gomaomao/DIY-Multiprotocol-TX-Module
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Pascal Langer
2017-11-20 16:01:12 +01:00
parent 47207dcead
commit 8ea70a1b77
36 changed files with 5485 additions and 292 deletions
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22
Multiprotocol/AFHDS2A_a7105.ino
View File

@@ -179,12 +179,26 @@ static void AFHDS2A_build_packet(uint8_t type)
packet[0] = 0x56;
for(uint8_t ch=0; ch<14; ch++)
{
/*if((Model.limits[ch].flags & CH_FAILSAFE_EN))
#ifdef AFHDS2A_FAILSAFE
int8_t failsafe = AFHDS2AFailsafe[ch];
//
if(failsafe != -1)
{
packet[9 + ch*2] = Servo_data[CH_AETR[ch]] & 0xff;
packet[10+ ch*2] = (Servo_data[CH_AETR[ch]] >> 8) & 0xff;
//
if (failsafe > AFHDS2AFailsafeMAX)
failsafe = AFHDS2AFailsafeMAX;
//
if (failsafe < AFHDS2AFailsafeMIN)
failsafe = AFHDS2AFailsafeMIN;
//
double scale = (float)failsafe/(float)100;
int16_t failsafeMicros = 1500 + ((float)512 * scale);
//
packet[9 + ch*2] = failsafeMicros & 0xff;
packet[10+ ch*2] = ( failsafeMicros >> 8) & 0xff;
}
else*/
else
#endif
{
packet[9 + ch*2] = 0xff;
packet[10+ ch*2] = 0xff;

107
Multiprotocol/Bayang_nrf24l01.ino
View File

@@ -25,19 +25,22 @@ Multiprotocol is distributed in the hope that it will be useful,
#define BAYANG_PACKET_SIZE 15
#define BAYANG_RF_NUM_CHANNELS 4
#define BAYANG_RF_BIND_CHANNEL 0
#define BAYANG_RF_BIND_CHANNEL_X16_AH 10
#define BAYANG_ADDRESS_LENGTH 5
enum BAYANG_FLAGS {
// flags going to packet[2]
BAYANG_FLAG_RTH = 0x01,
BAYANG_FLAG_HEADLESS = 0x02,
BAYANG_FLAG_FLIP = 0x08,
BAYANG_FLAG_VIDEO = 0x10,
BAYANG_FLAG_PICTURE = 0x20,
// flags going to packet[3]
BAYANG_FLAG_INVERTED = 0x80 // inverted flight on Floureon H101
// flags going to packet[2]
BAYANG_FLAG_RTH = 0x01,
BAYANG_FLAG_HEADLESS = 0x02,
BAYANG_FLAG_FLIP = 0x08,
BAYANG_FLAG_VIDEO = 0x10,
BAYANG_FLAG_PICTURE = 0x20,
// flags going to packet[3]
BAYANG_FLAG_INVERTED = 0x80, // inverted flight on Floureon H101
BAYANG_FLAG_TAKE_OFF = 0x20, // take off / landing on X16 AH
};
uint8_t bayang_bind_chan;
static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
{
uint8_t i;
@@ -53,13 +56,29 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
packet[i+1]=rx_tx_addr[i];
for(i=0;i<4;i++)
packet[i+6]=hopping_frequency[i];
packet[10] = rx_tx_addr[0]; // txid[0]
packet[11] = rx_tx_addr[1]; // txid[1]
switch (sub_protocol)
{
case X16_AH:
packet[10] = 0x00;
packet[11] = 0x00;
break;
default:
packet[10] = rx_tx_addr[0]; // txid[0]
packet[11] = rx_tx_addr[1]; // txid[1]
break;
}
}
else
{
uint16_t val;
packet[0] = 0xA5;
switch (sub_protocol) {
case X16_AH:
packet[0] = 0xA6;
break;
default:
packet[0] = 0xA5;
break;
}
packet[1] = 0xFA; // normal mode is 0xf7, expert 0xfa
//Flags packet[2]
@@ -78,7 +97,8 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
packet[3] = 0x00;
if(Servo_AUX6)
packet[3] = BAYANG_FLAG_INVERTED;
if(Servo_AUX7)
packet[3] |= BAYANG_FLAG_TAKE_OFF;
//Aileron
val = convert_channel_10b(AILERON);
packet[4] = (val>>8) + ((val>>2) & 0xFC);
@@ -96,13 +116,26 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
packet[10] = (val>>8) + (val>>2 & 0xFC);
packet[11] = val & 0xFF;
}
packet[12] = rx_tx_addr[2]; // txid[2]
packet[13] = sub_protocol==H8S3D?0x34:0x0A;
switch (sub_protocol)
{
case H8S3D:
packet[12] = rx_tx_addr[2]; // txid[2]
packet[13] = 0x34;
break;
case X16_AH:
packet[12] = 0;
packet[13] = 0;
break;
default:
packet[12] = rx_tx_addr[2]; // txid[2]
packet[13] = 0x0A;
break;
}
packet[14] = 0;
for (uint8_t i=0; i < BAYANG_PACKET_SIZE-1; i++)
for (uint8_t i=0; i < BAYANG_PACKET_SIZE-1; i++)
packet[14] += packet[i];
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? BAYANG_RF_BIND_CHANNEL:hopping_frequency[hopping_frequency_no++]);
NRF24L01_WriteReg(NRF24L01_05_RF_CH, bind ? bayang_bind_chan:hopping_frequency[hopping_frequency_no++]);
hopping_frequency_no%=BAYANG_RF_NUM_CHANNELS;
// clear packet status bits and TX FIFO
@@ -111,17 +144,17 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
XN297_WritePayload(packet, BAYANG_PACKET_SIZE);
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
NRF24L01_SetTxRxMode(TXRX_OFF);
NRF24L01_SetTxRxMode(TX_EN);
// Power on, TX mode, 2byte CRC
// Why CRC0? xn297 does not interpret it - either 16-bit CRC or nothing
XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
#ifdef BAYANG_HUB_TELEMETRY
if (option)
if (option)
{ // switch radio to rx as soon as packet is sent
while (!(NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)));
while (!(NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)));
NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x03);
}
#endif
@@ -170,16 +203,16 @@ static void __attribute__((unused)) BAYANG_init()
NRF24L01_FlushTx();
NRF24L01_FlushRx();
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // Clear data ready, data sent, and retransmit
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowldgement on all data pipes
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, BAYANG_PACKET_SIZE);
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_SetPower();
NRF24L01_Activate(0x73); // Activate feature register
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01);
NRF24L01_Activate(0x73);
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01); // Enable data pipe 0 only
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, BAYANG_PACKET_SIZE);
NRF24L01_SetBitrate(NRF24L01_BR_1M); // 1Mbps
NRF24L01_SetPower();
NRF24L01_Activate(0x73); // Activate feature register
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00); // Disable dynamic payload length on all pipes
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01);
NRF24L01_Activate(0x73);
}
uint16_t BAYANG_callback()
@@ -250,10 +283,18 @@ uint16_t initBAYANG(void)
BAYANG_initialize_txid();
BAYANG_init();
packet_count=0;
#ifdef BAYANG_HUB_TELEMETRY
init_frskyd_link_telemetry();
telemetry_lost=1; // do not send telemetry to TX right away until we have a TX_RSSI value to prevent warning message...
#endif
switch (sub_protocol) {
case X16_AH:
bayang_bind_chan = BAYANG_RF_BIND_CHANNEL_X16_AH;
break;
default:
bayang_bind_chan = BAYANG_RF_BIND_CHANNEL;
break;
}
#ifdef BAYANG_HUB_TELEMETRY
init_frskyd_link_telemetry();
telemetry_lost=1; // do not send telemetry to TX right away until we have a TX_RSSI value to prevent warning message...
#endif
return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
}

