mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2026-01-08 00:33:16 +00:00
Invert serial, optimization and SFHSS
This commit is contained in:
pascallanger
@@ -36,6 +36,8 @@ uint32_t Model_fixed_id=0;
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uint32_t fixed_id;
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uint8_t cyrfmfg_id[6];//for dsm2 and devo
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uint32_t blink=0;
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uint8_t prev_option;
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uint8_t prev_power=0xFD; // unused power value
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//
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uint16_t counter;
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uint8_t channel;
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@@ -85,11 +87,19 @@ uint8_t protocol_flags=0,protocol_flags2=0;
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volatile uint16_t PPM_data[NUM_CHN];
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// Serial variables
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#ifdef INVERT_TELEMETRY
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// enable bit bash for serial
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#define BASH_SERIAL 1
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#define INVERT_SERIAL 1
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#endif
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#define BAUD 100000
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#define RXBUFFER_SIZE 25
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#define TXBUFFER_SIZE 20
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#define TXBUFFER_SIZE 32
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volatile uint8_t rx_buff[RXBUFFER_SIZE];
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volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
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#ifndef BASH_SERIAL
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volatile uint8_t tx_buff[TXBUFFER_SIZE];
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#endif
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volatile uint8_t idx = 0;
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//Serial protocol
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@@ -112,8 +122,10 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
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#define HUB_TELEMETRY
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#endif
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uint8_t pktt[MAX_PKT];//telemetry receiving packets
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#ifndef BASH_SERIAL
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volatile uint8_t tx_head=0;
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volatile uint8_t tx_tail=0;
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#endif // BASH_SERIAL
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uint8_t v_lipo;
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int16_t RSSI_dBm;
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//const uint8_t RSSI_offset=72;//69 71.72 values db
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@@ -283,9 +295,11 @@ void loop()
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{
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for(uint8_t i=0;i<NUM_CHN;i++)
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{ // update servo data without interrupts to prevent bad read in protocols
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uint16_t temp_ppm ;
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cli(); // disable global int
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Servo_data[i]=PPM_data[i];
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temp_ppm = PPM_data[i] ;
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sei(); // enable global int
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Servo_data[i]= temp_ppm ;
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}
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update_aux_flags();
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PPM_FLAG_off; // wait for next frame before update
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@@ -348,8 +362,10 @@ static void CheckTimer(uint16_t (*cb)(void))
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#else
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if( (TIFR1 & (1<<OCF1A)) != 0)
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{
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uint16_t temp ;
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temp = TCNT1 ;
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cli(); // disable global int
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OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
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OCR1A=temp; // Callback should already have been called... Use "now" as new sync point.
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sei(); // enable global int
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}
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else
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@@ -361,28 +377,34 @@ static void CheckTimer(uint16_t (*cb)(void))
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while(next_callback>4000)
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{ // start to wait here as much as we can...
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next_callback=next_callback-2000;
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cli(); // disable global int
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#ifdef XMEGA
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cli(); // disable global int
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TCC1.CCA +=2000*2; // set compare A for callback
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TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
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sei(); // enable global int
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while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
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#else
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OCR1A+=2000*2; // set compare A for callback
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uint16_t temp ;
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temp = OCR1A + 2000*2 ;
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cli(); // disable global int
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OCR1A = temp ; // set compare A for callback
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TIFR1=(1<<OCF1A); // clear compare A=callback flag
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sei(); // enable global int
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while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms...
