gomaomao/DIY-Multiprotocol-TX-Module
1
0
Fork 0
mirror of https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git synced 2025-07-03 12:07:52 +00:00
Code Issues Projects Releases Wiki Activity

Update to last Pascal mod.

Browse Source
This commit is contained in:
midelic 2016-09-01 14:13:24 +01:00 committed by GitHub
parent 9df79e400f
commit 2c3b64cde8
1 changed files with 949 additions and 936 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

287
Multiprotocol/Multiprotocol.ino
View File

@ -21,7 +21,7 @@
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/ */
#define STM32_board #define STM32_board
#undef __cplusplus //#undef __cplusplus
#if defined STM32_board #if defined STM32_board
#include "Multiprotocol_STM32.h" #include "Multiprotocol_STM32.h"
#include <EEPROM.h> #include <EEPROM.h>
@ -462,8 +462,8 @@ void loop()
} }
void Update_All() void Update_All()
{ {
#ifndef STM32_board #ifndef STM32_board
TX_ON; TX_ON;
NOP(); NOP();
@ -511,21 +511,21 @@ void loop()
NOP(); NOP();
TX_OFF; TX_OFF;
#endif #endif
} }
// Update Servo_AUX flags based on servo AUX positions // Update Servo_AUX flags based on servo AUX positions
static void update_aux_flags(void) static void update_aux_flags(void)
{ {
Servo_AUX=0; Servo_AUX=0;
for(uint8_t i=0;i<8;i++) for(uint8_t i=0;i<8;i++)
if(Servo_data[AUX1+i]>PPM_SWITCH) if(Servo_data[AUX1+i]>PPM_SWITCH)
Servo_AUX|=1<<i; Servo_AUX|=1<<i;
} }
// Update led status based on binding and serial // Update led status based on binding and serial
static void update_led_status(void) static void update_led_status(void)
{ {
if(blink<millis()) if(blink<millis())
{ {
if(cur_protocol[0]==0) // No valid serial received at least once if(cur_protocol[0]==0) // No valid serial received at least once
@ -545,10 +545,10 @@ void loop()
blink+=BLINK_BIND_TIME; //blink fastly during binding blink+=BLINK_BIND_TIME; //blink fastly during binding
LED_TOGGLE; LED_TOGGLE;
} }
} }
inline void tx_pause() inline void tx_pause()
{ {
#ifdef TELEMETRY #ifdef TELEMETRY
#ifdef XMEGA #ifdef XMEGA
USARTC0.CTRLA &= ~0x03 ; // Pause telemetry by disabling transmitter interrupt USARTC0.CTRLA &= ~0x03 ; // Pause telemetry by disabling transmitter interrupt
@ -562,11 +562,11 @@ void loop()
#endif #endif
#endif #endif
#endif #endif
} }
inline void tx_resume() inline void tx_resume()
{ {
#ifdef TELEMETRY #ifdef TELEMETRY
if(!IS_TX_PAUSE_on) if(!IS_TX_PAUSE_on)
#ifdef XMEGA #ifdef XMEGA
@ -579,11 +579,11 @@ void loop()
#endif #endif
#endif #endif
#endif #endif
} }
#ifdef STM32_board #ifdef STM32_board
void start_timer2(){ void start_timer2(){
// Pause the timer while we're configuring it // Pause the timer while we're configuring it
timer.pause(); timer.pause();
TIMER2_BASE->PSC = 35;//36-1;for 72 MHZ /0.5sec/(35+1) TIMER2_BASE->PSC = 35;//36-1;for 72 MHZ /0.5sec/(35+1)
@ -593,12 +593,12 @@ void loop()
// Refresh the timer's count, prescale, and overflow // Refresh the timer's count, prescale, and overflow
timer.refresh(); timer.refresh();
timer.resume(); timer.resume();
} }
#endif #endif
// Protocol scheduler // Protocol scheduler
static void CheckTimer(uint16_t (*cb)(void)) static void CheckTimer(uint16_t (*cb)(void))
{ {
uint16_t next_callback,diff; uint16_t next_callback,diff;
#ifdef XMEGA #ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0) if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
@ -690,11 +690,11 @@ void loop()
} }
while(diff&0x8000); // Callback did not took more than requested time for next callback while(diff&0x8000); // Callback did not took more than requested time for next callback
// so we can let main do its stuff before next callback // so we can let main do its stuff before next callback
} }
// Protocol start // Protocol start
static void protocol_init() static void protocol_init()
{ {
uint16_t next_callback=0; // Default is immediate call back uint16_t next_callback=0; // Default is immediate call back
