gomaomao/DIY-Multiprotocol-TX-Module
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Allow setting config parameters from TX and implement TX commands

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This commit is contained in:
Arne Schwabe 2017-05-04 05:37:41 +02:00
parent db1da2d9cf
commit 3e9359b6be
6 changed files with 151 additions and 44 deletions
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4
Multiprotocol/AFHDS2A_a7105.ino
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@ -245,7 +245,7 @@ uint16_t ReadAFHDS2A()
A7105_ReadData(AFHDS2A_RXPACKET_SIZE);
if(packet[0] == 0xbc && packet[9] == 0x01)
{
uint8_t temp=50+RX_num*4;
uint8_t temp=AFHDS2A_EEPROM_OFFSET+RX_num*4;
uint8_t i;
for(i=0; i<4; i++)
{
@ -361,7 +361,7 @@ uint16_t initAFHDS2A()
{
phase = AFHDS2A_DATA;
//Read RX ID from EEPROM based on RX_num, RX_num must be uniq for each RX
uint8_t temp=50+RX_num*4;
uint8_t temp=AFHDS2A_EEPROM_OFFSET+RX_num*4;
for(uint8_t i=0;i<4;i++)
rx_id[i]=eeprom_read_byte((EE_ADDR)(temp+i));
}

1
Multiprotocol/Devo_cyrf6936.ino
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@ -63,6 +63,7 @@ static void __attribute__((unused)) DEVO_add_pkt_suffix()
BIND_SET_PULLUP; // set pullup
if(IS_BIND_BUTTON_on)
{
eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x01); // Set fixed id mode for the current model
option=1;
}

34
Multiprotocol/Multiprotocol.h
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@ -243,7 +243,6 @@ struct PPM_Parameters
};
// Telemetry
enum MultiPacketTypes
{
MULTI_TELEMETRY_STATUS = 1,
@ -254,7 +253,7 @@ enum MultiPacketTypes
MULTI_TELEMETRY_AFHDS2A = 6,
MULTI_TELEMETRY_CONFIG = 7,
MULTI_TELEMETRY_SYNC = 8,
MULTI_TELEMETRY_SPORT_POLLING = 9,
MULTI_COMMAND_CONFIG = 0x80,
};
// Macros
@ -331,6 +330,12 @@ enum MultiPacketTypes
#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
#define IS_WAIT_BIND_off ( ( protocol_flags2 & _BV(7) ) ==0 )
//Configuration
#define IS_TELEMTRY_INVERSION_ON (multi_config & 0x01)
#define IS_MULTI_TELEMETRY_ON (multi_config & 0x02)
#define IS_EXTRA_TELEMETRY_ON (multi_config & 0x04)
// Failsafe
#define FAILSAFE_CHANNEL_HOLD 2047
#define FAILSAFE_CHANNEL_NOPULSES 0
@ -769,4 +774,29 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
data[0] = RSSI value
data[1-28] telemetry data
Type 0x08 Input synchronisation
Informs the TX about desired rate and current delay
length: 4
data[0-1] Desired refresh rate in µs
data[2-3] Time (µs) between last serial servo input received and servo input needed (lateness), TX should adjust its
sending time to minimise this value.
data[4] Interval of this message in ms
data[5] Input delay target in 10µs
Note that there are protocols (AFHDS2A) that have a refresh rate that is smaller than the maximum achievable
refresh rate via the serial protocol, in this case, the TX should double the rate and also subract this
refresh rate from the input lag if the input lag is more than the desired refresh rate.
The remote should try to get to zero of (inputdelay+target*10).
Commands from TX to module use values > 127 for command type
Type 0x80 Module Configuration
This sent from the TX to Multi to configure inversion and multi telemetry type
length: 1
data[0] flags
0x01 Telemetry inversion (1 = inverted)
0x02 Use Multi telemetry protocol (if 0 use multi status)
0x04 Send extra telemetry (type 0x08) to allow input synchronisation
*/

