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add first draft for gui states

master
Schoenberger, Philipp 7 years ago
parent
92ac238f0c
commit
ee10db05c0
10 changed files with 1737 additions and 1562 deletions
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  1. 174
      Multiprotocol/CC2500_SPI.ino
  2. 334
      Multiprotocol/FrSkyD_cc2500.ino
  3. 192
      Multiprotocol/FrSkyV_cc2500.ino
  4. 588
      Multiprotocol/FrSkyX_cc2500.ino
  5. 9
      Multiprotocol/Multiprotocol.h
  6. 1763
      Multiprotocol/Multiprotocol.ino
  7. 10
      Multiprotocol/debug.h
  8. 28
      Multiprotocol/inputs.ino
  9. 139
      Multiprotocol/state.cpp
  10. 62
      Multiprotocol/state.h

174
Multiprotocol/CC2500_SPI.ino
View File

@ -24,138 +24,138 @@
//----------------------------
void CC2500_WriteReg(uint8_t address, uint8_t data)
{
CC25_CSN_off;
SPI_Write(address);
NOP();
SPI_Write(data);
CC25_CSN_on;
}
CC25_CSN_off;
SPI_Write(address);
NOP();
SPI_Write(data);
CC25_CSN_on;
}
//----------------------
static void CC2500_ReadRegisterMulti(uint8_t address, uint8_t data[], uint8_t length)
{
CC25_CSN_off;
SPI_Write(CC2500_READ_BURST | address);
for(uint8_t i = 0; i < length; i++)
data[i] = SPI_Read();
CC25_CSN_on;
CC25_CSN_off;
SPI_Write(CC2500_READ_BURST | address);
for(uint8_t i = 0; i < length; i++)
data[i] = SPI_Read();
CC25_CSN_on;
}
//--------------------------------------------
static uint8_t CC2500_ReadReg(uint8_t address)
{
uint8_t result;
CC25_CSN_off;
SPI_Write(CC2500_READ_SINGLE | address);
result = SPI_Read();
CC25_CSN_on;
return(result);
}
{
uint8_t result;
CC25_CSN_off;
SPI_Write(CC2500_READ_SINGLE | address);
result = SPI_Read();
CC25_CSN_on;
return(result);
}
//------------------------
void CC2500_ReadData(uint8_t *dpbuffer, uint8_t len)
{
CC2500_ReadRegisterMulti(CC2500_3F_RXFIFO, dpbuffer, len);
CC2500_ReadRegisterMulti(CC2500_3F_RXFIFO, dpbuffer, len);
}
//*********************************************
void CC2500_Strobe(uint8_t state)
{
CC25_CSN_off;
SPI_Write(state);
CC25_CSN_on;
CC25_CSN_off;
SPI_Write(state);
CC25_CSN_on;
}
static void CC2500_WriteRegisterMulti(uint8_t address, const uint8_t data[], uint8_t length)
{
CC25_CSN_off;
SPI_Write(CC2500_WRITE_BURST | address);
for(uint8_t i = 0; i < length; i++)
SPI_Write(data[i]);
CC25_CSN_on;
CC25_CSN_off;
SPI_Write(CC2500_WRITE_BURST | address);
for(uint8_t i = 0; i < length; i++)
SPI_Write(data[i]);
CC25_CSN_on;
}
void CC2500_WriteData(uint8_t *dpbuffer, uint8_t len)
{
CC2500_Strobe(CC2500_SFTX);
CC2500_WriteRegisterMulti(CC2500_3F_TXFIFO, dpbuffer, len);
CC2500_Strobe(CC2500_STX);
CC2500_Strobe(CC2500_SFTX);
CC2500_WriteRegisterMulti(CC2500_3F_TXFIFO, dpbuffer, len);
CC2500_Strobe(CC2500_STX);
}
void CC2500_SetTxRxMode(uint8_t mode)
{
if(mode == TX_EN)
{//from deviation firmware
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F);
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F | 0x40);
}
else
if (mode == RX_EN)
{
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F);
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F | 0x40);
}
else
{
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F);
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F);
}
if(mode == TX_EN)
{//from deviation firmware
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F);
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F | 0x40);
}
else
if (mode == RX_EN)
{
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F);
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F | 0x40);
}
else
{
CC2500_WriteReg(CC2500_02_IOCFG0, 0x2F);
CC2500_WriteReg(CC2500_00_IOCFG2, 0x2F);
}
}
//------------------------
/*static void cc2500_resetChip(void)
{
// Toggle chip select signal
CC25_CSN_on;
delayMicroseconds(30);
CC25_CSN_off;
delayMicroseconds(30);
CC25_CSN_on;
delayMicroseconds(45);
CC2500_Strobe(CC2500_SRES);
_delay_ms(100);
// Toggle chip select signal
CC25_CSN_on;
delayMicroseconds(30);
CC25_CSN_off;
delayMicroseconds(30);
CC25_CSN_on;
delayMicroseconds(45);
CC2500_Strobe(CC2500_SRES);
_delay_ms(100);
}
*/
uint8_t CC2500_Reset()
{
CC2500_Strobe(CC2500_SRES);
delay(1);
CC2500_SetTxRxMode(TXRX_OFF);
return CC2500_ReadReg(CC2500_0E_FREQ1) == 0xC4;//check if reset
CC2500_Strobe(CC2500_SRES);
delay(1);
CC2500_SetTxRxMode(TXRX_OFF);
return CC2500_ReadReg(CC2500_0E_FREQ1) == 0xC4;//check if reset
}
/*
static void CC2500_SetPower_Value(uint8_t power)
{
const unsigned char patable[8]= {
0xC5, // -12dbm
0x97, // -10dbm
0x6E, // -8dbm
0x7F, // -6dbm
0xA9, // -4dbm
0xBB, // -2dbm
0xFE, // 0dbm
0xFF // 1.5dbm
};
if (power > 7)
power = 7;
CC2500_WriteReg(CC2500_3E_PATABLE, patable[power]);
const unsigned char patable[8]= {
0xC5, // -12dbm
0x97, // -10dbm
0x6E, // -8dbm
0x7F, // -6dbm
0xA9, // -4dbm
0xBB, // -2dbm
0xFE, // 0dbm
0xFF // 1.5dbm
};
if (power > 7)
power = 7;
CC2500_WriteReg(CC2500_3E_PATABLE, patable[power]);
}
*/
void CC2500_SetPower()
{
uint8_t power=CC2500_BIND_POWER;
if(IS_BIND_DONE)
#ifdef CC2500_ENABLE_LOW_POWER
power=IS_POWER_FLAG_on?CC2500_HIGH_POWER:CC2500_LOW_POWER;
#else
power=CC2500_HIGH_POWER;
#endif
if(IS_RANGE_FLAG_on)
power=CC2500_RANGE_POWER;
if(prev_power != power)
{
CC2500_WriteReg(CC2500_3E_PATABLE, power);
prev_power=power;
}
uint8_t power=CC2500_BIND_POWER;
if(IS_BIND_DONE)
#ifdef CC2500_ENABLE_LOW_POWER
power=IS_POWER_FLAG_on?CC2500_HIGH_POWER:CC2500_LOW_POWER;
#else
power=CC2500_HIGH_POWER;
#endif
if(IS_RANGE_FLAG_on)
power=CC2500_RANGE_POWER;
if(prev_power != power)
{
CC2500_WriteReg(CC2500_3E_PATABLE, power);
prev_power=power;
}
}
#endif

