gomaomao/DIY-Multiprotocol-TX-Module
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midelic 2016-08-26 21:50:58 +01:00 committed by GitHub
parent a8797b3f4a
commit f133a9094a
1 changed files with 45 additions and 20 deletions
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65
Multiprotocol/Multiprotocol.ino
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@ -61,6 +61,7 @@ uint16_t Servo_data[NUM_CHN];
uint8_t Servo_AUX; uint8_t Servo_AUX;
// Protocol variables // Protocol variables
uint8_t cyrfmfg_id[6];//for dsm2 and devo
uint8_t rx_tx_addr[5]; uint8_t rx_tx_addr[5];
uint8_t phase; uint8_t phase;
uint16_t bind_counter; uint16_t bind_counter;
@ -84,13 +85,14 @@ uint8_t len;
uint8_t RX_num; uint8_t RX_num;
#if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO) #if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO)
uint8_t calData[48][3]; uint8_t calData[48];
#endif #endif
//Channel mapping for protocols //Channel mapping for protocols
const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
//const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
//const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8}; const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
// Mode_select variables // Mode_select variables
uint8_t mode_select; uint8_t mode_select;
@ -100,6 +102,12 @@ uint8_t protocol_flags=0,protocol_flags2=0;
volatile uint16_t PPM_data[NUM_CHN]; volatile uint16_t PPM_data[NUM_CHN];
// Serial variables // Serial variables
#ifdef INVERT_TELEMETRY
// enable bit bash for serial
#define BASH_SERIAL 1
#define INVERT_SERIAL 1
#endif
#define BAUD 100000
#define RXBUFFER_SIZE 25 #define RXBUFFER_SIZE 25
#define TXBUFFER_SIZE 32 #define TXBUFFER_SIZE 32
volatile uint8_t rx_buff[RXBUFFER_SIZE]; volatile uint8_t rx_buff[RXBUFFER_SIZE];
@ -129,9 +137,11 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined FRSKY_CC2500_INO #if defined FRSKY_CC2500_INO
#define HUB_TELEMETRY #define HUB_TELEMETRY
#endif #endif
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
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;
@ -486,16 +496,16 @@ static void CheckTimer(uint16_t (*cb)(void))
#endif #endif
} }
// at this point we have between 2ms and 4ms in next_callback // at this point we have between 2ms and 4ms in next_callback
// disable global int next_callback *= 2 ; // disable global int
#ifdef XMEGA #ifdef XMEGA
cli(); cli();
TCC1.CCA +=next_callback*2; // set compare A for callback TCC1.CCA +=next_callback; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator
sei();// enable global int sei();// enable global int
#else #else
#if defined STM32_board #if defined STM32_board
OCR1A+=next_callback*2; OCR1A+=next_callback;
cli(); cli();
TIMER2_BASE->CCR1 = OCR1A; TIMER2_BASE->CCR1 = OCR1A;
TCNT1 = TIMER2_BASE->CNT; TCNT1 = TIMER2_BASE->CNT;
@ -503,10 +513,8 @@ static void CheckTimer(uint16_t (*cb)(void))
diff=OCR1A-TCNT1; // compare timer and comparator diff=OCR1A-TCNT1; // compare timer and comparator
sei(); sei();
#else #else
next_callback *= 2 ;
next_callback += OCR1A ;
cli(); cli();
OCR1A=next_callback; // set compare A for callback OCR1A+=next_callback; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag TIFR1=(1<<OCF1A); // clear compare A=callback flag
diff=OCR1A-TCNT1; // compare timer and comparator diff=OCR1A-TCNT1; // compare timer and comparator
sei(); // enable global int sei(); // enable global int
@ -699,8 +707,9 @@ static void protocol_init()
if(next_callback>32000) if(next_callback>32000)
{ // next_callback should not be more than 32767 so we will wait here... { // next_callback should not be more than 32767 so we will wait here...
delayMicroseconds(next_callback-2000); uint16_t temp=(next_callback>>10)-2;
next_callback=2000; delay(temp);
next_callback-=temp<<10; // between 2-3ms left at this stage
} }
#ifdef XMEGA #ifdef XMEGA
@ -728,6 +737,16 @@ 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;
if(rx_ok_buff[0]&0x20) //check range if(rx_ok_buff[0]&0x20) //check range
RANGE_FLAG_on; RANGE_FLAG_on;
else else
@ -771,7 +790,9 @@ static void update_serial_data()
p++; p++;
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_FLAG_off; //data has been processed RX_DONOTUPDTAE_off;
}
while(IS_RX_MISSED_BUFF_on); // We've just processed an old frame...
} }
static void module_reset() static void module_reset()
@ -1107,8 +1128,9 @@ static void set_rx_tx_addr(uint32_t id)
#endif #endif
#endif #endif
{ // received byte is ok to process { // received byte is ok to process
if(idx==0) if(idx==0||discard_frame==1)
{ // Let's try to sync at this point { // 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 if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
@ -1142,6 +1164,8 @@ static void set_rx_tx_addr(uint32_t id)
} }
else else
{ {
RX_MISSED_BUFF_off; // if rx_buff was good it's not anymore...
#ifdef XMEGA #ifdef XMEGA
rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte
#else #else
@ -1165,12 +1189,13 @@ static void set_rx_tx_addr(uint32_t id)
#endif #endif
#endif #endif
if(!IS_RX_FLAG_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
for(idx=0;idx<RXBUFFER_SIZE;idx++) memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
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
} }
else
RX_MISSED_BUFF_on; // notify that rx_buff is good
idx=0; // start again idx=0; // start again
} }
} }
@ -1186,7 +1211,7 @@ static void set_rx_tx_addr(uint32_t id)
idx=UDR0; // Dummy read idx=UDR0; // Dummy read
#endif #endif
#endif #endif
idx=0; // Error encountered discard full frame... discard_frame=1; // Error encountered discard full frame...
} }
#if defined STM32_board //If activated telemetry it doesn't work activated #if defined STM32_board //If activated telemetry it doesn't work activated
@ -1211,7 +1236,7 @@ static void set_rx_tx_addr(uint32_t id)
#endif #endif
{ // Timer1 compare B interrupt { // Timer1 compare B interrupt
idx=0; discard_frame=1; // Error encountered discard full frame...
} }
#if defined(TELEMETRY) #if defined(TELEMETRY)