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RX.cpp
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#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "Serial.h"
#include "Protocol.h"
#include "MultiSom.h"
#include "Alarms.h"
/**************************************************************************************/
/*************** Global RX related variables ********************/
/**************************************************************************************/
#if defined(SPEKTRUM)
#include <wiring.c> //Auto-included by the Arduino core... but we need it sooner.
#endif
//RAW RC values will be store here
#if defined(SBUS)
volatile uint16_t rcValue[RC_CHANS] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}; // interval [1000;2000]
#elif defined(SPEKTRUM) || defined(SERIAL_SUM_PPM)
volatile uint16_t rcValue[RC_CHANS] = {1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502}; // interval [1000;2000]
#else
volatile uint16_t rcValue[RC_CHANS] = {1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502}; // interval [1000;2000]
#endif
#if defined(SERIAL_SUM_PPM) //Channel order for PPM SUM RX Configs
static uint8_t rcChannel[RC_CHANS] = {SERIAL_SUM_PPM};
#elif defined(SBUS) //Channel order for SBUS RX Configs
// for 16 + 2 Channels SBUS. The 10 extra channels 8->17 are not used by MultiSom, but it should be easy to integrate them.
static uint8_t rcChannel[RC_CHANS] = {SBUS};
#elif defined(SUMD)
static uint8_t rcChannel[RC_CHANS] = {PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4};
#elif defined(SPEKTRUM)
static uint8_t rcChannel[RC_CHANS] = {PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11};
#else // Standard Channel order
static uint8_t rcChannel[RC_CHANS] = {ROLLPIN, PITCHPIN, YAWPIN, THROTTLEPIN, AUX1PIN,AUX2PIN,AUX3PIN,AUX4PIN};
static uint8_t PCInt_RX_Pins[PCINT_PIN_COUNT] = {PCINT_RX_BITS}; // if this slowes the PCINT readings we can switch to a define for each pcint bit
#endif
void rxInt(void);
/**************************************************************************************/
/*************** RX Pin Setup ********************/
/**************************************************************************************/
void configureReceiver() {
/****************** Configure each rc pin for PCINT ***************************/
#if defined(STANDARD_RX)
#if defined(MEGA)
DDRK = 0; // defined PORTK as a digital port ([A8-A15] are consired as digital PINs and not analogical)
#endif
// PCINT activation
for(uint8_t i = 0; i < PCINT_PIN_COUNT; i++){ // i think a for loop is ok for the init.
PCINT_RX_PORT |= PCInt_RX_Pins[i];
PCINT_RX_MASK |= PCInt_RX_Pins[i];
}
PCICR = PCIR_PORT_BIT;
/************* atmega328P's Specific Aux2 Pin Setup *********************/
#if defined(PROMINI)
#if defined(RCAUXPIN)
PCICR |= (1 << 0) ; // PCINT activated also for PINS [D8-D13] on port B
#if defined(RCAUXPIN8)
PCMSK0 = (1 << 0);
#endif
#if defined(RCAUXPIN12)
PCMSK0 = (1 << 4);
#endif
#endif
#endif
/*************** atmega32u4's Specific RX Pin Setup **********************/
#if defined(PROMICRO)
//Trottle on pin 7
DDRE &= ~(1 << 6); // pin 7 to input
PORTE |= (1 << 6); // enable pullups
EICRB |= (1 << ISC60);
EIMSK |= (1 << INT6); // enable interuppt
// Aux2 pin on PBO (D17/RXLED)
#if defined(RCAUX2PIND17)
DDRB &= ~(1 << 0); // set D17 to input
#endif
// Aux2 pin on PD2 (RX0)
#if defined(RCAUX2PINRXO)
DDRD &= ~(1 << 2); // RX to input
PORTD |= (1 << 2); // enable pullups
EICRA |= (1 << ISC20);
EIMSK |= (1 << INT2); // enable interuppt
#endif
#endif
/************************* Special RX Setup ********************************/
#endif
#if defined(SERIAL_SUM_PPM)
PPM_PIN_INTERRUPT;
#endif
#if defined (SPEKTRUM) || defined(SUMD)
SerialOpen(RX_SERIAL_PORT,115200);
#endif
#if defined(SBUS)
SerialOpen(RX_SERIAL_PORT,100000);
switch (RX_SERIAL_PORT) { //parity
#if defined(MEGA)
