Philipp Schönberger
6 years ago
committed by
GitHub
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GPG Key ID: 4AEE18F83AFDEB23
31 changed files with 1592 additions and 1398 deletions
-
383d/quad_charge_plug.scad
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143d/stick.scad
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36remote/include/FrSkyD_cc2500.h
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16remote/include/Multiprotocol.h
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10remote/include/Validate.h
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63remote/include/common.h
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80remote/include/config.h
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5remote/include/crc.h
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2remote/include/debug.h
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92remote/include/eeprom.h
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58remote/include/input.h
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31remote/include/pins.h
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27remote/include/state.h
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18remote/include/telemetry.h
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36remote/include/tx_def.h
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198remote/src/FrSkyD_cc2500.cpp
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433remote/src/Multiprotocol.cpp
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136remote/src/common.ds
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1remote/src/config.cpp
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28remote/src/crc.cpp
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107remote/src/eeprom.cpp
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109remote/src/input.cpp
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337remote/src/state.cpp
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78remote/src/state_bind.cpp
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256remote/src/state_fly.cpp
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58remote/src/state_init.cpp
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134remote/src/state_joy_calib.cpp
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64remote/src/state_joy_usb.cpp
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86remote/src/state_menu.cpp
-
227remote/src/telemetry.cpp
@ -1,63 +0,0 @@ |
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/* |
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This project is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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Multiprotocol is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#ifndef _COMMON_H_ |
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#define _COMMON_H_ |
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#include <stdint.h> |
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#include "config.h" |
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#include "tx_def.h" |
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|
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void InitChannel(void); |
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void reverse_channel(uint8_t num); |
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uint16_t convert_channel_ppm(uint8_t num); |
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uint16_t convert_channel_10b(uint8_t num); |
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uint8_t convert_channel_8b(uint8_t num); |
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int16_t convert_channel_16b_limit(uint8_t num, int16_t min, int16_t max); |
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int16_t convert_channel_16b_nolimit(uint8_t num, int16_t min, int16_t max); |
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uint8_t convert_channel_s8b(uint8_t num); |
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uint16_t limit_channel_100(uint8_t num); |
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void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high); |
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void convert_failsafe_HK310(uint8_t num, uint8_t *low, uint8_t *high); |
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uint16_t convert_channel_frsky(uint8_t num); |
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|
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/******************************/ |
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/** FrSky D and X routines **/ |
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/******************************/ |
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enum { |
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FRSKY_BIND = 0, |
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FRSKY_BIND_DONE = 1000, |
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FRSKY_DATA1, |
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FRSKY_DATA2, |
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FRSKY_DATA3, |
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FRSKY_DATA4, |
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FRSKY_DATA5 |
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}; |
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|
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void Frsky_init_hop(void); |
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/******************************/ |
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/** FrSky V, D and X routines **/ |
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/******************************/ |
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#if defined(FRSKYV_CC2500_INO) || defined(FRSKYD_CC2500_INO) || defined(FRSKYX_CC2500_INO) |
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|
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extern uint8_t FRSKY_common_startreg_cc2500_conf[]; |
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|
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extern uint8_t FRSKYD_cc2500_conf[]; |
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|
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|
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extern uint8_t FRSKY_common_end_cc2500_conf[][2]; |
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void FRSKY_init_cc2500(const uint8_t *ptr); |
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|
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#endif |
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|
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#endif |
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@ -0,0 +1,5 @@ |
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#ifndef __CRC32_H_ |
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#define __CRC32_H_ |
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#include <Arduino.h> |
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uint32_t tiny_crc32(const void *data, unsigned int length); |
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#endif |
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@ -1,81 +1,37 @@ |
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#ifndef _EEPROM_H_ |
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#define _EEPROM_H_ |
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#include <EEPROM.h> |
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|
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#include <Arduino.h> |
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#include <stdint.h> |
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#include "tx_def.h" |
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#include "input.h" |
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extern class Eeprom_config eeprom_config; |
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|
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#define CURRENT_VERSION 0x01 |
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class Eeprom_config { |
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public: |
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|
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Eeprom_config(void); |
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~Eeprom_config(void); |
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|
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int validate(void); |
