gomaomao/DIY-Multiprotocol-TX-Module
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Important changes of the scheduler and interrupts

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This commit is contained in:
pascallanger 2016-08-31 10:26:27 +02:00
parent b7b2799611
commit eabfd8b5c4
4 changed files with 233 additions and 169 deletions
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1
Multiprotocol/FrSkyX_cc2500.ino
View File

@ -252,7 +252,6 @@ uint16_t ReadFrSkyX()
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
LED_ON;
CC2500_SetTxRxMode(TX_EN);
set_start(hopping_frequency_no);
CC2500_SetPower();

25
Multiprotocol/Multiprotocol.h
View File

@ -273,10 +273,17 @@ struct PPM_Parameters
#endif
// TX
#define TX_ON PORTD |= _BV(1)
#define TX_OFF PORTD &= ~_BV(1)
#define TX_TOGGLE PORTD ^= _BV(1)
#define TX_SET_OUTPUT DDRD |= _BV(1)
#ifdef DEBUG_TX
#define TX_ON PORTD |= _BV(1)
#define TX_OFF PORTD &= ~_BV(1)
#define TX_TOGGLE PORTD ^= _BV(1)
#define TX_SET_OUTPUT DDRD |= _BV(1)
#else
#define TX_ON
#define TX_OFF
#define TX_TOGGLE
#define TX_SET_OUTPUT
#endif
// Macros
#define NOP() __asm__ __volatile__("nop")
@ -329,6 +336,16 @@ struct PPM_Parameters
#define RX_MISSED_BUFF_on protocol_flags2 |= _BV(2)
#define IS_RX_MISSED_BUFF_on ( ( protocol_flags2 & _BV(2) ) !=0 )
#define TX_MAIN_PAUSE_off protocol_flags2 &= ~_BV(3)
#define TX_MAIN_PAUSE_on protocol_flags2 |= _BV(3)
#define IS_TX_MAIN_PAUSE_on ( ( protocol_flags2 & _BV(3) ) !=0 )
#define TX_RX_PAUSE_off protocol_flags2 &= ~_BV(4)
#define TX_RX_PAUSE_on protocol_flags2 |= _BV(4)
#define IS_TX_RX_PAUSE_on ( ( protocol_flags2 & _BV(4) ) !=0 )
#define IS_TX_PAUSE_on ( ( protocol_flags2 & (_BV(4)|_BV(3)) ) !=0 )
#define BLINK_BIND_TIME 100
#define BLINK_SERIAL_TIME 500
#define BLINK_BAD_PROTO_TIME_LOW 1000