case 0: UCSR0C |= (1<<UPM01)|(1<<USBS0); break;
case 1: UCSR1C |= (1<<UPM11)|(1<<USBS1); break;
case 2: UCSR2C |= (1<<UPM21)|(1<<USBS2); break;
case 3: UCSR3C |= (1<<UPM31)|(1<<USBS3); break;
#endif
}
#endif
}
/**************************************************************************************/
/*************** Standard RX Pins reading ********************/
/**************************************************************************************/
#if defined(STANDARD_RX)
/* stick scaling http://mifi.no/blog/?p=95 */
#if defined(FAILSAFE) && !defined(PROMICRO)
// predefined PC pin block (thanks to lianj) - Version with failsafe
#define RX_PIN_CHECK(pin_pos, rc_value_pos) \
if (mask & PCInt_RX_Pins[pin_pos]) { \
if (!(pin & PCInt_RX_Pins[pin_pos])) { \
dTime = cTime-edgeTime[pin_pos]; \
if (900<dTime && dTime<2200) { \
rcValue[rc_value_pos] = dTime; \
if((rc_value_pos==THROTTLEPIN || rc_value_pos==YAWPIN || \
rc_value_pos==PITCHPIN || rc_value_pos==ROLLPIN) \
&& dTime>FAILSAFE_DETECT_TRESHOLD) { \
GoodPulses |= (1<<rc_value_pos); \
} \
} \
} else edgeTime[pin_pos] = cTime; \
}
#else
// predefined PC pin block (thanks to lianj) - Version without failsafe
#define RX_PIN_CHECK(pin_pos, rc_value_pos) \
if (mask & PCInt_RX_Pins[pin_pos]) { \
if (!(pin & PCInt_RX_Pins[pin_pos])) { \
dTime = cTime-edgeTime[pin_pos]; \
if (900<dTime && dTime<2200) { \
rcValue[rc_value_pos] = dTime; \
} \
} else edgeTime[pin_pos] = cTime; \
}
#endif
// port change Interrupt
ISR(RX_PC_INTERRUPT) { //this ISR is common to every receiver channel, it is call everytime a change state occurs on a RX input pin
uint8_t mask;
uint8_t pin;
uint16_t cTime,dTime;
static uint16_t edgeTime[8];
static uint8_t PCintLast;
#if defined(FAILSAFE) && !defined(PROMICRO)
static uint8_t GoodPulses;
#endif
pin = RX_PCINT_PIN_PORT; // RX_PCINT_PIN_PORT indicates the state of each PIN for the arduino port dealing with Ports digital pins
mask = pin ^ PCintLast; // doing a ^ between the current interruption and the last one indicates wich pin changed
cTime = micros(); // micros() return a uint32_t, but it is not usefull to keep the whole bits => we keep only 16 bits
sei(); // re enable other interrupts at this point, the rest of this interrupt is not so time critical and can be interrupted safely
PCintLast = pin; // we memorize the current state of all PINs [D0-D7]
#if (PCINT_PIN_COUNT > 0)
RX_PIN_CHECK(0,2);
#endif
#if (PCINT_PIN_COUNT > 1)
RX_PIN_CHECK(1,4);
#endif
#if (PCINT_PIN_COUNT > 2)
RX_PIN_CHECK(2,5);
#endif
#if (PCINT_PIN_COUNT > 3)
RX_PIN_CHECK(3,6);
#endif
#if (PCINT_PIN_COUNT > 4)
RX_PIN_CHECK(4,7);
#endif
#if (PCINT_PIN_COUNT > 5)
RX_PIN_CHECK(5,0);
#endif
#if (PCINT_PIN_COUNT > 6)
RX_PIN_CHECK(6,1);
#endif
#if (PCINT_PIN_COUNT > 7)
RX_PIN_CHECK(7,3);
#endif
#if defined(FAILSAFE) && !defined(PROMICRO)
if (GoodPulses==(1<<THROTTLEPIN)+(1<<YAWPIN)+(1<<ROLLPIN)+(1<<PITCHPIN)) { // If all main four chanells have good pulses, clear FailSafe counter
GoodPulses = 0;
if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0;
}
#endif
}
/********************* atmega328P's Aux2 Pins *************************/
#if defined(PROMINI)
#if defined(RCAUXPIN)
/* this ISR is a simplification of the previous one for PROMINI on port D
it's simplier because we know the interruption deals only with one PIN:
bit 0 of PORT B, ie Arduino PIN 8
or bit 4 of PORTB, ie Arduino PIN 12
=> no need to check which PIN has changed */
ISR(PCINT0_vect) {
uint8_t pin;
uint16_t cTime,dTime;
static uint16_t edgeTime;
pin = PINB;
cTime = micros();
sei();
#if defined(RCAUXPIN8)
if (!(pin & 1<<0)) { //indicates if the bit 0 of the arduino port [B0-B7] is not at a high state (so that we match here only descending PPM pulse)
#endif
#if defined(RCAUXPIN12)
if (!(pin & 1<<4)) { //indicates if the bit 4 of the arduino port [B0-B7] is not at a high state (so that we match here only descending PPM pulse)
#endif
