mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-07-01 01:57:52 +00:00
Updates
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
parent
24fd5ba361
commit
7d41017850
@ -63,7 +63,7 @@ static void __attribute__((unused)) DEVO_add_pkt_suffix()
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BIND_SET_PULLUP; // set pullup
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if(IS_BIND_BUTTON_on)
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{
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eeprom_write_byte((EE_ADDR)(30+mode_select),0x01); // Set fixed id mode for the current model
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eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x01); // Set fixed id mode for the current model
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option=1;
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}
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BIND_SET_OUTPUT;
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@ -19,7 +19,7 @@
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 1
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#define VERSION_REVISION 6
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#define VERSION_PATCH_LEVEL 29
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#define VERSION_PATCH_LEVEL 30
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//******************
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// Protocols
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//******************
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@ -230,8 +230,23 @@ enum MultiPacketTypes {
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MULTI_TELEMETRY_DSM = 4,
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MULTI_TELEMETRY_DSMBIND = 5,
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MULTI_TELEMETRY_AFHDS2A = 6,
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MULTI_TELEMETRY_INPUTSYNC=8,
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MULTI_COMMAND_CONFIG = 0x80,
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MULTI_COMMAND_FAILSAFE =0x81,
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};
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enum FailSafeMode {
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FAILSAFE_NOTSET = 0,
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FAILSAFE_HOLD = 1,
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FAILSAFE_CUSTOM = 2,
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FAILSAFE_NOPULSES = 3,
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FAILSAFE_RECEIVER = 4,
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// Use during update so we can get away with only one copy of Failsafe channels
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FAILSEFASE_INVALID = 0xfe
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};
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#define FAILSAFE_CHANNEL_HOLD 0
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#define FAILSAFE_CHANNEL_NOPULSES 2047
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// Macros
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#define NOP() __asm__ __volatile__("nop")
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@ -306,6 +321,23 @@ enum MultiPacketTypes {
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#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
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#define IS_WAIT_BIND_off ( ( protocol_flags2 & _BV(7) ) ==0 )
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//Configuration
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#define IS_TELEMTRY_INVERSION_ON (multi_config & 0x01)
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#define IS_MULTI_TELEMETRY_ON (multi_config & 0x02)
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#define IS_EXTRA_TELEMETRY_ON (multi_config & 0x04)
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// Failsafe
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#define failsafeToPPM(i) (Failsafe_data[i]* 5/8+860)
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#define isNormalFailsafeChanel(i) (Failsafe_data[i] != FAILSAFE_CHANNEL_HOLD && Failsafe_data[i] != FAILSAFE_CHANNEL_NOPULSES)
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//Status messages
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#if defined(STM32_BOARD) && defined (SERIAL_DEBUG)
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#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]);}
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#else
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#define debug(...)
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#undef SERIAL_DEBUG
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#endif
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//********************
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//*** Blink timing ***
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@ -443,6 +475,14 @@ enum {
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#define SPEED_57600 2
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#define SPEED_125K 3
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/** EEPROM Layout */
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#define EEPROM_ID_OFFSET 10 // Module ID (4 bytes)
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#define EEPROM_ID_VALID_OFFSET 20 // 1 byte flag that ID is valid
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#define MODELMODE_EEPROM_OFFSET 30 // Autobind mode, 1 byte per model, end is 46
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#define AFHDS2A_EEPROM_OFFSET 50 // RX ID, 4 byte per model id, end is 114
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#define CONFIG_EEPROM_OFFSET 120 // Current configuration of the multimodule
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//****************************************
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//*** MULTI protocol serial definition ***
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//****************************************
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@ -637,7 +677,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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version of multi code, should be displayed as major.minor.revision.patchlevel
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*/
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/*
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Multiprotocol telemetry definition for OpenTX
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Multiprotocol telemetry/command definition for OpenTX
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Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically.
