gomaomao/DIY-Multiprotocol-TX-Module
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midelic 2016-08-31 15:58:21 +01:00 committed by GitHub
parent 2c176e7bdd
commit 829a6ea50d
1 changed files with 160 additions and 100 deletions
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Multiprotocol/Multiprotocol.ino
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@ -39,6 +39,7 @@
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
#include "_Config.h" #include "_Config.h"
#include "TX_Def.h"
//Multiprotocol module configuration file //Multiprotocol module configuration file
//Global constants/variables //Global constants/variables
@ -59,6 +60,9 @@ uint8_t packet[40];
uint16_t Servo_data[NUM_CHN]; uint16_t Servo_data[NUM_CHN];
uint8_t Servo_AUX; uint8_t Servo_AUX;
#ifndef STM32_board
uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
#endif
// Protocol variables // Protocol variables
uint8_t cyrfmfg_id[6];//for dsm2 and devo uint8_t cyrfmfg_id[6];//for dsm2 and devo
uint8_t rx_tx_addr[5]; uint8_t rx_tx_addr[5];
@ -122,18 +126,20 @@ uint8_t option;
uint8_t cur_protocol[2]; uint8_t cur_protocol[2];
uint8_t prev_protocol=0; uint8_t prev_protocol=0;
#ifdef STM32_board
void PPM_decode(); void PPM_decode();
void ISR_COMPB(); void ISR_COMPB();
#endif
// Telemetry // Telemetry
#define MAX_PKT 27 #define MAX_PKT 27
uint8_t pkt[MAX_PKT];//telemetry receiving packets uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined(TELEMETRY) #if defined(TELEMETRY)
#ifndef BASH_SERIAL uint8_t pass = 0;
uint8_t pktt[MAX_PKT];//telemetry receiving packets
#ifndef BASH_SERIAL
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
uint8_t pktt[MAX_PKT];//telemetry receiving packets
uint8_t v_lipo; uint8_t v_lipo;
int16_t RSSI_dBm; int16_t RSSI_dBm;
uint8_t telemetry_link=0; uint8_t telemetry_link=0;
@ -237,14 +243,20 @@ void setup()
// Set servos positions // Set servos positions
for(uint8_t i=0;i<NUM_CHN;i++) for(uint8_t i=0;i<NUM_CHN;i++)
Servo_data[i]=1500; Servo_data[i]=1500;
Servo_data[THROTTLE]=PPM_MIN_100; Servo_data[THROTTLE]=servo_min_100;
#ifdef ENABLE_PPM
memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data)); memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
#endif
//Wait for every component to start //Wait for every component to start
delay(100); delayMilliseconds(100);
// Read status of bind button // Read status of bind button
#ifdef XMEGA // Read status of bind button
if( IS_BIND_BUTTON_on )
BIND_BUTTON_FLAG_on; // If bind button pressed save the status for protocol id reset under hubsan
/* #ifdef XMEGA
if( (PORTD.IN & _BV(2)) == 0x00 ) if( (PORTD.IN & _BV(2)) == 0x00 )
#else #else
# if defined STM32_board # if defined STM32_board
@ -253,12 +265,10 @@ void setup()
if( (PINB & _BV(5)) == 0x00 ) if( (PINB & _BV(5)) == 0x00 )
#endif #endif
#endif #endif
BIND_BUTTON_FLAG_on; // If bind button pressed save the status for protocol id reset under hubsan */
// Read status of mode select binary switch // Read status of mode select binary switch
// after this mode_select will be one of {0000, 0001, ..., 1111} // after this mode_select will be one of {0000, 0001, ..., 1111}
#ifdef XMEGA #ifdef XMEGA
mode_select=0x0F - ( PORTA.IN & 0x0F ) ; //encoder dip switches 1,2,4,8=>B2,B3,B4,C0
mode_select = MODE_SERIAL ; mode_select = MODE_SERIAL ;
#else #else
#if defined STM32_board #if defined STM32_board
@ -277,22 +287,15 @@ void setup()
LED_SET_OUTPUT; LED_SET_OUTPUT;
// Read or create protocol id // Read or create protocol id
MProtocol_id_master=random_id(10,false); MProtocol_id_master=random_id(10,false);
#ifdef STM32_board
initSPI2(); initSPI2();
#endif
//Init RF modules //Init RF modules
#ifdef CC2500_INSTALLED modules_reset();
CC2500_Reset();
#endif
#ifdef A7105_INSTALLED
A7105_Reset();
#endif
#ifdef CYRF6936_INSTALLED
CYRF_Reset();
#endif
#ifdef NFR24L01_INSTALLED
NRF24L01_Reset();
#endif
//LED_ON; //LED_ON;