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int read(void); |
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int write(void); |
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|
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int get_ch_config(struct Input::ch_config* config); |
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int set_ch_config(struct Input::ch_config* config); |
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|
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int get_master_id(uint32_t* master_id); |
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int set_master_id(uint32_t master_id); |
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|
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private: |
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#define CURRENT_VERSION 0x02 |
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struct eeprom_data_v1 { |
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uint8_t version; |
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uint32_t crc; |
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struct { |
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uint32_t data_crc; |
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struct { |
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uint16_t max; |
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uint16_t min; |
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uint8_t inverted; |
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} throttle, yaw, roll, pitch, aux[5]; |
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uint32_t master_id; |
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struct Input::ch_config ch[Input::CH_COUNT]; |
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} data; |
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|
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} current_config; |
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bool sucessfull_read; |
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}; |
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|
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|
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const static uint32_t crc_table[16] = { |
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0x00000000, 0x1db71064, 0x3b6e20c8, 0x26d930ac, |
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0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c, |
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0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c, |
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0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c |
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}; |
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|
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uint32_t crc_update (uint32_t crc, uint8_t data) |
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{ |
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uint8_t tbl_idx; |
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|
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tbl_idx = crc ^ (data >> (0 * 4)); |
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crc = (crc_table + (tbl_idx & 0x0f)) ^ (crc >> 4); |
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|
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tbl_idx = crc ^ (data >> (1 * 4)); |
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crc = (crc_table + (tbl_idx & 0x0f)) ^ (crc >> 4); |
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return crc; |
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} |
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|
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|
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int read_eeprom(struct eeprom_data_v1 *eeprom_data) { |
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uint8_t *data = NULL; |
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uint8_t start_address = 0x10; |
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|
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EEPROM.PageBase0 = 0x801F000; |
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EEPROM.PageBase1 = 0x801F800; |
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EEPROM.PageSize = 0x400; |
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EEPROM.init(); |
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data = (uint8_t*) eeprom_data; |
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for (uint8_t i = 0; i < sizeof(eeprom_data) ; i = 0) { |
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EEPROM.read(0x10 + i , data); |
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data+=1; |
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} |
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|
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// validate version |
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if (eeprom_data->version != CURRENT_VERSION) { |
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return -1; |
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} |
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|
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|
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data = (uint8_t*) &(eeprom_data->data); |
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uint32_t crc = ~0L; |
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for (uint8_t i = 0; i < sizeof(eeprom_data->data) ; i = 0) { |
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crc = crc_update(crc, *data); |
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data+=1; |
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} |
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|
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// validate crc |
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if (eeprom_data->crc != crc) { |
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return -1; |
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} |
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|
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} |
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#endif |
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@ -0,0 +1,18 @@ |
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#ifndef __TELE_METRY_H_ |
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#define __TELE_METRY_H_ |
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#include <Arduino.h> |
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|
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) |
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static void multi_send_header(uint8_t type, uint8_t len); |
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#endif |
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|
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#ifdef MULTI_TELEMETRY |
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static void multi_send_frskyhub(); |
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#endif |
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|
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|
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void frsky_check_telemetry(uint8_t *pkt,uint8_t len); |
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|
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void print_frskyd_telemetry(); |
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void init_frskyd_link_telemetry(); |
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#endif |
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@ -0,0 +1,28 @@ |
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#include "crc.h"
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|
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static const unsigned int tiny_crc32tab[16] = { |
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0x00000000, 0x1db71064, 0x3b6e20c8, 0x26d930ac, |
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0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c, |
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0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c, |
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0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c |
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}; |
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|