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Serial: 100000 Baud 8e2 (same as input)
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@ -657,6 +697,8 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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[4-xx] data
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Commands from TX to multi cannot be longer than 22 bytes (RXLen -4byte header)
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Type = 0x01 Multimodule Status:
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[4] Flags
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0x01 = Input signal detected
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@ -686,12 +728,53 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
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Type 0x05 DSM bind data
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data[0-16] DSM bind data
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technically DSM bind data is only 10 bytes but multi send 16
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like with telemtry, check length field)
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technically DSM bind data is only 10 bytes but multi sends 16
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like with telemtery, check length field)
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Type 0x06 Flysky AFHDS2 telemetry data
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length: 29
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data[0] = RSSI value
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data[1-28] telemetry data
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Type 0x08 Input synchronisation
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Informs the TX about desired rate and current delay
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length: 4
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data[0-1] Desired refresh rate in µs
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data[2-3] Time (µs) between last serial servo input received and servo input needed (lateness), TX should adjust its
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sending time to minimise this value.
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data[4] Interval of this message in ms
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data[5] Input delay target in 10µs
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Note that there are protocols (AFHDS2A) that have a refresh rate that is smaller than the maximum achievable
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refresh rate via the serial protocol, in this case, the TX should double the rate and also subract this
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refresh rate from the input lag if the input lag is more than the desired refresh rate.
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The remote should try to get to zero of (inputdelay+target*10).
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Commands from TX to module use values > 127 for command type
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Type 0x80 Module Configuration
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This sent from the TX to Multi to configure inversion and multi telemetry type
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length: 1
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data[0] flags
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0x01 Telemetry inversion (1 = inverted)
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0x02 Use Multi telemetry protocol (if 0 use multi status)
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0x04 Send extra telemetry (type 0x08) to allow input synchronisation
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Type 0x81 Failsafe data
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length: 23
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data[0] Failsafe mode:
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0 - Failsafe not set
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1 - Failsafe hold, keep last received values
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2 - Failsafe custom, use the values from the channels
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3 - Failsafe nopulses, stop sending pulses from the receiver
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4 - Failsafe receiver, use receiver stored values
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Many of these many modes don't work with all protocols, fallback to best
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available method
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data[1-22] Failsafe data, encoded like normal channel data, with the expection
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that 0 means hold for that channel and 2047 means no pulses
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*/
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@ -21,20 +21,23 @@
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <avr/pgmspace.h>
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//#define DEBUG_TX
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//#define SERIAL_DEBUG // Only for STM32_BOARD on usart1
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#define USE_MY_CONFIG
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#ifdef __arm__// Let's automatically select the board if arm is selected
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#define STM32_BOARD
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#endif
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#ifdef ARDUINO_AVR_XMEGA32D4
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#include "MultiOrange.h"
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#endif
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#include "Multiprotocol.h"
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//Multiprotocol module configuration file
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#include "_Config.h"
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// Let's automatically select the board
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// if arm is selected
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#ifdef __arm__
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#define STM32_BOARD
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#endif
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//Personal config file
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#if defined USE_MY_CONFIG
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@ -58,6 +61,9 @@
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void ISR_COMPB();
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extern "C"
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{
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#ifdef SERIAL_DEBUG
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void __irq_usart1(void);
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#endif
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void __irq_usart2(void);
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void __irq_usart3(void);
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}
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@ -184,6 +190,11 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
