Invert serial, optimization and SFHSS

Multiprotocol/A7105_SPI.ino

@@ -155,7 +155,11 @@ void A7105_SetPower()
 		power=IS_POWER_FLAG_on?A7105_HIGH_POWER:A7105_LOW_POWER;
 	if(IS_RANGE_FLAG_on)
 		power=A7105_RANGE_POWER;
-	A7105_WriteReg(0x28, power);
+	if(prev_power != power)
+	{
+		A7105_WriteReg(0x28, power);
+		prev_power=power;
+	}
 }
 
 void A7105_Strobe(uint8_t address) {

Multiprotocol/CC2500_SPI.ino

@@ -125,7 +125,11 @@ void CC2500_SetPower()
 		power=IS_POWER_FLAG_on?CC2500_HIGH_POWER:CC2500_LOW_POWER;
 	if(IS_RANGE_FLAG_on)
 		power=CC2500_RANGE_POWER;
-	CC2500_WriteReg(CC2500_3E_PATABLE, power);
+	if(prev_power != power)
+	{
+		CC2500_WriteReg(CC2500_3E_PATABLE, power);
+		prev_power=power;
+	}
 }
 
 void CC2500_SetTxRxMode(uint8_t mode)

Multiprotocol/CYRF6936_SPI.ino

@@ -128,7 +128,11 @@ void CYRF_SetPower(uint8_t val)
 		power=IS_POWER_FLAG_on?CYRF_HIGH_POWER:CYRF_LOW_POWER;
 	if(IS_RANGE_FLAG_on)
 		power=CYRF_RANGE_POWER;
-	CYRF_WriteRegister(CYRF_03_TX_CFG, val | power);
+	if(prev_power != power)
+	{
+		CYRF_WriteRegister(CYRF_03_TX_CFG, val | power);
+		prev_power=power;
+	}
 }
 
 /*

Multiprotocol/DSM2_cyrf6936.ino

@@ -416,7 +416,7 @@ uint16_t ReadDsm2()
 #define DSM_CH1_CH2_DELAY	4010	// Time between write of channel 1 and channel 2
 #define DSM_WRITE_DELAY		1550	// Time after write to verify write complete
 #define DSM_READ_DELAY		600		// Time before write to check read state, and switch channels. Was 400 but 500 seems what the 328p needs to read a packet
-	uint32_t start;
+	uint16_t start;
 
 	switch(cyrf_state)
 	{
@@ -458,7 +458,7 @@ uint16_t ReadDsm2()
 		case DSM2_CH1_CHECK_A:
 		case DSM2_CH1_CHECK_B:
 			start=micros();
-			while (micros()-start < 500)				// Wait max 500µs
+			while ((uint16_t)micros()-start < 500)				// Wait max 500µs
 				if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
 					break;
 			set_sop_data_crc();
@@ -467,7 +467,7 @@ uint16_t ReadDsm2()
 		case DSM2_CH2_CHECK_A:
 		case DSM2_CH2_CHECK_B:
 			start=micros();
-			while (micros()-start < 500)				// Wait max 500µs
+			while ((uint16_t)micros()-start < 500)				// Wait max 500µs
 				if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
 					break;
 			if (cyrf_state == DSM2_CH2_CHECK_A)
@@ -501,7 +501,7 @@ uint16_t ReadDsm2()
 				//Force end read state
 				CYRF_WriteRegister(CYRF_0F_XACT_CFG, (CYRF_ReadRegister(CYRF_0F_XACT_CFG) | 0x20));  // Force end state
 				start=micros();
-				while (micros()-start < 100)	// Wait max 100 µs
+				while ((uint16_t)micros()-start < 100)	// Wait max 100 µs
 					if((CYRF_ReadRegister(CYRF_0F_XACT_CFG) & 0x20) == 0)
 						break;
 				cyrf_state = DSM2_CH2_READ_B;

Multiprotocol/Devo_cyrf6936.ino

@@ -116,24 +116,28 @@ static void __attribute__((unused)) build_beacon_pkt(uint8_t upper)
 	add_pkt_suffix();
 }
 
+#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
+
 static void __attribute__((unused)) build_bind_pkt()
 {
-	packet[0] = (DEVO_NUM_CHANNELS << 4) | 0x0a;
+	uint8_t *p = packet ;
-	packet[1] = bind_counter & 0xff;
+	FORCE_INDIRECT(p) ;
-	packet[2] = (bind_counter >> 8);
+	p[0] = (DEVO_NUM_CHANNELS << 4) | 0x0a;
-	packet[3] = *hopping_frequency_ptr;
+	p[1] = bind_counter & 0xff;
-	packet[4] = *(hopping_frequency_ptr + 1);
+	p[2] = (bind_counter >> 8);
-	packet[5] = *(hopping_frequency_ptr + 2);
+	p[3] = *hopping_frequency_ptr;
-	packet[6] = cyrfmfg_id[0];
+	p[4] = *(hopping_frequency_ptr + 1);
-	packet[7] = cyrfmfg_id[1];
+	p[5] = *(hopping_frequency_ptr + 2);
-	packet[8] = cyrfmfg_id[2];
+	p[6] = cyrfmfg_id[0];
-	packet[9] = cyrfmfg_id[3];
+	p[7] = cyrfmfg_id[1];
+	p[8] = cyrfmfg_id[2];
+	p[9] = cyrfmfg_id[3];
 	add_pkt_suffix();
 	//The fixed-id portion is scrambled in the bind packet
 	//I assume it is ignored
-	packet[13] ^= cyrfmfg_id[0];
+	p[13] ^= cyrfmfg_id[0];
-	packet[14] ^= cyrfmfg_id[1];
+	p[14] ^= cyrfmfg_id[1];
-	packet[15] ^= cyrfmfg_id[2];
+	p[15] ^= cyrfmfg_id[2];
 }
 
 static void __attribute__((unused)) build_data_pkt()
@@ -174,31 +178,57 @@ static void __attribute__((unused)) cyrf_set_bound_sop_code()
 	CYRF_SetPower(0x08);
 }
 
