go for esp32:

- remove freq offset overwrite
	-  remove delayMilliseconds
	-  print if bind phase is over
	- add prescale factor (try with leonardo)
	- substract execution time from wait -> works only for esp32 as it seems
	- add analog input pins for joysticks + arm
	- add analog reads within input update + scale it to channels

Multiprotocol/CC2500_SPI.ino

@@ -119,7 +119,7 @@ void CC2500_SetTxRxMode(uint8_t mode)
 uint8_t CC2500_Reset()
 {
 	CC2500_Strobe(CC2500_SRES);
-	delayMilliseconds(1);
+	delay(1);
 	CC2500_SetTxRxMode(TXRX_OFF);
 	return CC2500_ReadReg(CC2500_0E_FREQ1) == 0xC4;//check if reset
 }

Multiprotocol/Common.ino

@@ -135,7 +135,7 @@ uint16_t convert_channel_frsky(uint8_t num)
 #if defined(FRSKYD_CC2500_INO) || defined(FRSKYX_CC2500_INO)
 enum {
   FRSKY_BIND		= 0,
-  FRSKY_BIND_DONE	= 300,
+  FRSKY_BIND_DONE	= 1000,
   FRSKY_DATA1,
   FRSKY_DATA2,
   FRSKY_DATA3,

Multiprotocol/FrSkyD_cc2500.ino

@@ -116,6 +116,7 @@ uint16_t initFrSky_2way()
 		
 uint16_t ReadFrSky_2way()
 { 
+   //debugln("%s",__func__);
 
 	if (state < FRSKY_BIND_DONE)
 	{
@@ -130,6 +131,10 @@ uint16_t ReadFrSky_2way()
       debugln("%s bind done",__func__);
 		} else
 			state++;
+      
+    if(state == FRSKY_BIND_DONE) {
+      debugln("%s bind done fr",__func__);
+    }
 		return 9000;
 	}
 	if (state == FRSKY_BIND_DONE)

Multiprotocol/Multiprotocol.h

@@ -358,8 +358,9 @@ enum MultiPacketTypes
 //** Debug messages **
 //********************
 	uint16_t debug_time=0;
-	#define debug(msg, ...)  {char buf[64]; sprintf(buf, msg, ##__VA_ARGS__); Serial.println(buf);}
-	#define debugln(msg, ...)  {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.println(buf);}
+  char buf[128];
+	#define debug(msg, ...)  { sprintf(buf, msg, ##__VA_ARGS__); Serial.println(buf);}
+	#define debugln(msg, ...)  { sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.println(buf);}
 	#define debug_time(msg)  { uint16_t debug_time_TCNT1=TCNT1; debug_time=debug_time_TCNT1-debug_time; debugln(msg "%u", debug_time); debug_time=debug_time_TCNT1; }
 //********************
 //*** Blink timing ***

Multiprotocol/Multiprotocol.ino

@@ -127,7 +127,7 @@ volatile uint8_t discard_frame = 0;
 // Telemetry
 #define MAX_PKT 29
 uint8_t pkt[MAX_PKT];//telemetry receiving packets
-
+float TIMER_PRESCALE = 5.82;
 // 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;
@@ -164,8 +164,10 @@ void setup()
 		#endif
 
 		// Timer1 config
+    #ifdef TCCR1A
 		TCCR1A = 0;
 		TCCR1B = (1 << CS11);	//prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
+    #endif
 		// Random
 		//random_init();
 
@@ -191,7 +193,7 @@ void setup()
 	#endif
 
 	//Wait for every component to start
-	delayMilliseconds(100);
+	delay(100);
 	
