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diy-copter-remote
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add timeer init

master
philipp schoenberger 7 years ago
parent
a58ae0fbfa
commit
f689348bd6
3 changed files with 153 additions and 69 deletions
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  1. 117
      Multiprotocol/Multiprotocol.ino
  2. 71
      Multiprotocol/Pins.h
  3. 28
      Multiprotocol/inputs.ino

117
Multiprotocol/Multiprotocol.ino
View File

@ -163,6 +163,9 @@ void setup()
NRF_CSN_output;
#endif
// Timer1 config
TCCR1A = 0;
TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
// Random
//random_init();
@ -244,6 +247,9 @@ void setup()
// Set default channels' value
InitChannel();
InitPPM();
// Update LED
LED_off;
LED_output;
//Init RF modules
modules_reset();
@ -355,7 +361,7 @@ void setup()
void loop()
{
uint16_t next_callback,diff=0xFFFF;
debugln("%s:%d",__func__, __LINE__);
while(1)
{
if(remote_callback==0 || IS_WAIT_BIND_on || diff>2*200)
@ -366,33 +372,82 @@ void loop()
}
while(remote_callback==0 || IS_WAIT_BIND_on);
}
#ifndef STM32_BOARD
if( (TIFR1 & OCF1A_bm) != 0)
{
cli(); // Disable global int due to RW of 16 bits registers
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
sei(); // Enable global int
}
else
while((TIFR1 & OCF1A_bm) == 0); // Wait before callback
#else
if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0)
{
debugln("Callback miss");
cli();
OCR1A = TCNT1;
sei();
}
else
while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0); // Wait before callback
#endif
do
{
TX_MAIN_PAUSE_on;
tx_pause();
unsigned long last_call = millis();
if(IS_INPUT_SIGNAL_on && remote_callback!=0)
next_callback=remote_callback();
else
next_callback=2000; // No PPM/serial signal check again in 2ms...
unsigned long update_start = millis();
update_inputs();
unsigned long update_end = millis();
//debugln("diff = %d", update_end - update_start);
//next_abs_call = last_call + next_callback;
#if 0
{ // next_callback should not be more than 32767 so we will wait here...
uint16_t temp=(next_callback>>10)-2;
delayMilliseconds(temp);
next_callback-=temp<<10; // between 2-3ms left at this stage
#if 0
// 15 < 250
// 20 250 250
if (next_callback > 4000) {
next_callback-=2000;
Update_All();
delayMicroseconds(2000);
}
#else
delayMicroseconds(next_callback);
#endif
delayMicroseconds(next_callback*2);
#else
TX_MAIN_PAUSE_off;
tx_resume();
while(next_callback>4000)
{ // start to wait here as much as we can...
next_callback-=2000; // We will wait below for 2ms
cli(); // Disable global int due to RW of 16 bits registers
OCR1A += 2000 *2; // set compare A for callback
#ifndef STM32_BOARD
TIFR1=OCF1A_bm; // clear compare A=callback flag
#else
TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC1IF; // Clear Timer2/Comp1 interrupt flag
#endif
sei(); // enable global int
if(Update_All()) // Protocol changed?
{
next_callback=0; // Launch new protocol ASAP
break;
}
#ifndef STM32_BOARD
while((TIFR1 & OCF1A_bm) == 0); // wait 2ms...
#else
while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//2ms wait
#endif
}
// at this point we have a maximum of 4ms in next_callback
next_callback *= 2 ;
cli(); // Disable global int due to RW of 16 bits registers
OCR1A+= next_callback ; // set compare A for callback
#ifndef STM32_BOARD
TIFR1=OCF1A_bm; // clear compare A=callback flag
#else
TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC1IF; // Clear Timer2/Comp1 interrupt flag
#endif
diff=OCR1A-TCNT1; // compare timer and comparator
sei(); // enable global int
#endif
//debugln("next %d diff %lu (%lu to %lu) diff %x ",org_next_call, end__ - start_, end__, start_, diff);
}
while(diff&0x8000); // Callback did not took more than requested time for next callback
// so we can launch Update_All before next callback
@ -401,8 +456,23 @@ void loop()
uint8_t Update_All()
{
#ifdef ENABLE_SERIAL
#ifdef CHECK_FOR_BOOTLOADER
if ( (mode_select==MODE_SERIAL) && (NotBootChecking == 0) )
pollBoot() ;
else
#endif
if(mode_select==MODE_SERIAL && IS_RX_FLAG_on) // Serial mode and something has been received
{
update_serial_data(); // Update protocol and data
update_channels_aux();
INPUT_SIGNAL_on; //valid signal received
last_signal=millis();
}
#endif //ENABLE_SERIAL
#ifdef ENABLE_PPM
INPUT_SIGNAL_on;
//INPUT_SIGNAL_on;
update_inputs();
if(mode_select!=MODE_SERIAL && IS_PPM_FLAG_on) // PPM mode and a full frame has been received
{
debugln("%s:%d",__func__, __LINE__);
@ -648,11 +718,20 @@ static void protocol_init()
WAIT_BIND_off;
CHANGE_PROTOCOL_FLAG_off;
if(next_callback>32000)
{ // next_callback should not be more than 32767 so we will wait here...
uint16_t temp=(next_callback>>10)-2;
delayMilliseconds(temp);
next_callback-=temp<<10; // between 2-3ms left at this stage
}
cli(); // disable global int
OCR1A = TCNT1 + next_callback*2; // set compare A for callback
#ifndef STM32_BOARD
TIFR1 = OCF1A_bm ; // clear compare A flag
#else
TIMER2_BASE->SR = 0x1E5F & ~TIMER_SR_CC1IF; // Clear Timer2/Comp1 interrupt flag
#endif
sei(); // enable global int
BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
debugln("%s BIND_BUTTON_FLAG_off",__func__);