remote_callback = 0; remote_callback = 0;
@ -934,10 +934,10 @@ void loop()
#endif #endif
#endif #endif
BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
} }
static void update_serial_data() static void update_serial_data()
{ {
RX_DONOTUPDTAE_on; RX_DONOTUPDTAE_on;
RX_FLAG_off; //data has been processed RX_FLAG_off; //data has been processed
if(rx_ok_buff[0]&0x20) //check range if(rx_ok_buff[0]&0x20) //check range
@ -1011,10 +1011,10 @@ void loop()
UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable
#endif #endif
#endif #endif
} }
void modules_reset() void modules_reset()
{ {
#ifdef CC2500_INSTALLED #ifdef CC2500_INSTALLED
CC2500_Reset(); CC2500_Reset();
#endif #endif
@ -1031,11 +1031,11 @@ void loop()
//Wait for every component to reset //Wait for every component to reset
delayMilliseconds(100); delayMilliseconds(100);
prev_power=0xFD; // unused power value prev_power=0xFD; // unused power value
} }
#ifndef STM32_board #ifndef STM32_board
int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
{ {
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; // return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
long y ; long y ;
x -= in_min ; x -= in_min ;
@ -1043,65 +1043,65 @@ void loop()
y *= x ; y *= x ;
x = y / (in_max - in_min) ; x = y / (in_max - in_min) ;
return x + out_min ; return x + out_min ;
} }
#endif #endif
// Channel value is converted to 8bit values full scale // Channel value is converted to 8bit values full scale
uint8_t convert_channel_8b(uint8_t num) uint8_t convert_channel_8b(uint8_t num)
{ {
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_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 // 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) uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
{ {
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_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 // Channel value is converted sign + magnitude 8bit values
uint8_t convert_channel_s8b(uint8_t num) uint8_t convert_channel_s8b(uint8_t num)
{ {
uint8_t ch; uint8_t ch;
ch = convert_channel_8b(num); ch = convert_channel_8b(num);
return (ch < 128 ? 127-ch : ch); return (ch < 128 ? 127-ch : ch);
} }
// Channel value is converted to 10bit values // Channel value is converted to 10bit values
uint16_t convert_channel_10b(uint8_t num) uint16_t convert_channel_10b(uint8_t num)
{ {
return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_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 // Channel value is multiplied by 1.5
uint16_t convert_channel_frsky(uint8_t num) uint16_t convert_channel_frsky(uint8_t num)
{ {
return Servo_data[num] + Servo_data[num]/2; return Servo_data[num] + Servo_data[num]/2;
} }
// Channel value is converted for HK310 // Channel value is converted for HK310
void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high) void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
{ {
uint16_t temp=0xFFFF-(4*Servo_data[num])/3; uint16_t temp=0xFFFF-(4*Servo_data[num])/3;
*low=(uint8_t)(temp&0xFF); *low=(uint8_t)(temp&0xFF);
*high=(uint8_t)(temp>>8); *high=(uint8_t)(temp>>8);
} }
// Channel value is limited to PPM_100 // Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch) uint16_t limit_channel_100(uint8_t ch)
{ {
if(Servo_data[ch]>servo_max_100) if(Servo_data[ch]>servo_max_100)
return servo_max_100; return servo_max_100;
else else
if (Servo_data[ch]<servo_min_100) if (Servo_data[ch]<servo_min_100)
return servo_min_100; return servo_min_100;
return Servo_data[ch]; return Servo_data[ch];
} }
// void Serial_write(uint8_t data){ // void Serial_write(uint8_t data){
// return; // return;
// } // }
static void Mprotocol_serial_init() static void Mprotocol_serial_init()
{ {
#ifdef XMEGA #ifdef XMEGA
@ -1143,29 +1143,29 @@ void loop()
#endif #endif
#endif #endif
#endif #endif
} }
