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spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
- both CC serial ports are now disabled by default (no telemetry); - serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options; - ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options. For DSM2 protocol there is an explicit resolution bit in the stream, so the DSM2 should be selected. For DSMX there is no such bit, and user should choose the resolution from the list configuring the spektrum port. ReceiverGroups have single DSM option which is handled by the same driver. Downside: this implementation saves received frame first, unrolls by the end of frame. This should be ok, but may be improved by unrolling channels on the fly in the rx callback. Another minor difference is that a ChannelGroup is now bound to port: DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable solution in order to not have 6 DSM options for each ChannelGroup and even more in case of new DSM protocol variations. Known problem: it is not possible to choose same protocols like DSM2/DSM2 for two ports. It can be enabled by adding an exception to common rule, though. The DSMX throttle channel misbehavior (zero value) is not treated specially yet. It should trigger the failsafe being out of bounds. More info and data dumps are required to handle this properly.
This commit is contained in:
Oleg Semyonov
parent
51ec7da0a2
commit
0116e6a007
@ -1057,7 +1057,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
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#include "pios_rcvr_priv.h"
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
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* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
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* NOTE: No slot in this map for NONE.
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*/
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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@ -1197,17 +1197,35 @@ void PIOS_Board_Init(void) {
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}
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#endif /* PIOS_INCLUDE_GPS */
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break;
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case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
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case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
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case HWSETTINGS_CC_MAINPORT_DSM2:
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case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
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case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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{
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enum pios_dsm_proto proto;
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switch (hwsettings_cc_mainport) {
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case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
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proto = PIOS_DSM_PROTO_DSMX10BIT;
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break;
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case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
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proto = PIOS_DSM_PROTO_DSMX11BIT;
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break;
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default:
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proto = PIOS_DSM_PROTO_DSM2;
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break;
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}
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uint32_t pios_usart_spektrum_id;
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if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_spektrum_id;
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if (PIOS_Spektrum_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
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if (PIOS_Spektrum_Init(&pios_spektrum_id,
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&pios_spektrum_main_cfg,
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&pios_usart_com_driver,
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pios_usart_spektrum_id,
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proto, 0)) {
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PIOS_Assert(0);
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}
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@ -1215,11 +1233,7 @@ void PIOS_Board_Init(void) {
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
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PIOS_Assert(0);
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}
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if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
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} else {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_spektrum_rcvr_id;
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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@ -1270,17 +1284,35 @@ void PIOS_Board_Init(void) {
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}
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#endif /* PIOS_INCLUDE_GPS */
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break;
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case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
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case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
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case HWSETTINGS_CC_FLEXIPORT_DSM2:
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case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
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case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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{
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enum pios_dsm_proto proto;
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switch (hwsettings_cc_flexiport) {
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case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
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proto = PIOS_DSM_PROTO_DSMX10BIT;
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break;
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case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
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proto = PIOS_DSM_PROTO_DSMX11BIT;
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break;
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default:
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proto = PIOS_DSM_PROTO_DSM2;
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break;
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}
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uint32_t pios_usart_spektrum_id;
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if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_spektrum_id;
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if (PIOS_Spektrum_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
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if (PIOS_Spektrum_Init(&pios_spektrum_id,
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&pios_spektrum_flexi_cfg,
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&pios_usart_com_driver,
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pios_usart_spektrum_id,
