mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 16:38:12 +00:00
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pascallanger
parent
174e6ad637
commit
fcd47ecec6
@ -23,12 +23,12 @@
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void A7105_WriteData(uint8_t len, uint8_t channel)
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{
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uint8_t i;
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(A7105_RST_WRPTR);
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SPI_Write(0x05);
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for (i = 0; i < len; i++)
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SPI_Write(packet[i]);
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A7105_CS_on;
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A7105_CSN_on;
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A7105_WriteReg(0x0F, channel);
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A7105_Strobe(A7105_TX);
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}
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@ -36,44 +36,44 @@ void A7105_WriteData(uint8_t len, uint8_t channel)
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void A7105_ReadData() {
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uint8_t i;
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A7105_Strobe(0xF0); //A7105_RST_RDPTR
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(0x45);
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for (i=0;i<16;i++)
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packet[i]=A7105_Read();
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A7105_CS_on;
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A7105_CSN_on;
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}
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void A7105_WriteReg(uint8_t address, uint8_t data) {
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(address);
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NOP();
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SPI_Write(data);
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A7105_CS_on;
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A7105_CSN_on;
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}
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uint8_t A7105_ReadReg(uint8_t address) {
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uint8_t result;
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(address |=0x40); //bit 6 =1 for reading
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result = A7105_Read();
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A7105_CS_on;
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A7105_CSN_on;
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return(result);
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}
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uint8_t A7105_Read(void)
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{
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uint8_t result=0;
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SDI_SET_INPUT;
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SDI_input;
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for(uint8_t i=0;i<8;i++)
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{
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result=result<<1;
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if(SDI_1) ///if SDIO =1
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result |= 0x01;
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SCK_on;
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SCLK_on;
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NOP();
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SCK_off;
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SCLK_off;
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}
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SDI_SET_OUTPUT;
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SDI_output;
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return result;
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}
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@ -110,13 +110,13 @@ uint8_t A7105_Reset()
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}
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void A7105_WriteID(uint32_t ida) {
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(0x06);//ex id=0x5475c52a ;txid3txid2txid1txid0
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SPI_Write((ida>>24)&0xff);//53
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SPI_Write((ida>>16)&0xff);//75
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SPI_Write((ida>>8)&0xff);//c5
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SPI_Write((ida>>0)&0xff);//2a
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A7105_CS_on;
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A7105_CSN_on;
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}
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/*
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@ -162,9 +162,9 @@ void A7105_SetPower()
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}
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void A7105_Strobe(uint8_t address) {
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A7105_CS_off;
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A7105_CSN_off;
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SPI_Write(address);
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A7105_CS_on;
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A7105_CSN_on;
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}
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const uint8_t PROGMEM HUBSAN_A7105_regs[] = {
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@ -428,6 +428,7 @@ uint16_t ReadDsm()
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CYRF_ConfigDataCode((const uint8_t *)"\x98\x88\x1B\xE4\x30\x79\x03\x84\xC9\x2C\x06\x93\x86\xB9\x9E", 16);
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CYRF_SetTxRxMode(RX_EN); //Receive mode
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CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x83); //Prepare to receive
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bind_counter=300;
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phase++; // change from BIND_CHECK to BIND_READ
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return 2000;
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case DSM_BIND_READ:
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@ -447,7 +448,7 @@ uint16_t ReadDsm()
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pkt[0]=0x80;
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telemetry_link=1; // send received data on serial
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CYRF_WriteRegister(CYRF_29_RX_ABORT, 0x20);
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CYRF_SetTxRxMode(TX_EN); //Write mode
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CYRF_SetTxRxMode(TX_EN); // Write mode
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phase++;
