gomaomao/DIY-Multiprotocol-TX-Module
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Couples of fixes and improvements

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pascallanger 2016-08-25 11:26:08 +02:00
parent e63f71d3a7
commit 7a8b291189
2 changed files with 100 additions and 78 deletions
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8
Multiprotocol/Multiprotocol.h
View File

@ -310,6 +310,14 @@ struct PPM_Parameters
#define BAD_PROTO_on protocol_flags2 |= _BV(0)
#define IS_BAD_PROTO_on ( ( protocol_flags2 & _BV(0) ) !=0 )
#define RX_DONOTUPDTAE_off protocol_flags2 &= ~_BV(1)
#define RX_DONOTUPDTAE_on protocol_flags2 |= _BV(1)
#define IS_RX_DONOTUPDTAE_on ( ( protocol_flags2 & _BV(1) ) !=0 )
#define RX_MISSED_BUFF_off protocol_flags2 &= ~_BV(2)
#define RX_MISSED_BUFF_on protocol_flags2 |= _BV(2)
#define IS_RX_MISSED_BUFF_on ( ( protocol_flags2 & _BV(2) ) !=0 )
#define BLINK_BIND_TIME 100
#define BLINK_SERIAL_TIME 500
#define BLINK_BAD_PROTO_TIME_LOW 1000