302
Multiprotocol/FrSkyX_cc2500.ino Normal file
View File

@@ -0,0 +1,302 @@
/* **************************
* By Midelic on RCGroups *
**************************
This project is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Multiprotocol is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/
#if defined(FRSKYX_CC2500_INO)
#include "iface_cc2500.h"
uint8_t chanskip;
//uint8_t seq_last_sent;
//uint8_t seq_last_rcvd;
uint8_t FrX_send_seq ;
uint8_t FrX_receive_seq ;
static void __attribute__((unused)) set_start(uint8_t ch )
{
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_25_FSCAL1, calData[ch]);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[ch]);
}
static void __attribute__((unused)) frskyX_init()
{
FRSKY_init_cc2500((sub_protocol&2)?FRSKYXEU_cc2500_conf:FRSKYX_cc2500_conf); // LBT or FCC
//
for(uint8_t c=0;c < 48;c++)
{//calibrate hop channels
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR,hopping_frequency[c]);
CC2500_Strobe(CC2500_SCAL);
delayMicroseconds(900);//
calData[c] = CC2500_ReadReg(CC2500_25_FSCAL1);
}
//#######END INIT########
}
static void __attribute__((unused)) initialize_data(uint8_t adr)
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
CC2500_WriteReg(CC2500_18_MCSM0, 0x8);
CC2500_WriteReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
CC2500_WriteReg(CC2500_07_PKTCTRL1,0x05);
}
//**CRC**
const uint16_t PROGMEM CRC_Short[]={
0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7 };
static uint16_t CRCTable(uint8_t val)
{
uint16_t word ;
word = pgm_read_word(&CRC_Short[val&0x0F]) ;
val /= 16 ;
return word ^ (0x1081 * val) ;
}
static uint16_t __attribute__((unused)) crc_x(uint8_t *data, uint8_t len)
{
uint16_t crc = 0;
for(uint8_t i=0; i < len; i++)
crc = (crc<<8) ^ CRCTable((uint8_t)(crc>>8) ^ *data++);
return crc;
}
// 0-2047, 0 = 817, 1024 = 1500, 2047 = 2182
//64=860,1024=1500,1984=2140//Taranis 125%
static uint16_t __attribute__((unused)) scaleForPXX( uint8_t i )
{ //mapped 860,2140(125%) range to 64,1984(PXX values);
return (uint16_t)(((Servo_data[i]-servo_min_125)*3)>>1)+64;
}
static void __attribute__((unused)) frskyX_build_bind_packet()
{
packet[0] = (sub_protocol & 2 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = 0x03;
packet[2] = 0x01;
//
packet[3] = rx_tx_addr[3];
packet[4] = rx_tx_addr[2];
int idx = ((state -FRSKY_BIND) % 10) * 5;
packet[5] = idx;
packet[6] = hopping_frequency[idx++];
packet[7] = hopping_frequency[idx++];
packet[8] = hopping_frequency[idx++];
packet[9] = hopping_frequency[idx++];
packet[10] = hopping_frequency[idx++];
packet[11] = 0x02;
packet[12] = RX_num;
//
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
memset(&packet[13], 0, limit - 13);
uint16_t lcrc = crc_x(&packet[3], limit-3);
//
packet[limit++] = lcrc >> 8;
packet[limit] = lcrc;
//
}
static void __attribute__((unused)) frskyX_data_frame()
{
//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
//
static uint8_t lpass;
uint16_t chan_0 ;
uint16_t chan_1 ;
uint8_t startChan = 0;
//
packet[0] = (sub_protocol & 2 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = 0x02;
//
packet[4] = (chanskip<<6)|hopping_frequency_no;
packet[5] = chanskip>>2;
packet[6] = RX_num;
//packet[7] = FLAGS 00 - standard packet
//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
//20 - range check packet
packet[7] = 0;
packet[8] = 0;
//
if ( lpass & 1 )
startChan += 8 ;