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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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#ifdef SERIAL_DEBUG
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volatile uint8_t tx_debug_buff[TXBUFFER_SIZE];
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volatile uint8_t tx_debug_head=0;
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volatile uint8_t tx_debug_tail=0;
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#endif // SERIAL_DEBUG
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uint8_t v_lipo1;
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uint8_t v_lipo2;
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uint8_t RX_RSSI;
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@ -193,7 +204,7 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
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uint8_t telemetry_link=0;
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uint8_t telemetry_counter=0;
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uint8_t telemetry_lost;
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#endif
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#endif // TELEMETRY
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// Callback
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typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer
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@ -202,6 +213,13 @@ void_function_t remote_callback = 0;
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// Init
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void setup()
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{
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// Setup diagnostic uart before anything else
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#ifdef SERIAL_DEBUG
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usart1_begin(115200,SERIAL_8N1);
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tx_debug_resume();
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debug("Multiprotocol version: %d.%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_REVISION, VERSION_PATCH_LEVEL);
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#endif
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// General pinout
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#ifdef ORANGE_TX
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//XMEGA
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@ -227,14 +245,15 @@ void setup()
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pinMode(CC25_CSN_pin,OUTPUT);
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pinMode(NRF_CSN_pin,OUTPUT);
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pinMode(CYRF_CSN_pin,OUTPUT);
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pinMode(SPI_CSN_pin,OUTPUT);
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pinMode(CYRF_RST_pin,OUTPUT);
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pinMode(PE1_pin,OUTPUT);
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pinMode(PE2_pin,OUTPUT);
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#if defined TELEMETRY
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pinMode(TX_INV_pin,OUTPUT);
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pinMode(RX_INV_pin,OUTPUT);
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#if defined TELEMETRY
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#if defined INVERT_SERIAL
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TX_INV_on;//activated inverter for both serial TX and RX signals
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TX_INV_on; //activate inverter for both serial TX and RX signals
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RX_INV_on;
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#else
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TX_INV_off;
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@ -341,6 +360,7 @@ void setup()
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((MODE_DIAL3_ipr & _BV(MODE_DIAL3_pin)) ? 0 : 4) +
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((MODE_DIAL4_ipr & _BV(MODE_DIAL4_pin)) ? 0 : 8);
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#endif
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debug("Mode switch reads as %d", mode_select);
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// Update LED
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LED_off;
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@ -361,6 +381,8 @@ void setup()
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// Read or create protocol id
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MProtocol_id_master=random_id(10,false);
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debug("Module Id: %lx", MProtocol_id_master);
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#ifdef ENABLE_PPM
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//Protocol and interrupts initialization
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if(mode_select != MODE_SERIAL)
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@ -415,6 +437,7 @@ void setup()
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#endif //ENABLE_SERIAL
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}
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servo_mid=servo_min_100+servo_max_100; //In fact 2* mid_value
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debug("init complete");
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}
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// Main
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@ -678,6 +701,18 @@ inline void tx_resume()
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#endif
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}
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#ifdef SERIAL_DEBUG
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inline void tx_debug_resume()
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{
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USART1_BASE->CR1 |= USART_CR1_TXEIE;
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}
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inline void tx_debug_pause()
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{
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USART1_BASE->CR1 &= ~ USART_CR1_TXEIE;
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}
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#endif // SERIAL_DEBUG
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#ifdef STM32_BOARD
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void start_timer2()
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{
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@ -764,7 +799,7 @@ static void protocol_init()
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#if defined(HUBSAN_A7105_INO)
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case MODE_HUBSAN:
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PE1_off; //antenna RF1
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if(IS_BIND_BUTTON_FLAG_on) random_id(10,true); // Generate new ID if bind button is pressed.
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if(IS_BIND_BUTTON_FLAG_on) random_id(EEPROM_ID_OFFSET,true); // Generate new ID if bind button is pressed.
