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Update DSM2_cyrf6936.ino

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midelic 2016-08-31 17:17:52 +01:00 committed by GitHub
parent e1029e65a9
commit f229c01515
1 changed files with 21 additions and 22 deletions
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43
Multiprotocol/DSM2_cyrf6936.ino
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@ -108,7 +108,6 @@ static void __attribute__((unused)) read_code(uint8_t *buf, uint8_t row, uint8_t
// //
uint8_t sop_col; uint8_t sop_col;
uint8_t data_col; uint8_t data_col;
uint16_t cyrf_state;
uint8_t binding; uint8_t binding;
static void __attribute__((unused)) build_bind_packet() static void __attribute__((unused)) build_bind_packet()
@ -146,7 +145,7 @@ static void __attribute__((unused)) build_bind_packet()
static uint8_t __attribute__((unused)) PROTOCOL_SticksMoved(uint8_t init) static uint8_t __attribute__((unused)) PROTOCOL_SticksMoved(uint8_t init)
{ {
#define STICK_MOVEMENT 15*(PPM_MAX-PPM_MIN)/100 // defines when the bind dialog should be interrupted (stick movement STICK_MOVEMENT %) #define STICK_MOVEMENT 15*(servo_max_125-servo_min_125)/100 // defines when the bind dialog should be interrupted (stick movement STICK_MOVEMENT %)
static uint16_t ele_start, ail_start; static uint16_t ele_start, ail_start;
uint16_t ele = Servo_data[ELEVATOR];//CHAN_ReadInput(MIXER_MapChannel(INP_ELEVATOR)); uint16_t ele = Servo_data[ELEVATOR];//CHAN_ReadInput(MIXER_MapChannel(INP_ELEVATOR));
uint16_t ail = Servo_data[AILERON];//CHAN_ReadInput(MIXER_MapChannel(INP_AILERON)); uint16_t ail = Servo_data[AILERON];//CHAN_ReadInput(MIXER_MapChannel(INP_AILERON));
@ -265,7 +264,7 @@ static void __attribute__((unused)) build_data_packet(uint8_t upper)//
value=Servo_data[AUX8]; value=Servo_data[AUX8];
break; break;
} }
value=map(value,PPM_MIN,PPM_MAX,0,max-1); value=map(value,servo_max_125-servo_min_125,0,max-1);
} }
value |= (upper && i == 0 ? 0x8000 : 0) | (idx << bits); value |= (upper && i == 0 ? 0x8000 : 0) | (idx << bits);
} }
@ -418,12 +417,12 @@ uint16_t ReadDsm2()
#define DSM_READ_DELAY 600 // Time before write to check read state, and switch channels. Was 400 but 500 seems what the 328p needs to read a packet #define DSM_READ_DELAY 600 // Time before write to check read state, and switch channels. Was 400 but 500 seems what the 328p needs to read a packet
uint32_t start; uint32_t start;
switch(cyrf_state) switch(state)
{ {
default: default:
//Binding //Binding
cyrf_state++; state++;
if(cyrf_state & 1) if(state & 1)
{ {
//Send packet on even states //Send packet on even states
//Note state has already incremented, so this is actually 'even' state //Note state has already incremented, so this is actually 'even' state
@ -443,7 +442,7 @@ uint16_t ReadDsm2()
cyrf_configdata(); cyrf_configdata();
CYRF_SetTxRxMode(TX_EN); CYRF_SetTxRxMode(TX_EN);
hopping_frequency_no = 0; hopping_frequency_no = 0;
cyrf_state = DSM2_CH1_WRITE_A; // in fact cyrf_state++ state = DSM2_CH1_WRITE_A; // in fact cyrf_state++
set_sop_data_crc(); set_sop_data_crc();
return 10000; return 10000;
case DSM2_CH1_WRITE_A: case DSM2_CH1_WRITE_A:
@ -453,7 +452,7 @@ uint16_t ReadDsm2()
build_data_packet(cyrf_state == DSM2_CH1_WRITE_B);// build lower or upper channels build_data_packet(cyrf_state == DSM2_CH1_WRITE_B);// build lower or upper channels
CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS); // clear IRQ flags CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS); // clear IRQ flags
CYRF_WriteDataPacket(packet); CYRF_WriteDataPacket(packet);
cyrf_state++; // change from WRITE to CHECK mode state++; // change from WRITE to CHECK mode
return DSM_WRITE_DELAY; return DSM_WRITE_DELAY;
case DSM2_CH1_CHECK_A: case DSM2_CH1_CHECK_A:
case DSM2_CH1_CHECK_B: case DSM2_CH1_CHECK_B:
@ -462,7 +461,7 @@ uint16_t ReadDsm2()
if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02) if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
break; break;
set_sop_data_crc(); set_sop_data_crc();
cyrf_state++; // change from CH1_CHECK to CH2_WRITE state++; // change from CH1_CHECK to CH2_WRITE
return DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY; return DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY;
case DSM2_CH2_CHECK_A: case DSM2_CH2_CHECK_A:
case DSM2_CH2_CHECK_B: case DSM2_CH2_CHECK_B:
@ -470,10 +469,10 @@ uint16_t ReadDsm2()
while (micros()-start < 500) // Wait max 500µs while (micros()-start < 500) // Wait max 500µs
if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02) if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02)
break; break;
if (cyrf_state == DSM2_CH2_CHECK_A) if (state == DSM2_CH2_CHECK_A)
CYRF_SetPower(0x28); //Keep transmit power in sync CYRF_SetPower(0x28); //Keep transmit power in sync
#if defined DSM_TELEMETRY #if defined DSM_TELEMETRY
cyrf_state++; // change from CH2_CHECK to CH2_READ state++; // change from CH2_CHECK to CH2_READ
if(option<=3 || option>7) if(option<=3 || option>7)
{ // disable telemetry for option between 4 and 7 ie 4,5,6,7 channels @11ms since it does not work... { // disable telemetry for option between 4 and 7 ie 4,5,6,7 channels @11ms since it does not work...