for(uint8_t i = 0; i <12 ; i+=3)
{//12 bytes
chan_0 = scaleForPXX(startChan);
if(lpass & 1 )
chan_0+=2048;
startChan+=1;
//
chan_1 = scaleForPXX(startChan);
if(lpass & 1 )
chan_1+= 2048;
startChan+=1;
//
packet[9+i] = lowByte(chan_0);//3 bytes*4
packet[9+i+1]=(((chan_0>>8) & 0x0F)|(chan_1 << 4));
packet[9+i+2]=chan_1>>4;
}
<<<<<<< HEAD
packet[21] = (FrX_receive_seq << 4) | FrX_send_seq ;//8 at start
=======
packet[21] = seq_last_sent << 4 | seq_last_rcvd;//8 at start
if (seq_last_sent < 0x08 && seq_last_rcvd < 8)
seq_last_sent = (seq_last_sent + 1) % 4;
else if (seq_last_rcvd == 0x00)
seq_last_sent = 1;
else
seq_last_rcvd = 8;
>>>>>>> dd3f8b4717c03dc2f86701191dc8b265d4706751
if(sub_protocol & 1 )// in X8 mode send only 8ch every 9ms
lpass = 0 ;
else
lpass += 1 ;
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
for (uint8_t i=22;i<limit;i++)
packet[i]=0;
uint16_t lcrc = crc_x(&packet[3], limit-3);
packet[limit++]=lcrc>>8;//high byte
packet[limit]=lcrc;//low byte
}
uint16_t ReadFrSkyX()
{
switch(state)
{
default:
set_start(47);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
//
frskyX_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
if(IS_BIND_DONE_on)
state = FRSKY_BIND_DONE;
else
state++;
return 9000;
case FRSKY_BIND_DONE:
initialize_data(0);
hopping_frequency_no=0;
BIND_DONE;
state++;
break;
case FRSKY_DATA1:
if ( prev_option != option )
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
CC2500_SetTxRxMode(TX_EN);
set_start(hopping_frequency_no);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
hopping_frequency_no = (hopping_frequency_no+chanskip)%47;
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
//
// frskyX_data_frame();
state++;
return 5200;
case FRSKY_DATA2:
CC2500_SetTxRxMode(RX_EN);
CC2500_Strobe(CC2500_SIDLE);
state++;
return 200;
case FRSKY_DATA3:
CC2500_Strobe(CC2500_SRX);
state++;
return 3100;
case FRSKY_DATA4:
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (len && (len<=(0x0E + 3))) //Telemetry frame is 17
{
packet_count=0;
CC2500_ReadData(pkt, len);
#if defined TELEMETRY
frsky_check_telemetry(pkt,len); //check if valid telemetry packets
//parse telemetry packets here
//The same telemetry function used by FrSky(D8).
#endif
}
else
{
packet_count++;
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)
{//~1sec
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
// FrX_receive_seq = 0 ;
packet_count=0;
#if defined TELEMETRY
telemetry_lost=1;
#endif
}
CC2500_Strobe(CC2500_SFRX); //flush the RXFIFO
}
frskyX_data_frame();
if ( FrX_send_seq != 0x08 )
{
FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;
}
state = FRSKY_DATA1;
return 500;
}
return 1;
}
uint16_t initFrSkyX()
{
set_rx_tx_addr(MProtocol_id_master);
Frsky_init_hop();
packet_count=0;
while(!chanskip)
chanskip=random(0xfefefefe)%47;
//for test***************
//rx_tx_addr[3]=0xB3;
//rx_tx_addr[2]=0xFD;
//************************
frskyX_init();
//
if(IS_AUTOBIND_FLAG_on)
{
state = FRSKY_BIND;
initialize_data(1);
}
else
{
state = FRSKY_DATA1;
initialize_data(0);
}
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
FrX_receive_seq = 0 ;
return 10000;
}
#endif

2
Multiprotocol/Multi.txt
View File

@@ -11,7 +11,7 @@
11,SLT,SLT,VISTA
12,CX10,GREEN,BLUE,DM007,---,J3015_1,J3015_2,MK33041
13,CG023,CG023,YD829,H8_3D
14,Bayang,Bayang,H8S3D
14,Bayang,Bayang,H8S3D,X16_AH
15,FrskyX,CH_16,CH_8,EU_16,EU_8
16,ESky
17,MT99xx,MT,H7,YZ,LS,FY805

