DIY-Multiprotocol-TX-Module/Multiprotocol/Multiprotocol.ino

/*********************************************************
					Multiprotocol Tx code
               by Midelic and Pascal Langer(hpnuts)
	http://www.rcgroups.com/forums/showthread.php?t=2165676
    https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/edit/master/README.md

	Thanks to PhracturedBlue, Hexfet, Goebish, Victzh and all protocol developers
				Ported  from deviation firmware 

 This project is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 Multiprotocol is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
*/
#include <avr/pgmspace.h>
//#define DEBUG_TX
#include "Multiprotocol.h"

//Multiprotocol module configuration file
#include "_Config.h"
#include "Pins.h"
#include "TX_Def.h"
#include "Validate.h"

#ifndef STM32_BOARD
	#include <avr/eeprom.h>
#else
	#include <arduino.h>
	#include <libmaple/usart.h>
	#include <libmaple/timer.h>
	#include <SPI.h>	
	#include <EEPROM.h>	
	HardwareTimer timer(2);
	void PPM_decode();
	void ISR_COMPB();
	extern "C"
	{
		void __irq_usart2(void);
		void __irq_usart3(void);
	}
#endif

//Global constants/variables
uint32_t MProtocol_id;//tx id,
uint32_t MProtocol_id_master;
uint32_t blink=0,last_signal=0;
//
uint16_t counter;
uint8_t  channel;
uint8_t  packet[40];

#define NUM_CHN 16
// Servo data
uint16_t Servo_data[NUM_CHN];
uint8_t  Servo_AUX;
uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;

// Protocol variables
uint8_t  cyrfmfg_id[6];//for dsm2 and devo
uint8_t  rx_tx_addr[5];
uint8_t  rx_id[4];
uint8_t  phase;
uint16_t bind_counter;
uint8_t  bind_phase;
uint8_t  binding_idx;
uint16_t packet_period;
uint8_t  packet_count;
uint8_t  packet_sent;
uint8_t  packet_length;
uint8_t  hopping_frequency[23];
uint8_t  *hopping_frequency_ptr;
uint8_t  hopping_frequency_no=0;
uint8_t  rf_ch_num;
uint8_t  throttle, rudder, elevator, aileron;
uint8_t  flags;
uint16_t crc;
uint8_t  crc8;
uint16_t seed;
//
uint16_t state;
uint8_t  len;
uint8_t  RX_num;

#if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO)
	uint8_t calData[48];
#endif

//Channel mapping for protocols
const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8, AUX9, AUX10};
const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};

// Mode_select variables
uint8_t mode_select;
uint8_t protocol_flags=0,protocol_flags2=0;

// PPM variable
volatile uint16_t PPM_data[NUM_CHN];

#ifndef ORANGE_TX
//Random variable
volatile uint32_t gWDT_entropy=0;
#endif

//Serial protocol
uint8_t sub_protocol;
uint8_t protocol;
uint8_t option;
uint8_t cur_protocol[3];
uint8_t prev_option;
uint8_t prev_power=0xFD; // unused power value

//Serial RX variables
#define BAUD 100000
#define RXBUFFER_SIZE 26
volatile uint8_t rx_buff[RXBUFFER_SIZE];
volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
volatile uint8_t discard_frame = 0;

// Telemetry
#define MAX_PKT 29
uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined(TELEMETRY)
	#ifdef INVERT_TELEMETRY
		#if not defined(ORANGE_TX) && not defined(STM32_BOARD)
			// enable bit bash for serial
			#define	BASH_SERIAL 1
		#endif
		#define	INVERT_SERIAL 1
	#endif
	uint8_t pass = 0;
	uint8_t pktt[MAX_PKT];//telemetry receiving packets
	#ifndef BASH_SERIAL
		#define TXBUFFER_SIZE 32
		volatile uint8_t tx_buff[TXBUFFER_SIZE];
		volatile uint8_t tx_head=0;
		volatile uint8_t tx_tail=0;
	#endif // BASH_SERIAL
	uint8_t v_lipo;
	int16_t RSSI_dBm;
	uint8_t TX_RSSI;
	uint8_t telemetry_link=0; 
	uint8_t telemetry_counter=0;
	uint8_t telemetry_lost;
#endif 

// Callback
typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer
void_function_t remote_callback = 0;