CYRF_SetTxRxMode(RX_EN); //Receive mode CYRF_SetTxRxMode(RX_EN); //Receive mode
@ -496,7 +495,7 @@ uint16_t ReadDsm2()
pkt[0]=CYRF_ReadRegister(CYRF_13_RSSI)&0x1F; // store RSSI of the received telemetry signal pkt[0]=CYRF_ReadRegister(CYRF_13_RSSI)&0x1F; // store RSSI of the received telemetry signal
telemetry_link=1; telemetry_link=1;
} }
if (cyrf_state == DSM2_CH2_READ_A && option <= 3) // normal 22ms mode if option<=3 ie 4,5,6,7 channels @22ms if (state == DSM2_CH2_READ_A && option <= 3) // normal 22ms mode if option<=3 ie 4,5,6,7 channels @22ms
{ {
//Force end read state //Force end read state
CYRF_WriteRegister(CYRF_0F_XACT_CFG, (CYRF_ReadRegister(CYRF_0F_XACT_CFG) | 0x20)); // Force end state CYRF_WriteRegister(CYRF_0F_XACT_CFG, (CYRF_ReadRegister(CYRF_0F_XACT_CFG) | 0x20)); // Force end state
@ -504,35 +503,35 @@ uint16_t ReadDsm2()
while (micros()-start < 100) // Wait max 100 µs while (micros()-start < 100) // Wait max 100 µs
if((CYRF_ReadRegister(CYRF_0F_XACT_CFG) & 0x20) == 0) if((CYRF_ReadRegister(CYRF_0F_XACT_CFG) & 0x20) == 0)
break; break;
cyrf_state = DSM2_CH2_READ_B; state = DSM2_CH2_READ_B;
CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x87); //0x80??? //Prepare to receive CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x87); //0x80??? //Prepare to receive
return 11000; return 11000;
} }
if (cyrf_state == DSM2_CH2_READ_A && option>7) if (state == DSM2_CH2_READ_A && option>7)
cyrf_state = DSM2_CH1_WRITE_B; //Transmit upper state = DSM2_CH1_WRITE_B; //Transmit upper
else else
cyrf_state = DSM2_CH1_WRITE_A; //Force 11ms if option>3 ie 4,5,6,7 channels @11ms state = DSM2_CH1_WRITE_A; //Force 11ms if option>3 ie 4,5,6,7 channels @11ms
CYRF_SetTxRxMode(TX_EN); //Write mode CYRF_SetTxRxMode(TX_EN); //Write mode
set_sop_data_crc(); set_sop_data_crc();
return DSM_READ_DELAY; return DSM_READ_DELAY;
#else #else
// No telemetry // No telemetry
set_sop_data_crc(); set_sop_data_crc();
if (cyrf_state == DSM2_CH2_CHECK_A) if (state == DSM2_CH2_CHECK_A)
{ {
if(option < 8) if(option < 8)
{ {
cyrf_state = DSM2_CH1_WRITE_A; // change from CH2_CHECK_A to CH1_WRITE_A (ie no upper) state = DSM2_CH1_WRITE_A; // change from CH2_CHECK_A to CH1_WRITE_A (ie no upper)
if(option>3) if(option>3)
return 11000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY ; // force 11ms if option>3 ie 4,5,6,7 channels @11ms return 11000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY ; // force 11ms if option>3 ie 4,5,6,7 channels @11ms
else else
return 22000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY ; // normal 22ms mode if option<=3 ie 4,5,6,7 channels @22ms return 22000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY ; // normal 22ms mode if option<=3 ie 4,5,6,7 channels @22ms
} }
else else
cyrf_state = DSM2_CH1_WRITE_B; // change from CH2_CHECK_A to CH1_WRITE_A (to transmit upper) state = DSM2_CH1_WRITE_B; // change from CH2_CHECK_A to CH1_WRITE_A (to transmit upper)
} }
else else
cyrf_state = DSM2_CH1_WRITE_A; // change from CH2_CHECK_B to CH1_WRITE_A (upper already transmitted so transmit lower) state = DSM2_CH1_WRITE_A; // change from CH2_CHECK_B to CH1_WRITE_A (upper already transmitted so transmit lower)
return 11000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY; return 11000 - DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY;
#endif #endif
} }
@ -583,14 +582,14 @@ uint16_t initDsm2()
// //
if(IS_AUTOBIND_FLAG_on) if(IS_AUTOBIND_FLAG_on)
{ {
cyrf_state = DSM2_BIND; state = DSM2_BIND;
PROTOCOL_SticksMoved(1); //Initialize Stick position PROTOCOL_SticksMoved(1); //Initialize Stick position
initialize_bind_state(); initialize_bind_state();
binding = 1; binding = 1;
} }
else else
{ {
cyrf_state = DSM2_CHANSEL;// state = DSM2_CHANSEL;//
binding = 0; binding = 0;
} }
return 10000; return 10000;