+const uint8_t PROGMEM devo_init_vals[][2] = {
+	{CYRF_06_RX_CFG, 0x4A },
+	{CYRF_0B_PWR_CTRL, 0x00 },
+	{CYRF_0D_IO_CFG, 0x04 },
+	{CYRF_0E_GPIO_CTRL, 0x20 },
+	{CYRF_10_FRAMING_CFG, 0xA4 },
+	{CYRF_11_DATA32_THOLD, 0x05 },
+	{CYRF_12_DATA64_THOLD, 0x0E },
+	{CYRF_1B_TX_OFFSET_LSB, 0x55 },
+	{CYRF_1C_TX_OFFSET_MSB, 0x05 },
+	{CYRF_32_AUTO_CAL_TIME, 0x3C },
+	{CYRF_35_AUTOCAL_OFFSET, 0x14 },
+	{CYRF_39_ANALOG_CTRL, 0x01 },
+	{CYRF_1E_RX_OVERRIDE, 0x10 },
+	{CYRF_1F_TX_OVERRIDE, 0x00 },
+	{CYRF_01_TX_LENGTH, 0x10 },
+	{CYRF_0C_XTAL_CTRL, 0xC0 },
+	{CYRF_0F_XACT_CFG, 0x10 },
+	{CYRF_27_CLK_OVERRIDE, 0x02 },
+	{CYRF_28_CLK_EN, 0x02 },
+	{CYRF_0F_XACT_CFG, 0x28 }
+};
+
 static void __attribute__((unused)) cyrf_init()
 {
 	/* Initialise CYRF chip */
 	CYRF_WriteRegister(CYRF_1D_MODE_OVERRIDE, 0x39);
 	CYRF_SetPower(0x08);
-	CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);
+	for(uint8_t i = 0; i < sizeof(devo_init_vals) / 2; i++)	
-	CYRF_WriteRegister(CYRF_0B_PWR_CTRL, 0x00);
+		CYRF_WriteRegister(pgm_read_byte( &devo_init_vals[i][0]), pgm_read_byte( &devo_init_vals[i][1]) );
-	CYRF_WriteRegister(CYRF_0D_IO_CFG, 0x04);
+
-	CYRF_WriteRegister(CYRF_0E_GPIO_CTRL, 0x20);
+//	CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);
-	CYRF_WriteRegister(CYRF_10_FRAMING_CFG, 0xA4);
+//	CYRF_WriteRegister(CYRF_0B_PWR_CTRL, 0x00);
-	CYRF_WriteRegister(CYRF_11_DATA32_THOLD, 0x05);
+//	CYRF_WriteRegister(CYRF_0D_IO_CFG, 0x04);
-	CYRF_WriteRegister(CYRF_12_DATA64_THOLD, 0x0E);
+//	CYRF_WriteRegister(CYRF_0E_GPIO_CTRL, 0x20);
-	CYRF_WriteRegister(CYRF_1B_TX_OFFSET_LSB, 0x55);
+//	CYRF_WriteRegister(CYRF_10_FRAMING_CFG, 0xA4);
-	CYRF_WriteRegister(CYRF_1C_TX_OFFSET_MSB, 0x05);
+//	CYRF_WriteRegister(CYRF_11_DATA32_THOLD, 0x05);
-	CYRF_WriteRegister(CYRF_32_AUTO_CAL_TIME, 0x3C);
+//	CYRF_WriteRegister(CYRF_12_DATA64_THOLD, 0x0E);
-	CYRF_WriteRegister(CYRF_35_AUTOCAL_OFFSET, 0x14);
+//	CYRF_WriteRegister(CYRF_1B_TX_OFFSET_LSB, 0x55);
-	CYRF_WriteRegister(CYRF_39_ANALOG_CTRL, 0x01);
+//	CYRF_WriteRegister(CYRF_1C_TX_OFFSET_MSB, 0x05);
-	CYRF_WriteRegister(CYRF_1E_RX_OVERRIDE, 0x10);
+//	CYRF_WriteRegister(CYRF_32_AUTO_CAL_TIME, 0x3C);
-	CYRF_WriteRegister(CYRF_1F_TX_OVERRIDE, 0x00);
+//	CYRF_WriteRegister(CYRF_35_AUTOCAL_OFFSET, 0x14);
-	CYRF_WriteRegister(CYRF_01_TX_LENGTH, 0x10);
+//	CYRF_WriteRegister(CYRF_39_ANALOG_CTRL, 0x01);
-	CYRF_WriteRegister(CYRF_0C_XTAL_CTRL, 0xC0);
+//	CYRF_WriteRegister(CYRF_1E_RX_OVERRIDE, 0x10);
-	CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x10);
+//	CYRF_WriteRegister(CYRF_1F_TX_OVERRIDE, 0x00);
-	CYRF_WriteRegister(CYRF_27_CLK_OVERRIDE, 0x02);
+//	CYRF_WriteRegister(CYRF_01_TX_LENGTH, 0x10);
-	CYRF_WriteRegister(CYRF_28_CLK_EN, 0x02);
+//	CYRF_WriteRegister(CYRF_0C_XTAL_CTRL, 0xC0);
-	CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x28);
+//	CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x10);
+//	CYRF_WriteRegister(CYRF_27_CLK_OVERRIDE, 0x02);
+//	CYRF_WriteRegister(CYRF_28_CLK_EN, 0x02);
+//	CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x28);
 }
 
 static void __attribute__((unused)) set_radio_channels()

Multiprotocol/FlySky_a7105.ino

@@ -54,10 +54,11 @@ uint8_t chanrow;
 uint8_t chancol;
 uint8_t chanoffset;
 
