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Implemented debug output on uart1 for stm32
Replaced hardcoded eeprom offsets with documented constats
Fixed a bug affecting telemetry on Atmega328p using the invert_telemetry flag.
This commit is contained in:
Pascal Langer 2017-11-24 23:01:47 +01:00
parent 24fd5ba361
commit 7d41017850
7 changed files with 294 additions and 266 deletions
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2
Multiprotocol/Devo_cyrf6936.ino
View File

@ -63,7 +63,7 @@ static void __attribute__((unused)) DEVO_add_pkt_suffix()
BIND_SET_PULLUP; // set pullup BIND_SET_PULLUP; // set pullup
if(IS_BIND_BUTTON_on) if(IS_BIND_BUTTON_on)
{ {
eeprom_write_byte((EE_ADDR)(30+mode_select),0x01); // Set fixed id mode for the current model eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x01); // Set fixed id mode for the current model
option=1; option=1;
} }
BIND_SET_OUTPUT; BIND_SET_OUTPUT;

103
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1 #define VERSION_MAJOR 1
#define VERSION_MINOR 1 #define VERSION_MINOR 1
#define VERSION_REVISION 6 #define VERSION_REVISION 6
#define VERSION_PATCH_LEVEL 29 #define VERSION_PATCH_LEVEL 30
//****************** //******************
// Protocols // Protocols
//****************** //******************
@ -224,14 +224,29 @@ struct PPM_Parameters
// Telemetry // Telemetry
enum MultiPacketTypes { enum MultiPacketTypes {
MULTI_TELEMETRY_STATUS = 1, MULTI_TELEMETRY_STATUS = 1,
MULTI_TELEMETRY_SPORT = 2, MULTI_TELEMETRY_SPORT = 2,
MULTI_TELEMETRY_HUB = 3, MULTI_TELEMETRY_HUB = 3,
MULTI_TELEMETRY_DSM = 4, MULTI_TELEMETRY_DSM = 4,
MULTI_TELEMETRY_DSMBIND = 5, MULTI_TELEMETRY_DSMBIND = 5,
MULTI_TELEMETRY_AFHDS2A = 6, MULTI_TELEMETRY_AFHDS2A = 6,
MULTI_TELEMETRY_INPUTSYNC=8,
MULTI_COMMAND_CONFIG = 0x80,
MULTI_COMMAND_FAILSAFE =0x81,
}; };
enum FailSafeMode {
FAILSAFE_NOTSET = 0,
FAILSAFE_HOLD = 1,
FAILSAFE_CUSTOM = 2,
FAILSAFE_NOPULSES = 3,
FAILSAFE_RECEIVER = 4,
// Use during update so we can get away with only one copy of Failsafe channels
FAILSEFASE_INVALID = 0xfe
};
#define FAILSAFE_CHANNEL_HOLD 0
#define FAILSAFE_CHANNEL_NOPULSES 2047
// Macros // Macros
#define NOP() __asm__ __volatile__("nop") #define NOP() __asm__ __volatile__("nop")
@ -306,6 +321,23 @@ enum MultiPacketTypes {
#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 ) #define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
#define IS_WAIT_BIND_off ( ( 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 failsafeToPPM(i) (Failsafe_data[i]* 5/8+860)
#define isNormalFailsafeChanel(i) (Failsafe_data[i] != FAILSAFE_CHANNEL_HOLD && Failsafe_data[i] != FAILSAFE_CHANNEL_NOPULSES)
//Status messages
#if defined(STM32_BOARD) && defined (SERIAL_DEBUG)
#define debug(msg, ...) {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); for(int i=0;buf[i] !=0; i++) StatusSerial_write(buf[i]);}
#else
#define debug(...)
#undef SERIAL_DEBUG
#endif
//******************** //********************
//*** Blink timing *** //*** Blink timing ***
@ -443,6 +475,14 @@ enum {
#define SPEED_57600 2 #define SPEED_57600 2
#define SPEED_125K 3 #define SPEED_125K 3
/** EEPROM Layout */
#define EEPROM_ID_OFFSET 10 // Module ID (4 bytes)
#define EEPROM_ID_VALID_OFFSET 20 // 1 byte flag that ID is valid
#define MODELMODE_EEPROM_OFFSET 30 // Autobind mode, 1 byte per model, end is 46
#define AFHDS2A_EEPROM_OFFSET 50 // RX ID, 4 byte per model id, end is 114
#define CONFIG_EEPROM_OFFSET 120 // Current configuration of the multimodule
//**************************************** //****************************************
//*** MULTI protocol serial definition *** //*** MULTI protocol serial definition ***
//**************************************** //****************************************
@ -637,7 +677,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
version of multi code, should be displayed as major.minor.revision.patchlevel version of multi code, should be displayed as major.minor.revision.patchlevel
*/ */
/* /*
Multiprotocol telemetry definition for OpenTX Multiprotocol telemetry/command definition for OpenTX
Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically. Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically.
