gomaomao/DIY-Multiprotocol-TX-Module
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Multi core fixes, DSM2/X fixes and telemetry, SFHSS addition, Flysky fixes, FrSkyX full telemetry and sub protocols

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Many things since last commit...
This commit is contained in:
pascallanger
2016-04-06 12:57:42 +02:00
parent 6c3535951f
commit d938f2ea50
14 changed files with 2608 additions and 743 deletions
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246
Multiprotocol/Multiprotocol.ino
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@@ -4,7 +4,7 @@
http://www.rcgroups.com/forums/showthread.php?t=2165676
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/edit/master/README.md
Thanks to PhracturedBlue, Hexfet, Goebish and all protocol developers
Thanks to PhracturedBlue, Hexfet, Goebish, Victzh and all protocol developers
Ported from deviation firmware
This project is free software: you can redistribute it and/or modify
@@ -25,6 +25,8 @@
#include <util/delay.h>
#include "Multiprotocol.h"
//#define DEBUG_TX
//Multiprotocol module configuration file
#include "_Config.h"
@@ -68,6 +70,10 @@ uint32_t state;
uint8_t len;
uint8_t RX_num;
#if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO)
uint8_t calData[48][3];
#endif
// Mode_select variables
uint8_t mode_select;
uint8_t protocol_flags=0,protocol_flags2=0;
@@ -77,7 +83,7 @@ volatile uint16_t PPM_data[NUM_CHN];
// Serial variables
#define RXBUFFER_SIZE 25
#define TXBUFFER_SIZE 12
#define TXBUFFER_SIZE 20
volatile uint8_t rx_buff[RXBUFFER_SIZE];
volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
volatile uint8_t tx_buff[TXBUFFER_SIZE];
@@ -94,8 +100,8 @@ uint8_t prev_protocol=0;
uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined(TELEMETRY)
uint8_t pktt[MAX_PKT];//telemetry receiving packets
volatile uint8_t tx_head;
volatile uint8_t tx_tail;
volatile uint8_t tx_head=0;
volatile uint8_t tx_tail=0;
uint8_t v_lipo;
int16_t RSSI_dBm;
//const uint8_t RSSI_offset=72;//69 71.72 values db
@@ -111,6 +117,20 @@ static void CheckTimer(uint16_t (*cb)(void));
// Init
void setup()
{
#ifdef XMEGA
PORTD.OUTSET = 0x17 ;
PORTD.DIRSET = 0xB2 ;
PORTD.DIRCLR = 0x4D ;
PORTD.PIN0CTRL = 0x18 ;
PORTD.PIN2CTRL = 0x18 ;
PORTE.DIRSET = 0x01 ;
PORTE.DIRCLR = 0x02 ;
PORTE.OUTSET = 0x01 ;
for ( uint8_t count = 0 ; count < 20 ; count += 1 )
asm("nop") ;
PORTE.OUTCLR = 0x01 ;
#else
// General pinout
DDRD = (1<<CS_pin)|(1<<SDI_pin)|(1<<SCLK_pin)|(1<<CS_pin)|(1<< CC25_CSN_pin);
DDRC = (1<<CTRL1)|(1<<CTRL2); //output
@@ -118,6 +138,7 @@ void setup()
DDRB = _BV(0)|_BV(1);
PORTB = _BV(2)|_BV(3)|_BV(4)|_BV(5);//pullup 10,11,12 and bind button
PORTC = _BV(0);//A0 high pullup
#endif
// Set Chip selects
CS_on;
@@ -128,9 +149,24 @@ void setup()
SDI_on;
SCK_off;
//#ifdef XMEGA
// // SPI enable, master, prescale of 16
// SPID.CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_PRESCALER0_bm ;
//#endif
// Timer1 config
#ifdef XMEGA
// TCC1 16-bit timer, clocked at 0.5uS
EVSYS.CH3MUX = 0x80 + 0x04 ; // Prescaler of 16
TCC1.CTRLB = 0; TCC1.CTRLC = 0; TCC1.CTRLD = 0; TCC1.CTRLE = 0;
TCC1.INTCTRLA = 0; TCC1.INTCTRLB = 0;
TCC1.PER = 0xFFFF ;
TCC1.CNT = 0 ;
TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16)
#else
TCCR1A = 0;
TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
#endif
// Set servos positions
for(uint8_t i=0;i<NUM_CHN;i++)
@@ -142,12 +178,21 @@ void setup()
delay(100);
// Read status of bind button
#ifdef XMEGA
if( (PORTD.IN & _BV(2)) == 0x00 )
#else
if( (PINB & _BV(5)) == 0x00 )
#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
// after this mode_select will be one of {0000, 0001, ..., 1111}
#ifdef XMEGA
mode_select=0x0F - ( PORTA.IN & 0x0F ) ; //encoder dip switches 1,2,4,8=>B2,B3,B4,C0
mode_select = MODE_SERIAL ;
#else
mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
#endif
//**********************************
//mode_select=1; // here to test PPM
//**********************************
@@ -179,9 +224,12 @@ void setup()