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|
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uint32_t __tiny_crc32(const void *data, unsigned int length, uint32_t crc) |
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{ |
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const unsigned char *buf = (const unsigned char *)data; |
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unsigned int i; |
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|
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for (i = 0; i < length; ++i) { |
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crc ^= buf[i]; |
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crc = tiny_crc32tab[crc & 0x0f] ^ (crc >> 4); |
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crc = tiny_crc32tab[crc & 0x0f] ^ (crc >> 4); |
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} |
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return crc; |
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} |
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uint32_t tiny_crc32(const void *data, unsigned int length) |
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{ |
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// return value suitable for passing in next time, for final value invert it
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return __tiny_crc32(data, length, 42) ^ 0xffffff; |
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} |
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@ -0,0 +1,107 @@ |
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#include <EEPROM.h>
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#include <Arduino.h>
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#include <stdint.h>
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#include <debug.h>
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#include "tx_def.h"
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#include "eeprom.h"
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#include "crc.h"
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|
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class Eeprom_config eeprom_config; |
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|
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Eeprom_config::Eeprom_config() { |
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EEPROM.PageBase0 = 0x801F000; |
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EEPROM.PageBase1 = 0x801F800; |
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EEPROM.PageSize = 0x400; |
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EEPROM.init(); |
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memset(&this->current_config, 0, sizeof(this->current_config)); |
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this->sucessfull_read = false; |
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} |
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|
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Eeprom_config::~Eeprom_config() { |
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/* nope */ |
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} |
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|
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int Eeprom_config::validate() { |
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uint32_t crc_calc = 0; |
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|
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if (this->sucessfull_read == false) { |
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debugln("no read\n"); |
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return -1; |
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} |
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|
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if (this->current_config.version != CURRENT_VERSION) { |
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debugln("wrong version %lu vs %lu \n", this->current_config.version, CURRENT_VERSION); |
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return -1; |
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} |
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crc_calc = tiny_crc32(&(this->current_config.data), sizeof(this->current_config.data)); |
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if (crc_calc != this->current_config.data_crc) { |
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debugln("wrong crc %lu vs %lu \n", crc_calc, this->current_config.data_crc); |
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return -1; |
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} |
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debugln("valid config\n"); |
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return 1; |
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} |
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|
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int Eeprom_config::read(void) { |
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uint8_t *data = NULL; |
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data = (uint8_t *) &this->current_config; |
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for (uint8_t i = 0; i < sizeof(struct eeprom_data_v1) ; i++) { |
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data[i] = EEPROM.read(0x10 + i); |
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} |
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this->sucessfull_read = true; |
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return 0; |
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} |
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int Eeprom_config::write(void) { |
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uint8_t *data = NULL; |
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data = (uint8_t *) &this->current_config; |
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this->current_config.version = CURRENT_VERSION; |
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this->current_config.data_crc = tiny_crc32(&(this->current_config.data), sizeof(this->current_config.data)); |
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for (uint8_t i = 0; i < sizeof(struct eeprom_data_v1) ; i++) { |
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EEPROM.write(0x10 + i , data[i]); |
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} |
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return 0; |
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} |
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int Eeprom_config::get_ch_config(struct Input::ch_config* config) { |
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if (this->sucessfull_read == false && config != NULL) { |
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return -1; |
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} |
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memcpy(config, &this->current_config.data.ch, sizeof(struct Input::ch_config) * Input::CH_COUNT); |
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return 0; |
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} |
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|
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int Eeprom_config::set_ch_config(struct Input::ch_config* config) { |
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if (this->sucessfull_read == false && config != NULL) { |
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return -1; |
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} |
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memcpy(this->current_config.data.ch, config, sizeof(struct Input::ch_config) * Input::CH_COUNT); |
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return 0; |
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} |
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|
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int Eeprom_config::get_master_id(uint32_t* master_id) |
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{ |
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if (this->sucessfull_read == false && master_id != NULL) { |
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return -1; |
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} |
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*master_id = this->current_config.data.master_id; |
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return 0; |
