gomaomao/DIY-Multiprotocol-TX-Module
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Enhanced serial protocol

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Protocol 0..255
RX_Num 0..63
Disable channel mapping -> not implemented yet
Disable telemetry
Data 0-9 bytes
This commit is contained in:
pascallanger
2019-10-07 19:06:00 +02:00
parent e3a5b2825d
commit ff96146b04
8 changed files with 221 additions and 204 deletions
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208
Multiprotocol/Multiprotocol.ino
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@@ -162,10 +162,12 @@ uint8_t RX_num;
//Serial RX variables
#define BAUD 100000
#define RXBUFFER_SIZE 34
#define RXBUFFER_SIZE 36 // 26+1+9
volatile uint8_t rx_buff[RXBUFFER_SIZE];
volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
volatile uint8_t discard_frame = 0;
volatile uint8_t rx_idx=0, rx_len=0;
// Telemetry
#define TELEMETRY_BUFFER_SIZE 30
@@ -664,7 +666,8 @@ uint8_t Update_All()
#if ( !( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) )
if( (protocol == PROTO_FRSKYX_RX) || (protocol == PROTO_SCANNER) || (protocol==PROTO_FRSKYD) || (protocol==PROTO_BAYANG) || (protocol==PROTO_NCC1701) || (protocol==PROTO_BUGS) || (protocol==PROTO_BUGSMINI) || (protocol==PROTO_HUBSAN) || (protocol==PROTO_AFHDS2A) || (protocol==PROTO_FRSKYX) || (protocol==PROTO_DSM) || (protocol==PROTO_CABELL) || (protocol==PROTO_HITEC))
#endif
TelemetryUpdate();
if(IS_DISABLE_TELEM_off)
TelemetryUpdate();
#endif
#ifdef ENABLE_BIND_CH
if(IS_AUTOBIND_FLAG_on && IS_BIND_CH_PREV_off && Channel_data[BIND_CH-1]>CHANNEL_MAX_COMMAND && Channel_data[THROTTLE]<(CHANNEL_MIN_100+50))
@@ -891,7 +894,7 @@ inline void tx_resume()
{
#ifdef TELEMETRY
// Resume telemetry by enabling transmitter interrupt
if(!IS_TX_PAUSE_on)
if(IS_TX_PAUSE_off)
{
#ifdef ORANGE_TX
cli() ;
@@ -945,6 +948,7 @@ static void protocol_init()
#endif
TX_RX_PAUSE_off;
TX_MAIN_PAUSE_off;
tx_resume();
#endif
//Set global ID and rx_tx_addr
@@ -1408,6 +1412,11 @@ void update_serial_data()
memcpy((void*)(rx_ok_buff+4),(void*)(rx_ok_buff+4+11),11); // reassign channels 9-16 to 1-8
}
#endif
#ifdef BONI // Extremely dangerous, do not enable this!!! This is really for a special case...
if(CH14_SW)
rx_ok_buff[2]=(rx_ok_buff[2]&0xF0)|((rx_ok_buff[2]+1)&0x0F);
#endif
if(rx_ok_buff[1]&0x20) //check range
RANGE_FLAG_on;
else
@@ -1466,23 +1475,21 @@ void update_serial_data()
failsafe=true;
rx_ok_buff[0]&=0xFD; //remove the failsafe flag
FAILSAFE_VALUES_on; //failsafe data has been received
debugln("Failsafe received");
}
#endif
#ifdef SERIAL_DATA_ENABLE
bool data=false;
if(rx_ok_buff[0]&0x20)
{ // Packet has additional data
data=true;
rx_ok_buff[0]&=0xDF; //remove the data flag
}
#endif
#ifdef BONI
if(CH14_SW)
rx_ok_buff[2]=(rx_ok_buff[2]&0xF0)|((rx_ok_buff[2]+1)&0x0F); // Extremely dangerous, do not enable this!!! This is really for a special case...