#if defined(TELEMETRY) #if defined(TELEMETRY)
void PPM_Telemetry_serial_init() void PPM_Telemetry_serial_init()
{ {
initTXSerial( SPEED_9600 ) ; initTXSerial( SPEED_9600 ) ;
} }
#endif #endif
// Convert 32b id to rx_tx_addr // Convert 32b id to rx_tx_addr
static void set_rx_tx_addr(uint32_t id) static void set_rx_tx_addr(uint32_t id)
{ // Used by almost all protocols { // Used by almost all protocols
rx_tx_addr[0] = (id >> 24) & 0xFF; rx_tx_addr[0] = (id >> 24) & 0xFF;
rx_tx_addr[1] = (id >> 16) & 0xFF; rx_tx_addr[1] = (id >> 16) & 0xFF;
rx_tx_addr[2] = (id >> 8) & 0xFF; rx_tx_addr[2] = (id >> 8) & 0xFF;
rx_tx_addr[3] = (id >> 0) & 0xFF; rx_tx_addr[3] = (id >> 0) & 0xFF;
rx_tx_addr[4] = 0xC1; // for YD717: always uses first data port rx_tx_addr[4] = 0xC1; // for YD717: always uses first data port
} }
#if defined STM32_board #if defined STM32_board
static uint32_t random_id(uint16_t adress, uint8_t create_new) static uint32_t random_id(uint16_t adress, uint8_t create_new)
{ {
uint32_t id; uint32_t id;
uint8_t txid[4]; uint8_t txid[4];
pinMode(PB0, INPUT_ANALOG); // set up pin for analog input pinMode(PB0, INPUT_ANALOG); // set up pin for analog input
@ -1191,11 +1191,11 @@ void loop()
EEPROM.write(adress+100,0xF0); EEPROM.write(adress+100,0xF0);
} }
return id; return id;
} }
#else #else
static uint32_t random_id(uint16_t adress, uint8_t create_new) static uint32_t random_id(uint16_t adress, uint8_t create_new)
{ {
uint32_t id; uint32_t id;
uint8_t txid[4]; uint8_t txid[4];
@ -1217,26 +1217,26 @@ void loop()
eeprom_write_byte((uint8_t*)(adress+10),0xf0);//write bind flag in eeprom. eeprom_write_byte((uint8_t*)(adress+10),0xf0);//write bind flag in eeprom.
} }
return id; return id;
} }
#endif #endif
#ifndef XMEGA #ifndef XMEGA
#ifndef STM32_board #ifndef STM32_board
/************************************/ /************************************/
/** Arduino replacement routines **/ /** Arduino replacement routines **/
/************************************/ /************************************/
// replacement millis() and micros() // replacement millis() and micros()
// These work polled, no interrupts // These work polled, no interrupts
// micros() MUST be called at least once every 32 milliseconds // micros() MUST be called at least once every 32 milliseconds
uint16_t MillisPrecount ; uint16_t MillisPrecount ;
uint16_t lastTimerValue ; uint16_t lastTimerValue ;
uint32_t TotalMicros ; uint32_t TotalMicros ;
uint32_t TotalMillis ; uint32_t TotalMillis ;
uint8_t Correction ; uint8_t Correction ;
uint32_t micros() uint32_t micros()
{ {
uint16_t elapsed ; uint16_t elapsed ;
uint8_t millisToAdd ; uint8_t millisToAdd ;
uint8_t oldSREG = SREG ; uint8_t oldSREG = SREG ;
@ -1287,16 +1287,16 @@ void loop()
TotalMillis += millisToAdd ; TotalMillis += millisToAdd ;
MillisPrecount = elapsed ; MillisPrecount = elapsed ;
return TotalMicros ; return TotalMicros ;
} }
uint32_t millis() uint32_t millis()
{ {
micros() ; micros() ;
return TotalMillis ; return TotalMillis ;
} }
void delayMilliseconds(unsigned long ms) void delayMilliseconds(unsigned long ms)
{ {
uint16_t start = (uint16_t)micros(); uint16_t start = (uint16_t)micros();
uint16_t lms = ms ; uint16_t lms = ms ;
@ -1306,13 +1306,13 @@ void loop()
start += 1000; start += 1000;
} }
} }
} }
/* Important notes: /* Important notes:
- Max value is 16000µs - Max value is 16000µs
- delay is not accurate due to interrupts happening */ - delay is not accurate due to interrupts happening */
void delayMicroseconds(unsigned int us) void delayMicroseconds(unsigned int us)
{ {
if (--us == 0) if (--us == 0)
return; return;
us <<= 2; // * 4 us <<= 2; // * 4
@ -1321,36 +1321,36 @@ void loop()
"1: sbiw %0,1" "\n\t" // 2 cycles "1: sbiw %0,1" "\n\t" // 2 cycles
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles "brne 1b" : "=w" (us) : "0" (us) // 2 cycles
); );
} }
