mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-07-03 03:57:51 +00:00
Update Multiprotocol.ino
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@ -39,6 +39,7 @@
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#include <avr/pgmspace.h>
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#include "_Config.h"
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#include "TX_Def.h"
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//Multiprotocol module configuration file
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//Global constants/variables
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@ -59,6 +60,9 @@ uint8_t packet[40];
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uint16_t Servo_data[NUM_CHN];
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uint8_t Servo_AUX;
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#ifndef STM32_board
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uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
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#endif
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// Protocol variables
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uint8_t cyrfmfg_id[6];//for dsm2 and devo
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uint8_t rx_tx_addr[5];
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@ -122,18 +126,20 @@ uint8_t option;
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uint8_t cur_protocol[2];
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uint8_t prev_protocol=0;
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#ifdef STM32_board
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void PPM_decode();
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void ISR_COMPB();
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#endif
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// Telemetry
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#define MAX_PKT 27
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uint8_t pkt[MAX_PKT];//telemetry receiving packets
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#if defined(TELEMETRY)
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#ifndef BASH_SERIAL
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uint8_t pass = 0;
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uint8_t pktt[MAX_PKT];//telemetry receiving packets
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#ifndef BASH_SERIAL
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volatile uint8_t tx_head=0;
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volatile uint8_t tx_tail=0;
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#endif // BASH_SERIAL
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uint8_t pktt[MAX_PKT];//telemetry receiving packets
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uint8_t v_lipo;
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int16_t RSSI_dBm;
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uint8_t telemetry_link=0;
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@ -161,7 +167,7 @@ void setup()
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for ( uint8_t count = 0 ; count < 20 ; count += 1 )
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asm("nop") ;
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PORTE.OUTCLR = 0x01 ;
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#else
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#else
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// General pinout
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#if defined STM32_board
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pinMode(CS_pin,OUTPUT);
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@ -181,7 +187,7 @@ void setup()
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TX_INV_off;
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RX_INV_off;
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#endif
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#endif
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#endif
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//pinMode(SDI_pin,OUTPUT);
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//pinMode(SCK_pin,OUTPUT);//spi pins initialized with spi init
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//pinMode(SDO_pin,INPUT);
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@ -191,7 +197,7 @@ void setup()
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pinMode(S2_pin,INPUT_PULLUP);
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pinMode(S3_pin,INPUT_PULLUP);
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pinMode(S4_pin,INPUT_PULLUP);
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#else
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#else
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DDRD = (1<<CS_pin)|(1<<SDI_pin)|(1<<SCLK_pin)|(1<<CS_pin)|(1<< CC25_CSN_pin);
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DDRC = (1<<CTRL1)|(1<<CTRL2); //output
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DDRC |= (1<<5);//RST pin A5(C5) CYRF output
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@ -224,11 +230,11 @@ void setup()
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TCC1.PER = 0xFFFF ;
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TCC1.CNT = 0 ;
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TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16)
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#else
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#else
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#if defined STM32_board//16 bits timer for 0.5 us
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//select the counter clock.