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proto, hwsettings_DSMxBind)) {
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PIOS_Assert(0);
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}
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@ -1288,11 +1320,7 @@ void PIOS_Board_Init(void) {
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if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
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PIOS_Assert(0);
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}
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if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
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} else {
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_spektrum_rcvr_id;
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}
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#endif /* PIOS_INCLUDE_SPEKTRUM */
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break;
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@ -439,11 +439,11 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM:
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group = RECEIVERACTIVITY_ACTIVEGROUP_PPM;
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break;
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1:
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group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1;
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT:
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group = RECEIVERACTIVITY_ACTIVEGROUP_DSMMAINPORT;
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break;
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2:
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group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2;
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT:
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group = RECEIVERACTIVITY_ACTIVEGROUP_DSMFLEXIPORT;
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break;
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case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
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group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;
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@ -59,9 +59,7 @@ struct pios_spektrum_state {
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uint8_t failsafe_timer;
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uint8_t frame_found;
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uint8_t byte_count;
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uint8_t resolution;
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uint8_t frame_mode;
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#ifdef SPEKTRUM_LOST_FRAME_COUNTER
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#if SPEKTRUM_LOST_FRAME_COUNTER
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uint8_t frames_lost_last;
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uint16_t frames_lost;
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#endif
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@ -70,6 +68,7 @@ struct pios_spektrum_state {
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struct pios_spektrum_dev {
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enum pios_spektrum_dev_magic magic;
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const struct pios_spektrum_cfg *cfg;
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enum pios_dsm_proto proto;
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struct pios_spektrum_state state;
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};
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@ -110,8 +109,10 @@ static bool PIOS_Spektrum_Validate(struct pios_spektrum_dev *spektrum_dev)
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}
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/* Try to bind DSMx satellite using specified number of pulses */
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static void PIOS_Spektrum_Bind(const struct pios_spektrum_cfg *cfg, uint8_t bind)
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static void PIOS_Spektrum_Bind(struct pios_spektrum_dev *spektrum_dev, uint8_t bind)
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{
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const struct pios_spektrum_cfg *cfg = spektrum_dev->cfg;
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
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GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
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@ -142,46 +143,26 @@ static void PIOS_Spektrum_Bind(const struct pios_spektrum_cfg *cfg, uint8_t bind
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}
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/* Reset channels in case of lost signal or explicit failsafe receiver flag */
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static void PIOS_Spektrum_ResetChannels(struct pios_spektrum_state *state)
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static void PIOS_Spektrum_ResetChannels(struct pios_spektrum_dev *spektrum_dev)
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{
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struct pios_spektrum_state *state = &(spektrum_dev->state);
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for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
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state->channel_data[i] = PIOS_RCVR_TIMEOUT;
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}
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}
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/**
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* Get the value of an input channel
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* \param[in] channel Number of the channel desired (zero based)
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* \output PIOS_RCVR_INVALID channel not available
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* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
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* \output >0 channel value
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*/
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static int32_t PIOS_Spektrum_Get(uint32_t rcvr_id, uint8_t channel)
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{
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struct pios_spektrum_dev *spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
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if (!PIOS_Spektrum_Validate(spektrum_dev))
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return PIOS_RCVR_INVALID;
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/* return error if channel is not available */
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if (channel >= PIOS_SPEKTRUM_NUM_INPUTS)
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return PIOS_RCVR_INVALID;
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/* may also be PIOS_RCVR_TIMEOUT set by other function */
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return spektrum_dev->state.channel_data[channel];
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}
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/* Reset Spektrum receiver state */
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static void PIOS_Spektrum_ResetState(struct pios_spektrum_state *state)
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static void PIOS_Spektrum_ResetState(struct pios_spektrum_dev *spektrum_dev)
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{