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next_callback = initHubsan();
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remote_callback = ReadHubsan;
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break;
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@ -820,12 +855,12 @@ static void protocol_init()
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{
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if(IS_BIND_BUTTON_FLAG_on)
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{
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eeprom_write_byte((EE_ADDR)(30+mode_select),0x00); // reset to autobind mode for the current model
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eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x00); // reset to autobind mode for the current model
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option=0;
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}
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else
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{
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option=eeprom_read_byte((EE_ADDR)(30+mode_select)); // load previous mode: autobind or fixed id
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option=eeprom_read_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select)); // load previous mode: autobind or fixed id
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if(option!=1) option=0; // if not fixed id mode then it should be autobind
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}
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}
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@ -842,12 +877,12 @@ static void protocol_init()
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{
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if(IS_BIND_BUTTON_FLAG_on)
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{
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eeprom_write_byte((EE_ADDR)(30+mode_select),0x00); // reset to autobind mode for the current model
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eeprom_write_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select),0x00); // reset to autobind mode for the current model
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option=0;
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}
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else
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{
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option=eeprom_read_byte((EE_ADDR)(30+mode_select)); // load previous mode: autobind or fixed id
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option=eeprom_read_byte((EE_ADDR)(MODELMODE_EEPROM_OFFSET+mode_select)); // load previous mode: autobind or fixed id
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if(option!=1) option=0; // if not fixed id mode then it should be autobind
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}
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}
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@ -1051,6 +1086,7 @@ void update_serial_data()
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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]
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sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
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RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0---3
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debug("New protocol selected: %d, sub proto %d, rxnum %d", protocol, sub_protocol, RX_num);
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}
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else
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if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set
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@ -226,6 +226,7 @@
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#define CYRF_RST_pin PB8 //CYRF RESET
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#define A7105_CSN_pin PB9 //A7105
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#define CYRF_CSN_pin PB12 //CYRF CSN
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#define SPI_CSN_pin PA15
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//SPI pins
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#define SCK_pin PB13 //SCK
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#define SDO_pin PB14 //MISO
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@ -264,6 +265,9 @@
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#define CYRF_CSN_on digitalWrite(CYRF_CSN_pin,HIGH)
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#define CYRF_CSN_off digitalWrite(CYRF_CSN_pin,LOW)
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#define SPI_CSN_on digitalWrite(SPI_CSN_pin,HIGH)
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#define SPI_CSN_off digitalWrite(SPI_CSN_pin,LOW)
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#define CYRF_RST_HI digitalWrite(CYRF_RST_pin,HIGH) //reset cyrf
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#define CYRF_RST_LO digitalWrite(CYRF_RST_pin,LOW) //
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@ -21,33 +21,23 @@ uint8_t RetrySequence ;