// Init
void setup()
{
	// General pinout
	#ifdef ORANGE_TX
		//XMEGA
		PORTD.OUTSET = 0x17 ;
		PORTD.DIRSET = 0xB2 ;
		PORTD.DIRCLR = 0x4D ;
		PORTD.PIN0CTRL = 0x18 ;
		PORTD.PIN2CTRL = 0x18 ;
		PORTE.DIRSET = 0x01 ;
		PORTE.DIRCLR = 0x02 ;
		// Timer1 config
		// TCC1 16-bit timer, clocked at 0.5uS
		EVSYS.CH3MUX = 0x80 + 0x04 ;	// Prescaler of 16
		TCC1.CTRLB = 0; TCC1.CTRLC = 0; TCC1.CTRLD = 0; TCC1.CTRLE = 0;
		TCC1.INTCTRLA = 0; TIMSK1 = 0;
		TCC1.PER = 0xFFFF ;
		TCNT1 = 0 ;
		TCC1.CTRLA = 0x0B ;	// Event3 (prescale of 16)
	#elif defined STM32_BOARD
		//STM32
		pinMode(A7105_CSN_pin,OUTPUT);
		pinMode(CC25_CSN_pin,OUTPUT);
		pinMode(NRF_CSN_pin,OUTPUT);
		pinMode(CYRF_CSN_pin,OUTPUT);
		pinMode(CYRF_RST_pin,OUTPUT);
		pinMode(PE1_pin,OUTPUT);
		pinMode(PE2_pin,OUTPUT);
		#if defined TELEMETRY
			pinMode(TX_INV_pin,OUTPUT);
			pinMode(RX_INV_pin,OUTPUT);
			#if defined INVERT_SERIAL
				TX_INV_on;//activated inverter for both serial TX and RX signals
				RX_INV_on;
			#else
				TX_INV_off;
				RX_INV_off;
			#endif	
		#endif
		pinMode(BIND_pin,INPUT_PULLUP);
		pinMode(PPM_pin,INPUT);
		pinMode(S1_pin,INPUT_PULLUP);//dial switch
		pinMode(S2_pin,INPUT_PULLUP);
		pinMode(S3_pin,INPUT_PULLUP);
		pinMode(S4_pin,INPUT_PULLUP);
		//Random pins
		pinMode(PB0, INPUT_ANALOG); // set up pin for analog input
		pinMode(PB1, INPUT_ANALOG); // set up pin for analog input

		//select the counter clock.
		start_timer2();//0.5us
	#else
		//ATMEGA328p
		// all inputs
		DDRB=0x00;DDRC=0x00;DDRD=0x00;
		// outputs
		SDI_output;
		SCLK_output;
		#ifdef A7105_INSTALLED
			A7105_CSN_output;
		#endif
		#ifdef CC2500_INSTALLED
			CC25_CSN_output;
		#endif
		#ifdef CYRF6936_INSTALLED
			CYRF_RST_output;
			CYRF_CSN_output;
		#endif
		#ifdef NRF24L01_INSTALLED
			NRF_CSN_output;
		#endif
		PE1_output;
		PE2_output;
		SERIAL_TX_output;

		// pullups
		MODE_DIAL1_port |= _BV(MODE_DIAL1_pin);
		MODE_DIAL2_port |= _BV(MODE_DIAL2_pin);
		MODE_DIAL3_port |= _BV(MODE_DIAL3_pin);
		MODE_DIAL4_port |= _BV(MODE_DIAL4_pin);
		BIND_port |= _BV(BIND_pin);

		// Timer1 config
		TCCR1A = 0;
		TCCR1B = (1 << CS11);	//prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
		
		// Random
		random_init();
	#endif

	// Set Chip selects
	#ifdef A7105_INSTALLED
		A7105_CSN_on;
	#endif
	#ifdef CC2500_INSTALLED
		CC25_CSN_on;
	#endif
	#ifdef CYRF6936_INSTALLED
		CYRF_CSN_on;
	#endif
	#ifdef NRF24L01_INSTALLED
		NRF_CSN_on;
	#endif
	//	Set SPI lines
	#ifdef	STM32_BOARD
		initSPI2();
	#else
		SDI_on;
		SCLK_off;
	#endif

	// Set servos positions
	for(uint8_t i=0;i<NUM_CHN;i++)
		Servo_data[i]=1500;
	Servo_data[THROTTLE]=servo_min_100;
	#ifdef ENABLE_PPM
		memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
	#endif
	
	//Wait for every component to start
	delayMilliseconds(100);
	
	// Read status of bind button
	if( IS_BIND_BUTTON_on )
		BIND_BUTTON_FLAG_on;	// If bind button pressed save the status for protocol id reset under hubsan

	// Read status of mode select binary switch
	// after this mode_select will be one of {0000, 0001, ..., 1111}
	#ifndef ENABLE_PPM
		mode_select = MODE_SERIAL ;	// force serial mode
	#elif defined STM32_BOARD
		mode_select= 0x0F -(uint8_t)(((GPIOA->regs->IDR)>>4)&0x0F);
	#else
		mode_select =
			((MODE_DIAL1_ipr & _BV(MODE_DIAL1_pin)) ? 0 : 1) + 
			((MODE_DIAL2_ipr & _BV(MODE_DIAL2_pin)) ? 0 : 2) +
			((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) +
			((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8);
	#endif

	// Update LED
	LED_off;
	LED_output; 

	//Init RF modules
	modules_reset();

#ifndef ORANGE_TX
	//Init the seed with a random value created from watchdog timer for all protocols requiring random values
	#ifdef STM32_BOARD
		randomSeed((uint32_t)analogRead(PB0) << 10 | analogRead(PB1));			
	#else
		randomSeed(random_value());
	#endif
#endif

	// Read or create protocol id
	MProtocol_id_master=random_id(10,false);
	