Serial: 100000 Baud 8e2 (same as input) Serial: 100000 Baud 8e2 (same as input)
@ -657,6 +697,8 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
[4-xx] data [4-xx] data
Commands from TX to multi cannot be longer than 22 bytes (RXLen -4byte header)
Type = 0x01 Multimodule Status: Type = 0x01 Multimodule Status:
[4] Flags [4] Flags
0x01 = Input signal detected 0x01 = Input signal detected
@ -686,12 +728,53 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
Type 0x05 DSM bind data Type 0x05 DSM bind data
data[0-16] DSM bind data data[0-16] DSM bind data
technically DSM bind data is only 10 bytes but multi send 16 technically DSM bind data is only 10 bytes but multi sends 16
like with telemtry, check length field) like with telemtery, check length field)
Type 0x06 Flysky AFHDS2 telemetry data Type 0x06 Flysky AFHDS2 telemetry data
length: 29 length: 29
data[0] = RSSI value data[0] = RSSI value
data[1-28] telemetry data 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
Type 0x81 Failsafe data
length: 23
data[0] Failsafe mode:
0 - Failsafe not set
1 - Failsafe hold, keep last received values
2 - Failsafe custom, use the values from the channels
3 - Failsafe nopulses, stop sending pulses from the receiver
4 - Failsafe receiver, use receiver stored values
Many of these many modes don't work with all protocols, fallback to best
available method
data[1-22] Failsafe data, encoded like normal channel data, with the expection
that 0 means hold for that channel and 2047 means no pulses
*/ */

76
Multiprotocol/Multiprotocol.ino
View File

@ -21,20 +21,23 @@
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
//#define DEBUG_TX //#define DEBUG_TX
//#define SERIAL_DEBUG // Only for STM32_BOARD on usart1
#define USE_MY_CONFIG #define USE_MY_CONFIG
#ifdef ARDUINO_AVR_XMEGA32D4
#include "MultiOrange.h" #ifdef __arm__// Let's automatically select the board if arm is selected
#define STM32_BOARD
#endif #endif
#ifdef ARDUINO_AVR_XMEGA32D4
#include "MultiOrange.h"
#endif
#include "Multiprotocol.h" #include "Multiprotocol.h"
//Multiprotocol module configuration file //Multiprotocol module configuration file
#include "_Config.h" #include "_Config.h"
// Let's automatically select the board
// if arm is selected
#ifdef __arm__
#define STM32_BOARD
#endif
//Personal config file //Personal config file
#if defined USE_MY_CONFIG #if defined USE_MY_CONFIG
@ -58,6 +61,9 @@
void ISR_COMPB(); void ISR_COMPB();
extern "C" extern "C"
{ {
#ifdef SERIAL_DEBUG
void __irq_usart1(void);
#endif
void __irq_usart2(void); void __irq_usart2(void);
void __irq_usart3(void); void __irq_usart3(void);
} }
@ -184,6 +190,11 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
volatile uint8_t tx_head=0; volatile uint8_t tx_head=0;
volatile uint8_t tx_tail=0; volatile uint8_t tx_tail=0;
#endif // BASH_SERIAL #endif // BASH_SERIAL
#ifdef SERIAL_DEBUG
volatile uint8_t tx_debug_buff[TXBUFFER_SIZE];
volatile uint8_t tx_debug_head=0;
volatile uint8_t tx_debug_tail=0;
#endif // SERIAL_DEBUG
uint8_t v_lipo1; uint8_t v_lipo1;
uint8_t v_lipo2; uint8_t v_lipo2;
uint8_t RX_RSSI; uint8_t RX_RSSI;
@ -193,7 +204,7 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
uint8_t telemetry_link=0; uint8_t telemetry_link=0;
uint8_t telemetry_counter=0; uint8_t telemetry_counter=0;
uint8_t telemetry_lost; uint8_t telemetry_lost;
#endif #endif // TELEMETRY
// Callback // Callback
typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer
@ -202,6 +213,13 @@ void_function_t remote_callback = 0;
// Init // Init
void setup() void setup()
{ {
// Setup diagnostic uart before anything else
#ifdef SERIAL_DEBUG
usart1_begin(115200,SERIAL_8N1);
tx_debug_resume();
debug("Multiprotocol version: %d.%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_REVISION, VERSION_PATCH_LEVEL);
#endif
// General pinout // General pinout
#ifdef ORANGE_TX #ifdef ORANGE_TX
//XMEGA //XMEGA
@ -227,14 +245,15 @@ void setup()
pinMode(CC25_CSN_pin,OUTPUT); pinMode(CC25_CSN_pin,OUTPUT);
pinMode(NRF_CSN_pin,OUTPUT); pinMode(NRF_CSN_pin,OUTPUT);
pinMode(CYRF_CSN_pin,OUTPUT); pinMode(CYRF_CSN_pin,OUTPUT);
pinMode(SPI_CSN_pin,OUTPUT);
pinMode(CYRF_RST_pin,OUTPUT); pinMode(CYRF_RST_pin,OUTPUT);
pinMode(PE1_pin,OUTPUT); pinMode(PE1_pin,OUTPUT);
pinMode(PE2_pin,OUTPUT); pinMode(PE2_pin,OUTPUT);
pinMode(TX_INV_pin,OUTPUT);
pinMode(RX_INV_pin,OUTPUT);
#if defined TELEMETRY #if defined TELEMETRY
pinMode(TX_INV_pin,OUTPUT);
pinMode(RX_INV_pin,OUTPUT);
#if defined INVERT_SERIAL #if defined INVERT_SERIAL
TX_INV_on;//activated inverter for both serial TX and RX signals TX_INV_on; //activate inverter for both serial TX and RX signals
RX_INV_on; RX_INV_on;
#else #else
TX_INV_off; TX_INV_off;
@ -287,7 +306,7 @@ void setup()
// Timer1 config // Timer1 config
TCCR1A = 0; TCCR1A = 0;
TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
// Random // Random
random_init(); random_init();
#endif #endif
@ -341,6 +360,7 @@ void setup()
((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) + ((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) +
((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8); ((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8);
#endif #endif
debug("Mode switch reads as %d", mode_select);
// Update LED // Update LED
LED_off; LED_off;
@ -360,6 +380,8 @@ void setup()
// Read or create protocol id // Read or create protocol id
MProtocol_id_master=random_id(10,false); MProtocol_id_master=random_id(10,false);
debug("Module Id: %lx", MProtocol_id_master);
#ifdef ENABLE_PPM #ifdef ENABLE_PPM
//Protocol and interrupts initialization //Protocol and interrupts initialization
@ -415,6 +437,7 @@ void setup()
#endif //ENABLE_SERIAL #endif //ENABLE_SERIAL
} }
servo_mid=servo_min_100+servo_max_100; //In fact 2* mid_value servo_mid=servo_min_100+servo_max_100; //In fact 2* mid_value
debug("init complete");
} }
// Main // Main
@ -678,6 +701,18 @@ inline void tx_resume()
#endif #endif
} }
#ifdef SERIAL_DEBUG
inline void tx_debug_resume()
{
USART1_BASE->CR1 |= USART_CR1_TXEIE;
}
inline void tx_debug_pause()
{
USART1_BASE->CR1 &= ~ USART_CR1_TXEIE;
}
#endif // SERIAL_DEBUG
#ifdef STM32_BOARD #ifdef STM32_BOARD
void start_timer2() void start_timer2()
{ {
@ -764,7 +799,7 @@ static void protocol_init()
#if defined(HUBSAN_A7105_INO) #if defined(HUBSAN_A7105_INO)
case MODE_HUBSAN: case MODE_HUBSAN:
PE1_off; //antenna RF1 PE1_off; //antenna RF1
if(IS_BIND_BUTTON_FLAG_on) random_id(10,true); // Generate new ID if bind button is pressed. if(IS_BIND_BUTTON_FLAG_on) random_id(EEPROM_ID_OFFSET,true); // Generate new ID if bind button is pressed.
