mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-12-15 12:23:16 +00:00
Switch all protocols to use a resolution of 2048
- Change how PPM is handled with a resolution of 2048 and scaled to match serial input range. PPM is now fully scaled for all protocols which was not the case before. If you are using PPM, you might have to adjust the end points depending on the protocols. - Change all range conversions to use 2048 where possible - Updated all protocols with new range functions - Protocols which are taking advantage of 2048 are Assan, FrSky V/D/X, DSM, Devo, WK2x01 - Renamed AUX xto CHx for code readbility
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Pascal Langer
@@ -75,11 +75,8 @@ uint8_t packet[40];
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#define NUM_CHN 16
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// Servo data
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uint16_t Servo_data[NUM_CHN];
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uint16_t Channel_data[NUM_CHN];
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uint8_t Servo_AUX;
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uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
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uint16_t servo_mid;
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uint8_t Channel_AUX;
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#ifdef FAILSAFE_ENABLE
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uint16_t Failsafe_data[NUM_CHN];
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#endif
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@@ -128,10 +125,10 @@ uint8_t RX_num;
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#endif
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//Channel mapping for protocols
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const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8, AUX9, AUX10};
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const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
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const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
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const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
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const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
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const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
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const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
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const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
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// Mode_select variables
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uint8_t mode_select;
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@@ -362,21 +359,14 @@ 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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//mode_select=1;
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debugln("Mode switch reads as %d", mode_select);
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// Set default channels' value
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for(uint8_t i=0;i<NUM_CHN;i++)
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{
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Servo_data[i]=1500;
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#ifdef ENABLE_PPM
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PPM_data[i]=PPM_MAX_100+PPM_MIN_100;
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#endif
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}
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Servo_data[THROTTLE]=servo_min_100;
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#ifdef ENABLE_PPM
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PPM_data[THROTTLE]=PPM_MIN_100*2;
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#endif
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InitChannel();
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#ifdef ENABLE_PPM
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InitPPM();
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#endif
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// Update LED
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LED_off;
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@@ -444,8 +434,6 @@ void setup()
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BIND_IN_PROGRESS; // Force a bind at protocol startup
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}
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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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@@ -475,8 +463,6 @@ void setup()
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for(uint8_t i=0;i<3;i++)
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cur_protocol[i]=0;
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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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#ifdef CHECK_FOR_BOOTLOADER
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Mprotocol_serial_init(1); // Configure serial and enable RX interrupt
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#else
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@@ -484,7 +470,6 @@ void setup()
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#endif
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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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debugln("Init complete");
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}
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@@ -594,25 +579,18 @@ uint8_t Update_All()
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{
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for(uint8_t i=0;i<PPM_chan_max;i++)
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{ // update servo data without interrupts to prevent bad read
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uint16_t temp_ppm ;
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uint16_t val;
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cli(); // disable global int
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temp_ppm = PPM_data[i];
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val = PPM_data[i];
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sei(); // enable global int
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uint16_t temp_ppm2;
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temp_ppm2=map(temp_ppm,PPM_MIN_100,PPM_MAX_100,CHANNEL_MIN_100,CHANNEL_MAX_100);
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if(temp_ppm2&0x8000) temp_ppm2=CHANNEL_MIN_125;
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else if(temp_ppm2>CHANNEL_MAX_125) temp_ppm2=CHANNEL_MAX_125;
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Channel_data[i]=temp_ppm2;
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temp_ppm>>=1;
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if(temp_ppm<PPM_MIN_125) temp_ppm=PPM_MIN_125;
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else if(temp_ppm>PPM_MAX_125) temp_ppm=PPM_MAX_125;
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Servo_data[i]= temp_ppm ;
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val=map16b(val,PPM_MIN_100*2,PPM_MAX_100*2,CHANNEL_MIN_100,CHANNEL_MAX_100);
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if(val&0x8000) val=CHANNEL_MIN_125;
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else if(val>CHANNEL_MAX_125) val=CHANNEL_MAX_125;
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Channel_data[i]=val;
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}