dTime = cTime-edgeTime; if (900<dTime && dTime<2200) rcValue[0] = dTime; // just a verification: the value must be in the range [1000;2000] + some margin
} else edgeTime = cTime; // if the bit 2 is at a high state (ascending PPM pulse), we memorize the time
}
#endif
#endif
/**************** atmega32u4's Throttle & Aux2 Pin *******************/
#if defined(PROMICRO)
// throttle
ISR(INT6_vect){
static uint16_t now,diff;
static uint16_t last = 0;
now = micros();
if(!(PINE & (1<<6))){
diff = now - last;
if(900<diff && diff<2200){
rcValue[3] = diff;
#if defined(FAILSAFE)
if(diff>FAILSAFE_DETECT_TRESHOLD) { // if Throttle value is higher than FAILSAFE_DETECT_TRESHOLD
if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0; // If pulse present on THROTTLE pin (independent from ardu version), clear FailSafe counter - added by MIS
}
#endif
}
}else last = now;
}
// Aux 2
#if defined(RCAUX2PINRXO)
ISR(INT2_vect){
static uint16_t now,diff;
static uint16_t last = 0;
now = micros();
if(!(PIND & (1<<2))){
diff = now - last;
if(900<diff && diff<2200) rcValue[7] = diff;
}else last = now;
}
#endif
#endif
#endif
/**************************************************************************************/
/*************** PPM SUM RX Pin reading ********************/
/**************************************************************************************/
// attachInterrupt fix for promicro
#if defined(PROMICRO) && defined(SERIAL_SUM_PPM)
ISR(INT6_vect){rxInt();}
#endif
// PPM_SUM at THROTTLE PIN on MEGA boards
#if defined(PPM_ON_THROTTLE) && defined(MEGA) && defined(SERIAL_SUM_PPM)
ISR(PCINT2_vect) { if(PINK & (1<<0)) rxInt(); }
#endif
// Read PPM SUM RX Data
#if defined(SERIAL_SUM_PPM)
void rxInt(void) {
uint16_t now,diff;
static uint16_t last = 0;
static uint8_t chan = 0;
#if defined(FAILSAFE)
static uint8_t GoodPulses;
#endif
now = micros();
sei();
diff = now - last;
last = now;
if(diff>3000) chan = 0;
else {
if(900<diff && diff<2200 && chan<RC_CHANS ) { //Only if the signal is between these values it is valid, otherwise the failsafe counter should move up
rcValue[chan] = diff;
#if defined(FAILSAFE)
if(chan<4 && diff>FAILSAFE_DETECT_TRESHOLD) GoodPulses |= (1<<chan); // if signal is valid - mark channel as OK
if(GoodPulses==0x0F) { // If first four chanells have good pulses, clear FailSafe counter
GoodPulses = 0;
if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0;
}
#endif
}
chan++;
}
}
#endif
/**************************************************************************************/
/*************** SBUS RX Data ********************/
/**************************************************************************************/
#if defined(SBUS)
#define SBUS_SYNCBYTE 0x0F // Not 100% sure: at the beginning of coding it was 0xF0 !!!
static uint16_t sbusIndex=0;
static uint16_t sbus[25]={0};
void readSerial_RX(){
while(SerialAvailable(RX_SERIAL_PORT)){
int val = SerialRead(RX_SERIAL_PORT);
if(sbusIndex==0 && val != SBUS_SYNCBYTE)
continue;
sbus[sbusIndex++] = val;
if(sbusIndex==25){
sbusIndex=0;
spekFrameFlags = 0x00;
rcValue[0] = ((sbus[1]|sbus[2]<< 8) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[1] = ((sbus[2]>>3|sbus[3]<<5) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[2] = ((sbus[3]>>6|sbus[4]<<2|sbus[5]<<10) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[3] = ((sbus[5]>>1|sbus[6]<<7) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[4] = ((sbus[6]>>4|sbus[7]<<4) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[5] = ((sbus[7]>>7|sbus[8]<<1|sbus[9]<<9) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[6] = ((sbus[9]>>2|sbus[10]<<6) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[7] = ((sbus[10]>>5|sbus[11]<<3) & 0x07FF)/2+SBUS_MID_OFFSET; // & the other 8 + 2 channels if you need them
//The following lines: If you need more than 8 channels, max 16 analog + 2 digital. Must comment the not needed channels!