 	// Read status of bind button
 	if( /*IS_BIND_BUTTON_on */ true)
@@ -284,42 +286,10 @@ void setup()
       break;
   }
   debugln("sub_protocol: %d", sub_protocol);
-
-		//Forced frequency tuning values for CC2500 protocols
-		#if defined(FORCE_FRSKYD_TUNING) && defined(FRSKYD_CC2500_INO)
-			if(protocol==PROTO_FRSKYD) 
-				option			=	FORCE_FRSKYD_TUNING;		// Use config-defined tuning value for FrSkyD
-			else
-		#endif
-		#if defined(FORCE_FRSKYV_TUNING) && defined(FRSKYV_CC2500_INO)
-			if(protocol==PROTO_FRSKYV)
-				option			=	FORCE_FRSKYV_TUNING;		// Use config-defined tuning value for FrSkyV
-			else
-		#endif
-		#if defined(FORCE_FRSKYX_TUNING) && defined(FRSKYX_CC2500_INO)
-			if(protocol==PROTO_FRSKYX)
-				option			=	FORCE_FRSKYX_TUNING;		// Use config-defined tuning value for FrSkyX
-			else
-		#endif 
-		#if defined(FORCE_SFHSS_TUNING) && defined(SFHSS_CC2500_INO)
-			if (protocol==PROTO_SFHSS)
-				option			=	FORCE_SFHSS_TUNING;			// Use config-defined tuning value for SFHSS
-			else
-		#endif
-		#if defined(FORCE_CORONA_TUNING) && defined(CORONA_CC2500_INO)
-			if (protocol==PROTO_CORONA)
-				option			=	FORCE_CORONA_TUNING;		// Use config-defined tuning value for CORONA
-			else
-		#endif
-		#if defined(FORCE_HITEC_TUNING) && defined(HITEC_CC2500_INO)
-			if (protocol==PROTO_HITEC)
-				option			=	FORCE_HITEC_TUNING;		// Use config-defined tuning value for HITEC
-			else
-		#endif
   option			=	PPM_prot[line].option;	// Use radio-defined option value
-
   debugln("freq offset: %d", option);
-		if(PPM_prot[line].power)		POWER_FLAG_on;
+		if(PPM_prot[line].power)		
+		  POWER_FLAG_on;
 		if(PPM_prot[line].autobind)
 		{
 			AUTOBIND_FLAG_on;
@@ -329,41 +299,48 @@ void setup()
 
 		protocol_init();
 
-		#ifndef STM32_BOARD
-			//Configure PPM interrupt
-		#else
-			attachInterrupt(PPM_pin,PPM_decode,FALLING);
-		#endif
-
 		#if defined(TELEMETRY)
 			PPM_Telemetry_serial_init();// Configure serial for telemetry
 		#endif
 	}
 	else
 #endif //ENABLE_PPM
-	{ // Serial
-		#ifdef ENABLE_SERIAL
-			for(uint8_t i=0;i<3;i++)
-				cur_protocol[i]=0;
-			protocol=0;
-			#ifdef CHECK_FOR_BOOTLOADER
-				Mprotocol_serial_init(1); 	// Configure serial and enable RX interrupt
-			#else
-				Mprotocol_serial_init(); 	// Configure serial and enable RX interrupt
-			#endif
-		#endif //ENABLE_SERIAL
-	}
 	debugln("Init complete");
+  update_inputs();
+  
+  debugln("time now %lu ", micros());
+  delay(1000);
+  debugln("time after 1 sec %lu", micros());
+
+
+  #ifdef TCCR1A
+  while((TIFR1 & OCF1A_bm) == 0); // wait 
+  unsigned long s = micros();
+  cli();                // Disable global int due to RW of 16 bits registers
+  OCR1A += 10000 * TIMER_PRESCALE;         // set compare A for callback
+  TIFR1=OCF1A_bm;         // clear compare A=callback flag
+  sei();                // enable global int
+  while((TIFR1 & OCF1A_bm) == 0); // wait 2ms...
+  unsigned long e = micros();
+  double a = e;
+  a -= s;
+  a = 10000/a;
+  debugln("time now  %lu", s);
+  debugln("time after 1 sec %lu", e);
+  debugln("scalor %d", a);
+  TIMER_PRESCALE *= a;
+  #endif
 }
 
 // Main
 // Protocol scheduler
 void loop()
 { 
-	uint16_t next_callback,diff=0xFFFF;
+  uint32_t next_callback;
+	uint16_t diff=0xFFFF;
 
-	while(1)
-	{
+  uint32_t end__ = micros();
+  uint32_t start = micros();
   if(remote_callback==0 || IS_WAIT_BIND_on || diff>2*200)
   {
     do
@@ -372,7 +349,9 @@ void loop()
     }
     while(remote_callback==0 || IS_WAIT_BIND_on);
   } 
-		#ifndef STM32_BOARD
+	while(1)
+	{
+    #if 0
   			if( (TIFR1 & OCF1A_bm) != 0)
   			{
   				cli();					// Disable global int due to RW of 16 bits registers
@@ -381,73 +360,67 @@ void loop()
   			}
   			else
   				while((TIFR1 & OCF1A_bm) == 0); // Wait before callback
-		#else
-			if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0)
-			{
-				debugln("Callback miss");
-				cli();
-				OCR1A = TCNT1;
-				sei();
-			}
-			else
-				while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0); // Wait before callback
+  		
     #endif
+
+    
+    end__ = micros();
 		do
 		{
-			TX_MAIN_PAUSE_on;
-			tx_pause();
-			if(IS_INPUT_SIGNAL_on && remote_callback!=0)
+			//TX_MAIN_PAUSE_on;
+			//tx_pause();
+      start = end__;
 			next_callback=remote_callback();
-			else
-				next_callback=2000;					// No PPM/serial signal check again in 2ms...
 