void init() void init()
{ {
// this needs to be called before setup() or some functions won't work there // this needs to be called before setup() or some functions won't work there
sei(); sei();
} }
#endif #endif
#endif #endif
/**************************/ /**************************/
/**************************/ /**************************/
/** Interrupt routines **/ /** Interrupt routines **/
/**************************/ /**************************/
/**************************/ /**************************/
//PPM //PPM
#ifdef ENABLE_PPM #ifdef ENABLE_PPM
#ifdef XMEGA #ifdef XMEGA
ISR(PORTD_INT0_vect) ISR(PORTD_INT0_vect)
#else #else
#ifdef STM32_board #ifdef STM32_board
void PPM_decode() void PPM_decode()
#else #else
ISR(INT1_vect) ISR(INT1_vect)
#endif #endif
#endif #endif
{ // Interrupt on PPM pin { // Interrupt on PPM pin
static int8_t chan=-1; static int8_t chan=-1;
static uint16_t Prev_TCNT1=0; static uint16_t Prev_TCNT1=0;
uint16_t Cur_TCNT1; uint16_t Cur_TCNT1;
@ -1381,20 +1381,19 @@ void loop()
chan=-1; // don't accept any new channels chan=-1; // don't accept any new channels
} }
Prev_TCNT1+=Cur_TCNT1; Prev_TCNT1+=Cur_TCNT1;
} }
#endif //ENABLE_PPM #endif //ENABLE_PPM
#ifdef ENABLE_SERIAL #ifdef ENABLE_SERIAL
//Serial RX //Serial RX
#ifdef XMEGA #ifdef XMEGA
ISR(USARTC0_RXC_vect) ISR(USARTC0_RXC_vect)
#else #else
#if defined STM32_board #if defined STM32_board
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
void __irq_usart2() void __irq_usart2()
#else #else
@ -1407,6 +1406,9 @@ void loop()
#ifdef XMEGA #ifdef XMEGA
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
#else #else
#ifndef STM32_board
UCSR0B &= ~_BV(RXCIE0) ; // RX interrupt disable
#endif
sei(); sei();
#if defined STM32_board #if defined STM32_board
if(USART2_BASE->SR & USART_SR_RXNE) { if(USART2_BASE->SR & USART_SR_RXNE) {
@ -1461,7 +1463,6 @@ void loop()
rx_buff[(idx++)-1]=USART2_BASE->DR&0xff; // Store received byte rx_buff[(idx++)-1]=USART2_BASE->DR&0xff; // Store received byte
#else #else
rx_buff[(idx++)-1]=UDR0; // Store received byte rx_buff[(idx++)-1]=UDR0; // Store received byte
#endif #endif
#endif #endif
@ -1475,7 +1476,7 @@ void loop()
} }
else else
RX_MISSED_BUFF_on; // notify that rx_buff is good RX_MISSED_BUFF_on; // notify that rx_buff is good
idx=0; // start again discard_frame=1; // start again
} }
} }
} }
@ -1502,33 +1503,42 @@ void loop()
detachInterrupt(2);//disable interrupt on ch2 detachInterrupt(2);//disable interrupt on ch2
#else #else
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
#endif #endif
#endif #endif
#ifndef STM32_board
#ifndef XMEGA
TX_RX_PAUSE_off;
tx_resume();
#endif
#endif
} }
#ifndef STM32_board)
cli() ;
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
#endif
#if defined STM32_board //If activated telemetry it doesn't work activated #if defined STM32_board //If activated telemetry it doesn't work activated
} }
#endif #endif
} }
#if defined STM32_board #if defined STM32_board
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif #endif
//Serial timer //Serial timer
#ifdef XMEGA #ifdef XMEGA
ISR(TCC1_CCB_vect) ISR(TCC1_CCB_vect)
#else #else
#if defined STM32_board #if defined STM32_board
void ISR_COMPB() void ISR_COMPB()
#else #else
ISR(TIMER1_COMPB_vect,ISR_NOBLOCK) ISR(TIMER1_COMPB_vect,ISR_NOBLOCK)
#endif #endif
#endif #endif
{ // Timer1 compare B interrupt { // Timer1 compare B interrupt
discard_frame=1; // Error encountered discard full frame... discard_frame=1; // Error encountered discard full frame...
#ifdef XMEGA #ifdef XMEGA
TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
@ -1539,7 +1549,10 @@ void loop()
TIMSK1 &=~(1<<OCIE1B); // Disable interrupt on compare B match TIMSK1 &=~(1<<OCIE1B); // Disable interrupt on compare B match
#endif #endif
#endif #endif
} #ifndef STM32_board
tx_resume();
#endif
}
#endif //ENABLE_SERIAL #endif //ENABLE_SERIAL