule Status:
|
||
[4] Flags
|
||
0x01 = Input signal detected
|
||
0x02 = Serial mode enabled
|
||
0x04 = protocol is valid
|
||
0x08 = module is in binding mode
|
||
0x10 = module waits a bind event to load the protocol
|
||
[5] major
|
||
[6] minor
|
||
[7] revision
|
||
[8] patchlevel,
|
||
version of multi code, should be displayed as major.minor.revision.patchlevel
|
||
|
||
more information can be added by specifing a longer length of the type, the TX will just ignore these bytes
|
||
|
||
|
||
Type 0x02 Frksy S.port telemetry
|
||
Type 0x03 Frsky Hub telemetry
|
||
|
||
*No* usual frsky byte stuffing and without start/stop byte (0x7e)
|
||
|
||
|
||
Type 0x04 Spektrum telemetry data
|
||
data[0] RSSI
|
||
data[1-15] telemetry data
|
||
|
||
Type 0x05 DSM bind data
|
||
data[0-16] DSM bind data
|
||
|
||
technically DSM bind data is only 10 bytes but multi sends 16
|
||
like with telemtery, check length field)
|
||
|
||
Type 0x06 Flysky AFHDS2 telemetry data
|
||
length: 29
|
||
data[0] = RSSI value
|
||
data[1-28] telemetry data
|
||
|
||
|
||
Type 0x08 Input synchronisation
|
||
Informs the TX about desired rate and current delay
|
||
length: 4
|
||
data[0-1] Desired refresh rate in µs
|
||
data[2-3] Time (µs) between last serial servo input received and servo input needed (lateness), TX should adjust its
|
||
sending time to minimise this value.
|
||
data[4] Interval of this message in ms
|
||
data[5] Input delay target in 10µs
|
||
|
||
Note that there are protocols (AFHDS2A) that have a refresh rate that is smaller than the maximum achievable
|
||
refresh rate via the serial protocol, in this case, the TX should double the rate and also subract this
|
||
refresh rate from the input lag if the input lag is more than the desired refresh rate.
|
||
|
||
The remote should try to get to zero of (inputdelay+target*10).
|
||
|
||
Commands from TX to module use values > 127 for command type
|
||
|
||
Type 0x80 Module Configuration
|
||
This sent from the TX to Multi to configure inversion and multi telemetry type
|
||
length: 1
|
||
data[0] flags
|
||
0x01 Telemetry inversion (1 = inverted)
|
||
0x02 Use Multi telemetry protocol (if 0 use multi status)
|
||
0x04 Send extra telemetry (type 0x08) to allow input synchronisation
|
||
|
||
|
||
Type 0x81 Failsafe data
|
||
length: 23
|
||
data[0] Failsafe mode:
|
||
0 - Failsafe not set
|
||
1 - Failsafe hold, keep last received values
|
||
2 - Failsafe custom, use the values from the channels
|
||
3 - Failsafe nopulses, stop sending pulses from the receiver
|
||
4 - Failsafe receiver, use receiver stored values
|
||
|
||
Many of these many modes don't work with all protocols, fallback to best
|
||
available method
|
||
data[1-22] Failsafe data, encoded like normal channel data, with the expection
|
||
that 0 means hold for that channel and 2047 means no pulses
|
||
|
||
*/ |