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} |
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|
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int Eeprom_config::set_master_id(uint32_t master_id) |
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{ |
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if (this->sucessfull_read == false) { |
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return -1; |
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} |
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this->current_config.data.master_id = master_id; |
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return 0; |
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} |
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@ -0,0 +1,78 @@ |
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#include <LiquidCrystal_I2C.h>
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#include <stdio.h>
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#include "Arduino.h"
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#include "FrSkyD_cc2500.h"
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#include "state.h"
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#include "input.h"
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#include "eeprom.h"
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#include "debug.h"
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#include "tx_def.h"
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#include "config.h"
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LCD_state_bind::LCD_state_bind(void) { |
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this->bind_time = DEFAULT_BIND_TIME; |
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} |
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void LCD_state_bind::enter(void) { |
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lcd.setCursor(0,0); |
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lcd.print("bind mode "); |
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lcd.setCursor(0,1); |
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lcd.print(" "); |
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this->time_enter = millis(); |
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} |
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|
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void LCD_state_bind::update(void) |
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{ |
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char line[17]; |
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unsigned long time_in_ms = millis() - this->time_enter; |
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unsigned long time_in_s = time_in_ms/1000; // to sec
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unsigned long remain_s = this->bind_time - time_in_s; |
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snprintf(line,sizeof(line),"remaining sec %02lu",remain_s); |
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lcd.setCursor(0,1); |
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lcd.print(line); |
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uint32_t end__ = micros(); |
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uint32_t start = micros(); |
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uint32_t next_callback_time; |
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next_callback_time = initFrSky_2way(); |
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|
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// init for bind
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frsky2way_init(1); |
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while(1) { |
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start = end__; |
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next_callback_time = ReadFrSky_2way_bind(); |
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|
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|
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// update time
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time_in_ms = millis() - this->time_enter; |
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time_in_s = time_in_ms/1000; // to sec
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remain_s = this->bind_time - time_in_s; |
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|
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// print on lcd
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snprintf(line,sizeof(line),"%02lu",remain_s); |
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lcd.setCursor(14,1); |
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lcd.print(line); |
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|
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end__ = micros(); |
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|
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if (end__ - start < next_callback_time) { |
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uint32_t wait = next_callback_time; |
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wait -= ((end__-start)); |
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delayMicroseconds(wait); |
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end__ += wait; |
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} |
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end__ = micros(); |
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|
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if (remain_s == 0) |
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break; |
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} |
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|
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// cange to menu when done
|
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new_state = s_menu; |
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} |
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|
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void LCD_state_bind::leave(void) |
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{ |
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lcd.clear(); |
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} |
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@ -0,0 +1,256 @@ |
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#include <LiquidCrystal_I2C.h>
|
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#include <stdio.h>
|
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#include "Arduino.h"
|
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#include "FrSkyD_cc2500.h"
|
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#include "telemetry.h"
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#include "state.h"
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#include "input.h"
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#include "eeprom.h"
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#include "debug.h"
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#include "tx_def.h"
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#include "pins.h"
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|
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int16_t map16b(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max); |
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|
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LCD_state_fly::LCD_state_fly(void) { |
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} |
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|
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void LCD_state_fly::enter(void) { |
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|
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this->last_time = 0; |
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|
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lcd.clear(); |
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lcd.setCursor(0,0); |
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lcd.print("fly mode "); |
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this->time_enter = millis(); |
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|
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byte clock_char_data[] = { |
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0b01110, |
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0b10101, |
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0b10101, |