334
Multiprotocol/FrSkyD_cc2500.ino
View File

@ -19,197 +19,197 @@
static void __attribute__((unused)) frsky2way_init(uint8_t bind)
{
//debugln("frsky2way_init");
FRSKY_init_cc2500(FRSKYD_cc2500_conf);
FRSKY_init_cc2500(FRSKYD_cc2500_conf);
CC2500_WriteReg(CC2500_09_ADDR, bind ? 0x03 : rx_tx_addr[3]);
CC2500_WriteReg(CC2500_07_PKTCTRL1, 0x05);
CC2500_Strobe(CC2500_SIDLE); // Go to idle...
//
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);
//#######END INIT########
CC2500_WriteReg(CC2500_09_ADDR, bind ? 0x03 : rx_tx_addr[3]);
CC2500_WriteReg(CC2500_07_PKTCTRL1, 0x05);
CC2500_Strobe(CC2500_SIDLE); // Go to idle...
//
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);
//#######END INIT########
}
static void __attribute__((unused)) frsky2way_build_bind_packet()
{
//debugln("build bind");
//11 03 01 d7 2d 00 00 1e 3c 5b 78 00 00 00 00 00 00 01
//11 03 01 19 3e 00 02 8e 2f bb 5c 00 00 00 00 00 00 01
packet[0] = 0x11;
packet[1] = 0x03;
packet[2] = 0x01;
packet[3] = rx_tx_addr[3];
packet[4] = rx_tx_addr[2];
uint16_t idx = ((state -FRSKY_BIND) % 10) * 5;
packet[5] = idx;
packet[6] = hopping_frequency[idx++];
packet[7] = hopping_frequency[idx++];
packet[8] = hopping_frequency[idx++];
packet[9] = hopping_frequency[idx++];
packet[10] = hopping_frequency[idx++];
packet[11] = 0x00;
packet[12] = 0x00;
packet[13] = 0x00;
packet[14] = 0x00;
packet[15] = 0x00;
packet[16] = 0x00;
packet[17] = 0x01;
//11 03 01 d7 2d 00 00 1e 3c 5b 78 00 00 00 00 00 00 01
//11 03 01 19 3e 00 02 8e 2f bb 5c 00 00 00 00 00 00 01
packet[0] = 0x11;
packet[1] = 0x03;
packet[2] = 0x01;
packet[3] = rx_tx_addr[3];
packet[4] = rx_tx_addr[2];
uint16_t idx = ((state -FRSKY_BIND) % 10) * 5;
packet[5] = idx;
packet[6] = hopping_frequency[idx++];
packet[7] = hopping_frequency[idx++];
packet[8] = hopping_frequency[idx++];
packet[9] = hopping_frequency[idx++];
packet[10] = hopping_frequency[idx++];
packet[11] = 0x00;
packet[12] = 0x00;
packet[13] = 0x00;
packet[14] = 0x00;
packet[15] = 0x00;
packet[16] = 0x00;
packet[17] = 0x01;
}
static void __attribute__((unused)) frsky2way_data_frame()
{
//pachet[4] is telemetry user frame counter(hub)
//11 d7 2d 22 00 01 c9 c9 ca ca 88 88 ca ca c9 ca 88 88
//11 57 12 00 00 01 f2 f2 f2 f2 06 06 ca ca ca ca 18 18
packet[0] = 0x11; //Length
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = counter;//
#if defined TELEMETRY
packet[4] = telemetry_counter;
#else
packet[4] = 0x00;
#endif
//11 d7 2d 22 00 01 c9 c9 ca ca 88 88 ca ca c9 ca 88 88
//11 57 12 00 00 01 f2 f2 f2 f2 06 06 ca ca ca ca 18 18
packet[0] = 0x11; //Length
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = counter;//
#if defined TELEMETRY
packet[4] = telemetry_counter;
#else
packet[4] = 0x00;
#endif
packet[5] = 0x01;
//
packet[10] = 0;
packet[11] = 0;
packet[16] = 0;
packet[17] = 0;
for(uint8_t i = 0; i < 8; i++)
{
uint16_t value;
value = convert_channel_frsky(i);
if(i < 4)
{
packet[6+i] = value & 0xff;
packet[10+(i>>1)] |= ((value >> 8) & 0x0f) << (4 *(i & 0x01));
}
else
{
packet[8+i] = value & 0xff;
packet[16+((i-4)>>1)] |= ((value >> 8) & 0x0f) << (4 * ((i-4) & 0x01));
}
}
}
packet[5] = 0x01;
//
packet[10] = 0;
packet[11] = 0;
packet[16] = 0;
packet[17] = 0;
for(uint8_t i = 0; i < 8; i++)
{
uint16_t value;
value = convert_channel_frsky(i);
if(i < 4)
{
packet[6+i] = value & 0xff;
packet[10+(i>>1)] |= ((value >> 8) & 0x0f) << (4 *(i & 0x01));
}
else
{
packet[8+i] = value & 0xff;
packet[16+((i-4)>>1)] |= ((value >> 8) & 0x0f) << (4 * ((i-4) & 0x01));
}
}
}
uint16_t initFrSky_2way()
{
Frsky_init_hop();
packet_count=0;
if(IS_BIND_IN_PROGRESS)
{
frsky2way_init(1);
state = FRSKY_BIND;
Frsky_init_hop();
packet_count=0;
if(IS_BIND_IN_PROGRESS)
{