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struct pios_spektrum_state *state = &(spektrum_dev->state);
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state->receive_timer = 0;
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state->failsafe_timer = 0;
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state->frame_found = 0;
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#ifdef SPEKTRUM_LOST_FRAME_COUNTER
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#if SPEKTRUM_LOST_FRAME_COUNTER
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state->frames_lost_last = 0;
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state->frames_lost = 0;
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#endif
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PIOS_Spektrum_ResetChannels(state);
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PIOS_Spektrum_ResetChannels(spektrum_dev);
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}
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/**
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@ -189,9 +170,12 @@ static void PIOS_Spektrum_ResetState(struct pios_spektrum_state *state)
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* \output 0 frame data accepted
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* \output -1 frame error found
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*/
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static int PIOS_Spektrum_UnrollChannels(struct pios_spektrum_state *state)
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static int PIOS_Spektrum_UnrollChannels(struct pios_spektrum_dev *spektrum_dev)
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{
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#ifdef SPEKTRUM_LOST_FRAME_COUNTER
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struct pios_spektrum_state *state = &(spektrum_dev->state);
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uint8_t resolution;
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#if SPEKTRUM_LOST_FRAME_COUNTER
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/* increment the lost frame counter */
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uint8_t frames_lost = state->received_data[0];
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state->frames_lost += (frames_lost - state->frames_lost_last);
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@ -204,69 +188,81 @@ static int PIOS_Spektrum_UnrollChannels(struct pios_spektrum_state *state)
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case 0x01:
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case 0x02:
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case 0x12:
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state->resolution = (type & SPEKTRUM_DSM2_RES_MASK) ? 11 : 10;
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state->frame_mode = (type & SPEKTRUM_DSM2_FNUM_MASK);
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/* DSM2, DSMJ stream */
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if (spektrum_dev->proto == PIOS_DSM_PROTO_DSM2) {
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/* DSM2/DSMJ resolution is known from the header */
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resolution = (type & SPEKTRUM_DSM2_RES_MASK) ? 11 : 10;
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} else {
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/* DSMX resolution should explicitly be selected */
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goto stream_error;
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}
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break;
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case 0xA2:
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case 0xB2:
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/* FIXME: we should guess the resolution using frame mode found */
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goto fail;
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/* DSMX stream */
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if (spektrum_dev->proto == PIOS_DSM_PROTO_DSMX10BIT) {
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resolution = 10;
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} else if (spektrum_dev->proto == PIOS_DSM_PROTO_DSMX11BIT) {
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resolution = 11;
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} else {
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/* DSMX resolution should explicitly be selected */
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goto stream_error;
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}
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break;
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default:
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goto fail;
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/* unknown yet data stream */
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goto stream_error;
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}
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/* unroll channels */
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uint8_t *s = &(state->received_data[2]);
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uint16_t mask = (state->resolution == 10) ? 0x03ff : 0x07ff;
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uint16_t mask = (resolution == 10) ? 0x03ff : 0x07ff;
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for (int i = 0; i < SPEKTRUM_CHANNELS_PER_FRAME; i++) {
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uint16_t word = ((uint16_t)s[0] << 8) | s[1];
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s += 2;
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/* check for frame mode or missing channel data */
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if (word & SPEKTRUM_2ND_FRAME_MASK) {
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/* this is ok for the 1st word only */
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if (i == 0) {
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/* means the 2-frame mode */
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state->frame_mode = 2;
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} else {
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if (word == 0xffff)
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/* skip the missing channel */
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continue;
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else
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/* wrong frame received */
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goto fail;
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}
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/* skip empty channel slot */
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if (word == 0xffff)
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continue;
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/* minimal data validation */
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if ((i > 0) && (word & SPEKTRUM_2ND_FRAME_MASK)) {
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/* invalid frame data, ignore rest of the frame */
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goto stream_error;
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}
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/* extract and save the channel value */
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uint8_t channel_num = (word >> state->resolution) & 0x0f;
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uint8_t channel_num = (word >> resolution) & 0x0f;
