/*********************************************************
Multiprotocol Tx code
by Midelic and Pascal Langer(hpnuts)
http://www.rcgroups.com/forums/showthread.php?t=2165676
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/edit/master/README.md
Thanks to PhracturedBlue, Hexfet, Goebish, Victzh and all protocol developers
Ported from deviation firmware
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
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Multiprotocol is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see .
*/
#include
#include
#include "Multiprotocol.h"
//#define DEBUG_TX
//Multiprotocol module configuration file
#include "_Config.h"
//Global constants/variables
uint32_t MProtocol_id;//tx id,
uint32_t MProtocol_id_master;
uint32_t Model_fixed_id=0;
uint32_t fixed_id;
uint8_t cyrfmfg_id[6];//for dsm2 and devo
uint32_t blink=0;
//
uint16_t counter;
uint8_t channel;
uint8_t packet[40];
#define NUM_CHN 16
// Servo data
uint16_t Servo_data[NUM_CHN];
uint8_t Servo_AUX;
// Protocol variables
uint8_t rx_tx_addr[5];
uint8_t phase;
uint16_t bind_counter;
uint8_t bind_phase;
uint8_t binding_idx;
uint16_t packet_period;
uint8_t packet_count;
uint8_t packet_sent;
uint8_t packet_length;
uint8_t hopping_frequency[23];
uint8_t *hopping_frequency_ptr;
uint8_t hopping_frequency_no=0;
uint8_t rf_ch_num;
uint8_t throttle, rudder, elevator, aileron;
uint8_t flags;
uint16_t crc;
//
uint16_t state;
uint8_t len;
uint8_t RX_num;
#if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO)
uint8_t calData[48][3];
#endif
//Channel mapping for protocols
const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
//const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
//const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
// Mode_select variables
uint8_t mode_select;
uint8_t protocol_flags=0,protocol_flags2=0;
// PPM variable
volatile uint16_t PPM_data[NUM_CHN];
// Serial variables
#define RXBUFFER_SIZE 25
#define TXBUFFER_SIZE 20
volatile uint8_t rx_buff[RXBUFFER_SIZE];
volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
volatile uint8_t tx_buff[TXBUFFER_SIZE];
volatile uint8_t idx = 0;
//Serial protocol
uint8_t sub_protocol;
uint8_t option;
uint8_t cur_protocol[2];
uint8_t prev_protocol=0;
// Telemetry
#define MAX_PKT 27
uint8_t pkt[MAX_PKT];//telemetry receiving packets
#if defined(TELEMETRY)
#if defined DSM2_CYRF6936_INO
#define DSM_TELEMETRY
#endif
#if defined FRSKYX_CC2500_INO
#define SPORT_TELEMETRY
#endif
#if defined FRSKY_CC2500_INO
#define HUB_TELEMETRY
#endif
uint8_t pktt[MAX_PKT];//telemetry receiving packets
volatile uint8_t tx_head=0;
volatile uint8_t tx_tail=0;
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;
#endif
// Callback
typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer
void_function_t remote_callback = 0;
static void CheckTimer(uint16_t (*cb)(void));
// Init
void setup()
{
#ifdef XMEGA
PORTD.OUTSET = 0x17 ;
PORTD.DIRSET = 0xB2 ;
PORTD.DIRCLR = 0x4D ;
PORTD.PIN0CTRL = 0x18 ;
PORTD.PIN2CTRL = 0x18 ;
PORTE.DIRSET = 0x01 ;
PORTE.DIRCLR = 0x02 ;
PORTE.OUTSET = 0x01 ;
for ( uint8_t count = 0 ; count < 20 ; count += 1 )
asm("nop") ;
PORTE.OUTCLR = 0x01 ;
#else
// General pinout
DDRD = (1<B2,B3,B4,C0
mode_select = MODE_SERIAL ;
#else
mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
#endif
//**********************************
//mode_select=1; // here to test PPM
//**********************************
// Update LED
LED_OFF;
LED_SET_OUTPUT;
// Read or create protocol id
MProtocol_id_master=random_id(10,false);
//Init RF modules
#ifdef CC2500_INSTALLED
CC2500_Reset();
#endif
#ifdef A7105_INSTALLED
A7105_Reset();
#endif
#ifdef CYRF6936_INSTALLED