frsky2way_init(1);
state = FRSKY_BIND;
debugln("initFrSky_2way bind");
}
else
{
state = FRSKY_BIND_DONE;
}
else
{
state = FRSKY_BIND_DONE;
debugln("initFrSky_2way bind done");
}
return 10000;
}
}
return 10000;
}
uint16_t ReadFrSky_2way()
{
{
//debugln("%s",__func__);
if (state < FRSKY_BIND_DONE)
{
frsky2way_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);//0x3A
CC2500_WriteData(packet, packet[0]+1);
if(IS_BIND_DONE) {
state = FRSKY_BIND;
if (state < FRSKY_BIND_DONE)
{
frsky2way_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);//0x3A
CC2500_WriteData(packet, packet[0]+1);
if(IS_BIND_DONE) {
state = FRSKY_BIND;
debugln("%s bind done",__func__);
} else
state++;
} else
state++;
if(state == FRSKY_BIND_DONE) {
debugln("%s bind done fr",__func__);
}
return 9000;
}
if (state == FRSKY_BIND_DONE)
{
//debugln("%s bind done",__func__);
return 9000;
}
if (state == FRSKY_BIND_DONE)
{
//debugln("%s bind done",__func__);
state = FRSKY_DATA2;
frsky2way_init(0);
counter = 0;
BIND_DONE;
}
else
if (state == FRSKY_DATA5)
{
CC2500_Strobe(CC2500_SRX);//0x34 RX enable
state = FRSKY_DATA1;
return 9200;
}
counter = (counter + 1) % 188;
if (state == FRSKY_DATA4)
{ //telemetry receive
CC2500_SetTxRxMode(RX_EN);
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[counter % 47]);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
state++;
return 1300;
}
else
{
if (state == FRSKY_DATA1)
{
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
state = FRSKY_DATA2;
frsky2way_init(0);
counter = 0;
BIND_DONE;
}
else
if (state == FRSKY_DATA5)
{
CC2500_Strobe(CC2500_SRX);//0x34 RX enable
state = FRSKY_DATA1;
return 9200;
}
counter = (counter + 1) % 188;
if (state == FRSKY_DATA4)
{ //telemetry receive
CC2500_SetTxRxMode(RX_EN);
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[counter % 47]);
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
state++;
return 1300;
}
else
{
if (state == FRSKY_DATA1)
{
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
//debugln("%d len",len);
if (len && len<=(0x11+3))// 20bytes
{
CC2500_ReadData(pkt, len); //received telemetry packets
#if defined(TELEMETRY)
if(pkt[len-1] & 0x80)
{//with valid crc
packet_count=0;
frsky_check_telemetry(pkt,len); //check if valid telemetry packets and buffer them.
}
#endif
}
else
{
packet_count++;
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)
{//~1sec
packet_count=0;
#if defined TELEMETRY
telemetry_link=0;//no link frames
pkt[6]=0;//no user frames.
#endif
}
}
CC2500_SetTxRxMode(TX_EN);
CC2500_SetPower(); // Set tx_power
}
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[counter % 47]);
if ( prev_option != option )
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);
frsky2way_data_frame();
CC2500_WriteData(packet, packet[0]+1);
state++;
}
return state == FRSKY_DATA4 ? 7500 : 9000;
if (len && len<=(0x11+3))// 20bytes
{
CC2500_ReadData(pkt, len); //received telemetry packets
#if defined(TELEMETRY)
if(pkt[len-1] & 0x80)
{//with valid crc
packet_count=0;
frsky_check_telemetry(pkt,len); //check if valid telemetry packets and buffer them.
}
#endif
}
else
{
packet_count++;
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)
{//~1sec
packet_count=0;
#if defined TELEMETRY
telemetry_link=0;//no link frames
pkt[6]=0;//no user frames.
#endif
}
}
CC2500_SetTxRxMode(TX_EN);
CC2500_SetPower(); // Set tx_power
}
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[counter % 47]);
if ( prev_option != option )
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
CC2500_WriteReg(CC2500_23_FSCAL3, 0x89);
CC2500_Strobe(CC2500_SFRX);
frsky2way_data_frame();
CC2500_WriteData(packet, packet[0]+1);
state++;
}
return state == FRSKY_DATA4 ? 7500 : 9000;
}
#endif