 #if 0
-      //  15 < 250
-      //  20              250         250
-      if (next_callback > 4000) {
-        next_callback-=2000;
-        Update_All();
-        delayMicroseconds(2000);
-      }
-      delayMicroseconds(next_callback*2);
-#else
 			TX_MAIN_PAUSE_off;
 			tx_resume();
 			while(next_callback>4000)
 			{ // start to wait here as much as we can...
 				next_callback-=2000;				// We will wait below for 2ms
 				cli();								// Disable global int due to RW of 16 bits registers
-				OCR1A += 2000 *2;					// set compare A for callback
-				#ifndef STM32_BOARD	
+				OCR1A += 2000 * TIMER_PRESCALE;					// set compare A for callback
 				TIFR1=OCF1A_bm;					// clear compare A=callback flag
-				#else
-					TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC1IF;	// Clear Timer2/Comp1 interrupt flag
-				#endif
 				sei();								// enable global int
 				if(Update_All())					// Protocol changed?
 				{
 					next_callback=0;				// Launch new protocol ASAP
 					break;
 				}
-				#ifndef STM32_BOARD	
 				while((TIFR1 & OCF1A_bm) == 0);	// wait 2ms...
-				#else
-					while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//2ms wait
-				#endif
 			}
 			// at this point we have a maximum of 4ms in next_callback
-			next_callback *= 2 ;
 			cli();									// Disable global int due to RW of 16 bits registers
-			OCR1A+= next_callback ;					// set compare A for callback
-			#ifndef STM32_BOARD			
+			OCR1A+= next_callback*TIMER_PRESCALE ;					// set compare A for callback
 			TIFR1=OCF1A_bm;						// clear compare A=callback flag
-			#else
-				TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC1IF;	// Clear Timer2/Comp1 interrupt flag
-			#endif		
 			diff=OCR1A-TCNT1;						// compare timer and comparator
 			sei();									// enable global int
+#else 
+
+      if (next_callback > 4000)
+        update_inputs();
+      uint32_t wait_until = start + next_callback;
+      end__ = micros();
+      if (end__-start < next_callback) {
+        uint32_t wait = next_callback;
+        wait -= ((end__-start));
+        //wait -= 1000;
+          delayMicroseconds(wait);
+          //debugln("%lu vs %lu",wait,next_callback);
+
+        /*
+        debugln("took %lu (%lu - %lu) vs %lu wait %lu wait until %lu",
+                end__-start, start, end__,
+                next_callback,
+                wait, wait_until);
+                */
+        end__ += wait;
+      }
 #endif
+      end__ = micros();
+      //debugln("%lu vs %lu",end__-start,next_callback);
       //debugln("next %d diff %lu (%lu to %lu) diff %x ",org_next_call, end__ - start_, end__, start_, diff);
+      
 		}
 		while(diff&0x8000);	 						// Callback did not took more than requested time for next callback
 													// so we can launch Update_All before next callback
@@ -471,8 +444,6 @@ uint8_t Update_All()
 		}
 	#endif //ENABLE_SERIAL
 	#ifdef ENABLE_PPM
- //INPUT_SIGNAL_on;
-    update_inputs();
 		if(mode_select!=MODE_SERIAL && IS_PPM_FLAG_on)		// PPM mode and a full frame has been received
 		{
       debugln("%s:%d",__func__, __LINE__);
@@ -518,6 +489,10 @@ uint8_t Update_All()
 		}
 	#endif //ENABLE_BIND_CH
 
+ 
+  update_inputs();
+
+ 
 	if(IS_CHANGE_PROTOCOL_FLAG_on)
 	{
     debugln("%s:%d set bind prog",__func__, __LINE__);
@@ -718,6 +693,7 @@ static void protocol_init()
 	WAIT_BIND_off;
 	CHANGE_PROTOCOL_FLAG_off;
 
+#if 0
 	if(next_callback>32000)
 	{ // next_callback should not be more than 32767 so we will wait here...
 		uint16_t temp=(next_callback>>10)-2;
@@ -733,7 +709,9 @@ static void protocol_init()
 	#endif	
 	sei();										// enable global int
 	BIND_BUTTON_FLAG_off;						// do not bind/reset id anymore even if protocol change
- 
+#else
+  delayMicroseconds(next_callback);
+#endif
   debugln("%s BIND_BUTTON_FLAG_off",__func__);
 }
 
