diff --git a/Multiprotocol/A7105_SPI.ino b/Multiprotocol/A7105_SPI.ino index 251d31e..926b594 100644 --- a/Multiprotocol/A7105_SPI.ino +++ b/Multiprotocol/A7105_SPI.ino @@ -15,6 +15,7 @@ /********************/ /** A7105 routines **/ /********************/ +#ifdef A7105_INSTALLED #include "iface_a7105.h" void A7105_WriteData(uint8_t len, uint8_t channel) @@ -30,13 +31,14 @@ void A7105_WriteData(uint8_t len, uint8_t channel) A7105_Strobe(A7105_TX); } -void A7105_ReadData() { +void A7105_ReadData() +{ uint8_t i; A7105_Strobe(0xF0); //A7105_RST_RDPTR A7105_CSN_off; SPI_Write(0x45); for (i=0;i<16;i++) - packet[i]=SPI_SDIO_Read(); + packet[i]=SPI_SDI_Read(); A7105_CSN_on; } @@ -48,11 +50,12 @@ void A7105_WriteReg(uint8_t address, uint8_t data) { A7105_CSN_on; } -uint8_t A7105_ReadReg(uint8_t address) { +uint8_t A7105_ReadReg(uint8_t address) +{ uint8_t result; A7105_CSN_off; SPI_Write(address |=0x40); //bit 6 =1 for reading - result = SPI_SDIO_Read(); + result = SPI_SDI_Read(); A7105_CSN_on; return(result); } @@ -163,21 +166,21 @@ const uint8_t PROGMEM FLYSKY_A7105_regs[] = { #define ID_PLUS 0xAA201041 void A7105_Init(uint8_t protocol) { - void *A7105_Regs; + uint8_t *A7105_Regs; if(protocol==INIT_FLYSKY) { A7105_WriteID(0x5475c52A);//0x2Ac57554 - A7105_Regs=(void *)FLYSKY_A7105_regs; + A7105_Regs=(uint8_t*)FLYSKY_A7105_regs; } else { A7105_WriteID(ID_NORMAL); - A7105_Regs=(void *)HUBSAN_A7105_regs; + A7105_Regs=(uint8_t*)HUBSAN_A7105_regs; } for (uint8_t i = 0; i < 0x33; i++){ - if( pgm_read_byte_near((uint16_t)(A7105_Regs)+i) != 0xFF) - A7105_WriteReg(i, pgm_read_byte_near((uint16_t)(A7105_Regs)+i)); + if( pgm_read_byte_near(&A7105_Regs[i]) != 0xFF) + A7105_WriteReg(i, pgm_read_byte_near(&A7105_Regs[i])); } A7105_Strobe(A7105_STANDBY); @@ -216,3 +219,4 @@ void A7105_Init(uint8_t protocol) A7105_Strobe(A7105_STANDBY); } +#endif \ No newline at end of file diff --git a/Multiprotocol/Arduino.ino b/Multiprotocol/Arduino.ino index 7382ac9..bd9434e 100644 --- a/Multiprotocol/Arduino.ino +++ b/Multiprotocol/Arduino.ino @@ -12,6 +12,8 @@ You should have received a copy of the GNU General Public License along with Multiprotocol. If not, see . */ +#ifndef STM32_BOARD +/************************************/ /************************************/ /** Arduino replacement routines **/ /************************************/ @@ -106,7 +108,7 @@ void delayMicroseconds(unsigned int us) return; us <<= 2; // * 4 us -= 2; // - 2 -#ifdef XMEGA +#ifdef ORANGE_TX __asm__ __volatile__ ( "1: sbiw %0,1" "\n\t" // 2 cycles "nop \n" @@ -123,11 +125,12 @@ void delayMicroseconds(unsigned int us) #endif } -#ifndef XMEGA +#ifndef ORANGE_TX void init() { // this needs to be called before setup() or some functions won't work there sei(); } -#endif //XMEGA +#endif //ORANGE_TX +#endif //STM32_BOARD \ No newline at end of file diff --git a/Multiprotocol/CC2500_SPI.ino b/Multiprotocol/CC2500_SPI.ino index 4628b03..ac39670 100644 --- a/Multiprotocol/CC2500_SPI.ino +++ b/Multiprotocol/CC2500_SPI.ino @@ -1,3 +1,4 @@ + /* This project is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,6 +18,7 @@ //CC2500 SPI routines //------------------------------- //------------------------------- +#ifdef CC2500_INSTALLED #include "iface_cc2500.h" //---------------------------- @@ -152,4 +154,4 @@ void CC2500_SetPower() prev_power=power; } } - +#endif \ No newline at end of file diff --git a/Multiprotocol/CYRF6936_SPI.ino b/Multiprotocol/CYRF6936_SPI.ino index 2b2d52a..96fd9c8 100644 --- a/Multiprotocol/CYRF6936_SPI.ino +++ b/Multiprotocol/CYRF6936_SPI.ino @@ -12,9 +12,9 @@ You should have received a copy of the GNU General Public License along with Multiprotocol. If not, see . */ +#ifdef CYRF6936_INSTALLED #include "iface_cyrf6936.h" - void CYRF_WriteRegister(uint8_t address, uint8_t data) { CYRF_CSN_off; @@ -182,11 +182,6 @@ void CYRF_WritePreamble(uint32_t preamble) /* * */ -static void CYRF_StartReceive() -{ - CYRF_WriteRegister(CYRF_05_RX_CTRL,0x87); -} - /*static void CYRF_ReadDataPacket(uint8_t dpbuffer[]) { CYRF_ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, 0x10); @@ -243,10 +238,14 @@ void CYRF_FindBestChannels(uint8_t *channels, uint8_t len, uint8_t minspace, uin for(i = 0; i < NUM_FREQ; i++) { CYRF_ConfigRFChannel(i); - CYRF_ReadRegister(CYRF_13_RSSI); - CYRF_StartReceive(); - delayMicroseconds(10); - rssi[i] = CYRF_ReadRegister(CYRF_13_RSSI); + delayMicroseconds(270); //slow channel require 270usec for synthesizer to settle + if( !(CYRF_ReadRegister(CYRF_05_RX_CTRL) & 0x80)) { + CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x80); //Prepare to receive + delayMicroseconds(15); + CYRF_ReadRegister(CYRF_13_RSSI); //dummy read + delayMicroseconds(15); //The conversion can occur as often as once every 12us + } + rssi[i] = CYRF_ReadRegister(CYRF_13_RSSI)&0x1F; } for (i = 0; i < len; i++) @@ -262,7 +261,9 @@ void CYRF_FindBestChannels(uint8_t *channels, uint8_t len, uint8_t minspace, uin rssi[j] = 0xff; } } + CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Abort RX operation CYRF_SetTxRxMode(TX_EN); + CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20); // Clear abort RX } #if defined(DEVO_CYRF6936_INO) || defined(J6PRO_CYRF6936_INO) @@ -297,4 +298,5 @@ static void __attribute__((unused)) CYRF_PROGMEM_ConfigSOPCode(const uint8_t *da for(uint8_t i=0;i<8;i++) code[i]=pgm_read_byte_near(&data[i]); CYRF_ConfigSOPCode(code); -} \ No newline at end of file +} +#endif \ No newline at end of file diff --git a/Multiprotocol/Convert.ino b/Multiprotocol/Convert.ino index 3e2920e..6ff62b9 100644 --- a/Multiprotocol/Convert.ino +++ b/Multiprotocol/Convert.ino @@ -15,6 +15,7 @@ /************************/ /** Convert routines **/ /************************/ +#ifndef STM32_BOARD int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) { // return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; @@ -25,6 +26,7 @@ int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t x = y / (in_max - in_min) ; return x + out_min ; } +#endif // Channel value is converted to 8bit values full scale uint8_t convert_channel_8b(uint8_t num) diff --git a/Multiprotocol/DSM_cyrf6936.ino b/Multiprotocol/DSM_cyrf6936.ino index 85c5735..acc4331 100644 --- a/Multiprotocol/DSM_cyrf6936.ino +++ b/Multiprotocol/DSM_cyrf6936.ino @@ -135,8 +135,7 @@ static uint8_t __attribute__((unused)) get_pn_row(uint8_t channel) } const uint8_t PROGMEM init_vals[][2] = { - {CYRF_02_TX_CTRL, 0x03}, // TX interrupt complete and error enabled - //0x00 in deviation but needed to know when transmit is over + {CYRF_02_TX_CTRL, 0x00}, // All TX interrupt disabled {CYRF_05_RX_CTRL, 0x00}, // All RX interrupt disabled {CYRF_28_CLK_EN, 0x02}, // Force receive clock enable {CYRF_32_AUTO_CAL_TIME, 0x3c}, // Default init value @@ -369,13 +368,13 @@ static uint8_t __attribute__((unused)) DSM_Check_RX_packet() uint16_t ReadDsm() { #define DSM_CH1_CH2_DELAY 4010 // Time between write of channel 1 and channel 2 -#define DSM_WRITE_DELAY 1550 // Time after write to verify write complete +#define DSM_WRITE_DELAY 1950 // Time after write to verify write complete #define DSM_READ_DELAY 600 // Time before write to check read phase, and switch channels. Was 400 but 600 seems what the 328p needs to read a packet - uint16_t start; #if defined DSM_TELEMETRY uint8_t rx_phase; uint8_t len; #endif + uint8_t start; switch(phase) { @@ -451,19 +450,28 @@ uint16_t ReadDsm() return DSM_WRITE_DELAY; case DSM_CH1_CHECK_A: case DSM_CH1_CHECK_B: - start=micros(); - while ((uint16_t)micros()-start < 500) // Wait max 500µs - if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02) - break; - set_sop_data_crc(); - phase++; // change