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#endif
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}
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// at this point we have between 2ms and 4ms in next_callback
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cli(); // disable global int
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#ifdef XMEGA
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cli(); // disable global int
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TCC1.CCA +=next_callback*2; // set compare A for callback
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TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
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diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator
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sei(); // enable global int
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#else
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OCR1A+=next_callback*2; // set compare A for callback
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next_callback *= 2 ;
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next_callback += OCR1A ;
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cli(); // disable global int
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OCR1A = next_callback ; // set compare A for callback
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TIFR1=(1<<OCF1A); // clear compare A=callback flag
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diff=OCR1A-TCNT1; // compare timer and comparator
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sei(); // enable global int
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@@ -657,6 +679,7 @@ static void module_reset()
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break;
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}
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}
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prev_power=0xFD; // unused power value
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}
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int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
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@@ -721,22 +744,6 @@ uint16_t limit_channel_100(uint8_t ch)
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return Servo_data[ch];
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}
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#if defined(TELEMETRY)
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void Serial_write(uint8_t data)
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{
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cli(); // disable global int
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if(++tx_head>=TXBUFFER_SIZE)
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tx_head=0;
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tx_buff[tx_head]=data;
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#ifdef XMEGA
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USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
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#else
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UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
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#endif
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sei(); // enable global int
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}
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#endif
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static void Mprotocol_serial_init()
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{
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#ifdef XMEGA
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@@ -766,7 +773,7 @@ static void Mprotocol_serial_init()
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#ifdef DEBUG_TX
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TX_SET_OUTPUT;
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#else
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UCSR0B |= (1<<TXEN0);//tx enable
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initTXSerial( SPEED_100K ) ;
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#endif
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#endif
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}
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@@ -774,22 +781,7 @@ static void Mprotocol_serial_init()
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#if defined(TELEMETRY)
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static void PPM_Telemetry_serial_init()
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{
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#ifdef XMEGA
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USARTC0.BAUDCTRLA = 207 ;
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USARTC0.BAUDCTRLB = 0 ;
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USARTC0.CTRLB = 0x18 ;
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USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
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USARTC0.CTRLC = 0x03 ;
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#else
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//9600 bauds
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UBRR0H = 0x00;
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UBRR0L = 0x67;
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UCSR0A = 0 ; // Clear X2 bit
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//Set frame format to 8 data bits, none, 1 stop bit
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UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
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UCSR0B = (1<<TXEN0);//tx enable
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#endif
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initTXSerial( SPEED_9600 ) ;
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}
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#endif
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@@ -998,7 +990,7 @@ void init()
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#ifdef XMEGA
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ISR(PORTD_INT0_vect)
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#else
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ISR(INT1_vect)
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ISR(INT1_vect, ISR_NOBLOCK)
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#endif
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{ // Interrupt on PPM pin
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static int8_t chan=-1;
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@@ -1021,10 +1013,10 @@ ISR(INT1_vect)
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else
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if(chan!=-1) // need to wait for start of frame
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{ //servo values between 500us and 2420us will end up here
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uint16_t a = Cur_TCNT1>>1;
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if(a<PPM_MIN) a=PPM_MIN;
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else if(a>PPM_MAX) a=PPM_MAX;
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PPM_data[chan]=a;
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uint16_t temp = Cur_TCNT1>>1;
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if(temp<PPM_MIN) temp=PPM_MIN;
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else if(temp>PPM_MAX) temp=PPM_MAX;
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PPM_data[chan]=temp;
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if(chan++>=NUM_CHN)
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chan=-1; // don't accept any new channels
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}
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@@ -1041,6 +1033,10 @@ ISR(USART_RX_vect)
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#ifdef XMEGA
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if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
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#else
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UCSR0B &= ~(1<<RXCIE0) ; //rx interrupt disable
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sei() ;
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if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
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#endif
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{ // received byte is ok to process
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@@ -1080,8 +1076,9 @@ ISR(USART_RX_vect)
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#endif
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if(!IS_RX_FLAG_on)
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{ //Good frame received and main has finished with previous buffer
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for(idx=0;idx<RXBUFFER_SIZE;idx++)
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rx_ok_buff[idx]=rx_buff[idx]; // Duplicate the buffer
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uint8_t i ;
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for(i=0;i<RXBUFFER_SIZE;i++)
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rx_ok_buff[i]=rx_buff[i]; // Duplicate the buffer
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RX_FLAG_on; // flag for main to process servo data
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}
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idx=0; // start again
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@@ -1097,42 +1094,21 @@ ISR(USART_RX_vect)
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#endif
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idx=0; // Error encountered discard full frame...
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}
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#ifndef XMEGA
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cli() ;
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UCSR0B |= (1<<RXCIE0) ;//rx enable interrupt
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#endif
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}
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//Serial timer
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#ifdef XMEGA
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ISR(TCC1_CCB_vect)
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#else
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ISR(TIMER1_COMPB_vect)
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//ISR(TIMER1_COMPB_vect)
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ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
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#endif
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{ // Timer1 compare B interrupt
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idx=0;
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}
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#if defined(TELEMETRY)
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//Serial TX
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#ifdef XMEGA
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ISR(USARTC0_DRE_vect)
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#else
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ISR(USART_UDRE_vect)
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#endif
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{ // Transmit interrupt
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if(tx_head!=tx_tail)
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{
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if(++tx_tail>=TXBUFFER_SIZE)//head
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tx_tail=0;
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#ifdef XMEGA
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USARTC0.DATA = tx_buff[tx_tail] ;
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#else
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UDR0=tx_buff[tx_tail];
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#endif
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}
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if (tx_tail == tx_head)
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#ifdef XMEGA
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USARTC0.CTRLA &= ~0x03 ;
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#else
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UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
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#endif
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}
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#endif
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