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return 2000;
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}
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@ -458,8 +459,13 @@ uint16_t ReadDsm()
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while ((uint16_t)micros()-start < 100) // Wait max 100 µs
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if((CYRF_ReadRegister(CYRF_0F_XACT_CFG) & 0x20) == 0)
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break;
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CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x0C); // Read
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CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x83); //Prepare to receive
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if( --bind_counter == 0 )
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{
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phase++; // Exit if no answer has been received for some time
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return 7000 ;
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}
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CYRF_WriteRegister(CYRF_0F_XACT_CFG, 0x0C); // Read mode
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CYRF_WriteRegister(CYRF_05_RX_CTRL, 0x83); // Prepare to receive
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return 7000;
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case DSM_CHANSEL:
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BIND_DONE;
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@ -181,194 +181,188 @@ struct PPM_Parameters
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//*** Pinouts ***
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//*******************
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#define TELEMETRY_SERIAL_TX_pin 2
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#define TELEMETRY_SERIAL_TX_port PORTD
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#define TELEMETRY_SERIAL_TX_ddr DDRD
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#define DEBUG_TX_pin 1
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#define DEBUG_TX_port PORTD
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#define DEBUG_TX_ddr DDRD
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#define MODE_DIAL1_PIN 2
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#define MODE_DIAL1_PORT PORTB
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#define MODE_DIAL2_PIN 3
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#define MODE_DIAL2_PORT PORTB
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#define MODE_DIAL3_PIN 4
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#define MODE_DIAL3_PORT PORTB
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#define MODE_DIAL4_PIN 0
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#define MODE_DIAL4_PORT PORTC
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#define LED_pin 5 //D13 = PB5
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#define LED_port PORTB
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#define LED_ddr DDRB
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#define BIND_pin 5 //D13 = PB5
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#define BIND_port PORTB
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#define BIND_ipr PINB
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#define BIND_ddr DDRB
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#define PPM_pin 3 //D3 = PD3
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#define PPM_port PORTD
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#ifdef XMEGA
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#define SDI_pin 6 //SDIO-D6
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#define SDI_port PORTD
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#define SDI_ipr PIND
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#define SDI_ddr DDRD
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// TX
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#define SERIAL_TX_pin 1 // PD1
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#define SERIAL_TX_port PORTD
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#define SERIAL_TX_ddr DDRD
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#define SERIAL_TX_output SERIAL_TX_ddr |= _BV(SERIAL_TX_pin)
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#define SERIAL_TX_on SERIAL_TX_port |= _BV(SERIAL_TX_pin)
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#define SERIAL_TX_off SERIAL_TX_port &= ~_BV(SERIAL_TX_pin)
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#ifdef DEBUG_TX
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#define DEBUG_TX_on SERIAL_TX_ON
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#define DEBUG_TX_off SERIAL_TX_OFF
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#define DEBUG_TX_toggle SERIAL_TX_port ^= _BV(SERIAL_TX_pin)
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#else
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#define SDI_pin 5 //D5 = PD5
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#define SDI_port PORTD
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#define SDI_ipr PIND
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#define SDI_ddr DDRD
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#define DEBUG_TX_on
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#define DEBUG_TX_off
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#define DEBUG_TX_toggle
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#endif
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#define SCLK_pin 4 //D4 = PD4
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// Dial
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#define MODE_DIAL1_pin 2
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#define MODE_DIAL1_port PORTB
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#define MODE_DIAL2_pin 3
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#define MODE_DIAL2_port PORTB
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#define MODE_DIAL3_pin 4
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#define MODE_DIAL3_port PORTB
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#define MODE_DIAL4_pin 0
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#define MODE_DIAL4_port PORTC
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// PPM
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#define PPM_pin 3 //D3 = PD3
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#define PPM_port PORTD
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// SDIO
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#define SDI_pin 5 //D5 = PD5
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#define SDI_port PORTD
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#define SDI_ipr PIND
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#define SDI_ddr DDRD
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#ifdef XMEGA
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#define SDI_on SDI_port.OUTSET = _BV(SDI_pin)