from CH1_CHECK to CH2_WRITE - return DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY; case DSM_CH2_CHECK_A: case DSM_CH2_CHECK_B: start=micros(); - while ((uint16_t)micros()-start < 500) // Wait max 500µs + while ((uint8_t)micros()-start < 100) // Wait max 100µs, max I've seen is 50µs if(CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x02) break; + if(phase==DSM_CH1_CHECK_A || phase==DSM_CH1_CHECK_B) + { + #if defined DSM_TELEMETRY + // reset cyrf6936 if freezed after switching from TX to RX + if (((CYRF_ReadRegister(CYRF_04_TX_IRQ_STATUS) & 0x22) == 0x20) || (CYRF_ReadRegister(CYRF_02_TX_CTRL) & 0x80)) + { + CYRF_Reset(); + cyrf_config(); + cyrf_configdata(); + CYRF_SetTxRxMode(TX_EN); + } + #endif + set_sop_data_crc(); + phase++; // change from CH1_CHECK to CH2_WRITE + return DSM_CH1_CH2_DELAY - DSM_WRITE_DELAY; + } if (phase == DSM_CH2_CHECK_A) CYRF_SetPower(0x28); //Keep transmit power in sync #if defined DSM_TELEMETRY diff --git a/Multiprotocol/Devo_cyrf6936.ino b/Multiprotocol/Devo_cyrf6936.ino index a677de9..885e6c0 100644 --- a/Multiprotocol/Devo_cyrf6936.ino +++ b/Multiprotocol/Devo_cyrf6936.ino @@ -63,7 +63,7 @@ static void __attribute__((unused)) DEVO_add_pkt_suffix() BIND_SET_PULLUP; // set pullup if(IS_BIND_BUTTON_on) { - eeprom_write_byte((uint8_t*)(30+mode_select),0x01); // Set fixed id mode for the current model + eeprom_write_byte((EE_ADDR)(30+mode_select),0x01); // Set fixed id mode for the current model option=1; } BIND_SET_OUTPUT; diff --git a/Multiprotocol/FrSkyX_cc2500.ino b/Multiprotocol/FrSkyX_cc2500.ino index be159b3..e0a2113 100644 --- a/Multiprotocol/FrSkyX_cc2500.ino +++ b/Multiprotocol/FrSkyX_cc2500.ino @@ -274,13 +274,14 @@ uint16_t ReadFrSkyX() return 3000; case FRSKY_DATA4: len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F; - if (len && (len. */ -// Check selected board type -#ifndef XMEGA - #if not defined(ARDUINO_AVR_PRO) && not defined(ARDUINO_AVR_MINI) && not defined(ARDUINO_AVR_NANO) - #error You must select the board type "Arduino Pro or Pro Mini" or "Arduino Mini" - #endif - #if F_CPU != 16000000L || not defined(__AVR_ATmega328P__) - #error You must select the processor type "ATmega328(5V, 16MHz)" - #endif -#endif - //****************** // Protocols //****************** @@ -159,27 +149,6 @@ struct PPM_Parameters // Macros #define NOP() __asm__ __volatile__("nop") -//******************* -//*** Timer *** -//******************* -#ifdef XMEGA - #define TIFR1 TCC1.INTFLAGS - #define OCF1A_bm TC1_CCAIF_bm - #define OCR1A TCC1.CCA - #define TCNT1 TCC1.CNT - #define UDR0 USARTC0.DATA - #define OCF1B_bm TC1_CCBIF_bm - #define OCR1B TCC1.CCB - #define TIMSK1 TCC1.INTCTRLB - #define SET_TIMSK1_OCIE1B TIMSK1 = (TIMSK1 & 0xF3) | 0x04 - #define CLR_TIMSK1_OCIE1B TIMSK1 &= 0xF3 -#else - #define OCF1A_bm _BV(OCF1A) - #define OCF1B_bm _BV(OCF1B) - #define SET_TIMSK1_OCIE1B TIMSK1 |= _BV(OCIE1B) - #define CLR_TIMSK1_OCIE1B TIMSK1 &=~_BV(OCIE1B) -#endif - //*************** //*** Flags *** //*************** diff --git a/Multiprotocol/Multiprotocol.ino b/Multiprotocol/Multiprotocol.ino index fc3c097..7d989a5 100644 --- a/Multiprotocol/Multiprotocol.ino +++ b/Multiprotocol/Multiprotocol.ino @@ -20,24 +20,25 @@ You should have received a copy of the GNU General Public License along with Multiprotocol. If not, see . */ -#include #include //#define DEBUG_TX -#include "Pins.h" #include "Multiprotocol.h" //Multiprotocol module configuration file #include "_Config.h" +#include "Pins.h" #include "TX_Def.h" +#include "Validate.h" -#ifdef XMEGA - #undef ENABLE_PPM // Disable PPM for OrangeTX module - #undef A7105_INSTALLED // Disable A7105 for OrangeTX module - #undef CC2500_INSTALLED // Disable CC2500 for OrangeTX module - #undef NRF24L01_INSTALLED // Disable NRF for OrangeTX module - #define TELEMETRY // Enable telemetry - #define INVERT_TELEMETRY // Enable invert telemetry - #define DSM_TELEMETRY // Enable DSM telemetry +#ifndef STM32_BOARD + #include +#else + #undef __cplusplus + #include + #include + #include + #include + HardwareTimer timer(2); #endif //Global constants/variables @@ -97,7 +98,7 @@ uint8_t protocol_flags=0,protocol_flags2=0; // PPM variable volatile uint16_t PPM_data[NUM_CHN]; -#ifndef XMEGA +#ifndef ORANGE_TX //Random variable volatile uint32_t gWDT_entropy=0; #endif @@ -117,35 +118,17 @@ volatile uint8_t rx_buff[RXBUFFER_SIZE]; volatile uint8_t rx_ok_buff[RXBUFFER_SIZE]; volatile uint8_t discard_frame = 0; -//Make sure telemetry is selected correctly -#ifndef TELEMETRY - #undef INVERT_TELEMETRY - #undef DSM_TELEMETRY - #undef SPORT_TELEMETRY - #undef HUB_TELEMETRY -#else - #if not defined(CYRF6936_INSTALLED) || not defined(DSM_CYRF6936_INO) - #undef DSM_TELEMETRY - #endif - #if (not defined(CC2500_INSTALLED) || not defined(FRSKYD_CC2500_INO)) && (not defined(A7105_INSTALLED) || not defined(HUBSAN_A7105_INO)) - #undef HUB_TELEMETRY - #endif - #if not defined(CC2500_INSTALLED) || not defined(FRSKYX_CC2500_INO) - #undef SPORT_TELEMETRY - #endif +#ifdef STM32_BOARD +void PPM_decode(); +void ISR_COMPB(); #endif -#if not defined(DSM_TELEMETRY) && not defined(HUB_TELEMETRY) && not defined(SPORT_TELEMETRY) - #undef TELEMETRY - #undef INVERT_TELEMETRY -#endif - // Telemetry #define MAX_PKT 27 uint8_t pkt[MAX_PKT];//telemetry receiving packets #if defined(TELEMETRY) #ifdef INVERT_TELEMETRY - // enable bit bash for serial - #ifndef XMEGA + #if not defined(ORANGE_TX) && not defined(STM32_BOARD) + // enable bit bash for serial #define BASH_SERIAL 1 #endif #define INVERT_SERIAL 1 @@ -160,9 +143,9 @@ uint8_t pkt[MAX_PKT];//telemetry receiving packets #endif // BASH_SERIAL uint8_t v_lipo; int16_t RSSI_dBm; - //const uint8_t RSSI_offset=72;//69 71.72 values db uint8_t telemetry_link=0; uint8_t telemetry_counter=0; + uint8_t telemetry_lost; #endif // Callback @@ -172,8 +155,9 @@ void_function_t remote_callback = 0; // Init void setup() { - #ifdef XMEGA - // General pinout + // General pinout + #ifdef ORANGE_TX + //XMEGA PORTD.OUTSET = 0x17 ; PORTD.DIRSET = 0xB2 ; PORTD.DIRCLR = 0x4D ; @@ -189,8 +173,40 @@ void setup() TCC1.PER = 0xFFFF ; TCNT1 = 0 ; TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16) - #else - // General pinout + #elif defined STM32_BOARD + //STM32 + pinMode(A7105_CSN_pin,OUTPUT); + pinMode(CC25_CSN_pin,OUTPUT); + pinMode(NRF_CSN_pin,OUTPUT); + pinMode(CYRF_CSN_pin,OUTPUT); + pinMode(CYRF_RST_pin,OUTPUT); + pinMode(PE1_pin,OUTPUT); + pinMode(PE2_pin,OUTPUT); + #if defined TELEMETRY + pinMode(TX_INV_pin,OUTPUT); + pinMode(RX_INV_pin,OUTPUT); + #if defined INVERT_SERIAL + TX_INV_on;//activated inverter for both serial TX and RX signals + RX_INV_on; + #else + TX_INV_off; + RX_INV_off; + #endif + #endif + pinMode(BIND_pin,INPUT_PULLUP); + pinMode(PPM_pin,INPUT); + pinMode(S1_pin,INPUT_PULLUP);//dial switch + pinMode(S2_pin,INPUT_PULLUP); + pinMode(S3_pin,INPUT_PULLUP); + pinMode(S4_pin,INPUT_PULLUP); + //Random pins + pinMode(PB0, INPUT_ANALOG); // set up pin for analog input + pinMode(PB1, INPUT_ANALOG); // set up pin for analog input + + //select the counter clock. + start_timer2();//0.5us + #else + //ATMEGA328p // all inputs DDRB=0x00;DDRC=0x00;DDRD=0x00; // outputs @@ -242,8 +258,12 @@ void setup() NRF_CSN_on; #endif // Set SPI lines - SDI_on; - SCLK_off; + #ifdef STM32_BOARD + initSPI2(); + #else + SDI_on; + SCLK_off; + #endif // Set servos positions for(uint8_t i=0;iregs->IDR)>>4)&0x0F); #else mode_select = ((MODE_DIAL1_ipr & _BV(MODE_DIAL1_pin)) ? 