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porting to arduino leonardo
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1. change pin define
2. add debug function and dynamic debug message
- set DBG_ON=1 in source code
- connect DBG_pin(enable debug) to VCC or GND(disable debug)
3. abstract PPM_INPUT_MIN/MAX
4. fix but about PPM ISR setup
- use digitalPinToInterrupt(PPM_pin)
5. increase throttle safe check delay to 1s
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@cy-arduino
cy-arduino committed Apr 10, 2016
1 parent 4cef4e9 commit 8c776f6
Showing 1 changed file with 148 additions and 68 deletions.
216 changes: 148 additions & 68 deletions nRF24_multipro/nRF24_multipro.ino
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@@ -1,15 +1,15 @@
/*
##########################################
##### MultiProtocol nRF24L01 Tx ######
##########################################
# by goebish on rcgroups #
# #
# Parts of this project are derived #
# from existing work, thanks to: #
# #
# - PhracturedBlue for DeviationTX #
# - victzh for XN297 emulation layer #
# - Hasi for Arduino PPM decoder #
/*
##########################################
##### MultiProtocol nRF24L01 Tx ######
##########################################
# by goebish on rcgroups #
# #
# Parts of this project are derived #
# from existing work, thanks to: #
# #
# - PhracturedBlue for DeviationTX #
# - victzh for XN297 emulation layer #
# - Hasi for Arduino PPM decoder #
# - hexfet, midelic, closedsink ... #
##########################################
Expand All @@ -32,39 +32,77 @@
#include <EEPROM.h>
#include "iface_nrf24l01.h"

#define BOARD_LEONARDO 1

#ifndef BOARD_LEONARDO
// ############ Wiring ################
#define PPM_pin 2 // PPM in
//SPI Comm.pins with nRF24L01
#define MOSI_pin 3 // MOSI - D3
#define SCK_pin 4 // SCK - D4
#define CE_pin 5 // CE - D5
#define MISO_pin A0 // MISO - A0
#define CS_pin A1 // CS - A1

#define ledPin 13 // LED - D13

// SPI outputs
#define MOSI_on PORTD |= _BV(3) // PD3
#define MOSI_off PORTD &= ~_BV(3)// PD3
#define SCK_on PORTD |= _BV(4) // PD4
#define SCK_off PORTD &= ~_BV(4) // PD4
#define CE_on PORTD |= _BV(5) // PD5
#define CE_off PORTD &= ~_BV(5) // PD5
#define CS_on PORTC |= _BV(1) // PC1
#define CS_off PORTC &= ~_BV(1) // PC1
// SPI input
#define MISO_on (PINC & _BV(0)) // PC0
#else
//leonardo
// ############ Wiring ################
#define PPM_pin 2 // PPM in
//SPI Comm.pins with nRF24L01
#define MOSI_pin 15 // MOSI - 15(leonardo isp connector)
#define SCK_pin 16 // SCK - 16(leonardo isp connector)
#define CE_pin 9 // CE - 9
#define MISO_pin 14 // MISO - 14(leonardo isp connector)
#define CS_pin 10 // CS - 10
#define DBG_pin 6

#define ledPin 13 // LED - D13

// SPI outputs
#define MOSI_on PORTB |= _BV(2) // PB2
#define MOSI_off PORTB &= ~_BV(2)// PB2
#define SCK_on PORTB |= _BV(1) // PB1
#define SCK_off PORTB &= ~_BV(1) // PB1
#define CE_on PORTB |= _BV(5) // PB5
#define CE_off PORTB &= ~_BV(5) // PB5
#define CS_on PORTB |= _BV(6) // PB6
#define CS_off PORTB &= ~_BV(6) // PB6
// SPI input
#define MISO_on (PORTB & _BV(3)) // PB3
#endif

#define DBG_ON 0

#ifdef BOARD_LEONARDO
#define DBG(m) if(DBG_ON && HIGH == digitalRead(DBG_pin)) Serial.print(m);
#else
//do nothing
#define DBG(m)
#endif

// ############ Wiring ################
#define PPM_pin 2 // PPM in
//SPI Comm.pins with nRF24L01
#define MOSI_pin 3 // MOSI - D3
#define SCK_pin 4 // SCK - D4
#define CE_pin 5 // CE - D5
#define MISO_pin A0 // MISO - A0
#define CS_pin A1 // CS - A1