192
Multiprotocol/FrSkyV_cc2500.ino
View File

@ -18,43 +18,43 @@
#define FRSKYV_BIND_COUNT 200
enum {
FRSKYV_DATA1=0,
FRSKYV_DATA2,
FRSKYV_DATA3,
FRSKYV_DATA4,
FRSKYV_DATA5
FRSKYV_DATA1=0,
FRSKYV_DATA2,
FRSKYV_DATA3,
FRSKYV_DATA4,
FRSKYV_DATA5
};
#include "iface_cc2500.h"
static uint8_t __attribute__((unused)) FRSKYV_crc8(uint8_t result, uint8_t *data, uint8_t len)
{
for(uint8_t i = 0; i < len; i++)
{
result = result ^ data[i];
for(uint8_t j = 0; j < 8; j++)
if(result & 0x80)
result = (result << 1) ^ 0x07;
else
result = result << 1;
}
return result;
for(uint8_t i = 0; i < len; i++)
{
result = result ^ data[i];
for(uint8_t j = 0; j < 8; j++)
if(result & 0x80)
result = (result << 1) ^ 0x07;
else
result = result << 1;
}
return result;
}
static uint8_t __attribute__((unused)) FRSKYV_crc8_le(uint8_t *data, uint8_t len)
{
uint8_t result = 0xD6;
for(uint8_t i = 0; i < len; i++)
{
result = result ^ data[i];
for(uint8_t j = 0; j < 8; j++)
if(result & 0x01)
result = (result >> 1) ^ 0x83;
else
result = result >> 1;
}
return result;
uint8_t result = 0xD6;
for(uint8_t i = 0; i < len; i++)
{
result = result ^ data[i];
for(uint8_t j = 0; j < 8; j++)
if(result & 0x01)
result = (result >> 1) ^ 0x83;
else
result = result >> 1;
}
return result;
}
static void __attribute__((unused)) FRSKYV_build_bind_packet()
@ -79,87 +79,87 @@ static void __attribute__((unused)) FRSKYV_build_bind_packet()
static uint8_t __attribute__((unused)) FRSKYV_calc_channel()
{
uint32_t temp=seed;
temp = (temp * 0xaa) % 0x7673;
seed = temp;
return (seed & 0xff) % 0x32;
uint32_t temp=seed;
temp = (temp * 0xaa) % 0x7673;
seed = temp;
return (seed & 0xff) % 0x32;
}
static void __attribute__((unused)) FRSKYV_build_data_packet()
{
uint8_t idx = 0; // transmit lower channels
packet[0] = 0x0e;
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = seed & 0xff;
packet[4] = seed >> 8;
if (phase == FRSKYV_DATA1 || phase == FRSKYV_DATA3)
packet[5] = 0x0f;
else
if(phase == FRSKYV_DATA2 || phase == FRSKYV_DATA4)
{
packet[5] = 0xf0;
idx=4; // transmit upper channels
}
else
packet[5] = 0x00;
for(uint8_t i = 0; i < 4; i++)
{
uint16_t value = convert_channel_frsky(i+idx);
packet[2*i + 6] = value & 0xff;
packet[2*i + 7] = value >> 8;
}
packet[14] = FRSKYV_crc8(crc8, packet, 14);
uint8_t idx = 0; // transmit lower channels
packet[0] = 0x0e;
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = seed & 0xff;
packet[4] = seed >> 8;
if (phase == FRSKYV_DATA1 || phase == FRSKYV_DATA3)
packet[5] = 0x0f;
else
if(phase == FRSKYV_DATA2 || phase == FRSKYV_DATA4)
{
packet[5] = 0xf0;
idx=4; // transmit upper channels
}
else
packet[5] = 0x00;
for(uint8_t i = 0; i < 4; i++)
{
uint16_t value = convert_channel_frsky(i+idx);
packet[2*i + 6] = value & 0xff;
packet[2*i + 7] = value >> 8;
}
packet[14] = FRSKYV_crc8(crc8, packet, 14);
}
uint16_t ReadFRSKYV()
{
if(IS_BIND_DONE)
{ // Normal operation
uint8_t chan = FRSKYV_calc_channel();
CC2500_Strobe(CC2500_SIDLE);
if (option != prev_option)
{
CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
prev_option=option;
}
CC2500_WriteReg(CC2500_0A_CHANNR, chan * 5 + 6);
FRSKYV_build_data_packet();
if (phase == FRSKYV_DATA5)
{
CC2500_SetPower();
phase = FRSKYV_DATA1;
}
else
phase++;
CC2500_WriteData(packet, packet[0]+1);
return 9006;
}
// Bind mode
FRSKYV_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteData(packet, packet[0]+1);
binding_idx++;
if(binding_idx>=FRSKYV_BIND_COUNT)
BIND_DONE;
return 53460;
if(IS_BIND_DONE)
{ // Normal operation
uint8_t chan = FRSKYV_calc_channel();
CC2500_Strobe(CC2500_SIDLE);
if (option != prev_option)
{
CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
prev_option=option;
}
CC2500_WriteReg(CC2500_0A_CHANNR, chan * 5 + 6);
FRSKYV_build_data_packet();
if (phase == FRSKYV_DATA5)
{
CC2500_SetPower();
phase = FRSKYV_DATA1;
}
else
phase++;
CC2500_WriteData(packet, packet[0]+1);
return 9006;
}
// Bind mode
FRSKYV_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR, 0x00);
CC2500_WriteData(packet, packet[0]+1);
binding_idx++;
if(binding_idx>=FRSKYV_BIND_COUNT)
BIND_DONE;
return 53460;
}
uint16_t initFRSKYV()
{
//ID is 15 bits. Using rx_tx_addr[2] and rx_tx_addr[3] since we want to use RX_Num for model match
rx_tx_addr[2]&=0x7F;
crc8 = FRSKYV_crc8_le(rx_tx_addr+2, 2);
FRSKY_init_cc2500(FRSKYV_cc2500_conf);
seed = 1;
binding_idx=0;
phase = FRSKYV_DATA1;
return 10000;
//ID is 15 bits. Using rx_tx_addr[2] and rx_tx_addr[3] since we want to use RX_Num for model match
rx_tx_addr[2]&=0x7F;
crc8 = FRSKYV_crc8_le(rx_tx_addr+2, 2);
FRSKY_init_cc2500(FRSKYV_cc2500_conf);
seed = 1;
binding_idx=0;
phase = FRSKYV_DATA1;
return 10000;
}
#endif