0 : 1) + @@ -279,9 +301,13 @@ void setup() //Init RF modules modules_reset(); -#ifndef XMEGA +#ifndef ORANGE_TX //Init the seed with a random value created from watchdog timer for all protocols requiring random values - randomSeed(random_value()); + #ifdef STM32_BOARD + randomSeed((uint32_t)analogRead(PB0) << 10 | analogRead(PB1)); + #else + randomSeed(random_value()); + #endif #endif // Read or create protocol id @@ -306,15 +332,19 @@ void setup() protocol_init(); - //Configure PPM interrupt - #if PPM_pin == 2 - EICRA |= _BV(ISC01); // The rising edge of INT0 pin D2 generates an interrupt request - EIMSK |= _BV(INT0); // INT0 interrupt enable - #elif PPM_pin == 3 - EICRA |= _BV(ISC11); // The rising edge of INT1 pin D3 generates an interrupt request - EIMSK |= _BV(INT1); // INT1 interrupt enable + #ifndef STM32_BOARD + //Configure PPM interrupt + #if PPM_pin == 2 + EICRA |= _BV(ISC01); // The rising edge of INT0 pin D2 generates an interrupt request + EIMSK |= _BV(INT0); // INT0 interrupt enable + #elif PPM_pin == 3 + EICRA |= _BV(ISC11); // The rising edge of INT1 pin D3 generates an interrupt request + EIMSK |= _BV(INT1); // INT1 interrupt enable + #else + #error PPM pin can only be 2 or 3 + #endif #else - #error PPM pin can only be 2 or 3 + attachInterrupt(PPM_pin,PPM_decode,FALLING); #endif #if defined(TELEMETRY) @@ -351,14 +381,25 @@ void loop() } while(remote_callback==0); } - if( (TIFR1 & OCF1A_bm) != 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 & OCF1A_bm) == 0); // Wait before callback + #ifndef STM32_BOARD + if( (TIFR1 & OCF1A_bm) != 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 & OCF1A_bm) == 0); // Wait before callback + #else + if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0) + { + cli(); + OCR1A = TCNT1; + sei(); + } + else + while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0); // Wait before callback + #endif do { TX_MAIN_PAUSE_on; @@ -371,18 +412,30 @@ void loop() next_callback-=2000; // We will wait below for 2ms cli(); // Disable global int due to RW of 16 bits registers OCR1A += 2000*2 ; // set compare A for callback - TIFR1=OCF1A_bm; // clear compare A=callback flag + #ifndef STM32_BOARD + TIFR1=OCF1A_bm; // clear compare A=callback flag + #else + TIMER2_BASE->SR &= ~TIMER_SR_CC1IF; //clear compare Flag + #endif sei(); // enable global int Update_All(); if(IS_CHANGE_PROTOCOL_FLAG_on) break; // Protocol has been changed - while((TIFR1 & OCF1A_bm) == 0); // wait 2ms... + #ifndef STM32_BOARD + while((TIFR1 & OCF1A_bm) == 0); // wait 2ms... + #else + while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//2ms wait + #endif } // at this point we have a maximum of 4ms in next_callback next_callback *= 2 ; cli(); // Disable global int due to RW of 16 bits registers OCR1A+= next_callback ; // set compare A for callback - TIFR1=OCF1A_bm; // clear compare A=callback flag + #ifndef STM32_BOARD + TIFR1=OCF1A_bm; // clear compare A=callback flag + #else + TIMER2_BASE->SR &= ~TIMER_SR_CC1IF; //clear compare Flag write zero + #endif diff=OCR1A-TCNT1; // compare timer and comparator sei(); // enable global int } @@ -465,12 +518,14 @@ static void update_led_status(void) inline void tx_pause() { - #ifdef TELEMETRY - #ifdef XMEGA - USARTC0.CTRLA &= ~0x03 ; // Pause telemetry by disabling transmitter interrupt - #else - #ifndef BASH_SERIAL - UCSR0B &= ~_BV(UDRIE0); // Pause telemetry by disabling transmitter interrupt + #ifndef STM32_BOARD + #ifdef TELEMETRY + #ifdef ORANGE_TX + USARTC0.CTRLA &= ~0x03 ; // Pause telemetry by disabling transmitter interrupt + #else + #ifndef BASH_SERIAL + UCSR0B &= ~_BV(UDRIE0); // Pause telemetry by disabling transmitter interrupt + #endif #endif #endif #endif @@ -478,24 +533,41 @@ inline void tx_pause() inline void tx_resume() { - #ifdef TELEMETRY - if(!IS_TX_PAUSE_on) - { - #ifdef XMEGA - cli() ; - USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ; // Resume telemetry by enabling transmitter interrupt - sei() ; - #else - #ifndef BASH_SERIAL - UCSR0B |= _BV(UDRIE0); // Resume telemetry by enabling transmitter interrupt + #ifndef STM32_BOARD + #ifdef TELEMETRY + if(!IS_TX_PAUSE_on) + { + #ifdef ORANGE_TX + cli() ; + USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ; // Resume telemetry by enabling transmitter interrupt + sei() ; #else - resumeBashSerial() ; + #ifndef BASH_SERIAL + UCSR0B |= _BV(UDRIE0); // Resume telemetry by enabling transmitter interrupt + #else + resumeBashSerial() ; + #endif #endif - #endif - } + } + #endif #endif } +#ifdef STM32_BOARD +void start_timer2() +{ + // Pause the timer while we're configuring it + timer.pause(); + TIMER2_BASE->PSC = 35; //36-1;for 72 MHZ /0.5sec/(35+1) + TIMER2_BASE->ARR = 0xFFFF; //count till max + timer.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE); + timer.setMode(TIMER_CH2, TIMER_OUTPUT_COMPARE); + // Refresh the timer's count, prescale, and overflow + timer.refresh(); + timer.resume(); +} +#endif + // Protocol start static void protocol_init() { @@ -507,6 +579,7 @@ static void protocol_init() tx_pause(); pass=0; telemetry_link=0; + telemetry_lost=1; #ifndef BASH_SERIAL tx_tail=0; tx_head=0; @@ -521,7 +594,7 @@ static void protocol_init() else BIND_DONE; - PE1_on; //NRF24L01 antenna RF3 by default + PE1_on; //NRF24L01 antenna RF3 by default PE2_off; //NRF24L01 antenna RF3 by default switch(protocol) // Init the requested protocol @@ -593,13 +666,13 @@ static void protocol_init() { if(IS_BIND_BUTTON_FLAG_on) { - eeprom_write_byte((uint8_t*)(30+mode_select),0x00); // reset to autobind mode for the current model + eeprom_write_byte((EE_ADDR)(30+mode_select),0x00); // reset to autobind mode for the current model option=0; } else { - option=eeprom_read_byte((uint8_t*)(30+mode_select)); // load previous mode: autobind or fixed id - if(option!=1) option=0; // if not fixed id mode then it should be autobind + option=eeprom_read_byte((EE_ADDR)(30+mode_select)); // load previous mode: autobind or fixed id + if(option!=1) option=0; // if not fixed id mode then it should be autobind } } #endif //ENABLE_PPM @@ -731,7 +804,11 @@ static void protocol_init() cli(); // disable global int OCR1A = TCNT1 + next_callback*2; // set compare A for callback sei(); // enable global int - TIFR1 = OCF1A_bm ; // clear compare A flag + #ifndef STM32_BOARD + TIFR1 = OCF1A_bm ; // clear compare A flag + #else + TIMER2_BASE->SR &= ~TIMER_SR_CC1IF; //clear compare Flag write zero + #endif BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change } @@ -787,7 +864,7 @@ void update_serial_data() Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125% } RX_DONOTUPDTAE_off; - #ifdef XMEGA + #ifdef ORANGE_TX cli(); #else UCSR0B &= ~_BV(RXCIE0); // RX interrupt disable @@ -797,7 +874,7 @@ void update_serial_data() RX_FLAG_on; // data to be processed next time... RX_MISSED_BUFF_off; } - #ifdef XMEGA + #ifdef ORANGE_TX sei(); #else UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable @@ -826,7 +903,7 @@ void modules_reset() void Mprotocol_serial_init() { - #ifdef XMEGA + #ifdef ORANGE_TX PORTC.OUTSET = 0x08 ; PORTC.DIRSET = 0x08 ; @@ -837,10 +914,17 @@ void Mprotocol_serial_init() USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ; USARTC0.CTRLC = 0x2B ; UDR0 ; - #ifdef INVERT_TELEMETRY + #ifdef INVERT_SERIAL PORTC.PIN3CTRL |= 0x40 ; #endif + #elif defined STM32_BOARD + Serial1.begin(100000,SERIAL_8E2);//USART2 + Serial2.begin(100000,SERIAL_8E2);//USART3 + USART2_BASE->CR1 |= USART_CR1_PCE_BIT; + USART3_BASE->CR1 &= ~ USART_CR1_RE;//disable + USART2_BASE->CR1 &= ~ USART_CR1_TE;//disable transmit #else + //ATMEGA328p #include UBRR0H = UBRRH_VALUE; UBRR0L = UBRRL_VALUE; @@ -856,7 +940,7 @@ void Mprotocol_serial_init() initTXSerial( SPEED_100K ) ; #endif //TELEMETRY #endif //DEBUG_TX - #endif //XMEGA + #endif //ORANGE_TX } #if defined(TELEMETRY) @@ -881,7 +965,7 @@ static void set_rx_tx_addr(uint32_t id) rx_tx_addr[4] = (rx_tx_addr[2]&0xF0)|(rx_tx_addr[3]&0x0F); } -#ifndef XMEGA +#if not defined (ORANGE_TX) && not defined (STM32_BOARD) static void random_init(void) { cli(); // Temporarily turn off interrupts, until WDT configured @@ -900,24 +984,26 @@ static uint32_t random_value(void) static uint32_t random_id(uint16_t adress, uint8_t create_new) { - uint32_t id; - uint8_t txid[4]; + uint32_t id=0; - if(eeprom_read_byte((uint8_t*)(adress+10))==0xf0 && !create_new) + if(eeprom_read_byte((EE_ADDR)(adress+10))==0xf0 && !create_new) { // TXID exists in EEPROM - eeprom_read_block((void*)txid,(const void*)adress,4); - id=(txid[0] | ((uint32_t)txid[1]<<8) | ((uint32_t)txid[2]<<16) | ((uint32_t)txid[3]<<24)); + for(uint8_t i=4;i>0;i--) + { + id<<=8; + id|=eeprom_read_byte((EE_ADDR)adress+i-1); + } if(id!