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start_timer2();//0.5us
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#else
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#else
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TCCR1A = 0;
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TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
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#endif
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@ -237,14 +243,20 @@ void setup()
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// Set servos positions
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for(uint8_t i=0;i<NUM_CHN;i++)
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Servo_data[i]=1500;
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Servo_data[THROTTLE]=PPM_MIN_100;
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Servo_data[THROTTLE]=servo_min_100;
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#ifdef ENABLE_PPM
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memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
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#endif
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//Wait for every component to start
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delay(100);
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delayMilliseconds(100);
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// Read status of bind button
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#ifdef XMEGA
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// Read status of bind button
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if( IS_BIND_BUTTON_on )
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BIND_BUTTON_FLAG_on; // If bind button pressed save the status for protocol id reset under hubsan
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/* #ifdef XMEGA
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if( (PORTD.IN & _BV(2)) == 0x00 )
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#else
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# if defined STM32_board
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@ -253,17 +265,15 @@ void setup()
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if( (PINB & _BV(5)) == 0x00 )
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#endif
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#endif
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BIND_BUTTON_FLAG_on; // If bind button pressed save the status for protocol id reset under hubsan
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*/
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// Read status of mode select binary switch
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// after this mode_select will be one of {0000, 0001, ..., 1111}
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#ifdef XMEGA
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mode_select=0x0F - ( PORTA.IN & 0x0F ) ; //encoder dip switches 1,2,4,8=>B2,B3,B4,C0
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mode_select = MODE_SERIAL ;
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#else
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#else
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#if defined STM32_board
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mode_select= 0x0F -(uint8_t)(((GPIOA->regs->IDR)>>4)&0x0F);
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#else
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#else
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mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
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#endif
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#endif
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@ -277,22 +287,15 @@ void setup()
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LED_SET_OUTPUT;
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// Read or create protocol id
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MProtocol_id_master=random_id(10,false);
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initSPI2();
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//Init RF modules
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#ifdef CC2500_INSTALLED
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CC2500_Reset();
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#endif
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#ifdef A7105_INSTALLED
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A7105_Reset();
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#endif
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#ifdef CYRF6936_INSTALLED
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CYRF_Reset();
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#endif
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#ifdef NFR24L01_INSTALLED
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NRF24L01_Reset();
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#endif
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#ifdef STM32_board
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initSPI2();
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#endif
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//Init RF modules
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modules_reset();
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//LED_ON;
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//Protocol and interrupts initialization
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#ifdef ENABLE_PPM
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if(mode_select != MODE_SERIAL)
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{ // PPM
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mode_select--;
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@ -304,6 +307,10 @@ void setup()
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if(PPM_prot[mode_select].power) POWER_FLAG_on;
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if(PPM_prot[mode_select].autobind) AUTOBIND_FLAG_on;
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mode_select++;
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servo_max_100=PPM_MAX_100; servo_min_100=PPM_MIN_100;
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servo_max_125=PPM_MAX_125; servo_min_125=PPM_MIN_125;
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protocol_init();
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@ -314,7 +321,7 @@ void setup()
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EIMSK |= (1<<INT1); // INT1 interrupt enable
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#endif
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#endif
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#if defined STM32_board
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#ifdef STM32_board
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attachInterrupt(PPM_pin,PPM_decode,FALLING);
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#endif
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@ -323,12 +330,16 @@ void setup()
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#endif
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}
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else
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#endif
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{ // Serial
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#ifdef ENABLE_SERIAL
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cur_protocol[0]=0;
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cur_protocol[1]=0;
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prev_protocol=0;
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servo_max_100=SERIAL_MAX_100; servo_min_100=SERIAL_MIN_100;
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servo_max_125=SERIAL_MAX_125; servo_min_125=SERIAL_MIN_125;
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Mprotocol_serial_init(); // Configure serial and enable RX interrupt
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#endif //ENABLE_SERIAL
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}
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}
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@ -336,7 +347,7 @@ void setup()
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// Main
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void loop()
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{
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if(mode_select==MODE_SERIAL && IS_RX_FLAG_on) // Serial mode and something has been received
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{
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update_serial_data(); // Update protocol and data
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@ -524,6 +535,15 @@ static void protocol_init()
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remote_callback = 0;
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set_rx_tx_addr(MProtocol_id);
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// reset telemetry