71
Multiprotocol/Pins.h
View File

@ -13,41 +13,48 @@
//*******************
//*** Pinouts ***
//*******************
#if 0
// SDIO MOSI
#define SDI_pin 2 //D5 = PD5
#define SDI_port PORTB
#define SDI_ipr PINB
#define SDI_ddr DDRB
#define SDI_on SDI_port |= _BV(SDI_pin)
#define SDI_off SDI_port &= ~_BV(SDI_pin)
#define SDI_1 (SDI_ipr & _BV(SDI_pin))
#define SDI_0 (SDI_ipr & _BV(SDI_pin)) == 0x00
#define SDI_input SDI_ddr &= ~_BV(SDI_pin)
#define SDI_output SDI_ddr |= _BV(SDI_pin)
#define LED_off
#define LED_on
#define LED_output
#define IS_LED_on false
#define LED_toggle
#if 1
//SDO / MISO
#define SDO_pin 3 //D6 = PD6
#define SDO_port PORTB
#define SDO_ipr PINB
#define SDO_1 (SDO_ipr & _BV(SDO_pin))
#define SDO_0 (SDO_ipr & _BV(SDO_pin)) == 0x00
// SDIO MOSI
#define SDI_pin 16
#define SDI_on digitalWrite(SDI_pin, HIGH)
#define SDI_off digitalWrite(SDI_pin, LOW)
#define SDI_1 (digitalRead(SDI_pin) == HIGH)
#define SDI_0 (digitalRead(SDI_pin) == LOW)
#define SDI_input pinMode(SDI_pin, INPUT);
#define SDI_output pinMode(SDI_pin, OUTPUT);
// SCLK
#define SCLK_port PORTB
#define SCLK_ddr DDRB
#define SCLK_pin 1 //D4 = PD4
#define SCLK_output SCLK_ddr |= _BV(SCLK_pin)
#define SCLK_on SCLK_port |= _BV(SCLK_pin)
#define SCLK_off SCLK_port &= ~_BV(SCLK_pin)
//SDO / MISO
#define SDO_pin 14
#define SDO_on digitalWrite(SDO_pin, HIGH)
#define SDO_off digitalWrite(SDO_pin, LOW)
#define SDO_1 (digitalRead(SDO_pin) == HIGH)
#define SDO_0 (digitalRead(SDO_pin) == LOW)
#define SDO_input pinMode(SDO_pin, INPUT);
#define SDO_output pinMode(SDO_pin, OUTPUT);
// Chip select CC2500
#define CC25_CSN_pin 7 //D7 = PD7
#define CC25_CSN_port PORTE
#define CC25_CSN_ddr DDRE
#define CC25_CSN_output CC25_CSN_ddr |= _BV(CC25_CSN_pin)
#define CC25_CSN_on CC25_CSN_port |= _BV(CC25_CSN_pin)
#define CC25_CSN_off CC25_CSN_port &= ~_BV(CC25_CSN_pin)
// SCLK
#define SCLK_pin 15
#define SCLK_on digitalWrite(SCLK_pin, HIGH)
#define SCLK_off digitalWrite(SCLK_pin, LOW)
#define SCLK_1 (digitalRead(SCLK_pin) == HIGH)
#define SCLK_0 (digitalRead(SCLK_pin) == LOW)
#define SCLK_input pinMode(SCLK_pin, INPUT);
#define SCLK_output pinMode(SCLK_pin, OUTPUT);
// Chip select CC2500
#define CC25_CSN_pin 7
#define CC25_CSN_on digitalWrite(CC25_CSN_pin, HIGH)
#define CC25_CSN_off digitalWrite(CC25_CSN_pin, LOW)
#define CC25_CSN_1 (digitalRead(CC25_CSN_pin) == HIGH)
#define CC25_CSN_0 (digitalRead(CC25_CSN_pin) == LOW)
#define CC25_CSN_input pinMode(CC25_CSN_pin, INPUT);
#define CC25_CSN_output pinMode(CC25_CSN_pin, OUTPUT);
//*******************
//*** Timer ***

28
Multiprotocol/inputs.ino
View File

@ -1,20 +1,18 @@
void update_inputs(void) {
//analogRead()
static int inc = 1;
#if 1
if (inc > 0) {
if (Channel_data[THROTTLE] < CHANNEL_MIN_125 + 100) {
Channel_data[THROTTLE] += 1;
}else {
inc = -1;
}
}else {
if (Channel_data[THROTTLE] > CHANNEL_MIN_125) {
Channel_data[THROTTLE] -= 1;
}else {
inc = +1;
}
}
#endif
if (inc > 0) {
if (Channel_data[THROTTLE] < CHANNEL_MIN_125 + 100) {
Channel_data[THROTTLE] += 1;
}else {
inc = -1;
}
}else {
if (Channel_data[THROTTLE] > CHANNEL_MIN_125) {
Channel_data[THROTTLE] -= 1;
}else {
inc = +1;
}
}
}
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