+const uint8_t PROGMEM V912_X17_SEQ[10] =  { 0x14, 0x31, 0x40, 0x49, 0x49,    // sometime first byte is 0x15 ?
+										0x49, 0x49, 0x49, 0x49, 0x49, }; 
+
 static void __attribute__((unused)) flysky_apply_extension_flags()
 {
-	const uint8_t V912_X17_SEQ[10] =  { 0x14, 0x31, 0x40, 0x49, 0x49,    // sometime first byte is 0x15 ?
-										0x49, 0x49, 0x49, 0x49, 0x49, }; 
 	static uint8_t seq_counter;
 	switch(sub_protocol)
 	{
@@ -115,7 +116,7 @@ static void __attribute__((unused)) flysky_apply_extension_flags()
 				packet[14] |= FLAG_V912_TOPBTN;
 			packet[15] = 0x27; // [15] and [16] apparently hold an analog channel with a value lower than 1000
 			packet[16] = 0x03; // maybe it's there for a pitch channel for a CP copter ?
-			packet[17] = V912_X17_SEQ[seq_counter]; // not sure what [17] & [18] are for
+			packet[17] = pgm_read_byte( &V912_X17_SEQ[seq_counter] ) ; // not sure what [17] & [18] are for
 			if(seq_counter == 0)                    // V912 Rx does not even read those bytes... [17-20]
 				packet[18] = 0x02;
 			else

Multiprotocol/FrSkyX_cc2500.ino

@@ -89,6 +89,7 @@ static void __attribute__((unused)) frskyX_init()
 	}
 
 	CC2500_WriteReg(CC2500_07_PKTCTRL1, 0x04);			
+	prev_option = option ;
 	CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
 	CC2500_Strobe(CC2500_SIDLE);    
 	//
@@ -124,9 +125,12 @@ static void __attribute__((unused)) initialize_data(uint8_t adr)
 const uint16_t PROGMEM CRC_Short[]={
 	0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
 	0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7 };
-static uint16_t __attribute__((unused)) CRCTable(uint8_t val)
+static uint16_t CRCTable(uint8_t val)
 {
-   return pgm_read_word(&CRC_Short[val&0x0F]) ^ (0x1081 * (val>>4));
+	uint16_t word ;
+	word = pgm_read_word(&CRC_Short[val&0x0F]) ;
+	val /= 16 ;
+	return word ^ (0x1081 * val) ;
 }
 static uint16_t __attribute__((unused)) crc_x(uint8_t *data, uint8_t len)
 {
@@ -253,6 +257,11 @@ uint16_t ReadFrSkyX()
 			state++;			
 			break;		
 		case FRSKY_DATA1:
+			if ( prev_option != option )
+			{
+				CC2500_WriteReg(CC2500_0C_FSCTRL0,option);	// Frequency offset hack 
+				prev_option = option ;
+			}
 			LED_ON;
 			CC2500_SetTxRxMode(TX_EN);
 			set_start(channr);

Multiprotocol/Multiprotocol.h

@@ -439,6 +439,10 @@ enum {
 	PKT_TIMEOUT
 };
 
+// baudrate defines for serial
+#define SPEED_100K	0
+#define SPEED_9600	1
+
 //****************************************
 //*** MULTI protocol serial definition ***
 //****************************************

Multiprotocol/Multiprotocol.ino

@@ -36,6 +36,8 @@ uint32_t Model_fixed_id=0;
 uint32_t fixed_id;
 uint8_t  cyrfmfg_id[6];//for dsm2 and devo
 uint32_t blink=0;
+uint8_t  prev_option;
+uint8_t  prev_power=0xFD; // unused power value
 //
 uint16_t counter;
 uint8_t  channel;
@@ -85,11 +87,19 @@ uint8_t protocol_flags=0,protocol_flags2=0;
 volatile uint16_t PPM_data[NUM_CHN];
 
 // Serial variables
+#ifdef INVERT_TELEMETRY
+// enable bit bash for serial
+	#define	BASH_SERIAL 1
+	#define	INVERT_SERIAL 1
+#endif
+#define BAUD 100000
 #define RXBUFFER_SIZE 25
-#define TXBUFFER_SIZE 20
+#define TXBUFFER_SIZE 32
 volatile uint8_t rx_buff[RXBUFFER_SIZE];
 volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
+#ifndef BASH_SERIAL
 volatile uint8_t tx_buff[TXBUFFER_SIZE];
+#endif
 volatile uint8_t idx = 0;
 