next_callback = initHubsan(); next_callback = initHubsan();
remote_callback = ReadHubsan; remote_callback = ReadHubsan;
break; break;
@ -820,12 +855,12 @@ static void protocol_init()
{ {
if(IS_BIND_BUTTON_FLAG_on) if(IS_BIND_BUTTON_FLAG_on)
{ {
eeprom_write_byte((EE_ADDR)(30+mode_select),0x00); // reset to autobind mode for the current model eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x00); // reset to autobind mode for the current model
option=0; option=0;
} }
else else
{ {
option=eeprom_read_byte((EE_ADDR)(30+mode_select)); // load previous mode: autobind or fixed id option=eeprom_read_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select)); // load previous mode: autobind or fixed id
if(option!=1) option=0; // if not fixed id mode then it should be autobind if(option!=1) option=0; // if not fixed id mode then it should be autobind
} }
} }
@ -842,12 +877,12 @@ static void protocol_init()
{ {
if(IS_BIND_BUTTON_FLAG_on) if(IS_BIND_BUTTON_FLAG_on)
{ {
eeprom_write_byte((EE_ADDR)(30+mode_select),0x00); // reset to autobind mode for the current model eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x00); // reset to autobind mode for the current model
option=0; option=0;
} }
else else
{ {
option=eeprom_read_byte((EE_ADDR)(30+mode_select)); // load previous mode: autobind or fixed id option=eeprom_read_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select)); // load previous mode: autobind or fixed id
if(option!=1) option=0; // if not fixed id mode then it should be autobind if(option!=1) option=0; // if not fixed id mode then it should be autobind
} }
} }
@ -1051,6 +1086,7 @@ void update_serial_data()
protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F); //protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0] protocol=(rx_ok_buff[0]==0x55?0:32) + (rx_ok_buff[1]&0x1F); //protocol no (0-63) bits 4-6 of buff[1] and bit 0 of buf[0]
sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6 sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0---3 RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0---3
debug("New protocol selected: %d, sub proto %d, rxnum %d", protocol, sub_protocol, RX_num);
} }
else else
if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set
@ -1070,7 +1106,7 @@ void update_serial_data()
//store current protocol values //store current protocol values
for(uint8_t i=0;i<3;i++) for(uint8_t i=0;i<3;i++)
cur_protocol[i] = rx_ok_buff[i]; cur_protocol[i] = rx_ok_buff[i];
// decode channel values // decode channel values
volatile uint8_t *p=rx_ok_buff+3; volatile uint8_t *p=rx_ok_buff+3;
uint8_t dec=-3; uint8_t dec=-3;
@ -1363,7 +1399,7 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
{ {
id<<=8; id<<=8;
id|=eeprom_read_byte((EE_ADDR)address+i-1); id|=eeprom_read_byte((EE_ADDR)address+i-1);
} }
if(id!=0x2AD141A7) //ID with seed=0 if(id!=0x2AD141A7) //ID with seed=0
return id; return id;
} }
@ -1379,7 +1415,7 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
{ {
eeprom_write_byte((EE_ADDR)address+i,id); eeprom_write_byte((EE_ADDR)address+i,id);
id>>=8; id>>=8;
} }
eeprom_write_byte((EE_ADDR)(address+10),0xf0);//write bind flag in eeprom. eeprom_write_byte((EE_ADDR)(address+10),0xf0);//write bind flag in eeprom.