rcValue[8] = ((sbus[12]|sbus[13]<< 8) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[9] = ((sbus[13]>>3|sbus[14]<<5) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[10] = ((sbus[14]>>6|sbus[15]<<2|sbus[16]<<10) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[11] = ((sbus[16]>>1|sbus[17]<<7) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[12] = ((sbus[17]>>4|sbus[18]<<4) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[13] = ((sbus[18]>>7|sbus[19]<<1|sbus[20]<<9) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[14] = ((sbus[20]>>2|sbus[21]<<6) & 0x07FF)/2+SBUS_MID_OFFSET;
rcValue[15] = ((sbus[21]>>5|sbus[22]<<3) & 0x07FF)/2+SBUS_MID_OFFSET;
// now the two Digital-Channels
if ((sbus[23]) & 0x0001) rcValue[16] = 2000; else rcValue[16] = 1000;
if ((sbus[23] >> 1) & 0x0001) rcValue[17] = 2000; else rcValue[17] = 1000;
spekFrameDone = 0x01;
// Failsafe: there is one Bit in the SBUS-protocol (Byte 25, Bit 4) whitch is the failsafe-indicator-bit
#if defined(FAILSAFE)
if (!((sbus[23] >> 3) & 0x0001))
{if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0;} // clear FailSafe counter
#endif
// For some reason the SBUS data provides only about 75% of the actual RX output pulse width
// Adjust the actual value by +/-25%. Sign determined by pulse width above or below center
uint8_t adj_index;
for(adj_index=0; adj_index<16; adj_index++) {
if (rcValue[adj_index] < MIDRC)
rcValue[adj_index] -= (MIDRC - rcValue[adj_index]) >> 2;
else
rcValue[adj_index] += (rcValue[adj_index] - MIDRC) >> 2;
}
}
}
}
#endif
/**************************************************************************************/
/*************** SUMD ********************/
/**************************************************************************************/
#if defined(SUMD)
#define SUMD_SYNCBYTE 0xA8
#define SUMD_MAXCHAN 8
#define SUMD_BUFFSIZE SUMD_MAXCHAN*2 + 5 // 6 channels + 5 -> 17 bytes for 6 channels
static uint8_t sumdIndex=0;
static uint8_t sumdSize=0;
static uint8_t sumd[SUMD_BUFFSIZE]={0};
void readSerial_RX(void) {
while (SerialAvailable(RX_SERIAL_PORT)) {
int val = SerialRead(RX_SERIAL_PORT);
if(sumdIndex == 0 && val != SUMD_SYNCBYTE) continue;
if(sumdIndex == 2) sumdSize = val;
if(sumdIndex < SUMD_BUFFSIZE) sumd[sumdIndex] = val;
sumdIndex++;
if(sumdIndex == sumdSize*2+5) {
sumdIndex = 0;
spekFrameFlags = 0x00;
debug[1] = sumd[1];
if (sumdSize > SUMD_MAXCHAN) sumdSize = SUMD_MAXCHAN;
for (uint8_t b = 0; b < sumdSize; b++)
rcValue[b] = ((sumd[2*b+3]<<8) | sumd[2*b+4])>>3;
spekFrameDone = 0x01; // havent checked crc at all
#if defined(FAILSAFE)
if (sumd[1] == 0x01)
{if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0;} // clear FailSafe counter
#endif
}
}
}
#endif
/**************************************************************************************/
/*************** combine and sort the RX Datas ********************/
/**************************************************************************************/
#if defined(SPEKTRUM)
void readSerial_RX(void) {
if ((!f.ARMED) &&
#if defined(FAILSAFE) || (RX_SERIAL_PORT != 0)
(failsafeCnt > 5) &&
#endif
( SerialPeek(RX_SERIAL_PORT) == '$')) {
while (SerialAvailable(RX_SERIAL_PORT)) {
serialCom();
delay (10);
}
return;
} //End of: Is it the GUI?
while (SerialAvailable(RX_SERIAL_PORT) > SPEK_FRAME_SIZE) { // More than a frame? More bytes implies we weren't called for multiple frame times. We do not want to process 'old' frames in the buffer.
for (uint8_t i = 0; i < SPEK_FRAME_SIZE; i++) {SerialRead(RX_SERIAL_PORT);} //Toss one full frame of bytes.
}
if (spekFrameFlags == 0x01) { //The interrupt handler saw at least one valid frame start since we were last here.
if (SerialAvailable(RX_SERIAL_PORT) == SPEK_FRAME_SIZE) { //A complete frame? If not, we'll catch it next time we are called.
SerialRead(RX_SERIAL_PORT); SerialRead(RX_SERIAL_PORT); //Eat the header bytes
for (uint8_t b = 2; b < SPEK_FRAME_SIZE; b += 2) {
uint8_t bh = SerialRead(RX_SERIAL_PORT);
uint8_t bl = SerialRead(RX_SERIAL_PORT);
uint8_t spekChannel = 0x0F & (bh >> SPEK_CHAN_SHIFT);
if (spekChannel < RC_CHANS) rcValue[spekChannel] = 988 + ((((uint16_t)(bh & SPEK_CHAN_MASK) << 8) + bl) SPEK_DATA_SHIFT);
}
spekFrameFlags = 0x00;
spekFrameDone = 0x01;
#if defined(FAILSAFE)
if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0; // Valid frame, clear FailSafe counter
#endif
} else { //Start flag is on, but not enough bytes means there is an incomplete frame in buffer. This could be OK, if we happened to be called in the middle of a frame. Or not, if it has been a while since the start flag was set.
uint32_t spekInterval = (timer0_overflow_count << 8) * (64 / clockCyclesPerMicrosecond()) - spekTimeLast;
if (spekInterval > 2500) {spekFrameFlags = 0;} //If it has been a while, make the interrupt handler start over.