#define ledPin 13 // LED - D13

// SPI outputs
#define MOSI_on PORTD |= _BV(3) // PD3
#define MOSI_off PORTD &= ~_BV(3)// PD3
#define SCK_on PORTD |= _BV(4) // PD4
#define SCK_off PORTD &= ~_BV(4) // PD4
#define CE_on PORTD |= _BV(5) // PD5
#define CE_off PORTD &= ~_BV(5) // PD5
#define CS_on PORTC |= _BV(1) // PC1
#define CS_off PORTC &= ~_BV(1) // PC1
// SPI input
#define MISO_on (PINC & _BV(0)) // PC0

#define RF_POWER TX_POWER_80mW

// PPM stream settings
#define CHANNELS 12 // number of channels in ppm stream, 12 ideally
enum chan_order{
RUDDER,
ELEVATOR,
THROTTLE,
AILERON,
ELEVATOR,
RUDDER,
AUX1, // (CH5) led light, or 3 pos. rate on CX-10, H7, or inverted flight on H101
AUX2, // (CH6) flip control
AUX3, // (CH7) still camera (snapshot)
Expand All @@ -75,6 +113,8 @@ enum chan_order{
AUX8, // (CH12) Reset / Rebind
};

#define PPM_INPUT_MIN 510
#define PPM_INPUT_MAX 2200
#define PPM_MIN 1000
#define PPM_SAFE_THROTTLE 1050
#define PPM_MID 1500
Expand Down Expand Up @@ -121,6 +161,16 @@ static uint16_t ppm[12] = {PPM_MIN,PPM_MIN,PPM_MIN,PPM_MIN,PPM_MID,PPM_MID,

void setup()
{

#ifdef BOARD_LEONARDO
Serial.begin(57600);
/* while (!Serial) {
; // wait for serial port to connect. Needed for Leonardo only
}*/

DBG("setup()\n");
#endif

randomSeed((analogRead(A4) & 0x1F) | (analogRead(A5) << 5));
pinMode(ledPin, OUTPUT);
digitalWrite(ledPin, LOW); //start LED off
Expand All @@ -131,8 +181,10 @@ void setup()
pinMode(CE_pin, OUTPUT);
pinMode(MISO_pin, INPUT);

pinMode(DBG_pin, INPUT);

// PPM ISR setup
attachInterrupt(PPM_pin - 2, ISR_ppm, CHANGE);
attachInterrupt(digitalPinToInterrupt(PPM_pin), ISR_ppm, CHANGE);
TCCR1A = 0; //reset timer1
TCCR1B = 0;
TCCR1B |= (1 << CS11); //set timer1 to increment every 1 us @ 8MHz, 0.5 us @16MHz
Expand All @@ -142,6 +194,8 @@ void setup()

void loop()
{
//DBG("loop()\n");

uint32_t timeout;
// reset / rebind
if(reset || ppm[AUX8] > PPM_MAX_COMMAND) {
Expand Down Expand Up @@ -206,6 +260,8 @@ void set_txid(bool renew)

void selectProtocol()
{
DBG("selectProtocol()\n");

// wait for multiple complete ppm frames
ppm_ok = false;
uint8_t count = 10;
Expand All @@ -218,70 +274,81 @@ void selectProtocol()
}

// startup stick commands
DBG("selectProtocol(): startup stick commands\n");

if(ppm[RUDDER] < PPM_MIN_COMMAND) // Rudder left
set_txid(true); // Renew Transmitter ID

// protocol selection

// Rudder right + Elevator down
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[ELEVATOR] < PPM_MIN_COMMAND)
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[ELEVATOR] < PPM_MIN_COMMAND){
current_protocol = PROTO_HISKY; // HiSky RXs, HFP80, HCP80/100, FBL70/80/90/100, FF120, HMX120, WLToys v933/944/955 ...

}
// Rudder right + Elevator up
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[ELEVATOR] > PPM_MAX_COMMAND)
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[ELEVATOR] > PPM_MAX_COMMAND){
current_protocol = PROTO_SYMAXOLD; // Syma X5C, X2 ...

}
// Rudder right + Aileron right
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND)
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND){
current_protocol = PROTO_MJX; // MJX X600, other sub protocols can be set in code

}
// Rudder right + Aileron left
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND)
else if(ppm[RUDDER] > PPM_MAX_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND){
current_protocol = PROTO_H8_3D; // H8 mini 3D, H20 ...