#ifdef ENABLE_PPM
	//Protocol and interrupts initialization
	if(mode_select != MODE_SERIAL)
	{ // PPM
		mode_select--;
		protocol		=	PPM_prot[mode_select].protocol;
		cur_protocol[1] = protocol;
		sub_protocol   	=	PPM_prot[mode_select].sub_proto;
		RX_num			=	PPM_prot[mode_select].rx_num;
		MProtocol_id	=	RX_num + MProtocol_id_master;
		option			=	PPM_prot[mode_select].option;
		if(PPM_prot[mode_select].power)		POWER_FLAG_on;
		if(PPM_prot[mode_select].autobind)	AUTOBIND_FLAG_on;
		mode_select++;
		servo_max_100=PPM_MAX_100; servo_min_100=PPM_MIN_100;
		servo_max_125=PPM_MAX_125; servo_min_125=PPM_MIN_125;

		protocol_init();

		#ifndef STM32_BOARD
			//Configure PPM interrupt
			#if PPM_pin == 2
				EICRA |= _BV(ISC01);	// The rising edge of INT0 pin D2 generates an interrupt request
				EIMSK |= _BV(INT0);		// INT0 interrupt enable
			#elif PPM_pin == 3
				EICRA |= _BV(ISC11);	// The rising edge of INT1 pin D3 generates an interrupt request
				EIMSK |= _BV(INT1);		// INT1 interrupt enable
			#else
				#error PPM pin can only be 2 or 3
			#endif
		#else
			attachInterrupt(PPM_pin,PPM_decode,FALLING);
		#endif

		#if defined(TELEMETRY)
			PPM_Telemetry_serial_init();		// Configure serial for telemetry
		#endif
	}
	else
#endif //ENABLE_PPM
	{ // Serial
		#ifdef ENABLE_SERIAL
			for(uint8_t i=0;i<3;i++)
				cur_protocol[i]=0;
			protocol=0;
			servo_max_100=SERIAL_MAX_100; servo_min_100=SERIAL_MIN_100;
			servo_max_125=SERIAL_MAX_125; servo_min_125=SERIAL_MIN_125;
			Mprotocol_serial_init(); // Configure serial and enable RX interrupt
		#endif //ENABLE_SERIAL
	}
}

// Main
// Protocol scheduler
void loop()
{ 
	uint16_t next_callback,diff=0xFFFF;

	while(1)
	{
		if(remote_callback==0 || diff>2*200)
		{
			do
			{
				Update_All();
			}
			while(remote_callback==0);
		}
		#ifndef STM32_BOARD
			if( (TIFR1 & OCF1A_bm) != 0)
			{
				cli();					// Disable global int due to RW of 16 bits registers
				OCR1A=TCNT1;			// Callback should already have been called... Use "now" as new sync point.
				sei();					// Enable global int
			}
			else
				while((TIFR1 & OCF1A_bm) == 0); // Wait before callback
		#else
			if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0)
			{
				cli();
				OCR1A = TCNT1;
				sei();
			}
			else
				while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0); // Wait before callback
		#endif
		do
		{
			TX_MAIN_PAUSE_on;
			tx_pause();
			next_callback=remote_callback();
			TX_MAIN_PAUSE_off;
			tx_resume();
			while(next_callback>4000)
			{ // start to wait here as much as we can...
				next_callback-=2000;				// We will wait below for 2ms
				cli();								// Disable global int due to RW of 16 bits registers
				OCR1A += 2000*2 ;					// set compare A for callback
				#ifndef STM32_BOARD	
					TIFR1=OCF1A_bm;					// clear compare A=callback flag
				#else
					TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;	//clear compare Flag
				#endif
				sei();								// enable global int
				Update_All();
				if(IS_CHANGE_PROTOCOL_FLAG_on)
					break; // Protocol has been changed
				#ifndef STM32_BOARD	
					while((TIFR1 & OCF1A_bm) == 0);	// wait 2ms...
				#else
					while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//2ms wait
				#endif
			}
			// at this point we have a maximum of 4ms in next_callback
			next_callback *= 2 ;
			cli();									// Disable global int due to RW of 16 bits registers
			OCR1A+= next_callback ;					// set compare A for callback
			#ifndef STM32_BOARD			
				TIFR1=OCF1A_bm;						// clear compare A=callback flag
			#else
				TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;	//clear compare Flag write zero 
			#endif		
			diff=OCR1A-TCNT1;						// compare timer and comparator
			sei();									// enable global int
		}
		while(diff&0x8000);	 						// Callback did not took more than requested time for next callback
													// so we can launch Update_All before next callback
	}
}

void Update_All()
{
	#ifdef ENABLE_SERIAL
		if(mode_select==MODE_SERIAL && IS_RX_FLAG_on)		// Serial mode and something has been received
		{
			update_serial_data();							// Update protocol and data
			update_aux_flags();
			if(IS_CHANGE_PROTOCOL_FLAG_on)
			{ // Protocol needs to be changed
				LED_off;									//led off during protocol init
				modules_reset();							//reset all modules
				protocol_init();							//init new protocol
			}