 //Serial protocol
@@ -112,8 +122,10 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
 		#define HUB_TELEMETRY
 	#endif
 	uint8_t pktt[MAX_PKT];//telemetry receiving packets
+#ifndef BASH_SERIAL
 	volatile uint8_t tx_head=0;
 	volatile uint8_t tx_tail=0;
+#endif // BASH_SERIAL
 	uint8_t v_lipo;
 	int16_t RSSI_dBm;
 	//const uint8_t RSSI_offset=72;//69 71.72 values db
@@ -283,9 +295,11 @@ void loop()
 	{
 		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
-			Servo_data[i]=PPM_data[i];
+			temp_ppm = PPM_data[i] ;
 			sei();	// enable global int
+			Servo_data[i]= temp_ppm ;
 		}
 		update_aux_flags();
 		PPM_FLAG_off;	// wait for next frame before update
@@ -348,8 +362,10 @@ static void CheckTimer(uint16_t (*cb)(void))
 #else
 	if( (TIFR1 & (1<<OCF1A)) != 0)
 	{
+		uint16_t temp ;
+		temp = TCNT1 ;
 		cli();			// disable global int
-		OCR1A=TCNT1;	// Callback should already have been called... Use "now" as new sync point.
+		OCR1A=temp;	// Callback should already have been called... Use "now" as new sync point.
 		sei();			// enable global int
 	}
 	else
@@ -361,28 +377,34 @@ static void CheckTimer(uint16_t (*cb)(void))
 		while(next_callback>4000)
 		{ 										// start to wait here as much as we can...
 			next_callback=next_callback-2000;
-			cli();								// disable global int
 #ifdef XMEGA		
+			cli();								// disable global int
 			TCC1.CCA +=2000*2;					// set compare A for callback
 			TCC1.INTFLAGS = TC1_CCAIF_bm ;		// clear compare A=callback flag
 			sei();								// enable global int
 			while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
 #else
-			OCR1A+=2000*2;						// set compare A for callback
+			uint16_t temp ;
+			temp = OCR1A + 2000*2 ;
+			cli();								// disable global int
+			OCR1A = temp ;						// set compare A for callback
 			TIFR1=(1<<OCF1A);					// clear compare A=callback flag
 			sei();								// enable global int
 			while((TIFR1 & (1<<OCF1A)) == 0);	// wait 2ms...
 #endif
 		}
 		// at this point we have between 2ms and 4ms in next_callback
-		cli();									// disable global int
 #ifdef XMEGA		
+		cli();									// disable global int
 		TCC1.CCA +=next_callback*2;				// set compare A for callback
 		TCC1.INTFLAGS = TC1_CCAIF_bm ;			// clear compare A=callback flag
 		diff=TCC1.CCA-TCC1.CNT;					// compare timer and comparator
 		sei();									// enable global int
 #else
-		OCR1A+=next_callback*2;					// set compare A for callback
+		next_callback *= 2 ;
+		next_callback += OCR1A ;
+		cli();									// disable global int
+		OCR1A = next_callback ;					// set compare A for callback
 		TIFR1=(1<<OCF1A);						// clear compare A=callback flag
 		diff=OCR1A-TCNT1;						// compare timer and comparator
 		sei();									// enable global int
@@ -657,6 +679,7 @@ static void module_reset()
 				break;
 		}
 	}
+	prev_power=0xFD; // unused power value
 }
 
 int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
@@ -721,22 +744,6 @@ uint16_t limit_channel_100(uint8_t ch)
 	return Servo_data[ch];
 }
 
-#if defined(TELEMETRY)
-void Serial_write(uint8_t data)
-{
-	cli();	// disable global int
-	if(++tx_head>=TXBUFFER_SIZE)
-		tx_head=0;
-	tx_buff[tx_head]=data;
-#ifdef XMEGA
-	USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
-#else	
-	UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
-#endif
-	sei();	// enable global int
-}
-#endif
-
 static void Mprotocol_serial_init()
 {
 #ifdef XMEGA
@@ -766,7 +773,7 @@ static void Mprotocol_serial_init()
 #ifdef DEBUG_TX
 	TX_SET_OUTPUT;
 #else
-	UCSR0B |= (1<<TXEN0);//tx enable
+	initTXSerial( SPEED_100K ) ;
 #endif
 #endif
 }
@@ -774,22 +781,7 @@ static void Mprotocol_serial_init()
 #if defined(TELEMETRY)
 static void PPM_Telemetry_serial_init()
 {
-#ifdef XMEGA
+	initTXSerial( SPEED_9600 ) ;
-	USARTC0.BAUDCTRLA = 207 ;
-	USARTC0.BAUDCTRLB = 0 ;
-	
-	USARTC0.CTRLB = 0x18 ;
-	USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
-	USARTC0.CTRLC = 0x03 ;
-#else
-	//9600 bauds
-	UBRR0H = 0x00;
-	UBRR0L = 0x67;
-	UCSR0A = 0 ;	// Clear X2 bit
-	//Set frame format to 8 data bits, none, 1 stop bit
-	UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
-	UCSR0B = (1<<TXEN0);//tx enable
-#endif
 }
 #endif
 
@@ -998,7 +990,7 @@ void init()
 #ifdef XMEGA
 ISR(PORTD_INT0_vect)
 #else
-ISR(INT1_vect)
+ISR(INT1_vect, ISR_NOBLOCK)
 #endif
 {	// Interrupt on PPM pin
 	static int8_t chan=-1;
@@ -1021,10 +1013,10 @@ ISR(INT1_vect)
 		else
 			if(chan!=-1)		// need to wait for start of frame
 			{  //servo values between 500us and 2420us will end up here
-				uint16_t a = Cur_TCNT1>>1;
+				uint16_t temp = Cur_TCNT1>>1;
-				if(a<PPM_MIN) a=PPM_MIN;
+				if(temp<PPM_MIN) temp=PPM_MIN;
-				else if(a>PPM_MAX) a=PPM_MAX;
+				else if(temp>PPM_MAX) temp=PPM_MAX;
-				PPM_data[chan]=a;
+				PPM_data[chan]=temp;
 				if(chan++>=NUM_CHN)
 					chan=-1;	// don't accept any new channels
 			}
@@ -1041,6 +1033,10 @@ ISR(USART_RX_vect)
 #ifdef XMEGA
 	if((USARTC0.STATUS & 0x1C)==0)			// Check frame error, data overrun and parity error
 #else
+	
+	UCSR0B &= ~(1<<RXCIE0) ; //rx interrupt disable
+	sei() ;
+
 	if((UCSR0A&0x1C)==0)			// Check frame error, data overrun and parity error
 #endif
 	{ // received byte is ok to process
@@ -1080,8 +1076,9 @@ ISR(USART_RX_vect)
 #endif
 				if(!IS_RX_FLAG_on)
 				{ //Good frame received and main has finished with previous buffer
-					for(idx=0;idx<RXBUFFER_SIZE;idx++)
+					uint8_t i ;
-						rx_ok_buff[idx]=rx_buff[idx];	// Duplicate the buffer
+					for(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
 				}
 				idx=0; 							// start again
@@ -1097,42 +1094,21 @@ ISR(USART_RX_vect)
 #endif
 		idx=0;		// Error encountered discard full frame...
 	}
+
+#ifndef XMEGA
+	cli() ;
+	UCSR0B |= (1<<RXCIE0) ;//rx enable interrupt
+#endif
 }
 