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
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#define MULTI_TIME 500 //in ms
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#define INPUT_SYNC_TIME 100 //in ms
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#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
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uint32_t lastMulti = 0;
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#endif
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#endif // MULTI_TELEMETRY/MULTI_STATUS
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#if defined SPORT_TELEMETRY
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#define SPORT_TIME 12000 //12ms
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#define FRSKY_SPORT_PACKET_SIZE 8
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#define FX_BUFFERS 4
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uint32_t last = 0;
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uint8_t sport_counter=0;
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uint8_t RxBt = 0;
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uint8_t sport = 0;
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#define MAX_PKTX 10
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#define FX_BUFFERS 4
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uint8_t pktx[MAX_PKTX];
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uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS];
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uint8_t indx;
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//struct t_fx_rx_packet
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//{
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// uint8_t validSequence ;
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// uint8_t count ;
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// uint8_t payload[6] ;
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//} ;
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// Store for out of sequence packet
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//struct t_fx_rx_packet FrskyxRxTelemetry ;
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uint8_t FrskyxRxTelemetryValidSequence ;
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struct t_fx_rx_frame
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{
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uint8_t valid ;
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@ -58,16 +48,19 @@ struct t_fx_rx_frame
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// Store for FrskyX telemetry
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struct t_fx_rx_frame FrskyxRxFrames[4] ;
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uint8_t NextFxFrameToForward ;
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#endif // SPORT_TELEMETRY
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#endif
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#if defined HUB_TELEMETRY
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#define USER_MAX_BYTES 6
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uint8_t prev_index;
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#endif
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#endif // HUB_TELEMETRY
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#define START_STOP 0x7e
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#define BYTESTUFF 0x7d
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#define STUFF_MASK 0x20
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#define MAX_PKTX 10
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uint8_t pktx[MAX_PKTX];
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uint8_t indx;
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uint8_t frame[18];
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
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@ -183,10 +176,6 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
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if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len == clen )
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{
|
||||
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];
|
||||
if(TX_RSSI >=128)
|
||||
TX_RSSI -= 128;
|
||||
@ -204,12 +193,8 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
{
|
||||
uint8_t topBit = 0 ;
|
||||
if ( telemetry_counter & 0x80 )
|
||||
{
|
||||
if ( ( telemetry_counter & 0x1F ) != RetrySequence )
|
||||
{
|
||||
topBit = 0x80 ;
|
||||
}
|
||||
}
|
||||
telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame
|
||||
}
|
||||
else
|
||||
@ -222,27 +207,13 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
pktt[6]=0; // Discard packet
|
||||
}
|
||||
//
|
||||
#if defined SPORT_TELEMETRY && defined FRSKYX_CC2500_INO
|
||||
telemetry_lost=0;
|
||||
if (protocol==MODE_FRSKYX)
|
||||
{
|
||||
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]) )
|
||||
{
|
||||
@ -267,18 +238,12 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
{
|
||||
p->count = count ;
|
||||
for ( uint8_t i = 0 ; i < count ; i += 1 )
|
||||
{
|
||||