return id; return id;
#else #else

52
Multiprotocol/Pins.h
View File

@ -209,14 +209,14 @@
#endif #endif
#else //STM32_BOARD #else //STM32_BOARD
#define BIND_pin PA0 #define BIND_pin PA0
#define LED_pin PA1 #define LED_pin PA1
// //
#define PPM_pin PA8 //PPM 5V tolerant #define PPM_pin PA8 //PPM 5V tolerant
// //
#define S1_pin PA4 //Dial switch pins #define S1_pin PA4 //Dial switch pins
#define S2_pin PA5 #define S2_pin PA5
#define S3_pin PA6 #define S3_pin PA6
#define S4_pin PA7 #define S4_pin PA7
// //
#define PE1_pin PB4 //PE1 #define PE1_pin PB4 //PE1
#define PE2_pin PB5 //PE2 #define PE2_pin PB5 //PE2
@ -226,10 +226,11 @@
#define CYRF_RST_pin PB8 //CYRF RESET #define CYRF_RST_pin PB8 //CYRF RESET
#define A7105_CSN_pin PB9 //A7105 #define A7105_CSN_pin PB9 //A7105
#define CYRF_CSN_pin PB12 //CYRF CSN #define CYRF_CSN_pin PB12 //CYRF CSN
#define SPI_CSN_pin PA15
//SPI pins //SPI pins
#define SCK_pin PB13 //SCK #define SCK_pin PB13 //SCK
#define SDO_pin PB14 //MISO #define SDO_pin PB14 //MISO
#define SDI_pin PB15 //MOSI #define SDI_pin PB15 //MOSI
// //
#define TX_INV_pin PB3 #define TX_INV_pin PB3
#define RX_INV_pin PB1 #define RX_INV_pin PB1
@ -240,40 +241,43 @@
#define PE2_on digitalWrite(PE2_pin,HIGH) #define PE2_on digitalWrite(PE2_pin,HIGH)
#define PE2_off digitalWrite(PE2_pin,LOW) #define PE2_off digitalWrite(PE2_pin,LOW)
#define A7105_CSN_on digitalWrite(A7105_CSN_pin,HIGH) #define A7105_CSN_on digitalWrite(A7105_CSN_pin,HIGH)
#define A7105_CSN_off digitalWrite(A7105_CSN_pin,LOW) #define A7105_CSN_off digitalWrite(A7105_CSN_pin,LOW)
#define NRF_CE_on #define NRF_CE_on
#define NRF_CE_off #define NRF_CE_off
#define SCK_on digitalWrite(SCK_pin,HIGH) #define SCK_on digitalWrite(SCK_pin,HIGH)
#define SCK_off digitalWrite(SCK_pin,LOW) #define SCK_off digitalWrite(SCK_pin,LOW)
#define SDI_on digitalWrite(SDI_pin,HIGH) #define SDI_on digitalWrite(SDI_pin,HIGH)
#define SDI_off digitalWrite(SDI_pin,LOW) #define SDI_off digitalWrite(SDI_pin,LOW)
#define SDI_1 (digitalRead(SDI_pin)==HIGH) #define SDI_1 (digitalRead(SDI_pin)==HIGH)
#define SDI_0 (digitalRead(SDI_pin)==LOW) #define SDI_0 (digitalRead(SDI_pin)==LOW)
#define CC25_CSN_on digitalWrite(CC25_CSN_pin,HIGH) #define CC25_CSN_on digitalWrite(CC25_CSN_pin,HIGH)
#define CC25_CSN_off digitalWrite(CC25_CSN_pin,LOW) #define CC25_CSN_off digitalWrite(CC25_CSN_pin,LOW)
#define NRF_CSN_on digitalWrite(NRF_CSN_pin,HIGH) #define NRF_CSN_on digitalWrite(NRF_CSN_pin,HIGH)
#define NRF_CSN_off digitalWrite(NRF_CSN_pin,LOW) #define NRF_CSN_off digitalWrite(NRF_CSN_pin,LOW)
#define CYRF_CSN_on digitalWrite(CYRF_CSN_pin,HIGH) #define CYRF_CSN_on digitalWrite(CYRF_CSN_pin,HIGH)
#define CYRF_CSN_off digitalWrite(CYRF_CSN_pin,LOW) #define CYRF_CSN_off digitalWrite(CYRF_CSN_pin,LOW)
#define CYRF_RST_HI digitalWrite(CYRF_RST_pin,HIGH) //reset cyrf #define SPI_CSN_on digitalWrite(SPI_CSN_pin,HIGH)
#define SPI_CSN_off digitalWrite(SPI_CSN_pin,LOW)
#define CYRF_RST_HI digitalWrite(CYRF_RST_pin,HIGH) //reset cyrf
#define CYRF_RST_LO digitalWrite(CYRF_RST_pin,LOW) // #define CYRF_RST_LO digitalWrite(CYRF_RST_pin,LOW) //
#define SDO_1 (digitalRead(SDO_pin)==HIGH) #define SDO_1 (digitalRead(SDO_pin)==HIGH)
#define SDO_0 (digitalRead(SDO_pin)==LOW) #define SDO_0 (digitalRead(SDO_pin)==LOW)
#define TX_INV_on digitalWrite(TX_INV_pin,HIGH) #define TX_INV_on digitalWrite(TX_INV_pin,HIGH)
#define TX_INV_off digitalWrite(TX_INV_pin,LOW) #define TX_INV_off digitalWrite(TX_INV_pin,LOW)
#define RX_INV_on digitalWrite(RX_INV_pin,HIGH) #define RX_INV_on digitalWrite(RX_INV_pin,HIGH)
#define RX_INV_off digitalWrite(RX_INV_pin,LOW) #define RX_INV_off digitalWrite(RX_INV_pin,LOW)
#define LED_on digitalWrite(LED_pin,HIGH) #define LED_on digitalWrite(LED_pin,HIGH)

4
Multiprotocol/Symax_nrf24l01.ino
View File

@ -81,7 +81,7 @@ static void __attribute__((unused)) SYMAX_read_controls()
if (Servo_AUX5) if (Servo_AUX5)
{ {
flags |= SYMAX_FLAG_HEADLESS; flags |= SYMAX_FLAG_HEADLESS;
flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible
} }
} }
@ -158,7 +158,7 @@ static void __attribute__((unused)) SYMAX_build_packet(uint8_t bind)
packet[6] = flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00; packet[6] = flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00;
packet[7] = flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00; packet[7] = flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00;
if (flags & SYMAX_XTRM_RATES) if (flags & SYMAX_XTRM_RATES)
