Arne SchwabeandBertrand Songis
afd3103506
* 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
143 lines
3.7 KiB
C
143 lines
3.7 KiB
C
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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*/
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#ifndef OPENTX_MULTI_H
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#define OPENTX_MULTI_H
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/*
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Multiprotocol telemetry definition
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Serial: 100000 Baud 8e2 (same as input)
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TLV Protocol (type, length, value), allows a TX to ignore unknown messages
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Format: header (4 byte) + data (variable)
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[0] = 'M' (0x4d)
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[1] = 'P' (0x50)
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The first byte is deliberatly chosen to be different from other telemetry protocols
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(e.g. 0xAA for DSM/Multi, 0xAA for FlySky and 0x7e for Frsky) to allow a TX to detect
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the telemetry format of older versions
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[2] Type (see below)
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[3] Length (excluding the 4 header bytes)
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[4-xx] data
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Type = 0x01 Multimodule Status:
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[4] Flags
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0x01 = Input signal detected
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0x02 = Serial mode enabled
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0x04 = protocol is valid
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0x08 = module is in binding mode
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[5] major
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[6] minor
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[7] revision
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[8] patchlevel,
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version of multi code, should be displayed as major.minor.revision.patchlevel
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more information can be added by specifying a longer length of the type, the TX will just ignore these bytes
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Type 0x02 Frksy S.port telemetry
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Type 0x03 Frsky Hub telemetry
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*No* usual frsky byte stuffing and without start/stop byte (0x7e)
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Type 0x04 Spektrum telemetry data
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data[0] RSSI
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data[1-15] telemetry data
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Type 0x05 DSM bind data
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data[0-16] DSM bind data
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technically DSM bind data is only 10 bytes but multi send 16
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like with telemtry, check length field)
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Type 0x06 Flysky AFHDS2 telemetry data
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length: 29
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data[0] = RSSI value
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data[1-28] telemetry data
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*/
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void processMultiTelemetryData(uint8_t data);
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// This should be put into the Module definition if other modules gain this functionality
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struct MultiModuleSyncStatus {
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uint32_t adjustedRefreshRate; // in ps
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tmr10ms_t lastUpdate;
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uint16_t refreshRate;
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uint16_t inputLag;
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uint8_t interval;
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uint8_t target;
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inline bool isValid() {return (get_tmr10ms() - lastUpdate < 100);}
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void getRefreshString(char* refreshText);
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uint16_t getAdjustedRefreshRate();
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void calcAdjustedRefreshRate(uint16_t newRefreshRate, uint16_t newInputLag);
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MultiModuleSyncStatus() {
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// Initialise to a valid value
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adjustedRefreshRate=9000 * 1000;
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}
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};
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extern MultiModuleSyncStatus multiSyncStatus;
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struct MultiModuleStatus {
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uint8_t major;
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uint8_t minor;
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uint8_t revision;
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uint8_t patch;
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uint8_t flags;
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tmr10ms_t lastUpdate;
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void getStatusString(char* statusText);
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inline bool isValid() { return (bool)(get_tmr10ms() - lastUpdate < 200); }
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inline bool supportsFailsafe() { return (bool) (flags & 0x20); }
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inline bool isWaitingforBind() { return (bool) (flags & 0x10); }
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inline bool isBinding() { return (bool) (flags & 0x08); }
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inline bool protocolValid() { return (bool) (flags & 0x04); }
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inline bool serialMode() { return (bool) (flags & 0x02); }
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inline bool inputDetected() { return (bool) (flags & 0x01); }
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};
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extern MultiModuleStatus multiModuleStatus;
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enum MultiBindStatus : uint8_t {
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MULTI_NORMAL_OPERATION,
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MULTI_BIND_INITIATED,
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MULTI_BIND_FINISHED,
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};
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extern uint8_t multiBindStatus;
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#endif //OPENTX_MULTI_H
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