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0b10111, |
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0b10001, |
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0b10001, |
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0b01110, |
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0b00000 |
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}; |
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lcd.createChar(clock_char, clock_char_data); |
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lcd.setCursor(0,1); |
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lcd.write(clock_char); |
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|
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byte rssi_antenna_[] = { |
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0b10101, |
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0b10001, |
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0b01110, |
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0b00100, |
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0b00100, |
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0b00100, |
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0b00101, |
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0b00101, }; |
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lcd.createChar(rssiantenna, rssi_antenna_); |
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|
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|
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byte rssi_bars_[8]; |
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rssi_bars_[0] = 0b00001; |
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rssi_bars_[1] = 0b00001; |
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rssi_bars_[2] = 0b00001; |
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rssi_bars_[3] = 0b00001; |
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rssi_bars_[4] = 0b00101; |
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rssi_bars_[5] = 0b00101; |
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rssi_bars_[6] = 0b10101; |
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rssi_bars_[7] = 0b10101; |
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|
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lcd.createChar(rssi_bars, rssi_bars_); |
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|
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|
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byte battery_char_data[8]; |
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battery_char_data[0] = 0b01110; |
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battery_char_data[1] = 0b11011; |
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battery_char_data[2] = 0b10001; |
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battery_char_data[3] = 0b10001; |
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battery_char_data[4] = 0b10001; |
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battery_char_data[5] = 0b10001; |
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battery_char_data[6] = 0b10001; |
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battery_char_data[7] = 0b11111; |
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lcd.createChar(battery_char, battery_char_data); |
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|
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lcd.setCursor(12,0); |
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lcd.write(battery_char); |
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#if 0
|
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lcd.setCursor(12,1); |
|||
lcd.write(battery_char); |
|||
lcd.setCursor(6,1); |
|||
lcd.write(rssiantenna); |
|||
lcd.setCursor(7,1); |
|||
lcd.write(rssi_bars); |
|||
#endif
|
|||
} |
|||
|
|||
void LCD_state_fly::print_time(uint16_t time) |
|||
{ |
|||
char line[17]; |
|||
|
|||
/**
|
|||
* 0123456789012345 |
|||
* fly mode A PP |
|||
* T SSS AA PP A PP |
|||
**/ |
|||
if(this->last_time == time) |
|||
return; |
|||
|
|||
this->last_time=time; |
|||
|
|||
lcd.setCursor(1,1); |
|||
snprintf(line, sizeof(line), "%*u", 3, time); |
|||
lcd.print(line); |
|||
} |
|||
void LCD_state_fly::print_akku_quad(uint8_t akku_quad) |
|||
{ |
|||
/**
|
|||
* 0123456789012345 |
|||
* fly mode A PP |
|||
* T SSS AA PP A PP |
|||
**/ |
|||
char line[17]; |
|||
|
|||
lcd.setCursor(13,1); |
|||
snprintf(line, sizeof(line), "%*d", 3, akku_quad); |
|||
lcd.print(line); |
|||
return; |
|||
} |
|||
|
|||
void LCD_state_fly::print_akku_remote(uint8_t akku_remote) |
|||
{ |
|||
/**
|
|||
* 0123456789012345 |
|||
* fly mode A PP |
|||
* T SSS AA PP A PP |
|||
**/ |
|||
|
|||
char line[17]; |
|||
|
|||
lcd.setCursor(13,0); |
|||
snprintf(line, sizeof(line), "%*d", 3, akku_remote); |
|||
lcd.print(line); |
|||
return; |
|||
} |
|||
|
|||
void LCD_state_fly::print_rssi(uint8_t rssi_percent) |
|||
{ |
|||
char line[17]; |
|||
|
|||
lcd.setCursor(8,1); |
|||
snprintf(line, sizeof(line), "%*d", 3, rssi_percent); |
|||
lcd.print(line); |
|||
} |
|||
|
|||
void LCD_state_fly::update(void) |
|||
{ |
|||
uint8_t call=0; |
|||
uint8_t rssi_percent = 100; |
|||
uint8_t akku_quad = 1; |
|||
uint8_t akku_remote = 2; |
|||
unsigned long time_in_ms = millis() - this->time_enter; |
|||
unsigned long time_in_s = time_in_ms/1000; // to sec
|
|||
|
|||
uint32_t end__ = micros(); |
|||
uint32_t start = micros(); |
|||
uint32_t next_callback_time; |
|||
next_callback_time = initFrSky_2way(); |
|||
|
|||
input.update(); |
|||
// init for bind
|
|||
frsky2way_init(1); |
|||
|
|||
input.print(); |
|||
while(1) { |
|||
start = end__; |
|||
next_callback_time = ReadFrSky_2way(); |
|||
|
|||
//if (next_callback_time > 9000) {
|
|||
if (next_callback_time == 9200) { |
|||
input.update(); |
|||
|
|||
if (input.is_menu_triggered()) { |
|||
debug("%lu menu button trigger\n", millis()); |
|||
input.print(); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
|
|||
if (next_callback_time == 9200) { |
|||
// print on lcd
|
|||
call +=2; |
|||
if(call > 50) |
|||
call= 0; |
|||
|
|||
switch(call) |
|||
{ |
|||
|
|||
|
|||
case 10: |
|||
// update time
|
|||
time_in_ms = millis() - this->time_enter; |
|||
time_in_s = time_in_ms/1000; // to sec
|
|||
this->print_time(time_in_s); |
|||
break; |
|||
|
|||
#if 0
|
|||
case 20: |
|||
rssi_percent += 1; |
|||
if(rssi_percent > 100) |
|||
rssi_percent = 0; |
|||
this->print_rssi(rssi_percent); |
|||
break; |
|||
|
|||
case 30: |
|||
// update akku
|
|||
akku_quad += 1; |
|||
if(akku_quad > 100) |
|||
akku_quad = 0; |
|||
this->print_akku_quad(akku_quad); |
|||
break; |
|||
|
|||
#endif
|
|||
case 40: |
|||
// update akku
|
|||
akku_remote = analogRead(Battery_pin); |
|||
if (akku_remote > 3830) |
|||
akku_remote = 3830; |
|||
if (akku_remote < 3450) |
|||
akku_remote = 3450; |
|||
akku_remote = map16b(akku_remote, 3450, 3830, 0, 100); |
|||
if (akku_remote > 100) |
|||
akku_remote = 100; |
|||
this->print_akku_remote(akku_remote); |
|||
break; |
|||
|
|||
default: |
|||
break; |
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
end__ = micros(); |
|||
if (end__ - start < next_callback_time) { |
|||
uint32_t wait = next_callback_time; |
|||
wait -= (end__ - start); |
|||
delayMicroseconds(wait); |
|||
/* if((end__ - start) > 1000 ) { */ |
|||
/* debug("call %d waited %lu timed %lu vs wait %lu \n", call,next_callback_time, wait, (end__ - start)); */ |
|||
/* print_frskyd_telemetry(); */ |
|||
/* } */ |
|||
} |
|||
end__ = micros(); |
|||
} |
|||
|
|||
// cange to menu when done
|
|||
new_state = s_menu; |
|||
|
|||
} |
|||
void LCD_state_fly::leave(void) |
|||
{ |
|||
lcd.clear(); |
|||
} |
|||
@ -0,0 +1,58 @@ |
|||
#include <LiquidCrystal_I2C.h>
|
|||
#include <stdio.h>
|
|||
#include "Arduino.h"
|
|||
#include "FrSkyD_cc2500.h"
|
|||
#include "state.h"
|
|||
#include "input.h"
|
|||
#include "eeprom.h"
|
|||
#include "debug.h"
|
|||
#include "tx_def.h"
|
|||
|
|||
LCD_state_init::LCD_state_init(void) { |
|||
} |
|||
void LCD_state_init::enter(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print(" wellcome "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(" phschoen "); |
|||
this->time_enter = millis(); |
|||
} |
|||
void LCD_state_init::update(void) |
|||
{ |
|||
uint32_t diff; |
|||
delay(100); |
|||
diff = millis() - this->time_enter; |
|||
if (diff > 3 * 1000) { |
|||
new_state = s_joy; |
|||
debugln("read start"); |
|||
delay(1000); |
|||
if ( 0 > eeprom_config.read()) { |
|||