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#ifdef TELEMETRY
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tx_pause();
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pass=0;
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telemetry_link=0;
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tx_tail=0;
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tx_head=0;
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#endif
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blink=millis();
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if(IS_BIND_BUTTON_FLAG_on)
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AUTOBIND_FLAG_on;
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@ -586,6 +606,21 @@ static void protocol_init()
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#endif
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#if defined(DEVO_CYRF6936_INO)
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case MODE_DEVO:
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#ifdef ENABLE_PPM
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if(mode_select) //PPM mode
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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((uint8_t*)(30+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((uint8_t*)(30+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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#endif //ENABLE_PPM
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CTRL2_on; //antenna RF4
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next_callback = DevoInit();
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remote_callback = devo_callback;
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@ -729,28 +764,20 @@ static void protocol_init()
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static void update_serial_data()
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{
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RX_DONOTUPDTAE_on;
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RX_FLAG_off; //data has been processed
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do
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{
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cli();
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if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
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memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
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sei();
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RX_MISSED_BUFF_off;
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RX_DONOTUPDTAE_on;
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if(rx_ok_buff[0]&0x20) //check range
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RANGE_FLAG_on;
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RANGE_FLAG_on;
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else
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RANGE_FLAG_off;
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RANGE_FLAG_off;
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if(rx_ok_buff[0]&0xC0) //check autobind(0x40) & bind(0x80) together
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AUTOBIND_FLAG_on;
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AUTOBIND_FLAG_on;
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else
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AUTOBIND_FLAG_off;
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if(rx_ok_buff[1]&0x80) //if rx_ok_buff[1] ==1,power is low ,0-power high
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POWER_FLAG_off; //power low
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POWER_FLAG_off; //power low
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else
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POWER_FLAG_on; //power high
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POWER_FLAG_on; //power high
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option=rx_ok_buff[2];
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@ -766,6 +793,7 @@ static void update_serial_data()
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else
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if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set
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CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind
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else
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cur_protocol[0] = rx_ok_buff[0]; //store current protocol
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// decode channel values
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@ -783,36 +811,54 @@ static void update_serial_data()
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Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
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}
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RX_DONOTUPDTAE_off;
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}
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while(IS_RX_MISSED_BUFF_on); // We've just processed an old frame...
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#ifdef XMEGA
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cli();
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#else
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#ifdef STM32_board
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//here code fro RX intrurpt disable
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USART3_BASE->CR1 &= ~ USART_CR1_RXIE;//disable
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#else
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UCSR0B &= ~(1<<RXCIE0); // RX interrupt disable
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#endif
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#endif
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if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
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{ memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
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RX_FLAG_on; // data to be processed next time...
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RX_MISSED_BUFF_off;
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}
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#ifdef XMEGA
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sei();
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#else
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#ifdef STM32_board
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//here code fro RX intrurpt enable
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USART3_BASE->CR1 |= USART_CR1_RXIE;//disable
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#else
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UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable
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#endif
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#endif
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}
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static void module_reset()
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void modules_reset()
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{
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if(remote_callback)
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{ // previous protocol loaded
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remote_callback = 0;
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switch(prev_protocol)
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{
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case MODE_FLYSKY:
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case MODE_HUBSAN:
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A7105_Reset();
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break;
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case MODE_FRSKY:
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case MODE_FRSKYX:
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case MODE_SFHSS:
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CC2500_Reset();
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break;
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case MODE_DSM2:
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case MODE_DEVO:
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CYRF_Reset();
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break;
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default: // MODE_HISKY, MODE_V2X2, MODE_YD717, MODE_KN, MODE_SYMAX, MODE_SLT, MODE_CX10, MODE_CG023, MODE_BAYANG, MODE_ESKY, MODE_MT99XX, MODE_MJXQ, MODE_SHENQI, MODE_FY326
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NRF24L01_Reset();
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break;
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}
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}
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#ifdef CC2500_INSTALLED
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CC2500_Reset();