367
Multiprotocol/Multiprotocol.ino
View File

@ -22,9 +22,8 @@
*/
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include "Multiprotocol.h"
//#define DEBUG_TX
#include "Multiprotocol.h"
//Multiprotocol module configuration file
#include "_Config.h"
@ -113,6 +112,7 @@ uint8_t prev_protocol=0;
#define MAX_PKT 27
uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined(TELEMETRY)
uint8_t pass = 0;
uint8_t pktt[MAX_PKT];//telemetry receiving packets
#ifndef BASH_SERIAL
volatile uint8_t tx_head=0;
@ -215,19 +215,8 @@ void setup()
MProtocol_id_master=random_id(10,false);
//Init RF modules
#ifdef CC2500_INSTALLED
CC2500_Reset();
#endif
#ifdef A7105_INSTALLED
A7105_Reset();
#endif
#ifdef CYRF6936_INSTALLED
CYRF_Reset();
#endif
#ifdef NFR24L01_INSTALLED
NRF24L01_Reset();
#endif
modules_reset();
#ifdef ENABLE_PPM
//Protocol and interrupts initialization
if(mode_select != MODE_SERIAL)
@ -271,8 +260,99 @@ void setup()
}
// Main
// Protocol scheduler
void loop()
{
uint16_t next_callback,diff=0xFFFF;
while(1)
{
if(remote_callback==0 || diff>2*200)
{
do
{
Update_All();
}
while(remote_callback==0);
}
#ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
{
cli(); // Disable global int due to RW of 16 bits registers
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 due to RW of 16 bits registers
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // Enable global int
}
else
while((TIFR1 & (1<<OCF1A)) == 0); // Wait before callback
#endif
do
{
TX_ON;
TX_MAIN_PAUSE_on;
tx_pause();
next_callback=remote_callback();
TX_MAIN_PAUSE_off;
tx_resume();
TX_OFF;
while(next_callback>4000)
{ // start to wait here as much as we can...
next_callback-=2000; // We will wait below for 2ms
#ifdef XMEGA
cli(); // Disable global int due to RW of 16 bits registers
TCC1.CCA +=2000*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
sei(); // enable global int
Update_All();
if(IS_CHANGE_PROTOCOL_FLAG_on)
break; // Protocol has been changed
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
#else
cli(); // Disable global int due to RW of 16 bits registers
OCR1A += 2000*2 ; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag
sei(); // enable global int
Update_All();
if(IS_CHANGE_PROTOCOL_FLAG_on)
break; // Protocol has been changed
while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms...
#endif
}
// at this point we have a maximum of 4ms in next_callback
next_callback *= 2 ;
#ifdef XMEGA
cli(); // Disable global int due to RW of 16 bits registers
TCC1.CCA +=next_callback; // 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
cli(); // Disable global int due to RW of 16 bits registers
OCR1A+= next_callback ; // 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 launch Update_All before next callback
}
}
void Update_All()
{
TX_ON;
NOP();
TX_OFF;
#ifdef ENABLE_SERIAL
if(mode_select==MODE_SERIAL && IS_RX_FLAG_on) // Serial mode and something has been received
{
@ -281,9 +361,8 @@ void loop()
if(IS_CHANGE_PROTOCOL_FLAG_on)
{ // Protocol needs to be changed
LED_OFF; //led off during protocol init
module_reset(); //reset previous module
modules_reset(); //reset all modules
protocol_init(); //init new protocol
CHANGE_PROTOCOL_FLAG_off; //done
}
}
#endif //ENABLE_SERIAL
@ -306,11 +385,13 @@ void loop()
#endif //ENABLE_PPM
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) || ((cur_protocol[0]&0x1F)==MODE_DSM2) )
frskyUpdate();
#endif
if (remote_callback != 0)
CheckTimer(remote_callback);
uint8_t protocol=cur_protocol[0]&0x1F;
if( (protocol==MODE_FRSKY) || (protocol==MODE_HUBSAN) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM2) )
TelemetryUpdate();
#endif
TX_ON;
NOP();
TX_OFF;
}
// Update Servo_AUX flags based on servo AUX positions
@ -346,67 +427,29 @@ static void update_led_status(void)
}
}
// Protocol scheduler
static void CheckTimer(uint16_t (*cb)(void))
{
uint16_t next_callback,diff;
#ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
{
cli(); // Disable global int due to RW of 16 bits registers
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 due to RW of 16 bits registers
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // Enable global int
}
else
while((TIFR1 & (1<<OCF1A)) == 0); // Wait before callback
inline void tx_pause()
{
#ifdef TELEMETRY
#ifdef XMEGA
USARTC0.CTRLA &= ~0x03 ; // Pause telemetry by disabling transmitter interrupt
#else
#ifndef BASH_SERIAL
UCSR0B &= ~(1<<UDRIE0); // Pause telemetry by disabling transmitter interrupt
#endif
#endif
#endif
do
{
next_callback=cb();
while(next_callback>4000)
{ // start to wait here as much as we can...
next_callback-=2000; // We will wait below for 2ms
#ifdef XMEGA
cli(); // Disable global int due to RW of 16 bits registers
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
cli(); // Disable global int due to RW of 16 bits registers
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...
}
inline void tx_resume()
{
#ifdef TELEMETRY
if(!IS_TX_PAUSE_on)
#ifdef XMEGA
USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ; // Resume telemetry by enabling transmitter interrupt
#else
UCSR0B |= (1<<UDRIE0); // Resume telemetry by enabling transmitter interrupt
#endif
#endif
}
// at this point we have a maximum of 4ms in next_callback
next_callback *= 2 ;
#ifdef XMEGA
cli(); // Disable global int due to RW of 16 bits registers
TCC1.CCA +=next_callback; // 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
cli(); // Disable global int due to RW of 16 bits registers