}
}
}
#endif
uint16_t readRawRC(uint8_t chan) {
uint16_t data;
#if defined(SPEKTRUM) || defined(SBUS) || defined(SUMD)
if (chan < RC_CHANS) {
data = rcValue[rcChannel[chan]];
} else data = 1500;
#else
uint8_t oldSREG;
oldSREG = SREG; cli(); // Let's disable interrupts
data = rcValue[rcChannel[chan]]; // Let's copy the data Atomically
SREG = oldSREG; // Let's restore interrupt state
#endif
return data; // We return the value correctly copied when the IRQ's where disabled
}
/**************************************************************************************/
/*************** compute and Filter the RX data ********************/
/**************************************************************************************/
#define AVERAGING_ARRAY_LENGTH 4
void computeRC() {
static uint16_t rcData4Values[RC_CHANS][AVERAGING_ARRAY_LENGTH-1];
uint16_t rcDataMean,rcDataTmp;
static uint8_t rc4ValuesIndex = 0;
uint8_t chan,a;
uint8_t failsafeGoodCondition = 1;
#if !defined(OPENLRSv2MULTI)
rc4ValuesIndex++;
if (rc4ValuesIndex == AVERAGING_ARRAY_LENGTH-1) rc4ValuesIndex = 0;
for (chan = 0; chan < RC_CHANS; chan++) {
// Stick Scaling http://mifi.no/blog/?p=95
#if defined(STICK_SCALING_FACTOR)
if ( chan < 4 ) {
rcDataTmp = ((int16_t)readRawRC(chan)-1500)*STICK_SCALING_FACTOR+1500;
} else {
rcDataTmp = readRawRC(chan);
}
#else
rcDataTmp = readRawRC(chan);
#endif
#if defined(FAILSAFE)
failsafeGoodCondition = rcDataTmp>FAILSAFE_DETECT_TRESHOLD || chan > 3 || !f.ARMED; // update controls channel only if pulse is above FAILSAFE_DETECT_TRESHOLD
#endif // In disarmed state allow always update for easer configuration.
#if defined(SPEKTRUM) || defined(SBUS) || defined(SUMD) // no averaging for Spektrum & SBUS & SUMD signal
if(failsafeGoodCondition) rcData[chan] = rcDataTmp;
#else
if (failsafeGoodCondition) {
rcDataMean = rcDataTmp;
for (a = 0; a < AVERAGING_ARRAY_LENGTH - 1; a++) rcDataMean += rcData4Values[chan][a];
rcDataMean = (rcDataMean + (AVERAGING_ARRAY_LENGTH / 2)) / AVERAGING_ARRAY_LENGTH;
if (rcDataMean < (uint16_t) rcData[chan] - 3) rcData[chan] = rcDataMean + 2;
if (rcDataMean >(uint16_t)rcData[chan] + 3) rcData[chan] = rcDataMean - 2;
rcData4Values[chan][rc4ValuesIndex] = rcDataTmp;
}
// if (!supress_data_from_rx) {
//
// }
// else if (supress_data_from_rx){
// //if (chan<8 && rcSerialCount > 0) { // rcData comes from MSP and overrides RX Data until rcSerialCount reaches 0
// if (chan < 8) { // rcData comes from MSP and overrides RX Data until rcSerialCount reaches 0
// //rcSerialCount--;
//
//#if defined(FAILSAFE)
// failsafeCnt = 0;
//#endif
// if (rcSerial[chan] > 900) {
// rcDataMean = rcSerial[chan];
// for (a = 0; a < AVERAGING_ARRAY_LENGTH - 1; a++) rcDataMean += rcData4Values[chan][a];
// rcDataMean = (rcDataMean + (AVERAGING_ARRAY_LENGTH / 2)) / AVERAGING_ARRAY_LENGTH;
// if (rcDataMean < (uint16_t)rcData[chan] - 3) rcData[chan] = rcDataMean + 2;
// if (rcDataMean >(uint16_t)rcData[chan] + 3) rcData[chan] = rcDataMean - 2;
// rcData4Values[chan][rc4ValuesIndex] = rcDataTmp;
//
// //if (rcSerial[chan] > 900) { rcData[chan] = rcSerial[chan]; } // only relevant channels are overridden
// }
// }
// }
#endif
if (chan<8 && rcSerialCount > 0) { // rcData comes from MSP and overrides RX Data until rcSerialCount reaches 0
rcSerialCount --;
#if defined(FAILSAFE)
failsafeCnt = 0;
#endif
if (rcSerial[chan] >900) {rcData[chan] = rcSerial[chan];} // only relevant channels are overridden
}
}
#endif
}
/**************************************************************************************/
/*************** OPENLRS ********************/
/**************************************************************************************/
//note: this dont feels right in RX.pde
#if defined(OPENLRSv2MULTI)
// **********************************************************
// ****************** OpenLRS Rx Code *******************
// *** OpenLRS Designed by Melih Karakelle on 2010-2012 ***
// ** an Arudino based RC Rx/Tx system with extra futures **
// ** This Source code licensed under GPL **
// **********************************************************
// Version Number : 1.11
// Latest Code Update : 2012-03-25
// Supported Hardware : OpenLRS Rx boards (store.flytron.com)
// Project Forum : http://forum.flytron.com/viewforum.php?f=7
// Google Code Page : http://code.google.com/p/openlrs/
// **********************************************************
// # PROJECT DEVELOPERS #
// Melih Karakelle (http://www.flytron.com) (forum nick name: Flytron)
// Jan-Dirk Schuitemaker (http://www.schuitemaker.org/) (forum nick name: CrashingDutchman)
// Etienne Saint-Paul (http://www.gameseed.fr) (forum nick name: Etienne)
//
//######### TRANSMISSION VARIABLES ##########
#define CARRIER_FREQUENCY 435000 // 435Mhz startup frequency
#define FREQUENCY_HOPPING 1 // 1 = Enabled 0 = Disabled
//###### HOPPING CHANNELS #######
//Select the hopping channels between 0-255
// Default values are 13,54 and 23 for all transmitters and receivers, you should change it before your first flight for safety.