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#endif
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#ifdef A7105_INSTALLED
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A7105_Reset();
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#endif
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#ifdef CYRF6936_INSTALLED
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CYRF_Reset();
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#endif
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#ifdef NFR24L01_INSTALLED
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NRF24L01_Reset();
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#endif
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//Wait for every component to reset
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delayMilliseconds(100);
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prev_power=0xFD; // unused power value
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}
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#ifndef STM32_board
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int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
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{
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@ -828,13 +874,13 @@ int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t
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// Channel value is converted to 8bit values full scale
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uint8_t convert_channel_8b(uint8_t num)
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{
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return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,0,255));
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return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255));
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}
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// Channel value is converted to 8bit values to provided values scale
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uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
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{
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return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,min,max));
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return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max));
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}
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// Channel value is converted sign + magnitude 8bit values
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@ -848,7 +894,7 @@ uint8_t convert_channel_s8b(uint8_t num)
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// Channel value is converted to 10bit values
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uint16_t convert_channel_10b(uint8_t num)
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{
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return (uint16_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,1,1023));
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return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023));
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}
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// Channel value is multiplied by 1.5
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@ -868,11 +914,11 @@ void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
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// Channel value is limited to PPM_100
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uint16_t limit_channel_100(uint8_t ch)
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{
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if(Servo_data[ch]>PPM_MAX_100)
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return PPM_MAX_100;
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if(Servo_data[ch]>servo_max_100)
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return servo_max_100;
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else
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if (Servo_data[ch]<PPM_MIN_100)
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return PPM_MIN_100;
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if (Servo_data[ch]<servo_min_100)
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return servo_min_100;
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return Servo_data[ch];
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}
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@ -1069,6 +1115,7 @@ void init()
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/**************************/
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//PPM
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#ifdef ENABLE_PPM
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#ifdef XMEGA
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ISR(PORTD_INT0_vect)
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#else
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@ -1104,16 +1151,13 @@ void init()
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else
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if(chan!=-1) // need to wait for start of frame
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{ //servo values between 500us and 2420us will end up here
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uint16_t a = Cur_TCNT1>>1;
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if(a<PPM_MIN) a=PPM_MIN;
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else if(a>PPM_MAX) a=PPM_MAX;
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PPM_data[chan]=a;
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if(chan++>=NUM_CHN)
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chan=-1; // don't accept any new channels
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PPM_data[chan]= Cur_TCNT1>>1;;
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if(chan++>=NUM_CHN)
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chan=-1; // don't accept any new channels
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}
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Prev_TCNT1+=Cur_TCNT1;
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}
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#endif //ENABLE_PPM
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//Serial RX
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#ifdef XMEGA
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ISR(USARTC0_RXC_vect)
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@ -1157,7 +1201,6 @@ void init()
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#endif
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#endif
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{
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idx++;
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#ifdef XMEGA
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TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
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TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
|
||||
@ -1175,6 +1218,7 @@ void init()
|
||||
TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match
|
||||
#endif
|
||||
#endif
|
||||
idx++;
|
||||
}
|
||||
}
|
||||
else
|
||||
@ -1194,16 +1238,7 @@ void init()
|
||||
#endif
|
||||
if(idx>RXBUFFER_SIZE)
|
||||
{ // A full frame has been received
|
||||
#ifdef XMEGA
|
||||
TCC1.INTCTRLB &=0xF3; // disable interrupt on compare B match
|
||||
#else
|
||||
#if defined STM32_board
|
||||
detachInterrupt(2);//disable interrupt on ch2
|
||||
#else
|
||||
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
if(!IS_RX_DONOTUPDTAE_on)
|
||||
{ //Good frame received and main has finished with previous buffer
|
||||
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
|
||||
@ -1228,7 +1263,21 @@ void init()
|
||||
#endif
|
||||
discard_frame=1; // Error encountered discard full frame...
|
||||
}
|
||||
|
||||
|
||||
if(discard_frame==1)
|
||||
{
|
||||
#ifdef XMEGA
|
||||
TCC1.INTCTRLB &=0xF3; // disable interrupt on compare B match
|
||||
#else
|
||||
#if defined STM32_board
|
||||
detachInterrupt(2);//disable interrupt on ch2
|
||||
#else
|
||||
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
}
|
||||
#if defined STM32_board //If activated telemetry it doesn't work activated
|
||||
}
|
||||
#endif
|
||||
@ -1246,11 +1295,22 @@ void init()
|
||||
#if defined STM32_board
|
||||
void ISR_COMPB()
|
||||
#else
|
||||
ISR(TIMER1_COMPB_vect)
|
||||
ISR(TIMER1_COMPB_vect,ISR_NOBLOCK)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
{ // Timer1 compare B interrupt
|
||||
discard_frame=1; // Error encountered discard full frame...
|
||||
#ifdef XMEGA
|
||||
TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
|
||||
#else
|
||||
#ifdef STM32_board
|
||||
detachInterrupt(2);//disable interrupt on ch2
|
||||
#else
|
||||
TIMSK1 &=~(1<<OCIE1B); // Disable interrupt on compare B match
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
#endif //ENABLE_SERIAL
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user