//Protocol and interrupts initialization //Protocol and interrupts initialization
#ifdef ENABLE_PPM
if(mode_select != MODE_SERIAL) if(mode_select != MODE_SERIAL)
{ // PPM { // PPM
mode_select--; mode_select--;
@ -304,6 +307,10 @@ void setup()
if(PPM_prot[mode_select].power) POWER_FLAG_on; if(PPM_prot[mode_select].power) POWER_FLAG_on;
if(PPM_prot[mode_select].autobind) AUTOBIND_FLAG_on; if(PPM_prot[mode_select].autobind) AUTOBIND_FLAG_on;
mode_select++; mode_select++;
servo_max_100=PPM_MAX_100; servo_min_100=PPM_MIN_100;
servo_max_125=PPM_MAX_125; servo_min_125=PPM_MIN_125;
protocol_init(); protocol_init();
@ -314,7 +321,7 @@ void setup()
EIMSK |= (1<<INT1); // INT1 interrupt enable EIMSK |= (1<<INT1); // INT1 interrupt enable
#endif #endif
#endif #endif
#if defined STM32_board #ifdef STM32_board
attachInterrupt(PPM_pin,PPM_decode,FALLING); attachInterrupt(PPM_pin,PPM_decode,FALLING);
#endif #endif
@ -323,12 +330,16 @@ void setup()
#endif #endif
} }
else else
#endif
{ // Serial { // Serial
#ifdef ENABLE_SERIAL
cur_protocol[0]=0; cur_protocol[0]=0;
cur_protocol[1]=0; cur_protocol[1]=0;
prev_protocol=0; prev_protocol=0;
servo_max_100=SERIAL_MAX_100; servo_min_100=SERIAL_MIN_100;
servo_max_125=SERIAL_MAX_125; servo_min_125=SERIAL_MIN_125;
Mprotocol_serial_init(); // Configure serial and enable RX interrupt Mprotocol_serial_init(); // Configure serial and enable RX interrupt
#endif //ENABLE_SERIAL
} }
} }
@ -524,6 +535,15 @@ static void protocol_init()
remote_callback = 0; remote_callback = 0;
set_rx_tx_addr(MProtocol_id); set_rx_tx_addr(MProtocol_id);
// reset telemetry
#ifdef TELEMETRY
tx_pause();
pass=0;
telemetry_link=0;
tx_tail=0;
tx_head=0;
#endif
blink=millis(); blink=millis();
if(IS_BIND_BUTTON_FLAG_on) if(IS_BIND_BUTTON_FLAG_on)
AUTOBIND_FLAG_on; AUTOBIND_FLAG_on;
@ -586,6 +606,21 @@ static void protocol_init()
#endif #endif
#if defined(DEVO_CYRF6936_INO) #if defined(DEVO_CYRF6936_INO)
case MODE_DEVO: case MODE_DEVO:
#ifdef ENABLE_PPM
if(mode_select) //PPM mode
{
if(IS_BIND_BUTTON_FLAG_on)
{
eeprom_write_byte((uint8_t*)(30+mode_select),0x00); // reset to autobind mode for the current model
option=0;
}
else
{
option=eeprom_read_byte((uint8_t*)(30+mode_select)); // load previous mode: autobind or fixed id
if(option!=1) option=0; // if not fixed id mode then it should be autobind
}
}
#endif //ENABLE_PPM
CTRL2_on; //antenna RF4 CTRL2_on; //antenna RF4
next_callback = DevoInit(); next_callback = DevoInit();
remote_callback = devo_callback; remote_callback = devo_callback;
@ -729,16 +764,8 @@ static void protocol_init()
static void update_serial_data() static void update_serial_data()
{ {
RX_FLAG_off; //data has been processed
do
{
cli();
if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
sei();
RX_MISSED_BUFF_off;
RX_DONOTUPDTAE_on; RX_DONOTUPDTAE_on;
RX_FLAG_off; //data has been processed
if(rx_ok_buff[0]&0x20) //check range if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on; RANGE_FLAG_on;
else else
@ -766,6 +793,7 @@ static void update_serial_data()
else else
if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set
CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind
else
cur_protocol[0] = rx_ok_buff[0]; //store current protocol cur_protocol[0] = rx_ok_buff[0]; //store current protocol
// decode channel values // decode channel values
@ -783,36 +811,54 @@ static void update_serial_data()
Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125% Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
} }
RX_DONOTUPDTAE_off; RX_DONOTUPDTAE_off;
#ifdef XMEGA
cli();
#else
#ifdef STM32_board
//here code fro RX intrurpt disable
USART3_BASE->CR1 &= ~ USART_CR1_RXIE;//disable
#else
UCSR0B &= ~(1<<RXCIE0); // RX interrupt disable
#endif
#endif
if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
{ memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
RX_FLAG_on; // data to be processed next time...