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#define SDI_off SDI_port.OUTCLR = _BV(SDI_pin)
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#else
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#define SDI_on SDI_port |= _BV(SDI_pin)
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#define SDI_off SDI_port &= ~_BV(SDI_pin)
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#define SDI_1 (SDI_ipr & _BV(SDI_pin)) != 0x00
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#define SDI_0 (SDI_ipr & _BV(SDI_pin)) == 0x00
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#endif
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#define SDI_input SDI_ddr &= ~_BV(SDI_pin)
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#define SDI_output SDI_ddr |= _BV(SDI_pin)
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//SDO
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#define SDO_pin 6 //D6 = PD6
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#define SDO_port PORTD
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#define SDO_ipr PIND
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#ifdef XMEGA
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#define SDO_1 (SDO_port.IN & _BV(SDO_pin)) != 0x00
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#define SDO_0 (SDO_port.IN & _BV(SDO_pin)) == 0x00
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#else
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#define SDO_1 (SDO_ipr & _BV(SDO_pin)) != 0x00
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#define SDO_0 (SDO_ipr & _BV(SDO_pin)) == 0x00
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#endif
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// SCLK
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#define SCLK_port PORTD
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#define SCLK_ddr DDRD
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#define A7105_CS_pin 2 //D2 = PD2
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#define A7105_CS_port PORTD
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#define A7105_CS_ddr DDRD
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#define SDO_pin 6 //D6 = PD6
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#define SDO_port PORTD
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#define SDO_ipr PIND
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#define CC25_CSN_pin 7 //D7 = PD7
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#define CC25_CSN_port PORTD
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#define CC25_CSN_ddr DDRD
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#define NRF_CSN_pin 0 //D8 = PB0
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#define NRF_CSN_port PORTB
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#define NRF_CSN_ddr DDRB
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#define CYRF_CSN_pin 1 //D9 = PB1
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#define CYRF_CSN_port PORTB
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#define CYRF_CSN_ddr DDRB
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#define CYRF_RST_pin 5 //D9 = PB1
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#define CYRF_RST_port PORTC
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#define CYRF_RST_ddr DDRC
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#define CTRL1_pin 1 //A1 = PC1
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#define CTRL1_port PORTC
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#define CTRL1_ddr DDRC
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#define CTRL2_pin 2 //A2 = PC2
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#define CTRL2_port PORTC
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#define CTRL2_ddr DDRC
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//
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#ifdef XMEGA
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#define CTRL1_on
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#define CTRL1_off
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#define CTRL2_on
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#define CTRL2_off
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#define SCLK_pin 7 //D7
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#define SCLK_on SCLK_port.OUTSET = _BV(SCLK_pin)
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#define SCLK_off SCLK_port.OUTCLR = _BV(SCLK_pin)
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#else
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#define CTRL1_on CTRL1_port |= _BV(CTRL1_pin)
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#define CTRL1_off CTRL1_port &= ~_BV(CTRL1_pin)
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#define CTRL2_on CTRL2_port |= _BV(CTRL2_pin)
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#define CTRL2_off CTRL2_port &= ~_BV(CTRL2_pin)
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#define SCLK_pin 4 //D4 = PD4
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#define SCLK_output SCLK_ddr |= _BV(SCLK_pin)
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#define SCLK_on SCLK_port |= _BV(SCLK_pin)
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#define SCLK_off SCLK_port &= ~_BV(SCLK_pin)
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#endif
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//
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// A7105
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#define A7105_CSN_pin 2 //D2 = PD2
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#define A7105_CSN_port PORTD
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#define A7105_CSN_ddr DDRD
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#define A7105_CSN_output A7105_CSN_ddr |= _BV(A7105_CSN_pin)
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#define A7105_CSN_on A7105_CSN_port |= _BV(A7105_CSN_pin)
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#define A7105_CSN_off A7105_CSN_port &= ~_BV(A7105_CSN_pin)
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// CC2500
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#define CC25_CSN_pin 7 //D7 = PD7
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#define CC25_CSN_port PORTD
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#define CC25_CSN_ddr DDRD
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#define CC25_CSN_output CC25_CSN_ddr |= _BV(CC25_CSN_pin)
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#define CC25_CSN_on CC25_CSN_port |= _BV(CC25_CSN_pin)
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#define CC25_CSN_off CC25_CSN_port &= ~_BV(CC25_CSN_pin)
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// NRF24L01
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#define NRF_CSN_pin 0 //D8 = PB0
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#define NRF_CSN_port PORTB
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#define NRF_CSN_ddr DDRB
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#define NRF_CSN_output NRF_CSN_ddr |= _BV(NRF_CSN_pin)
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#define NRF_CSN_on NRF_CSN_port |= _BV(NRF_CSN_pin)