			INPUT_SIGNAL_on;								//valid signal received
			last_signal=millis();
		}
	#endif //ENABLE_SERIAL
	#ifdef ENABLE_PPM
		if(mode_select!=MODE_SERIAL && IS_PPM_FLAG_on)		// PPM mode and a full frame has been received
		{
			for(uint8_t i=0;i<NUM_CHN;i++)
			{ // update servo data without interrupts to prevent bad read in protocols
				uint16_t temp_ppm ;
				cli();										// disable global int
				temp_ppm = PPM_data[i] ;
				sei();										// enable global int
				if(temp_ppm<PPM_MIN_125) temp_ppm=PPM_MIN_125;
				else if(temp_ppm>PPM_MAX_125) temp_ppm=PPM_MAX_125;
				Servo_data[i]= temp_ppm ;
			}
			update_aux_flags();
			PPM_FLAG_off;									// wait for next frame before update
			INPUT_SIGNAL_on;								//valid signal received
			last_signal=millis();
		}
	#endif //ENABLE_PPM
	#if defined(TELEMETRY)
		if((protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM) )
			TelemetryUpdate();
	#endif
	update_led_status();
}

// Update Servo_AUX flags based on servo AUX positions
static void update_aux_flags(void)
{
	Servo_AUX=0;
	for(uint8_t i=0;i<8;i++)
		if(Servo_data[AUX1+i]>PPM_SWITCH)
			Servo_AUX|=1<<i;
}

// Update led status based on binding and serial
static void update_led_status(void)
{
	if(IS_INPUT_SIGNAL_on)
		if(millis()-last_signal>50)
			INPUT_SIGNAL_off;						//no valid signal (PPM or Serial) received for 50ms
	if(blink<millis())
	{
		if(IS_INPUT_SIGNAL_off)
		{
			if(mode_select==MODE_SERIAL)
				blink+=BLINK_SERIAL_TIME;				//blink slowly if no valid serial input
			else
				blink+=BLINK_PPM_TIME;					//blink more slowly if no valid PPM input
		}
		else
			if(remote_callback == 0)
			{ // Invalid protocol
				if(IS_LED_on)							//flash to indicate invalid protocol
					blink+=BLINK_BAD_PROTO_TIME_LOW;
				else
					blink+=BLINK_BAD_PROTO_TIME_HIGH;
			}
			else
			{
				if(IS_BIND_DONE_on)
					LED_off;							//bind completed force led on
				blink+=BLINK_BIND_TIME;					//blink fastly during binding
			}
		LED_toggle;
	}
}

inline void tx_pause()
{
	#ifdef TELEMETRY
	// Pause telemetry by disabling transmitter interrupt
		#ifdef ORANGE_TX
			USARTC0.CTRLA &= ~0x03 ;
		#else
			#ifndef BASH_SERIAL
				#ifdef STM32_BOARD
					USART3_BASE->CR1 &= ~ USART_CR1_TXEIE;
				#else
					UCSR0B &= ~_BV(UDRIE0);
				#endif
			#endif
		#endif
	#endif
}

inline void tx_resume()
{
	#ifdef TELEMETRY
	// Resume telemetry by enabling transmitter interrupt
		if(!IS_TX_PAUSE_on)
		{
			#ifdef ORANGE_TX
				cli() ;
				USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
				sei() ;
			#else
				#ifndef BASH_SERIAL
					#ifdef STM32_BOARD
						USART3_BASE->CR1 |= USART_CR1_TXEIE;
					#else
						UCSR0B |= _BV(UDRIE0);			
					#endif
				#else
					resumeBashSerial();
				#endif
			#endif
		}
	#endif
}

#ifdef STM32_BOARD	
void start_timer2()
{	
	// Pause the timer while we're configuring it
	timer.pause();
	TIMER2_BASE->PSC = 35;			//36-1;for 72 MHZ /0.5sec/(35+1)
	TIMER2_BASE->ARR = 0xFFFF;		//count till max
	timer.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);
	timer.setMode(TIMER_CH2, TIMER_OUTPUT_COMPARE);
	// Refresh the timer's count, prescale, and overflow
	timer.refresh();
	timer.resume();
}
#endif

// Protocol start
static void protocol_init()
{
	uint16_t next_callback=0;		// Default is immediate call back
	remote_callback = 0;

	// reset telemetry
	#ifdef TELEMETRY
		tx_pause();
		pass=0;
		telemetry_link=0;
		telemetry_lost=1;
		#ifndef BASH_SERIAL
			tx_tail=0;
			tx_head=0;
		#endif
		TX_RX_PAUSE_off;
		TX_MAIN_PAUSE_off;
	#endif

	blink=millis();
	if(IS_BIND_BUTTON_FLAG_on)
		AUTOBIND_FLAG_on;
	if(IS_AUTOBIND_FLAG_on)
		BIND_IN_PROGRESS;			// Indicates bind in progress for blinking bind led
	else
		BIND_DONE;