protocol_init();
#ifndef XMEGA
//Configure PPM interrupt
EICRA |=(1<<ISC11); // The rising edge of INT1 pin D3 generates an interrupt request
EIMSK |= (1<<INT1); // INT1 interrupt enable
#endif
#if defined(TELEMETRY)
PPM_Telemetry_serial_init(); // Configure serial for telemetry
#endif
@@ -223,7 +271,7 @@ void loop()
}
update_led_status();
#if defined(TELEMETRY)
if( ((cur_protocol[0]&0x1F)==MODE_FRSKY) || ((cur_protocol[0]&0x1F)==MODE_HUBSAN) || ((cur_protocol[0]&0x1F)==MODE_FRSKYX) )
if( ((cur_protocol[0]&0x1F)==MODE_FRSKY) || ((cur_protocol[0]&0x1F)==MODE_HUBSAN) || ((cur_protocol[0]&0x1F)==MODE_FRSKYX) || ((cur_protocol[0]&0x1F)==MODE_DSM2) )
frskyUpdate();
#endif
if (remote_callback != 0)
@@ -266,8 +314,17 @@ static void update_led_status(void)
// Protocol scheduler
static void CheckTimer(uint16_t (*cb)(void))
{
uint16_t next_callback;
uint32_t prev;
uint16_t next_callback,diff;
#ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
{
cli(); // disable global int
TCC1.CCA = TCC1.CNT ; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int
}
else
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
#else
if( (TIFR1 & (1<<OCF1A)) != 0)
{
cli(); // disable global int
@@ -276,25 +333,42 @@ static void CheckTimer(uint16_t (*cb)(void))
}
else
while((TIFR1 & (1<<OCF1A)) == 0); // wait before callback
prev=micros();
next_callback=cb();
if(prev+next_callback+50 > micros())
{ // Callback did not took more than requested time for next callback
if(next_callback>32000)
{ // next_callback should not be more than 32767 so we will wait here...
delayMicroseconds(next_callback-2000);
cli(); // disable global int
OCR1A=TCNT1+4000;
sei(); // enable global int
#endif
do
{
next_callback=cb();
while(next_callback>4000)
{ // start to wait here as much as we can...
next_callback=next_callback-2000;
cli(); // disable global int
#ifdef XMEGA
TCC1.CCA +=2000*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
sei(); // enable global int
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
#else
OCR1A+=2000*2; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag
sei(); // enable global int
while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms...
#endif
}
else
{
cli(); // disable global int
OCR1A+=next_callback*2; // set compare A for callback
sei(); // enable global int
}
TIFR1=(1<<OCF1A); // clear compare A=callback flag
// at this point we have between 2ms and 4ms in next_callback
cli(); // disable global int
#ifdef XMEGA
TCC1.CCA +=next_callback*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator
sei(); // enable global int
#else
OCR1A+=next_callback*2; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag
diff=OCR1A-TCNT1; // compare timer and comparator
sei(); // enable global int
#endif
}
while(diff&0x8000); // Callback did not took more than requested time for next callback
// so we can let main do its stuff before next callback
}
// Protocol start
@@ -348,6 +422,14 @@ static void protocol_init()
remote_callback = ReadFrSkyX;
break;
#endif
#if defined(SFHSS_CC2500_INO)
case MODE_SFHSS:
CTRL1_off; //antenna RF2
CTRL2_on;
next_callback = initSFHSS();
remote_callback = ReadSFHSS;
break;
#endif
#if defined(DSM2_CYRF6936_INO)
case MODE_DSM2:
CTRL2_on; //antenna RF4
@@ -455,9 +537,15 @@ static void protocol_init()
next_callback=2000;
}
cli(); // disable global int
#ifdef XMEGA
TCC1.CCA = TCC1.CNT + next_callback*2; // set compare A for callback
sei(); // enable global int
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A flag
#else
OCR1A=TCNT1+next_callback*2; // set compare A for callback
sei(); // enable global int
TIFR1=(1<<OCF1A); // clear compare A flag
#endif
BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
}
@@ -522,6 +610,7 @@ static void module_reset()
break;
case MODE_FRSKY:
case MODE_FRSKYX:
case MODE_SFHSS:
CC2500_Reset();
break;
case MODE_DSM2:
@@ -593,13 +682,31 @@ void Serial_write(uint8_t data)
if(++tx_head>=TXBUFFER_SIZE)
tx_head=0;
tx_buff[tx_head]=data;
sei(); // enable global int
#ifdef XMEGA
USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
#else
UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
#endif
sei(); // enable global int
}
#endif
static void Mprotocol_serial_init()
{
#ifdef XMEGA
PORTC.OUTSET = 0x08 ;
PORTC.DIRSET = 0x08 ;
USARTC0.BAUDCTRLA = 19 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x2B ;
USARTC0.DATA ;
#else
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
@@ -610,12 +717,25 @@ static void Mprotocol_serial_init()
UDR0;
//enable reception and RC complete interrupt
UCSR0B = (1<<RXEN0)|(1<<RXCIE0);//rx enable and interrupt
#ifdef DEBUG_TX
TX_SET_OUTPUT;
#else
UCSR0B |= (1<<TXEN0);//tx enable
#endif
#endif
}
#if defined(TELEMETRY)
static void PPM_Telemetry_serial_init()
{
#ifdef XMEGA
USARTC0.BAUDCTRLA = 207 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x03 ;
#else
//9600 bauds
UBRR0H = 0x00;
UBRR0L = 0x67;
@@ -623,6 +743,7 @@ static void PPM_Telemetry_serial_init()
//Set frame format to 8 data bits, none, 1 stop bit
UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
UCSR0B = (1<<TXEN0);//tx enable
#endif
}
#endif
@@ -668,13 +789,21 @@ static uint32_t random_id(uint16_t adress, uint8_t create_new)
/**************************/
//PPM
#ifdef XMEGA
ISR(PORTD_INT0_vect)
#else
ISR(INT1_vect)
#endif
{ // Interrupt on PPM pin
static int8_t chan=-1;
static uint16_t Prev_TCNT1=0;
uint16_t Cur_TCNT1;
#ifdef XMEGA
Cur_TCNT1 = TCC1.CNT - Prev_TCNT1 ; // Capture current Timer1 value
#else
Cur_TCNT1=TCNT1-Prev_TCNT1; // Capture current Timer1 value
#endif
if(Cur_TCNT1<1000)
chan=-1; // bad frame
else
@@ -697,62 +826,107 @@ ISR(INT1_vect)
}
//Serial RX
#ifdef XMEGA
ISR(USARTC0_RXC_vect)
#else
ISR(USART_RX_vect)
#endif
{ // RX interrupt
#ifdef XMEGA
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
#else
if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
#endif
{ // received byte is ok to process
if(idx==0)
{ // Let's try to sync at this point
#ifdef XMEGA
if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
#else
if(UDR0==0x55) // If 1st byte is 0x55 it looks ok
#endif
{
idx++;
#ifdef XMEGA
TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
TCC1.INTCTRLB = (TCC1.INTCTRLB & 0xF3) | 0x04 ; // enable interrupt on compare B match
#else
OCR1B=TCNT1+6500L; // Full message should be received within timer of 3250us
TIFR1=(1<<OCF1B); // clear OCR1B match flag
TIMSK1 |=(1<<OCIE1B); // enable interrupt on compare B match
#endif
}
}
else
{
rx_buff[(idx++)-1]=UDR0; // Store received byte
#ifdef XMEGA
rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte
#else
rx_buff[(idx++)-1]=UDR0; // Store received byte
#endif
if(idx>RXBUFFER_SIZE)
{ // A full frame has been received
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
#ifdef XMEGA
TCC1.INTCTRLB &=0xF3; // disable interrupt on compare B match
#else
TIMSK1 &=~(1<<OCIE1B); // disable interrupt on compare B match
#endif
if(!IS_RX_FLAG_on)
{ //Good frame received and main has finished with previous buffer
for(idx=0;idx<RXBUFFER_SIZE;idx++)
rx_ok_buff[idx]=rx_buff[idx]; // Duplicate the buffer
RX_FLAG_on; //flag for main to process servo data
RX_FLAG_on; // flag for main to process servo data
}
idx=0; // start again
idx=0; // start again
}
}
}
else
{
#ifdef XMEGA
idx = USARTC0.DATA ; // Dummy read
#else
idx=UDR0; // Dummy read
#endif
idx=0; // Error encountered discard full frame...
}
}
//Serial timer
#ifdef XMEGA
ISR(TCC1_CCB_vect)
#else
ISR(TIMER1_COMPB_vect)
#endif
{ // Timer1 compare B interrupt
idx=0;
}
#if defined(TELEMETRY)
//Serial TX
#ifdef XMEGA
ISR(USARTC0_DRE_vect)
#else
ISR(USART_UDRE_vect)
#endif
{ // Transmit interrupt
uint8_t t = tx_tail;
if(tx_head!=t)
if(tx_head!=tx_tail)
{
if(++t>=TXBUFFER_SIZE)//head
t=0;
UDR0=tx_buff[t];
tx_tail=t;
if(++tx_tail>=TXBUFFER_SIZE)//head
tx_tail=0;
#ifdef XMEGA
USARTC0.DATA = tx_buff[tx_tail] ;
#else
UDR0=tx_buff[tx_tail];
#endif
}
if (t == tx_head)
if (tx_tail == tx_head)
#ifdef XMEGA
USARTC0.CTRLA &= ~0x03 ;
#else
UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
#endif
}
#endif