 //Serial timer
 #ifdef XMEGA
 ISR(TCC1_CCB_vect)
 #else
-ISR(TIMER1_COMPB_vect)
+//ISR(TIMER1_COMPB_vect)
+ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
 #endif
 {	// Timer1 compare B interrupt
 	idx=0;
 }
 
-#if defined(TELEMETRY)
-//Serial TX
-
-#ifdef XMEGA
-ISR(USARTC0_DRE_vect)
-#else
-ISR(USART_UDRE_vect)
-#endif
-{	// Transmit interrupt
-	if(tx_head!=tx_tail)
-	{
-		if(++tx_tail>=TXBUFFER_SIZE)//head 
-			tx_tail=0;
-#ifdef XMEGA
-		USARTC0.DATA = tx_buff[tx_tail] ;
-#else
-		UDR0=tx_buff[tx_tail];
-#endif
-	}
-	if (tx_tail == tx_head)
-#ifdef XMEGA
-		USARTC0.CTRLA &= ~0x03 ;
-#else
-		UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
-#endif
-}
-#endif

Multiprotocol/NRF24l01_SPI.ino

@@ -150,7 +150,11 @@ void NRF24L01_SetPower()
 	if(IS_RANGE_FLAG_on)
 		power=NRF_POWER_0;
 	rf_setup = (rf_setup & 0xF9) | (power << 1);
-    NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, rf_setup);
+	if(prev_power != power)
+	{
+		NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, rf_setup);
+		prev_power=power;
+	}
 }
 
 void NRF24L01_SetTxRxMode(enum TXRX_State mode)

Multiprotocol/SFHSS_cc2500.ino

@@ -73,6 +73,22 @@ const PROGMEM uint8_t SFHSS_init_values[] = {
   /* 20 */ 0xF8, 0xB6, 0x10, 0xEA, 0x0A, 0x11, 0x11
 };
 
+static void __attribute__((unused)) SFHSS_rf_init()
+{
+	CC2500_Reset();
+	CC2500_Strobe(CC2500_SIDLE);
+
+	//CC2500_WriteRegisterMulti(CC2500_00_IOCFG2, init_values, sizeof(init_values));
+	for (uint8_t i = 0; i < 39; ++i)
+		CC2500_WriteReg(i, pgm_read_byte_near(&SFHSS_init_values[i]));
+
+	prev_option = option+1;
+	//CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
+	
+	CC2500_SetTxRxMode(TX_EN);
+	CC2500_SetPower();
+}
+
 static void __attribute__((unused)) SFHSS_tune_chan()
 {
 	CC2500_Strobe(CC2500_SIDLE);
@@ -93,25 +109,15 @@ static void __attribute__((unused)) SFHSS_tune_freq() {
 // May be we'll need this tuning routine - some receivers are more sensitive to
 // frequency impreciseness, and though CC2500 has a procedure to handle it it
 // may not be applied in receivers, so we need to compensate for it on TX 
-	CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
+	if ( prev_option != option )
-	CC2500_WriteReg(CC2500_0F_FREQ0, SFHSS_FREQ0_VAL + SFHSS_COARSE);
+	{
+		CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
+		CC2500_WriteReg(CC2500_0F_FREQ0, SFHSS_FREQ0_VAL + SFHSS_COARSE);
+		prev_option = option ;
+	}
 }
 #endif
 
-static void __attribute__((unused)) SFHSS_rf_init()
-{
-	CC2500_Reset();
-	CC2500_Strobe(CC2500_SIDLE);
-
-	for (uint8_t i = 0; i < 39; ++i)
-		CC2500_WriteReg(i, pgm_read_byte_near(&SFHSS_init_values[i]));
-	//CC2500_WriteRegisterMulti(CC2500_00_IOCFG2, init_values, sizeof(init_values));
-	//CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
-	
-	CC2500_SetTxRxMode(TX_EN);
-	CC2500_SetPower();
-}
-
 static void __attribute__((unused)) SFHSS_calc_next_chan()
 {
     rf_ch_num += fhss_code + 2;
@@ -129,7 +135,6 @@ static uint16_t __attribute__((unused)) SFHSS_convert_channel(uint8_t num)
 	return (uint16_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,86,906));
 }
 
-
 static void __attribute__((unused)) SFHSS_build_data_packet()
 {
 #define spacer1 0x02 //0b10

Multiprotocol/Symax_nrf24l01.ino

@@ -292,7 +292,7 @@ static void __attribute__((unused)) symax_set_channels(uint8_t address)
 
 static void __attribute__((unused)) symax_init2()
 {
-	uint8_t chans_data_x5c[] = {0x1d, 0x2f, 0x26, 0x3d, 0x15, 0x2b, 0x25, 0x24,
+static	uint8_t chans_data_x5c[] = {0x1d, 0x2f, 0x26, 0x3d, 0x15, 0x2b, 0x25, 0x24,
 								0x27, 0x2c, 0x1c, 0x3e, 0x39, 0x2d, 0x22};
 
 	if (sub_protocol==SYMAX5C)

Multiprotocol/Telemetry.ino

@@ -24,10 +24,24 @@
 #define STUFF_MASK              0x20
 #define MAX_PKTX 10
 uint8_t pktx[MAX_PKTX];
+uint8_t pktx1[MAX_PKTX];
 uint8_t index;
 uint8_t pass = 0;
 uint8_t frame[18];
 