	PE1_on;							//NRF24L01 antenna RF3 by default
	PE2_off;						//NRF24L01 antenna RF3 by default
	
	switch(protocol)				// Init the requested protocol
	{
		#ifdef A7105_INSTALLED
			#if defined(FLYSKY_A7105_INO)
				case MODE_FLYSKY:
					PE1_off;	//antenna RF1
					next_callback = initFlySky();
					remote_callback = ReadFlySky;
					break;
			#endif
			#if defined(AFHDS2A_A7105_INO)
				case MODE_AFHDS2A:
					PE1_off;	//antenna RF1
					next_callback = initAFHDS2A();
					remote_callback = ReadAFHDS2A;
					break;
			#endif
			#if defined(HUBSAN_A7105_INO)
				case MODE_HUBSAN:
					PE1_off;	//antenna RF1
					if(IS_BIND_BUTTON_FLAG_on) random_id(10,true); // Generate new ID if bind button is pressed.
					next_callback = initHubsan();
					remote_callback = ReadHubsan;
					break;
			#endif
		#endif
		#ifdef CC2500_INSTALLED
			#if defined(FRSKYD_CC2500_INO)
				case MODE_FRSKYD:
					PE1_off;	//antenna RF2
					PE2_on;
					next_callback = initFrSky_2way();
					remote_callback = ReadFrSky_2way;
					break;
			#endif
			#if defined(FRSKYV_CC2500_INO)
				case MODE_FRSKYV:
					PE1_off;	//antenna RF2
					PE2_on;
					next_callback = initFRSKYV();
					remote_callback = ReadFRSKYV;
					break;
			#endif
			#if defined(FRSKYX_CC2500_INO)
				case MODE_FRSKYX:
					PE1_off;	//antenna RF2
					PE2_on;
					next_callback = initFrSkyX();
					remote_callback = ReadFrSkyX;
					break;
			#endif
			#if defined(SFHSS_CC2500_INO)
				case MODE_SFHSS:
					PE1_off;	//antenna RF2
					PE2_on;
					next_callback = initSFHSS();
					remote_callback = ReadSFHSS;
					break;
			#endif
		#endif
		#ifdef CYRF6936_INSTALLED
			#if defined(DSM_CYRF6936_INO)
				case MODE_DSM:
					PE2_on;	//antenna RF4
					next_callback = initDsm();
					//Servo_data[2]=1500;//before binding
					remote_callback = ReadDsm;
					break;
			#endif
			#if defined(DEVO_CYRF6936_INO)
				case MODE_DEVO:
					#ifdef ENABLE_PPM
						if(mode_select) //PPM mode
						{
							if(IS_BIND_BUTTON_FLAG_on)
							{
								eeprom_write_byte((EE_ADDR)(30+mode_select),0x00);	// reset to autobind mode for the current model
								option=0;
							}
							else
							{	
								option=eeprom_read_byte((EE_ADDR)(30+mode_select));	// load previous mode: autobind or fixed id
								if(option!=1) option=0;								// if not fixed id mode then it should be autobind
							}
						}
					#endif //ENABLE_PPM
					PE2_on;	//antenna RF4
					next_callback = DevoInit();
					remote_callback = devo_callback;
					break;
			#endif
			#if defined(J6PRO_CYRF6936_INO)
				case MODE_J6PRO:
					PE2_on;	//antenna RF4
					next_callback = initJ6Pro();
					remote_callback = ReadJ6Pro;
					break;
			#endif
		#endif
		#ifdef NRF24L01_INSTALLED
			#if defined(HISKY_NRF24L01_INO)
				case MODE_HISKY:
					next_callback=initHiSky();
					remote_callback = hisky_cb;
					break;
			#endif
			#if defined(V2X2_NRF24L01_INO)
				case MODE_V2X2:
					next_callback = initV2x2();
					remote_callback = ReadV2x2;
					break;
			#endif
			#if defined(YD717_NRF24L01_INO)
				case MODE_YD717:
					next_callback=initYD717();
					remote_callback = yd717_callback;
					break;
			#endif
			#if defined(KN_NRF24L01_INO)
				case MODE_KN:
					next_callback = initKN();
					remote_callback = kn_callback;
					break;
			#endif
			#if defined(SYMAX_NRF24L01_INO)
				case MODE_SYMAX:
					next_callback = initSymax();
					remote_callback = symax_callback;
					break;
			#endif
			#if defined(SLT_NRF24L01_INO)
				case MODE_SLT:
					next_callback=initSLT();
					remote_callback = SLT_callback;
					break;
			#endif
			#if defined(CX10_NRF24L01_INO)
				case MODE_Q2X2:
					sub_protocol|=0x08;		// Increase the number of sub_protocols for CX-10
				case MODE_CX10:
					next_callback=initCX10();
					remote_callback = CX10_callback;
					break;
			#endif
			#if defined(CG023_NRF24L01_INO)
				case MODE_CG023:
					next_callback=initCG023();
					remote_callback = CG023_callback;
					break;
			#endif
			#if defined(BAYANG_NRF24L01_INO)
				case MODE_BAYANG:
					next_callback=initBAYANG();
					remote_callback = BAYANG_callback;
					break;
			#endif
			#if defined(ESKY_NRF24L01_INO)
				case MODE_ESKY:
					next_callback=initESKY();
					remote_callback = ESKY_callback;
					break;
			#endif
			#if defined(MT99XX_NRF24L01_INO)
				case MODE_MT99XX:
					next_callback=initMT99XX();
					remote_callback = MT99XX_callback;
					break;
			#endif
			#if defined(MJXQ_NRF24L01_INO)
				case MODE_MJXQ:
					next_callback=initMJXQ();
					remote_callback = MJXQ_callback;
					break;
			#endif
			#if defined(SHENQI_NRF24L01_INO)
				case MODE_SHENQI:
					next_callback=initSHENQI();
					remote_callback = SHENQI_callback;
					break;
			#endif
			#if defined(FY326_NRF24L01_INO)
				case MODE_FY326:
					next_callback=initFY326();
					remote_callback = FY326_callback;
					break;
			#endif
			#if defined(FQ777_NRF24L01_INO)
				case MODE_FQ777:
					next_callback=initFQ777();
					remote_callback = FQ777_callback;
					break;
			#endif
			#if defined(ASSAN_NRF24L01_INO)
				case MODE_ASSAN:
					next_callback=initASSAN();
					remote_callback = ASSAN_callback;
					break;
			#endif
			#if defined(HONTAI_NRF24L01_INO)
				case MODE_HONTAI:
					next_callback=initHONTAI();
					remote_callback = HONTAI_callback;
					break;
			#endif
		#endif
	}