debugln("failed to read"); |
|||
return; |
|||
} |
|||
debugln("read fin"); |
|||
|
|||
debugln("val start"); |
|||
if ( 0 > eeprom_config.validate()) { |
|||
debugln("failed to validate"); |
|||
return; |
|||
} |
|||
debugln("val fin"); |
|||
|
|||
new_state = s_menu; |
|||
|
|||
struct Input::ch_config ch_config[Input::CH_COUNT]; |
|||
eeprom_config.get_ch_config(ch_config); |
|||
input.set_calibration(ch_config); |
|||
|
|||
uint32_t master_id = 0; |
|||
eeprom_config.get_master_id(&master_id); |
|||
set_rx_tx_addr(master_id); |
|||
|
|||
|
|||
} |
|||
} |
|||
void LCD_state_init::leave(void) |
|||
{ |
|||
lcd.clear(); |
|||
} |
|||
@ -0,0 +1,134 @@ |
|||
#include <LiquidCrystal_I2C.h>
|
|||
#include <stdio.h>
|
|||
#include "Arduino.h"
|
|||
#include "FrSkyD_cc2500.h"
|
|||
#include "state.h"
|
|||
#include "input.h"
|
|||
#include "eeprom.h"
|
|||
#include "debug.h"
|
|||
#include "tx_def.h"
|
|||
|
|||
LCD_state_joy_calibration::LCD_state_joy_calibration(void) { |
|||
|
|||
} |
|||
void LCD_state_joy_calibration::enter(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("calib. start "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print("move all sticks "); |
|||
delay(500); |
|||
} |
|||
void show_dots(int row, int number) { |
|||
lcd.setCursor(0,row); |
|||
for(int c = 0; c < 16;++c) { |
|||
if (c < number) |
|||
lcd.print("."); |
|||
else |
|||
lcd.print(" "); |
|||
} |
|||
} |
|||
void LCD_state_joy_calibration::update(void) { |
|||
int8_t turns = 50; |
|||
int8_t i; |
|||
|
|||
// init min/max
|
|||
input.calibration_reset(); |
|||
|
|||
// min max calibration
|
|||
lcd.setCursor(0,0); |
|||
lcd.print("min max Calib. "); |
|||
show_dots(1,16); |
|||
i = turns; |
|||
while(i > 0) { |
|||
input.update(); |
|||
if (true == input.calibration_update()) { |
|||
i = turns; |
|||
}else { |
|||
i -= 1; |
|||
show_dots(1,(i *16)/turns); |
|||
} |
|||
delay(100); |
|||
} |
|||
|
|||
// center
|
|||
lcd.setCursor(0,0); |
|||
lcd.print("center sticks "); |
|||
i = turns; |
|||
while(i > 0) { |
|||
input.update(); |
|||
if (false == input.is_centered()) { |
|||
i = turns; |
|||
}else { |
|||
i -= 1; |
|||
show_dots(1,(i *16)/turns); |
|||
} |
|||
delay(100); |
|||
} |
|||
|
|||
for (uint8_t _ch = 0; _ch < 4 ; ++_ch) { |
|||
enum Input::input_channels ch = (enum Input::input_channels) _ch; |
|||
lcd.setCursor(0,0); |
|||
lcd.print("move to max: "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(" "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(ch_name[ch]); |
|||
|
|||
i = turns; |
|||
while(i>0) { |
|||
delay(50); |
|||
input.update(); |
|||
|
|||
input.print_ch(ch); |
|||
if (input.is_high(ch)) { |
|||
i--; |
|||
continue; |
|||
} |
|||
|
|||
if (input.is_low(ch)) { |
|||
input.invert_ch(ch); |
|||
debug("invert"); |
|||
i = turns; |
|||
continue; |
|||
} |
|||
} |
|||
} |
|||
|
|||
struct Input::ch_config ch_config[Input::CH_COUNT]; |
|||
input.get_calibration(ch_config); |
|||
eeprom_config.set_ch_config(ch_config); |
|||
uint32_t id=0; |
|||
#ifdef FORCE_GLOBAL_ID
|
|||
id = FORCE_GLOBAL_ID; |
|||
#else
|
|||
// Generate a random ID from UUID
|
|||
#define STM32_UUID ((uint32_t *)0x1FFFF7E8)
|
|||
id = STM32_UUID[0] ^ STM32_UUID[1] ^ STM32_UUID[2]; |
|||
#endif
|
|||
debugln("Generated new master ID %lx", id); |
|||
eeprom_config.set_master_id(id); |
|||
eeprom_config.write(); |
|||
|
|||
eeprom_config.read(); |
|||
if (eeprom_config.validate()) { |
|||
debugln("ok calib\n"); |
|||
}else { |
|||
debugln("failed calib\n"); |
|||
} |
|||
|
|||
|
|||
lcd.setCursor(0,0); |
|||
lcd.print("center again "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print("all sticks "); |
|||
while (false == input.is_centered()) { |
|||
input.update(); |
|||
} |
|||
new_state = s_menu; |
|||
} |
|||
void LCD_state_joy_calibration::leave(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("finished "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print("calibration"); |
|||
} |
|||
@ -0,0 +1,64 @@ |
|||
#include <LiquidCrystal_I2C.h>
|
|||
#include <stdio.h>
|
|||
#include "Arduino.h"
|
|||
#include "state.h"
|
|||
#include "input.h"
|
|||
#include "debug.h"
|
|||
|
|||
int16_t map16b( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max); |
|||
#include <USBComposite.h>
|
|||
extern HIDJoystick Joystick; |
|||
LCD_state_joy_usb::LCD_state_joy_usb(void) { |
|||
} |
|||
void LCD_state_joy_usb::enter(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("joystick mode "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(" "); |
|||
delay(500); |
|||
} |
|||
void LCD_state_joy_usb::update(void) { |
|||
input.update(); |
|||
|
|||
uint16_t *ch_data= input.get_channel_data(); |
|||
|
|||
uint16_t x = map16b( ch_data[Input::CH_THROTTLE], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023); |
|||
uint16_t y = map16b( ch_data[Input::CH_YAW], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023); |
|||
|
|||
uint16_t xr = map16b( ch_data[Input::CH_ROLL], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023); |
|||
uint16_t yr = map16b( ch_data[Input::CH_PITCH], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023); |
|||
|
|||
bool bt0 = ch_data[Input::CH_AUX1] == CHANNEL_MIN_100; |
|||
bool bt1 = ch_data[Input::CH_AUX2] == CHANNEL_MIN_100; |
|||
bool bt2 = ch_data[Input::CH_AUX3] == CHANNEL_MIN_100; |
|||
bool bt3 = ch_data[Input::CH_AUX4] == CHANNEL_MIN_100; |
|||
bool bt4 = ch_data[Input::CH_AUX5] == CHANNEL_MIN_100; |
|||
delay(50); |
|||
|
|||
Joystick.X(x); |
|||
Joystick.Y(y); |
|||
Joystick.Xrotate(xr); |
|||
Joystick.Yrotate(yr); |
|||
Joystick.button(0, bt0); |
|||
Joystick.button(1, bt1); |
|||
Joystick.button(2, bt2); |
|||
Joystick.button(3, bt3); |
|||
Joystick.button(4, bt4); |
|||
|
|||
char line[17]; |
|||
snprintf(line,sizeof(line),"%lu %lu", bt0 , input.ch_raw[Input::CH_AUX1]); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(line); |
|||
|
|||
|
|||
if (input.is_menu_triggered()) { |
|||
debug("%lu menu button trigger\n", millis); |
|||
new_state = s_menu; |
|||
} |
|||
} |
|||
void LCD_state_joy_usb::leave(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("finished "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print("usb mode "); |
|||
} |
|||
@ -0,0 +1,86 @@ |
|||
#include <LiquidCrystal_I2C.h>
|
|||
#include <stdio.h>
|
|||
#include "Arduino.h"
|
|||
#include "FrSkyD_cc2500.h"
|
|||
#include "state.h"
|
|||
#include "input.h"
|
|||
#include "eeprom.h"
|
|||
#include "debug.h"
|
|||
#include "tx_def.h"
|
|||
|
|||
LCD_state_menu::LCD_state_menu(void) { |
|||
} |
|||
void LCD_state_menu::enter(void) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("menu mode "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(" "); |
|||
this->curr_selected = 0; |
|||
} |
|||
|
|||
void LCD_state_menu::update(void) |
|||
{ |
|||
struct { |
|||
char name[15]; |
|||
State * state; |
|||
} menus[] = { |
|||
{ "Flight ", s_fly }, |
|||
{ "Bind ", s_bind }, |
|||
{ "Joy usb ", s_usb}, |
|||
{ "Joy calib ", s_joy }, |
|||
{ "HF calib ", NULL }, |
|||
{ " ", NULL }, |
|||
}; |
|||
|
|||
bool wait = false; |
|||
char curr[2][16]; |
|||
snprintf(curr[0], sizeof(curr[0]), "> %s", menus[this->curr_selected].name); |
|||
snprintf(curr[1], sizeof(curr[1]), " %s", menus[this->curr_selected+1].name); |
|||
|
|||
lcd.setCursor(0,0); |
|||
lcd.print(curr[0]); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(curr[1]); |
|||
|
|||
input.update(); |
|||
if (false == input.is_centered(Input::MENU_UP_DOWN)) { |
|||
if (input.is_low(Input::MENU_UP_DOWN)){ |
|||
this->curr_selected +=1; |
|||
if ( this->curr_selected > 3) |
|||
this->curr_selected = 3; |
|||
else |
|||
wait = true; |
|||
} |
|||
if (input.is_high(Input::MENU_UP_DOWN)){ |
|||
this->curr_selected -=1; |
|||
if ( this->curr_selected < 0) |
|||
this->curr_selected = 0; |
|||
else |
|||
wait = true; |
|||
} |
|||
} |
|||
|
|||
if (input.is_high(Input::MENU_LEFT_RIGHT)) { |
|||
lcd.setCursor(0,0); |
|||
lcd.print("entering "); |
|||
lcd.setCursor(0,1); |
|||
lcd.print(menus[this->curr_selected].name); |
|||
// do wait until its centered
|
|||
while(false == input.is_centered(Input::MENU_LEFT_RIGHT)) { |
|||
input.update(); |
|||
} |
|||
|
|||
if (menus[this->curr_selected].state != NULL) { |
|||
new_state = menus[this->curr_selected].state; |
|||
} |
|||
wait = true; |
|||
} |
|||
|
|||
if(wait) |
|||
delay(500); |
|||
} |
|||
|
|||
void LCD_state_menu::leave(void) |
|||
{ |
|||
lcd.clear(); |
|||
} |
|||
@ -0,0 +1,227 @@ |
|||
/*
|
|||
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 <http://www.gnu.org/licenses/>.