+#ifdef BASH_SERIAL
+// For bit-bashed serial output
+
+struct t_serial_bash
+{
+	uint8_t head ;
+	uint8_t tail ;
+	uint8_t data[64] ;
+	uint8_t busy ;
+	uint8_t speed ;
+} SerialControl ;
+#endif
+
 #if defined DSM_TELEMETRY
 void DSM2_frame()
 {
@@ -131,18 +145,18 @@ void frsky_user_frame()
 				indexx=pktt[6];
 				for(i=0;i<indexx;i++)
 				{
-					if(pktt[j]==0x5E)
+//					if(pktt[j]==0x5E)
-					{
+//					{
-						if(c++)
+//						if(c++)
-						{
+//						{
-							c=0;
+//							c=0;
-							n++;
+//							n++;
-							j++;
+//							j++;
-						}
+//						}
-					}
+//					}
 					pktx[i]=pktt[j++];
 				}	
-				indexx = indexx-n;
+//				indexx = indexx-n;
 				pass=1;
 				
 			case 1:
@@ -166,7 +180,7 @@ void frsky_user_frame()
 			case 2:		
 				index = prev_index - index;
 				prev_index=0;
-				if(index<(MAX_PKTX-USER_MAX_BYTES))	//10-6=4
+				if(index<=(MAX_PKTX-USER_MAX_BYTES))	//10-6=4
 					for(i=0;i<index;i++)
 						frame[i+3]=pktx[USER_MAX_BYTES+i];
 				pass=0;
@@ -253,7 +267,8 @@ void sportSend(uint8_t *p)
 {
 	uint16_t crc_s = 0;
 	Serial_write(START_STOP);//+9
-	for (uint8_t i = 0; i < 9; i++)
+	Serial_write(p[0]) ;
+	for (uint8_t i = 1; i < 9; i++)
 	{
 		if (i == 8)
 			p[i] = 0xff - crc_s;
@@ -285,7 +300,7 @@ void sportSendFrame()
 	uint8_t i;
 	sport_counter = (sport_counter + 1) %36;
 	
-	if(sport_counter<3)
+	if(sport_counter<6)
 	{
 		frame[0] = 0x98;
 		frame[1] = 0x10;
@@ -297,16 +312,16 @@ void sportSendFrame()
 		case 0:
 			frame[2] = 0x05;
 			frame[3] = 0xf1;
-			frame[4] = 0x20;//dummy values if swr 20230f00
+			frame[4] = 0x02 ;//dummy values if swr 20230f00
 			frame[5] = 0x23;
 			frame[6] = 0x0F;
 			break;
-		case 1: // RSSI
+		case 2: // RSSI
 			frame[2] = 0x01;
 			frame[3] = 0xf1;
 			frame[4] = rssi;
 			break;
-		case 2: //BATT
+		case 4: //BATT
 			frame[2] = 0x04;
 			frame[3] = 0xf1;
 			frame[4] = RxBt;//a1;
@@ -315,7 +330,7 @@ void sportSendFrame()
 			if(sport)
 			{	
 				for (i=0;i<FRSKY_SPORT_PACKET_SIZE;i++)
-				frame[i]=pktx[i];
+				frame[i]=pktx1[i];
 				sport=0;
 				break;
 			}
@@ -340,6 +355,12 @@ void proces_sport_data(uint8_t data)
 			}
 			break;		
 		case 1:
+			if (data == START_STOP)	// Happens if missed packet
+			{//waiting for 0x7e
+				index = 0;
+				pass = 1;
+				break;		
+			}
 			if(data == BYTESTUFF)//if they are stuffed
 				pass=2;
 			else
@@ -354,7 +375,19 @@ void proces_sport_data(uint8_t data)
 	} // end switch
 	if (index >= FRSKY_SPORT_PACKET_SIZE)
 	{//8 bytes no crc 
-		sport = 1;//ok to send
+		if ( sport )
+		{
+			// overrun!
+		}
+		else
+		{
+			uint8_t i ;
+			for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 )
+			{
+				pktx1[i] = pktx[i] ;	// Double buffer
+			}
+			sport = 1;//ok to send
+		}
 		pass = 0;//reset
 	}
 }
@@ -363,6 +396,61 @@ void proces_sport_data(uint8_t data)
 
 void frskyUpdate()
 {
+#if defined SPORT_TELEMETRY
+	if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
+	{	// FrSkyX
+		if(telemetry_link)
+		{		
+			if(pktt[4] & 0x80)
+				rssi=pktt[4] & 0x7F ;
+			else 
+				RxBt = (pktt[4]<<1) + 1 ;
+			for (uint8_t i=0; i < pktt[6]; i++)
+			proces_sport_data(pktt[7+i]);
+			telemetry_link=0;
+		}
+	}
+#endif					
+
+	// check for space in tx buffer
+
+#ifdef BASH_SERIAL
+	uint8_t h ;
+	uint8_t t ;
+	h = SerialControl.head ;
+	t = SerialControl.tail ;
+	if ( h >= t )
+	{
+		t += 64 - h ;
+	}
+	else
+	{
+		t -= h ;
+	}
+	if ( t < 32 )
+	{
+		return ;
+	}
+
+#else
+	uint8_t h ;
+	uint8_t t ;
+	h = tx_head ;
+	t = tx_tail ;
+	if ( h >= t )
+	{
+		t += TXBUFFER_SIZE - h ;
+	}
+	else
+	{
+		t -= h ;
+	}
+	if ( t < 16 )
+	{
+		return ;
+	}
+#endif
+	 
 	#if defined DSM_TELEMETRY
 	if(telemetry_link && (cur_protocol[0]&0x1F) == MODE_DSM2 )
 	{	// DSM2
@@ -387,24 +475,318 @@ void frskyUpdate()
 	#if defined SPORT_TELEMETRY
 	if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
 	{	// FrSkyX
-		if(telemetry_link)
-		{		
-			if(pktt[4]>0x36)
-			rssi=pktt[4]>>1;
-			else 
-			RxBt=pktt[4];					
-			for (uint8_t i=0; i < pktt[6]; i++)
-			proces_sport_data(pktt[7+i]);
-			telemetry_link=0;
-		}
 		uint32_t now = micros();
 		if ((now - last) > SPORT_TIME)
 		{
 			sportSendFrame();
-			last = now;
+			last += SPORT_TIME ;
 		}
 	}
 	#endif					
 }
 