CYRF_Reset();
#endif
#ifdef NFR24L01_INSTALLED
NRF24L01_Reset();
#endif
//Protocol and interrupts initialization
if(mode_select != MODE_SERIAL)
{ // PPM
mode_select--;
cur_protocol[0] = PPM_prot[mode_select].protocol;
sub_protocol = PPM_prot[mode_select].sub_proto;
RX_num = PPM_prot[mode_select].rx_num;
MProtocol_id = RX_num + MProtocol_id_master;
option = PPM_prot[mode_select].option;
if(PPM_prot[mode_select].power) POWER_FLAG_on;
if(PPM_prot[mode_select].autobind) AUTOBIND_FLAG_on;
mode_select++;
protocol_init();
#ifndef XMEGA
//Configure PPM interrupt
EICRA |=(1<PPM_SWITCH)
Servo_AUX|=1< led on
else
blink+=BLINK_BIND_TIME; //blink fastly during binding
LED_TOGGLE;
}
}
// Protocol scheduler
static void CheckTimer(uint16_t (*cb)(void))
{
uint16_t next_callback,diff;
#ifdef XMEGA
if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
{
cli(); // disable global int
TCC1.CCA = TCC1.CNT ; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int
}
else
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
#else
if( (TIFR1 & (1<4000)
{ // start to wait here as much as we can...
next_callback=next_callback-2000;
cli(); // disable global int
#ifdef XMEGA
TCC1.CCA +=2000*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
sei(); // enable global int
while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
#else
OCR1A+=2000*2; // set compare A for callback
TIFR1=(1<32000)
{ // next_callback should not be more than 32767 so we will wait here...
delayMicroseconds(next_callback-2000);
next_callback=2000;
}
cli(); // disable global int
#ifdef XMEGA
TCC1.CCA = TCC1.CNT + next_callback*2; // set compare A for callback
sei(); // enable global int
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A flag
#else
OCR1A=TCNT1+next_callback*2; // set compare A for callback
sei(); // enable global int
TIFR1=(1<>4)& 0x07; //subprotocol no (0-7) bits 4-6
RX_num=rx_ok_buff[1]& 0x0F;
MProtocol_id=MProtocol_id_master+RX_num; //personalized RX bind + rx num // rx_num bits 0---3
}
else
if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) ) // Bind flag has been set
CHANGE_PROTOCOL_FLAG_on; //restart protocol with bind
cur_protocol[0] = rx_ok_buff[0]; //store current protocol
// decode channel values
volatile uint8_t *p=rx_ok_buff+2;
uint8_t dec=-3;
for(uint8_t i=0;i=8)
{
dec-=8;
p++;
}
p++;
Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860; //value range 860<->2140 -125%<->+125%
}
RX_FLAG_off; //data has been processed
}
static void module_reset()
{
if(remote_callback)
{ // previous protocol loaded
remote_callback = 0;
switch(prev_protocol)
{
case MODE_FLYSKY:
case MODE_HUBSAN:
A7105_Reset();
break;
case MODE_FRSKY:
case MODE_FRSKYX:
case MODE_SFHSS:
CC2500_Reset();
break;
case MODE_DSM2:
case MODE_DEVO:
case MODE_J6PRO:
CYRF_Reset();
break;
default: // MODE_HISKY, MODE_V2X2, MODE_YD717, MODE_KN, MODE_SYMAX, MODE_SLT, MODE_CX10, MODE_CG023, MODE_BAYANG, MODE_ESKY, MODE_MT99XX, MODE_MJXQ, MODE_SHENQI, MODE_FY326, MODE_FQ777
NRF24L01_Reset();
break;
}
}
}
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;
long y ;
x -= in_min ;
y = out_max - out_min ;
y *= x ;
x = y / (in_max - in_min) ;
return x + out_min ;
}
// Channel value is converted to 8bit values full scale
uint8_t convert_channel_8b(uint8_t num)
{
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,0,255));
}
// Channel value is converted to 8bit values to provided values scale
uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
{
return (uint8_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,min,max));
}
// Channel value is converted sign + magnitude 8bit values
uint8_t convert_channel_s8b(uint8_t num)
{
uint8_t ch;
