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Update multi protocols (#5461)

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* Update multi protocols

* SFHSS also has failsafe implemented

* Show failsafe setting in Companion

* Fix missing protocol names

* Update failsafe format and only show bind when module reports to support it
This commit is contained in:
Arne Schwabe
2017-12-07 18:48:10 +01:00
committed by Bertrand Songis
parent 8b34c96a2d
commit afd3103506
23 changed files with 86 additions and 46 deletions
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radio/src/pulses/multi_arm.cpp
+20 -20
View File
@@ -34,7 +34,7 @@
#define MULTI_CHANS 16
#define MULTI_CHAN_BITS 11
void sendFrameProtocolHeader(uint8_t port);
static void sendFrameProtocolHeader(uint8_t port, bool failsafe);
void sendChannels(uint8_t port);
@@ -54,17 +54,6 @@ static void sendSetupFrame()
sendByteSbus(config);
}
static void sendFailFailsafeHeader(uint8_t port)
{
// Old multi firmware will mark config messsages as invalid frame and throw them away
sendByteSbus('M');
sendByteSbus('P');
sendByteSbus(0x81); // Failsafe Data
sendByteSbus(23); // 22 byte channel + 1 byte mode
sendByteSbus(g_model.moduleData->failsafeMode);
}
static void sendFailsafeChannels(uint8_t port)
{
uint32_t bits = 0;
@@ -73,11 +62,18 @@ static void sendFailsafeChannels(uint8_t port)
for (int i = 0; i < MULTI_CHANS; i++) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
int pulseValue;
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD)
failsafeValue = FAILSAFE_CHANNEL_HOLD;
if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES)
failsafeValue = FAILSAFE_CHANNEL_NOPULSE;
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 0;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
pulseValue = 2047;
}
else {
failsafeValue += 2 * PPM_CH_CENTER(g_model.moduleData[port].channelsStart + i) - 2 * PPM_CENTER;
@@ -112,12 +108,12 @@ void setupPulsesMultimodule(uint8_t port)
counter++;
if (counter % 1000== 500) {
sendSetupFrame();
} else if (counter % 1000 == 0) {
sendFailFailsafeHeader(port);
} else if (counter % 1000 == 0 && g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
sendFrameProtocolHeader(port, true);
sendFailsafeChannels(port);
} else {
// Normal Frame
sendFrameProtocolHeader(port);
sendFrameProtocolHeader(port, false);
sendChannels(port);
}
@@ -151,7 +147,7 @@ void sendChannels(uint8_t port)
}
}
void sendFrameProtocolHeader(uint8_t port)
void sendFrameProtocolHeader(uint8_t port, bool failsafe)
{// byte 1+2, protocol information
// Our enumeration starts at 0
@@ -218,11 +214,15 @@ void sendFrameProtocolHeader(uint8_t port)
type = g_model.moduleData[port].getMultiProtocol(false);
// header, byte 0, 0x55 for proto 0-31 0x54 for 32-63
uint8_t headerByte = 0x54;
if (failsafe)
headerByte = 0x56;
// header, byte 0, 0x55 for proto 0-31 0x54 for 32-63
if (type <= 31)
sendByteSbus(0x55);
sendByteSbus(headerByte+1);
else
sendByteSbus(0x54);
sendByteSbus(headerByte);
// protocol byte