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#define NRF_CSN_off NRF_CSN_port &= ~_BV(NRF_CSN_pin)
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#define NRF_CE_on
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#define NRF_CE_off
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// CYRF6936
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#ifdef XMEGA
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#define A7105_CS_on A7105_CS_port.OUTSET = _BV(A7105_CS_pin) //D4
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#define A7105_CS_off A7105_CS_port.OUTCLR = _BV(A7105_CS_pin) //D4
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#define CYRF_CSN_pin 4 //D4
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#define CYRF_CSN_port PORTD
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#define CYRF_CSN_ddr DDRD
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#define CYRF_CSN_on CYRF_CSN_port.OUTSET = _BV(CYRF_CSN_pin)
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#define CYRF_CSN_off CYRF_CSN_port.OUTCLR = _BV(CYRF_CSN_pin)
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#else
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#define A7105_CS_on A7105_CS_port |= _BV(A7105_CS_pin) //D2
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#define A7105_CS_off A7105_CS_port &= ~_BV(A7105_CS_pin) //D2
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#define CYRF_CSN_pin 1 //D9 = PB1
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#define CYRF_CSN_port PORTB
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#define CYRF_CSN_ddr DDRB
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#define CYRF_CSN_output CYRF_CSN_ddr |= _BV(CYRF_CSN_pin)
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#define CYRF_CSN_on CYRF_CSN_port |= _BV(CYRF_CSN_pin)
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#define CYRF_CSN_off CYRF_CSN_port &= ~_BV(CYRF_CSN_pin)
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#define CYRF_RST_pin 5 //A5 = PC5
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#define CYRF_RST_port PORTC
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#define CYRF_RST_ddr DDRC
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#define CYRF_RST_output CYRF_RST_ddr |= _BV(CYRF_RST_pin)
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#define CYRF_RST_HI CYRF_RST_port |= _BV(CYRF_RST_pin)
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#define CYRF_RST_LO CYRF_RST_port &= ~_BV(CYRF_RST_pin)
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#endif
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//
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//RF Switch
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#ifdef XMEGA
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#define SCK_on SCLK_port.OUTSET = _BV(SCLK_pin) //D7
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#define SCK_off SCLK_port.OUTCLR = _BV(SCLK_pin) //D7
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#define PE1_on
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#define PE1_off
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#define PE2_on
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#define PE2_off
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#else
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#define SCK_on SCLK_port |= _BV(SCLK_pin) //D4
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#define SCK_off SCLK_port &= ~_BV(SCLK_pin) //D4
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#define PE1_pin 1 //A1 = PC1
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#define PE1_port PORTC
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#define PE1_ddr DDRC
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#define PE1_output PE1_ddr |= _BV(PE1_pin)
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#define PE1_on PE1_port |= _BV(PE1_pin)
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#define PE1_off PE1_port &= ~_BV(PE1_pin)
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#define PE2_pin 2 //A2 = PC2
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#define PE2_port PORTC
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#define PE2_ddr DDRC
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#define PE2_output PE2_ddr |= _BV(PE2_pin)
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#define PE2_on PE2_port |= _BV(PE2_pin)
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#define PE2_off PE2_port &= ~_BV(PE2_pin)
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#endif
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//
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#ifdef XMEGA
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#define SDI_on SDI_port.OUTSET = _BV(SDI_pin) //D5
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#define SDI_off SDI_port.OUTCLR = _BV(SDI_pin) //D5
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#else
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#define SDI_on SDI_port |= _BV(SDI_pin) //D5
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#define SDI_off SDI_port &= ~_BV(SDI_pin) //D5
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#endif
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//
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#ifdef XMEGA
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#define SDI_1 (SDI_port.IN & _BV(SDI_pin)) == _BV(SDI_pin) //D5
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#define SDI_0 (SDI_port.IN & _BV(SDI_pin)) == 0x00 //D5
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#else
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#define SDI_1 (SDI_ipr & _BV(SDI_pin)) == _BV(SDI_pin) //D5
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#define SDI_0 (SDI_ipr & _BV(SDI_pin)) == 0x00 //D5
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#endif
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//
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#define SDI_SET_INPUT SDI_ddr &= ~_BV(SDI_pin) //D5
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#define SDI_SET_OUTPUT SDI_ddr |= _BV(SDI_pin) //D5
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//
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#ifdef XMEGA
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#define CC25_CSN_on CC25_CSN_port.OUTSET = _BV(CC25_CSN_pin) //D7
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#define CC25_CSN_off CC25_CSN_port.OUTCLR = _BV(CC25_CSN_pin) //D7
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#else
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#define CC25_CSN_on CC25_CSN_port |= _BV(CC25_CSN_pin) //D7
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#define CC25_CSN_off CC25_CSN_port &= ~_BV(CC25_CSN_pin) //D7
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#endif
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//
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#ifdef XMEGA
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#define NRF_CSN_on
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#define NRF_CSN_off
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#define NRF_CE_on