10
Multiprotocol/Multiprotocol.h
View File

@@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 1
#define VERSION_REVISION 6
#define VERSION_PATCH_LEVEL 21
#define VERSION_PATCH_LEVEL 23
//******************
// Protocols
//******************
@@ -136,7 +136,8 @@ enum CG023
enum BAYANG
{
BAYANG = 0,
H8S3D = 1
H8S3D = 1,
X16_AH = 2,
};
enum MT99XX
{
@@ -393,7 +394,7 @@ enum CC2500_POWER
CC2500_POWER_16 = 0xFE, // 0dbm
CC2500_POWER_17 = 0xFF // +1dbm
};
#define CC2500_HIGH_POWER CC2500_POWER_16
#define CC2500_HIGH_POWER CC2500_POWER_17
#define CC2500_LOW_POWER CC2500_POWER_13
#define CC2500_RANGE_POWER CC2500_POWER_1
#define CC2500_BIND_POWER CC2500_POWER_1
@@ -537,6 +538,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
sub_protocol==BAYANG
BAYANG 0
H8S3D 1
X16_AH 2
sub_protocol==MT99XX
MT99 0
H7 1
@@ -678,4 +680,4 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
data[0] = RSSI value
data[1-28] telemetry data
*/
*/

192
Multiprotocol/Multiprotocol.ino
View File

@@ -23,6 +23,9 @@
#include <avr/pgmspace.h>
//#define DEBUG_TX
//#define USE_MY_CONFIG
#ifdef ARDUINO_AVR_XMEGA32D4
#include "MultiOrange.h"
#endif
#include "Multiprotocol.h"
//Multiprotocol module configuration file
@@ -106,6 +109,18 @@ uint8_t RX_num;
uint8_t calData[48];
#endif
#ifdef CHECK_FOR_BOOTLOADER
uint8_t BootTimer ;
uint8_t BootState ;
uint8_t NotBootChecking ;
uint8_t BootCount ;
#define BOOT_WAIT_30_IDLE 0
#define BOOT_WAIT_30_DATA 1
#define BOOT_WAIT_20 2
#define BOOT_READY 3
#endif
//Channel mapping for protocols
const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8, AUX9, AUX10};
const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
@@ -154,7 +169,7 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
uint8_t pktt[MAX_PKT];//telemetry receiving packets
#ifdef BASH_SERIAL
// For bit-bashed serial output
#define TXBUFFER_SIZE 128
#define TXBUFFER_SIZE 192
volatile struct t_serial_bash
{
uint8_t head ;
@@ -164,7 +179,7 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
uint8_t speed ;
} SerialControl ;
#else
#define TXBUFFER_SIZE 64
#define TXBUFFER_SIZE 96
volatile uint8_t tx_buff[TXBUFFER_SIZE];
volatile uint8_t tx_head=0;
volatile uint8_t tx_tail=0;
@@ -392,7 +407,11 @@ void setup()
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
#ifdef CHECK_FOR_BOOTLOADER
Mprotocol_serial_init(1); // Configure serial and enable RX interrupt
#else
Mprotocol_serial_init(); // Configure serial and enable RX interrupt
#endif
#endif //ENABLE_SERIAL
}
servo_mid=servo_min_100+servo_max_100; //In fact 2* mid_value
@@ -485,6 +504,11 @@ void loop()
uint8_t Update_All()
{
#ifdef ENABLE_SERIAL
#ifdef CHECK_FOR_BOOTLOADER
if ( (mode_select==MODE_SERIAL) && (NotBootChecking == 0) )
pollBoot() ;
else
#endif
if(mode_select==MODE_SERIAL && IS_RX_FLAG_on) // Serial mode and something has been received
{
update_serial_data(); // Update protocol and data
@@ -1093,7 +1117,11 @@ void modules_reset()
prev_power=0xFD; // unused power value
}
void Mprotocol_serial_init()
#ifdef CHECK_FOR_BOOTLOADER
void Mprotocol_serial_init( uint8_t boot )
#else
void Mprotocol_serial_init()
#endif
{
#ifdef ORANGE_TX
PORTC.OUTSET = 0x08 ;
@@ -1103,18 +1131,41 @@ void Mprotocol_serial_init()
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCC) | 0x11 ;
USARTC0.CTRLC = 0x2B ;
UDR0 ;
#ifdef INVERT_SERIAL
PORTC.PIN3CTRL |= 0x40 ;
#endif
#ifdef CHECK_FOR_BOOTLOADER
if ( boot )
{
USARTC0.BAUDCTRLB = 0 ;
USARTC0.BAUDCTRLA = 33 ; // 57600
USARTC0.CTRLA = (USARTC0.CTRLA & 0xC0) ;
USARTC0.CTRLC = 0x03 ; // 8 bit, no parity, 1 stop
USARTC0.CTRLB = 0x18 ; // Enable Tx and Rx
PORTC.PIN3CTRL &= ~0x40 ;
}
#endif // CHECK_FOR_BOOTLOADER
#elif defined STM32_BOARD
usart2_begin(100000,SERIAL_8E2);
#ifdef CHECK_FOR_BOOTLOADER
if ( boot )
{
usart2_begin(57600,SERIAL_8N1);
USART2_BASE->CR1 &= ~USART_CR1_RXNEIE ;
(void)UDR0 ;
}
else
#endif // CHECK_FOR_BOOTLOADER
{
usart2_begin(100000,SERIAL_8E2);
USART2_BASE->CR1 |= USART_CR1_PCE_BIT;
}
usart3_begin(100000,SERIAL_8E2);
USART2_BASE->CR1 |= USART_CR1_PCE_BIT;
USART3_BASE->CR1 &= ~ USART_CR1_RE;//disable
USART2_BASE->CR1 &= ~ USART_CR1_TE;//disable transmit
USART3_BASE->CR1 &= ~ USART_CR1_RE; //disable
USART2_BASE->CR1 &= ~ USART_CR1_TE; //disable transmit
#else
//ATMEGA328p
#include <util/setbaud.h>
@@ -1123,7 +1174,7 @@ void Mprotocol_serial_init()
UCSR0A = 0 ; // Clear X2 bit
//Set frame format to 8 data bits, even parity, 2 stop bits
UCSR0C = _BV(UPM01)|_BV(USBS0)|_BV(UCSZ01)|_BV(UCSZ00);
