/* 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 . */ // Check selected board type #ifndef XMEGA #if not defined(ARDUINO_AVR_PRO) && not defined(ARDUINO_AVR_MINI) #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 //****************** enum PROTOCOLS { MODE_SERIAL = 0, // Serial commands MODE_FLYSKY = 1, // =>A7105 MODE_HUBSAN = 2, // =>A7105 MODE_FRSKYD = 3, // =>CC2500 MODE_HISKY = 4, // =>NRF24L01 MODE_V2X2 = 5, // =>NRF24L01 MODE_DSM = 6, // =>CYRF6936 MODE_DEVO = 7, // =>CYRF6936 MODE_YD717 = 8, // =>NRF24L01 MODE_KN = 9, // =>NRF24L01 MODE_SYMAX = 10, // =>NRF24L01 MODE_SLT = 11, // =>NRF24L01 MODE_CX10 = 12, // =>NRF24L01 MODE_CG023 = 13, // =>NRF24L01 MODE_BAYANG = 14, // =>NRF24L01 MODE_FRSKYX = 15, // =>CC2500 MODE_ESKY = 16, // =>NRF24L01 MODE_MT99XX = 17, // =>NRF24L01 MODE_MJXQ = 18, // =>NRF24L01 MODE_SHENQI = 19, // =>NRF24L01 MODE_FY326 = 20, // =>NRF24L01 MODE_SFHSS = 21, // =>CC2500 MODE_J6PRO = 22, // =>CYRF6936 MODE_FQ777 = 23, // =>NRF24L01 MODE_ASSAN = 24, // =>NRF24L01 MODE_FRSKYV = 25, // =>CC2500 MODE_HONTAI = 26, // =>NRF24L01 MODE_OPENLRS = 27, // =>OpenLRS hardware }; enum Flysky { Flysky = 0, V9X9 = 1, V6X6 = 2, V912 = 3 }; enum Hisky { Hisky = 0, HK310 = 1 }; enum DSM { DSM2 = 0, DSMX = 1 }; enum { DSM2_22 = 0, DSM2_11 = 1, DSMX_22 = 2, DSMX_11 = 3, AUTO = 4 }; enum YD717 { YD717 = 0, SKYWLKR = 1, SYMAX4 = 2, XINXUN = 3, NIHUI = 4 }; enum KN { WLTOYS = 0, FEILUN = 1 }; enum SYMAX { SYMAX = 0, SYMAX5C = 1 }; enum CX10 { CX10_GREEN = 0, CX10_BLUE = 1, // also compatible with CX10-A, CX12 DM007 = 2, Q282 = 3, JC3015_1 = 4, JC3015_2 = 5, MK33041 = 6, Q242 = 7 }; enum CG023 { CG023 = 0, YD829 = 1, H8_3D = 2 }; enum MT99XX { MT99 = 0, H7 = 1, YZ = 2, LS = 3 }; enum MJXQ { WLH08 = 0, X600 = 1, X800 = 2, H26D = 3, E010 = 4 }; enum FRSKYX { CH_16 = 0, CH_8 = 1, }; enum HONTAI { FORMAT_HONTAI = 0, FORMAT_JJRCX1 = 1, FORMAT_X5C1 = 2 }; #define NONE 0 #define P_HIGH 1 #define P_LOW 0 #define AUTOBIND 1 #define NO_AUTOBIND 0 struct PPM_Parameters { uint8_t protocol : 6; uint8_t sub_proto : 3; uint8_t rx_num : 4; uint8_t power : 1; uint8_t autobind : 1; uint8_t option; }; //******************* //*** 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 //******************* //*** Pinouts *** //******************* #define LED_pin 5 //D13 = PB5 #define BIND_pin 5 //D13 = PB5 #define PPM_pin 3 //D3 = PD3 #ifdef XMEGA #define SDI_pin 6 //SDIO-D6 #else #define SDI_pin 5 //D5 = PD5 #endif #define SCLK_pin 4 //D4 = PD4 #define A7105_CS_pin 2 //D2 = PD2 #define SDO_pin 6 //D6 = PD6 #define CC25_CSN_pin 7 //D7 = PD7 #define NRF_CSN_pin 0 //D8 = PB0 #define CYRF_CSN_pin 1 //D9 = PB1 #define CTRL1_pin 1 //A1 = PC1 #define CTRL2_pin 2 //A2 = PC2 // #ifdef XMEGA #define CTRL1_on #define CTRL1_off #define CTRL2_on #define CTRL2_off #else #define CTRL1_on PORTC |= _BV(1) #define CTRL1_off PORTC &= ~_BV(1) #define CTRL2_on PORTC |= _BV(2) #define CTRL2_off PORTC &= ~_BV(2) #endif // #ifdef XMEGA #define A7105_CS_on PORTD.OUTSET = _BV(4) //D4 #define A7105_CS_off PORTD.OUTCLR = _BV(4) //D4 #else #define A7105_CS_on PORTD |= _BV(2) //D2 #define A7105_CS_off PORTD &= ~_BV(2) //D2 #endif // #ifdef XMEGA #define SCK_on PORTD.OUTSET = _BV(7) //D7 #define SCK_off PORTD.OUTCLR = _BV(7) //D7 #else #define SCK_on PORTD |= _BV(4) //D4 #define SCK_off PORTD &= ~_BV(4) //D4 #endif // #ifdef XMEGA #define SDI_on PORTD.OUTSET = _BV(5) //D5 #define SDI_off PORTD.OUTCLR = _BV(5) //D5 #else #define SDI_on PORTD |= _BV(5) //D5 #define SDI_off PORTD &= ~_BV(5) //D5 #endif // #ifdef XMEGA #define SDI_1 (PORTD.IN & _BV(SDI_pin)) == _BV(SDI_pin) //D5 #define SDI_0 (PORTD.IN & _BV(SDI_pin)) == 0x00 //D5 #else #define SDI_1 (PIND & _BV(SDI_pin)) == _BV(SDI_pin) //D5 #define SDI_0 (PIND & _BV(SDI_pin)) == 0x00 //D5 #endif // #define SDI_SET_INPUT DDRD &= ~_BV(5) //D5 #define SDI_SET_OUTPUT DDRD |= _BV(5) //D5 // #ifdef XMEGA #define CC25_CSN_on PORTD.OUTSET = _BV(7) //D7 #define CC25_CSN_off PORTD.OUTCLR = _BV(7) //D7 #else #define CC25_CSN_on PORTD |= _BV(7) //D7 #define CC25_CSN_off PORTD &= ~_BV(7) //D7 #endif // #ifdef XMEGA #define NRF_CSN_on #define NRF_CSN_off #define NRF_CE_on #define NRF_CE_off #else #define NRF_CSN_on PORTB |= _BV(0) //D8 #define NRF_CSN_off PORTB &= ~_BV(0) //D8 #define NRF_CE_on #define NRF_CE_off #endif // #ifdef XMEGA #define CYRF_CSN_on PORTD.OUTSET = _BV(4) #define CYRF_CSN_off PORTD.OUTCLR = _BV(4) #else #define CYRF_CSN_on PORTB |= _BV(1) //D9 #define CYRF_CSN_off PORTB &= ~_BV(1) //D9 #define CYRF_RST_HI PORTC |= _BV(5) //A5 #define CYRF_RST_LO PORTC &= ~_BV(5) //A5 #define CYRF_RST_pin 5 #endif // #ifdef XMEGA #define SDO_1 (PORTD.IN & _BV(SDO_pin)) == _BV(SDO_pin) //D6 #define SDO_0 (PORTD.IN & _BV(SDO_pin)) == 0x00 //D6 #else #define SDO_1 (PIND & _BV(SDO_pin)) == _BV(SDO_pin) //D6 #define SDO_0 (PIND & _BV(SDO_pin)) == 0x00 //D6 #endif // // // LED #ifdef XMEGA #define LED_ON PORTD.OUTCLR = _BV(1) #define LED_OFF PORTD.OUTSET = _BV(1) #define LED_TOGGLE PORTD.OUTTGL = _BV(1) #define LED_SET_OUTPUT PORTD.DIRSET = _BV(1) #define IS_LED_on ( (PORTD.OUT & _BV(1)) != 0x00 ) #else #define LED_ON PORTB |= _BV(5) #define LED_OFF PORTB &= ~_BV(5) #define LED_TOGGLE PORTB ^= _BV(5) #define LED_SET_OUTPUT DDRB |= _BV(5) #define IS_LED_on ( (PORTB & _BV(5)) != 0x00 ) #endif //BIND #ifdef XMEGA #define IS_BIND_BUTTON_on ( (PORTD.IN & _BV(2)) == 0x00 ) #else #define BIND_SET_INPUT DDRB &= ~_BV(5) #define BIND_SET_PULLUP PORTB |= _BV(5) #define IS_BIND_BUTTON_on ( (PINB & _BV(5)) == 0x00 ) #define BIND_SET_OUTPUT DDRB |= _BV(5) #endif // TX #ifdef DEBUG_TX #define TX_ON PORTD |= _BV(1) #define TX_OFF PORTD &= ~_BV(1) #define TX_TOGGLE PORTD ^= _BV(1) #define TX_SET_OUTPUT DDRD |= _BV(1) #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) //Serial flags definition #define RX_FLAG_on protocol_flags |= _BV(0) #define RX_FLAG_off protocol_flags &= ~_BV(0) #define IS_RX_FLAG_on ( ( protocol_flags & _BV(0) ) !=0 ) // #define CHANGE_PROTOCOL_FLAG_on protocol_flags |= _BV(1) #define CHANGE_PROTOCOL_FLAG_off protocol_flags &= ~_BV(1) #define IS_CHANGE_PROTOCOL_FLAG_on ( ( protocol_flags & _BV(1) ) !=0 ) // #define POWER_FLAG_on protocol_flags |= _BV(2) #define POWER_FLAG_off protocol_flags &= ~_BV(2) #define IS_POWER_FLAG_on ( ( protocol_flags & _BV(2) ) !=0 ) // #define RANGE_FLAG_on protocol_flags |= _BV(3) #define RANGE_FLAG_off protocol_flags &= ~_BV(3) #define IS_RANGE_FLAG_on ( ( protocol_flags & _BV(3) ) !=0 ) // #define AUTOBIND_FLAG_on protocol_flags |= _BV(4) #define AUTOBIND_FLAG_off protocol_flags &= ~_BV(4) #define IS_AUTOBIND_FLAG_on ( ( protocol_flags & _BV(4) ) !=0 ) // #define BIND_BUTTON_FLAG_on protocol_flags |= _BV(5) #define BIND_BUTTON_FLAG_off protocol_flags &= ~_BV(5) #define IS_BIND_BUTTON_FLAG_on ( ( protocol_flags & _BV(5) ) !=0 ) //PPM RX OK #define PPM_FLAG_off protocol_flags &= ~_BV(6) #define PPM_FLAG_on protocol_flags |= _BV(6) #define IS_PPM_FLAG_on ( ( protocol_flags & _BV(6) ) !=0 ) //Bind flag for blinking #define BIND_IN_PROGRESS protocol_flags &= ~_BV(7) #define BIND_DONE protocol_flags |= _BV(7) #define IS_BIND_DONE_on ( ( protocol_flags & _BV(7) ) !=0 ) #define BAD_PROTO_off protocol_flags2 &= ~_BV(0) #define BAD_PROTO_on protocol_flags2 |= _BV(0) #define IS_BAD_PROTO_on ( ( protocol_flags2 & _BV(0) ) !=0 ) #define RX_DONOTUPDTAE_off protocol_flags2 &= ~_BV(1) #define RX_DONOTUPDTAE_on protocol_flags2 |= _BV(1) #define IS_RX_DONOTUPDTAE_on ( ( protocol_flags2 & _BV(1) ) !=0 ) #define RX_MISSED_BUFF_off protocol_flags2 &= ~_BV(2) #define RX_MISSED_BUFF_on protocol_flags2 |= _BV(2) #define IS_RX_MISSED_BUFF_on ( ( protocol_flags2 & _BV(2) ) !=0 ) #define TX_MAIN_PAUSE_off protocol_flags2 &= ~_BV(3) #define TX_MAIN_PAUSE_on protocol_flags2 |= _BV(3) #define IS_TX_MAIN_PAUSE_on ( ( protocol_flags2 & _BV(3) ) !=0 ) #define TX_RX_PAUSE_off protocol_flags2 &= ~_BV(4) #define TX_RX_PAUSE_on protocol_flags2 |= _BV(4) #define IS_TX_RX_PAUSE_on ( ( protocol_flags2 & _BV(4) ) !=0 ) #define IS_TX_PAUSE_on ( ( protocol_flags2 & (_BV(4)|_BV(3)) ) !