{ // use trims to extend controls { // use trims to extend controls
packet[5] |= elevator >> 2; packet[5] |= elevator >> 2;
packet[6] |= rudder >> 2; packet[6] |= rudder >> 2;
packet[7] |= aileron >> 2; packet[7] |= aileron >> 2;

321
Multiprotocol/Telemetry.ino
View File

@ -20,54 +20,47 @@
uint8_t RetrySequence ; uint8_t RetrySequence ;
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) #if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
#define MULTI_TIME 500 //in ms #define MULTI_TIME 500 //in ms
#define INPUT_SYNC_TIME 100 //in ms
#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
uint32_t lastMulti = 0; uint32_t lastMulti = 0;
#endif #endif // MULTI_TELEMETRY/MULTI_STATUS
#if defined SPORT_TELEMETRY #if defined SPORT_TELEMETRY
#define SPORT_TIME 12000 //12ms #define SPORT_TIME 12000 //12ms
#define FRSKY_SPORT_PACKET_SIZE 8 #define FRSKY_SPORT_PACKET_SIZE 8
#define FX_BUFFERS 4
uint32_t last = 0; uint32_t last = 0;
uint8_t sport_counter=0; uint8_t sport_counter=0;
uint8_t RxBt = 0; uint8_t RxBt = 0;
uint8_t sport = 0; uint8_t sport = 0;
#define MAX_PKTX 10 uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS];
#define FX_BUFFERS 4
uint8_t pktx[MAX_PKTX];
uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS];
uint8_t indx;
//struct t_fx_rx_packet
//{
// uint8_t validSequence ;
// uint8_t count ;
// uint8_t payload[6] ;
//} ;
// Store for out of sequence packet // Store for out of sequence packet
//struct t_fx_rx_packet FrskyxRxTelemetry ; uint8_t FrskyxRxTelemetryValidSequence ;
struct t_fx_rx_frame
{
uint8_t valid ;
uint8_t count ;
uint8_t payload[6] ;
} ;
uint8_t FrskyxRxTelemetryValidSequence ; // Store for FrskyX telemetry
struct t_fx_rx_frame FrskyxRxFrames[4] ;
uint8_t NextFxFrameToForward ;
#endif // SPORT_TELEMETRY
struct t_fx_rx_frame
{
uint8_t valid ;
uint8_t count ;
uint8_t payload[6] ;
} ;
// Store for FrskyX telemetry
struct t_fx_rx_frame FrskyxRxFrames[4] ;
uint8_t NextFxFrameToForward ;
#endif
#if defined HUB_TELEMETRY #if defined HUB_TELEMETRY
#define USER_MAX_BYTES 6 #define USER_MAX_BYTES 6
uint8_t prev_index; uint8_t prev_index;
#endif #endif // HUB_TELEMETRY
#define START_STOP 0x7e #define START_STOP 0x7e
#define BYTESTUFF 0x7d #define BYTESTUFF 0x7d
#define STUFF_MASK 0x20 #define STUFF_MASK 0x20
#define MAX_PKTX 10
uint8_t pktx[MAX_PKTX];
uint8_t indx;
uint8_t frame[18]; uint8_t frame[18];
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) #if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
@ -85,30 +78,30 @@ static void multi_send_header(uint8_t type, uint8_t len)
static void multi_send_status() static void multi_send_status()
{ {
multi_send_header(MULTI_TELEMETRY_STATUS, 5); multi_send_header(MULTI_TELEMETRY_STATUS, 5);
// Build flags // Build flags
uint8_t flags=0; uint8_t flags=0;
if (IS_INPUT_SIGNAL_on) if (IS_INPUT_SIGNAL_on)
flags |= 0x01; flags |= 0x01;
if (mode_select==MODE_SERIAL) if (mode_select==MODE_SERIAL)
flags |= 0x02; flags |= 0x02;
if (remote_callback != 0) if (remote_callback != 0)
{ {
flags |= 0x04; flags |= 0x04;
if (IS_WAIT_BIND_on) if (IS_WAIT_BIND_on)
flags |= 0x10; flags |= 0x10;
else else
if (!IS_BIND_DONE_on) if (!IS_BIND_DONE_on)
flags |= 0x08; flags |= 0x08;
} }
Serial_write(flags); Serial_write(flags);
// Version number example: 1.1.6.1 // Version number example: 1.1.6.1
Serial_write(VERSION_MAJOR); Serial_write(VERSION_MAJOR);
Serial_write(VERSION_MINOR); Serial_write(VERSION_MINOR);
Serial_write(VERSION_REVISION); Serial_write(VERSION_REVISION);
Serial_write(VERSION_PATCH_LEVEL); Serial_write(VERSION_PATCH_LEVEL);
} }
#endif #endif
@ -156,9 +149,9 @@ static void multi_send_status()
#ifdef MULTI_TELEMETRY #ifdef MULTI_TELEMETRY
static void multi_send_frskyhub() static void multi_send_frskyhub()
{ {
multi_send_header(MULTI_TELEMETRY_HUB, 9); multi_send_header(MULTI_TELEMETRY_HUB, 9);
for (uint8_t i = 0; i < 9; i++) for (uint8_t i = 0; i < 9; i++)
Serial_write(frame[i]); Serial_write(frame[i]);
} }
#endif #endif
@ -169,8 +162,8 @@ void frskySendStuffed()
{ {
if ((frame[i] == START_STOP) || (frame[i] == BYTESTUFF)) if ((frame[i] == START_STOP) || (frame[i] == BYTESTUFF))
{ {
Serial_write(BYTESTUFF); Serial_write(BYTESTUFF);
frame[i] ^= STUFF_MASK; frame[i] ^= STUFF_MASK;
} }
Serial_write(frame[i]); Serial_write(frame[i]);
} }
@ -181,12 +174,8 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{ {
uint8_t clen = pkt[0] + 3 ; uint8_t clen = pkt[0] + 3 ;