588
Multiprotocol/FrSkyX_cc2500.ino
View File

@ -1,18 +1,18 @@
/* **************************
* By Midelic on RCGroups *
**************************
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/>.
* By Midelic on RCGroups *
**************************
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/>.
*/
#if defined(FRSKYX_CC2500_INO)
@ -27,335 +27,335 @@ uint8_t FrX_receive_seq ;
static void __attribute__((unused)) frskyX_set_start(uint8_t ch )
{
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_25_FSCAL1, calData[ch]);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[ch]);
}
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_25_FSCAL1, calData[ch]);
CC2500_WriteReg(CC2500_0A_CHANNR, hopping_frequency[ch]);
}
static void __attribute__((unused)) frskyX_init()
{
FRSKY_init_cc2500((sub_protocol&2)?FRSKYXEU_cc2500_conf:FRSKYX_cc2500_conf); // LBT or FCC
//
for(uint8_t c=0;c < 48;c++)
{//calibrate hop channels
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR,hopping_frequency[c]);
CC2500_Strobe(CC2500_SCAL);
delayMicroseconds(900);//
calData[c] = CC2500_ReadReg(CC2500_25_FSCAL1);
}
//#######END INIT########
FRSKY_init_cc2500((sub_protocol&2)?FRSKYXEU_cc2500_conf:FRSKYX_cc2500_conf); // LBT or FCC
//
for(uint8_t c=0;c < 48;c++)
{//calibrate hop channels
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteReg(CC2500_0A_CHANNR,hopping_frequency[c]);
CC2500_Strobe(CC2500_SCAL);
delayMicroseconds(900);//
calData[c] = CC2500_ReadReg(CC2500_25_FSCAL1);
}
//#######END INIT########
}
static void __attribute__((unused)) frskyX_initialize_data(uint8_t adr)
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
CC2500_WriteReg(CC2500_18_MCSM0, 0x8);
CC2500_WriteReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
CC2500_WriteReg(CC2500_07_PKTCTRL1,0x05);
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
CC2500_WriteReg(CC2500_18_MCSM0, 0x8);
CC2500_WriteReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
CC2500_WriteReg(CC2500_07_PKTCTRL1,0x05);
}
//**CRC**
const uint16_t PROGMEM frskyX_CRC_Short[]={
0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7 };
0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7 };
static uint16_t __attribute__((unused)) frskyX_CRCTable(uint8_t val)
{
uint16_t word ;
word = pgm_read_word(&frskyX_CRC_Short[val&0x0F]) ;
val /= 16 ;
return word ^ (0x1081 * val) ;
uint16_t word ;
word = pgm_read_word(&frskyX_CRC_Short[val&0x0F]) ;
val /= 16 ;
return word ^ (0x1081 * val) ;
}
static uint16_t __attribute__((unused)) frskyX_crc_x(uint8_t *data, uint8_t len)
{
uint16_t crc = 0;
for(uint8_t i=0; i < len; i++)
crc = (crc<<8) ^ frskyX_CRCTable((uint8_t)(crc>>8) ^ *data++);
return crc;
uint16_t crc = 0;
for(uint8_t i=0; i < len; i++)
crc = (crc<<8) ^ frskyX_CRCTable((uint8_t)(crc>>8) ^ *data++);
return crc;
}
static void __attribute__((unused)) frskyX_build_bind_packet()
{
// debugln("%s:%d build bind", __func__, __LINE__);
packet[0] = (sub_protocol & 2 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = 0x03;
packet[2] = 0x01;
//
packet[3] = rx_tx_addr[3];
packet[4] = rx_tx_addr[2];
int idx = ((state -FRSKY_BIND) % 10) * 5;
packet[5] = idx;
packet[6] = hopping_frequency[idx++];
packet[7] = hopping_frequency[idx++];
packet[8] = hopping_frequency[idx++];
packet[9] = hopping_frequency[idx++];
packet[10] = hopping_frequency[idx++];
packet[11] = 0x02;
packet[12] = RX_num;
//
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
memset(&packet[13], 0, limit - 13);
uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
//
packet[limit++] = lcrc >> 8;
packet[limit] = lcrc;
//
packet[0] = (sub_protocol & 2 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = 0x03;
packet[2] = 0x01;
//
packet[3] = rx_tx_addr[3];
packet[4] = rx_tx_addr[2];
int idx = ((state -FRSKY_BIND) % 10) * 5;
packet[5] = idx;
packet[6] = hopping_frequency[idx++];
packet[7] = hopping_frequency[idx++];
packet[8] = hopping_frequency[idx++];
packet[9] = hopping_frequency[idx++];
packet[10] = hopping_frequency[idx++];
packet[11] = 0x02;
packet[12] = RX_num;
//
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
memset(&packet[13], 0, limit - 13);
uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
//
packet[limit++] = lcrc >> 8;
packet[limit] = lcrc;
//
}
// 0-2047, 0 = 817, 1024 = 1500, 2047 = 2182
//64=860,1024=1500,1984=2140//Taranis 125%
static uint16_t __attribute__((unused)) frskyX_scaleForPXX( uint8_t i )
{ //mapped 860,2140(125%) range to 64,1984(PXX values);
uint16_t chan_val=convert_channel_frsky(i)-1226;
if(i>7) chan_val|=2048; // upper channels offset
return chan_val;
{ //mapped 860,2140(125%) range to 64,1984(PXX values);
uint16_t chan_val=convert_channel_frsky(i)-1226;
if(i>7) chan_val|=2048; // upper channels offset
return chan_val;
}
#ifdef FAILSAFE_ENABLE
static uint16_t __attribute__((unused)) frskyX_scaleForPXX_FS( uint8_t i )
{ //mapped 1,2046(125%) range to 64,1984(PXX values);
uint16_t chan_val=((Failsafe_data[i]*15)>>4)+64;
if(Failsafe_data[i]==FAILSAFE_CHANNEL_NOPULSES)
chan_val=FAILSAFE_CHANNEL_NOPULSES;
else if(Failsafe_data[i]==FAILSAFE_CHANNEL_HOLD)