=0x2AD141A7) //ID with seed=0 return id; } // Generate a random ID id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16); - txid[0]= (id &0xFF); - txid[1] = ((id >> 8) & 0xFF); - txid[2] = ((id >> 16) & 0xFF); - txid[3] = ((id >> 24) & 0xFF); - eeprom_write_block((const void*)txid,(void*)adress,4); - eeprom_write_byte((uint8_t*)(adress+10),0xf0);//write bind flag in eeprom. + for(uint8_t i=0;i<4;i++) + { + eeprom_write_byte((EE_ADDR)adress+i,id); + id>>=8; + } + eeprom_write_byte((EE_ADDR)(adress+10),0xf0);//write bind flag in eeprom. return id; } @@ -929,12 +1015,14 @@ static uint32_t random_id(uint16_t adress, uint8_t create_new) //PPM #ifdef ENABLE_PPM - #ifdef XMEGA + #ifdef ORANGE_TX #if PPM_pin == 2 ISR(PORTD_INT0_vect) #else ISR(PORTD_INT1_vect) #endif + #elif defined STM32_BOARD + void PPM_decode() #else #if PPM_pin == 2 ISR(INT0_vect, ISR_NOBLOCK) @@ -969,15 +1057,22 @@ static uint32_t random_id(uint16_t adress, uint8_t create_new) //Serial RX #ifdef ENABLE_SERIAL - #ifdef XMEGA + #ifdef ORANGE_TX ISR(USARTC0_RXC_vect) + #elif defined STM32_BOARD + #ifdef __cplusplus + extern "C" { + #endif + void __irq_usart2() #else ISR(USART_RX_vect) #endif { // RX interrupt static uint8_t idx=0; - #ifdef XMEGA + #ifdef ORANGE_TX if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error + #elif defined STM32_BOARD + if((USART2_BASE->SR & USART_SR_RXNE) && (USART2_BASE->SR &0x0F)==0) #else UCSR0B &= ~_BV(RXCIE0) ; // RX interrupt disable sei() ; @@ -991,11 +1086,18 @@ static uint32_t random_id(uint16_t adress, uint8_t create_new) rx_buff[0]=UDR0; if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok { - TX_RX_PAUSE_on; - tx_pause(); - OCR1B = TCNT1+(6500L) ; // Full message should be received within timer of 3250us - TIFR1 = OCF1B_bm ; // clear OCR1B match flag - SET_TIMSK1_OCIE1B ; // enable interrupt on compare B match + #if defined STM32_BOARD + uint16_t OCR1B; + OCR1B =TCNT1+(6500L); + timer.setCompare(TIMER_CH2,OCR1B); + timer.attachCompare2Interrupt(ISR_COMPB); + #else + TX_RX_PAUSE_on; + tx_pause(); + OCR1B = TCNT1+(6500L) ; // Full message should be received within timer of 3250us + TIFR1 = OCF1B_bm ; // clear OCR1B match flag + SET_TIMSK1_OCIE1B ; // enable interrupt on compare B match + #endif idx++; } } @@ -1022,30 +1124,43 @@ static uint32_t random_id(uint16_t adress, uint8_t create_new) } if(discard_frame==1) { - CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match - TX_RX_PAUSE_off; - tx_resume(); + #ifdef STM32_BOARD + detachInterrupt(2); // Disable interrupt on ch2 + #else + CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match + TX_RX_PAUSE_off; + tx_resume(); + #endif } - #ifndef XMEGA + #if not defined (ORANGE_TX) && not defined (STM32_BOARD) cli() ; UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable #endif } + #if defined (STM32_BOARD) && defined (__cplusplus) + } + #endif //Serial timer - #ifdef XMEGA + #ifdef ORANGE_TX ISR(TCC1_CCB_vect) + #elif defined STM32_BOARD + void ISR_COMPB() #else ISR(TIMER1_COMPB_vect, ISR_NOBLOCK ) #endif { // Timer1 compare B interrupt discard_frame=1; - CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match - tx_resume(); + #ifdef STM32_BOARD + detachInterrupt(2); // Disable interrupt on ch2 + #else + CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match + tx_resume(); + #endif } #endif //ENABLE_SERIAL -#ifndef XMEGA +#if not defined (ORANGE_TX) && not defined (STM32_BOARD) // Random interrupt service routine called every time the WDT interrupt is triggered. // It is only enabled at startup to generate a seed. ISR(WDT_vect) diff --git a/Multiprotocol/NRF24l01_SPI.ino b/Multiprotocol/NRF24l01_SPI.ino index 8627efa..48718c8 100644 --- a/Multiprotocol/NRF24l01_SPI.ino +++ b/Multiprotocol/NRF24l01_SPI.ino @@ -14,9 +14,7 @@ */ -//--------------------------- -// AVR nrf chip bitbang SPI functions -//--------------------------- +#ifdef NRF24L01_INSTALLED #include "iface_nrf24l01.h" @@ -181,7 +179,8 @@ void NRF24L01_SetTxRxMode(enum TXRX_State mode) NRF_CE_on; } else - if (mode == RX_EN) { + if (mode == RX_EN) + { NRF_CE_off; NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70); // reset the flag(s) NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x0F); // switch to RX mode @@ -327,7 +326,7 @@ void XN297_Configure(uint8_t flags) NRF24L01_WriteReg(NRF24L01_00_CONFIG, flags & 0xFF); } -void XN297_SetScrambledMode(const u8 mode) +void XN297_SetScrambledMode(const uint8_t mode) { xn297_scramble_enabled = mode; } @@ -583,3 +582,4 @@ void LT8900_WritePayload(uint8_t* msg, uint8_t len) NRF24L01_WritePayload(LT8900_buffer+LT8900_buffer_start,pos_final+pos-LT8900_buffer_start); } // End of LT8900 emulation +#endif \ No newline at end of file diff --git a/Multiprotocol/Pins.h b/Multiprotocol/Pins.h index 463d395..1a63b10 100644 --- a/Multiprotocol/Pins.h +++ b/Multiprotocol/Pins.h @@ -15,195 +15,338 @@ //******************* //*** Pinouts *** //******************* +#ifndef STM32_BOARD + // TX + #define SERIAL_TX_pin 1 //PD1 + #define SERIAL_TX_port PORTD + #define SERIAL_TX_ddr DDRD + #define SERIAL_TX_output SERIAL_TX_ddr |= _BV(SERIAL_TX_pin) + #define SERIAL_TX_on SERIAL_TX_port |= _BV(SERIAL_TX_pin) + #define SERIAL_TX_off SERIAL_TX_port &= ~_BV(SERIAL_TX_pin) + #ifdef DEBUG_TX + #define DEBUG_TX_on SERIAL_TX_on + #define DEBUG_TX_off SERIAL_TX_off + #define DEBUG_TX_toggle SERIAL_TX_port ^= _BV(SERIAL_TX_pin) + #else + #define DEBUG_TX_on + #define DEBUG_TX_off + #define DEBUG_TX_toggle + #endif -// TX -#define SERIAL_TX_pin 1 //PD1 -#define SERIAL_TX_port PORTD -#define SERIAL_TX_ddr DDRD -#define SERIAL_TX_output SERIAL_TX_ddr |= _BV(SERIAL_TX_pin) -#define SERIAL_TX_on SERIAL_TX_port |= _BV(SERIAL_TX_pin) -#define SERIAL_TX_off SERIAL_TX_port &= ~_BV(SERIAL_TX_pin) -#ifdef DEBUG_TX - #define DEBUG_TX_on SERIAL_TX_ON - #define DEBUG_TX_off SERIAL_TX_OFF - #define DEBUG_TX_toggle SERIAL_TX_port ^= _BV(SERIAL_TX_pin) -#else - #define DEBUG_TX_on - #define DEBUG_TX_off - #define DEBUG_TX_toggle + // Dial + #define MODE_DIAL1_pin 2 + #define MODE_DIAL1_port PORTB + #define MODE_DIAL1_ipr PINB + #define MODE_DIAL2_pin 3 + #define MODE_DIAL2_port PORTB + #define MODE_DIAL2_ipr PINB + #define MODE_DIAL3_pin 4 + #define MODE_DIAL3_port PORTB + #define MODE_DIAL3_ipr PINB + #define MODE_DIAL4_pin 0 + #define MODE_DIAL4_port PORTC + #define MODE_DIAL4_ipr PINC + + // PPM + #define PPM_pin 3 //D3 = PD3 + #define PPM_port PORTD + + // SDIO + #define SDI_pin 5 //D5 = PD5 + #define SDI_port PORTD + #define SDI_ipr PIND + #define SDI_ddr DDRD + #ifdef ORANGE_TX + #define SDI_on SDI_port.OUTSET = _BV(SDI_pin) + #define SDI_off