|
|||
*/ |
|||
//**************************
|
|||
// Telemetry serial code *
|
|||
//**************************
|
|||
#include "telemetry.h"
|
|||
#include "FrSkyD_cc2500.h"
|
|||
#include "debug.h"
|
|||
uint8_t RetrySequence ; |
|||
|
|||
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
|
|||
#define MULTI_TIME 500 //in ms
|
|||
#define INPUT_SYNC_TIME 100 //in ms
|
|||
#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
|
|||
uint32_t lastMulti = 0; |
|||
#endif // MULTI_TELEMETRY/MULTI_STATUS
|
|||
|
|||
#if defined SPORT_TELEMETRY
|
|||
#define SPORT_TIME 12000 //12ms
|
|||
#define FRSKY_SPORT_PACKET_SIZE 8
|
|||
#define FX_BUFFERS 4
|
|||
uint32_t last = 0; |
|||
uint8_t sport_counter=0; |
|||
uint8_t RxBt = 0; |
|||
uint8_t sport = 0; |
|||
uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS]; |
|||
|
|||
// Store for out of sequence packet
|
|||
uint8_t FrskyxRxTelemetryValidSequence ; |
|||
struct t_fx_rx_frame |
|||
{ |
|||
uint8_t valid ; |
|||
uint8_t count ; |
|||
uint8_t payload[6] ; |
|||
} ; |
|||
|
|||
// Store for FrskyX telemetry
|
|||
struct t_fx_rx_frame FrskyxRxFrames[4] ; |
|||
uint8_t NextFxFrameToForward ; |
|||
#ifdef SPORT_POLLING
|
|||
uint8_t sport_rx_index[28] ; |
|||
uint8_t ukindex ; |
|||
uint8_t kindex ; |
|||
uint8_t TxData[2]; |
|||
uint8_t SportIndexPolling; |
|||
uint8_t RxData[16] ; |
|||
volatile uint8_t RxIndex=0 ; |
|||
uint8_t sport_bytes=0; |
|||
uint8_t skipped_id; |
|||
uint8_t rx_counter=0; |
|||
#endif
|
|||
#endif // SPORT_TELEMETRY
|
|||
|
|||
#if defined HUB_TELEMETRY
|
|||
#define USER_MAX_BYTES 6
|
|||
uint8_t prev_index; |
|||
#endif // HUB_TELEMETRY
|
|||
|
|||
#define START_STOP 0x7e
|
|||
#define BYTESTUFF 0x7d
|
|||
#define STUFF_MASK 0x20
|
|||
#define MAX_PKTX 10
|
|||
uint8_t pktx[MAX_PKTX]; |
|||
uint8_t indx; |
|||
uint8_t frame[18]; |
|||
|
|||
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
|
|||
static void multi_send_header(uint8_t type, uint8_t len) |
|||
{ |
|||
Serial_write('M'); |
|||
#ifdef MULTI_TELEMETRY
|
|||
Serial_write('P'); |
|||
Serial_write(type); |
|||
#else
|
|||
(void)type; |
|||
#endif
|
|||
Serial_write(len); |
|||
} |
|||
|
|||
#endif
|
|||
|
|||
#ifdef MULTI_TELEMETRY
|
|||
static void multi_send_frskyhub() |
|||
{ |
|||
multi_send_header(MULTI_TELEMETRY_HUB, 9); |
|||
for (uint8_t i = 0; i < 9; i++) |
|||
Serial_write(frame[i]); |
|||
} |
|||
#endif
|
|||
|
|||
|
|||
void frsky_check_telemetry(uint8_t *pkt,uint8_t len) |
|||
{ |
|||
uint8_t clen = pkt[0] + 3 ; |
|||
if (len != clen) // wrong length
|
|||
return; |
|||
if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] ) { |
|||
telemetry_link |= 1; // Telemetry data is available
|
|||
TX_RSSI = pkt[len-2]; |
|||
|
|||
if(TX_RSSI >=128) |
|||
TX_RSSI -= 128; |
|||
else |
|||
TX_RSSI += 128; |
|||
|
|||
TX_LQI = pkt[len-1]&0x7F; |
|||
for (uint8_t i=3;i<len-2;i++) |
|||
pktt[i]=pkt[i]; // Buffer telemetry values to be sent
|
|||
|
|||
if(pktt[6]>0 && pktt[6]<=10) { |
|||
if ( ( pktt[7] & 0x1F ) == (telemetry_counter & 0x1F) ) { |
|||
uint8_t topBit = 0 ; |