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||||
#define NRF_CE_off
|
||||
#else
|
||||
#define NRF_CSN_on NRF_CSN_port |= _BV(NRF_CSN_pin) //D8
|
||||
#define NRF_CSN_off NRF_CSN_port &= ~_BV(NRF_CSN_pin) //D8
|
||||
#define NRF_CE_on
|
||||
#define NRF_CE_off
|
||||
#endif
|
||||
//
|
||||
#ifdef XMEGA
|
||||
#define CYRF_CSN_on CYRF_CSN_port.OUTSET = _BV(CYRF_CSN_pin)
|
||||
#define CYRF_CSN_off CYRF_CSN_port.OUTCLR = _BV(CYRF_CSN_pin)
|
||||
#else
|
||||
#define CYRF_CSN_on CYRF_CSN_port |= _BV(CYRF_CSN_pin) //D9
|
||||
#define CYRF_CSN_off CYRF_CSN_port &= ~_BV(CYRF_CSN_pin) //D9
|
||||
#define CYRF_RST_HI CYRF_RST_port |= _BV(CYRF_RST_pin) //A5
|
||||
#define CYRF_RST_LO CYRF_RST_port &= ~_BV(CYRF_RST_pin) //A5
|
||||
#define CYRF_RST_pin 5
|
||||
#endif
|
||||
//
|
||||
#ifdef XMEGA
|
||||
#define SDO_1 (SDO_port.IN & _BV(SDO_pin)) == _BV(SDO_pin) //D6
|
||||
#define SDO_0 (SDO_port.IN & _BV(SDO_pin)) == 0x00 //D6
|
||||
#else
|
||||
#define SDO_1 (SDO_ipr & _BV(SDO_pin)) == _BV(SDO_pin) //D6
|
||||
#define SDO_0 (SDO_ipr & _BV(SDO_pin)) == 0x00 //D6
|
||||
#endif
|
||||
//
|
||||
//
|
||||
|
||||
// LED
|
||||
#ifdef XMEGA
|
||||
#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_SET_OUTPUT LED_port.DIRSET = _BV(LED_pin)
|
||||
#define IS_LED_on ( (LED_port.OUT & _BV(LED_pin)) != 0x00 )
|
||||
#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)) != 0x00 )
|
||||
#else
|
||||
#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_SET_OUTPUT LED_ddr |= _BV(LED_pin)
|
||||
#define IS_LED_on ( (LED_port & _BV(LED_pin)) != 0x00 )
|
||||
#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)) != 0x00 )
|
||||
#endif
|
||||
|
||||
//BIND
|
||||
#ifdef XMEGA
|
||||
#define IS_BIND_BUTTON_on ( (PORTD.IN & _BV(2)) == 0x00 )
|
||||
#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_PULLUP BIND_port |= _BV(BIND_pin)
|
||||
#define IS_BIND_BUTTON_on ( (BIND_ipr & _BV(BIND_pin)) == 0x00 )
|
||||
#define BIND_SET_OUTPUT BIND_ddr |= _BV(BIND_pin)
|
||||
#endif
|
||||
|
||||
// TX
|
||||
#ifdef DEBUG_TX
|
||||
#define TX_ON DEBUG_TX_port |= _BV(DEBUG_TX_pin)
|
||||
#define TX_OFF DEBUG_TX_port &= ~_BV(DEBUG_TX_pin)
|
||||
#define TX_TOGGLE DEBUG_TX_port ^= _BV(DEBUG_TX_pin)
|
||||
#define TX_SET_OUTPUT DEBUG_TX_ddr |= _BV(DEBUG_TX_pin)
|
||||
#else
|
||||
#define TX_ON
|
||||
#define TX_OFF
|
||||
#define TX_TOGGLE
|
||||
#define TX_SET_OUTPUT
|
||||
#endif
|
||||
|
||||
// Macros
|
||||
#define NOP() __asm__ __volatile__("nop")
|
||||
#define BV(bit) (1 << bit)
|
||||
@ -674,4 +668,3 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
|
||||
2047 +125%
|
||||
Channels bits are concatenated to fit in 22 bytes like in SBUS protocol
|
||||
*/
|
||||
|
||||
|
||||
@ -33,7 +33,7 @@
|
||||
#undef ENABLE_PPM // Disable PPM for orange module
|
||||
#undef A7105_INSTALLED // Disable A7105 for orange module
|
||||
#undef CC2500_INSTALLED // Disable CC2500 for orange module
|
||||
#undef NFR24L01_INSTALLED // Disable NRF for orange module
|
||||
#undef NRF24L01_INSTALLED // Disable NRF for orange module
|
||||
#endif
|
||||
|
||||
//Global constants/variables
|
||||
@ -172,60 +172,59 @@ void setup()
|
||||
TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16)
|
||||
#else
|
||||
// General pinout
|
||||
|
||||
// outputs
|
||||
#ifdef A7105_INSTALLED
|
||||
A7105_CS_ddr |= _BV(A7105_CS_pin);
|
||||
#endif
|
||||
SDI_SET_OUTPUT;
|
||||
SCLK_ddr |= _BV(SCLK_pin);
|
||||
#ifdef CC2500_INSTALLED
|
||||
CC25_CSN_ddr |= _BV(CC25_CSN_pin);
|
||||
#endif
|
||||
CTRL1_ddr |= _BV(CTRL1_pin);
|
||||
CTRL2_ddr |= _BV(CTRL2_pin);
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
CYRF_RST_ddr |= _BV(CYRF_RST_pin);
|
||||
CYRF_CSN_ddr |= _BV(CYRF_CSN_pin);
|
||||
#endif
|
||||
#ifdef NRF24L01_INSTALLED
|
||||
NRF_CSN_ddr |= _BV(NRF_CSN_pin);
|
||||
#endif
|
||||
|
||||
//pullup on dial (D10=PB2,D11=PB3,D12=PB4) and bind button
|
||||
MODE_DIAL1_PORT |= _BV(MODE_DIAL1_PIN);
|
||||
MODE_DIAL2_PORT |= _BV(MODE_DIAL2_PIN);
|
||||
MODE_DIAL3_PORT |= _BV(MODE_DIAL3_PIN);
|
||||
MODE_DIAL4_PORT |= _BV(MODE_DIAL4_PIN);
|
||||
BIND_port |= _BV(BIND_pin);
|
||||
|
||||
|
||||
#ifdef DEBUG_TX
|
||||
TX_SET_OUTPUT;
|
||||
// all inputs
|
||||
DDRB=DDRC=DDRD=0x00;
|
||||
// outputs
|
||||
SDI_output;
|
||||
SCLK_output;
|
||||
#ifdef A7105_INSTALLED
|
||||
A7105_CSN_output;
|
||||
#endif
|
||||
#ifdef CC2500_INSTALLED
|
||||
CC25_CSN_output;
|
||||
#endif
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
CYRF_RST_output;
|
||||
CYRF_CSN_output;
|
||||
#endif
|
||||
#ifdef NRF24L01_INSTALLED
|
||||
NRF_CSN_output;
|
||||
#endif
|
||||
PE1_output;
|
||||
PE2_output;
|
||||
SERIAL_TX_output;
|
||||
|
||||
// pullups
|
||||
MODE_DIAL1_port |= _BV(MODE_DIAL1_pin);
|
||||
MODE_DIAL2_port |= _BV(MODE_DIAL2_pin);
|
||||
MODE_DIAL3_port |= _BV(MODE_DIAL3_pin);
|
||||
MODE_DIAL4_port |= _BV(MODE_DIAL4_pin);
|
||||
BIND_port |= _BV(BIND_pin);
|
||||
|
||||
// Timer1 config
|
||||
TCCR1A = 0;
|
||||
TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
|
||||
|
||||
// Random
|
||||
random_init();
|
||||
#endif
|
||||
|
||||
// Set Chip selects
|
||||
#ifdef A7105_INSTALLED
|
||||
A7105_CS_on;
|
||||
#endif
|
||||
#ifdef CC2500_INSTALLED
|
||||
CC25_CSN_on;
|
||||
#endif
|
||||
#ifdef NRF24L01_INSTALLED
|
||||
NRF_CSN_on;
|
||||
#endif
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
CYRF_CSN_on;
|
||||
#endif
|
||||
#ifdef A7105_INSTALLED
|
||||
A7105_CSN_on;
|
||||
#endif
|
||||
#ifdef CC2500_INSTALLED
|
||||
CC25_CSN_on;
|
||||
#endif
|
||||
#ifdef NRF24L01_INSTALLED
|
||||
NRF_CSN_on;
|
||||
#endif
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
CYRF_CSN_on;
|
||||
#endif
|
||||
// Set SPI lines
|
||||
SDI_on;
|
||||
SCK_off;
|
||||
SCLK_off;
|
||||
|
||||
// Set servos positions
|
||||
for(uint8_t i=0;i<NUM_CHN;i++)
|
||||
@ -247,16 +246,16 @@ void setup()
|
||||
#ifndef ENABLE_PPM
|
||||
mode_select = MODE_SERIAL ; // force serial mode
|
||||
#else
|
||||
mode_select =
|
||||
((MODE_DIAL1_PORT & MODE_DIAL1_PIN) ? 1 : 0) +
|
||||
((MODE_DIAL2_PORT & MODE_DIAL2_PIN) ? 2 : 0) +
|
||||
((MODE_DIAL3_PORT & MODE_DIAL3_PIN) ? 4 : 0) +
|
||||
((MODE_DIAL4_PORT & MODE_DIAL4_PIN) ? 8 : 0);
|
||||
mode_select =
|
||||
((MODE_DIAL1_port & MODE_DIAL1_pin) ? 1 : 0) +
|
||||
((MODE_DIAL2_port & MODE_DIAL2_pin) ? 2 : 0) +
|
||||
((MODE_DIAL3_port & MODE_DIAL3_pin) ? 4 : 0) +
|
||||
((MODE_DIAL4_port & MODE_DIAL4_pin) ? 8 : 0);
|
||||
#endif
|
||||
|
||||
// Update LED
|
||||
LED_OFF;
|
||||
LED_SET_OUTPUT;
|
||||
LED_off;
|
||||
LED_output;
|
||||
|
||||
//Init RF modules
|
||||
modules_reset();
|
||||
@ -289,16 +288,15 @@ void setup()
|
||||
protocol_init();
|
||||
|
||||
//Configure PPM interrupt
|
||||
#if PPM_pin == 2
|
||||
EICRA |= _BV(ISC01); // The rising edge of INT1 pin D3 generates an interrupt request
|
||||
EIMSK |= _BV(INT0); // INT1 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
|
||||
|
||||
#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
|
||||
|
||||
#if defined(TELEMETRY)
|
||||
PPM_Telemetry_serial_init(); // Configure serial for telemetry
|
||||
@ -383,7 +381,7 @@ void Update_All()
|
||||
update_aux_flags();
|
||||
if(IS_CHANGE_PROTOCOL_FLAG_on)
|
||||
{ // Protocol needs to be changed