while ( UCSR0A & (1 << RXC0) )//flush receive buffer
while ( UCSR0A & (1 << RXC0) ) //flush receive buffer
UDR0;
//enable reception and RC complete interrupt
UCSR0B = _BV(RXEN0)|_BV(RXCIE0);//rx enable and interrupt
@@ -1132,9 +1183,130 @@ void Mprotocol_serial_init()
initTXSerial( SPEED_100K ) ;
#endif //TELEMETRY
#endif //DEBUG_TX
#ifdef CHECK_FOR_BOOTLOADER
if ( boot )
{
UBRR0H = 0;
UBRR0L = 33; // 57600
UCSR0C &= ~_BV(UPM01); // No parity
UCSR0B &= ~_BV(RXCIE0); // No rx interrupt
UCSR0A |= _BV(U2X0); // Double speed mode USART0
}
#endif // CHECK_FOR_BOOTLOADER
#endif //ORANGE_TX
}
#ifdef CHECK_FOR_BOOTLOADER
void pollBoot()
{
uint8_t rxchar ;
uint8_t lState = BootState ;
uint8_t millisTime = millis(); // Call this once only
#ifdef ORANGE_TX
if ( USARTC0.STATUS & USART_RXCIF_bm )
#elif defined STM32_BOARD
if ( USART2_BASE->SR & USART_SR_RXNE )
#else
if ( UCSR0A & ( 1 << RXC0 ) )
#endif
{
rxchar = UDR0 ;
BootCount += 1 ;
if ( ( lState == BOOT_WAIT_30_IDLE ) || ( lState == BOOT_WAIT_30_DATA ) )
{
if ( lState == BOOT_WAIT_30_IDLE ) // Waiting for 0x30
BootTimer = millisTime ; // Start timeout
if ( rxchar == 0x30 )
lState = BOOT_WAIT_20 ;
else
lState = BOOT_WAIT_30_DATA ;
}
else
if ( lState == BOOT_WAIT_20 && rxchar == 0x20 ) // Waiting for 0x20
lState = BOOT_READY ;
}
else // No byte received
{
if ( lState != BOOT_WAIT_30_IDLE ) // Something received
{
uint8_t time = millisTime - BootTimer ;
if ( time > 5 )
{
#ifdef STM32_BOARD
if ( BootCount > 4 )
#else
if ( BootCount > 2 )
#endif
{ // Run normally
NotBootChecking = 0xFF ;
Mprotocol_serial_init( 0 ) ;
}
else if ( lState == BOOT_READY )
{
#ifdef STM32_BOARD
#define SCS_BASE (0xE000E000) /*!< System Control Space Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00) /*!< System Control Block Base Address */
#define SCB ((SCB_Type *) SCB_BASE) /*!< SCB configuration struct */
#define __I volatile /*!< defines 'read only' permissions */
#define __IO volatile /*!< defines 'read / write' permissions */
typedef struct
{
__I uint32_t CPUID; /*!< Offset: 0x00 CPU ID Base Register */
__IO uint32_t ICSR; /*!< Offset: 0x04 Interrupt Control State Register */
__IO uint32_t VTOR; /*!< Offset: 0x08 Vector Table Offset Register */
__IO uint32_t AIRCR; /*!< Offset: 0x0C Application Interrupt / Reset Control Register */
__IO uint32_t SCR; /*!< Offset: 0x10 System Control Register */
__IO uint32_t CCR; /*!< Offset: 0x14 Configuration Control Register */
__IO uint8_t SHP[12]; /*!< Offset: 0x18 System Handlers Priority Registers (4-7, 8-11, 12-15) */
__IO uint32_t SHCSR; /*!< Offset: 0x24 System Handler Control and State Register */
__IO uint32_t CFSR; /*!< Offset: 0x28 Configurable Fault Status Register */
__IO uint32_t HFSR; /*!< Offset: 0x2C Hard Fault Status Register */
__IO uint32_t DFSR; /*!< Offset: 0x30 Debug Fault Status Register */
__IO uint32_t MMFAR; /*!< Offset: 0x34 Mem Manage Address Register */
__IO uint32_t BFAR; /*!< Offset: 0x38 Bus Fault Address Register */
__IO uint32_t AFSR; /*!< Offset: 0x3C Auxiliary Fault Status Register */
__I uint32_t PFR[2]; /*!< Offset: 0x40 Processor Feature Register */
__I uint32_t DFR; /*!< Offset: 0x48 Debug Feature Register */
__I uint32_t ADR; /*!< Offset: 0x4C Auxiliary Feature Register */
__I uint32_t MMFR[4]; /*!< Offset: 0x50 Memory Model Feature Register */
__I uint32_t ISAR[5]; /*!< Offset: 0x60 ISA Feature Register */
} SCB_Type;
#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_SYSRESETREQ_Pos 2 /*!< SCB AIRCR: SYSRESETREQ Position */
#define SCB_AIRCR_PRIGROUP_Pos 8 /*!< SCB AIRCR: PRIGROUP Position */
#define SCB_AIRCR_PRIGROUP_Msk (7ul << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */
#define SCB_AIRCR_SYSRESETREQ_Msk (1ul << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */
// NVIC_SystemReset
SCB->AIRCR = ((0x5FA << SCB_AIRCR_VECTKEY_Pos) |
(SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
SCB_AIRCR_SYSRESETREQ_Msk); /* Keep priority group unchanged */
asm("dsb");
while(1); /* wait until reset */
#else
cli(); // Disable global int due to RW of 16 bits registers
void (*p)();
#ifndef ORANGE_TX
p = (void (*)())0x3F00 ; // Word address (0x7E00 byte)
#else
p = (void (*)())0x4000 ; // Word address (0x8000 byte)
#endif
(*p)() ; // go to boot
#endif
}
else
{
lState = BOOT_WAIT_30_IDLE ;
BootCount = 0 ;
}
}
}
}
BootState = lState ;
}
#endif //CHECK_FOR_BOOTLOADER
#if defined(TELEMETRY)
void PPM_Telemetry_serial_init()
{