|||
if ( telemetry_counter & 0x80 ) |
|||
if ( ( telemetry_counter & 0x1F ) != RetrySequence ) |
|||
topBit = 0x80 ; |
|||
telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame
|
|||
} else { |
|||
// incorrect sequence
|
|||
RetrySequence = pktt[7] & 0x1F ; |
|||
telemetry_counter |= 0x80 ; |
|||
pktt[6]=0 ; // Discard current packet and wait for retransmit
|
|||
} |
|||
} else |
|||
pktt[6]=0; // Discard packet
|
|||
} |
|||
} |
|||
|
|||
void print_frskyd_telemetry() { |
|||
debug("telemetry_link %d\n", telemetry_link); |
|||
debug("telemetry_counter %d\n", telemetry_counter); |
|||
debug("v_lipo1 %d\n", v_lipo1 ); |
|||
debug("v_lipo2 %d\n", v_lipo2 ); |
|||
debug("RX_RSSI %d\n", RX_RSSI ); |
|||
debug("TX_RSSI %d\n", TX_RSSI ); |
|||
debug("RX_LQI %d\n", RX_LQI ); |
|||
debug("TX_LQI %d\n", TX_LQI ); |
|||
} |
|||
void init_frskyd_link_telemetry() |
|||
{ |
|||
telemetry_link=0; |
|||
telemetry_counter=0; |
|||
v_lipo1=0; |
|||
v_lipo2=0; |
|||
RX_RSSI=0; |
|||
TX_RSSI=0; |
|||
RX_LQI=0; |
|||
TX_LQI=0; |
|||
} |
|||
|
|||
#if defined SPORT_TELEMETRY
|
|||
/* SPORT details serial
|
|||
100K 8E2 normal-multiprotocol |
|||
-every 12ms-or multiple of 12; %36 |
|||
1 2 3 4 5 6 7 8 9 CRC DESCR |
|||
7E 98 10 05 F1 20 23 0F 00 A6 SWR_ID |
|||
7E 98 10 01 F1 33 00 00 00 C9 RSSI_ID |
|||
7E 98 10 04 F1 58 00 00 00 A1 BATT_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
|
|||
|
|||
Telemetry frames(RF) SPORT info |
|||
15 bytes payload |
|||
SPORT frame valid 6+3 bytes |
|||
[00] PKLEN 0E 0E 0E 0E |
|||
[01] TXID1 DD DD DD DD |
|||
[02] TXID2 6D 6D 6D 6D |
|||
[03] CONST 02 02 02 02 |
|||
[04] RS/RB 2C D0 2C CE //D0;CE=2*RSSI;....2C = RX battery voltage(5V from Bec)
|
|||
[05] HD-SK 03 10 21 32 //TX/RX telemetry hand-shake bytes
|
|||
[06] NO.BT 00 00 06 03 //No.of valid SPORT frame bytes in the frame
|
|||
[07] STRM1 00 00 7E 00 |
|||
[08] STRM2 00 00 1A 00 |
|||
[09] STRM3 00 00 10 00 |
|||
[10] STRM4 03 03 03 03 |
|||
[11] STRM5 F1 F1 F1 F1 |
|||
[12] STRM6 D1 D1 D0 D0 |
|||
[13] CHKSUM1 --|2 CRC bytes sent by RX (calculated on RX side crc16/table) |
|||
[14] CHKSUM2 --| |
|||
+2 appended bytes automatically RSSI and LQI/CRC bytes(len=0x0E+3); |
|||
|
|||
0x06 0x06 0x06 0x06 0x06 |
|||
|
|||
0x7E 0x00 0x03 0x7E 0x00 |
|||
0x1A 0x00 0xF1 0x1A 0x00 |
|||
0x10 0x00 0xD7 0x10 0x00 |
|||
0x03 0x7E 0x00 0x03 0x7E |
|||
0xF1 0x1A 0x00 0xF1 0x1A |
|||
0xD7 0x10 0x00 0xD7 0x10 |
|||
|
|||
0xE1 0x1C 0xD0 0xEE 0x33 |
|||
0x34 0x0A 0xC3 0x56 0xF3 |
|||
|
|||
*/ |
|||
#if defined SPORT_POLLING || defined MULTI_TELEMETRY
|
|||
const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45, |
|||
0xC6, 0x67, 0x48, 0xE9, 0x6A, 0xCB, |
|||
0xAC, 0x0D, 0x8E, 0x2F, 0xD0, 0x71, |
|||
0xF2, 0x53, 0x34, 0x95, 0x16, 0xB7, |
|||
0x98, 0x39, 0xBA, 0x1B } ; |
|||
#endif
|
|||
|
|||
|
|||
|
|||
#endif
|
|||
|
|||
/**************************/ |
|||
/**************************/ |
|||
/** Serial TX routines **/ |
|||
/**************************/ |
|||
/**************************/ |
|||
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