=0 ) #define BLINK_BIND_TIME 100 #define BLINK_SERIAL_TIME 500 #define BLINK_BAD_PROTO_TIME_LOW 1000 #define BLINK_BAD_PROTO_TIME_HIGH 50 //AUX flags definition #define Servo_AUX1 Servo_AUX & _BV(0) #define Servo_AUX2 Servo_AUX & _BV(1) #define Servo_AUX3 Servo_AUX & _BV(2) #define Servo_AUX4 Servo_AUX & _BV(3) #define Servo_AUX5 Servo_AUX & _BV(4) #define Servo_AUX6 Servo_AUX & _BV(5) #define Servo_AUX7 Servo_AUX & _BV(6) #define Servo_AUX8 Servo_AUX & _BV(7) #define GET_FLAG(ch, mask) ( ch ? mask : 0) //************************ //*** Power settings *** //************************ enum { TXPOWER_100uW, TXPOWER_300uW, TXPOWER_1mW, TXPOWER_3mW, TXPOWER_10mW, TXPOWER_30mW, TXPOWER_100mW, TXPOWER_150mW }; // A7105 power // Power amp is ~+16dBm so: enum A7105_POWER { A7105_POWER_0 = 0x00<<3 | 0x00, // TXPOWER_100uW = -23dBm == PAC=0 TBG=0 A7105_POWER_1 = 0x00<<3 | 0x01, // TXPOWER_300uW = -20dBm == PAC=0 TBG=1 A7105_POWER_2 = 0x00<<3 | 0x02, // TXPOWER_1mW = -16dBm == PAC=0 TBG=2 A7105_POWER_3 = 0x00<<3 | 0x04, // TXPOWER_3mW = -11dBm == PAC=0 TBG=4 A7105_POWER_4 = 0x01<<3 | 0x05, // TXPOWER_10mW = -6dBm == PAC=1 TBG=5 A7105_POWER_5 = 0x02<<3 | 0x07, // TXPOWER_30mW = 0dBm == PAC=2 TBG=7 A7105_POWER_6 = 0x03<<3 | 0x07, // TXPOWER_100mW = 1dBm == PAC=3 TBG=7 A7105_POWER_7 = 0x03<<3 | 0x07 // TXPOWER_150mW = 1dBm == PAC=3 TBG=7 }; #define A7105_HIGH_POWER A7105_POWER_7 #define A7105_LOW_POWER A7105_POWER_3 #define A7105_RANGE_POWER A7105_POWER_0 #define A7105_BIND_POWER A7105_POWER_0 // NRF Power // Power setting is 0..3 for nRF24L01 // Claimed power amp for nRF24L01 from eBay is 20dBm. enum NRF_POWER { // Raw w 20dBm PA NRF_POWER_0 = 0x00, // 0 : -18dBm (16uW) 2dBm (1.6mW) NRF_POWER_1 = 0x01, // 1 : -12dBm (60uW) 8dBm (6mW) NRF_POWER_2 = 0x02, // 2 : -6dBm (250uW) 14dBm (25mW) NRF_POWER_3 = 0x03 // 3 : 0dBm (1mW) 20dBm (100mW) }; #define NRF_HIGH_POWER NRF_POWER_2 #define NRF_LOW_POWER NRF_POWER_1 #define NRF_RANGE_POWER NRF_POWER_0 #define NRF_BIND_POWER NRF_POWER_0 // CC2500 power output from the chip itself // The numbers do not take into account any outside amplifier enum CC2500_POWER { CC2500_POWER_0 = 0x00, // –55dbm or less CC2500_POWER_1 = 0x50, // -30dbm CC2500_POWER_2 = 0x44, // –28dbm CC2500_POWER_3 = 0xC0, // –26dbm CC2500_POWER_4 = 0x84, // –24dbm CC2500_POWER_5 = 0x81, // –22dbm CC2500_POWER_6 = 0x46, // –20dbm CC2500_POWER_7 = 0x93, // –18dbm CC2500_POWER_8 = 0x55, // –16dbm CC2500_POWER_9 = 0x8D, // –14dbm CC2500_POWER_10 = 0xC6, // -12dbm CC2500_POWER_11 = 0x97, // -10dbm CC2500_POWER_12 = 0x6E, // -8dbm CC2500_POWER_13 = 0x7F, // -6dbm CC2500_POWER_14 = 0xA9, // -4dbm CC2500_POWER_15 = 0xBB, // -2dbm CC2500_POWER_16 = 0xFE, // 0dbm CC2500_POWER_17 = 0xFF // +1dbm }; #define CC2500_HIGH_POWER CC2500_POWER_16 #define CC2500_LOW_POWER CC2500_POWER_13 #define CC2500_RANGE_POWER CC2500_POWER_1 #define CC2500_BIND_POWER CC2500_POWER_1 // CYRF power enum CYRF_POWER { CYRF_POWER_0 = 0x00, // -35dbm CYRF_POWER_1 = 0x01, // -30dbm CYRF_POWER_2 = 0x02, // -24dbm CYRF_POWER_3 = 0x03, // -18dbm CYRF_POWER_4 = 0x04, // -13dbm CYRF_POWER_5 = 0x05, // -5dbm CYRF_POWER_6 = 0x06, // 0dbm CYRF_POWER_7 = 0x07 // +4dbm }; #define CYRF_HIGH_POWER CYRF_POWER_7 #define CYRF_LOW_POWER CYRF_POWER_3 #define CYRF_RANGE_POWER CYRF_POWER_1 // 1/30 of the full power distance #define CYRF_BIND_POWER CYRF_POWER_0 enum TXRX_State { TXRX_OFF, TX_EN, RX_EN }; // Packet ack status values enum { PKT_PENDING = 0, PKT_ACKED, PKT_TIMEOUT }; // baudrate defines for serial #define SPEED_100K 0 #define SPEED_9600 1 #define SPEED_57600 2 #define SPEED_125K 3 //**************************************** //*** MULTI protocol serial definition *** //**************************************** /* ************************** 16 channels serial protocol ************************** Serial: 100000 Baud 8e2 _ xxxx xxxx p -- Total of 26 bytes Stream[0] = 0x55 sub_protocol values are 0..31 Stream[0] = 0x54 sub_protocol values are 32..63 header Stream[1] = sub_protocol|BindBit|RangeCheckBit|AutoBindBit; sub_protocol is 0..31 (bits 0..4), value should be added with 32 if Stream[0] = 0x54 => Reserved 0 Flysky 1 Hubsan 2 FrskyD 3 Hisky 4 V2x2 5 DSM 6 Devo 7 YD717 8 KN 9 SymaX 10 SLT 11 CX10 12 CG023 13 Bayang 14 FrskyX 15 ESky 16 MT99XX 17 MJXQ 18 SHENQI 19 FY326 20 SFHSS 21 J6PRO 22 FQ777 23 ASSAN 24 FrskyV 25 HONTAI 26 OpenLRS 27 BindBit=> 0x80 1=Bind/0=No AutoBindBit=> 0x40 1=Yes /0=No RangeCheck=> 0x20 1=Yes /0=No Stream[2] = RxNum | Power | Type; RxNum value is 0..15 (bits 0..3) Type is 0..7 <<4 (bit 4..6) sub_protocol==Flysky Flysky 0 V9x9 1 V6x6 2 V912 3 sub_protocol==Hisky Hisky 0 HK310 1 sub_protocol==DSM DSM2 0 DSMX 1 sub_protocol==YD717 YD717 0 SKYWLKR 1 SYMAX4 2 XINXUN 3 NIHUI 4 sub_protocol==KN WLTOYS 0 FEILUN 1 sub_protocol==SYMAX SYMAX 0 SYMAX5C 1 sub_protocol==CX10 CX10_GREEN 0 CX10_BLUE 1 // also compatible with CX10-A, CX12 DM007 2 Q282 3 JC3015_1 4 JC3015_2 5 MK33041 6 Q242 7 sub_protocol==CG023 CG023 0 YD829 1 H8_3D 2 sub_protocol==MT99XX MT99 0 H7 1 YZ 2 LS 3 sub_protocol==MJXQ WLH08 0 X600 1 X800 2 H26D 3 E010 4 sub_protocol==FRSKYX CH_16 0 CH_8 1 sub_protocol==HONTAI FORMAT_HONTAI 0 FORMAT_JJRCX1 1 FORMAT_X5C1 2 Power value => 0x80 0=High/1=Low Stream[3] = option_protocol; option_protocol value is -127..127 Stream[4] to [25] = Channels 16 Channels on 11 bits (0..2047) 0 -125% 204 -100% 1024 0% 1843 +100% 2047 +125% Channels bits are concatenated to fit in 22 bytes like in SBUS protocol */