#endif
DISABLE_CH_MAP_off;
DISABLE_TELEM_off;
if(rx_len>26) // Additional protocol numbers and RX_Num available -> store them in rx_ok_buff[0]
{
rx_ok_buff[0]=(rx_ok_buff[26]&0xF0) | (rx_ok_buff[0]&0x0F);
if(rx_ok_buff[26]&0x08)
DISABLE_CH_MAP_on;
if(rx_ok_buff[26]&0x04)
DISABLE_TELEM_on;
}
if( (rx_ok_buff[0] != cur_protocol[0]) || ((rx_ok_buff[1]&0x5F) != (cur_protocol[1]&0x5F)) || ( (rx_ok_buff[2]&0x7F) != (cur_protocol[2]&0x7F) ) )
{ // New model has been selected
CHANGE_PROTOCOL_FLAG_on; //change protocol
@@ -1494,10 +1501,12 @@ void update_serial_data()
protocol=rx_ok_buff[1]&0x1F; //protocol no (0-31)
if(!(rx_ok_buff[0]&1))
protocol+=32; //protocol no (0-63)
if(!(rx_ok_buff[0]&4))
protocol+=64; //protocol no (0-127)
if(rx_len>26)
protocol|=rx_ok_buff[26]&0xC0; //protocol no (0-255)
sub_protocol=(rx_ok_buff[2]>>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[2]& 0x0F; // rx_num bits 0-3
RX_num=rx_ok_buff[2]& 0x0F; //rx_num no (0-15)
if(rx_len>26)
RX_num|=rx_ok_buff[26]&0x30; //rx_num no (0-63)
}
else
if( ((rx_ok_buff[1]&0x80)!=0) && ((cur_protocol[1]&0x80)==0) ) // Bind flag has been set
@@ -1521,7 +1530,7 @@ void update_serial_data()
for(uint8_t i=0;i<3;i++)
cur_protocol[i] = rx_ok_buff[i];
// decode channel/failsafe values
// decode channel/failsafe values
volatile uint8_t *p=rx_ok_buff+3;
uint8_t dec=-3;
for(uint8_t i=0;i<NUM_CHN;i++)
@@ -1542,48 +1551,45 @@ void update_serial_data()
Channel_data[i]=temp; //value range 0..2047, 0=-125%, 2047=+125%
}
#ifdef SERIAL_DATA_ENABLE
if(data)
{ // Data available for the current protocol
#ifdef SPORT_SEND
if(protocol==PROTO_FRSKYX)
if(rx_len>27)
{ // Data available for the current protocol
#ifdef SPORT_SEND
if(protocol==PROTO_FRSKYX && rx_len==35)
{//Protocol waiting for 8 bytes
#define BYTE_STUFF 0x7D
#define STUFF_MASK 0x20
//debug("SPort_in: ");
SportData[SportTail]=0x7E;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
SportData[SportTail]=rx_ok_buff[27]&0x1F;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
for(uint8_t i=28;i<28+7;i++)
{
#define BYTE_STUFF 0x7D
#define STUFF_MASK 0x20
//TODO detect overrun of the buffer before writing...
//debug("SPort_in: ");
SportData[SportTail]=0x7E;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
SportData[SportTail]=rx_ok_buff[26]&0x1F;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
for(uint8_t i=27;i<27+7;i++)
{
if(rx_ok_buff[i]==BYTE_STUFF)
{//stuff
SportData[SportTail]=BYTE_STUFF;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
SportData[SportTail]=rx_ok_buff[i]^STUFF_MASK;
}
else
SportData[SportTail]=rx_ok_buff[i];
//debug("%02X ",SportData[SportTail]);
if(rx_ok_buff[i]==BYTE_STUFF)
{//stuff
SportData[SportTail]=BYTE_STUFF;
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
SportData[SportTail]=rx_ok_buff[i]^STUFF_MASK;
}
uint8_t used = SportTail;
if ( SportHead > SportTail )
used += MAX_SPORT_BUFFER - SportHead ;
else
used -= SportHead ;
if ( used >= MAX_SPORT_BUFFER-(MAX_SPORT_BUFFER>>2) )
{
DATA_BUFFER_LOW_on;
SEND_MULTI_STATUS_on; //Send Multi Status ASAP to inform the TX
debugln("Low buf=%d,h=%d,t=%d",used,SportHead,SportTail);
}
SportData[SportTail]=rx_ok_buff[i];
//debug("%02X ",SportData[SportTail]);
SportTail = (SportTail+1) & (MAX_SPORT_BUFFER-1);
}
#endif
}
#endif // SERIAL_DATA_ENABLE
uint8_t used = SportTail;
if ( SportHead > SportTail )
used += MAX_SPORT_BUFFER - SportHead ;
else
used -= SportHead ;
if ( used >= MAX_SPORT_BUFFER-(MAX_SPORT_BUFFER>>2) )
{
DATA_BUFFER_LOW_on;
SEND_MULTI_STATUS_on; //Send Multi Status ASAP to inform the TX
debugln("Low buf=%d,h=%d,t=%d",used,SportHead,SportTail);
}
}
#endif //SPORT_SEND
}
RX_DONOTUPDATE_off;
#ifdef ORANGE_TX
@@ -1592,7 +1598,9 @@ void update_serial_data()
UCSR0B &= ~_BV(RXCIE0); // RX interrupt disable
#endif
if(IS_RX_MISSED_BUFF_on) // If the buffer is still valid
{ memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
{
rx_len=rx_idx;
memcpy((void*)rx_ok_buff,(const void*)rx_buff,rx_len);// Duplicate the buffer
RX_FLAG_on; // data to be processed next time...