chan_val=FAILSAFE_CHANNEL_HOLD;
if(i>7) chan_val|=2048; // upper channels offset
return chan_val;
{ //mapped 1,2046(125%) range to 64,1984(PXX values);
uint16_t chan_val=((Failsafe_data[i]*15)>>4)+64;
if(Failsafe_data[i]==FAILSAFE_CHANNEL_NOPULSES)
chan_val=FAILSAFE_CHANNEL_NOPULSES;
else if(Failsafe_data[i]==FAILSAFE_CHANNEL_HOLD)
chan_val=FAILSAFE_CHANNEL_HOLD;
if(i>7) chan_val|=2048; // upper channels offset
return chan_val;
}
#endif
#define FRX_FAILSAFE_TIME 1032
static void __attribute__((unused)) frskyX_data_frame()
{
//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
//
static uint8_t chan_offset=0;
uint16_t chan_0 ;
uint16_t chan_1 ;
//
//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
//
static uint8_t chan_offset=0;
uint16_t chan_0 ;
uint16_t chan_1 ;
//
// data frames sent every 9ms; failsafe every 9 seconds
#ifdef FAILSAFE_ENABLE
static uint16_t failsafe_count=0;
static uint8_t FS_flag=0,failsafe_chan=0;
if (FS_flag == 0 && failsafe_count > FRX_FAILSAFE_TIME && chan_offset == 0 && IS_FAILSAFE_VALUES_on)
{
FS_flag = 0x10;
failsafe_chan = 0;
} else if (FS_flag & 0x10 && failsafe_chan < (sub_protocol & 0x01 ? 8-1:16-1))
{
FS_flag = 0x10 | ((FS_flag + 2) & 0x0F); //10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
failsafe_chan ++;
} else if (FS_flag & 0x10)
{
FS_flag = 0;
failsafe_count = 0;
}
failsafe_count++;
#endif
packet[0] = (sub_protocol & 0x02 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = 0x02;
//
packet[4] = (FrX_chanskip<<6)|hopping_frequency_no;
packet[5] = FrX_chanskip>>2;
packet[6] = RX_num;
//packet[7] = FLAGS 00 - standard packet
//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
//20 - range check packet
#ifdef FAILSAFE_ENABLE
packet[7] = FS_flag;
#else
packet[7] = 0;
#endif
packet[8] = 0;
//
uint8_t startChan = chan_offset; for(uint8_t i = 0; i <12 ; i+=3)
{//12 bytes of channel data
#ifdef FAILSAFE_ENABLE
if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
chan_0 = frskyX_scaleForPXX_FS(failsafe_chan);
else
#endif
chan_0 = frskyX_scaleForPXX(startChan);
startChan++;
//
#ifdef FAILSAFE_ENABLE
if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
chan_1 = frskyX_scaleForPXX_FS(failsafe_chan);
else
#endif
chan_1 = frskyX_scaleForPXX(startChan);
startChan++;
//
packet[9+i] = lowByte(chan_0); //3 bytes*4
packet[9+i+1]=(((chan_0>>8) & 0x0F)|(chan_1 << 4));
packet[9+i+2]=chan_1>>4;
}
packet[21] = (FrX_receive_seq << 4) | FrX_send_seq ;//8 at start
if(sub_protocol & 0x01 ) // in X8 mode send only 8ch every 9ms
chan_offset = 0 ;
else
chan_offset^=0x08;
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
for (uint8_t i=22;i<limit;i++)
packet[i]=0;
#if defined SPORT_POLLING
uint8_t idxs=0;
if(ok_to_send)
for (uint8_t i=23;i<limit;i++)
{//
if(sport_index==sport_idx)
{//no new data
ok_to_send=false;
break;
}
packet[i]=SportData[sport_index];
sport_index= (sport_index+1)& (MAX_SPORT_BUFFER-1);
idxs++;
}
packet[22]= idxs;
#ifdef DEBUG_SERIAL
for(uint8_t i=0;i<idxs;i++)
{
Serial.print(packet[23+i],HEX);
Serial.print(" ");
}
Serial.println(" ");
#endif
#endif // SPORT_POLLING
#ifdef FAILSAFE_ENABLE
static uint16_t failsafe_count=0;
static uint8_t FS_flag=0,failsafe_chan=0;
if (FS_flag == 0 && failsafe_count > FRX_FAILSAFE_TIME && chan_offset == 0 && IS_FAILSAFE_VALUES_on)
{
FS_flag = 0x10;
failsafe_chan = 0;
} else if (FS_flag & 0x10 && failsafe_chan < (sub_protocol & 0x01 ? 8-1:16-1))
{
FS_flag = 0x10 | ((FS_flag + 2) & 0x0F); //10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
failsafe_chan ++;
} else if (FS_flag & 0x10)
{
FS_flag = 0;
failsafe_count = 0;
}
failsafe_count++;
#endif
packet[0] = (sub_protocol & 0x02 ) ? 0x20 : 0x1D ; // LBT or FCC
packet[1] = rx_tx_addr[3];
packet[2] = rx_tx_addr[2];
packet[3] = 0x02;
//
packet[4] = (FrX_chanskip<<6)|hopping_frequency_no;
packet[5] = FrX_chanskip>>2;
packet[6] = RX_num;
//packet[7] = FLAGS 00 - standard packet
//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
//20 - range check packet
#ifdef FAILSAFE_ENABLE
packet[7] = FS_flag;
#else
packet[7] = 0;
#endif
packet[8] = 0;
//
uint8_t startChan = chan_offset; for(uint8_t i = 0; i <12 ; i+=3)
{//12 bytes of channel data
#ifdef FAILSAFE_ENABLE
if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
chan_0 = frskyX_scaleForPXX_FS(failsafe_chan);
else
#endif
chan_0 = frskyX_scaleForPXX(startChan);
startChan++;
//
#ifdef FAILSAFE_ENABLE
if( (FS_flag & 0x10) && ((failsafe_chan & 0x07) == (startChan & 0x07)) )
chan_1 = frskyX_scaleForPXX_FS(failsafe_chan);
else
#endif
chan_1 = frskyX_scaleForPXX(startChan);
startChan++;
//
packet[9+i] = lowByte(chan_0); //3 bytes*4
packet[9+i+1]=(((chan_0>>8) & 0x0F)|(chan_1 << 4));
packet[9+i+2]=chan_1>>4;
}
packet[21] = (FrX_receive_seq << 4) | FrX_send_seq ;//8 at start
uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
packet[limit++]=lcrc>>8;//high byte
packet[limit]=lcrc;//low byte
if(sub_protocol & 0x01 ) // in X8 mode send only 8ch every 9ms
chan_offset = 0 ;
else
chan_offset^=0x08;
uint8_t limit = (sub_protocol & 2 ) ? 31 : 28 ;
for (uint8_t i=22;i<limit;i++)
packet[i]=0;