170
Multiprotocol/Multiprotocol.ino
View File

@ -102,7 +102,7 @@ volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
#ifndef BASH_SERIAL
volatile uint8_t tx_buff[TXBUFFER_SIZE];
#endif
volatile uint8_t idx = 0;
volatile uint8_t discard_frame = 0;
//Serial protocol
uint8_t sub_protocol;
@ -368,54 +368,53 @@ static void CheckTimer(uint16_t (*cb)(void))
#ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
{
cli(); // disable global int
cli(); // Disable global int due to RW of 16 bits registers
TCC1.CCA = TCC1.CNT ; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int
sei(); // Enable global int
}
else
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
#else
if( (TIFR1 & (1<<OCF1A)) != 0)
{
cli(); // disable global int
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int
cli(); // Disable global int due to RW of 16 bits registers
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // Enable global int
}
else
while((TIFR1 & (1<<OCF1A)) == 0); // wait before callback
while((TIFR1 & (1<<OCF1A)) == 0); // Wait before callback
#endif
do
{
next_callback=cb();
while(next_callback>4000)
{ // start to wait here as much as we can...
next_callback=next_callback-2000;
{ // start to wait here as much as we can...
next_callback-=2000; // We will wait below for 2ms
#ifdef XMEGA
cli(); // disable global int
cli(); // Disable global int due to RW of 16 bits registers
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
cli(); // disable global int
cli(); // Disable global int due to RW of 16 bits registers
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...
#endif
}
// at this point we have between 2ms and 4ms in next_callback
// at this point we have a maximum of 4ms in next_callback
next_callback *= 2 ;
#ifdef XMEGA
cli(); // disable global int
TCC1.CCA +=next_callback*2; // set compare A for callback
cli(); // Disable global int due to RW of 16 bits registers
TCC1.CCA +=next_callback; // 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
next_callback *= 2 ;
next_callback += OCR1A ;
cli(); // disable global int
OCR1A = next_callback ; // set compare A for callback
cli(); // Disable global int due to RW of 16 bits registers
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
@ -625,50 +624,61 @@ static void protocol_init()
void update_serial_data()
{
if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on;
else
RANGE_FLAG_off;
if(rx_ok_buff[0]&0xC0) //check autobind(0x40) & bind(0x80) together
AUTOBIND_FLAG_on;
else
AUTOBIND_FLAG_off;
if(rx_ok_buff[1]&0x80) //if rx_ok_buff[1] ==1,power is low ,0-power high
POWER_FLAG_off; //power low
else
POWER_FLAG_on; //power high
option=rx_ok_buff[2];
if( ((rx_ok_buff[0]&0x5F) != (cur_protocol[0]&0x5F)) || ( (rx_ok_buff[1]&0x7F) != cur_protocol[1] ) )
{ // New model has been selected
prev_protocol=cur_protocol[0]&0x1F; //store previous protocol so we can reset the module
cur_protocol[1] = rx_ok_buff[1]&0x7F; //store current protocol
CHANGE_PROTOCOL_FLAG_on; //change protocol
sub_protocol=(rx_ok_buff[1]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[1]& 0x0F;
MProtocol_id=MProtocol_id_master+RX_num; //personalized RX bind + rx num // rx_num bits 0---3
}
else
if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set
CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind
cur_protocol[0] = rx_ok_buff[0]; //store current protocol
// decode channel values
volatile uint8_t *p=rx_ok_buff+2;
uint8_t dec=-3;
for(uint8_t i=0;i<NUM_CHN;i++)
{
dec+=3;
if(dec>=8)
{
dec-=8;
p++;
}
p++;
Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
}
RX_FLAG_off; //data has been processed
do
{
cli();
if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
sei();
RX_MISSED_BUFF_off;
RX_DONOTUPDTAE_on;
if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on;
else
RANGE_FLAG_off;
if(rx_ok_buff[0]&0xC0) //check autobind(0x40) & bind(0x80) together
AUTOBIND_FLAG_on;
else
AUTOBIND_FLAG_off;
if(rx_ok_buff[1]&0x80) //if rx_ok_buff[1] ==1,power is low ,0-power high
POWER_FLAG_off; //power low
else
POWER_FLAG_on; //power high
option=rx_ok_buff[2];
if( ((rx_ok_buff[0]&0x5F) != (cur_protocol[0]&0x5F)) || ( (rx_ok_buff[1]&0x7F) != cur_protocol[1] ) )
{ // New model has been selected
prev_protocol=cur_protocol[0]&0x1F; //store previous protocol so we can reset the module
cur_protocol[1] = rx_ok_buff[1]&0x7F; //store current protocol
CHANGE_PROTOCOL_FLAG_on; //change protocol
sub_protocol=(rx_ok_buff[1]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[1]& 0x0F;
MProtocol_id=MProtocol_id_master+RX_num;//personalized RX bind + rx num // rx_num bits 0---3
}
else
if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set
CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind
cur_protocol[0] = rx_ok_buff[0]; //store current protocol
// decode channel values
volatile uint8_t *p=rx_ok_buff+2;
uint8_t dec=-3;
for(uint8_t i=0;i<NUM_CHN;i++)
{
dec+=3;
if(dec>=8)
{
dec-=8;
p++;
}
p++;
Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
}
RX_DONOTUPDTAE_off;
}
while(IS_RX_MISSED_BUFF_on); // We've just processed an old frame...
}
void module_reset()
@ -1037,18 +1047,20 @@ ISR(USARTC0_RXC_vect)
ISR(USART_RX_vect)
#endif
{ // RX interrupt
static uint8_t idx=0;
#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
UCSR0B &= ~(1<<RXCIE0) ; //rx interrupt disable
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
if(idx==0)
if(idx==0||discard_frame==1)
{ // Let's try to sync at this point
idx=0;discard_frame=0;
#ifdef XMEGA
if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
#else
@ -1056,19 +1068,20 @@ ISR(USART_RX_vect)
#endif
{
#ifdef XMEGA
TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
TCC1.INTCTRLB = (TCC1.INTCTRLB & 0xF3) | 0x04 ; // enable interrupt on compare B match
#else
OCR1B=TCNT1+6500L; // Full message should be received within timer of 3250us
TIFR1=(1<<OCF1B); // clear OCR1B match flag
TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match
OCR1B=TCNT1+6500L; // Full message should be received within timer of 3250us
TIFR1=(1<<OCF1B); // clear OCR1B match flag
TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match
#endif
idx++;
}
}
else
{
RX_MISSED_BUFF_off; // if rx_buff was good it's not anymore...
#ifdef XMEGA
rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte
#else
@ -1081,12 +1094,13 @@ ISR(USART_RX_vect)
#else
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
#endif
if(!IS_RX_FLAG_on)
{ //Good frame received and main has finished with previous buffer
for(uint8_t i=0;i<RXBUFFER_SIZE;i++)
rx_ok_buff[i]=rx_buff[i]; // Duplicate the buffer
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
}
else
RX_MISSED_BUFF_on; // notify that rx_buff is good
idx=0; // start again
}
}
@ -1094,16 +1108,16 @@ ISR(USART_RX_vect)
else
{
#ifdef XMEGA
idx = USARTC0.DATA ; // Dummy read
idx = USARTC0.DATA; // Dummy read
#else
idx=UDR0; // Dummy read
idx=UDR0; // Dummy read
#endif
idx=0; // Error encountered discard full frame...
discard_frame=1; // Error encountered discard full frame...
}
#ifndef XMEGA
cli() ;
UCSR0B |= (1<<RXCIE0) ;//rx enable interrupt
UCSR0B |= (1<<RXCIE0) ; // RX enable interrupt
#endif
}
@ -1115,6 +1129,6 @@ ISR(TCC1_CCB_vect)
ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
#endif
{ // Timer1 compare B interrupt
idx=0;
discard_frame=1;
}
#endif //ENABLE_SERIAL