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if (channel_num < PIOS_SPEKTRUM_NUM_INPUTS)
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state->channel_data[channel_num] = (word & mask);
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}
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#ifdef SPEKTRUM_LOST_FRAME_COUNTER
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#if SPEKTRUM_LOST_FRAME_COUNTER
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/* put lost frames counter into the last channel for debugging */
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state->channel_data[PIOS_SPEKTRUM_NUM_INPUTS-1] = state->frames_lost;
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#endif
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/* all channels processed, missing channels skipped */
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/* all channels processed */
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return 0;
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fail:
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stream_error:
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/* either DSM2 selected with DSMX stream found, or vice-versa */
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return -1;
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}
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/* Update decoder state processing input byte from the DSMx stream */
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static void PIOS_Spektrum_UpdateState(struct pios_spektrum_state *state, uint8_t b)
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static void PIOS_Spektrum_UpdateState(struct pios_spektrum_dev *spektrum_dev, uint8_t byte)
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{
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struct pios_spektrum_state *state = &(spektrum_dev->state);
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if (state->frame_found) {
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/* receiving the data frame */
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if (state->byte_count < SPEKTRUM_FRAME_LENGTH) {
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/* store next byte */
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state->received_data[state->byte_count++] = b;
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state->received_data[state->byte_count++] = byte;
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if (state->byte_count == SPEKTRUM_FRAME_LENGTH) {
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/* full frame received - process and wait for new one */
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if (!PIOS_Spektrum_UnrollChannels(state))
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if (!PIOS_Spektrum_UnrollChannels(spektrum_dev))
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/* data looking good */
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state->failsafe_timer = 0;
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@ -282,6 +278,7 @@ int32_t PIOS_Spektrum_Init(uint32_t *spektrum_id,
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const struct pios_spektrum_cfg *cfg,
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const struct pios_com_driver *driver,
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uint32_t lower_id,
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enum pios_dsm_proto proto,
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uint8_t bind)
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{
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PIOS_DEBUG_Assert(spektrum_id);
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@ -296,12 +293,13 @@ int32_t PIOS_Spektrum_Init(uint32_t *spektrum_id,
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/* Bind the configuration to the device instance */
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spektrum_dev->cfg = cfg;
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spektrum_dev->proto = proto;
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/* Bind the receiver if requested */
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if (bind)
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PIOS_Spektrum_Bind(cfg, bind);
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PIOS_Spektrum_Bind(spektrum_dev, bind);
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PIOS_Spektrum_ResetState(&(spektrum_dev->state));
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PIOS_Spektrum_ResetState(spektrum_dev);
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*spektrum_id = (uint32_t)spektrum_dev;
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@ -327,12 +325,10 @@ static uint16_t PIOS_Spektrum_RxInCallback(uint32_t context,
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bool valid = PIOS_Spektrum_Validate(spektrum_dev);
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PIOS_Assert(valid);
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struct pios_spektrum_state *state = &(spektrum_dev->state);
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/* process byte(s) and clear receive timer */
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for (uint8_t i = 0; i < buf_len; i++) {
|
||||
PIOS_Spektrum_UpdateState(state, buf[i]);
|
||||
state->receive_timer = 0;
|
||||
PIOS_Spektrum_UpdateState(spektrum_dev, buf[i]);
|
||||
spektrum_dev->state.receive_timer = 0;
|
||||
}
|
||||
|
||||
/* Always signal that we can accept another byte */
|
||||
@ -346,6 +342,28 @@ static uint16_t PIOS_Spektrum_RxInCallback(uint32_t context,
|
||||
return buf_len;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the value of an input channel
|
||||
* \param[in] channel Number of the channel desired (zero based)
|
||||
* \output PIOS_RCVR_INVALID channel not available
|
||||
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
|
||||
* \output >0 channel value
|
||||
*/
|
||||
static int32_t PIOS_Spektrum_Get(uint32_t rcvr_id, uint8_t channel)
|
||||
{
|
||||
struct pios_spektrum_dev *spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
|
||||
|
||||
if (!PIOS_Spektrum_Validate(spektrum_dev))
|
||||
return PIOS_RCVR_INVALID;
|
||||
|
||||
/* return error if channel is not available */
|
||||
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS)
|
||||
return PIOS_RCVR_INVALID;
|
||||
|
||||
/* may also be PIOS_RCVR_TIMEOUT set by other function */
|
||||
return spektrum_dev->state.channel_data[channel];
|
||||
}
|
||||
|
||||
/**
|
||||
* Input data supervisor is called periodically and provides
|
||||
* two functions: frame syncing and failsafe triggering.
|
||||
@ -376,7 +394,7 @@ static void PIOS_Spektrum_Supervisor(uint32_t spektrum_id)
|
||||
|
||||
/* activate failsafe if no frames have arrived in 102.4ms */
|
||||
if (++state->failsafe_timer > 64) {
|
||||
PIOS_Spektrum_ResetChannels(state);
|
||||
PIOS_Spektrum_ResetChannels(spektrum_dev);
|
||||
state->failsafe_timer = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@ -66,11 +66,13 @@
|
||||
* data (01 or 10 are known to the moment, which means 1 or 2 frames).
|
||||
* Three values for the transmitter information byte have been seen
|
||||
* thus far: 0x01, 0x02, 0x12.
|
||||
* - for DSMX this byte contains just 0xB2 value for any resolution.
|
||||
* Hopefully it always uses 11 bit resolution for 2-frame mode and
|
||||
* 10 bit otherwise. Also some weird throttle channel (0) behavior
|
||||
* was found in some streams (all zeroes). Thus DSMX needs special
|
||||
* processing.
|
||||
* - for DSMX this byte contains just 0xB2 or 0xA2 value for any resolution.