36
Multiprotocol/Symax_nrf24l01.ino
View File

@@ -13,7 +13,6 @@
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/
// compatible with Syma X5C-1, X11, X11C, X12 and for sub protocol X5C Syma X5C (original), X2
// Last sync with hexfet new_protocols/cx10_nrf24l01.c dated 2015-09-28
#if defined(SYMAX_NRF24L01_INO)
@@ -30,6 +29,7 @@
#define SYMAX_FLAG_VIDEO 0x02
#define SYMAX_FLAG_PICTURE 0x04
#define SYMAX_FLAG_HEADLESS 0x08
#define SYMAX_XTRM_RATES 0x10
#define SYMAX_PAYLOADSIZE 10 // receive data pipes set to this size, but unused
#define SYMAX_MAX_PACKET_LENGTH 16 // X11,X12,X5C-1 10-byte, X5C 16-byte
@@ -58,6 +58,7 @@ static void __attribute__((unused)) SYMAX_read_controls()
{
// Protocol is registered AETRF, that is
// Aileron is channel 1, Elevator - 2, Throttle - 3, Rudder - 4, Flip control - 5
// Extended (trim-added) Rates - 6, Photo - 7, Video - 8, Headless - 9
aileron = convert_channel_s8b(AILERON);
elevator = convert_channel_s8b(ELEVATOR);
throttle = convert_channel_8b(THROTTLE);
@@ -67,6 +68,9 @@ static void __attribute__((unused)) SYMAX_read_controls()
// Channel 5
if (Servo_AUX1)
flags = SYMAX_FLAG_FLIP;
// Channel 6
if (Servo_AUX2)
flags |= SYMAX_XTRM_RATES;
// Channel 7
if (Servo_AUX3)
flags |= SYMAX_FLAG_PICTURE;
@@ -75,7 +79,10 @@ static void __attribute__((unused)) SYMAX_read_controls()
flags |= SYMAX_FLAG_VIDEO;
// Channel 9
if (Servo_AUX5)
{
flags |= SYMAX_FLAG_HEADLESS;
flags &= ~SYMAX_XTRM_RATES; // Extended rates & headless incompatible
}
}
#define X5C_CHAN2TRIM(X) ((((X) & 0x80 ? 0xff - (X) : 0x80 + (X)) >> 2) + 0x20)
@@ -98,9 +105,18 @@ static void __attribute__((unused)) SYMAX_build_packet_x5c(uint8_t bind)
packet[1] = rudder;
packet[2] = elevator ^ 0x80; // reversed from default
packet[3] = aileron;
packet[4] = X5C_CHAN2TRIM(rudder ^ 0x80);// drive trims for extra control range
packet[5] = X5C_CHAN2TRIM(elevator);
packet[6] = X5C_CHAN2TRIM(aileron ^ 0x80);
if (flags & SYMAX_XTRM_RATES)
{ // drive trims for extra control range
packet[4] = X5C_CHAN2TRIM(rudder ^ 0x80);
packet[5] = X5C_CHAN2TRIM(elevator);
packet[6] = X5C_CHAN2TRIM(aileron ^ 0x80);
}
else
{
packet[4] = 0x00;
packet[5] = 0x00;
packet[6] = 0x00;
}
packet[7] = 0xae;
packet[8] = 0xa9;
packet[9] = 0x00;
@@ -138,9 +154,15 @@ static void __attribute__((unused)) SYMAX_build_packet(uint8_t bind)
packet[2] = rudder;
packet[3] = aileron;
packet[4] = (flags & SYMAX_FLAG_VIDEO ? 0x80 : 0x00) | (flags & SYMAX_FLAG_PICTURE ? 0x40 : 0x00);
packet[5] = (elevator >> 2) | 0xc0; //always high rates (bit 7 is rate control)
packet[6] = (rudder >> 2) | (flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00);
packet[7] = (aileron >> 2) | (flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00);
packet[5] = 0xc0; //always high rates (bit 7 is rate control)
packet[6] = flags & SYMAX_FLAG_FLIP ? 0x40 : 0x00;
packet[7] = flags & SYMAX_FLAG_HEADLESS ? 0x80 : 0x00;
if (flags & SYMAX_XTRM_RATES)
{ // use trims to extend controls
packet[5] |= elevator >> 2;
packet[6] |= rudder >> 2;
packet[7] |= aileron >> 2;
}
packet[8] = 0x00;
}
packet[9] = SYMAX_checksum(packet);