if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len == clen ) if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len == clen )
{ {
telemetry_link|=1; // Telemetry data is available telemetry_link|=1; // Telemetry data is available
/*previous version
RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>4);
if(pktt[len-2] >=128) RSSI_dBm -= 164;
else RSSI_dBm += 130;*/
TX_RSSI = pkt[len-2]; TX_RSSI = pkt[len-2];
if(TX_RSSI >=128) if(TX_RSSI >=128)
TX_RSSI -= 128; TX_RSSI -= 128;
@ -204,12 +193,8 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{ {
uint8_t topBit = 0 ; uint8_t topBit = 0 ;
if ( telemetry_counter & 0x80 ) if ( telemetry_counter & 0x80 )
{
if ( ( telemetry_counter & 0x1F ) != RetrySequence ) if ( ( telemetry_counter & 0x1F ) != RetrySequence )
{
topBit = 0x80 ; topBit = 0x80 ;
}
}
telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame
} }
else else
@ -222,28 +207,14 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
} }
} }
else else
{
pktt[6]=0; // Discard packet pktt[6]=0; // Discard packet
}
// //
#if defined SPORT_TELEMETRY && defined FRSKYX_CC2500_INO #if defined SPORT_TELEMETRY && defined FRSKYX_CC2500_INO
telemetry_lost=0; telemetry_lost=0;
if (protocol==MODE_FRSKYX) if (protocol==MODE_FRSKYX)
{ {
uint16_t lcrc = crc_x(&pkt[3], len-7 ) ; uint16_t lcrc = crc_x(&pkt[3], len-7 ) ;
// if ( ( sub_protocol & 2 ) == 0 )
// {
// if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) )
// {
// lcrc = 0 ;
// }
// else
// {
// lcrc = 1 ;
// }
// }
// if ( lcrc == 0 )
if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) ) if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) )
{ {
// Check if in sequence // Check if in sequence
@ -267,18 +238,12 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{ {
p->count = count ; p->count = count ;
for ( uint8_t i = 0 ; i < count ; i += 1 ) for ( uint8_t i = 0 ; i < count ; i += 1 )
{
p->payload[i] = pkt[i+7] ; p->payload[i] = pkt[i+7] ;
}
} }
else else
{
p->count = 0 ; p->count = 0 ;
}
p->valid = 1 ; p->valid = 1 ;
FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ; FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ;
if ( FrskyxRxTelemetryValidSequence & 0x80 ) if ( FrskyxRxTelemetryValidSequence & 0x80 )
@ -287,24 +252,16 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
FrskyxRxTelemetryValidSequence &= 0x7F ; FrskyxRxTelemetryValidSequence &= 0x7F ;
} }
// if ( FrskyxRxTelemetry.validSequence & 0x80 )
// {
// FrX_receive_seq = ( FrskyxRxTelemetry.validSequence + 1 ) & 3 ;
// FrskyxRxTelemetry.validSequence &= 0x7F ;
// }
} }
else else
{ {
// Save and request correct packet // Save and request correct packet
// struct t_fx_rx_packet *p ;
struct t_fx_rx_frame *q ; struct t_fx_rx_frame *q ;
uint8_t count ; uint8_t count ;
// pkt[4] RSSI // pkt[4] RSSI
// pkt[5] sequence control // pkt[5] sequence control
// pkt[6] payload count // pkt[6] payload count
// pkt[7-12] payload // pkt[7-12] payload
pktt[6] = 0 ; // Don't process pktt[6] = 0 ; // Don't process
if ( (pkt[5] & 0x03) == ( ( FrX_receive_seq +1 ) & 3 ) ) if ( (pkt[5] & 0x03) == ( ( FrX_receive_seq +1 ) & 3 ) )
{ {
@ -319,55 +276,18 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
} }
} }
else else
{
q->count = 0 ; q->count = 0 ;
}
q->valid = 1 ; q->valid = 1 ;
FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ; FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ;
} }
FrX_receive_seq = ( FrX_receive_seq & 0x03 ) | 0x04 ; // Request re-transmission
// p = &FrskyxRxTelemetry ;
// count = pkt[6] ;
// if ( count <= 6 )
// {
// p->count = count ;
// for ( uint8_t i = 0 ; i < count ; i += 1 )
// {
// p->payload[i] = pkt[i+7] ;
// }
// p->validSequence = 0x80 | ( pkt[5] & 0x03 ) ;
// }
FrX_receive_seq = ( FrX_receive_seq & 0x03 ) | 0x04 ; // Request re-transmission
} }
if (((pktt[5] >> 4) & 0x0f) == 0x08) if (((pktt[5] >> 4) & 0x0f) == 0x08)
{
FrX_send_seq = 0 ; FrX_send_seq = 0 ;
// FrX_receive_seq = 0x08 ;
}
} }
// packet[21] = (FrX_receive_seq << 4) | FrX_send_seq ;//8 at start
// if ( FrX_send_seq != 0x08 )
// {
// FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;
// }
// if ((pktt[5] >> 4 & 0x0f) == 0x08)
// {
// seq_last_sent = 8;
// seq_last_rcvd = 0;
// pass=0;
// }
// else
// {
// if ((pktt[5] >> 4 & 0x03) == (seq_last_rcvd + 1) % 4)
// seq_last_rcvd = (seq_last_rcvd + 1) % 4;
// else
// pass=0;//reset if sequence wrong
// }
} }
#endif #endif
} }
@ -446,7 +366,7 @@ void frsky_user_frame()
} }
else else
telemetry_link=0; telemetry_link=0;
} }
/* /*
HuB RX packets. HuB RX packets.
pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09 pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
@ -514,23 +434,19 @@ pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
*/ */
const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45,
0xC6, 0x67, 0x48, 0xE9, 0x6A, 0xCB,
0xAC, 0x0D, 0x8E, 0x2F, 0xD0, 0x71,
0xF2, 0x53, 0x34, 0x95, 0x16, 0xB7,
0x98, 0x39, 0xBA, 0x1B } ;
#ifdef MULTI_TELEMETRY #ifdef MULTI_TELEMETRY
const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45,
0xC6, 0x67, 0x48, 0xE9, 0x6A, 0xCB,
0xAC, 0x0D, 0x8E, 0x2F, 0xD0, 0x71,
0xF2, 0x53, 0x34, 0x95, 0x16, 0xB7,
0x98, 0x39, 0xBA, 0x1B } ;
void sportSend(uint8_t *p) void sportSend(uint8_t *p)
{ {
multi_send_header(MULTI_TELEMETRY_SPORT, 9); multi_send_header(MULTI_TELEMETRY_SPORT, 9);
uint16_t crc_s = 0; uint16_t crc_s = 0;
uint8_t x = p[0] ; uint8_t x = p[0] ;
if ( x <= 0x1B ) if ( x <= 0x1B )
{
x = pgm_read_byte_near( &Indices[x] ) ; x = pgm_read_byte_near( &Indices[x] ) ;
}
Serial_write(x) ; Serial_write(x) ;
for (uint8_t i = 1; i < 9; i++) for (uint8_t i = 1; i < 9; i++)
{ {
@ -540,8 +456,8 @@ const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45,
if (i>0) if (i>0)
{ {
crc_s += p[i]; //0-1FF crc_s += p[i]; //0-1FF
crc_s += crc_s >> 8; //0-100 crc_s += crc_s >> 8; //0-100
crc_s &= 0x00ff; crc_s &= 0x00ff;
} }
} }
@ -661,7 +577,7 @@ void proces_sport_data(uint8_t data)
pass = 1; pass = 1;
break; break;
} }
if(data == BYTESTUFF)//if they are stuffed if(data == BYTESTUFF) //if they are stuffed
pass=2; pass=2;
else else
if (indx < MAX_PKTX) if (indx < MAX_PKTX)
@ -680,9 +596,7 @@ void proces_sport_data(uint8_t data)
uint8_t dest = sport * FRSKY_SPORT_PACKET_SIZE ; uint8_t dest = sport * FRSKY_SPORT_PACKET_SIZE ;
uint8_t i ; uint8_t i ;
for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 ) for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 )
{
pktx1[dest++] = pktx[i] ; // Triple buffer pktx1[dest++] = pktx[i] ; // Triple buffer
}
sport += 1 ;//ok to send sport += 1 ;//ok to send
} }
// else // else
@ -704,10 +618,9 @@ void TelemetryUpdate()
h = SerialControl.head ; h = SerialControl.head ;
t = SerialControl.tail ; t = SerialControl.tail ;
if ( h >= t ) if ( h >= t )
t += 192 - h ; t += TXBUFFER_SIZE - h ;
else else
t -= h ; t -= h ;
// if ( t < 32 )
if ( t < 64 ) if ( t < 64 )
{ {
return ; return ;
@ -741,9 +654,6 @@ void TelemetryUpdate()
#if defined SPORT_TELEMETRY #if defined SPORT_TELEMETRY
if (protocol==MODE_FRSKYX) if (protocol==MODE_FRSKYX)
{ // FrSkyX { // FrSkyX
// struct t_fx_rx_frame *p ;
// uint8_t count ;
for(;;) for(;;)
{ {
struct t_fx_rx_frame *p ; struct t_fx_rx_frame *p ;
@ -763,40 +673,12 @@ void TelemetryUpdate()
} }
} }
// p = &FrskyxRxFrames[NextFxFrameToForward] ;
// if ( p->valid )
// {
// count = p->count ;
// for (uint8_t i=0; i < count ; i++)
// proces_sport_data(p->payload[i]) ;
// p->valid = 0 ; // Sent on
// NextFxFrameToForward = ( NextFxFrameToForward + 1 ) & 3 ;
// }
if(telemetry_link) if(telemetry_link)
{ {
if(pktt[4] & 0x80) if(pktt[4] & 0x80)
RX_RSSI=pktt[4] & 0x7F ; RX_RSSI=pktt[4] & 0x7F ;
else else
RxBt = (pktt[4]<<1) + 1 ; RxBt = (pktt[4]<<1) + 1 ;
// if(pktt[6] && pktt[6]<=6)
// {
// for (uint8_t i=0; i < pktt[6]; i++)
// proces_sport_data(pktt[7+i]);
// if ( FrskyxRxTelemetry.validSequence & 0x80 )
// {
// // Process out of sequence packet
// for (uint8_t i=0; i < FrskyxRxTelemetry.count ; i++)
// {
// proces_sport_data( FrskyxRxTelemetry.payload[i] ) ;
// }
//// FrX_receive_seq = ( FrskyxRxTelemetry.validSequence + 1 ) & 3 ;
// FrskyxRxTelemetry.validSequence = 0 ;
// }
// }
telemetry_link=0; telemetry_link=0;
} }
uint32_t now = micros(); uint32_t now = micros();
@ -810,7 +692,7 @@ void TelemetryUpdate()
#endif #endif
} }
} }
#endif #endif // SPORT_TELEMETRY
#if defined DSM_TELEMETRY #if defined DSM_TELEMETRY
if(telemetry_link && protocol == MODE_DSM) if(telemetry_link && protocol == MODE_DSM)
@ -820,14 +702,14 @@ void TelemetryUpdate()
return; return;
} }
#endif #endif
#if defined AFHDS2A_FW_TELEMETRY #if defined AFHDS2A_FW_TELEMETRY
if(telemetry_link == 2 && protocol == MODE_AFHDS2A) if(telemetry_link == 2 && protocol == MODE_AFHDS2A)
{ {
AFHDSA_short_frame(); AFHDSA_short_frame();
telemetry_link=0; telemetry_link=0;
return; return;
} }
#endif #endif
if((telemetry_link & 1 )&& protocol != MODE_FRSKYX) if((telemetry_link & 1 )&& protocol != MODE_FRSKYX)