+
+/**************************/
+/**************************/
+/**  Serial TX routines  **/
+/**************************/
+/**************************/
+
+#ifndef BASH_SERIAL
+// Routines for normal serial output
+void Serial_write(uint8_t data)
+{
+	cli();	// disable global int
+	if(++tx_head>=TXBUFFER_SIZE)
+		tx_head=0;
+	tx_buff[tx_head]=data;
+#ifdef XMEGA
+	USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
+#else	
+	UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
 #endif
+	sei();	// enable global int
+}
+
+// Speed is 0 for 100K and 1 for 9600
+void initTXSerial( uint8_t speed)
+{
+	if(speed==SPEED_9600)
+	{ // 9600
+	#ifdef XMEGA
+		USARTC0.BAUDCTRLA = 207 ;
+		USARTC0.BAUDCTRLB = 0 ;
+		
+		USARTC0.CTRLB = 0x18 ;
+		USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
+		USARTC0.CTRLC = 0x03 ;
+	#else
+		//9600 bauds
+		UBRR0H = 0x00;
+		UBRR0L = 0x67;
+		UCSR0A = 0 ;	// Clear X2 bit
+		//Set frame format to 8 data bits, none, 1 stop bit
+		UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
+		UCSR0B = (1<<TXEN0);//tx enable
+	#endif
+	}
+	else
+		UCSR0B |= (1<<TXEN0);//tx enable
+}
+
+#ifdef XMEGA
+ISR(USARTC0_DRE_vect)
+#else
+ISR(USART_UDRE_vect)
+#endif
+{	// Transmit interrupt
+	if(tx_head!=tx_tail)
+	{
+		if(++tx_tail>=TXBUFFER_SIZE)//head 
+			tx_tail=0;
+#ifdef XMEGA
+		USARTC0.DATA = tx_buff[tx_tail] ;
+#else
+		UDR0=tx_buff[tx_tail];
+#endif
+	}
+	if (tx_tail == tx_head)
+#ifdef XMEGA
+		USARTC0.CTRLA &= ~0x03 ;
+#else
+		UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
+#endif
+}
+
+#else	//BASH_SERIAL
+// Routines for bit-bashed serial output
+
+// Speed is 0 for 100K and 1 for 9600
+void initTXSerial( uint8_t speed)
+{
+	TIMSK0 = 0 ;	// Stop all timer 0 interrupts
+#ifdef INVERT_SERIAL
+	PORTD &= ~2 ;
+#else
+	PORTD |= 2 ;
+#endif
+	DDRD |= 2 ;	// TxD pin is an output
+	UCSR0B &= ~(1<<TXEN0) ;
+
+	SerialControl.speed = speed ;
+	if ( speed == SPEED_9600 )
+	{
+		OCR0A = 207 ;	// 104uS period
+		TCCR0A = 3 ;
+		TCCR0B = 0x0A ; // Fast PMM, 2MHz
+	}
+	else	// 100K
+	{
+		TCCR0A = 0 ;
+		TCCR0B = 2 ;	// Clock/8 (0.5uS)
+	}
+}
+
+void Serial_write( uint8_t byte )
+{
+	uint8_t temp ;
+	uint8_t temp1 ;
+	uint8_t byteLo ;
+
+#ifdef INVERT_SERIAL
+	byte = ~byte ;
+#endif
+
+	byteLo = byte ;
+	byteLo >>= 7 ;		// Top bit
+	if ( SerialControl.speed == SPEED_100K )
+	{
+#ifdef INVERT_SERIAL
+		byteLo |= 0x02 ;	// Parity bit
+#else
+		byteLo |= 0xFC ;	// Stop bits
+#endif
+	// calc parity
+		temp = byte ;
+		temp >>= 4 ;
+		temp = byte ^ temp ;
+		temp1 = temp ;
+		temp1 >>= 2 ;
+		temp = temp ^ temp1 ;
+		temp1 = temp ;
+		temp1 <<= 1 ;
+		temp ^= temp1 ;
+		temp &= 0x02 ;
+#ifdef INVERT_SERIAL
+		byteLo ^= temp ;
+#else	
+		byteLo |= temp ;
+#endif
+	}
+	else
+	{
+		byteLo |= 0xFE ;	// Stop bit
+	}	
+	byte <<= 1 ;
+#ifdef INVERT_SERIAL
+	byte |= 1 ;		// Start bit
+#endif
+  uint8_t next = (SerialControl.head + 2) & 0x3f ;
+	if ( next != SerialControl.tail )
+	{
+		SerialControl.data[SerialControl.head] = byte ;
+		SerialControl.data[SerialControl.head+1] = byteLo ;
+		SerialControl.head = next ;
+	}
+	cli() ;
+	if ( SerialControl.busy == 0 )
+	{
+		sei() ;
+		// Start the transmission here
+#ifdef INVERT_SERIAL
+		GPIOR2 = 0 ;
+#else
+		GPIOR2 = 0x01 ;
+#endif
+		if ( SerialControl.speed == SPEED_100K )
+		{
+			GPIOR1 = 1 ;
+			OCR0B = TCNT0 + 40 ;
+			OCR0A = OCR0B + 210 ;
+			TIFR0 = (1<<OCF0A) | (1<<OCF0B) ;
+			TIMSK0 |= (1<<OCIE0B) ;
+			SerialControl.busy = 1 ;
+		}
+		else
+		{
+			GPIOR1 = 1 ;
+			TIFR0 = (1<<TOV0) ;
+			TIMSK0 |= (1<<TOIE0) ;
+			SerialControl.busy = 1 ;
+		}
+	}
+	else
+	{
+		sei() ;
+	}
+}
+
+// Assume timer0 at 0.5uS clock
+
+ISR(TIMER0_COMPA_vect)
+{
+	uint8_t byte ;
+	byte = GPIOR0 ;
+	if ( byte & 0x01 )
+	{
+		PORTD |= 0x02 ;
+	}
+	else
+	{
+		PORTD &= ~0x02 ;
+	}
+	byte /= 2 ;		// Generates shorter code than byte >>= 1
+	GPIOR0 = byte ;
+	if ( --GPIOR1 == 0 )
+	{
+		TIMSK0 &= ~(1<<OCIE0A) ;
+		GPIOR1 = 3 ;
+	}
+	else
+	{
+		OCR0A += 20 ;
+	}
+}
+
+ISR(TIMER0_COMPB_vect)
+{
+	uint8_t byte ;
+	byte = GPIOR2 ;
+	if ( byte & 0x01 )
+	{
+		PORTD |= 0x02 ;
+	}
+	else
+	{
+		PORTD &= ~0x02 ;
+	}
+	byte /= 2 ;		// Generates shorter code than byte >>= 1
+	GPIOR2 = byte ;
+	if ( --GPIOR1 == 0 )
+	{
+		// prepare next byte and allow for 2 stop bits
+		struct t_serial_bash *ptr = &SerialControl ;
+		if ( ptr->head != ptr->tail )
+		{
+			GPIOR0 = ptr->data[ptr->tail] ;
+			GPIOR2 = ptr->data[ptr->tail+1] ;
+			ptr->tail = ( ptr->tail + 2 ) & 0x3F ;
+			GPIOR1 = 8 ;
+			OCR0A = OCR0B + 40 ;
+			OCR0B = OCR0A + 8 * 20 ;
+			TIMSK0 |= (1<<OCIE0A) ;
+		}
+		else
+		{
+			SerialControl.busy = 0 ;
+			TIMSK0 &= ~(1<<OCIE0B) ;
+		}
+	}
+	else
+	{
+		OCR0B += 20 ;
+	}
+}
+
+ISR(TIMER0_OVF_vect)
+{
+	uint8_t byte ;
+	if ( GPIOR1 > 2 )
+	{
+		byte = GPIOR0 ;
+	}
+	else
+	{
+		byte = GPIOR2 ;
+	}
+	if ( byte & 0x01 )
+	{
+		PORTD |= 0x02 ;
+	}
+	else
+	{
+		PORTD &= ~0x02 ;
+	}
+	byte /= 2 ;		// Generates shorter code than byte >>= 1
+	if ( GPIOR1 > 2 )
+	{
+		GPIOR0 = byte ;
+	}
+	else
+	{
+		GPIOR2 = byte ;
+	}
+	if ( --GPIOR1 == 0 )
+	{
+		// prepare next byte
+		struct t_serial_bash *ptr = &SerialControl ;
+		if ( ptr->head != ptr->tail )
+		{
+			GPIOR0 = ptr->data[ptr->tail] ;
+			GPIOR2 = ptr->data[ptr->tail+1] ;
+			ptr->tail = ( ptr->tail + 2 ) & 0x3F ;
+			GPIOR1 = 10 ;
+		}
+		else
+		{
+			SerialControl.busy = 0 ;
+			TIMSK0 &= ~(1<<TOIE0) ;
+		}
+	}
+}
+
+
+#endif // BASH_SERIAL
+
+#endif // TELEMETRY
+