#if defined SPORT_POLLING
uint8_t idxs=0;
if(ok_to_send)
for (uint8_t i=23;i<limit;i++)
{//
if(sport_index==sport_idx)
{//no new data
ok_to_send=false;
break;
}
packet[i]=SportData[sport_index];
sport_index= (sport_index+1)& (MAX_SPORT_BUFFER-1);
idxs++;
}
packet[22]= idxs;
#ifdef DEBUG_SERIAL
for(uint8_t i=0;i<idxs;i++)
{
Serial.print(packet[23+i],HEX);
Serial.print(" ");
}
Serial.println(" ");
#endif
#endif // SPORT_POLLING
uint16_t lcrc = frskyX_crc_x(&packet[3], limit-3);
packet[limit++]=lcrc>>8;//high byte
packet[limit]=lcrc;//low byte
}
uint16_t ReadFrSkyX()
{
switch(state)
{
default:
frskyX_set_start(47);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
//
frskyX_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
if(IS_BIND_DONE) {
state = FRSKY_BIND_DONE;
switch(state)
{
default:
frskyX_set_start(47);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
//
frskyX_build_bind_packet();
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
if(IS_BIND_DONE) {
state = FRSKY_BIND_DONE;
//debugln("%s:%d bind done", __func__, __LINE__);
}
else
state++;
return 9000;
case FRSKY_BIND_DONE:
frskyX_initialize_data(0);
hopping_frequency_no=0;
BIND_DONE;
state++;
break;
case FRSKY_DATA1:
if ( prev_option != option )
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
CC2500_SetTxRxMode(TX_EN);
frskyX_set_start(hopping_frequency_no);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
hopping_frequency_no = (hopping_frequency_no+FrX_chanskip)%47;
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
//
// frskyX_data_frame();
state++;
return 5200;
case FRSKY_DATA2:
CC2500_SetTxRxMode(RX_EN);
CC2500_Strobe(CC2500_SIDLE);
state++;
return 200;
case FRSKY_DATA3:
CC2500_Strobe(CC2500_SRX);
state++;
return 3100;
case FRSKY_DATA4:
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (len && (len<=(0x0E + 3))) //Telemetry frame is 17
{
packet_count=0;
CC2500_ReadData(pkt, len);
#if defined TELEMETRY
frsky_check_telemetry(pkt,len); //check if valid telemetry packets
//parse telemetry packets here
//The same telemetry function used by FrSky(D8).
#endif
}
else
{
packet_count++;
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)
{//~1sec
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
// FrX_receive_seq = 0 ;
packet_count=0;
#if defined TELEMETRY
telemetry_lost=1;
#endif
}
CC2500_Strobe(CC2500_SFRX); //flush the RXFIFO
}
frskyX_data_frame();
if ( FrX_send_seq != 0x08 )
{
FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;
}
state = FRSKY_DATA1;
return 500;
}
return 1;
}
else
state++;
return 9000;
case FRSKY_BIND_DONE:
frskyX_initialize_data(0);
hopping_frequency_no=0;
BIND_DONE;
state++;
break;
case FRSKY_DATA1:
if ( prev_option != option )
{
CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
prev_option = option ;
}
CC2500_SetTxRxMode(TX_EN);
frskyX_set_start(hopping_frequency_no);
CC2500_SetPower();
CC2500_Strobe(CC2500_SFRX);
hopping_frequency_no = (hopping_frequency_no+FrX_chanskip)%47;
CC2500_Strobe(CC2500_SIDLE);
CC2500_WriteData(packet, packet[0]+1);
//
// frskyX_data_frame();
state++;
return 5200;
case FRSKY_DATA2:
CC2500_SetTxRxMode(RX_EN);
CC2500_Strobe(CC2500_SIDLE);
state++;
return 200;
case FRSKY_DATA3:
CC2500_Strobe(CC2500_SRX);
state++;
return 3100;
case FRSKY_DATA4:
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (len && (len<=(0x0E + 3))) //Telemetry frame is 17
{
packet_count=0;
CC2500_ReadData(pkt, len);
#if defined TELEMETRY
frsky_check_telemetry(pkt,len); //check if valid telemetry packets
//parse telemetry packets here
//The same telemetry function used by FrSky(D8).
#endif
}
else
{
packet_count++;
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)
{//~1sec
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
// FrX_receive_seq = 0 ;
packet_count=0;
#if defined TELEMETRY
telemetry_lost=1;
#endif
}
CC2500_Strobe(CC2500_SFRX); //flush the RXFIFO
}
frskyX_data_frame();
if ( FrX_send_seq != 0x08 )
{
FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;
}
state = FRSKY_DATA1;
return 500;
}
return 1;
}
uint16_t initFrSkyX()
{
set_rx_tx_addr(MProtocol_id_master);
Frsky_init_hop();
packet_count=0;
while(!FrX_chanskip)
FrX_chanskip=random(0xfefefefe)%47;
set_rx_tx_addr(MProtocol_id_master);
Frsky_init_hop();
packet_count=0;
while(!FrX_chanskip)
FrX_chanskip=random(0xfefefefe)%47;
//for test***************
rx_tx_addr[3]=0xB3;
rx_tx_addr[2]=0xFD;
//************************
frskyX_init();
//for test***************
rx_tx_addr[3]=0xB3;
rx_tx_addr[2]=0xFD;
//************************
frskyX_init();
#if defined SPORT_POLLING
#ifdef INVERT_SERIAL
start_timer4() ;
start_timer4() ;
#endif
#endif
//
if(IS_BIND_IN_PROGRESS)
{
state = FRSKY_BIND;
frskyX_initialize_data(1);
}
else
{
state = FRSKY_DATA1;
frskyX_initialize_data(0);
}
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
FrX_receive_seq = 0 ;
return 10000;
}
//
if(IS_BIND_IN_PROGRESS)
{
state = FRSKY_BIND;
frskyX_initialize_data(1);
}
else
{
state = FRSKY_DATA1;
frskyX_initialize_data(0);
}
// seq_last_sent = 0;
// seq_last_rcvd = 8;
FrX_send_seq = 0x08 ;
FrX_receive_seq = 0 ;
return 10000;
}
#endif