//Frequency = CARRIER_FREQUENCY + (StepSize(60khz)* Channel_Number)
static uint8_t hop_list[3] = HOPLIST;//{13,54,23};
//###### RF DEVICE ID HEADERS #######
// Change this 4 byte values for isolating your transmission, RF module accepts only data with same header
static uint8_t RF_Header[4] = OLRS_HEADER;//{'O','L','R','S'};
//########## Variables #################
static uint32_t last_hopping_time;
static uint8_t RF_Rx_Buffer[17];
static uint16_t temp_int, rx_rssi;
static uint16_t Servo_Buffer[10] = {3000,3000,3000,3000,3000,3000,3000,3000}; //servo position values from RF
static uint8_t hopping_channel = 1;
// **********************************************************
// ** RFM22B/Si4432 control functions for OpenLRS **
// ** This Source code licensed under GPL **
// **********************************************************
// Latest Code Update : 2011-09-26
// Supported Hardware : OpenLRS Tx/Rx boards (store.flytron.com)
// Project Forum : http://forum.flytron.com/viewforum.php?f=7
// Google Code Page : http://code.google.com/p/openlrs/
// **********************************************************
//*****************************************************************************
//*****************************************************************************
unsigned char ItStatus1, ItStatus2;
//--------------------------------------------------------------
void Write0( void ) {
SCK_off;
NOP();
SDI_off;
NOP();
SCK_on;
NOP();
}
//--------------------------------------------------------------
void Write1( void ) {
SCK_off;
NOP();
SDI_on;
NOP();
SCK_on;
NOP();
}
//--------------------------------------------------------------
void Write8bitcommand(uint8_t command) { // keep sel to low
uint8_t n=8;
nSEL_on;
SCK_off;
nSEL_off;
while(n--) {
if(command&0x80)
Write1();
else
Write0();
command = command << 1;
}
SCK_off;
}
//--------------------------------------------------------------
void send_read_address(uint8_t i) {
i &= 0x7f;
Write8bitcommand(i);
}
//--------------------------------------------------------------
void send_8bit_data(uint8_t i) {
uint8_t n = 8;
SCK_off;
while(n--) {
if(i&0x80)
Write1();
else
Write0();
i = i << 1;
}
SCK_off;
}
//--------------------------------------------------------------
uint8_t read_8bit_data(void) {
uint8_t Result, i;
SCK_off;
Result=0;
for(i=0;i<8;i++) { //read fifo data byte
Result=Result<<1;
SCK_on;
NOP();
if(SDO_1) {
Result|=1;
}
SCK_off;
NOP();
}
return(Result);
}
//--------------------------------------------------------------
uint8_t _spi_read(uint8_t address) {
uint8_t result;
send_read_address(address);
result = read_8bit_data();
nSEL_on;
return(result);
}
//--------------------------------------------------------------
void _spi_write(uint8_t address, uint8_t data) {
address |= 0x80;
Write8bitcommand(address);
send_8bit_data(data);
nSEL_on;
}
//-------Defaults 38.400 baud----------------------------------------------
void RF22B_init_parameter(void) {
ItStatus1 = _spi_read(0x03); // read status, clear interrupt
ItStatus2 = _spi_read(0x04);
_spi_write(0x06, 0x00); // no wakeup up, lbd,
_spi_write(0x07, RF22B_PWRSTATE_READY); // disable lbd, wakeup timer, use internal 32768,xton = 1; in ready mode
_spi_write(0x09, 0x7f); // c = 12.5p
_spi_write(0x0a, 0x05);
_spi_write(0x0b, 0x12); // gpio0 TX State
_spi_write(0x0c, 0x15); // gpio1 RX State
_spi_write(0x0d, 0xfd); // gpio 2 micro-controller clk output
_spi_write(0x0e, 0x00); // gpio 0, 1,2 NO OTHER FUNCTION.