|
||||
* It is not known at the moment how to find the exact resolution from the
|
||||
* DSMX data stream. The frame number (1 or 2) and 10/11 bit resolution were
|
||||
* found in different data streams. So it is safer at the moment to ask user
|
||||
* explicitly choose the resolution.
|
||||
* Also some weird throttle channel (0) behavior was found in some streams
|
||||
* from DX8 transmitter (all zeroes). Thus DSMX needs special processing.
|
||||
*
|
||||
* Channel data are:
|
||||
* - for 10 bit: [F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
|
||||
@ -100,14 +102,22 @@
|
||||
#define SPEKTRUM_CHANNELS_PER_FRAME 7
|
||||
#define SPEKTRUM_FRAME_LENGTH (1+1+SPEKTRUM_CHANNELS_PER_FRAME*2)
|
||||
#define SPEKTRUM_DSM2_RES_MASK 0x0010
|
||||
#define SPEKTRUM_DSM2_FNUM_MASK 0x0003
|
||||
#define SPEKTRUM_2ND_FRAME_MASK 0x8000
|
||||
|
||||
#undef SPEKTRUM_LOST_FRAME_COUNTER /* include lost frame counter, not used by OP */
|
||||
|
||||
/*
|
||||
* Spektrum receiver instance configuration
|
||||
* Include lost frame counter and provide it as a last channel value
|
||||
* for debugging. Currently is not used by the receiver layer.
|
||||
*/
|
||||
#define SPEKTRUM_LOST_FRAME_COUNTER 0
|
||||
|
||||
/* Spektrum protocol variations */
|
||||
enum pios_dsm_proto {
|
||||
PIOS_DSM_PROTO_DSM2,
|
||||
PIOS_DSM_PROTO_DSMX10BIT,
|
||||
PIOS_DSM_PROTO_DSMX11BIT,
|
||||
};
|
||||
|
||||
/* Spektrum receiver instance configuration */
|
||||
struct pios_spektrum_cfg {
|
||||
struct stm32_gpio bind;
|
||||
};
|
||||
@ -118,6 +128,7 @@ extern int32_t PIOS_Spektrum_Init(uint32_t *spektrum_id,
|
||||
const struct pios_spektrum_cfg *cfg,
|
||||
const struct pios_com_driver *driver,
|
||||
uint32_t lower_id,
|
||||
enum pios_dsm_proto proto,
|
||||
uint8_t bind);
|
||||
|
||||
#endif /* PIOS_SPEKTRUM_PRIV_H */
|
||||
|
||||
@ -85,8 +85,8 @@ void inputChannelForm::groupUpdated()
|
||||
count = 8; // Need to make this 6 for CC
|
||||
break;
|
||||
case ManualControlSettings::CHANNELGROUPS_PPM:
|
||||
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM1:
|
||||
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM2:
|
||||
case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
|
||||
case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
|
||||
count = 12;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELGROUPS_SBUS:
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
<xml>
|
||||
<object name="HwSettings" singleinstance="true" settings="true">
|
||||
<description>Selection of optional hardware configurations.</description>
|
||||
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum1,Spektrum2,ComAux,I2C" defaultvalue="Disabled"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum1,Spektrum2,ComAux" defaultvalue="Telemetry"/>
|
||||
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Servo,Servo" defaultvalue="PWM"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
|
||||
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
|
||||
<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,DSM2,DSMX (10bit),DSMX (11bit),Debug" defaultvalue="PWM"/>
|
||||
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
|
||||
<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,Debug,Spektrum1,PWM,PPM" defaultvalue="PWM"/>
|
||||
<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
|
||||
|
||||
<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
|
||||
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
|
||||
<field name="ChannelGroups" units="Channel Group" type="enum"
|
||||
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
|
||||
options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
|
||||
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None" defaultvalue="None"/>
|
||||
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
|
||||
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
|
||||
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
<object name="ReceiverActivity" singleinstance="true" settings="false">
|
||||
<description>Monitors which receiver channels have been active within the last second.</description>
|
||||
<field name="ActiveGroup" units="Channel Group" type="enum" elements="1"
|
||||
options="PWM,PPM,Spektrum1,Spektrum2,SBus,GCS,None"
|
||||
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None"
|
||||
defaultvalue="None"/>
|
||||
<field name="ActiveChannel" units="channel" type="uint8" elements="1"
|
||||
defaultvalue="255"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user