{ // FrSkyD + Hubsan + AFHDS2A + Bayang + Cabell { // FrSkyD + Hubsan + AFHDS2A + Bayang + Cabell
@ -850,6 +732,19 @@ void TelemetryUpdate()
/**************************/ /**************************/
/**************************/ /**************************/
#ifdef SERIAL_DEBUG
void StatusSerial_write(uint8_t data)
{
uint8_t nextHead ;
nextHead = tx_debug_head + 1 ;
if ( nextHead >= TXBUFFER_SIZE )
nextHead = 0 ;
tx_debug_buff[nextHead]=data;
tx_debug_head = nextHead ;
tx_debug_resume();
}
#endif // SERIAL_DEBUG
#ifndef BASH_SERIAL #ifndef BASH_SERIAL
// Routines for normal serial output // Routines for normal serial output
void Serial_write(uint8_t data) void Serial_write(uint8_t data)
@ -969,11 +864,34 @@ void TelemetryUpdate()
#endif #endif
} }
#ifdef STM32_BOARD #ifdef STM32_BOARD
#if defined(SERIAL_DEBUG)
void __irq_usart1()
{ // Transmit interrupt
if(USART1_BASE->SR & USART_SR_TXE)
{
if(tx_debug_head!=tx_debug_tail)
{
if(++tx_debug_tail>=TXBUFFER_SIZE) //head
tx_debug_tail=0;
USART1_BASE->DR=tx_debug_buff[tx_debug_tail]; //clears TXE bit
}
if (tx_debug_tail == tx_debug_head)
tx_debug_pause(); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
}
}
void usart1_begin(uint32_t baud,uint32_t config )
{
usart_init(USART1);
usart_config_gpios_async(USART1,GPIOA,PIN_MAP[PA10].gpio_bit,GPIOA,PIN_MAP[PA9].gpio_bit,config);
usart_set_baud_rate(USART1, STM32_PCLK1, baud);
usart_enable(USART1);
}
#endif
void usart2_begin(uint32_t baud,uint32_t config ) void usart2_begin(uint32_t baud,uint32_t config )
{ {
usart_init(USART2); usart_init(USART2);
usart_config_gpios_async(USART2,GPIOA,PIN_MAP[PA3].gpio_bit,GPIOA,PIN_MAP[PA2].gpio_bit,config); usart_config_gpios_async(USART2,GPIOA,PIN_MAP[PA3].gpio_bit,GPIOA,PIN_MAP[PA2].gpio_bit,config);
usart_set_baud_rate(USART2, STM32_PCLK1, baud);// usart_set_baud_rate(USART2, STM32_PCLK1, baud);
usart_enable(USART2); usart_enable(USART2);
} }
void usart3_begin(uint32_t baud,uint32_t config ) void usart3_begin(uint32_t baud,uint32_t config )
@ -1120,9 +1038,7 @@ ISR(TIMER0_COMPA_vect)
GPIOR1 = 3 ; GPIOR1 = 3 ;
} }
else else
{
OCR0A += 20 ; OCR0A += 20 ;
}
} }
ISR(TIMER0_COMPB_vect) ISR(TIMER0_COMPB_vect)
@ -1150,12 +1066,9 @@ ISR(TIMER0_COMPB_vect)
{ {
GPIOR0 = ptr->data[ptr->tail] ; GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ; GPIOR2 = ptr->data[ptr->tail+1] ;
uint8_t nextTail ; uint8_t nextTail = ptr->tail + 2 ;
nextTail = ptr->tail + 2 ; if ( nextTail > TXBUFFER_SIZE )
if ( nextTail > 192 )
{
nextTail = 0 ; nextTail = 0 ;
}
ptr->tail = nextTail ; ptr->tail = nextTail ;
GPIOR1 = 8 ; GPIOR1 = 8 ;
OCR0A = OCR0B + 40 ; OCR0A = OCR0B + 40 ;
@ -1170,44 +1083,36 @@ ISR(TIMER0_COMPB_vect)
} }
} }
else else
{
OCR0B += 20 ; OCR0B += 20 ;
}
} }
ISR(TIMER0_OVF_vect) ISR(TIMER0_OVF_vect)
{ {
uint8_t byte ; uint8_t byte ;
if ( GPIOR1 > 2 ) if ( GPIOR1 > 2 )
{
byte = GPIOR0 ; byte = GPIOR0 ;
}
else else
{
byte = GPIOR2 ; byte = GPIOR2 ;
}
if ( byte & 0x01 ) if ( byte & 0x01 )
SERIAL_TX_on; SERIAL_TX_on;
else else
SERIAL_TX_off; SERIAL_TX_off;
byte /= 2 ; // Generates shorter code than byte >>= 1 byte /= 2 ; // Generates shorter code than byte >>= 1
if ( GPIOR1 > 2 ) if ( GPIOR1 > 2 )
{
GPIOR0 = byte ; GPIOR0 = byte ;
}
else else
{
GPIOR2 = byte ; GPIOR2 = byte ;
}
if ( --GPIOR1 == 0 ) if ( --GPIOR1 == 0 )
{ { // prepare next byte
// prepare next byte
volatile struct t_serial_bash *ptr = &SerialControl ; volatile struct t_serial_bash *ptr = &SerialControl ;
if ( ptr->head != ptr->tail ) if ( ptr->head != ptr->tail )
{ {
GPIOR0 = ptr->data[ptr->tail] ; GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ; GPIOR2 = ptr->data[ptr->tail+1] ;
ptr->tail = ( ptr->tail + 2 ) & 0x7F ; uint8_t nextTail = ptr->tail + 2 ;
if ( nextTail > TXBUFFER_SIZE )
nextTail = 0 ;
ptr->tail = nextTail ;
GPIOR1 = 10 ; GPIOR1 = 10 ;
} }
else else

2
Multiprotocol/WK2x01_cyrf6936.ino
View File

@ -294,7 +294,7 @@ static void __attribute__((unused)) WK_build_beacon_pkt_2801()
BIND_SET_PULLUP; // set pullup BIND_SET_PULLUP; // set pullup
if(IS_BIND_BUTTON_on) if(IS_BIND_BUTTON_on)
{ {
eeprom_write_byte((EE_ADDR)(30+mode_select),0x01); // Set fixed id mode for the current model eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x01); // Set fixed id mode for the current model
option=1; option=1;
} }
BIND_SET_OUTPUT; BIND_SET_OUTPUT;