286
Multiprotocol/Telemetry.ino
View File

@@ -31,6 +31,34 @@ uint8_t RetrySequence ;
uint8_t sport_counter=0;
uint8_t RxBt = 0;
uint8_t sport = 0;
#define MAX_PKTX 10
#define FX_BUFFERS 4
uint8_t pktx[MAX_PKTX];
uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS];
uint8_t indx;
//struct t_fx_rx_packet
//{
// uint8_t validSequence ;
// uint8_t count ;
// uint8_t payload[6] ;
//} ;
// Store for out of sequence packet
//struct t_fx_rx_packet FrskyxRxTelemetry ;
uint8_t FrskyxRxTelemetryValidSequence ;
struct t_fx_rx_frame
{
uint8_t valid ;
uint8_t count ;
uint8_t payload[6] ;
} ;
// Store for FrskyX telemetry
struct t_fx_rx_frame FrskyxRxFrames[4] ;
uint8_t NextFxFrameToForward ;
#endif
#if defined HUB_TELEMETRY
#define USER_MAX_BYTES 6
@@ -40,10 +68,6 @@ uint8_t RetrySequence ;
#define START_STOP 0x7e
#define BYTESTUFF 0x7d
#define STUFF_MASK 0x20
#define MAX_PKTX 10
uint8_t pktx[MAX_PKTX];
uint8_t pktx1[MAX_PKTX];
uint8_t indx;
uint8_t frame[18];
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
@@ -155,7 +179,8 @@ void frskySendStuffed()
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{
if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len ==(pkt[0] + 3))
uint8_t clen = pkt[0] + 3 ;
if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len == clen )
{
telemetry_link|=1; // Telemetry data is available
/*previous version
@@ -205,19 +230,144 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
telemetry_lost=0;
if (protocol==MODE_FRSKYX)
{
if ((pktt[5] >> 4 & 0x0f) == 0x08)
{
seq_last_sent = 8;
seq_last_rcvd = 0;
pass=0;
}
else
uint16_t lcrc = crc_x(&pkt[3], len-7 ) ;
// if ( ( sub_protocol & 2 ) == 0 )
// {
// if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) )
// {
// lcrc = 0 ;
// }
// else
// {
// lcrc = 1 ;
// }
// }
// if ( lcrc == 0 )
if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) )
{
if ((pktt[5] >> 4 & 0x03) == (seq_last_rcvd + 1) % 4)
seq_last_rcvd = (seq_last_rcvd + 1) % 4;
// Check if in sequence
if ( (pkt[5] & 0x0F) == 0x08 )
{
FrX_receive_seq = 0x08 ;
NextFxFrameToForward = 0 ;
FrskyxRxFrames[0].valid = 0 ;
FrskyxRxFrames[1].valid = 0 ;
FrskyxRxFrames[2].valid = 0 ;
FrskyxRxFrames[3].valid = 0 ;
}
else if ( (pkt[5] & 0x03) == (FrX_receive_seq & 0x03 ) )
{
// OK to process
struct t_fx_rx_frame *p ;
uint8_t count ;
p = &FrskyxRxFrames[FrX_receive_seq & 3] ;
count = pkt[6] ;
if ( count <= 6 )
{
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 )
{
FrX_receive_seq = ( FrskyxRxTelemetryValidSequence + 1 ) & 3 ;
FrskyxRxTelemetryValidSequence &= 0x7F ;
}
// if ( FrskyxRxTelemetry.validSequence & 0x80 )
// {
// FrX_receive_seq = ( FrskyxRxTelemetry.validSequence + 1 ) & 3 ;
// FrskyxRxTelemetry.validSequence &= 0x7F ;
// }
}
else
pass=0;//reset if sequence wrong
{
// Save and request correct packet
// struct t_fx_rx_packet *p ;
struct t_fx_rx_frame *q ;
uint8_t count ;
// pkt[4] RSSI
// pkt[5] sequence control
// pkt[6] payload count
// pkt[7-12] payload
pktt[6] = 0 ; // Don't process
if ( (pkt[5] & 0x03) == ( ( FrX_receive_seq +1 ) & 3 ) )
{
q = &FrskyxRxFrames[(pkt[5] & 0x03)] ;
count = pkt[6] ;
if ( count <= 6 )
{
q->count = count ;
for ( uint8_t i = 0 ; i < count ; i += 1 )
{
q->payload[i] = pkt[i+7] ;
}
}
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
}
@@ -363,12 +513,25 @@ pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
0x34 0x0A 0xC3 0x56 0xF3
*/
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;
Serial_write(p[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++)
{
if (i == 8)
@@ -462,7 +625,13 @@ void sportSendFrame()
{
for (i=0;i<FRSKY_SPORT_PACKET_SIZE;i++)
frame[i]=pktx1[i];
sport=0;
sport -= 1 ;
if ( sport )
{
uint8_t j = sport * FRSKY_SPORT_PACKET_SIZE ;
for (i=0;i<j;i++)
pktx1[i] = pktx1[i+FRSKY_SPORT_PACKET_SIZE] ;
}
break;
}
else
@@ -506,19 +675,20 @@ void proces_sport_data(uint8_t data)
} // end switch
if (indx >= FRSKY_SPORT_PACKET_SIZE)
{//8 bytes no crc
if ( sport )
{
// overrun!
}
else
if ( sport < FX_BUFFERS )
{
uint8_t dest = sport * FRSKY_SPORT_PACKET_SIZE ;
uint8_t i ;
for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 )
{
pktx1[i] = pktx[i] ; // Double buffer
pktx1[dest++] = pktx[i] ; // Triple buffer
}
sport = 1;//ok to send
sport += 1 ;//ok to send
}
// else
// {
// // Overrun
// }
pass = 0;//reset
}
}
@@ -534,11 +704,14 @@ void TelemetryUpdate()
h = SerialControl.head ;
t = SerialControl.tail ;
if ( h >= t )
t += 128 - h ;
t += 192 - h ;
else
t -= h ;
// if ( t < 32 )
if ( t < 64 )
{
return ;
}
#else
uint8_t h ;
uint8_t t ;
@@ -549,7 +722,9 @@ void TelemetryUpdate()
else
t -= h ;
if ( t < 32 )
{
return ;
}
#endif
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
{
@@ -566,15 +741,62 @@ 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 ;
uint8_t count ;
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 ;
}
else
{
break ;
}
}
// 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(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();
@@ -928,7 +1150,13 @@ ISR(TIMER0_COMPB_vect)
{
GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ;
ptr->tail = ( ptr->tail + 2 ) & 0x7F ;
uint8_t nextTail ;
nextTail = ptr->tail + 2 ;
if ( nextTail > 192 )
{
nextTail = 0 ;
}
ptr->tail = nextTail ;
GPIOR1 = 8 ;
OCR0A = OCR0B + 40 ;
OCR0B = OCR0A + 8 * 20 ;