|
||||
LED_OFF; //led off during protocol init
|
||||
LED_off; //led off during protocol init
|
||||
modules_reset(); //reset all modules
|
||||
protocol_init(); //init new protocol
|
||||
}
|
||||
@ -439,10 +437,10 @@ static void update_led_status(void)
|
||||
}
|
||||
else
|
||||
if(IS_BIND_DONE_on)
|
||||
LED_OFF; //bind completed -> led on
|
||||
LED_off; //bind completed -> led on
|
||||
else
|
||||
blink+=BLINK_BIND_TIME; //blink fastly during binding
|
||||
LED_TOGGLE;
|
||||
LED_toggle;
|
||||
}
|
||||
}
|
||||
|
||||
@ -504,21 +502,21 @@ static void protocol_init()
|
||||
else
|
||||
BIND_DONE;
|
||||
|
||||
CTRL1_on; //NRF24L01 antenna RF3 by default
|
||||
CTRL2_off; //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
|
||||
{
|
||||
#if defined(FLYSKY_A7105_INO)
|
||||
case MODE_FLYSKY:
|
||||
CTRL1_off; //antenna RF1
|
||||
PE1_off; //antenna RF1
|
||||
next_callback = initFlySky();
|
||||
remote_callback = ReadFlySky;
|
||||
break;
|
||||
#endif
|
||||
#if defined(HUBSAN_A7105_INO)
|
||||
case MODE_HUBSAN:
|
||||
CTRL1_off; //antenna RF1
|
||||
PE1_off; //antenna RF1
|
||||
if(IS_BIND_BUTTON_FLAG_on) random_id(10,true); // Generate new ID if bind button is pressed.
|
||||
next_callback = initHubsan();
|
||||
remote_callback = ReadHubsan;
|
||||
@ -526,39 +524,39 @@ static void protocol_init()
|
||||
#endif
|
||||
#if defined(FRSKYD_CC2500_INO)
|
||||
case MODE_FRSKYD:
|
||||
CTRL1_off; //antenna RF2
|
||||
CTRL2_on;
|
||||
PE1_off; //antenna RF2
|
||||
PE2_on;
|
||||
next_callback = initFrSky_2way();
|
||||
remote_callback = ReadFrSky_2way;
|
||||
break;
|
||||
#endif
|
||||
#if defined(FRSKYV_CC2500_INO)
|
||||
case MODE_FRSKYV:
|
||||
CTRL1_off; //antenna RF2
|
||||
CTRL2_on;
|
||||
PE1_off; //antenna RF2
|
||||
PE2_on;
|
||||
next_callback = initFRSKYV();
|
||||
remote_callback = ReadFRSKYV;
|
||||
break;
|
||||
#endif
|
||||
#if defined(FRSKYX_CC2500_INO)
|
||||
case MODE_FRSKYX:
|
||||
CTRL1_off; //antenna RF2
|
||||
CTRL2_on;
|
||||
PE1_off; //antenna RF2
|
||||
PE2_on;
|
||||
next_callback = initFrSkyX();
|
||||
remote_callback = ReadFrSkyX;
|
||||
break;
|
||||
#endif
|
||||
#if defined(SFHSS_CC2500_INO)
|
||||
case MODE_SFHSS:
|
||||
CTRL1_off; //antenna RF2
|
||||
CTRL2_on;
|
||||
PE1_off; //antenna RF2
|
||||
PE2_on;
|
||||
next_callback = initSFHSS();
|
||||
remote_callback = ReadSFHSS;
|
||||
break;
|
||||
#endif
|
||||
#if defined(DSM_CYRF6936_INO)
|
||||
case MODE_DSM:
|
||||
CTRL2_on; //antenna RF4
|
||||
PE2_on; //antenna RF4
|
||||
next_callback = initDsm();
|
||||
//Servo_data[2]=1500;//before binding
|
||||
remote_callback = ReadDsm;
|
||||
@ -581,14 +579,14 @@ static void protocol_init()
|
||||
}
|
||||
}
|
||||
#endif //ENABLE_PPM
|
||||
CTRL2_on; //antenna RF4
|
||||
PE2_on; //antenna RF4
|
||||
next_callback = DevoInit();
|
||||
remote_callback = devo_callback;
|
||||
break;
|
||||
#endif
|
||||
#if defined(J6PRO_CYRF6936_INO)
|
||||
case MODE_J6PRO:
|
||||
CTRL2_on; //antenna RF4
|
||||
PE2_on; //antenna RF4
|
||||
next_callback = initJ6Pro();
|
||||
remote_callback = ReadJ6Pro;
|
||||
break;
|
||||
@ -790,7 +788,7 @@ void modules_reset()
|
||||
#ifdef CYRF6936_INSTALLED
|
||||
CYRF_Reset();
|
||||
#endif
|
||||
#ifdef NFR24L01_INSTALLED
|
||||
#ifdef NRF24L01_INSTALLED
|
||||
NRF24L01_Reset();
|
||||
#endif
|
||||
|
||||
@ -971,7 +969,7 @@ void SPI_Write(uint8_t command)
|
||||
{
|
||||
uint8_t n=8;
|
||||
|
||||
SCK_off;//SCK start low
|
||||
SCLK_off;//SCK start low
|
||||
XNOP();
|
||||
SDI_off;
|
||||
XNOP();
|
||||
@ -982,11 +980,11 @@ void SPI_Write(uint8_t command)
|
||||
else
|
||||
SDI_off;
|
||||
XNOP();
|
||||
SCK_on;
|
||||
SCLK_on;
|
||||
XNOP();
|
||||
XNOP();
|
||||
command = command << 1;
|
||||
SCK_off;
|
||||
SCLK_off;
|
||||
XNOP();
|
||||
}
|
||||
while(--n) ;
|
||||
@ -1001,11 +999,11 @@ uint8_t SPI_Read(void)
|
||||
result=result<<1;
|
||||
if(SDO_1)
|
||||
result |= 0x01;
|
||||
SCK_on;
|
||||
SCLK_on;
|
||||
XNOP();
|
||||
XNOP();
|
||||
NOP();
|
||||
SCK_off;
|
||||
SCLK_off;
|
||||
XNOP();
|
||||
XNOP();
|
||||
}
|
||||
@ -1124,11 +1122,11 @@ void delayMicroseconds(unsigned int us)
|
||||
}
|
||||
|
||||
#ifndef XMEGA
|
||||
void init()
|
||||
{
|
||||
// this needs to be called before setup() or some functions won't work there
|
||||
sei();
|
||||
}
|
||||
void init()
|
||||
{
|
||||
// this needs to be called before setup() or some functions won't work there
|
||||
sei();
|
||||
}
|
||||
#endif //XMEGA
|
||||
|
||||
/**************************/
|
||||
@ -1139,145 +1137,145 @@ void init()
|
||||
|
||||
//PPM
|
||||
#ifdef ENABLE_PPM
|
||||
#ifdef XMEGA
|
||||
#if PPM_pin == 2
|
||||
ISR(PORTD_INT0_vect)
|
||||
#else
|
||||
ISR(PORTD_INT1_vect)
|
||||
#endif
|
||||
#else
|
||||
#if PPM_pin == 2
|
||||
ISR(INT0_vect, ISR_NOBLOCK)
|
||||
#else
|
||||
ISR(INT1_vect, ISR_NOBLOCK)
|
||||
#endif
|
||||
#endif
|
||||
{ // Interrupt on PPM pin
|
||||
static int8_t chan=-1;
|
||||
static uint16_t Prev_TCNT1=0;
|
||||
uint16_t Cur_TCNT1;
|
||||
#ifdef XMEGA
|
||||
#if PPM_pin == 2
|
||||
ISR(PORTD_INT0_vect)
|
||||
#else
|
||||
ISR(PORTD_INT1_vect)
|
||||
#endif
|
||||
#else
|
||||
#if PPM_pin == 2
|
||||
ISR(INT0_vect, ISR_NOBLOCK)
|
||||
#else
|
||||
ISR(INT1_vect, ISR_NOBLOCK)
|
||||
#endif
|
||||
#endif
|
||||
{ // Interrupt on PPM pin
|
||||
static int8_t chan=-1;
|
||||
static uint16_t Prev_TCNT1=0;
|
||||
uint16_t Cur_TCNT1;
|
||||
|
||||
Cur_TCNT1 = TCNT1 - Prev_TCNT1 ; // Capture current Timer1 value
|
||||
if(Cur_TCNT1<1000)
|
||||
chan=-1; // bad frame
|
||||
else
|
||||
if(Cur_TCNT1>4840)
|
||||
{
|
||||
chan=0; // start of frame
|
||||
PPM_FLAG_on; // full frame present (even at startup since PPM_data has been initialized)
|
||||
}
|
||||
Cur_TCNT1 = TCNT1 - Prev_TCNT1 ; // Capture current Timer1 value
|
||||
if(Cur_TCNT1<1000)
|
||||
chan=-1; // bad frame
|
||||
else
|
||||
if(chan!=-1) // need to wait for start of frame
|
||||
{ //servo values between 500us and 2420us will end up here
|
||||
PPM_data[chan]= Cur_TCNT1>>1;;
|
||||
if(chan++>=NUM_CHN)
|
||||
chan=-1; // don't accept any new channels
|
||||
if(Cur_TCNT1>4840)
|
||||
{
|
||||
chan=0; // start of frame
|
||||
PPM_FLAG_on; // full frame present (even at startup since PPM_data has been initialized)
|
||||
}
|
||||
Prev_TCNT1+=Cur_TCNT1;
|
||||
}
|
||||
else
|
||||
if(chan!=-1) // need to wait for start of frame
|
||||
{ //servo values between 500us and 2420us will end up here
|
||||
PPM_data[chan]= Cur_TCNT1>>1;;
|
||||
if(chan++>=NUM_CHN)
|
||||
chan=-1; // don't accept any new channels
|
||||
}
|
||||
Prev_TCNT1+=Cur_TCNT1;
|
||||
}
|
||||
#endif //ENABLE_PPM
|
||||
|
||||
//Serial RX
|
||||
#ifdef ENABLE_SERIAL
|
||||
#ifdef XMEGA
|
||||
ISR(USARTC0_RXC_vect)
|
||||
#else
|
||||
ISR(USART_RX_vect)
|
||||
#endif
|
||||
{ // RX interrupt
|
||||
static uint8_t idx=0;
|
||||
#ifdef XMEGA
|
||||
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
|
||||
ISR(USARTC0_RXC_vect)
|
||||
#else
|
||||
UCSR0B &= ~_BV(RXCIE0) ; // RX interrupt disable
|
||||
sei() ;
|
||||
if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
|
||||
ISR(USART_RX_vect)
|
||||
#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;
|
||||
RX_MISSED_BUFF_off; // If rx_buff was good it's not anymore...