_spi_write(0x70, 0x00); // disable manchest
// 57.6Kbps data rate
_spi_write(0x1c, 0x05); // case RATE_57.6K
_spi_write(0x20, 0x45);// 0x20 calculate from the datasheet= 500*(1+2*down3_bypass)/(2^ndec*RB*(1+enmanch))
_spi_write(0x21, 0x01); // 0x21 , rxosr[10--8] = 0; stalltr = (default), ccoff[19:16] = 0;
_spi_write(0x22, 0xD7); // 0x22 ncoff =5033 = 0x13a9
_spi_write(0x23, 0xDC); // 0x23
_spi_write(0x24, 0x03); // 0x24
_spi_write(0x25, 0xB8); // 0x25
_spi_write(0x2a, 0x1e);
_spi_write(0x6e, 0x0E); //case RATE_57.6K
_spi_write(0x6f, 0xBF); //case RATE_57.6K
_spi_write(0x30, 0x8c); // enable packet handler, msb first, enable crc,
_spi_write(0x32, 0xf3); // 0x32address enable for headere byte 0, 1,2,3, receive header check for byte 0, 1,2,3
_spi_write(0x33, 0x42); // header 3, 2, 1,0 used for head length, fixed packet length, synchronize word length 3, 2,
_spi_write(0x34, 0x07); // 7 default value or // 64 nibble = 32byte preamble
_spi_write(0x36, 0x2d); // synchronize word
_spi_write(0x37, 0xd4);
_spi_write(0x38, 0x00);
_spi_write(0x39, 0x00);
_spi_write(0x3a, RF_Header[0]); // tx header
_spi_write(0x3b, RF_Header[1]);
_spi_write(0x3c, RF_Header[2]);
_spi_write(0x3d, RF_Header[3]);
_spi_write(0x3e, 17); // total tx 17 byte
//RX HEADER
_spi_write(0x3f, RF_Header[0]); // check hearder
_spi_write(0x40, RF_Header[1]);
_spi_write(0x41, RF_Header[2]);
_spi_write(0x42, RF_Header[3]);
_spi_write(0x43, 0xff); // all the bit to be checked
_spi_write(0x44, 0xff); // all the bit to be checked
_spi_write(0x45, 0xff); // all the bit to be checked
_spi_write(0x46, 0xff); // all the bit to be checked
_spi_write(0x6d, 0x07); // 7 set power max power
_spi_write(0x79, 0x00); // no hopping
_spi_write(0x7a, 0x06); // 60khz step size (10khz x value) // no hopping
_spi_write(0x71, 0x23); // Gfsk, fd[8] =0, no invert for Tx/Rx data, fifo mode, txclk -->gpio
//_spi_write(0x72, 0x1F); // frequency deviation setting to 19.6khz (for 38.4kbps)
_spi_write(0x72, 0x2E); // frequency deviation setting to 28.8khz(for 57.6kbps)
_spi_write(0x73, 0x00);
_spi_write(0x74, 0x00); // no offset
//band 435.000
_spi_write(0x75, 0x53);
_spi_write(0x76, 0x7D);
_spi_write(0x77, 0x00);
}
#if !defined(OPENLRS_V2)
void checkPots() {
////Flytron OpenLRS Multi Pots
pot_P = analogRead(7);
pot_I = analogRead(6);
pot_P = pot_P - 512;
pot_I = pot_I - 512;
pot_P = pot_P / 25; //+-20
pot_I = pot_I / 25; //+-20
}
#endif
void initOpenLRS(void) {
pinMode(GREEN_LED_pin, OUTPUT);
pinMode(RED_LED_pin, OUTPUT);
//RF module pins
pinMode(SDO_pin, INPUT); //SDO
pinMode(SDI_pin, OUTPUT); //SDI
pinMode(SCLK_pin, OUTPUT); //SCLK
pinMode(IRQ_pin, INPUT); //IRQ
pinMode(nSel_pin, OUTPUT); //nSEL
#if !defined(OPENLRS_V2)
checkPots(); // OpenLRS Multi board hardware pot check;
#endif
}
//-----------------------------------------------------------------------
void rx_reset(void) {
_spi_write(0x07, RF22B_PWRSTATE_READY);
_spi_write(0x7e, 36); // threshold for rx almost full, interrupt when 1 byte received
_spi_write(0x08, 0x03); //clear fifo disable multi packet
_spi_write(0x08, 0x00); // clear fifo, disable multi packet
_spi_write(0x07,RF22B_PWRSTATE_RX ); // to rx mode
_spi_write(0x05, RF22B_Rx_packet_received_interrupt);
ItStatus1 = _spi_read(0x03); //read the Interrupt Status1 register
ItStatus2 = _spi_read(0x04);
}
//-----------------------------------------------------------------------
//--------------------------------------------------------------
void to_ready_mode(void) {
ItStatus1 = _spi_read(0x03);
ItStatus2 = _spi_read(0x04);
_spi_write(0x07, RF22B_PWRSTATE_READY);
}
void to_rx_mode(void) {
to_ready_mode();
delay(50);
rx_reset();
NOP();
}
//--------------------------------------------------------------
void to_sleep_mode(void) {
// TXEN = RXEN = 0;
//LED_RED = 0;
_spi_write(0x07, RF22B_PWRSTATE_READY);
ItStatus1 = _spi_read(0x03); //read the Interrupt Status1 register
ItStatus2 = _spi_read(0x04);
_spi_write(0x07, RF22B_PWRSTATE_POWERDOWN);
}
//--------------------------------------------------------------
void frequency_configurator(uint32_t frequency) {
// frequency formulation from Si4432 chip's datasheet
// original formulation is working with mHz values and floating numbers, I replaced them with kHz values.