@@ -891,7 +869,7 @@ void modules_reset()
 	#endif
 
 	//Wait for every component to reset
-	delayMilliseconds(100);
+	delay(100);
 	prev_power=0xFD;		// unused power value
 }
 

Multiprotocol/Pins.h

@@ -18,7 +18,7 @@
 #define LED_output
 #define IS_LED_on false
 #define LED_toggle
-#if 1
+#if  0
 
   // SDIO MOSI
   #define SDI_pin     16
@@ -99,6 +99,12 @@
   #define CC25_CSN_0       (digitalRead(CC25_CSN_pin) == LOW)
   #define CC25_CSN_input   pinMode(CC25_CSN_pin, INPUT);
   #define CC25_CSN_output  pinMode(CC25_CSN_pin, OUTPUT);
+
+  #define Throttle_pin  34
+  #define Yaw_pin       35
+  #define Roll_pin      12
+  #define Pitch_pin     13
+  #define Aux2_pin      27
 #endif 
 //*******************
 //***    EEPROM   ***

Multiprotocol/inputs.ino

@@ -1,18 +1,46 @@
 void update_inputs(void) {
+  
+  INPUT_SIGNAL_on;
+  
+  if (state < FRSKY_BIND_DONE)
+    return;
+
+  #ifdef Throttle_pin
+    uint16_t throttle = analogRead(Throttle_pin);
+    uint16_t yaw = analogRead(Yaw_pin);
+    uint16_t roll = analogRead(Roll_pin);
+    uint16_t pitch = analogRead(Pitch_pin);
+    uint16_t aux1 = 0;//analogRead(Aux1_pin);
+    uint16_t aux2 = analogRead(Aux2_pin);
+    
+    uint16_t ch_min=CHANNEL_MIN_100;
+    uint16_t ch_max=CHANNEL_MAX_100;
+
+    
+    Channel_data[THROTTLE] += map(throttle, 0, 3500, ch_min, ch_max);
+    Channel_data[RUDDER] += map(yaw, 0, 3500, ch_min, ch_max);
+    Channel_data[AILERON] += map(roll, 0, 3500, ch_min, ch_max);
+    Channel_data[ELEVATOR] += map(pitch, 0, 3500, ch_min, ch_max);
+    //Channel_data[CH5] += map(aux1, 0, 3500, ch_min, ch_max);
+    Channel_data[CH6] += map(aux2, 0, 3500, ch_min, ch_max);
+
+    
+    Channel_data[THROTTLE] /= 2;
+    Channel_data[RUDDER] /= 2;
+    Channel_data[AILERON] /= 2;
+    Channel_data[ELEVATOR] /= 2;
+    Channel_data[CH5] /= 2;
+    Channel_data[CH6] /= 2;
+    
+    //debugln("T %d y %d r %d p %d a1 %d a2 %d",throttle,yaw,roll,pitch,aux1,aux2);
+    //debugln("T %d y %d r %d p %d a1 %d a2 %d",Channel_data[THROTTLE],Channel_data[RUDDER],Channel_data[AILERON],Channel_data[ELEVATOR],Channel_data[CH5],Channel_data[CH6]);
+  #else
     //analogRead()
-  static int inc = 1;
-  if (inc > 0) {
-    if (Channel_data[THROTTLE] < CHANNEL_MIN_125 + 100) {
+    if (Channel_data[THROTTLE] < CHANNEL_MAX_100) {
       Channel_data[THROTTLE] += 1;
-    }else {
-      inc = -1;
-    }
-  }else {
-    if (Channel_data[THROTTLE] > CHANNEL_MIN_125) {
-      Channel_data[THROTTLE] -= 1;
-    }else {
-      inc = +1;
-    }
+    } else {
+      Channel_data[THROTTLE] = CHANNEL_MIN_100;
     }
+  #endif
 }
 

Multiprotocol/mi.ino

@@ -27,43 +27,4 @@ int16_t map16b( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int1
   x = y / (in_max - in_min) ;
   return x  + out_min ;
 }
-
-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 ;
-}
-
-// 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 ;
-
-void delayMilliseconds(unsigned long ms)
-{
-  #if 0
-   uint16_t start = (uint16_t)micros();
-   uint16_t lms = ms ;
-
-   while (lms > 0) {
-      if (((uint16_t)micros() - start) >= 1000) {
-         lms--;
-         start += 1000;
-      }
-   }
-   #else
-   
-
-delay(ms);
-#endif
-
-}
+#define delayMilliseconds(x) delay(x)