ch = convert_channel_8b(num);
return (ch < 128 ? 127-ch : ch);
}
// Channel value is converted to 10bit values
uint16_t convert_channel_10b(uint8_t num)
{
return (uint16_t) (map(limit_channel_100(num),PPM_MIN_100,PPM_MAX_100,1,1023));
}
// Channel value is multiplied by 1.5
uint16_t convert_channel_frsky(uint8_t num)
{
return Servo_data[num] + Servo_data[num]/2;
}
// Channel value is converted for HK310
void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
{
uint16_t temp=0xFFFF-(4*Servo_data[num])/3;
*low=(uint8_t)(temp&0xFF);
*high=(uint8_t)(temp>>8);
}
// Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch)
{
if(Servo_data[ch]>PPM_MAX_100)
return PPM_MAX_100;
else
if (Servo_data[ch]=TXBUFFER_SIZE)
tx_head=0;
tx_buff[tx_head]=data;
#ifdef XMEGA
USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
#else
UCSR0B |= (1<
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0A = 0 ; // Clear X2 bit
//Set frame format to 8 data bits, even parity, 2 stop bits
UCSR0C = (1<> 24) & 0xFF;
rx_tx_addr[1] = (id >> 16) & 0xFF;
rx_tx_addr[2] = (id >> 8) & 0xFF;
rx_tx_addr[3] = (id >> 0) & 0xFF;
rx_tx_addr[4] = 0xC1; // for YD717: always uses first data port
}
static uint32_t random_id(uint16_t adress, uint8_t create_new)
{
uint32_t id;
uint8_t txid[4];
if (eeprom_read_byte((uint8_t*)(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));
}
else
{ // if not generate a random ID
randomSeed((uint32_t)analogRead(A6)<<10|analogRead(A7));//seed
//
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.
}
return id;
}
/********************/
/** SPI routines **/
/********************/
void SPI_Write(uint8_t command)
{
uint8_t n=8;
SCK_off;//SCK start low
SDI_off;
do
{
if(command&0x80)
SDI_on;
else
SDI_off;
SCK_on;
command = command << 1;
SCK_off;
}
while(--n) ;
SDI_on;
}
uint8_t SPI_Read(void)
{
uint8_t result;
uint8_t i;
for(i=0;i<8;i++)
{
result=result<<1;
if(SDO_1)
result |= 0x01;
SCK_on;
NOP();
SCK_off;
}
return result;
}
/************************************/
/** Arduino replacement routines **/
/************************************/
// replacement millis() and micros()
// These work polled, no interrupts
// micros() MUST be called at least once every 32 milliseconds
uint16_t MillisPrecount ;
uint16_t lastTimerValue ;
uint32_t TotalMicros ;
uint32_t TotalMillis ;
uint8_t Correction ;
uint32_t micros()
{
uint16_t elapsed ;
uint8_t millisToAdd ;
uint8_t oldSREG = SREG ;
cli() ;
uint16_t time = TCNT1 ; // Read timer 1
SREG = oldSREG ;
elapsed = time - lastTimerValue ;
elapsed += Correction ;
Correction = elapsed & 0x01 ;
elapsed >>= 1 ;
uint32_t ltime = TotalMicros ;
ltime += elapsed ;
cli() ;
TotalMicros = ltime ; // Done this way for RPM to work correctly
lastTimerValue = time ;
SREG = oldSREG ; // Still valid from above
elapsed += MillisPrecount;
millisToAdd = 0 ;
if ( elapsed > 15999 )
{
millisToAdd = 16 ;
elapsed -= 16000 ;
}
if ( elapsed > 7999 )
{
millisToAdd += 8 ;
elapsed -= 8000 ;
}
if ( elapsed > 3999 )
{
millisToAdd += 4 ;
elapsed -= 4000 ;
}
if ( elapsed > 1999 )
{
millisToAdd += 2 ;
elapsed -= 2000 ;
}
if ( elapsed > 999 )
{
millisToAdd += 1 ;
elapsed -= 1000 ;
}
TotalMillis += millisToAdd ;
MillisPrecount = elapsed ;
return TotalMicros ;
}
uint32_t millis()
{
micros() ;
return TotalMillis ;
}
void delay(unsigned long ms)
{
uint16_t start = (uint16_t)micros();
uint16_t lms = ms ;
while (lms > 0) {
if (((uint16_t)micros() - start) >= 1000) {
lms--;
start += 1000;
}
}
}
/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */
void delayMicroseconds(unsigned int us)
{
// calling avrlib's delay_us() function with low values (e.g. 1 or
// 2 microseconds) gives delays longer than desired.