p->payload[i] = pkt[i+7] ;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
p->count = 0 ;
|
||||
}
|
||||
p->valid = 1 ;
|
||||
|
||||
|
||||
|
||||
FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ;
|
||||
|
||||
if ( FrskyxRxTelemetryValidSequence & 0x80 )
|
||||
@ -287,18 +252,10 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
FrskyxRxTelemetryValidSequence &= 0x7F ;
|
||||
}
|
||||
|
||||
// if ( FrskyxRxTelemetry.validSequence & 0x80 )
|
||||
// {
|
||||
// FrX_receive_seq = ( FrskyxRxTelemetry.validSequence + 1 ) & 3 ;
|
||||
|
||||
// FrskyxRxTelemetry.validSequence &= 0x7F ;
|
||||
|
||||
// }
|
||||
}
|
||||
else
|
||||
{
|
||||
// Save and request correct packet
|
||||
// struct t_fx_rx_packet *p ;
|
||||
struct t_fx_rx_frame *q ;
|
||||
uint8_t count ;
|
||||
// pkt[4] RSSI
|
||||
@ -319,56 +276,19 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
q->count = 0 ;
|
||||
}
|
||||
q->valid = 1 ;
|
||||
|
||||
FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ;
|
||||
}
|
||||
|
||||
|
||||
// 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)
|
||||
{
|
||||
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
|
||||
}
|
||||
}
|
||||
@ -514,23 +434,19 @@ pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
|
||||
|
||||
*/
|
||||
|
||||
#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 } ;
|
||||
|
||||
|
||||
#ifdef MULTI_TELEMETRY
|
||||
void sportSend(uint8_t *p)
|
||||
{
|
||||
multi_send_header(MULTI_TELEMETRY_SPORT, 9);
|
||||
uint16_t crc_s = 0;
|
||||
uint8_t x = p[0] ;
|
||||
if ( x <= 0x1B )
|
||||
{
|
||||
x = pgm_read_byte_near( &Indices[x] ) ;
|
||||
}
|
||||
Serial_write(x) ;
|
||||
for (uint8_t i = 1; i < 9; i++)
|
||||
{
|
||||
@ -680,9 +596,7 @@ void proces_sport_data(uint8_t data)
|
||||
uint8_t dest = sport * FRSKY_SPORT_PACKET_SIZE ;
|
||||
uint8_t i ;
|
||||
for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 )
|
||||
{
|
||||
pktx1[dest++] = pktx[i] ; // Triple buffer
|
||||
}
|
||||
sport += 1 ;//ok to send
|
||||
}
|
||||
// else
|
||||
@ -704,10 +618,9 @@ void TelemetryUpdate()
|
||||
h = SerialControl.head ;
|
||||
t = SerialControl.tail ;
|
||||
if ( h >= t )
|
||||
t += 192 - h ;
|
||||
t += TXBUFFER_SIZE - h ;
|
||||
else
|
||||
t -= h ;
|
||||
// if ( t < 32 )
|
||||
if ( t < 64 )
|
||||
{
|
||||
return ;
|
||||
@ -741,9 +654,6 @@ void TelemetryUpdate()
|
||||
#if defined SPORT_TELEMETRY
|
||||
if (protocol==MODE_FRSKYX)
|
||||
{ // FrSkyX
|
||||
// struct t_fx_rx_frame *p ;
|
||||
// uint8_t count ;
|
||||
|
||||
for(;;)
|
||||
{
|
||||
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(pktt[4] & 0x80)
|
||||
RX_RSSI=pktt[4] & 0x7F ;
|
||||
else
|
||||
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;
|
||||
}
|
||||
uint32_t now = micros();
|
||||
@ -810,7 +692,7 @@ void TelemetryUpdate()
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#endif // SPORT_TELEMETRY
|
||||
|
||||
#if defined DSM_TELEMETRY
|
||||
if(telemetry_link && protocol == MODE_DSM)
|
||||
@ -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
|
||||
// Routines for normal serial output
|
||||
void Serial_write(uint8_t data)
|
||||
@ -969,11 +864,34 @@ void TelemetryUpdate()
|
||||
#endif
|
||||
}
|
||||
#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 )
|
||||
{
|
||||
usart_init(USART2);
|
||||
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);
|
||||
}
|
||||
void usart3_begin(uint32_t baud,uint32_t config )
|
||||
@ -1120,10 +1038,8 @@ ISR(TIMER0_COMPA_vect)
|
||||
GPIOR1 = 3 ;
|
||||
}
|
||||
else
|
||||
{
|
||||
OCR0A += 20 ;
|
||||
}
|
||||
}
|
||||
|
||||
ISR(TIMER0_COMPB_vect)
|
||||
{
|
||||
@ -1150,12 +1066,9 @@ ISR(TIMER0_COMPB_vect)
|
||||
{
|
||||
GPIOR0 = ptr->data[ptr->tail] ;
|
||||
GPIOR2 = ptr->data[ptr->tail+1] ;
|
||||
uint8_t nextTail ;
|
||||
nextTail = ptr->tail + 2 ;
|
||||
if ( nextTail > 192 )
|
||||
{
|
||||
uint8_t nextTail = ptr->tail + 2 ;
|
||||
if ( nextTail > TXBUFFER_SIZE )
|
||||
nextTail = 0 ;
|
||||
}
|
||||
ptr->tail = nextTail ;
|
||||
GPIOR1 = 8 ;
|
||||
OCR0A = OCR0B + 40 ;
|
||||
@ -1170,44 +1083,36 @@ ISR(TIMER0_COMPB_vect)
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
OCR0B += 20 ;
|
||||
}
|
||||
}
|
||||
|
||||
ISR(TIMER0_OVF_vect)
|
||||
{
|
||||
uint8_t byte ;
|
||||
if ( GPIOR1 > 2 )
|
||||
{
|
||||
byte = GPIOR0 ;
|
||||
}
|
||||
else
|
||||
{
|
||||
byte = GPIOR2 ;
|
||||
}
|
||||
if ( byte & 0x01 )
|
||||
SERIAL_TX_on;
|
||||
else
|
||||
SERIAL_TX_off;
|
||||
byte /= 2 ; // Generates shorter code than byte >>= 1
|
||||
if ( GPIOR1 > 2 )
|
||||
{
|
||||
GPIOR0 = byte ;
|
||||
}
|
||||
else
|
||||
{
|
||||
GPIOR2 = byte ;
|
||||
}
|
||||
if ( --GPIOR1 == 0 )
|
||||
{
|
||||
// prepare next byte
|
||||
{ // prepare next byte
|
||||
volatile 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 ) & 0x7F ;
|
||||
uint8_t nextTail = ptr->tail + 2 ;
|
||||
if ( nextTail > TXBUFFER_SIZE )
|
||||
nextTail = 0 ;
|
||||
ptr->tail = nextTail ;
|
||||
GPIOR1 = 10 ;
|
||||
}
|
||||
else
|
||||
|
||||
@ -294,7 +294,7 @@ static void __attribute__((unused)) WK_build_beacon_pkt_2801()
|
||||
BIND_SET_PULLUP; // set pullup
|
||||
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;
|
||||
}
|
||||
BIND_SET_OUTPUT;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user