	if(next_callback>32000)
	{ // next_callback should not be more than 32767 so we will wait here...
		uint16_t temp=(next_callback>>10)-2;
		delayMilliseconds(temp);
		next_callback-=temp<<10;				// between 2-3ms left at this stage
	}
	cli();										// disable global int
	OCR1A = TCNT1 + next_callback*2;			// set compare A for callback
	sei();										// enable global int
	#ifndef STM32_BOARD
		TIFR1 = OCF1A_bm ;						// clear compare A flag
	#else
		TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;		//clear compare Flag write zero 
	#endif	
	BIND_BUTTON_FLAG_off;						// do not bind/reset id anymore even if protocol change
}

void update_serial_data()
{
	RX_DONOTUPDTAE_on;
	RX_FLAG_off;								//data is being processed
	if(rx_ok_buff[1]&0x20)						//check range
		RANGE_FLAG_on;
	else
		RANGE_FLAG_off;
	if(rx_ok_buff[1]&0xC0)						//check autobind(0x40) & bind(0x80) together
		AUTOBIND_FLAG_on;
	else
		AUTOBIND_FLAG_off;
	if(rx_ok_buff[2]&0x80)						//if rx_ok_buff[2] ==1,power is low ,0-power high
		POWER_FLAG_off;							//power low
	else
		POWER_FLAG_on;							//power high

	option=rx_ok_buff[3];

	if( (rx_ok_buff[0] != cur_protocol[0]) || ((rx_ok_buff[1]&0x5F) != (cur_protocol[1]&0x5F)) || ( (rx_ok_buff[2]&0x7F) != (cur_protocol[2]&0x7F) ) )
	{ // New model has been selected
		CHANGE_PROTOCOL_FLAG_on;				//change protocol
		protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F);	//protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0]
		sub_protocol=(rx_ok_buff[2]>>4)& 0x07;	//subprotocol no (0-7) bits 4-6
		RX_num=rx_ok_buff[2]& 0x0F;				// rx_num bits 0---3
		MProtocol_id=MProtocol_id_master+RX_num;//personalized RX bind + rx num
		set_rx_tx_addr(MProtocol_id);			//set rx_tx_addr
	}
	else
		if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) )	// Bind flag has been set
			CHANGE_PROTOCOL_FLAG_on;			//restart protocol with bind
		else
			CHANGE_PROTOCOL_FLAG_off;			//no need to restart
	//store current protocol values
	for(uint8_t i=0;i<3;i++)
		cur_protocol[i] =  rx_ok_buff[i];
	
	// decode channel values
	volatile uint8_t *p=rx_ok_buff+3;
	uint8_t dec=-3;
	for(uint8_t i=0;i<NUM_CHN;i++)
	{
		dec+=3;
		if(dec>=8)
		{
			dec-=8;
			p++;
		}
		p++;
		Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860;	//value range 860<->2140 -125%<->+125%
	}
	RX_DONOTUPDTAE_off;
	#ifdef ORANGE_TX
		cli();
	#else
		UCSR0B &= ~_BV(RXCIE0);					// RX interrupt disable
	#endif
	if(IS_RX_MISSED_BUFF_on)					// If the buffer is still valid
	{	memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
		RX_FLAG_on;								// data to be processed next time...
		RX_MISSED_BUFF_off;
	}
	#ifdef ORANGE_TX
		sei();
	#else
		UCSR0B |= _BV(RXCIE0) ;					// RX interrupt enable
	#endif
}

void modules_reset()
{
	#ifdef	CC2500_INSTALLED
		CC2500_Reset();
	#endif
	#ifdef	A7105_INSTALLED
		A7105_Reset();
	#endif
	#ifdef	CYRF6936_INSTALLED
		CYRF_Reset();
	#endif
	#ifdef	NRF24L01_INSTALLED
		NRF24L01_Reset();
	#endif

	//Wait for every component to reset
	delayMilliseconds(100);
	prev_power=0xFD;		// unused power value
}

void Mprotocol_serial_init()
{
	#ifdef ORANGE_TX
		PORTC.OUTSET = 0x08 ;
		PORTC.DIRSET = 0x08 ;

		USARTC0.BAUDCTRLA = 19 ;
		USARTC0.BAUDCTRLB = 0 ;
		