//delay_us(us);
// for the 16 MHz clock on most Arduino boards
// for a one-microsecond delay, simply return. the overhead
// of the function call yields a delay of approximately 1 1/8 us.
if (--us == 0)
return;
// the following loop takes a quarter of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2;
// account for the time taken in the preceeding commands.
us -= 2;
// busy wait
__asm__ __volatile__ (
"1: sbiw %0,1" "\n\t" // 2 cycles
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
);
}
void init()
{
// this needs to be called before setup() or some functions won't
// work there
sei();
}
/**************************/
/**************************/
/** Interrupt routines **/
/**************************/
/**************************/
//PPM
#ifdef XMEGA
ISR(PORTD_INT0_vect)
#else
ISR(INT1_vect)
#endif
{ // Interrupt on PPM pin
static int8_t chan=-1;
static uint16_t Prev_TCNT1=0;
uint16_t Cur_TCNT1;
#ifdef XMEGA
Cur_TCNT1 = TCC1.CNT - Prev_TCNT1 ; // Capture current Timer1 value
#else
Cur_TCNT1=TCNT1-Prev_TCNT1; // Capture current Timer1 value
#endif
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)
}
else
if(chan!=-1) // need to wait for start of frame
{ //servo values between 500us and 2420us will end up here
uint16_t a = Cur_TCNT1>>1;
if(aPPM_MAX) a=PPM_MAX;
PPM_data[chan]=a;
if(chan++>=NUM_CHN)
chan=-1; // don't accept any new channels
}
Prev_TCNT1+=Cur_TCNT1;
}
//Serial RX
#ifdef XMEGA
ISR(USARTC0_RXC_vect)
#else
ISR(USART_RX_vect)
#endif
{ // RX interrupt
#ifdef XMEGA
if((USARTC0.STATUS & 0x1C)==0) // Check frame error, data overrun and parity error
#else
if((UCSR0A&0x1C)==0) // Check frame error, data overrun and parity error
#endif
{ // received byte is ok to process
if(idx==0)
{ // Let's try to sync at this point
#ifdef XMEGA
if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
#else
if(UDR0==0x55) // If 1st byte is 0x55 it looks ok
#endif
{
idx++;
#ifdef XMEGA
TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
TCC1.INTCTRLB = (TCC1.INTCTRLB & 0xF3) | 0x04 ; // enable interrupt on compare B match
#else
OCR1B=TCNT1+6500L; // Full message should be received within timer of 3250us
TIFR1=(1<RXBUFFER_SIZE)
{ // A full frame has been received
#ifdef XMEGA
TCC1.INTCTRLB &=0xF3; // disable interrupt on compare B match
#else
TIMSK1 &=~(1<=TXBUFFER_SIZE)//head
tx_tail=0;
#ifdef XMEGA
USARTC0.DATA = tx_buff[tx_tail] ;
#else
UDR0=tx_buff[tx_tail];
#endif
}
if (tx_tail == tx_head)
#ifdef XMEGA
USARTC0.CTRLA &= ~0x03 ;
#else
UCSR0B &= ~(1<