gomaomao/DIY-Multiprotocol-TX-Module
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New _Config.h file, MJXQ fix, 16 bit regs

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pascallanger
2016-08-24 14:52:47 +02:00
parent 988d28f2fd
commit 061c97caca
13 changed files with 563 additions and 370 deletions
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69
Multiprotocol/Multiprotocol.ino
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@@ -28,6 +28,7 @@
//Multiprotocol module configuration file
#include "_Config.h"
#include "TX_Def.h"
//Global constants/variables
uint32_t MProtocol_id;//tx id,
@@ -47,6 +48,7 @@ uint8_t packet[40];
// 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 rx_tx_addr[5];
@@ -195,8 +197,10 @@ void setup()
// Set servos positions
for(uint8_t i=0;i<NUM_CHN;i++)
Servo_data[i]=1500;
Servo_data[THROTTLE]=PPM_MIN_100;
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);
@@ -217,9 +221,6 @@ void setup()
#else
mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
#endif
//**********************************
//mode_select=1; // here to test PPM
//**********************************
// Update LED
LED_OFF;
@@ -242,6 +243,7 @@ void setup()
NRF24L01_Reset();
#endif
#ifdef ENABLE_PPM
//Protocol and interrupts initialization
if(mode_select != MODE_SERIAL)
{ // PPM
@@ -254,6 +256,8 @@ void setup()
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();
@@ -268,17 +272,23 @@ void setup()
#endif
}
else
#endif //ENABLE_PPM
{ // Serial
#ifdef ENABLE_SERIAL
cur_protocol[0]=0;
cur_protocol[1]=0;
prev_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
void loop()
{
#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
@@ -291,6 +301,8 @@ void loop()
CHANGE_PROTOCOL_FLAG_off; //done
}
}
#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++)
@@ -299,11 +311,14 @@ void loop()
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
}
#endif //ENABLE_PPM
update_led_status();
#if defined(TELEMETRY)
if( ((cur_protocol[0]&0x1F)==MODE_FRSKY) || ((cur_protocol[0]&0x1F)==MODE_HUBSAN) || ((cur_protocol[0]&0x1F)==MODE_FRSKYX) || ((cur_protocol[0]&0x1F)==MODE_DSM2) )
@@ -362,10 +377,8 @@ static void CheckTimer(uint16_t (*cb)(void))
#else
if( (TIFR1 & (1<<OCF1A)) != 0)
{
uint16_t temp ;
temp = TCNT1 ;
cli(); // disable global int
OCR1A=temp; // Callback should already have been called... Use "now" as new sync point.
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int
}
else
@@ -384,10 +397,8 @@ static void CheckTimer(uint16_t (*cb)(void))
sei(); // enable global int
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
#else
uint16_t temp ;
temp = OCR1A + 2000*2 ;
cli(); // disable global int
OCR1A = temp ; // set compare A for callback
OCR1A = OCR1A + 2000*2 ; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag
sei(); // enable global int
while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms...
@@ -595,7 +606,7 @@ static void protocol_init()
if(next_callback>32000)
{ // next_callback should not be more than 32767 so we will wait here...
uint16_t temp=next_callback>>10-2;
uint16_t temp=(next_callback>>10)-2;
delayMilliseconds(temp);
next_callback-=temp<<10; // between 2-3ms left at this stage
}
@@ -612,7 +623,7 @@ static void protocol_init()
BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
}
static void update_serial_data()
void update_serial_data()
{
if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on;
@@ -660,7 +671,7 @@ static void update_serial_data()
RX_FLAG_off; //data has been processed
}
static void module_reset()
void module_reset()
{
if(remote_callback)
{ // previous protocol loaded
@@ -703,13 +714,13 @@ int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t
// Channel value is converted to 8bit values full scale
uint8_t convert_channel_8b(uint8_t num)
{
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,0,255));
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255));
}
// Channel value is converted to 8bit values to provided values scale
uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
{
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,min,max));
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max));
}
// Channel value is converted sign + magnitude 8bit values
@@ -723,7 +734,7 @@ uint8_t convert_channel_s8b(uint8_t num)
// Channel value is converted to 10bit values
uint16_t convert_channel_10b(uint8_t num)
{
return (uint16_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,1,1023));
return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023));
}
// Channel value is multiplied by 1.5
@@ -743,15 +754,15 @@ void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
// Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch)
{
if(Servo_data[ch]>PPM_MAX_100)
return PPM_MAX_100;
if(Servo_data[ch]>servo_max_100)
return servo_max_100;
else
if (Servo_data[ch]<PPM_MIN_100)
return PPM_MIN_100;
if (Servo_data[ch]<servo_min_100)
return servo_min_100;
return Servo_data[ch];
}
static void Mprotocol_serial_init()
void Mprotocol_serial_init()
{
#ifdef XMEGA
@@ -787,7 +798,7 @@ static void Mprotocol_serial_init()
}
#if defined(TELEMETRY)
static void PPM_Telemetry_serial_init()
void PPM_Telemetry_serial_init()
{
initTXSerial( SPEED_9600 ) ;
}
@@ -843,6 +854,7 @@ void SPI_Write(uint8_t command)
SDI_on;
else
SDI_off;
NOP();
SCK_on;
NOP();
command = command << 1;
@@ -982,6 +994,7 @@ void init()
/**************************/
//PPM
#ifdef ENABLE_PPM
#ifdef XMEGA
ISR(PORTD_INT0_vect)
#else
@@ -1008,17 +1021,16 @@ ISR(INT1_vect, ISR_NOBLOCK)
else
if(chan!=-1) // need to wait for start of frame
{ //servo values between 500us and 2420us will end up here
uint16_t temp = Cur_TCNT1>>1;
if(temp<PPM_MIN) temp=PPM_MIN;
else if(temp>PPM_MAX) temp=PPM_MAX;
PPM_data[chan]=temp;
PPM_data[chan]= Cur_TCNT1>>1;;
if(chan++>=NUM_CHN)
chan=-1; // don't accept any new channels
}
Prev_TCNT1+=Cur_TCNT1;
}
#endif //ENABLE_PPM
//Serial RX
#ifdef ENABLE_SERIAL
#ifdef XMEGA
ISR(USARTC0_RXC_vect)
#else
@@ -1071,8 +1083,7 @@ ISR(USART_RX_vect)
#endif
if(!IS_RX_FLAG_on)
{ //Good frame received and main has finished with previous buffer
uint8_t i ;
for(i=0;i<RXBUFFER_SIZE;i++)
for(uint8_t i=0;i<RXBUFFER_SIZE;i++)
rx_ok_buff[i]=rx_buff[i]; // Duplicate the buffer
RX_FLAG_on; // flag for main to process servo data
}
@@ -1106,4 +1117,4 @@ ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
{ // Timer1 compare B interrupt
idx=0;
}
#endif //ENABLE_SERIAL