|
||||
rx_buff[0]=UDR0;
|
||||
if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok
|
||||
{ // RX interrupt
|
||||
static uint8_t idx=0;
|
||||
#ifdef XMEGA
|
||||
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
|
||||
#else
|
||||
UCSR0B &= ~_BV(RXCIE0) ; // RX interrupt disable
|
||||
sei() ;
|
||||
if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
|
||||
#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;
|
||||
RX_MISSED_BUFF_off; // If rx_buff was good it's not anymore...
|
||||
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
|
||||
idx++;
|
||||
}
|
||||
}
|
||||
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
|
||||
idx++;
|
||||
rx_buff[idx++]=UDR0; // Store received byte
|
||||
if(idx>=RXBUFFER_SIZE)
|
||||
{ // A full frame has been received
|
||||
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
|
||||
RX_FLAG_on; // flag for main to process servo data
|
||||
}
|
||||
else
|
||||
RX_MISSED_BUFF_on; // notify that rx_buff is good
|
||||
discard_frame=1; // start again
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rx_buff[idx++]=UDR0; // Store received byte
|
||||
if(idx>=RXBUFFER_SIZE)
|
||||
{ // A full frame has been received
|
||||
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
|
||||
RX_FLAG_on; // flag for main to process servo data
|
||||
}
|
||||
else
|
||||
RX_MISSED_BUFF_on; // notify that rx_buff is good
|
||||
discard_frame=1; // start again
|
||||
}
|
||||
idx=UDR0; // Dummy read
|
||||
discard_frame=1; // Error encountered discard full frame...
|
||||
}
|
||||
if(discard_frame==1)
|
||||
{
|
||||
CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match
|
||||
TX_RX_PAUSE_off;
|
||||
tx_resume();
|
||||
}
|
||||
#ifndef XMEGA
|
||||
cli() ;
|
||||
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
idx=UDR0; // Dummy read
|
||||
discard_frame=1; // Error encountered discard full frame...
|
||||
}
|
||||
if(discard_frame==1)
|
||||
{
|
||||
CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match
|
||||
TX_RX_PAUSE_off;
|
||||
|
||||
//Serial timer
|
||||
#ifdef XMEGA
|
||||
ISR(TCC1_CCB_vect)
|
||||
#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();
|
||||
}
|
||||
#ifndef XMEGA
|
||||
cli() ;
|
||||
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
|
||||
#endif
|
||||
}
|
||||
|
||||
//Serial timer
|
||||
#ifdef XMEGA
|
||||
ISR(TCC1_CCB_vect)
|
||||
#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();
|
||||
}
|
||||
#endif //ENABLE_SERIAL
|
||||
|
||||
#ifndef XMEGA
|
||||
// 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)
|
||||
{
|
||||
static uint8_t gWDT_buffer_position=0;
|
||||
#define gWDT_buffer_SIZE 32
|
||||
static uint8_t gWDT_buffer[gWDT_buffer_SIZE];
|
||||
gWDT_buffer[gWDT_buffer_position] = TCNT1L; // Record the Timer 1 low byte (only one needed)
|
||||
gWDT_buffer_position++; // every time the WDT interrupt is triggered
|
||||
if (gWDT_buffer_position >= gWDT_buffer_SIZE)
|
||||
// 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)
|
||||
{
|
||||
// The following code is an implementation of Jenkin's one at a time hash
|
||||
for(uint8_t gWDT_loop_counter = 0; gWDT_loop_counter < gWDT_buffer_SIZE; ++gWDT_loop_counter)
|
||||
static uint8_t gWDT_buffer_position=0;
|
||||
#define gWDT_buffer_SIZE 32
|
||||
static uint8_t gWDT_buffer[gWDT_buffer_SIZE];
|
||||
gWDT_buffer[gWDT_buffer_position] = TCNT1L; // Record the Timer 1 low byte (only one needed)
|
||||
gWDT_buffer_position++; // every time the WDT interrupt is triggered
|
||||
if (gWDT_buffer_position >= gWDT_buffer_SIZE)
|
||||
{
|
||||
gWDT_entropy += gWDT_buffer[gWDT_loop_counter];
|
||||
gWDT_entropy += (gWDT_entropy << 10);
|
||||
gWDT_entropy ^= (gWDT_entropy >> 6);
|
||||
// The following code is an implementation of Jenkin's one at a time hash
|
||||
for(uint8_t gWDT_loop_counter = 0; gWDT_loop_counter < gWDT_buffer_SIZE; ++gWDT_loop_counter)
|
||||
{
|
||||
gWDT_entropy += gWDT_buffer[gWDT_loop_counter];
|
||||
gWDT_entropy += (gWDT_entropy << 10);
|
||||
gWDT_entropy ^= (gWDT_entropy >> 6);
|
||||
}
|
||||
gWDT_entropy += (gWDT_entropy << 3);
|
||||
gWDT_entropy ^= (gWDT_entropy >> 11);
|
||||
gWDT_entropy += (gWDT_entropy << 15);
|
||||
WDTCSR = 0; // Disable Watchdog interrupt
|
||||
}
|
||||
gWDT_entropy += (gWDT_entropy << 3);
|
||||
gWDT_entropy ^= (gWDT_entropy >> 11);
|
||||
gWDT_entropy += (gWDT_entropy << 15);
|
||||
WDTCSR = 0; // Disable Watchdog interrupt
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -588,11 +588,10 @@ void initTXSerial( uint8_t speed)