9
Multiprotocol/Multiprotocol.h
View File

@ -354,14 +354,7 @@ enum MultiPacketTypes
#define FAILSAFE_CHANNEL_HOLD 2047
#define FAILSAFE_CHANNEL_NOPULSES 0
//********************
//** Debug messages **
//********************
uint16_t debug_time=0;
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; }
#include "debug.h"
//********************
//*** Blink timing ***
//********************

1763
Multiprotocol/Multiprotocol.ino
File diff suppressed because it is too large
View File

10
Multiprotocol/debug.h
View File

@ -0,0 +1,10 @@
#ifndef DEBUG_H
#define DEBUG_H
//********************
//** Debug messages **
//********************
#define debug(msg, ...) { char buf[128]; sprintf(buf, msg, ##__VA_ARGS__); Serial.println(buf);}
#define debugln(msg, ...) { char buf[128]; 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; }
#endif

28
Multiprotocol/inputs.ino
View File

@ -1,22 +1,21 @@
void update_inputs(void) {
INPUT_SIGNAL_on;
if (state < FRSKY_BIND_DONE)
return;
#ifdef Throttle_pin
INPUT_SIGNAL_on;
if (state < FRSKY_BIND_DONE)
return;
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);
@ -24,23 +23,16 @@ void update_inputs(void) {
//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()
if (Channel_data[THROTTLE] < CHANNEL_MAX_100) {
Channel_data[THROTTLE] += 1;
} else {
Channel_data[THROTTLE] = CHANNEL_MIN_100;
}
#endif
}

139
Multiprotocol/state.cpp
View File

@ -0,0 +1,139 @@
#include <LiquidCrystal_I2C.h>
#include "state.h"
#include "Arduino.h"
#include "debug.h"
LiquidCrystal_I2C lcd(0x27,16,2);
State *curr_state = NULL;
State *new_state = NULL;
State *s_init = new LCD_state_init();
State *s_bind = new LCD_state_bind();
enum lcd_special_chars {
battery_66 = 0,
battery_33 = 1,
battery_0 = 2,
battery_100 = 3,
rssiantenna = 4,
rssi_bars_1 = 5,
rssi_bars_2 = 6,
rssi_bars_3 = 7,
MAX_SPECIAL_CHARS =8,
};
// 6 Byte-Arrays für 6 verschiedene Batteriesymbole
__extension__ struct lcd_special_chars_data { byte data[MAX_SPECIAL_CHARS]; }
lcd_special_chars_data[MAX_SPECIAL_CHARS] =
{
//[battery_0] =
{ 0b01110, 0b11011, 0b10001, 0b10001, 0b10001, 0b10001, 0b10001, 0b11111 },
//[battery_33] =
{ 0b01110, 0b11011, 0b10001, 0b10001, 0b10001, 0b11111, 0b11111, 0b11111 },
//[battery_66] =
{ 0b01110, 0b11011, 0b10001, 0b11111, 0b11111, 0b11111, 0b11111, 0b11111 },
//[battery_100] =
{ 0b01110, 0b11111, 0b11111, 0b11111, 0b11111, 0b11111, 0b11111, 0b11111 },
//[rssiantenna] =
{ 0b10101, 0b10101, 0b01110, 0b00100, 0b00100, 0b00101, 0b00101, 0b00101 },
//[rssi_bars_1] =
{ 0b00001, 0b00001, 0b00001, 0b00001, 0b00101, 0b00101, 0b10101, 0b10101 },
//[rssi_bars_2] =
{ 0b00001, 0b00001, 0b00001, 0b00001, 0b10101, 0b10101, 0b10101, 0b10101 },
//[rssi_bars_3] =
{ 0b00001, 0b00001, 0b00101, 0b00101, 0b10101, 0b10101, 0b10101, 0b10101 },
};
void install_special_caracters(void)
{
for(int i = 0; i < MAX_SPECIAL_CHARS; i ++) {
lcd.createChar(i, lcd_special_chars_data[i].data);
}
}
void init_state(void) {
Wire.setSDA(PB9);
Wire.setSCL(PB8);
Wire.begin();
lcd.init();
lcd.backlight();
curr_state = NULL;
new_state = s_init;
install_special_caracters();
update_state();
}
void update_state(void) {
if(curr_state == new_state) {
if(curr_state)
curr_state->update();
} else {
if(curr_state)
curr_state->leave();
curr_state = new_state;
if(curr_state)
curr_state->enter();
}
}
//LCD_state_init
LCD_state_init::LCD_state_init(void) {
snprintf(this->line1,sizeof(this->line2)," wellcome ");
snprintf(this->line2,sizeof(this->line2)," phschoen ");
}
void LCD_state_init::enter(void) {
lcd.setCursor(0,0);
lcd.print(this->line1);
lcd.setCursor(0,1);
lcd.print(this->line2);
time_enter = millis();
}
void LCD_state_init::update(void)
{
uint32_t diff;
diff = millis()-time_enter;
if (diff > 5 * 1000) {
new_state = s_bind;
}
}
void LCD_state_init::leave(void)
{
}
//LCD_state_bind
LCD_state_bind::LCD_state_bind(void) {
snprintf(this->line1,sizeof(this->line2),"bind mode ");
snprintf(this->line2,sizeof(this->line2)," ");
this->bind_time = 20;
}
void LCD_state_bind::enter(void) {
lcd.setCursor(0,0);
lcd.print(this->line1);
lcd.setCursor(0,1);
lcd.print(this->line2);
this->time_enter = millis();
}
void LCD_state_bind::update(void)
{
debugln("blubber\n");
unsigned long remain = millis() - this->time_enter;
remain = remain/1000; // to sec
remain = this->bind_time - remain;
snprintf(this->line2,sizeof(this->line2),"remaining sec %02d",remain);
lcd.setCursor(0,1);
lcd.print(this->line2);
time_enter = millis();
}
void LCD_state_bind::leave(void)
{
}

62
Multiprotocol/state.h
View File

@ -0,0 +1,62 @@
#ifndef _STATE_H_
#define _STATE_H_
#include <LiquidCrystal_I2C.h>
void init_state(void);
void update_state(void);
class State {
protected:
char line1[17];
char line2[17];
public:
virtual void enter(void) {
}
virtual void update(void) {
}
virtual void leave(void) {
}
};
extern State *new_state;
class LCD_state_init: public State {
private:
unsigned long time_enter;
public:
LCD_state_init(void);
void enter(void);
void update(void);
void leave(void);
};
class LCD_state_bind: public State {
private:
unsigned long time_enter;
unsigned long bind_time;
public:
LCD_state_bind(void);
void enter(void);
void update(void);
void leave(void);
};
class LCD_state_flight: public State {
private:
unsigned long time_enter;
public:
void enter(void);
void update(void);
void leave(void);
};
#endif /*_STATE_H_*/
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