46
Multiprotocol/_Config.h
View File

@@ -49,6 +49,13 @@
//The goal is to prevent binding other people's model when powering up the TX, changing model or scanning through protocols.
#define WAIT_FOR_BIND
/*************************/
/*** BOOTLOADER USE ***/
/*************************/
//Allow flashing multimodule directly with TX(erky9x or opentx modified firmwares)
//Check https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/tree/master/BootLoaders
//To enable this feature remove the "//" on the next line.
//#define CHECK_FOR_BOOTLOADER
/****************/
/*** RF CHIPS ***/
@@ -87,7 +94,6 @@
//Default is commented, you should uncoment only for test purpose or if you know exactly what you are doing!!!
//#define FORCE_CYRF_ID "\x12\x34\x56\x78\x9A\xBC"
/****************************/
/*** PROTOCOLS TO INCLUDE ***/
/****************************/
@@ -134,6 +140,42 @@
#define GW008_NRF24L01_INO
#define DM002_NRF24L01_INO
/**************************/
/*** FAILSAFE SETTINGS ***/
/**************************/
#define AFHDS2A_FAILSAFE
#ifdef AFHDS2A_FAILSAFE
/*
Failsafe Min/Max values 962 <-> 2038
*/
const int8_t AFHDS2AFailsafeMIN = -105;
const int8_t AFHDS2AFailsafeMAX = 105;
//
const int8_t AFHDS2AFailsafe[14]= {
/*
Failsafe examples
988 <-> 2012µs -100% = 988 = 1500 + (2012-988)/2 * (-100/100) = 1500 - 512 = 988
988 <-> 2012µs 0% = 1500 = 1500 + (2012-988)/2 * ( 0/100) = 1500 + 0 = 1500
988 <-> 2012µs 100% = 2012 = 1500 + (2012-988)/2 * ( 100/100) = 1500 + 512 = 2012
988 <-> 2012µs -105% = 962 = 1500 + (2012-988)/2 * (-105/100) = 1500 - 538 = 962
*/
/* ch 1 */ -1,
/* ch 2 */ -1,
/* ch 3 */ -105,
/* ch 4 */ -1,
/* ch 5 */ -1,
/* ch 6 */ -1,
/* ch 7 */ -1,
/* ch 8 */ -1,
/* ch 9 */ -1,
/* ch 10 */ -1,
/* ch 11 */ -1,
/* ch 12 */ -1,
/* ch 13 */ -1,
/* ch 14 */ -1
};
#endif
/**************************/
/*** TELEMETRY SETTINGS ***/
/**************************/
@@ -178,7 +220,6 @@
//If you do not plan to use the Serial mode comment this line using "//" to save Flash space
#define ENABLE_SERIAL
/*************************/
/*** PPM MODE SETTINGS ***/
/*************************/
@@ -305,6 +346,7 @@ const PPM_Parameters PPM_prot[15]= {
MODE_BAYANG
BAYANG
H8S3D
X16_AH
MODE_ESKY
NONE
MODE_MT99XX