Multiprotocol/_Config.h

@@ -15,6 +15,9 @@
 
 /** Multiprotocol module configuration file ***/
 
+/*******************/
+/*** TX SETTINGS ***/
+/*******************/
 //Uncomment your TX type
 #define TX_ER9X_AETR	//ER9X AETR (988<->2012µs)
 //#define TX_ER9X_TAER	//ER9X TAER (988<->2012µs)
@@ -22,6 +25,9 @@
 //#define TX_SPEKTRUM	//Spektrum TAER (1100<->1900µs)
 //#define TX_HISKY		//HISKY AETR (1100<->1900µs)
 
+/****************************/
+/*** PROTOCOLS TO INCLUDE ***/
+/****************************/
 //Comment if a module is not installed
 #define A7105_INSTALLED
 #define CYRF6936_INSTALLED
@@ -61,9 +67,15 @@
 	#define	FQ777_NRF24L01_INO
 #endif
 
+/**************************/
+/*** TELEMETRY SETTINGS ***/
+/**************************/
 //Uncomment to enable telemetry
 #define TELEMETRY
 
+//Uncomment to invert the telemetry serial signal, this is usefull for OpenTX on Taranis as an example
+//#define INVERT_TELEMETRY	1
+
 //Comment to disable a specific telemetry
 #if defined(TELEMETRY)
 	#if defined DSM2_CYRF6936_INO
@@ -77,6 +89,9 @@
 	#endif
 #endif 
 
+/********************/
+/*** PPM SETTINGS ***/
+/********************/
 //Update this table to set which protocol and all associated settings are called for the corresponding dial number
 const PPM_Parameters PPM_prot[15]=	{
 //	Dial	Protocol 		Sub protocol	RX_Num	Power		Auto Bind		Option
@@ -180,9 +195,9 @@ Auto Bind	AUTOBIND or NO_AUTOBIND
 Option		value between 0 and 255. 0xD7 or 0x00 for Frsky fine tuning.
 */
 
-//******************
+/*******************/
-//TX definitions with timing endpoints and channels order
+/*** TX SETTINGS ***/
-
+/*******************/
 // Turnigy PPM and channels
 #if defined(TX_ER9X_AETR)
 #define PPM_MAX		2140	//	125%
@@ -301,7 +316,3 @@ enum chan_order{
 #define PPM_MIN_COMMAND 1250
 #define PPM_SWITCH		1550
 #define PPM_MAX_COMMAND 1750
-
-//Uncoment the desired serial speed
-#define BAUD 100000
-//#define BAUD 125000