}
// Elevator down + Aileron right
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND)
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND){
current_protocol = PROTO_YD829; // YD-829, YD-829C, YD-822 ...

}
// Elevator down + Aileron left
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND)
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND){
current_protocol = PROTO_SYMAX5C1; // Syma X5C-1, X11, X11C, X12

}
// Elevator up + Aileron right
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND)
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND && ppm[AILERON] > PPM_MAX_COMMAND){
current_protocol = PROTO_BAYANG; // EAchine H8(C) mini, BayangToys X6/X7/X9, JJRC JJ850 ...

}
// Elevator up + Aileron left
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND)
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND && ppm[AILERON] < PPM_MIN_COMMAND) {
current_protocol = PROTO_H7; // EAchine H7, MT99xx

}
// Elevator up
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND)
else if(ppm[ELEVATOR] > PPM_MAX_COMMAND){
current_protocol = PROTO_V2X2; // WLToys V202/252/272, JXD 385/388, JJRC H6C ...
}
// Elevator down
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND)
else if(ppm[ELEVATOR] < PPM_MIN_COMMAND) {
current_protocol = PROTO_CG023; // EAchine CG023/CG031/3D X4, (todo :ATTOP YD-836/YD-836C) ...

}
// Aileron right
else if(ppm[AILERON] > PPM_MAX_COMMAND)
else if(ppm[AILERON] > PPM_MAX_COMMAND) {
current_protocol = PROTO_CX10_BLUE; // Cheerson CX10(blue pcb, newer red pcb)/CX10-A/CX11/CX12 ...

}
// Aileron left
else if(ppm[AILERON] < PPM_MIN_COMMAND)
else if(ppm[AILERON] < PPM_MIN_COMMAND) {
current_protocol = PROTO_CX10_GREEN; // Cheerson CX10(green pcb)...

}
// read last used protocol from eeprom
else
current_protocol = constrain(EEPROM.read(ee_PROTOCOL_ID),0,PROTO_END-1);
else {
current_protocol = constrain(EEPROM.read(ee_PROTOCOL_ID),0,PROTO_END-1);
}

DBG("selectProtocol(): current_protocol");
DBG(current_protocol);
DBG("\n");

// update eeprom
EEPROM.update(ee_PROTOCOL_ID, current_protocol);
// wait for safe throttle
while(ppm[THROTTLE] > PPM_SAFE_THROTTLE) {
delay(100);
DBG("selectProtocol(): throttle warning!!!==>");
DBG(THROTTLE);
DBG("\n");
delay(1000);
update_ppm();
}
DBG("selectProtocol(): exit\n");
}

void init_protocol()
Expand Down Expand Up @@ -347,24 +414,37 @@ void ISR_ppm()
#else
#error // 8 or 16MHz only !
#endif

static unsigned int pulse;
static unsigned long counterPPM;
static byte chan;
counterPPM = TCNT1;
TCNT1 = 0;
ppm_ok=false;
if(counterPPM < 510 << PPM_SCALE) { //must be a pulse if less than 510us
if(counterPPM < (PPM_INPUT_MIN << PPM_SCALE)) { //must be a pulse if less than PPM_INPUT_MIN
//DBG("ISR_ppm(): noise");
//DBG(PPM_INPUT_MIN << PPM_SCALE);
//DBG("\n");

pulse = counterPPM;
}
else if(counterPPM > 1910 << PPM_SCALE) { //sync pulses over 1910us
else if(counterPPM > PPM_INPUT_MAX << PPM_SCALE) { //sync pulses over PPM_INPUT_MAX
DBG("ISR_ppm(): sync ==> ");
DBG(counterPPM);
DBG("\n");
chan = 0;
}
else{ //servo values between 510us and 2420us will end up here
else{ //servo values between PPM_INPUT_MIN and PPM_INPUT_MAX will end up here
if(chan < CHANNELS) {
Servo_data[chan]= constrain((counterPPM + pulse) >> PPM_SCALE, PPM_MIN, PPM_MAX);
if(chan==3)
ppm_ok = true; // 4 first channels Ok
}
DBG("ISR_ppm(): ch=");
DBG(chan);
DBG(", Servo_data=");
DBG(Servo_data[chan]);
DBG("\n");
chan++;
}
}
}

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