|
||||
{
|
||||
TIMSK0 = 0 ; // Stop all timer 0 interrupts
|
||||
#ifdef INVERT_SERIAL
|
||||
TELEMETRY_SERIAL_TX_port &= ~_BV(TELEMETRY_SERIAL_TX_pin);
|
||||
SERIAL_TX_off;
|
||||
#else
|
||||
TELEMETRY_SERIAL_TX_port |= _BV(TELEMETRY_SERIAL_TX_pin);
|
||||
SERIAL_TX_on;
|
||||
#endif
|
||||
TELEMETRY_SERIAL_TX_ddr |= _BV(TELEMETRY_SERIAL_TX_pin) ; // TxD pin is an output
|
||||
UCSR0B &= ~(1<<TXEN0) ;
|
||||
|
||||
SerialControl.speed = speed ;
|
||||
@ -615,20 +614,20 @@ void Serial_write( uint8_t byte )
|
||||
uint8_t temp1 ;
|
||||
uint8_t byteLo ;
|
||||
|
||||
#ifdef INVERT_SERIAL
|
||||
byte = ~byte ;
|
||||
#endif
|
||||
#ifdef INVERT_SERIAL
|
||||
byte = ~byte ;
|
||||
#endif
|
||||
|
||||
byteLo = byte ;
|
||||
byteLo >>= 7 ; // Top bit
|
||||
if ( SerialControl.speed == SPEED_100K )
|
||||
{
|
||||
#ifdef INVERT_SERIAL
|
||||
byteLo |= 0x02 ; // Parity bit
|
||||
#else
|
||||
byteLo |= 0xFC ; // Stop bits
|
||||
#endif
|
||||
// calc parity
|
||||
#ifdef INVERT_SERIAL
|
||||
byteLo |= 0x02 ; // Parity bit
|
||||
#else
|
||||
byteLo |= 0xFC ; // Stop bits
|
||||
#endif
|
||||
// calc parity
|
||||
temp = byte ;
|
||||
temp >>= 4 ;
|
||||
temp = byte ^ temp ;
|
||||
@ -639,21 +638,21 @@ void Serial_write( uint8_t byte )
|
||||
temp1 <<= 1 ;
|
||||
temp ^= temp1 ;
|
||||
temp &= 0x02 ;
|
||||
#ifdef INVERT_SERIAL
|
||||
byteLo ^= temp ;
|
||||
#else
|
||||
byteLo |= temp ;
|
||||
#endif
|
||||
#ifdef INVERT_SERIAL
|
||||
byteLo ^= temp ;
|
||||
#else
|
||||
byteLo |= temp ;
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
byteLo |= 0xFE ; // Stop bit
|
||||
}
|
||||
byte <<= 1 ;
|
||||
#ifdef INVERT_SERIAL
|
||||
byte |= 1 ; // Start bit
|
||||
#endif
|
||||
uint8_t next = (SerialControl.head + 2) & 0x3f ;
|
||||
#ifdef INVERT_SERIAL
|
||||
byte |= 1 ; // Start bit
|
||||
#endif
|
||||
uint8_t next = (SerialControl.head + 2) & 0x3f ;
|
||||
if ( next != SerialControl.tail )
|
||||
{
|
||||
SerialControl.data[SerialControl.head] = byte ;
|
||||
@ -671,11 +670,11 @@ void resumeBashSerial()
|
||||
{
|
||||
sei() ;
|
||||
// Start the transmission here
|
||||
#ifdef INVERT_SERIAL
|
||||
GPIOR2 = 0 ;
|
||||
#else
|
||||
GPIOR2 = 0x01 ;
|
||||
#endif
|
||||
#ifdef INVERT_SERIAL
|
||||
GPIOR2 = 0 ;
|
||||
#else
|
||||
GPIOR2 = 0x01 ;
|
||||
#endif
|
||||
if ( SerialControl.speed == SPEED_100K )
|
||||
{
|
||||
GPIOR1 = 1 ;
|
||||
@ -706,13 +705,9 @@ ISR(TIMER0_COMPA_vect)
|
||||
uint8_t byte ;
|
||||
byte = GPIOR0 ;
|
||||
if ( byte & 0x01 )
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port |= _BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_on;
|
||||
else
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port &= ~_BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_off;
|
||||
byte /= 2 ; // Generates shorter code than byte >>= 1
|
||||
GPIOR0 = byte ;
|
||||
if ( --GPIOR1 == 0 )
|
||||
@ -731,13 +726,9 @@ ISR(TIMER0_COMPB_vect)
|
||||
uint8_t byte ;
|
||||
byte = GPIOR2 ;
|
||||
if ( byte & 0x01 )
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port |= _BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_on;
|
||||
else
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port &= ~_BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_off;
|
||||
byte /= 2 ; // Generates shorter code than byte >>= 1
|
||||
GPIOR2 = byte ;
|
||||
if ( --GPIOR1 == 0 )
|
||||
@ -786,13 +777,9 @@ ISR(TIMER0_OVF_vect)
|
||||
byte = GPIOR2 ;
|
||||
}
|
||||
if ( byte & 0x01 )
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port |= _BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_on;
|
||||
else
|
||||
{
|
||||
TELEMETRY_SERIAL_TX_port &= ~_BV(TELEMETRY_SERIAL_TX_pin);
|
||||
}
|
||||
SERIAL_TX_off;
|
||||
byte /= 2 ; // Generates shorter code than byte >>= 1
|
||||
if ( GPIOR1 > 2 )
|
||||
{
|
||||
|
||||
@ -152,7 +152,7 @@ const PPM_Parameters PPM_prot[15]= {
|
||||
/* 3 */ {MODE_FRSKYD, 0 , 0 , P_HIGH , NO_AUTOBIND , 40 }, // option=fine freq tuning
|
||||
/* 4 */ {MODE_HISKY , Hisky , 0 , P_HIGH , NO_AUTOBIND , 0 },
|
||||
/* 5 */ {MODE_V2X2 , 0 , 0 , P_HIGH , NO_AUTOBIND , 0 },
|
||||
/* 6 */ {MODE_DSM , DSM2_22 , 0 , P_HIGH , NO_AUTOBIND , 2 }, // option=2=6 channels @ 22ms
|
||||
/* 6 */ {MODE_DSM , DSM2_22 , 0 , P_HIGH , NO_AUTOBIND , 6 }, // option=6 channels @ 22ms
|
||||
/* 7 */ {MODE_DEVO , 0 , 0 , P_HIGH , NO_AUTOBIND , 0 },
|
||||
/* 8 */ {MODE_YD717 , YD717 , 0 , P_HIGH , NO_AUTOBIND , 0 },
|
||||
/* 9 */ {MODE_KN , WLTOYS , 0 , P_HIGH , NO_AUTOBIND , 0 },
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user