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PPM_FLAG_off; // wait for next frame before update
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update_channels_aux();
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INPUT_SIGNAL_on; //valid signal received
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INPUT_SIGNAL_on; // valid signal received
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last_signal=millis();
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}
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#endif //ENABLE_PPM
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@@ -624,13 +602,13 @@ uint8_t Update_All()
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TelemetryUpdate();
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#endif
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#ifdef ENABLE_BIND_CH
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if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && Servo_data[BIND_CH-1]>PPM_MAX_COMMAND && Servo_data[THROTTLE]<(servo_min_100+25))
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if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && Channel_data[BIND_CH-1]>CHANNEL_MAX_COMMAND && Channel_data[THROTTLE]<(CHANNEL_MIN_100+50))
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{ // Autobind is on and BIND_CH went up and Throttle is low
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CHANGE_PROTOCOL_FLAG_on; //reload protocol
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BIND_IN_PROGRESS; //enable bind
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BIND_CH_PREV_on;
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}
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if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_on && Servo_data[BIND_CH-1]<PPM_MIN_COMMAND)
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if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_on && Channel_data[BIND_CH-1]<CHANNEL_MIN_COMMAND)
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{ // Autobind is on and BIND_CH went down
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BIND_CH_PREV_off;
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//Request protocol to terminate bind
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@@ -651,27 +629,28 @@ uint8_t Update_All()
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return 0;
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}
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// Update channels direction and Servo_AUX flags based on servo AUX positions
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// Update channels direction and Channel_AUX flags based on servo AUX positions
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static void update_channels_aux(void)
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{
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//Reverse channels direction
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#ifdef REVERSE_AILERON
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Servo_data[AILERON]=servo_mid-Servo_data[AILERON];
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reverse_channel(AILREON);
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#endif
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#ifdef REVERSE_ELEVATOR
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Servo_data[ELEVATOR]=servo_mid-Servo_data[ELEVATOR];
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reverse_channel(ELEVATOR);
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#endif
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#ifdef REVERSE_THROTTLE
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Servo_data[THROTTLE]=servo_mid-Servo_data[THROTTLE];
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reverse_channel(THROTTLE);
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#endif
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#ifdef REVERSE_RUDDER
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Servo_data[RUDDER]=servo_mid-Servo_data[RUDDER];
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reverse_channel(RUDDER);
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#endif
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//Calc AUX flags
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Servo_AUX=0;
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Channel_AUX=0;
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for(uint8_t i=0;i<8;i++)
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if(Servo_data[AUX1+i]>PPM_SWITCH)
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Servo_AUX|=1<<i;
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if(Channel_data[CH5+i]>CHANNEL_SWITCH)
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Channel_AUX|=1<<i;
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}
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// Update led status based on binding and serial
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@@ -883,7 +862,6 @@ static void protocol_init()
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case MODE_DSM:
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PE2_on; //antenna RF4
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next_callback = initDsm();
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//Servo_data[2]=1500;//before binding
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remote_callback = ReadDsm;
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break;
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#endif
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@@ -1083,6 +1061,7 @@ static void protocol_init()
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#endif
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}
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}
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debugln("Protocol selected: %d, sub proto %d, rxnum %d, option %d", protocol, sub_protocol, RX_num, option);
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#if defined(WAIT_FOR_BIND) && defined(ENABLE_BIND_CH)
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if( IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && (cur_protocol[1]&0x80)==0 && mode_select == MODE_SERIAL)
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@@ -1176,7 +1155,6 @@ 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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debugln("New protocol selected: %d, sub proto %d, rxnum %d, option %d", protocol, sub_protocol, RX_num, option);
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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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@@ -1218,10 +1196,7 @@ void update_serial_data()
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Failsafe_data[i]=temp; //value range 0..2047, 0=no pulses, 2047=hold
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else
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#endif
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{
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Channel_data[i]=temp; //value range 0..2047, 0=-125%, 2047=+125%
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Servo_data[i]=(temp*5)/8+860; //value range 860<->2140 -125%<->+125%
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}
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}
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RX_DONOTUPDATE_off;
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#ifdef ORANGE_TX
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@@ -1710,5 +1685,3 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
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}
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}
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#endif
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