SDI_port.OUTCLR = _BV(SDI_pin) + #else + #define SDI_on SDI_port |= _BV(SDI_pin) + #define SDI_off SDI_port &= ~_BV(SDI_pin) + #define SDI_1 (SDI_ipr & _BV(SDI_pin)) + #define SDI_0 (SDI_ipr & _BV(SDI_pin)) == 0x00 + #endif + #define SDI_input SDI_ddr &= ~_BV(SDI_pin) + #define SDI_output SDI_ddr |= _BV(SDI_pin) + + //SDO + #define SDO_pin 6 //D6 = PD6 + #define SDO_port PORTD + #define SDO_ipr PIND + #ifdef ORANGE_TX + #define SDO_1 (SDO_port.IN & _BV(SDO_pin)) + #define SDO_0 (SDO_port.IN & _BV(SDO_pin)) == 0x00 + #else + #define SDO_1 (SDO_ipr & _BV(SDO_pin)) + #define SDO_0 (SDO_ipr & _BV(SDO_pin)) == 0x00 + #endif + + // SCLK + #define SCLK_port PORTD + #define SCLK_ddr DDRD + #ifdef ORANGE_TX + #define SCLK_pin 7 //PD7 + #define SCLK_on SCLK_port.OUTSET = _BV(SCLK_pin) + #define SCLK_off SCLK_port.OUTCLR = _BV(SCLK_pin) + #else + #define SCLK_pin 4 //D4 = PD4 + #define SCLK_output SCLK_ddr |= _BV(SCLK_pin) + #define SCLK_on SCLK_port |= _BV(SCLK_pin) + #define SCLK_off SCLK_port &= ~_BV(SCLK_pin) + #endif + + // A7105 + #define A7105_CSN_pin 2 //D2 = PD2 + #define A7105_CSN_port PORTD + #define A7105_CSN_ddr DDRD + #define A7105_CSN_output A7105_CSN_ddr |= _BV(A7105_CSN_pin) + #define A7105_CSN_on A7105_CSN_port |= _BV(A7105_CSN_pin) + #define A7105_CSN_off A7105_CSN_port &= ~_BV(A7105_CSN_pin) + + // CC2500 + #define CC25_CSN_pin 7 //D7 = PD7 + #define CC25_CSN_port PORTD + #define CC25_CSN_ddr DDRD + #define CC25_CSN_output CC25_CSN_ddr |= _BV(CC25_CSN_pin) + #define CC25_CSN_on CC25_CSN_port |= _BV(CC25_CSN_pin) + #define CC25_CSN_off CC25_CSN_port &= ~_BV(CC25_CSN_pin) + + // NRF24L01 + #define NRF_CSN_pin 0 //D8 = PB0 + #define NRF_CSN_port PORTB + #define NRF_CSN_ddr DDRB + #define NRF_CSN_output NRF_CSN_ddr |= _BV(NRF_CSN_pin) + #define NRF_CSN_on NRF_CSN_port |= _BV(NRF_CSN_pin) + #define NRF_CSN_off NRF_CSN_port &= ~_BV(NRF_CSN_pin) + #define NRF_CE_on + #define NRF_CE_off + + // CYRF6936 + #ifdef ORANGE_TX + #define CYRF_CSN_pin 4 //PD4 + #define CYRF_CSN_port PORTD + #define CYRF_CSN_ddr DDRD + #define CYRF_CSN_on CYRF_CSN_port.OUTSET = _BV(CYRF_CSN_pin) + #define CYRF_CSN_off CYRF_CSN_port.OUTCLR = _BV(CYRF_CSN_pin) + + #define CYRF_RST_pin 0 //PE0 + #define CYRF_RST_port PORTE + #define CYRF_RST_ddr DDRE + #define CYRF_RST_HI CYRF_RST_port.OUTSET = _BV(CYRF_RST_pin) + #define CYRF_RST_LO CYRF_RST_port.OUTCLR = _BV(CYRF_RST_pin) + #else + #define CYRF_CSN_pin 1 //D9 = PB1 + #define CYRF_CSN_port PORTB + #define CYRF_CSN_ddr DDRB + #define CYRF_CSN_output CYRF_CSN_ddr |= _BV(CYRF_CSN_pin) + #define CYRF_CSN_on CYRF_CSN_port |= _BV(CYRF_CSN_pin) + #define CYRF_CSN_off CYRF_CSN_port &= ~_BV(CYRF_CSN_pin) + + #define CYRF_RST_pin 5 //A5 = PC5 + #define CYRF_RST_port PORTC + #define CYRF_RST_ddr DDRC + #define CYRF_RST_output CYRF_RST_ddr |= _BV(CYRF_RST_pin) + #define CYRF_RST_HI CYRF_RST_port |= _BV(CYRF_RST_pin) + #define CYRF_RST_LO CYRF_RST_port &= ~_BV(CYRF_RST_pin) + #endif + + //RF Switch + #ifdef ORANGE_TX + #define PE1_on + #define PE1_off + #define PE2_on + #define PE2_off + #else + #define PE1_pin 1 //A1 = PC1 + #define PE1_port PORTC + #define PE1_ddr DDRC + #define PE1_output PE1_ddr |= _BV(PE1_pin) + #define PE1_on PE1_port |= _BV(PE1_pin) + #define PE1_off PE1_port &= ~_BV(PE1_pin) + + #define PE2_pin 2 //A2 = PC2 + #define PE2_port PORTC + #define PE2_ddr DDRC + #define PE2_output PE2_ddr |= _BV(PE2_pin) + #define PE2_on PE2_port |= _BV(PE2_pin) + #define PE2_off PE2_port &= ~_BV(PE2_pin) + #endif + + // LED + #ifdef ORANGE_TX + #define LED_pin 1 //PD1 + #define LED_port PORTD + #define LED_ddr DDRD + #define LED_on LED_port.OUTCLR = _BV(LED_pin) + #define LED_off LED_port.OUTSET = _BV(LED_pin) + #define LED_toggle LED_port.OUTTGL = _BV(LED_pin) + #define LED_output LED_port.DIRSET = _BV(LED_pin) + #define IS_LED_on (LED_port.OUT & _BV(LED_pin)) + #else + #define LED_pin 5 //D13 = PB5 + #define LED_port PORTB + #define LED_ddr DDRB + #define LED_on LED_port |= _BV(LED_pin) + #define LED_off LED_port &= ~_BV(LED_pin) + #define LED_toggle LED_port ^= _BV(LED_pin) + #define LED_output LED_ddr |= _BV(LED_pin) + #define IS_LED_on (LED_port & _BV(LED_pin)) + #endif + + //BIND + #ifdef ORANGE_TX + #define BIND_pin 2 //PD2 + #define BIND_port PORTD + #define IS_BIND_BUTTON_on ( (BIND_port.IN & _BV(BIND_pin)) == 0x00 ) + #else + #define BIND_pin 5 //D13 = PB5 + #define BIND_port PORTB + #define BIND_ipr PINB + #define BIND_ddr DDRB + #define BIND_SET_INPUT BIND_ddr &= ~_BV(BIND_pin) + #define BIND_SET_OUTPUT BIND_ddr |= _BV(BIND_pin) + #define BIND_SET_PULLUP BIND_port |= _BV(BIND_pin) + #define IS_BIND_BUTTON_on ( (BIND_ipr & _BV(BIND_pin)) == 0x00 ) + #endif +#else //STM32_BOARD + #define BIND_pin PA0 + #define LED_pin PA1 + // + #define PPM_pin PA8 //PPM 5V tolerant + // + #define S1_pin PA4 //Dial switch pins + #define S2_pin PA5 + #define S3_pin PA6 + #define S4_pin PA7 + // + #define PE1_pin PB4 //PE1 + #define PE2_pin PB5 //PE2 + //CS pins + #define CC25_CSN_pin PB6 //CC2500 + #define NRF_CSN_pin PB7 //NRF24L01 + #define CYRF_RST_pin PB8 //CYRF RESET + #define A7105_CSN_pin PB9 //A7105 + #define CYRF_CSN_pin PB12 //CYRF CSN + //SPI pins + #define SCK_pin PB13 //SCK + #define SDO_pin PB14 //MISO + #define SDI_pin PB15 //MOSI + // + #define TX_INV_pin PB3 + #define RX_INV_pin PB1 + // + #define PE1_on digitalWrite(PE1_pin,HIGH) + #define PE1_off digitalWrite(PE1_pin,LOW) + // + #define PE2_on digitalWrite(PE2_pin,HIGH) + #define PE2_off digitalWrite(PE2_pin,LOW) + + #define A7105_CSN_on digitalWrite(A7105_CSN_pin,HIGH) + #define A7105_CSN_off digitalWrite(A7105_CSN_pin,LOW) + + #define NRF_CE_on + #define NRF_CE_off + + #define SCK_on digitalWrite(SCK_pin,HIGH) + #define SCK_off digitalWrite(SCK_pin,LOW) + + #define SDI_on digitalWrite(SDI_pin,HIGH) + #define SDI_off digitalWrite(SDI_pin,LOW) + + #define SDI_1 (digitalRead(SDI_pin)==HIGH) + #define SDI_0 (digitalRead(SDI_pin)==LOW) + + #define CC25_CSN_on digitalWrite(CC25_CSN_pin,HIGH) + #define CC25_CSN_off digitalWrite(CC25_CSN_pin,LOW) + + #define NRF_CSN_on digitalWrite(NRF_CSN_pin,HIGH) + #define NRF_CSN_off digitalWrite(NRF_CSN_pin,LOW) + + #define CYRF_CSN_on digitalWrite(CYRF_CSN_pin,HIGH) + #define CYRF_CSN_off digitalWrite(CYRF_CSN_pin,LOW) + + #define CYRF_RST_HI digitalWrite(CYRF_RST_pin,HIGH) //reset cyrf + #define CYRF_RST_LO digitalWrite(CYRF_RST_pin,LOW) // + + #define SDO_1 (digitalRead(SDO_pin)==HIGH) + #define SDO_0 (digitalRead(SDO_pin)==LOW) + + #define TX_INV_on digitalWrite(TX_INV_pin,HIGH) + #define TX_INV_off digitalWrite(TX_INV_pin,LOW) + + #define RX_INV_on digitalWrite(RX_INV_pin,HIGH) + #define RX_INV_off digitalWrite(RX_INV_pin,LOW) + + #define LED_on digitalWrite(LED_pin,HIGH) + #define LED_off digitalWrite(LED_pin,LOW) + #define LED_toggle digitalWrite(LED_pin ,!digitalRead(LED_pin)) + #define LED_output pinMode(LED_pin,OUTPUT) + #define IS_LED_on ( digitalRead(LED_pin)==HIGH) + + #define BIND_SET_INPUT pinMode(BIND_pin,INPUT) + #define BIND_SET_PULLUP digitalWrite(BIND_pin,HIGH) + #define BIND_SET_OUTPUT pinMode(BIND_pin,OUTPUT) + #define IS_BIND_BUTTON_on (digitalRead(BIND_pin)==LOW) + + #define cli() noInterrupts() + #define sei() interrupts() + #define delayMilliseconds(x) delay(x) + //TX Pause + #undef TX_MAIN_PAUSE_off + #undef TX_MAIN_PAUSE_on + #undef IS_TX_MAIN_PAUSE_on + #undef TX_RX_PAUSE_off + #undef TX_RX_PAUSE_on + #undef IS_TX_RX_PAUSE_on + #undef IS_TX_PAUSE_on + #define TX_MAIN_PAUSE_off + #define TX_MAIN_PAUSE_on + #define IS_TX_MAIN_PAUSE_on + #define TX_RX_PAUSE_off + #define TX_RX_PAUSE_on + #define IS_TX_RX_PAUSE_on + #define IS_TX_PAUSE_on #endif -// Dial -#define MODE_DIAL1_pin 2 -#define MODE_DIAL1_port PORTB -#define MODE_DIAL1_ipr PINB -#define MODE_DIAL2_pin 3 -#define MODE_DIAL2_port PORTB -#define MODE_DIAL2_ipr PINB -#define MODE_DIAL3_pin 4 -#define MODE_DIAL3_port PORTB -#define MODE_DIAL3_ipr PINB -#define MODE_DIAL4_pin 0 -#define MODE_DIAL4_port PORTC -#define MODE_DIAL4_ipr PINC - -// PPM -#define PPM_pin 3 //D3 = PD3 -#define PPM_port PORTD - -// SDIO -#define SDI_pin 5 //D5 = PD5 -#define SDI_port PORTD -#define SDI_ipr PIND -#define SDI_ddr DDRD -#ifdef XMEGA - #define SDI_on SDI_port.OUTSET = _BV(SDI_pin) - #define SDI_off SDI_port.OUTCLR = _BV(SDI_pin) +//******************* +//*** Timer *** +//******************* +#ifdef ORANGE_TX + #define TIFR1 TCC1.INTFLAGS + #define OCF1A_bm TC1_CCAIF_bm + #define OCR1A TCC1.CCA + #define TCNT1 TCC1.CNT + #define UDR0 USARTC0.DATA + #define OCF1B_bm TC1_CCBIF_bm + #define OCR1B TCC1.CCB + #define TIMSK1 TCC1.INTCTRLB + #define SET_TIMSK1_OCIE1B TIMSK1 = (TIMSK1 & 0xF3) | 0x04 + #define CLR_TIMSK1_OCIE1B TIMSK1 &= 0xF3 #else - #define SDI_on SDI_port |= _BV(SDI_pin) - #define SDI_off SDI_port &= ~_BV(SDI_pin) - #define SDI_1 (SDI_ipr & _BV(SDI_pin)) - #define SDI_0 (SDI_ipr & _BV(SDI_pin)) == 0x00 -#endif -#define SDI_input SDI_ddr &= ~_BV(SDI_pin) -#define SDI_output SDI_ddr |= _BV(SDI_pin) - -//SDO -#define SDO_pin 6 //D6 = PD6 -#define SDO_port PORTD -#define SDO_ipr PIND -#ifdef XMEGA - #define SDO_1 (SDO_port.IN & _BV(SDO_pin)) - #define SDO_0 (SDO_port.IN & _BV(SDO_pin)) == 0x00 -#else - #define SDO_1 (SDO_ipr & _BV(SDO_pin)) - #define SDO_0 (SDO_ipr & _BV(SDO_pin)) == 0x00 + #ifdef STM32_BOARD + #define OCR1A TIMER2_BASE->CCR1 + #define TCNT1 TIMER2_BASE->CNT + #define UDR0 USART2_BASE->DR + #define TIFR1 TIMER2_BASE->SR + #define OCF1A_bm TIMER_SR_CC1IF + #define UCSR0B USART2_BASE->CR1 + #define RXCIE0 USART_CR1_RXNEIE_BIT + #define TXCIE0 USART_CR1_TXEIE_BIT + //#define TIFR1 TIMER2_BASE->SR + #else + #define OCF1A_bm _BV(OCF1A) + #define OCF1B_bm _BV(OCF1B) + #define SET_TIMSK1_OCIE1B TIMSK1 |= _BV(OCIE1B) + #define CLR_TIMSK1_OCIE1B TIMSK1 &=~_BV(OCIE1B) + #endif #endif -// SCLK -#define SCLK_port PORTD -#define SCLK_ddr DDRD -#ifdef XMEGA - #define SCLK_pin 7 //PD7 - #define SCLK_on SCLK_port.OUTSET = _BV(SCLK_pin) - #define SCLK_off SCLK_port.OUTCLR = _BV(SCLK_pin) +//******************* +//*** EEPROM *** +//******************* +#ifdef STM32_BOARD + #define EE_ADDR uint16 + #define eeprom_write_byte EEPROM.write + #define eeprom_read_byte EEPROM.read #else - #define SCLK_pin 4 //D4 = PD4 - #define SCLK_output SCLK_ddr |= _BV(SCLK_pin) - #define SCLK_on SCLK_port |= _BV(SCLK_pin) - #define SCLK_off SCLK_port &= ~_BV(SCLK_pin) -#endif - -// A7105 -#define A7105_CSN_pin 2 //D2 = PD2 -#define A7105_CSN_port PORTD -#define A7105_CSN_ddr DDRD -#define A7105_CSN_output A7105_CSN_ddr |= _BV(A7105_CSN_pin) -#define A7105_CSN_on A7105_CSN_port |= _BV(A7105_CSN_pin) -#define A7105_CSN_off A7105_CSN_port &= ~_BV(A7105_CSN_pin) - -// CC2500 -#define CC25_CSN_pin 7 //D7 = PD7 -#define CC25_CSN_port PORTD -#define CC25_CSN_ddr DDRD -#define CC25_CSN_output CC25_CSN_ddr |= _BV(CC25_CSN_pin) -#define CC25_CSN_on CC25_CSN_port |= _BV(CC25_CSN_pin) -#define CC25_CSN_off CC25_CSN_port &= ~_BV(CC25_CSN_pin) - -// NRF24L01 -#define NRF_CSN_pin 0 //D8 = PB0 -#define NRF_CSN_port PORTB -#define NRF_CSN_ddr DDRB -#define NRF_CSN_output NRF_CSN_ddr |= _BV(NRF_CSN_pin) -#define NRF_CSN_on NRF_CSN_port |= _BV(NRF_CSN_pin) -#define NRF_CSN_off NRF_CSN_port &= ~_BV(NRF_CSN_pin) -#define NRF_CE_on -#define NRF_CE_off - -// CYRF6936 -#ifdef XMEGA - #define CYRF_CSN_pin 4 //PD4 - #define CYRF_CSN_port PORTD - #define CYRF_CSN_ddr DDRD - #define CYRF_CSN_on CYRF_CSN_port.OUTSET = _BV(CYRF_CSN_pin) - #define CYRF_CSN_off CYRF_CSN_port.OUTCLR = _BV(CYRF_CSN_pin) - - #define CYRF_RST_pin 0 //PE0 - #define CYRF_RST_port PORTE - #define CYRF_RST_ddr DDRE - #define CYRF_RST_HI CYRF_RST_port.OUTSET = _BV(CYRF_RST_pin) - #define CYRF_RST_LO CYRF_RST_port.OUTCLR = _BV(CYRF_RST_pin) -#else - #define CYRF_CSN_pin 1 //D9 = PB1 - #define CYRF_CSN_port PORTB - #define CYRF_CSN_ddr DDRB - #define CYRF_CSN_output CYRF_CSN_ddr |= _BV(CYRF_CSN_pin) - #define CYRF_CSN_on CYRF_CSN_port |= _BV(CYRF_CSN_pin) - #define CYRF_CSN_off CYRF_CSN_port &= ~_BV(CYRF_CSN_pin) - - #define CYRF_RST_pin 5 //A5 = PC5 - #define CYRF_RST_port PORTC - #define CYRF_RST_ddr DDRC - #define CYRF_RST_output CYRF_RST_ddr |= _BV(CYRF_RST_pin) - #define CYRF_RST_HI CYRF_RST_port |= _BV(CYRF_RST_pin) - #define CYRF_RST_LO CYRF_RST_port &= ~_BV(CYRF_RST_pin) -#endif - -//RF Switch -#ifdef XMEGA - #define PE1_on - #define PE1_off - #define PE2_on - #define PE2_off -#else - #define PE1_pin 1 //A1 = PC1 - #define PE1_port PORTC - #define PE1_ddr DDRC - #define PE1_output PE1_ddr |= _BV(PE1_pin) - #define PE1_on PE1_port |= _BV(PE1_pin) - #define PE1_off PE1_port &= ~_BV(PE1_pin) - - #define PE2_pin 2 //A2 = PC2 - #define PE2_port PORTC - #define PE2_ddr DDRC - #define PE2_output PE2_ddr |= _BV(PE2_pin) - #define PE2_on PE2_port |= _BV(PE2_pin) - #define PE2_off PE2_port &= ~_BV(PE2_pin) -#endif - -// LED -#ifdef XMEGA - #define LED_pin 1 //PD1 - #define LED_port PORTD - #define LED_ddr DDRD - #define LED_on LED_port.OUTCLR = _BV(LED_pin) - #define LED_off LED_port.OUTSET = _BV(LED_pin) - #define LED_toggle LED_port.OUTTGL = _BV(LED_pin) - #define LED_output LED_port.DIRSET = _BV(LED_pin) - #define IS_LED_on (LED_port.OUT & _BV(LED_pin)) -#else - #define LED_pin 5 //D13 = PB5 - #define LED_port PORTB - #define LED_ddr DDRB - #define LED_on LED_port |= _BV(LED_pin) - #define LED_off LED_port &= ~_BV(LED_pin) - #define LED_toggle LED_port ^= _BV(LED_pin) - #define LED_output LED_ddr |= _BV(LED_pin) - #define IS_LED_on (LED_port & _BV(LED_pin)) -#endif - -//BIND -#ifdef XMEGA - #define BIND_pin 2 //PD2 - #define BIND_port PORTD - #define IS_BIND_BUTTON_on ( (BIND_port.IN & _BV(BIND_pin)) == 0x00 ) -#else - #define BIND_pin 5 //D13 = PB5 - #define BIND_port PORTB - #define BIND_ipr PINB - #define BIND_ddr DDRB - #define BIND_SET_INPUT BIND_ddr &= ~_BV(BIND_pin) - #define BIND_SET_OUTPUT BIND_ddr |= _BV(BIND_pin) - #define BIND_SET_PULLUP BIND_port |= _BV(BIND_pin) - #define IS_BIND_BUTTON_on ( (BIND_ipr & _BV(BIND_pin)) == 0x00 ) + #define EE_ADDR uint8_t* #endif diff --git a/Multiprotocol/SPI.ino b/Multiprotocol/SPI.ino index fcf2936..16d332b 100644 --- a/Multiprotocol/SPI.ino +++ b/Multiprotocol/SPI.ino @@ -15,7 +15,81 @@ /********************/ /** SPI routines **/ /********************/ -#ifdef XMEGA +#ifdef STM32_BOARD + +SPIClass SPI_2(2); //Create an instance of the SPI Class called SPI_2 that uses the 2nd SPI Port + +void initSPI2() +{ + //SPI_DISABLE(); + SPI_2.end(); + SPI2_BASE->CR1 &= ~SPI_CR1_DFF_8_BIT; //8 bits format This bit should be written only when SPI is disabled (SPE = ?0?) for correct operation. + SPI_2.begin(); //Initialize the SPI_2 port. + + SPI_2.setBitOrder(MSBFIRST); // Set the SPI_2 bit order + SPI_2.setDataMode(SPI_MODE0); // Set the SPI_2 data mode 0 + SPI_2.setClockDivider(SPI_CLOCK_DIV8); // Set the speed (36 / 8 = 4.5 MHz SPI_2 speed) +} + +void SPI_Write(uint8_t command) +{//working OK + SPI2_BASE->DR = command; //Write the first data item to be transmitted into the SPI_DR register (this clears the TXE flag). + while (!(SPI2_BASE->SR & SPI_SR_RXNE)); + command = SPI2_BASE->DR; // ... and read the last received data. +} + +uint8_t SPI_Read(void) +{ + SPI_Write(0x00); + return SPI2_BASE->DR; +} + +uint8_t SPI_SDI_Read() +{ + uint8_t rx=0; + cli(); //Fix Hubsan droputs?? + while(!