RX_MISSED_BUFF_off;
} }
while(IS_RX_MISSED_BUFF_on); // We've just processed an old frame... #ifdef XMEGA
sei();
#else
#ifdef STM32_board
//here code fro RX intrurpt enable
USART3_BASE->CR1 |= USART_CR1_RXIE;//disable
#else
UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable
#endif
#endif
} }
static void module_reset() void modules_reset()
{ {
if(remote_callback) #ifdef CC2500_INSTALLED
{ // previous protocol loaded
remote_callback = 0;
switch(prev_protocol)
{
case MODE_FLYSKY:
case MODE_HUBSAN:
A7105_Reset();
break;
case MODE_FRSKY:
case MODE_FRSKYX:
case MODE_SFHSS:
CC2500_Reset(); CC2500_Reset();
break; #endif
case MODE_DSM2: #ifdef A7105_INSTALLED
case MODE_DEVO: A7105_Reset();
#endif
#ifdef CYRF6936_INSTALLED
CYRF_Reset(); CYRF_Reset();
break; #endif
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 #ifdef NFR24L01_INSTALLED
NRF24L01_Reset(); NRF24L01_Reset();
break; #endif
}
} //Wait for every component to reset
delayMilliseconds(100);
prev_power=0xFD; // unused power value
} }
#ifndef STM32_board #ifndef STM32_board
int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
{ {
@ -828,13 +874,13 @@ int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t
// Channel value is converted to 8bit values full scale // Channel value is converted to 8bit values full scale
uint8_t convert_channel_8b(uint8_t num) uint8_t convert_channel_8b(uint8_t num)
{ {
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,0,255)); return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255));
} }
// Channel value is converted to 8bit values to provided values scale // Channel value is converted to 8bit values to provided values scale
uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max) uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
{ {
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,min,max)); return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max));
} }
// Channel value is converted sign + magnitude 8bit values // Channel value is converted sign + magnitude 8bit values
@ -848,7 +894,7 @@ uint8_t convert_channel_s8b(uint8_t num)
// Channel value is converted to 10bit values // Channel value is converted to 10bit values
uint16_t convert_channel_10b(uint8_t num) uint16_t convert_channel_10b(uint8_t num)
{ {
return (uint16_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,1,1023)); return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023));
} }
// Channel value is multiplied by 1.5 // Channel value is multiplied by 1.5
@ -868,11 +914,11 @@ void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
// Channel value is limited to PPM_100 // Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch) uint16_t limit_channel_100(uint8_t ch)
{ {
if(Servo_data[ch]>PPM_MAX_100) if(Servo_data[ch]>servo_max_100)
return PPM_MAX_100; return servo_max_100;
else else
if (Servo_data[ch]<PPM_MIN_100) if (Servo_data[ch]<servo_min_100)
return PPM_MIN_100; return servo_min_100;
return Servo_data[ch]; return Servo_data[ch];
} }
@ -1069,6 +1115,7 @@ void init()
/**************************/ /**************************/
//PPM //PPM
#ifdef ENABLE_PPM
#ifdef XMEGA #ifdef XMEGA
ISR(PORTD_INT0_vect) ISR(PORTD_INT0_vect)
#else #else
@ -1104,16 +1151,13 @@ void init()
else else
if(chan!=-1) // need to wait for start of frame if(chan!=-1) // need to wait for start of frame
{ //servo values between 500us and 2420us will end up here { //servo values between 500us and 2420us will end up here
uint16_t a = Cur_TCNT1>>1; PPM_data[chan]= Cur_TCNT1>>1;;
if(a<PPM_MIN) a=PPM_MIN;
else if(a>PPM_MAX) a=PPM_MAX;
PPM_data[chan]=a;
if(chan++>=NUM_CHN) if(chan++>=NUM_CHN)
chan=-1; // don't accept any new channels chan=-1; // don't accept any new channels
} }
Prev_TCNT1+=Cur_TCNT1; Prev_TCNT1+=Cur_TCNT1;
} }
#endif //ENABLE_PPM
//Serial RX //Serial RX
#ifdef XMEGA #ifdef XMEGA
ISR(USARTC0_RXC_vect) ISR(USARTC0_RXC_vect)
@ -1157,7 +1201,6 @@ void init()
#endif #endif
#endif #endif
{ {
idx++;
#ifdef XMEGA #ifdef XMEGA
TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
@ -1175,6 +1218,7 @@ void init()
TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match
#endif #endif
#endif #endif
idx++;
} }
} }
else else
@ -1194,16 +1238,7 @@ void init()
#endif #endif
if(idx>RXBUFFER_SIZE) if(idx>RXBUFFER_SIZE)
{ // A full frame has been received { // 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) if(!IS_RX_DONOTUPDTAE_on)
{ //Good frame received and main has finished with previous buffer { //Good frame received and main has finished with previous buffer
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
@ -1229,6 +1264,20 @@ void init()
discard_frame=1; // Error encountered discard full frame... 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 #if defined STM32_board //If activated telemetry it doesn't work activated
} }
#endif #endif
@ -1246,11 +1295,22 @@ void init()
#if defined STM32_board #if defined STM32_board
void ISR_COMPB() void ISR_COMPB()
#else #else
ISR(TIMER1_COMPB_vect) ISR(TIMER1_COMPB_vect,ISR_NOBLOCK)
#endif #endif
#endif #endif
{ // Timer1 compare B interrupt { // Timer1 compare B interrupt
discard_frame=1; // Error encountered discard full frame... 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