OCR1A+= next_callback ; // 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
@ -415,7 +458,17 @@ static void protocol_init()
uint16_t next_callback=0; // Default is immediate call back
remote_callback = 0;
set_rx_tx_addr(MProtocol_id);
set_rx_tx_addr(MProtocol_id); // Reset rx_tx_addr
// reset telemetry
#ifdef TELEMETRY
tx_pause();
pass=0;
telemetry_link=0;
tx_tail=0;
tx_head=0;
#endif
blink=millis();
if(IS_BIND_BUTTON_FLAG_on)
AUTOBIND_FLAG_on;
@ -424,8 +477,8 @@ static void protocol_init()
else
BIND_DONE;
CTRL1_on; //NRF24L01 antenna RF3 by default
CTRL2_off; //NRF24L01 antenna RF3 by default
CTRL1_on; //NRF24L01 antenna RF3 by default
CTRL2_off; //NRF24L01 antenna RF3 by default
switch(cur_protocol[0]&0x1F) // Init the requested protocol
{
@ -624,8 +677,8 @@ static void protocol_init()
void update_serial_data()
{
RX_FLAG_off; //data has been processed
RX_DONOTUPDTAE_on;
RX_FLAG_off; //data is being processed
if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on;
else
@ -653,6 +706,8 @@ void update_serial_data()
else
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
else
CHANGE_PROTOCOL_FLAG_off; //no need to restart
cur_protocol[0] = rx_ok_buff[0]; //store current protocol
// decode channel values
@ -676,9 +731,10 @@ void update_serial_data()
UCSR0B &= ~(1<<RXCIE0); // RX interrupt disable
#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;
{ 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;
}
#ifdef XMEGA
sei();
#else
@ -686,33 +742,24 @@ void update_serial_data()
#endif
}
void module_reset()
void modules_reset()
{
if(remote_callback)
{ // 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();
break;
case MODE_DSM2:
case MODE_DEVO:
case MODE_J6PRO:
CYRF_Reset();
break;
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, MODE_FQ777, MODE_ASSAN
NRF24L01_Reset();
break;
}
}
prev_power=0xFD; // unused power value
#ifdef CC2500_INSTALLED
CC2500_Reset();
#endif
#ifdef A7105_INSTALLED
A7105_Reset();
#endif
#ifdef CYRF6936_INSTALLED
CYRF_Reset();
#endif
#ifdef NFR24L01_INSTALLED
NRF24L01_Reset();
#endif
//Wait for every component to reset
delayMilliseconds(100);
prev_power=0xFD; // unused power value
}
int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
@ -872,12 +919,9 @@ void SPI_Write(uint8_t command)
SDI_on;
else
SDI_off;
NOP();
SCK_on;
NOP();
command = command << 1;
SCK_off;
NOP();
}
while(--n) ;
SDI_on;
@ -894,7 +938,6 @@ uint8_t SPI_Read(void)
SCK_on;
NOP();
SCK_off;
NOP();
}
return result;
}
@ -1058,52 +1101,47 @@ ISR(USART_RX_vect)
#endif
{ // RX interrupt
static uint8_t idx=0;
#ifdef XMEGA
#ifdef XMEGA
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
#else
#else
UCSR0B &= ~(1<<RXCIE0) ; // RX interrupt disable
sei() ;
if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
#endif
#endif
{ // received byte is ok to process
if(idx==0||discard_frame==1)
{ // Let's try to sync at this point
idx=0;discard_frame=0;
#ifdef XMEGA
#ifdef XMEGA
if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
#else
#else
if(UDR0==0x55) // If 1st byte is 0x55 it looks ok
#endif
#endif
{
#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
TX_RX_PAUSE_on;
tx_pause();
#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
idx++;
}
}
else
{
RX_MISSED_BUFF_off; // if rx_buff was good it's not anymore...
#ifdef XMEGA
rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte
#else
rx_buff[(idx++)-1]=UDR0; // Store received byte
#endif
#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
#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_DONOTUPDTAE_on)
{ //Good frame received and main is not working on the buffer
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
@ -1111,24 +1149,33 @@ ISR(USART_RX_vect)
}
else
RX_MISSED_BUFF_on; // notify that rx_buff is good
idx=0; // start again
discard_frame=1; // start again
}
}
}
else
{
#ifdef XMEGA
idx = USARTC0.DATA; // Dummy read
#else
idx=UDR0; // Dummy read
#endif
discard_frame=1; // Error encountered discard full frame...
#ifdef XMEGA
idx = USARTC0.DATA; // Dummy read
#else
idx=UDR0; // Dummy read
#endif
discard_frame=1; // Error encountered discard full frame...
}
#ifndef XMEGA
cli() ;
UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable
#endif
if(discard_frame==1)
{
#ifdef XMEGA
TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
#else
TIMSK1 &=~(1<<OCIE1B); // Disable interrupt on compare B match
#endif
TX_RX_PAUSE_off;
tx_resume();
}
#ifndef XMEGA
cli() ;
UCSR0B |= (1<<RXCIE0) ; // RX interrupt enable
#endif
}
//Serial timer
@ -1140,5 +1187,11 @@ ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
#endif
{ // Timer1 compare B interrupt
discard_frame=1;
#ifdef XMEGA
TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
#else
TIMSK1 &=~(1<<OCIE1B); // Disable interrupt on compare B match
#endif
tx_resume();
}
#endif //ENABLE_SERIAL

9
Multiprotocol/Telemetry.ino
View File

@ -26,7 +26,6 @@
uint8_t pktx[MAX_PKTX];
uint8_t pktx1[MAX_PKTX];
uint8_t index;
uint8_t pass = 0;
uint8_t frame[18];
#ifdef BASH_SERIAL
@ -395,7 +394,7 @@ void proces_sport_data(uint8_t data)
#endif
void frskyUpdate()
void TelemetryUpdate()
{
#if defined SPORT_TELEMETRY
if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
@ -503,11 +502,7 @@ void Serial_write(uint8_t data)
nextHead = 0 ;
tx_buff[nextHead]=data;
tx_head = nextHead ;
#ifdef XMEGA
USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
#else
UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
#endif
tx_resume();
}
// Speed is 0 for 100K and 1 for 9600