(SPI2_BASE->SR & SPI_SR_TXE)); + while((SPI2_BASE->SR & SPI_SR_BSY)); + // + SPI_DISABLE(); + SPI_SET_BIDIRECTIONAL(); + volatile uint8_t x = SPI2_BASE->DR; + (void)x; + SPI_ENABLE(); + // + SPI_DISABLE(); + while(!(SPI2_BASE->SR& SPI_SR_RXNE)); + rx=SPI2_BASE->DR; + SPI_SET_UNIDIRECTIONAL(); + SPI_ENABLE(); + sei();//fix Hubsan dropouts?? + return rx; +} + +void SPI_ENABLE() +{ + SPI2_BASE->CR1 |= SPI_CR1_SPE; +} + +void SPI_DISABLE() +{ + SPI2_BASE->CR1 &= ~SPI_CR1_SPE; +} + +void SPI_SET_BIDIRECTIONAL() +{ + SPI2_BASE->CR1 |= SPI_CR1_BIDIMODE; + SPI2_BASE->CR1 &= ~ SPI_CR1_BIDIOE;//receive only +} + +void SPI_SET_UNIDIRECTIONAL() +{ + SPI2_BASE->CR1 &= ~SPI_CR1_BIDIMODE; +} + +#else + +#ifdef ORANGE_TX #define XNOP() NOP() #else #define XNOP() @@ -67,7 +141,7 @@ uint8_t SPI_Read(void) } #ifdef A7105_INSTALLED -uint8_t SPI_SDIO_Read(void) +uint8_t SPI_SDI_Read(void) { uint8_t result=0; SDI_input; @@ -84,3 +158,5 @@ uint8_t SPI_SDIO_Read(void) return result; } #endif + +#endif//STM32_BOARD \ No newline at end of file diff --git a/Multiprotocol/TX_Def.h b/Multiprotocol/TX_Def.h index 08e131a..603ce76 100644 --- a/Multiprotocol/TX_Def.h +++ b/Multiprotocol/TX_Def.h @@ -51,199 +51,151 @@ //Channel definitions #ifdef AETR -enum { - AILERON =0, - ELEVATOR, - THROTTLE, - RUDDER, -}; + #define AILERON 0 + #define ELEVATOR 1 + #define THROTTLE 2 + #define RUDDER 3 #endif #ifdef AERT -enum { - AILERON =0, - ELEVATOR, - RUDDER, - THROTTLE, -}; + #define AILERON 0 + #define ELEVATOR 1 + #define THROTTLE 3 + #define RUDDER 2 #endif #ifdef ARET -enum { - AILERON =0, - RUDDER, - ELEVATOR, - THROTTLE, -}; + #define AILERON 0 + #define ELEVATOR 2 + #define THROTTLE 3 + #define RUDDER 1 #endif #ifdef ARTE -enum { - AILERON =0, - RUDDER, - THROTTLE, - ELEVATOR, -}; + #define AILERON 0 + #define ELEVATOR 3 + #define THROTTLE 2 + #define RUDDER 1 #endif #ifdef ATRE -enum { - AILERON =0, - THROTTLE, - RUDDER, - ELEVATOR, -}; + #define AILERON 0 + #define ELEVATOR 3 + #define THROTTLE 1 + #define RUDDER 2 #endif #ifdef ATER -enum { - AILERON =0, - THROTTLE, - ELEVATOR, - RUDDER, -}; + #define AILERON 0 + #define ELEVATOR 2 + #define THROTTLE 1 + #define RUDDER 3 #endif #ifdef EATR -enum { - ELEVATOR =0, - AILERON, - THROTTLE, - RUDDER, -}; + #define AILERON 1 + #define ELEVATOR 0 + #define THROTTLE 2 + #define RUDDER 3 #endif #ifdef EART -enum { - ELEVATOR =0, - AILERON, - RUDDER, - THROTTLE, -}; + #define AILERON 1 + #define ELEVATOR 0 + #define THROTTLE 3 + #define RUDDER 2 #endif #ifdef ERAT -enum { - ELEVATOR =0, - RUDDER, - AILERON, - THROTTLE, -}; + #define AILERON 2 + #define ELEVATOR 0 + #define THROTTLE 3 + #define RUDDER 1 #endif #ifdef ERTA -enum { - ELEVATOR =0, - RUDDER, - THROTTLE, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 0 + #define THROTTLE 2 + #define RUDDER 1 #endif #ifdef ETRA -enum { - ELEVATOR =0, - THROTTLE, - RUDDER, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 0 + #define THROTTLE 1 + #define RUDDER 2 #endif #ifdef ETAR -enum { - ELEVATOR =0, - THROTTLE, - AILERON, - RUDDER, -}; + #define AILERON 2 + #define ELEVATOR 0 + #define THROTTLE 1 + #define RUDDER 3 #endif #ifdef TEAR -enum { - THROTTLE =0, - ELEVATOR, - AILERON, - RUDDER, -}; + #define AILERON 2 + #define ELEVATOR 1 + #define THROTTLE 0 + #define RUDDER 3 #endif #ifdef TERA -enum { - THROTTLE =0, - ELEVATOR, - RUDDER, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 1 + #define THROTTLE 0 + #define RUDDER 2 #endif #ifdef TREA -enum { - THROTTLE =0, - RUDDER, - ELEVATOR, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 2 + #define THROTTLE 0 + #define RUDDER 1 #endif #ifdef TRAE -enum { - THROTTLE =0, - RUDDER, - AILERON, - ELEVATOR, -}; + #define AILERON 2 + #define ELEVATOR 3 + #define THROTTLE 0 + #define RUDDER 1 #endif #ifdef TARE -enum { - THROTTLE =0, - AILERON, - RUDDER, - ELEVATOR, -}; + #define AILERON 1 + #define ELEVATOR 3 + #define THROTTLE 0 + #define RUDDER 2 #endif #ifdef TAER -enum { - THROTTLE =0, - AILERON, - ELEVATOR, - RUDDER, -}; + #define AILERON 1 + #define ELEVATOR 2 + #define THROTTLE 0 + #define RUDDER 3 #endif #ifdef RETA -enum { - RUDDER =0, - ELEVATOR, - THROTTLE, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 1 + #define THROTTLE 2 + #define RUDDER 0 #endif #ifdef REAT -enum { - RUDDER =0, - ELEVATOR, - AILERON, - THROTTLE, -}; + #define AILERON 2 + #define ELEVATOR 1 + #define THROTTLE 3 + #define RUDDER 0 #endif #ifdef RAET -enum { - RUDDER =0, - AILERON, - ELEVATOR, - THROTTLE, -}; + #define AILERON 1 + #define ELEVATOR 2 + #define THROTTLE 3 + #define RUDDER 0 #endif #ifdef RATE -enum { - RUDDER =0, - AILERON, - THROTTLE, - ELEVATOR, -}; + #define AILERON 1 + #define ELEVATOR 3 + #define THROTTLE 2 + #define RUDDER 0 #endif #ifdef RTAE -enum { - RUDDER =0, - THROTTLE, - AILERON, - ELEVATOR, -}; + #define AILERON 2 + #define ELEVATOR 3 + #define THROTTLE 1 + #define RUDDER 0 #endif #ifdef RTEA -enum { - RUDDER =0, - THROTTLE, - ELEVATOR, - AILERON, -}; + #define AILERON 3 + #define ELEVATOR 2 + #define THROTTLE 1 + #define RUDDER 0 #endif #define AUX1 4 diff --git a/Multiprotocol/Telemetry.ino b/Multiprotocol/Telemetry.ino index e9590b7..ccc2f46 100644 --- a/Multiprotocol/Telemetry.ino +++ b/Multiprotocol/Telemetry.ino @@ -37,7 +37,7 @@ #define MAX_PKTX 10 uint8_t pktx[MAX_PKTX]; uint8_t pktx1[MAX_PKTX]; -uint8_t index; +uint8_t indx; uint8_t frame[18]; #ifdef BASH_SERIAL @@ -93,6 +93,7 @@ void frsky_check_telemetry(uint8_t *pkt,uint8_t len) for (uint8_t i=3;i= FRSKY_SPORT_PACKET_SIZE) + if (indx >= FRSKY_SPORT_PACKET_SIZE) {//8 bytes no crc if ( sport ) { @@ -407,93 +412,92 @@ void proces_sport_data(uint8_t data) void TelemetryUpdate() { -#if defined SPORT_TELEMETRY - if (protocol==MODE_FRSKYX) - { // FrSkyX - if(telemetry_link) - { - if(pktt[4] & 0x80) - rssi=pktt[4] & 0x7F ; - else - RxBt = (pktt[4]<<1) + 1 ; - for (uint8_t i=0; i < pktt[6]; i++) - proces_sport_data(pktt[7+i]); - telemetry_link=0; - } - } -#endif - // check for space in tx buffer - -#ifdef BASH_SERIAL - uint8_t h ; - uint8_t t ; - h = SerialControl.head ; - t = SerialControl.tail ; - if ( h >= t ) - { - t += 64 - h ; - } - else - { - t -= h ; - } - if ( t < 32 ) - { - return ; - } - -#else - uint8_t h ; - uint8_t t ; - h = tx_head ; - t = tx_tail ; - if ( h >= t ) - { - t += TXBUFFER_SIZE - h ; - } - else - { - t -= h ; - } - if ( t < 16 ) - { - return ; - } -#endif - - #if defined DSM_TELEMETRY - if(telemetry_link && protocol == MODE_DSM ) - { // DSM - DSM_frame(); - telemetry_link=0; - return; - } - #endif - if(telemetry_link && protocol != MODE_FRSKYX ) - { // FrSky + Hubsan - frsky_link_frame(); - telemetry_link=0; - return; - } - #if defined HUB_TELEMETRY - if(!telemetry_link && protocol == MODE_FRSKYD) - { // FrSky - frsky_user_frame(); - return; - } - #endif - #if defined SPORT_TELEMETRY - if (protocol==MODE_FRSKYX) - { // FrSkyX - uint32_t now = micros(); - if ((now - last) > SPORT_TIME) + #ifdef BASH_SERIAL + uint8_t h ; + uint8_t t ; + h = SerialControl.head ; + t = SerialControl.tail ; + if ( h >= t ) { - sportSendFrame(); - last += SPORT_TIME ; + t += 64 - h ; + } + else + { + t -= h ; + } + if ( t < 32 ) + { + return ; + } + + #else + uint8_t h ; + uint8_t t ; + h = tx_head ; + t = tx_tail ; + if ( h >= t ) + { + t += TXBUFFER_SIZE - h ; + } + else + { + t -= h ; + } + if ( t < 16 ) + { + return ; + } + #endif + + #if defined SPORT_TELEMETRY + if (protocol==MODE_FRSKYX) + { // FrSkyX + if(telemetry_link) + { + if(pktt[4] & 0x80) + rssi=pktt[4] & 0x7F ; + else + RxBt = (pktt[4]<<1) + 1 ; + if(pktt[6]<=6) + for (uint8_t i=0; i < pktt[6]; i++) + proces_sport_data(pktt[7+i]); + telemetry_link=0; + } + uint32_t now = micros(); + if ((now - last) > SPORT_TIME) + { + sportSendFrame(); + #ifdef STM32_BOARD + last=now; + #else + last += SPORT_TIME ; + #endif + } } - } #endif + + #if defined DSM_TELEMETRY + if(telemetry_link && protocol == MODE_DSM ) + { // DSM + DSM_frame(); + telemetry_link=0; + return; + } + #endif + if(telemetry_link && protocol != MODE_FRSKYX ) + { // FrSky + Hubsan + frsky_link_frame(); + telemetry_link=0; + return; + } + #if defined HUB_TELEMETRY + if(!telemetry_link && protocol == MODE_FRSKYD) + { // FrSky + frsky_user_frame(); + return; + } + #endif } @@ -504,93 +508,133 @@ void TelemetryUpdate() /**************************/ #ifndef BASH_SERIAL -// Routines for normal serial output -void Serial_write(uint8_t data) -{ - uint8_t nextHead ; - nextHead = tx_head + 1 ; - if ( nextHead >= TXBUFFER_SIZE ) - nextHead = 0 ; - tx_buff[nextHead]=data; - tx_head = nextHead ; - tx_resume(); -} - -void initTXSerial( uint8_t speed) -{ - #ifdef ENABLE_PPM - if(speed==SPEED_9600) - { // 9600 - #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; - UCSR0A = 0 ; // Clear X2 bit - //Set frame format to 8 data bits, none, 1 stop bit - UCSR0C = (1<=TXBUFFER_SIZE)//head - tx_tail=0; - UDR0=tx_buff[tx_tail]; + uint8_t nextHead ; + nextHead = tx_head + 1 ; + if ( nextHead >= TXBUFFER_SIZE ) + nextHead = 0 ; + tx_buff[nextHead]=data; + tx_head = nextHead ; + tx_resume(); } - if (tx_tail == tx_head) - tx_pause(); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt -} + + void initTXSerial( uint8_t speed) + { + #ifdef ENABLE_PPM + if(speed==SPEED_9600) + { // 9600 + #ifdef ORANGE_TX + USARTC0.BAUDCTRLA = 207 ; + USARTC0.BAUDCTRLB = 0 ; + USARTC0.CTRLB = 0x18 ; + USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ; + USARTC0.CTRLC = 0x03 ; + #else + #ifdef STM32_BOARD + Serial2.begin(9600); //USART3 + USART3_BASE->CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled + #else + UBRR0H = 0x00; + UBRR0L = 0x67; + UCSR0A = 0 ; // Clear X2 bit + //Set frame format to 8 data bits, none, 1 stop bit + UCSR0C = (1<CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled + #else + UBRR0H = 0x00; + UBRR0L = 0x22; + UCSR0A = 0x02 ; // Set X2 bit + //Set frame format to 8 data bits, none, 1 stop bit + UCSR0C = (1<CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled + #else + UBRR0H = 0x00; + UBRR0L = 0x07; + UCSR0A = 0x00 ; // Clear X2 bit + //Set frame format to 8 data bits, none, 1 stop bit + UCSR0C = (1<SR & USART_SR_TXE) + { + #endif + if(tx_head!=tx_tail) + { + if(++tx_tail>=TXBUFFER_SIZE)//head + tx_tail=0; + #ifdef STM32_BOARD + USART3_BASE->DR=tx_buff[tx_tail];//clears TXE bit + #else + UDR0=tx_buff[tx_tail]; + #endif + } + if (tx_tail == tx_head) + #ifdef STM32_BOARD + USART3_BASE->CR1 &= ~USART_CR1_TXEIE;//disable interrupt + } + #else + tx_pause(); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt + #endif + } + #if defined STM32_BOARD + #ifdef __cplusplus + } + #endif + #endif //STM32_BOARD #else //BASH_SERIAL // Routines for bit-bashed serial output diff --git a/Multiprotocol/Validate.h b/Multiprotocol/Validate.h new file mode 100644 index 0000000..5a95e6f --- /dev/null +++ b/Multiprotocol/Validate.h @@ -0,0 +1,96 @@ +// Check selected board type +#if defined (STM32_BOARD) && defined (ORANGE_TX) + #error You must comment the board type STM32_BOARD in _Config.h to compile ORANGE_TX +#endif +#if not defined (ORANGE_TX) && not defined (STM32_BOARD) + //Atmega328p + #if not defined(ARDUINO_AVR_PRO) && not defined(ARDUINO_AVR_MINI) && not defined(ARDUINO_AVR_NANO) + #error You must select the board type "Arduino Pro or Pro Mini" or "Arduino Mini" + #endif + #if F_CPU != 16000000L || not defined(__AVR_ATmega328P__) + #error You must select the processor type "ATmega328(5V, 16MHz)" + #endif +#endif +#if defined (STM32_BOARD) && not defined (ORANGE_TX) + //STM32 + #ifndef ARDUINO_GENERIC_STM32F103C + #error You must select the board type "Generic STM32F103C series" + #endif +#endif + +//Change/Force configuration if OrangeTX +#ifdef ORANGE_TX + #undef ENABLE_PPM // Disable PPM for OrangeTX module + #undef A7105_INSTALLED // Disable A7105 for OrangeTX module + #undef CC2500_INSTALLED // Disable CC2500 for OrangeTX module + #undef NRF24L01_INSTALLED // Disable NRF for OrangeTX module + #define TELEMETRY // Enable telemetry + #define INVERT_TELEMETRY // Enable invert telemetry + #define DSM_TELEMETRY // Enable DSM telemetry +#endif + +//Make sure protocols are selected correctly +#ifndef A7105_INSTALLED + #undef FLYSKY_A7105_INO + #undef HUBSAN_A7105_INO +#endif +#ifndef CYRF6936_INSTALLED + #undef DEVO_CYRF6936_INO + #undef DSM_CYRF6936_INO + #undef J6PRO_CYRF6936_INO +#endif +#ifndef CC2500_INSTALLED + #undef FRSKYD_CC2500_INO + #undef FRSKYV_CC2500_INO + #undef FRSKYX_CC2500_INO + #undef SFHSS_CC2500_INO +#endif +#ifndef NRF24L01_INSTALLED + #undef BAYANG_NRF24L01_INO + #undef CG023_NRF24L01_INO + #undef CX10_NRF24L01_INO + #undef ESKY_NRF24L01_INO + #undef HISKY_NRF24L01_INO + #undef KN_NRF24L01_INO + #undef SLT_NRF24L01_INO + #undef SYMAX_NRF24L01_INO + #undef V2X2_NRF24L01_INO + #undef YD717_NRF24L01_INO + #undef MT99XX_NRF24L01_INO + #undef MJXQ_NRF24L01_INO + #undef SHENQI_NRF24L01_INO + #undef FY326_NRF24L01_INO + #undef FQ777_NRF24L01_INO + #undef ASSAN_NRF24L01_INO + #undef HONTAI_NRF24L01_INO +#endif + +//Make sure telemetry is selected correctly +#ifndef TELEMETRY + #undef INVERT_TELEMETRY + #undef DSM_TELEMETRY + #undef SPORT_TELEMETRY + #undef HUB_TELEMETRY +#else + #if not defined(CYRF6936_INSTALLED) || not defined(DSM_CYRF6936_INO) + #undef DSM_TELEMETRY + #endif + #if (not defined(CC2500_INSTALLED) || not defined(FRSKYD_CC2500_INO)) && (not defined(A7105_INSTALLED) || not defined(HUBSAN_A7105_INO)) + #undef HUB_TELEMETRY + #endif + #if not defined(CC2500_INSTALLED) || not defined(FRSKYX_CC2500_INO) + #undef SPORT_TELEMETRY + #endif + #if not defined(DSM_TELEMETRY) && not defined(HUB_TELEMETRY) && not defined(SPORT_TELEMETRY) + #undef TELEMETRY + #undef INVERT_TELEMETRY + #endif +#endif + +//Make sure TX is defined correctly +#ifndef AILERON + #error You must select a correct channel order. +#endif +#if not defined(PPM_MAX_100) || not defined(PPM_MIN_100) || not defined(PPM_MAX_125) || not defined(PPM_MIN_125) + #error You must set correct TX end points. +#endif diff --git a/Multiprotocol/WMath.cpp.xmega b/Multiprotocol/WMath.cpp.orangetx similarity index 100% rename from Multiprotocol/WMath.cpp.xmega rename to Multiprotocol/WMath.cpp.orangetx diff --git a/Multiprotocol/_Config.h b/Multiprotocol/_Config.h index dc194e2..35185db 100644 --- a/Multiprotocol/_Config.h +++ b/Multiprotocol/_Config.h @@ -17,6 +17,14 @@ /** Multiprotocol module configuration file ***/ /**********************************************/ +/********************/ +/*** BOARD TYPE ***/ +/********************/ +//Uncomment one of the line below if you have a different module not based on the original Multi Atmega328p design which includes the 4-in-1. +//If you don't know then leave them commented. +//#define STM32_BOARD + + /*******************/ /*** TX SETTINGS ***/ /*******************/ @@ -53,13 +61,13 @@ //The protocols below need a CYRF6936 to be installed #define DEVO_CYRF6936_INO #define DSM_CYRF6936_INO -#define J6PRO_CYRF6936_INO +#define J6PRO_CYRF6936_INO //The protocols below need a CC2500 to be installed #define FRSKYD_CC2500_INO #define FRSKYV_CC2500_INO #define FRSKYX_CC2500_INO -#define SFHSS_CC2500_INO +#define SFHSS_CC2500_INO //The protocols below need a NRF24L01 to be installed #define BAYANG_NRF24L01_INO