133
Multiprotocol/Multiprotocol.ino
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@ -134,6 +134,14 @@ const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, CH5, CH6, CH7, CH8
uint8_t mode_select;
uint8_t protocol_flags=0,protocol_flags2=0;
#if defined(ALLOW_CONFIGURATION)
uint8_t multi_config;
#elif defined(INVERT_TELEMETRY)
const uint8_t multi_config = 0x1;
#else
const uint8_t multi_config = 0x0;
#endif
#ifdef ENABLE_PPM
// PPM variable
volatile uint16_t PPM_data[NUM_CHN];
@ -221,6 +229,9 @@ void setup()
while (!Serial); // Wait for ever for the serial port to connect...
debugln("Multiprotocol version: %d.%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_REVISION, VERSION_PATCH_LEVEL);
#endif
#if defined(ALLOW_CONFIGURATION)
read_multimodule_config();
#endif
// General pinout
#ifdef ORANGE_TX
@ -253,15 +264,6 @@ void setup()
pinMode(PE2_pin,OUTPUT);
pinMode(TX_INV_pin,OUTPUT);
pinMode(RX_INV_pin,OUTPUT);
#if defined TELEMETRY
#if defined INVERT_SERIAL
TX_INV_on; //activate 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
@ -760,11 +762,11 @@ static void protocol_init()
telemetry_lost=1;
#ifdef BASH_SERIAL
TIMSK0 = 0 ; // Stop all timer 0 interrupts
#ifdef INVERT_SERIAL
if (IS_TELEMTRY_INVERSION_ON)
SERIAL_TX_off;
#else
else
SERIAL_TX_on;
#endif
SerialControl.tail=0;
SerialControl.head=0;
SerialControl.busy=0;
@ -1090,7 +1092,7 @@ static void protocol_init()
BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
}
void update_serial_data()
void parse_multi_frame()
{
RX_DONOTUPDATE_on;
RX_FLAG_off; //data is being processed
@ -1143,6 +1145,9 @@ void update_serial_data()
rx_ok_buff[0]&=0xFD; //remove the failsafe flag
FAILSAFE_VALUES_on; //failsafe data has been received
}
#else
if(rx_ok_buff[0]&0x02) // Failsafe data, ignore
return;
#endif
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
@ -1192,13 +1197,30 @@ void update_serial_data()
p++;
uint16_t temp=((*((uint32_t *)p))>>dec)&0x7FF;
#ifdef FAILSAFE_ENABLE
if(failsafe)
if(failsafe) {
Failsafe_data[i]=temp; //value range 0..2047, 0=no pulses, 2047=hold
else
debugln("RX_FS:%d,%d,%d,%d",Failsafe_data[0],Failsafe_data[1],Failsafe_data[2],Failsafe_data[3]);
} else
#endif
Channel_data[i]=temp; //value range 0..2047, 0=-125%, 2047=+125%
}
RX_DONOTUPDATE_off;
}
void update_serial_data()
{
RX_DONOTUPDTAE_on;
RX_FLAG_off; //data is being processed
if (rx_ok_buff[0] == 'M')
#ifdef ALLOW_CONFIGURATION
parse_serial_multi_command();
#else
;
#endif
else
parse_multi_frame();
RX_DONOTUPDTAE_off;
>>>>>>> Allow setting config parameters from TX and implement TX commands
#ifdef ORANGE_TX
cli();
#else
@ -1214,12 +1236,58 @@ void update_serial_data()
#else
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
#endif
#ifdef FAILSAFE_ENABLE
if(failsafe)
debugln("RX_FS:%d,%d,%d,%d",Failsafe_data[0],Failsafe_data[1],Failsafe_data[2],Failsafe_data[3]);
#endif
}
#if defined(ALLOW_CONFIGURATION)
void read_multimodule_config() {
// Check if we have valid eeprom contents
if (eeprom_read_byte((EE_ADDR)(EEPROM_ID_VALID_OFFSET)) == 0xf0)
{
multi_config = eeprom_read_byte((EE_ADDR)(CONFIG_EEPROM_OFFSET));
}
else
{
// Set default values that should fit er9x/erksy9x
// OpenTX will override the values anyway
multi_config = 0x00;
eeprom_write_byte(CONFIG_EEPROM_OFFSET, multi_config);
}
}
void parse_serial_multi_command()
{
// Header 'M', 'P, Type, Len
if (rx_buff[1] != 'P')
return;
uint8_t len = rx_buff[3];
switch (rx_buff[2]) {
#ifdef ALLOW_CONFIGURATION
case MULTI_COMMAND_CONFIG: {
if (len == 0)
return;
uint8_t newconfig = rx_buff[4];
// Echo back config
multi_send_header (MULTI_COMMAND_CONFIG, 2);
Serial_write (multi_config);
Serial_write (newconfig);
if (newconfig != multi_config)
{
multi_config = newconfig;
eeprom_write_byte(CONFIG_EEPROM_OFFSET, newconfig);
// Reinit serial port to enable/disable inversion
Mprotocol_serial_init();
}
}
break;
#endif
default:
;
}
}
#endif
void modules_reset()
{
#ifdef CC2500_INSTALLED
@ -1257,10 +1325,16 @@ void modules_reset()
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCC) | 0x11 ;
USARTC0.CTRLC = 0x2B ;
UDR0 ;
#ifdef INVERT_SERIAL
if (IS_TELEMTRY_INVERSION_ON)
PORTC.PIN3CTRL |= 0x40 ;
#endif
#ifdef CHECK_FOR_BOOTLOADER
if (IS_TELEMTRY_INVERSION_ON) {
TX_INV_on;//activated inverter for both serial TX and RX signals
RX_INV_on;
} else {
TX_INV_off;
RX_INV_off;
}
if ( boot )
{
USARTC0.BAUDCTRLB = 0 ;
@ -1566,12 +1640,11 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
idx=0;discard_frame=0;
RX_MISSED_BUFF_off; // If rx_buff was good it's not anymore...
rx_buff[0]=UDR0;
#ifdef FAILSAFE_ENABLE
if((rx_buff[0]&0xFC)==0x54) // If 1st byte is 0x54, 0x55, 0x56 or 0x57 it looks ok
#else
if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok
#endif
if((rx_buff[0]&0xFC)==0x54 || rx_buff[0]=='M') // If 1st byte is 0x54, 0x55, 0x56 or 0x57 or 'M' it looks ok
{
// Note that we also flag failsafe and multi command okay as first byte and throw it away (after 3,25ms)
// so we don't sync to the wrong byte if the features are not enabled
TX_RX_PAUSE_on;
tx_pause();
#if defined STM32_BOARD
@ -1589,9 +1662,9 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
else
{
rx_buff[idx++]=UDR0; // Store received byte
if(idx>=RXBUFFER_SIZE)
{ // A full frame has been received
if(!IS_RX_DONOTUPDATE_on)
if(idx>=RXBUFFER_SIZE || (rx_buff[0] == 'M' && idx >= 4 && rx_buff[3] == idx-4)) // A full frame has been received or a long enough multicommand message
{
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