RX_MISSED_BUFF_off;
}
@@ -1601,10 +1609,6 @@ void update_serial_data()
#else
UCSR0B |= _BV(RXCIE0) ; // RX interrupt enable
#endif
#ifdef FAILSAFE_ENABLE
if(failsafe)
debugln("RX_FS:%d,%d,%d,%d",Failsafe_data[0],Failsafe_data[1],Failsafe_data[2],Failsafe_data[3]);
#endif
}
void modules_reset()
@@ -1940,7 +1944,6 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
ISR(USART_RX_vect)
#endif
{ // RX interrupt
static uint8_t idx=0,len=26;
#ifdef ORANGE_TX
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
#elif defined STM32_BOARD
@@ -1951,69 +1954,53 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
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)
if(rx_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_idx=0;discard_frame=0;
rx_buff[0]=UDR0;
#ifdef SERIAL_DATA_ENABLE
#ifdef FAILSAFE_ENABLE
if((rx_buff[0]&0xD8)==0x50) // If 1st byte is 0x74, 0x75, 0x76, 0x77, 0x54, 0x55, 0x56 or 0x57 it looks ok
#else
if((rx_buff[0]&0xDA)==0x50) // If 1st byte is 0x74, 0x75, 0x54 or 0x55 it looks ok
#endif
#ifdef FAILSAFE_ENABLE
if((rx_buff[0]&0xFC)==0x54) // If 1st byte is 0x54, 0x55, 0x56 or 0x57 it looks ok
#else
#ifdef FAILSAFE_ENABLE
if((rx_buff[0]&0xF8)==0x50) // If 1st byte is 0x58, 0x54, 0x55, 0x56 or 0x57 it looks ok
#else
if((rx_buff[0]&0xFA)==0x50) // If 1st byte is 0x54 or 0x55 it looks ok
#endif
if((rx_buff[0]&0xFE)==0x54) // If 1st byte is 0x54 or 0x55 it looks ok
#endif
{
#ifdef SERIAL_DATA_ENABLE
if(rx_buff[0]&0x20)
len=34;
else
#endif
len=26;
TX_RX_PAUSE_on;
tx_pause();
#if defined STM32_BOARD
TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300; // Next byte should show up within 15??s=1.5 byte
TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300; // Next byte should show up within 15us=1.5 byte
TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC2IF; // Clear Timer2/Comp2 interrupt flag
TIMER2_BASE->DIER |= TIMER_DIER_CC2IE; // Enable Timer2/Comp2 interrupt
#else
OCR1B = TCNT1 + 300; // Next byte should show up within 15??s=1.5 byte
OCR1B = TCNT1 + 300; // Next byte should show up within 15us=1.5 byte
TIFR1 = OCF1B_bm ; // clear OCR1B match flag
SET_TIMSK1_OCIE1B ; // enable interrupt on compare B match
#endif
idx++;
rx_idx++;
}
}
else
{
rx_buff[idx++]=UDR0; // Store received byte
#if defined STM32_BOARD
TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300; // Next byte should show up within 15??s=1.5 byte
#else
OCR1B = TCNT1 + 300; // Next byte should show up within 15??s=1.5 byte
#endif
if(idx>=len)
{ // A full frame has been received
if(!IS_RX_DONOTUPDATE_on)
{ //Good frame received and main is not working on the buffer
memcpy((void*)rx_ok_buff,(const void*)rx_buff,len);// 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
if(rx_idx>=RXBUFFER_SIZE)
{
discard_frame=1; // Too many bytes being received...
debugln("RX frame too long");
}
else
{
rx_buff[rx_idx++]=UDR0; // Store received byte
#if defined STM32_BOARD
TIMER2_BASE->CCR2=TIMER2_BASE->CNT + 300; // Next byte should show up within 15us=1.5 byte
#else
OCR1B = TCNT1 + 300; // Next byte should show up within 15us=1.5 byte
#endif
}
}
}
else
{
idx=UDR0; // Dummy read
rx_idx=UDR0; // Dummy read
rx_idx=0;
discard_frame=1; // Error encountered discard full frame...
debugln("Bad frame RX");
}
@@ -2042,13 +2029,26 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
#endif
{ // Timer1 compare B interrupt
if(rx_idx>=26)
{ // A full frame has been received
if(!IS_RX_DONOTUPDATE_on)
{ //Good frame received and main is not working on the buffer
rx_len=rx_idx;
memcpy((void*)rx_ok_buff,(const void*)rx_buff,rx_idx); // Duplicate the buffer
RX_FLAG_on; // Flag for main to process servo data
}
else
RX_MISSED_BUFF_on; // Notify that rx_buff is good
}
else
debugln("RX frame too short");
discard_frame=1;
#ifdef STM32_BOARD
TIMER2_BASE->DIER &= ~TIMER_DIER_CC2IE; // Disable Timer2/Comp2 interrupt
debugln("Bad frame timer");
#else
CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match
#endif
TX_RX_PAUSE_off;
tx_resume();
}
#endif //ENABLE_SERIAL