frequency = frequency / 10;
frequency = frequency - 24000;
frequency = frequency - 19000; // 19 for 430-439.9 MHz band from datasheet
frequency = frequency * 64; // this is the Nominal Carrier Frequency (fc) value for register setting
uint8_t byte0 = (uint8_t) frequency;
uint8_t byte1 = (uint8_t) (frequency >> 8);
_spi_write(0x76, byte1);
_spi_write(0x77, byte0);
}
//############# FREQUENCY HOPPING FUNCTIONS #################
#if (FREQUENCY_HOPPING==1)
void Hopping(void) {
hopping_channel++;
if (hopping_channel>2) hopping_channel = 0;
_spi_write(0x79, hop_list[hopping_channel]);
}
#endif
void Config_OpenLRS() {
RF22B_init_parameter(); // Configure the RFM22B's registers
frequency_configurator(CARRIER_FREQUENCY); // Calibrate the RFM22B to this frequency, frequency hopping starts from here.
to_rx_mode();
#if (FREQUENCY_HOPPING==1)
Hopping(); //Hop to the next frequency
#endif
}
//############ MAIN LOOP ##############
void Read_OpenLRS_RC() {
uint8_t i,tx_data_length;
uint8_t first_data = 0;
//rcData[RX_RSSI_CHAN] =0;
//rx_rssi=0;
if (_spi_read(0x0C)==0) {RF22B_init_parameter(); to_rx_mode(); }// detect the locked module and reboot
if ((currentTime-last_hopping_time > 25000)) {//automatic hopping for clear channel when rf link down for 25ms.
Red_LED_ON;
last_hopping_time = currentTime;
#if (FREQUENCY_HOPPING==1)
Hopping(); //Hop to the next frequency
#endif
}
if(nIRQ_0) { // RFM22B INT pin Enabled by received Data
Red_LED_ON;
send_read_address(0x7f); // Send the package read command
for(i = 0; i<17; i++) {//read all buffer
RF_Rx_Buffer[i] = read_8bit_data();
}
#if defined(RX_RSSI_CHAN)
rx_rssi = _spi_read(0x26); // Read the RSSI value
rcData[RX_RSSI_CHAN] = map(constrain(rx_rssi,45,120),40,120,0,2000);
#endif
rx_reset();
if (RF_Rx_Buffer[0] == 'S') {// servo control data
for(i = 0; i<8; i++) {//Write into the Servo Buffer
temp_int = (256*RF_Rx_Buffer[1+(2*i)]) + RF_Rx_Buffer[2+(2*i)];
if ((temp_int>1500) && (temp_int<4500)) Servo_Buffer[i] = temp_int/2;
}
rcData[ROLL] = Servo_Buffer[0];
rcData[PITCH] = Servo_Buffer[1];
rcData[THROTTLE] = Servo_Buffer[2];
rcData[YAW] = Servo_Buffer[3];
rcData[AUX1] = Servo_Buffer[4];
rcData[AUX2] = Servo_Buffer[5];
rcData[AUX3] = Servo_Buffer[6];
rcData[AUX4] = Servo_Buffer[7];
#if defined(FAILSAFE)
if(failsafeCnt > 20) failsafeCnt -= 20; else failsafeCnt = 0; // Valid frame, clear FailSafe counter
#endif
}
#if (FREQUENCY_HOPPING==1)
Hopping(); //Hop to the next frequency
#endif
delay(1);
last_hopping_time = currentTime;
Red_LED_OFF;
}
Red_LED_OFF;
}
#endif
#if defined(SPEK_BIND) // Bind Support
void spekBind() {
pinMode(SPEK_BIND_DATA, INPUT); // Data line from sat
digitalWrite(SPEK_BIND_DATA,LOW); // Turn off internal Pull Up resistor
pinMode(SPEK_BIND_GROUND, INPUT);
digitalWrite(SPEK_BIND_GROUND,LOW);
pinMode(SPEK_BIND_GROUND, OUTPUT);
digitalWrite(SPEK_BIND_GROUND,LOW);
pinMode(SPEK_BIND_POWER, INPUT);
digitalWrite(SPEK_BIND_POWER,LOW);
pinMode(SPEK_BIND_POWER,OUTPUT);
while(1) { //Do not return. User presses reset button to return to normal.
blinkLED(4,255,1);
digitalWrite(SPEK_BIND_POWER,LOW); // Power off sat
pinMode(SPEK_BIND_DATA, OUTPUT);
digitalWrite(SPEK_BIND_DATA,LOW);
delay(1000);
blinkLED(4,255,1);
digitalWrite(SPEK_BIND_POWER,HIGH); // Power on sat
delay(10);
digitalWrite(SPEK_BIND_DATA,HIGH);
delay(60); // Keep data pin steady for 20 to 120ms after power up
noInterrupts();
for (byte i = 0; i < SPEK_BIND_PULSES; i++) {
digitalWrite(SPEK_BIND_DATA,LOW);
delayMicroseconds(118);
digitalWrite(SPEK_BIND_DATA,HIGH);
delayMicroseconds(122);
}
interrupts();
delay(60000); //Allow one full minute to bind, then try again.
}
}
#endif