		USARTC0.CTRLB = 0x18 ;
		USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
		USARTC0.CTRLC = 0x2B ;
		UDR0 ;
		#ifdef INVERT_SERIAL
			PORTC.PIN3CTRL |= 0x40 ;
		#endif
	#elif defined STM32_BOARD
		usart2_begin(100000,SERIAL_8E2);
		usart3_begin(100000,SERIAL_8E2);
		USART2_BASE->CR1 |= USART_CR1_PCE_BIT;
		USART3_BASE->CR1 &= ~ USART_CR1_RE;//disable 
		USART2_BASE->CR1 &= ~ USART_CR1_TE;//disable transmit
	#else
		//ATMEGA328p
		#include <util/setbaud.h>	
		UBRR0H = UBRRH_VALUE;
		UBRR0L = UBRRL_VALUE;
		UCSR0A = 0 ;	// Clear X2 bit
		//Set frame format to 8 data bits, even parity, 2 stop bits
		UCSR0C = _BV(UPM01)|_BV(USBS0)|_BV(UCSZ01)|_BV(UCSZ00);
		while ( UCSR0A & (1 << RXC0) )//flush receive buffer
			UDR0;
		//enable reception and RC complete interrupt
		UCSR0B = _BV(RXEN0)|_BV(RXCIE0);//rx enable and interrupt
		#ifndef DEBUG_TX
			#if defined(TELEMETRY)
				initTXSerial( SPEED_100K ) ;
			#endif //TELEMETRY
		#endif //DEBUG_TX
	#endif //ORANGE_TX
}

#if defined(TELEMETRY)
void PPM_Telemetry_serial_init()
{
	if( (protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) )
		initTXSerial( SPEED_9600 ) ;
	if(protocol==MODE_FRSKYX)
		initTXSerial( SPEED_57600 ) ;
	if(protocol==MODE_DSM)
		initTXSerial( SPEED_125K ) ;
}
#endif

// Convert 32b id to rx_tx_addr
static void set_rx_tx_addr(uint32_t id)
{ // Used by almost all protocols
	rx_tx_addr[0] = (id >> 24) & 0xFF;
	rx_tx_addr[1] = (id >> 16) & 0xFF;
	rx_tx_addr[2] = (id >>  8) & 0xFF;
	rx_tx_addr[3] = (id >>  0) & 0xFF;
	rx_tx_addr[4] = (rx_tx_addr[2]&0xF0)|(rx_tx_addr[3]&0x0F);
}

#if not defined (ORANGE_TX) && not defined (STM32_BOARD)
static void random_init(void)
{
	cli();					// Temporarily turn off interrupts, until WDT configured
	MCUSR = 0;				// Use the MCU status register to reset flags for WDR, BOR, EXTR, and POWR
	WDTCSR |= _BV(WDCE);	// WDT control register, This sets the Watchdog Change Enable (WDCE) flag, which is  needed to set the prescaler
	WDTCSR = _BV(WDIE);		// Watchdog interrupt enable (WDIE)
	sei();					// Turn interupts on
}

static uint32_t random_value(void)
{
	while (!gWDT_entropy);
	return gWDT_entropy;
}
#endif

static uint32_t random_id(uint16_t adress, uint8_t create_new)
{
	uint32_t id=0;

	if(eeprom_read_byte((EE_ADDR)(adress+10))==0xf0 && !create_new)
	{  // TXID exists in EEPROM
		for(uint8_t i=4;i>0;i--)
		{
			id<<=8;
			id|=eeprom_read_byte((EE_ADDR)adress+i-1);
		}	
		if(id!=0x2AD141A7)	//ID with seed=0
			return id;
	}
	// Generate a random ID
	id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
	for(uint8_t i=0;i<4;i++)
	{
		eeprom_write_byte((EE_ADDR)adress+i,id);
		id>>=8;
	}	
	eeprom_write_byte((EE_ADDR)(adress+10),0xf0);//write bind flag in eeprom.
	return id;
}

/**************************/
/**************************/
/**  Interrupt routines  **/
/**************************/
/**************************/

//PPM
#ifdef ENABLE_PPM
	#ifdef ORANGE_TX
		#if PPM_pin == 2
			ISR(PORTD_INT0_vect)
		#else
			ISR(PORTD_INT1_vect)
		#endif
	#elif defined STM32_BOARD
		void PPM_decode()
	#else
		#if PPM_pin == 2
			ISR(INT0_vect, ISR_NOBLOCK)
		#else
			ISR(INT1_vect, ISR_NOBLOCK)
		#endif
	#endif
	{	// Interrupt on PPM pin
		static int8_t chan=0,bad_frame=1;
		static uint16_t Prev_TCNT1=0;
		uint16_t Cur_TCNT1;

		Cur_TCNT1 = TCNT1 - Prev_TCNT1 ;	// Capture current Timer1 value
		if(Cur_TCNT1<1000)
			bad_frame=1;					// bad frame
		else
			if(Cur_TCNT1>4840)
			{  //start of frame
				if(chan>3)
					PPM_FLAG_on;			// good frame received if at least 4 channels have been seen
				chan=0;						// reset channel counter
				bad_frame=0;
			}
			else
				if(bad_frame==0)			// need to wait for start of frame
				{  //servo values between 500us and 2420us will end up here
					PPM_data[chan]= Cur_TCNT1>>1;;
					if(chan++>=NUM_CHN)
						bad_frame=1;		// don't accept any new channels
				}
		Prev_TCNT1+=Cur_TCNT1;
	}
#endif //ENABLE_PPM