6
Multiprotocol/Telemetry.ino
View File

@ -79,12 +79,10 @@ uint8_t frame[18];
static void multi_send_header(uint8_t type, uint8_t len)
{
Serial_write('M');
#ifdef MULTI_TELEMETRY
if (IS_MULTI_TELEMETRY_ON) {
Serial_write('P');
Serial_write(type);
#else
(void)type;
#endif
}
Serial_write(len);
}

7
Multiprotocol/_Config.h
View File

@ -217,6 +217,11 @@
/**************************/
//In this section you can configure the telemetry.
// Allow settings of configuration from TX side (serial inversion (not on AVR!), and telemetry type)
// Allows the same firmware to be used for ersky9x/9x and OpenTX, defaults to er9x/ersky9x when no configuration from
// TX is sent
#define ALLOW_CONFIGURATION
//If you do not plan using the telemetry comment this global setting using "//" and skip to the next section.
#define TELEMETRY
@ -234,7 +239,7 @@
//Uncomment to send Multi status and allow OpenTX to autodetect the telemetry format
//Supported by OpenTX version 2.2 RC9 and newer. NOT supported by er9x/ersky9x use MULTI_STATUS instead.
//#define MULTI_TELEMETRY
#define MULTI_TELEMETRY
//Comment a line to disable a specific protocol telemetry
#define DSM_TELEMETRY // Forward received telemetry packet directly to TX to be decoded