//Serial RX
#ifdef ENABLE_SERIAL
	#ifdef ORANGE_TX
		ISR(USARTC0_RXC_vect)
	#elif defined STM32_BOARD
		void __irq_usart2()			
	#else
		ISR(USART_RX_vect)
	#endif
	{	// RX interrupt
		static uint8_t idx=0;
		#ifdef ORANGE_TX
			if((USARTC0.STATUS & 0x1C)==0)		// Check frame error, data overrun and parity error
		#elif defined STM32_BOARD
			if((USART2_BASE->SR & USART_SR_RXNE) && (USART2_BASE->SR &0x0F)==0)					
		#else
			UCSR0B &= ~_BV(RXCIE0) ;			// RX interrupt disable
			sei() ;
			if((UCSR0A&0x1C)==0)				// Check frame error, data overrun and parity error
		#endif
		{ // received byte is ok to process
			if(idx==0||discard_frame==1)
			{	// Let's try to sync at this point
				idx=0;discard_frame=0;
				RX_MISSED_BUFF_off;			// If rx_buff was good it's not anymore...
				rx_buff[0]=UDR0;
				if((rx_buff[0]&0xFE)==0x54)	// If 1st byte is 0x54 or 0x55 it looks ok
				{
					TX_RX_PAUSE_on;
					tx_pause();
					#if defined STM32_BOARD
						uint16_t OCR1B;
						OCR1B =TCNT1+(6500L);
						timer.setCompare(TIMER_CH2,OCR1B);
						timer.attachCompare2Interrupt(ISR_COMPB);
					#else
						OCR1B = TCNT1+(6500L) ;	// Full message should be received within timer of 3250us
						TIFR1 = OCF1B_bm ;		// clear OCR1B match flag
						SET_TIMSK1_OCIE1B ;		// enable interrupt on compare B match
					#endif
					idx++;
				}
			}
			else
			{
				rx_buff[idx++]=UDR0;		// Store received byte
				if(idx>=RXBUFFER_SIZE)
				{	// A full frame has been received
					if(!IS_RX_DONOTUPDTAE_on)
					{ //Good frame received and main is not working on the buffer
						memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
						RX_FLAG_on;			// flag for main to process servo data
					}
					else
						RX_MISSED_BUFF_on;	// notify that rx_buff is good
					discard_frame=1; 		// start again
				}
			}
		}
		else
		{
			idx=UDR0;						// Dummy read
			discard_frame=1;				// Error encountered discard full frame...
		}
		if(discard_frame==1)
		{
			#ifdef STM32_BOARD
				detachInterrupt(2);			// Disable interrupt on ch2	
			#else							
				CLR_TIMSK1_OCIE1B;			// Disable interrupt on compare B match
			#endif
			TX_RX_PAUSE_off;
			tx_resume();
		}
		#if not defined (ORANGE_TX) && not defined (STM32_BOARD)
			cli() ;
			UCSR0B |= _BV(RXCIE0) ;			// RX interrupt enable
		#endif
	}

	//Serial timer
	#ifdef ORANGE_TX
		ISR(TCC1_CCB_vect)
	#elif defined STM32_BOARD
		void ISR_COMPB()
	#else
		ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
	#endif
	{	// Timer1 compare B interrupt
		discard_frame=1;
		#ifdef STM32_BOARD
			detachInterrupt(2);				// Disable interrupt on ch2
		#else
			CLR_TIMSK1_OCIE1B;				// Disable interrupt on compare B match
		#endif
		tx_resume();
	}
#endif //ENABLE_SERIAL

#if not defined (ORANGE_TX) && not defined (STM32_BOARD)
	// Random interrupt service routine called every time the WDT interrupt is triggered.
	// It is only enabled at startup to generate a seed.
	ISR(WDT_vect)
	{
		static uint8_t gWDT_buffer_position=0;
		#define gWDT_buffer_SIZE 32
		static uint8_t gWDT_buffer[gWDT_buffer_SIZE];
		gWDT_buffer[gWDT_buffer_position] = TCNT1L; // Record the Timer 1 low byte (only one needed) 
		gWDT_buffer_position++;                     // every time the WDT interrupt is triggered
		if (gWDT_buffer_position >= gWDT_buffer_SIZE)
		{
			// The following code is an implementation of Jenkin's one at a time hash
			for(uint8_t gWDT_loop_counter = 0; gWDT_loop_counter < gWDT_buffer_SIZE; ++gWDT_loop_counter)
			{
				gWDT_entropy += gWDT_buffer[gWDT_loop_counter];
				gWDT_entropy += (gWDT_entropy << 10);
				gWDT_entropy ^= (gWDT_entropy >> 6);
			}
			gWDT_entropy += (gWDT_entropy << 3);
			gWDT_entropy ^= (gWDT_entropy >> 11);
			gWDT_entropy += (gWDT_entropy << 15);
			WDTCSR = 0;	// Disable Watchdog interrupt
		}
	}
#endif